From 0b76024e2c32c569b4479ae150cb7c7d3d88e252 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Tue, 30 Apr 2024 14:51:23 -0400 Subject: [PATCH 001/196] Added autobrake. --- autobrake.py | 70 ++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 70 insertions(+) create mode 100644 autobrake.py diff --git a/autobrake.py b/autobrake.py new file mode 100644 index 0000000..95cd13f --- /dev/null +++ b/autobrake.py @@ -0,0 +1,70 @@ +#!/usr/bin/env python3 + +import rospy +from std_msgs.msg import Bool +from sensor_msgs.msg import LaserScan +import math + +min_angle_range_to_register = math.radians(10) +angle_min = math.radians(-30) +angle_max = math.radians(30) +min_distance_to_register = .3 # m + + +def convert_polar_dist_to_vertical_dist(dist, angle): + return dist * math.sin(angle) + +def check_data_forward(data, start, i): + end = start + i + + while end < len(data): + curr = end - i + found_obstacle = True + while curr < end: + if data[curr] > min_distance_to_register: + found_obstacle = False + break + curr += 1 + if found_obstacle: + return True + + end += 1 + + return False + +def interpret_scan(data): + increment = data.angle_increment + step_count = int(min_angle_range_to_register / increment) + + start = int(angle_min / increment) + end = int(angle_max / increment) + + ranges = data.ranges[start:] + data.ranges[:end] + +# rospy.loginfo("Increment: " + str(increment)) +# rospy.loginfo("Step count: " + str(step_count)) +# rospy.loginfo("Start: " + str(start)) +# rospy.loginfo("End: " + str(end)) +# rospy.loginfo("Original len: " + str(len(data.ranges))) +# rospy.loginfo("New len: " + str(len(ranges))) + + if check_data_forward(ranges, 0, step_count): + rospy.loginfo("DETECTED OBSTACLE. AUTOBRAKING.") + brake.data = True + pub.publish(brake) + else: + brake.data = False + pub.publish(brake) + +if __name__ == '__main__': + brake = Bool() + brake.data = False + + rospy.init_node('autobrake') + + sub = rospy.Subscriber('scan', LaserScan, interpret_scan) + pub = rospy.Publisher('autobrake', Bool, queue_size=1) + + rospy.spin() + + From 4c04d6c7b00c166b2a31cf73521be48c4a77f344 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Tue, 30 Apr 2024 14:59:05 -0400 Subject: [PATCH 002/196] Fix package --- autobrake.py | 70 ---------------------------------------------------- 1 file changed, 70 deletions(-) delete mode 100644 autobrake.py diff --git a/autobrake.py b/autobrake.py deleted file mode 100644 index 95cd13f..0000000 --- a/autobrake.py +++ /dev/null @@ -1,70 +0,0 @@ -#!/usr/bin/env python3 - -import rospy -from std_msgs.msg import Bool -from sensor_msgs.msg import LaserScan -import math - -min_angle_range_to_register = math.radians(10) -angle_min = math.radians(-30) -angle_max = math.radians(30) -min_distance_to_register = .3 # m - - -def convert_polar_dist_to_vertical_dist(dist, angle): - return dist * math.sin(angle) - -def check_data_forward(data, start, i): - end = start + i - - while end < len(data): - curr = end - i - found_obstacle = True - while curr < end: - if data[curr] > min_distance_to_register: - found_obstacle = False - break - curr += 1 - if found_obstacle: - return True - - end += 1 - - return False - -def interpret_scan(data): - increment = data.angle_increment - step_count = int(min_angle_range_to_register / increment) - - start = int(angle_min / increment) - end = int(angle_max / increment) - - ranges = data.ranges[start:] + data.ranges[:end] - -# rospy.loginfo("Increment: " + str(increment)) -# rospy.loginfo("Step count: " + str(step_count)) -# rospy.loginfo("Start: " + str(start)) -# rospy.loginfo("End: " + str(end)) -# rospy.loginfo("Original len: " + str(len(data.ranges))) -# rospy.loginfo("New len: " + str(len(ranges))) - - if check_data_forward(ranges, 0, step_count): - rospy.loginfo("DETECTED OBSTACLE. AUTOBRAKING.") - brake.data = True - pub.publish(brake) - else: - brake.data = False - pub.publish(brake) - -if __name__ == '__main__': - brake = Bool() - brake.data = False - - rospy.init_node('autobrake') - - sub = rospy.Subscriber('scan', LaserScan, interpret_scan) - pub = rospy.Publisher('autobrake', Bool, queue_size=1) - - rospy.spin() - - From 4b0e82e7f3808da896209f6f50f54b7dc6564514 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Mon, 30 Sep 2024 23:29:28 -0400 Subject: [PATCH 003/196] Made a teleop package, made a make_package script, fixed dockerfile rosdep. --- CMakeLists.txt | 36 ++++++++++++++++++++++++++++++++++++ launch/launch.py | 25 +++++++++++++++++++++++++ package.xml | 20 ++++++++++++++++++++ 3 files changed, 81 insertions(+) create mode 100644 CMakeLists.txt create mode 100644 launch/launch.py create mode 100644 package.xml diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..dee55f8 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,36 @@ + +cmake_minimum_required(VERSION 3.8) +project(teleop) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES Clang) + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( REQUIRED) + +install(DIRECTORY launch/ + DESTINATION share/${PROJECT_NAME}/launch +) + +install(DIRECTORY config/ + DESTINATION share/${PROJECT_NAME}/config +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() + diff --git a/launch/launch.py b/launch/launch.py new file mode 100644 index 0000000..0ca4d3f --- /dev/null +++ b/launch/launch.py @@ -0,0 +1,25 @@ + +from launch import LaunchDescription +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory +import os +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource + + +def generate_launch_description(): + return LaunchDescription( + [ + Node( + package="joy", + executable="joy_node", + name="joy_node", + parameters=[ + { + "device_id": "/dev/input/js0" + } + ] + ), + ] + ) + diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..6558ca3 --- /dev/null +++ b/package.xml @@ -0,0 +1,20 @@ + + + + teleop + 0.0.0 + TODO: Package description + root + TODO: License declaration + + ament_cmake + + joy + + ament_lint_auto + ament_lint_common + + + ament_cmake + + From 8c023c57ea7f652b38b0a42a1c1d446dbee45b90 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Tue, 1 Oct 2024 22:11:07 -0400 Subject: [PATCH 004/196] Update README --- launch/launch.py | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/launch/launch.py b/launch/launch.py index 0ca4d3f..5dcfcff 100644 --- a/launch/launch.py +++ b/launch/launch.py @@ -14,11 +14,7 @@ def generate_launch_description(): package="joy", executable="joy_node", name="joy_node", - parameters=[ - { - "device_id": "/dev/input/js0" - } - ] + parameters=[] #ros2 uses events, so don't try and direct this to /dev ), ] ) From 1d8fcbc9e44888797b9337fe98e30fa31fa50f28 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Tue, 1 Oct 2024 22:31:47 -0400 Subject: [PATCH 005/196] Finished porting teleop. --- CMakeLists.txt | 14 +++++-- launch/launch.py | 6 +++ package.xml | 3 ++ src/joy_interpreter.cpp | 83 +++++++++++++++++++++++++++++++++++++++++ 4 files changed, 103 insertions(+), 3 deletions(-) create mode 100644 src/joy_interpreter.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt index dee55f8..87fd5be 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -8,9 +8,17 @@ endif() # find dependencies find_package(ament_cmake REQUIRED) -# uncomment the following section in order to fill in -# further dependencies manually. -# find_package( REQUIRED) +find_package(rclcpp REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(ackermann_msgs REQUIRED) + +add_executable(joy_interpreter src/joy_interpreter.cpp) +ament_target_dependencies(joy_interpreter rclcpp sensor_msgs ackermann_msgs) + +install(TARGETS + joy_interpreter + DESTINATION lib/${PROJECT_NAME} +) install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch diff --git a/launch/launch.py b/launch/launch.py index 5dcfcff..330e104 100644 --- a/launch/launch.py +++ b/launch/launch.py @@ -16,6 +16,12 @@ def generate_launch_description(): name="joy_node", parameters=[] #ros2 uses events, so don't try and direct this to /dev ), + Node( + package="teleop", + executable="joy_interpreter", + name="joy_interpreter", + parameters=[] + ) ] ) diff --git a/package.xml b/package.xml index 6558ca3..92322c8 100644 --- a/package.xml +++ b/package.xml @@ -10,6 +10,9 @@ ament_cmake joy + rclcpp + sensor_msgs + ackermann_msgs ament_lint_auto ament_lint_common diff --git a/src/joy_interpreter.cpp b/src/joy_interpreter.cpp new file mode 100644 index 0000000..563322f --- /dev/null +++ b/src/joy_interpreter.cpp @@ -0,0 +1,83 @@ +#include "rclcpp/rclcpp.hpp" +#include "sensor_msgs/msg/joy.hpp" +#include "ackermann_msgs/msg/ackermann_drive.hpp" +#include +#include + +class LogitechRead { +public: + LogitechRead(const std::vector& axes, const std::vector& buttons) + : axes_(axes), buttons_(buttons) {} + + float get_left_trigger() const { + return 1 - (axes_[2] + 1) / 2; + } + + float get_right_trigger() const { + return 1 - (axes_[5] + 1) / 2; + } + + float get_right_stick_x() const { + return -axes_[3]; + } + +private: + std::vector axes_; + std::vector buttons_; +}; + +class JoyInterpreter : public rclcpp::Node { +public: + JoyInterpreter() : Node("joy_interpreter") { + movement_pub_ = this->create_publisher("rc_movement_msg", 10); + joy_sub_ = this->create_subscription( + "joy", 10, std::bind(&JoyInterpreter::joy_to_twist, this, std::placeholders::_1) + ); + + this->declare_parameter("joy_interpreter/teleop/deadzone", 0.1); + this->declare_parameter("joy_interpreter/teleop/max_turning_angle", M_PI / 9); // 20 degrees in radians + this->declare_parameter("joy_interpreter/teleop/max_velocity", 1.5); + + deadzone_ = this->get_parameter("joy_interpreter/teleop/deadzone").as_double(); + max_turning_angle_ = this->get_parameter("joy_interpreter/teleop/max_turning_angle").as_double(); + max_velocity_ = this->get_parameter("joy_interpreter/teleop/max_velocity").as_double(); + + RCLCPP_INFO(this->get_logger(), "Parameter max_turning_angle=%f", max_turning_angle_); + RCLCPP_INFO(this->get_logger(), "Parameter max_velocity=%f", max_velocity_); + RCLCPP_INFO(this->get_logger(), "Parameter deadzone=%f", deadzone_); + } + +private: + void joy_to_twist(const sensor_msgs::msg::Joy::SharedPtr msg) { + LogitechRead gamepad_data(msg->axes, msg->buttons); + + // Calculate turning angle + float turn = -gamepad_data.get_right_stick_x() * max_turning_angle_; + if (std::abs(turn) < deadzone_) { + turn = 0.0; + } + + // Calculate velocity + float drive = (gamepad_data.get_right_trigger() - gamepad_data.get_left_trigger()) * max_velocity_; + + // Publish AckermannDrive message + auto ackermann_msg = ackermann_msgs::msg::AckermannDrive(); + ackermann_msg.steering_angle = turn; + ackermann_msg.speed = drive; + movement_pub_->publish(ackermann_msg); + } + + rclcpp::Publisher::SharedPtr movement_pub_; + rclcpp::Subscription::SharedPtr joy_sub_; + + double deadzone_; + double max_turning_angle_; + double max_velocity_; +}; + +int main(int argc, char* argv[]) { + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +} From aab5cc20207d3e4a45d51ba4a0ef91ea047b1017 Mon Sep 17 00:00:00 2001 From: Yey007 <55263178+Yey007@users.noreply.github.com> Date: Wed, 2 Oct 2024 03:25:24 +0000 Subject: [PATCH 006/196] Updated many build steps --- config/.gitkeep | 0 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 config/.gitkeep diff --git a/config/.gitkeep b/config/.gitkeep new file mode 100644 index 0000000..e69de29 From 53e12dea0a535fa464670c1d5d9e42ef4638f80c Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Tue, 1 Oct 2024 23:31:13 -0400 Subject: [PATCH 007/196] Created autonomy launch file, moved joy and rplidar outside of teleop and controls. --- launch/launch.py | 6 ------ 1 file changed, 6 deletions(-) diff --git a/launch/launch.py b/launch/launch.py index 330e104..0bcf529 100644 --- a/launch/launch.py +++ b/launch/launch.py @@ -10,12 +10,6 @@ def generate_launch_description(): return LaunchDescription( [ - Node( - package="joy", - executable="joy_node", - name="joy_node", - parameters=[] #ros2 uses events, so don't try and direct this to /dev - ), Node( package="teleop", executable="joy_interpreter", From 478dd152ccd827b25f09f8cdaff07fdfa410f75c Mon Sep 17 00:00:00 2001 From: Yey007 <55263178+Yey007@users.noreply.github.com> Date: Sat, 5 Oct 2024 18:40:52 +0000 Subject: [PATCH 008/196] Added clang formatting using Ethan's file --- src/joy_interpreter.cpp | 21 ++++++++++++--------- 1 file changed, 12 insertions(+), 9 deletions(-) diff --git a/src/joy_interpreter.cpp b/src/joy_interpreter.cpp index 563322f..4dd6f8b 100644 --- a/src/joy_interpreter.cpp +++ b/src/joy_interpreter.cpp @@ -1,8 +1,8 @@ #include "rclcpp/rclcpp.hpp" #include "sensor_msgs/msg/joy.hpp" #include "ackermann_msgs/msg/ackermann_drive.hpp" -#include #include +#include class LogitechRead { public: @@ -28,18 +28,20 @@ class LogitechRead { class JoyInterpreter : public rclcpp::Node { public: - JoyInterpreter() : Node("joy_interpreter") { - movement_pub_ = this->create_publisher("rc_movement_msg", 10); - joy_sub_ = this->create_subscription( - "joy", 10, std::bind(&JoyInterpreter::joy_to_twist, this, std::placeholders::_1) - ); + JoyInterpreter(): Node("joy_interpreter") { + movement_pub_ = + this->create_publisher("rc_movement_msg", 10); + joy_sub_ = this->create_subscription("joy", 10, + std::bind(&JoyInterpreter::joy_to_twist, this, std::placeholders::_1)); this->declare_parameter("joy_interpreter/teleop/deadzone", 0.1); - this->declare_parameter("joy_interpreter/teleop/max_turning_angle", M_PI / 9); // 20 degrees in radians + this->declare_parameter("joy_interpreter/teleop/max_turning_angle", + M_PI / 9); // 20 degrees in radians this->declare_parameter("joy_interpreter/teleop/max_velocity", 1.5); deadzone_ = this->get_parameter("joy_interpreter/teleop/deadzone").as_double(); - max_turning_angle_ = this->get_parameter("joy_interpreter/teleop/max_turning_angle").as_double(); + max_turning_angle_ = + this->get_parameter("joy_interpreter/teleop/max_turning_angle").as_double(); max_velocity_ = this->get_parameter("joy_interpreter/teleop/max_velocity").as_double(); RCLCPP_INFO(this->get_logger(), "Parameter max_turning_angle=%f", max_turning_angle_); @@ -58,7 +60,8 @@ class JoyInterpreter : public rclcpp::Node { } // Calculate velocity - float drive = (gamepad_data.get_right_trigger() - gamepad_data.get_left_trigger()) * max_velocity_; + float drive = (gamepad_data.get_right_trigger() - gamepad_data.get_left_trigger()) + * max_velocity_; // Publish AckermannDrive message auto ackermann_msg = ackermann_msgs::msg::AckermannDrive(); From ef7cd03c24a65afdb7ce7a98c6e17637cd29310a Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Fri, 18 Oct 2024 23:53:27 -0400 Subject: [PATCH 009/196] Fully fixed autobrake. --- src/joy_interpreter.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/joy_interpreter.cpp b/src/joy_interpreter.cpp index 4dd6f8b..c40b5f2 100644 --- a/src/joy_interpreter.cpp +++ b/src/joy_interpreter.cpp @@ -30,8 +30,8 @@ class JoyInterpreter : public rclcpp::Node { public: JoyInterpreter(): Node("joy_interpreter") { movement_pub_ = - this->create_publisher("rc_movement_msg", 10); - joy_sub_ = this->create_subscription("joy", 10, + this->create_publisher("rc_movement_msg", 1); + joy_sub_ = this->create_subscription("joy", 1, std::bind(&JoyInterpreter::joy_to_twist, this, std::placeholders::_1)); this->declare_parameter("joy_interpreter/teleop/deadzone", 0.1); From c220de32d83ca09c0f1e4154a7398ae19aba839e Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sat, 19 Oct 2024 02:19:00 -0400 Subject: [PATCH 010/196] Encoder odometry. --- CMakeLists.txt | 46 ++++++++++++++++++ config/.gitkeep | 0 launch/launch.py | 21 ++++++++ package.xml | 24 ++++++++++ src/odometry.cpp | 121 +++++++++++++++++++++++++++++++++++++++++++++++ 5 files changed, 212 insertions(+) create mode 100644 CMakeLists.txt create mode 100644 config/.gitkeep create mode 100644 launch/launch.py create mode 100644 package.xml create mode 100644 src/odometry.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..7c02eaf --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,46 @@ + +cmake_minimum_required(VERSION 3.8) +project(encoder_odometry) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES Clang) + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(std_msgs REQUIRED) +find_package(cev_msgs REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(tf2_ros REQUIRED) + +add_executable(odometry src/odometry.cpp) +ament_target_dependencies(odometry rclcpp std_msgs cev_msgs nav_msgs tf2_ros) + +install(TARGETS + odometry + DESTINATION lib/${PROJECT_NAME} +) + +install(DIRECTORY launch/ + DESTINATION share/${PROJECT_NAME}/launch +) + +install(DIRECTORY config/ + DESTINATION share/${PROJECT_NAME}/config +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() + diff --git a/config/.gitkeep b/config/.gitkeep new file mode 100644 index 0000000..e69de29 diff --git a/launch/launch.py b/launch/launch.py new file mode 100644 index 0000000..e544c50 --- /dev/null +++ b/launch/launch.py @@ -0,0 +1,21 @@ + +from launch import LaunchDescription +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory +import os +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource + + +def generate_launch_description(): + return LaunchDescription( + [ + Node( + package="encoder_odometry", + executable="odometry", + name="encoder_odometry_node", + parameters=[] + ) + ] + ) + diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..f7e7e70 --- /dev/null +++ b/package.xml @@ -0,0 +1,24 @@ + + + + encoder_odometry + 0.0.0 + TODO: Package description + sloth + TODO: License declaration + + ament_cmake + + ament_lint_auto + ament_lint_common + + rclcpp + std_msgs + cev_msgs + nav_msgs + tf2_ros + + + ament_cmake + + diff --git a/src/odometry.cpp b/src/odometry.cpp new file mode 100644 index 0000000..1b9e8ad --- /dev/null +++ b/src/odometry.cpp @@ -0,0 +1,121 @@ +#include +#include +#include "cev_msgs/msg/sensor_collect.hpp" +#include +#include +#include +#include + +using std::placeholders::_1; + +class OdometryNode : public rclcpp::Node +{ +public: + OdometryNode() : Node("encoder_odometry") { + RCLCPP_INFO(this->get_logger(), "Initializing Ackermann Odometry Node"); + + sensor_collect_sub_ = this->create_subscription( + "sensor_collect", 1, std::bind(&OdometryNode::updateOdometry, this, _1)); + + odom_publisher_ = this->create_publisher("/encoder_odometry", 1); + } + +private: + const float WHEELBASE = 0.3; + + double x_ = 0.0; + double y_ = 0.0; + + double yaw_ = 0.0; + + double old_left_rotations_ = 0.0; + double new_left_rotations_ = 0.0; + + double old_steering_angle_ = 0.0; + + rclcpp::Time prev_time_; + + bool initialized = false; + + double covariance_[36] = { + 0.01, 0, 0, 0, 0, 0, + 0, 0.01, 0, 0, 0, 0, + 0, 0, 0.01, 0, 0, 0, + 0, 0, 0, 0.01, 0, 0, + 0, 0, 0, 0, 0.01, 0, + 0, 0, 0, 0, 0, 0.01 + }; + + rclcpp::Subscription::SharedPtr sensor_collect_sub_; + rclcpp::Publisher::SharedPtr odom_publisher_; + + void updateOdometry(const cev_msgs::msg::SensorCollect::SharedPtr data) { + if (!initialized) { + prev_time_ = this->now(); + initialized = true; + return; + } + + auto current_time = this->now(); + double dt = (current_time - prev_time_).seconds(); + if (dt < 1e-6) return; + + double delta_distance = data->velocity * dt; + + double new_steering_angle = data->steering_angle; + double average_steering_angle = (new_steering_angle + old_steering_angle_) / 2.0; + + double turning_radius = WHEELBASE / std::tan(average_steering_angle); + + double delta_theta = delta_distance / turning_radius; + + yaw_ += delta_theta; + x_ += delta_distance * std::cos(yaw_); + y_ += delta_distance * std::sin(yaw_); + + publishOdometry(this->now(), data->velocity, delta_theta / dt); + + // Update carry vars + old_steering_angle_ = new_steering_angle; + prev_time_ = current_time; + } + + void publishOdometry(const rclcpp::Time ¤t_time, double linear_velocity, double angular_velocity) + { + /** + * Publish odometry message using current pose/twist along with calculated velocities. + */ + auto odom_msg = nav_msgs::msg::Odometry(); + odom_msg.header.stamp = current_time; + odom_msg.header.frame_id = "odom"; + odom_msg.child_frame_id = "base_link"; + + odom_msg.pose.pose.position.x = x_; + odom_msg.pose.pose.position.y = y_; + + tf2::Quaternion q; + q.setRPY(0.0, 0.0, yaw_); + odom_msg.pose.pose.orientation.x = q.x(); + odom_msg.pose.pose.orientation.y = q.y(); + odom_msg.pose.pose.orientation.z = q.z(); + odom_msg.pose.pose.orientation.w = q.w(); + + odom_msg.twist.twist.linear.x = linear_velocity; + odom_msg.twist.twist.angular.z = angular_velocity; + + for (int i = 0; i < 36; i++) + { + odom_msg.pose.covariance[i] = covariance_[i]; + } + + odom_publisher_->publish(odom_msg); + } +}; + +int main(int argc, char *argv[]) +{ + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +} \ No newline at end of file From 776efef85000347de89454c9f30e4c878b1df352 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sat, 19 Oct 2024 02:25:01 -0400 Subject: [PATCH 011/196] Temporarily remove rigth encoder to fix odom. --- src/odometry.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/odometry.cpp b/src/odometry.cpp index 1b9e8ad..c9a5ff6 100644 --- a/src/odometry.cpp +++ b/src/odometry.cpp @@ -23,7 +23,7 @@ class OdometryNode : public rclcpp::Node private: const float WHEELBASE = 0.3; - double x_ = 0.0; + double x_ = 0.0; // Forward of base_link is x double y_ = 0.0; double yaw_ = 0.0; From 24894dd52579135b163af7556172ef7ffebc3915 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Thu, 24 Oct 2024 20:53:05 -0400 Subject: [PATCH 012/196] Initial commit --- README.md | 1 + 1 file changed, 1 insertion(+) create mode 100644 README.md diff --git a/README.md b/README.md new file mode 100644 index 0000000..68a1a9b --- /dev/null +++ b/README.md @@ -0,0 +1 @@ +# kalman_odom \ No newline at end of file From 7c34df311fbc5b75fdd2e3474496ee9119314cac Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Thu, 24 Oct 2024 20:53:46 -0400 Subject: [PATCH 013/196] Update README.md --- README.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 68a1a9b..d85ab8f 100644 --- a/README.md +++ b/README.md @@ -1 +1,2 @@ -# kalman_odom \ No newline at end of file +# kalman_odom +ROS 2 package for KF-based localization From 2939a36304e4e66ccff3c6abec38aff9042fcdcc Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Thu, 24 Oct 2024 21:11:33 -0400 Subject: [PATCH 014/196] Setup ROS 2 development environment. --- .devcontainer/Dockerfile.dev | 63 +++++++++++++++++++++++++++++++++ .devcontainer/devcontainer.json | 38 ++++++++++++++++++++ .gitignore | 1 + 3 files changed, 102 insertions(+) create mode 100644 .devcontainer/Dockerfile.dev create mode 100644 .devcontainer/devcontainer.json create mode 100644 .gitignore diff --git a/.devcontainer/Dockerfile.dev b/.devcontainer/Dockerfile.dev new file mode 100644 index 0000000..0624acc --- /dev/null +++ b/.devcontainer/Dockerfile.dev @@ -0,0 +1,63 @@ +# Start with the official ROS Humble ROS-Core image based on Ubuntu Jammy +FROM ros:humble-ros-core-jammy + +SHELL ["/bin/bash", "-c"] + +# Install basic build tools and ROS2 development dependencies +RUN apt-get update && apt-get install --no-install-recommends -y \ + build-essential \ + git \ + python3-colcon-common-extensions \ + python3-colcon-mixin \ + python3-rosdep \ + python3-vcstool \ + && rm -rf /var/lib/apt/lists/* + +# Set the ROS distro to Humble +ENV ROS_DISTRO=humble + +# Initialize rosdep and update for the current ROS distro +RUN rosdep init && \ + rosdep update --rosdistro $ROS_DISTRO + +# Add and update colcon mixins and metadata +RUN colcon mixin add default \ + https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \ + colcon mixin update && \ + colcon metadata add default \ + https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \ + colcon metadata update + +# Install ROS2 base packages specific to Humble distribution +RUN apt-get update && apt-get install -y --no-install-recommends \ + ros-humble-ros-base=0.10.0-1* \ + && rm -rf /var/lib/apt/lists/* + +# Set environment variables and source ROS2 Humble setup +ENV LANG=C.UTF-8 \ + LC_ALL=C.UTF-8 + +# Source the ROS2 environment automatically when a new shell is created +RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc +RUN echo "source /root/ws/install/setup.bash" >> ~/.bashrc + +RUN mkdir -p /root/ws/src +RUN mkdir -p /root/ws/tmp +COPY . /root/ws/tmp + +WORKDIR /root/ws + +RUN sudo apt update + +RUN source /opt/ros/$ROS_DISTRO/setup.bash \ + && cd /root/ws \ + && rosdep update \ + && rosdep install --from-paths tmp -r -y + +RUN rm -rf /root/ws/tmp + +RUN source /opt/ros/$ROS_DISTRO/setup.bash \ + && cd /root/ws \ + && colcon build + +EXPOSE 4567 \ No newline at end of file diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json new file mode 100644 index 0000000..f8fe924 --- /dev/null +++ b/.devcontainer/devcontainer.json @@ -0,0 +1,38 @@ +{ + "name": "KF Dev-Container", + "build": { + "dockerfile": "Dockerfile.dev" + }, + "workspaceMount": "source=${localWorkspaceFolder},target=/root/ws/src,type=bind", + "workspaceFolder": "/root/ws/src", + "runArgs": [ + "--rm", + "--network=host", + "--ipc=host", + "--privileged" + ], + "containerEnv": { + "DISPLAY": "${localEnv:DISPLAY}" + }, + "mounts": [ + "source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached" + ], + "customizations": { + "vscode": { + "settings": { + "terminal.integrated.defaultProfile.linux": "bash", + "terminal.integrated.profiles.linux": { + "bash": { + "path": "/bin/bash" + } + } + }, + "extensions": [ + "ms-iot.vscode-ros", + "ms-vscode.cpptools-extension-pack", + "ms-python.black-formatter" + ] + } + }, + "postStartCommand": "git config --global --add safe.directory ${containerWorkspaceFolder}" +} \ No newline at end of file diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..9f11b75 --- /dev/null +++ b/.gitignore @@ -0,0 +1 @@ +.idea/ From 3c9812c290156b15f3d3231775e65a89976e461d Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sat, 26 Oct 2024 18:03:07 -0400 Subject: [PATCH 015/196] Basic bicycle kinematics filter, need to debug sensor sim. --- python_testing/main.py | 268 +++++++++++++++++++++++++++++++++++++++++ 1 file changed, 268 insertions(+) create mode 100644 python_testing/main.py diff --git a/python_testing/main.py b/python_testing/main.py new file mode 100644 index 0000000..0245bc2 --- /dev/null +++ b/python_testing/main.py @@ -0,0 +1,268 @@ +import numpy as np +import matplotlib.pyplot as plt +import random +import math + +""" +Simple KF for 2D robot localization + +Notes: + x, y, yaw are relative to the parent frame. + dx, dy, ddx, ddy, steering_angle are relative to the robot frame, where x is forward +""" + +cycle_dt = .01 # Constant time step +real_t = 20 # Time to run the simulation for + +WB = .3 + +# Current state +x = np.array([ + 0., # x + 0., # y + .2, # x' + 0., # y' + 0., # yaw + .79, # steering angle +]) + +# State covariance +P = np.eye(len(x)) * .1 + + +# Simple bicycle model update step +def f(x, dt): + x_ = x[0] + y_ = x[1] + d_x = x[2] + d_y = x[3] + yaw = x[4] + tau = x[5] + + d_yaw = d_x * np.sin(tau) / WB * dt + yaw_new = yaw + d_yaw + + x_new = x_ + d_x * np.cos(yaw + tau) * dt + y_new = y_ + d_x * np.sin(yaw + tau) * dt + + return np.array([x_new, y_new, d_x, d_y, yaw_new, tau]) + + +def F(x, dt): + # Generates a Jacobian matrix representing an Simple bicycle model update step + + d_x = x[2] + yaw = x[4] + tau = x[5] + + p_yaw_dx = dt * np.sin(tau) / WB + p_yaw_tau = dt * d_x * np.cos(tau) / WB + + p_x_dx = dt * np.cos(yaw + tau) + p_x_yaw = -dt * d_x * np.sin(yaw + tau) + p_x_tau = -dt * d_x * np.sin(yaw + tau) + + p_y_dx = dt * np.sin(yaw + tau) + p_y_yaw = dt * d_x * np.cos(yaw + tau) + p_y_tau = dt * d_x * np.cos(yaw + tau) + + # Jacobian matrix representing an Ackermann update step + return np.array([ + # x y dx dy yaw tau # OUTPUT + [1., 0., p_x_dx, 0., p_x_yaw, p_x_tau], # x + [0., 1., p_y_dx, 0., p_y_yaw, p_y_tau], # y + [0., 0., 1., 0., 0., 0.], # dx + [0., 0., 0., 1., 0., 0.], # dy + [0., 0., p_yaw_dx, 0., 1., p_yaw_tau], # yaw + [0., 0., 0., 0., 0., 1.], # tau + ]) + + +def H(x, dt, tr): + return (tr @ F(x, dt).T).T + + +# Process noise covariance (update step). Low Q value means high confidence in model +def Q(dt): + return dt * np.eye(len(x)) * 0.1 + + +def predict(x, P, dt): + F_k = F(x, dt) + Q_k = Q(dt) + + # Generate new state prediction with prediction matrix + state = f(x, dt) + + # Generate new covariance prediction, with additional covariance to account for process noise + cov = F_k @ P @ F_k.T + Q_k + + return state, cov + + +def state_update(x, P, dt): + x_k, P_k = predict(x, P, dt) + + return x_k, P_k + + +def sensor_update( + state_, + variance, + sensor_state, + sensor_mul_matrix, + sensor_jacobian_pre, + sensor_variance, + dt +): + H_k = H(state_, dt, sensor_mul_matrix) + R_k = sensor_variance + h = sensor_mul_matrix + + predicted_state, predicted_variance = predict(state_, variance, dt) + + predicted_imu = h @ predicted_state + real_imu = sensor_state + + print("REAL: ", real_imu) + print("PRED: ", predicted_imu) + + y_k = real_imu - predicted_imu + + S_k = H_k @ predicted_variance @ H_k.T + R_k + K_k = predicted_variance @ H_k.T @ np.linalg.pinv(S_k) + + state_ = state_ + K_k @ y_k + predicted_variance = (np.eye(len(x)) - K_k @ H_k) @ predicted_variance + + return state_, predicted_variance + + +def fake_imu(state): + return np.array([ + 0., + 0., + state[2], + state[3], + state[4], + 0. + ]) + + # return np.array([ + # 0., + # 0., + # state[2] + random.gauss(0, 0), + # state[3] + random.gauss(0, 0), + # state[4] + random.gauss(0, 0), + # 0. + # ]) + + +def fake_enc(state): + return np.array([ + 0., + 0., + state[2], + state[3], + 0., + state[5] + ]) + # return np.array([ + # 0., + # 0., + # state[2] + random.gauss(0, 0), + # state[3] + random.gauss(0, 0), + # 0., + # state[5] + # ]) + + +def main_loop(): + state = x + variance = P + + sensor_jacobian = { + "imu": np.array([0., 0., 1., 1., 1., 0.]), + "enc": np.array([0., 0., 1., 1., 0., 1.]), + } + + sensor_mul_matrix = { + "imu": np.array([ + [0, 0, 0, 0, 0, 0], + [0, 0, 0, 0, 0, 0], + [0, 0, 1, 0, 0, 0], + [0, 0, 0, 1, 0, 0], + [0, 0, 0, 0, 1, 0], + [0, 0, 0, 0, 0, 0] + ]), + "enc": np.array([ + [0, 0, 0, 0, 0, 0], + [0, 0, 0, 0, 0, 0], + [0, 0, 1, 0, 0, 0], + [0, 0, 0, 1, 0, 0], + [0, 0, 0, 0, 0, 0], + [0, 0, 0, 0, 0, 1] + ]), + } + + sensor_state = { + "imu": fake_imu, + "enc": fake_enc, + } + + sensor_variances = { + "imu": np.eye(len(x)) * 1., + "enc": np.eye(len(x)) * 1., + } + + next_state = state + next_var = variance + # for i in range(int(real_t / cycle_dt)): + # next_state[5] = math.sin(i * cycle_dt / 2) * .79 + # + # next_state, next_var = predict(next_state, next_var, cycle_dt) + # + # plt.plot(next_state[0], next_state[1], 'bo') + + # Simulate the state change with F and a dt of .1 100 times using matplotlib + for i in range(int(real_t / cycle_dt)): + seed = random.random() + + # Adjust steering angle + state[5] = math.sin(i * cycle_dt / 2) * .79 + next_state[5] = math.sin(i * cycle_dt / 2) * .79 + + next_state, next_var = predict(next_state, next_var, cycle_dt) + plt.plot(next_state[0], next_state[1], 'bo') + + if seed <= .8: + state, variance = predict(state, variance, cycle_dt) + elif seed <= 1.0: + print("REAA: ", next_state) + + state, variance = sensor_update( + state, + variance, + sensor_state["imu"](next_state), + sensor_mul_matrix["imu"], + sensor_jacobian["imu"], + sensor_variances["imu"], + cycle_dt + ) + elif seed < 1.0: + state, variance = sensor_update( + state, + variance, + sensor_state["enc"](next_state), + sensor_mul_matrix["enc"], + sensor_jacobian["enc"], + sensor_variances["enc"], + cycle_dt + ) + + plt.plot(state[0], state[1], 'ro') + + +if __name__ == "__main__": + main_loop() + plt.show() From 8bdf82a0087a89d48c30637bd2b940b8a4a9fb7c Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sun, 27 Oct 2024 21:01:41 -0400 Subject: [PATCH 016/196] Fixed covariance invertability issues. --- python_testing/main.py | 54 ++++++++++++------------------------------ 1 file changed, 15 insertions(+), 39 deletions(-) diff --git a/python_testing/main.py b/python_testing/main.py index 0245bc2..5229695 100644 --- a/python_testing/main.py +++ b/python_testing/main.py @@ -1,3 +1,5 @@ +import copy + import numpy as np import matplotlib.pyplot as plt import random @@ -84,7 +86,7 @@ def H(x, dt, tr): # Process noise covariance (update step). Low Q value means high confidence in model def Q(dt): - return dt * np.eye(len(x)) * 0.1 + return dt * np.eye(len(x)) * .1 def predict(x, P, dt): @@ -100,18 +102,11 @@ def predict(x, P, dt): return state, cov -def state_update(x, P, dt): - x_k, P_k = predict(x, P, dt) - - return x_k, P_k - - def sensor_update( state_, variance, sensor_state, sensor_mul_matrix, - sensor_jacobian_pre, sensor_variance, dt ): @@ -121,16 +116,13 @@ def sensor_update( predicted_state, predicted_variance = predict(state_, variance, dt) - predicted_imu = h @ predicted_state - real_imu = sensor_state - - print("REAL: ", real_imu) - print("PRED: ", predicted_imu) + predicted_sensor = h @ predicted_state + real_sensor = sensor_state - y_k = real_imu - predicted_imu + y_k = real_sensor - predicted_sensor S_k = H_k @ predicted_variance @ H_k.T + R_k - K_k = predicted_variance @ H_k.T @ np.linalg.pinv(S_k) + K_k = predicted_variance @ H_k.T @ np.linalg.inv(S_k) state_ = state_ + K_k @ y_k predicted_variance = (np.eye(len(x)) - K_k @ H_k) @ predicted_variance @@ -178,13 +170,10 @@ def fake_enc(state): def main_loop(): - state = x - variance = P - - sensor_jacobian = { - "imu": np.array([0., 0., 1., 1., 1., 0.]), - "enc": np.array([0., 0., 1., 1., 0., 1.]), - } + state = copy.deepcopy(x) + variance = copy.deepcopy(P) + next_state = copy.deepcopy(x) + next_var = copy.deepcopy(P) sensor_mul_matrix = { "imu": np.array([ @@ -211,25 +200,16 @@ def main_loop(): } sensor_variances = { - "imu": np.eye(len(x)) * 1., - "enc": np.eye(len(x)) * 1., + "imu": np.eye(len(x)) * 1, + "enc": np.eye(len(x)) * .1, } - next_state = state - next_var = variance - # for i in range(int(real_t / cycle_dt)): - # next_state[5] = math.sin(i * cycle_dt / 2) * .79 - # - # next_state, next_var = predict(next_state, next_var, cycle_dt) - # - # plt.plot(next_state[0], next_state[1], 'bo') - # Simulate the state change with F and a dt of .1 100 times using matplotlib for i in range(int(real_t / cycle_dt)): seed = random.random() # Adjust steering angle - state[5] = math.sin(i * cycle_dt / 2) * .79 + # state[5] = math.sin(i * cycle_dt / 2) * .79 next_state[5] = math.sin(i * cycle_dt / 2) * .79 next_state, next_var = predict(next_state, next_var, cycle_dt) @@ -237,15 +217,12 @@ def main_loop(): if seed <= .8: state, variance = predict(state, variance, cycle_dt) - elif seed <= 1.0: - print("REAA: ", next_state) - + elif seed < .9: state, variance = sensor_update( state, variance, sensor_state["imu"](next_state), sensor_mul_matrix["imu"], - sensor_jacobian["imu"], sensor_variances["imu"], cycle_dt ) @@ -255,7 +232,6 @@ def main_loop(): variance, sensor_state["enc"](next_state), sensor_mul_matrix["enc"], - sensor_jacobian["enc"], sensor_variances["enc"], cycle_dt ) From 6eda2604e9599ff93f1e1eb9ac1089f59a159adf Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sun, 27 Oct 2024 21:31:10 -0400 Subject: [PATCH 017/196] Fixed kalman gain update. --- python_testing/main.py | 44 +++++++++++++++++++++--------------------- 1 file changed, 22 insertions(+), 22 deletions(-) diff --git a/python_testing/main.py b/python_testing/main.py index 5229695..25a18ee 100644 --- a/python_testing/main.py +++ b/python_testing/main.py @@ -124,49 +124,49 @@ def sensor_update( S_k = H_k @ predicted_variance @ H_k.T + R_k K_k = predicted_variance @ H_k.T @ np.linalg.inv(S_k) - state_ = state_ + K_k @ y_k + state_ = predicted_state + K_k @ y_k predicted_variance = (np.eye(len(x)) - K_k @ H_k) @ predicted_variance return state_, predicted_variance def fake_imu(state): - return np.array([ - 0., - 0., - state[2], - state[3], - state[4], - 0. - ]) - # return np.array([ # 0., # 0., - # state[2] + random.gauss(0, 0), - # state[3] + random.gauss(0, 0), - # state[4] + random.gauss(0, 0), + # state[2], + # state[3], + # state[4], # 0. # ]) - -def fake_enc(state): return np.array([ 0., 0., - state[2], - state[3], - 0., - state[5] + state[2] + random.gauss(0, .01), + state[3] + random.gauss(0, .01), + state[4] + random.gauss(0, .1), + 0. ]) + + +def fake_enc(state): # return np.array([ # 0., # 0., - # state[2] + random.gauss(0, 0), - # state[3] + random.gauss(0, 0), + # state[2], + # state[3], # 0., # state[5] # ]) + return np.array([ + 0., + 0., + state[2] + random.gauss(0, .1), + 0., + 0., + state[5] + ]) def main_loop(): @@ -188,7 +188,7 @@ def main_loop(): [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 1, 0, 0, 0], - [0, 0, 0, 1, 0, 0], + [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 1] ]), From a366868b6cdf132af176ed8a933d5057affc7f73 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Tue, 29 Oct 2024 15:36:49 -0400 Subject: [PATCH 018/196] Update dir structure. --- README.md | 2 +- python_testing/main.py => ekf_sim.py | 0 2 files changed, 1 insertion(+), 1 deletion(-) rename python_testing/main.py => ekf_sim.py (100%) diff --git a/README.md b/README.md index d85ab8f..4dfac6c 100644 --- a/README.md +++ b/README.md @@ -1,2 +1,2 @@ # kalman_odom -ROS 2 package for KF-based localization +ROS 2 package for KF-based localization (in development) diff --git a/python_testing/main.py b/ekf_sim.py similarity index 100% rename from python_testing/main.py rename to ekf_sim.py From fe6f10e83414e252478ed4e2cd26f9304461d98c Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Fri, 8 Nov 2024 22:42:08 -0500 Subject: [PATCH 019/196] Create base for cpp package. --- CMakeLists.txt | 43 +++++++++++++++++++++++++++++++++++++++++++ README.md | 2 +- config/.gitkeep | 0 ekf_sim.py | 31 +++++++++---------------------- launch/.gitkeep | 0 package.xml | 22 ++++++++++++++++++++++ src/ackermann_ekf.cpp | 3 +++ 7 files changed, 78 insertions(+), 23 deletions(-) create mode 100644 CMakeLists.txt create mode 100644 config/.gitkeep create mode 100644 launch/.gitkeep create mode 100644 package.xml create mode 100644 src/ackermann_ekf.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..26cf3f6 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,43 @@ + +cmake_minimum_required(VERSION 3.8) +project(ackermann_ekf) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES Clang) + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(std_msgs REQUIRED) + +add_executable(ackermann_ekf src/ackermann_ekf.cpp) +ament_target_dependencies(ackermann_ekf rclcpp sensor_msgs std_msgs) + +install(TARGETS + ackermann_ekf + DESTINATION lib/${PROJECT_NAME} +) + +install(DIRECTORY launch/ + DESTINATION share/${PROJECT_NAME}/launch +) + +install(DIRECTORY config/ + DESTINATION share/${PROJECT_NAME}/config +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/README.md b/README.md index 4dfac6c..9e4ef26 100644 --- a/README.md +++ b/README.md @@ -1,2 +1,2 @@ # kalman_odom -ROS 2 package for KF-based localization (in development) +ROS 2 package for Ackermann Model EKF-based localization (in development) diff --git a/config/.gitkeep b/config/.gitkeep new file mode 100644 index 0000000..e69de29 diff --git a/ekf_sim.py b/ekf_sim.py index 25a18ee..4fd907f 100644 --- a/ekf_sim.py +++ b/ekf_sim.py @@ -14,7 +14,7 @@ """ cycle_dt = .01 # Constant time step -real_t = 20 # Time to run the simulation for +real_t = 10 # Time to run the simulation for WB = .3 @@ -22,7 +22,7 @@ x = np.array([ 0., # x 0., # y - .2, # x' + 1, # x' 0., # y' 0., # yaw .79, # steering angle @@ -80,7 +80,9 @@ def F(x, dt): ]) +# Measurement jacobian matrix def H(x, dt, tr): + # `tr` is the transformation from the state space to the sensor space return (tr @ F(x, dt).T).T @@ -90,6 +92,9 @@ def Q(dt): def predict(x, P, dt): + # P = current variance + # x = current state + F_k = F(x, dt) Q_k = Q(dt) @@ -131,15 +136,6 @@ def sensor_update( def fake_imu(state): - # return np.array([ - # 0., - # 0., - # state[2], - # state[3], - # state[4], - # 0. - # ]) - return np.array([ 0., 0., @@ -151,14 +147,6 @@ def fake_imu(state): def fake_enc(state): - # return np.array([ - # 0., - # 0., - # state[2], - # state[3], - # 0., - # state[5] - # ]) return np.array([ 0., 0., @@ -208,14 +196,13 @@ def main_loop(): for i in range(int(real_t / cycle_dt)): seed = random.random() - # Adjust steering angle - # state[5] = math.sin(i * cycle_dt / 2) * .79 + # Adjust steering angle continuously next_state[5] = math.sin(i * cycle_dt / 2) * .79 next_state, next_var = predict(next_state, next_var, cycle_dt) plt.plot(next_state[0], next_state[1], 'bo') - if seed <= .8: + if seed < .8: state, variance = predict(state, variance, cycle_dt) elif seed < .9: state, variance = sensor_update( diff --git a/launch/.gitkeep b/launch/.gitkeep new file mode 100644 index 0000000..e69de29 diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..dbf3afd --- /dev/null +++ b/package.xml @@ -0,0 +1,22 @@ + + + + ackermann_ekf + 0.0.0 + TODO: Package description + sloth + TODO: License declaration + + ament_cmake + + rclcpp + sensor_msgs + std_msgs + + ament_lint_auto + ament_lint_common + + + ament_cmake + + \ No newline at end of file diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp new file mode 100644 index 0000000..704dacc --- /dev/null +++ b/src/ackermann_ekf.cpp @@ -0,0 +1,3 @@ +int main() { + +} \ No newline at end of file From e07a75b16ee5e11e897d6f72575352d55a04ee50 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sat, 9 Nov 2024 00:58:59 -0500 Subject: [PATCH 020/196] Begin basic header for model class. --- .gitmodules | 3 +++ CMakeLists.txt | 8 +++++++- include/update_model.h | 26 ++++++++++++++++++++++++++ package.xml | 1 + src/ackermann_ekf.cpp | 22 +++++++++++++++++++++- 5 files changed, 58 insertions(+), 2 deletions(-) create mode 100644 .gitmodules create mode 100644 include/update_model.h diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 0000000..10beb96 --- /dev/null +++ b/.gitmodules @@ -0,0 +1,3 @@ +[submodule "docs/doxygen-awesome-css"] + path = docs/doxygen-awesome-css + url = https://github.com/jothepro/doxygen-awesome-css.git diff --git a/CMakeLists.txt b/CMakeLists.txt index 26cf3f6..a88b24e 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -8,12 +8,18 @@ endif() # find dependencies find_package(ament_cmake REQUIRED) + +find_package(Eigen3 REQUIRED) + +# ROS find_package(rclcpp REQUIRED) find_package(sensor_msgs REQUIRED) find_package(std_msgs REQUIRED) add_executable(ackermann_ekf src/ackermann_ekf.cpp) -ament_target_dependencies(ackermann_ekf rclcpp sensor_msgs std_msgs) +ament_target_dependencies(ackermann_ekf rclcpp sensor_msgs std_msgs Eigen3) + +# target_include_directories(kalman_odom PRIVATE ${EIGEN3_INCLUDE_DIR}) install(TARGETS ackermann_ekf diff --git a/include/update_model.h b/include/update_model.h new file mode 100644 index 0000000..73aaad0 --- /dev/null +++ b/include/update_model.h @@ -0,0 +1,26 @@ +#pragma once + +using namespace Eigen; + +class UpdateModel { + public: + /** + * Perform a model update step on `state` with time `dt`. + * + * @param state Last system state + * @param dt Time elapsed since last state update + * + * @return Updated system state + */ + VectorXd update_step(VectorXd state, float dt); + + /** + * Jacobian matrix of a model update step on `state` with time `dt`. + * + * @param state Last system state + * @param dt Time elapsed since last state update + * + * @return Jacobian matrix of state update step + */ + MatrixXd update_jacobian(VectorXd state, float dt); +}; \ No newline at end of file diff --git a/package.xml b/package.xml index dbf3afd..40da526 100644 --- a/package.xml +++ b/package.xml @@ -12,6 +12,7 @@ rclcpp sensor_msgs std_msgs + eigen3 ament_lint_auto ament_lint_common diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index 704dacc..0f8dc1b 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -1,3 +1,23 @@ -int main() { +#include +#include +#include +#include "update_model.h" + +using std::placeholders::_1; +using namespace Eigen; + +class AckermannEkfNode : public rclcpp::Node { + public: + AckermannEkfNode() : Node("AckermannEkfNode") {} + + // private: + +}; + +int main(int argc, char *argv[]) { + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; } \ No newline at end of file From cba222767196aa085714b4dfe98ba86aa409ccec Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sat, 9 Nov 2024 01:05:12 -0500 Subject: [PATCH 021/196] Fixed CMakeLists include --- .gitignore | 3 +++ CMakeLists.txt | 7 +++++++ 2 files changed, 10 insertions(+) diff --git a/.gitignore b/.gitignore index 9f11b75..8f2a984 100644 --- a/.gitignore +++ b/.gitignore @@ -1 +1,4 @@ .idea/ +build/ +log/ +install/ \ No newline at end of file diff --git a/CMakeLists.txt b/CMakeLists.txt index a88b24e..f65c6ac 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -16,16 +16,23 @@ find_package(rclcpp REQUIRED) find_package(sensor_msgs REQUIRED) find_package(std_msgs REQUIRED) +include_directories(include) + add_executable(ackermann_ekf src/ackermann_ekf.cpp) ament_target_dependencies(ackermann_ekf rclcpp sensor_msgs std_msgs Eigen3) # target_include_directories(kalman_odom PRIVATE ${EIGEN3_INCLUDE_DIR}) +# target_include_directories(ackermann_ekf PRIVATE include) install(TARGETS ackermann_ekf DESTINATION lib/${PROJECT_NAME} ) +install (DIRECTORY include/ + DESTINATION share/${PROJECT_NAME}/include +) + install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch ) From 6b7c4c58ed013768464fbc40a824dedc33aa5d03 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sat, 9 Nov 2024 17:22:30 -0500 Subject: [PATCH 022/196] Setup headers and base implementation for --- .gitignore | 3 +- CMakeLists.txt | 12 ++++-- include/update_model.h | 85 ++++++++++++++++++++++++++++++++++++++++-- src/ackermann_ekf.cpp | 1 - src/update_model.cpp | 71 +++++++++++++++++++++++++++++++++++ 5 files changed, 163 insertions(+), 9 deletions(-) create mode 100644 src/update_model.cpp diff --git a/.gitignore b/.gitignore index 8f2a984..b7c87df 100644 --- a/.gitignore +++ b/.gitignore @@ -1,4 +1,5 @@ .idea/ build/ log/ -install/ \ No newline at end of file +install/ +cmake-build-debug/ \ No newline at end of file diff --git a/CMakeLists.txt b/CMakeLists.txt index f65c6ac..54631ad 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -16,14 +16,18 @@ find_package(rclcpp REQUIRED) find_package(sensor_msgs REQUIRED) find_package(std_msgs REQUIRED) -include_directories(include) +add_library(update_model + src/update_model.cpp + include/update_model.h +) +ament_target_dependencies(update_model Eigen3) + +include_directories(update_model include) add_executable(ackermann_ekf src/ackermann_ekf.cpp) +target_link_libraries(ackermann_ekf update_model) ament_target_dependencies(ackermann_ekf rclcpp sensor_msgs std_msgs Eigen3) -# target_include_directories(kalman_odom PRIVATE ${EIGEN3_INCLUDE_DIR}) -# target_include_directories(ackermann_ekf PRIVATE include) - install(TARGETS ackermann_ekf DESTINATION lib/${PROJECT_NAME} diff --git a/include/update_model.h b/include/update_model.h index 73aaad0..b1570ea 100644 --- a/include/update_model.h +++ b/include/update_model.h @@ -1,18 +1,64 @@ #pragma once +#include +#include + using namespace Eigen; class UpdateModel { + private: + VectorXd state; + MatrixXd covariance; + MatrixXd base_process_covariance; + public: + /** + * Base class for an EKF state update model + * + * @param state Start state + * @param covariance Start state + * @param base_process_covariance Process covariance over time + */ + UpdateModel(VectorXd state, MatrixXd covariance, MatrixXd process_covariance); + + /** + * Next state and covariance without adjusting with a sensor update. + * + * @param dt Time elapsed since last state update + * + * @return Next state and covariance + */ + std::pair predict(float dt); + + /** + * Update the state/covariance with no sensor estimate. + * @param dt Time elapsed since last state update + */ + void update(float dt); + + /** + * Update the state/covariance with a sensor estimate. + * + * @param sensor_state Estimated state from sensor + * @param sensor_variance Estimated variance of sensor + * @param sensor_transformation Transformation from model state to sensor + * @param dt Time elapsed since last state update + */ + void sensor_update( + VectorXd sensor_state, + MatrixXd sensor_variance, + MatrixXd sensor_transformation, + float dt + ); + /** * Perform a model update step on `state` with time `dt`. * - * @param state Last system state * @param dt Time elapsed since last state update * * @return Updated system state */ - VectorXd update_step(VectorXd state, float dt); + virtual VectorXd update_step(VectorXd state, float dt) = 0; /** * Jacobian matrix of a model update step on `state` with time `dt`. @@ -22,5 +68,38 @@ class UpdateModel { * * @return Jacobian matrix of state update step */ - MatrixXd update_jacobian(VectorXd state, float dt); + virtual MatrixXd update_jacobian(VectorXd state, float dt) = 0; + + /** + * Transformed version of the model Jacobian matrix for the state of a given sensor. + * @param state Last system state + * @param dt Time elapsed since last state update + * @param sensor_transformation Transformation from model state to sensor state + * + * @return Sensor-specific model Jacobian matrix of state update step + */ + MatrixXd sensor_jacobian(VectorXd state, float dt, MatrixXd sensor_transformation); + + /** + * Gives process covariance over elapsed time dt. + * + * @param dt Time elapsed since last state update + * + * @return Process covariance matrix + */ + MatrixXd process_covariance(float dt); + + /** + * Current state of the model + * + * @return Current model state + */ + MatrixXd get_state(); + + /** + * Current covariance of the model + * + * @return Current model covariance + */ + MatrixXd get_covariance(); }; \ No newline at end of file diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index 0f8dc1b..bf0939c 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -10,7 +10,6 @@ using namespace Eigen; class AckermannEkfNode : public rclcpp::Node { public: AckermannEkfNode() : Node("AckermannEkfNode") {} - // private: }; diff --git a/src/update_model.cpp b/src/update_model.cpp new file mode 100644 index 0000000..668f4cd --- /dev/null +++ b/src/update_model.cpp @@ -0,0 +1,71 @@ +#include "update_model.h" + +UpdateModel::UpdateModel( + VectorXd state, + MatrixXd covariance, + MatrixXd process_covariance +) { + this->state = state; + this->covariance = covariance; + this->base_process_covariance = process_covariance; +} + +std::pair UpdateModel::predict(float dt) { + MatrixXd F_k = update_jacobian(state, dt); + MatrixXd Q_k = process_covariance(dt); + + return std::make_pair(update_step(state, dt), F_k * covariance * F_k.transpose() + Q_k); +} + +void UpdateModel::update(float dt) { + std::pair prediction = predict(dt); + state = prediction.first; + covariance = prediction.second; +} + +void UpdateModel::sensor_update( + VectorXd sensor_state, + MatrixXd sensor_variance, + MatrixXd sensor_transformation, + float dt +) { + std::pair prediction = predict(dt); + VectorXd state = prediction.first; + MatrixXd covariance = prediction.second; + + MatrixXd H_k = sensor_jacobian(state, dt, sensor_transformation); + MatrixXd R_k = sensor_variance; + + VectorXd predicted_sensor = sensor_transformation * state; + VectorXd real_sensor = sensor_state; + + VectorXd y_k = real_sensor - predicted_sensor; + + MatrixXd S_k = H_k * covariance * H_k.transpose() + R_k; + MatrixXd K_k = covariance * H_k.transpose() * S_k.inverse(); + + state = state + K_k * y_k; + covariance = ( + MatrixXd::Identity(covariance.rows(), covariance.cols() + ) - K_k * H_k) * covariance; +} + +MatrixXd UpdateModel::process_covariance(float dt) { + return base_process_covariance * dt; +} + +MatrixXd UpdateModel::sensor_jacobian( + VectorXd state, + float dt, + MatrixXd sensor_transformation +) { + return update_jacobian(state, dt) * sensor_transformation; +} + +MatrixXd UpdateModel::get_state() { + return state; +} + +MatrixXd UpdateModel::get_covariance() { + return covariance; +} \ No newline at end of file From 3983a175c4f8e19b9f04f8eaf64d109d2db309d3 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Mon, 11 Nov 2024 17:25:29 +0000 Subject: [PATCH 023/196] Template UpdateModel on state size, create AckermannModel --- .gitignore | 3 +- include/update_model.h | 45 +++++++++++++++++---------- src/ackermann_ekf.cpp | 61 ++++++++++++++++++++++++++++++++++++ src/update_model.cpp | 70 +++++++++++++++++++++++------------------- 4 files changed, 131 insertions(+), 48 deletions(-) diff --git a/.gitignore b/.gitignore index b7c87df..463fcb4 100644 --- a/.gitignore +++ b/.gitignore @@ -2,4 +2,5 @@ build/ log/ install/ -cmake-build-debug/ \ No newline at end of file +cmake-build-debug/ +.vscode/ \ No newline at end of file diff --git a/include/update_model.h b/include/update_model.h index b1570ea..d7e61cd 100644 --- a/include/update_model.h +++ b/include/update_model.h @@ -5,11 +5,12 @@ using namespace Eigen; +template class UpdateModel { private: - VectorXd state; - MatrixXd covariance; - MatrixXd base_process_covariance; + Vector state; + Matrix covariance; + Matrix base_process_covariance; public: /** @@ -19,7 +20,7 @@ class UpdateModel { * @param covariance Start state * @param base_process_covariance Process covariance over time */ - UpdateModel(VectorXd state, MatrixXd covariance, MatrixXd process_covariance); + UpdateModel(Vector state, Matrix covariance, Matrix process_covariance); /** * Next state and covariance without adjusting with a sensor update. @@ -28,13 +29,13 @@ class UpdateModel { * * @return Next state and covariance */ - std::pair predict(float dt); + std::pair, Matrix> predict(double dt); /** * Update the state/covariance with no sensor estimate. * @param dt Time elapsed since last state update */ - void update(float dt); + void update(double dt); /** * Update the state/covariance with a sensor estimate. @@ -45,10 +46,10 @@ class UpdateModel { * @param dt Time elapsed since last state update */ void sensor_update( - VectorXd sensor_state, - MatrixXd sensor_variance, - MatrixXd sensor_transformation, - float dt + Vector sensor_state, + Matrix sensor_variance, + Matrix sensor_transformation, + double dt ); /** @@ -58,7 +59,7 @@ class UpdateModel { * * @return Updated system state */ - virtual VectorXd update_step(VectorXd state, float dt) = 0; + virtual Vector update_step(Vector state, double dt) = 0; /** * Jacobian matrix of a model update step on `state` with time `dt`. @@ -68,7 +69,7 @@ class UpdateModel { * * @return Jacobian matrix of state update step */ - virtual MatrixXd update_jacobian(VectorXd state, float dt) = 0; + virtual Matrix update_jacobian(Vector state, double dt) = 0; /** * Transformed version of the model Jacobian matrix for the state of a given sensor. @@ -78,7 +79,7 @@ class UpdateModel { * * @return Sensor-specific model Jacobian matrix of state update step */ - MatrixXd sensor_jacobian(VectorXd state, float dt, MatrixXd sensor_transformation); + Matrix sensor_jacobian(Vector state, double dt, Matrix sensor_transformation); /** * Gives process covariance over elapsed time dt. @@ -87,19 +88,31 @@ class UpdateModel { * * @return Process covariance matrix */ - MatrixXd process_covariance(float dt); + Matrix process_covariance(double dt); /** * Current state of the model * * @return Current model state */ - MatrixXd get_state(); + Matrix get_state(); /** * Current covariance of the model * * @return Current model covariance */ - MatrixXd get_covariance(); + Matrix get_covariance(); + + using V = Vector; + using M = Matrix; + using d = double; + + // Aliases + inline V x() { return state; }; + inline M P() { return covariance; }; + inline V f(V x, d dt) { return update_step(x, dt); }; + inline M F(V x, d dt) { return update_jacobian(x, dt); }; + inline M H(V x, d dt, M tr) { return sensor_jacobian(x, dt, tr); }; + inline M Q(d dt) { return process_covariance(dt); }; }; \ No newline at end of file diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index bf0939c..d672495 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -7,6 +7,67 @@ using std::placeholders::_1; using namespace Eigen; +class AckermannModel : public UpdateModel<6> { + // State: [x, y, x', y', yaw, steering_angle] + private: + float wheelbase; + + public: + AckermannModel() : UpdateModel( + VectorXd::Zero(6), + MatrixXd::Identity(6, 6) * .3, + MatrixXd::Identity(6, 6) * .1 + ) { + wheelbase = 1.0; + } + + Vector update_step(Vector state, double dt) { + float d_yaw = state[2] * sin(state[4]) / wheelbase * dt; + float new_yaw = state[4] + d_yaw; + + float new_x = state[0] + state[2] * cos(state[4] + state[5]) * dt; + float new_y = state[1] + state[2] * sin(state[4] + state[5]) * dt; + + return Vector { + new_x, + new_y, + state[2], + state[3], + new_yaw, + state[5] + }; + } + + Matrix update_jacobian(Vector state, double dt) { + Matrix F_k; + + double d_x = state[2]; + double yaw = state[4]; + double tau = state[5]; + + double p_yaw_dx = dt * sin(tau) / wheelbase; + double p_yaw_tau = dt * d_x * cos(tau) / wheelbase; + + double p_x_dx = dt * cos(yaw + tau); + double p_x_yaw = -dt * d_x * sin(yaw + tau); + double p_x_tau = -dt * d_x * sin(yaw + tau); + + double p_y_dx = dt * sin(yaw + tau); + double p_y_yaw = dt * d_x * cos(yaw + tau); + double p_y_tau = dt * d_x * cos(yaw + tau); + + // x y x' y' yaw tau + F_k << 1., 0., p_x_dx, 0., p_x_yaw, p_x_tau, + 0., 1., p_y_dx, 0., p_y_yaw, p_y_tau, + 0., 0., 1., 0., 0., 0., + 0., 0., 0., 1., 0., 0., + 0., 0., p_yaw_dx, 0., 1., p_yaw_tau, + 0., 0., 0., 0., 0., 1.; + + return F_k; + } +}; + class AckermannEkfNode : public rclcpp::Node { public: AckermannEkfNode() : Node("AckermannEkfNode") {} diff --git a/src/update_model.cpp b/src/update_model.cpp index 668f4cd..0f5dcb7 100644 --- a/src/update_model.cpp +++ b/src/update_model.cpp @@ -1,48 +1,52 @@ #include "update_model.h" -UpdateModel::UpdateModel( - VectorXd state, - MatrixXd covariance, - MatrixXd process_covariance +template +UpdateModel::UpdateModel( + Vector state, + Matrix covariance, + Matrix process_covariance ) { this->state = state; this->covariance = covariance; this->base_process_covariance = process_covariance; } -std::pair UpdateModel::predict(float dt) { - MatrixXd F_k = update_jacobian(state, dt); - MatrixXd Q_k = process_covariance(dt); +template +std::pair, Matrix> UpdateModel::predict(double dt) { + Matrix F_k = update_jacobian(state, dt); + Matrix Q_k = process_covariance(dt); return std::make_pair(update_step(state, dt), F_k * covariance * F_k.transpose() + Q_k); } -void UpdateModel::update(float dt) { - std::pair prediction = predict(dt); +template +void UpdateModel::update(double dt) { + std::pair, Matrix> prediction = predict(dt); state = prediction.first; covariance = prediction.second; } -void UpdateModel::sensor_update( - VectorXd sensor_state, - MatrixXd sensor_variance, - MatrixXd sensor_transformation, - float dt +template +void UpdateModel::sensor_update( + Vector sensor_state, + Matrix sensor_variance, + Matrix sensor_transformation, + double dt ) { - std::pair prediction = predict(dt); - VectorXd state = prediction.first; - MatrixXd covariance = prediction.second; + std::pair, Matrix> prediction = predict(dt); + Vector state = prediction.first; + Matrix covariance = prediction.second; - MatrixXd H_k = sensor_jacobian(state, dt, sensor_transformation); - MatrixXd R_k = sensor_variance; + Matrix H_k = sensor_jacobian(state, dt, sensor_transformation); + Matrix R_k = sensor_variance; - VectorXd predicted_sensor = sensor_transformation * state; - VectorXd real_sensor = sensor_state; + Vector predicted_sensor = sensor_transformation * state; + Vector real_sensor = sensor_state; - VectorXd y_k = real_sensor - predicted_sensor; + Vector y_k = real_sensor - predicted_sensor; - MatrixXd S_k = H_k * covariance * H_k.transpose() + R_k; - MatrixXd K_k = covariance * H_k.transpose() * S_k.inverse(); + Matrix S_k = H_k * covariance * H_k.transpose() + R_k; + Matrix K_k = covariance * H_k.transpose() * S_k.inverse(); state = state + K_k * y_k; covariance = ( @@ -50,22 +54,26 @@ void UpdateModel::sensor_update( ) - K_k * H_k) * covariance; } -MatrixXd UpdateModel::process_covariance(float dt) { +template +Matrix UpdateModel::process_covariance(double dt) { return base_process_covariance * dt; } -MatrixXd UpdateModel::sensor_jacobian( - VectorXd state, - float dt, - MatrixXd sensor_transformation +template +Matrix UpdateModel::sensor_jacobian( + Vector state, + double dt, + Matrix sensor_transformation ) { return update_jacobian(state, dt) * sensor_transformation; } -MatrixXd UpdateModel::get_state() { +template +Matrix UpdateModel::get_state() { return state; } -MatrixXd UpdateModel::get_covariance() { +template +Matrix UpdateModel::get_covariance() { return covariance; } \ No newline at end of file From 79d18b6afd6e9841c4656a4f8ed37c9fb3f97034 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Tue, 12 Nov 2024 03:35:57 +0000 Subject: [PATCH 024/196] Derive from state class. --- CMakeLists.txt | 17 ++++++- include/sensor.h | 53 ++++++++++++++++++++ include/state.h | 101 ++++++++++++++++++++++++++++++++++++++ include/update_model.h | 68 +++++++++++++++---------- src/ackermann_ekf.cpp | 109 +++++++++++++++++++++++------------------ src/sensor.cpp | 26 ++++++++++ src/state.cpp | 1 + src/update_model.cpp | 81 ++++++++++++++++-------------- 8 files changed, 341 insertions(+), 115 deletions(-) create mode 100644 include/sensor.h create mode 100644 include/state.h create mode 100644 src/sensor.cpp create mode 100644 src/state.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt index 54631ad..f4e52b4 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -22,10 +22,25 @@ add_library(update_model ) ament_target_dependencies(update_model Eigen3) +add_library(state + src/state.cpp + include/state.h +) +ament_target_dependencies(state Eigen3) + +add_library(sensor + src/sensor.cpp + include/sensor.h +) + +ament_target_dependencies(sensor Eigen3) + include_directories(update_model include) +include_directories(state include) +include_directories(sensor include) add_executable(ackermann_ekf src/ackermann_ekf.cpp) -target_link_libraries(ackermann_ekf update_model) +target_link_libraries(ackermann_ekf update_model state sensor) ament_target_dependencies(ackermann_ekf rclcpp sensor_msgs std_msgs Eigen3) install(TARGETS diff --git a/include/sensor.h b/include/sensor.h new file mode 100644 index 0000000..7932049 --- /dev/null +++ b/include/sensor.h @@ -0,0 +1,53 @@ +#pragma once + +#include "state.h" + +class Sensor : public HasState { + private: + V state; + M covariance; + + public: + /** + * Base class for a sensor model + * + * @param state Current state + * @param covariance Covariance + */ + Sensor(V state, M covariance); + + /** + * Current state of the sensor + * + * @return Current sensor state + */ + V get_state(); + + /** + * Covariance of the sensor + * + * @return Sensor covariance + */ + M get_covariance(); + + /** + * Set the state of the sensor + * + * @param state New sensor state + */ + void set_state(V state); + + /** + * Set the covariance of the sensor + * + * @param covariance New sensor covariance + */ + void set_covariance(M covariance); + + /** + * Matrix that, when left multiplied by a state vector, gives a state matrix in the form of this model. + * + * @return Multiplier matrix + */ + virtual M state_matrix_multiplier(); +}; \ No newline at end of file diff --git a/include/state.h b/include/state.h new file mode 100644 index 0000000..5c461eb --- /dev/null +++ b/include/state.h @@ -0,0 +1,101 @@ +#pragma once + +#include + +using namespace Eigen; + +/* +State: [ + x, y, z, + roll, pitch, yaw, + x' y', z', + roll', pitch', yaw', + x'', y'', z'', + tau, tau', tau'' +] + +where tau = steering_angle +*/ + +static constexpr int S = 18; + +#define x_ state[0] +#define y_ state[1] +#define z_ state[2] +#define roll_ state[3] +#define pitch_ state[4] +#define yaw_ state[5] +#define d_x_ state[6] +#define d_y_ state[7] +#define d_z_ state[8] +#define d_roll_ state[9] +#define d_pitch_ state[10] +#define d_yaw_ state[11] +#define d2_x_ state[12] +#define d2_y_ state[13] +#define d2_z_ state[14] +#define tau_ state[15] +#define d_tau_ state[16] +#define d2_tau_ state[17] + +#define _x_ this->state[0] +#define _y_ this->state[1] +#define _z_ this->state[2] +#define _roll_ this->state[3] +#define _pitch_ this->state[4] +#define _yaw_ this->state[5] +#define _d_x_ this->state[6] +#define _d_y_ this->state[7] +#define _d_z _ this->state[8] +#define _d_roll_ this->state[9] +#define _d_pitch_ this->state[10] +#define _d_yaw_ this->state[11] +#define _d2_x_ this->state[12] +#define _d2_y_ this->state[13] +#define _d2_z_ this->state[14] +#define _tau_ this->state[15] +#define _d_tau_ this->state[16] +#define _d2_tau_ this->state[17] + +// V represents a Vector of the state size +using V = Vector; +// M represents a matrix of state x state size +using M = Matrix; + +class HasState { + public: + /** + * Current state of the sensor + * + * @return Current sensor state + */ + virtual V get_state() = 0; + + /** + * Covariance of the sensor + * + * @return Sensor covariance + */ + virtual M get_covariance() = 0; + + /** + * Set the state of the sensor + * + * @param state New sensor state + */ + virtual void set_state(V state) = 0; + + /** + * Set the covariance of the sensor + * + * @param covariance New sensor covariance + */ + virtual void set_covariance(M covariance) = 0; + + /** + * Matrix that, when left multiplied by a state vector, gives a state matrix in the form of this model. + * + * @return Multiplier matrix + */ + virtual M state_matrix_multiplier() = 0; +}; \ No newline at end of file diff --git a/include/update_model.h b/include/update_model.h index d7e61cd..412bcf3 100644 --- a/include/update_model.h +++ b/include/update_model.h @@ -1,26 +1,23 @@ #pragma once #include -#include +#include "state.h" -using namespace Eigen; - -template -class UpdateModel { +class UpdateModel : public HasState { private: - Vector state; - Matrix covariance; - Matrix base_process_covariance; + V state; + M covariance; + M base_process_covariance; public: /** * Base class for an EKF state update model * * @param state Start state - * @param covariance Start state + * @param covariance Start covariance * @param base_process_covariance Process covariance over time */ - UpdateModel(Vector state, Matrix covariance, Matrix process_covariance); + UpdateModel(V state, M covariance, M process_covariance); /** * Next state and covariance without adjusting with a sensor update. @@ -29,7 +26,7 @@ class UpdateModel { * * @return Next state and covariance */ - std::pair, Matrix> predict(double dt); + std::pair predict(double dt); /** * Update the state/covariance with no sensor estimate. @@ -46,9 +43,9 @@ class UpdateModel { * @param dt Time elapsed since last state update */ void sensor_update( - Vector sensor_state, - Matrix sensor_variance, - Matrix sensor_transformation, + V sensor_state, + M sensor_variance, + M sensor_transformation, double dt ); @@ -59,7 +56,7 @@ class UpdateModel { * * @return Updated system state */ - virtual Vector update_step(Vector state, double dt) = 0; + virtual V update_step(V state, double dt) = 0; /** * Jacobian matrix of a model update step on `state` with time `dt`. @@ -69,7 +66,7 @@ class UpdateModel { * * @return Jacobian matrix of state update step */ - virtual Matrix update_jacobian(Vector state, double dt) = 0; + virtual M update_jacobian(V state, double dt) = 0; /** * Transformed version of the model Jacobian matrix for the state of a given sensor. @@ -79,7 +76,7 @@ class UpdateModel { * * @return Sensor-specific model Jacobian matrix of state update step */ - Matrix sensor_jacobian(Vector state, double dt, Matrix sensor_transformation); + M sensor_jacobian(V state, double dt, M sensor_transformation); /** * Gives process covariance over elapsed time dt. @@ -88,31 +85,48 @@ class UpdateModel { * * @return Process covariance matrix */ - Matrix process_covariance(double dt); + M process_covariance(double dt); + + /** + * Matrix that, when left multiplied by a state vector, gives a state matrix in the form of this model. + * + * @return Multiplier matrix + */ + virtual M state_matrix_multiplier(); /** * Current state of the model * * @return Current model state */ - Matrix get_state(); + V get_state(); /** * Current covariance of the model * * @return Current model covariance */ - Matrix get_covariance(); + M get_covariance(); - using V = Vector; - using M = Matrix; - using d = double; + /** + * Set the state of the model + * + * @param state New model state + */ + void set_state(V state); + + /** + * Set the covariance of the model + * + * @param covariance New model covariance + */ + void set_covariance(M covariance); // Aliases inline V x() { return state; }; inline M P() { return covariance; }; - inline V f(V x, d dt) { return update_step(x, dt); }; - inline M F(V x, d dt) { return update_jacobian(x, dt); }; - inline M H(V x, d dt, M tr) { return sensor_jacobian(x, dt, tr); }; - inline M Q(d dt) { return process_covariance(dt); }; + inline V f(V x, double dt) { return update_step(x, dt); }; + inline M F(V x, double dt) { return update_jacobian(x, dt); }; + inline M H(V x, double dt, M tr) { return sensor_jacobian(x, dt, tr); }; + inline M Q(double dt) { return process_covariance(dt); }; }; \ No newline at end of file diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index d672495..ac2fc60 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -7,72 +7,83 @@ using std::placeholders::_1; using namespace Eigen; -class AckermannModel : public UpdateModel<6> { +class AckermannModel : public UpdateModel { // State: [x, y, x', y', yaw, steering_angle] + private: - float wheelbase; + double wheelbase; public: - AckermannModel() : UpdateModel( - VectorXd::Zero(6), - MatrixXd::Identity(6, 6) * .3, - MatrixXd::Identity(6, 6) * .1 - ) { - wheelbase = 1.0; + AckermannModel( + V state, + M covariance, + M process_covariance, + double wheelbase + ) : UpdateModel(state, covariance, process_covariance) { + this->wheelbase = wheelbase; } - Vector update_step(Vector state, double dt) { - float d_yaw = state[2] * sin(state[4]) / wheelbase * dt; - float new_yaw = state[4] + d_yaw; - - float new_x = state[0] + state[2] * cos(state[4] + state[5]) * dt; - float new_y = state[1] + state[2] * sin(state[4] + state[5]) * dt; - - return Vector { - new_x, - new_y, - state[2], - state[3], - new_yaw, - state[5] - }; + V update_step(V state, double dt) { + float d_yaw = d_x_ * sin(tau_) / wheelbase * dt; + float new_yaw = yaw_ + d_yaw; + + float new_x = x_ + d_x_ * cos(yaw_ + tau_) * dt; + float new_y = y_ + d_x_ * sin(yaw_ + tau_) * dt; + + V new_state; + + new_state[0] = new_x; + new_state[1] = new_y; + new_state[5] = new_yaw; + + return new_state; } - Matrix update_jacobian(Vector state, double dt) { - Matrix F_k; + // M update_jacobian(V state, double dt) { + // M F_k; - double d_x = state[2]; - double yaw = state[4]; - double tau = state[5]; + // double x = state[0]; + // double y = state[1]; + // double d_x = state[6]; + // double d_y = state[7]; + // double yaw = state[5]; + // double tau = state[15]; - double p_yaw_dx = dt * sin(tau) / wheelbase; - double p_yaw_tau = dt * d_x * cos(tau) / wheelbase; + // double p_yaw_dx = dt * sin(tau) / wheelbase; + // double p_yaw_tau = dt * d_x * cos(tau) / wheelbase; - double p_x_dx = dt * cos(yaw + tau); - double p_x_yaw = -dt * d_x * sin(yaw + tau); - double p_x_tau = -dt * d_x * sin(yaw + tau); - - double p_y_dx = dt * sin(yaw + tau); - double p_y_yaw = dt * d_x * cos(yaw + tau); - double p_y_tau = dt * d_x * cos(yaw + tau); - - // x y x' y' yaw tau - F_k << 1., 0., p_x_dx, 0., p_x_yaw, p_x_tau, - 0., 1., p_y_dx, 0., p_y_yaw, p_y_tau, - 0., 0., 1., 0., 0., 0., - 0., 0., 0., 1., 0., 0., - 0., 0., p_yaw_dx, 0., 1., p_yaw_tau, - 0., 0., 0., 0., 0., 1.; - - return F_k; - } + // double p_x_dx = dt * cos(yaw + tau); + // double p_x_yaw = -dt * d_x * sin(yaw + tau); + // double p_x_tau = -dt * d_x * sin(yaw + tau); + + // double p_y_dx = dt * sin(yaw + tau); + // double p_y_yaw = dt * d_x * cos(yaw + tau); + // double p_y_tau = dt * d_x * cos(yaw + tau); + + // // x y x' y' yaw tau + // F_k << 1., 0., p_x_dx, 0., p_x_yaw, p_x_tau, + // 0., 1., p_y_dx, 0., p_y_yaw, p_y_tau, + // 0., 0., 1., 0., 0., 0., + // 0., 0., 0., 1., 0., 0., + // 0., 0., p_yaw_dx, 0., 1., p_yaw_tau, + // 0., 0., 0., 0., 0., 1.; + + // return F_k; + // } }; class AckermannEkfNode : public rclcpp::Node { public: AckermannEkfNode() : Node("AckermannEkfNode") {} - // private: + + // private: + // AckermannModel model = AckermannModel( + // Vector {0., 0., 0., 0., 0., 0.}, + // Matrix::Identity() * .1, + // Matrix::Identity() * .1, + // 1.0 + // ); }; int main(int argc, char *argv[]) { diff --git a/src/sensor.cpp b/src/sensor.cpp new file mode 100644 index 0000000..28dd498 --- /dev/null +++ b/src/sensor.cpp @@ -0,0 +1,26 @@ +#include "sensor.h" + +Sensor::Sensor(V state, M covariance) { + this->state = state; + this->covariance = covariance; +} + +V Sensor::get_state() { + return state; +} + +M Sensor::get_covariance() { + return covariance; +} + +void Sensor::set_state(V state) { + this->state = state; +} + +void Sensor::set_covariance(M covariance) { + this->covariance = covariance; +} + +M Sensor::state_matrix_multiplier() { + return MatrixXd::Identity(S, S); +} \ No newline at end of file diff --git a/src/state.cpp b/src/state.cpp new file mode 100644 index 0000000..b030e69 --- /dev/null +++ b/src/state.cpp @@ -0,0 +1 @@ +#include "state.h" \ No newline at end of file diff --git a/src/update_model.cpp b/src/update_model.cpp index 0f5dcb7..113bfe9 100644 --- a/src/update_model.cpp +++ b/src/update_model.cpp @@ -1,52 +1,49 @@ #include "update_model.h" -template -UpdateModel::UpdateModel( - Vector state, - Matrix covariance, - Matrix process_covariance + +UpdateModel::UpdateModel( + V state, + M covariance, + M process_covariance ) { this->state = state; this->covariance = covariance; this->base_process_covariance = process_covariance; } -template -std::pair, Matrix> UpdateModel::predict(double dt) { - Matrix F_k = update_jacobian(state, dt); - Matrix Q_k = process_covariance(dt); +std::pair UpdateModel::predict(double dt) { + M F_k = update_jacobian(state, dt); + M Q_k = process_covariance(dt); return std::make_pair(update_step(state, dt), F_k * covariance * F_k.transpose() + Q_k); } -template -void UpdateModel::update(double dt) { - std::pair, Matrix> prediction = predict(dt); +void UpdateModel::update(double dt) { + std::pair prediction = predict(dt); state = prediction.first; covariance = prediction.second; } -template -void UpdateModel::sensor_update( - Vector sensor_state, - Matrix sensor_variance, - Matrix sensor_transformation, +void UpdateModel::sensor_update( + V sensor_state, + M sensor_variance, + M sensor_transformation, double dt ) { - std::pair, Matrix> prediction = predict(dt); - Vector state = prediction.first; - Matrix covariance = prediction.second; + std::pair prediction = predict(dt); + V state = prediction.first; + M covariance = prediction.second; - Matrix H_k = sensor_jacobian(state, dt, sensor_transformation); - Matrix R_k = sensor_variance; + M H_k = sensor_jacobian(state, dt, sensor_transformation); + M R_k = sensor_variance; - Vector predicted_sensor = sensor_transformation * state; - Vector real_sensor = sensor_state; + V predicted_sensor = sensor_transformation * state; + V real_sensor = sensor_state; - Vector y_k = real_sensor - predicted_sensor; + V y_k = real_sensor - predicted_sensor; - Matrix S_k = H_k * covariance * H_k.transpose() + R_k; - Matrix K_k = covariance * H_k.transpose() * S_k.inverse(); + M S_k = H_k * covariance * H_k.transpose() + R_k; + M K_k = covariance * H_k.transpose() * S_k.inverse(); state = state + K_k * y_k; covariance = ( @@ -54,26 +51,34 @@ void UpdateModel::sensor_update( ) - K_k * H_k) * covariance; } -template -Matrix UpdateModel::process_covariance(double dt) { +M UpdateModel::process_covariance(double dt) { return base_process_covariance * dt; } -template -Matrix UpdateModel::sensor_jacobian( - Vector state, +M UpdateModel::sensor_jacobian( + V state, double dt, - Matrix sensor_transformation + M sensor_transformation ) { return update_jacobian(state, dt) * sensor_transformation; } -template -Matrix UpdateModel::get_state() { +M UpdateModel::state_matrix_multiplier() { + return MatrixXd::Identity(S, S); +} + +V UpdateModel::get_state() { return state; } -template -Matrix UpdateModel::get_covariance() { +M UpdateModel::get_covariance() { return covariance; -} \ No newline at end of file +} + +void UpdateModel::set_state(V state) { + this->state = state; +} + +void UpdateModel::set_covariance(M covariance) { + this->covariance = covariance; +} From b01f0c0a088e767560905f7541fc7b5d7906f329 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Tue, 12 Nov 2024 03:52:44 +0000 Subject: [PATCH 025/196] Finish basic ackermann model, added launch file. --- include/state.h | 91 ++++++++++++++++++++++++++----------------- launch/launch.py | 12 ++++++ src/ackermann_ekf.cpp | 88 ++++++++++++++++++++++------------------- src/temp.cpp | 55 ++++++++++++++++++++++++++ 4 files changed, 171 insertions(+), 75 deletions(-) create mode 100644 launch/launch.py create mode 100644 src/temp.cpp diff --git a/include/state.h b/include/state.h index 5c461eb..995a841 100644 --- a/include/state.h +++ b/include/state.h @@ -19,43 +19,62 @@ where tau = steering_angle static constexpr int S = 18; -#define x_ state[0] -#define y_ state[1] -#define z_ state[2] -#define roll_ state[3] -#define pitch_ state[4] -#define yaw_ state[5] -#define d_x_ state[6] -#define d_y_ state[7] -#define d_z_ state[8] -#define d_roll_ state[9] -#define d_pitch_ state[10] -#define d_yaw_ state[11] -#define d2_x_ state[12] -#define d2_y_ state[13] -#define d2_z_ state[14] -#define tau_ state[15] -#define d_tau_ state[16] -#define d2_tau_ state[17] +#define x__ 0 +#define y__ 1 +#define z__ 2 +#define roll__ 3 +#define pitch__ 4 +#define yaw__ 5 +#define d_x__ 6 +#define d_y__ 7 +#define d_z__ 8 +#define d_roll__ 9 +#define d_pitch__ 10 +#define d_yaw__ 11 +#define d2_x__ 12 +#define d2_y__ 13 +#define d2_z__ 14 +#define tau__ 15 +#define d_tau__ 16 +#define d2_tau__ 17 -#define _x_ this->state[0] -#define _y_ this->state[1] -#define _z_ this->state[2] -#define _roll_ this->state[3] -#define _pitch_ this->state[4] -#define _yaw_ this->state[5] -#define _d_x_ this->state[6] -#define _d_y_ this->state[7] -#define _d_z _ this->state[8] -#define _d_roll_ this->state[9] -#define _d_pitch_ this->state[10] -#define _d_yaw_ this->state[11] -#define _d2_x_ this->state[12] -#define _d2_y_ this->state[13] -#define _d2_z_ this->state[14] -#define _tau_ this->state[15] -#define _d_tau_ this->state[16] -#define _d2_tau_ this->state[17] +#define x_ state[ x__ ] +#define y_ state[ y__ ] +#define z_ state[ z__ ] +#define roll_ state[ roll__ ] +#define pitch_ state[ pitch__ ] +#define yaw_ state[ yaw__ ] +#define d_x_ state[ d_x__ ] +#define d_y_ state[ d_y__ ] +#define d_z_ state[ d_z__ ] +#define d_roll_ state[ d_roll__ ] +#define d_pitch_ state[ d_pitch__] +#define d_yaw_ state[ d_yaw__ ] +#define d2_x_ state[ d2_x__ ] +#define d2_y_ state[ d2_y__ ] +#define d2_z_ state[ d2_z__ ] +#define tau_ state[ tau__ ] +#define d_tau_ state[ d_tau__ ] +#define d2_tau_ state[ d2_tau__ ] + +#define _x_ this->x_ +#define _y_ this->y_ +#define _z_ this->z_ +#define _roll_ this->roll_ +#define _pitch_ this->pitch_ +#define _yaw_ this->yaw_ +#define _d_x_ this->d_x_ +#define _d_y_ this->d_y_ +#define _d_z _ this->d_z_ +#define _d_roll_ this->d_roll_ +#define _d_pitch_ this->d_pitch_ +#define _d_yaw_ this->d_yaw_ +#define _d2_x_ this->d2_x_ +#define _d2_y_ this->d2_y_ +#define _d2_z_ this->d2_z_ +#define _tau_ this->tau_ +#define _d_tau_ this->d_tau_ +#define _d2_tau_ this->d2_tau_ // V represents a Vector of the state size using V = Vector; diff --git a/launch/launch.py b/launch/launch.py new file mode 100644 index 0000000..129cbd8 --- /dev/null +++ b/launch/launch.py @@ -0,0 +1,12 @@ +from launch import LaunchDescription +from launch_ros.actions import Node + +def generate_launch_description(): + return LaunchDescription([ + Node( + package='ackermann_ekf', + executable='ackermann_ekf', + name='ackermann_ekf_node', + output='screen' + ) + ]) \ No newline at end of file diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index ac2fc60..d2142d2 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -12,6 +12,7 @@ class AckermannModel : public UpdateModel { private: double wheelbase; + M multiplier; public: AckermannModel( @@ -21,6 +22,13 @@ class AckermannModel : public UpdateModel { double wheelbase ) : UpdateModel(state, covariance, process_covariance) { this->wheelbase = wheelbase; + + multiplier(x__, x__) = 1; + multiplier(y__, y__) = 1; + multiplier(d_x__, d_x__) = 1; + multiplier(d_y__, d_y__) = 1; + multiplier(yaw__, yaw__) = 1; + multiplier(tau__, tau__) = 1; } V update_step(V state, double dt) { @@ -39,51 +47,53 @@ class AckermannModel : public UpdateModel { return new_state; } - // M update_jacobian(V state, double dt) { - // M F_k; - - // double x = state[0]; - // double y = state[1]; - // double d_x = state[6]; - // double d_y = state[7]; - // double yaw = state[5]; - // double tau = state[15]; - - // double p_yaw_dx = dt * sin(tau) / wheelbase; - // double p_yaw_tau = dt * d_x * cos(tau) / wheelbase; - - // double p_x_dx = dt * cos(yaw + tau); - // double p_x_yaw = -dt * d_x * sin(yaw + tau); - // double p_x_tau = -dt * d_x * sin(yaw + tau); - - // double p_y_dx = dt * sin(yaw + tau); - // double p_y_yaw = dt * d_x * cos(yaw + tau); - // double p_y_tau = dt * d_x * cos(yaw + tau); - - // // x y x' y' yaw tau - // F_k << 1., 0., p_x_dx, 0., p_x_yaw, p_x_tau, - // 0., 1., p_y_dx, 0., p_y_yaw, p_y_tau, - // 0., 0., 1., 0., 0., 0., - // 0., 0., 0., 1., 0., 0., - // 0., 0., p_yaw_dx, 0., 1., p_yaw_tau, - // 0., 0., 0., 0., 0., 1.; - - // return F_k; - // } + M update_jacobian(V state, double dt) { + M F_k = MatrixXd::Identity(S, S); + + double p_yaw_dx = dt * sin(tau_) / wheelbase; + double p_yaw_tau = dt * d_x_ * cos(tau_) / wheelbase; + + double p_x_dx = dt * cos(yaw_ + tau_); + double p_x_yaw = -dt * d_x_ * sin(yaw_ + tau_); + double p_x_tau = -dt * d_x_ * sin(yaw_ + tau_); + + double p_y_dx = dt * sin(yaw_ + tau_); + double p_y_yaw = dt * d_x_ * cos(yaw_ + tau_); + double p_y_tau = dt * d_x_ * cos(yaw_ + tau_); + + F_k(x__, d_x__) = p_x_dx; + F_k(x__, yaw__) = p_x_yaw; + F_k(x__, tau__) = p_x_tau; + + F_k(y__, d_x__) = p_y_dx; + F_k(y__, yaw__) = p_y_yaw; + F_k(y__, tau__) = p_y_tau; + + F_k(yaw__, d_x__) = p_yaw_dx; + F_k(yaw__, tau__) = p_yaw_tau; + + return F_k; + } + + M state_matrix_multiplier() { + return multiplier; + } }; class AckermannEkfNode : public rclcpp::Node { public: - AckermannEkfNode() : Node("AckermannEkfNode") {} + AckermannEkfNode() : Node("AckermannEkfNode") { + model.set_state(VectorXd::Zero(S)); + } - // private: - // AckermannModel model = AckermannModel( - // Vector {0., 0., 0., 0., 0., 0.}, - // Matrix::Identity() * .1, - // Matrix::Identity() * .1, - // 1.0 - // ); + private: + AckermannModel model = AckermannModel( + V::Zero(), + M::Identity() * .1, + M::Identity() * .1, + 1.0 + ); }; int main(int argc, char *argv[]) { diff --git a/src/temp.cpp b/src/temp.cpp new file mode 100644 index 0000000..bd8e721 --- /dev/null +++ b/src/temp.cpp @@ -0,0 +1,55 @@ +#include "update_model.h" + +template +class UpdateModel { +public: + UpdateModel( + Vector state, + Matrix covariance, + Matrix process_covariance + ) { + this->state = state; + this->covariance = covariance; + this->base_process_covariance = process_covariance; + } + + std::pair, Matrix> predict(float dt) { + Matrix F_k = update_jacobian(state, dt); + Matrix Q_k = process_covariance(dt); + + return std::make_pair(update_step(state, dt), F_k * covariance * F_k.transpose() + Q_k); + } + + void update(float dt) { + std::pair, Matrix> prediction = predict(dt); + state = prediction.first; + covariance = prediction.second; + } + + void sensor_update( + Vector sensor_state, + Matrix sensor_variance, + Matrix sensor_transformation, + float dt + ) { + std::pair, Matrix> prediction = predict(dt); + Vector state = prediction.first; + Matrix covariance = prediction.second; + + Matrix H_k = sensor_jacobian(state, dt, sensor_transformation); + Matrix R_k = sensor_variance; + + Vector predicted_sensor = sensor_transformation * state; + Vector real_sensor = sensor_state; + } + +private: + Vector state; + Matrix covariance; + Matrix base_process_covariance; + + Matrix update_jacobian(const Vector& state, float dt); + Matrix process_covariance(float dt); + Vector update_step(const Vector& state, float dt); + Matrix sensor_jacobian(const Vector& state, float dt, const Matrix& sensor_transformation); +}; \ No newline at end of file From 5a7f021c41a90b3bc483fc2a3bdc9c9138f4a0d2 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Tue, 12 Nov 2024 03:53:41 +0000 Subject: [PATCH 026/196] Clean. --- src/temp.cpp | 55 ---------------------------------------------------- 1 file changed, 55 deletions(-) delete mode 100644 src/temp.cpp diff --git a/src/temp.cpp b/src/temp.cpp deleted file mode 100644 index bd8e721..0000000 --- a/src/temp.cpp +++ /dev/null @@ -1,55 +0,0 @@ -#include "update_model.h" - -template -class UpdateModel { -public: - UpdateModel( - Vector state, - Matrix covariance, - Matrix process_covariance - ) { - this->state = state; - this->covariance = covariance; - this->base_process_covariance = process_covariance; - } - - std::pair, Matrix> predict(float dt) { - Matrix F_k = update_jacobian(state, dt); - Matrix Q_k = process_covariance(dt); - - return std::make_pair(update_step(state, dt), F_k * covariance * F_k.transpose() + Q_k); - } - - void update(float dt) { - std::pair, Matrix> prediction = predict(dt); - state = prediction.first; - covariance = prediction.second; - } - - void sensor_update( - Vector sensor_state, - Matrix sensor_variance, - Matrix sensor_transformation, - float dt - ) { - std::pair, Matrix> prediction = predict(dt); - Vector state = prediction.first; - Matrix covariance = prediction.second; - - Matrix H_k = sensor_jacobian(state, dt, sensor_transformation); - Matrix R_k = sensor_variance; - - Vector predicted_sensor = sensor_transformation * state; - Vector real_sensor = sensor_state; - } - -private: - Vector state; - Matrix covariance; - Matrix base_process_covariance; - - Matrix update_jacobian(const Vector& state, float dt); - Matrix process_covariance(float dt); - Vector update_step(const Vector& state, float dt); - Matrix sensor_jacobian(const Vector& state, float dt, const Matrix& sensor_transformation); -}; \ No newline at end of file From e93323df50cc2e7a748b36cf27ba96e7394fb270 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Tue, 12 Nov 2024 06:46:14 +0000 Subject: [PATCH 027/196] Make HasState hold protected values so that it can create getState functions etc. by default. --- include/sensor.h | 32 -------------------------------- include/state.h | 22 ++++++++++++++++------ include/update_model.h | 30 ------------------------------ src/sensor.cpp | 21 +-------------------- src/state.cpp | 27 ++++++++++++++++++++++++++- src/update_model.cpp | 22 ++-------------------- 6 files changed, 45 insertions(+), 109 deletions(-) diff --git a/include/sensor.h b/include/sensor.h index 7932049..2de86ef 100644 --- a/include/sensor.h +++ b/include/sensor.h @@ -3,10 +3,6 @@ #include "state.h" class Sensor : public HasState { - private: - V state; - M covariance; - public: /** * Base class for a sensor model @@ -16,34 +12,6 @@ class Sensor : public HasState { */ Sensor(V state, M covariance); - /** - * Current state of the sensor - * - * @return Current sensor state - */ - V get_state(); - - /** - * Covariance of the sensor - * - * @return Sensor covariance - */ - M get_covariance(); - - /** - * Set the state of the sensor - * - * @param state New sensor state - */ - void set_state(V state); - - /** - * Set the covariance of the sensor - * - * @param covariance New sensor covariance - */ - void set_covariance(M covariance); - /** * Matrix that, when left multiplied by a state vector, gives a state matrix in the form of this model. * diff --git a/include/state.h b/include/state.h index 995a841..299e25a 100644 --- a/include/state.h +++ b/include/state.h @@ -82,39 +82,49 @@ using V = Vector; using M = Matrix; class HasState { + protected: + V state; + M covariance; + public: + /** + * Base class for a model with a state and covariance + */ + HasState(V state, M covariance); + /** * Current state of the sensor * * @return Current sensor state */ - virtual V get_state() = 0; + V get_state(); /** * Covariance of the sensor * * @return Sensor covariance */ - virtual M get_covariance() = 0; + M get_covariance(); /** * Set the state of the sensor * * @param state New sensor state */ - virtual void set_state(V state) = 0; + void set_state(V state); /** * Set the covariance of the sensor * * @param covariance New sensor covariance */ - virtual void set_covariance(M covariance) = 0; + void set_covariance(M covariance); /** - * Matrix that, when left multiplied by a state vector, gives a state matrix in the form of this model. + * Matrix that, when left multiplied by a state vector, + * gives a state matrix in the form of this model. * * @return Multiplier matrix */ - virtual M state_matrix_multiplier() = 0; + virtual M state_matrix_multiplier(); }; \ No newline at end of file diff --git a/include/update_model.h b/include/update_model.h index 412bcf3..fe7564f 100644 --- a/include/update_model.h +++ b/include/update_model.h @@ -5,8 +5,6 @@ class UpdateModel : public HasState { private: - V state; - M covariance; M base_process_covariance; public: @@ -94,34 +92,6 @@ class UpdateModel : public HasState { */ virtual M state_matrix_multiplier(); - /** - * Current state of the model - * - * @return Current model state - */ - V get_state(); - - /** - * Current covariance of the model - * - * @return Current model covariance - */ - M get_covariance(); - - /** - * Set the state of the model - * - * @param state New model state - */ - void set_state(V state); - - /** - * Set the covariance of the model - * - * @param covariance New model covariance - */ - void set_covariance(M covariance); - // Aliases inline V x() { return state; }; inline M P() { return covariance; }; diff --git a/src/sensor.cpp b/src/sensor.cpp index 28dd498..308d3de 100644 --- a/src/sensor.cpp +++ b/src/sensor.cpp @@ -1,25 +1,6 @@ #include "sensor.h" -Sensor::Sensor(V state, M covariance) { - this->state = state; - this->covariance = covariance; -} - -V Sensor::get_state() { - return state; -} - -M Sensor::get_covariance() { - return covariance; -} - -void Sensor::set_state(V state) { - this->state = state; -} - -void Sensor::set_covariance(M covariance) { - this->covariance = covariance; -} +Sensor::Sensor(V state, M covariance) : HasState(state, covariance) {} M Sensor::state_matrix_multiplier() { return MatrixXd::Identity(S, S); diff --git a/src/state.cpp b/src/state.cpp index b030e69..b8e7f2c 100644 --- a/src/state.cpp +++ b/src/state.cpp @@ -1 +1,26 @@ -#include "state.h" \ No newline at end of file +#include "state.h" + +HasState::HasState(V state, M covariance) { + this->state = state; + this->covariance = covariance; +} + +V HasState::get_state() { + return state; +} + +M HasState::get_covariance() { + return covariance; +} + +void HasState::set_state(V state) { + this->state = state; +} + +void HasState::set_covariance(M covariance) { + this->covariance = covariance; +} + +M HasState::state_matrix_multiplier() { + return MatrixXd::Identity(S, S); +} \ No newline at end of file diff --git a/src/update_model.cpp b/src/update_model.cpp index 113bfe9..a1a21c0 100644 --- a/src/update_model.cpp +++ b/src/update_model.cpp @@ -5,9 +5,7 @@ UpdateModel::UpdateModel( V state, M covariance, M process_covariance -) { - this->state = state; - this->covariance = covariance; +) : HasState(state, covariance) { this->base_process_covariance = process_covariance; } @@ -65,20 +63,4 @@ M UpdateModel::sensor_jacobian( M UpdateModel::state_matrix_multiplier() { return MatrixXd::Identity(S, S); -} - -V UpdateModel::get_state() { - return state; -} - -M UpdateModel::get_covariance() { - return covariance; -} - -void UpdateModel::set_state(V state) { - this->state = state; -} - -void UpdateModel::set_covariance(M covariance) { - this->covariance = covariance; -} +} \ No newline at end of file From 0197fc7a71699f7566acb879380edcb6f50a9a8d Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Tue, 12 Nov 2024 06:55:39 +0000 Subject: [PATCH 028/196] Make basic sensor models --- src/ackermann_ekf.cpp | 46 +++++++++++++++++++++++++++++++++++++++---- 1 file changed, 42 insertions(+), 4 deletions(-) diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index d2142d2..65740eb 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -3,9 +3,9 @@ #include #include "update_model.h" +#include "sensor.h" using std::placeholders::_1; -using namespace Eigen; class AckermannModel : public UpdateModel { // State: [x, y, x', y', yaw, steering_angle] @@ -80,12 +80,40 @@ class AckermannModel : public UpdateModel { } }; -class AckermannEkfNode : public rclcpp::Node { +class IMUSensor : public Sensor { + private: + M multiplier; + public: - AckermannEkfNode() : Node("AckermannEkfNode") { - model.set_state(VectorXd::Zero(S)); + IMUSensor(V state, M covariance) : Sensor(state, covariance) { + multiplier(d_x__, d_x__) = 1; + multiplier(d_y__, d_y__) = 1; + multiplier(yaw__, yaw__) = 1; } + M state_matrix_multiplier() { + return multiplier; + } +}; + +class OdomSensor : public Sensor { + private: + M multiplier; + + public: + OdomSensor(V state, M covariance) : Sensor(state, covariance) { + multiplier(d_x__, d_x__) = 1; + multiplier(tau__, tau__) = 1; + } + + M state_matrix_multiplier() { + return multiplier; + } +}; + +class AckermannEkfNode : public rclcpp::Node { + public: + AckermannEkfNode() : Node("AckermannEkfNode") {} private: AckermannModel model = AckermannModel( @@ -94,6 +122,16 @@ class AckermannEkfNode : public rclcpp::Node { M::Identity() * .1, 1.0 ); + + IMUSensor imu = IMUSensor( + V::Zero(), + M::Identity() * .1 + ); + + OdomSensor odom = OdomSensor( + V::Zero(), + M::Identity() * .1 + ); }; int main(int argc, char *argv[]) { From 1175c18778c51e67267a649c78daf5d35df2edad Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Wed, 13 Nov 2024 02:42:56 +0000 Subject: [PATCH 029/196] Finish creating updater-updateable model. --- CMakeLists.txt | 33 +++++---- include/{state.h => estimator.h} | 28 +++++++- include/{update_model.h => model.h} | 104 +++++++++++++--------------- include/sensor.h | 14 ++-- include/updateable.h | 8 +++ include/updater.h | 38 ++++++++++ src/ackermann_ekf.cpp | 44 +++++++++--- src/estimator.cpp | 38 ++++++++++ src/model.cpp | 70 +++++++++++++++++++ src/sensor.cpp | 12 ++-- src/state.cpp | 26 ------- src/update_model.cpp | 66 ------------------ src/updateable.cpp | 1 + src/updater.cpp | 28 ++++++++ 14 files changed, 331 insertions(+), 179 deletions(-) rename include/{state.h => estimator.h} (80%) rename include/{update_model.h => model.h} (54%) create mode 100644 include/updateable.h create mode 100644 include/updater.h create mode 100644 src/estimator.cpp create mode 100644 src/model.cpp delete mode 100644 src/state.cpp delete mode 100644 src/update_model.cpp create mode 100644 src/updateable.cpp create mode 100644 src/updater.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt index f4e52b4..7fb3c33 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -16,31 +16,40 @@ find_package(rclcpp REQUIRED) find_package(sensor_msgs REQUIRED) find_package(std_msgs REQUIRED) -add_library(update_model - src/update_model.cpp - include/update_model.h +add_library(estimator + src/estimator.cpp + include/estimator.h ) -ament_target_dependencies(update_model Eigen3) +ament_target_dependencies(estimator Eigen3) -add_library(state - src/state.cpp - include/state.h +add_library(model + src/model.cpp + include/model.h ) -ament_target_dependencies(state Eigen3) add_library(sensor src/sensor.cpp include/sensor.h ) -ament_target_dependencies(sensor Eigen3) +add_library(updateable + src/updateable.cpp + include/updateable.h +) + +add_library(updater + src/updater.cpp + include/updater.h +) -include_directories(update_model include) -include_directories(state include) +include_directories(estimator include) +include_directories(model include) include_directories(sensor include) +include_directories(updateable include) +include_directories(updater include) add_executable(ackermann_ekf src/ackermann_ekf.cpp) -target_link_libraries(ackermann_ekf update_model state sensor) +target_link_libraries(ackermann_ekf estimator model sensor updateable updater) ament_target_dependencies(ackermann_ekf rclcpp sensor_msgs std_msgs Eigen3) install(TARGETS diff --git a/include/state.h b/include/estimator.h similarity index 80% rename from include/state.h rename to include/estimator.h index 299e25a..1d5574c 100644 --- a/include/state.h +++ b/include/estimator.h @@ -81,16 +81,24 @@ using V = Vector; // M represents a matrix of state x state size using M = Matrix; -class HasState { +class Estimator { protected: V state; M covariance; + double last_update_time; + bool initialized = false; + public: /** * Base class for a model with a state and covariance + * + * @param state Start state + * @param covariance Start covariance + * @param last_update_time Time of last update + * @param initialized Whether the model has been initialized */ - HasState(V state, M covariance); + Estimator(V state, M covariance, double last_update_time = 0, bool initialized = false); /** * Current state of the sensor @@ -111,7 +119,7 @@ class HasState { * * @param state New sensor state */ - void set_state(V state); + void set_state(V state, double time); /** * Set the covariance of the sensor @@ -119,6 +127,20 @@ class HasState { * @param covariance New sensor covariance */ void set_covariance(M covariance); + + /** + * Get the time of the last update + * + * @return Time of last update + */ + double get_last_update_time(); + + /** + * Get whether the model has been initialized + * + * @return Whether the model has been initialized + */ + bool is_initialized(); /** * Matrix that, when left multiplied by a state vector, diff --git a/include/update_model.h b/include/model.h similarity index 54% rename from include/update_model.h rename to include/model.h index fe7564f..6ed1a18 100644 --- a/include/update_model.h +++ b/include/model.h @@ -1,89 +1,55 @@ #pragma once #include -#include "state.h" +#include "updater.h" -class UpdateModel : public HasState { - private: +class Model : public Updateable, public Updater { + protected: M base_process_covariance; - public: - /** - * Base class for an EKF state update model - * - * @param state Start state - * @param covariance Start covariance - * @param base_process_covariance Process covariance over time - */ - UpdateModel(V state, M covariance, M process_covariance); - /** * Next state and covariance without adjusting with a sensor update. * - * @param dt Time elapsed since last state update + * @param time Time to predict to * * @return Next state and covariance */ - std::pair predict(double dt); - - /** - * Update the state/covariance with no sensor estimate. - * @param dt Time elapsed since last state update - */ - void update(double dt); - - /** - * Update the state/covariance with a sensor estimate. - * - * @param sensor_state Estimated state from sensor - * @param sensor_variance Estimated variance of sensor - * @param sensor_transformation Transformation from model state to sensor - * @param dt Time elapsed since last state update - */ - void sensor_update( - V sensor_state, - M sensor_variance, - M sensor_transformation, - double dt - ); + std::pair predict(double time); /** * Perform a model update step on `state` with time `dt`. * - * @param dt Time elapsed since last state update + * @param dt Time to predict to * * @return Updated system state */ - virtual V update_step(V state, double dt) = 0; + virtual V update_step(double time) = 0; /** * Jacobian matrix of a model update step on `state` with time `dt`. * - * @param state Last system state - * @param dt Time elapsed since last state update + * @param time Time to predict to * * @return Jacobian matrix of state update step */ - virtual M update_jacobian(V state, double dt) = 0; + virtual M update_jacobian(double time) = 0; /** * Transformed version of the model Jacobian matrix for the state of a given sensor. - * @param state Last system state - * @param dt Time elapsed since last state update - * @param sensor_transformation Transformation from model state to sensor state + * @param estimate Sensor estimate * * @return Sensor-specific model Jacobian matrix of state update step */ - M sensor_jacobian(V state, double dt, M sensor_transformation); + M sensor_jacobian(Estimator estimate); /** * Gives process covariance over elapsed time dt. * - * @param dt Time elapsed since last state update + * @param time Time to predict to * * @return Process covariance matrix */ - M process_covariance(double dt); + M process_covariance(double time); /** * Matrix that, when left multiplied by a state vector, gives a state matrix in the form of this model. @@ -92,11 +58,41 @@ class UpdateModel : public HasState { */ virtual M state_matrix_multiplier(); - // Aliases - inline V x() { return state; }; - inline M P() { return covariance; }; - inline V f(V x, double dt) { return update_step(x, dt); }; - inline M F(V x, double dt) { return update_jacobian(x, dt); }; - inline M H(V x, double dt, M tr) { return sensor_jacobian(x, dt, tr); }; - inline M Q(double dt) { return process_covariance(dt); }; + public: + /** + * Base class for an EKF state update model + * + * @param state Start state + * @param covariance Start covariance + * @param base_process_covariance Process covariance over time + * @param last_update_time Time of last update + * @param initialized Whether the model has been initialized + * + */ + Model( + V state, + M covariance, + M process_covariance, + double last_update_time = 0, + bool initialized = false, + std::vector dependents = {} + ); + + /** + * Update the state/covariance with no sensor estimate. + * @param time Time to predict to + */ + void update(double time); + + /** + * Update the state/covariance with a sensor estimate. + * + * @param sensor_state Estimated state from sensor + * @param sensor_variance Estimated variance of sensor + * @param sensor_transformation Transformation from model state to sensor + * @param dt Time elapsed since last state update + */ + void estimate_update( + Estimator estimate + ); }; \ No newline at end of file diff --git a/include/sensor.h b/include/sensor.h index 2de86ef..2011eb1 100644 --- a/include/sensor.h +++ b/include/sensor.h @@ -1,8 +1,8 @@ #pragma once -#include "state.h" +#include "updater.h" -class Sensor : public HasState { +class Sensor : public Updater { public: /** * Base class for a sensor model @@ -10,12 +10,18 @@ class Sensor : public HasState { * @param state Current state * @param covariance Covariance */ - Sensor(V state, M covariance); + Sensor( + V state, + M covariance, + double last_update_time = 0, + bool initialized = false, + std::vector dependents = {} + ); /** * Matrix that, when left multiplied by a state vector, gives a state matrix in the form of this model. * * @return Multiplier matrix */ - virtual M state_matrix_multiplier(); + virtual M state_matrix_multiplier() = 0; }; \ No newline at end of file diff --git a/include/updateable.h b/include/updateable.h new file mode 100644 index 0000000..59f39b5 --- /dev/null +++ b/include/updateable.h @@ -0,0 +1,8 @@ +#pragma once + +#include "estimator.h" + +class Updateable { + public: + virtual void estimate_update(Estimator estimate) = 0; +}; \ No newline at end of file diff --git a/include/updater.h b/include/updater.h new file mode 100644 index 0000000..33dc6f3 --- /dev/null +++ b/include/updater.h @@ -0,0 +1,38 @@ +#pragma once + +#include +#include +#include "updateable.h" + +using Listener = std::shared_ptr; + +class Updater : public Estimator { + protected: + std::vector models; + + public: + Updater( + V state, + M covariance, + double last_update_time = 0, + bool initialized = false, + std::vector dependents = {} + ); + + /** + * Bind a model to this updater + * + * @param model Model to bind + */ + void bind_to(Listener model); + + void update_state(V state, double time); + + /** + * Update all bound models + * + * @param state New state + * @param time Time of state update + */ + void update_dependents(); +}; \ No newline at end of file diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index 65740eb..d473a6b 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -2,12 +2,12 @@ #include #include -#include "update_model.h" #include "sensor.h" +#include "model.h" using std::placeholders::_1; -class AckermannModel : public UpdateModel { +class AckermannModel : public Model { // State: [x, y, x', y', yaw, steering_angle] private: @@ -20,7 +20,7 @@ class AckermannModel : public UpdateModel { M covariance, M process_covariance, double wheelbase - ) : UpdateModel(state, covariance, process_covariance) { + ) : Model(state, covariance, process_covariance) { this->wheelbase = wheelbase; multiplier(x__, x__) = 1; @@ -31,7 +31,9 @@ class AckermannModel : public UpdateModel { multiplier(tau__, tau__) = 1; } - V update_step(V state, double dt) { + V update_step(double time) { + double dt = time - last_update_time; + float d_yaw = d_x_ * sin(tau_) / wheelbase * dt; float new_yaw = yaw_ + d_yaw; @@ -47,7 +49,9 @@ class AckermannModel : public UpdateModel { return new_state; } - M update_jacobian(V state, double dt) { + M update_jacobian(double time) { + double dt = time - last_update_time; + M F_k = MatrixXd::Identity(S, S); double p_yaw_dx = dt * sin(tau_) / wheelbase; @@ -85,7 +89,17 @@ class IMUSensor : public Sensor { M multiplier; public: - IMUSensor(V state, M covariance) : Sensor(state, covariance) { + IMUSensor( + V state, + M covariance, + std::vector dependents + ) : Sensor( + state, + covariance, + 0, + false, + dependents + ) { multiplier(d_x__, d_x__) = 1; multiplier(d_y__, d_y__) = 1; multiplier(yaw__, yaw__) = 1; @@ -101,7 +115,17 @@ class OdomSensor : public Sensor { M multiplier; public: - OdomSensor(V state, M covariance) : Sensor(state, covariance) { + OdomSensor( + V state, + M covariance, + std::vector dependents + ) : Sensor( + state, + covariance, + 0, + false, + dependents + ) { multiplier(d_x__, d_x__) = 1; multiplier(tau__, tau__) = 1; } @@ -125,12 +149,14 @@ class AckermannEkfNode : public rclcpp::Node { IMUSensor imu = IMUSensor( V::Zero(), - M::Identity() * .1 + M::Identity() * .1, + {std::make_shared(model)} ); OdomSensor odom = OdomSensor( V::Zero(), - M::Identity() * .1 + M::Identity() * .1, + {std::make_shared(model)} ); }; diff --git a/src/estimator.cpp b/src/estimator.cpp new file mode 100644 index 0000000..79801c3 --- /dev/null +++ b/src/estimator.cpp @@ -0,0 +1,38 @@ +#include "estimator.h" + +Estimator::Estimator(V state, M covariance, double last_update_time, bool initialized) { + this->state = state; + this->covariance = covariance; + this->last_update_time = last_update_time; + this->initialized = initialized; +} + +V Estimator::get_state() { + return state; +} + +M Estimator::get_covariance() { + return covariance; +} + +void Estimator::set_state(V state, double time) { + this->state = state; + this->last_update_time = time; + this->initialized = true; +} + +void Estimator::set_covariance(M covariance) { + this->covariance = covariance; +} + +double Estimator::get_last_update_time() { + return last_update_time; +} + +bool Estimator::is_initialized() { + return initialized; +} + +M Estimator::state_matrix_multiplier() { + return MatrixXd::Identity(S, S); +} \ No newline at end of file diff --git a/src/model.cpp b/src/model.cpp new file mode 100644 index 0000000..ddbbc9f --- /dev/null +++ b/src/model.cpp @@ -0,0 +1,70 @@ +#include "model.h" + + +Model::Model( + V state, + M covariance, + M process_covariance, + double last_update_time, + bool initialized, + std::vector dependents +) : Updater(state, covariance, last_update_time, initialized, dependents) { + this->base_process_covariance = process_covariance; +} + +std::pair Model::predict(double time) { + M F_k = update_jacobian(time); + M Q_k = process_covariance(time); + + return std::make_pair(update_step(time), F_k * covariance * F_k.transpose() + Q_k); +} + +void Model::update(double time) { + std::pair prediction = predict(time); + state = prediction.first; + covariance = prediction.second; + + last_update_time = time; + + update_dependents(); +} + +void Model::estimate_update( + Estimator estimate +) { + std::pair prediction = predict(estimate.get_last_update_time()); + V state = prediction.first; + M covariance = prediction.second; + + M H_k = sensor_jacobian(estimate); + M R_k = estimate.get_covariance(); + + V predicted_sensor = estimate.state_matrix_multiplier() * state; + V real_sensor = estimate.get_state(); + + V y_k = real_sensor - predicted_sensor; + + M S_k = H_k * covariance * H_k.transpose() + R_k; + M K_k = covariance * H_k.transpose() * S_k.inverse(); + + state = state + K_k * y_k; + covariance = ( + MatrixXd::Identity(covariance.rows(), covariance.cols() + ) - K_k * H_k) * covariance; + + last_update_time = estimate.get_last_update_time(); + + update_dependents(); +} + +M Model::process_covariance(double time) { + return base_process_covariance * (time - last_update_time); +} + +M Model::sensor_jacobian(Estimator estimate) { + return estimate.state_matrix_multiplier() * update_jacobian(estimate.get_last_update_time()); +} + +M Model::state_matrix_multiplier() { + return MatrixXd::Identity(S, S); +} \ No newline at end of file diff --git a/src/sensor.cpp b/src/sensor.cpp index 308d3de..291367c 100644 --- a/src/sensor.cpp +++ b/src/sensor.cpp @@ -1,7 +1,9 @@ #include "sensor.h" -Sensor::Sensor(V state, M covariance) : HasState(state, covariance) {} - -M Sensor::state_matrix_multiplier() { - return MatrixXd::Identity(S, S); -} \ No newline at end of file +Sensor::Sensor( + V state, + M covariance, + double last_update_time, + bool initialized, + std::vector dependents +) : Updater(state, covariance, last_update_time, initialized, dependents) {}; \ No newline at end of file diff --git a/src/state.cpp b/src/state.cpp deleted file mode 100644 index b8e7f2c..0000000 --- a/src/state.cpp +++ /dev/null @@ -1,26 +0,0 @@ -#include "state.h" - -HasState::HasState(V state, M covariance) { - this->state = state; - this->covariance = covariance; -} - -V HasState::get_state() { - return state; -} - -M HasState::get_covariance() { - return covariance; -} - -void HasState::set_state(V state) { - this->state = state; -} - -void HasState::set_covariance(M covariance) { - this->covariance = covariance; -} - -M HasState::state_matrix_multiplier() { - return MatrixXd::Identity(S, S); -} \ No newline at end of file diff --git a/src/update_model.cpp b/src/update_model.cpp deleted file mode 100644 index a1a21c0..0000000 --- a/src/update_model.cpp +++ /dev/null @@ -1,66 +0,0 @@ -#include "update_model.h" - - -UpdateModel::UpdateModel( - V state, - M covariance, - M process_covariance -) : HasState(state, covariance) { - this->base_process_covariance = process_covariance; -} - -std::pair UpdateModel::predict(double dt) { - M F_k = update_jacobian(state, dt); - M Q_k = process_covariance(dt); - - return std::make_pair(update_step(state, dt), F_k * covariance * F_k.transpose() + Q_k); -} - -void UpdateModel::update(double dt) { - std::pair prediction = predict(dt); - state = prediction.first; - covariance = prediction.second; -} - -void UpdateModel::sensor_update( - V sensor_state, - M sensor_variance, - M sensor_transformation, - double dt -) { - std::pair prediction = predict(dt); - V state = prediction.first; - M covariance = prediction.second; - - M H_k = sensor_jacobian(state, dt, sensor_transformation); - M R_k = sensor_variance; - - V predicted_sensor = sensor_transformation * state; - V real_sensor = sensor_state; - - V y_k = real_sensor - predicted_sensor; - - M S_k = H_k * covariance * H_k.transpose() + R_k; - M K_k = covariance * H_k.transpose() * S_k.inverse(); - - state = state + K_k * y_k; - covariance = ( - MatrixXd::Identity(covariance.rows(), covariance.cols() - ) - K_k * H_k) * covariance; -} - -M UpdateModel::process_covariance(double dt) { - return base_process_covariance * dt; -} - -M UpdateModel::sensor_jacobian( - V state, - double dt, - M sensor_transformation -) { - return update_jacobian(state, dt) * sensor_transformation; -} - -M UpdateModel::state_matrix_multiplier() { - return MatrixXd::Identity(S, S); -} \ No newline at end of file diff --git a/src/updateable.cpp b/src/updateable.cpp new file mode 100644 index 0000000..23b63f9 --- /dev/null +++ b/src/updateable.cpp @@ -0,0 +1 @@ +#include "updateable.h" \ No newline at end of file diff --git a/src/updater.cpp b/src/updater.cpp new file mode 100644 index 0000000..5c68357 --- /dev/null +++ b/src/updater.cpp @@ -0,0 +1,28 @@ +#include "updater.h" + +Updater::Updater( + V state, + M covariance, + double last_update_time, + bool initialized, + std::vector dependents +) : Estimator(state, covariance, last_update_time, initialized) { + models = dependents; +} + +void Updater::bind_to(Listener model) { + models.push_back(model); +} + +void Updater::update_state(V state, double time) { + this->state = state; + last_update_time = time; +} + +void Updater::update_dependents() { + Estimator* self = this; + + for (Listener model : models) { + model->estimate_update(*self); + } +} \ No newline at end of file From 91fb4a6685814eca3afac0332805b6343944ec3b Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Tue, 12 Nov 2024 23:18:57 -0500 Subject: [PATCH 030/196] SensorCollect --- CMakeLists.txt | 33 +++++++++++++++++++++++++++++++++ msg/SensorCollect.msg | 3 +++ package.xml | 22 ++++++++++++++++++++++ 3 files changed, 58 insertions(+) create mode 100644 CMakeLists.txt create mode 100644 msg/SensorCollect.msg create mode 100644 package.xml diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..b72fc3e --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,33 @@ +cmake_minimum_required(VERSION 3.8) +project(cev_msgs) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES Clang) + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(rosidl_default_generators REQUIRED) + +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( REQUIRED) + +rosidl_generate_interfaces(${PROJECT_NAME} + "msg/SensorCollect.msg" + ) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() + diff --git a/msg/SensorCollect.msg b/msg/SensorCollect.msg new file mode 100644 index 0000000..f8bcb56 --- /dev/null +++ b/msg/SensorCollect.msg @@ -0,0 +1,3 @@ +uint32 timestamp +float32 velocity +float32 steering_angle \ No newline at end of file diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..de7734f --- /dev/null +++ b/package.xml @@ -0,0 +1,22 @@ + + + + cev_msgs + 0.0.0 + TODO: Package description + sloth + TODO: License declaration + + ament_cmake + + rosidl_default_generators + rosidl_default_runtime + rosidl_interface_packages + + ament_lint_auto + ament_lint_common + + + ament_cmake + + From 5891213fcf1589bd71cd533475d3ae0cc70c34e9 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Tue, 12 Nov 2024 23:25:02 -0500 Subject: [PATCH 031/196] README --- README.md | 7 +++++++ 1 file changed, 7 insertions(+) create mode 100644 README.md diff --git a/README.md b/README.md new file mode 100644 index 0000000..2129391 --- /dev/null +++ b/README.md @@ -0,0 +1,7 @@ +Custom ROS 2 messages for Cornell Electric Vehicles. + +SensorCollect.msg + - timestamp : uint32 [ Time message was sent in milliseconds ] + - float32 : velocity [ Velocity in m/s] + - float32 : steering_angle [ Steering angle in radians ] + From 2a02ecadb39ef371beb1a0dd5bb9ceb46d02fc5f Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Tue, 12 Nov 2024 23:27:25 -0500 Subject: [PATCH 032/196] Comment sensor collect --- msg/SensorCollect.msg | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/msg/SensorCollect.msg b/msg/SensorCollect.msg index f8bcb56..881e10b 100644 --- a/msg/SensorCollect.msg +++ b/msg/SensorCollect.msg @@ -1,3 +1,9 @@ +# SensorCollect.msg +# +# timestamp : uint32 [ Time message was sent in milliseconds ] +# float32 : velocity [ Velocity in m/s] +# float32 : steering_angle [ Steering angle in radians ] +# uint32 timestamp float32 velocity -float32 steering_angle \ No newline at end of file +float32 steering_angle From 8e3291fac571ba5b366f9c72d1af7bb9fddd9bd3 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Wed, 13 Nov 2024 00:12:34 -0500 Subject: [PATCH 033/196] Make sensor collect time based --- README.md | 5 ++--- msg/SensorCollect.msg | 10 +++++----- 2 files changed, 7 insertions(+), 8 deletions(-) diff --git a/README.md b/README.md index 2129391..124a7c5 100644 --- a/README.md +++ b/README.md @@ -1,7 +1,6 @@ Custom ROS 2 messages for Cornell Electric Vehicles. SensorCollect.msg - - timestamp : uint32 [ Time message was sent in milliseconds ] - - float32 : velocity [ Velocity in m/s] + - stamp : Time [ Message time ] + - float32 : velocity [ Velocity in m/s] - float32 : steering_angle [ Steering angle in radians ] - diff --git a/msg/SensorCollect.msg b/msg/SensorCollect.msg index 881e10b..4587666 100644 --- a/msg/SensorCollect.msg +++ b/msg/SensorCollect.msg @@ -1,9 +1,9 @@ # SensorCollect.msg # -# timestamp : uint32 [ Time message was sent in milliseconds ] -# float32 : velocity [ Velocity in m/s] +# stamp : Time [ Message time ] +# float32 : velocity [ Velocity in m/s] # float32 : steering_angle [ Steering angle in radians ] # -uint32 timestamp -float32 velocity -float32 steering_angle +builtin_interfaces/Time stamp +float32 velocity +float32 steering_angle From 249a7f295e5bc7a333997760d286778a07b01677 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Wed, 13 Nov 2024 00:23:56 -0500 Subject: [PATCH 034/196] Added cev_msgs submodule. --- .gitmodules | 3 +++ CMakeLists.txt | 8 +++++++- include/model.h | 11 +++++------ include/ros_sensor.h | 28 ++++++++++++++++++++++++++++ include/sensor.h | 3 +++ include/updateable.h | 5 +++++ include/updater.h | 2 -- lib/cev_msgs | 1 + src/ackermann_ekf.cpp | 21 ++++++++++----------- src/ros_sensor.cpp | 1 + src/updater.cpp | 5 ----- 11 files changed, 63 insertions(+), 25 deletions(-) create mode 100644 include/ros_sensor.h create mode 160000 lib/cev_msgs create mode 100644 src/ros_sensor.cpp diff --git a/.gitmodules b/.gitmodules index 10beb96..50bdceb 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,3 +1,6 @@ [submodule "docs/doxygen-awesome-css"] path = docs/doxygen-awesome-css url = https://github.com/jothepro/doxygen-awesome-css.git +[submodule "lib/cev_msgs"] + path = lib/cev_msgs + url = git@github.com:cornellev/cev_msgs.git diff --git a/CMakeLists.txt b/CMakeLists.txt index 7fb3c33..1fd76df 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -42,14 +42,20 @@ add_library(updater include/updater.h ) +add_library(ros_sensor + src/ros_sensor.cpp + include/ros_sensor.h +) + include_directories(estimator include) include_directories(model include) include_directories(sensor include) include_directories(updateable include) include_directories(updater include) +include_directories(ros_sensor include) add_executable(ackermann_ekf src/ackermann_ekf.cpp) -target_link_libraries(ackermann_ekf estimator model sensor updateable updater) +target_link_libraries(ackermann_ekf estimator model sensor updateable updater ros_sensor) ament_target_dependencies(ackermann_ekf rclcpp sensor_msgs std_msgs Eigen3) install(TARGETS diff --git a/include/model.h b/include/model.h index 6ed1a18..51a84ce 100644 --- a/include/model.h +++ b/include/model.h @@ -19,7 +19,7 @@ class Model : public Updateable, public Updater { /** * Perform a model update step on `state` with time `dt`. * - * @param dt Time to predict to + * @param time Time to predict to * * @return Updated system state */ @@ -36,7 +36,8 @@ class Model : public Updateable, public Updater { /** * Transformed version of the model Jacobian matrix for the state of a given sensor. - * @param estimate Sensor estimate + * + * @param estimate New sensor estimate * * @return Sensor-specific model Jacobian matrix of state update step */ @@ -67,6 +68,7 @@ class Model : public Updateable, public Updater { * @param base_process_covariance Process covariance over time * @param last_update_time Time of last update * @param initialized Whether the model has been initialized + * @param dependents Models that depend on this model * */ Model( @@ -87,10 +89,7 @@ class Model : public Updateable, public Updater { /** * Update the state/covariance with a sensor estimate. * - * @param sensor_state Estimated state from sensor - * @param sensor_variance Estimated variance of sensor - * @param sensor_transformation Transformation from model state to sensor - * @param dt Time elapsed since last state update + * @param estimate New sensor estimate */ void estimate_update( Estimator estimate diff --git a/include/ros_sensor.h b/include/ros_sensor.h new file mode 100644 index 0000000..7c5f2d5 --- /dev/null +++ b/include/ros_sensor.h @@ -0,0 +1,28 @@ +#pragma once + +#include "sensor.h" + +template +class RosSensor : public Sensor { + protected: + M multiplier = M::Identity(); + + public: + RosSensor( + V state, + M covariance, + std::vector dependents + ) : Sensor( + state, + covariance, + 0, + false, + dependents + ) + + virtual void msg_update(T msg) = 0; + + M state_matrix_multiplier() { + return multiplier; + } +}; \ No newline at end of file diff --git a/include/sensor.h b/include/sensor.h index 2011eb1..2012ffd 100644 --- a/include/sensor.h +++ b/include/sensor.h @@ -9,6 +9,9 @@ class Sensor : public Updater { * * @param state Current state * @param covariance Covariance + * @param last_update_time Time of last update + * @param initialized Whether the sensor has been initialized + * @param dependents Models that depend on this sensor */ Sensor( V state, diff --git a/include/updateable.h b/include/updateable.h index 59f39b5..2caa88e 100644 --- a/include/updateable.h +++ b/include/updateable.h @@ -4,5 +4,10 @@ class Updateable { public: + /** + * Update the state of the model with an estimate + * + * @param estimate Estimate to update with + */ virtual void estimate_update(Estimator estimate) = 0; }; \ No newline at end of file diff --git a/include/updater.h b/include/updater.h index 33dc6f3..cfc948e 100644 --- a/include/updater.h +++ b/include/updater.h @@ -26,8 +26,6 @@ class Updater : public Estimator { */ void bind_to(Listener model); - void update_state(V state, double time); - /** * Update all bound models * diff --git a/lib/cev_msgs b/lib/cev_msgs new file mode 160000 index 0000000..8e3291f --- /dev/null +++ b/lib/cev_msgs @@ -0,0 +1 @@ +Subproject commit 8e3291fac571ba5b366f9c72d1af7bb9fddd9bd3 diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index d473a6b..e8cd429 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -2,8 +2,10 @@ #include #include -#include "sensor.h" #include "model.h" +#include "ros_sensor.h" + +#include "sensor_msgs/msg/imu.hpp" using std::placeholders::_1; @@ -84,33 +86,30 @@ class AckermannModel : public Model { } }; -class IMUSensor : public Sensor { - private: - M multiplier; - +class IMUSensor : public RosSensor { public: IMUSensor( - V state, + V state, M covariance, std::vector dependents - ) : Sensor( + ) : RosSensor( state, covariance, 0, false, dependents - ) { + ) { multiplier(d_x__, d_x__) = 1; multiplier(d_y__, d_y__) = 1; multiplier(yaw__, yaw__) = 1; } - M state_matrix_multiplier() { - return multiplier; + void msg_update(sensor_msgs::msg::Imu msg) { + // Update state with IMU data } }; -class OdomSensor : public Sensor { +class OdomSensor : public RosSensor { private: M multiplier; diff --git a/src/ros_sensor.cpp b/src/ros_sensor.cpp new file mode 100644 index 0000000..8e280c7 --- /dev/null +++ b/src/ros_sensor.cpp @@ -0,0 +1 @@ +#include "ros_sensor.h" \ No newline at end of file diff --git a/src/updater.cpp b/src/updater.cpp index 5c68357..97790b9 100644 --- a/src/updater.cpp +++ b/src/updater.cpp @@ -14,11 +14,6 @@ void Updater::bind_to(Listener model) { models.push_back(model); } -void Updater::update_state(V state, double time) { - this->state = state; - last_update_time = time; -} - void Updater::update_dependents() { Estimator* self = this; From 34d10a5445fa3f28c8c43212635958ea35024b48 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Wed, 13 Nov 2024 00:52:18 -0500 Subject: [PATCH 035/196] temp. --- msg/SensorCollect.msg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/msg/SensorCollect.msg b/msg/SensorCollect.msg index 4587666..c0337b9 100644 --- a/msg/SensorCollect.msg +++ b/msg/SensorCollect.msg @@ -4,6 +4,6 @@ # float32 : velocity [ Velocity in m/s] # float32 : steering_angle [ Steering angle in radians ] # -builtin_interfaces/Time stamp +uint32 stamp float32 velocity float32 steering_angle From d606fa0603e08ec100b03d6b21ef275e66f21367 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Wed, 13 Nov 2024 09:45:08 +0000 Subject: [PATCH 036/196] Integrate cev_msgs, make ros node to output and handle sensor data. --- .devcontainer/Dockerfile.dev | 3 +- .devcontainer/devcontainer.json | 4 +- .gitmodules | 6 -- CMakeLists.txt | 22 +++--- include/ros_sensor.h | 7 +- lib/cev_msgs | 1 - package.xml | 7 ++ src/ackermann_ekf.cpp | 120 ++++++++++++++++++++++++++------ 8 files changed, 128 insertions(+), 42 deletions(-) delete mode 100644 .gitmodules delete mode 160000 lib/cev_msgs diff --git a/.devcontainer/Dockerfile.dev b/.devcontainer/Dockerfile.dev index 0624acc..137f03c 100644 --- a/.devcontainer/Dockerfile.dev +++ b/.devcontainer/Dockerfile.dev @@ -58,6 +58,7 @@ RUN rm -rf /root/ws/tmp RUN source /opt/ros/$ROS_DISTRO/setup.bash \ && cd /root/ws \ - && colcon build + && colcon build \ + && git clone https://github.com/cornellev/cev_msgs.git src/cev_msgs EXPOSE 4567 \ No newline at end of file diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json index f8fe924..4bd977e 100644 --- a/.devcontainer/devcontainer.json +++ b/.devcontainer/devcontainer.json @@ -3,8 +3,8 @@ "build": { "dockerfile": "Dockerfile.dev" }, - "workspaceMount": "source=${localWorkspaceFolder},target=/root/ws/src,type=bind", - "workspaceFolder": "/root/ws/src", + "workspaceMount": "source=${localWorkspaceFolder},target=/root/ws/src/ackermann_kf,type=bind", + "workspaceFolder": "/root/ws/src/ackermann_kf", "runArgs": [ "--rm", "--network=host", diff --git a/.gitmodules b/.gitmodules deleted file mode 100644 index 50bdceb..0000000 --- a/.gitmodules +++ /dev/null @@ -1,6 +0,0 @@ -[submodule "docs/doxygen-awesome-css"] - path = docs/doxygen-awesome-css - url = https://github.com/jothepro/doxygen-awesome-css.git -[submodule "lib/cev_msgs"] - path = lib/cev_msgs - url = git@github.com:cornellev/cev_msgs.git diff --git a/CMakeLists.txt b/CMakeLists.txt index 1fd76df..fd28a6c 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -15,6 +15,12 @@ find_package(Eigen3 REQUIRED) find_package(rclcpp REQUIRED) find_package(sensor_msgs REQUIRED) find_package(std_msgs REQUIRED) +find_package(tf2 REQUIRED) +find_package(tf2_ros REQUIRED) +find_package(tf2_geometry_msgs REQUIRED) +find_package(nav_msgs REQUIRED) + +find_package(cev_msgs REQUIRED) add_library(estimator src/estimator.cpp @@ -32,6 +38,11 @@ add_library(sensor include/sensor.h ) +add_library(ros_sensor + src/ros_sensor.cpp + include/ros_sensor.h +) + add_library(updateable src/updateable.cpp include/updateable.h @@ -42,21 +53,16 @@ add_library(updater include/updater.h ) -add_library(ros_sensor - src/ros_sensor.cpp - include/ros_sensor.h -) - include_directories(estimator include) include_directories(model include) include_directories(sensor include) +include_directories(ros_sensor include) include_directories(updateable include) include_directories(updater include) -include_directories(ros_sensor include) add_executable(ackermann_ekf src/ackermann_ekf.cpp) -target_link_libraries(ackermann_ekf estimator model sensor updateable updater ros_sensor) -ament_target_dependencies(ackermann_ekf rclcpp sensor_msgs std_msgs Eigen3) +target_link_libraries(ackermann_ekf estimator model sensor ros_sensor updateable updater) +ament_target_dependencies(ackermann_ekf rclcpp sensor_msgs std_msgs Eigen3 cev_msgs tf2 tf2_ros tf2_geometry_msgs nav_msgs) install(TARGETS ackermann_ekf diff --git a/include/ros_sensor.h b/include/ros_sensor.h index 7c5f2d5..e104431 100644 --- a/include/ros_sensor.h +++ b/include/ros_sensor.h @@ -18,7 +18,12 @@ class RosSensor : public Sensor { 0, false, dependents - ) + ) {} + + void msg_handler(T msg) { + msg_update(msg); + update_dependents(); + } virtual void msg_update(T msg) = 0; diff --git a/lib/cev_msgs b/lib/cev_msgs deleted file mode 160000 index 8e3291f..0000000 --- a/lib/cev_msgs +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 8e3291fac571ba5b366f9c72d1af7bb9fddd9bd3 diff --git a/package.xml b/package.xml index 40da526..ef04c66 100644 --- a/package.xml +++ b/package.xml @@ -13,6 +13,13 @@ sensor_msgs std_msgs eigen3 + tf2 + tf2_ros + tf2_geometry_msgs + nav_msgs + + cev_msgs + ament_lint_auto ament_lint_common diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index e8cd429..81d9ba0 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -2,10 +2,15 @@ #include #include +#include +#include + #include "model.h" #include "ros_sensor.h" #include "sensor_msgs/msg/imu.hpp" +#include "nav_msgs/msg/odometry.hpp" +#include "cev_msgs/msg/sensor_collect.hpp" using std::placeholders::_1; @@ -92,24 +97,38 @@ class IMUSensor : public RosSensor { V state, M covariance, std::vector dependents - ) : RosSensor( - state, - covariance, - 0, - false, - dependents - ) { - multiplier(d_x__, d_x__) = 1; - multiplier(d_y__, d_y__) = 1; + ) + : RosSensor( + state, + covariance, + dependents + ) + { + multiplier(d2_x__, d2_x__) = 1; + multiplier(d2_y__, d2_y__) = 1; multiplier(yaw__, yaw__) = 1; } void msg_update(sensor_msgs::msg::Imu msg) { - // Update state with IMU data + // Convert IMU data to d2x, d2y, yaw + d2_x_ = msg.linear_acceleration.x; + d2_y_ = msg.linear_acceleration.y; + + // Get yaw from quaternion + tf2::Quaternion q( + msg.orientation.x, + msg.orientation.y, + msg.orientation.z, + msg.orientation.w + ); + tf2::Matrix3x3 m(q); + double roll, pitch, yaw; + m.getRPY(roll, pitch, yaw); + yaw_ = yaw; } }; -class OdomSensor : public RosSensor { +class OdomSensor : public RosSensor { private: M multiplier; @@ -118,11 +137,9 @@ class OdomSensor : public RosSensor { V state, M covariance, std::vector dependents - ) : Sensor( + ) : RosSensor( state, covariance, - 0, - false, dependents ) { multiplier(d_x__, d_x__) = 1; @@ -132,30 +149,87 @@ class OdomSensor : public RosSensor { M state_matrix_multiplier() { return multiplier; } + + void msg_update(cev_msgs::msg::SensorCollect msg) { + d_x_ = msg.velocity; + tau_ = msg.steering_angle; + } }; class AckermannEkfNode : public rclcpp::Node { public: - AckermannEkfNode() : Node("AckermannEkfNode") {} + AckermannEkfNode() : Node("AckermannEkfNode") { + rclcpp::Subscription::SharedPtr imu_sub = + this->create_subscription( + "imu", 1, std::bind(&IMUSensor::msg_handler, &imu, _1) + ); + + rclcpp::Subscription::SharedPtr odom_sub = + this->create_subscription( + "sensor_odom", 1, std::bind(&OdomSensor::msg_handler, &odom, _1) + ); + + timer = this->create_wall_timer( + std::chrono::milliseconds(20), std::bind(&AckermannEkfNode::timer_callback, this) + ); + + odom_pub = this->create_publisher("odometry/filtered", 1); + } + + void timer_callback() { + double time = get_clock()->now().seconds(); + + model->update(time); + + nav_msgs::msg::Odometry odom_msg; + odom_msg.header.stamp = this->now(); + odom_msg.header.frame_id = "odom"; + odom_msg.child_frame_id = "base_link"; + + V state = model->get_state(); + + odom_msg.pose.pose.position.x = state[x__]; + odom_msg.pose.pose.position.y = state[y__]; + odom_msg.pose.pose.position.z = 0; + + tf2::Quaternion q; + q.setRPY(0, 0, state[yaw__]); + odom_msg.pose.pose.orientation.x = q.x(); + odom_msg.pose.pose.orientation.y = q.y(); + + odom_pub->publish(odom_msg); + } private: - AckermannModel model = AckermannModel( - V::Zero(), - M::Identity() * .1, - M::Identity() * .1, - 1.0 - ); + rclcpp::Subscription::SharedPtr imu_sub; + rclcpp::Subscription::SharedPtr odom_sub; + + // Wall clock for publishing ackermann model state + rclcpp::TimerBase::SharedPtr timer; + + // Odometry message publisher + rclcpp::Publisher::SharedPtr odom_pub; + + std::shared_ptr model = + std::make_shared( + AckermannModel( + V::Zero(), + M::Identity() * .1, + M::Identity() * .1, + 1.0 + ) + ); IMUSensor imu = IMUSensor( V::Zero(), M::Identity() * .1, - {std::make_shared(model)} + {model} ); OdomSensor odom = OdomSensor( V::Zero(), M::Identity() * .1, - {std::make_shared(model)} + {model} ); }; From 1cf769d707a2907be18d08106d3d6e7d0fa897d5 Mon Sep 17 00:00:00 2001 From: Yey007 <55263178+Yey007@users.noreply.github.com> Date: Sat, 23 Nov 2024 16:59:26 -0500 Subject: [PATCH 037/196] Start point cloud collapsing --- CMakeLists.txt | 36 ++++++++++++++++++ config/.gitkeep | 0 launch/launch.py | 15 ++++++++ package.xml | 18 +++++++++ src/occupancy.py | 98 ++++++++++++++++++++++++++++++++++++++++++++++++ 5 files changed, 167 insertions(+) create mode 100644 CMakeLists.txt create mode 100644 config/.gitkeep create mode 100644 launch/launch.py create mode 100644 package.xml create mode 100644 src/occupancy.py diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..b5ea284 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,36 @@ + +cmake_minimum_required(VERSION 3.8) +project(vision) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES Clang) + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( REQUIRED) + +install(DIRECTORY launch/ + DESTINATION share/${PROJECT_NAME}/launch +) + +install(DIRECTORY config/ + DESTINATION share/${PROJECT_NAME}/config +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() + diff --git a/config/.gitkeep b/config/.gitkeep new file mode 100644 index 0000000..e69de29 diff --git a/launch/launch.py b/launch/launch.py new file mode 100644 index 0000000..b9693f2 --- /dev/null +++ b/launch/launch.py @@ -0,0 +1,15 @@ + +from launch import LaunchDescription +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory +import os +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource + + +def generate_launch_description(): + return LaunchDescription( + [ + ] + ) + diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..a26558e --- /dev/null +++ b/package.xml @@ -0,0 +1,18 @@ + + + + vision + 0.0.0 + Vision algorithms for mini-cars. + Utku Melemetci + MIT + + ament_cmake + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/src/occupancy.py b/src/occupancy.py new file mode 100644 index 0000000..6c98f54 --- /dev/null +++ b/src/occupancy.py @@ -0,0 +1,98 @@ +import struct +from dataclasses import dataclass +from typing import Generator + +import rclpy +from nav_msgs.msg import OccupancyGrid +from rclpy import Node +from rclpy.qos import QoSPresetProfiles +from sensor_msgs.msg import PointCloud2, PointField + + +@dataclass(frozen=True) +class Point3D: + x: float + y: float + z: float + + +def get_unpack_format(field: PointField, big_endian: bool): + endian_format = ">" if big_endian else "<" + count_format = str(field.count) + type_format = "" + match field.datatype: + case PointField.INT8: + type_format = "b" + case PointField.UINT8: + type_format = "B" + case PointField.INT16: + type_format = "h" + case PointField.UINT16: + type_format = "H" + case PointField.INT32: + type_format = "i" + case PointField.UINT32: + type_format = "I" + case PointField.FLOAT32: + type_format = "f" + case PointField.FLOAT64: + type_format = "d" + return f"{endian_format}{count_format}{type_format}" + + +def parse_points(cloud: PointCloud2) -> Generator[Point3D, None, None]: + # TODO: avoid repetition (if we care) + (x_field,) = [field for field in cloud.fields if field.name == "x"] + (y_field,) = [field for field in cloud.fields if field.name == "y"] + (z_field,) = [field for field in cloud.fields if field.name == "z"] + x_format = get_unpack_format(x_field) + y_format = get_unpack_format(y_field) + z_format = get_unpack_format(z_field) + + for i in range(len(cloud.data) // cloud.point_step): + point_offset = i * cloud.point_step + x = struct.unpack_from( + x_format, buffer=cloud.data, offset=point_offset + x_field.offset + ) + y = struct.unpack_from( + y_format, buffer=cloud.data, offset=point_offset + y_field.offset + ) + z = struct.unpack_from( + z_format, buffer=cloud.data, offset=point_offset + z_field.offset + ) + yield Point3D(x, y, z) + + +class OccupancyTransformerNode(Node): + def __init__(self): + super().__init__("occupancy_transformer") + self.subscription = self.create_subscription( + PointCloud2, "point_cloud", self.pc_callback, QoSPresetProfiles.SENSOR_DATA + ) + self.publisher = self.create_publisher(OccupancyGrid, "occupancy_grid", 10) + + self.declare_parameter("map_height_m", 10.0) + self.declare_parameter("map_width_m", 10.0) + self.declare_parameter("map_resolution_m", 0.1) + + def pc_callback(self, cloud: PointCloud2): + map_height_m = self.get_parameter("map_height_m").value + map_width_m = self.get_parameter("map_width_m").value + map_resolution_m = self.get_parameter("map_resolution_m").value + + map_height_cells = int(map_height_m / map_resolution_m) + map_width_cells = int(map_width_m / map_resolution_m) + + +def main(): + rclpy.init() + + occupancy_transformer = OccupancyTransformerNode() + rclpy.spin(occupancy_transformer) + + occupancy_transformer.destroy_node() + rclpy.shutdown() + + +if __name__ == "__main__": + main() From 5587343775e9b4451c143ff29811c360a49ee2d7 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sun, 24 Nov 2024 03:35:55 +0000 Subject: [PATCH 038/196] Updating works, but does not update internal state. --- ekf_sim.py | 57 ++++++++- include/estimator.h | 79 ++++++++---- include/model.h | 24 ++-- include/ros_sensor.h | 19 ++- include/sensor.h | 4 - include/updateable.h | 2 +- include/updater.h | 7 +- .../ackermann_recording_v_1_0.db3 | Bin 0 -> 7761920 bytes rosbag/ackermann_recording_v_1/metadata.yaml | 98 +++++++++++++++ .../ackermann_recording_v_2_0.db3 | Bin 0 -> 7512064 bytes rosbag/ackermann_recording_v_2/metadata.yaml | 116 ++++++++++++++++++ src/ackermann_ekf.cpp | 94 ++++++++------ src/estimator.cpp | 39 +++--- src/model.cpp | 58 +++++---- src/sensor.cpp | 4 +- src/updater.cpp | 10 +- 16 files changed, 470 insertions(+), 141 deletions(-) create mode 100644 rosbag/ackermann_recording_v_1/ackermann_recording_v_1_0.db3 create mode 100644 rosbag/ackermann_recording_v_1/metadata.yaml create mode 100644 rosbag/ackermann_recording_v_2/ackermann_recording_v_2_0.db3 create mode 100644 rosbag/ackermann_recording_v_2/metadata.yaml diff --git a/ekf_sim.py b/ekf_sim.py index 4fd907f..bc9cc86 100644 --- a/ekf_sim.py +++ b/ekf_sim.py @@ -22,7 +22,7 @@ x = np.array([ 0., # x 0., # y - 1, # x' + .5, # x' 0., # y' 0., # yaw .79, # steering angle @@ -113,9 +113,11 @@ def sensor_update( sensor_state, sensor_mul_matrix, sensor_variance, - dt + dt, + update_time_elapsed ): - H_k = H(state_, dt, sensor_mul_matrix) + # H_k = H(state_, update_time_elapsed, sensor_mul_matrix) + H_k = H(state_, update_time_elapsed, sensor_mul_matrix) R_k = sensor_variance h = sensor_mul_matrix @@ -156,6 +158,22 @@ def fake_enc(state): state[5] ]) +rseed = 1000 +random.seed(rseed) + +def root_means_squared_estimation_error(ground_truth_states, estimated_states): + """ + Take an array of ground truth and estimated states. Return the mean squared error of x and y + """ + x_error = 0 + y_error = 0 + + for i in range(len(ground_truth_states)): + x_error += (ground_truth_states[i][0] - estimated_states[i][0]) ** 2 + y_error += (ground_truth_states[i][1] - estimated_states[i][1]) ** 2 + + return (x_error / len(ground_truth_states) + y_error / len(ground_truth_states)) ** .5 + def main_loop(): state = copy.deepcopy(x) @@ -163,6 +181,9 @@ def main_loop(): next_state = copy.deepcopy(x) next_var = copy.deepcopy(P) + true_states = [] + est_states = [] + sensor_mul_matrix = { "imu": np.array([ [0, 0, 0, 0, 0, 0], @@ -182,6 +203,11 @@ def main_loop(): ]), } + last_update_time_matrix = { + "imu": 0, + "enc": 0, + } + sensor_state = { "imu": fake_imu, "enc": fake_enc, @@ -194,9 +220,13 @@ def main_loop(): # Simulate the state change with F and a dt of .1 100 times using matplotlib for i in range(int(real_t / cycle_dt)): + true_states.append(next_state) + est_states.append(state) + seed = random.random() # Adjust steering angle continuously + # next_state[5] = math.sin(i * cycle_dt / 2) * .79 next_state[5] = math.sin(i * cycle_dt / 2) * .79 next_state, next_var = predict(next_state, next_var, cycle_dt) @@ -205,26 +235,43 @@ def main_loop(): if seed < .8: state, variance = predict(state, variance, cycle_dt) elif seed < .9: + current_time = i * cycle_dt + last_update_time = last_update_time_matrix["imu"] + update_time_elapsed = current_time - last_update_time + last_update_time_matrix["imu"] = current_time + state, variance = sensor_update( state, variance, sensor_state["imu"](next_state), sensor_mul_matrix["imu"], sensor_variances["imu"], - cycle_dt + cycle_dt, + update_time_elapsed ) elif seed < 1.0: + current_time = i * cycle_dt + last_update_time = last_update_time_matrix["enc"] + update_time_elapsed = current_time - last_update_time + last_update_time_matrix["enc"] = current_time + state, variance = sensor_update( state, variance, sensor_state["enc"](next_state), sensor_mul_matrix["enc"], sensor_variances["enc"], - cycle_dt + cycle_dt, + update_time_elapsed ) plt.plot(state[0], state[1], 'ro') + true_states.append(next_state) + est_states.append(state) + + print("Root mean squared estimation error: ", root_means_squared_estimation_error(true_states, est_states)) + if __name__ == "__main__": main_loop() diff --git a/include/estimator.h b/include/estimator.h index 1d5574c..ce9a383 100644 --- a/include/estimator.h +++ b/include/estimator.h @@ -1,6 +1,8 @@ #pragma once #include +#include +#include using namespace Eigen; @@ -81,13 +83,36 @@ using V = Vector; // M represents a matrix of state x state size using M = Matrix; +/** + * @struct StatePackage + * Package for a estimate update + */ +struct StatePackage { + V state; + M covariance; + double update_time; +}; + +/** + * @struct SimpleStatePackage + * Struct for a simple state update, no covariance + */ +struct SimpleStatePackage { + V state; + double update_time; +}; + class Estimator { protected: V state; M covariance; - double last_update_time; - bool initialized = false; + double previous_update_time; + double most_recent_update_time; + + bool initialized; + + std::string name = "Estimator"; public: /** @@ -95,10 +120,8 @@ class Estimator { * * @param state Start state * @param covariance Start covariance - * @param last_update_time Time of last update - * @param initialized Whether the model has been initialized */ - Estimator(V state, M covariance, double last_update_time = 0, bool initialized = false); + Estimator(V state, M covariance); /** * Current state of the sensor @@ -113,34 +136,48 @@ class Estimator { * @return Sensor covariance */ M get_covariance(); - + /** - * Set the state of the sensor - * - * @param state New sensor state + * Get the estimate internals + * + * @return Estimate internals */ - void set_state(V state, double time); + StatePackage get_internals(); /** - * Set the covariance of the sensor - * - * @param covariance New sensor covariance + * Update the model estimate data with a simple state and time update + * + * @param package Package of state and time + */ + void updateInternals(SimpleStatePackage package); + + /** + * Update the model estimate data + * + * @param package Package of state, covariance, and time + */ + void updateInternals(StatePackage package); + + /** + * Get the time of the most recent update + * + * @return Time of most recent update */ - void set_covariance(M covariance); + double get_most_recent_update_time(); /** - * Get the time of the last update + * Get the previous update time * - * @return Time of last update + * @return Previous update time */ - double get_last_update_time(); + double get_previous_update_time(); /** - * Get whether the model has been initialized + * Get the time since the most recent update * - * @return Whether the model has been initialized + * @return Time since most recent update */ - bool is_initialized(); + double dt(); /** * Matrix that, when left multiplied by a state vector, @@ -148,5 +185,5 @@ class Estimator { * * @return Multiplier matrix */ - virtual M state_matrix_multiplier(); + virtual M state_matrix_multiplier() = 0; }; \ No newline at end of file diff --git a/include/model.h b/include/model.h index 51a84ce..12f46c6 100644 --- a/include/model.h +++ b/include/model.h @@ -17,9 +17,9 @@ class Model : public Updateable, public Updater { std::pair predict(double time); /** - * Perform a model update step on `state` with time `dt`. + * Perform a model update step up to `time`. * - * @param time Time to predict to + * @param time Time to update to * * @return Updated system state */ @@ -28,11 +28,11 @@ class Model : public Updateable, public Updater { /** * Jacobian matrix of a model update step on `state` with time `dt`. * - * @param time Time to predict to + * @param dt Time since last update * * @return Jacobian matrix of state update step */ - virtual M update_jacobian(double time) = 0; + virtual M update_jacobian(double dt) = 0; /** * Transformed version of the model Jacobian matrix for the state of a given sensor. @@ -41,23 +41,23 @@ class Model : public Updateable, public Updater { * * @return Sensor-specific model Jacobian matrix of state update step */ - M sensor_jacobian(Estimator estimate); + M sensor_jacobian(Estimator &estimate); /** * Gives process covariance over elapsed time dt. * - * @param time Time to predict to + * @param time Time since last update * * @return Process covariance matrix */ - M process_covariance(double time); + M process_covariance(double dt); /** * Matrix that, when left multiplied by a state vector, gives a state matrix in the form of this model. * * @return Multiplier matrix */ - virtual M state_matrix_multiplier(); + virtual M state_matrix_multiplier() = 0; public: /** @@ -66,8 +66,6 @@ class Model : public Updateable, public Updater { * @param state Start state * @param covariance Start covariance * @param base_process_covariance Process covariance over time - * @param last_update_time Time of last update - * @param initialized Whether the model has been initialized * @param dependents Models that depend on this model * */ @@ -75,8 +73,6 @@ class Model : public Updateable, public Updater { V state, M covariance, M process_covariance, - double last_update_time = 0, - bool initialized = false, std::vector dependents = {} ); @@ -91,7 +87,5 @@ class Model : public Updateable, public Updater { * * @param estimate New sensor estimate */ - void estimate_update( - Estimator estimate - ); + void estimate_update(Estimator &estimate); }; \ No newline at end of file diff --git a/include/ros_sensor.h b/include/ros_sensor.h index e104431..72da327 100644 --- a/include/ros_sensor.h +++ b/include/ros_sensor.h @@ -5,7 +5,12 @@ template class RosSensor : public Sensor { protected: - M multiplier = M::Identity(); + M multiplier = M::Zero(); + + void new_time_handler(double time) { + previous_update_time = most_recent_update_time; + most_recent_update_time = time; + } public: RosSensor( @@ -15,17 +20,19 @@ class RosSensor : public Sensor { ) : Sensor( state, covariance, - 0, - false, dependents ) {} - void msg_handler(T msg) { - msg_update(msg); + void msg_handler(typename T::SharedPtr msg) { + StatePackage update = msg_update(msg); + updateInternals(update); update_dependents(); } - virtual void msg_update(T msg) = 0; + /** + * Update the state with a new message, and return the time of the new message + */ + virtual StatePackage msg_update(typename T::SharedPtr msg) = 0; M state_matrix_multiplier() { return multiplier; diff --git a/include/sensor.h b/include/sensor.h index 2012ffd..377aa19 100644 --- a/include/sensor.h +++ b/include/sensor.h @@ -9,15 +9,11 @@ class Sensor : public Updater { * * @param state Current state * @param covariance Covariance - * @param last_update_time Time of last update - * @param initialized Whether the sensor has been initialized * @param dependents Models that depend on this sensor */ Sensor( V state, M covariance, - double last_update_time = 0, - bool initialized = false, std::vector dependents = {} ); diff --git a/include/updateable.h b/include/updateable.h index 2caa88e..e104b21 100644 --- a/include/updateable.h +++ b/include/updateable.h @@ -9,5 +9,5 @@ class Updateable { * * @param estimate Estimate to update with */ - virtual void estimate_update(Estimator estimate) = 0; + virtual void estimate_update(Estimator &estimate) = 0; }; \ No newline at end of file diff --git a/include/updater.h b/include/updater.h index cfc948e..2977d9c 100644 --- a/include/updater.h +++ b/include/updater.h @@ -13,9 +13,7 @@ class Updater : public Estimator { public: Updater( V state, - M covariance, - double last_update_time = 0, - bool initialized = false, + M covariance, std::vector dependents = {} ); @@ -28,9 +26,6 @@ class Updater : public Estimator { /** * Update all bound models - * - * @param state New state - * @param time Time of state update */ void update_dependents(); }; \ No newline at end of file diff --git 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a/rosbag/ackermann_recording_v_2/metadata.yaml b/rosbag/ackermann_recording_v_2/metadata.yaml new file mode 100644 index 0000000..8ee250e --- /dev/null +++ b/rosbag/ackermann_recording_v_2/metadata.yaml @@ -0,0 +1,116 @@ +rosbag2_bagfile_information: + version: 5 + storage_identifier: sqlite3 + duration: + nanoseconds: 49878255986 + starting_time: + nanoseconds_since_epoch: 1732324873007091423 + message_count: 19079 + topics_with_message_count: + - topic_metadata: + name: /scan + type: sensor_msgs/msg/LaserScan + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" + message_count: 329 + - topic_metadata: + name: /odometry/filtered + type: nav_msgs/msg/Odometry + serialization_format: cdr + offered_qos_profiles: "- 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avoid_ros_namespace_conventions: false" + message_count: 0 + - topic_metadata: + name: /orientation + type: geometry_msgs/msg/Quaternion + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" + message_count: 0 + - topic_metadata: + name: /imu + type: sensor_msgs/msg/Imu + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" + message_count: 389 + - topic_metadata: + name: /diagnostics + type: diagnostic_msgs/msg/DiagnosticArray + 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liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false\n- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 10\n nsec: 0\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false\n- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 10\n nsec: 0\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false\n- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 10\n nsec: 0\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" + message_count: 12 + - topic_metadata: + name: /encoder_odometry + type: nav_msgs/msg/Odometry + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" + message_count: 2336 + - topic_metadata: + name: /magnetometer + type: sensor_msgs/msg/MagneticField + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" + message_count: 388 + compression_format: "" + compression_mode: "" + relative_file_paths: + - ackermann_recording_v_2_0.db3 + files: + - path: ackermann_recording_v_2_0.db3 + starting_time: + nanoseconds_since_epoch: 1732324873007091423 + duration: + nanoseconds: 49878255986 + message_count: 19079 \ No newline at end of file diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index 81d9ba0..b118bfc 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -12,6 +12,8 @@ #include "nav_msgs/msg/odometry.hpp" #include "cev_msgs/msg/sensor_collect.hpp" +#include + using std::placeholders::_1; class AckermannModel : public Model { @@ -19,7 +21,7 @@ class AckermannModel : public Model { private: double wheelbase; - M multiplier; + M multiplier = M::Zero(); public: AckermannModel( @@ -39,7 +41,7 @@ class AckermannModel : public Model { } V update_step(double time) { - double dt = time - last_update_time; + double dt = time - most_recent_update_time; float d_yaw = d_x_ * sin(tau_) / wheelbase * dt; float new_yaw = yaw_ + d_yaw; @@ -56,9 +58,7 @@ class AckermannModel : public Model { return new_state; } - M update_jacobian(double time) { - double dt = time - last_update_time; - + M update_jacobian(double dt) { M F_k = MatrixXd::Identity(S, S); double p_yaw_dx = dt * sin(tau_) / wheelbase; @@ -104,34 +104,37 @@ class IMUSensor : public RosSensor { dependents ) { - multiplier(d2_x__, d2_x__) = 1; - multiplier(d2_y__, d2_y__) = 1; - multiplier(yaw__, yaw__) = 1; + multiplier(d2_x__, d2_x__) = 1.0; + multiplier(d2_y__, d2_y__) = 1.0; + multiplier(yaw__, yaw__) = 1.0; } - void msg_update(sensor_msgs::msg::Imu msg) { - // Convert IMU data to d2x, d2y, yaw - d2_x_ = msg.linear_acceleration.x; - d2_y_ = msg.linear_acceleration.y; + StatePackage msg_update(sensor_msgs::msg::Imu::SharedPtr msg) { + this->name = "IMU"; + StatePackage estimate = get_internals(); + + estimate.update_time = msg->header.stamp.sec + (msg->header.stamp.nanosec / 1e9); + + estimate.state[d2_x__] = msg->linear_acceleration.x; + estimate.state[d2_y__] = msg->linear_acceleration.y; // Get yaw from quaternion tf2::Quaternion q( - msg.orientation.x, - msg.orientation.y, - msg.orientation.z, - msg.orientation.w + msg->orientation.x, + msg->orientation.y, + msg->orientation.z, + msg->orientation.w ); tf2::Matrix3x3 m(q); double roll, pitch, yaw; m.getRPY(roll, pitch, yaw); - yaw_ = yaw; + estimate.state[yaw__] = yaw; + + return estimate; } }; class OdomSensor : public RosSensor { - private: - M multiplier; - public: OdomSensor( V state, @@ -146,40 +149,44 @@ class OdomSensor : public RosSensor { multiplier(tau__, tau__) = 1; } - M state_matrix_multiplier() { - return multiplier; - } + StatePackage msg_update(cev_msgs::msg::SensorCollect::SharedPtr msg) { + StatePackage estimate = get_internals(); + + estimate.update_time = static_cast(msg->stamp); + + estimate.state[d_x__] = msg->velocity; + estimate.state[tau__] = msg->steering_angle; - void msg_update(cev_msgs::msg::SensorCollect msg) { - d_x_ = msg.velocity; - tau_ = msg.steering_angle; + return estimate; } }; class AckermannEkfNode : public rclcpp::Node { public: AckermannEkfNode() : Node("AckermannEkfNode") { - rclcpp::Subscription::SharedPtr imu_sub = - this->create_subscription( - "imu", 1, std::bind(&IMUSensor::msg_handler, &imu, _1) - ); + imu_sub = this->create_subscription( + "imu", 1, std::bind(&IMUSensor::msg_handler, &imu, _1) + ); - rclcpp::Subscription::SharedPtr odom_sub = - this->create_subscription( - "sensor_odom", 1, std::bind(&OdomSensor::msg_handler, &odom, _1) - ); + // odom_sub = this->create_subscription( + // "sensor_collect", 1, std::bind(&OdomSensor::msg_handler, &odom, _1) + // ); timer = this->create_wall_timer( std::chrono::milliseconds(20), std::bind(&AckermannEkfNode::timer_callback, this) ); - odom_pub = this->create_publisher("odometry/filtered", 1); + odom_pub = this->create_publisher("odometry/meow", 1); } - void timer_callback() { - double time = get_clock()->now().seconds(); + // double time = get_clock()->now().seconds(); - model->update(time); + // model->update(time); + // sensor_msgs::msg::Imu imu_msg; + + // model->update(time); + + // std::cout << model->get_state() << std::endl; nav_msgs::msg::Odometry odom_msg; odom_msg.header.stamp = this->now(); @@ -197,6 +204,15 @@ class AckermannEkfNode : public rclcpp::Node { odom_msg.pose.pose.orientation.x = q.x(); odom_msg.pose.pose.orientation.y = q.y(); + // RCLCPP_INFO(this->get_logger(), "x: %f", model->get_covariance()(x__, x__)); + + odom_msg.pose.covariance[0] = model->get_covariance()(x__, x__); + odom_msg.pose.covariance[7] = model->get_covariance()(y__, y__); + odom_msg.pose.covariance[35] = model->get_covariance()(yaw__, yaw__); + + odom_msg.twist.covariance[0] = model->get_covariance()(d_x__, d_x__); + odom_msg.twist.covariance[35] = model->get_covariance()(tau__, tau__); + odom_pub->publish(odom_msg); } @@ -213,7 +229,7 @@ class AckermannEkfNode : public rclcpp::Node { std::shared_ptr model = std::make_shared( AckermannModel( - V::Zero(), + V::Ones(), // TODO: Make Zeros M::Identity() * .1, M::Identity() * .1, 1.0 diff --git a/src/estimator.cpp b/src/estimator.cpp index 79801c3..2d1f542 100644 --- a/src/estimator.cpp +++ b/src/estimator.cpp @@ -1,10 +1,10 @@ #include "estimator.h" -Estimator::Estimator(V state, M covariance, double last_update_time, bool initialized) { +Estimator::Estimator(V state, M covariance) { this->state = state; this->covariance = covariance; - this->last_update_time = last_update_time; - this->initialized = initialized; + this->most_recent_update_time = 0; + this->previous_update_time = 0; } V Estimator::get_state() { @@ -15,24 +15,31 @@ M Estimator::get_covariance() { return covariance; } -void Estimator::set_state(V state, double time) { - this->state = state; - this->last_update_time = time; - this->initialized = true; +StatePackage Estimator::get_internals() { + return {state, covariance, most_recent_update_time}; } -void Estimator::set_covariance(M covariance) { - this->covariance = covariance; +void Estimator::updateInternals(StatePackage package) { + state = package.state; + covariance = package.covariance; + previous_update_time = most_recent_update_time; + most_recent_update_time = package.update_time; } -double Estimator::get_last_update_time() { - return last_update_time; +void Estimator::updateInternals(SimpleStatePackage package) { + state = package.state; + previous_update_time = most_recent_update_time; + most_recent_update_time = package.update_time; } -bool Estimator::is_initialized() { - return initialized; +double Estimator::get_most_recent_update_time() { + return most_recent_update_time; } -M Estimator::state_matrix_multiplier() { - return MatrixXd::Identity(S, S); -} \ No newline at end of file +double Estimator::get_previous_update_time() { + return previous_update_time; +} + +double Estimator::dt() { + return most_recent_update_time - previous_update_time; +} diff --git a/src/model.cpp b/src/model.cpp index ddbbc9f..d703634 100644 --- a/src/model.cpp +++ b/src/model.cpp @@ -5,66 +5,82 @@ Model::Model( V state, M covariance, M process_covariance, - double last_update_time, - bool initialized, std::vector dependents -) : Updater(state, covariance, last_update_time, initialized, dependents) { +) : Updater(state, covariance, dependents) { this->base_process_covariance = process_covariance; } std::pair Model::predict(double time) { - M F_k = update_jacobian(time); - M Q_k = process_covariance(time); + M F_k = update_jacobian(time - most_recent_update_time); + M Q_k = process_covariance(time - most_recent_update_time); return std::make_pair(update_step(time), F_k * covariance * F_k.transpose() + Q_k); } void Model::update(double time) { + if (!this->initialized) { + this->previous_update_time = time; + this->most_recent_update_time = time; + this->initialized = true; + return; + } + std::pair prediction = predict(time); state = prediction.first; covariance = prediction.second; - last_update_time = time; + previous_update_time = most_recent_update_time; + most_recent_update_time = time; update_dependents(); } void Model::estimate_update( - Estimator estimate + Estimator &estimate ) { - std::pair prediction = predict(estimate.get_last_update_time()); + if (!this->initialized) { + this->previous_update_time = estimate.get_most_recent_update_time(); + this->most_recent_update_time = estimate.get_most_recent_update_time(); + this->initialized = true; + return; + } + + std::pair prediction = predict(estimate.get_most_recent_update_time()); V state = prediction.first; M covariance = prediction.second; M H_k = sensor_jacobian(estimate); + M R_k = estimate.get_covariance(); V predicted_sensor = estimate.state_matrix_multiplier() * state; + V real_sensor = estimate.get_state(); V y_k = real_sensor - predicted_sensor; M S_k = H_k * covariance * H_k.transpose() + R_k; + M K_k = covariance * H_k.transpose() * S_k.inverse(); - state = state + K_k * y_k; - covariance = ( - MatrixXd::Identity(covariance.rows(), covariance.cols() - ) - K_k * H_k) * covariance; + this->state = this->state + K_k * y_k; - last_update_time = estimate.get_last_update_time(); + // std::cout << this->state << std::endl; - update_dependents(); -} + this->covariance = ( + MatrixXd::Identity(this->covariance.rows(), this->covariance.cols() + ) - K_k * H_k) * this->covariance; -M Model::process_covariance(double time) { - return base_process_covariance * (time - last_update_time); + previous_update_time = most_recent_update_time; + most_recent_update_time = estimate.get_most_recent_update_time(); + + update_dependents(); } -M Model::sensor_jacobian(Estimator estimate) { - return estimate.state_matrix_multiplier() * update_jacobian(estimate.get_last_update_time()); +M Model::process_covariance(double dt) { + return base_process_covariance * dt; } -M Model::state_matrix_multiplier() { - return MatrixXd::Identity(S, S); +M Model::sensor_jacobian(Estimator &estimate) { + return estimate.state_matrix_multiplier() * update_jacobian(estimate.get_most_recent_update_time() - estimate.get_previous_update_time()); } \ No newline at end of file diff --git a/src/sensor.cpp b/src/sensor.cpp index 291367c..912b548 100644 --- a/src/sensor.cpp +++ b/src/sensor.cpp @@ -3,7 +3,5 @@ Sensor::Sensor( V state, M covariance, - double last_update_time, - bool initialized, std::vector dependents -) : Updater(state, covariance, last_update_time, initialized, dependents) {}; \ No newline at end of file +) : Updater(state, covariance, dependents) {}; \ No newline at end of file diff --git a/src/updater.cpp b/src/updater.cpp index 97790b9..f7dcb82 100644 --- a/src/updater.cpp +++ b/src/updater.cpp @@ -2,11 +2,9 @@ Updater::Updater( V state, - M covariance, - double last_update_time, - bool initialized, + M covariance, std::vector dependents -) : Estimator(state, covariance, last_update_time, initialized) { +) : Estimator(state, covariance) { models = dependents; } @@ -17,7 +15,11 @@ void Updater::bind_to(Listener model) { void Updater::update_dependents() { Estimator* self = this; + // std::cout << this->name << " : " << self->get_state() << std::endl; + for (Listener model : models) { model->estimate_update(*self); + + // std::cout << model->name << " : " << model->get_state() << std::endl; } } \ No newline at end of file From 1919b76df4cd9e7965f007b542b1dafe6f8f024b Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sun, 24 Nov 2024 04:33:14 +0000 Subject: [PATCH 039/196] Successfully update for one sensor. --- CMakeLists.txt | 23 ++++++++++++----------- include/estimator.h | 4 ++-- include/model.h | 21 ++++++++++++++++++--- include/ros_sensor.h | 2 +- include/sensor.h | 21 ++++++++++++++++++--- include/updateable.h | 13 ------------- include/updater.h | 31 ------------------------------- src/ackermann_ekf.cpp | 27 ++++++++++++++++----------- src/model.cpp | 19 ++++++++++++++++--- src/sensor.cpp | 18 ++++++++++++++++-- src/updateable.cpp | 1 - src/updater.cpp | 25 ------------------------- 12 files changed, 99 insertions(+), 106 deletions(-) delete mode 100644 include/updateable.h delete mode 100644 include/updater.h delete mode 100644 src/updateable.cpp delete mode 100644 src/updater.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt index fd28a6c..fa4b03e 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -43,25 +43,26 @@ add_library(ros_sensor include/ros_sensor.h ) -add_library(updateable - src/updateable.cpp - include/updateable.h -) +# add_library(updateable +# src/updateable.cpp +# include/updateable.h +# ) -add_library(updater - src/updater.cpp - include/updater.h -) +# add_library(updater +# src/updater.cpp +# include/updater.h +# ) include_directories(estimator include) include_directories(model include) include_directories(sensor include) include_directories(ros_sensor include) -include_directories(updateable include) -include_directories(updater include) +# include_directories(updateable include) +# include_directories(updater include) add_executable(ackermann_ekf src/ackermann_ekf.cpp) -target_link_libraries(ackermann_ekf estimator model sensor ros_sensor updateable updater) +# target_link_libraries(ackermann_ekf estimator model sensor ros_sensor updateable updater) +target_link_libraries(ackermann_ekf estimator model sensor ros_sensor) ament_target_dependencies(ackermann_ekf rclcpp sensor_msgs std_msgs Eigen3 cev_msgs tf2 tf2_ros tf2_geometry_msgs nav_msgs) install(TARGETS diff --git a/include/estimator.h b/include/estimator.h index ce9a383..efc5f53 100644 --- a/include/estimator.h +++ b/include/estimator.h @@ -112,8 +112,6 @@ class Estimator { bool initialized; - std::string name = "Estimator"; - public: /** * Base class for a model with a state and covariance @@ -123,6 +121,8 @@ class Estimator { */ Estimator(V state, M covariance); + std::string name = "Estimator"; + /** * Current state of the sensor * diff --git a/include/model.h b/include/model.h index 12f46c6..c7fa608 100644 --- a/include/model.h +++ b/include/model.h @@ -1,12 +1,15 @@ #pragma once #include -#include "updater.h" +#include +#include "estimator.h" -class Model : public Updateable, public Updater { +class Model : public Estimator { protected: M base_process_covariance; + std::vector> models; + /** * Next state and covariance without adjusting with a sensor update. * @@ -73,7 +76,7 @@ class Model : public Updateable, public Updater { V state, M covariance, M process_covariance, - std::vector dependents = {} + std::vector> dependents = {} ); /** @@ -88,4 +91,16 @@ class Model : public Updateable, public Updater { * @param estimate New sensor estimate */ void estimate_update(Estimator &estimate); + + /** + * Bind a model to this updater + * + * @param model Model to bind + */ + void bind_to(std::shared_ptr model); + + /** + * Update all bound models + */ + void update_dependents(); }; \ No newline at end of file diff --git a/include/ros_sensor.h b/include/ros_sensor.h index 72da327..e05f768 100644 --- a/include/ros_sensor.h +++ b/include/ros_sensor.h @@ -16,7 +16,7 @@ class RosSensor : public Sensor { RosSensor( V state, M covariance, - std::vector dependents + std::vector> dependents ) : Sensor( state, covariance, diff --git a/include/sensor.h b/include/sensor.h index 377aa19..a3dc8fc 100644 --- a/include/sensor.h +++ b/include/sensor.h @@ -1,8 +1,11 @@ #pragma once -#include "updater.h" +#include "model.h" + +class Sensor : public Estimator { + protected: + std::vector> models; -class Sensor : public Updater { public: /** * Base class for a sensor model @@ -14,8 +17,20 @@ class Sensor : public Updater { Sensor( V state, M covariance, - std::vector dependents = {} + std::vector> dependents = {} ); + + /** + * Bind a model to this sensor + * + * @param model Model to bind + */ + void bind_to(std::shared_ptr model); + + /** + * Update all bound models + */ + void update_dependents(); /** * Matrix that, when left multiplied by a state vector, gives a state matrix in the form of this model. diff --git a/include/updateable.h b/include/updateable.h deleted file mode 100644 index e104b21..0000000 --- a/include/updateable.h +++ /dev/null @@ -1,13 +0,0 @@ -#pragma once - -#include "estimator.h" - -class Updateable { - public: - /** - * Update the state of the model with an estimate - * - * @param estimate Estimate to update with - */ - virtual void estimate_update(Estimator &estimate) = 0; -}; \ No newline at end of file diff --git a/include/updater.h b/include/updater.h deleted file mode 100644 index 2977d9c..0000000 --- a/include/updater.h +++ /dev/null @@ -1,31 +0,0 @@ -#pragma once - -#include -#include -#include "updateable.h" - -using Listener = std::shared_ptr; - -class Updater : public Estimator { - protected: - std::vector models; - - public: - Updater( - V state, - M covariance, - std::vector dependents = {} - ); - - /** - * Bind a model to this updater - * - * @param model Model to bind - */ - void bind_to(Listener model); - - /** - * Update all bound models - */ - void update_dependents(); -}; \ No newline at end of file diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index b118bfc..26c3e71 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -96,7 +96,7 @@ class IMUSensor : public RosSensor { IMUSensor( V state, M covariance, - std::vector dependents + std::vector> dependents ) : RosSensor( state, @@ -139,7 +139,7 @@ class OdomSensor : public RosSensor { OdomSensor( V state, M covariance, - std::vector dependents + std::vector> dependents ) : RosSensor( state, covariance, @@ -186,8 +186,6 @@ class AckermannEkfNode : public rclcpp::Node { // model->update(time); - // std::cout << model->get_state() << std::endl; - nav_msgs::msg::Odometry odom_msg; odom_msg.header.stamp = this->now(); odom_msg.header.frame_id = "odom"; @@ -197,21 +195,28 @@ class AckermannEkfNode : public rclcpp::Node { odom_msg.pose.pose.position.x = state[x__]; odom_msg.pose.pose.position.y = state[y__]; - odom_msg.pose.pose.position.z = 0; + odom_msg.pose.pose.position.z = 0.0; tf2::Quaternion q; - q.setRPY(0, 0, state[yaw__]); + // odom_msg.pose.pose.orientation = tf2::createQuaternionMsgFromYaw(state[yaw__]); + q.setY(state[yaw__]); odom_msg.pose.pose.orientation.x = q.x(); odom_msg.pose.pose.orientation.y = q.y(); + odom_msg.pose.pose.orientation.z = q.z(); + odom_msg.pose.pose.orientation.w = q.w(); + + odom_msg.twist.twist.linear.x = state[d_x__]; + odom_msg.twist.twist.linear.y = state[d_y__]; + odom_msg.twist.twist.angular.z = state[d_yaw__]; // RCLCPP_INFO(this->get_logger(), "x: %f", model->get_covariance()(x__, x__)); - odom_msg.pose.covariance[0] = model->get_covariance()(x__, x__); - odom_msg.pose.covariance[7] = model->get_covariance()(y__, y__); - odom_msg.pose.covariance[35] = model->get_covariance()(yaw__, yaw__); + // odom_msg.pose.covariance[0] = model->get_covariance()(x__, x__); + // odom_msg.pose.covariance[7] = model->get_covariance()(y__, y__); + // odom_msg.pose.covariance[35] = model->get_covariance()(yaw__, yaw__); - odom_msg.twist.covariance[0] = model->get_covariance()(d_x__, d_x__); - odom_msg.twist.covariance[35] = model->get_covariance()(tau__, tau__); + // odom_msg.twist.covariance[0] = model->get_covariance()(d_x__, d_x__); + // odom_msg.twist.covariance[35] = model->get_covariance()(tau__, tau__); odom_pub->publish(odom_msg); } diff --git a/src/model.cpp b/src/model.cpp index d703634..b0ee88a 100644 --- a/src/model.cpp +++ b/src/model.cpp @@ -5,9 +5,10 @@ Model::Model( V state, M covariance, M process_covariance, - std::vector dependents -) : Updater(state, covariance, dependents) { + std::vector> dependents +) : Estimator(state, covariance) { this->base_process_covariance = process_covariance; + this->models = dependents; } std::pair Model::predict(double time) { @@ -65,7 +66,7 @@ void Model::estimate_update( this->state = this->state + K_k * y_k; - // std::cout << this->state << std::endl; + std::cout << "YAW: " << this->state[yaw__] << std::endl; this->covariance = ( MatrixXd::Identity(this->covariance.rows(), this->covariance.cols() @@ -83,4 +84,16 @@ M Model::process_covariance(double dt) { M Model::sensor_jacobian(Estimator &estimate) { return estimate.state_matrix_multiplier() * update_jacobian(estimate.get_most_recent_update_time() - estimate.get_previous_update_time()); +} + +void Model::bind_to(std::shared_ptr model) { + models.push_back(model); +} + +void Model::update_dependents() { + Estimator* self = this; + + for (std::shared_ptr model : models) { + model->estimate_update(*self); + } } \ No newline at end of file diff --git a/src/sensor.cpp b/src/sensor.cpp index 912b548..02fb6ec 100644 --- a/src/sensor.cpp +++ b/src/sensor.cpp @@ -3,5 +3,19 @@ Sensor::Sensor( V state, M covariance, - std::vector dependents -) : Updater(state, covariance, dependents) {}; \ No newline at end of file + std::vector> dependents +) : Estimator(state, covariance) { + models = dependents; +} + +void Sensor::bind_to(std::shared_ptr model) { + models.push_back(model); +} + +void Sensor::update_dependents() { + Estimator* self = this; + + for (std::shared_ptr model : models) { + model->estimate_update(*self); + } +} \ No newline at end of file diff --git a/src/updateable.cpp b/src/updateable.cpp deleted file mode 100644 index 23b63f9..0000000 --- a/src/updateable.cpp +++ /dev/null @@ -1 +0,0 @@ -#include "updateable.h" \ No newline at end of file diff --git a/src/updater.cpp b/src/updater.cpp deleted file mode 100644 index f7dcb82..0000000 --- a/src/updater.cpp +++ /dev/null @@ -1,25 +0,0 @@ -#include "updater.h" - -Updater::Updater( - V state, - M covariance, - std::vector dependents -) : Estimator(state, covariance) { - models = dependents; -} - -void Updater::bind_to(Listener model) { - models.push_back(model); -} - -void Updater::update_dependents() { - Estimator* self = this; - - // std::cout << this->name << " : " << self->get_state() << std::endl; - - for (Listener model : models) { - model->estimate_update(*self); - - // std::cout << model->name << " : " << model->get_state() << std::endl; - } -} \ No newline at end of file From d8e365d0254d80d78732cd5a535f5db74f9f077d Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sun, 24 Nov 2024 07:00:59 +0000 Subject: [PATCH 040/196] Fixed non-sensor update --- include/model.h | 4 +++ launch/launch.py | 38 +++++++++++++++++++++++++++- src/ackermann_ekf.cpp | 59 ++++++++++++++++++++++++++++++++++++------- src/model.cpp | 10 ++++---- 4 files changed, 96 insertions(+), 15 deletions(-) diff --git a/include/model.h b/include/model.h index c7fa608..8f96bd1 100644 --- a/include/model.h +++ b/include/model.h @@ -92,6 +92,10 @@ class Model : public Estimator { */ void estimate_update(Estimator &estimate); + void force_state(V state) { + this->state = state; + } + /** * Bind a model to this updater * diff --git a/launch/launch.py b/launch/launch.py index 129cbd8..c8d2495 100644 --- a/launch/launch.py +++ b/launch/launch.py @@ -3,10 +3,46 @@ def generate_launch_description(): return LaunchDescription([ + Node( + package='tf2_ros', + executable='static_transform_publisher', + name='static_transform_publisher_world_map', + output='screen', + arguments=[ + '0', '0', '0', # Translation: x = 0.035, y = 0.04, z = 0 (meters) + '0', '0', '0', '1', # Rotation: 0 + 'world', + 'map' + ] + ), + Node( + package='tf2_ros', + executable='static_transform_publisher', + name='static_transform_publisher_map_odom', + output='screen', + arguments=[ + '0', '0', '0', # Translation: x = 0.035, y = 0.04, z = 0 (meters) + '0', '0', '0', '1', # Rotation: 0 + 'map', + 'odom' + ] + ), + Node( + package='tf2_ros', + executable='static_transform_publisher', + name='static_transform_publisher_odom_base_link', + output='screen', + arguments=[ + '0', '0', '0', # Translation: x = 0.035, y = 0.04, z = 0 (meters) + '0', '0', '0', '1', # Rotation: 0 + 'odom', + 'base_link' + ] + ), Node( package='ackermann_ekf', executable='ackermann_ekf', name='ackermann_ekf_node', output='screen' - ) + ), ]) \ No newline at end of file diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index 26c3e71..c6e60cb 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -4,6 +4,7 @@ #include #include +#include #include "model.h" #include "ros_sensor.h" @@ -43,18 +44,22 @@ class AckermannModel : public Model { V update_step(double time) { double dt = time - most_recent_update_time; + // std::cout << "dx: " << _d_x_ << std::endl; + float d_yaw = d_x_ * sin(tau_) / wheelbase * dt; float new_yaw = yaw_ + d_yaw; float new_x = x_ + d_x_ * cos(yaw_ + tau_) * dt; float new_y = y_ + d_x_ * sin(yaw_ + tau_) * dt; - V new_state; + V new_state = this->state; new_state[0] = new_x; new_state[1] = new_y; new_state[5] = new_yaw; + // std::cout << "new state: " << new_state.transpose() << std::endl; + return new_state; } @@ -152,7 +157,7 @@ class OdomSensor : public RosSensor { StatePackage msg_update(cev_msgs::msg::SensorCollect::SharedPtr msg) { StatePackage estimate = get_internals(); - estimate.update_time = static_cast(msg->stamp); + estimate.update_time = static_cast(msg->stamp) / 1e9; estimate.state[d_x__] = msg->velocity; estimate.state[tau__] = msg->steering_angle; @@ -164,6 +169,14 @@ class OdomSensor : public RosSensor { class AckermannEkfNode : public rclcpp::Node { public: AckermannEkfNode() : Node("AckermannEkfNode") { + V start_state = V::Zero(); + // start_state[x__] = 2.0; + // start_state[d_x__] = 1.0; + // start_state[tau__] = 30 * M_PI / 180.0; + model->force_state(start_state); + + std::cout << "Start state: " << start_state.transpose() << std::endl; + std::cout << "State: " << model->get_state().transpose() << std::endl; imu_sub = this->create_subscription( "imu", 1, std::bind(&IMUSensor::msg_handler, &imu, _1) ); @@ -173,15 +186,21 @@ class AckermannEkfNode : public rclcpp::Node { // ); timer = this->create_wall_timer( - std::chrono::milliseconds(20), std::bind(&AckermannEkfNode::timer_callback, this) + std::chrono::milliseconds(100), std::bind(&AckermannEkfNode::timer_callback, this) ); + tf_broadcaster_ = std::make_shared(this); + odom_pub = this->create_publisher("odometry/meow", 1); } + void timer_callback() { // double time = get_clock()->now().seconds(); // model->update(time); + + std::cout << "State: " << model->get_state().transpose() << std::endl; + // std::cout << "Yaw in degrees: " << model->get_state()[yaw__] * 180.0 / M_PI << std::endl; // sensor_msgs::msg::Imu imu_msg; // model->update(time); @@ -195,15 +214,17 @@ class AckermannEkfNode : public rclcpp::Node { odom_msg.pose.pose.position.x = state[x__]; odom_msg.pose.pose.position.y = state[y__]; + odom_msg.pose.pose.position.z = 0.0; - tf2::Quaternion q; + tf2::Quaternion q = tf2::Quaternion(); // odom_msg.pose.pose.orientation = tf2::createQuaternionMsgFromYaw(state[yaw__]); q.setY(state[yaw__]); - odom_msg.pose.pose.orientation.x = q.x(); - odom_msg.pose.pose.orientation.y = q.y(); - odom_msg.pose.pose.orientation.z = q.z(); - odom_msg.pose.pose.orientation.w = q.w(); + q = q.normalized(); + // odom_msg.pose.pose.orientation.x = q.x(); + // odom_msg.pose.pose.orientation.y = q.y(); + // odom_msg.pose.pose.orientation.z = q.z(); + // odom_msg.pose.pose.orientation.w = q.w(); odom_msg.twist.twist.linear.x = state[d_x__]; odom_msg.twist.twist.linear.y = state[d_y__]; @@ -219,11 +240,31 @@ class AckermannEkfNode : public rclcpp::Node { // odom_msg.twist.covariance[35] = model->get_covariance()(tau__, tau__); odom_pub->publish(odom_msg); + + geometry_msgs::msg::TransformStamped transformStamped; + + // Assuming you have the current state stored in the class + transformStamped.header.stamp = this->now(); + transformStamped.header.frame_id = "odom"; + transformStamped.child_frame_id = "base_link"; + + // Replace these with the actual state variables + transformStamped.transform.translation.x = state[x__]; + transformStamped.transform.translation.y = state[y__]; + transformStamped.transform.translation.z = 0.0; // Assuming 2D plane + + transformStamped.transform.rotation.x = q.x(); + transformStamped.transform.rotation.y = q.y(); + transformStamped.transform.rotation.z = q.z(); + transformStamped.transform.rotation.w = q.w(); + + // tf_broadcaster_->sendTransform(transformStamped); } private: rclcpp::Subscription::SharedPtr imu_sub; rclcpp::Subscription::SharedPtr odom_sub; + std::shared_ptr tf_broadcaster_; // Wall clock for publishing ackermann model state rclcpp::TimerBase::SharedPtr timer; @@ -234,7 +275,7 @@ class AckermannEkfNode : public rclcpp::Node { std::shared_ptr model = std::make_shared( AckermannModel( - V::Ones(), // TODO: Make Zeros + V::Zero(), M::Identity() * .1, M::Identity() * .1, 1.0 diff --git a/src/model.cpp b/src/model.cpp index b0ee88a..f2195f1 100644 --- a/src/model.cpp +++ b/src/model.cpp @@ -27,13 +27,15 @@ void Model::update(double time) { } std::pair prediction = predict(time); - state = prediction.first; - covariance = prediction.second; + this->state = prediction.first; + this->covariance = prediction.second; + + // std::cout << this->state << std::endl; previous_update_time = most_recent_update_time; most_recent_update_time = time; - update_dependents(); + // update_dependents(); } void Model::estimate_update( @@ -66,8 +68,6 @@ void Model::estimate_update( this->state = this->state + K_k * y_k; - std::cout << "YAW: " << this->state[yaw__] << std::endl; - this->covariance = ( MatrixXd::Identity(this->covariance.rows(), this->covariance.cols() ) - K_k * H_k) * this->covariance; From 9bedfb77f6745f843a0c59f503daf3afdeb5e5db Mon Sep 17 00:00:00 2001 From: Yey007 <55263178+Yey007@users.noreply.github.com> Date: Sun, 24 Nov 2024 02:23:30 -0500 Subject: [PATCH 041/196] Theoretically wrote occupancy grid collapser --- src/occupancy.py | 189 +++++++++++++++++++++++++++++++++++------------ 1 file changed, 140 insertions(+), 49 deletions(-) diff --git a/src/occupancy.py b/src/occupancy.py index 6c98f54..d7ae148 100644 --- a/src/occupancy.py +++ b/src/occupancy.py @@ -1,19 +1,142 @@ import struct -from dataclasses import dataclass -from typing import Generator +import numpy as np +import numpy.typing as npt import rclpy +import rclpy.time +import tf2_ros +from geometry_msgs.msg import Point, Pose, Quaternion from nav_msgs.msg import OccupancyGrid from rclpy import Node from rclpy.qos import QoSPresetProfiles from sensor_msgs.msg import PointCloud2, PointField -@dataclass(frozen=True) -class Point3D: - x: float - y: float - z: float +class OccupancyTransformerNode(Node): + def __init__(self): + super().__init__("occupancy_transformer") + self.subscription = self.create_subscription( + PointCloud2, "point_cloud", self.pc_callback, QoSPresetProfiles.SENSOR_DATA + ) + self.publisher = self.create_publisher(OccupancyGrid, "occupancy_grid", 10) + + self.declare_parameter("map_height_m", 10.0) + self.declare_parameter("map_width_m", 10.0) + self.declare_parameter("map_resolution_m", 0.1) + + self.tf_buffer = tf2_ros.Buffer() + self.tf_listener = tf2_ros.TransformListener(self.tf_buffer) + + def pc_callback(self, cloud: PointCloud2): + map_height_m = self.get_parameter("map_height_m").value + map_width_m = self.get_parameter("map_width_m").value + map_resolution_m = self.get_parameter("map_resolution_m").value + + map_height_cells = int(map_height_m / map_resolution_m) + map_width_cells = int(map_width_m / map_resolution_m) + + ride_height_m = self.get_parameter( + "ride_height_m" + ).value # height of base link above ground + car_height_m = self.get_parameter( + "car_height_m" + ).value # total height of car above ground + fuzz_threshold_m = self.get_parameter("fuzz_threshold_m").value + + # transform point cloud to base_link reference + base_link_frame = self.get_parameter("base_link_frame").value + transform = self.tf_buffer.lookup_transform( + base_link_frame, cloud.header.frame_id, rclpy.time.Time() + ) + translation = transform.transform.translation + translation = np.array([translation.x, translation.y, translation.z]) + rotation = transform.transform.rotation + rotation = quaternion_to_rotation_matrix( + (rotation.w, rotation.x, rotation.y, rotation.z) + ) + + point_cloud = parse_points(cloud) + base_link_pc = rotation * point_cloud + translation + + # filter for z that matters (we will run into it) + pc_z = base_link_pc[:, 2] + filtered_pc = base_link_pc[ + (pc_z < car_height_m + fuzz_threshold_m) + & (pc_z > ride_height_m - fuzz_threshold_m) + ] + + # center base_link at cell (0, map_width_cells // 2) facing down the grid + # we will set the origin accordingly + # x grows down the array and y grows across the array + # cell_x = pc_x // map_resolution + # cell_y = (pc_y + map_width_m / 2) // map_resolution + grid = np.zeros((map_height_cells, map_width_cells), dtype=np.int8) + + cell_x = filtered_pc[:, 0] / map_resolution_m + cell_y = (filtered_pc[:, 1] + map_width_m / 2) / map_resolution_m + cell_pc = np.stack((cell_x, cell_y), axis=-1).astype(np.int32) + + in_range = cell_pc[ + ( + (cell_pc[:, 0] >= 0) + & (cell_pc[:, 0] < map_height_cells) + & (cell_pc[:, 1] >= 0) + & (cell_pc[:, 1] < map_width_cells) + ) + ] + + grid[in_range] = 1 + flat = grid.flatten() + + occupancy_grid = OccupancyGrid() + + occupancy_grid.header.stamp = cloud.header.stamp + occupancy_grid.header.frame_id = base_link_frame + + occupancy_grid.info.map_load_time = cloud.header.stamp + occupancy_grid.info.resolution = map_resolution_m + occupancy_grid.info.width = map_width_cells + occupancy_grid.info.height = map_height_cells + + # relative to base link, which we're placing at (0, map_width_cells // 2) + origin_offset = (-map_width_cells * map_resolution_m) // 2 + map_origin = Pose( + position=Point(x=0, y=origin_offset, z=0), + orientation=Quaternion(x=0, y=0, z=0, w=1), + ) + occupancy_grid.info.origin = map_origin + + occupancy_grid.data = flat + + self.publisher.publish(occupancy_grid) + + +def parse_points(cloud: PointCloud2) -> npt.NDArray[np.float32]: + # TODO: avoid repetition (if we care) + (x_field,) = [field for field in cloud.fields if field.name == "x"] + (y_field,) = [field for field in cloud.fields if field.name == "y"] + (z_field,) = [field for field in cloud.fields if field.name == "z"] + x_format = get_unpack_format(x_field) + y_format = get_unpack_format(y_field) + z_format = get_unpack_format(z_field) + + n_points = len(cloud.data) // cloud.point_step + result = np.zeros((n_points, 3), dtype=np.float32) + + # TODO: this probably needs to get faster using iter_unpack and pad bytes + for i in range(n_points): + point_offset = i * cloud.point_step + result[i][0] = struct.unpack_from( + x_format, buffer=cloud.data, offset=point_offset + x_field.offset + ) + result[i][1] = struct.unpack_from( + y_format, buffer=cloud.data, offset=point_offset + y_field.offset + ) + result[i][2] = struct.unpack_from( + z_format, buffer=cloud.data, offset=point_offset + z_field.offset + ) + + return result def get_unpack_format(field: PointField, big_endian: bool): @@ -40,48 +163,16 @@ def get_unpack_format(field: PointField, big_endian: bool): return f"{endian_format}{count_format}{type_format}" -def parse_points(cloud: PointCloud2) -> Generator[Point3D, None, None]: - # TODO: avoid repetition (if we care) - (x_field,) = [field for field in cloud.fields if field.name == "x"] - (y_field,) = [field for field in cloud.fields if field.name == "y"] - (z_field,) = [field for field in cloud.fields if field.name == "z"] - x_format = get_unpack_format(x_field) - y_format = get_unpack_format(y_field) - z_format = get_unpack_format(z_field) - - for i in range(len(cloud.data) // cloud.point_step): - point_offset = i * cloud.point_step - x = struct.unpack_from( - x_format, buffer=cloud.data, offset=point_offset + x_field.offset - ) - y = struct.unpack_from( - y_format, buffer=cloud.data, offset=point_offset + y_field.offset - ) - z = struct.unpack_from( - z_format, buffer=cloud.data, offset=point_offset + z_field.offset - ) - yield Point3D(x, y, z) - - -class OccupancyTransformerNode(Node): - def __init__(self): - super().__init__("occupancy_transformer") - self.subscription = self.create_subscription( - PointCloud2, "point_cloud", self.pc_callback, QoSPresetProfiles.SENSOR_DATA - ) - self.publisher = self.create_publisher(OccupancyGrid, "occupancy_grid", 10) - - self.declare_parameter("map_height_m", 10.0) - self.declare_parameter("map_width_m", 10.0) - self.declare_parameter("map_resolution_m", 0.1) - - def pc_callback(self, cloud: PointCloud2): - map_height_m = self.get_parameter("map_height_m").value - map_width_m = self.get_parameter("map_width_m").value - map_resolution_m = self.get_parameter("map_resolution_m").value - - map_height_cells = int(map_height_m / map_resolution_m) - map_width_cells = int(map_width_m / map_resolution_m) +def quaternion_to_rotation_matrix(q): + w, x, y, z = q + r = np.array( + [ + [1 - 2 * y**2 - 2 * z**2, 2 * x * y - 2 * z * w, 2 * x * z + 2 * y * w], + [2 * x * y + 2 * z * w, 1 - 2 * x**2 - 2 * z**2, 2 * y * z - 2 * x * w], + [2 * x * z - 2 * y * w, 2 * y * z + 2 * x * w, 1 - 2 * x**2 - 2 * y**2], + ] + ) + return r def main(): From 227347a031785604c6888ed8d021c601551256ff Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sun, 24 Nov 2024 02:28:39 -0500 Subject: [PATCH 042/196] Use sim time --- launch/launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/launch/launch.py b/launch/launch.py index e544c50..6661fde 100644 --- a/launch/launch.py +++ b/launch/launch.py @@ -14,7 +14,7 @@ def generate_launch_description(): package="encoder_odometry", executable="odometry", name="encoder_odometry_node", - parameters=[] + parameters=[{'use_sim_time': True}], ) ] ) From e2623087e0dd9361c71d16a57e1025cf5f222558 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sun, 24 Nov 2024 02:28:39 -0500 Subject: [PATCH 043/196] Use sim time --- launch/launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/launch/launch.py b/launch/launch.py index 0bcf529..aff2c2d 100644 --- a/launch/launch.py +++ b/launch/launch.py @@ -14,7 +14,7 @@ def generate_launch_description(): package="teleop", executable="joy_interpreter", name="joy_interpreter", - parameters=[] + parameters=[{'use_sim_time': True}], ) ] ) From 3efaee5885c63148c85f5cb0500f64ea8835b52c Mon Sep 17 00:00:00 2001 From: Yey007 <55263178+Yey007@users.noreply.github.com> Date: Sun, 24 Nov 2024 03:05:45 -0500 Subject: [PATCH 044/196] Moved to ROS 2 Python package structure --- CMakeLists.txt | 36 ------------- config/{.gitkeep => occupancy.yaml} | 0 launch/launch.py | 53 +++++++++++++++++-- package.xml | 16 +++--- resource/vision | 0 setup.cfg | 4 ++ setup.py | 25 +++++++++ vision/__init__.py | 0 .../occupancy_transformer.py | 0 9 files changed, 86 insertions(+), 48 deletions(-) delete mode 100644 CMakeLists.txt rename config/{.gitkeep => occupancy.yaml} (100%) create mode 100644 resource/vision create mode 100644 setup.cfg create mode 100644 setup.py create mode 100644 vision/__init__.py rename src/occupancy.py => vision/occupancy_transformer.py (100%) diff --git a/CMakeLists.txt b/CMakeLists.txt deleted file mode 100644 index b5ea284..0000000 --- a/CMakeLists.txt +++ /dev/null @@ -1,36 +0,0 @@ - -cmake_minimum_required(VERSION 3.8) -project(vision) - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES Clang) - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -# find dependencies -find_package(ament_cmake REQUIRED) -# uncomment the following section in order to fill in -# further dependencies manually. -# find_package( REQUIRED) - -install(DIRECTORY launch/ - DESTINATION share/${PROJECT_NAME}/launch -) - -install(DIRECTORY config/ - DESTINATION share/${PROJECT_NAME}/config -) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - # the following line skips the linter which checks for copyrights - # comment the line when a copyright and license is added to all source files - set(ament_cmake_copyright_FOUND TRUE) - # the following line skips cpplint (only works in a git repo) - # comment the line when this package is in a git repo and when - # a copyright and license is added to all source files - set(ament_cmake_cpplint_FOUND TRUE) - ament_lint_auto_find_test_dependencies() -endif() - -ament_package() - diff --git a/config/.gitkeep b/config/occupancy.yaml similarity index 100% rename from config/.gitkeep rename to config/occupancy.yaml diff --git a/launch/launch.py b/launch/launch.py index b9693f2..115ff66 100644 --- a/launch/launch.py +++ b/launch/launch.py @@ -1,15 +1,60 @@ +import os -from launch import LaunchDescription -from launch_ros.actions import Node from ament_index_python.packages import get_package_share_directory -import os +from launch import LaunchDescription from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch_ros.actions import Node + + +def get_path(package, dir, file): + return os.path.join(get_package_share_directory(package), dir, file) + + +def launch(package, file, launch_folder="launch", arguments={}): + return IncludeLaunchDescription( + PythonLaunchDescriptionSource(get_path(package, launch_folder, file)), + launch_arguments=arguments.items(), + ) def generate_launch_description(): + config = os.path.join( + get_package_share_directory("vision"), "config", "occupancy.yaml" + ) + return LaunchDescription( [ + launch( + "zed_wrapper", + "zed_camera.launch.py", + arguments={ + "camera_model": "zed2", + "publish_urdf": "false", + "publish_tf": "false", + "publish_map_tf": "false", + "publish_imu_tf": "false", + }, + ), + Node( + package="tf2_ros", + exec_name="static_transform_publisher", + arguments=[ + "0", + "0", + "0", + "0", + "0", + "0", + "base_link", + "zed_camera_frame", + ], + ), + Node( + package="vision", + exec_name="occupancy_transformer", + name="occupancy_transformer", + parameters=[config], + ), ] ) - diff --git a/package.xml b/package.xml index a26558e..d3a1dd6 100644 --- a/package.xml +++ b/package.xml @@ -3,16 +3,16 @@ vision 0.0.0 - Vision algorithms for mini-cars. - Utku Melemetci - MIT + TODO: Package description + utku + TODO: License declaration - ament_cmake - - ament_lint_auto - ament_lint_common + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest - ament_cmake + ament_python diff --git a/resource/vision b/resource/vision new file mode 100644 index 0000000..e69de29 diff --git a/setup.cfg b/setup.cfg new file mode 100644 index 0000000..b190bc5 --- /dev/null +++ b/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/vision +[install] +install_scripts=$base/lib/vision diff --git a/setup.py b/setup.py new file mode 100644 index 0000000..61cf5c7 --- /dev/null +++ b/setup.py @@ -0,0 +1,25 @@ +from setuptools import find_packages, setup + +package_name = "vision" + +setup( + name=package_name, + version="0.0.0", + packages=find_packages(exclude=["test"]), + data_files=[ + ("share/ament_index/resource_index/packages", ["resource/" + package_name]), + ("share/" + package_name, ["package.xml"]), + ], + install_requires=["setuptools"], + zip_safe=True, + maintainer="Utku Melemetci", + maintainer_email="55263178+Yey007@users.noreply.github.com", + description="Vision code for mini-cars.", + license="TODO", + tests_require=["pytest"], + entry_points={ + "console_scripts": [ + "occupancy_transformer = vision.occupancy_transformer:main" + ], + }, +) diff --git a/vision/__init__.py b/vision/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/src/occupancy.py b/vision/occupancy_transformer.py similarity index 100% rename from src/occupancy.py rename to vision/occupancy_transformer.py From 33c0dc52a121b5699892f47f3b357f12d55c8cee Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sun, 24 Nov 2024 03:26:06 -0500 Subject: [PATCH 045/196] v3 rosbag --- launch/launch.py | 1 - 1 file changed, 1 deletion(-) diff --git a/launch/launch.py b/launch/launch.py index 6661fde..d6c5ba7 100644 --- a/launch/launch.py +++ b/launch/launch.py @@ -14,7 +14,6 @@ def generate_launch_description(): package="encoder_odometry", executable="odometry", name="encoder_odometry_node", - parameters=[{'use_sim_time': True}], ) ] ) From da291d08dd3dc0b4a166aa401571d977ab7a0317 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sun, 24 Nov 2024 03:26:06 -0500 Subject: [PATCH 046/196] v3 rosbag --- launch/launch.py | 1 - 1 file changed, 1 deletion(-) diff --git a/launch/launch.py b/launch/launch.py index aff2c2d..eb446ea 100644 --- a/launch/launch.py +++ b/launch/launch.py @@ -14,7 +14,6 @@ def generate_launch_description(): package="teleop", executable="joy_interpreter", name="joy_interpreter", - parameters=[{'use_sim_time': True}], ) ] ) From f9cc03ea5ead4ed4b7ef65ff60fd98d4efec70d8 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sun, 24 Nov 2024 08:29:55 +0000 Subject: [PATCH 047/196] Update timestamp to float64 --- README.md | 2 +- msg/SensorCollect.msg | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index 124a7c5..d89fa94 100644 --- a/README.md +++ b/README.md @@ -1,6 +1,6 @@ Custom ROS 2 messages for Cornell Electric Vehicles. SensorCollect.msg - - stamp : Time [ Message time ] + - float64 : timestamp [ Message time in s ] - float32 : velocity [ Velocity in m/s] - float32 : steering_angle [ Steering angle in radians ] diff --git a/msg/SensorCollect.msg b/msg/SensorCollect.msg index c0337b9..4cb515a 100644 --- a/msg/SensorCollect.msg +++ b/msg/SensorCollect.msg @@ -1,9 +1,9 @@ # SensorCollect.msg # -# stamp : Time [ Message time ] +# float64 : timestamp [ Message time ] # float32 : velocity [ Velocity in m/s] # float32 : steering_angle [ Steering angle in radians ] # -uint32 stamp +float64 timestamp float32 velocity float32 steering_angle From 94e258d1240f403d31afbd73b1052d3c9fee7245 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sun, 24 Nov 2024 08:41:26 +0000 Subject: [PATCH 048/196] WORKSgit add . --- .../ackermann_recording_v_3_0.db3 | Bin 0 -> 3596288 bytes rosbag/ackermann_recording_v_3/metadata.yaml | 116 ++++++++++++++++++ src/ackermann_ekf.cpp | 28 ++--- src/model.cpp | 17 +-- 4 files changed, 138 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topic_metadata: + name: /tf + type: tf2_msgs/msg/TFMessage + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" + message_count: 633 + - topic_metadata: + name: /tf_static + type: tf2_msgs/msg/TFMessage + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false\n- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n 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9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false\n- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false\n- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false\n- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" + message_count: 0 + - topic_metadata: + name: /sensor_collect + type: cev_msgs/msg/SensorCollect + 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1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 10\n nsec: 0\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false\n- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 10\n nsec: 0\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false\n- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 10\n nsec: 0\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false\n- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 10\n nsec: 0\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false\n- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 10\n nsec: 0\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false\n- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 10\n nsec: 0\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" + message_count: 93 + - topic_metadata: + name: /imu + type: sensor_msgs/msg/Imu + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" + message_count: 231 + - topic_metadata: + name: /orientation + type: geometry_msgs/msg/Quaternion + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" + message_count: 0 + - topic_metadata: + name: /events/write_split + type: rosbag2_interfaces/msg/WriteSplitEvent + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" + message_count: 0 + - topic_metadata: + name: /auto_max_vel + type: std_msgs/msg/Float32 + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" + message_count: 2284 + - topic_metadata: + name: /joy + type: sensor_msgs/msg/Joy + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" + message_count: 1016 + - topic_metadata: + name: /magnetometer + type: sensor_msgs/msg/MagneticField + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" + message_count: 231 + - topic_metadata: + name: /encoder_odometry + type: nav_msgs/msg/Odometry + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" + message_count: 1077 + - topic_metadata: + name: /rc_movement_msg + type: ackermann_msgs/msg/AckermannDrive + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" + message_count: 981 + compression_format: "" + compression_mode: "" + relative_file_paths: + - ackermann_recording_v_3_0.db3 + files: + - path: ackermann_recording_v_3_0.db3 + starting_time: + nanoseconds_since_epoch: 1732436633915847685 + duration: + nanoseconds: 23004854249 + message_count: 8397 \ No newline at end of file diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index c6e60cb..9fca01a 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -46,11 +46,11 @@ class AckermannModel : public Model { // std::cout << "dx: " << _d_x_ << std::endl; - float d_yaw = d_x_ * sin(tau_) / wheelbase * dt; - float new_yaw = yaw_ + d_yaw; + double d_yaw = d_x_ * sin(tau_) / wheelbase * dt; + double new_yaw = yaw_ + d_yaw; - float new_x = x_ + d_x_ * cos(yaw_ + tau_) * dt; - float new_y = y_ + d_x_ * sin(yaw_ + tau_) * dt; + double new_x = x_ + d_x_ * cos(yaw_ + tau_) * dt; + double new_y = y_ + d_x_ * sin(yaw_ + tau_) * dt; V new_state = this->state; @@ -58,8 +58,6 @@ class AckermannModel : public Model { new_state[1] = new_y; new_state[5] = new_yaw; - // std::cout << "new state: " << new_state.transpose() << std::endl; - return new_state; } @@ -157,7 +155,7 @@ class OdomSensor : public RosSensor { StatePackage msg_update(cev_msgs::msg::SensorCollect::SharedPtr msg) { StatePackage estimate = get_internals(); - estimate.update_time = static_cast(msg->stamp) / 1e9; + estimate.update_time = msg->timestamp; estimate.state[d_x__] = msg->velocity; estimate.state[tau__] = msg->steering_angle; @@ -181,9 +179,9 @@ class AckermannEkfNode : public rclcpp::Node { "imu", 1, std::bind(&IMUSensor::msg_handler, &imu, _1) ); - // odom_sub = this->create_subscription( - // "sensor_collect", 1, std::bind(&OdomSensor::msg_handler, &odom, _1) - // ); + odom_sub = this->create_subscription( + "sensor_collect", 1, std::bind(&OdomSensor::msg_handler, &odom, _1) + ); timer = this->create_wall_timer( std::chrono::milliseconds(100), std::bind(&AckermannEkfNode::timer_callback, this) @@ -219,12 +217,12 @@ class AckermannEkfNode : public rclcpp::Node { tf2::Quaternion q = tf2::Quaternion(); // odom_msg.pose.pose.orientation = tf2::createQuaternionMsgFromYaw(state[yaw__]); - q.setY(state[yaw__]); + q.setRPY(0, 0, state[yaw__]); q = q.normalized(); - // odom_msg.pose.pose.orientation.x = q.x(); - // odom_msg.pose.pose.orientation.y = q.y(); - // odom_msg.pose.pose.orientation.z = q.z(); - // odom_msg.pose.pose.orientation.w = q.w(); + odom_msg.pose.pose.orientation.x = q.x(); + odom_msg.pose.pose.orientation.y = q.y(); + odom_msg.pose.pose.orientation.z = q.z(); + odom_msg.pose.pose.orientation.w = q.w(); odom_msg.twist.twist.linear.x = state[d_x__]; odom_msg.twist.twist.linear.y = state[d_y__]; diff --git a/src/model.cpp b/src/model.cpp index f2195f1..b9a1ab6 100644 --- a/src/model.cpp +++ b/src/model.cpp @@ -49,28 +49,29 @@ void Model::estimate_update( } std::pair prediction = predict(estimate.get_most_recent_update_time()); - V state = prediction.first; - M covariance = prediction.second; + V st = prediction.first; + + M cov = prediction.second; M H_k = sensor_jacobian(estimate); M R_k = estimate.get_covariance(); - V predicted_sensor = estimate.state_matrix_multiplier() * state; + V predicted_sensor = estimate.state_matrix_multiplier() * st; V real_sensor = estimate.get_state(); V y_k = real_sensor - predicted_sensor; - M S_k = H_k * covariance * H_k.transpose() + R_k; + M S_k = H_k * cov * H_k.transpose() + R_k; - M K_k = covariance * H_k.transpose() * S_k.inverse(); + M K_k = cov * H_k.transpose() * S_k.inverse(); - this->state = this->state + K_k * y_k; + this->state = st + K_k * y_k; this->covariance = ( - MatrixXd::Identity(this->covariance.rows(), this->covariance.cols() - ) - K_k * H_k) * this->covariance; + MatrixXd::Identity(cov.rows(), cov.cols() + ) - K_k * H_k) * cov; previous_update_time = most_recent_update_time; most_recent_update_time = estimate.get_most_recent_update_time(); From 3e1a088eef8e5ec0d8a684e0a76b2196072a63c3 Mon Sep 17 00:00:00 2001 From: Yey007 <55263178+Yey007@users.noreply.github.com> Date: Sun, 24 Nov 2024 03:56:00 -0500 Subject: [PATCH 049/196] Make some updates to deploy script --- package.xml | 8 +++----- setup.py | 1 + 2 files changed, 4 insertions(+), 5 deletions(-) diff --git a/package.xml b/package.xml index d3a1dd6..d74ddc2 100644 --- a/package.xml +++ b/package.xml @@ -6,11 +6,9 @@ TODO: Package description utku TODO: License declaration - - ament_copyright - ament_flake8 - ament_pep257 - python3-pytest + + zed_wrapper + tf2_ros ament_python diff --git a/setup.py b/setup.py index 61cf5c7..423cb55 100644 --- a/setup.py +++ b/setup.py @@ -9,6 +9,7 @@ data_files=[ ("share/ament_index/resource_index/packages", ["resource/" + package_name]), ("share/" + package_name, ["package.xml"]), + (f"share/{package_name}/config", ["config/occupancy.yaml"]), ], install_requires=["setuptools"], zip_safe=True, From c06b9b4f13e19fc3ce2b51dda91815e08c095088 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Mon, 25 Nov 2024 22:37:36 +0000 Subject: [PATCH 050/196] Fix misc bugs. --- include/estimator.h | 6 +++--- include/model.h | 8 ++++---- include/ros_sensor.h | 4 ++++ launch/launch.py | 3 ++- src/ackermann_ekf.cpp | 41 +++++++++-------------------------------- src/model.cpp | 12 +++++++++--- 6 files changed, 31 insertions(+), 43 deletions(-) diff --git a/include/estimator.h b/include/estimator.h index efc5f53..06a9610 100644 --- a/include/estimator.h +++ b/include/estimator.h @@ -107,10 +107,10 @@ class Estimator { V state; M covariance; - double previous_update_time; - double most_recent_update_time; + double previous_update_time = 0.0; + double most_recent_update_time = 0.0; - bool initialized; + bool initialized = false; public: /** diff --git a/include/model.h b/include/model.h index 8f96bd1..102beb5 100644 --- a/include/model.h +++ b/include/model.h @@ -92,10 +92,6 @@ class Model : public Estimator { */ void estimate_update(Estimator &estimate); - void force_state(V state) { - this->state = state; - } - /** * Bind a model to this updater * @@ -103,6 +99,10 @@ class Model : public Estimator { */ void bind_to(std::shared_ptr model); + void force_state(V state) { + this->state = state; + } + /** * Update all bound models */ diff --git a/include/ros_sensor.h b/include/ros_sensor.h index e05f768..840b10b 100644 --- a/include/ros_sensor.h +++ b/include/ros_sensor.h @@ -23,6 +23,10 @@ class RosSensor : public Sensor { dependents ) {} + + /** + * Handle a new message. Meant to be used as or in a message subscriber. + */ void msg_handler(typename T::SharedPtr msg) { StatePackage update = msg_update(msg); updateInternals(update); diff --git a/launch/launch.py b/launch/launch.py index c8d2495..ed9c649 100644 --- a/launch/launch.py +++ b/launch/launch.py @@ -43,6 +43,7 @@ def generate_launch_description(): package='ackermann_ekf', executable='ackermann_ekf', name='ackermann_ekf_node', - output='screen' + output='screen', + arguments=['--ros-args', '--log-level', 'DEBUG'], ), ]) \ No newline at end of file diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index 9fca01a..94ebd02 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -44,8 +44,6 @@ class AckermannModel : public Model { V update_step(double time) { double dt = time - most_recent_update_time; - // std::cout << "dx: " << _d_x_ << std::endl; - double d_yaw = d_x_ * sin(tau_) / wheelbase * dt; double new_yaw = yaw_ + d_yaw; @@ -94,14 +92,13 @@ class AckermannModel : public Model { } }; -class IMUSensor : public RosSensor { +class IMUSensor : public RosSensor { public: IMUSensor( V state, M covariance, std::vector> dependents - ) - : RosSensor( + ) : RosSensor( state, covariance, dependents @@ -168,13 +165,12 @@ class AckermannEkfNode : public rclcpp::Node { public: AckermannEkfNode() : Node("AckermannEkfNode") { V start_state = V::Zero(); - // start_state[x__] = 2.0; - // start_state[d_x__] = 1.0; - // start_state[tau__] = 30 * M_PI / 180.0; + start_state[x__] = 2.0; + start_state[d_x__] = 1.0; + start_state[tau__] = 30 * M_PI / 180.0; + model->force_state(start_state); - std::cout << "Start state: " << start_state.transpose() << std::endl; - std::cout << "State: " << model->get_state().transpose() << std::endl; imu_sub = this->create_subscription( "imu", 1, std::bind(&IMUSensor::msg_handler, &imu, _1) ); @@ -184,7 +180,7 @@ class AckermannEkfNode : public rclcpp::Node { ); timer = this->create_wall_timer( - std::chrono::milliseconds(100), std::bind(&AckermannEkfNode::timer_callback, this) + std::chrono::milliseconds(10), std::bind(&AckermannEkfNode::timer_callback, this) ); tf_broadcaster_ = std::make_shared(this); @@ -194,13 +190,6 @@ class AckermannEkfNode : public rclcpp::Node { void timer_callback() { // double time = get_clock()->now().seconds(); - - // model->update(time); - - std::cout << "State: " << model->get_state().transpose() << std::endl; - // std::cout << "Yaw in degrees: " << model->get_state()[yaw__] * 180.0 / M_PI << std::endl; - // sensor_msgs::msg::Imu imu_msg; - // model->update(time); nav_msgs::msg::Odometry odom_msg; @@ -216,7 +205,6 @@ class AckermannEkfNode : public rclcpp::Node { odom_msg.pose.pose.position.z = 0.0; tf2::Quaternion q = tf2::Quaternion(); - // odom_msg.pose.pose.orientation = tf2::createQuaternionMsgFromYaw(state[yaw__]); q.setRPY(0, 0, state[yaw__]); q = q.normalized(); odom_msg.pose.pose.orientation.x = q.x(); @@ -228,28 +216,17 @@ class AckermannEkfNode : public rclcpp::Node { odom_msg.twist.twist.linear.y = state[d_y__]; odom_msg.twist.twist.angular.z = state[d_yaw__]; - // RCLCPP_INFO(this->get_logger(), "x: %f", model->get_covariance()(x__, x__)); - - // odom_msg.pose.covariance[0] = model->get_covariance()(x__, x__); - // odom_msg.pose.covariance[7] = model->get_covariance()(y__, y__); - // odom_msg.pose.covariance[35] = model->get_covariance()(yaw__, yaw__); - - // odom_msg.twist.covariance[0] = model->get_covariance()(d_x__, d_x__); - // odom_msg.twist.covariance[35] = model->get_covariance()(tau__, tau__); - odom_pub->publish(odom_msg); geometry_msgs::msg::TransformStamped transformStamped; - // Assuming you have the current state stored in the class transformStamped.header.stamp = this->now(); transformStamped.header.frame_id = "odom"; transformStamped.child_frame_id = "base_link"; - // Replace these with the actual state variables transformStamped.transform.translation.x = state[x__]; transformStamped.transform.translation.y = state[y__]; - transformStamped.transform.translation.z = 0.0; // Assuming 2D plane + transformStamped.transform.translation.z = state[z__]; transformStamped.transform.rotation.x = q.x(); transformStamped.transform.rotation.y = q.y(); @@ -278,7 +255,7 @@ class AckermannEkfNode : public rclcpp::Node { M::Identity() * .1, 1.0 ) - ); + ); IMUSensor imu = IMUSensor( V::Zero(), diff --git a/src/model.cpp b/src/model.cpp index b9a1ab6..51277c3 100644 --- a/src/model.cpp +++ b/src/model.cpp @@ -19,6 +19,10 @@ std::pair Model::predict(double time) { } void Model::update(double time) { + if (time - most_recent_update_time < 0) { + return; + } + if (!this->initialized) { this->previous_update_time = time; this->most_recent_update_time = time; @@ -30,17 +34,19 @@ void Model::update(double time) { this->state = prediction.first; this->covariance = prediction.second; - // std::cout << this->state << std::endl; - previous_update_time = most_recent_update_time; most_recent_update_time = time; - // update_dependents(); + update_dependents(); } void Model::estimate_update( Estimator &estimate ) { + if (estimate.get_most_recent_update_time() - most_recent_update_time < 0.0) { + return; + } + if (!this->initialized) { this->previous_update_time = estimate.get_most_recent_update_time(); this->most_recent_update_time = estimate.get_most_recent_update_time(); From 10c4f5bfc8b59148a6ac0f49e85b86b675591d7a Mon Sep 17 00:00:00 2001 From: Yey007 <55263178+Yey007@users.noreply.github.com> Date: Mon, 25 Nov 2024 21:30:22 -0500 Subject: [PATCH 051/196] Fixed stupid problems --- .gitignore | 1 + config/occupancy.yaml | 10 ++++ launch/launch.py | 11 ++-- setup.py | 1 + vision/occupancy_transformer.py | 94 +++++++++++++++------------------ 5 files changed, 61 insertions(+), 56 deletions(-) create mode 100644 .gitignore diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..8cf491d --- /dev/null +++ b/.gitignore @@ -0,0 +1 @@ +bag/ diff --git a/config/occupancy.yaml b/config/occupancy.yaml index e69de29..ed8bcb8 100644 --- a/config/occupancy.yaml +++ b/config/occupancy.yaml @@ -0,0 +1,10 @@ +occupancy_transformer: + ros__parameters: + map_height_m: 10.0 + map_width_m: 10.0 + map_resolution_m: 0.1 + ride_height_m: 0.1 + car_height_m: 0.15 + fuzz_threshold_m: 0.05 + base_link_frame: base_link + point_cloud_topic: /zed/zed_node/point_cloud/cloud_registered diff --git a/launch/launch.py b/launch/launch.py index 115ff66..717cb34 100644 --- a/launch/launch.py +++ b/launch/launch.py @@ -30,15 +30,16 @@ def generate_launch_description(): "zed_camera.launch.py", arguments={ "camera_model": "zed2", - "publish_urdf": "false", + # "publish_urdf": "false", "publish_tf": "false", "publish_map_tf": "false", - "publish_imu_tf": "false", + # "publish_imu_tf": "false", }, ), Node( package="tf2_ros", - exec_name="static_transform_publisher", + executable="static_transform_publisher", + name="zed_camera_base_link", arguments=[ "0", "0", @@ -47,12 +48,12 @@ def generate_launch_description(): "0", "0", "base_link", - "zed_camera_frame", + "zed_camera_link", ], ), Node( package="vision", - exec_name="occupancy_transformer", + executable="occupancy_transformer", name="occupancy_transformer", parameters=[config], ), diff --git a/setup.py b/setup.py index 423cb55..b9e561a 100644 --- a/setup.py +++ b/setup.py @@ -10,6 +10,7 @@ ("share/ament_index/resource_index/packages", ["resource/" + package_name]), ("share/" + package_name, ["package.xml"]), (f"share/{package_name}/config", ["config/occupancy.yaml"]), + (f"share/{package_name}/launch", ["launch/launch.py"]), ], install_requires=["setuptools"], zip_safe=True, diff --git a/vision/occupancy_transformer.py b/vision/occupancy_transformer.py index d7ae148..715f5ce 100644 --- a/vision/occupancy_transformer.py +++ b/vision/occupancy_transformer.py @@ -3,29 +3,38 @@ import numpy as np import numpy.typing as npt import rclpy +import rclpy.node +import rclpy.qos import rclpy.time import tf2_ros from geometry_msgs.msg import Point, Pose, Quaternion from nav_msgs.msg import OccupancyGrid -from rclpy import Node -from rclpy.qos import QoSPresetProfiles from sensor_msgs.msg import PointCloud2, PointField -class OccupancyTransformerNode(Node): +class OccupancyTransformerNode(rclpy.node.Node): def __init__(self): super().__init__("occupancy_transformer") - self.subscription = self.create_subscription( - PointCloud2, "point_cloud", self.pc_callback, QoSPresetProfiles.SENSOR_DATA - ) - self.publisher = self.create_publisher(OccupancyGrid, "occupancy_grid", 10) + self.declare_parameter("point_cloud_topic", "point_cloud") self.declare_parameter("map_height_m", 10.0) self.declare_parameter("map_width_m", 10.0) self.declare_parameter("map_resolution_m", 0.1) + self.declare_parameter("ride_height_m") + self.declare_parameter("car_height_m") + self.declare_parameter("fuzz_threshold_m") + self.declare_parameter("base_link_frame", "base_link") + + self.subscription = self.create_subscription( + PointCloud2, + self.get_parameter("point_cloud_topic").value, + self.pc_callback, + rclpy.qos.qos_profile_sensor_data, + ) + self.publisher = self.create_publisher(OccupancyGrid, "occupancy", 10) self.tf_buffer = tf2_ros.Buffer() - self.tf_listener = tf2_ros.TransformListener(self.tf_buffer) + self.tf_listener = tf2_ros.TransformListener(self.tf_buffer, self) def pc_callback(self, cloud: PointCloud2): map_height_m = self.get_parameter("map_height_m").value @@ -35,15 +44,10 @@ def pc_callback(self, cloud: PointCloud2): map_height_cells = int(map_height_m / map_resolution_m) map_width_cells = int(map_width_m / map_resolution_m) - ride_height_m = self.get_parameter( - "ride_height_m" - ).value # height of base link above ground - car_height_m = self.get_parameter( - "car_height_m" - ).value # total height of car above ground + ride_height_m = self.get_parameter("ride_height_m").value + car_height_m = self.get_parameter("car_height_m").value fuzz_threshold_m = self.get_parameter("fuzz_threshold_m").value - # transform point cloud to base_link reference base_link_frame = self.get_parameter("base_link_frame").value transform = self.tf_buffer.lookup_transform( base_link_frame, cloud.header.frame_id, rclpy.time.Time() @@ -56,20 +60,14 @@ def pc_callback(self, cloud: PointCloud2): ) point_cloud = parse_points(cloud) - base_link_pc = rotation * point_cloud + translation + base_link_pc = point_cloud @ rotation.T + translation - # filter for z that matters (we will run into it) pc_z = base_link_pc[:, 2] filtered_pc = base_link_pc[ (pc_z < car_height_m + fuzz_threshold_m) & (pc_z > ride_height_m - fuzz_threshold_m) ] - # center base_link at cell (0, map_width_cells // 2) facing down the grid - # we will set the origin accordingly - # x grows down the array and y grows across the array - # cell_x = pc_x // map_resolution - # cell_y = (pc_y + map_width_m / 2) // map_resolution grid = np.zeros((map_height_cells, map_width_cells), dtype=np.int8) cell_x = filtered_pc[:, 0] / map_resolution_m @@ -98,15 +96,14 @@ def pc_callback(self, cloud: PointCloud2): occupancy_grid.info.width = map_width_cells occupancy_grid.info.height = map_height_cells - # relative to base link, which we're placing at (0, map_width_cells // 2) - origin_offset = (-map_width_cells * map_resolution_m) // 2 + origin_offset = (-map_width_cells * map_resolution_m) / 2 map_origin = Pose( - position=Point(x=0, y=origin_offset, z=0), - orientation=Quaternion(x=0, y=0, z=0, w=1), + position=Point(x=0.0, y=origin_offset, z=0.0), + orientation=Quaternion(x=0.0, y=0.0, z=0.0, w=1.0), ) occupancy_grid.info.origin = map_origin - occupancy_grid.data = flat + occupancy_grid.data = list(map(int, flat)) self.publisher.publish(occupancy_grid) @@ -116,9 +113,9 @@ def parse_points(cloud: PointCloud2) -> npt.NDArray[np.float32]: (x_field,) = [field for field in cloud.fields if field.name == "x"] (y_field,) = [field for field in cloud.fields if field.name == "y"] (z_field,) = [field for field in cloud.fields if field.name == "z"] - x_format = get_unpack_format(x_field) - y_format = get_unpack_format(y_field) - z_format = get_unpack_format(z_field) + x_format = get_unpack_format(x_field, cloud.is_bigendian) + y_format = get_unpack_format(y_field, cloud.is_bigendian) + z_format = get_unpack_format(z_field, cloud.is_bigendian) n_points = len(cloud.data) // cloud.point_step result = np.zeros((n_points, 3), dtype=np.float32) @@ -126,13 +123,13 @@ def parse_points(cloud: PointCloud2) -> npt.NDArray[np.float32]: # TODO: this probably needs to get faster using iter_unpack and pad bytes for i in range(n_points): point_offset = i * cloud.point_step - result[i][0] = struct.unpack_from( + (result[i][0],) = struct.unpack_from( x_format, buffer=cloud.data, offset=point_offset + x_field.offset ) - result[i][1] = struct.unpack_from( + (result[i][1],) = struct.unpack_from( y_format, buffer=cloud.data, offset=point_offset + y_field.offset ) - result[i][2] = struct.unpack_from( + (result[i][2],) = struct.unpack_from( z_format, buffer=cloud.data, offset=point_offset + z_field.offset ) @@ -142,24 +139,19 @@ def parse_points(cloud: PointCloud2) -> npt.NDArray[np.float32]: def get_unpack_format(field: PointField, big_endian: bool): endian_format = ">" if big_endian else "<" count_format = str(field.count) - type_format = "" - match field.datatype: - case PointField.INT8: - type_format = "b" - case PointField.UINT8: - type_format = "B" - case PointField.INT16: - type_format = "h" - case PointField.UINT16: - type_format = "H" - case PointField.INT32: - type_format = "i" - case PointField.UINT32: - type_format = "I" - case PointField.FLOAT32: - type_format = "f" - case PointField.FLOAT64: - type_format = "d" + + type_format_dict = { + PointField.INT8: "b", + PointField.UINT8: "B", + PointField.INT16: "h", + PointField.UINT16: "H", + PointField.INT32: "i", + PointField.UINT32: "I", + PointField.FLOAT32: "f", + PointField.FLOAT64: "d", + } + type_format = type_format_dict.get(field.datatype, "") + return f"{endian_format}{count_format}{type_format}" From d32f33d57595f1b0dea98ce2d77bbf43bdf1d16d Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Tue, 26 Nov 2024 04:58:46 +0000 Subject: [PATCH 052/196] Semi-working, some jumps? --- gen_jacobian.py | 54 +++++++++++++++++++++++++++ include/estimator.h | 2 + src/ackermann_ekf.cpp | 85 +++++++++++++++++++++++++++---------------- 3 files changed, 109 insertions(+), 32 deletions(-) create mode 100644 gen_jacobian.py diff --git a/gen_jacobian.py b/gen_jacobian.py new file mode 100644 index 0000000..ffa1402 --- /dev/null +++ b/gen_jacobian.py @@ -0,0 +1,54 @@ +import sympy as sp + +# Define state variables +x, y, z = sp.symbols('x y z') +roll, pitch, yaw = sp.symbols('roll pitch yaw') +dx, dy, dz = sp.symbols('dx dy dz') +droll, dpitch, dyaw = sp.symbols('droll dpitch dyaw') +ddx, ddy, ddz = sp.symbols('ddx ddy ddz') +tau, dtau, ddtau = sp.symbols('tau dtau ddtau') +dt, wheelbase = sp.symbols('dt wheelbase') + +# New state definitions +new_x = x + dx * sp.cos(yaw + tau) * dt +new_y = y + dx * sp.sin(yaw + tau) * dt +new_dx = dx + ddx * dt +new_dy = dy + ddy * dt +new_dtau = dtau + ddtau * dt +new_dyaw = dx * sp.sin(tau) / wheelbase * dt +new_yaw = yaw + new_dyaw +new_tau = tau + dtau * dt + +# Combine into vectors +new_state = sp.Matrix([ + new_x, new_y, z, roll, pitch, new_yaw, + new_dx, new_dy, dz, droll, dpitch, new_dyaw, + ddx, ddy, ddz, new_tau, new_dtau, ddtau +]) + +current_state = sp.Matrix([ + x, y, z, roll, pitch, yaw, + dx, dy, dz, droll, dpitch, dyaw, + ddx, ddy, ddz, tau, dtau, ddtau +]) + +# Compute the Jacobian +jacobian = new_state.jacobian(current_state) + +# State names for mapping +state_names = [ + "x__", "y__", "z__", "roll__", "pitch__", "yaw__", + "d_x__", "d_y__", "d_z__", "d_roll__", "d_pitch__", "d_yaw__", + "d2_x__", "d2_y__", "d2_z__", "tau__", "d_tau__", "d2_tau__" +] + +# Generate C++ code for non-zero Jacobian entries +cpp_code = [] +for i in range(jacobian.shape[0]): + for j in range(jacobian.shape[1]): + entry = jacobian[i, j] + if entry not in [0, 1]: # Skip zero entries + cpp_code.append(f"F_k({state_names[i]}, {state_names[j]}) = {sp.ccode(entry)};") + +# Print the generated C++ code +print("\n".join(cpp_code)) diff --git a/include/estimator.h b/include/estimator.h index 06a9610..bbb5d3f 100644 --- a/include/estimator.h +++ b/include/estimator.h @@ -21,6 +21,8 @@ where tau = steering_angle static constexpr int S = 18; + + #define x__ 0 #define y__ 1 #define z__ 2 diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index 94ebd02..ed8f4dd 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -39,22 +39,32 @@ class AckermannModel : public Model { multiplier(d_y__, d_y__) = 1; multiplier(yaw__, yaw__) = 1; multiplier(tau__, tau__) = 1; + // multiplier(d_tau__, d_tau__) = 1; } V update_step(double time) { double dt = time - most_recent_update_time; - double d_yaw = d_x_ * sin(tau_) / wheelbase * dt; + double d_yaw = d_x_ * (sin(tau_) / wheelbase) * dt; double new_yaw = yaw_ + d_yaw; + double new_d_x = d_x_ + d2_x_ * dt; + double new_d_y = d_y_ + d2_y_ * dt; + // double new_d_tau = d_tau_ + d2_tau_ * dt; + double new_tau = tau_ + d_tau_ * dt; + double new_x = x_ + d_x_ * cos(yaw_ + tau_) * dt; double new_y = y_ + d_x_ * sin(yaw_ + tau_) * dt; V new_state = this->state; - new_state[0] = new_x; - new_state[1] = new_y; - new_state[5] = new_yaw; + new_state[x__] = new_x; + new_state[y__] = new_y; + new_state[d_x__] = new_d_x; + new_state[d_y__] = new_d_y; + new_state[yaw__] = new_yaw; + new_state[tau__] = new_tau; + // new_state[d_tau__] = new_d_tau; return new_state; } @@ -62,27 +72,22 @@ class AckermannModel : public Model { M update_jacobian(double dt) { M F_k = MatrixXd::Identity(S, S); - double p_yaw_dx = dt * sin(tau_) / wheelbase; - double p_yaw_tau = dt * d_x_ * cos(tau_) / wheelbase; - - double p_x_dx = dt * cos(yaw_ + tau_); - double p_x_yaw = -dt * d_x_ * sin(yaw_ + tau_); - double p_x_tau = -dt * d_x_ * sin(yaw_ + tau_); + F_k(x__, d_x__) = dt * cos(yaw_ + tau_); + F_k(x__, yaw__) = -dt * d_x_ * sin(yaw_ + tau_); + F_k(x__, tau__) = -dt * d_x_ * sin(yaw_ + tau_); - double p_y_dx = dt * sin(yaw_ + tau_); - double p_y_yaw = dt * d_x_ * cos(yaw_ + tau_); - double p_y_tau = dt * d_x_ * cos(yaw_ + tau_); + F_k(y__, d_x__) = dt * sin(yaw_ + tau_); + F_k(y__, yaw__) = dt * d_x_ * cos(yaw_ + tau_); + F_k(y__, tau__) = dt * d_x_ * cos(yaw_ + tau_); - F_k(x__, d_x__) = p_x_dx; - F_k(x__, yaw__) = p_x_yaw; - F_k(x__, tau__) = p_x_tau; + F_k(yaw__, d_x__) = dt * sin(tau_) / wheelbase; + F_k(yaw__, tau__) = dt * d_x_ * cos(tau_) / wheelbase; - F_k(y__, d_x__) = p_y_dx; - F_k(y__, yaw__) = p_y_yaw; - F_k(y__, tau__) = p_y_tau; + F_k(d_x__, d2_x__) = dt; + F_k(d_y__, d2_y__) = dt; - F_k(yaw__, d_x__) = p_yaw_dx; - F_k(yaw__, tau__) = p_yaw_tau; + // F_k(tau__, d_tau__) = dt; + // F_k(d_tau__, d2_tau__) = dt; return F_k; } @@ -93,11 +98,17 @@ class AckermannModel : public Model { }; class IMUSensor : public RosSensor { + protected: + double initial_yaw; + bool initialized = false; + bool relative = true; + public: IMUSensor( V state, M covariance, - std::vector> dependents + std::vector> dependents, + bool relative = true ) : RosSensor( state, covariance, @@ -107,6 +118,8 @@ class IMUSensor : public RosSensor { multiplier(d2_x__, d2_x__) = 1.0; multiplier(d2_y__, d2_y__) = 1.0; multiplier(yaw__, yaw__) = 1.0; + + this->relative = relative; } StatePackage msg_update(sensor_msgs::msg::Imu::SharedPtr msg) { @@ -128,7 +141,15 @@ class IMUSensor : public RosSensor { tf2::Matrix3x3 m(q); double roll, pitch, yaw; m.getRPY(roll, pitch, yaw); - estimate.state[yaw__] = yaw; + + yaw = fmod(yaw, 2 * M_PI); + + if (!initialized) { + initial_yaw = yaw; + initialized = true; + } + + estimate.state[yaw__] = relative ? fmod(yaw - initial_yaw, 2 * M_PI) : yaw; return estimate; } @@ -165,9 +186,9 @@ class AckermannEkfNode : public rclcpp::Node { public: AckermannEkfNode() : Node("AckermannEkfNode") { V start_state = V::Zero(); - start_state[x__] = 2.0; - start_state[d_x__] = 1.0; - start_state[tau__] = 30 * M_PI / 180.0; + // start_state[x__] = 0.0; + // start_state[d_x__] = 0.0; + // start_state[tau__] = 30 * M_PI / 180.0; model->force_state(start_state); @@ -189,8 +210,8 @@ class AckermannEkfNode : public rclcpp::Node { } void timer_callback() { - // double time = get_clock()->now().seconds(); - // model->update(time); + double time = get_clock()->now().seconds(); + model->update(time); nav_msgs::msg::Odometry odom_msg; odom_msg.header.stamp = this->now(); @@ -251,9 +272,9 @@ class AckermannEkfNode : public rclcpp::Node { std::make_shared( AckermannModel( V::Zero(), - M::Identity() * .1, - M::Identity() * .1, - 1.0 + M::Identity() * .05, + M::Identity() * .05, + .3 ) ); @@ -265,7 +286,7 @@ class AckermannEkfNode : public rclcpp::Node { OdomSensor odom = OdomSensor( V::Zero(), - M::Identity() * .1, + M::Identity() * .05, {model} ); }; From 8502ee7ba938323e5c9aef444e845b9f3987e0ab Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Wed, 27 Nov 2024 00:48:57 +0000 Subject: [PATCH 053/196] Fixed yaw wrap issue --- launch/launch.py | 4 ++-- src/ackermann_ekf.cpp | 44 +++++++++++++++++++++++++++++++------------ 2 files changed, 34 insertions(+), 14 deletions(-) diff --git a/launch/launch.py b/launch/launch.py index ed9c649..7d56ad1 100644 --- a/launch/launch.py +++ b/launch/launch.py @@ -36,7 +36,7 @@ def generate_launch_description(): '0', '0', '0', # Translation: x = 0.035, y = 0.04, z = 0 (meters) '0', '0', '0', '1', # Rotation: 0 'odom', - 'base_link' + 'meow_link' ] ), Node( @@ -44,6 +44,6 @@ def generate_launch_description(): executable='ackermann_ekf', name='ackermann_ekf_node', output='screen', - arguments=['--ros-args', '--log-level', 'DEBUG'], + # arguments=['--ros-args', '--log-level', 'DEBUG'], ), ]) \ No newline at end of file diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index ed8f4dd..4b0a9df 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -98,11 +98,19 @@ class AckermannModel : public Model { }; class IMUSensor : public RosSensor { + private: + double pos_mod(double angle) { + return fmod(fmod(angle, 2 * M_PI) + 2 * M_PI, 2 * M_PI); + } + protected: - double initial_yaw; bool initialized = false; bool relative = true; + double initial_yaw; + double last_reported_yaw = 0; + double last_sensor_raw_yaw = 0; + public: IMUSensor( V state, @@ -142,14 +150,29 @@ class IMUSensor : public RosSensor { double roll, pitch, yaw; m.getRPY(roll, pitch, yaw); - yaw = fmod(yaw, 2 * M_PI); - - if (!initialized) { - initial_yaw = yaw; + if (relative && !initialized) { + last_sensor_raw_yaw = yaw; + last_reported_yaw = 0.0; initialized = true; + + estimate.state[yaw__] = 0.0; + return estimate; + } + + double modded_yaw_diff = fmod(yaw - last_sensor_raw_yaw, 2 * M_PI); + + if (modded_yaw_diff > M_PI) { + modded_yaw_diff -= 2 * M_PI; + } else if (modded_yaw_diff < -M_PI) { + modded_yaw_diff += 2 * M_PI; } - estimate.state[yaw__] = relative ? fmod(yaw - initial_yaw, 2 * M_PI) : yaw; + last_reported_yaw += modded_yaw_diff; + last_sensor_raw_yaw = yaw; + + estimate.state[yaw__] = last_reported_yaw; + + std::cout << "Yaw: " << yaw << " Last: " << last_reported_yaw << std::endl; return estimate; } @@ -186,9 +209,6 @@ class AckermannEkfNode : public rclcpp::Node { public: AckermannEkfNode() : Node("AckermannEkfNode") { V start_state = V::Zero(); - // start_state[x__] = 0.0; - // start_state[d_x__] = 0.0; - // start_state[tau__] = 30 * M_PI / 180.0; model->force_state(start_state); @@ -216,7 +236,7 @@ class AckermannEkfNode : public rclcpp::Node { nav_msgs::msg::Odometry odom_msg; odom_msg.header.stamp = this->now(); odom_msg.header.frame_id = "odom"; - odom_msg.child_frame_id = "base_link"; + odom_msg.child_frame_id = "meow_link"; V state = model->get_state(); @@ -243,7 +263,7 @@ class AckermannEkfNode : public rclcpp::Node { transformStamped.header.stamp = this->now(); transformStamped.header.frame_id = "odom"; - transformStamped.child_frame_id = "base_link"; + transformStamped.child_frame_id = "meow_link"; transformStamped.transform.translation.x = state[x__]; transformStamped.transform.translation.y = state[y__]; @@ -254,7 +274,7 @@ class AckermannEkfNode : public rclcpp::Node { transformStamped.transform.rotation.z = q.z(); transformStamped.transform.rotation.w = q.w(); - // tf_broadcaster_->sendTransform(transformStamped); + tf_broadcaster_->sendTransform(transformStamped); } private: From 383ca9e8ed28393c06f810ca8e1af3cd29a6fba6 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Wed, 27 Nov 2024 01:12:32 +0000 Subject: [PATCH 054/196] Fix wheelbase size --- src/ackermann_ekf.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index 4b0a9df..1f5ee3f 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -124,7 +124,7 @@ class IMUSensor : public RosSensor { ) { multiplier(d2_x__, d2_x__) = 1.0; - multiplier(d2_y__, d2_y__) = 1.0; + // multiplier(d2_y__, d2_y__) = 1.0; multiplier(yaw__, yaw__) = 1.0; this->relative = relative; @@ -137,7 +137,7 @@ class IMUSensor : public RosSensor { estimate.update_time = msg->header.stamp.sec + (msg->header.stamp.nanosec / 1e9); estimate.state[d2_x__] = msg->linear_acceleration.x; - estimate.state[d2_y__] = msg->linear_acceleration.y; + // estimate.state[d2_y__] = msg->linear_acceleration.y; // Get yaw from quaternion tf2::Quaternion q( @@ -212,9 +212,9 @@ class AckermannEkfNode : public rclcpp::Node { model->force_state(start_state); - imu_sub = this->create_subscription( - "imu", 1, std::bind(&IMUSensor::msg_handler, &imu, _1) - ); + // imu_sub = this->create_subscription( + // "imu", 1, std::bind(&IMUSensor::msg_handler, &imu, _1) + // ); odom_sub = this->create_subscription( "sensor_collect", 1, std::bind(&OdomSensor::msg_handler, &odom, _1) @@ -294,7 +294,7 @@ class AckermannEkfNode : public rclcpp::Node { V::Zero(), M::Identity() * .05, M::Identity() * .05, - .3 + .185 ) ); From 95b995ee9c2bc6f5c3558f1f2a3f321383ba651f Mon Sep 17 00:00:00 2001 From: Yey007 <55263178+Yey007@users.noreply.github.com> Date: Wed, 27 Nov 2024 14:43:45 -0500 Subject: [PATCH 055/196] Close to working --- config/occupancy.yaml | 2 +- launch/launch.py | 54 ++++++++++++++++----------------- vision/occupancy_transformer.py | 47 ++++++++++++++++++---------- 3 files changed, 59 insertions(+), 44 deletions(-) diff --git a/config/occupancy.yaml b/config/occupancy.yaml index ed8bcb8..8d4e0c4 100644 --- a/config/occupancy.yaml +++ b/config/occupancy.yaml @@ -1,7 +1,7 @@ occupancy_transformer: ros__parameters: map_height_m: 10.0 - map_width_m: 10.0 + map_width_m: 20.0 map_resolution_m: 0.1 ride_height_m: 0.1 car_height_m: 0.15 diff --git a/launch/launch.py b/launch/launch.py index 717cb34..504a299 100644 --- a/launch/launch.py +++ b/launch/launch.py @@ -25,37 +25,37 @@ def generate_launch_description(): return LaunchDescription( [ - launch( - "zed_wrapper", - "zed_camera.launch.py", - arguments={ - "camera_model": "zed2", - # "publish_urdf": "false", - "publish_tf": "false", - "publish_map_tf": "false", - # "publish_imu_tf": "false", - }, - ), - Node( - package="tf2_ros", - executable="static_transform_publisher", - name="zed_camera_base_link", - arguments=[ - "0", - "0", - "0", - "0", - "0", - "0", - "base_link", - "zed_camera_link", - ], - ), + # launch( + # "zed_wrapper", + # "zed_camera.launch.py", + # arguments={ + # "camera_model": "zed2", + # # "publish_urdf": "false", + # "publish_tf": "false", + # "publish_map_tf": "false", + # # "publish_imu_tf": "false", + # }, + # ), + # Node( + # package="tf2_ros", + # executable="static_transform_publisher", + # name="zed_camera_base_link", + # arguments=[ + # "0", + # "0", + # "0", + # "0", + # "0", + # "0", + # "base_link", + # "zed_camera_link", + # ], + # ), Node( package="vision", executable="occupancy_transformer", name="occupancy_transformer", - parameters=[config], + parameters=[config, {"use_sim_time": True}], ), ] ) diff --git a/vision/occupancy_transformer.py b/vision/occupancy_transformer.py index 715f5ce..d3c1497 100644 --- a/vision/occupancy_transformer.py +++ b/vision/occupancy_transformer.py @@ -4,6 +4,7 @@ import numpy.typing as npt import rclpy import rclpy.node +import rclpy.parameter import rclpy.qos import rclpy.time import tf2_ros @@ -20,9 +21,9 @@ def __init__(self): self.declare_parameter("map_height_m", 10.0) self.declare_parameter("map_width_m", 10.0) self.declare_parameter("map_resolution_m", 0.1) - self.declare_parameter("ride_height_m") - self.declare_parameter("car_height_m") - self.declare_parameter("fuzz_threshold_m") + self.declare_parameter("ride_height_m", rclpy.Parameter.Type.DOUBLE) + self.declare_parameter("car_height_m", rclpy.Parameter.Type.DOUBLE) + self.declare_parameter("fuzz_threshold_m", rclpy.Parameter.Type.DOUBLE) self.declare_parameter("base_link_frame", "base_link") self.subscription = self.create_subscription( @@ -60,31 +61,45 @@ def pc_callback(self, cloud: PointCloud2): ) point_cloud = parse_points(cloud) + point_cloud = point_cloud[~np.isnan(point_cloud).any(axis=1)] base_link_pc = point_cloud @ rotation.T + translation pc_z = base_link_pc[:, 2] filtered_pc = base_link_pc[ - (pc_z < car_height_m + fuzz_threshold_m) - & (pc_z > ride_height_m - fuzz_threshold_m) + (pc_z < (car_height_m + fuzz_threshold_m)) + & (pc_z > (-ride_height_m - fuzz_threshold_m)) ] grid = np.zeros((map_height_cells, map_width_cells), dtype=np.int8) - cell_x = filtered_pc[:, 0] / map_resolution_m - cell_y = (filtered_pc[:, 1] + map_width_m / 2) / map_resolution_m - cell_pc = np.stack((cell_x, cell_y), axis=-1).astype(np.int32) + cell_rows = filtered_pc[:, 0] / map_resolution_m + cell_cols = (filtered_pc[:, 1] + map_width_m / 2) / map_resolution_m + cells = np.stack((cell_rows, cell_cols), axis=-1).astype(np.int32) - in_range = cell_pc[ + in_range = cells[ ( - (cell_pc[:, 0] >= 0) - & (cell_pc[:, 0] < map_height_cells) - & (cell_pc[:, 1] >= 0) - & (cell_pc[:, 1] < map_width_cells) + (cells[:, 0] >= 0) + & (cells[:, 0] < map_height_cells) + & (cells[:, 1] >= 0) + & (cells[:, 1] < map_width_cells) ) ] - - grid[in_range] = 1 - flat = grid.flatten() + in_range = cells + + # grid[in_range] = 255 + for x, y in in_range: + grid[x, y] = 255 + + flat = grid.flatten(order="C") # row-major order + + # hmmm. width for rviz is along the x axis, height is along the y axis. this is not in line with what we have done. + # from their docs: + # # The map data, in row-major order, starting with (0,0). + # Cell (1, 0) will be listed second, representing the next cell in the x direction. + # Cell (0, 1) will be at the index equal to info.width, followed by (1, 1). + # The values inside are application dependent, but frequently, + # 0 represents unoccupied, 1 represents definitely occupied, and + # -1 represents unknown. occupancy_grid = OccupancyGrid() From da00a5a95b57b7289c2883cd88eea00c0337dca0 Mon Sep 17 00:00:00 2001 From: Yey007 <55263178+Yey007@users.noreply.github.com> Date: Wed, 27 Nov 2024 15:31:29 -0500 Subject: [PATCH 056/196] Final polish on occupancy_transformer --- config/occupancy.yaml | 13 +- launch/bag.py | 35 +++++ launch/launch.py | 52 ++++--- rviz/viz.rviz | 244 ++++++++++++++++++++++++++++++++ vision/occupancy_transformer.py | 123 +++++++++++----- 5 files changed, 400 insertions(+), 67 deletions(-) create mode 100644 launch/bag.py create mode 100644 rviz/viz.rviz diff --git a/config/occupancy.yaml b/config/occupancy.yaml index 8d4e0c4..75fe76c 100644 --- a/config/occupancy.yaml +++ b/config/occupancy.yaml @@ -1,10 +1,11 @@ occupancy_transformer: ros__parameters: - map_height_m: 10.0 - map_width_m: 20.0 - map_resolution_m: 0.1 - ride_height_m: 0.1 - car_height_m: 0.15 - fuzz_threshold_m: 0.05 + map_x_size: 10.0 + map_y_size: 20.0 + map_resolution: 0.1 + fuzz_threshold: 0.02 + base_link_height: 0.1 + ride_height: 0.05 + car_height: 0.15 base_link_frame: base_link point_cloud_topic: /zed/zed_node/point_cloud/cloud_registered diff --git a/launch/bag.py b/launch/bag.py new file mode 100644 index 0000000..436f87b --- /dev/null +++ b/launch/bag.py @@ -0,0 +1,35 @@ +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch_ros.actions import Node + + +def get_path(package, dir, file): + return os.path.join(get_package_share_directory(package), dir, file) + + +def launch(package, file, launch_folder="launch", arguments={}): + return IncludeLaunchDescription( + PythonLaunchDescriptionSource(get_path(package, launch_folder, file)), + launch_arguments=arguments.items(), + ) + + +def generate_launch_description(): + config = os.path.join( + get_package_share_directory("vision"), "config", "occupancy.yaml" + ) + + return LaunchDescription( + [ + Node( + package="vision", + executable="occupancy_transformer", + name="occupancy_transformer", + parameters=[config, {"use_sim_time": True}], + ), + ] + ) diff --git a/launch/launch.py b/launch/launch.py index 504a299..0e3250b 100644 --- a/launch/launch.py +++ b/launch/launch.py @@ -25,37 +25,35 @@ def generate_launch_description(): return LaunchDescription( [ - # launch( - # "zed_wrapper", - # "zed_camera.launch.py", - # arguments={ - # "camera_model": "zed2", - # # "publish_urdf": "false", - # "publish_tf": "false", - # "publish_map_tf": "false", - # # "publish_imu_tf": "false", - # }, - # ), - # Node( - # package="tf2_ros", - # executable="static_transform_publisher", - # name="zed_camera_base_link", - # arguments=[ - # "0", - # "0", - # "0", - # "0", - # "0", - # "0", - # "base_link", - # "zed_camera_link", - # ], - # ), + launch( + "zed_wrapper", + "zed_camera.launch.py", + arguments={ + "camera_model": "zed2", + "publish_tf": "false", + "publish_map_tf": "false", + }, + ), + Node( + package="tf2_ros", + executable="static_transform_publisher", + name="zed_camera_base_link", + arguments=[ + "0", + "0", + "0", + "0", + "0", + "0", + "base_link", + "zed_camera_link", + ], + ), Node( package="vision", executable="occupancy_transformer", name="occupancy_transformer", - parameters=[config, {"use_sim_time": True}], + parameters=[config], ), ] ) diff --git a/rviz/viz.rviz b/rviz/viz.rviz new file mode 100644 index 0000000..2552509 --- /dev/null +++ b/rviz/viz.rviz @@ -0,0 +1,244 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 109 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 1107 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: PointCloud2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + base_link: + Value: true + zed_baro_link: + Value: true + zed_camera_center: + Value: true + zed_camera_link: + Value: true + zed_imu_link: + Value: true + zed_left_camera_frame: + Value: true + zed_left_camera_optical_frame: + Value: true + zed_mag_link: + Value: true + zed_right_camera_frame: + Value: true + zed_right_camera_optical_frame: + Value: true + zed_temp_left_link: + Value: true + zed_temp_right_link: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + base_link: + zed_camera_link: + zed_camera_center: + zed_baro_link: + {} + zed_left_camera_frame: + zed_imu_link: + {} + zed_left_camera_optical_frame: + {} + zed_temp_left_link: + {} + zed_mag_link: + {} + zed_right_camera_frame: + zed_right_camera_optical_frame: + {} + zed_temp_right_link: + {} + Update Interval: 0 + Value: true + - Alpha: 0.699999988079071 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /occupancy + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /occupancy_updates + Use Timestamp: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /zed/zed_node/point_cloud/cloud_registered + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 8.407171249389648 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 1.9439679384231567 + Y: -0.24377664923667908 + Z: 0.705398440361023 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.5103979706764221 + Target Frame: + Value: Orbit (rviz) + Yaw: 3.115450143814087 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1493 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd00000004000000000000018700000510fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000008800fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000055000005100000012a00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000011800000510fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000005500000510000000e800fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009f000000044fc0100000002fb0000000800540069006d00650100000000000009f00000038300fffffffb0000000800540069006d006501000000000000045000000000000000000000073f0000051000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 2544 + X: 8 + Y: 60 diff --git a/vision/occupancy_transformer.py b/vision/occupancy_transformer.py index d3c1497..31f37bb 100644 --- a/vision/occupancy_transformer.py +++ b/vision/occupancy_transformer.py @@ -10,6 +10,7 @@ import tf2_ros from geometry_msgs.msg import Point, Pose, Quaternion from nav_msgs.msg import OccupancyGrid +from rcl_interfaces.msg import ParameterDescriptor from sensor_msgs.msg import PointCloud2, PointField @@ -17,14 +18,67 @@ class OccupancyTransformerNode(rclpy.node.Node): def __init__(self): super().__init__("occupancy_transformer") - self.declare_parameter("point_cloud_topic", "point_cloud") - self.declare_parameter("map_height_m", 10.0) - self.declare_parameter("map_width_m", 10.0) - self.declare_parameter("map_resolution_m", 0.1) - self.declare_parameter("ride_height_m", rclpy.Parameter.Type.DOUBLE) - self.declare_parameter("car_height_m", rclpy.Parameter.Type.DOUBLE) - self.declare_parameter("fuzz_threshold_m", rclpy.Parameter.Type.DOUBLE) - self.declare_parameter("base_link_frame", "base_link") + self.declare_parameter( + "point_cloud_topic", + "point_cloud", + ParameterDescriptor( + description="The topic to subscribe to for point cloud data" + ), + ) + self.declare_parameter( + "map_x_size", + 10.0, + ParameterDescriptor( + description="The size of the map in meters along the x-axis of base_link_frame" + ), + ) + self.declare_parameter( + "map_y_size", + 10.0, + ParameterDescriptor( + description="The size of the map in meters along the y-axis of base_link_frame" + ), + ) + self.declare_parameter( + "map_resolution", + 0.1, + ParameterDescriptor( + description="The resolution of the map in meters per cell" + ), + ) + self.declare_parameter( + "fuzz_threshold", + 0.1, + ParameterDescriptor( + description="The threshold (in meters) beyond car dimensions to consider a point as an obstacle." + ), + ) + self.declare_parameter( + "base_link_height", + rclpy.Parameter.Type.DOUBLE, + ParameterDescriptor( + description="The height (in meters) of base_link_frame above the ground." + ), + ) + self.declare_parameter( + "ride_height", + rclpy.Parameter.Type.DOUBLE, + ParameterDescriptor( + description="The height (in meters) above the ground plane of the tallest traversable obstacle." + ), + ) + self.declare_parameter( + "car_height", + rclpy.Parameter.Type.DOUBLE, + ParameterDescriptor( + description="The height (in meters) of the tallest point on the car." + ), + ) + self.declare_parameter( + "base_link_frame", + "base_link", + ParameterDescriptor(description="The frame_id of the base link frame."), + ) self.subscription = self.create_subscription( PointCloud2, @@ -38,16 +92,17 @@ def __init__(self): self.tf_listener = tf2_ros.TransformListener(self.tf_buffer, self) def pc_callback(self, cloud: PointCloud2): - map_height_m = self.get_parameter("map_height_m").value - map_width_m = self.get_parameter("map_width_m").value - map_resolution_m = self.get_parameter("map_resolution_m").value + map_x_m = self.get_parameter("map_x_size").value + map_y_m = self.get_parameter("map_y_size").value + map_res_m = self.get_parameter("map_resolution").value - map_height_cells = int(map_height_m / map_resolution_m) - map_width_cells = int(map_width_m / map_resolution_m) + map_x_cells = int(map_x_m / map_res_m) + map_y_cells = int(map_y_m / map_res_m) - ride_height_m = self.get_parameter("ride_height_m").value - car_height_m = self.get_parameter("car_height_m").value - fuzz_threshold_m = self.get_parameter("fuzz_threshold_m").value + base_link_height_m = self.get_parameter("base_link_height").value + ride_height_m = self.get_parameter("ride_height").value + car_height_m = self.get_parameter("car_height").value + fuzz_threshold_m = self.get_parameter("fuzz_threshold").value base_link_frame = self.get_parameter("base_link_frame").value transform = self.tf_buffer.lookup_transform( @@ -66,22 +121,22 @@ def pc_callback(self, cloud: PointCloud2): pc_z = base_link_pc[:, 2] filtered_pc = base_link_pc[ - (pc_z < (car_height_m + fuzz_threshold_m)) - & (pc_z > (-ride_height_m - fuzz_threshold_m)) + (pc_z < (car_height_m - base_link_height_m + fuzz_threshold_m)) + & (pc_z > (-(base_link_height_m - ride_height_m) - fuzz_threshold_m)) ] - grid = np.zeros((map_height_cells, map_width_cells), dtype=np.int8) + grid = np.zeros((map_x_cells, map_y_cells), dtype=np.int8) - cell_rows = filtered_pc[:, 0] / map_resolution_m - cell_cols = (filtered_pc[:, 1] + map_width_m / 2) / map_resolution_m - cells = np.stack((cell_rows, cell_cols), axis=-1).astype(np.int32) + cell_x = filtered_pc[:, 0] / map_res_m + cell_y = (filtered_pc[:, 1] + map_y_m / 2) / map_res_m + cells = np.stack((cell_x, cell_y), axis=-1).astype(np.int32) in_range = cells[ ( (cells[:, 0] >= 0) - & (cells[:, 0] < map_height_cells) + & (cells[:, 0] < map_x_cells) & (cells[:, 1] >= 0) - & (cells[:, 1] < map_width_cells) + & (cells[:, 1] < map_y_cells) ) ] in_range = cells @@ -90,30 +145,30 @@ def pc_callback(self, cloud: PointCloud2): for x, y in in_range: grid[x, y] = 255 - flat = grid.flatten(order="C") # row-major order - - # hmmm. width for rviz is along the x axis, height is along the y axis. this is not in line with what we have done. - # from their docs: - # # The map data, in row-major order, starting with (0,0). + # nav_msgs/OccupancyGrid: + # The map data, in row-major order, starting with (0,0). # Cell (1, 0) will be listed second, representing the next cell in the x direction. # Cell (0, 1) will be at the index equal to info.width, followed by (1, 1). # The values inside are application dependent, but frequently, # 0 represents unoccupied, 1 represents definitely occupied, and # -1 represents unknown. + # flatten in column-major order, as we've made our rows constant x but that is not what nav_msgs/OccupancyGrid wants + flat = grid.flatten(order="F") + occupancy_grid = OccupancyGrid() occupancy_grid.header.stamp = cloud.header.stamp occupancy_grid.header.frame_id = base_link_frame occupancy_grid.info.map_load_time = cloud.header.stamp - occupancy_grid.info.resolution = map_resolution_m - occupancy_grid.info.width = map_width_cells - occupancy_grid.info.height = map_height_cells + occupancy_grid.info.resolution = map_res_m + occupancy_grid.info.width = map_x_cells + occupancy_grid.info.height = map_y_cells - origin_offset = (-map_width_cells * map_resolution_m) / 2 + origin_offset = (-map_y_cells * map_res_m) / 2 map_origin = Pose( - position=Point(x=0.0, y=origin_offset, z=0.0), + position=Point(x=0.0, y=origin_offset, z=-base_link_height_m), orientation=Quaternion(x=0.0, y=0.0, z=0.0, w=1.0), ) occupancy_grid.info.origin = map_origin From 0e0cac9705df247c7e50d376872ecb28e2844fcb Mon Sep 17 00:00:00 2001 From: Yey007 <55263178+Yey007@users.noreply.github.com> Date: Wed, 27 Nov 2024 16:20:19 -0500 Subject: [PATCH 057/196] numpy indexing --- setup.py | 2 +- vision/occupancy_transformer.py | 4 +--- 2 files changed, 2 insertions(+), 4 deletions(-) diff --git a/setup.py b/setup.py index b9e561a..2bab3de 100644 --- a/setup.py +++ b/setup.py @@ -10,7 +10,7 @@ ("share/ament_index/resource_index/packages", ["resource/" + package_name]), ("share/" + package_name, ["package.xml"]), (f"share/{package_name}/config", ["config/occupancy.yaml"]), - (f"share/{package_name}/launch", ["launch/launch.py"]), + (f"share/{package_name}/launch", ["launch/launch.py", "launch/bag.py"]), ], install_requires=["setuptools"], zip_safe=True, diff --git a/vision/occupancy_transformer.py b/vision/occupancy_transformer.py index 31f37bb..7174425 100644 --- a/vision/occupancy_transformer.py +++ b/vision/occupancy_transformer.py @@ -141,9 +141,7 @@ def pc_callback(self, cloud: PointCloud2): ] in_range = cells - # grid[in_range] = 255 - for x, y in in_range: - grid[x, y] = 255 + grid[in_range[:, 0], in_range[:, 1]] = 255 # nav_msgs/OccupancyGrid: # The map data, in row-major order, starting with (0,0). From 96ed72787abedf8fcc3cdcebec58b186b6b427d0 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Thu, 28 Nov 2024 05:49:29 +0000 Subject: [PATCH 058/196] Rviz2 launch file for debugging. --- config/conf.rviz | 188 ++++++++++++++++++++++++++++++++++++++++++ launch/launch.py | 19 +++++ src/ackermann_ekf.cpp | 8 +- 3 files changed, 211 insertions(+), 4 deletions(-) create mode 100644 config/conf.rviz diff --git a/config/conf.rviz b/config/conf.rviz new file mode 100644 index 0000000..50fce26 --- /dev/null +++ b/config/conf.rviz @@ -0,0 +1,188 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /Odometry1 + - /Odometry1/Shape1 + Splitter Ratio: 0.5 + Tree Height: 274 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz_default_plugins/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + {} + Update Interval: 0 + Value: false + - Angle Tolerance: 0.10000000149011612 + Class: rviz_default_plugins/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: false + Enabled: true + Keep: 100 + Name: Odometry + Position Tolerance: 0.10000000149011612 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 255; 25; 0 + Head Length: 0.20000000298023224 + Head Radius: 0.10000000149011612 + Shaft Length: 0 + Shaft Radius: 0.05000000074505806 + Value: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /odometry/filtered + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 15.735194206237793 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.32539811730384827 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.1453980952501297 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 565 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd0000000400000000000000ca0000019bfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000019b000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000000cc0000019bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b0000019b000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000001d20000003efc0100000002fb0000000800540069006d00650100000000000001d20000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000000320000019b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 466 + X: 967 + Y: 623 diff --git a/launch/launch.py b/launch/launch.py index 7d56ad1..acd4ae4 100644 --- a/launch/launch.py +++ b/launch/launch.py @@ -1,7 +1,19 @@ from launch import LaunchDescription from launch_ros.actions import Node +from launch.actions import DeclareLaunchArgument +from ament_index_python.packages import get_package_share_directory +import os + +def get_path(package, dir, file): + return os.path.join( + get_package_share_directory(package), + dir, + file + ) def generate_launch_description(): + rviz2_config = get_path("ackermann_ekf", "config", "conf.rviz") + return LaunchDescription([ Node( package='tf2_ros', @@ -46,4 +58,11 @@ def generate_launch_description(): output='screen', # arguments=['--ros-args', '--log-level', 'DEBUG'], ), + Node( + package='rviz2', + executable='rviz2', + arguments=['--display-config', rviz2_config], + name='rviz2', + output='screen', + ) ]) \ No newline at end of file diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index 1f5ee3f..f40ec16 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -123,7 +123,7 @@ class IMUSensor : public RosSensor { dependents ) { - multiplier(d2_x__, d2_x__) = 1.0; + // multiplier(d2_x__, d2_x__) = 1.0; // multiplier(d2_y__, d2_y__) = 1.0; multiplier(yaw__, yaw__) = 1.0; @@ -136,7 +136,7 @@ class IMUSensor : public RosSensor { estimate.update_time = msg->header.stamp.sec + (msg->header.stamp.nanosec / 1e9); - estimate.state[d2_x__] = msg->linear_acceleration.x; + // estimate.state[d2_x__] = msg->linear_acceleration.x; // estimate.state[d2_y__] = msg->linear_acceleration.y; // Get yaw from quaternion @@ -230,8 +230,8 @@ class AckermannEkfNode : public rclcpp::Node { } void timer_callback() { - double time = get_clock()->now().seconds(); - model->update(time); + // double time = get_clock()->now().seconds(); + // model->update(time); nav_msgs::msg::Odometry odom_msg; odom_msg.header.stamp = this->now(); From 19189e124f065a9ab2d1348f08038af5e11b119d Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sat, 30 Nov 2024 18:53:06 -0500 Subject: [PATCH 059/196] Update wheelbase dimensions. --- src/odometry.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/odometry.cpp b/src/odometry.cpp index c9a5ff6..5c628d1 100644 --- a/src/odometry.cpp +++ b/src/odometry.cpp @@ -21,7 +21,7 @@ class OdometryNode : public rclcpp::Node } private: - const float WHEELBASE = 0.3; + const float WHEELBASE = 0.185; double x_ = 0.0; // Forward of base_link is x double y_ = 0.0; @@ -118,4 +118,4 @@ int main(int argc, char *argv[]) rclcpp::spin(std::make_shared()); rclcpp::shutdown(); return 0; -} \ No newline at end of file +} From 8fe88c24fc8e9de861ff5cec9fda177e44c77d06 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Tue, 3 Dec 2024 03:54:40 +0000 Subject: [PATCH 060/196] ITS CRACKED HOLY --- config/conf.rviz | 128 ++++++++++++++++++++++++++++++++++++------ src/ackermann_ekf.cpp | 24 ++++---- 2 files changed, 123 insertions(+), 29 deletions(-) diff --git a/config/conf.rviz b/config/conf.rviz index 50fce26..ad6ca68 100644 --- a/config/conf.rviz +++ b/config/conf.rviz @@ -6,10 +6,13 @@ Panels: Expanded: - /Global Options1 - /Status1 - - /Odometry1 - - /Odometry1/Shape1 + - /TF1/Frames1 + - /MeowOdom1 + - /MeowOdom1/Shape1 + - /FilterOdom1 + - /FilterOdom1/Shape1 Splitter Ratio: 0.5 - Tree Height: 274 + Tree Height: 909 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -50,19 +53,70 @@ Visualization Manager: Reference Frame: Value: true - Class: rviz_default_plugins/TF - Enabled: false + Enabled: true Frame Timeout: 15 Frames: - All Enabled: true + All Enabled: false + map: + Value: false + meow_link: + Value: true + odom: + Value: true + world: + Value: false Marker Scale: 1 Name: TF Show Arrows: true Show Axes: true Show Names: false Tree: - {} + world: + map: + odom: + meow_link: + {} Update Interval: 0 - Value: false + Value: true + - Angle Tolerance: 0.10000000149011612 + Class: rviz_default_plugins/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: false + Enabled: true + Keep: 100 + Name: MeowOdom + Position Tolerance: 0.10000000149011612 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 170; 0; 255 + Head Length: 0.20000000298023224 + Head Radius: 0.10000000149011612 + Shaft Length: 0 + Shaft Radius: 0.05000000074505806 + Value: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /odometry/meow + Value: true - Angle Tolerance: 0.10000000149011612 Class: rviz_default_plugins/Odometry Covariance: @@ -82,13 +136,13 @@ Visualization Manager: Value: false Enabled: true Keep: 100 - Name: Odometry + Name: FilterOdom Position Tolerance: 0.10000000149011612 Shape: Alpha: 1 Axes Length: 1 Axes Radius: 0.10000000149011612 - Color: 255; 25; 0 + Color: 170; 0; 0 Head Length: 0.20000000298023224 Head Radius: 0.10000000149011612 Shaft Length: 0 @@ -163,18 +217,58 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.32539811730384827 + Pitch: 0.5603981018066406 Target Frame: Value: Orbit (rviz) - Yaw: 0.1453980952501297 - Saved: ~ + Yaw: 0.7553980350494385 + Saved: + - Class: rviz_default_plugins/Orbit + Distance: 15.735194206237793 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Orbit + Near Clip Distance: 0.009999999776482582 + Pitch: 0.5603981018066406 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.7553980350494385 + - Class: rviz_default_plugins/Orbit + Distance: 15.735194206237793 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Orbit + Near Clip Distance: 0.009999999776482582 + Pitch: 0.5603981018066406 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.7553980350494385 Window Geometry: Displays: collapsed: false - Height: 565 + Height: 1200 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 000000ff00000000fd0000000400000000000000ca0000019bfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000019b000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000000cc0000019bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b0000019b000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000001d20000003efc0100000002fb0000000800540069006d00650100000000000001d20000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000000320000019b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd00000004000000000000015600000416fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000416000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010000000416fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b00000416000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000025300fffffffb0000000800540069006d006501000000000000045000000000000000000000051e0000041600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -183,6 +277,6 @@ Window Geometry: collapsed: false Views: collapsed: false - Width: 466 - X: 967 - Y: 623 + Width: 1920 + X: 0 + Y: 0 diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index f40ec16..5bcdff1 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -46,6 +46,7 @@ class AckermannModel : public Model { double dt = time - most_recent_update_time; double d_yaw = d_x_ * (sin(tau_) / wheelbase) * dt; + // double new_yaw = yaw_ + ((d_yaw_ + d_yaw) / 2.0); double new_yaw = yaw_ + d_yaw; double new_d_x = d_x_ + d2_x_ * dt; @@ -63,6 +64,7 @@ class AckermannModel : public Model { new_state[d_x__] = new_d_x; new_state[d_y__] = new_d_y; new_state[yaw__] = new_yaw; + // new_state[d_yaw__] = d_yaw; new_state[tau__] = new_tau; // new_state[d_tau__] = new_d_tau; @@ -123,8 +125,8 @@ class IMUSensor : public RosSensor { dependents ) { - // multiplier(d2_x__, d2_x__) = 1.0; - // multiplier(d2_y__, d2_y__) = 1.0; + multiplier(d2_x__, d2_x__) = 1.0; + multiplier(d2_y__, d2_y__) = 1.0; multiplier(yaw__, yaw__) = 1.0; this->relative = relative; @@ -136,8 +138,8 @@ class IMUSensor : public RosSensor { estimate.update_time = msg->header.stamp.sec + (msg->header.stamp.nanosec / 1e9); - // estimate.state[d2_x__] = msg->linear_acceleration.x; - // estimate.state[d2_y__] = msg->linear_acceleration.y; + estimate.state[d2_x__] = msg->linear_acceleration.x; + estimate.state[d2_y__] = msg->linear_acceleration.y; // Get yaw from quaternion tf2::Quaternion q( @@ -172,8 +174,6 @@ class IMUSensor : public RosSensor { estimate.state[yaw__] = last_reported_yaw; - std::cout << "Yaw: " << yaw << " Last: " << last_reported_yaw << std::endl; - return estimate; } }; @@ -212,9 +212,9 @@ class AckermannEkfNode : public rclcpp::Node { model->force_state(start_state); - // imu_sub = this->create_subscription( - // "imu", 1, std::bind(&IMUSensor::msg_handler, &imu, _1) - // ); + imu_sub = this->create_subscription( + "imu", 1, std::bind(&IMUSensor::msg_handler, &imu, _1) + ); odom_sub = this->create_subscription( "sensor_collect", 1, std::bind(&OdomSensor::msg_handler, &odom, _1) @@ -292,8 +292,8 @@ class AckermannEkfNode : public rclcpp::Node { std::make_shared( AckermannModel( V::Zero(), - M::Identity() * .05, - M::Identity() * .05, + M::Identity() * .1, + M::Identity() * .1, .185 ) ); @@ -306,7 +306,7 @@ class AckermannEkfNode : public rclcpp::Node { OdomSensor odom = OdomSensor( V::Zero(), - M::Identity() * .05, + M::Identity() * .1, {model} ); }; From 69844b675183fc453fde768896f5d531d62e900e Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Mon, 2 Dec 2024 23:31:33 -0500 Subject: [PATCH 061/196] Fixed encoder odom by removing average --- src/odometry.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/odometry.cpp b/src/odometry.cpp index 5c628d1..e1c6002 100644 --- a/src/odometry.cpp +++ b/src/odometry.cpp @@ -63,7 +63,8 @@ class OdometryNode : public rclcpp::Node double delta_distance = data->velocity * dt; double new_steering_angle = data->steering_angle; - double average_steering_angle = (new_steering_angle + old_steering_angle_) / 2.0; + double average_steering_angle = new_steering_angle; + // double average_steering_angle = (new_steering_angle + old_steering_angle_) / 2.0; double turning_radius = WHEELBASE / std::tan(average_steering_angle); From fe544076668d374b3c3db41fc4859e1aff1f919f Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Tue, 3 Dec 2024 04:51:52 +0000 Subject: [PATCH 062/196] Add back continuous updating --- include/model.h | 18 +++++++++--------- src/ackermann_ekf.cpp | 7 +++++-- 2 files changed, 14 insertions(+), 11 deletions(-) diff --git a/include/model.h b/include/model.h index 102beb5..5e89f05 100644 --- a/include/model.h +++ b/include/model.h @@ -10,15 +10,6 @@ class Model : public Estimator { std::vector> models; - /** - * Next state and covariance without adjusting with a sensor update. - * - * @param time Time to predict to - * - * @return Next state and covariance - */ - std::pair predict(double time); - /** * Perform a model update step up to `time`. * @@ -79,6 +70,15 @@ class Model : public Estimator { std::vector> dependents = {} ); + /** + * Next state and covariance without adjusting with a sensor update. + * + * @param time Time to predict to + * + * @return Next state and covariance + */ + std::pair predict(double time); + /** * Update the state/covariance with no sensor estimate. * @param time Time to predict to diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index 5bcdff1..e3de9ac 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -230,15 +230,18 @@ class AckermannEkfNode : public rclcpp::Node { } void timer_callback() { - // double time = get_clock()->now().seconds(); + double time = get_clock()->now().seconds(); // model->update(time); + std::pair prediction = model->predict(time); + V state = prediction.first; + // M covariance = prediction.second; nav_msgs::msg::Odometry odom_msg; odom_msg.header.stamp = this->now(); odom_msg.header.frame_id = "odom"; odom_msg.child_frame_id = "meow_link"; - V state = model->get_state(); + // V state = model->get_state(); odom_msg.pose.pose.position.x = state[x__]; odom_msg.pose.pose.position.y = state[y__]; From 48df084e3cd2cc1e2888634ff4a95f75b81f9f2c Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Wed, 4 Dec 2024 00:05:01 +0000 Subject: [PATCH 063/196] Rename to cev_localization --- CMakeLists.txt | 2 +- launch/launch.py | 6 +++--- package.xml | 2 +- src/model.cpp | 5 ----- 4 files changed, 5 insertions(+), 10 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index fa4b03e..7a1b93f 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,6 +1,6 @@ cmake_minimum_required(VERSION 3.8) -project(ackermann_ekf) +project(cev_localization) if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES Clang) add_compile_options(-Wall -Wextra -Wpedantic) diff --git a/launch/launch.py b/launch/launch.py index acd4ae4..8b1f3bf 100644 --- a/launch/launch.py +++ b/launch/launch.py @@ -12,7 +12,7 @@ def get_path(package, dir, file): ) def generate_launch_description(): - rviz2_config = get_path("ackermann_ekf", "config", "conf.rviz") + rviz2_config = get_path("cev_localization", "config", "conf.rviz") return LaunchDescription([ Node( @@ -52,9 +52,9 @@ def generate_launch_description(): ] ), Node( - package='ackermann_ekf', + package='cev_localization', executable='ackermann_ekf', - name='ackermann_ekf_node', + name='cev_localization_node', output='screen', # arguments=['--ros-args', '--log-level', 'DEBUG'], ), diff --git a/package.xml b/package.xml index ef04c66..b219ade 100644 --- a/package.xml +++ b/package.xml @@ -1,7 +1,7 @@ - ackermann_ekf + cev_localization 0.0.0 TODO: Package description sloth diff --git a/src/model.cpp b/src/model.cpp index 51277c3..756c819 100644 --- a/src/model.cpp +++ b/src/model.cpp @@ -56,21 +56,16 @@ void Model::estimate_update( std::pair prediction = predict(estimate.get_most_recent_update_time()); V st = prediction.first; - M cov = prediction.second; M H_k = sensor_jacobian(estimate); - M R_k = estimate.get_covariance(); V predicted_sensor = estimate.state_matrix_multiplier() * st; - V real_sensor = estimate.get_state(); - V y_k = real_sensor - predicted_sensor; M S_k = H_k * cov * H_k.transpose() + R_k; - M K_k = cov * H_k.transpose() * S_k.inverse(); this->state = st + K_k * y_k; From b1040c5bb0a967d0bc36957291839f626334563a Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Wed, 4 Dec 2024 00:11:42 +0000 Subject: [PATCH 064/196] Change to base_link. --- launch/debug_launch.py | 68 ++++++++++++++++++++++++++++++++++++++++++ launch/launch.py | 46 ---------------------------- src/ackermann_ekf.cpp | 6 ++-- 3 files changed, 71 insertions(+), 49 deletions(-) create mode 100644 launch/debug_launch.py diff --git a/launch/debug_launch.py b/launch/debug_launch.py new file mode 100644 index 0000000..8b1f3bf --- /dev/null +++ b/launch/debug_launch.py @@ -0,0 +1,68 @@ +from launch import LaunchDescription +from launch_ros.actions import Node +from launch.actions import DeclareLaunchArgument +from ament_index_python.packages import get_package_share_directory +import os + +def get_path(package, dir, file): + return os.path.join( + get_package_share_directory(package), + dir, + file + ) + +def generate_launch_description(): + rviz2_config = get_path("cev_localization", "config", "conf.rviz") + + return LaunchDescription([ + Node( + package='tf2_ros', + executable='static_transform_publisher', + name='static_transform_publisher_world_map', + output='screen', + arguments=[ + '0', '0', '0', # Translation: x = 0.035, y = 0.04, z = 0 (meters) + '0', '0', '0', '1', # Rotation: 0 + 'world', + 'map' + ] + ), + Node( + package='tf2_ros', + executable='static_transform_publisher', + name='static_transform_publisher_map_odom', + output='screen', + arguments=[ + '0', '0', '0', # Translation: x = 0.035, y = 0.04, z = 0 (meters) + '0', '0', '0', '1', # Rotation: 0 + 'map', + 'odom' + ] + ), + Node( + package='tf2_ros', + executable='static_transform_publisher', + name='static_transform_publisher_odom_base_link', + output='screen', + arguments=[ + '0', '0', '0', # Translation: x = 0.035, y = 0.04, z = 0 (meters) + '0', '0', '0', '1', # Rotation: 0 + 'odom', + 'meow_link' + ] + ), + Node( + package='cev_localization', + executable='ackermann_ekf', + name='cev_localization_node', + output='screen', + # arguments=['--ros-args', '--log-level', 'DEBUG'], + ), + Node( + package='rviz2', + executable='rviz2', + arguments=['--display-config', rviz2_config], + name='rviz2', + output='screen', + ) + ]) \ No newline at end of file diff --git a/launch/launch.py b/launch/launch.py index 8b1f3bf..9a429a4 100644 --- a/launch/launch.py +++ b/launch/launch.py @@ -12,57 +12,11 @@ def get_path(package, dir, file): ) def generate_launch_description(): - rviz2_config = get_path("cev_localization", "config", "conf.rviz") - return LaunchDescription([ - Node( - package='tf2_ros', - executable='static_transform_publisher', - name='static_transform_publisher_world_map', - output='screen', - arguments=[ - '0', '0', '0', # Translation: x = 0.035, y = 0.04, z = 0 (meters) - '0', '0', '0', '1', # Rotation: 0 - 'world', - 'map' - ] - ), - Node( - package='tf2_ros', - executable='static_transform_publisher', - name='static_transform_publisher_map_odom', - output='screen', - arguments=[ - '0', '0', '0', # Translation: x = 0.035, y = 0.04, z = 0 (meters) - '0', '0', '0', '1', # Rotation: 0 - 'map', - 'odom' - ] - ), - Node( - package='tf2_ros', - executable='static_transform_publisher', - name='static_transform_publisher_odom_base_link', - output='screen', - arguments=[ - '0', '0', '0', # Translation: x = 0.035, y = 0.04, z = 0 (meters) - '0', '0', '0', '1', # Rotation: 0 - 'odom', - 'meow_link' - ] - ), Node( package='cev_localization', executable='ackermann_ekf', name='cev_localization_node', output='screen', - # arguments=['--ros-args', '--log-level', 'DEBUG'], - ), - Node( - package='rviz2', - executable='rviz2', - arguments=['--display-config', rviz2_config], - name='rviz2', - output='screen', ) ]) \ No newline at end of file diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index e3de9ac..6f1d8f5 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -226,7 +226,7 @@ class AckermannEkfNode : public rclcpp::Node { tf_broadcaster_ = std::make_shared(this); - odom_pub = this->create_publisher("odometry/meow", 1); + odom_pub = this->create_publisher("odometry/filtered", 1); } void timer_callback() { @@ -239,7 +239,7 @@ class AckermannEkfNode : public rclcpp::Node { nav_msgs::msg::Odometry odom_msg; odom_msg.header.stamp = this->now(); odom_msg.header.frame_id = "odom"; - odom_msg.child_frame_id = "meow_link"; + odom_msg.child_frame_id = "base_link"; // V state = model->get_state(); @@ -266,7 +266,7 @@ class AckermannEkfNode : public rclcpp::Node { transformStamped.header.stamp = this->now(); transformStamped.header.frame_id = "odom"; - transformStamped.child_frame_id = "meow_link"; + transformStamped.child_frame_id = "base_link"; transformStamped.transform.translation.x = state[x__]; transformStamped.transform.translation.y = state[y__]; From 1c569058ed64f52aa1594c36b85d6776fe09de71 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Tue, 3 Dec 2024 19:34:40 -0500 Subject: [PATCH 065/196] Regular time updates. --- src/ackermann_ekf.cpp | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index 6f1d8f5..b493a1e 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -231,9 +231,12 @@ class AckermannEkfNode : public rclcpp::Node { void timer_callback() { double time = get_clock()->now().seconds(); - // model->update(time); - std::pair prediction = model->predict(time); - V state = prediction.first; + + model->update(time); + V state = model->get_state(); + + // std::pair prediction = model->predict(time); + // V state = prediction.first; // M covariance = prediction.second; nav_msgs::msg::Odometry odom_msg; @@ -241,8 +244,6 @@ class AckermannEkfNode : public rclcpp::Node { odom_msg.header.frame_id = "odom"; odom_msg.child_frame_id = "base_link"; - // V state = model->get_state(); - odom_msg.pose.pose.position.x = state[x__]; odom_msg.pose.pose.position.y = state[y__]; From 08a65f3333604dfcd8765b0c6849f72575ca8a76 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Wed, 4 Dec 2024 00:58:28 +0000 Subject: [PATCH 066/196] Add covariances --- src/ackermann_ekf.cpp | 19 +++++++++++++------ 1 file changed, 13 insertions(+), 6 deletions(-) diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index b493a1e..1ae4d2b 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -232,12 +232,12 @@ class AckermannEkfNode : public rclcpp::Node { void timer_callback() { double time = get_clock()->now().seconds(); - model->update(time); - V state = model->get_state(); + // model->update(time); + // V state = model->get_state(); - // std::pair prediction = model->predict(time); - // V state = prediction.first; - // M covariance = prediction.second; + std::pair prediction = model->predict(time); + V state = prediction.first; + M covariance = prediction.second; nav_msgs::msg::Odometry odom_msg; odom_msg.header.stamp = this->now(); @@ -246,9 +246,12 @@ class AckermannEkfNode : public rclcpp::Node { odom_msg.pose.pose.position.x = state[x__]; odom_msg.pose.pose.position.y = state[y__]; - odom_msg.pose.pose.position.z = 0.0; + odom_msg.pose.covariance[0] = covariance(x__, x__); + odom_msg.pose.covariance[7] = covariance(y__, y__); + odom_msg.pose.covariance[35] = covariance(yaw__, yaw__); + tf2::Quaternion q = tf2::Quaternion(); q.setRPY(0, 0, state[yaw__]); q = q.normalized(); @@ -261,6 +264,10 @@ class AckermannEkfNode : public rclcpp::Node { odom_msg.twist.twist.linear.y = state[d_y__]; odom_msg.twist.twist.angular.z = state[d_yaw__]; + odom_msg.twist.covariance[0] = covariance(d_x__, d_x__); + odom_msg.twist.covariance[7] = covariance(d_y__, d_y__); + odom_msg.twist.covariance[35] = covariance(d_yaw__, d_yaw__); + odom_pub->publish(odom_msg); geometry_msgs::msg::TransformStamped transformStamped; From de18f77a5b7339b09c45c6b81c11016505323829 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Fri, 6 Dec 2024 18:05:50 +0000 Subject: [PATCH 067/196] HELP --- .clang-format | 36 +++++++++++++++++++++++++++++++++ .devcontainer/Dockerfile.dev | 13 ++++++++++++ .devcontainer/devcontainer.json | 15 +++++++++++++- 3 files changed, 63 insertions(+), 1 deletion(-) create mode 100644 .clang-format diff --git a/.clang-format b/.clang-format new file mode 100644 index 0000000..1d9b175 --- /dev/null +++ b/.clang-format @@ -0,0 +1,36 @@ +# CEV C++ setup +--- +BasedOnStyle: Google +IndentWidth: 4 +Language: Cpp +UseTab: Never +DerivePointerAlignment: false +PointerAlignment: Left +BreakStringLiterals: true +ReflowComments: true +ContinuationIndentWidth: 4 +ColumnLimit: 100 +AlignAfterOpenBracket: DontAlign +AlignTrailingComments: + Kind: Always + OverEmptyLines: 2 +AlignOperands: Align +BreakBeforeBinaryOperators: NonAssignment +PenaltyBreakAssignment: 60 +PenaltyBreakOpenParenthesis: 50 +IndentCaseLabels: true +AllowShortFunctionsOnASingleLine: Empty +SortIncludes: false +MacroBlockBegin: "^#if .*$" +MacroBlockEnd: "^#endif$" +AlignEscapedNewlines: Right +IndentPPDirectives: BeforeHash +IndentAccessModifiers: false +AccessModifierOffset: -4 +SpaceBeforeRangeBasedForLoopColon: false +SpaceBeforeCaseColon: false +SpaceBeforeCtorInitializerColon: false +SpaceAfterTemplateKeyword: false +NamespaceIndentation: All +FixNamespaceComments: false +--- diff --git a/.devcontainer/Dockerfile.dev b/.devcontainer/Dockerfile.dev index 137f03c..601c732 100644 --- a/.devcontainer/Dockerfile.dev +++ b/.devcontainer/Dockerfile.dev @@ -49,6 +49,19 @@ WORKDIR /root/ws RUN sudo apt update +# Install dev tools +RUN apt-get update +RUN apt-get install -y curl +RUN curl -fsSL https://apt.llvm.org/llvm-snapshot.gpg.key | tee /etc/apt/trusted.gpg.d/apt.llvm.org.asc +RUN cat /etc/apt/trusted.gpg.d/apt.llvm.org.asc +RUN echo $'deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy main\n' \ + $'deb-src http://apt.llvm.org/jammy/ llvm-toolchain-jammy main\n' \ + $'deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy-19 main\n' \ + $'deb-src http://apt.llvm.org/jammy/ llvm-toolchain-jammy-19 main\n' \ + | tee -a /etc/apt/sources.list +RUN apt-get update +RUN apt-get install -y clang-format clang-format-19 + RUN source /opt/ros/$ROS_DISTRO/setup.bash \ && cd /root/ws \ && rosdep update \ diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json index 4bd977e..bc954aa 100644 --- a/.devcontainer/devcontainer.json +++ b/.devcontainer/devcontainer.json @@ -27,10 +27,23 @@ } } }, + "[cpp]": { + "editor.defaultFormatter": "xaver.clang-format" + }, + "[python]": { + "diffEditor.ignoreTrimWhitespace": false, + "gitlens.codeLens.symbolScopes": [ + "!Module" + ], + "editor.formatOnType": true, + "editor.wordBasedSuggestions": "off", + "editor.defaultFormatter": "ms-python.black-formatter" + }, "extensions": [ "ms-iot.vscode-ros", "ms-vscode.cpptools-extension-pack", - "ms-python.black-formatter" + "ms-python.black-formatter", + "xaver.clang-format" ] } }, From 6be75ffa20bf0e785fce79f0594a728c4f0bdf9f Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Fri, 6 Dec 2024 22:50:38 +0000 Subject: [PATCH 068/196] Created config parser. --- CMakeLists.txt | 9 +- config/ekf.conf_doc | 37 ++++ config/ekf_real.yml | 54 ++++++ include/config_parser.h | 41 ++++ include/estimator.h | 273 ++++++++++++--------------- launch/launch.py | 26 +-- package.xml | 1 + src/ackermann_ekf.cpp | 408 ++++++++++++++++++---------------------- src/config_parser.cpp | 56 ++++++ 9 files changed, 519 insertions(+), 386 deletions(-) create mode 100644 config/ekf.conf_doc create mode 100644 config/ekf_real.yml create mode 100644 include/config_parser.h create mode 100644 src/config_parser.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt index 7a1b93f..bb98f36 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -19,6 +19,7 @@ find_package(tf2 REQUIRED) find_package(tf2_ros REQUIRED) find_package(tf2_geometry_msgs REQUIRED) find_package(nav_msgs REQUIRED) +find_package(yaml-cpp REQUIRED) find_package(cev_msgs REQUIRED) @@ -43,6 +44,11 @@ add_library(ros_sensor include/ros_sensor.h ) +add_library(config_parser + src/config_parser.cpp + include/config_parser.h +) + # add_library(updateable # src/updateable.cpp # include/updateable.h @@ -57,12 +63,13 @@ include_directories(estimator include) include_directories(model include) include_directories(sensor include) include_directories(ros_sensor include) +include_directories(config_loader include) # include_directories(updateable include) # include_directories(updater include) add_executable(ackermann_ekf src/ackermann_ekf.cpp) # target_link_libraries(ackermann_ekf estimator model sensor ros_sensor updateable updater) -target_link_libraries(ackermann_ekf estimator model sensor ros_sensor) +target_link_libraries(ackermann_ekf estimator model sensor ros_sensor yaml-cpp config_parser) ament_target_dependencies(ackermann_ekf rclcpp sensor_msgs std_msgs Eigen3 cev_msgs tf2 tf2_ros tf2_geometry_msgs nav_msgs) install(TARGETS diff --git a/config/ekf.conf_doc b/config/ekf.conf_doc new file mode 100644 index 0000000..4b3f697 --- /dev/null +++ b/config/ekf.conf_doc @@ -0,0 +1,37 @@ +# General settings for the Kalman Filter node output +odometry_settings: + time_step: double # Time step for the filter publish (in seconds) + topic: str # Topic to publish the odometry data + +# Define the sensors used by the node +sensors: + sensor_name: + type: sensor_type # Sensor type (IMU, GPS, etc.) + topic: str # Topic to subscribe to + frame_id: str # Frame ID for the sensor data + + state: [ + x, dx, d2x, + y, dy, d2y, + z, dz, d2z, + roll, droll, d2roll, + pitch, dpitch, d2pitch, + yaw, dyaw, d2yaw, + tau, dtau, d2tau + ] # State variables for the sensor. Each should be true or false + covariance: [double] # Covariance matrix for the sensor data + estimator_models: [ + model_name_1, + model_name_2, + ... + ] # List of strings representing models to use for the sensor data by name + +# Define update models with their parameters +update_models: + model_name: + type: model_type # Model type (ACKERMANN, CARTESIAN, etc.) + parameters: [ + parameter_1, + parameter_2, + ... + ] # Parameters for the model diff --git a/config/ekf_real.yml b/config/ekf_real.yml new file mode 100644 index 0000000..a3fa943 --- /dev/null +++ b/config/ekf_real.yml @@ -0,0 +1,54 @@ +# General settings for the Kalman Filter node output +odometry_settings: + time_step: 1.0 # Time step for the filter publish (in seconds) + topic: "/odometry/filtered" # Topic to publish the odometry data + +# Define the sensors used by the node +sensors: + witmotion_imu: + type: "IMU" # Sensor type (IMU, GPS, etc.) + topic: "/imu" # Topic to subscribe to + frame_id: "imu_frame" # Frame ID for the sensor data + + state: [ + true, false, false, + true, false, false, + true, false, false, + false, false, false, + false, false, false, + false, false, false, + false, false, false + ] # State variables for the sensor. Each should be true or false + covariance_multiplier: 1.0 # Multiplier to multiply message covariance by + estimator_models: [ + ackermann, + ] # List of strings representing models to use for the sensor data by name + + encoder_odometry: + type: "ODOM" # Sensor type (IMU, GPS, etc.) + topic: "/odometry" # Topic to subscribe to + frame_id: "odom_frame" # Frame ID for the sensor data + + state: [ + true, false, false, + true, false, false, + true, false, false, + false, false, false, + false, false, false, + false, false, false, + false, false, false + ] # State variables for the sensor. Each should be true or false + covariance_multiplier: 2.0 # Multiplier to multiply message covariance by + estimator_models: [ + ackermann, + ] # List of strings representing models to use for the sensor data by name + +# Define update models with their parameters +update_models: + ackermann: + type: "ACKERMANN" # Model type (ACKERMANN, CARTESIAN, etc.) + parameters: [ + # parameter_1, + # parameter_2, + # ... + ] # Parameters for the model diff --git a/include/config_parser.h b/include/config_parser.h new file mode 100644 index 0000000..10d2402 --- /dev/null +++ b/include/config_parser.h @@ -0,0 +1,41 @@ +#pragma once + +#include +#include +#include +#include + +struct Sensor { + std::string type; + std::string topic; + std::string frame_id; + std::vector state; + double covariance_multiplier; + std::vector estimator_models; +}; + +struct UpdateModel { + std::string type; + std::vector parameters; +}; + +struct Config { + // General settings + double time_step; + std::string odometry_topic; + + // Sensors + std::unordered_map sensors; + + // Update Models + std::unordered_map update_models; +}; + +class ConfigParser { +public: + static Config loadConfig(const std::string& filePath); + +private: + static Sensor parseSensor(const YAML::Node& sensorNode); + static UpdateModel parseUpdateModel(const YAML::Node& modelNode); +}; \ No newline at end of file diff --git a/include/estimator.h b/include/estimator.h index bbb5d3f..1cde0df 100644 --- a/include/estimator.h +++ b/include/estimator.h @@ -2,11 +2,11 @@ #include #include -#include +#include using namespace Eigen; -/* +/* State: [ x, y, z, roll, pitch, yaw, @@ -21,64 +21,43 @@ where tau = steering_angle static constexpr int S = 18; - - -#define x__ 0 -#define y__ 1 -#define z__ 2 -#define roll__ 3 -#define pitch__ 4 -#define yaw__ 5 -#define d_x__ 6 -#define d_y__ 7 -#define d_z__ 8 -#define d_roll__ 9 -#define d_pitch__ 10 -#define d_yaw__ 11 -#define d2_x__ 12 -#define d2_y__ 13 -#define d2_z__ 14 -#define tau__ 15 -#define d_tau__ 16 -#define d2_tau__ 17 - -#define x_ state[ x__ ] -#define y_ state[ y__ ] -#define z_ state[ z__ ] -#define roll_ state[ roll__ ] -#define pitch_ state[ pitch__ ] -#define yaw_ state[ yaw__ ] -#define d_x_ state[ d_x__ ] -#define d_y_ state[ d_y__ ] -#define d_z_ state[ d_z__ ] -#define d_roll_ state[ d_roll__ ] -#define d_pitch_ state[ d_pitch__] -#define d_yaw_ state[ d_yaw__ ] -#define d2_x_ state[ d2_x__ ] -#define d2_y_ state[ d2_y__ ] -#define d2_z_ state[ d2_z__ ] -#define tau_ state[ tau__ ] -#define d_tau_ state[ d_tau__ ] -#define d2_tau_ state[ d2_tau__ ] - -#define _x_ this->x_ -#define _y_ this->y_ -#define _z_ this->z_ -#define _roll_ this->roll_ -#define _pitch_ this->pitch_ -#define _yaw_ this->yaw_ -#define _d_x_ this->d_x_ -#define _d_y_ this->d_y_ -#define _d_z _ this->d_z_ -#define _d_roll_ this->d_roll_ -#define _d_pitch_ this->d_pitch_ -#define _d_yaw_ this->d_yaw_ -#define _d2_x_ this->d2_x_ -#define _d2_y_ this->d2_y_ -#define _d2_z_ this->d2_z_ -#define _tau_ this->tau_ -#define _d_tau_ this->d_tau_ -#define _d2_tau_ this->d2_tau_ +#define x__ 0 +#define y__ 1 +#define z__ 2 +#define roll__ 3 +#define pitch__ 4 +#define yaw__ 5 +#define d_x__ 6 +#define d_y__ 7 +#define d_z__ 8 +#define d_roll__ 9 +#define d_pitch__ 10 +#define d_yaw__ 11 +#define d2_x__ 12 +#define d2_y__ 13 +#define d2_z__ 14 +#define tau__ 15 +#define d_tau__ 16 +#define d2_tau__ 17 + +#define x_ state[x__] +#define y_ state[y__] +#define z_ state[z__] +#define roll_ state[roll__] +#define pitch_ state[pitch__] +#define yaw_ state[yaw__] +#define d_x_ state[d_x__] +#define d_y_ state[d_y__] +#define d_z_ state[d_z__] +#define d_roll_ state[d_roll__] +#define d_pitch_ state[d_pitch__] +#define d_yaw_ state[d_yaw__] +#define d2_x_ state[d2_x__] +#define d2_y_ state[d2_y__] +#define d2_z_ state[d2_z__] +#define tau_ state[tau__] +#define d_tau_ state[d_tau__] +#define d2_tau_ state[d2_tau__] // V represents a Vector of the state size using V = Vector; @@ -90,9 +69,9 @@ using M = Matrix; * Package for a estimate update */ struct StatePackage { - V state; - M covariance; - double update_time; + V state; + M covariance; + double update_time; }; /** @@ -100,92 +79,90 @@ struct StatePackage { * Struct for a simple state update, no covariance */ struct SimpleStatePackage { - V state; - double update_time; + V state; + double update_time; }; class Estimator { - protected: - V state; - M covariance; - - double previous_update_time = 0.0; - double most_recent_update_time = 0.0; - - bool initialized = false; - - public: - /** - * Base class for a model with a state and covariance - * - * @param state Start state - * @param covariance Start covariance - */ - Estimator(V state, M covariance); - - std::string name = "Estimator"; - - /** - * Current state of the sensor - * - * @return Current sensor state - */ - V get_state(); - - /** - * Covariance of the sensor - * - * @return Sensor covariance - */ - M get_covariance(); - - /** - * Get the estimate internals - * - * @return Estimate internals - */ - StatePackage get_internals(); - - /** - * Update the model estimate data with a simple state and time update - * - * @param package Package of state and time - */ - void updateInternals(SimpleStatePackage package); - - /** - * Update the model estimate data - * - * @param package Package of state, covariance, and time - */ - void updateInternals(StatePackage package); - - /** - * Get the time of the most recent update - * - * @return Time of most recent update - */ - double get_most_recent_update_time(); - - /** - * Get the previous update time - * - * @return Previous update time - */ - double get_previous_update_time(); - - /** - * Get the time since the most recent update - * - * @return Time since most recent update - */ - double dt(); - - /** - * Matrix that, when left multiplied by a state vector, - * gives a state matrix in the form of this model. - * - * @return Multiplier matrix - */ - virtual M state_matrix_multiplier() = 0; +protected: + V state; + M covariance; + + double previous_update_time = 0.0; + double most_recent_update_time = 0.0; + + bool initialized = false; + +public: + /** + * Base class for a model with a state and covariance + * + * @param state Start state + * @param covariance Start covariance + */ + Estimator(V state, M covariance); + + /** + * Current state of the sensor + * + * @return Current sensor state + */ + V get_state(); + + /** + * Covariance of the sensor + * + * @return Sensor covariance + */ + M get_covariance(); + + /** + * Get the estimate internals + * + * @return Estimate internals + */ + StatePackage get_internals(); + + /** + * Update the model estimate data with a simple state and time update + * + * @param package Package of state and time + */ + void updateInternals(SimpleStatePackage package); + + /** + * Update the model estimate data + * + * @param package Package of state, covariance, and time + */ + void updateInternals(StatePackage package); + + /** + * Get the time of the most recent update + * + * @return Time of most recent update + */ + double get_most_recent_update_time(); + + /** + * Get the previous update time + * + * @return Previous update time + */ + double get_previous_update_time(); + + /** + * Get the time since the most recent update + * + * @return Time since most recent update + */ + double dt(); + + /** + * Matrix that, when left multiplied by a state vector, + * gives a state matrix in the form of this model. + * + * @return Multiplier matrix + */ + virtual M state_matrix_multiplier() = 0; }; \ No newline at end of file diff --git a/launch/launch.py b/launch/launch.py index 9a429a4..b37f5c6 100644 --- a/launch/launch.py +++ b/launch/launch.py @@ -4,19 +4,19 @@ from ament_index_python.packages import get_package_share_directory import os + def get_path(package, dir, file): - return os.path.join( - get_package_share_directory(package), - dir, - file - ) + return os.path.join(get_package_share_directory(package), dir, file) + def generate_launch_description(): - return LaunchDescription([ - Node( - package='cev_localization', - executable='ackermann_ekf', - name='cev_localization_node', - output='screen', - ) - ]) \ No newline at end of file + return LaunchDescription( + [ + Node( + package="cev_localization", + executable="ackermann_ekf", + name="cev_localization_node", + output="screen", + ) + ] + ) diff --git a/package.xml b/package.xml index b219ade..b35a594 100644 --- a/package.xml +++ b/package.xml @@ -17,6 +17,7 @@ tf2_ros tf2_geometry_msgs nav_msgs + yaml-cpp cev_msgs diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index 1ae4d2b..460de3a 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -18,94 +18,90 @@ using std::placeholders::_1; class AckermannModel : public Model { - // State: [x, y, x', y', yaw, steering_angle] + // State: [x, y, x', y', yaw, steering_angle] - private: +private: double wheelbase; M multiplier = M::Zero(); - public: - AckermannModel( - V state, - M covariance, - M process_covariance, - double wheelbase - ) : Model(state, covariance, process_covariance) { - this->wheelbase = wheelbase; - - multiplier(x__, x__) = 1; - multiplier(y__, y__) = 1; - multiplier(d_x__, d_x__) = 1; - multiplier(d_y__, d_y__) = 1; - multiplier(yaw__, yaw__) = 1; - multiplier(tau__, tau__) = 1; - // multiplier(d_tau__, d_tau__) = 1; +public: + AckermannModel(V state, M covariance, M process_covariance, double wheelbase) + : Model(state, covariance, process_covariance) { + this->wheelbase = wheelbase; + + multiplier(x__, x__) = 1; + multiplier(y__, y__) = 1; + multiplier(d_x__, d_x__) = 1; + multiplier(d_y__, d_y__) = 1; + multiplier(yaw__, yaw__) = 1; + multiplier(tau__, tau__) = 1; + // multiplier(d_tau__, d_tau__) = 1; } V update_step(double time) { - double dt = time - most_recent_update_time; + double dt = time - most_recent_update_time; - double d_yaw = d_x_ * (sin(tau_) / wheelbase) * dt; - // double new_yaw = yaw_ + ((d_yaw_ + d_yaw) / 2.0); - double new_yaw = yaw_ + d_yaw; + double d_yaw = d_x_ * (sin(tau_) / wheelbase) * dt; + // double new_yaw = yaw_ + ((d_yaw_ + d_yaw) / 2.0); + double new_yaw = yaw_ + d_yaw; - double new_d_x = d_x_ + d2_x_ * dt; - double new_d_y = d_y_ + d2_y_ * dt; - // double new_d_tau = d_tau_ + d2_tau_ * dt; - double new_tau = tau_ + d_tau_ * dt; + double new_d_x = d_x_ + d2_x_ * dt; + double new_d_y = d_y_ + d2_y_ * dt; + // double new_d_tau = d_tau_ + d2_tau_ * dt; + double new_tau = tau_ + d_tau_ * dt; - double new_x = x_ + d_x_ * cos(yaw_ + tau_) * dt; - double new_y = y_ + d_x_ * sin(yaw_ + tau_) * dt; + double new_x = x_ + d_x_ * cos(yaw_ + tau_) * dt; + double new_y = y_ + d_x_ * sin(yaw_ + tau_) * dt; - V new_state = this->state; + V new_state = this->state; - new_state[x__] = new_x; - new_state[y__] = new_y; - new_state[d_x__] = new_d_x; - new_state[d_y__] = new_d_y; - new_state[yaw__] = new_yaw; - // new_state[d_yaw__] = d_yaw; - new_state[tau__] = new_tau; - // new_state[d_tau__] = new_d_tau; + new_state[x__] = new_x; + new_state[y__] = new_y; + new_state[d_x__] = new_d_x; + new_state[d_y__] = new_d_y; + new_state[yaw__] = new_yaw; + // new_state[d_yaw__] = d_yaw; + new_state[tau__] = new_tau; + // new_state[d_tau__] = new_d_tau; - return new_state; + return new_state; } M update_jacobian(double dt) { - M F_k = MatrixXd::Identity(S, S); + M F_k = MatrixXd::Identity(S, S); - F_k(x__, d_x__) = dt * cos(yaw_ + tau_); - F_k(x__, yaw__) = -dt * d_x_ * sin(yaw_ + tau_); - F_k(x__, tau__) = -dt * d_x_ * sin(yaw_ + tau_); + F_k(x__, d_x__) = dt * cos(yaw_ + tau_); + F_k(x__, yaw__) = -dt * d_x_ * sin(yaw_ + tau_); + F_k(x__, tau__) = -dt * d_x_ * sin(yaw_ + tau_); - F_k(y__, d_x__) = dt * sin(yaw_ + tau_); - F_k(y__, yaw__) = dt * d_x_ * cos(yaw_ + tau_); - F_k(y__, tau__) = dt * d_x_ * cos(yaw_ + tau_); + F_k(y__, d_x__) = dt * sin(yaw_ + tau_); + F_k(y__, yaw__) = dt * d_x_ * cos(yaw_ + tau_); + F_k(y__, tau__) = dt * d_x_ * cos(yaw_ + tau_); - F_k(yaw__, d_x__) = dt * sin(tau_) / wheelbase; - F_k(yaw__, tau__) = dt * d_x_ * cos(tau_) / wheelbase; + F_k(yaw__, d_x__) = dt * sin(tau_) / wheelbase; + F_k(yaw__, tau__) = dt * d_x_ * cos(tau_) / wheelbase; - F_k(d_x__, d2_x__) = dt; - F_k(d_y__, d2_y__) = dt; + F_k(d_x__, d2_x__) = dt; + F_k(d_y__, d2_y__) = dt; - // F_k(tau__, d_tau__) = dt; - // F_k(d_tau__, d2_tau__) = dt; + // F_k(tau__, d_tau__) = dt; + // F_k(d_tau__, d2_tau__) = dt; - return F_k; + return F_k; } M state_matrix_multiplier() { - return multiplier; + return multiplier; } }; class IMUSensor : public RosSensor { - private: +private: double pos_mod(double angle) { - return fmod(fmod(angle, 2 * M_PI) + 2 * M_PI, 2 * M_PI); + return fmod(fmod(angle, 2 * M_PI) + 2 * M_PI, 2 * M_PI); } - protected: +protected: bool initialized = false; bool relative = true; @@ -113,182 +109,161 @@ class IMUSensor : public RosSensor { double last_reported_yaw = 0; double last_sensor_raw_yaw = 0; - public: - IMUSensor( - V state, - M covariance, - std::vector> dependents, - bool relative = true - ) : RosSensor( - state, - covariance, - dependents - ) - { - multiplier(d2_x__, d2_x__) = 1.0; - multiplier(d2_y__, d2_y__) = 1.0; - multiplier(yaw__, yaw__) = 1.0; - - this->relative = relative; +public: + IMUSensor(V state, M covariance, std::vector> dependents, + bool relative = true) + : RosSensor(state, covariance, dependents) { + multiplier(d2_x__, d2_x__) = 1.0; + multiplier(d2_y__, d2_y__) = 1.0; + multiplier(yaw__, yaw__) = 1.0; + + this->relative = relative; } StatePackage msg_update(sensor_msgs::msg::Imu::SharedPtr msg) { - this->name = "IMU"; - StatePackage estimate = get_internals(); - - estimate.update_time = msg->header.stamp.sec + (msg->header.stamp.nanosec / 1e9); - - estimate.state[d2_x__] = msg->linear_acceleration.x; - estimate.state[d2_y__] = msg->linear_acceleration.y; - - // Get yaw from quaternion - tf2::Quaternion q( - msg->orientation.x, - msg->orientation.y, - msg->orientation.z, - msg->orientation.w - ); - tf2::Matrix3x3 m(q); - double roll, pitch, yaw; - m.getRPY(roll, pitch, yaw); - - if (relative && !initialized) { - last_sensor_raw_yaw = yaw; - last_reported_yaw = 0.0; - initialized = true; + StatePackage estimate = get_internals(); - estimate.state[yaw__] = 0.0; - return estimate; - } + estimate.update_time = msg->header.stamp.sec + (msg->header.stamp.nanosec / 1e9); + + estimate.state[d2_x__] = msg->linear_acceleration.x; + estimate.state[d2_y__] = msg->linear_acceleration.y; + + // Get yaw from quaternion + tf2::Quaternion q(msg->orientation.x, msg->orientation.y, msg->orientation.z, + msg->orientation.w); + tf2::Matrix3x3 m(q); + double roll, pitch, yaw; + m.getRPY(roll, pitch, yaw); + + if (relative && !initialized) { + last_sensor_raw_yaw = yaw; + last_reported_yaw = 0.0; + initialized = true; + + estimate.state[yaw__] = 0.0; + return estimate; + } - double modded_yaw_diff = fmod(yaw - last_sensor_raw_yaw, 2 * M_PI); + double modded_yaw_diff = fmod(yaw - last_sensor_raw_yaw, 2 * M_PI); - if (modded_yaw_diff > M_PI) { - modded_yaw_diff -= 2 * M_PI; - } else if (modded_yaw_diff < -M_PI) { - modded_yaw_diff += 2 * M_PI; - } + if (modded_yaw_diff > M_PI) { + modded_yaw_diff -= 2 * M_PI; + } else if (modded_yaw_diff < -M_PI) { + modded_yaw_diff += 2 * M_PI; + } - last_reported_yaw += modded_yaw_diff; - last_sensor_raw_yaw = yaw; + last_reported_yaw += modded_yaw_diff; + last_sensor_raw_yaw = yaw; - estimate.state[yaw__] = last_reported_yaw; + estimate.state[yaw__] = last_reported_yaw; - return estimate; + return estimate; } }; class OdomSensor : public RosSensor { - public: - OdomSensor( - V state, - M covariance, - std::vector> dependents - ) : RosSensor( - state, - covariance, - dependents - ) { - multiplier(d_x__, d_x__) = 1; - multiplier(tau__, tau__) = 1; +public: + OdomSensor(V state, M covariance, std::vector> dependents) + : RosSensor(state, covariance, dependents) { + multiplier(d_x__, d_x__) = 1; + multiplier(tau__, tau__) = 1; } StatePackage msg_update(cev_msgs::msg::SensorCollect::SharedPtr msg) { - StatePackage estimate = get_internals(); + StatePackage estimate = get_internals(); - estimate.update_time = msg->timestamp; + estimate.update_time = msg->timestamp; - estimate.state[d_x__] = msg->velocity; - estimate.state[tau__] = msg->steering_angle; + estimate.state[d_x__] = msg->velocity; + estimate.state[tau__] = msg->steering_angle; - return estimate; + return estimate; } }; class AckermannEkfNode : public rclcpp::Node { - public: - AckermannEkfNode() : Node("AckermannEkfNode") { - V start_state = V::Zero(); +public: + AckermannEkfNode(): Node("AckermannEkfNode") { + RCLCPP_INFO(this->get_logger(), "Initializing Ackermann EKF Node"); + + V start_state = V::Zero(); - model->force_state(start_state); + model->force_state(start_state); - imu_sub = this->create_subscription( - "imu", 1, std::bind(&IMUSensor::msg_handler, &imu, _1) - ); + imu_sub = this->create_subscription("imu", 1, + std::bind(&IMUSensor::msg_handler, &imu, _1)); - odom_sub = this->create_subscription( - "sensor_collect", 1, std::bind(&OdomSensor::msg_handler, &odom, _1) - ); + odom_sub = this->create_subscription("sensor_collect", 1, + std::bind(&OdomSensor::msg_handler, &odom, _1)); - timer = this->create_wall_timer( - std::chrono::milliseconds(10), std::bind(&AckermannEkfNode::timer_callback, this) - ); + timer = this->create_wall_timer(std::chrono::milliseconds(10), + std::bind(&AckermannEkfNode::timer_callback, this)); - tf_broadcaster_ = std::make_shared(this); + tf_broadcaster_ = std::make_shared(this); - odom_pub = this->create_publisher("odometry/filtered", 1); + odom_pub = this->create_publisher("odometry/filtered", 1); } void timer_callback() { - double time = get_clock()->now().seconds(); - - // model->update(time); - // V state = model->get_state(); - - std::pair prediction = model->predict(time); - V state = prediction.first; - M covariance = prediction.second; - - nav_msgs::msg::Odometry odom_msg; - odom_msg.header.stamp = this->now(); - odom_msg.header.frame_id = "odom"; - odom_msg.child_frame_id = "base_link"; - - odom_msg.pose.pose.position.x = state[x__]; - odom_msg.pose.pose.position.y = state[y__]; - odom_msg.pose.pose.position.z = 0.0; - - odom_msg.pose.covariance[0] = covariance(x__, x__); - odom_msg.pose.covariance[7] = covariance(y__, y__); - odom_msg.pose.covariance[35] = covariance(yaw__, yaw__); - - tf2::Quaternion q = tf2::Quaternion(); - q.setRPY(0, 0, state[yaw__]); - q = q.normalized(); - odom_msg.pose.pose.orientation.x = q.x(); - odom_msg.pose.pose.orientation.y = q.y(); - odom_msg.pose.pose.orientation.z = q.z(); - odom_msg.pose.pose.orientation.w = q.w(); - - odom_msg.twist.twist.linear.x = state[d_x__]; - odom_msg.twist.twist.linear.y = state[d_y__]; - odom_msg.twist.twist.angular.z = state[d_yaw__]; - - odom_msg.twist.covariance[0] = covariance(d_x__, d_x__); - odom_msg.twist.covariance[7] = covariance(d_y__, d_y__); - odom_msg.twist.covariance[35] = covariance(d_yaw__, d_yaw__); - - odom_pub->publish(odom_msg); - - geometry_msgs::msg::TransformStamped transformStamped; - - transformStamped.header.stamp = this->now(); - transformStamped.header.frame_id = "odom"; - transformStamped.child_frame_id = "base_link"; - - transformStamped.transform.translation.x = state[x__]; - transformStamped.transform.translation.y = state[y__]; - transformStamped.transform.translation.z = state[z__]; - - transformStamped.transform.rotation.x = q.x(); - transformStamped.transform.rotation.y = q.y(); - transformStamped.transform.rotation.z = q.z(); - transformStamped.transform.rotation.w = q.w(); - - tf_broadcaster_->sendTransform(transformStamped); + double time = get_clock()->now().seconds(); + + // model->update(time); + // V state = model->get_state(); + + std::pair prediction = model->predict(time); + V state = prediction.first; + M covariance = prediction.second; + + nav_msgs::msg::Odometry odom_msg; + odom_msg.header.stamp = this->now(); + odom_msg.header.frame_id = "odom"; + odom_msg.child_frame_id = "base_link"; + + odom_msg.pose.pose.position.x = state[x__]; + odom_msg.pose.pose.position.y = state[y__]; + odom_msg.pose.pose.position.z = 0.0; + + odom_msg.pose.covariance[0] = covariance(x__, x__); + odom_msg.pose.covariance[7] = covariance(y__, y__); + odom_msg.pose.covariance[35] = covariance(yaw__, yaw__); + + tf2::Quaternion q = tf2::Quaternion(); + q.setRPY(0, 0, state[yaw__]); + q = q.normalized(); + odom_msg.pose.pose.orientation.x = q.x(); + odom_msg.pose.pose.orientation.y = q.y(); + odom_msg.pose.pose.orientation.z = q.z(); + odom_msg.pose.pose.orientation.w = q.w(); + + odom_msg.twist.twist.linear.x = state[d_x__]; + odom_msg.twist.twist.linear.y = state[d_y__]; + odom_msg.twist.twist.angular.z = state[d_yaw__]; + + odom_msg.twist.covariance[0] = covariance(d_x__, d_x__); + odom_msg.twist.covariance[7] = covariance(d_y__, d_y__); + odom_msg.twist.covariance[35] = covariance(d_yaw__, d_yaw__); + + odom_pub->publish(odom_msg); + + geometry_msgs::msg::TransformStamped transformStamped; + + transformStamped.header.stamp = this->now(); + transformStamped.header.frame_id = "odom"; + transformStamped.child_frame_id = "base_link"; + + transformStamped.transform.translation.x = state[x__]; + transformStamped.transform.translation.y = state[y__]; + transformStamped.transform.translation.z = state[z__]; + + transformStamped.transform.rotation.x = q.x(); + transformStamped.transform.rotation.y = q.y(); + transformStamped.transform.rotation.z = q.z(); + transformStamped.transform.rotation.w = q.w(); + + tf_broadcaster_->sendTransform(transformStamped); } - private: +private: rclcpp::Subscription::SharedPtr imu_sub; rclcpp::Subscription::SharedPtr odom_sub; std::shared_ptr tf_broadcaster_; @@ -299,32 +274,17 @@ class AckermannEkfNode : public rclcpp::Node { // Odometry message publisher rclcpp::Publisher::SharedPtr odom_pub; - std::shared_ptr model = - std::make_shared( - AckermannModel( - V::Zero(), - M::Identity() * .1, - M::Identity() * .1, - .185 - ) - ); - - IMUSensor imu = IMUSensor( - V::Zero(), - M::Identity() * .1, - {model} - ); - - OdomSensor odom = OdomSensor( - V::Zero(), - M::Identity() * .1, - {model} - ); + std::shared_ptr model = std::make_shared( + AckermannModel(V::Zero(), M::Identity() * .1, M::Identity() * .1, .185)); + + IMUSensor imu = IMUSensor(V::Zero(), M::Identity() * .1, {model}); + + OdomSensor odom = OdomSensor(V::Zero(), M::Identity() * .1, {model}); }; -int main(int argc, char *argv[]) { - rclcpp::init(argc, argv); - rclcpp::spin(std::make_shared()); - rclcpp::shutdown(); - return 0; +int main(int argc, char* argv[]) { + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; } \ No newline at end of file diff --git a/src/config_parser.cpp b/src/config_parser.cpp new file mode 100644 index 0000000..58d2bff --- /dev/null +++ b/src/config_parser.cpp @@ -0,0 +1,56 @@ +#include "config_parser.h" + +Config ConfigParser::loadConfig(const std::string& filePath) { + YAML::Node configNode = YAML::LoadFile(filePath); + + Config config; + + // Parse general settings + config.time_step = configNode["odometry_settings"]["time_step"].as(); + config.odometry_topic = configNode["odometry_settings"]["topic"].as(); + + // Parse sensors + for (const auto& sensorEntry: configNode["sensors"]) { + const std::string sensorName = sensorEntry.first.as(); + config.sensors[sensorName] = parseSensor(sensorEntry.second); + } + + // Parse update models + for (const auto& modelEntry: configNode["update_models"]) { + const std::string modelName = modelEntry.first.as(); + config.update_models[modelName] = parseUpdateModel(modelEntry.second); + } + + return config; +} + +Sensor ConfigParser::parseSensor(const YAML::Node& sensorNode) { + Sensor sensor; + sensor.type = sensorNode["type"].as(); + sensor.topic = sensorNode["topic"].as(); + sensor.frame_id = sensorNode["frame_id"].as(); + + // Parse state as a vector of bools + for (const auto& val: sensorNode["state"]) { + sensor.state.push_back(val.as()); + } + + // Parse covariance_multiplier + sensor.covariance_multiplier = sensorNode["covariance_multiplier"].as(); + + // Parse estimator_models + for (const auto& model: sensorNode["estimator_models"]) { + sensor.estimator_models.push_back(model.as()); + } + + return sensor; +} + +UpdateModel ConfigParser::parseUpdateModel(const YAML::Node& modelNode) { + UpdateModel model; + model.type = modelNode["type"].as(); + for (const auto& param: modelNode["parameters"]) { + model.parameters.push_back(param.as()); + } + return model; +} From 672920bc0ca84c050a3ea590f861fb4a029a4c3c Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sat, 7 Dec 2024 16:55:14 +0000 Subject: [PATCH 069/196] Custom config --- CMakeLists.txt | 5 ++- include/config_parser.h | 70 +++++++++++++++++++++-------------------- launch/launch.py | 7 +++++ src/ackermann_ekf.cpp | 9 ++++++ src/config_parser.cpp | 2 ++ 5 files changed, 58 insertions(+), 35 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index bb98f36..907ee69 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -63,10 +63,13 @@ include_directories(estimator include) include_directories(model include) include_directories(sensor include) include_directories(ros_sensor include) -include_directories(config_loader include) +include_directories(config_parser include) # include_directories(updateable include) # include_directories(updater include) +target_link_libraries(config_parser yaml-cpp) +ament_target_dependencies(config_parser yaml-cpp) + add_executable(ackermann_ekf src/ackermann_ekf.cpp) # target_link_libraries(ackermann_ekf estimator model sensor ros_sensor updateable updater) target_link_libraries(ackermann_ekf estimator model sensor ros_sensor yaml-cpp config_parser) diff --git a/include/config_parser.h b/include/config_parser.h index 10d2402..e2fb1e7 100644 --- a/include/config_parser.h +++ b/include/config_parser.h @@ -5,37 +5,39 @@ #include #include -struct Sensor { - std::string type; - std::string topic; - std::string frame_id; - std::vector state; - double covariance_multiplier; - std::vector estimator_models; -}; - -struct UpdateModel { - std::string type; - std::vector parameters; -}; - -struct Config { - // General settings - double time_step; - std::string odometry_topic; - - // Sensors - std::unordered_map sensors; - - // Update Models - std::unordered_map update_models; -}; - -class ConfigParser { -public: - static Config loadConfig(const std::string& filePath); - -private: - static Sensor parseSensor(const YAML::Node& sensorNode); - static UpdateModel parseUpdateModel(const YAML::Node& modelNode); -}; \ No newline at end of file +namespace config_parser { + struct Sensor { + std::string type; + std::string topic; + std::string frame_id; + std::vector state; + double covariance_multiplier; + std::vector estimator_models; + }; + + struct UpdateModel { + std::string type; + std::vector parameters; + }; + + struct Config { + // General settings + double time_step; + std::string odometry_topic; + + // Sensors + std::unordered_map sensors; + + // Update Models + std::unordered_map update_models; + }; + + class ConfigParser { + public: + static Config loadConfig(const std::string& filePath); + + private: + static Sensor parseSensor(const YAML::Node& sensorNode); + static UpdateModel parseUpdateModel(const YAML::Node& modelNode); + }; +} \ No newline at end of file diff --git a/launch/launch.py b/launch/launch.py index b37f5c6..aab0d2f 100644 --- a/launch/launch.py +++ b/launch/launch.py @@ -17,6 +17,13 @@ def generate_launch_description(): executable="ackermann_ekf", name="cev_localization_node", output="screen", + parameters=[ + { + "config_file": get_path( + "cev_localization", "config", "ekf_real.yml" + ) + } + ], ) ] ) diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index 460de3a..9f17f36 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -8,6 +8,7 @@ #include "model.h" #include "ros_sensor.h" +#include "config_parser.h" #include "sensor_msgs/msg/imu.hpp" #include "nav_msgs/msg/odometry.hpp" @@ -186,6 +187,14 @@ class AckermannEkfNode : public rclcpp::Node { AckermannEkfNode(): Node("AckermannEkfNode") { RCLCPP_INFO(this->get_logger(), "Initializing Ackermann EKF Node"); + this->declare_parameter("config_file", "config/ekf_real.yml"); + std::string config_file_path = this->get_parameter("config_file").as_string(); + + // Load the YAML configuration + config_parser::Config config = config_parser::ConfigParser::loadConfig(config_file_path); + + std::cout << config.time_step << std::endl; + V start_state = V::Zero(); model->force_state(start_state); diff --git a/src/config_parser.cpp b/src/config_parser.cpp index 58d2bff..75e89c0 100644 --- a/src/config_parser.cpp +++ b/src/config_parser.cpp @@ -1,5 +1,7 @@ #include "config_parser.h" +using namespace config_parser; + Config ConfigParser::loadConfig(const std::string& filePath) { YAML::Node configNode = YAML::LoadFile(filePath); From 70666e61657e88327696ef7de4d2f085048c10cb Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Mon, 9 Dec 2024 03:50:24 +0000 Subject: [PATCH 070/196] Submodule cev_kalman_filter --- .devcontainer/Dockerfile.dev | 6 +- .gitmodules | 3 + CMakeLists.txt | 42 ++-- cev_kalman_filter | 1 + config/ekf_real.yml | 31 ++- include/config_parser.h | 73 +++---- include/estimator.h | 168 ---------------- include/model.h | 110 ----------- include/ros_sensor.h | 30 ++- include/sensor.h | 41 ---- include/std_ros_sensors.h | 44 +++++ package.xml | 4 +- src/ackermann_ekf.cpp | 363 ++++++++++++----------------------- src/config_parser.cpp | 3 +- src/estimator.cpp | 45 ----- src/model.cpp | 101 ---------- src/sensor.cpp | 21 -- src/std_ros_sensors.cpp | 73 +++++++ 18 files changed, 334 insertions(+), 825 deletions(-) create mode 100644 .gitmodules create mode 160000 cev_kalman_filter delete mode 100644 include/estimator.h delete mode 100644 include/model.h delete mode 100644 include/sensor.h create mode 100644 include/std_ros_sensors.h delete mode 100644 src/estimator.cpp delete mode 100644 src/model.cpp delete mode 100644 src/sensor.cpp create mode 100644 src/std_ros_sensors.cpp diff --git a/.devcontainer/Dockerfile.dev b/.devcontainer/Dockerfile.dev index 601c732..626dbf7 100644 --- a/.devcontainer/Dockerfile.dev +++ b/.devcontainer/Dockerfile.dev @@ -18,14 +18,14 @@ ENV ROS_DISTRO=humble # Initialize rosdep and update for the current ROS distro RUN rosdep init && \ - rosdep update --rosdistro $ROS_DISTRO + rosdep update --rosdistro $ROS_DISTRO # Add and update colcon mixins and metadata RUN colcon mixin add default \ - https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \ + https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \ colcon mixin update && \ colcon metadata add default \ - https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \ + https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \ colcon metadata update # Install ROS2 base packages specific to Humble distribution diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 0000000..830e34b --- /dev/null +++ b/.gitmodules @@ -0,0 +1,3 @@ +[submodule "cev_kalman_filter"] + path = cev_kalman_filter + url = https://github.com/cornellev/cev_kalman_filter diff --git a/CMakeLists.txt b/CMakeLists.txt index 907ee69..ec56f4b 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -23,21 +23,10 @@ find_package(yaml-cpp REQUIRED) find_package(cev_msgs REQUIRED) -add_library(estimator - src/estimator.cpp - include/estimator.h -) -ament_target_dependencies(estimator Eigen3) - -add_library(model - src/model.cpp - include/model.h -) +add_subdirectory(cev_kalman_filter) -add_library(sensor - src/sensor.cpp - include/sensor.h -) +include_directories(include) +include_directories(cev_kalman_filter/include) add_library(ros_sensor src/ros_sensor.cpp @@ -49,30 +38,25 @@ add_library(config_parser include/config_parser.h ) -# add_library(updateable -# src/updateable.cpp -# include/updateable.h -# ) - -# add_library(updater -# src/updater.cpp -# include/updater.h -# ) +add_library(std_ros_sensors + src/std_ros_sensors.cpp + include/std_ros_sensors.h +) -include_directories(estimator include) -include_directories(model include) -include_directories(sensor include) include_directories(ros_sensor include) include_directories(config_parser include) -# include_directories(updateable include) -# include_directories(updater include) +include_directories(std_ros_sensors include) target_link_libraries(config_parser yaml-cpp) ament_target_dependencies(config_parser yaml-cpp) +target_link_libraries(std_ros_sensors) +ament_target_dependencies(std_ros_sensors sensor_msgs std_msgs cev_msgs nav_msgs tf2 tf2_ros tf2_geometry_msgs) + add_executable(ackermann_ekf src/ackermann_ekf.cpp) + # target_link_libraries(ackermann_ekf estimator model sensor ros_sensor updateable updater) -target_link_libraries(ackermann_ekf estimator model sensor ros_sensor yaml-cpp config_parser) +target_link_libraries(ackermann_ekf ros_sensor yaml-cpp config_parser std_ros_sensors cev_kalman_filter) ament_target_dependencies(ackermann_ekf rclcpp sensor_msgs std_msgs Eigen3 cev_msgs tf2 tf2_ros tf2_geometry_msgs nav_msgs) install(TARGETS diff --git a/cev_kalman_filter b/cev_kalman_filter new file mode 160000 index 0000000..6dbeaff --- /dev/null +++ b/cev_kalman_filter @@ -0,0 +1 @@ +Subproject commit 6dbeafff37c2bace64bdeb8442795531152afff2 diff --git a/config/ekf_real.yml b/config/ekf_real.yml index a3fa943..ab94b74 100644 --- a/config/ekf_real.yml +++ b/config/ekf_real.yml @@ -2,6 +2,7 @@ odometry_settings: time_step: 1.0 # Time step for the filter publish (in seconds) topic: "/odometry/filtered" # Topic to publish the odometry data + main_model: "ackermann" # Main model to use for the filter # Define the sensors used by the node sensors: @@ -11,13 +12,12 @@ sensors: frame_id: "imu_frame" # Frame ID for the sensor data state: [ - true, false, false, - true, false, false, - true, false, false, - false, false, false, - false, false, false, - false, false, false, - false, false, false + false, false, false, + false, false, true, + false, false, false, + false, false, false, + true, true, false, + false, false, false ] # State variables for the sensor. Each should be true or false covariance_multiplier: 1.0 # Multiplier to multiply message covariance by estimator_models: [ @@ -25,18 +25,17 @@ sensors: ] # List of strings representing models to use for the sensor data by name encoder_odometry: - type: "ODOM" # Sensor type (IMU, GPS, etc.) - topic: "/odometry" # Topic to subscribe to + type: "RAW" # Sensor type (IMU, GPS, etc.) + topic: "/sensor_collect" # Topic to subscribe to frame_id: "odom_frame" # Frame ID for the sensor data state: [ - true, false, false, - true, false, false, - true, false, false, - false, false, false, - false, false, false, - false, false, false, - false, false, false + false, false, false, + false, false, false, + true, false, false, + false, false, false, + false, false, false, + true, false, false ] # State variables for the sensor. Each should be true or false covariance_multiplier: 2.0 # Multiplier to multiply message covariance by estimator_models: [ diff --git a/include/config_parser.h b/include/config_parser.h index e2fb1e7..75bf57f 100644 --- a/include/config_parser.h +++ b/include/config_parser.h @@ -5,39 +5,42 @@ #include #include -namespace config_parser { - struct Sensor { - std::string type; - std::string topic; - std::string frame_id; - std::vector state; - double covariance_multiplier; - std::vector estimator_models; - }; - - struct UpdateModel { - std::string type; - std::vector parameters; - }; - - struct Config { - // General settings - double time_step; - std::string odometry_topic; - - // Sensors - std::unordered_map sensors; - - // Update Models - std::unordered_map update_models; - }; - - class ConfigParser { - public: - static Config loadConfig(const std::string& filePath); - - private: - static Sensor parseSensor(const YAML::Node& sensorNode); - static UpdateModel parseUpdateModel(const YAML::Node& modelNode); - }; +namespace cev_localization { + namespace config_parser { + struct Sensor { + std::string type; + std::string topic; + std::string frame_id; + std::vector state; + double covariance_multiplier; + std::vector estimator_models; + }; + + struct UpdateModel { + std::string type; + std::vector parameters; + }; + + struct Config { + // General settings + double time_step; + std::string odometry_topic; + std::string main_model; + + // Sensors + std::unordered_map sensors; + + // Update Models + std::unordered_map update_models; + }; + + class ConfigParser { + public: + static Config loadConfig(const std::string& filePath); + + private: + static Sensor parseSensor(const YAML::Node& sensorNode); + static UpdateModel parseUpdateModel(const YAML::Node& modelNode); + }; + } } \ No newline at end of file diff --git a/include/estimator.h b/include/estimator.h deleted file mode 100644 index 1cde0df..0000000 --- a/include/estimator.h +++ /dev/null @@ -1,168 +0,0 @@ -#pragma once - -#include -#include -#include - -using namespace Eigen; - -/* -State: [ - x, y, z, - roll, pitch, yaw, - x' y', z', - roll', pitch', yaw', - x'', y'', z'', - tau, tau', tau'' -] - -where tau = steering_angle -*/ - -static constexpr int S = 18; - -#define x__ 0 -#define y__ 1 -#define z__ 2 -#define roll__ 3 -#define pitch__ 4 -#define yaw__ 5 -#define d_x__ 6 -#define d_y__ 7 -#define d_z__ 8 -#define d_roll__ 9 -#define d_pitch__ 10 -#define d_yaw__ 11 -#define d2_x__ 12 -#define d2_y__ 13 -#define d2_z__ 14 -#define tau__ 15 -#define d_tau__ 16 -#define d2_tau__ 17 - -#define x_ state[x__] -#define y_ state[y__] -#define z_ state[z__] -#define roll_ state[roll__] -#define pitch_ state[pitch__] -#define yaw_ state[yaw__] -#define d_x_ state[d_x__] -#define d_y_ state[d_y__] -#define d_z_ state[d_z__] -#define d_roll_ state[d_roll__] -#define d_pitch_ state[d_pitch__] -#define d_yaw_ state[d_yaw__] -#define d2_x_ state[d2_x__] -#define d2_y_ state[d2_y__] -#define d2_z_ state[d2_z__] -#define tau_ state[tau__] -#define d_tau_ state[d_tau__] -#define d2_tau_ state[d2_tau__] - -// V represents a Vector of the state size -using V = Vector; -// M represents a matrix of state x state size -using M = Matrix; - -/** - * @struct StatePackage - * Package for a estimate update - */ -struct StatePackage { - V state; - M covariance; - double update_time; -}; - -/** - * @struct SimpleStatePackage - * Struct for a simple state update, no covariance - */ -struct SimpleStatePackage { - V state; - double update_time; -}; - -class Estimator { -protected: - V state; - M covariance; - - double previous_update_time = 0.0; - double most_recent_update_time = 0.0; - - bool initialized = false; - -public: - /** - * Base class for a model with a state and covariance - * - * @param state Start state - * @param covariance Start covariance - */ - Estimator(V state, M covariance); - - /** - * Current state of the sensor - * - * @return Current sensor state - */ - V get_state(); - - /** - * Covariance of the sensor - * - * @return Sensor covariance - */ - M get_covariance(); - - /** - * Get the estimate internals - * - * @return Estimate internals - */ - StatePackage get_internals(); - - /** - * Update the model estimate data with a simple state and time update - * - * @param package Package of state and time - */ - void updateInternals(SimpleStatePackage package); - - /** - * Update the model estimate data - * - * @param package Package of state, covariance, and time - */ - void updateInternals(StatePackage package); - - /** - * Get the time of the most recent update - * - * @return Time of most recent update - */ - double get_most_recent_update_time(); - - /** - * Get the previous update time - * - * @return Previous update time - */ - double get_previous_update_time(); - - /** - * Get the time since the most recent update - * - * @return Time since most recent update - */ - double dt(); - - /** - * Matrix that, when left multiplied by a state vector, - * gives a state matrix in the form of this model. - * - * @return Multiplier matrix - */ - virtual M state_matrix_multiplier() = 0; -}; \ No newline at end of file diff --git a/include/model.h b/include/model.h deleted file mode 100644 index 5e89f05..0000000 --- a/include/model.h +++ /dev/null @@ -1,110 +0,0 @@ -#pragma once - -#include -#include -#include "estimator.h" - -class Model : public Estimator { - protected: - M base_process_covariance; - - std::vector> models; - - /** - * Perform a model update step up to `time`. - * - * @param time Time to update to - * - * @return Updated system state - */ - virtual V update_step(double time) = 0; - - /** - * Jacobian matrix of a model update step on `state` with time `dt`. - * - * @param dt Time since last update - * - * @return Jacobian matrix of state update step - */ - virtual M update_jacobian(double dt) = 0; - - /** - * Transformed version of the model Jacobian matrix for the state of a given sensor. - * - * @param estimate New sensor estimate - * - * @return Sensor-specific model Jacobian matrix of state update step - */ - M sensor_jacobian(Estimator &estimate); - - /** - * Gives process covariance over elapsed time dt. - * - * @param time Time since last update - * - * @return Process covariance matrix - */ - M process_covariance(double dt); - - /** - * Matrix that, when left multiplied by a state vector, gives a state matrix in the form of this model. - * - * @return Multiplier matrix - */ - virtual M state_matrix_multiplier() = 0; - - public: - /** - * Base class for an EKF state update model - * - * @param state Start state - * @param covariance Start covariance - * @param base_process_covariance Process covariance over time - * @param dependents Models that depend on this model - * - */ - Model( - V state, - M covariance, - M process_covariance, - std::vector> dependents = {} - ); - - /** - * Next state and covariance without adjusting with a sensor update. - * - * @param time Time to predict to - * - * @return Next state and covariance - */ - std::pair predict(double time); - - /** - * Update the state/covariance with no sensor estimate. - * @param time Time to predict to - */ - void update(double time); - - /** - * Update the state/covariance with a sensor estimate. - * - * @param estimate New sensor estimate - */ - void estimate_update(Estimator &estimate); - - /** - * Bind a model to this updater - * - * @param model Model to bind - */ - void bind_to(std::shared_ptr model); - - void force_state(V state) { - this->state = state; - } - - /** - * Update all bound models - */ - void update_dependents(); -}; \ No newline at end of file diff --git a/include/ros_sensor.h b/include/ros_sensor.h index 840b10b..377428b 100644 --- a/include/ros_sensor.h +++ b/include/ros_sensor.h @@ -2,10 +2,12 @@ #include "sensor.h" -template -class RosSensor : public Sensor { +namespace cev_localization { + + template + class RosSensor : public ckf::Sensor { protected: - M multiplier = M::Zero(); + ckf::M multiplier = ckf::M::Zero(); void new_time_handler(double time) { previous_update_time = most_recent_update_time; @@ -13,22 +15,15 @@ class RosSensor : public Sensor { } public: - RosSensor( - V state, - M covariance, - std::vector> dependents - ) : Sensor( - state, - covariance, - dependents - ) {} - + RosSensor(ckf::V state, ckf::M covariance, + std::vector> dependents) + : Sensor(state, covariance, dependents) {} /** * Handle a new message. Meant to be used as or in a message subscriber. */ void msg_handler(typename T::SharedPtr msg) { - StatePackage update = msg_update(msg); + ckf::StatePackage update = msg_update(msg); updateInternals(update); update_dependents(); } @@ -36,9 +31,10 @@ class RosSensor : public Sensor { /** * Update the state with a new message, and return the time of the new message */ - virtual StatePackage msg_update(typename T::SharedPtr msg) = 0; + virtual ckf::StatePackage msg_update(typename T::SharedPtr msg) = 0; - M state_matrix_multiplier() { + ckf::M state_matrix_multiplier() { return multiplier; } -}; \ No newline at end of file + }; +} \ No newline at end of file diff --git a/include/sensor.h b/include/sensor.h deleted file mode 100644 index a3dc8fc..0000000 --- a/include/sensor.h +++ /dev/null @@ -1,41 +0,0 @@ -#pragma once - -#include "model.h" - -class Sensor : public Estimator { - protected: - std::vector> models; - - public: - /** - * Base class for a sensor model - * - * @param state Current state - * @param covariance Covariance - * @param dependents Models that depend on this sensor - */ - Sensor( - V state, - M covariance, - std::vector> dependents = {} - ); - - /** - * Bind a model to this sensor - * - * @param model Model to bind - */ - void bind_to(std::shared_ptr model); - - /** - * Update all bound models - */ - void update_dependents(); - - /** - * Matrix that, when left multiplied by a state vector, gives a state matrix in the form of this model. - * - * @return Multiplier matrix - */ - virtual M state_matrix_multiplier() = 0; -}; \ No newline at end of file diff --git a/include/std_ros_sensors.h b/include/std_ros_sensors.h new file mode 100644 index 0000000..3e4f5aa --- /dev/null +++ b/include/std_ros_sensors.h @@ -0,0 +1,44 @@ +#include "sensor_msgs/msg/imu.hpp" +#include "nav_msgs/msg/odometry.hpp" +#include "cev_msgs/msg/sensor_collect.hpp" +#include +#include + +#include "ros_sensor.h" + +using namespace ckf; + +namespace cev_localization { + namespace standard_ros_sensors { + + class IMUSensor : public RosSensor { + private: + double pos_mod(double angle); + + protected: + bool initialized; + bool relative; + double initial_yaw; + double last_reported_yaw; + double last_sensor_raw_yaw; + + public: + IMUSensor(V state, M covariance, std::vector> dependents, + std::vector state_mask = {false, false, false, false, false, true, false, + false, false, false, false, false, true, true, false, false, false, false}, + bool relative = true); + + StatePackage msg_update(sensor_msgs::msg::Imu::SharedPtr msg); + }; + + class RawSensor : public RosSensor { + public: + RawSensor(V state, M covariance, std::vector> dependents, + std::vector state_mask = {false, false, false, false, false, false, true, + false, false, false, false, false, false, false, false, true, false, false}); + + StatePackage msg_update(cev_msgs::msg::SensorCollect::SharedPtr msg); + }; + + } +} \ No newline at end of file diff --git a/package.xml b/package.xml index b35a594..8c5025c 100644 --- a/package.xml +++ b/package.xml @@ -17,9 +17,11 @@ tf2_ros tf2_geometry_msgs nav_msgs - yaml-cpp cev_msgs + cev_kalman_filter + + yaml-cpp ament_lint_auto diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index 9f17f36..d799170 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -2,185 +2,20 @@ #include #include -#include -#include -#include - #include "model.h" #include "ros_sensor.h" #include "config_parser.h" -#include "sensor_msgs/msg/imu.hpp" -#include "nav_msgs/msg/odometry.hpp" -#include "cev_msgs/msg/sensor_collect.hpp" +#include + +#include "std_ros_sensors.h" #include using std::placeholders::_1; -class AckermannModel : public Model { - // State: [x, y, x', y', yaw, steering_angle] - -private: - double wheelbase; - M multiplier = M::Zero(); - -public: - AckermannModel(V state, M covariance, M process_covariance, double wheelbase) - : Model(state, covariance, process_covariance) { - this->wheelbase = wheelbase; - - multiplier(x__, x__) = 1; - multiplier(y__, y__) = 1; - multiplier(d_x__, d_x__) = 1; - multiplier(d_y__, d_y__) = 1; - multiplier(yaw__, yaw__) = 1; - multiplier(tau__, tau__) = 1; - // multiplier(d_tau__, d_tau__) = 1; - } - - V update_step(double time) { - double dt = time - most_recent_update_time; - - double d_yaw = d_x_ * (sin(tau_) / wheelbase) * dt; - // double new_yaw = yaw_ + ((d_yaw_ + d_yaw) / 2.0); - double new_yaw = yaw_ + d_yaw; - - double new_d_x = d_x_ + d2_x_ * dt; - double new_d_y = d_y_ + d2_y_ * dt; - // double new_d_tau = d_tau_ + d2_tau_ * dt; - double new_tau = tau_ + d_tau_ * dt; - - double new_x = x_ + d_x_ * cos(yaw_ + tau_) * dt; - double new_y = y_ + d_x_ * sin(yaw_ + tau_) * dt; - - V new_state = this->state; - - new_state[x__] = new_x; - new_state[y__] = new_y; - new_state[d_x__] = new_d_x; - new_state[d_y__] = new_d_y; - new_state[yaw__] = new_yaw; - // new_state[d_yaw__] = d_yaw; - new_state[tau__] = new_tau; - // new_state[d_tau__] = new_d_tau; - - return new_state; - } - - M update_jacobian(double dt) { - M F_k = MatrixXd::Identity(S, S); - - F_k(x__, d_x__) = dt * cos(yaw_ + tau_); - F_k(x__, yaw__) = -dt * d_x_ * sin(yaw_ + tau_); - F_k(x__, tau__) = -dt * d_x_ * sin(yaw_ + tau_); - - F_k(y__, d_x__) = dt * sin(yaw_ + tau_); - F_k(y__, yaw__) = dt * d_x_ * cos(yaw_ + tau_); - F_k(y__, tau__) = dt * d_x_ * cos(yaw_ + tau_); - - F_k(yaw__, d_x__) = dt * sin(tau_) / wheelbase; - F_k(yaw__, tau__) = dt * d_x_ * cos(tau_) / wheelbase; - - F_k(d_x__, d2_x__) = dt; - F_k(d_y__, d2_y__) = dt; - - // F_k(tau__, d_tau__) = dt; - // F_k(d_tau__, d2_tau__) = dt; - - return F_k; - } - - M state_matrix_multiplier() { - return multiplier; - } -}; - -class IMUSensor : public RosSensor { -private: - double pos_mod(double angle) { - return fmod(fmod(angle, 2 * M_PI) + 2 * M_PI, 2 * M_PI); - } - -protected: - bool initialized = false; - bool relative = true; - - double initial_yaw; - double last_reported_yaw = 0; - double last_sensor_raw_yaw = 0; - -public: - IMUSensor(V state, M covariance, std::vector> dependents, - bool relative = true) - : RosSensor(state, covariance, dependents) { - multiplier(d2_x__, d2_x__) = 1.0; - multiplier(d2_y__, d2_y__) = 1.0; - multiplier(yaw__, yaw__) = 1.0; - - this->relative = relative; - } - - StatePackage msg_update(sensor_msgs::msg::Imu::SharedPtr msg) { - StatePackage estimate = get_internals(); - - estimate.update_time = msg->header.stamp.sec + (msg->header.stamp.nanosec / 1e9); - - estimate.state[d2_x__] = msg->linear_acceleration.x; - estimate.state[d2_y__] = msg->linear_acceleration.y; - - // Get yaw from quaternion - tf2::Quaternion q(msg->orientation.x, msg->orientation.y, msg->orientation.z, - msg->orientation.w); - tf2::Matrix3x3 m(q); - double roll, pitch, yaw; - m.getRPY(roll, pitch, yaw); - - if (relative && !initialized) { - last_sensor_raw_yaw = yaw; - last_reported_yaw = 0.0; - initialized = true; - - estimate.state[yaw__] = 0.0; - return estimate; - } - - double modded_yaw_diff = fmod(yaw - last_sensor_raw_yaw, 2 * M_PI); - - if (modded_yaw_diff > M_PI) { - modded_yaw_diff -= 2 * M_PI; - } else if (modded_yaw_diff < -M_PI) { - modded_yaw_diff += 2 * M_PI; - } - - last_reported_yaw += modded_yaw_diff; - last_sensor_raw_yaw = yaw; - - estimate.state[yaw__] = last_reported_yaw; - - return estimate; - } -}; - -class OdomSensor : public RosSensor { -public: - OdomSensor(V state, M covariance, std::vector> dependents) - : RosSensor(state, covariance, dependents) { - multiplier(d_x__, d_x__) = 1; - multiplier(tau__, tau__) = 1; - } - - StatePackage msg_update(cev_msgs::msg::SensorCollect::SharedPtr msg) { - StatePackage estimate = get_internals(); - - estimate.update_time = msg->timestamp; - - estimate.state[d_x__] = msg->velocity; - estimate.state[tau__] = msg->steering_angle; - - return estimate; - } -}; +using namespace ckf; +using namespace cev_localization; class AckermannEkfNode : public rclcpp::Node { public: @@ -190,87 +25,141 @@ class AckermannEkfNode : public rclcpp::Node { this->declare_parameter("config_file", "config/ekf_real.yml"); std::string config_file_path = this->get_parameter("config_file").as_string(); - // Load the YAML configuration + // Load the YAML configurations config_parser::Config config = config_parser::ConfigParser::loadConfig(config_file_path); - std::cout << config.time_step << std::endl; - - V start_state = V::Zero(); - - model->force_state(start_state); - - imu_sub = this->create_subscription("imu", 1, - std::bind(&IMUSensor::msg_handler, &imu, _1)); - - odom_sub = this->create_subscription("sensor_collect", 1, - std::bind(&OdomSensor::msg_handler, &odom, _1)); - - timer = this->create_wall_timer(std::chrono::milliseconds(10), - std::bind(&AckermannEkfNode::timer_callback, this)); - - tf_broadcaster_ = std::make_shared(this); - - odom_pub = this->create_publisher("odometry/filtered", 1); + // std::unordered_map> update_models; + // std::unordered_map> sensors; + + // for (std::pair model: + // config.update_models) { + // std::string name = model.first; + // config_parser::UpdateModel& mod = model.second; + + // if (update_models.find(name) != update_models.end()) { + // RCLCPP_ERROR(this->get_logger(), "Model %s already exists", name.c_str()); + // throw std::runtime_error("Model already exists"); + // } + + // if (mod.type == "ACKERMANN") { + // update_models[name] = std::make_shared(V::Zero(), + // M::Identity() * .1, M::Identity() * .1, .185); + // } else { + // RCLCPP_ERROR(this->get_logger(), "Unknown model type: %s", mod.type.c_str()); + // throw std::runtime_error("Unknown model type"); + // } + // } + + // for (std::pair sensor: config.sensors) { + // std::string name = sensor.first; + // config_parser::Sensor& sen = sensor.second; + + // if (sensors.find(name) != sensors.end()) { + // RCLCPP_ERROR(this->get_logger(), "Sensor %s already exists", name.c_str()); + // throw std::runtime_error("Sensor already exists"); + // } + + // // Make array for models to bind to + // std::vector> models; + // for (std::string& model_name: sen.estimator_models) { + // if (update_models.find(model_name) == update_models.end()) { + // RCLCPP_ERROR(this->get_logger(), "Model %s does not exist", + // model_name.c_str()); throw std::runtime_error("Model does not exist"); + // } else { + // models.push_back(update_models[model_name]); + // } + // } + + // if (sen.type == "IMU") { + // sensors[name] = std::make_shared(V::Zero(), M::Identity() * .1, + // models, + // sen.state); + // } else if (sen.type == "RAW") { + // sensors[name] = std::make_shared(V::Zero(), M::Identity() * .1, + // models, + // sen.state); + // } else { + // RCLCPP_ERROR(this->get_logger(), "Unknown sensor type: %s", sen.type.c_str()); + // throw std::runtime_error("Unknown sensor type"); + // } + // } + + // V start_state = V::Zero(); + + // model->force_state(start_state); + + // imu_sub = this->create_subscription("imu", 1, + // std::bind(&IMUSensor::msg_handler, &imu, _1)); + + // odom_sub = this->create_subscription("sensor_collect", 1, + // std::bind(&RawSensor::msg_handler, &odom, _1)); + + // timer = this->create_wall_timer(std::chrono::milliseconds(10), + // std::bind(&AckermannEkfNode::timer_callback, this)); + + // tf_broadcaster_ = std::make_shared(this); + + // odom_pub = this->create_publisher("odometry/filtered", 1); } - void timer_callback() { - double time = get_clock()->now().seconds(); + // void timer_callback() { + // double time = get_clock()->now().seconds(); - // model->update(time); - // V state = model->get_state(); + // // model->update(time); + // // V state = model->get_state(); - std::pair prediction = model->predict(time); - V state = prediction.first; - M covariance = prediction.second; + // std::pair prediction = model->predict(time); + // V state = prediction.first; + // M covariance = prediction.second; - nav_msgs::msg::Odometry odom_msg; - odom_msg.header.stamp = this->now(); - odom_msg.header.frame_id = "odom"; - odom_msg.child_frame_id = "base_link"; + // nav_msgs::msg::Odometry odom_msg; + // odom_msg.header.stamp = this->now(); + // odom_msg.header.frame_id = "odom"; + // odom_msg.child_frame_id = "base_link"; - odom_msg.pose.pose.position.x = state[x__]; - odom_msg.pose.pose.position.y = state[y__]; - odom_msg.pose.pose.position.z = 0.0; + // odom_msg.pose.pose.position.x = state[x__]; + // odom_msg.pose.pose.position.y = state[y__]; + // odom_msg.pose.pose.position.z = 0.0; - odom_msg.pose.covariance[0] = covariance(x__, x__); - odom_msg.pose.covariance[7] = covariance(y__, y__); - odom_msg.pose.covariance[35] = covariance(yaw__, yaw__); + // odom_msg.pose.covariance[0] = covariance(x__, x__); + // odom_msg.pose.covariance[7] = covariance(y__, y__); + // odom_msg.pose.covariance[35] = covariance(yaw__, yaw__); - tf2::Quaternion q = tf2::Quaternion(); - q.setRPY(0, 0, state[yaw__]); - q = q.normalized(); - odom_msg.pose.pose.orientation.x = q.x(); - odom_msg.pose.pose.orientation.y = q.y(); - odom_msg.pose.pose.orientation.z = q.z(); - odom_msg.pose.pose.orientation.w = q.w(); + // tf2::Quaternion q = tf2::Quaternion(); + // q.setRPY(0, 0, state[yaw__]); + // q = q.normalized(); + // odom_msg.pose.pose.orientation.x = q.x(); + // odom_msg.pose.pose.orientation.y = q.y(); + // odom_msg.pose.pose.orientation.z = q.z(); + // odom_msg.pose.pose.orientation.w = q.w(); - odom_msg.twist.twist.linear.x = state[d_x__]; - odom_msg.twist.twist.linear.y = state[d_y__]; - odom_msg.twist.twist.angular.z = state[d_yaw__]; + // odom_msg.twist.twist.linear.x = state[d_x__]; + // odom_msg.twist.twist.linear.y = state[d_y__]; + // odom_msg.twist.twist.angular.z = state[d_yaw__]; - odom_msg.twist.covariance[0] = covariance(d_x__, d_x__); - odom_msg.twist.covariance[7] = covariance(d_y__, d_y__); - odom_msg.twist.covariance[35] = covariance(d_yaw__, d_yaw__); + // odom_msg.twist.covariance[0] = covariance(d_x__, d_x__); + // odom_msg.twist.covariance[7] = covariance(d_y__, d_y__); + // odom_msg.twist.covariance[35] = covariance(d_yaw__, d_yaw__); - odom_pub->publish(odom_msg); + // odom_pub->publish(odom_msg); - geometry_msgs::msg::TransformStamped transformStamped; + // geometry_msgs::msg::TransformStamped transformStamped; - transformStamped.header.stamp = this->now(); - transformStamped.header.frame_id = "odom"; - transformStamped.child_frame_id = "base_link"; + // transformStamped.header.stamp = this->now(); + // transformStamped.header.frame_id = "odom"; + // transformStamped.child_frame_id = "base_link"; - transformStamped.transform.translation.x = state[x__]; - transformStamped.transform.translation.y = state[y__]; - transformStamped.transform.translation.z = state[z__]; + // transformStamped.transform.translation.x = state[x__]; + // transformStamped.transform.translation.y = state[y__]; + // transformStamped.transform.translation.z = state[z__]; - transformStamped.transform.rotation.x = q.x(); - transformStamped.transform.rotation.y = q.y(); - transformStamped.transform.rotation.z = q.z(); - transformStamped.transform.rotation.w = q.w(); + // transformStamped.transform.rotation.x = q.x(); + // transformStamped.transform.rotation.y = q.y(); + // transformStamped.transform.rotation.z = q.z(); + // transformStamped.transform.rotation.w = q.w(); - tf_broadcaster_->sendTransform(transformStamped); - } + // tf_broadcaster_->sendTransform(transformStamped); + // } private: rclcpp::Subscription::SharedPtr imu_sub; @@ -283,12 +172,12 @@ class AckermannEkfNode : public rclcpp::Node { // Odometry message publisher rclcpp::Publisher::SharedPtr odom_pub; - std::shared_ptr model = std::make_shared( - AckermannModel(V::Zero(), M::Identity() * .1, M::Identity() * .1, .185)); + // std::shared_ptr model = std::make_shared( + // AckermannModel(V::Zero(), M::Identity() * .1, M::Identity() * .1, .185)); - IMUSensor imu = IMUSensor(V::Zero(), M::Identity() * .1, {model}); + // IMUSensor imu = IMUSensor(V::Zero(), M::Identity() * .1, {model}); - OdomSensor odom = OdomSensor(V::Zero(), M::Identity() * .1, {model}); + // RawSensor odom = RawSensor(V::Zero(), M::Identity() * .1, {model}); }; int main(int argc, char* argv[]) { diff --git a/src/config_parser.cpp b/src/config_parser.cpp index 75e89c0..f4b6d82 100644 --- a/src/config_parser.cpp +++ b/src/config_parser.cpp @@ -1,6 +1,6 @@ #include "config_parser.h" -using namespace config_parser; +using namespace cev_localization::config_parser; Config ConfigParser::loadConfig(const std::string& filePath) { YAML::Node configNode = YAML::LoadFile(filePath); @@ -10,6 +10,7 @@ Config ConfigParser::loadConfig(const std::string& filePath) { // Parse general settings config.time_step = configNode["odometry_settings"]["time_step"].as(); config.odometry_topic = configNode["odometry_settings"]["topic"].as(); + config.main_model = configNode["main_model"].as(); // Parse sensors for (const auto& sensorEntry: configNode["sensors"]) { diff --git a/src/estimator.cpp b/src/estimator.cpp deleted file mode 100644 index 2d1f542..0000000 --- a/src/estimator.cpp +++ /dev/null @@ -1,45 +0,0 @@ -#include "estimator.h" - -Estimator::Estimator(V state, M covariance) { - this->state = state; - this->covariance = covariance; - this->most_recent_update_time = 0; - this->previous_update_time = 0; -} - -V Estimator::get_state() { - return state; -} - -M Estimator::get_covariance() { - return covariance; -} - -StatePackage Estimator::get_internals() { - return {state, covariance, most_recent_update_time}; -} - -void Estimator::updateInternals(StatePackage package) { - state = package.state; - covariance = package.covariance; - previous_update_time = most_recent_update_time; - most_recent_update_time = package.update_time; -} - -void Estimator::updateInternals(SimpleStatePackage package) { - state = package.state; - previous_update_time = most_recent_update_time; - most_recent_update_time = package.update_time; -} - -double Estimator::get_most_recent_update_time() { - return most_recent_update_time; -} - -double Estimator::get_previous_update_time() { - return previous_update_time; -} - -double Estimator::dt() { - return most_recent_update_time - previous_update_time; -} diff --git a/src/model.cpp b/src/model.cpp deleted file mode 100644 index 756c819..0000000 --- a/src/model.cpp +++ /dev/null @@ -1,101 +0,0 @@ -#include "model.h" - - -Model::Model( - V state, - M covariance, - M process_covariance, - std::vector> dependents -) : Estimator(state, covariance) { - this->base_process_covariance = process_covariance; - this->models = dependents; -} - -std::pair Model::predict(double time) { - M F_k = update_jacobian(time - most_recent_update_time); - M Q_k = process_covariance(time - most_recent_update_time); - - return std::make_pair(update_step(time), F_k * covariance * F_k.transpose() + Q_k); -} - -void Model::update(double time) { - if (time - most_recent_update_time < 0) { - return; - } - - if (!this->initialized) { - this->previous_update_time = time; - this->most_recent_update_time = time; - this->initialized = true; - return; - } - - std::pair prediction = predict(time); - this->state = prediction.first; - this->covariance = prediction.second; - - previous_update_time = most_recent_update_time; - most_recent_update_time = time; - - update_dependents(); -} - -void Model::estimate_update( - Estimator &estimate -) { - if (estimate.get_most_recent_update_time() - most_recent_update_time < 0.0) { - return; - } - - if (!this->initialized) { - this->previous_update_time = estimate.get_most_recent_update_time(); - this->most_recent_update_time = estimate.get_most_recent_update_time(); - this->initialized = true; - return; - } - - std::pair prediction = predict(estimate.get_most_recent_update_time()); - V st = prediction.first; - M cov = prediction.second; - - M H_k = sensor_jacobian(estimate); - M R_k = estimate.get_covariance(); - - V predicted_sensor = estimate.state_matrix_multiplier() * st; - V real_sensor = estimate.get_state(); - V y_k = real_sensor - predicted_sensor; - - M S_k = H_k * cov * H_k.transpose() + R_k; - M K_k = cov * H_k.transpose() * S_k.inverse(); - - this->state = st + K_k * y_k; - - this->covariance = ( - MatrixXd::Identity(cov.rows(), cov.cols() - ) - K_k * H_k) * cov; - - previous_update_time = most_recent_update_time; - most_recent_update_time = estimate.get_most_recent_update_time(); - - update_dependents(); -} - -M Model::process_covariance(double dt) { - return base_process_covariance * dt; -} - -M Model::sensor_jacobian(Estimator &estimate) { - return estimate.state_matrix_multiplier() * update_jacobian(estimate.get_most_recent_update_time() - estimate.get_previous_update_time()); -} - -void Model::bind_to(std::shared_ptr model) { - models.push_back(model); -} - -void Model::update_dependents() { - Estimator* self = this; - - for (std::shared_ptr model : models) { - model->estimate_update(*self); - } -} \ No newline at end of file diff --git a/src/sensor.cpp b/src/sensor.cpp deleted file mode 100644 index 02fb6ec..0000000 --- a/src/sensor.cpp +++ /dev/null @@ -1,21 +0,0 @@ -#include "sensor.h" - -Sensor::Sensor( - V state, - M covariance, - std::vector> dependents -) : Estimator(state, covariance) { - models = dependents; -} - -void Sensor::bind_to(std::shared_ptr model) { - models.push_back(model); -} - -void Sensor::update_dependents() { - Estimator* self = this; - - for (std::shared_ptr model : models) { - model->estimate_update(*self); - } -} \ No newline at end of file diff --git a/src/std_ros_sensors.cpp b/src/std_ros_sensors.cpp new file mode 100644 index 0000000..693cdb9 --- /dev/null +++ b/src/std_ros_sensors.cpp @@ -0,0 +1,73 @@ +#include "std_ros_sensors.h" +#include + +using namespace cev_localization::standard_ros_sensors; + +double IMUSensor::pos_mod(double angle) { + return fmod(fmod(angle, 2 * M_PI) + 2 * M_PI, 2 * M_PI); +} + +IMUSensor::IMUSensor(V state, M covariance, std::vector> dependents, + std::vector state_mask, bool relative) + : RosSensor(state, covariance, dependents), + initialized(false), + relative(relative), + initial_yaw(0), + last_reported_yaw(0), + last_sensor_raw_yaw(0) { + multiplier = Estimator::state_mask_to_matrix(state_mask); +} + +StatePackage IMUSensor::msg_update(sensor_msgs::msg::Imu::SharedPtr msg) { + StatePackage estimate = get_internals(); + estimate.update_time = msg->header.stamp.sec + (msg->header.stamp.nanosec / 1e9); + + estimate.state[ckf::state::d2_x] = msg->linear_acceleration.x; + estimate.state[ckf::state::d2_y] = msg->linear_acceleration.y; + + tf2::Quaternion q(msg->orientation.x, msg->orientation.y, msg->orientation.z, + msg->orientation.w); + tf2::Matrix3x3 m(q); + double roll, pitch, yaw; + m.getRPY(roll, pitch, yaw); + + if (relative && !initialized) { + last_sensor_raw_yaw = yaw; + last_reported_yaw = 0.0; + initialized = true; + + estimate.state[ckf::state::yaw] = 0.0; + return estimate; + } + + double modded_yaw_diff = fmod(yaw - last_sensor_raw_yaw, 2 * M_PI); + + if (modded_yaw_diff > M_PI) { + modded_yaw_diff -= 2 * M_PI; + } else if (modded_yaw_diff < -M_PI) { + modded_yaw_diff += 2 * M_PI; + } + + last_reported_yaw += modded_yaw_diff; + last_sensor_raw_yaw = yaw; + + estimate.state[ckf::state::yaw] = last_reported_yaw; + + return estimate; +} + +RawSensor::RawSensor(V state, M covariance, std::vector> dependents, + std::vector state_mask) + : RosSensor(state, covariance, dependents) { + multiplier = Estimator::state_mask_to_matrix(state_mask); +} + +StatePackage RawSensor::msg_update(cev_msgs::msg::SensorCollect::SharedPtr msg) { + StatePackage estimate = get_internals(); + estimate.update_time = msg->timestamp; + + estimate.state[ckf::state::d_x] = msg->velocity; + estimate.state[ckf::state::tau] = msg->steering_angle; + + return estimate; +} \ No newline at end of file From 62a609a1b0155d659fecfc2bb0b140f34dcf7dbe Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Mon, 9 Dec 2024 06:31:04 +0000 Subject: [PATCH 071/196] Fixed CMAKE YAYYYYY --- CMakeLists.txt | 103 +++++++++++++++----------------------- include/config_parser.h | 15 ++++++ include/ros_sensor.h | 8 ++- include/std_ros_sensors.h | 8 ++- src/ackermann_ekf.cpp | 4 +- src/config_parser.cpp | 59 +++++++++++++++++++++- src/std_ros_sensors.cpp | 16 +++--- 7 files changed, 137 insertions(+), 76 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index ec56f4b..e06b365 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,91 +1,70 @@ +cmake_minimum_required(VERSION 3.10) +project(cev_localization LANGUAGES CXX) -cmake_minimum_required(VERSION 3.8) -project(cev_localization) +# Set the C++ standard +set(CMAKE_CXX_STANDARD 17) +set(CMAKE_CXX_STANDARD_REQUIRED ON) -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES Clang) - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -# find dependencies +# Find dependencies find_package(ament_cmake REQUIRED) - find_package(Eigen3 REQUIRED) - -# ROS find_package(rclcpp REQUIRED) find_package(sensor_msgs REQUIRED) -find_package(std_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) find_package(tf2 REQUIRED) find_package(tf2_ros REQUIRED) find_package(tf2_geometry_msgs REQUIRED) find_package(nav_msgs REQUIRED) find_package(yaml-cpp REQUIRED) +# CEV find_package(cev_msgs REQUIRED) +# Add subdirectory for the library add_subdirectory(cev_kalman_filter) -include_directories(include) -include_directories(cev_kalman_filter/include) - -add_library(ros_sensor - src/ros_sensor.cpp - include/ros_sensor.h +# Include directories for project headers +include_directories( + include + cev_kalman_filter/include ) -add_library(config_parser +# Source files in the main src folder +set(SOURCES + src/ackermann_ekf.cpp src/config_parser.cpp - include/config_parser.h -) - -add_library(std_ros_sensors + src/ros_sensor.cpp src/std_ros_sensors.cpp - include/std_ros_sensors.h ) -include_directories(ros_sensor include) -include_directories(config_parser include) -include_directories(std_ros_sensors include) - -target_link_libraries(config_parser yaml-cpp) -ament_target_dependencies(config_parser yaml-cpp) - -target_link_libraries(std_ros_sensors) -ament_target_dependencies(std_ros_sensors sensor_msgs std_msgs cev_msgs nav_msgs tf2 tf2_ros tf2_geometry_msgs) - -add_executable(ackermann_ekf src/ackermann_ekf.cpp) - -# target_link_libraries(ackermann_ekf estimator model sensor ros_sensor updateable updater) -target_link_libraries(ackermann_ekf ros_sensor yaml-cpp config_parser std_ros_sensors cev_kalman_filter) -ament_target_dependencies(ackermann_ekf rclcpp sensor_msgs std_msgs Eigen3 cev_msgs tf2 tf2_ros tf2_geometry_msgs nav_msgs) - -install(TARGETS - ackermann_ekf - DESTINATION lib/${PROJECT_NAME} +# Declare the executable +add_executable(ackermann_ekf ${SOURCES}) + +# Link libraries +ament_target_dependencies(ackermann_ekf + rclcpp + sensor_msgs + geometry_msgs + tf2 + tf2_ros + tf2_geometry_msgs + nav_msgs + cev_msgs + Eigen3 ) -install (DIRECTORY include/ - DESTINATION share/${PROJECT_NAME}/include -) +target_link_libraries(ackermann_ekf cev_kalman_filter yaml-cpp) -install(DIRECTORY launch/ - DESTINATION share/${PROJECT_NAME}/launch -) +# Install targets +install(TARGETS ackermann_ekf + DESTINATION lib/${PROJECT_NAME}) -install(DIRECTORY config/ - DESTINATION share/${PROJECT_NAME}/config -) +# Install additional resources +install(DIRECTORY launch config + DESTINATION share/${PROJECT_NAME}) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - # the following line skips the linter which checks for copyrights - # comment the line when a copyright and license is added to all source files - set(ament_cmake_copyright_FOUND TRUE) - # the following line skips cpplint (only works in a git repo) - # comment the line when this package is in a git repo and when - # a copyright and license is added to all source files - set(ament_cmake_cpplint_FOUND TRUE) - ament_lint_auto_find_test_dependencies() -endif() +install(DIRECTORY rosbag + DESTINATION share/${PROJECT_NAME}) +# Ament package configuration ament_package() diff --git a/include/config_parser.h b/include/config_parser.h index 75bf57f..ed693e3 100644 --- a/include/config_parser.h +++ b/include/config_parser.h @@ -4,6 +4,11 @@ #include #include #include +#include +#include "model.h" +#include "sensor.h" +#include "standard_models.h" +#include "std_ros_sensors.h" namespace cev_localization { namespace config_parser { @@ -38,6 +43,16 @@ namespace cev_localization { public: static Config loadConfig(const std::string& filePath); + static std::pair>, + std::unordered_map>> + parseConfig(Config config); + + static std::pair>, + std::unordered_map>> + parsedLoad(const std::string& filePath) { + return parseConfig(loadConfig(filePath)); + } + private: static Sensor parseSensor(const YAML::Node& sensorNode); static UpdateModel parseUpdateModel(const YAML::Node& modelNode); diff --git a/include/ros_sensor.h b/include/ros_sensor.h index 377428b..58ddd93 100644 --- a/include/ros_sensor.h +++ b/include/ros_sensor.h @@ -15,9 +15,13 @@ namespace cev_localization { } public: - RosSensor(ckf::V state, ckf::M covariance, + RosSensor(std::string topic, ckf::V state, ckf::M covariance, std::vector> dependents) - : Sensor(state, covariance, dependents) {} + : Sensor(state, covariance, dependents) { + this->topic = topic; + } + + std::string topic; /** * Handle a new message. Meant to be used as or in a message subscriber. diff --git a/include/std_ros_sensors.h b/include/std_ros_sensors.h index 3e4f5aa..6620aef 100644 --- a/include/std_ros_sensors.h +++ b/include/std_ros_sensors.h @@ -1,3 +1,5 @@ +#pragma once + #include "sensor_msgs/msg/imu.hpp" #include "nav_msgs/msg/odometry.hpp" #include "cev_msgs/msg/sensor_collect.hpp" @@ -23,7 +25,8 @@ namespace cev_localization { double last_sensor_raw_yaw; public: - IMUSensor(V state, M covariance, std::vector> dependents, + IMUSensor(std::string topic, V state, M covariance, + std::vector> dependents, std::vector state_mask = {false, false, false, false, false, true, false, false, false, false, false, false, true, true, false, false, false, false}, bool relative = true); @@ -33,7 +36,8 @@ namespace cev_localization { class RawSensor : public RosSensor { public: - RawSensor(V state, M covariance, std::vector> dependents, + RawSensor(std::string topic, V state, M covariance, + std::vector> dependents, std::vector state_mask = {false, false, false, false, false, false, true, false, false, false, false, false, false, false, false, true, false, false}); diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index d799170..6cb3876 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -4,12 +4,11 @@ #include "model.h" #include "ros_sensor.h" +#include "std_ros_sensors.h" #include "config_parser.h" #include -#include "std_ros_sensors.h" - #include using std::placeholders::_1; @@ -26,7 +25,6 @@ class AckermannEkfNode : public rclcpp::Node { std::string config_file_path = this->get_parameter("config_file").as_string(); // Load the YAML configurations - config_parser::Config config = config_parser::ConfigParser::loadConfig(config_file_path); // std::unordered_map> update_models; // std::unordered_map> sensors; diff --git a/src/config_parser.cpp b/src/config_parser.cpp index f4b6d82..e430ce0 100644 --- a/src/config_parser.cpp +++ b/src/config_parser.cpp @@ -1,6 +1,8 @@ #include "config_parser.h" using namespace cev_localization::config_parser; +using namespace cev_localization::standard_ros_sensors; +using namespace ckf::standard_models; Config ConfigParser::loadConfig(const std::string& filePath) { YAML::Node configNode = YAML::LoadFile(filePath); @@ -27,7 +29,7 @@ Config ConfigParser::loadConfig(const std::string& filePath) { return config; } -Sensor ConfigParser::parseSensor(const YAML::Node& sensorNode) { +cev_localization::config_parser::Sensor ConfigParser::parseSensor(const YAML::Node& sensorNode) { Sensor sensor; sensor.type = sensorNode["type"].as(); sensor.topic = sensorNode["topic"].as(); @@ -57,3 +59,58 @@ UpdateModel ConfigParser::parseUpdateModel(const YAML::Node& modelNode) { } return model; } + +std::pair>, + std::unordered_map>> +ConfigParser::parseConfig(Config config) { + std::unordered_map> update_models; + std::unordered_map> sensors; + + for (std::pair model: config.update_models) { + std::string name = model.first; + config_parser::UpdateModel& mod = model.second; + + if (update_models.find(name) != update_models.end()) { + throw std::runtime_error("Model already exists"); + } + + if (mod.type == "ACKERMANN") { + update_models[name] = std::make_shared(V::Zero(), M::Identity() * .1, + M::Identity() * .1, .185); + } else { + throw std::runtime_error("Unknown model type"); + } + } + + for (std::pair sensor: config.sensors) { + std::string name = sensor.first; + config_parser::Sensor& sen = sensor.second; + + if (sensors.find(name) != sensors.end()) { + throw std::runtime_error("Sensor already exists"); + } + + // Make array for models to bind to + std::vector> models; + for (std::string& model_name: sen.estimator_models) { + if (update_models.find(model_name) == update_models.end()) { + throw std::runtime_error("Model does not exist"); + } else { + models.push_back(update_models[model_name]); + } + } + + if (sen.type == "IMU") { + sensors[name] = std::make_shared(sen.topic, V::Zero(), M::Identity() * .1, + models, sen.state); + } else if (sen.type == "RAW") { + sensors[name] = std::make_shared(sen.topic, V::Zero(), M::Identity() * .1, + models, sen.state); + } else { + throw std::runtime_error("Unknown sensor type"); + } + } + + return std::pair>, + std::unordered_map>>(update_models, sensors); +} \ No newline at end of file diff --git a/src/std_ros_sensors.cpp b/src/std_ros_sensors.cpp index 693cdb9..0564389 100644 --- a/src/std_ros_sensors.cpp +++ b/src/std_ros_sensors.cpp @@ -3,13 +3,15 @@ using namespace cev_localization::standard_ros_sensors; +/* IMU SENSOR */ + double IMUSensor::pos_mod(double angle) { return fmod(fmod(angle, 2 * M_PI) + 2 * M_PI, 2 * M_PI); } -IMUSensor::IMUSensor(V state, M covariance, std::vector> dependents, - std::vector state_mask, bool relative) - : RosSensor(state, covariance, dependents), +IMUSensor::IMUSensor(std::string topic, V state, M covariance, + std::vector> dependents, std::vector state_mask, bool relative) + : RosSensor(topic, state, covariance, dependents), initialized(false), relative(relative), initial_yaw(0), @@ -56,9 +58,11 @@ StatePackage IMUSensor::msg_update(sensor_msgs::msg::Imu::SharedPtr msg) { return estimate; } -RawSensor::RawSensor(V state, M covariance, std::vector> dependents, - std::vector state_mask) - : RosSensor(state, covariance, dependents) { +/* RAW SENSOR */ + +RawSensor::RawSensor(std::string topic, V state, M covariance, + std::vector> dependents, std::vector state_mask) + : RosSensor(topic, state, covariance, dependents) { multiplier = Estimator::state_mask_to_matrix(state_mask); } From 6c74c453de9c6549d2d814288a654424c5f6f306 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Mon, 9 Dec 2024 21:46:25 +0000 Subject: [PATCH 072/196] Builds :cry: --- include/config_parser.h | 14 --- src/ackermann_ekf.cpp | 224 ++++++++++++++-------------------------- src/config_parser.cpp | 59 +---------- 3 files changed, 76 insertions(+), 221 deletions(-) diff --git a/include/config_parser.h b/include/config_parser.h index ed693e3..1ac71e4 100644 --- a/include/config_parser.h +++ b/include/config_parser.h @@ -5,10 +5,6 @@ #include #include #include -#include "model.h" -#include "sensor.h" -#include "standard_models.h" -#include "std_ros_sensors.h" namespace cev_localization { namespace config_parser { @@ -43,16 +39,6 @@ namespace cev_localization { public: static Config loadConfig(const std::string& filePath); - static std::pair>, - std::unordered_map>> - parseConfig(Config config); - - static std::pair>, - std::unordered_map>> - parsedLoad(const std::string& filePath) { - return parseConfig(loadConfig(filePath)); - } - private: static Sensor parseSensor(const YAML::Node& sensorNode); static UpdateModel parseUpdateModel(const YAML::Node& modelNode); diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index 6cb3876..65d533b 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -4,8 +4,11 @@ #include "model.h" #include "ros_sensor.h" -#include "std_ros_sensors.h" #include "config_parser.h" +#include "model.h" +#include "sensor.h" +#include "standard_models.h" +#include "std_ros_sensors.h" #include @@ -25,157 +28,80 @@ class AckermannEkfNode : public rclcpp::Node { std::string config_file_path = this->get_parameter("config_file").as_string(); // Load the YAML configurations - - // std::unordered_map> update_models; - // std::unordered_map> sensors; - - // for (std::pair model: - // config.update_models) { - // std::string name = model.first; - // config_parser::UpdateModel& mod = model.second; - - // if (update_models.find(name) != update_models.end()) { - // RCLCPP_ERROR(this->get_logger(), "Model %s already exists", name.c_str()); - // throw std::runtime_error("Model already exists"); - // } - - // if (mod.type == "ACKERMANN") { - // update_models[name] = std::make_shared(V::Zero(), - // M::Identity() * .1, M::Identity() * .1, .185); - // } else { - // RCLCPP_ERROR(this->get_logger(), "Unknown model type: %s", mod.type.c_str()); - // throw std::runtime_error("Unknown model type"); - // } - // } - - // for (std::pair sensor: config.sensors) { - // std::string name = sensor.first; - // config_parser::Sensor& sen = sensor.second; - - // if (sensors.find(name) != sensors.end()) { - // RCLCPP_ERROR(this->get_logger(), "Sensor %s already exists", name.c_str()); - // throw std::runtime_error("Sensor already exists"); - // } - - // // Make array for models to bind to - // std::vector> models; - // for (std::string& model_name: sen.estimator_models) { - // if (update_models.find(model_name) == update_models.end()) { - // RCLCPP_ERROR(this->get_logger(), "Model %s does not exist", - // model_name.c_str()); throw std::runtime_error("Model does not exist"); - // } else { - // models.push_back(update_models[model_name]); - // } - // } - - // if (sen.type == "IMU") { - // sensors[name] = std::make_shared(V::Zero(), M::Identity() * .1, - // models, - // sen.state); - // } else if (sen.type == "RAW") { - // sensors[name] = std::make_shared(V::Zero(), M::Identity() * .1, - // models, - // sen.state); - // } else { - // RCLCPP_ERROR(this->get_logger(), "Unknown sensor type: %s", sen.type.c_str()); - // throw std::runtime_error("Unknown sensor type"); - // } - // } - - // V start_state = V::Zero(); - - // model->force_state(start_state); - - // imu_sub = this->create_subscription("imu", 1, - // std::bind(&IMUSensor::msg_handler, &imu, _1)); - - // odom_sub = this->create_subscription("sensor_collect", 1, - // std::bind(&RawSensor::msg_handler, &odom, _1)); - - // timer = this->create_wall_timer(std::chrono::milliseconds(10), - // std::bind(&AckermannEkfNode::timer_callback, this)); - - // tf_broadcaster_ = std::make_shared(this); - - // odom_pub = this->create_publisher("odometry/filtered", 1); + config_parser::Config config = config_parser::ConfigParser::loadConfig(config_file_path); + + std::unordered_map> update_models; + + for (std::pair model: config.update_models) { + std::string name = model.first; + config_parser::UpdateModel& mod = model.second; + + if (update_models.find(name) != update_models.end()) { + RCLCPP_ERROR(this->get_logger(), "Model %s already exists", name.c_str()); + throw std::runtime_error("Model already exists"); + } + + if (mod.type == "ACKERMANN") { + update_models[name] = std::make_shared( + V::Zero(), M::Identity() * .1, M::Identity() * .1, .185); + } else { + RCLCPP_ERROR(this->get_logger(), "Unknown model type: %s", mod.type.c_str()); + throw std::runtime_error("Unknown model type"); + } + } + + for (std::pair sensor: config.sensors) { + std::string name = sensor.first; + config_parser::Sensor& sen = sensor.second; + + if (sensors.find(name) != sensors.end()) { + RCLCPP_ERROR(this->get_logger(), "Sensor %s already exists", name.c_str()); + throw std::runtime_error("Sensor already exists"); + } + + // Create array for models to bind to + std::vector> models; + for (std::string& model_name: sen.estimator_models) { + if (update_models.find(model_name) == update_models.end()) { + RCLCPP_ERROR(this->get_logger(), "Model %s does not exist", model_name.c_str()); + throw std::runtime_error("Model does not exist"); + } else { + models.push_back(update_models[model_name]); + } + } + + if (sen.type == "IMU") { + auto sensor = std::make_shared(sen.topic, + V::Zero(), M::Identity() * .1, models, sen.state); + + sensors[name] = sensor; + + sensor_subscribers[name] = this->create_subscription( + sen.topic, 10, [sensor](const sensor_msgs::msg::Imu::SharedPtr msg) { + sensor->msg_handler(msg); + }); + + } else if (sen.type == "RAW") { + auto sensor = std::make_shared(sen.topic, + V::Zero(), M::Identity() * .1, models, sen.state); + + sensors[name] = sensor; + + sensor_subscribers[name] = this->create_subscription( + sen.topic, 10, [sensor](const cev_msgs::msg::SensorCollect::SharedPtr msg) { + sensor->msg_handler(msg); + }); + } else { + RCLCPP_ERROR(this->get_logger(), "Unknown sensor type: %s", sen.type.c_str()); + throw std::runtime_error("Unknown sensor type"); + } + } } - // void timer_callback() { - // double time = get_clock()->now().seconds(); - - // // model->update(time); - // // V state = model->get_state(); - - // std::pair prediction = model->predict(time); - // V state = prediction.first; - // M covariance = prediction.second; - - // nav_msgs::msg::Odometry odom_msg; - // odom_msg.header.stamp = this->now(); - // odom_msg.header.frame_id = "odom"; - // odom_msg.child_frame_id = "base_link"; - - // odom_msg.pose.pose.position.x = state[x__]; - // odom_msg.pose.pose.position.y = state[y__]; - // odom_msg.pose.pose.position.z = 0.0; - - // odom_msg.pose.covariance[0] = covariance(x__, x__); - // odom_msg.pose.covariance[7] = covariance(y__, y__); - // odom_msg.pose.covariance[35] = covariance(yaw__, yaw__); - - // tf2::Quaternion q = tf2::Quaternion(); - // q.setRPY(0, 0, state[yaw__]); - // q = q.normalized(); - // odom_msg.pose.pose.orientation.x = q.x(); - // odom_msg.pose.pose.orientation.y = q.y(); - // odom_msg.pose.pose.orientation.z = q.z(); - // odom_msg.pose.pose.orientation.w = q.w(); - - // odom_msg.twist.twist.linear.x = state[d_x__]; - // odom_msg.twist.twist.linear.y = state[d_y__]; - // odom_msg.twist.twist.angular.z = state[d_yaw__]; - - // odom_msg.twist.covariance[0] = covariance(d_x__, d_x__); - // odom_msg.twist.covariance[7] = covariance(d_y__, d_y__); - // odom_msg.twist.covariance[35] = covariance(d_yaw__, d_yaw__); - - // odom_pub->publish(odom_msg); - - // geometry_msgs::msg::TransformStamped transformStamped; - - // transformStamped.header.stamp = this->now(); - // transformStamped.header.frame_id = "odom"; - // transformStamped.child_frame_id = "base_link"; - - // transformStamped.transform.translation.x = state[x__]; - // transformStamped.transform.translation.y = state[y__]; - // transformStamped.transform.translation.z = state[z__]; - - // transformStamped.transform.rotation.x = q.x(); - // transformStamped.transform.rotation.y = q.y(); - // transformStamped.transform.rotation.z = q.z(); - // transformStamped.transform.rotation.w = q.w(); - - // tf_broadcaster_->sendTransform(transformStamped); - // } - private: - rclcpp::Subscription::SharedPtr imu_sub; - rclcpp::Subscription::SharedPtr odom_sub; - std::shared_ptr tf_broadcaster_; - - // Wall clock for publishing ackermann model state - rclcpp::TimerBase::SharedPtr timer; - - // Odometry message publisher - rclcpp::Publisher::SharedPtr odom_pub; - - // std::shared_ptr model = std::make_shared( - // AckermannModel(V::Zero(), M::Identity() * .1, M::Identity() * .1, .185)); - - // IMUSensor imu = IMUSensor(V::Zero(), M::Identity() * .1, {model}); - - // RawSensor odom = RawSensor(V::Zero(), M::Identity() * .1, {model}); + std::unordered_map sensor_subscribers; + std::unordered_map> update_models; + std::unordered_map> sensors; }; int main(int argc, char* argv[]) { diff --git a/src/config_parser.cpp b/src/config_parser.cpp index e430ce0..ecdbb3c 100644 --- a/src/config_parser.cpp +++ b/src/config_parser.cpp @@ -1,8 +1,6 @@ #include "config_parser.h" using namespace cev_localization::config_parser; -using namespace cev_localization::standard_ros_sensors; -using namespace ckf::standard_models; Config ConfigParser::loadConfig(const std::string& filePath) { YAML::Node configNode = YAML::LoadFile(filePath); @@ -12,7 +10,7 @@ Config ConfigParser::loadConfig(const std::string& filePath) { // Parse general settings config.time_step = configNode["odometry_settings"]["time_step"].as(); config.odometry_topic = configNode["odometry_settings"]["topic"].as(); - config.main_model = configNode["main_model"].as(); + config.main_model = configNode["odometry_settings"]["main_model"].as(); // Parse sensors for (const auto& sensorEntry: configNode["sensors"]) { @@ -58,59 +56,4 @@ UpdateModel ConfigParser::parseUpdateModel(const YAML::Node& modelNode) { model.parameters.push_back(param.as()); } return model; -} - -std::pair>, - std::unordered_map>> -ConfigParser::parseConfig(Config config) { - std::unordered_map> update_models; - std::unordered_map> sensors; - - for (std::pair model: config.update_models) { - std::string name = model.first; - config_parser::UpdateModel& mod = model.second; - - if (update_models.find(name) != update_models.end()) { - throw std::runtime_error("Model already exists"); - } - - if (mod.type == "ACKERMANN") { - update_models[name] = std::make_shared(V::Zero(), M::Identity() * .1, - M::Identity() * .1, .185); - } else { - throw std::runtime_error("Unknown model type"); - } - } - - for (std::pair sensor: config.sensors) { - std::string name = sensor.first; - config_parser::Sensor& sen = sensor.second; - - if (sensors.find(name) != sensors.end()) { - throw std::runtime_error("Sensor already exists"); - } - - // Make array for models to bind to - std::vector> models; - for (std::string& model_name: sen.estimator_models) { - if (update_models.find(model_name) == update_models.end()) { - throw std::runtime_error("Model does not exist"); - } else { - models.push_back(update_models[model_name]); - } - } - - if (sen.type == "IMU") { - sensors[name] = std::make_shared(sen.topic, V::Zero(), M::Identity() * .1, - models, sen.state); - } else if (sen.type == "RAW") { - sensors[name] = std::make_shared(sen.topic, V::Zero(), M::Identity() * .1, - models, sen.state); - } else { - throw std::runtime_error("Unknown sensor type"); - } - } - - return std::pair>, - std::unordered_map>>(update_models, sensors); } \ No newline at end of file From 7f3f248e17a79e296eddd4f68bb1c888dbffc1b7 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Mon, 9 Dec 2024 23:53:05 +0000 Subject: [PATCH 073/196] Configuration works! --- src/ackermann_ekf.cpp | 73 +++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 73 insertions(+) diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index 65d533b..e6e5042 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -96,12 +96,85 @@ class AckermannEkfNode : public rclcpp::Node { throw std::runtime_error("Unknown sensor type"); } } + + main_model = update_models[config.main_model].get(); + + timer = this->create_wall_timer(std::chrono::milliseconds(10), + std::bind(&AckermannEkfNode::timer_callback, this)); + + tf_broadcaster_ = std::make_shared(this); + odom_pub = this->create_publisher(config.odometry_topic, 1); } private: std::unordered_map sensor_subscribers; std::unordered_map> update_models; std::unordered_map> sensors; + + std::shared_ptr tf_broadcaster_; + rclcpp::TimerBase::SharedPtr timer; + rclcpp::Publisher::SharedPtr odom_pub; + + ckf::Model* main_model; + + void timer_callback() { + double time = get_clock()->now().seconds(); + + // model->update(time); + // V state = model->get_state(); + + std::pair prediction = main_model->predict(time); + V state = prediction.first; + M covariance = prediction.second; + + nav_msgs::msg::Odometry odom_msg; + odom_msg.header.stamp = this->now(); + odom_msg.header.frame_id = "odom"; + odom_msg.child_frame_id = "base_link"; + + odom_msg.pose.pose.position.x = state[ckf::state::x]; + odom_msg.pose.pose.position.y = state[ckf::state::y]; + odom_msg.pose.pose.position.z = 0.0; + + odom_msg.pose.covariance[0] = covariance(ckf::state::x, ckf::state::x); + odom_msg.pose.covariance[7] = covariance(ckf::state::y, ckf::state::y); + odom_msg.pose.covariance[35] = covariance(ckf::state::yaw, ckf::state::yaw); + + tf2::Quaternion q = tf2::Quaternion(); + q.setRPY(0, 0, state[ckf::state::yaw]); + q = q.normalized(); + odom_msg.pose.pose.orientation.x = q.x(); + odom_msg.pose.pose.orientation.y = q.y(); + odom_msg.pose.pose.orientation.z = q.z(); + odom_msg.pose.pose.orientation.w = q.w(); + + odom_msg.twist.twist.linear.x = state[ckf::state::d_x]; + odom_msg.twist.twist.linear.y = state[ckf::state::d_y]; + odom_msg.twist.twist.angular.z = state[ckf::state::d_yaw]; + + odom_msg.twist.covariance[0] = covariance(ckf::state::d_x, ckf::state::d_x); + odom_msg.twist.covariance[7] = covariance(ckf::state::d_y, ckf::state::d_y); + odom_msg.twist.covariance[35] = covariance(ckf::state::d_yaw, ckf::state::d_yaw); + + odom_pub->publish(odom_msg); + + geometry_msgs::msg::TransformStamped transformStamped; + + transformStamped.header.stamp = this->now(); + transformStamped.header.frame_id = "odom"; + transformStamped.child_frame_id = "base_link"; + + transformStamped.transform.translation.x = state[ckf::state::x]; + transformStamped.transform.translation.y = state[ckf::state::y]; + transformStamped.transform.translation.z = state[ckf::state::z]; + + transformStamped.transform.rotation.x = q.x(); + transformStamped.transform.rotation.y = q.y(); + transformStamped.transform.rotation.z = q.z(); + transformStamped.transform.rotation.w = q.w(); + + tf_broadcaster_->sendTransform(transformStamped); + } }; int main(int argc, char* argv[]) { From 2414db47d31df71aa81b0ffc8cc718fe325f39a0 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Tue, 10 Dec 2024 00:44:34 +0000 Subject: [PATCH 074/196] Add better error logs. --- src/ackermann_ekf.cpp | 31 +++++++++++++++++++++---------- 1 file changed, 21 insertions(+), 10 deletions(-) diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index e6e5042..da2eefa 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -19,14 +19,16 @@ using std::placeholders::_1; using namespace ckf; using namespace cev_localization; -class AckermannEkfNode : public rclcpp::Node { +class LocalizationNode : public rclcpp::Node { public: - AckermannEkfNode(): Node("AckermannEkfNode") { - RCLCPP_INFO(this->get_logger(), "Initializing Ackermann EKF Node"); + LocalizationNode(): Node("CEVLocalizationNode") { + RCLCPP_INFO(this->get_logger(), "Initializing CEV Localization Node"); this->declare_parameter("config_file", "config/ekf_real.yml"); std::string config_file_path = this->get_parameter("config_file").as_string(); + RCLCPP_INFO(this->get_logger(), "Parsing config file at %s", config_file_path.c_str()); + // Load the YAML configurations config_parser::Config config = config_parser::ConfigParser::loadConfig(config_file_path); @@ -37,7 +39,7 @@ class AckermannEkfNode : public rclcpp::Node { config_parser::UpdateModel& mod = model.second; if (update_models.find(name) != update_models.end()) { - RCLCPP_ERROR(this->get_logger(), "Model %s already exists", name.c_str()); + RCLCPP_ERROR(this->get_logger(), "Model `%s` already exists", name.c_str()); throw std::runtime_error("Model already exists"); } @@ -45,7 +47,7 @@ class AckermannEkfNode : public rclcpp::Node { update_models[name] = std::make_shared( V::Zero(), M::Identity() * .1, M::Identity() * .1, .185); } else { - RCLCPP_ERROR(this->get_logger(), "Unknown model type: %s", mod.type.c_str()); + RCLCPP_ERROR(this->get_logger(), "Unknown model type: `%s`", mod.type.c_str()); throw std::runtime_error("Unknown model type"); } } @@ -55,7 +57,7 @@ class AckermannEkfNode : public rclcpp::Node { config_parser::Sensor& sen = sensor.second; if (sensors.find(name) != sensors.end()) { - RCLCPP_ERROR(this->get_logger(), "Sensor %s already exists", name.c_str()); + RCLCPP_ERROR(this->get_logger(), "Sensor `%s` already exists", name.c_str()); throw std::runtime_error("Sensor already exists"); } @@ -63,7 +65,8 @@ class AckermannEkfNode : public rclcpp::Node { std::vector> models; for (std::string& model_name: sen.estimator_models) { if (update_models.find(model_name) == update_models.end()) { - RCLCPP_ERROR(this->get_logger(), "Model %s does not exist", model_name.c_str()); + RCLCPP_ERROR(this->get_logger(), "Model `%s` does not exist", + model_name.c_str()); throw std::runtime_error("Model does not exist"); } else { models.push_back(update_models[model_name]); @@ -92,15 +95,23 @@ class AckermannEkfNode : public rclcpp::Node { sensor->msg_handler(msg); }); } else { - RCLCPP_ERROR(this->get_logger(), "Unknown sensor type: %s", sen.type.c_str()); + RCLCPP_ERROR(this->get_logger(), "Unknown sensor type: `%s`", sen.type.c_str()); throw std::runtime_error("Unknown sensor type"); } } + if (update_models.find(config.main_model) == update_models.end()) { + RCLCPP_ERROR(this->get_logger(), "Main model `%s` does not exist", + config.main_model.c_str()); + throw std::runtime_error("Main model does not exist"); + } + + RCLCPP_INFO(this->get_logger(), "Configuration file parsed! Finishing initialization."); + main_model = update_models[config.main_model].get(); timer = this->create_wall_timer(std::chrono::milliseconds(10), - std::bind(&AckermannEkfNode::timer_callback, this)); + std::bind(&LocalizationNode::timer_callback, this)); tf_broadcaster_ = std::make_shared(this); odom_pub = this->create_publisher(config.odometry_topic, 1); @@ -179,7 +190,7 @@ class AckermannEkfNode : public rclcpp::Node { int main(int argc, char* argv[]) { rclcpp::init(argc, argv); - rclcpp::spin(std::make_shared()); + rclcpp::spin(std::make_shared()); rclcpp::shutdown(); return 0; } \ No newline at end of file From a3ee2e34723067657e66e546378631ac783cc566 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Tue, 10 Dec 2024 00:55:33 +0000 Subject: [PATCH 075/196] Config file appears to work. --- config/ekf_real.yml | 2 +- launch/debug_launch.py | 135 ++++++++++++++++++++++++----------------- src/ackermann_ekf.cpp | 11 ++-- 3 files changed, 85 insertions(+), 63 deletions(-) diff --git a/config/ekf_real.yml b/config/ekf_real.yml index ab94b74..c0badfc 100644 --- a/config/ekf_real.yml +++ b/config/ekf_real.yml @@ -1,7 +1,7 @@ # General settings for the Kalman Filter node output odometry_settings: time_step: 1.0 # Time step for the filter publish (in seconds) - topic: "/odometry/filtered" # Topic to publish the odometry data + topic: "/odometry/meow" # Topic to publish the odometry data main_model: "ackermann" # Main model to use for the filter # Define the sensors used by the node diff --git a/launch/debug_launch.py b/launch/debug_launch.py index 8b1f3bf..9acc00e 100644 --- a/launch/debug_launch.py +++ b/launch/debug_launch.py @@ -4,65 +4,86 @@ from ament_index_python.packages import get_package_share_directory import os + def get_path(package, dir, file): - return os.path.join( - get_package_share_directory(package), - dir, - file - ) + return os.path.join(get_package_share_directory(package), dir, file) + def generate_launch_description(): rviz2_config = get_path("cev_localization", "config", "conf.rviz") - return LaunchDescription([ - Node( - package='tf2_ros', - executable='static_transform_publisher', - name='static_transform_publisher_world_map', - output='screen', - arguments=[ - '0', '0', '0', # Translation: x = 0.035, y = 0.04, z = 0 (meters) - '0', '0', '0', '1', # Rotation: 0 - 'world', - 'map' - ] - ), - Node( - package='tf2_ros', - executable='static_transform_publisher', - name='static_transform_publisher_map_odom', - output='screen', - arguments=[ - '0', '0', '0', # Translation: x = 0.035, y = 0.04, z = 0 (meters) - '0', '0', '0', '1', # Rotation: 0 - 'map', - 'odom' - ] - ), - Node( - package='tf2_ros', - executable='static_transform_publisher', - name='static_transform_publisher_odom_base_link', - output='screen', - arguments=[ - '0', '0', '0', # Translation: x = 0.035, y = 0.04, z = 0 (meters) - '0', '0', '0', '1', # Rotation: 0 - 'odom', - 'meow_link' - ] - ), - Node( - package='cev_localization', - executable='ackermann_ekf', - name='cev_localization_node', - output='screen', - # arguments=['--ros-args', '--log-level', 'DEBUG'], - ), - Node( - package='rviz2', - executable='rviz2', - arguments=['--display-config', rviz2_config], - name='rviz2', - output='screen', - ) - ]) \ No newline at end of file + return LaunchDescription( + [ + Node( + package="tf2_ros", + executable="static_transform_publisher", + name="static_transform_publisher_world_map", + output="screen", + arguments=[ + "0", + "0", + "0", # Translation: x = 0.035, y = 0.04, z = 0 (meters) + "0", + "0", + "0", + "1", # Rotation: 0 + "world", + "map", + ], + ), + Node( + package="tf2_ros", + executable="static_transform_publisher", + name="static_transform_publisher_map_odom", + output="screen", + arguments=[ + "0", + "0", + "0", # Translation: x = 0.035, y = 0.04, z = 0 (meters) + "0", + "0", + "0", + "1", # Rotation: 0 + "map", + "odom", + ], + ), + Node( + package="tf2_ros", + executable="static_transform_publisher", + name="static_transform_publisher_odom_base_link", + output="screen", + arguments=[ + "0", + "0", + "0", # Translation: x = 0.035, y = 0.04, z = 0 (meters) + "0", + "0", + "0", + "1", # Rotation: 0 + "odom", + "meow_link", + ], + ), + Node( + package="cev_localization", + executable="ackermann_ekf", + name="cev_localization_node", + output="screen", + parameters=[ + { + "config_file": get_path( + "cev_localization", "config", "ekf_real.yml" + ) + } + ], + ), + Node( + package="rviz2", + executable="rviz2", + arguments=["--display-config", rviz2_config], + name="rviz2", + output="screen", + ), + ] + ) diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index da2eefa..5bf4061 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -132,16 +132,17 @@ class LocalizationNode : public rclcpp::Node { double time = get_clock()->now().seconds(); // model->update(time); - // V state = model->get_state(); + V state = main_model->get_state(); + M covariance = main_model->get_covariance(); - std::pair prediction = main_model->predict(time); - V state = prediction.first; - M covariance = prediction.second; + // std::pair prediction = main_model->predict(time); + // V state = prediction.first; + // M covariance = prediction.second; nav_msgs::msg::Odometry odom_msg; odom_msg.header.stamp = this->now(); odom_msg.header.frame_id = "odom"; - odom_msg.child_frame_id = "base_link"; + odom_msg.child_frame_id = "meow_link"; odom_msg.pose.pose.position.x = state[ckf::state::x]; odom_msg.pose.pose.position.y = state[ckf::state::y]; From 6aab11ec215c2aa2b15e35ddfa0a5a7aafeb0f12 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Tue, 10 Dec 2024 02:19:11 +0000 Subject: [PATCH 076/196] Changed configuration state to an array of strings representing activated state. --- config/ekf_real.yml | 54 ++++++++++++--------------------------- include/config_parser.h | 7 +++-- include/std_ros_sensors.h | 7 +++-- src/ackermann_ekf.cpp | 6 ++--- src/config_parser.cpp | 26 ++++++++++++++++--- src/std_ros_sensors.cpp | 4 +-- 6 files changed, 51 insertions(+), 53 deletions(-) diff --git a/config/ekf_real.yml b/config/ekf_real.yml index c0badfc..011d128 100644 --- a/config/ekf_real.yml +++ b/config/ekf_real.yml @@ -1,53 +1,31 @@ # General settings for the Kalman Filter node output odometry_settings: - time_step: 1.0 # Time step for the filter publish (in seconds) + time_step: 1.0 # Time step for the filter publish (in seconds) topic: "/odometry/meow" # Topic to publish the odometry data - main_model: "ackermann" # Main model to use for the filter + main_model: "ackermann" # Main model to use for the filter # Define the sensors used by the node sensors: witmotion_imu: - type: "IMU" # Sensor type (IMU, GPS, etc.) - topic: "/imu" # Topic to subscribe to + type: "IMU" # Sensor type (IMU, GPS, etc.) + topic: "/imu" # Topic to subscribe to frame_id: "imu_frame" # Frame ID for the sensor data - - state: [ - false, false, false, - false, false, true, - false, false, false, - false, false, false, - true, true, false, - false, false, false - ] # State variables for the sensor. Each should be true or false + state: ["d2_x", "d2_y", "yaw"] covariance_multiplier: 1.0 # Multiplier to multiply message covariance by - estimator_models: [ - ackermann, - ] # List of strings representing models to use for the sensor data by name - + estimator_models: [ackermann] # List of strings representing models to use for the sensor data by name + encoder_odometry: - type: "RAW" # Sensor type (IMU, GPS, etc.) - topic: "/sensor_collect" # Topic to subscribe to + type: "RAW" # Sensor type (IMU, GPS, etc.) + topic: "/sensor_collect" # Topic to subscribe to frame_id: "odom_frame" # Frame ID for the sensor data - - state: [ - false, false, false, - false, false, false, - true, false, false, - false, false, false, - false, false, false, - true, false, false - ] # State variables for the sensor. Each should be true or false + + state: ["d_x", "tau"] covariance_multiplier: 2.0 # Multiplier to multiply message covariance by - estimator_models: [ - ackermann, - ] # List of strings representing models to use for the sensor data by name + estimator_models: [ackermann] # List of strings representing models to use for the sensor data by name # Define update models with their parameters update_models: - ackermann: - type: "ACKERMANN" # Model type (ACKERMANN, CARTESIAN, etc.) - parameters: [ - # parameter_1, - # parameter_2, - # ... - ] # Parameters for the model + ackermann: + type: "ACKERMANN" # Model type (ACKERMANN, CARTESIAN, etc.) + state: ["x", "y", "d_x", "d_y", "yaw", "tau"] + estimator_models: [] diff --git a/include/config_parser.h b/include/config_parser.h index 1ac71e4..9f76145 100644 --- a/include/config_parser.h +++ b/include/config_parser.h @@ -6,20 +6,23 @@ #include #include +#include "estimator.h" + namespace cev_localization { namespace config_parser { struct Sensor { std::string type; std::string topic; std::string frame_id; - std::vector state; + std::vector state_mask; double covariance_multiplier; std::vector estimator_models; }; struct UpdateModel { std::string type; - std::vector parameters; + std::vector state_mask; + std::vector estimator_models; }; struct Config { diff --git a/include/std_ros_sensors.h b/include/std_ros_sensors.h index 6620aef..b41011d 100644 --- a/include/std_ros_sensors.h +++ b/include/std_ros_sensors.h @@ -7,6 +7,7 @@ #include #include "ros_sensor.h" +#include "estimator.h" using namespace ckf; @@ -27,8 +28,7 @@ namespace cev_localization { public: IMUSensor(std::string topic, V state, M covariance, std::vector> dependents, - std::vector state_mask = {false, false, false, false, false, true, false, - false, false, false, false, false, true, true, false, false, false, false}, + std::vector state_mask = {"d2_x", "d2_y", "yaw"}, bool relative = true); StatePackage msg_update(sensor_msgs::msg::Imu::SharedPtr msg); @@ -38,8 +38,7 @@ namespace cev_localization { public: RawSensor(std::string topic, V state, M covariance, std::vector> dependents, - std::vector state_mask = {false, false, false, false, false, false, true, - false, false, false, false, false, false, false, false, true, false, false}); + std::vector state_mask = {"d_x", "d_y", "tau"}); StatePackage msg_update(cev_msgs::msg::SensorCollect::SharedPtr msg); }; diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index 5bf4061..220e05e 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -45,7 +45,7 @@ class LocalizationNode : public rclcpp::Node { if (mod.type == "ACKERMANN") { update_models[name] = std::make_shared( - V::Zero(), M::Identity() * .1, M::Identity() * .1, .185); + V::Zero(), M::Identity() * .1, M::Identity() * .1, .185, mod.state_mask); } else { RCLCPP_ERROR(this->get_logger(), "Unknown model type: `%s`", mod.type.c_str()); throw std::runtime_error("Unknown model type"); @@ -75,7 +75,7 @@ class LocalizationNode : public rclcpp::Node { if (sen.type == "IMU") { auto sensor = std::make_shared(sen.topic, - V::Zero(), M::Identity() * .1, models, sen.state); + V::Zero(), M::Identity() * .1, models, sen.state_mask); sensors[name] = sensor; @@ -86,7 +86,7 @@ class LocalizationNode : public rclcpp::Node { } else if (sen.type == "RAW") { auto sensor = std::make_shared(sen.topic, - V::Zero(), M::Identity() * .1, models, sen.state); + V::Zero(), M::Identity() * .1, models, sen.state_mask); sensors[name] = sensor; diff --git a/src/config_parser.cpp b/src/config_parser.cpp index ecdbb3c..fd4e41d 100644 --- a/src/config_parser.cpp +++ b/src/config_parser.cpp @@ -2,6 +2,18 @@ using namespace cev_localization::config_parser; +// State is an 18-element vector of bools +/* +State: [ + x, y, z, + roll, pitch, yaw, + x' y', z', + roll', pitch', yaw', + x'', y'', z'', + tau, tau', tau'' +] +*/ + Config ConfigParser::loadConfig(const std::string& filePath) { YAML::Node configNode = YAML::LoadFile(filePath); @@ -33,9 +45,8 @@ cev_localization::config_parser::Sensor ConfigParser::parseSensor(const YAML::No sensor.topic = sensorNode["topic"].as(); sensor.frame_id = sensorNode["frame_id"].as(); - // Parse state as a vector of bools for (const auto& val: sensorNode["state"]) { - sensor.state.push_back(val.as()); + sensor.state_mask.push_back(val.as()); } // Parse covariance_multiplier @@ -52,8 +63,15 @@ cev_localization::config_parser::Sensor ConfigParser::parseSensor(const YAML::No UpdateModel ConfigParser::parseUpdateModel(const YAML::Node& modelNode) { UpdateModel model; model.type = modelNode["type"].as(); - for (const auto& param: modelNode["parameters"]) { - model.parameters.push_back(param.as()); + + for (const auto& val: modelNode["state"]) { + model.state_mask.push_back(val.as()); + } + + // Parse estimator_models + for (const auto& mod: modelNode["estimator_models"]) { + model.estimator_models.push_back(mod.as()); } + return model; } \ No newline at end of file diff --git a/src/std_ros_sensors.cpp b/src/std_ros_sensors.cpp index 0564389..3fa0f22 100644 --- a/src/std_ros_sensors.cpp +++ b/src/std_ros_sensors.cpp @@ -10,7 +10,7 @@ double IMUSensor::pos_mod(double angle) { } IMUSensor::IMUSensor(std::string topic, V state, M covariance, - std::vector> dependents, std::vector state_mask, bool relative) + std::vector> dependents, std::vector state_mask, bool relative) : RosSensor(topic, state, covariance, dependents), initialized(false), relative(relative), @@ -61,7 +61,7 @@ StatePackage IMUSensor::msg_update(sensor_msgs::msg::Imu::SharedPtr msg) { /* RAW SENSOR */ RawSensor::RawSensor(std::string topic, V state, M covariance, - std::vector> dependents, std::vector state_mask) + std::vector> dependents, std::vector state_mask) : RosSensor(topic, state, covariance, dependents) { multiplier = Estimator::state_mask_to_matrix(state_mask); } From f34aff52e933cd15c534a065aa98d4ed00f590ee Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Wed, 11 Dec 2024 04:48:16 +0000 Subject: [PATCH 077/196] Add cartesian filter --- cev_kalman_filter | 2 +- config/ekf_real.yml | 18 ++++++--- include/config_parser.h | 13 +++++-- include/std_ros_sensors.h | 2 +- src/ackermann_ekf.cpp | 17 +++++--- src/config_parser.cpp | 81 +++++++++++++++++++++++++++++---------- 6 files changed, 97 insertions(+), 36 deletions(-) diff --git a/cev_kalman_filter b/cev_kalman_filter index 6dbeaff..69ee3d9 160000 --- a/cev_kalman_filter +++ b/cev_kalman_filter @@ -1 +1 @@ -Subproject commit 6dbeafff37c2bace64bdeb8442795531152afff2 +Subproject commit 69ee3d9a2878bb5711d17dc1c41c4da6ded068c5 diff --git a/config/ekf_real.yml b/config/ekf_real.yml index 011d128..bd8c0fb 100644 --- a/config/ekf_real.yml +++ b/config/ekf_real.yml @@ -1,16 +1,20 @@ # General settings for the Kalman Filter node output odometry_settings: - time_step: 1.0 # Time step for the filter publish (in seconds) - topic: "/odometry/meow" # Topic to publish the odometry data + publish_rate: 100 # Publish rate of the filter in Hz + main_model: "ackermann" # Main model to use for the filter + topic: "/odometry/meow" # Topic to publish the odometry data + base_link: "base_link" # Base link frame ID + odom_frame: "odom" # Odometry frame ID + # Define the sensors used by the node sensors: witmotion_imu: type: "IMU" # Sensor type (IMU, GPS, etc.) topic: "/imu" # Topic to subscribe to frame_id: "imu_frame" # Frame ID for the sensor data - state: ["d2_x", "d2_y", "yaw"] + state: ["d2_x", "d2_y", "yaw"] # State variables to use from the sensor data covariance_multiplier: 1.0 # Multiplier to multiply message covariance by estimator_models: [ackermann] # List of strings representing models to use for the sensor data by name @@ -19,7 +23,7 @@ sensors: topic: "/sensor_collect" # Topic to subscribe to frame_id: "odom_frame" # Frame ID for the sensor data - state: ["d_x", "tau"] + state: ["d_x", "tau"] # State variables to use from the sensor data covariance_multiplier: 2.0 # Multiplier to multiply message covariance by estimator_models: [ackermann] # List of strings representing models to use for the sensor data by name @@ -27,5 +31,9 @@ sensors: update_models: ackermann: type: "ACKERMANN" # Model type (ACKERMANN, CARTESIAN, etc.) - state: ["x", "y", "d_x", "d_y", "yaw", "tau"] + state: ["x", "y", "d_x", "d_y", "yaw", "tau"] # State variables to use from the model in updates estimator_models: [] + # cartesian: + # type: "CARTESIAN" # Model type (ACKERMANN, CARTESIAN, etc.) + # state: ["x", "y", "d_x", "d_y", "yaw", "d_yaw"] # State variables to use from the model in updates + # estimator_models: [] diff --git a/include/config_parser.h b/include/config_parser.h index 9f76145..3edf98b 100644 --- a/include/config_parser.h +++ b/include/config_parser.h @@ -5,6 +5,7 @@ #include #include #include +#include #include "estimator.h" @@ -13,7 +14,7 @@ namespace cev_localization { struct Sensor { std::string type; std::string topic; - std::string frame_id; + std::optional frame_id; std::vector state_mask; double covariance_multiplier; std::vector estimator_models; @@ -27,10 +28,16 @@ namespace cev_localization { struct Config { // General settings - double time_step; - std::string odometry_topic; + double time_step; // seconds + std::string main_model; + // Odometry settings + std::string odometry_topic; + std::string base_link_frame; + std::string odom_frame; + + // Sensors std::unordered_map sensors; diff --git a/include/std_ros_sensors.h b/include/std_ros_sensors.h index b41011d..a0c53f8 100644 --- a/include/std_ros_sensors.h +++ b/include/std_ros_sensors.h @@ -38,7 +38,7 @@ namespace cev_localization { public: RawSensor(std::string topic, V state, M covariance, std::vector> dependents, - std::vector state_mask = {"d_x", "d_y", "tau"}); + std::vector state_mask = {"d_x", "tau"}); StatePackage msg_update(cev_msgs::msg::SensorCollect::SharedPtr msg); }; diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index 220e05e..09f197e 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -30,7 +30,7 @@ class LocalizationNode : public rclcpp::Node { RCLCPP_INFO(this->get_logger(), "Parsing config file at %s", config_file_path.c_str()); // Load the YAML configurations - config_parser::Config config = config_parser::ConfigParser::loadConfig(config_file_path); + config = config_parser::ConfigParser::loadConfig(config_file_path); std::unordered_map> update_models; @@ -46,6 +46,9 @@ class LocalizationNode : public rclcpp::Node { if (mod.type == "ACKERMANN") { update_models[name] = std::make_shared( V::Zero(), M::Identity() * .1, M::Identity() * .1, .185, mod.state_mask); + } else if (mod.type == "CARTESIAN") { + update_models[name] = std::make_shared( + V::Zero(), M::Identity() * .1, M::Identity() * .1, mod.state_mask); } else { RCLCPP_ERROR(this->get_logger(), "Unknown model type: `%s`", mod.type.c_str()); throw std::runtime_error("Unknown model type"); @@ -110,7 +113,7 @@ class LocalizationNode : public rclcpp::Node { main_model = update_models[config.main_model].get(); - timer = this->create_wall_timer(std::chrono::milliseconds(10), + timer = this->create_wall_timer(std::chrono::milliseconds((int) (config.time_step * 1000.0)), std::bind(&LocalizationNode::timer_callback, this)); tf_broadcaster_ = std::make_shared(this); @@ -118,6 +121,8 @@ class LocalizationNode : public rclcpp::Node { } private: + config_parser::Config config; + std::unordered_map sensor_subscribers; std::unordered_map> update_models; std::unordered_map> sensors; @@ -141,8 +146,8 @@ class LocalizationNode : public rclcpp::Node { nav_msgs::msg::Odometry odom_msg; odom_msg.header.stamp = this->now(); - odom_msg.header.frame_id = "odom"; - odom_msg.child_frame_id = "meow_link"; + odom_msg.header.frame_id = config.odom_frame; + odom_msg.child_frame_id = config.base_link_frame; odom_msg.pose.pose.position.x = state[ckf::state::x]; odom_msg.pose.pose.position.y = state[ckf::state::y]; @@ -173,8 +178,8 @@ class LocalizationNode : public rclcpp::Node { geometry_msgs::msg::TransformStamped transformStamped; transformStamped.header.stamp = this->now(); - transformStamped.header.frame_id = "odom"; - transformStamped.child_frame_id = "base_link"; + transformStamped.header.frame_id = config.odom_frame; + transformStamped.child_frame_id = config.base_link_frame; transformStamped.transform.translation.x = state[ckf::state::x]; transformStamped.transform.translation.y = state[ckf::state::y]; diff --git a/src/config_parser.cpp b/src/config_parser.cpp index fd4e41d..dfee435 100644 --- a/src/config_parser.cpp +++ b/src/config_parser.cpp @@ -2,27 +2,47 @@ using namespace cev_localization::config_parser; -// State is an 18-element vector of bools -/* -State: [ - x, y, z, - roll, pitch, yaw, - x' y', z', - roll', pitch', yaw', - x'', y'', z'', - tau, tau', tau'' -] -*/ - Config ConfigParser::loadConfig(const std::string& filePath) { YAML::Node configNode = YAML::LoadFile(filePath); Config config; - // Parse general settings - config.time_step = configNode["odometry_settings"]["time_step"].as(); - config.odometry_topic = configNode["odometry_settings"]["topic"].as(); - config.main_model = configNode["odometry_settings"]["main_model"].as(); + // Publish rate + try { + double rate = configNode["odometry_settings"]["publish_rate"].as(); + if (rate <= 0) { + throw std::runtime_error("Parameter `odometry_settings/publish_rate` must be greater than 0"); + } + config.time_step = 1.0 / rate; + } catch (YAML::Exception& e) { + config.time_step = 0.01; + } + + // Odometry settings + try { + config.base_link_frame = configNode["odometry_settings"]["base_link_frame"].as(); + } catch (YAML::Exception& e) { + config.base_link_frame = "base_link"; + } + + try { + config.odom_frame = configNode["odometry_settings"]["odom_frame"].as(); + } catch (YAML::Exception& e) { + config.odom_frame = "odom"; + } + + try { + config.odometry_topic = configNode["odometry_settings"]["topic"].as(); + } catch (YAML::Exception& e) { + config.odometry_topic = "odom"; + } + + // Main model + try { + config.main_model = configNode["odometry_settings"]["main_model"].as(); + } catch (YAML::Exception& e) { + throw std::runtime_error("Parameter `odometry_settings/main_model` not defined"); + } // Parse sensors for (const auto& sensorEntry: configNode["sensors"]) { @@ -41,10 +61,25 @@ Config ConfigParser::loadConfig(const std::string& filePath) { cev_localization::config_parser::Sensor ConfigParser::parseSensor(const YAML::Node& sensorNode) { Sensor sensor; - sensor.type = sensorNode["type"].as(); - sensor.topic = sensorNode["topic"].as(); - sensor.frame_id = sensorNode["frame_id"].as(); + try { + sensor.type = sensorNode["type"].as(); + } catch (YAML::Exception& e) { + throw std::runtime_error("Sensor type not defined"); + } + + try { + sensor.topic = sensorNode["topic"].as(); + } catch (YAML::Exception& e) { + throw std::runtime_error("Sensor topic not defined"); + } + try { + sensor.frame_id = sensorNode["frame_id"].as(); + } catch (YAML::Exception& e) { + sensor.frame_id = std::nullopt; + } + + // Parse state mask for (const auto& val: sensorNode["state"]) { sensor.state_mask.push_back(val.as()); } @@ -62,8 +97,14 @@ cev_localization::config_parser::Sensor ConfigParser::parseSensor(const YAML::No UpdateModel ConfigParser::parseUpdateModel(const YAML::Node& modelNode) { UpdateModel model; - model.type = modelNode["type"].as(); + try { + model.type = modelNode["type"].as(); + } catch (YAML::Exception& e) { + throw std::runtime_error("Model type not defined"); + } + + // Parse state mask for (const auto& val: modelNode["state"]) { model.state_mask.push_back(val.as()); } From e593e10e7f27a45f3c51b76aa7bb48f9316f08b7 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Wed, 11 Dec 2024 06:01:59 +0000 Subject: [PATCH 078/196] Add configuration option for cartesian. --- cev_kalman_filter | 2 +- config/ekf_real.yml | 12 ++++++------ 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/cev_kalman_filter b/cev_kalman_filter index 69ee3d9..70bff5f 160000 --- a/cev_kalman_filter +++ b/cev_kalman_filter @@ -1 +1 @@ -Subproject commit 69ee3d9a2878bb5711d17dc1c41c4da6ded068c5 +Subproject commit 70bff5f8d6eb21fd585c5109e0ea74a4a2211a8f diff --git a/config/ekf_real.yml b/config/ekf_real.yml index bd8c0fb..0485aa7 100644 --- a/config/ekf_real.yml +++ b/config/ekf_real.yml @@ -16,7 +16,7 @@ sensors: frame_id: "imu_frame" # Frame ID for the sensor data state: ["d2_x", "d2_y", "yaw"] # State variables to use from the sensor data covariance_multiplier: 1.0 # Multiplier to multiply message covariance by - estimator_models: [ackermann] # List of strings representing models to use for the sensor data by name + estimator_models: ["ackermann", "cartesian"] # List of strings representing models to use for the sensor data by name encoder_odometry: type: "RAW" # Sensor type (IMU, GPS, etc.) @@ -25,7 +25,7 @@ sensors: state: ["d_x", "tau"] # State variables to use from the sensor data covariance_multiplier: 2.0 # Multiplier to multiply message covariance by - estimator_models: [ackermann] # List of strings representing models to use for the sensor data by name + estimator_models: ["ackermann", "cartesian"] # List of strings representing models to use for the sensor data by name # Define update models with their parameters update_models: @@ -33,7 +33,7 @@ update_models: type: "ACKERMANN" # Model type (ACKERMANN, CARTESIAN, etc.) state: ["x", "y", "d_x", "d_y", "yaw", "tau"] # State variables to use from the model in updates estimator_models: [] - # cartesian: - # type: "CARTESIAN" # Model type (ACKERMANN, CARTESIAN, etc.) - # state: ["x", "y", "d_x", "d_y", "yaw", "d_yaw"] # State variables to use from the model in updates - # estimator_models: [] + cartesian: + type: "CARTESIAN" # Model type (ACKERMANN, CARTESIAN, etc.) + state: ["x", "y", "d_x", "d_y", "yaw", "d_yaw"] # State variables to use from the model in updates + estimator_models: ["ackermann"] From abc30644f66de5d35b3273ef4df064436e5d7999 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Fri, 17 Jan 2025 16:11:20 -0600 Subject: [PATCH 079/196] Add TODO --- TODO.md | 5 +++++ config/ekf_real.yml | 16 ++++++++-------- src/ackermann_ekf.cpp | 2 +- 3 files changed, 14 insertions(+), 9 deletions(-) create mode 100644 TODO.md diff --git a/TODO.md b/TODO.md new file mode 100644 index 0000000..5e3ae8a --- /dev/null +++ b/TODO.md @@ -0,0 +1,5 @@ + - Use message covariance, allow constant override in config + - Incorporate steering angle in ackermann informed calcs + - Write a proper README + - Figure out how to make an official ROS2 open source project + - Make sure the pipelining update frequencies make sense... (should we only update the roots periodically?) \ No newline at end of file diff --git a/config/ekf_real.yml b/config/ekf_real.yml index 0485aa7..4ceea1c 100644 --- a/config/ekf_real.yml +++ b/config/ekf_real.yml @@ -19,13 +19,13 @@ sensors: estimator_models: ["ackermann", "cartesian"] # List of strings representing models to use for the sensor data by name encoder_odometry: - type: "RAW" # Sensor type (IMU, GPS, etc.) - topic: "/sensor_collect" # Topic to subscribe to - frame_id: "odom_frame" # Frame ID for the sensor data + type: "RAW" + topic: "/sensor_collect" + frame_id: "odom_frame" - state: ["d_x", "tau"] # State variables to use from the sensor data - covariance_multiplier: 2.0 # Multiplier to multiply message covariance by - estimator_models: ["ackermann", "cartesian"] # List of strings representing models to use for the sensor data by name + state: ["d_x", "tau"] + covariance_multiplier: 2.0 + estimator_models: ["ackermann", "cartesian"] # Define update models with their parameters update_models: @@ -34,6 +34,6 @@ update_models: state: ["x", "y", "d_x", "d_y", "yaw", "tau"] # State variables to use from the model in updates estimator_models: [] cartesian: - type: "CARTESIAN" # Model type (ACKERMANN, CARTESIAN, etc.) - state: ["x", "y", "d_x", "d_y", "yaw", "d_yaw"] # State variables to use from the model in updates + type: "CARTESIAN" + state: ["x", "y", "d_x", "d_y", "yaw", "d_yaw"] estimator_models: ["ackermann"] diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index 09f197e..102460f 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -113,7 +113,7 @@ class LocalizationNode : public rclcpp::Node { main_model = update_models[config.main_model].get(); - timer = this->create_wall_timer(std::chrono::milliseconds((int) (config.time_step * 1000.0)), + timer = this->create_wall_timer(std::chrono::milliseconds((int)(config.time_step * 1000.0)), std::bind(&LocalizationNode::timer_callback, this)); tf_broadcaster_ = std::make_shared(this); From e35b4d77f8304e575d34e5b0ca1f8c48f46b581d Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Thu, 23 Jan 2025 20:43:04 -0500 Subject: [PATCH 080/196] Added trajectory and waypoint messages. --- CMakeLists.txt | 6 +++++- README.md | 10 ++++++++++ msg/Trajectory.msg | 7 +++++++ msg/Waypoint.msg | 9 +++++++++ package.xml | 2 ++ 5 files changed, 33 insertions(+), 1 deletion(-) create mode 100644 msg/Trajectory.msg create mode 100644 msg/Waypoint.msg diff --git a/CMakeLists.txt b/CMakeLists.txt index b72fc3e..ffd4253 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -8,14 +8,18 @@ endif() # find dependencies find_package(ament_cmake REQUIRED) find_package(rosidl_default_generators REQUIRED) +find_package(std_msgs REQUIRED) # uncomment the following section in order to fill in # further dependencies manually. # find_package( REQUIRED) rosidl_generate_interfaces(${PROJECT_NAME} + "msg/Waypoint.msg" "msg/SensorCollect.msg" - ) + "msg/Trajectory.msg" + DEPENDENCIES std_msgs +) if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) diff --git a/README.md b/README.md index d89fa94..bc681f5 100644 --- a/README.md +++ b/README.md @@ -4,3 +4,13 @@ SensorCollect.msg - float64 : timestamp [ Message time in s ] - float32 : velocity [ Velocity in m/s] - float32 : steering_angle [ Steering angle in radians ] + +Trajectory.msg + - Header : header [ Header ] + - Waypoint[] : waypoints [ Array of Waypoints ] + +Waypoint.msg + - float32 : x [ x-coordinate in meters ] + - float32 : y [ y-coordinate in meters ] + - float32 : v [ velocity in m/s ] + \ No newline at end of file diff --git a/msg/Trajectory.msg b/msg/Trajectory.msg new file mode 100644 index 0000000..8d6475f --- /dev/null +++ b/msg/Trajectory.msg @@ -0,0 +1,7 @@ +# Trajectory.msg +# +# Header : header [ Header ] +# Waypoint[] : waypoints [ Array of Waypoints ] +# +std_msgs/Header header +cev_msgs/Waypoint[] waypoints \ No newline at end of file diff --git a/msg/Waypoint.msg b/msg/Waypoint.msg new file mode 100644 index 0000000..400dc4a --- /dev/null +++ b/msg/Waypoint.msg @@ -0,0 +1,9 @@ +# Waypoint.msg +# +# float32 : x [ x-coordinate in meters ] +# float32 : y [ y-coordinate in meters ] +# float32 : v [ velocity in m/s ] +# +float32 x +float32 y +float32 v \ No newline at end of file diff --git a/package.xml b/package.xml index de7734f..8034858 100644 --- a/package.xml +++ b/package.xml @@ -9,6 +9,8 @@ ament_cmake + std_msgs + rosidl_default_generators rosidl_default_runtime rosidl_interface_packages From 48264a644e312809596e4c5cdbfd402ee2ce142a Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sat, 25 Jan 2025 15:51:11 -0500 Subject: [PATCH 081/196] Message-based covariance. --- config/ekf_real.yml | 4 +- include/config_parser.h | 4 +- include/std_ros_sensors.h | 9 ++++- src/ackermann_ekf.cpp | 6 ++- src/config_parser.cpp | 22 ++++++++--- src/std_ros_sensors.cpp | 79 ++++++++++++++++++++++++++------------- 6 files changed, 87 insertions(+), 37 deletions(-) diff --git a/config/ekf_real.yml b/config/ekf_real.yml index 4ceea1c..3631f15 100644 --- a/config/ekf_real.yml +++ b/config/ekf_real.yml @@ -14,8 +14,10 @@ sensors: type: "IMU" # Sensor type (IMU, GPS, etc.) topic: "/imu" # Topic to subscribe to frame_id: "imu_frame" # Frame ID for the sensor data + state: ["d2_x", "d2_y", "yaw"] # State variables to use from the sensor data covariance_multiplier: 1.0 # Multiplier to multiply message covariance by + use_message_covariance: true estimator_models: ["ackermann", "cartesian"] # List of strings representing models to use for the sensor data by name encoder_odometry: @@ -24,7 +26,7 @@ sensors: frame_id: "odom_frame" state: ["d_x", "tau"] - covariance_multiplier: 2.0 + covariance_multiplier: 2.0 estimator_models: ["ackermann", "cartesian"] # Define update models with their parameters diff --git a/include/config_parser.h b/include/config_parser.h index 3edf98b..6e1459e 100644 --- a/include/config_parser.h +++ b/include/config_parser.h @@ -17,6 +17,7 @@ namespace cev_localization { std::optional frame_id; std::vector state_mask; double covariance_multiplier; + bool use_message_covariance; std::vector estimator_models; }; @@ -28,7 +29,7 @@ namespace cev_localization { struct Config { // General settings - double time_step; // seconds + double time_step; // seconds std::string main_model; @@ -36,7 +37,6 @@ namespace cev_localization { std::string odometry_topic; std::string base_link_frame; std::string odom_frame; - // Sensors std::unordered_map sensors; diff --git a/include/std_ros_sensors.h b/include/std_ros_sensors.h index a0c53f8..40a99a8 100644 --- a/include/std_ros_sensors.h +++ b/include/std_ros_sensors.h @@ -24,21 +24,26 @@ namespace cev_localization { double initial_yaw; double last_reported_yaw; double last_sensor_raw_yaw; + bool use_message_covariance = true; public: IMUSensor(std::string topic, V state, M covariance, std::vector> dependents, std::vector state_mask = {"d2_x", "d2_y", "yaw"}, - bool relative = true); + bool use_message_covariance = true, bool relative = true); StatePackage msg_update(sensor_msgs::msg::Imu::SharedPtr msg); }; class RawSensor : public RosSensor { + protected: + bool use_message_covariance = true; + public: RawSensor(std::string topic, V state, M covariance, std::vector> dependents, - std::vector state_mask = {"d_x", "tau"}); + std::vector state_mask = {"d_x", "tau"}, + bool use_message_covariance = true); StatePackage msg_update(cev_msgs::msg::SensorCollect::SharedPtr msg); }; diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index 102460f..3fe8d61 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -78,7 +78,8 @@ class LocalizationNode : public rclcpp::Node { if (sen.type == "IMU") { auto sensor = std::make_shared(sen.topic, - V::Zero(), M::Identity() * .1, models, sen.state_mask); + V::Zero(), M::Identity() * .1, models, sen.state_mask, + sen.use_message_covariance); sensors[name] = sensor; @@ -89,7 +90,8 @@ class LocalizationNode : public rclcpp::Node { } else if (sen.type == "RAW") { auto sensor = std::make_shared(sen.topic, - V::Zero(), M::Identity() * .1, models, sen.state_mask); + V::Zero(), M::Identity() * .1, models, sen.state_mask, + sen.use_message_covariance); sensors[name] = sensor; diff --git a/src/config_parser.cpp b/src/config_parser.cpp index dfee435..9adbada 100644 --- a/src/config_parser.cpp +++ b/src/config_parser.cpp @@ -11,7 +11,8 @@ Config ConfigParser::loadConfig(const std::string& filePath) { try { double rate = configNode["odometry_settings"]["publish_rate"].as(); if (rate <= 0) { - throw std::runtime_error("Parameter `odometry_settings/publish_rate` must be greater than 0"); + throw std::runtime_error( + "Parameter `odometry_settings/publish_rate` must be greater than 0"); } config.time_step = 1.0 / rate; } catch (YAML::Exception& e) { @@ -20,7 +21,8 @@ Config ConfigParser::loadConfig(const std::string& filePath) { // Odometry settings try { - config.base_link_frame = configNode["odometry_settings"]["base_link_frame"].as(); + config.base_link_frame = + configNode["odometry_settings"]["base_link_frame"].as(); } catch (YAML::Exception& e) { config.base_link_frame = "base_link"; } @@ -36,7 +38,7 @@ Config ConfigParser::loadConfig(const std::string& filePath) { } catch (YAML::Exception& e) { config.odometry_topic = "odom"; } - + // Main model try { config.main_model = configNode["odometry_settings"]["main_model"].as(); @@ -66,7 +68,7 @@ cev_localization::config_parser::Sensor ConfigParser::parseSensor(const YAML::No } catch (YAML::Exception& e) { throw std::runtime_error("Sensor type not defined"); } - + try { sensor.topic = sensorNode["topic"].as(); } catch (YAML::Exception& e) { @@ -85,7 +87,17 @@ cev_localization::config_parser::Sensor ConfigParser::parseSensor(const YAML::No } // Parse covariance_multiplier - sensor.covariance_multiplier = sensorNode["covariance_multiplier"].as(); + try { + sensor.covariance_multiplier = sensorNode["covariance_multiplier"].as(); + } catch (YAML::Exception& e) { + sensor.covariance_multiplier = 1.0; + } + + try { + sensor.use_message_covariance = sensorNode["use_message_covariance"].as(); + } catch (YAML::Exception& e) { + sensor.use_message_covariance = true; + } // Parse estimator_models for (const auto& model: sensorNode["estimator_models"]) { diff --git a/src/std_ros_sensors.cpp b/src/std_ros_sensors.cpp index 3fa0f22..24ae972 100644 --- a/src/std_ros_sensors.cpp +++ b/src/std_ros_sensors.cpp @@ -10,7 +10,8 @@ double IMUSensor::pos_mod(double angle) { } IMUSensor::IMUSensor(std::string topic, V state, M covariance, - std::vector> dependents, std::vector state_mask, bool relative) + std::vector> dependents, std::vector state_mask, + bool use_message_covariance, bool relative) : RosSensor(topic, state, covariance, dependents), initialized(false), relative(relative), @@ -18,42 +19,63 @@ IMUSensor::IMUSensor(std::string topic, V state, M covariance, last_reported_yaw(0), last_sensor_raw_yaw(0) { multiplier = Estimator::state_mask_to_matrix(state_mask); + this->use_message_covariance = use_message_covariance; } StatePackage IMUSensor::msg_update(sensor_msgs::msg::Imu::SharedPtr msg) { StatePackage estimate = get_internals(); estimate.update_time = msg->header.stamp.sec + (msg->header.stamp.nanosec / 1e9); - estimate.state[ckf::state::d2_x] = msg->linear_acceleration.x; - estimate.state[ckf::state::d2_y] = msg->linear_acceleration.y; + // -1 means that the corresponding estimate is invalid + if (msg->linear_acceleration_covariance[0] != -1) { + estimate.state[ckf::state::d2_x] = msg->linear_acceleration.x; + estimate.state[ckf::state::d2_y] = msg->linear_acceleration.y; + + if (this->use_message_covariance) { + estimate.covariance(ckf::state::d2_x, + ckf::state::d2_x) = msg->linear_acceleration_covariance[0]; + estimate.covariance(ckf::state::d2_x, + ckf::state::d2_y) = msg->linear_acceleration_covariance[1]; + estimate.covariance(ckf::state::d2_y, + ckf::state::d2_x) = msg->linear_acceleration_covariance[3]; + estimate.covariance(ckf::state::d2_y, + ckf::state::d2_y) = msg->linear_acceleration_covariance[4]; + } + } - tf2::Quaternion q(msg->orientation.x, msg->orientation.y, msg->orientation.z, - msg->orientation.w); - tf2::Matrix3x3 m(q); - double roll, pitch, yaw; - m.getRPY(roll, pitch, yaw); + if (msg->orientation_covariance[0] != -1) { + tf2::Quaternion q(msg->orientation.x, msg->orientation.y, msg->orientation.z, + msg->orientation.w); + tf2::Matrix3x3 m(q); + double roll, pitch, yaw; + m.getRPY(roll, pitch, yaw); - if (relative && !initialized) { - last_sensor_raw_yaw = yaw; - last_reported_yaw = 0.0; - initialized = true; + if (relative && !initialized) { + last_sensor_raw_yaw = yaw; + last_reported_yaw = 0.0; + initialized = true; - estimate.state[ckf::state::yaw] = 0.0; - return estimate; - } + estimate.state[ckf::state::yaw] = 0.0; + return estimate; + } - double modded_yaw_diff = fmod(yaw - last_sensor_raw_yaw, 2 * M_PI); + double modded_yaw_diff = fmod(yaw - last_sensor_raw_yaw, 2 * M_PI); - if (modded_yaw_diff > M_PI) { - modded_yaw_diff -= 2 * M_PI; - } else if (modded_yaw_diff < -M_PI) { - modded_yaw_diff += 2 * M_PI; - } + if (modded_yaw_diff > M_PI) { + modded_yaw_diff -= 2 * M_PI; + } else if (modded_yaw_diff < -M_PI) { + modded_yaw_diff += 2 * M_PI; + } - last_reported_yaw += modded_yaw_diff; - last_sensor_raw_yaw = yaw; + last_reported_yaw += modded_yaw_diff; + last_sensor_raw_yaw = yaw; + + estimate.state[ckf::state::yaw] = last_reported_yaw; - estimate.state[ckf::state::yaw] = last_reported_yaw; + if (this->use_message_covariance) { + estimate.covariance(ckf::state::yaw, ckf::state::yaw) = msg->orientation_covariance[8]; + } + } return estimate; } @@ -61,9 +83,11 @@ StatePackage IMUSensor::msg_update(sensor_msgs::msg::Imu::SharedPtr msg) { /* RAW SENSOR */ RawSensor::RawSensor(std::string topic, V state, M covariance, - std::vector> dependents, std::vector state_mask) + std::vector> dependents, std::vector state_mask, + bool use_message_covariance) : RosSensor(topic, state, covariance, dependents) { multiplier = Estimator::state_mask_to_matrix(state_mask); + this->use_message_covariance = use_message_covariance; } StatePackage RawSensor::msg_update(cev_msgs::msg::SensorCollect::SharedPtr msg) { @@ -73,5 +97,10 @@ StatePackage RawSensor::msg_update(cev_msgs::msg::SensorCollect::SharedPtr msg) estimate.state[ckf::state::d_x] = msg->velocity; estimate.state[ckf::state::tau] = msg->steering_angle; + // if (this->use_message_covariance) { // TODO: Implement covariance + // estimate.covariance(ckf::state::d_x, ckf::state::d_x) = msg->velocity_covariance; + // estimate.covariance(ckf::state::tau, ckf::state::tau) = msg->steering_angle_covariance; + // } + return estimate; } \ No newline at end of file From e4d4d8328e87f7d67c432c7c1b3118d97605959d Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sat, 25 Jan 2025 18:03:01 -0500 Subject: [PATCH 082/196] Initial commit. --- .clang-format | 36 +++++++++++++++ .devcontainer/Dockerfile.dev | 77 +++++++++++++++++++++++++++++++++ .devcontainer/devcontainer.json | 51 ++++++++++++++++++++++ .gitignore | 6 +++ .gitmodules | 3 ++ CMakeLists.txt | 35 +++++++++++++++ README.md | 1 + TODO.md | 0 cev_planner | 1 + config/.gitkeep | 0 launch/.gitkeep | 0 launch/launch.py | 16 +++++++ package.xml | 23 ++++++++++ 13 files changed, 249 insertions(+) create mode 100644 .clang-format create mode 100644 .devcontainer/Dockerfile.dev create mode 100644 .devcontainer/devcontainer.json create mode 100644 .gitignore create mode 100644 .gitmodules create mode 100644 CMakeLists.txt create mode 100644 README.md create mode 100644 TODO.md create mode 160000 cev_planner create mode 100644 config/.gitkeep create mode 100644 launch/.gitkeep create mode 100644 launch/launch.py create mode 100644 package.xml diff --git a/.clang-format b/.clang-format new file mode 100644 index 0000000..1d9b175 --- /dev/null +++ b/.clang-format @@ -0,0 +1,36 @@ +# CEV C++ setup +--- +BasedOnStyle: Google +IndentWidth: 4 +Language: Cpp +UseTab: Never +DerivePointerAlignment: false +PointerAlignment: Left +BreakStringLiterals: true +ReflowComments: true +ContinuationIndentWidth: 4 +ColumnLimit: 100 +AlignAfterOpenBracket: DontAlign +AlignTrailingComments: + Kind: Always + OverEmptyLines: 2 +AlignOperands: Align +BreakBeforeBinaryOperators: NonAssignment +PenaltyBreakAssignment: 60 +PenaltyBreakOpenParenthesis: 50 +IndentCaseLabels: true +AllowShortFunctionsOnASingleLine: Empty +SortIncludes: false +MacroBlockBegin: "^#if .*$" +MacroBlockEnd: "^#endif$" +AlignEscapedNewlines: Right +IndentPPDirectives: BeforeHash +IndentAccessModifiers: false +AccessModifierOffset: -4 +SpaceBeforeRangeBasedForLoopColon: false +SpaceBeforeCaseColon: false +SpaceBeforeCtorInitializerColon: false +SpaceAfterTemplateKeyword: false +NamespaceIndentation: All +FixNamespaceComments: false +--- diff --git a/.devcontainer/Dockerfile.dev b/.devcontainer/Dockerfile.dev new file mode 100644 index 0000000..626dbf7 --- /dev/null +++ b/.devcontainer/Dockerfile.dev @@ -0,0 +1,77 @@ +# Start with the official ROS Humble ROS-Core image based on Ubuntu Jammy +FROM ros:humble-ros-core-jammy + +SHELL ["/bin/bash", "-c"] + +# Install basic build tools and ROS2 development dependencies +RUN apt-get update && apt-get install --no-install-recommends -y \ + build-essential \ + git \ + python3-colcon-common-extensions \ + python3-colcon-mixin \ + python3-rosdep \ + python3-vcstool \ + && rm -rf /var/lib/apt/lists/* + +# Set the ROS distro to Humble +ENV ROS_DISTRO=humble + +# Initialize rosdep and update for the current ROS distro +RUN rosdep init && \ + rosdep update --rosdistro $ROS_DISTRO + +# Add and update colcon mixins and metadata +RUN colcon mixin add default \ + https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \ + colcon mixin update && \ + colcon metadata add default \ + https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \ + colcon metadata update + +# Install ROS2 base packages specific to Humble distribution +RUN apt-get update && apt-get install -y --no-install-recommends \ + ros-humble-ros-base=0.10.0-1* \ + && rm -rf /var/lib/apt/lists/* + +# Set environment variables and source ROS2 Humble setup +ENV LANG=C.UTF-8 \ + LC_ALL=C.UTF-8 + +# Source the ROS2 environment automatically when a new shell is created +RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc +RUN echo "source /root/ws/install/setup.bash" >> ~/.bashrc + +RUN mkdir -p /root/ws/src +RUN mkdir -p /root/ws/tmp +COPY . /root/ws/tmp + +WORKDIR /root/ws + +RUN sudo apt update + +# Install dev tools +RUN apt-get update +RUN apt-get install -y curl +RUN curl -fsSL https://apt.llvm.org/llvm-snapshot.gpg.key | tee /etc/apt/trusted.gpg.d/apt.llvm.org.asc +RUN cat /etc/apt/trusted.gpg.d/apt.llvm.org.asc +RUN echo $'deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy main\n' \ + $'deb-src http://apt.llvm.org/jammy/ llvm-toolchain-jammy main\n' \ + $'deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy-19 main\n' \ + $'deb-src http://apt.llvm.org/jammy/ llvm-toolchain-jammy-19 main\n' \ + | tee -a /etc/apt/sources.list +RUN apt-get update +RUN apt-get install -y clang-format clang-format-19 + +RUN source /opt/ros/$ROS_DISTRO/setup.bash \ + && cd /root/ws \ + && rosdep update \ + && rosdep install --from-paths tmp -r -y + +RUN rm -rf /root/ws/tmp + +RUN source /opt/ros/$ROS_DISTRO/setup.bash \ + && cd /root/ws \ + && colcon build \ + && git clone https://github.com/cornellev/cev_msgs.git src/cev_msgs + +EXPOSE 4567 \ No newline at end of file diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json new file mode 100644 index 0000000..20109ab --- /dev/null +++ b/.devcontainer/devcontainer.json @@ -0,0 +1,51 @@ +{ + "name": "Planner Dev-Container", + "build": { + "dockerfile": "Dockerfile.dev" + }, + "workspaceMount": "source=${localWorkspaceFolder},target=/root/ws/src/ackermann_kf,type=bind", + "workspaceFolder": "/root/ws/src/cev_planner", + "runArgs": [ + "--rm", + "--network=host", + "--ipc=host", + "--privileged" + ], + "containerEnv": { + "DISPLAY": "${localEnv:DISPLAY}" + }, + "mounts": [ + "source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached" + ], + "customizations": { + "vscode": { + "settings": { + "terminal.integrated.defaultProfile.linux": "bash", + "terminal.integrated.profiles.linux": { + "bash": { + "path": "/bin/bash" + } + } + }, + "[cpp]": { + "editor.defaultFormatter": "xaver.clang-format" + }, + "[python]": { + "diffEditor.ignoreTrimWhitespace": false, + "gitlens.codeLens.symbolScopes": [ + "!Module" + ], + "editor.formatOnType": true, + "editor.wordBasedSuggestions": "off", + "editor.defaultFormatter": "ms-python.black-formatter" + }, + "extensions": [ + "ms-iot.vscode-ros", + "ms-vscode.cpptools-extension-pack", + "ms-python.black-formatter", + "xaver.clang-format" + ] + } + }, + "postStartCommand": "git config --global --add safe.directory ${containerWorkspaceFolder}" +} \ No newline at end of file diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..463fcb4 --- /dev/null +++ b/.gitignore @@ -0,0 +1,6 @@ +.idea/ +build/ +log/ +install/ +cmake-build-debug/ +.vscode/ \ No newline at end of file diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 0000000..8b4f46e --- /dev/null +++ b/.gitmodules @@ -0,0 +1,3 @@ +[submodule "cev_planner"] + path = cev_planner + url = git@github.com:cornellev/cev_planner.git diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..549f2c2 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,35 @@ +cmake_minimum_required(VERSION 3.10) +project(cev_localization LANGUAGES CXX) + +# Set the C++ standard +set(CMAKE_CXX_STANDARD 17) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) + +# CEV +find_package(cev_msgs REQUIRED) + +# Add subdirectory for the library +add_subdirectory(cev_planner) + +# Include directories for project headers +include_directories( + include + cev_planner/include +) + +# Source files in the main src folder +set(SOURCES +) + +# Declare the executable + +# Install additional resources +install(DIRECTORY launch config + DESTINATION share/${PROJECT_NAME}) + +# Ament package configuration +ament_package() diff --git a/README.md b/README.md new file mode 100644 index 0000000..8b13789 --- /dev/null +++ b/README.md @@ -0,0 +1 @@ + diff --git a/TODO.md b/TODO.md new file mode 100644 index 0000000..e69de29 diff --git a/cev_planner b/cev_planner new file mode 160000 index 0000000..3080280 --- /dev/null +++ b/cev_planner @@ -0,0 +1 @@ +Subproject commit 3080280ecf6f9e79b5645c9038d6c67915715609 diff --git a/config/.gitkeep b/config/.gitkeep new file mode 100644 index 0000000..e69de29 diff --git a/launch/.gitkeep b/launch/.gitkeep new file mode 100644 index 0000000..e69de29 diff --git a/launch/launch.py b/launch/launch.py new file mode 100644 index 0000000..c96e20e --- /dev/null +++ b/launch/launch.py @@ -0,0 +1,16 @@ +from launch import LaunchDescription +from launch_ros.actions import Node +from launch.actions import DeclareLaunchArgument +from ament_index_python.packages import get_package_share_directory +import os + + +def get_path(package, dir, file): + return os.path.join(get_package_share_directory(package), dir, file) + + +def generate_launch_description(): + return LaunchDescription( + [ + ] + ) diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..b966a63 --- /dev/null +++ b/package.xml @@ -0,0 +1,23 @@ + + + + cev_planner_ros2 + 0.0.0 + TODO: Package description + sloth + TODO: License declaration + + ament_cmake + + rclcpp + + cev_msgs + + + ament_lint_auto + ament_lint_common + + + ament_cmake + + \ No newline at end of file From 126edbf26537206765ce6f3c155d136bef132754 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sun, 26 Jan 2025 17:56:28 -0500 Subject: [PATCH 083/196] Made base ros node for planning. --- CMakeLists.txt | 16 +++++++++++++++- cev_planner | 2 +- src/planner_node.cpp | 30 ++++++++++++++++++++++++++++++ 3 files changed, 46 insertions(+), 2 deletions(-) create mode 100644 src/planner_node.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt index 549f2c2..1579be5 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.10) -project(cev_localization LANGUAGES CXX) +project(cev_planner_ros2 LANGUAGES CXX) # Set the C++ standard set(CMAKE_CXX_STANDARD 17) @@ -23,9 +23,23 @@ include_directories( # Source files in the main src folder set(SOURCES + src/planner_node.cpp +) + +add_executable(planner_node ${SOURCES}) + +ament_target_dependencies(planner_node + rclcpp + cev_msgs +) + +target_link_libraries(planner_node + cev_planner ) # Declare the executable +install(TARGETS planner_node + DESTINATION lib/${PROJECT_NAME}) # Install additional resources install(DIRECTORY launch config diff --git a/cev_planner b/cev_planner index 3080280..748795e 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit 3080280ecf6f9e79b5645c9038d6c67915715609 +Subproject commit 748795e1469a2cbf38353e526253327e340ea302 diff --git a/src/planner_node.cpp b/src/planner_node.cpp new file mode 100644 index 0000000..7dc4809 --- /dev/null +++ b/src/planner_node.cpp @@ -0,0 +1,30 @@ +#include +#include + +using namespace cev_planner; + +class PlannerNode : public rclcpp::Node { +public: + PlannerNode(): Node("planner_node") { + auto dimensions = Dimensions(); + auto constraints = Constraints(); + planner = std::make_shared(dimensions, constraints); + } + + void plan_path() { + auto grid = Grid(); + auto start = Pose(); + auto target = Pose(); + auto trajectory = planner->plan_path(grid, start, target); + } + +private: + std::shared_ptr planner; +}; + +int main(int argc, char** argv) { + rclcpp::init(argc, argv); + auto node = std::make_shared(); + rclcpp::shutdown(); + return 0; +} \ No newline at end of file From 52ee559a7a239212b644f3ede1d545888ebd96c2 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sun, 26 Jan 2025 18:33:11 -0500 Subject: [PATCH 084/196] Make a full global planning pipeline. --- CMakeLists.txt | 2 + cev_planner | 2 +- config/cev_planner.yaml | 0 launch/launch.py | 9 ++++ src/planner_node.cpp | 99 ++++++++++++++++++++++++++++++++++++++--- 5 files changed, 104 insertions(+), 8 deletions(-) create mode 100644 config/cev_planner.yaml diff --git a/CMakeLists.txt b/CMakeLists.txt index 1579be5..92fe788 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -8,6 +8,7 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON) # Find dependencies find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) +find_package(nav_msgs REQUIRED) # CEV find_package(cev_msgs REQUIRED) @@ -31,6 +32,7 @@ add_executable(planner_node ${SOURCES}) ament_target_dependencies(planner_node rclcpp cev_msgs + nav_msgs ) target_link_libraries(planner_node diff --git a/cev_planner b/cev_planner index 748795e..9925972 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit 748795e1469a2cbf38353e526253327e340ea302 +Subproject commit 9925972a7c62031cadfbda19eed12d63369aa534 diff --git a/config/cev_planner.yaml b/config/cev_planner.yaml new file mode 100644 index 0000000..e69de29 diff --git a/launch/launch.py b/launch/launch.py index c96e20e..42f6841 100644 --- a/launch/launch.py +++ b/launch/launch.py @@ -12,5 +12,14 @@ def get_path(package, dir, file): def generate_launch_description(): return LaunchDescription( [ + Node( + package="cev_planner_ros2", + executable="planner_node", + name="cev_planner_ros2_node", + output="screen", + parameters=[ + get_path("cev_planner_ros2", "config", "cev_planner.yaml") + ], + ) ] ) diff --git a/src/planner_node.cpp b/src/planner_node.cpp index 7dc4809..4fe1d82 100644 --- a/src/planner_node.cpp +++ b/src/planner_node.cpp @@ -1,30 +1,115 @@ -#include #include +#include +#include + +#include +#include using namespace cev_planner; class PlannerNode : public rclcpp::Node { public: PlannerNode(): Node("planner_node") { + RCLCPP_INFO(this->get_logger(), "Initializing planner node"); + auto dimensions = Dimensions(); auto constraints = Constraints(); planner = std::make_shared(dimensions, constraints); - } - void plan_path() { - auto grid = Grid(); - auto start = Pose(); - auto target = Pose(); - auto trajectory = planner->plan_path(grid, start, target); + map_sub = this->create_subscription("map", 1, + std::bind(&PlannerNode::map_callback, this, std::placeholders::_1)); + + odom_sub = this->create_subscription("odom", 1, + std::bind(&PlannerNode::odom_callback, this, std::placeholders::_1)); + + target_sub = this->create_subscription("target", 1, + std::bind(&PlannerNode::target_callback, this, std::placeholders::_1)); + + path_pub = this->create_publisher("path", 1); } private: + Grid grid = Grid(); + Pose start = Pose(); + Pose target = Pose(); + + bool map_initialized = false; + bool odom_initialized = false; + bool target_initialized = false; + + cev_msgs::msg::Trajectory current_path; + std::shared_ptr planner; + + // Listener to the map + rclcpp::Subscription::SharedPtr map_sub; + + // Listener to odom + rclcpp::Subscription::SharedPtr odom_sub; + + // Listener to the target + rclcpp::Subscription::SharedPtr target_sub; + + // Publisher for the planned path + rclcpp::Publisher::SharedPtr path_pub; + + void odom_callback(const nav_msgs::msg::Odometry::SharedPtr msg) { + float qw = msg->pose.pose.orientation.w; + float qx = msg->pose.pose.orientation.x; + float qy = msg->pose.pose.orientation.y; + float qz = msg->pose.pose.orientation.z; + + float yaw = restrict_angle(atan2(2.0 * (qw * qz + qx * qy), + 1.0 - 2.0 * (qy * qy + qz * qz))); + + start = Pose{msg->pose.pose.position.x, msg->pose.pose.position.y, yaw}; + odom_initialized = true; + + if (map_initialized && target_initialized) { + Trajectory path = planner->plan_path(grid, start, target); + + current_path.header.stamp = msg->header.stamp; + current_path.header.frame_id = "odom"; + current_path.waypoints.clear(); + for (Waypoint waypoint: path.waypoints) { + cev_msgs::msg::Waypoint msg; + msg.x = waypoint.pose.x; + msg.y = waypoint.pose.y; + msg.v = 0.0; + current_path.waypoints.push_back(msg); + } + + path_pub->publish(current_path); + } + } + + void map_callback(const nav_msgs::msg::OccupancyGrid::SharedPtr msg) { + auto grid = Grid(); + grid.origin = Pose{msg->info.origin.position.x, msg->info.origin.position.y, 0}; + grid.resolution = msg->info.resolution; + grid.data = std::vector>(msg->info.width, + std::vector(msg->info.height)); + for (int i = 0; i < msg->info.width; i++) { + for (int j = 0; j < msg->info.height; j++) { + // Divide by 100 to get probability of occupancy in the range [0, 1] + // Unknown is -1 + grid.data[i][j] = msg->data[i * msg->info.width + j] / 100.0; + } + } + + map_initialized = true; + } + + void target_callback(const cev_msgs::msg::Waypoint msg) { + target = Pose{msg.x, msg.y, 0}; + target_initialized = true; + } }; int main(int argc, char** argv) { rclcpp::init(argc, argv); auto node = std::make_shared(); + rclcpp::spin(node); rclcpp::shutdown(); return 0; } \ No newline at end of file From d36ad5879d53447f8a3a340a2ad852a412bb17de Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Fri, 31 Jan 2025 21:22:41 -0500 Subject: [PATCH 085/196] Switch to eigen. --- CMakeLists.txt | 2 ++ cev_planner | 2 +- package.xml | 1 + src/planner_node.cpp | 13 +++++++++---- 4 files changed, 13 insertions(+), 5 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 92fe788..842ee6c 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -9,6 +9,7 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON) find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) find_package(nav_msgs REQUIRED) +find_package(Eigen3 REQUIRED) # CEV find_package(cev_msgs REQUIRED) @@ -33,6 +34,7 @@ ament_target_dependencies(planner_node rclcpp cev_msgs nav_msgs + Eigen3 ) target_link_libraries(planner_node diff --git a/cev_planner b/cev_planner index 9925972..8980c9b 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit 9925972a7c62031cadfbda19eed12d63369aa534 +Subproject commit 8980c9b127ae5712e9522d521b3945d57ee9c4ad diff --git a/package.xml b/package.xml index b966a63..7b49b57 100644 --- a/package.xml +++ b/package.xml @@ -10,6 +10,7 @@ ament_cmake rclcpp + eigen3 cev_msgs diff --git a/src/planner_node.cpp b/src/planner_node.cpp index 4fe1d82..64eb832 100644 --- a/src/planner_node.cpp +++ b/src/planner_node.cpp @@ -1,9 +1,11 @@ #include #include #include +#include #include #include +#include using namespace cev_planner; @@ -19,7 +21,7 @@ class PlannerNode : public rclcpp::Node { map_sub = this->create_subscription("map", 1, std::bind(&PlannerNode::map_callback, this, std::placeholders::_1)); - odom_sub = this->create_subscription("odom", 1, + odom_sub = this->create_subscription("/odometry/filtered", 1, std::bind(&PlannerNode::odom_callback, this, std::placeholders::_1)); target_sub = this->create_subscription("target", 1, @@ -65,6 +67,8 @@ class PlannerNode : public rclcpp::Node { start = Pose{msg->pose.pose.position.x, msg->pose.pose.position.y, yaw}; odom_initialized = true; + std::cout << start.x << " , " << start.y << " , " << yaw << std::endl; + if (map_initialized && target_initialized) { Trajectory path = planner->plan_path(grid, start, target); @@ -87,13 +91,14 @@ class PlannerNode : public rclcpp::Node { auto grid = Grid(); grid.origin = Pose{msg->info.origin.position.x, msg->info.origin.position.y, 0}; grid.resolution = msg->info.resolution; - grid.data = std::vector>(msg->info.width, - std::vector(msg->info.height)); + + grid.data = Eigen::MatrixXd(msg->info.width, msg->info.height); + for (int i = 0; i < msg->info.width; i++) { for (int j = 0; j < msg->info.height; j++) { // Divide by 100 to get probability of occupancy in the range [0, 1] // Unknown is -1 - grid.data[i][j] = msg->data[i * msg->info.width + j] / 100.0; + grid.data(i, j) = msg->data[i * msg->info.width + j] / 100.0; } } From 78b04757b2e699089fe04482955ce237f651d405 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Fri, 31 Jan 2025 21:32:04 -0500 Subject: [PATCH 086/196] Added NLopt --- CMakeLists.txt | 1 + cev_planner | 2 +- package.xml | 1 + 3 files changed, 3 insertions(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 842ee6c..fd06126 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -10,6 +10,7 @@ find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) find_package(nav_msgs REQUIRED) find_package(Eigen3 REQUIRED) +find_package(NLopt REQUIRED) # CEV find_package(cev_msgs REQUIRED) diff --git a/cev_planner b/cev_planner index 8980c9b..3e135ca 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit 8980c9b127ae5712e9522d521b3945d57ee9c4ad +Subproject commit 3e135ca801f623858576d1e1f138d86c5bbe3587 diff --git a/package.xml b/package.xml index 7b49b57..5ae52a8 100644 --- a/package.xml +++ b/package.xml @@ -11,6 +11,7 @@ rclcpp eigen3 + nlopt cev_msgs From 8b0c1fd5d5e295f3baffa026d46a0ebf20c2c6ed Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Fri, 31 Jan 2025 21:59:43 -0500 Subject: [PATCH 087/196] Update submodule. --- cev_planner | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cev_planner b/cev_planner index 3e135ca..3407573 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit 3e135ca801f623858576d1e1f138d86c5bbe3587 +Subproject commit 3407573d127117b18d8e19f043c6e0a9550ecdd3 From 8c447d52dbae794223291b36c3a75c690f77725b Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Tue, 4 Feb 2025 01:21:02 -0500 Subject: [PATCH 088/196] Optimization success to some extent. --- .gitmodules | 3 + tmp/Makefile | 15 +++ tmp/chat.cpp | 317 +++++++++++++++++++++++++++++++++++++++++++++ tmp/matplotlib-cpp | 1 + tmp/path_planner | Bin 0 -> 176136 bytes 5 files changed, 336 insertions(+) create mode 100644 tmp/Makefile create mode 100644 tmp/chat.cpp create mode 160000 tmp/matplotlib-cpp create mode 100755 tmp/path_planner diff --git a/.gitmodules b/.gitmodules index 8b4f46e..9195045 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,3 +1,6 @@ [submodule "cev_planner"] path = cev_planner url = git@github.com:cornellev/cev_planner.git +[submodule "tmp/matplotlib-cpp"] + path = tmp/matplotlib-cpp + url = https://github.com/lava/matplotlib-cpp.git diff --git a/tmp/Makefile b/tmp/Makefile new file mode 100644 index 0000000..6bc1663 --- /dev/null +++ b/tmp/Makefile @@ -0,0 +1,15 @@ +all: build run + +max: maxbuild run + +build: chat.cpp + g++ -std=c++17 chat.cpp -I/usr/include/python3.10 -lpython3.10 -lnlopt -o path_planner + +maxbuild: chat.cpp + g++ -std=c++17 chat.cpp -I/usr/include/python3.10 -lpython3.10 -lnlopt -O3 -o path_planner + +clean: ./path_planner + rm -f path_planner + +run: ./path_planner + ./path_planner \ No newline at end of file diff --git a/tmp/chat.cpp b/tmp/chat.cpp new file mode 100644 index 0000000..82313b4 --- /dev/null +++ b/tmp/chat.cpp @@ -0,0 +1,317 @@ +#include +#include +#include +#include +#include +#include +#include "matplotlib-cpp/matplotlibcpp.h" +namespace plt = matplotlibcpp; + +struct Dimensions { + double wheelbase; + double width; + double length; +}; + +// Define the bounds of the state space (min, max) +struct Bounds { + double x[2]; + double y[2]; + double tau[2]; + double vel[2]; + double accel[2]; + double dtau[2]; +}; + +struct State { + double x; + double y; + double theta; // Heading + double tau; // Steering angle + double vel; // Velocity +}; + +// Update step +struct Input { + double dtau; + double accel; +}; + +double bound(double x, double bound[2]) { + return std::clamp(x, bound[0], bound[1]); +} + +/** + * @brief Return a `State` updated with `Input u` + * + * @return `State x` updated with `Input u` and bounded by `Bounds bounds` over timestep `dt` + */ +State update(State& x, Input& u, Bounds& bounds, double dt, Dimensions& dims) { + State _x; + + _x.vel = bound(x.vel + bound(u.accel, bounds.accel) * dt, bounds.vel); + _x.tau = bound(x.tau + bound(u.dtau, bounds.dtau) * dt, bounds.tau); + + double avg_vel = (x.vel + _x.vel) / 2; + + double R = dims.wheelbase / tan(x.tau); + double dtheta = (avg_vel / R) * dt; + _x.theta = x.theta + dtheta; + + double avg_theta = (x.theta + _x.theta) / 2; + double avg_tau = (x.tau + _x.tau) / 2; + + _x.x = bound(x.x + avg_vel * cos(avg_theta + avg_tau) * dt, bounds.x); + _x.y = bound(x.y + avg_vel * sin(avg_theta + avg_tau) * dt, bounds.y); + + return _x; +} + +std::string to_string(State& x) { + return ( + "State(\n" + " x: " + std::to_string(x.x) + "\n" + " y: " + std::to_string(x.y) + "\n" + " theta: " + std::to_string(x.theta) + "\n" + " tau: " + std::to_string(x.tau) + "\n" + " vel: " + std::to_string(x.vel) + "\n" + ")" + ); +} + +// INITIALIZE AS IF CLASS +std::vector waypoints = { + {-1.0, -1.0, 0, 0, 0}, {1.0, 2.0, 0, 0, 0}, {3.0, 3.0, 0, 0, 0}}; // Waypoints +std::vector> obstacles = {{1, 1}, {1, 2}, {2, 2}}; // Obstacle coordinates +// std::vector> obstacles = {}; +Bounds bounds = { + {-10, 10}, // x + {-10, 10}, // y + {-M_PI / 4, M_PI / 4}, // tau + {0, 10}, // vel + {-2, 2}, // accel + {-M_PI / 8, M_PI / 8} // dtau +}; +Dimensions dims = { + .2, // wheelbase + 1, // width + 1 // length +}; +double dt = .1; + +double distance(State a, State b) { + double dx = a.x - b.x; + double dy = a.y - b.y; + return sqrt(dx * dx + dy * dy); +} + +double distance(State a, std::vector b) { + double dx = a.x - b[0]; + double dy = a.y - b[1]; + return sqrt(dx * dx + dy * dy); +} + +double distance(const std::vector& a, const std::vector& b) { + double dx = a[0] - b[0]; + double dy = a[1] - b[1]; + return sqrt(dx * dx + dy * dy); +} + +double path_obs_cost(std::vector& path, std::vector>& obstacles) { + double cost = 0; + for (int i = 0; i < path.size(); i++) { + for (int j = 0; j < obstacles.size(); j++) { + cost += 1 / distance(path[i], obstacles[j]); + // std::cout << 1 / distance({path[i].x, path[i].y}, obstacles[j]) << std::endl; + } + } + return cost; +} + +double path_waypoints_cost(std::vector& path, std::vector& waypoints) { + double cost = 0; + for (int i = 1; i < path.size(); i++) { + // Waypoints + for (int j = 1; j < waypoints.size() - 1; j++) { + cost += .3 * distance(path[i], waypoints[j]); + } + // Goal + cost += 2 * distance(path[i], waypoints[waypoints.size() - 1]); + } + return cost; +} + +std::vector decompose(State start_state, std::vector u, Bounds& bounds, double dt, + Dimensions& dims) { + std::vector path; + State state = start_state; + path.push_back(state); + for (int i = 0; i < u.size(); i += 2) { + Input input = {u[i], u[i + 1]}; + state = update(state, input, bounds, dt, dims); + path.push_back(state); + } + return path; +} + +// Objective function +double objective_function(const std::vector& x, std::vector& grad, void* data) { + std::vector path = decompose(waypoints[0], x, bounds, dt, dims); + double cost = path_obs_cost(path, obstacles) + path_waypoints_cost(path, waypoints); + + // std::cout << "Cost: " << cost << std::endl; + // Path obs + // std::cout << "Path obs cost: " << path_obs_cost(path, obstacles) << std::endl; + // Path waypoints + // std::cout << "Path waypoints cost: " << path_waypoints_cost(path, waypoints) << std::endl; + + return cost; +} + +void test_state() { + // TEST STATE + State state = { + 0, // x + 0, // y + M_PI / 4, // theta + 0, // tau + 0 // vel + }; + Input input = { + 0, // dtau + -2 // vel + }; + Bounds bounds = { + {-10, 10}, // x + {-10, 10}, // y + {-M_PI / 4, M_PI / 4}, // tau + {-10, 10}, // vel + {-2.0, 2.0}, // accel + {-M_PI / 8, M_PI / 8} // dtau + }; + Dimensions dims = { + .2, // wheelbase + 1, // width + 1 // length + }; + + // Start time measurement + auto start_time = std::chrono::high_resolution_clock::now(); + + for (int i = 0; i < 30; i++) { + state = update(state, input, bounds, .1, dims); + } + + // End time measurement + auto end_time = std::chrono::high_resolution_clock::now(); + + auto elapsed = end_time - start_time; + + std::cout << to_string(state) << std::endl; + std::cout << "State update ran for " << elapsed.count() << " seconds." << std::endl; + + std::cout << "Goal: " << waypoints[1].x << ", " << waypoints[1].y << std::endl; + std::cout << "\n Distance to Goal: " << distance({state.x, state.y}, waypoints[1]) << std::endl; +} + +void plot_path(const std::vector& path, const std::vector& waypoints, + const std::vector>& obstacles, double obstacle_radius = 0.3) { + std::vector path_x, path_y; + for (const auto& state: path) { + path_x.push_back(state.x); + path_y.push_back(state.y); + } + + std::vector wp_x, wp_y; + for (const auto& wp: waypoints) { + wp_x.push_back(wp.x); + wp_y.push_back(wp.y); + } + + // Plot path + plt::figure_size(800, 600); + plt::plot(path_x, path_y, + {{"label", "Path"}, {"color", "blue"}, {"linestyle", "-"}, {"marker", "o"}}); + + // Plot waypoints + plt::scatter(wp_x, wp_y, 100, {{"label", "Waypoints"}, {"color", "green"}}); + + // Draw obstacles as circles + for (const auto& obs: obstacles) { + std::vector circle_x, circle_y; + for (double angle = 0; angle <= 2 * M_PI; angle += 0.1) { + circle_x.push_back(obs[0] + obstacle_radius * cos(angle)); + circle_y.push_back(obs[1] + obstacle_radius * sin(angle)); + } + plt::plot(circle_x, circle_y, {{"color", "red"}, {"label", "Obstacle"}}); + } + + // Add legend (avoiding duplicate obstacle labels) + plt::legend(); + plt::title("Path Planning Visualization"); + plt::xlabel("X Position"); + plt::ylabel("Y Position"); + plt::grid(true); + plt::axis("equal"); // Maintain aspect ratio + + plt::show(); +} + +void optimize() { + int num_states = 10; + + nlopt::opt opt(nlopt::LN_COBYLA, num_states * 2); + opt.set_min_objective(objective_function, nullptr); + opt.set_xtol_rel(1e-4); + + // Set maximum time limit to 3 seconds + // opt.set_maxtime(3.0); + + std::vector x = {}; + for (int i = 0; i < num_states; i++) { + x.push_back(0); + x.push_back(0); + } + double minf; + + // Start time measurement + auto end_time = std::chrono::high_resolution_clock::now(); + auto start_time = std::chrono::high_resolution_clock::now(); + + try { + nlopt::result result = opt.optimize(x, minf); + end_time = std::chrono::high_resolution_clock::now(); + std::cout << "Optimization completed successfully." << std::endl; + } catch (std::exception& e) { + std::cerr << "Optimization failed: " << e.what() << std::endl; + } + + // End time measurement + std::chrono::duration elapsed = end_time - start_time; + + std::cout << "Optimization ran for " << elapsed.count() << " seconds." << std::endl; + std::cout << "\nCOST: " << minf << "\n" << std::endl; + + std::cout << "Inputs List: " << std::endl; + for (int i = 0; i < x.size(); i += 2) { + std::cout << "dtau: " << x[i] << ", accel: " << x[i + 1] << std::endl; + } + + std::cout << "States Table: " << std::endl; + std::vector path = decompose(waypoints[0], x, bounds, dt, dims); + // Headers with tabs + printf("x\ty\ttheta\ttau\tvel\n"); + + // Print table using tabs inside printf instead + for (int i = 0; i < path.size(); i++) { + printf("%.3f\t%.3f\t%.3f\t%.3f\t%.3f\n", path[i].x, path[i].y, path[i].theta, path[i].tau, + path[i].vel); + } + + plot_path(path, waypoints, obstacles); +} + +int main() { + optimize(); + return 0; +} diff --git a/tmp/matplotlib-cpp b/tmp/matplotlib-cpp new file mode 160000 index 0000000..ef0383f --- /dev/null +++ b/tmp/matplotlib-cpp @@ -0,0 +1 @@ +Subproject commit ef0383f1315d32e0156335e10b82e90b334f6d9f diff --git a/tmp/path_planner b/tmp/path_planner new file mode 100755 index 0000000000000000000000000000000000000000..9e4c1c2d0b809075401921e96dbfcbc2c47dfb50 GIT binary patch literal 176136 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+++++++++++++++++++++++++++++++++++++++++++---- tmp/path_planner | Bin 176136 -> 98200 bytes 2 files changed, 116 insertions(+), 9 deletions(-) diff --git a/tmp/chat.cpp b/tmp/chat.cpp index 82313b4..0422d5e 100644 --- a/tmp/chat.cpp +++ b/tmp/chat.cpp @@ -81,9 +81,12 @@ std::string to_string(State& x) { // INITIALIZE AS IF CLASS std::vector waypoints = { - {-1.0, -1.0, 0, 0, 0}, {1.0, 2.0, 0, 0, 0}, {3.0, 3.0, 0, 0, 0}}; // Waypoints -std::vector> obstacles = {{1, 1}, {1, 2}, {2, 2}}; // Obstacle coordinates -// std::vector> obstacles = {}; + {-1.0, -1.0, 0, 0, 0}, {1.0, 2.0, 0, 0, 0}, {3.0, 3.0, 0, 0, 0}}; // Waypoints +// std::vector> obstacles = {{1, 1}, {2, 2}}; // Obstacle coordinates +std::vector> obstacles = {}; + +std::vector path = {waypoints[0]}; + Bounds bounds = { {-10, 10}, // x {-10, 10}, // y @@ -119,6 +122,7 @@ double distance(const std::vector& a, const std::vector& b) { double path_obs_cost(std::vector& path, std::vector>& obstacles) { double cost = 0; + for (int i = 0; i < path.size(); i++) { for (int j = 0; j < obstacles.size(); j++) { cost += 1 / distance(path[i], obstacles[j]); @@ -132,9 +136,9 @@ double path_waypoints_cost(std::vector& path, std::vector& waypoin double cost = 0; for (int i = 1; i < path.size(); i++) { // Waypoints - for (int j = 1; j < waypoints.size() - 1; j++) { - cost += .3 * distance(path[i], waypoints[j]); - } + // for (int j = 1; j < waypoints.size() - 1; j++) { + // cost += .3 * distance(path[i], waypoints[j]); + // } // Goal cost += 2 * distance(path[i], waypoints[waypoints.size() - 1]); } @@ -156,8 +160,8 @@ std::vector decompose(State start_state, std::vector u, Bounds& b // Objective function double objective_function(const std::vector& x, std::vector& grad, void* data) { - std::vector path = decompose(waypoints[0], x, bounds, dt, dims); - double cost = path_obs_cost(path, obstacles) + path_waypoints_cost(path, waypoints); + std::vector path_ = decompose(path[path.size() - 1], x, bounds, dt, dims); + double cost = path_obs_cost(path_, obstacles) + path_waypoints_cost(path_, waypoints); // std::cout << "Cost: " << cost << std::endl; // Path obs @@ -257,6 +261,108 @@ void plot_path(const std::vector& path, const std::vector& waypoin plt::show(); } +void optimize_iter(nlopt::opt& opt, std::vector& initial_input) { + double minf; + nlopt::result result = opt.optimize(initial_input, minf); +} + +void plan() { + int num_states = 10; + + nlopt::opt opt(nlopt::LN_COBYLA, num_states * 2); + opt.set_min_objective(objective_function, nullptr); + opt.set_xtol_rel(1e-4); + + // Set bounds + std::vector lb, ub; + for (int i = 0; i < num_states; i++) { + lb.push_back(-M_PI / 8); + lb.push_back(-2); + ub.push_back(M_PI / 8); + ub.push_back(2); + } + opt.set_lower_bounds(lb); + opt.set_upper_bounds(ub); + + std::vector x = {}; + for (int i = 0; i < num_states; i++) { + x.push_back(0); + x.push_back(0); + } + + std::vector time_per_iter = {}; + + // std::vector path = {waypoints[0]}; + + // Start time measurement + auto start_time = std::chrono::high_resolution_clock::now(); + auto mid_time = std::chrono::high_resolution_clock::now(); + auto end_time = std::chrono::high_resolution_clock::now(); + + double max_time = 0; + + int num_iters = 0; + + while (distance(path[path.size() - 1], waypoints[waypoints.size() - 1]) > 0.3) { + mid_time = std::chrono::high_resolution_clock::now(); + optimize_iter(opt, x); + num_iters++; + end_time = std::chrono::high_resolution_clock::now(); + + if (std::chrono::duration(end_time - mid_time).count() > max_time) { + max_time = std::chrono::duration(end_time - mid_time).count(); + } + + time_per_iter.push_back(std::chrono::duration(end_time - mid_time).count()); + std::cout << "Iteration time: " + << std::chrono::duration(end_time - mid_time).count() << std::endl; + + std::vector new_path = decompose(path[path.size() - 1], x, bounds, dt, dims); + // Keep only the first 2 states of the new path + path.push_back(new_path[1]); + path.push_back(new_path[2]); + + // Print cost + // std::cout << "Cost: " << objective_function(x, x, nullptr) << std::endl; + + // Shift all inititial inputs left by two input sets + // x.erase(x.begin(), x.begin() + 4); + // // // Add two new input sets to the end + // x.push_back(0); + // x.push_back(0); + // x.push_back(0); + // x.push_back(0); + + // std::cout << "Inputs: " << std::endl; + // for (int i = 0; i < x.size(); i += 2) { + // std::cout << "dtau: " << x[i] << ", accel: " << x[i + 1] << std::endl; + // } + + // Set all x to 0 + x.clear(); + for (int i = 0; i < num_states; i++) { + x.push_back(0); + x.push_back(0); + } + + plot_path(path, waypoints, obstacles); + } + + end_time = std::chrono::high_resolution_clock::now(); + + std::cout << "Max iteration time: " << max_time << std::endl; + std::cout << "Avg iteration time: " + << std::chrono::duration(end_time - start_time).count() / num_iters + << std::endl; + + std::cout << "Time Per iter: " << std::endl; + for (int i = 0; i < time_per_iter.size(); i++) { + std::cout << time_per_iter[i] << std::endl; + } + + plot_path(path, waypoints, obstacles); +} + void optimize() { int num_states = 10; @@ -312,6 +418,7 @@ void optimize() { } int main() { - optimize(); + // optimize(); + plan(); return 0; } diff --git a/tmp/path_planner b/tmp/path_planner index 9e4c1c2d0b809075401921e96dbfcbc2c47dfb50..9698abe5bee1bbd4572cc7a55482a3408bf9ac2a 100755 GIT binary patch literal 98200 zcmeFad3+RA+6LMI8iI=5C{Y|mqecZ0NYE%5L=zxTtqn#NjS7Si0z|TzbXZg*nl#Y1 zJ(E#!a6$1Kbr=UnTyOvd1B4{*Q3u6s#09A`Di{@T&3&G8PA%Q(9{s+1?|&11bk%v! zyPx;$r>d6b`p0!kO6u-Xf8AXdxsq_dW{L!4D|r4wLgin!YlN$hE8BIdE7jE#pdR?2 zEwj2@cXyK+<~3R2Q6TC1E6K6flN6qLHKp@PxyrQb6s_sq%*HhI{IcsmZV$Zi@wh5CF$09x%c=FG@QU?Df?+wiUzsSo|bZdSm?TWqrB*8B8YRbDD zbo9$_{Zqy6nxy0N=wRX77bZ6;`|}!pEtC+V(4(8 z0`*G8f5z1KiBnxDmPW#q8(rOMW!mJ&ynZU5_`bV~PWqrQ$v4Y7E>enMRx%aU>&gnI%+wEz`FmFEoSKxo!KTm$;r=FjF-d6l- z+1WRSeoQMnYRpsbpS$bZKV12@MMr(n=a`dI?|<{o{o|^F{uBGHI%>=p4gGsw^U=>~ 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From 85b300b4ec451d9f921f911c224ab2069c312af1 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Tue, 4 Feb 2025 02:45:04 -0500 Subject: [PATCH 090/196] Constraint free optimization leads to faster convergence. --- tmp/chat.cpp | 36 +++++++++++++++++++++++------------- tmp/path_planner | Bin 98200 -> 98320 bytes 2 files changed, 23 insertions(+), 13 deletions(-) diff --git a/tmp/chat.cpp b/tmp/chat.cpp index 0422d5e..342e3ee 100644 --- a/tmp/chat.cpp +++ b/tmp/chat.cpp @@ -33,8 +33,8 @@ struct State { // Update step struct Input { - double dtau; - double accel; + double tau; + double vel; }; double bound(double x, double bound[2]) { @@ -49,8 +49,11 @@ double bound(double x, double bound[2]) { State update(State& x, Input& u, Bounds& bounds, double dt, Dimensions& dims) { State _x; - _x.vel = bound(x.vel + bound(u.accel, bounds.accel) * dt, bounds.vel); - _x.tau = bound(x.tau + bound(u.dtau, bounds.dtau) * dt, bounds.tau); + double accel = bound(u.vel - x.vel, bounds.accel); + double dtau = bound(u.tau - x.tau, bounds.dtau); + + _x.vel = bound(x.vel + accel * dt, bounds.vel); + _x.tau = bound(x.tau + dtau * dt, bounds.tau); double avg_vel = (x.vel + _x.vel) / 2; @@ -82,8 +85,8 @@ std::string to_string(State& x) { // INITIALIZE AS IF CLASS std::vector waypoints = { {-1.0, -1.0, 0, 0, 0}, {1.0, 2.0, 0, 0, 0}, {3.0, 3.0, 0, 0, 0}}; // Waypoints -// std::vector> obstacles = {{1, 1}, {2, 2}}; // Obstacle coordinates -std::vector> obstacles = {}; +std::vector> obstacles = {{1, 1}, {2, 2}}; // Obstacle coordinates +// std::vector> obstacles = {}; std::vector path = {waypoints[0]}; @@ -275,14 +278,20 @@ void plan() { // Set bounds std::vector lb, ub; + // for (int i = 0; i < num_states; i++) { + // lb.push_back(-M_PI / 8); + // lb.push_back(-2); + // ub.push_back(M_PI / 8); + // ub.push_back(2); + // } for (int i = 0; i < num_states; i++) { - lb.push_back(-M_PI / 8); - lb.push_back(-2); - ub.push_back(M_PI / 8); - ub.push_back(2); + lb.push_back(-M_PI / 4); + lb.push_back(0); + ub.push_back(M_PI / 4); + ub.push_back(10); } - opt.set_lower_bounds(lb); - opt.set_upper_bounds(ub); + // opt.set_lower_bounds(lb); + // opt.set_upper_bounds(ub); std::vector x = {}; for (int i = 0; i < num_states; i++) { @@ -342,7 +351,8 @@ void plan() { x.clear(); for (int i = 0; i < num_states; i++) { x.push_back(0); - x.push_back(0); + // Push back final velocity + x.push_back(path[path.size() - 1].vel); } plot_path(path, waypoints, obstacles); diff --git a/tmp/path_planner b/tmp/path_planner index 9698abe5bee1bbd4572cc7a55482a3408bf9ac2a..7c7262448d88db03f908e30cedb01497111873c5 100755 GIT binary patch delta 36254 zcma%k33yD``~SU@+=!4&g2+N57$nvNK@bv4O$d#(vBz3kDu|_HSbv4SmTe{0lRb}UZ-@&aNNmMMVQY@rXZwF96SvDli;rQ!Z z+iI@)38yIJy|2UlagtLfRSuPBa*9YcxpFf(mVJ&-3ph$%tZh(>ExAF}DpvK9yd+uj$0z*-psuiu;p0sb zYO*xgPl9Yoio!ds{@azPH5D*=5x%zvep>kWijw3jz3amJN}V)(KIlh0vmwm&(p(Mp z_Q{Qq=PxbQ+GbM>@Rg<2)P{cPZO-5)ZPo}*Z+sJ@B|ag 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zS@4AhL>NYI*lt+MXwS%~Fukyj@jveYVBrh`prS}?dTl+UHs=FqVQ4#jV?CoeqwMsT H^^EEOBJYCX From 9174af9a4841144ae86cecd494804e0eed8b9c04 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Tue, 4 Feb 2025 02:50:30 -0500 Subject: [PATCH 091/196] Nelder-Mead is unbelievably cracked. .003 s on avg iter. --- tmp/chat.cpp | 34 ++++++++++++++++++---------------- tmp/path_planner | Bin 98320 -> 94224 bytes 2 files changed, 18 insertions(+), 16 deletions(-) diff --git a/tmp/chat.cpp b/tmp/chat.cpp index 342e3ee..585f6cf 100644 --- a/tmp/chat.cpp +++ b/tmp/chat.cpp @@ -272,7 +272,9 @@ void optimize_iter(nlopt::opt& opt, std::vector& initial_input) { void plan() { int num_states = 10; - nlopt::opt opt(nlopt::LN_COBYLA, num_states * 2); + // nlopt::opt opt(nlopt::LN_COBYLA, num_states * 2); + // nlopt::opt opt(nlopt::LN_BOBYQA, num_states * 2); + nlopt::opt opt(nlopt::LN_NELDERMEAD, num_states * 2); opt.set_min_objective(objective_function, nullptr); opt.set_xtol_rel(1e-4); @@ -312,19 +314,19 @@ void plan() { int num_iters = 0; - while (distance(path[path.size() - 1], waypoints[waypoints.size() - 1]) > 0.3) { - mid_time = std::chrono::high_resolution_clock::now(); + while (distance(path[path.size() - 1], waypoints[waypoints.size() - 1]) > 0.5) { + // mid_time = std::chrono::high_resolution_clock::now(); optimize_iter(opt, x); num_iters++; - end_time = std::chrono::high_resolution_clock::now(); + // end_time = std::chrono::high_resolution_clock::now(); - if (std::chrono::duration(end_time - mid_time).count() > max_time) { - max_time = std::chrono::duration(end_time - mid_time).count(); - } + // if (std::chrono::duration(end_time - mid_time).count() > max_time) { + // max_time = std::chrono::duration(end_time - mid_time).count(); + // } - time_per_iter.push_back(std::chrono::duration(end_time - mid_time).count()); - std::cout << "Iteration time: " - << std::chrono::duration(end_time - mid_time).count() << std::endl; + // time_per_iter.push_back(std::chrono::duration(end_time - mid_time).count()); + // std::cout << "Iteration time: " + // << std::chrono::duration(end_time - mid_time).count() << std::endl; std::vector new_path = decompose(path[path.size() - 1], x, bounds, dt, dims); // Keep only the first 2 states of the new path @@ -355,20 +357,20 @@ void plan() { x.push_back(path[path.size() - 1].vel); } - plot_path(path, waypoints, obstacles); + // plot_path(path, waypoints, obstacles); } end_time = std::chrono::high_resolution_clock::now(); - std::cout << "Max iteration time: " << max_time << std::endl; + // std::cout << "Max iteration time: " << max_time << std::endl; std::cout << "Avg iteration time: " << std::chrono::duration(end_time - start_time).count() / num_iters << std::endl; - std::cout << "Time Per iter: " << std::endl; - for (int i = 0; i < time_per_iter.size(); i++) { - std::cout << time_per_iter[i] << std::endl; - } + // std::cout << "Time Per iter: " << std::endl; + // for (int i = 0; i < time_per_iter.size(); i++) { + // std::cout << time_per_iter[i] << std::endl; + // } plot_path(path, waypoints, obstacles); } diff --git a/tmp/path_planner b/tmp/path_planner index 7c7262448d88db03f908e30cedb01497111873c5..468670d3b588b9725f7a7e2e307e4d204870d21f 100755 GIT binary patch delta 34512 zcmZ{N34Bb~`~JN*uAPY`M94-$7SaSEK?o8i8id-{Xzf)EjioInB*An{n>rY6DP6SM zqLxy$NCeT^qAjJhQ|<_js;##9KkvEs&fLuR|C`TeoO7OcJ@0wXa+i^UoXQ24%DDNmdJ?bi(^l7n;pDp*HnW@KxI)ib}jHzW+(Rwu10^Qe^Hl_f-oa4tS{G zF9@28sPPYp6aOVm&q|H|t12r0TCJlI8h?R?U(#@kuIQ3zFEU(d*QKKJI4!8*7z4!#4SRm zMyQ&sdaOI7w+p>+-N0clT<^dc4JU1{t3l)cmKyL^-MB>%A~cUkV4|BK2+98kt{Wo$ zRD87wDd>)Q;}Z>fdK&Z>5DxnS2~;3-Aw&>p){f&f^`DgnJivgjHQ#i{>-aLGV;StY2rVa$dbaK(W4 zH{kk|mw`<-;QEXt+?W%W5-n<|iQq{JG_)}z+?W%BwxSXK3cmU$#DI_0L6n8s+C=>0 z4YTGK$tFbLE#;6n^}Z3CWZz)c2xq5;>}2qI@0@H+1JgD~4bsB2J^ zW5DYf@Wlqaz5y>V;C=>tr2%iC;oSaO1EHZoV7&p?H!~t{HsFm6{5uVJpaCy5;6Vob zaFVF@pN1gVKqxf`gc$HM20YY&Uozm@F^E$Y1K!NQf5(l(ewcyq$W0K0a04!M_RNCj z2E3{PZ(+cF4S1vh_c!2Cgsc4*gb)KE+8_{Nz*`#dSOeb5fF~I67z3Vcz+W)n7PEm6 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z0U%Oc!8uWA*g_%bJp9LPXS<+l0j6eGq#?U)iCx9n)XLv=6~}s7ZG{J3NNwXoTV#?L z9h7}s1#GV2F4OoS$89r`Fif;=?QHZ*V1I<>$r@_g4s`^|o+S1T@(lMDgn;@?cDgOS zn>a=)I%E5?8~VL-Qgk-UB4o%LPx@z|Q!lurjW%bbH-b*)Gl$w*bQhP_NM5MAJ;AoE zyBH2{u5=e?2W6gCsm>vJ)1SPlCu9cNW+aQf0|%*%@2B;F;n?Gov!!XaQ_Ic^I|E|I={U8($JV-sST~6N zhY@|~vW7lJ2=VxzvJLEk<}9-<=pn|$YNk~gTt{kB*(X#=n8t8`POcUs?mZB=bX&ci z;&XjAj#2r}%h8Qk+sH`fQ`#q{rQJSSEQlYT3;-F`)kuH_ue zNNrJ5#7=%rR4pyGy*fo~SJSyn6bIS9gjCJ4CaUqWCbk Date: Tue, 4 Feb 2025 23:26:34 -0500 Subject: [PATCH 092/196] Added kernel image output. --- tmp/Makefile | 5 +- tmp/chat.cpp | 37 ++++++----- tmp/costmap.png | Bin 0 -> 2846 bytes tmp/kernel | Bin 0 -> 37080 bytes tmp/kernel.cpp | 170 +++++++++++++++++++++++++++++++++++++++++++++++ tmp/path_planner | Bin 94224 -> 98440 bytes 6 files changed, 196 insertions(+), 16 deletions(-) create mode 100644 tmp/costmap.png create mode 100755 tmp/kernel create mode 100644 tmp/kernel.cpp diff --git a/tmp/Makefile b/tmp/Makefile index 6bc1663..a2f7d4c 100644 --- a/tmp/Makefile +++ b/tmp/Makefile @@ -8,8 +8,11 @@ build: chat.cpp maxbuild: chat.cpp g++ -std=c++17 chat.cpp -I/usr/include/python3.10 -lpython3.10 -lnlopt -O3 -o path_planner +kernel: kernel.cpp + g++ -std=c++17 -O3 -I/usr/include/eigen3 kernel.cpp -o kernel `pkg-config --cflags --libs opencv4` + clean: ./path_planner rm -f path_planner run: ./path_planner - ./path_planner \ No newline at end of file + ./path_planner diff --git a/tmp/chat.cpp b/tmp/chat.cpp index 585f6cf..36076a6 100644 --- a/tmp/chat.cpp +++ b/tmp/chat.cpp @@ -84,8 +84,13 @@ std::string to_string(State& x) { // INITIALIZE AS IF CLASS std::vector waypoints = { - {-1.0, -1.0, 0, 0, 0}, {1.0, 2.0, 0, 0, 0}, {3.0, 3.0, 0, 0, 0}}; // Waypoints -std::vector> obstacles = {{1, 1}, {2, 2}}; // Obstacle coordinates + {-1.0, -1.0, 0, 0, 0}, {1.0, 2.0, 0, 0, 0}, {10.0, 10.0, 0, 0, 0}}; // Waypoints +// std::vector> obstacles = {{1, 1}, {1, 2}, {2, 2}}; // Obstacle coordinates + +// 10 obstacles randomly placed +std::vector> obstacles = {{1, 1}, {1, 2}, {2, 1}, {3, 4}, {4, 6.5}, {4, 7.5}, + {4, 8.5}, {4, 9.5}, {4, 5}, {5, 4}, {6, 4}, {7, 8}, {8, 7}, {9, 10}}; + // std::vector> obstacles = {}; std::vector path = {waypoints[0]}; @@ -128,7 +133,7 @@ double path_obs_cost(std::vector& path, std::vector>& for (int i = 0; i < path.size(); i++) { for (int j = 0; j < obstacles.size(); j++) { - cost += 1 / distance(path[i], obstacles[j]); + cost += 3 / distance(path[i], obstacles[j]); // std::cout << 1 / distance({path[i].x, path[i].y}, obstacles[j]) << std::endl; } } @@ -139,9 +144,9 @@ double path_waypoints_cost(std::vector& path, std::vector& waypoin double cost = 0; for (int i = 1; i < path.size(); i++) { // Waypoints - // for (int j = 1; j < waypoints.size() - 1; j++) { - // cost += .3 * distance(path[i], waypoints[j]); - // } + for (int j = 1; j < waypoints.size() - 1; j++) { + cost += .3 * distance(path[i], waypoints[j]); + } // Goal cost += 2 * distance(path[i], waypoints[waypoints.size() - 1]); } @@ -275,6 +280,8 @@ void plan() { // nlopt::opt opt(nlopt::LN_COBYLA, num_states * 2); // nlopt::opt opt(nlopt::LN_BOBYQA, num_states * 2); nlopt::opt opt(nlopt::LN_NELDERMEAD, num_states * 2); + // nlopt::opt opt(nlopt::LN_SBPLX, num_states * 2); + // nlopt::opt opt(nlopt::LN_PRAXIS, num_states * 2); opt.set_min_objective(objective_function, nullptr); opt.set_xtol_rel(1e-4); @@ -315,18 +322,18 @@ void plan() { int num_iters = 0; while (distance(path[path.size() - 1], waypoints[waypoints.size() - 1]) > 0.5) { - // mid_time = std::chrono::high_resolution_clock::now(); + mid_time = std::chrono::high_resolution_clock::now(); optimize_iter(opt, x); num_iters++; - // end_time = std::chrono::high_resolution_clock::now(); + end_time = std::chrono::high_resolution_clock::now(); - // if (std::chrono::duration(end_time - mid_time).count() > max_time) { - // max_time = std::chrono::duration(end_time - mid_time).count(); - // } + if (std::chrono::duration(end_time - mid_time).count() > max_time) { + max_time = std::chrono::duration(end_time - mid_time).count(); + } - // time_per_iter.push_back(std::chrono::duration(end_time - mid_time).count()); - // std::cout << "Iteration time: " - // << std::chrono::duration(end_time - mid_time).count() << std::endl; + time_per_iter.push_back(std::chrono::duration(end_time - mid_time).count()); + std::cout << "Iteration time: " + << std::chrono::duration(end_time - mid_time).count() << std::endl; std::vector new_path = decompose(path[path.size() - 1], x, bounds, dt, dims); // Keep only the first 2 states of the new path @@ -362,7 +369,7 @@ void plan() { end_time = std::chrono::high_resolution_clock::now(); - // std::cout << "Max iteration time: " << max_time << std::endl; + std::cout << "Max iteration time: " << max_time << std::endl; std::cout << "Avg iteration time: " << std::chrono::duration(end_time - start_time).count() / num_iters << std::endl; diff --git a/tmp/costmap.png b/tmp/costmap.png new file mode 100644 index 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OpenCV header +#include +#include + +using namespace Eigen; +using namespace std; + +VectorXf createGaussianKernel(int search_radius, float sigma) { + int kernel_size = 2 * search_radius + 1; + VectorXf kernel(kernel_size); + float sum = 0.0f; + + for (int i = 0; i < kernel_size; ++i) { + int dist = i - search_radius; + kernel(i) = exp(-(dist * dist) / (2 * sigma * sigma)); + sum += kernel(i); + } + + // Normalize the kernel to ensure the sum is 1 + kernel /= sum; + return kernel; +} + +void visualizeCostmap(const std::vector>& costmap, const MatrixXf& grid, + const std::string& filename = "costmap.png") { + int rows = costmap.size(); + int cols = costmap[0].size(); + + // Flatten the 2D vector into a 1D array for cv::Mat + std::vector flatCostmap; + for (int i = 0; i < rows; ++i) { + for (int j = 0; j < cols; ++j) { + // Normalize cost values to range [0, 255] and add them to flatCostmap + flatCostmap.push_back(static_cast(costmap[i][j] + * 255.0)); // Assuming 0 <= cost <= 1 + // cout << costmap[i][j] << endl; + } + } + + // Create a cv::Mat from the flattened 1D array + cv::Mat image(rows, cols, CV_8UC1, flatCostmap.data()); // 8-bit single-channel image + + // Apply a colormap (e.g., 'JET', 'HOT', 'PLASMA') + cv::Mat coloredImage; + cv::applyColorMap(image, coloredImage, cv::COLORMAP_HOT); + + // Overlay the original grid on the colored image + for (int i = 0; i < grid.rows(); ++i) { + for (int j = 0; j < grid.cols(); ++j) { + if (grid(i, j) > 0) { + cv::rectangle(coloredImage, cv::Point(j, i), cv::Point(j + 1, i + 1), + cv::Scalar(255, 255, 255), -1); + } + } + } + + // Save the colored image to a file + cv::imwrite(filename, coloredImage); + + std::cout << "Costmap image saved as " << filename << std::endl; +} + +MatrixXf generate_random_obstacles(int rows, int cols) { + int num_obstacles = 10; + int obstacle_radius = 2; + MatrixXf grid = MatrixXf::Zero(rows, cols); + + for (int i = 0; i < num_obstacles; ++i) { + int x = rand() % rows; + int y = rand() % cols; + + for (int j = -obstacle_radius; j <= obstacle_radius; ++j) { + for (int k = -obstacle_radius; k <= obstacle_radius; ++k) { + int new_x = x + j; + int new_y = y + k; + + if (new_x >= 0 && new_x < rows && new_y >= 0 && new_y < cols) { + grid(new_x, new_y) = 1; + } + } + } + } + + return grid; +} + +int main() { + // Example grid initialization (replace with your actual data) + // MatrixXf grid(5, 5); // Example 5x5 grid + // grid << 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, + // 24, + // 25; + + // 5x5 grid with random 1s and 0s + MatrixXf grid = generate_random_obstacles(100, 100); + grid = (grid.array() > .5).cast(); + + // Print grid + // cout << "Grid:\n" << grid << endl; + + int search_radius = 10; + int kernel_size = 2 * search_radius + 1; + float sigma = 20.0; + + // Kernel initialization + VectorXf kernel = createGaussianKernel(search_radius, sigma); + + auto start_time = chrono::high_resolution_clock::now(); + + // Convolution along rows + MatrixXf row_conv = MatrixXf::Zero(grid.rows(), grid.cols()); + for (int i = 0; i < grid.rows(); ++i) { + for (int j = 0; j < grid.cols(); ++j) { + float sum = 0.0f; + for (int k = -search_radius; k <= search_radius; ++k) { + int idx = j + k; + if (idx >= 0 && idx < grid.cols()) { + sum += grid(i, idx) * kernel(k + search_radius); + } + } + row_conv(i, j) = sum; + } + } + + // Convolution along columns + MatrixXf cost_map = MatrixXf::Zero(grid.rows(), grid.cols()); + for (int j = 0; j < row_conv.cols(); ++j) { + for (int i = 0; i < row_conv.rows(); ++i) { + float sum = 0.0f; + for (int k = -search_radius; k <= search_radius; ++k) { + int idx = i + k; + if (idx >= 0 && idx < row_conv.rows()) { + sum += row_conv(idx, j) * kernel(k + search_radius); + } + } + cost_map(i, j) = sum; + } + } + + auto end_time = chrono::high_resolution_clock::now(); + chrono::duration elapsed = end_time - start_time; + + // Output the cost map + // cout << "Cost Map:\n" << cost_map << endl; + cout << "Elapsed Time: " << elapsed.count() << " seconds" << endl; + + // Visualize the cost map + // vis_cost_map(cost_map); + // Convert cost map to 2D vector for visualization + + cout << cost_map.rows() << endl; + + std::vector> cost_map_vec(cost_map.rows(), + std::vector(cost_map.cols())); + + for (int i = 0; i < cost_map.rows(); ++i) { + for (int j = 0; j < cost_map.cols(); ++j) { + cost_map_vec[i][j] = cost_map(i, j); + } + } + + visualizeCostmap(cost_map_vec, grid, "costmap.png"); + + return 0; +} diff --git a/tmp/path_planner b/tmp/path_planner index 468670d3b588b9725f7a7e2e307e4d204870d21f..199eaa843869445d854ed56065ef2fd89b0af626 100755 GIT binary patch delta 39359 zcmbV#33yD`8~2@?T!}4{gpgQ+gv6R4B#0&m6AeNwu~U0(L4vlJRHQW>qtR1_7S*by zs;yR)T4N1uXeTd39@dr_sue82acduMLu-#*XxefN1L=bm?e-*e7;mV0MXSgI_1 zrCecn=$8HxzfwdYS!OS3e8D>AM^V*FDOl7^DE#R*nC||!+}%Kc_0q^!4yc7mf^T7Z z*>Ze<;9FznC40>j8q!XXEbp$DY?J9kz08`T>RVQog@meXg`64kKWfJ6}Gcw-6dBWJo~}79!P>B73v>m0MW*2yCE+9SBbd 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zvtn}WDjR!fSa3ErTWK&m`tE;tY!6N{JyoKr3_v$M3!M(P%I#=QYA7T)e@ZvY2%)rb VQuMAGRrCREYMewC(XSfE{4dFTLEHcU diff --git a/tmp/kernel.cpp b/tmp/kernel.cpp index b36e9f4..7acd8b9 100644 --- a/tmp/kernel.cpp +++ b/tmp/kernel.cpp @@ -53,8 +53,9 @@ void visualizeCostmap(const std::vector>& costmap, const Mat for (int i = 0; i < grid.rows(); ++i) { for (int j = 0; j < grid.cols(); ++j) { if (grid(i, j) > 0) { + // cv::circle(coloredImage, cv::Point(j, i), 1, cv::Scalar(200, 200, 200), -1); cv::rectangle(coloredImage, cv::Point(j, i), cv::Point(j + 1, i + 1), - cv::Scalar(255, 255, 255), -1); + cv::Scalar(200, 200, 200), -1); } } } @@ -66,8 +67,8 @@ void visualizeCostmap(const std::vector>& costmap, const Mat } MatrixXf generate_random_obstacles(int rows, int cols) { - int num_obstacles = 10; - int obstacle_radius = 2; + int num_obstacles = 1000; + int obstacle_radius = 10; MatrixXf grid = MatrixXf::Zero(rows, cols); for (int i = 0; i < num_obstacles; ++i) { @@ -79,7 +80,10 @@ MatrixXf generate_random_obstacles(int rows, int cols) { int new_x = x + j; int new_y = y + k; - if (new_x >= 0 && new_x < rows && new_y >= 0 && new_y < cols) { + float dist = sqrt(j * j + k * k); + + if (new_x >= 0 && new_x < rows && new_y >= 0 && new_y < cols + && dist <= obstacle_radius) { grid(new_x, new_y) = 1; } } @@ -97,13 +101,13 @@ int main() { // 25; // 5x5 grid with random 1s and 0s - MatrixXf grid = generate_random_obstacles(100, 100); + MatrixXf grid = generate_random_obstacles(1000, 1000); grid = (grid.array() > .5).cast(); // Print grid // cout << "Grid:\n" << grid << endl; - int search_radius = 10; + int search_radius = 30; int kernel_size = 2 * search_radius + 1; float sigma = 20.0; From 9af4bb696890221db1b7958e97e109b00129a5ad Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Wed, 5 Feb 2025 14:08:38 -0500 Subject: [PATCH 094/196] Random seeding. --- tmp/costmap.png | Bin 628952 -> 5631 bytes tmp/kernel | Bin 37120 -> 37144 bytes tmp/kernel.cpp | 20 +++++++++++++++----- 3 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b/tmp/kernel.cpp @@ -61,6 +61,15 @@ void visualizeCostmap(const std::vector>& costmap, const Mat } } + // Invert the image (optional) + // cv::bitwise_not(coloredImage, coloredImage); + + // Make the red stronger + // cv::Mat channels[3]; + // cv::split(coloredImage, channels); + // channels[2] = channels[2] * 2.0; + // cv::merge(channels, 3, coloredImage); + // Save the colored image to a file cv::imwrite(filename, coloredImage); @@ -75,8 +84,8 @@ void visualizeCostmap(const std::vector>& costmap, const Mat // } MatrixXf generate_random_obstacles(int rows, int cols) { - int num_obstacles = 10; - int obstacle_radius = 5; + int num_obstacles = 100; + int obstacle_radius = 10; MatrixXf grid = MatrixXf::Zero(rows, cols); srand(1000); @@ -111,15 +120,15 @@ int main() { // 25; // 5x5 grid with random 1s and 0s - MatrixXf grid = generate_random_obstacles(100, 100); + MatrixXf grid = generate_random_obstacles(1000, 1000); grid = (grid.array() > .5).cast(); // Print grid // cout << "Grid:\n" << grid << endl; - int search_radius = 10; + int search_radius = 30; int kernel_size = 2 * search_radius + 1; - float sigma = 5.0; + float sigma = 15.0; // Kernel initialization VectorXf kernel = createGaussianKernel(search_radius, sigma); From 45475096ad2f87f1e33d7763c39cdc015ed39c8b Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Thu, 6 Feb 2025 17:03:03 -0500 Subject: [PATCH 097/196] Works! --- cev_planner | 2 +- src/planner_node.cpp | 30 ++++++++++++++++++++++++++++-- 2 files changed, 29 insertions(+), 3 deletions(-) diff --git a/cev_planner b/cev_planner index b1d5406..f6117bb 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit b1d540670998c84fcd435364b5eb56c98401ad5d +Subproject commit f6117bb977ab6f09d3131354fb96cd670ad79488 diff --git a/src/planner_node.cpp b/src/planner_node.cpp index 7462116..ca1a5df 100644 --- a/src/planner_node.cpp +++ b/src/planner_node.cpp @@ -21,6 +21,7 @@ class PlannerNode : public rclcpp::Node { auto dimensions = Dimensions(); auto constraints = Constraints(); + planner = std::make_shared(dimensions, constraints, std::make_shared(10, 5.0)); @@ -137,11 +138,36 @@ class PlannerNode : public rclcpp::Node { for (int i = 0; i < msg->info.width; i++) { for (int j = 0; j < msg->info.height; j++) { // Divide by 100 to get probability of occupancy in the range [0, 1] - // Unknown is -1 - grid.data(i, j) = msg->data[i * msg->info.width + j] / 100.0; + if (msg->data[j * msg->info.width + i] < 50) { + grid.data(i, j) = 0.0; + } else { + grid.data(i, j) = std::min(msg->data[j * msg->info.width + i] / 100.0, 1.0); + } } } + // int i_increment = 1; + // int j_increment = 1; + // int i = 0; + // int j = 0; + + // int width = 100; + // int length = 50; + + // grid.data = Eigen::MatrixXf(width, length); + + // while (i < width) { + // j = 0; + // j_increment = 1; + // while (j < length) { + // grid.data(i, j) = 1.0; + // j += j_increment; + // // j_increment += 1; + // } + // i += i_increment; + // i_increment += 1; + // } + map_initialized = true; } From 784e59ab65bddef69fbe65fd500bb664932c00b9 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Thu, 6 Feb 2025 23:33:19 -0500 Subject: [PATCH 098/196] OMG --- cev_planner | 2 +- src/planner_node.cpp | 54 +++++++++++++++++++++++++++++++++----------- 2 files changed, 42 insertions(+), 14 deletions(-) diff --git a/cev_planner b/cev_planner index f6117bb..fe1a284 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit f6117bb977ab6f09d3131354fb96cd670ad79488 +Subproject commit fe1a284d0cf42ac5a1f7e7d312b63a9a4566f62d diff --git a/src/planner_node.cpp b/src/planner_node.cpp index ca1a5df..395b3bb 100644 --- a/src/planner_node.cpp +++ b/src/planner_node.cpp @@ -1,6 +1,7 @@ #include #include #include +#include #include #include #include "tf2_ros/transform_listener.h" @@ -19,11 +20,18 @@ class PlannerNode : public rclcpp::Node { PlannerNode(): Node("planner_node") { RCLCPP_INFO(this->get_logger(), "Initializing planner node"); - auto dimensions = Dimensions(); - auto constraints = Constraints(); + Dimensions dimensions = Dimensions{1.0, 1.0, 1.0}; + Constraints constraints = Constraints{ + {-1000, 1000}, // x + {-1000, 1000}, // y + {-M_PI / 4, M_PI / 4}, // tau + {0, 10}, // vel + {-1, 1}, // accel + {-M_PI / 4, M_PI / 4} // dtau + }; planner = std::make_shared(dimensions, constraints, - std::make_shared(10, 5.0)); + std::make_shared(15, 10.0)); tf_buffer_ = std::make_unique(this->get_clock()); tf_listener_ = std::make_shared(*tf_buffer_); @@ -38,12 +46,14 @@ class PlannerNode : public rclcpp::Node { std::bind(&PlannerNode::target_callback, this, std::placeholders::_1)); path_pub = this->create_publisher("path", 1); + + nav_path_pub = this->create_publisher("nav_path", 1); } private: Grid grid = Grid(); State start = State(); - State target = State(); + State target = State{5, 5, 0, 0, 0}; bool map_initialized = false; bool odom_initialized = false; @@ -77,6 +87,8 @@ class PlannerNode : public rclcpp::Node { // Publisher for the planned path rclcpp::Publisher::SharedPtr path_pub; + rclcpp::Publisher::SharedPtr nav_path_pub; + void odom_callback(const nav_msgs::msg::Odometry::SharedPtr msg) { float qw = msg->pose.pose.orientation.w; float qx = msg->pose.pose.orientation.x; @@ -95,7 +107,6 @@ class PlannerNode : public rclcpp::Node { try { transform = tf_buffer_->lookupTransform(map_frame, odom_frame, tf2::TimePointZero); } catch (tf2::TransformException& ex) { - RCLCPP_ERROR(this->get_logger(), "Could not transform odom to map: %s", ex.what()); return; } @@ -104,11 +115,11 @@ class PlannerNode : public rclcpp::Node { start.pose.x += transform.transform.translation.x; start.pose.y += transform.transform.translation.y; - start.pose.theta = restrict_angle(tf2::getYaw(transform.transform.rotation) - + start.pose.theta); + start.pose.theta = restrict_angle(start.pose.theta + + tf2::getYaw(transform.transform.rotation)); - std::cout << start.pose.x << " , " << start.pose.y << " , " << start.pose.theta - << std::endl; + // std::cout << start.pose.x << " , " << start.pose.y << " , " << start.pose.theta + // << std::endl; if (map_initialized && odom_initialized && target_initialized) { Trajectory path = planner->plan_path(grid, start, target, Trajectory()); @@ -116,15 +127,32 @@ class PlannerNode : public rclcpp::Node { current_path.header.stamp = msg->header.stamp; current_path.header.frame_id = "map"; current_path.waypoints.clear(); - for (Waypoint waypoint: path.waypoints) { + for (State waypoint: path.waypoints) { cev_msgs::msg::Waypoint msg; - msg.x = waypoint.state.pose.x; - msg.y = waypoint.state.pose.y; - msg.v = waypoint.velocity; + msg.x = waypoint.pose.x; + msg.y = waypoint.pose.y; + msg.v = waypoint.vel; current_path.waypoints.push_back(msg); } path_pub->publish(current_path); + + nav_msgs::msg::Path nav_path; + nav_path.header.stamp = msg->header.stamp; + nav_path.header.frame_id = "map"; + nav_path.poses.clear(); + + for (State waypoint: path.waypoints) { + geometry_msgs::msg::PoseStamped pose; + pose.pose.position.x = waypoint.pose.x; + pose.pose.position.y = waypoint.pose.y; + pose.pose.position.z = 0; + pose.pose.orientation = tf2::toMsg(tf2::Quaternion(tf2::Vector3(0, 0, 1), + waypoint.pose.theta)); + nav_path.poses.push_back(pose); + } + + nav_path_pub->publish(nav_path); } } From edea615667ad9333460d5c16ecd411a2e6af2a22 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sat, 8 Feb 2025 00:00:48 -0500 Subject: [PATCH 099/196] Rviz debugging util. --- cev_planner | 2 +- src/planner_node.cpp | 53 +++++++++++++++++--------------------------- 2 files changed, 21 insertions(+), 34 deletions(-) diff --git a/cev_planner b/cev_planner index fe1a284..a91fe8c 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit fe1a284d0cf42ac5a1f7e7d312b63a9a4566f62d +Subproject commit a91fe8c94fd6866911ab1236dd78f00f6a3df6ab diff --git a/src/planner_node.cpp b/src/planner_node.cpp index 395b3bb..0b16e20 100644 --- a/src/planner_node.cpp +++ b/src/planner_node.cpp @@ -25,13 +25,13 @@ class PlannerNode : public rclcpp::Node { {-1000, 1000}, // x {-1000, 1000}, // y {-M_PI / 4, M_PI / 4}, // tau - {0, 10}, // vel - {-1, 1}, // accel + {0, .5}, // vel + {0, .25}, // accel {-M_PI / 4, M_PI / 4} // dtau }; planner = std::make_shared(dimensions, constraints, - std::make_shared(15, 10.0)); + std::make_shared(15, 5.0)); tf_buffer_ = std::make_unique(this->get_clock()); tf_listener_ = std::make_shared(*tf_buffer_); @@ -48,6 +48,9 @@ class PlannerNode : public rclcpp::Node { path_pub = this->create_publisher("path", 1); nav_path_pub = this->create_publisher("nav_path", 1); + + target_rviz_sub = this->create_subscription("goal_pose", 1, + std::bind(&PlannerNode::rviz_target_callback, this, std::placeholders::_1)); } private: @@ -89,6 +92,8 @@ class PlannerNode : public rclcpp::Node { rclcpp::Publisher::SharedPtr nav_path_pub; + rclcpp::Subscription::SharedPtr target_rviz_sub; + void odom_callback(const nav_msgs::msg::Odometry::SharedPtr msg) { float qw = msg->pose.pose.orientation.w; float qx = msg->pose.pose.orientation.x; @@ -113,13 +118,10 @@ class PlannerNode : public rclcpp::Node { tf2::Transform tf_transform; tf2::fromMsg(transform.transform, tf_transform); - start.pose.x += transform.transform.translation.x; - start.pose.y += transform.transform.translation.y; - start.pose.theta = restrict_angle(start.pose.theta - + tf2::getYaw(transform.transform.rotation)); - - // std::cout << start.pose.x << " , " << start.pose.y << " , " << start.pose.theta - // << std::endl; + // start.pose.x += transform.transform.translation.x; + // start.pose.y += transform.transform.translation.y; + // start.pose.theta = restrict_angle(start.pose.theta + // + tf2::getYaw(transform.transform.rotation)); if (map_initialized && odom_initialized && target_initialized) { Trajectory path = planner->plan_path(grid, start, target, Trajectory()); @@ -166,7 +168,9 @@ class PlannerNode : public rclcpp::Node { for (int i = 0; i < msg->info.width; i++) { for (int j = 0; j < msg->info.height; j++) { // Divide by 100 to get probability of occupancy in the range [0, 1] - if (msg->data[j * msg->info.width + i] < 50) { + if (msg->data[j * msg->info.width + i] < 0) { + grid.data(i, j) = .3; + } else if (msg->data[j * msg->info.width + i] < 50) { grid.data(i, j) = 0.0; } else { grid.data(i, j) = std::min(msg->data[j * msg->info.width + i] / 100.0, 1.0); @@ -174,28 +178,6 @@ class PlannerNode : public rclcpp::Node { } } - // int i_increment = 1; - // int j_increment = 1; - // int i = 0; - // int j = 0; - - // int width = 100; - // int length = 50; - - // grid.data = Eigen::MatrixXf(width, length); - - // while (i < width) { - // j = 0; - // j_increment = 1; - // while (j < length) { - // grid.data(i, j) = 1.0; - // j += j_increment; - // // j_increment += 1; - // } - // i += i_increment; - // i_increment += 1; - // } - map_initialized = true; } @@ -203,6 +185,11 @@ class PlannerNode : public rclcpp::Node { target = State{msg.x, msg.y, 0, msg.v, 0}; target_initialized = true; } + + void rviz_target_callback(const geometry_msgs::msg::PoseStamped msg) { + target = State{msg.pose.position.x, msg.pose.position.y, 0, 0, 0}; + target_initialized = true; + } }; int main(int argc, char** argv) { From 1576e8af714a802cd1ee83578349a6d445622760 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sat, 8 Feb 2025 00:25:59 -0500 Subject: [PATCH 100/196] Oh. My. God! --- cev_planner | 2 +- src/planner_node.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/cev_planner b/cev_planner index a91fe8c..5d2c780 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit a91fe8c94fd6866911ab1236dd78f00f6a3df6ab +Subproject commit 5d2c780a850bec8eb8bd7c117f250c405cd3aa5d diff --git a/src/planner_node.cpp b/src/planner_node.cpp index 0b16e20..08ee1c4 100644 --- a/src/planner_node.cpp +++ b/src/planner_node.cpp @@ -45,7 +45,7 @@ class PlannerNode : public rclcpp::Node { target_sub = this->create_subscription("target", 1, std::bind(&PlannerNode::target_callback, this, std::placeholders::_1)); - path_pub = this->create_publisher("path", 1); + path_pub = this->create_publisher("trajectory", 1); nav_path_pub = this->create_publisher("nav_path", 1); From ac587c0984220b46ec161879a3693b1510b9b077 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sat, 8 Feb 2025 11:15:47 -0500 Subject: [PATCH 101/196] Update README.md --- README.md | 14 ++++++++++++++ src/planner_node.cpp | 21 +++++++++++++++------ 2 files changed, 29 insertions(+), 6 deletions(-) diff --git a/README.md b/README.md index 8b13789..79b5245 100644 --- a/README.md +++ b/README.md @@ -1 +1,15 @@ +### Development Setup +Make a new folder for the ROS2 workspace +and make a `src` folder inside. `cd` into the +`src` folder and then: +`git clone --recurse-submodules {repo_url}` +`sudo apt install libnlopt-dev` + +Then `cd` back to the workspace root and `colcon build`. + +--- +### Running +In the workspace root: +`source install/setup.bash` +`ros2 launch cev_planner_ros2 launch.py` \ No newline at end of file diff --git a/src/planner_node.cpp b/src/planner_node.cpp index 08ee1c4..58de8ed 100644 --- a/src/planner_node.cpp +++ b/src/planner_node.cpp @@ -20,8 +20,8 @@ class PlannerNode : public rclcpp::Node { PlannerNode(): Node("planner_node") { RCLCPP_INFO(this->get_logger(), "Initializing planner node"); - Dimensions dimensions = Dimensions{1.0, 1.0, 1.0}; - Constraints constraints = Constraints{ + Dimensions dimensions = Dimensions{.3, .3, .3}; + Constraints positive_constraints = Constraints{ {-1000, 1000}, // x {-1000, 1000}, // y {-M_PI / 4, M_PI / 4}, // tau @@ -30,8 +30,17 @@ class PlannerNode : public rclcpp::Node { {-M_PI / 4, M_PI / 4} // dtau }; - planner = std::make_shared(dimensions, constraints, - std::make_shared(15, 5.0)); + Constraints full_constraints = Constraints{ + {-1000, 1000}, // x + {-1000, 1000}, // y + {-M_PI / 4, M_PI / 4}, // tau + {-.5, .5}, // vel + {-.25, .25}, // accel + {-M_PI / 4, M_PI / 4} // dtau + }; + + planner = std::make_shared(dimensions, full_constraints, + std::make_shared(15, 2.0)); tf_buffer_ = std::make_unique(this->get_clock()); tf_listener_ = std::make_shared(*tf_buffer_); @@ -56,11 +65,11 @@ class PlannerNode : public rclcpp::Node { private: Grid grid = Grid(); State start = State(); - State target = State{5, 5, 0, 0, 0}; + State target = State(); bool map_initialized = false; bool odom_initialized = false; - bool target_initialized = true; + bool target_initialized = false; cev_msgs::msg::Trajectory current_path; From e8441262976fc7e45c6f74e17867571987ca9c53 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sat, 8 Feb 2025 11:17:57 -0500 Subject: [PATCH 102/196] Forgot cev_msgs --- README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/README.md b/README.md index 79b5245..db60404 100644 --- a/README.md +++ b/README.md @@ -5,6 +5,7 @@ and make a `src` folder inside. `cd` into the `src` folder and then: `git clone --recurse-submodules {repo_url}` `sudo apt install libnlopt-dev` +Clone [cev_msgs](https://github.com/cornellev/cev_msgs) Then `cd` back to the workspace root and `colcon build`. From 2b80392712990d79134508191020f68ae8d4e765 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sat, 8 Feb 2025 19:10:09 -0500 Subject: [PATCH 103/196] Update Waypoint.msg to include inputs. --- README.md | 10 ++++++---- msg/Waypoint.msg | 4 +++- 2 files changed, 9 insertions(+), 5 deletions(-) diff --git a/README.md b/README.md index bc681f5..864bcc8 100644 --- a/README.md +++ b/README.md @@ -10,7 +10,9 @@ Trajectory.msg - Waypoint[] : waypoints [ Array of Waypoints ] Waypoint.msg - - float32 : x [ x-coordinate in meters ] - - float32 : y [ y-coordinate in meters ] - - float32 : v [ velocity in m/s ] - \ No newline at end of file + - float32 : x [ x-coordinate in meters ] + - float32 : y [ y-coordinate in meters ] + - float32 : v [ velocity in m/s ] + - float32 : tau [ steering angle in radians ] + - float32 : theta [ heading in radians ] + diff --git a/msg/Waypoint.msg b/msg/Waypoint.msg index 400dc4a..8b406ca 100644 --- a/msg/Waypoint.msg +++ b/msg/Waypoint.msg @@ -6,4 +6,6 @@ # float32 x float32 y -float32 v \ No newline at end of file +float32 v +float32 tau +float32 theta From 2e36d1bd790ff0f7a7caa27a150182da620cfc02 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sun, 9 Feb 2025 05:23:40 -0500 Subject: [PATCH 104/196] Sending to car --- README.md | 1 + cev_planner | 2 +- src/planner_node.cpp | 41 +++++++++++++++++++++++------------------ 3 files changed, 25 insertions(+), 19 deletions(-) diff --git a/README.md b/README.md index db60404..c8af174 100644 --- a/README.md +++ b/README.md @@ -5,6 +5,7 @@ and make a `src` folder inside. `cd` into the `src` folder and then: `git clone --recurse-submodules {repo_url}` `sudo apt install libnlopt-dev` +`sudo apt install libnlopt-cxx-dev` Clone [cev_msgs](https://github.com/cornellev/cev_msgs) Then `cd` back to the workspace root and `colcon build`. diff --git a/cev_planner b/cev_planner index 5d2c780..20ffeda 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit 5d2c780a850bec8eb8bd7c117f250c405cd3aa5d +Subproject commit 20ffeda4b912a0275f129ced15487e0cbf7dd246 diff --git a/src/planner_node.cpp b/src/planner_node.cpp index 58de8ed..1d799cd 100644 --- a/src/planner_node.cpp +++ b/src/planner_node.cpp @@ -12,6 +12,7 @@ #include "local_planning/mpc.h" #include "cost_map/gaussian_conv.h" +#include "cost_map/nearest.h" using namespace cev_planner; @@ -22,25 +23,25 @@ class PlannerNode : public rclcpp::Node { Dimensions dimensions = Dimensions{.3, .3, .3}; Constraints positive_constraints = Constraints{ - {-1000, 1000}, // x - {-1000, 1000}, // y - {-M_PI / 4, M_PI / 4}, // tau - {0, .5}, // vel - {0, .25}, // accel - {-M_PI / 4, M_PI / 4} // dtau + {-1000, 1000}, // x + {-1000, 1000}, // y + {-.34, .34}, // tau + {0, .5}, // vel + {0, .25}, // accel + {-.34, .34} // dtau }; Constraints full_constraints = Constraints{ - {-1000, 1000}, // x - {-1000, 1000}, // y - {-M_PI / 4, M_PI / 4}, // tau - {-.5, .5}, // vel - {-.25, .25}, // accel - {-M_PI / 4, M_PI / 4} // dtau + {-1000, 1000}, // x + {-1000, 1000}, // y + {-.34, .34}, // tau + {-1, 1}, // vel + {-.5, .5}, // accel + {-.34, .34} // dtau }; planner = std::make_shared(dimensions, full_constraints, - std::make_shared(15, 2.0)); + std::make_shared(15, 1.15)); tf_buffer_ = std::make_unique(this->get_clock()); tf_listener_ = std::make_shared(*tf_buffer_); @@ -127,12 +128,13 @@ class PlannerNode : public rclcpp::Node { tf2::Transform tf_transform; tf2::fromMsg(transform.transform, tf_transform); - // start.pose.x += transform.transform.translation.x; - // start.pose.y += transform.transform.translation.y; - // start.pose.theta = restrict_angle(start.pose.theta - // + tf2::getYaw(transform.transform.rotation)); + start.pose.x += transform.transform.translation.x; + start.pose.y += transform.transform.translation.y; + start.pose.theta = restrict_angle(start.pose.theta + + tf2::getYaw(transform.transform.rotation)); if (map_initialized && odom_initialized && target_initialized) { + std::cout << "Planning!" << std::endl; Trajectory path = planner->plan_path(grid, start, target, Trajectory()); current_path.header.stamp = msg->header.stamp; @@ -143,6 +145,8 @@ class PlannerNode : public rclcpp::Node { msg.x = waypoint.pose.x; msg.y = waypoint.pose.y; msg.v = waypoint.vel; + msg.theta = waypoint.pose.theta; + msg.tau = waypoint.tau; current_path.waypoints.push_back(msg); } @@ -182,7 +186,8 @@ class PlannerNode : public rclcpp::Node { } else if (msg->data[j * msg->info.width + i] < 50) { grid.data(i, j) = 0.0; } else { - grid.data(i, j) = std::min(msg->data[j * msg->info.width + i] / 100.0, 1.0); + // grid.data(i, j) = std::min(msg->data[j * msg->info.width + i] / 100.0, 1.0); + grid.data(i, j) = 1.0; } } } From 67980d0498cb44210294e95a594e62b0967dd259 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Tue, 11 Feb 2025 00:09:52 -0500 Subject: [PATCH 105/196] Fix transform. --- CMakeLists.txt | 17 ++++++++ costmap.png | Bin 0 -> 6863 bytes src/planner_node.cpp | 101 +++++++++++++++++++++++++++++-------------- src/tf_test.cpp | 53 +++++++++++++++++++++++ trajectory.png | Bin 0 -> 1936 bytes 5 files changed, 139 insertions(+), 32 deletions(-) create mode 100644 costmap.png create mode 100644 src/tf_test.cpp create mode 100644 trajectory.png diff --git a/CMakeLists.txt b/CMakeLists.txt index c43dd70..3009e8f 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -32,6 +32,7 @@ set(SOURCES ) add_executable(planner_node ${SOURCES}) +add_executable(tf_test src/tf_test.cpp) ament_target_dependencies(planner_node rclcpp @@ -42,14 +43,30 @@ ament_target_dependencies(planner_node tf2_geometry_msgs ) +ament_target_dependencies(tf_test + rclcpp + cev_msgs + nav_msgs + Eigen3 + tf2_ros + tf2_geometry_msgs +) + target_link_libraries(planner_node cev_planner ) +target_link_libraries(tf_test + cev_planner +) + # Declare the executable install(TARGETS planner_node DESTINATION lib/${PROJECT_NAME}) +install(TARGETS tf_test + DESTINATION lib/${PROJECT_NAME}) + # Install 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b/src/planner_node.cpp index 1d799cd..46e017b 100644 --- a/src/planner_node.cpp +++ b/src/planner_node.cpp @@ -18,7 +18,7 @@ using namespace cev_planner; class PlannerNode : public rclcpp::Node { public: - PlannerNode(): Node("planner_node") { + PlannerNode(): Node("planner_node"), tf_buffer_(this->get_clock()), tf_listener_(tf_buffer_) { RCLCPP_INFO(this->get_logger(), "Initializing planner node"); Dimensions dimensions = Dimensions{.3, .3, .3}; @@ -35,16 +35,13 @@ class PlannerNode : public rclcpp::Node { {-1000, 1000}, // x {-1000, 1000}, // y {-.34, .34}, // tau - {-1, 1}, // vel - {-.5, .5}, // accel + {-.5, .75}, // vel + {-.25, .25}, // accel {-.34, .34} // dtau }; planner = std::make_shared(dimensions, full_constraints, - std::make_shared(15, 1.15)); - - tf_buffer_ = std::make_unique(this->get_clock()); - tf_listener_ = std::make_shared(*tf_buffer_); + std::make_shared(5, 1.05)); map_sub = this->create_subscription("map", 1, std::bind(&PlannerNode::map_callback, this, std::placeholders::_1)); @@ -61,12 +58,18 @@ class PlannerNode : public rclcpp::Node { target_rviz_sub = this->create_subscription("goal_pose", 1, std::bind(&PlannerNode::rviz_target_callback, this, std::placeholders::_1)); + + estimated_position_in_map_frame = this->create_publisher( + "estimated_position_in_map_frame", 1); } private: Grid grid = Grid(); State start = State(); + State prev_start = State(); + bool second_iteration_passed = false; State target = State(); + float prev_path_cost = 100000000; bool map_initialized = false; bool odom_initialized = false; @@ -79,14 +82,11 @@ class PlannerNode : public rclcpp::Node { //// ROS // TF - std::unique_ptr tf_buffer_; - std::shared_ptr tf_listener_; + tf2_ros::Buffer tf_buffer_; + tf2_ros::TransformListener tf_listener_; // Init frames odom map baselink so that we can localize base_link inside map given the odom to // map transform - std::string odom_frame = "odom"; - std::string map_frame = "map"; - std::string base_link_frame = "base_link"; // Listener to the map rclcpp::Subscription::SharedPtr map_sub; @@ -104,39 +104,65 @@ class PlannerNode : public rclcpp::Node { rclcpp::Subscription::SharedPtr target_rviz_sub; + rclcpp::Publisher::SharedPtr estimated_position_in_map_frame; + void odom_callback(const nav_msgs::msg::Odometry::SharedPtr msg) { - float qw = msg->pose.pose.orientation.w; - float qx = msg->pose.pose.orientation.x; - float qy = msg->pose.pose.orientation.y; - float qz = msg->pose.pose.orientation.z; + // Transform into map frame + geometry_msgs::msg::TransformStamped transform; - float yaw = restrict_angle(atan2(2.0 * (qw * qz + qx * qy), - 1.0 - 2.0 * (qy * qy + qz * qz))); + geometry_msgs::msg::PoseStamped base_link_pose; + base_link_pose.header = msg->header; + base_link_pose.pose = msg->pose.pose; - start = State{msg->pose.pose.position.x, msg->pose.pose.position.y, yaw, - msg->twist.twist.linear.x, 0.0}; - odom_initialized = true; + geometry_msgs::msg::PoseStamped map_pose; - // Transform into map frame - geometry_msgs::msg::TransformStamped transform; try { - transform = tf_buffer_->lookupTransform(map_frame, odom_frame, tf2::TimePointZero); - } catch (tf2::TransformException& ex) { + transform = tf_buffer_.lookupTransform("map", "odom", tf2::TimePointZero); + tf2::doTransform(base_link_pose, map_pose, transform); + } catch (const tf2::TransformException& ex) { + RCLCPP_WARN(this->get_logger(), "Could not transform odom to map: %s", ex.what()); return; } - tf2::Transform tf_transform; - tf2::fromMsg(transform.transform, tf_transform); + float qw = map_pose.pose.orientation.w; + float qx = map_pose.pose.orientation.x; + float qy = map_pose.pose.orientation.y; + float qz = map_pose.pose.orientation.z; - start.pose.x += transform.transform.translation.x; - start.pose.y += transform.transform.translation.y; - start.pose.theta = restrict_angle(start.pose.theta - + tf2::getYaw(transform.transform.rotation)); + float yaw = restrict_angle(atan2(2.0 * (qw * qz + qx * qy), + 1.0 - 2.0 * (qy * qy + qz * qz))); - if (map_initialized && odom_initialized && target_initialized) { + start = State{ + map_pose.pose.position.x, map_pose.pose.position.y, yaw, msg->twist.twist.linear.x, 0}; + odom_initialized = true; + + geometry_msgs::msg::PoseStamped point; + point.header.stamp = msg->header.stamp; + point.header.frame_id = "map"; + point.pose.position.x = start.pose.x; + point.pose.position.y = start.pose.y; + point.pose.position.z = 0; + point.pose.orientation = tf2::toMsg(tf2::Quaternion(tf2::Vector3(0, 0, 1), + start.pose.theta)); + + estimated_position_in_map_frame->publish(point); + + float dist = start.pose.distance_to(prev_start.pose); + + if (map_initialized && odom_initialized && target_initialized + && (!second_iteration_passed + || (dist > .2))) { // Ensure that enough dist has changed before replan std::cout << "Planning!" << std::endl; Trajectory path = planner->plan_path(grid, start, target, Trajectory()); + if (path.cost >= prev_path_cost) { // Worse path + return; + } + + prev_path_cost = path.cost; + second_iteration_passed = true; + prev_start = start; + current_path.header.stamp = msg->header.stamp; current_path.header.frame_id = "map"; current_path.waypoints.clear(); @@ -144,10 +170,17 @@ class PlannerNode : public rclcpp::Node { cev_msgs::msg::Waypoint msg; msg.x = waypoint.pose.x; msg.y = waypoint.pose.y; + + if (std::abs(waypoint.vel) < .3 + && std::abs(waypoint.vel) > 0.0) { // Car cannot move that slow lol + waypoint.vel = (waypoint.vel >= 0) ? .3 : -.3; + } + msg.v = waypoint.vel; msg.theta = waypoint.pose.theta; msg.tau = waypoint.tau; current_path.waypoints.push_back(msg); + // std::cout << "Waypoint: " << msg.theta << ", " << msg.tau << std::endl; } path_pub->publish(current_path); @@ -197,11 +230,15 @@ class PlannerNode : public rclcpp::Node { void target_callback(const cev_msgs::msg::Waypoint msg) { target = State{msg.x, msg.y, 0, msg.v, 0}; + prev_path_cost = 100000000; + second_iteration_passed = false; target_initialized = true; } void rviz_target_callback(const geometry_msgs::msg::PoseStamped msg) { target = State{msg.pose.position.x, msg.pose.position.y, 0, 0, 0}; + prev_path_cost = 100000000; + second_iteration_passed = false; target_initialized = true; } }; diff --git a/src/tf_test.cpp b/src/tf_test.cpp new file mode 100644 index 0000000..828fbcb --- /dev/null +++ b/src/tf_test.cpp @@ -0,0 +1,53 @@ +#include +#include +#include +#include +#include +#include + +class OdomToMapTransformer : public rclcpp::Node { +public: + OdomToMapTransformer() + : Node("odom_to_map_transformer"), tf_buffer_(this->get_clock()), tf_listener_(tf_buffer_) { + RCLCPP_INFO(this->get_logger(), "starting..."); + odom_sub_ = this->create_subscription("/odometry/filtered", 1, + std::bind(&OdomToMapTransformer::odom_callback, this, std::placeholders::_1)); + + transformed_pose_pub_ = + this->create_publisher("/base_link_in_map", 1); + } + +private: + void odom_callback(const nav_msgs::msg::Odometry::SharedPtr msg) { + geometry_msgs::msg::PoseStamped base_link_pose; + base_link_pose.header = msg->header; + base_link_pose.pose = msg->pose.pose; + + // Transform from "odom" to "map" + try { + geometry_msgs::msg::TransformStamped transform_stamped = + tf_buffer_.lookupTransform("map", "odom", tf2::TimePointZero); + + geometry_msgs::msg::PoseStamped map_pose; + tf2::doTransform(base_link_pose, map_pose, transform_stamped); + + // Publish transformed pose in "map" frame + transformed_pose_pub_->publish(map_pose); + RCLCPP_INFO(this->get_logger(), "Published transformed pose in map frame"); + } catch (const tf2::TransformException& ex) { + RCLCPP_WARN(this->get_logger(), "Could not transform odom to map: %s", ex.what()); + } + } + + rclcpp::Subscription::SharedPtr odom_sub_; + rclcpp::Publisher::SharedPtr transformed_pose_pub_; + tf2_ros::Buffer tf_buffer_; + tf2_ros::TransformListener tf_listener_; +}; + +int main(int argc, char** argv) { + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +} diff --git a/trajectory.png b/trajectory.png new file mode 100644 index 0000000000000000000000000000000000000000..3da515e81e93e47948e7d0e3d9b567dea709df09 GIT binary patch literal 1936 zcmY*aZA=qq94~0ab?7q5<3v!*j9~6I2z8SZHwNRSqZGZC+X?5(SY6%HAcidgmf!$u zm|hGlVg<#F7Af8>+-4!2Y%?Q%xUdv4S=J9MvbmgNX3=T7CCY+f`#q;wvJVICJ^;MGNhe}lV!!a{1|RecB@@4>q>}qy&0DGRLH&o( ziMenx$?|Ake{9&3MPw6^TaS{yLkt(`vG7j5%fhi6-`3^}87|4EowD$cB+_@&ozC2I zvma?vJ2qvOsIBSjQaW}pEpK+j=*AU9ww)&bq(-qbu!>YMrCLT^;#I)0%U3GG!Zo>A zdvVdM=S?M+BdCD=zH;8PeV@LXa{L8wBa?fsm&{T^ENAB<;zu6QV+< za5EL{C}}@!;XA~9`SGi$zDZ~+Br-HQ6PIqGLNJ-6MD%HJfg2rS62m1n5qY9qH3dSz zaJx3qq6DyF;qP7$9+j#6IOC67xK7I@y~kar%-YQiN^OaHhOA0l+5n7VUE(?AE*HUz z*`SbWXoi?90%CMb&vUblu1*IWg5vJTkkA3Vez7T&U3wmLqwY?LM3Dx%097_#6gtS{ zkZ^v$!lyFu#>ohA=?GN^w5JqOuk~@L$kK4`q0f_5e9VC_fCi0V2)29)maA#<%pkD~ zf*O&*B~c?9QhL-g5aSRG#FjtEe0o6pT_Klc(7y)10pbM(6pRe%PYG?yqMmYi?Ufe@ z1@7U}nPM|NRZzq3FEumSKJ6rwFV;e%3kMO|??D+XAmufgun;3@$OUz971*ryz{N!Q?0z{}VFajt2C^gE@g@uN3eL2V-!Dbj7LoUMt+Aa`tnq`tfW6l;; zKL*w0h`>m|L^S7W@kk?$SFxt9< z$o)`Yn@=l%@f?e;?k0yXS`~yu_r|4fC>}iN#zGD<^~ErnGL`rtXEl|xUq&k>GT9ym~DMUYze25nmsjAI&%iIDLfe z9!aK?!3^?2VebldKO%wL(eH0nskU=Cgd;IfTThau*m5zl+sDpm@g33OHEq9igdC zG+UJg5d#u^1p$kgUg>ggNFRXWl7%!X+ z4}_&&WBzQeZ7Mv6iGNj^Mmi4}`fg`)dyt2gi2mn#pN3x)XI%2jWY@TE#Z1Gb`6({p zTpeUeyQGf+QgaQv+N;fDP@)$N8zw#4d=BleK-i%!yvXJ*Lj5W*Mn37+6lix)o1YuC zrAKvZL~n~rc_HD-Nz(Vhxc&}M&LPXY$LRaRLE*|N<30TWygnmMe^u91Sit7qHVRCf lANX$(IDVe~|N7Fh8v}Q`$_if|$1km^vV3RR=dafv{TI^pOaA}> literal 0 HcmV?d00001 From 967d698a47f712ccdef4558dea11f59293b4d6c2 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Tue, 11 Feb 2025 01:02:18 -0500 Subject: [PATCH 106/196] Reduce planning gap. --- src/planner_node.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/planner_node.cpp b/src/planner_node.cpp index 46e017b..8c14df9 100644 --- a/src/planner_node.cpp +++ b/src/planner_node.cpp @@ -151,8 +151,7 @@ class PlannerNode : public rclcpp::Node { if (map_initialized && odom_initialized && target_initialized && (!second_iteration_passed - || (dist > .2))) { // Ensure that enough dist has changed before replan - std::cout << "Planning!" << std::endl; + || (dist > .1))) { // Ensure that enough dist has changed before replan Trajectory path = planner->plan_path(grid, start, target, Trajectory()); if (path.cost >= prev_path_cost) { // Worse path From ec79f29cddb789a00b0a702965f631faaa2bc281 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Tue, 11 Feb 2025 21:01:46 -0500 Subject: [PATCH 107/196] pid tuning part 1 --- src/joy_interpreter.cpp | 21 +++++++++++++++++++-- 1 file changed, 19 insertions(+), 2 deletions(-) diff --git a/src/joy_interpreter.cpp b/src/joy_interpreter.cpp index c40b5f2..7a9724a 100644 --- a/src/joy_interpreter.cpp +++ b/src/joy_interpreter.cpp @@ -17,6 +17,10 @@ class LogitechRead { return 1 - (axes_[5] + 1) / 2; } + float get_y_button() const { + return buttons_[3]; + } + float get_right_stick_x() const { return -axes_[3]; } @@ -60,8 +64,21 @@ class JoyInterpreter : public rclcpp::Node { } // Calculate velocity - float drive = (gamepad_data.get_right_trigger() - gamepad_data.get_left_trigger()) - * max_velocity_; + float drive = 0.0; + + if (gamepad_data.get_y_button()) { + drive = .3; + } else { + drive = (gamepad_data.get_right_trigger() - gamepad_data.get_left_trigger()) + * max_velocity_; + } + + // float drive = (gamepad_data.get_right_trigger() - gamepad_data.get_left_trigger()) + // * max_velocity_; + + // float drive = gamepad_data.get_y_button() ? .3 : 0.0; + + // RCLCPP_INFO(this->get_logger(), "Button: %f", gamepad_data.get_y_button()); // Publish AckermannDrive message auto ackermann_msg = ackermann_msgs::msg::AckermannDrive(); From c6e9be264921580f51dccac33fec704208925b7a Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Tue, 11 Feb 2025 21:36:14 -0500 Subject: [PATCH 108/196] Publish tf --- config/ekf_real.yml | 2 ++ include/config_parser.h | 1 + src/ackermann_ekf.cpp | 26 ++++++++++++++------------ src/config_parser.cpp | 7 +++++++ 4 files changed, 24 insertions(+), 12 deletions(-) diff --git a/config/ekf_real.yml b/config/ekf_real.yml index 3631f15..a8b2f99 100644 --- a/config/ekf_real.yml +++ b/config/ekf_real.yml @@ -8,6 +8,8 @@ odometry_settings: base_link: "base_link" # Base link frame ID odom_frame: "odom" # Odometry frame ID + publish_tf: true # Publish TF data + # Define the sensors used by the node sensors: witmotion_imu: diff --git a/include/config_parser.h b/include/config_parser.h index 6e1459e..d2bec5a 100644 --- a/include/config_parser.h +++ b/include/config_parser.h @@ -37,6 +37,7 @@ namespace cev_localization { std::string odometry_topic; std::string base_link_frame; std::string odom_frame; + std::bool publish_tf; // Sensors std::unordered_map sensors; diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp index 3fe8d61..35046d5 100644 --- a/src/ackermann_ekf.cpp +++ b/src/ackermann_ekf.cpp @@ -177,22 +177,24 @@ class LocalizationNode : public rclcpp::Node { odom_pub->publish(odom_msg); - geometry_msgs::msg::TransformStamped transformStamped; + if (config.publish_tf) { + geometry_msgs::msg::TransformStamped transformStamped; - transformStamped.header.stamp = this->now(); - transformStamped.header.frame_id = config.odom_frame; - transformStamped.child_frame_id = config.base_link_frame; + transformStamped.header.stamp = this->now(); + transformStamped.header.frame_id = config.odom_frame; + transformStamped.child_frame_id = config.base_link_frame; - transformStamped.transform.translation.x = state[ckf::state::x]; - transformStamped.transform.translation.y = state[ckf::state::y]; - transformStamped.transform.translation.z = state[ckf::state::z]; + transformStamped.transform.translation.x = state[ckf::state::x]; + transformStamped.transform.translation.y = state[ckf::state::y]; + transformStamped.transform.translation.z = state[ckf::state::z]; - transformStamped.transform.rotation.x = q.x(); - transformStamped.transform.rotation.y = q.y(); - transformStamped.transform.rotation.z = q.z(); - transformStamped.transform.rotation.w = q.w(); + transformStamped.transform.rotation.x = q.x(); + transformStamped.transform.rotation.y = q.y(); + transformStamped.transform.rotation.z = q.z(); + transformStamped.transform.rotation.w = q.w(); - tf_broadcaster_->sendTransform(transformStamped); + tf_broadcaster_->sendTransform(transformStamped); + } } }; diff --git a/src/config_parser.cpp b/src/config_parser.cpp index 9adbada..67e1cf5 100644 --- a/src/config_parser.cpp +++ b/src/config_parser.cpp @@ -46,6 +46,13 @@ Config ConfigParser::loadConfig(const std::string& filePath) { throw std::runtime_error("Parameter `odometry_settings/main_model` not defined"); } + // Publish tf + try { + config.publish_tf = configNode["odometry_settings"]["publish_tf"].as(); + } catch (YAML::Exception& e) { + config.publish_tf = true; + } + // Parse sensors for (const auto& sensorEntry: configNode["sensors"]) { const std::string sensorName = sensorEntry.first.as(); From 8ed79c6a5c06c6d4bd3168d147f34fd83735ea2e Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Wed, 12 Feb 2025 15:28:19 -0500 Subject: [PATCH 109/196] Fixed configuration struct. --- include/config_parser.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/include/config_parser.h b/include/config_parser.h index d2bec5a..023450a 100644 --- a/include/config_parser.h +++ b/include/config_parser.h @@ -37,7 +37,7 @@ namespace cev_localization { std::string odometry_topic; std::string base_link_frame; std::string odom_frame; - std::bool publish_tf; + bool publish_tf; // Sensors std::unordered_map sensors; @@ -55,4 +55,4 @@ namespace cev_localization { static UpdateModel parseUpdateModel(const YAML::Node& modelNode); }; } -} \ No newline at end of file +} From 0e4e2e5164e4829363df5e9f39c2e046246836cc Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Fri, 14 Feb 2025 12:58:06 -0500 Subject: [PATCH 110/196] Plan extension --- src/planner_node.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/src/planner_node.cpp b/src/planner_node.cpp index 8c14df9..7def35f 100644 --- a/src/planner_node.cpp +++ b/src/planner_node.cpp @@ -40,8 +40,11 @@ class PlannerNode : public rclcpp::Node { {-.34, .34} // dtau }; + // planner = std::make_shared(dimensions, full_constraints, + // std::make_shared(5, 1.05)); + planner = std::make_shared(dimensions, full_constraints, - std::make_shared(5, 1.05)); + std::make_shared(10, 3)); map_sub = this->create_subscription("map", 1, std::bind(&PlannerNode::map_callback, this, std::placeholders::_1)); From ce7f950a0d724893fe9833c0908ad3941c243ffd Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sun, 16 Feb 2025 03:21:51 -0500 Subject: [PATCH 111/196] Update internal lib --- cev_planner | 2 +- costmap.png | Bin 6863 -> 3938 bytes src/planner_node.cpp | 6 +++--- trajectory.png | Bin 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+++++++------------- src/{ackermann_ekf.cpp => localization.cpp} | 64 ++++---- 7 files changed, 142 insertions(+), 170 deletions(-) rename src/{ackermann_ekf.cpp => localization.cpp} (80%) diff --git a/CMakeLists.txt b/CMakeLists.txt index e06b365..c3d2239 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -31,17 +31,17 @@ include_directories( # Source files in the main src folder set(SOURCES - src/ackermann_ekf.cpp + src/localization.cpp src/config_parser.cpp src/ros_sensor.cpp src/std_ros_sensors.cpp ) # Declare the executable -add_executable(ackermann_ekf ${SOURCES}) +add_executable(localization ${SOURCES}) # Link libraries -ament_target_dependencies(ackermann_ekf +ament_target_dependencies(localization rclcpp sensor_msgs geometry_msgs @@ -53,10 +53,10 @@ ament_target_dependencies(ackermann_ekf Eigen3 ) -target_link_libraries(ackermann_ekf cev_kalman_filter yaml-cpp) +target_link_libraries(localization cev_kalman_filter yaml-cpp) # Install targets -install(TARGETS ackermann_ekf +install(TARGETS localization DESTINATION lib/${PROJECT_NAME}) # Install additional resources diff --git a/config/ekf_real.yml b/config/ekf_real.yml index a8b2f99..b22943a 100644 --- a/config/ekf_real.yml +++ b/config/ekf_real.yml @@ -1,15 +1,3 @@ -# General settings for the Kalman Filter node output -odometry_settings: - publish_rate: 100 # Publish rate of the filter in Hz - - main_model: "ackermann" # Main model to use for the filter - - topic: "/odometry/meow" # Topic to publish the odometry data - base_link: "base_link" # Base link frame ID - odom_frame: "odom" # Odometry frame ID - - publish_tf: true # Publish TF data - # Define the sensors used by the node sensors: witmotion_imu: @@ -37,7 +25,26 @@ update_models: type: "ACKERMANN" # Model type (ACKERMANN, CARTESIAN, etc.) state: ["x", "y", "d_x", "d_y", "yaw", "tau"] # State variables to use from the model in updates estimator_models: [] + + publish: + active: true + topic: "/odometry/ackermann" + child_frame: "base_link" + parent_frame: "odom" + rate: 100 + + publish_tf: true + cartesian: type: "CARTESIAN" - state: ["x", "y", "d_x", "d_y", "yaw", "d_yaw"] + state: ["x", "y", "d_x", "d_y", "yaw", "d_yaw"] estimator_models: ["ackermann"] + + publish: + active: false + topic: "/odometry/cartesian" + child_frame: "base_link" + parent_frame: "odom_cart" + rate: 200 + + publish_tf: false diff --git a/include/config_parser.h b/include/config_parser.h index 023450a..1898073 100644 --- a/include/config_parser.h +++ b/include/config_parser.h @@ -19,40 +19,45 @@ namespace cev_localization { double covariance_multiplier; bool use_message_covariance; std::vector estimator_models; + + static Sensor loadSensor(const YAML::Node& sensorNode); + }; + + struct Publish { + bool active = false; + std::string topic = ""; + int rate = 100; + std::string child_frame = ""; + std::string parent_frame = ""; + + bool publish_tf = false; + + static Publish loadPublish(const YAML::Node& publishNode); }; struct UpdateModel { std::string type; std::vector state_mask; std::vector estimator_models; - }; - struct Config { - // General settings - double time_step; // seconds - - std::string main_model; + Publish publish; - // Odometry settings - std::string odometry_topic; - std::string base_link_frame; - std::string odom_frame; - bool publish_tf; + static UpdateModel loadUpdateModel(const YAML::Node& modelNode); + }; + struct Config { // Sensors std::unordered_map sensors; // Update Models std::unordered_map update_models; + + static Config loadConfig(const YAML::Node& configNode); }; class ConfigParser { public: - static Config loadConfig(const std::string& filePath); - - private: - static Sensor parseSensor(const YAML::Node& sensorNode); - static UpdateModel parseUpdateModel(const YAML::Node& modelNode); + static Config load(const std::string& filePath); }; } } diff --git a/launch/debug_launch.py b/launch/debug_launch.py index 9acc00e..50ee173 100644 --- a/launch/debug_launch.py +++ b/launch/debug_launch.py @@ -67,7 +67,7 @@ def generate_launch_description(): ), Node( package="cev_localization", - executable="ackermann_ekf", + executable="localization", name="cev_localization_node", output="screen", parameters=[ diff --git a/launch/launch.py b/launch/launch.py index aab0d2f..026a960 100644 --- a/launch/launch.py +++ b/launch/launch.py @@ -14,7 +14,7 @@ def generate_launch_description(): [ Node( package="cev_localization", - executable="ackermann_ekf", + executable="localization", name="cev_localization_node", output="screen", parameters=[ diff --git a/src/config_parser.cpp b/src/config_parser.cpp index 67e1cf5..6c892fa 100644 --- a/src/config_parser.cpp +++ b/src/config_parser.cpp @@ -2,136 +2,90 @@ using namespace cev_localization::config_parser; -Config ConfigParser::loadConfig(const std::string& filePath) { - YAML::Node configNode = YAML::LoadFile(filePath); - - Config config; - - // Publish rate - try { - double rate = configNode["odometry_settings"]["publish_rate"].as(); - if (rate <= 0) { - throw std::runtime_error( - "Parameter `odometry_settings/publish_rate` must be greater than 0"); - } - config.time_step = 1.0 / rate; - } catch (YAML::Exception& e) { - config.time_step = 0.01; +Sensor Sensor::loadSensor(const YAML::Node& sensorNode) { + if (!sensorNode["type"] || !sensorNode["topic"]) { + throw std::runtime_error("Sensor type and topic must be defined"); } - // Odometry settings - try { - config.base_link_frame = - configNode["odometry_settings"]["base_link_frame"].as(); - } catch (YAML::Exception& e) { - config.base_link_frame = "base_link"; - } + Sensor sensor; + sensor.type = sensorNode["type"].as(); + sensor.topic = sensorNode["topic"].as(); + sensor.frame_id = sensorNode["frame_id"] + ? std::make_optional(sensorNode["frame_id"].as()) + : std::nullopt; + sensor.state_mask = sensorNode["state"] ? sensorNode["state"].as>() + : std::vector{}; + sensor.covariance_multiplier = sensorNode["covariance_multiplier"].as(1.0); + sensor.use_message_covariance = sensorNode["use_message_covariance"].as(true); + sensor.estimator_models = sensorNode["estimator_models"] + ? sensorNode["estimator_models"].as>() + : std::vector{}; - try { - config.odom_frame = configNode["odometry_settings"]["odom_frame"].as(); - } catch (YAML::Exception& e) { - config.odom_frame = "odom"; - } + return sensor; +} - try { - config.odometry_topic = configNode["odometry_settings"]["topic"].as(); - } catch (YAML::Exception& e) { - config.odometry_topic = "odom"; - } +Publish Publish::loadPublish(const YAML::Node& publishNode) { + Publish publish; - // Main model - try { - config.main_model = configNode["odometry_settings"]["main_model"].as(); - } catch (YAML::Exception& e) { - throw std::runtime_error("Parameter `odometry_settings/main_model` not defined"); + if (!publishNode["active"]) { + return publish; } - // Publish tf - try { - config.publish_tf = configNode["odometry_settings"]["publish_tf"].as(); - } catch (YAML::Exception& e) { - config.publish_tf = true; - } + publish.active = publishNode["active"].as(); - // Parse sensors - for (const auto& sensorEntry: configNode["sensors"]) { - const std::string sensorName = sensorEntry.first.as(); - config.sensors[sensorName] = parseSensor(sensorEntry.second); - } - - // Parse update models - for (const auto& modelEntry: configNode["update_models"]) { - const std::string modelName = modelEntry.first.as(); - config.update_models[modelName] = parseUpdateModel(modelEntry.second); + if (!publishNode["topic"] || !publishNode["child_frame"] || !publishNode["parent_frame"]) { + throw std::runtime_error("Publish topic and frames must be defined"); } - return config; -} - -cev_localization::config_parser::Sensor ConfigParser::parseSensor(const YAML::Node& sensorNode) { - Sensor sensor; - try { - sensor.type = sensorNode["type"].as(); - } catch (YAML::Exception& e) { - throw std::runtime_error("Sensor type not defined"); - } + publish.topic = publishNode["topic"].as(); + publish.rate = publishNode["rate"].as(100); + publish.child_frame = publishNode["child_frame"].as(""); + publish.parent_frame = publishNode["parent_frame"].as(""); - try { - sensor.topic = sensorNode["topic"].as(); - } catch (YAML::Exception& e) { - throw std::runtime_error("Sensor topic not defined"); - } + publish.publish_tf = publishNode["publish_tf"].as(false); - try { - sensor.frame_id = sensorNode["frame_id"].as(); - } catch (YAML::Exception& e) { - sensor.frame_id = std::nullopt; - } + return publish; +} - // Parse state mask - for (const auto& val: sensorNode["state"]) { - sensor.state_mask.push_back(val.as()); +UpdateModel UpdateModel::loadUpdateModel(const YAML::Node& modelNode) { + if (!modelNode["type"] || !modelNode["state"]) { + throw std::runtime_error("Model type must be defined"); } - // Parse covariance_multiplier - try { - sensor.covariance_multiplier = sensorNode["covariance_multiplier"].as(); - } catch (YAML::Exception& e) { - sensor.covariance_multiplier = 1.0; - } + UpdateModel model; + model.type = modelNode["type"].as(); + model.state_mask = modelNode["state"].as>(); + model.estimator_models = modelNode["estimator_models"] + ? modelNode["estimator_models"].as>() + : std::vector{}; - try { - sensor.use_message_covariance = sensorNode["use_message_covariance"].as(); - } catch (YAML::Exception& e) { - sensor.use_message_covariance = true; + if (!modelNode["publish"]) { + return model; } - // Parse estimator_models - for (const auto& model: sensorNode["estimator_models"]) { - sensor.estimator_models.push_back(model.as()); - } + model.publish = Publish::loadPublish(modelNode["publish"]); - return sensor; + return model; } -UpdateModel ConfigParser::parseUpdateModel(const YAML::Node& modelNode) { - UpdateModel model; +Config Config::loadConfig(const YAML::Node& configNode) { + Config config; - try { - model.type = modelNode["type"].as(); - } catch (YAML::Exception& e) { - throw std::runtime_error("Model type not defined"); + for (const auto& sensorEntry: configNode["sensors"]) { + const std::string sensorName = sensorEntry.first.as(); + config.sensors[sensorName] = Sensor::loadSensor(sensorEntry.second); } - // Parse state mask - for (const auto& val: modelNode["state"]) { - model.state_mask.push_back(val.as()); + for (const auto& modelEntry: configNode["update_models"]) { + const std::string modelName = modelEntry.first.as(); + config.update_models[modelName] = UpdateModel::loadUpdateModel(modelEntry.second); } - // Parse estimator_models - for (const auto& mod: modelNode["estimator_models"]) { - model.estimator_models.push_back(mod.as()); - } + return config; +} - return model; +Config ConfigParser::load(const std::string& filePath) { + YAML::Node configNode = YAML::LoadFile(filePath); + + return Config::loadConfig(configNode); } \ No newline at end of file diff --git a/src/ackermann_ekf.cpp b/src/localization.cpp similarity index 80% rename from src/ackermann_ekf.cpp rename to src/localization.cpp index 35046d5..2bf416c 100644 --- a/src/ackermann_ekf.cpp +++ b/src/localization.cpp @@ -30,7 +30,7 @@ class LocalizationNode : public rclcpp::Node { RCLCPP_INFO(this->get_logger(), "Parsing config file at %s", config_file_path.c_str()); // Load the YAML configurations - config = config_parser::ConfigParser::loadConfig(config_file_path); + config = config_parser::ConfigParser::load(config_file_path); std::unordered_map> update_models; @@ -53,6 +53,16 @@ class LocalizationNode : public rclcpp::Node { RCLCPP_ERROR(this->get_logger(), "Unknown model type: `%s`", mod.type.c_str()); throw std::runtime_error("Unknown model type"); } + + if (mod.publish.active) { + filter_publishers[name] = + this->create_publisher(mod.publish.topic, 1); + + // Create a timer to publish the model + timers[name] = this->create_wall_timer( + std::chrono::milliseconds((int)(1000 / mod.publish.rate)), + [this, name]() { this->publish_model(name); }); + } } for (std::pair sensor: config.sensors) { @@ -105,51 +115,43 @@ class LocalizationNode : public rclcpp::Node { } } - if (update_models.find(config.main_model) == update_models.end()) { - RCLCPP_ERROR(this->get_logger(), "Main model `%s` does not exist", - config.main_model.c_str()); - throw std::runtime_error("Main model does not exist"); - } - RCLCPP_INFO(this->get_logger(), "Configuration file parsed! Finishing initialization."); - main_model = update_models[config.main_model].get(); - - timer = this->create_wall_timer(std::chrono::milliseconds((int)(config.time_step * 1000.0)), - std::bind(&LocalizationNode::timer_callback, this)); - tf_broadcaster_ = std::make_shared(this); - odom_pub = this->create_publisher(config.odometry_topic, 1); } private: config_parser::Config config; std::unordered_map sensor_subscribers; + std::unordered_map::SharedPtr> + filter_publishers; + std::unordered_map timers; + std::unordered_map> update_models; std::unordered_map> sensors; std::shared_ptr tf_broadcaster_; rclcpp::TimerBase::SharedPtr timer; - rclcpp::Publisher::SharedPtr odom_pub; - ckf::Model* main_model; + void publish_model(std::string model) { + ckf::Model* model_ = update_models[model].get(); + + std::cout << "A" << std::endl; + std::cout << model_->get_state() << std::endl; - void timer_callback() { - double time = get_clock()->now().seconds(); + std::cout << "A2" << std::endl; - // model->update(time); - V state = main_model->get_state(); - M covariance = main_model->get_covariance(); + V state = update_models[model]->get_state(); + std::cout << "B" << std::endl; + M covariance = update_models[model]->get_covariance(); - // std::pair prediction = main_model->predict(time); - // V state = prediction.first; - // M covariance = prediction.second; + std::cout << "D" << std::endl; nav_msgs::msg::Odometry odom_msg; odom_msg.header.stamp = this->now(); - odom_msg.header.frame_id = config.odom_frame; - odom_msg.child_frame_id = config.base_link_frame; + odom_msg.header.frame_id = config.update_models[model].publish.parent_frame; + odom_msg.child_frame_id = config.update_models[model].publish.child_frame; odom_msg.pose.pose.position.x = state[ckf::state::x]; odom_msg.pose.pose.position.y = state[ckf::state::y]; @@ -175,14 +177,16 @@ class LocalizationNode : public rclcpp::Node { odom_msg.twist.covariance[7] = covariance(ckf::state::d_y, ckf::state::d_y); odom_msg.twist.covariance[35] = covariance(ckf::state::d_yaw, ckf::state::d_yaw); - odom_pub->publish(odom_msg); + filter_publishers[model]->publish(odom_msg); - if (config.publish_tf) { + std::cout << "E" << std::endl; + + if (config.update_models[model].publish.publish_tf) { geometry_msgs::msg::TransformStamped transformStamped; transformStamped.header.stamp = this->now(); - transformStamped.header.frame_id = config.odom_frame; - transformStamped.child_frame_id = config.base_link_frame; + transformStamped.header.frame_id = config.update_models[model].publish.parent_frame; + transformStamped.child_frame_id = config.update_models[model].publish.child_frame; transformStamped.transform.translation.x = state[ckf::state::x]; transformStamped.transform.translation.y = state[ckf::state::y]; @@ -195,6 +199,8 @@ class LocalizationNode : public rclcpp::Node { tf_broadcaster_->sendTransform(transformStamped); } + + std::cout << "D" << std::endl; } }; From cf9400321259cc11dc68952e0beeedfe4a51a980 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sun, 16 Feb 2025 06:42:09 -0500 Subject: [PATCH 113/196] Make publish topics configurable at an Estimator level. --- src/ackermann_ekf.cpp | 206 ++++++++++++++++++++++++++++++++++++++++++ src/localization.cpp | 39 +++----- 2 files changed, 220 insertions(+), 25 deletions(-) create mode 100644 src/ackermann_ekf.cpp diff --git a/src/ackermann_ekf.cpp b/src/ackermann_ekf.cpp new file mode 100644 index 0000000..35046d5 --- /dev/null +++ b/src/ackermann_ekf.cpp @@ -0,0 +1,206 @@ +#include +#include +#include + +#include "model.h" +#include "ros_sensor.h" +#include "config_parser.h" +#include "model.h" +#include "sensor.h" +#include "standard_models.h" +#include "std_ros_sensors.h" + +#include + +#include + +using std::placeholders::_1; + +using namespace ckf; +using namespace cev_localization; + +class LocalizationNode : public rclcpp::Node { +public: + LocalizationNode(): Node("CEVLocalizationNode") { + RCLCPP_INFO(this->get_logger(), "Initializing CEV Localization Node"); + + this->declare_parameter("config_file", "config/ekf_real.yml"); + std::string config_file_path = this->get_parameter("config_file").as_string(); + + RCLCPP_INFO(this->get_logger(), "Parsing config file at %s", config_file_path.c_str()); + + // Load the YAML configurations + config = config_parser::ConfigParser::loadConfig(config_file_path); + + std::unordered_map> update_models; + + for (std::pair model: config.update_models) { + std::string name = model.first; + config_parser::UpdateModel& mod = model.second; + + if (update_models.find(name) != update_models.end()) { + RCLCPP_ERROR(this->get_logger(), "Model `%s` already exists", name.c_str()); + throw std::runtime_error("Model already exists"); + } + + if (mod.type == "ACKERMANN") { + update_models[name] = std::make_shared( + V::Zero(), M::Identity() * .1, M::Identity() * .1, .185, mod.state_mask); + } else if (mod.type == "CARTESIAN") { + update_models[name] = std::make_shared( + V::Zero(), M::Identity() * .1, M::Identity() * .1, mod.state_mask); + } else { + RCLCPP_ERROR(this->get_logger(), "Unknown model type: `%s`", mod.type.c_str()); + throw std::runtime_error("Unknown model type"); + } + } + + for (std::pair sensor: config.sensors) { + std::string name = sensor.first; + config_parser::Sensor& sen = sensor.second; + + if (sensors.find(name) != sensors.end()) { + RCLCPP_ERROR(this->get_logger(), "Sensor `%s` already exists", name.c_str()); + throw std::runtime_error("Sensor already exists"); + } + + // Create array for models to bind to + std::vector> models; + for (std::string& model_name: sen.estimator_models) { + if (update_models.find(model_name) == update_models.end()) { + RCLCPP_ERROR(this->get_logger(), "Model `%s` does not exist", + model_name.c_str()); + throw std::runtime_error("Model does not exist"); + } else { + models.push_back(update_models[model_name]); + } + } + + if (sen.type == "IMU") { + auto sensor = std::make_shared(sen.topic, + V::Zero(), M::Identity() * .1, models, sen.state_mask, + sen.use_message_covariance); + + sensors[name] = sensor; + + sensor_subscribers[name] = this->create_subscription( + sen.topic, 10, [sensor](const sensor_msgs::msg::Imu::SharedPtr msg) { + sensor->msg_handler(msg); + }); + + } else if (sen.type == "RAW") { + auto sensor = std::make_shared(sen.topic, + V::Zero(), M::Identity() * .1, models, sen.state_mask, + sen.use_message_covariance); + + sensors[name] = sensor; + + sensor_subscribers[name] = this->create_subscription( + sen.topic, 10, [sensor](const cev_msgs::msg::SensorCollect::SharedPtr msg) { + sensor->msg_handler(msg); + }); + } else { + RCLCPP_ERROR(this->get_logger(), "Unknown sensor type: `%s`", sen.type.c_str()); + throw std::runtime_error("Unknown sensor type"); + } + } + + if (update_models.find(config.main_model) == update_models.end()) { + RCLCPP_ERROR(this->get_logger(), "Main model `%s` does not exist", + config.main_model.c_str()); + throw std::runtime_error("Main model does not exist"); + } + + RCLCPP_INFO(this->get_logger(), "Configuration file parsed! Finishing initialization."); + + main_model = update_models[config.main_model].get(); + + timer = this->create_wall_timer(std::chrono::milliseconds((int)(config.time_step * 1000.0)), + std::bind(&LocalizationNode::timer_callback, this)); + + tf_broadcaster_ = std::make_shared(this); + odom_pub = this->create_publisher(config.odometry_topic, 1); + } + +private: + config_parser::Config config; + + std::unordered_map sensor_subscribers; + std::unordered_map> update_models; + std::unordered_map> sensors; + + std::shared_ptr tf_broadcaster_; + rclcpp::TimerBase::SharedPtr timer; + rclcpp::Publisher::SharedPtr odom_pub; + + ckf::Model* main_model; + + void timer_callback() { + double time = get_clock()->now().seconds(); + + // model->update(time); + V state = main_model->get_state(); + M covariance = main_model->get_covariance(); + + // std::pair prediction = main_model->predict(time); + // V state = prediction.first; + // M covariance = prediction.second; + + nav_msgs::msg::Odometry odom_msg; + odom_msg.header.stamp = this->now(); + odom_msg.header.frame_id = config.odom_frame; + odom_msg.child_frame_id = config.base_link_frame; + + odom_msg.pose.pose.position.x = state[ckf::state::x]; + odom_msg.pose.pose.position.y = state[ckf::state::y]; + odom_msg.pose.pose.position.z = 0.0; + + odom_msg.pose.covariance[0] = covariance(ckf::state::x, ckf::state::x); + odom_msg.pose.covariance[7] = covariance(ckf::state::y, ckf::state::y); + odom_msg.pose.covariance[35] = covariance(ckf::state::yaw, ckf::state::yaw); + + tf2::Quaternion q = tf2::Quaternion(); + q.setRPY(0, 0, state[ckf::state::yaw]); + q = q.normalized(); + odom_msg.pose.pose.orientation.x = q.x(); + odom_msg.pose.pose.orientation.y = q.y(); + odom_msg.pose.pose.orientation.z = q.z(); + odom_msg.pose.pose.orientation.w = q.w(); + + odom_msg.twist.twist.linear.x = state[ckf::state::d_x]; + odom_msg.twist.twist.linear.y = state[ckf::state::d_y]; + odom_msg.twist.twist.angular.z = state[ckf::state::d_yaw]; + + odom_msg.twist.covariance[0] = covariance(ckf::state::d_x, ckf::state::d_x); + odom_msg.twist.covariance[7] = covariance(ckf::state::d_y, ckf::state::d_y); + odom_msg.twist.covariance[35] = covariance(ckf::state::d_yaw, ckf::state::d_yaw); + + odom_pub->publish(odom_msg); + + if (config.publish_tf) { + geometry_msgs::msg::TransformStamped transformStamped; + + transformStamped.header.stamp = this->now(); + transformStamped.header.frame_id = config.odom_frame; + transformStamped.child_frame_id = config.base_link_frame; + + transformStamped.transform.translation.x = state[ckf::state::x]; + transformStamped.transform.translation.y = state[ckf::state::y]; + transformStamped.transform.translation.z = state[ckf::state::z]; + + transformStamped.transform.rotation.x = q.x(); + transformStamped.transform.rotation.y = q.y(); + transformStamped.transform.rotation.z = q.z(); + transformStamped.transform.rotation.w = q.w(); + + tf_broadcaster_->sendTransform(transformStamped); + } + } +}; + +int main(int argc, char* argv[]) { + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +} \ No newline at end of file diff --git a/src/localization.cpp b/src/localization.cpp index 2bf416c..61f1eeb 100644 --- a/src/localization.cpp +++ b/src/localization.cpp @@ -58,10 +58,12 @@ class LocalizationNode : public rclcpp::Node { filter_publishers[name] = this->create_publisher(mod.publish.topic, 1); + ckf::Model* model_ = update_models[name].get(); + // Create a timer to publish the model timers[name] = this->create_wall_timer( std::chrono::milliseconds((int)(1000 / mod.publish.rate)), - [this, name]() { this->publish_model(name); }); + [this, model_, name]() { this->publish_model(model_, name); }); } } @@ -134,24 +136,14 @@ class LocalizationNode : public rclcpp::Node { std::shared_ptr tf_broadcaster_; rclcpp::TimerBase::SharedPtr timer; - void publish_model(std::string model) { - ckf::Model* model_ = update_models[model].get(); - - std::cout << "A" << std::endl; - std::cout << model_->get_state() << std::endl; - - std::cout << "A2" << std::endl; - - V state = update_models[model]->get_state(); - std::cout << "B" << std::endl; - M covariance = update_models[model]->get_covariance(); - - std::cout << "D" << std::endl; + void publish_model(ckf::Model* model_, std::string model) { + V state = model_->get_state(); + M covariance = model_->get_covariance(); nav_msgs::msg::Odometry odom_msg; odom_msg.header.stamp = this->now(); - odom_msg.header.frame_id = config.update_models[model].publish.parent_frame; - odom_msg.child_frame_id = config.update_models[model].publish.child_frame; + odom_msg.header.frame_id = this->config.update_models[model].publish.parent_frame; + odom_msg.child_frame_id = this->config.update_models[model].publish.child_frame; odom_msg.pose.pose.position.x = state[ckf::state::x]; odom_msg.pose.pose.position.y = state[ckf::state::y]; @@ -177,16 +169,15 @@ class LocalizationNode : public rclcpp::Node { odom_msg.twist.covariance[7] = covariance(ckf::state::d_y, ckf::state::d_y); odom_msg.twist.covariance[35] = covariance(ckf::state::d_yaw, ckf::state::d_yaw); - filter_publishers[model]->publish(odom_msg); - - std::cout << "E" << std::endl; + this->filter_publishers[model]->publish(odom_msg); - if (config.update_models[model].publish.publish_tf) { + if (this->config.update_models[model].publish.publish_tf) { geometry_msgs::msg::TransformStamped transformStamped; transformStamped.header.stamp = this->now(); - transformStamped.header.frame_id = config.update_models[model].publish.parent_frame; - transformStamped.child_frame_id = config.update_models[model].publish.child_frame; + transformStamped.header.frame_id = + this->config.update_models[model].publish.parent_frame; + transformStamped.child_frame_id = this->config.update_models[model].publish.child_frame; transformStamped.transform.translation.x = state[ckf::state::x]; transformStamped.transform.translation.y = state[ckf::state::y]; @@ -197,10 +188,8 @@ class LocalizationNode : public rclcpp::Node { transformStamped.transform.rotation.z = q.z(); transformStamped.transform.rotation.w = q.w(); - tf_broadcaster_->sendTransform(transformStamped); + this->tf_broadcaster_->sendTransform(transformStamped); } - - std::cout << "D" << std::endl; } }; From 8da8731e722542911de0d57f569a370e92cc323d Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sun, 16 Feb 2025 22:45:31 -0500 Subject: [PATCH 114/196] Better obs avoidance --- src/planner_node.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/planner_node.cpp b/src/planner_node.cpp index 8094262..d14d835 100644 --- a/src/planner_node.cpp +++ b/src/planner_node.cpp @@ -36,7 +36,7 @@ class PlannerNode : public rclcpp::Node { {-1000, 1000}, // y {-.34, .34}, // tau {-.5, 1.0}, // vel - {-.25, .4}, // accel + {-.75, .75}, // accel {-.34, .34} // dtau }; @@ -44,7 +44,7 @@ class PlannerNode : public rclcpp::Node { // std::make_shared(5, 1.05)); planner = std::make_shared(dimensions, full_constraints, - std::make_shared(10, .75)); + std::make_shared(3, .5)); map_sub = this->create_subscription("map", 1, std::bind(&PlannerNode::map_callback, this, std::placeholders::_1)); From 2d93b79620e0df451bd5bd0b7ff31d24314636d5 Mon Sep 17 00:00:00 2001 From: Ibrahim Ahmed Date: Mon, 17 Feb 2025 00:04:05 -0500 Subject: [PATCH 115/196] Integrating rrt in planner node for testing --- src/planner_node.cpp | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/src/planner_node.cpp b/src/planner_node.cpp index 58de8ed..1c94f03 100644 --- a/src/planner_node.cpp +++ b/src/planner_node.cpp @@ -11,6 +11,7 @@ #include #include "local_planning/mpc.h" +#include "global_planning/rrt.h" #include "cost_map/gaussian_conv.h" using namespace cev_planner; @@ -42,6 +43,8 @@ class PlannerNode : public rclcpp::Node { planner = std::make_shared(dimensions, full_constraints, std::make_shared(15, 2.0)); + global_planner = std::make_shared(dimensions, full_constraints); + tf_buffer_ = std::make_unique(this->get_clock()); tf_listener_ = std::make_shared(*tf_buffer_); @@ -74,6 +77,7 @@ class PlannerNode : public rclcpp::Node { cev_msgs::msg::Trajectory current_path; std::shared_ptr planner; + std::shared_ptr global_planner; //// ROS @@ -133,7 +137,7 @@ class PlannerNode : public rclcpp::Node { // + tf2::getYaw(transform.transform.rotation)); if (map_initialized && odom_initialized && target_initialized) { - Trajectory path = planner->plan_path(grid, start, target, Trajectory()); + Trajectory path = global_planner->plan_path(grid, start, target); current_path.header.stamp = msg->header.stamp; current_path.header.frame_id = "map"; @@ -178,7 +182,7 @@ class PlannerNode : public rclcpp::Node { for (int j = 0; j < msg->info.height; j++) { // Divide by 100 to get probability of occupancy in the range [0, 1] if (msg->data[j * msg->info.width + i] < 0) { - grid.data(i, j) = .3; + grid.data(i, j) = -1.0; } else if (msg->data[j * msg->info.width + i] < 50) { grid.data(i, j) = 0.0; } else { From aae3ccd06d649300793fe76e6c2876350d718e9d Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Mon, 17 Feb 2025 01:08:15 -0500 Subject: [PATCH 116/196] Time-variant mpc --- cev_planner | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cev_planner b/cev_planner index f3864f0..ffd9686 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit f3864f06a30d267f5c30bfae39461016946d876b +Subproject commit ffd96867b553269988fb882ddf7d3dae243e7e14 From 1a7fae03ea8f205831e8c11c06f75d3bde78d5eb Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Mon, 17 Feb 2025 16:08:24 -0500 Subject: [PATCH 117/196] Update internal --- cev_planner | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cev_planner b/cev_planner index ffd9686..5b6c2dc 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit ffd96867b553269988fb882ddf7d3dae243e7e14 +Subproject commit 5b6c2dc6b8d3479c3d601240afd4b8ee95f73ebe From fae5a28c294d41ea2279a7a7569c5de6cefb20cc Mon Sep 17 00:00:00 2001 From: Ibrahim Ahmed Date: Mon, 17 Feb 2025 16:11:25 -0500 Subject: [PATCH 118/196] update internals --- cev_planner | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cev_planner b/cev_planner index 5d2c780..d36bbdc 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit 5d2c780a850bec8eb8bd7c117f250c405cd3aa5d +Subproject commit d36bbdc5ddcf9411aebd0482cdfbd2559d8d4cc7 From f7a9741f00c8bda38f61ccd6a0308b642653d0e7 Mon Sep 17 00:00:00 2001 From: Ibrahim Ahmed Date: Mon, 17 Feb 2025 16:22:42 -0500 Subject: [PATCH 119/196] 0.3 --- src/planner_node.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/planner_node.cpp b/src/planner_node.cpp index 9c86e2a..e5a5c17 100644 --- a/src/planner_node.cpp +++ b/src/planner_node.cpp @@ -222,7 +222,7 @@ class PlannerNode : public rclcpp::Node { for (int j = 0; j < msg->info.height; j++) { // Divide by 100 to get probability of occupancy in the range [0, 1] if (msg->data[j * msg->info.width + i] < 0) { - grid.data(i, j) = -1.0; + grid.data(i, j) = 0.3; } else if (msg->data[j * msg->info.width + i] < 50) { grid.data(i, j) = 0.0; } else { From 29084c799061a55e46995fb069900c1018a904ce Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Mon, 17 Feb 2025 18:01:28 -0500 Subject: [PATCH 120/196] RRT MPC integration --- cev_planner | 2 +- src/planner_node.cpp | 117 +++++++++++++++++++++++++++++++------------ 2 files changed, 87 insertions(+), 32 deletions(-) diff --git a/cev_planner b/cev_planner index 542066d..b69f547 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit 542066daf20418cdc4495985d7a9973072f86b8e +Subproject commit b69f54770b4859f3280be020bafcfe52f011e3a2 diff --git a/src/planner_node.cpp b/src/planner_node.cpp index e5a5c17..0d00e4c 100644 --- a/src/planner_node.cpp +++ b/src/planner_node.cpp @@ -41,15 +41,11 @@ class PlannerNode : public rclcpp::Node { {-.34, .34} // dtau }; - // planner = std::make_shared(dimensions, full_constraints, - // std::make_shared(5, 1.05)); - - planner = std::make_shared(dimensions, full_constraints, + local_planner = std::make_shared(dimensions, full_constraints, std::make_shared(3, .5)); global_planner = std::make_shared(dimensions, full_constraints); - map_sub = this->create_subscription("map", 1, std::bind(&PlannerNode::map_callback, this, std::placeholders::_1)); @@ -61,34 +57,42 @@ class PlannerNode : public rclcpp::Node { path_pub = this->create_publisher("trajectory", 1); - nav_path_pub = this->create_publisher("nav_path", 1); + // Global plan every 2 seconds + global_plan_timer = this->create_wall_timer(std::chrono::milliseconds(2000), + std::bind(&PlannerNode::global_plan_callback, this)); + + // RVIZ Debug + global_path_pub = this->create_publisher("global_path", 1); + local_path_pub = this->create_publisher("local_path", 1); target_rviz_sub = this->create_subscription("goal_pose", 1, std::bind(&PlannerNode::rviz_target_callback, this, std::placeholders::_1)); - - estimated_position_in_map_frame = this->create_publisher( - "estimated_position_in_map_frame", 1); } private: Grid grid = Grid(); State start = State(); State prev_start = State(); - bool second_iteration_passed = false; State target = State(); - float prev_path_cost = 100000000; bool map_initialized = false; bool odom_initialized = false; bool target_initialized = false; - cev_msgs::msg::Trajectory current_path; - - std::shared_ptr planner; + // Global Planner std::shared_ptr global_planner; + Trajectory global_path; + double global_path_cost = 100000000; + bool global_path_initialized = false; - //// ROS + // Local Planner + bool second_iteration_passed = false; + float prev_path_cost = 100000000; + Trajectory current_local_plan; + + std::shared_ptr local_planner; + //// ROS // TF tf2_ros::Buffer tf_buffer_; tf2_ros::TransformListener tf_listener_; @@ -108,11 +112,55 @@ class PlannerNode : public rclcpp::Node { // Publisher for the planned path rclcpp::Publisher::SharedPtr path_pub; - rclcpp::Publisher::SharedPtr nav_path_pub; + // Wall timer for global plan + rclcpp::TimerBase::SharedPtr global_plan_timer; + // RVIZ + rclcpp::Publisher::SharedPtr global_path_pub; + rclcpp::Publisher::SharedPtr local_path_pub; rclcpp::Subscription::SharedPtr target_rviz_sub; - rclcpp::Publisher::SharedPtr estimated_position_in_map_frame; + // ------------------------------- + + void global_plan_callback() { + if (odom_initialized && map_initialized && target_initialized) { + std::optional optional = global_planner->plan_path(grid, start, target); + if (!optional.has_value()) { + std::cout << "Global Path Failed." << std::endl; + global_path_initialized = false; + } else { + std::cout << "Global Path Planned." << std::endl; + // Fill in the global path with all nodes except the first and last from the global + // path + // global_path.waypoints = std::vector(optional.value().waypoints.begin() + + // 1, + // optional.value().waypoints.end() - 1); + global_path.waypoints = optional.value().waypoints; + + // TODO: Cost shenanigans, waypoint pass checking + + // Publish global path + nav_msgs::msg::Path global_nav_path; + global_nav_path.header.stamp = this->now(); + global_nav_path.header.frame_id = "map"; + global_nav_path.poses.clear(); + + for (State waypoint: global_path.waypoints) { + geometry_msgs::msg::PoseStamped pose; + pose.pose.position.x = waypoint.pose.x; + pose.pose.position.y = waypoint.pose.y; + pose.pose.position.z = 0; + pose.pose.orientation = tf2::toMsg(tf2::Quaternion(tf2::Vector3(0, 0, 1), + waypoint.pose.theta)); + global_nav_path.poses.push_back(pose); + } + + global_path_pub->publish(global_nav_path); + + global_path_initialized = true; + } + } + } void odom_callback(const nav_msgs::msg::Odometry::SharedPtr msg) { // Transform into map frame @@ -153,26 +201,31 @@ class PlannerNode : public rclcpp::Node { point.pose.orientation = tf2::toMsg(tf2::Quaternion(tf2::Vector3(0, 0, 1), start.pose.theta)); - estimated_position_in_map_frame->publish(point); - float dist = start.pose.distance_to(prev_start.pose); - if (map_initialized && odom_initialized && target_initialized - && (!second_iteration_passed - || (dist > .1))) { // Ensure that enough dist has changed before replan - Trajectory path = planner->plan_path(grid, start, target, Trajectory()); + if (map_initialized && odom_initialized && target_initialized && global_path_initialized) { + // && (!second_iteration_passed + // || (dist > .1))) { // Ensure that enough dist has changed before + // replan + Trajectory path = local_planner->plan_path(grid, start, target, global_path); if (path.cost >= prev_path_cost) { // Worse path return; } + std::cout << "Keeping path" << std::endl; + + current_local_plan = path; + prev_path_cost = path.cost; second_iteration_passed = true; prev_start = start; - current_path.header.stamp = msg->header.stamp; - current_path.header.frame_id = "map"; - current_path.waypoints.clear(); + cev_msgs::msg::Trajectory current_plan; + + current_plan.header.stamp = msg->header.stamp; + current_plan.header.frame_id = "map"; + current_plan.waypoints.clear(); for (State waypoint: path.waypoints) { cev_msgs::msg::Waypoint msg; msg.x = waypoint.pose.x; @@ -186,12 +239,12 @@ class PlannerNode : public rclcpp::Node { msg.v = waypoint.vel; msg.theta = waypoint.pose.theta; msg.tau = waypoint.tau; - current_path.waypoints.push_back(msg); - // std::cout << "Waypoint: " << msg.theta << ", " << msg.tau << std::endl; + current_plan.waypoints.push_back(msg); } - path_pub->publish(current_path); + path_pub->publish(current_plan); + // Publish local path nav_msgs::msg::Path nav_path; nav_path.header.stamp = msg->header.stamp; nav_path.header.frame_id = "map"; @@ -207,7 +260,7 @@ class PlannerNode : public rclcpp::Node { nav_path.poses.push_back(pose); } - nav_path_pub->publish(nav_path); + local_path_pub->publish(nav_path); } } @@ -222,7 +275,7 @@ class PlannerNode : public rclcpp::Node { for (int j = 0; j < msg->info.height; j++) { // Divide by 100 to get probability of occupancy in the range [0, 1] if (msg->data[j * msg->info.width + i] < 0) { - grid.data(i, j) = 0.3; + grid.data(i, j) = -1.0; } else if (msg->data[j * msg->info.width + i] < 50) { grid.data(i, j) = 0.0; } else { @@ -236,6 +289,7 @@ class PlannerNode : public rclcpp::Node { } void target_callback(const cev_msgs::msg::Waypoint msg) { + global_path_initialized = false; target = State{msg.x, msg.y, 0, msg.v, 0}; prev_path_cost = 100000000; second_iteration_passed = false; @@ -243,6 +297,7 @@ class PlannerNode : public rclcpp::Node { } void rviz_target_callback(const geometry_msgs::msg::PoseStamped msg) { + global_path_initialized = false; target = State{msg.pose.position.x, msg.pose.position.y, 0, 0, 0}; prev_path_cost = 100000000; second_iteration_passed = false; From 2e0009193f65c1242c51db709e2a3cfdb29fe9c3 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Mon, 17 Feb 2025 20:56:35 -0500 Subject: [PATCH 121/196] wat --- cev_planner | 2 +- src/planner_node.cpp | 42 +++++++++++++++++++++++++++++------------- 2 files changed, 30 insertions(+), 14 deletions(-) diff --git a/cev_planner b/cev_planner index b69f547..c68bf2b 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit b69f54770b4859f3280be020bafcfe52f011e3a2 +Subproject commit c68bf2bce27441e52a6a47495151200db7fe7439 diff --git a/src/planner_node.cpp b/src/planner_node.cpp index 0d00e4c..0887c12 100644 --- a/src/planner_node.cpp +++ b/src/planner_node.cpp @@ -36,8 +36,8 @@ class PlannerNode : public rclcpp::Node { {-1000, 1000}, // x {-1000, 1000}, // y {-.34, .34}, // tau - {-.5, 1.0}, // vel - {-.75, .75}, // accel + {-.5, .75}, // vel + {-.3, .4}, // accel {-.34, .34} // dtau }; @@ -123,7 +123,7 @@ class PlannerNode : public rclcpp::Node { // ------------------------------- void global_plan_callback() { - if (odom_initialized && map_initialized && target_initialized) { + if (odom_initialized && map_initialized && target_initialized && !global_path_initialized) { std::optional optional = global_planner->plan_path(grid, start, target); if (!optional.has_value()) { std::cout << "Global Path Failed." << std::endl; @@ -203,17 +203,25 @@ class PlannerNode : public rclcpp::Node { float dist = start.pose.distance_to(prev_start.pose); - if (map_initialized && odom_initialized && target_initialized && global_path_initialized) { - // && (!second_iteration_passed - // || (dist > .1))) { // Ensure that enough dist has changed before - // replan - Trajectory path = local_planner->plan_path(grid, start, target, global_path); + if (map_initialized && odom_initialized && target_initialized && global_path_initialized + && (!second_iteration_passed + || (dist > .1))) { // Ensure that enough dist has changed before + // replan + // Keep only waypoints not including start or target from the global path + Trajectory waypoints = global_path; + // std::cout << waypoints.waypoints.size() << std::endl; + waypoints.waypoints = std::vector(waypoints.waypoints.begin() + 1, + waypoints.waypoints.end() - 1); + // std::cout << waypoints.waypoints.size() << std::endl; + + Trajectory path = local_planner->plan_path(grid, start, target, waypoints); + // Trajectory path = local_planner->plan_path(grid, start, target, Trajectory()); if (path.cost >= prev_path_cost) { // Worse path return; } - std::cout << "Keeping path" << std::endl; + // std::cout << "Keeping path" << std::endl; current_local_plan = path; @@ -221,27 +229,35 @@ class PlannerNode : public rclcpp::Node { second_iteration_passed = true; prev_start = start; + // std::cout << "What 2" << std::endl; + cev_msgs::msg::Trajectory current_plan; current_plan.header.stamp = msg->header.stamp; current_plan.header.frame_id = "map"; current_plan.waypoints.clear(); + + // std::cout << "What 3" << std::endl; + for (State waypoint: path.waypoints) { cev_msgs::msg::Waypoint msg; msg.x = waypoint.pose.x; msg.y = waypoint.pose.y; - if (std::abs(waypoint.vel) < .3 - && std::abs(waypoint.vel) > 0.0) { // Car cannot move that slow lol - waypoint.vel = (waypoint.vel >= 0) ? .3 : -.3; - } + // if (std::abs(waypoint.vel) < .3 + // && std::abs(waypoint.vel) > 0.0) { // Car cannot move that slow lol + // waypoint.vel = (waypoint.vel >= 0) ? .3 : -.3; + // } msg.v = waypoint.vel; + // msg.v = .5; msg.theta = waypoint.pose.theta; msg.tau = waypoint.tau; current_plan.waypoints.push_back(msg); } + // std::cout << "Publishing path" << std::endl; + path_pub->publish(current_plan); // Publish local path From 0710200013ecd5fe5a61425c49055c4fa3c3dc02 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Mon, 17 Feb 2025 21:11:01 -0500 Subject: [PATCH 122/196] Add timestep to Trajectory --- msg/Trajectory.msg | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/msg/Trajectory.msg b/msg/Trajectory.msg index 8d6475f..741183e 100644 --- a/msg/Trajectory.msg +++ b/msg/Trajectory.msg @@ -4,4 +4,5 @@ # Waypoint[] : waypoints [ Array of Waypoints ] # std_msgs/Header header -cev_msgs/Waypoint[] waypoints \ No newline at end of file +cev_msgs/Waypoint[] waypoints +float timestep From 4ec32014c3ef0fc6a594d4e50fd967c3d5afaf46 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Mon, 17 Feb 2025 21:14:27 -0500 Subject: [PATCH 123/196] Fix msg --- msg/Trajectory.msg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/msg/Trajectory.msg b/msg/Trajectory.msg index 741183e..c052c17 100644 --- a/msg/Trajectory.msg +++ b/msg/Trajectory.msg @@ -5,4 +5,4 @@ # std_msgs/Header header cev_msgs/Waypoint[] waypoints -float timestep +float32 timestep From 59a8586f7d27f2deb8594b8ef99629d716fd07cb Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Mon, 17 Feb 2025 21:14:50 -0500 Subject: [PATCH 124/196] Report timestep --- cev_planner | 2 +- src/planner_node.cpp | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/cev_planner b/cev_planner index c68bf2b..c630d68 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit c68bf2bce27441e52a6a47495151200db7fe7439 +Subproject commit c630d688205b8e7dcdc98d7a232adacda9fd1a90 diff --git a/src/planner_node.cpp b/src/planner_node.cpp index 0887c12..340bd5e 100644 --- a/src/planner_node.cpp +++ b/src/planner_node.cpp @@ -236,6 +236,7 @@ class PlannerNode : public rclcpp::Node { current_plan.header.stamp = msg->header.stamp; current_plan.header.frame_id = "map"; current_plan.waypoints.clear(); + current_plan.timestep = path.timestep; // std::cout << "What 3" << std::endl; From d12e6ddbec0ff48a6cdc638008bed4fc1b24d600 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Mon, 17 Feb 2025 21:28:34 -0500 Subject: [PATCH 125/196] Bruh --- cev_planner | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cev_planner b/cev_planner index c630d68..9e28692 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit c630d688205b8e7dcdc98d7a232adacda9fd1a90 +Subproject commit 9e28692dd225dc527f144f12024a1d3b396147ed From 8efdf8857952d97bdbe5a755a3f2548ad4550bbe Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Mon, 17 Feb 2025 22:09:51 -0500 Subject: [PATCH 126/196] mew --- cev_planner | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cev_planner b/cev_planner index 9e28692..10fac51 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit 9e28692dd225dc527f144f12024a1d3b396147ed +Subproject commit 10fac51871ec1d577a95a45eef52f90da441c31d From 20240c767d92bfa47ca311806acd2e68d320a0f0 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Mon, 17 Feb 2025 22:16:43 -0500 Subject: [PATCH 127/196] m --- cev_planner | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cev_planner b/cev_planner index 10fac51..bf9c684 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit 10fac51871ec1d577a95a45eef52f90da441c31d +Subproject commit bf9c68422a5f7673d06f49bc97abed33b5bf9312 From 08f2d6d5737e6a71c658e4f84f9031defc44a94a Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Mon, 17 Feb 2025 22:29:23 -0500 Subject: [PATCH 128/196] Im crashing out --- cev_planner | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cev_planner b/cev_planner index bf9c684..b96f33e 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit bf9c68422a5f7673d06f49bc97abed33b5bf9312 +Subproject commit b96f33e38facbe26d5ea5fb066ebd484bd3658c6 From 30b7df05840ad5064d4feb4c6310d764ac1e2926 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Tue, 18 Feb 2025 01:43:23 -0500 Subject: [PATCH 129/196] Sorta --- cev_planner | 2 +- src/planner_node.cpp | 45 ++++++++++++++++++++++++++++++++++++-------- 2 files changed, 38 insertions(+), 9 deletions(-) diff --git a/cev_planner b/cev_planner index b96f33e..6e940a5 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit b96f33e38facbe26d5ea5fb066ebd484bd3658c6 +Subproject commit 6e940a55dca1cdd8db0e4dcf2cb04cafae506f74 diff --git a/src/planner_node.cpp b/src/planner_node.cpp index 340bd5e..5509f09 100644 --- a/src/planner_node.cpp +++ b/src/planner_node.cpp @@ -14,6 +14,7 @@ #include "global_planning/rrt.h" #include "cost_map/gaussian_conv.h" #include "cost_map/nearest.h" +#include "cost_map/nothing.h" using namespace cev_planner; @@ -89,6 +90,7 @@ class PlannerNode : public rclcpp::Node { bool second_iteration_passed = false; float prev_path_cost = 100000000; Trajectory current_local_plan; + int current_waypoint_in_global = 0; std::shared_ptr local_planner; @@ -176,7 +178,7 @@ class PlannerNode : public rclcpp::Node { transform = tf_buffer_.lookupTransform("map", "odom", tf2::TimePointZero); tf2::doTransform(base_link_pose, map_pose, transform); } catch (const tf2::TransformException& ex) { - RCLCPP_WARN(this->get_logger(), "Could not transform odom to map: %s", ex.what()); + RCLCPP_DEBUG(this->get_logger(), "Could not transform odom to map: %s", ex.what()); return; } @@ -203,15 +205,40 @@ class PlannerNode : public rclcpp::Node { float dist = start.pose.distance_to(prev_start.pose); - if (map_initialized && odom_initialized && target_initialized && global_path_initialized - && (!second_iteration_passed - || (dist > .1))) { // Ensure that enough dist has changed before + if (map_initialized && odom_initialized && target_initialized && global_path_initialized) { + // && (!second_iteration_passed + // || (dist > .025))) { // Ensure that enough dist has changed before // replan // Keep only waypoints not including start or target from the global path - Trajectory waypoints = global_path; - // std::cout << waypoints.waypoints.size() << std::endl; - waypoints.waypoints = std::vector(waypoints.waypoints.begin() + 1, - waypoints.waypoints.end() - 1); + + float dist = + start.pose.distance_to(global_path.waypoints[current_waypoint_in_global].pose); + + while (dist < 1.0 && current_waypoint_in_global < global_path.waypoints.size()) { + // std::cout << "Skipping" << std::endl; + current_waypoint_in_global += 1; + dist = + start.pose.distance_to(global_path.waypoints[current_waypoint_in_global].pose); + } + + std::cout << "Current: " << current_waypoint_in_global << std::endl; + std::cout << "Dist to waypoint: " << dist << std::endl; + + Trajectory waypoints; + + if (current_waypoint_in_global < global_path.waypoints.size() - 1) { + waypoints.waypoints.push_back(global_path.waypoints[current_waypoint_in_global]); + + if ((current_waypoint_in_global + 1) < global_path.waypoints.size()) { + waypoints.waypoints.push_back( + global_path.waypoints[current_waypoint_in_global + 1]); + } else { + waypoints.waypoints.push_back(target); + } + } else { + waypoints.waypoints.push_back(target); + } + // std::cout << waypoints.waypoints.size() << std::endl; Trajectory path = local_planner->plan_path(grid, start, target, waypoints); @@ -306,6 +333,7 @@ class PlannerNode : public rclcpp::Node { } void target_callback(const cev_msgs::msg::Waypoint msg) { + current_waypoint_in_global = 0; global_path_initialized = false; target = State{msg.x, msg.y, 0, msg.v, 0}; prev_path_cost = 100000000; @@ -314,6 +342,7 @@ class PlannerNode : public rclcpp::Node { } void rviz_target_callback(const geometry_msgs::msg::PoseStamped msg) { + current_waypoint_in_global = 0; global_path_initialized = false; target = State{msg.pose.position.x, msg.pose.position.y, 0, 0, 0}; prev_path_cost = 100000000; From cf1a853f3b8889251c9bdfac7659233191cac1c5 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Thu, 20 Feb 2025 17:36:08 -0500 Subject: [PATCH 130/196] KMS :skull: --- cev_planner | 2 +- src/planner_node.cpp | 42 ++++++++++++++++++++++++++++++++++++------ 2 files changed, 37 insertions(+), 7 deletions(-) diff --git a/cev_planner b/cev_planner index 6e940a5..005bed9 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit 6e940a55dca1cdd8db0e4dcf2cb04cafae506f74 +Subproject commit 005bed9f11586c5ca7bb3e1d285deac704e65578 diff --git a/src/planner_node.cpp b/src/planner_node.cpp index 5509f09..b7f121c 100644 --- a/src/planner_node.cpp +++ b/src/planner_node.cpp @@ -159,6 +159,35 @@ class PlannerNode : public rclcpp::Node { global_path_pub->publish(global_nav_path); + // cev_msgs::msg::Trajectory current_plan; + + // current_plan.header.stamp = this->now(); + // current_plan.header.frame_id = "map"; + // current_plan.waypoints.clear(); + // current_plan.timestep = global_path.timestep; + + // // std::cout << "What 3" << std::endl; + + // for (State waypoint: global_path.waypoints) { + // cev_msgs::msg::Waypoint msg; + // msg.x = waypoint.pose.x; + // msg.y = waypoint.pose.y; + + // // if (std::abs(waypoint.vel) < .3 + // // && std::abs(waypoint.vel) > 0.0) { // Car cannot move that slow lol + // // waypoint.vel = (waypoint.vel >= 0) ? .3 : -.3; + // // } + + // msg.v = waypoint.vel; + // msg.theta = waypoint.pose.theta; + // msg.tau = waypoint.tau; + // current_plan.waypoints.push_back(msg); + // } + + // std::cout << "Publishing path" << std::endl; + + // path_pub->publish(current_plan); + global_path_initialized = true; } } @@ -221,8 +250,8 @@ class PlannerNode : public rclcpp::Node { start.pose.distance_to(global_path.waypoints[current_waypoint_in_global].pose); } - std::cout << "Current: " << current_waypoint_in_global << std::endl; - std::cout << "Dist to waypoint: " << dist << std::endl; + // std::cout << "Current: " << current_waypoint_in_global << std::endl; + // std::cout << "Dist to waypoint: " << dist << std::endl; Trajectory waypoints; @@ -244,9 +273,9 @@ class PlannerNode : public rclcpp::Node { Trajectory path = local_planner->plan_path(grid, start, target, waypoints); // Trajectory path = local_planner->plan_path(grid, start, target, Trajectory()); - if (path.cost >= prev_path_cost) { // Worse path - return; - } + // if (path.cost >= prev_path_cost) { // Worse path + // return; + // } // std::cout << "Keeping path" << std::endl; @@ -267,6 +296,8 @@ class PlannerNode : public rclcpp::Node { // std::cout << "What 3" << std::endl; + // std::cout << "Publishing path." << std::endl; + for (State waypoint: path.waypoints) { cev_msgs::msg::Waypoint msg; msg.x = waypoint.pose.x; @@ -278,7 +309,6 @@ class PlannerNode : public rclcpp::Node { // } msg.v = waypoint.vel; - // msg.v = .5; msg.theta = waypoint.pose.theta; msg.tau = waypoint.tau; current_plan.waypoints.push_back(msg); From f2a7465be9fd90e09abb0595a071b1c726afa671 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Thu, 20 Feb 2025 18:43:42 -0500 Subject: [PATCH 131/196] Maybe better? --- cev_planner | 2 +- src/planner_node.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/cev_planner b/cev_planner index 005bed9..7b1f4b3 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit 005bed9f11586c5ca7bb3e1d285deac704e65578 +Subproject commit 7b1f4b34962064f2e63efc83113a1af4da5035b6 diff --git a/src/planner_node.cpp b/src/planner_node.cpp index b7f121c..e401395 100644 --- a/src/planner_node.cpp +++ b/src/planner_node.cpp @@ -43,7 +43,7 @@ class PlannerNode : public rclcpp::Node { }; local_planner = std::make_shared(dimensions, full_constraints, - std::make_shared(3, .5)); + std::make_shared(2, .5)); global_planner = std::make_shared(dimensions, full_constraints); From 73e56527510646a6f6a7d36db0e29aa9457d025e Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Thu, 20 Feb 2025 21:39:15 -0500 Subject: [PATCH 132/196] Maybeeeee? --- cev_planner | 2 +- src/planner_node.cpp | 31 +++++++++++++++++++++++++++---- 2 files changed, 28 insertions(+), 5 deletions(-) diff --git a/cev_planner b/cev_planner index 7b1f4b3..5586153 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit 7b1f4b34962064f2e63efc83113a1af4da5035b6 +Subproject commit 55861533479c7ede5db1a558c37159f07ecb00f8 diff --git a/src/planner_node.cpp b/src/planner_node.cpp index e401395..4a1fd5c 100644 --- a/src/planner_node.cpp +++ b/src/planner_node.cpp @@ -43,7 +43,7 @@ class PlannerNode : public rclcpp::Node { }; local_planner = std::make_shared(dimensions, full_constraints, - std::make_shared(2, .5)); + std::make_shared(2, .5)); global_planner = std::make_shared(dimensions, full_constraints); @@ -243,6 +243,29 @@ class PlannerNode : public rclcpp::Node { float dist = start.pose.distance_to(global_path.waypoints[current_waypoint_in_global].pose); + float dist_to_dest = start.pose.distance_to(target.pose); + + if (dist_to_dest < .4) { + // Write a trajectory with 0 velocity + cev_msgs::msg::Trajectory current_plan; + + current_plan.header.stamp = msg->header.stamp; + current_plan.header.frame_id = "map"; + current_plan.waypoints.clear(); + + cev_msgs::msg::Waypoint msg; + msg.x = target.pose.x; + msg.y = target.pose.y; + msg.v = 0; + msg.theta = target.pose.theta; + msg.tau = target.tau; + current_plan.waypoints.push_back(msg); + + path_pub->publish(current_plan); + + return; + } + while (dist < 1.0 && current_waypoint_in_global < global_path.waypoints.size()) { // std::cout << "Skipping" << std::endl; current_waypoint_in_global += 1; @@ -273,9 +296,9 @@ class PlannerNode : public rclcpp::Node { Trajectory path = local_planner->plan_path(grid, start, target, waypoints); // Trajectory path = local_planner->plan_path(grid, start, target, Trajectory()); - // if (path.cost >= prev_path_cost) { // Worse path - // return; - // } + if (path.cost >= prev_path_cost && dist < .3) { // Worse path and hasn't moved too much + return; + } // std::cout << "Keeping path" << std::endl; From 061277ae592f3f6adcd7b7a8440c47b12adaf4ea Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Fri, 21 Feb 2025 19:43:59 -0500 Subject: [PATCH 133/196] Separate traj follower and autobrake into diff packages --- CMakeLists.txt | 56 +++++++++++++++ config/.gitkeep | 0 launch/launch.py | 19 +++++ package.xml | 28 ++++++++ src/autobrake_node.cpp | 159 +++++++++++++++++++++++++++++++++++++++++ 5 files changed, 262 insertions(+) create mode 100644 CMakeLists.txt create mode 100644 config/.gitkeep create mode 100644 launch/launch.py create mode 100644 package.xml create mode 100644 src/autobrake_node.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..8635046 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,56 @@ + +cmake_minimum_required(VERSION 3.8) +project(autobrake) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES Clang) + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(std_msgs REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(ackermann_msgs REQUIRED) +find_package(cev_msgs REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(tf2_ros REQUIRED) +find_package(tf2_geometry_msgs REQUIRED) + + +add_executable(autobrake_node src/autobrake_node.cpp) + +ament_target_dependencies(autobrake_node + rclcpp + std_msgs + sensor_msgs + ackermann_msgs + cev_msgs + tf2_ros + tf2_geometry_msgs) + +install(TARGETS autobrake_node + DESTINATION lib/${PROJECT_NAME}) + +install(DIRECTORY launch/ + DESTINATION share/${PROJECT_NAME}/launch +) + +install(DIRECTORY config/ + DESTINATION share/${PROJECT_NAME}/config +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() + diff --git a/config/.gitkeep b/config/.gitkeep new file mode 100644 index 0000000..e69de29 diff --git a/launch/launch.py b/launch/launch.py new file mode 100644 index 0000000..34b79f1 --- /dev/null +++ b/launch/launch.py @@ -0,0 +1,19 @@ +from launch import LaunchDescription +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory +import os +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource + + +def generate_launch_description(): + return LaunchDescription( + [ + Node( + package="autobrake", + executable="autobrake_node", + name="autobrake_node", + ) + ] + ) + diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..8d41004 --- /dev/null +++ b/package.xml @@ -0,0 +1,28 @@ + + + + controls + 0.0.0 + TODO: Package description + sloth + TODO: License declaration + + ament_cmake + + ament_lint_auto + ament_lint_common + + rclcpp + std_msgs + sensor_msgs + ackermann_msgs + cev_msgs + nav_msgs + tf2 + tf2_ros + tf2_geometry_msgs + + + ament_cmake + + diff --git a/src/autobrake_node.cpp b/src/autobrake_node.cpp new file mode 100644 index 0000000..10bed6f --- /dev/null +++ b/src/autobrake_node.cpp @@ -0,0 +1,159 @@ +#include +#include +#include +#include +#include "cev_msgs/msg/sensor_collect.hpp" +#include + +using std::placeholders::_1; + +/** NOTES + * R = L / tan(steering_angle) + * Circle Center = (-R, 0) + * + * Obstacle = (rsin(theta), rcos(theta)) + * + * Angle from center to obstacle = tan(O_y / (O_x + R)) + * Dist from center to obstacle = sqrt((O_x + R)^2 + O_y^2) + * + * Circum dist to obstacle = R * angle from center to obstacle + * Time to hit obstacle = circum dist to obstacle / velocity + * + * NOTE: LIDAR'S 0 is forward, and angles increment clockwise + */ + +class AutobrakeNode : public rclcpp::Node { +public: + AutobrakeNode(): Node("autobrake") { + forward_brake_.data = MAX_VEL; + + scan_sub_ = this->create_subscription("scan", 1, + std::bind(&AutobrakeNode::checkCollision, this, _1)); + + sensor_collect_sub_ = this->create_subscription( + "sensor_collect", 1, std::bind(&AutobrakeNode::setVars, this, _1)); + + rc_movement_sub_ = this->create_subscription( + "rc_movement_msg", 1, std::bind(&AutobrakeNode::setTargets, this, _1)); + + forward_brake_pub_ = this->create_publisher("auto_max_vel", 1); + + timer_ = this->create_wall_timer(std::chrono::milliseconds(10), + std::bind(&AutobrakeNode::publishBrake, this)); + + RCLCPP_INFO(this->get_logger(), "Autobrake node initialized."); + } + +private: // TODO: Make these constants configurable and use transforms instead of direct lidar + const float VEHICLE_LENGTH = 0.185; + const float VEHICLE_WIDTH = 0.18; + const float AUTOBRAKE_TIME = 0.7; + const float AUTOBRAKE_DISTANCE = 0.2; + const float MAX_VEL = 1.5; + const int MIN_COLLISIONS_FOR_BRAKE = 3; + const float LIDAR_ROTATIONAL_OFFSET = M_PI; + const float LIDAR_HORIZONTAL_OFFSET = 0.035; + + float steering_angle_ = 0; + float velocity_ = 0; + float target_velocity_ = 0; + std_msgs::msg::Float32 forward_brake_; + + rclcpp::Subscription::SharedPtr scan_sub_; + rclcpp::Subscription::SharedPtr sensor_collect_sub_; + rclcpp::Subscription::SharedPtr rc_movement_sub_; + rclcpp::Publisher::SharedPtr forward_brake_pub_; + rclcpp::TimerBase::SharedPtr timer_; + + // Calculate the maximum velocity based on the distance to an obstacle + float maxVelocity(float dist) { + if (dist < 0) return MAX_VEL; + if (dist < AUTOBRAKE_DISTANCE) return 0; + + return std::max(0.0f, -3.5f + std::sqrt(49 + 40 * dist) / 2 - 0.2f); + } + + // LIDAR'S 0 is forward, and angles increment clockwise + // Check for potential collisions based on laser scan data + void checkCollision(const sensor_msgs::msg::LaserScan::SharedPtr data) { + int invert_flag = 1; + float min_vel = MAX_VEL; + + if (steering_angle_ < 0) invert_flag = -1; + + // Calculate turning radius (L / tan(steering_angle)), or infinity if driving straight + float turning_radius = std::abs(steering_angle_) > 0.01 + ? VEHICLE_LENGTH / std::tan(invert_flag * steering_angle_) + : std::numeric_limits::infinity(); + + // Calculate turning radii of inside and outside wheels + float inner_wheel_radius = turning_radius - VEHICLE_WIDTH / 2; + float outer_wheel_radius = turning_radius + VEHICLE_WIDTH / 2; + + for (size_t i = 0; i < data->ranges.size(); ++i) { + if (data->ranges[i] < data->range_min || data->ranges[i] > data->range_max) continue; + + float dist_to_obstacle = std::numeric_limits::infinity(); + + // X and Y coordinates of obstacle relative to vehicle + float theta = LIDAR_ROTATIONAL_OFFSET + data->angle_min + i * data->angle_increment; + float r = data->ranges[i]; + float x = invert_flag * (r * std::sin(theta) + LIDAR_HORIZONTAL_OFFSET); + float y = r * std::cos(theta); + + if (turning_radius == std::numeric_limits::infinity()) { + // If driving straight, check if obstacle is within the width of the vehicle + if (std::abs(x) < VEHICLE_WIDTH / 2) + dist_to_obstacle = y; + else + continue; + } else { + // For curving, calculate radius distance to obstacle from center of movement circle + float radius_dist_to_obstacle = + std::sqrt((x + turning_radius) * (x + turning_radius) + y * y); + + if (outer_wheel_radius > radius_dist_to_obstacle + && radius_dist_to_obstacle > inner_wheel_radius) { + // Calculate angle from center of movement circle to obstacle + float angle_from_center_to_obstacle = std::atan2(y, turning_radius + x); + if (angle_from_center_to_obstacle < 0) + angle_from_center_to_obstacle += 2 * M_PI; + angle_from_center_to_obstacle = fmod(angle_from_center_to_obstacle, 2 * M_PI); + + // Calculate circumferential distance to obstacle + dist_to_obstacle = turning_radius * angle_from_center_to_obstacle; + } else + continue; + } + + // If the obstacle is within a valid distance, adjust the minimum velocity + if (dist_to_obstacle >= 0) min_vel = std::min(min_vel, maxVelocity(dist_to_obstacle)); + } + + // Set the brake value to the minimum calculated velocity + forward_brake_.data = min_vel; + } + + // Callback to set the velocity and steering angle from the sensor_collect topic + void setVars(const cev_msgs::msg::SensorCollect::SharedPtr data) { + velocity_ = data->velocity; + steering_angle_ = -data->steering_angle; // Invert the steering angle + } + + // Callback to set the target velocity from the AckermannDrive topic + void setTargets(const ackermann_msgs::msg::AckermannDrive::SharedPtr data) { + target_velocity_ = data->speed; + } + + // Publish the brake value at a regular interval + void publishBrake() { + forward_brake_pub_->publish(forward_brake_); + } +}; + +int main(int argc, char* argv[]) { + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +} From bef4029c8345aa984920414d88f073c45673e382 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Fri, 21 Feb 2025 19:43:59 -0500 Subject: [PATCH 134/196] Separate traj follower and autobrake into diff packages --- CMakeLists.txt | 68 ++++++++++ config/.gitkeep | 0 launch/launch.py | 24 ++++ package.xml | 28 ++++ src/debug_trajectory_publish.cpp | 94 +++++++++++++ src/trajectory_follower.cpp | 223 +++++++++++++++++++++++++++++++ 6 files changed, 437 insertions(+) create mode 100644 CMakeLists.txt create mode 100644 config/.gitkeep create mode 100644 launch/launch.py create mode 100644 package.xml create mode 100644 src/debug_trajectory_publish.cpp create mode 100644 src/trajectory_follower.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..2476c72 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,68 @@ + +cmake_minimum_required(VERSION 3.8) +project(trajectory_follower) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES Clang) + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(std_msgs REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(ackermann_msgs REQUIRED) +find_package(cev_msgs REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(tf2_ros REQUIRED) +find_package(tf2_geometry_msgs REQUIRED) + + +add_executable(trajectory_follower_node src/trajectory_follower.cpp) +add_executable(debug_trajectory src/debug_trajectory_publish.cpp) + +ament_target_dependencies(trajectory_follower_node + rclcpp + std_msgs + sensor_msgs + ackermann_msgs + cev_msgs + nav_msgs + tf2_ros + tf2_geometry_msgs) + +ament_target_dependencies(debug_trajectory + rclcpp + std_msgs + sensor_msgs + ackermann_msgs + cev_msgs + nav_msgs + tf2_ros + tf2_geometry_msgs) + +install(TARGETS trajectory_follower_node debug_trajectory + DESTINATION lib/${PROJECT_NAME}) + +install(DIRECTORY launch/ + DESTINATION share/${PROJECT_NAME}/launch +) + +install(DIRECTORY config/ + DESTINATION share/${PROJECT_NAME}/config +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() + diff --git a/config/.gitkeep b/config/.gitkeep new file mode 100644 index 0000000..e69de29 diff --git a/launch/launch.py b/launch/launch.py new file mode 100644 index 0000000..2f16d48 --- /dev/null +++ b/launch/launch.py @@ -0,0 +1,24 @@ +from launch import LaunchDescription +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory +import os +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource + + +def generate_launch_description(): + return LaunchDescription( + [ + Node( + package="controls", + executable="trajectory_follower_node", + name="trajectory_node", + ), + # Node( + # package="controls", + # executable="debug_trajectory", + # name="debug_trajectory", + # ) + ] + ) + diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..8d41004 --- /dev/null +++ b/package.xml @@ -0,0 +1,28 @@ + + + + controls + 0.0.0 + TODO: Package description + sloth + TODO: License declaration + + ament_cmake + + ament_lint_auto + ament_lint_common + + rclcpp + std_msgs + sensor_msgs + ackermann_msgs + cev_msgs + nav_msgs + tf2 + tf2_ros + tf2_geometry_msgs + + + ament_cmake + + diff --git a/src/debug_trajectory_publish.cpp b/src/debug_trajectory_publish.cpp new file mode 100644 index 0000000..483e1da --- /dev/null +++ b/src/debug_trajectory_publish.cpp @@ -0,0 +1,94 @@ +#include +#include +#include +#include +#include + +using cev_msgs::msg::Trajectory; +using cev_msgs::msg::Waypoint; + +// ROS2 Node that publishes a cev_msgs trajectory +class DebugTrajectoryPublish : public rclcpp::Node { +public: + DebugTrajectoryPublish(): Node("debug_trajectory_publish") { + trajectory_pub_ = this->create_publisher("trajectory", 1); + + timer_ = this->create_wall_timer(std::chrono::milliseconds(2000), + std::bind(&DebugTrajectoryPublish::timer_callback, this)); + } + +private: + rclcpp::Publisher::SharedPtr trajectory_pub_; + rclcpp::TimerBase::SharedPtr timer_; + + std::vector>> trajectories = {// { + // {0.0, 0.0, 0.9}, + // {0.3, 0.1, 0.7}, + // {0.6, 0.2, 0.5}, + // {0.9, 0.3, 0.3}, + // {1.2, 0.4, 0.2}, + // {1.5, 0.5, 0.2}, + // {0.6, 0.5, -0.3}, + // {1.5, -0.5, 0.3} + // }, + // { + // {0.6, 0.2, 0.5}, + // {0.9, 0.3, 0.3}, + // {1.2, 0.4, 0.2}, + // {1.5, 0.5, 0.2}, + // {0.6, 0.5, -0.3}, + // {1.5, -0.5, 0.3}, + // {0.6, 0.5, -0.3}, + // {1.5, -0.5, 0.3}, + // }, + { + // {1.2, 0.4, 0.2}, + // {1.5, 0.5, 0.2}, + // {0.6, 0.5, -0.3}, + // {1.5, -0.5, 0.3}, + // {0.6, 0.5, -0.3}, + // {1.5, -0.5, 0.3}, + // {0.6, 0.5, -0.3}, + // {1.5, -0.5, 0.3}, + // {0.0, 0.0, -.3}, + }, + {{0.0, 0.0, 0.9}, {0.3, 0.1, 0.7}, {0.6, 0.2, 0.5}, {0.9, 0.3, 0.3}, {1.2, 0.4, 0.2}, + {1.5, 0.5, 0.2}, {0.6, 0.5, -0.3}, + // {1.5, -0.5, 0.3}, + {1.5, -0.5, 0.3}, {0.0, 0.0, -.3}}}; + + size_t current_trajectory = 0; + + void add_waypoints(Trajectory& trajectory, + std::vector> waypoints) { + for (auto& waypoint: waypoints) { + add_waypoint(trajectory, std::get<0>(waypoint), std::get<1>(waypoint), + std::get<2>(waypoint)); + } + } + + void add_waypoint(Trajectory& trajectory, float x, float y, float v) { + Waypoint waypoint = Waypoint(); + waypoint.x = x; + waypoint.y = y; + waypoint.v = v; + trajectory.waypoints.push_back(waypoint); + } + + void timer_callback() { + if (current_trajectory < trajectories.size()) { + Trajectory trajectory_msg = Trajectory(); + trajectory_msg.header.stamp = this->now(); + add_waypoints(trajectory_msg, trajectories[current_trajectory]); + trajectory_pub_->publish(trajectory_msg); + current_trajectory++; + } + } +}; + +int main(int argc, char* argv[]) { + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +} \ No newline at end of file diff --git a/src/trajectory_follower.cpp b/src/trajectory_follower.cpp new file mode 100644 index 0000000..83eb01b --- /dev/null +++ b/src/trajectory_follower.cpp @@ -0,0 +1,223 @@ +#include +#include +#include "rclcpp/rclcpp.hpp" +#include "ackermann_msgs/msg/ackermann_drive.hpp" +#include "nav_msgs/msg/odometry.hpp" +#include "cev_msgs/msg/waypoint.hpp" +#include "cev_msgs/msg/trajectory.hpp" + +#include "tf2_ros/transform_listener.h" +#include "tf2_ros/buffer.h" +#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp" +#include "tf2/utils.h" + +using cev_msgs::msg::Waypoint; +using std::placeholders::_1; + +struct Coordinate { + Coordinate(float x, float y, float theta, float v): x(x), y(y), theta(theta), v(v) {} + + float x; + float y; + float theta; + float v; +}; + +class TrajectoryFollower : public rclcpp::Node { +public: + TrajectoryFollower() + : Node("trajectory_follower"), tf_buffer_(this->get_clock()), tf_listener_(tf_buffer_) { + odometry_sub_ = this->create_subscription("odometry/filtered", 1, + std::bind(&TrajectoryFollower::odometry_callback, this, _1)); + + trajectory_sub_ = this->create_subscription("trajectory", 1, + std::bind(&TrajectoryFollower::trajectory_callback, this, _1)); + + ackermann_pub_ = + this->create_publisher("rc_movement_msg", 1); + } + +private: + float min_steering_angle = -20.0 * M_PI / 180.0; + float max_steering_angle = 20.0 * M_PI / 180.0; + + float waypoint_radius = .1; + float waypoint_final_radius = .1; + + bool waypoints_initialized = false; + + std::vector waypoints; + size_t current_waypoint = 0; + + rclcpp::Subscription::SharedPtr odometry_sub_; + rclcpp::Subscription::SharedPtr trajectory_sub_; + rclcpp::Publisher::SharedPtr ackermann_pub_; + + tf2_ros::Buffer tf_buffer_; + tf2_ros::TransformListener tf_listener_; + + float normalize_angle(float f) { + float modded = fmod(f, 2 * M_PI); + + if (modded >= M_PI) { + modded -= 2 * M_PI; + } else if (modded < -M_PI) { + modded += 2 * M_PI; + } + + return modded; + } + + float dist_to_waypoint(Coordinate& current, Waypoint& target) { + return std::sqrt(std::pow(current.x - target.x, 2) + std::pow(current.y - target.y, 2)); + } + + float angle_to_waypoint(Coordinate& current, Waypoint& target) { + float theta = current.theta; + + // RCLCPP_INFO(this->get_logger(), "Current Angle: %f", current.theta); + + float multiplier = 1.0; + + if (target.v < 0) { + theta = normalize_angle(theta + M_PI); + multiplier = -1.0; + } + + float output_angle = + multiplier + * normalize_angle(std::atan2(target.y - current.y, target.x - current.x) - theta); + + // RCLCPP_INFO(this->get_logger(), "ANGLE DIFF: %f", output_angle); + + // if (output_angle > M_PI) { + // output_angle -= 2 * M_PI; + // } else if (output_angle < -M_PI) { + // // output_angle = -(2 * M_PI - output_angle); + // output_angle += 2 * M_PI; + // } + + return output_angle; + } + + bool waypoint_reached(Coordinate& current, size_t waypoint_idx) { + Waypoint target = waypoints[waypoint_idx]; + + float dist = dist_to_waypoint(current, target); + bool final = waypoint_idx == waypoints.size() - 1; + float radius = final ? waypoint_final_radius : waypoint_radius; + + if (dist < radius) { + return true; + } + + // Check if passed line seg + float dot; + + if (final) { + Waypoint prev = waypoints[waypoint_idx - 1]; + dot = (current.x - target.x) * (target.x - prev.x) + + (current.y - target.y) * (target.y - prev.y); + } else { + Waypoint next = waypoints[waypoint_idx + 1]; + dot = (current.x - target.x) * (next.x - target.x) + + (current.y - target.y) * (next.y - target.y); + } + + return dist < .1 && dot > 0; + } + + float find_steering_angle(Coordinate& current, Waypoint& target) { + return angle_to_waypoint(current, target); + } + + void publish_ackermann_drive(float steering_angle, float speed) { + auto ackermann_msg = ackermann_msgs::msg::AckermannDrive(); + ackermann_msg.steering_angle = normalize_angle(steering_angle); + + if (ackermann_msg.steering_angle < min_steering_angle) { + ackermann_msg.steering_angle = min_steering_angle; + } else if (ackermann_msg.steering_angle > max_steering_angle) { + ackermann_msg.steering_angle = max_steering_angle; + } + + ackermann_msg.speed = speed; + + ackermann_pub_->publish(ackermann_msg); + } + + void odometry_callback(const nav_msgs::msg::Odometry::SharedPtr msg) { + if (!waypoints_initialized || current_waypoint >= waypoints.size()) { + return; + } + + geometry_msgs::msg::TransformStamped transform; + + geometry_msgs::msg::PoseStamped base_link_pose; + base_link_pose.header = msg->header; + base_link_pose.pose = msg->pose.pose; + + geometry_msgs::msg::PoseStamped map_pose; + + try { + transform = tf_buffer_.lookupTransform("map", "odom", tf2::TimePointZero); + tf2::doTransform(base_link_pose, map_pose, transform); + } catch (const tf2::TransformException& ex) { + RCLCPP_WARN(this->get_logger(), "Could not transform odom to map: %s", ex.what()); + return; + } + + float qw = map_pose.pose.orientation.w; + float qx = map_pose.pose.orientation.x; + float qy = map_pose.pose.orientation.y; + float qz = map_pose.pose.orientation.z; + + float yaw = normalize_angle(atan2(2.0 * (qw * qz + qx * qy), + 1.0 - 2.0 * (qy * qy + qz * qz))); + + Coordinate current = Coordinate(map_pose.pose.position.x, map_pose.pose.position.y, yaw, + msg->twist.twist.linear.x); + + // Skip reached waypoints + while (waypoint_reached(current, current_waypoint)) { + current_waypoint++; + if (current_waypoint >= waypoints.size()) { + waypoints_initialized = false; + publish_ackermann_drive(0.0, 0.0); + return; + } + } + + Waypoint target = waypoints[current_waypoint]; + + // RCLCPP_INFO(this->get_logger(), "Target: %f, %f", target.x, target.y); + + float steering_angle = find_steering_angle(current, target); + + // RCLCPP_INFO(this->get_logger(), "Target Steering: %f", steering_angle); + + float vel = 0; + + if (target.v > .01 && target.v < .2) { + target.v = .2; + } else if (target.v < -.01 && target.v > -.2) { + target.v = -.2; + } + + // publish_ackermann_drive(steering_angle, vel); + publish_ackermann_drive(target.tau, target.v); + } + + void trajectory_callback(const cev_msgs::msg::Trajectory::SharedPtr msg) { + waypoints = msg->waypoints; + current_waypoint = 0; + waypoints_initialized = true; + } +}; + +int main(int argc, char* argv[]) { + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +} From b49dbf0e67936d533bc2da42b64db27b08c67e22 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Fri, 21 Feb 2025 19:48:15 -0500 Subject: [PATCH 135/196] Fix package name. --- package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/package.xml b/package.xml index 8d41004..2641a8c 100644 --- a/package.xml +++ b/package.xml @@ -1,7 +1,7 @@ - controls + autobrake 0.0.0 TODO: Package description sloth From cc63bb487cf99e33fb23adc8687dd8b8fb11ff48 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Fri, 21 Feb 2025 19:52:15 -0500 Subject: [PATCH 136/196] Rename --- package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/package.xml b/package.xml index 8d41004..712358a 100644 --- a/package.xml +++ b/package.xml @@ -1,7 +1,7 @@ - controls + trajectory_follower 0.0.0 TODO: Package description sloth From a2a105273de66583e8192181b97cc262f1c9cba1 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Fri, 21 Feb 2025 19:52:26 -0500 Subject: [PATCH 137/196] Add joy to launch file --- launch/launch.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/launch/launch.py b/launch/launch.py index eb446ea..fced3e0 100644 --- a/launch/launch.py +++ b/launch/launch.py @@ -10,6 +10,11 @@ def generate_launch_description(): return LaunchDescription( [ + Node( + package="joy", + executable="joy_node", + name="joy_node", + ), Node( package="teleop", executable="joy_interpreter", From 0d993a88d13627a5db87b352567dbee5d3a54337 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Fri, 21 Feb 2025 22:19:53 -0500 Subject: [PATCH 138/196] Goes outside --- cev_planner | 2 +- src/planner_node.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/cev_planner b/cev_planner index 5586153..dcf4d7a 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit 55861533479c7ede5db1a558c37159f07ecb00f8 +Subproject commit dcf4d7a2e9a786ba0b7c986fa3b461b3edc9866f diff --git a/src/planner_node.cpp b/src/planner_node.cpp index 4a1fd5c..a4ba2bf 100644 --- a/src/planner_node.cpp +++ b/src/planner_node.cpp @@ -245,7 +245,7 @@ class PlannerNode : public rclcpp::Node { float dist_to_dest = start.pose.distance_to(target.pose); - if (dist_to_dest < .4) { + if (dist_to_dest < .3) { // Write a trajectory with 0 velocity cev_msgs::msg::Trajectory current_plan; From e4716d5fb6d78458b2a4c783729bb11c499c56aa Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Fri, 21 Feb 2025 22:54:19 -0500 Subject: [PATCH 139/196] Nearest expansion --- cev_planner | 2 +- costmap.png | Bin 3938 -> 0 bytes src/planner_node.cpp | 4 ++-- 3 files changed, 3 insertions(+), 3 deletions(-) delete mode 100644 costmap.png diff --git a/cev_planner b/cev_planner index dcf4d7a..f38556c 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit dcf4d7a2e9a786ba0b7c986fa3b461b3edc9866f +Subproject commit f38556c429221fb2f9e76f2bbca18f2cb86d5220 diff --git a/costmap.png b/costmap.png deleted file mode 100644 index f1599aba28e39e19e217262ecbea264be50ba07b..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 3938 zcmYLMX;hQf7R9PnRG=Uh6apWhrjXu7JeRwe}U^ig3m*zYQ=hbMz)8&4}O=lYM}Yx=@Y%hyIyH#1HZa$ zb+8lfVbx9@`g(rr1-IOO(?!3#3h|}`UQhLY@4x$$^xsHlL#qSxv796SGWhovYRi$q z(a{x#;ivi1@53aAOMcc|?V4#mr}>fpL6(L6_MSu&&&rEEuXYlx#}YQN%(&%LO8ETU zO!!vr_)xu(*L5bxR#xT{&NHfGPhNK5;(Hx=#I#TIx%(CF9a|(s?x=YH4_i;gtqvGo 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accel + {-.5, 1.25}, // vel + {-.3, .75}, // accel {-.34, .34} // dtau }; From 4de54a0ef0edc0a2a62bf756b4b7242f9b174154 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Fri, 21 Feb 2025 23:29:51 -0500 Subject: [PATCH 140/196] Omg --- cev_planner | 2 +- src/planner_node.cpp | 5 ++++- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/cev_planner b/cev_planner index f38556c..04ab06b 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit f38556c429221fb2f9e76f2bbca18f2cb86d5220 +Subproject commit 04ab06b8d7586357b27c3645085af4e6a3fed6cf diff --git a/src/planner_node.cpp b/src/planner_node.cpp index 07e19e5..01c259e 100644 --- a/src/planner_node.cpp +++ b/src/planner_node.cpp @@ -42,8 +42,11 @@ class PlannerNode : public rclcpp::Node { {-.34, .34} // dtau }; + // local_planner = std::make_shared(dimensions, full_constraints, + // std::make_shared(2, .5)); + local_planner = std::make_shared(dimensions, full_constraints, - std::make_shared(2, .5)); + std::make_shared(2, .5)); global_planner = std::make_shared(dimensions, full_constraints); From ac6188561b97a02db839ba2e2282cad7f983eaa5 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Fri, 21 Feb 2025 23:52:10 -0500 Subject: [PATCH 141/196] Cooking? --- launch/launch.py | 2 +- src/trajectory_follower.cpp | 8 ++++---- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/launch/launch.py b/launch/launch.py index 2f16d48..e51aca0 100644 --- a/launch/launch.py +++ b/launch/launch.py @@ -10,7 +10,7 @@ def generate_launch_description(): return LaunchDescription( [ Node( - package="controls", + package="trajectory_follower", executable="trajectory_follower_node", name="trajectory_node", ), diff --git a/src/trajectory_follower.cpp b/src/trajectory_follower.cpp index 83eb01b..428a77c 100644 --- a/src/trajectory_follower.cpp +++ b/src/trajectory_follower.cpp @@ -198,10 +198,10 @@ class TrajectoryFollower : public rclcpp::Node { float vel = 0; - if (target.v > .01 && target.v < .2) { - target.v = .2; - } else if (target.v < -.01 && target.v > -.2) { - target.v = -.2; + if (target.v > .01 && target.v < .4) { + target.v = .4; + } else if (target.v < -.01 && target.v > -.4) { + target.v = -.4; } // publish_ackermann_drive(steering_angle, vel); From c99e0067ad3fabd4d3592bea233669eb48a6dda0 Mon Sep 17 00:00:00 2001 From: Ibrahim Ahmed Date: Sat, 22 Feb 2025 15:39:42 -0500 Subject: [PATCH 142/196] brooo --- cev_planner | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cev_planner b/cev_planner index 6e940a5..5cae401 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit 6e940a55dca1cdd8db0e4dcf2cb04cafae506f74 +Subproject commit 5cae40127fe08166799db9914dc5bd93e12dc18e From 517b9b988430e6b9284822de95daec8274c4f941 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sat, 22 Feb 2025 15:40:31 -0500 Subject: [PATCH 143/196] Return only score --- costmap.png | Bin 0 -> 8491 bytes src/planner_node.cpp | 2 +- trajectory.png | Bin 1117 -> 3349 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zJp}kNCAjIghHNj6W7Es>m(g>Nc@g#%bzq`&z%-24*No4?Xl|SiM(ON0 zntIuc%Jlo}-YXEaYsBNF12_iqekG5?tu7o>({XyC0JZ5;b?*poUP8|x@e*iEk9O3( zPwHDR5gj9QBhf>iIog*k&QCn%?{Z}xM4W{O0g{zT?``Pax7Nj8St9GVjr+PEDh;9q zu+2f=53!7~mB$;`^+wJIW7Kw}g7so;M_|X4irX5(^e8=}n{M+}bRrMq3iv+GR;_^n pq;rncF(7#jq-`6S3Oo)S+vnePuFR(YuE1-<790r;7yZ*;{sZxdD*6Bb From af0fbed058bca6181bcdb6dcc87dcb9147633080 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sat, 22 Feb 2025 15:44:09 -0500 Subject: [PATCH 144/196] ug? --- cev_planner | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cev_planner b/cev_planner index 5cae401..72a500e 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit 5cae40127fe08166799db9914dc5bd93e12dc18e +Subproject commit 72a500e9457e00a8c18009fb6b689a43781d80d0 From faa64930b28b49a4cf4ca2f8b3163350c93b3a78 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sat, 22 Feb 2025 22:25:44 -0500 Subject: [PATCH 145/196] omgomgomg --- cev_planner | 2 +- src/planner_node.cpp | 273 +++++++++++++++++++++++++++---------------- 2 files changed, 171 insertions(+), 104 deletions(-) diff --git a/cev_planner b/cev_planner index 72a500e..9a33004 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit 72a500e9457e00a8c18009fb6b689a43781d80d0 +Subproject commit 9a33004c86f3d5f02273548aa23d55ce4a87e1c9 diff --git a/src/planner_node.cpp b/src/planner_node.cpp index 023259f..e5e68cc 100644 --- a/src/planner_node.cpp +++ b/src/planner_node.cpp @@ -45,9 +45,7 @@ class PlannerNode : public rclcpp::Node { // local_planner = std::make_shared(dimensions, full_constraints, // std::make_shared(2, .5)); - local_planner = std::make_shared(dimensions, full_constraints, - std::make_shared(2, .5)); - + local_planner = std::make_shared(dimensions, full_constraints); global_planner = std::make_shared(dimensions, full_constraints); map_sub = this->create_subscription("map", 1, @@ -62,8 +60,8 @@ class PlannerNode : public rclcpp::Node { path_pub = this->create_publisher("trajectory", 1); // Global plan every 2 seconds - global_plan_timer = this->create_wall_timer(std::chrono::milliseconds(2000), - std::bind(&PlannerNode::global_plan_callback, this)); + // global_plan_timer = this->create_wall_timer(std::chrono::milliseconds(2000), + // std::bind(&PlannerNode::global_plan_callback, this)); // RVIZ Debug global_path_pub = this->create_publisher("global_path", 1); @@ -79,6 +77,13 @@ class PlannerNode : public rclcpp::Node { State prev_start = State(); State target = State(); + cost_map::NearestGenerator local_plan_cost_generator = cost_map::NearestGenerator(2, .5); + cost_map::Nothing global_plan_cost_generator = cost_map::Nothing(1, .5); + + std::shared_ptr local_plan_cost; + std::shared_ptr global_plan_cost; + bool cost_map_initialized = false; + bool map_initialized = false; bool odom_initialized = false; bool target_initialized = false; @@ -92,8 +97,8 @@ class PlannerNode : public rclcpp::Node { // Local Planner bool second_iteration_passed = false; float prev_path_cost = 100000000; - Trajectory current_local_plan; int current_waypoint_in_global = 0; + Trajectory last_path = Trajectory(); std::shared_ptr local_planner; @@ -118,82 +123,108 @@ class PlannerNode : public rclcpp::Node { rclcpp::Publisher::SharedPtr path_pub; // Wall timer for global plan - rclcpp::TimerBase::SharedPtr global_plan_timer; + // rclcpp::TimerBase::SharedPtr global_plan_timer; // RVIZ rclcpp::Publisher::SharedPtr global_path_pub; rclcpp::Publisher::SharedPtr local_path_pub; rclcpp::Subscription::SharedPtr target_rviz_sub; + float avg_costmap_time = 0; + int cost_map_iters = 0; + float avg_planning_time = 0; + int planning_iters = 0; + // ------------------------------- void global_plan_callback() { - if (odom_initialized && map_initialized && target_initialized && !global_path_initialized) { - std::optional optional = global_planner->plan_path(grid, start, target); - if (!optional.has_value()) { - std::cout << "Global Path Failed." << std::endl; - global_path_initialized = false; - } else { - std::cout << "Global Path Planned." << std::endl; - // Fill in the global path with all nodes except the first and last from the global - // path - // global_path.waypoints = std::vector(optional.value().waypoints.begin() + - // 1, - // optional.value().waypoints.end() - 1); - global_path.waypoints = optional.value().waypoints; - - // TODO: Cost shenanigans, waypoint pass checking - - // Publish global path - nav_msgs::msg::Path global_nav_path; - global_nav_path.header.stamp = this->now(); - global_nav_path.header.frame_id = "map"; - global_nav_path.poses.clear(); - - for (State waypoint: global_path.waypoints) { - geometry_msgs::msg::PoseStamped pose; - pose.pose.position.x = waypoint.pose.x; - pose.pose.position.y = waypoint.pose.y; - pose.pose.position.z = 0; - pose.pose.orientation = tf2::toMsg(tf2::Quaternion(tf2::Vector3(0, 0, 1), - waypoint.pose.theta)); - global_nav_path.poses.push_back(pose); - } + std::cout << "I am attempting a global plan." << std::endl; + + std::optional optional = global_planner->plan_path(grid, start, target); + + if (!optional.has_value()) { + std::cout << "Global Path Failed." << std::endl; + global_path_initialized = false; + } else { + std::cout << "Global Path Planned." << std::endl; + global_path.waypoints = optional.value().waypoints; + + // Publish global path + nav_msgs::msg::Path global_nav_path; + global_nav_path.header.stamp = this->now(); + global_nav_path.header.frame_id = "map"; + global_nav_path.poses.clear(); + + for (State waypoint: global_path.waypoints) { + geometry_msgs::msg::PoseStamped pose; + pose.pose.position.x = waypoint.pose.x; + pose.pose.position.y = waypoint.pose.y; + pose.pose.position.z = 0; + pose.pose.orientation = tf2::toMsg(tf2::Quaternion(tf2::Vector3(0, 0, 1), + waypoint.pose.theta)); + global_nav_path.poses.push_back(pose); + } + + global_path_pub->publish(global_nav_path); - global_path_pub->publish(global_nav_path); + // cev_msgs::msg::Trajectory current_plan; - // cev_msgs::msg::Trajectory current_plan; + // current_plan.header.stamp = this->now(); + // current_plan.header.frame_id = "map"; + // current_plan.waypoints.clear(); + // current_plan.timestep = global_path.timestep; - // current_plan.header.stamp = this->now(); - // current_plan.header.frame_id = "map"; - // current_plan.waypoints.clear(); - // current_plan.timestep = global_path.timestep; + // // std::cout << "What 3" << std::endl; - // // std::cout << "What 3" << std::endl; + // for (State waypoint: global_path.waypoints) { + // cev_msgs::msg::Waypoint msg; + // msg.x = waypoint.pose.x; + // msg.y = waypoint.pose.y; - // for (State waypoint: global_path.waypoints) { - // cev_msgs::msg::Waypoint msg; - // msg.x = waypoint.pose.x; - // msg.y = waypoint.pose.y; + // // if (std::abs(waypoint.vel) < .3 + // // && std::abs(waypoint.vel) > 0.0) { // Car cannot move that slow lol + // // waypoint.vel = (waypoint.vel >= 0) ? .3 : -.3; + // // } - // // if (std::abs(waypoint.vel) < .3 - // // && std::abs(waypoint.vel) > 0.0) { // Car cannot move that slow lol - // // waypoint.vel = (waypoint.vel >= 0) ? .3 : -.3; - // // } + // msg.v = waypoint.vel; + // msg.theta = waypoint.pose.theta; + // msg.tau = waypoint.tau; + // current_plan.waypoints.push_back(msg); + // } - // msg.v = waypoint.vel; - // msg.theta = waypoint.pose.theta; - // msg.tau = waypoint.tau; - // current_plan.waypoints.push_back(msg); - // } + // std::cout << "Publishing path" << std::endl; + + // path_pub->publish(current_plan); + + global_path_initialized = true; + } + } - // std::cout << "Publishing path" << std::endl; + bool passed_waypoint(State state, State waypoint, State prev_waypoint, State next_waypoint, + bool last_waypoint) { + float dot; - // path_pub->publish(current_plan); + if (last_waypoint) { + dot = (state.pose.x - waypoint.pose.x) * (waypoint.pose.x - prev_waypoint.pose.x) + + (state.pose.y - waypoint.pose.y) * (waypoint.pose.y - prev_waypoint.pose.y); + } else { + dot = (state.pose.x - waypoint.pose.x) * (next_waypoint.pose.x - waypoint.pose.x) + + (state.pose.y - waypoint.pose.y) * (next_waypoint.pose.y - waypoint.pose.y); + } - global_path_initialized = true; + float dist = state.pose.distance_to(waypoint.pose); + + return dist < .5 || (dist < .7 && dot > 0); + } + + bool hits_obstacle(Trajectory path) { + for (State waypoint: path.waypoints) { + if (global_plan_cost->cost(waypoint) > .5) { + return true; } } + + return false; } void odom_callback(const nav_msgs::msg::Odometry::SharedPtr msg) { @@ -224,31 +255,33 @@ class PlannerNode : public rclcpp::Node { start = State{ map_pose.pose.position.x, map_pose.pose.position.y, yaw, msg->twist.twist.linear.x, 0}; + odom_initialized = true; - geometry_msgs::msg::PoseStamped point; - point.header.stamp = msg->header.stamp; - point.header.frame_id = "map"; - point.pose.position.x = start.pose.x; - point.pose.position.y = start.pose.y; - point.pose.position.z = 0; - point.pose.orientation = tf2::toMsg(tf2::Quaternion(tf2::Vector3(0, 0, 1), - start.pose.theta)); + // Plan path + if (map_initialized && odom_initialized && target_initialized && !global_path_initialized) { + // std::cout << "Planning" << std::endl; + global_plan_callback(); + } else { + // std::cout << "Map: " << map_initialized << std::endl; + // std::cout << "Odom: " << odom_initialized << std::endl; + // std::cout << "Target: " << target_initialized << std::endl; + // std::cout << "Global Path: " << global_path_initialized << std::endl; + } - float dist = start.pose.distance_to(prev_start.pose); + // float moved_dist = start.pose.distance_to(prev_start.pose); if (map_initialized && odom_initialized && target_initialized && global_path_initialized) { - // && (!second_iteration_passed - // || (dist > .025))) { // Ensure that enough dist has changed before - // replan - // Keep only waypoints not including start or target from the global path - + // std::cout << "I am entering the local planning loop." << std::endl; float dist = start.pose.distance_to(global_path.waypoints[current_waypoint_in_global].pose); float dist_to_dest = start.pose.distance_to(target.pose); - if (dist_to_dest < .3) { + bool passed = passed_waypoint(start, target, + global_path.waypoints[global_path.waypoints.size() - 2], State(), true); + + if (dist_to_dest < .3) { // Reached destination // Write a trajectory with 0 velocity cev_msgs::msg::Trajectory current_plan; @@ -261,24 +294,30 @@ class PlannerNode : public rclcpp::Node { msg.y = target.pose.y; msg.v = 0; msg.theta = target.pose.theta; - msg.tau = target.tau; + msg.tau = 0; current_plan.waypoints.push_back(msg); path_pub->publish(current_plan); + target_initialized = false; + + std::cout << "Passed target." << std::endl; + return; } - while (dist < 1.0 && current_waypoint_in_global < global_path.waypoints.size()) { - // std::cout << "Skipping" << std::endl; + // std::cout << "I did not pass the target" << std::endl; + + while (dist < 1.0 + && current_waypoint_in_global + < global_path.waypoints.size()) { // Progress waypoint current_waypoint_in_global += 1; + prev_path_cost = 100000000; // Reset plan costs for new waypoint dist = start.pose.distance_to(global_path.waypoints[current_waypoint_in_global].pose); } - // std::cout << "Current: " << current_waypoint_in_global << std::endl; - // std::cout << "Dist to waypoint: " << dist << std::endl; - + // Give next two waypoints to target for planner Trajectory waypoints; if (current_waypoint_in_global < global_path.waypoints.size() - 1) { @@ -294,25 +333,47 @@ class PlannerNode : public rclcpp::Node { waypoints.waypoints.push_back(target); } - // std::cout << waypoints.waypoints.size() << std::endl; - - Trajectory path = local_planner->plan_path(grid, start, target, waypoints); - // Trajectory path = local_planner->plan_path(grid, start, target, Trajectory()); + // Fast forward last path to current position + // for (int i = 0; i < last_path.waypoints.size(); i++) { + // float dist_to_waypoint = start.pose.distance_to(last_path.waypoints[i].pose); + // if (dist_to_waypoint < .5) { + // last_path.waypoints.erase(last_path.waypoints.begin(), + // last_path.waypoints.begin() + i); + // break; + // } + // } + + // std::cout << "Planning local path" << std::endl; + auto start_time = std::chrono::high_resolution_clock::now(); + Trajectory path = local_planner->plan_path(grid, start, target, waypoints, last_path, + local_plan_cost); + auto end_time = std::chrono::high_resolution_clock::now(); + avg_planning_time += std::chrono::duration_cast(end_time + - start_time) + .count(); + planning_iters += 1; + + if (planning_iters > 50) { + std::cout << "Average planning time: " << avg_planning_time / planning_iters << "ms" + << std::endl; + avg_planning_time = 0; + planning_iters = 0; + } - if (path.cost >= prev_path_cost && dist < .3) { // Worse path and hasn't moved too much + if (path.cost >= prev_path_cost + || hits_obstacle(path)) { // Worse path and hasn't targeted next waypoint + // std::cout << "Worse path" << std::endl; return; } - // std::cout << "Keeping path" << std::endl; + // std::cout << "Better path" << std::endl; - current_local_plan = path; + last_path = path; prev_path_cost = path.cost; second_iteration_passed = true; prev_start = start; - // std::cout << "What 2" << std::endl; - cev_msgs::msg::Trajectory current_plan; current_plan.header.stamp = msg->header.stamp; @@ -320,28 +381,16 @@ class PlannerNode : public rclcpp::Node { current_plan.waypoints.clear(); current_plan.timestep = path.timestep; - // std::cout << "What 3" << std::endl; - - // std::cout << "Publishing path." << std::endl; - for (State waypoint: path.waypoints) { cev_msgs::msg::Waypoint msg; msg.x = waypoint.pose.x; msg.y = waypoint.pose.y; - - // if (std::abs(waypoint.vel) < .3 - // && std::abs(waypoint.vel) > 0.0) { // Car cannot move that slow lol - // waypoint.vel = (waypoint.vel >= 0) ? .3 : -.3; - // } - msg.v = waypoint.vel; msg.theta = waypoint.pose.theta; msg.tau = waypoint.tau; current_plan.waypoints.push_back(msg); } - // std::cout << "Publishing path" << std::endl; - path_pub->publish(current_plan); // Publish local path @@ -386,6 +435,22 @@ class PlannerNode : public rclcpp::Node { } map_initialized = true; + + // auto start_time = std::chrono::high_resolution_clock::now(); + local_plan_cost = local_plan_cost_generator.generate_cost_map(grid); + global_plan_cost = global_plan_cost_generator.generate_cost_map(grid); + // auto end_time = std::chrono::high_resolution_clock::now(); + // avg_costmap_time += + // std::chrono::duration_cast(end_time - start_time).count(); + // cost_map_iters += 1; + + // if (cost_map_iters > 100) { + // std::cout << "Average cost map generation time: " << avg_costmap_time / + // cost_map_iters + // << "ms" << std::endl; + // avg_costmap_time = 0; + // cost_map_iters = 0; + // } } void target_callback(const cev_msgs::msg::Waypoint msg) { @@ -398,6 +463,8 @@ class PlannerNode : public rclcpp::Node { } void rviz_target_callback(const geometry_msgs::msg::PoseStamped msg) { + std::cout << "I received a target." << std::endl; + current_waypoint_in_global = 0; global_path_initialized = false; target = State{msg.pose.position.x, msg.pose.position.y, 0, 0, 0}; From 094d6842f23a46ab1ff324b9e1aa4196904ea148 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Tue, 25 Feb 2025 02:45:33 -0500 Subject: [PATCH 146/196] Super fast somehow --- cev_planner | 2 +- commit_script.sh | 4 ++++ src/planner_node.cpp | 6 +++--- 3 files changed, 8 insertions(+), 4 deletions(-) create mode 100755 commit_script.sh diff --git a/cev_planner b/cev_planner index 9a33004..da78566 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit 9a33004c86f3d5f02273548aa23d55ce4a87e1c9 +Subproject commit da78566d4a581cc2fd4ac0ff9c4c38fdb0affec9 diff --git a/commit_script.sh b/commit_script.sh new file mode 100755 index 0000000..c5bf963 --- /dev/null +++ b/commit_script.sh @@ -0,0 +1,4 @@ +#!/bin/bash + +cd cev_planner && git add . && git commit -m "$1" +git add . && git commit -m "$1" diff --git a/src/planner_node.cpp b/src/planner_node.cpp index e5e68cc..d3be3f8 100644 --- a/src/planner_node.cpp +++ b/src/planner_node.cpp @@ -37,8 +37,8 @@ class PlannerNode : public rclcpp::Node { {-1000, 1000}, // x {-1000, 1000}, // y {-.34, .34}, // tau - {-.5, 1.25}, // vel - {-.3, .75}, // accel + {-.5, 1.0}, // vel + {-.2, .5}, // accel {-.20, .20} // dtau }; @@ -308,7 +308,7 @@ class PlannerNode : public rclcpp::Node { // std::cout << "I did not pass the target" << std::endl; - while (dist < 1.0 + while (dist < .75 && current_waypoint_in_global < global_path.waypoints.size()) { // Progress waypoint current_waypoint_in_global += 1; From 7b2186a2d4b6029ff60d777af096a8718c02318f Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Tue, 25 Feb 2025 03:06:58 -0500 Subject: [PATCH 147/196] SAVE SAVE SAVE --- cev_planner | 2 +- commit_script.sh | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/cev_planner b/cev_planner index da78566..1f8ee9b 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit da78566d4a581cc2fd4ac0ff9c4c38fdb0affec9 +Subproject commit 1f8ee9bc5b89e920263d876023a7f356028d2e10 diff --git a/commit_script.sh b/commit_script.sh index c5bf963..05f5721 100755 --- a/commit_script.sh +++ b/commit_script.sh @@ -1,4 +1,4 @@ #!/bin/bash -cd cev_planner && git add . && git commit -m "$1" +cd cev_planner && git add . && git commit -m "$1" && cd .. git add . && git commit -m "$1" From 5d07b170f237278856859d90b01c339f4f389a11 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Tue, 25 Feb 2025 03:08:01 -0500 Subject: [PATCH 148/196] Stop at half the time --- src/trajectory_follower.cpp | 18 +++++++++++++++++- 1 file changed, 17 insertions(+), 1 deletion(-) diff --git a/src/trajectory_follower.cpp b/src/trajectory_follower.cpp index 428a77c..a31c78d 100644 --- a/src/trajectory_follower.cpp +++ b/src/trajectory_follower.cpp @@ -46,6 +46,10 @@ class TrajectoryFollower : public rclcpp::Node { bool waypoints_initialized = false; + float start_time; + + float timestep = 0; + std::vector waypoints; size_t current_waypoint = 0; @@ -124,7 +128,7 @@ class TrajectoryFollower : public rclcpp::Node { + (current.y - target.y) * (next.y - target.y); } - return dist < .1 && dot > 0; + return dist < .2; } float find_steering_angle(Coordinate& current, Waypoint& target) { @@ -148,6 +152,16 @@ class TrajectoryFollower : public rclcpp::Node { void odometry_callback(const nav_msgs::msg::Odometry::SharedPtr msg) { if (!waypoints_initialized || current_waypoint >= waypoints.size()) { + publish_ackermann_drive(0.0, 0.0); + return; + } + + float current_time = static_cast(this->now().seconds()); + float time_elapsed = current_time - start_time; + + if (time_elapsed + > timestep * waypoints.size() / 2.0) { // Too much time elapsed without a new message + publish_ackermann_drive(0.0, 0.0); return; } @@ -211,7 +225,9 @@ class TrajectoryFollower : public rclcpp::Node { void trajectory_callback(const cev_msgs::msg::Trajectory::SharedPtr msg) { waypoints = msg->waypoints; current_waypoint = 0; + timestep = msg->timestep; waypoints_initialized = true; + start_time = static_cast(this->now().seconds()); } }; From 7a10b7fbb2db22e16d246aa5eb5e7d4dfb45dbf3 Mon Sep 17 00:00:00 2001 From: Ibrahim Ahmed Date: Sat, 1 Mar 2025 16:49:23 -0500 Subject: [PATCH 149/196] type shi --- cev_planner | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cev_planner b/cev_planner index 1f8ee9b..93b8bd9 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit 1f8ee9bc5b89e920263d876023a7f356028d2e10 +Subproject commit 93b8bd91735cdebe4d9a945eda9b485cb0a269d0 From 519fb1ec184386487bd75d31c069bd3bff13a36c Mon Sep 17 00:00:00 2001 From: Ibrahim Ahmed Date: Mon, 3 Mar 2025 17:43:22 -0500 Subject: [PATCH 150/196] curvy corners --- cev_planner | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cev_planner b/cev_planner index 93b8bd9..b9f0a4a 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit 93b8bd91735cdebe4d9a945eda9b485cb0a269d0 +Subproject commit b9f0a4a454fb0b775e35054d6743dbc20c82ffa6 From 4ea36e415bb02a753b6ef3cb6e4663ec7420a7d2 Mon Sep 17 00:00:00 2001 From: Ibrahim Ahmed Date: Mon, 3 Mar 2025 19:31:31 -0500 Subject: [PATCH 151/196] :( --- cev_planner | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cev_planner b/cev_planner index b9f0a4a..d943af5 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit b9f0a4a454fb0b775e35054d6743dbc20c82ffa6 +Subproject commit d943af585b2d107eb4181808fa3040cb364e7774 From 9c12f42325477b5e849271e4eddac6dacdfb8dd0 Mon Sep 17 00:00:00 2001 From: Ibrahim Ahmed Date: Tue, 4 Mar 2025 08:14:41 -0500 Subject: [PATCH 152/196] p --- cev_planner | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cev_planner b/cev_planner index d943af5..fe00500 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit d943af585b2d107eb4181808fa3040cb364e7774 +Subproject commit fe0050056e26112b587dd98e71446902aacdc2bc From a5206c70154fe57bda3a501b6d302bd57dd8f3ff Mon Sep 17 00:00:00 2001 From: Ibrahim Ahmed Date: Tue, 4 Mar 2025 17:11:27 -0500 Subject: [PATCH 153/196] a --- cev_planner | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cev_planner b/cev_planner index fe00500..1bd65b5 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit fe0050056e26112b587dd98e71446902aacdc2bc +Subproject commit 1bd65b544552b1cfcf24ca13a950d83fbe58e88f From 38998cd643e72ceca4da8188c89ef15b5df0e545 Mon Sep 17 00:00:00 2001 From: Ibrahim Ahmed Date: Tue, 4 Mar 2025 20:00:17 -0500 Subject: [PATCH 154/196] reverse interpolate --- cev_planner | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cev_planner b/cev_planner index 1bd65b5..e0fa9cd 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit 1bd65b544552b1cfcf24ca13a950d83fbe58e88f +Subproject commit e0fa9cd17b0553b4b490bfb68d72ca21b2474021 From efb287edfc06b3f975face33abc3d3dd02aba187 Mon Sep 17 00:00:00 2001 From: Ibrahim Ahmed Date: Tue, 4 Mar 2025 21:58:23 -0500 Subject: [PATCH 155/196] my laptop better --- cev_planner | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cev_planner b/cev_planner index e0fa9cd..3d476b9 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit e0fa9cd17b0553b4b490bfb68d72ca21b2474021 +Subproject commit 3d476b98ba400cc6dde3a87d8ad3afac6d34a863 From 39c72bb3e9c50ce50b7b397f3f044acbc560ee86 Mon Sep 17 00:00:00 2001 From: Ibrahim Ahmed Date: Tue, 4 Mar 2025 23:04:37 -0500 Subject: [PATCH 156/196] bingchilling --- cev_planner | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cev_planner b/cev_planner index 3d476b9..ef74600 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit 3d476b98ba400cc6dde3a87d8ad3afac6d34a863 +Subproject commit ef74600af8e0c06219048a6bfcd1e2eeb75c3917 From 77b6b329f4966517117a56fc96d6acfa84e79a9f Mon Sep 17 00:00:00 2001 From: Ibrahim Ahmed Date: Wed, 5 Mar 2025 11:32:33 -0500 Subject: [PATCH 157/196] gpt king --- cev_planner | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cev_planner b/cev_planner index ef74600..701129c 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit ef74600af8e0c06219048a6bfcd1e2eeb75c3917 +Subproject commit 701129cacef1da0022f05633fd2e50f6d2b56b6b From 03e4db7a7dbf5026162bbffc80eca03a65dcc3e5 Mon Sep 17 00:00:00 2001 From: Ibrahim Ahmed Date: Wed, 5 Mar 2025 11:39:28 -0500 Subject: [PATCH 158/196] uh --- cev_planner | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cev_planner b/cev_planner index 701129c..0e98eb6 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit 701129cacef1da0022f05633fd2e50f6d2b56b6b +Subproject commit 0e98eb60664853f98bdd0985554ad195487adda3 From 8e517b19792e923261e7523bee343b31b90dda7f Mon Sep 17 00:00:00 2001 From: Ibrahim Ahmed Date: Wed, 5 Mar 2025 11:42:00 -0500 Subject: [PATCH 159/196] better --- cev_planner | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cev_planner b/cev_planner index 0e98eb6..2d5a400 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit 0e98eb60664853f98bdd0985554ad195487adda3 +Subproject commit 2d5a40094f1d83a165dcd79876e2a21d6f4082af From 56af7aec2d0d11af41d0f7dc1f84f1bdedcd5b1a Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sat, 8 Mar 2025 16:47:36 -0500 Subject: [PATCH 160/196] Backwards constraints adjustments. --- src/planner_node.cpp | 29 ++++++++++++++--------------- 1 file changed, 14 insertions(+), 15 deletions(-) diff --git a/src/planner_node.cpp b/src/planner_node.cpp index d3be3f8..58fced0 100644 --- a/src/planner_node.cpp +++ b/src/planner_node.cpp @@ -37,8 +37,8 @@ class PlannerNode : public rclcpp::Node { {-1000, 1000}, // x {-1000, 1000}, // y {-.34, .34}, // tau - {-.5, 1.0}, // vel - {-.2, .5}, // accel + {-1.0, 1.0}, // vel + {-.5, .5}, // accel {-.20, .20} // dtau }; @@ -135,6 +135,8 @@ class PlannerNode : public rclcpp::Node { float avg_planning_time = 0; int planning_iters = 0; + std::chrono::_V2::system_clock::time_point start_time = + std::chrono::high_resolution_clock::now(); // ------------------------------- void global_plan_callback() { @@ -344,21 +346,8 @@ class PlannerNode : public rclcpp::Node { // } // std::cout << "Planning local path" << std::endl; - auto start_time = std::chrono::high_resolution_clock::now(); Trajectory path = local_planner->plan_path(grid, start, target, waypoints, last_path, local_plan_cost); - auto end_time = std::chrono::high_resolution_clock::now(); - avg_planning_time += std::chrono::duration_cast(end_time - - start_time) - .count(); - planning_iters += 1; - - if (planning_iters > 50) { - std::cout << "Average planning time: " << avg_planning_time / planning_iters << "ms" - << std::endl; - avg_planning_time = 0; - planning_iters = 0; - } if (path.cost >= prev_path_cost || hits_obstacle(path)) { // Worse path and hasn't targeted next waypoint @@ -366,6 +355,16 @@ class PlannerNode : public rclcpp::Node { return; } + std::chrono::_V2::system_clock::time_point end_time = + std::chrono::high_resolution_clock::now(); + + avg_planning_time = std::chrono::duration_cast(end_time + - start_time) + .count(); + + std::cout << "Planning Update Time: " << avg_planning_time << "ms" << std::endl; + + start_time = std::chrono::high_resolution_clock::now(); // std::cout << "Better path" << std::endl; last_path = path; From 56e96df54be70d02c23f38759bb07abd948ec8e7 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sun, 9 Mar 2025 00:47:04 -0500 Subject: [PATCH 161/196] Update .gitmodules --- .gitmodules | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.gitmodules b/.gitmodules index 9195045..3afdb00 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,6 +1,6 @@ [submodule "cev_planner"] path = cev_planner - url = git@github.com:cornellev/cev_planner.git + url = https://github.com/cornellev/cev_planner.git [submodule "tmp/matplotlib-cpp"] path = tmp/matplotlib-cpp url = https://github.com/lava/matplotlib-cpp.git From e2e2e9ae0e9151eeb86205b350a5ccaa26a894b7 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Sun, 9 Mar 2025 05:24:56 -0400 Subject: [PATCH 162/196] Remove y button vel --- src/joy_interpreter.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/joy_interpreter.cpp b/src/joy_interpreter.cpp index 7a9724a..d03bba1 100644 --- a/src/joy_interpreter.cpp +++ b/src/joy_interpreter.cpp @@ -66,12 +66,12 @@ class JoyInterpreter : public rclcpp::Node { // Calculate velocity float drive = 0.0; - if (gamepad_data.get_y_button()) { - drive = .3; - } else { +// if (gamepad_data.get_y_button()) { +// drive = .3; +// } else { drive = (gamepad_data.get_right_trigger() - gamepad_data.get_left_trigger()) * max_velocity_; - } +// } // float drive = (gamepad_data.get_right_trigger() - gamepad_data.get_left_trigger()) // * max_velocity_; From 4169d83d3096dc56cb35b97585a8bcefd799dd6c Mon Sep 17 00:00:00 2001 From: sophtsang Date: Thu, 18 Sep 2025 22:01:25 +0000 Subject: [PATCH 163/196] Created Obstacle.msg for single cluster / obstacle inputs and Obstacles.msg for arrays of Obstacle. --- CMakeLists.txt | 2 ++ msg/Obstacle.msg | 11 +++++++++++ msg/Obstacles.msg | 5 +++++ 3 files changed, 18 insertions(+) create mode 100644 msg/Obstacle.msg create mode 100644 msg/Obstacles.msg diff --git a/CMakeLists.txt b/CMakeLists.txt index ffd4253..ad6194f 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -18,6 +18,8 @@ rosidl_generate_interfaces(${PROJECT_NAME} "msg/Waypoint.msg" "msg/SensorCollect.msg" "msg/Trajectory.msg" + "msg/Obstacle.msg" + "msg/Obstacles.msg" DEPENDENCIES std_msgs ) diff --git a/msg/Obstacle.msg b/msg/Obstacle.msg new file mode 100644 index 0000000..601b9b6 --- /dev/null +++ b/msg/Obstacle.msg @@ -0,0 +1,11 @@ +# Obstacle.msg +# +# float64 : x +# float64 : y +# float64 : z +# float64 : max_radius + +float64 x +float64 y +float64 z +float64 max_radius \ No newline at end of file diff --git a/msg/Obstacles.msg b/msg/Obstacles.msg new file mode 100644 index 0000000..6d3249f --- /dev/null +++ b/msg/Obstacles.msg @@ -0,0 +1,5 @@ +# Obstacle.msg +# +# Obstacle[] : obstacles + +cev_msgs/Obstacle[] obstacles \ No newline at end of file From c8b790b80954d58b73d4ce8517b82fde4c5344fe Mon Sep 17 00:00:00 2001 From: sophtsang Date: Thu, 18 Sep 2025 22:04:35 +0000 Subject: [PATCH 164/196] Updated README to include Obstacle and Obstacles.msg documentation --- README.md | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/README.md b/README.md index 864bcc8..d8be1c1 100644 --- a/README.md +++ b/README.md @@ -16,3 +16,11 @@ Waypoint.msg - float32 : tau [ steering angle in radians ] - float32 : theta [ heading in radians ] +Obstacle.msg + - float64 : x [ x-coordinate of obstacle center in meters ] + - float64 : y [ y-coordinate of obstacle center in meters ] + - float64 : z [ z-coordinate of obstacle center in meters ] + - float64 : max_radius [ maximum radius of obstacle in meters ] + +Obstacles.msg + - Obstacle[] : obstacles [ Array of Obstacle(s) ] \ No newline at end of file From 534685d5729670c4faaff734a92a5e09644ab80e Mon Sep 17 00:00:00 2001 From: sophtsang Date: Sat, 27 Sep 2025 18:45:34 +0000 Subject: [PATCH 165/196] editted Obstacles.msg to be PointCloud2 array and added sensor_msgs dependencies --- CMakeLists.txt | 3 ++- msg/Obstacles.msg | 4 +++- package.xml | 1 + 3 files changed, 6 insertions(+), 2 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index ad6194f..1a6c8db 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -9,6 +9,7 @@ endif() find_package(ament_cmake REQUIRED) find_package(rosidl_default_generators REQUIRED) find_package(std_msgs REQUIRED) +find_package(sensor_msgs REQUIRED) # uncomment the following section in order to fill in # further dependencies manually. @@ -20,7 +21,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} "msg/Trajectory.msg" "msg/Obstacle.msg" "msg/Obstacles.msg" - DEPENDENCIES std_msgs + DEPENDENCIES std_msgs sensor_msgs ) if(BUILD_TESTING) diff --git a/msg/Obstacles.msg b/msg/Obstacles.msg index 6d3249f..83c30ca 100644 --- a/msg/Obstacles.msg +++ b/msg/Obstacles.msg @@ -2,4 +2,6 @@ # # Obstacle[] : obstacles -cev_msgs/Obstacle[] obstacles \ No newline at end of file +# cev_msgs/Obstacle[] obstacles + +sensor_msgs/PointCloud2[] obstacles \ No newline at end of file diff --git a/package.xml b/package.xml index 8034858..b090353 100644 --- a/package.xml +++ b/package.xml @@ -10,6 +10,7 @@ ament_cmake std_msgs + sensor_msgs rosidl_default_generators rosidl_default_runtime From 090d71db71894ccb9ab6d4725facf5ac830880f1 Mon Sep 17 00:00:00 2001 From: Ibrahim Ahmed Date: Thu, 30 Oct 2025 17:53:18 -0400 Subject: [PATCH 166/196] config file for constraints --- cev_planner | 2 +- config/cev_planner.yaml | 17 +++++++++++++++++ config/igvc.yaml | 17 +++++++++++++++++ launch/igvc.py | 25 ++++++++++++++++++++++++ src/planner_node.cpp | 42 ++++++++++++++++++++++++++++++----------- 5 files changed, 91 insertions(+), 12 deletions(-) create mode 100644 config/igvc.yaml create mode 100644 launch/igvc.py diff --git a/cev_planner b/cev_planner index 2d5a400..93b8bd9 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit 2d5a40094f1d83a165dcd79876e2a21d6f4082af +Subproject commit 93b8bd91735cdebe4d9a945eda9b485cb0a269d0 diff --git a/config/cev_planner.yaml b/config/cev_planner.yaml index e69de29..7fd0c47 100644 --- a/config/cev_planner.yaml +++ b/config/cev_planner.yaml @@ -0,0 +1,17 @@ +planner_node: + ros__parameters: + x: [-1000.0, 1000.0] + y: [-1000.0, 1000.0] + tau: [-.34, .34] + vel: [-1.0, 1.0] + accel: [-.5, .5] + dtau: [-.20, .20] + +cev_planner_ros2_node: + ros__parameters: + x: [-1000.0, 1000.0] + y: [-1000.0, 1000.0] + tau: [-.34, .34] + vel: [-1.0, 1.0] + accel: [-.5, .5] + dtau: [-.20, .20] \ No newline at end of file diff --git a/config/igvc.yaml b/config/igvc.yaml new file mode 100644 index 0000000..b30127e --- /dev/null +++ b/config/igvc.yaml @@ -0,0 +1,17 @@ +planner_node: + ros__parameters: + x: [-1000.0, 1000.0] + y: [-1000.0, 1000.0] + tau: [-.586, .586] + vel: [-2.2, 2.2] + accel: [-2.5, 2.5] + dtau: [-.785, .785] + +cev_planner_ros2_node: + ros__parameters: + x: [-1000.0, 1000.0] + y: [-1000.0, 1000.0] + tau: [-.586, .586] + vel: [-2.2, 2.2] + accel: [-2.5, 2.5] + dtau: [-.785, .785] diff --git a/launch/igvc.py b/launch/igvc.py new file mode 100644 index 0000000..3bdcaa7 --- /dev/null +++ b/launch/igvc.py @@ -0,0 +1,25 @@ +from launch import LaunchDescription +from launch_ros.actions import Node +from launch.actions import DeclareLaunchArgument +from ament_index_python.packages import get_package_share_directory +import os + + +def get_path(package, dir, file): + return os.path.join(get_package_share_directory(package), dir, file) + + +def generate_launch_description(): + return LaunchDescription( + [ + Node( + package="cev_planner_ros2", + executable="planner_node", + name="cev_planner_ros2_node", + output="screen", + parameters=[ + get_path("cev_planner_ros2", "config", "igvc.yaml") + ], + ), + ] + ) diff --git a/src/planner_node.cpp b/src/planner_node.cpp index 58fced0..5177915 100644 --- a/src/planner_node.cpp +++ b/src/planner_node.cpp @@ -24,24 +24,44 @@ class PlannerNode : public rclcpp::Node { RCLCPP_INFO(this->get_logger(), "Initializing planner node"); Dimensions dimensions = Dimensions{.3, .3, .3}; - Constraints positive_constraints = Constraints{ - {-1000, 1000}, // x - {-1000, 1000}, // y - {-.34, .34}, // tau - {0, .5}, // vel - {0, .25}, // accel - {-.34, .34} // dtau - }; - + // Default values if not run with config file + // Constraints positive_constraints = Constraints{ + // {-1000, 1000}, // x + // {-1000, 1000}, // y + // {-.34, .34}, // tau + // {0, .5}, // vel + // {0, .25}, // accel + // {-.34, .34} // dtau + // }; + + // Default values if not run with config file Constraints full_constraints = Constraints{ - {-1000, 1000}, // x - {-1000, 1000}, // y + {-1000.0, 1000.0}, // x + {-1000.0, 1000.0}, // y {-.34, .34}, // tau {-1.0, 1.0}, // vel {-.5, .5}, // accel {-.20, .20} // dtau }; + auto safe_load = [&](auto &target, const char* name){ + try { + this->declare_parameter(name, rclcpp::PARAMETER_DOUBLE_ARRAY); + rclcpp::Parameter param = this->get_parameter(name); + auto v = param.as_double_array(); + target[0] = v[0]; target[1] = v[1]; + } + catch (...) { RCLCPP_WARN(this->get_logger(), "Failed to load %s constraint, using default values (%f, %f).", name, target[0], target[1]); } + }; + + safe_load(full_constraints.x, "x"); + safe_load(full_constraints.y, "y"); + safe_load(full_constraints.tau, "tau"); + safe_load(full_constraints.vel, "vel"); + safe_load(full_constraints.accel, "accel"); + safe_load(full_constraints.dtau, "dtau"); + + // local_planner = std::make_shared(dimensions, full_constraints, // std::make_shared(2, .5)); From bf8129d73ea1d7e437a25d4c670597f5676b418f Mon Sep 17 00:00:00 2001 From: Yey007 <55263178+Yey007@users.noreply.github.com> Date: Sat, 24 Jan 2026 20:46:30 +0000 Subject: [PATCH 167/196] Fix dev container build --- .devcontainer.json | 7 ++- Dockerfile.dev | 50 +++++++++---------- install.sh | 11 ---- .../deployed_entrypoint.sh | 0 scripts/install_extra.sh | 11 ++++ 5 files changed, 38 insertions(+), 41 deletions(-) delete mode 100755 install.sh rename entrypoint.sh => scripts/deployed_entrypoint.sh (100%) create mode 100755 scripts/install_extra.sh diff --git a/.devcontainer.json b/.devcontainer.json index 994e6cf..c3a5a4c 100644 --- a/.devcontainer.json +++ b/.devcontainer.json @@ -11,6 +11,7 @@ "--ipc=host", "--privileged" ], + "containerUser": "cev", "containerEnv": { "DISPLAY": "${localEnv:DISPLAY}" }, @@ -20,10 +21,8 @@ "customizations": { "vscode": { "extensions": [ - "ms-iot.vscode-ros", - "ms-vscode.cpptools-extension-pack", "ms-python.black-formatter", - "xaver.clang-format" + "llvm-vs-code-extensions.vscode-clangd" ], "settings": { "terminal.integrated.defaultProfile.linux": "bash", @@ -33,7 +32,7 @@ } }, "[cpp]": { - "editor.defaultFormatter": "xaver.clang-format" + "editor.defaultFormatter": "llvm-vs-code-extensions.vscode-clangd" }, "[python]": { "diffEditor.ignoreTrimWhitespace": false, diff --git a/Dockerfile.dev b/Dockerfile.dev index 795e722..79db870 100644 --- a/Dockerfile.dev +++ b/Dockerfile.dev @@ -3,6 +3,13 @@ FROM ros:humble SHELL ["/bin/bash", "-c"] +# Set up CEV user +RUN useradd -m -s /bin/bash cev +RUN usermod -aG sudo cev +# Grant passwordless sudo access to the 'sudo' group +RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers +USER cev + ARG FOLDER_NAME=rc-brain ARG WORKSPACE_DIR=/home/cev WORKDIR $WORKSPACE_DIR @@ -12,35 +19,26 @@ RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc RUN echo "source $WORKSPACE_DIR/install/setup.bash" >> ~/.bashrc # Install dev tools -RUN apt-get update -RUN apt-get install -y curl -RUN curl -fsSL https://apt.llvm.org/llvm-snapshot.gpg.key | tee /etc/apt/trusted.gpg.d/apt.llvm.org.asc -RUN cat /etc/apt/trusted.gpg.d/apt.llvm.org.asc -RUN echo $'deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy main\n' \ - $'deb-src http://apt.llvm.org/jammy/ llvm-toolchain-jammy main\n' \ - $'deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy-18 main\n' \ - $'deb-src http://apt.llvm.org/jammy/ llvm-toolchain-jammy-18 main\n' \ - $'deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy-19 main\n' \ - $'deb-src http://apt.llvm.org/jammy/ llvm-toolchain-jammy-19 main\n' \ - | tee -a /etc/apt/sources.list -RUN apt-get update -RUN apt-get install -y clang-format clang-format-19 +RUN sudo apt-get update +# Tools required to run clang install +RUN sudo apt-get install -y \ + curl \ + lsb-release \ + software-properties-common \ + gnupg +RUN curl -fsSL https://apt.llvm.org/llvm.sh | sudo bash -s -- 19 +RUN sudo apt-get install -y clangd-19 +RUN sudo update-alternatives --install /usr/bin/clangd clangd /usr/bin/clangd-19 100 # Init rosdep and update package index -# for some reason we need to do this -RUN rm /var/lib/dpkg/info/libc-bin.* -RUN apt-get clean -RUN apt-get update -RUN apt-get install -y libc-bin RUN rosdep update --rosdistro $ROS_DISTRO -RUN mkdir -p src/$FOLDER_NAME - -# Copy install.sh -COPY --parents ./install.sh src/$FOLDER_NAME +# Run install.sh, which installs additional dependencies +COPY scripts/install_extra.sh src/$FOLDER_NAME/scripts/ +RUN sudo src/$FOLDER_NAME/scripts/install_extra.sh -# Run install.sh -RUN src/$FOLDER_NAME/install.sh - -COPY --parents ./*/package.xml src/$FOLDER_NAME +RUN mkdir -p src/$FOLDER_NAME +COPY --parents **/package.xml src/$FOLDER_NAME/ RUN source /opt/ros/$ROS_DISTRO/setup.bash && rosdep install --from-paths src -r -y + +RUN sudo chown -R cev /home/cev diff --git a/install.sh b/install.sh deleted file mode 100755 index 757e3eb..0000000 --- a/install.sh +++ /dev/null @@ -1,11 +0,0 @@ -#!/bin/bash -apt install -y \ - libeigen3-dev \ - libnlopt-dev \ - libnlopt-cxx-dev \ - libopencv-dev \ - libyaml-cpp-dev \ - libqt5serialport5-dev \ - libsuitesparse-dev \ - libceres-dev \ - ros-humble-slam-toolbox diff --git a/entrypoint.sh b/scripts/deployed_entrypoint.sh similarity index 100% rename from entrypoint.sh rename to scripts/deployed_entrypoint.sh diff --git a/scripts/install_extra.sh b/scripts/install_extra.sh new file mode 100755 index 0000000..6a58aec --- /dev/null +++ b/scripts/install_extra.sh @@ -0,0 +1,11 @@ +#!/bin/bash +apt-get install -y \ + libeigen3-dev \ + libnlopt-dev \ + libnlopt-cxx-dev \ + libopencv-dev \ + libyaml-cpp-dev \ + libqt5serialport5-dev \ + libsuitesparse-dev \ + libceres-dev \ + ros-humble-slam-toolbox From 4d7a818ecc5fc9d06d8d542eb2dcf2a49c6e7f19 Mon Sep 17 00:00:00 2001 From: Yey007 <55263178+Yey007@users.noreply.github.com> Date: Sat, 24 Jan 2026 22:31:22 +0000 Subject: [PATCH 168/196] Fix containers fr --- .github/workflows/docker-image.yml | 21 ++++++++--- Dockerfile | 56 ------------------------------ Dockerfile.deploy | 46 +++++++++++++----------- Dockerfile.dev | 6 ++-- README.md | 24 ++++++++----- 5 files changed, 60 insertions(+), 93 deletions(-) delete mode 100644 Dockerfile diff --git a/.github/workflows/docker-image.yml b/.github/workflows/docker-image.yml index c3ffaa4..54f261a 100644 --- a/.github/workflows/docker-image.yml +++ b/.github/workflows/docker-image.yml @@ -7,17 +7,28 @@ on: branches: [ "main" ] jobs: - - build: - + build-deploy: runs-on: ubuntu-22.04 - steps: - name: Fetch recursively uses: actions/checkout@v4 with: submodules: recursive fetch-depth: 0 + - name: Install buildx component + run: sudo apt install docker-buildx-plugin + - name: Build the Docker image + run: docker build . --file Dockerfile.deploy --tag rc-brain-deploy:$(date +%s) + build-dev: + runs-on: ubuntu-22.04 + steps: + - name: Fetch recursively + uses: actions/checkout@v4 + with: + submodules: recursive + fetch-depth: 0 + - name: Install buildx component + run: sudo apt install docker-buildx-plugin - name: Build the Docker image - run: docker build . --file Dockerfile --tag my-image-name:$(date +%s) + run: docker build . --file Dockerfile.dev --tag rc-brain-dev:$(date +%s) diff --git a/Dockerfile b/Dockerfile deleted file mode 100644 index 09c2826..0000000 --- a/Dockerfile +++ /dev/null @@ -1,56 +0,0 @@ -# syntax=docker/dockerfile:1.7-labs -FROM ros:humble - -SHELL ["/bin/bash", "-c"] - -# Arguments -ARG FOLDER_NAME=rc-brain -ARG WORKSPACE_DIR=/home/cev - -# Set working directory -WORKDIR $WORKSPACE_DIR - -# Source ROS2 environment automatically in every shell -RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc -RUN echo "source $WORKSPACE_DIR/install/setup.bash" >> ~/.bashrc - -# Install dependencies -RUN apt-get update && apt-get install -y \ - curl \ - python3-colcon-common-extensions \ - ros-$ROS_DISTRO-ros-base \ - && apt-get clean && rm -rf /var/lib/apt/lists/* - -# Install clang-format -RUN curl -fsSL https://apt.llvm.org/llvm-snapshot.gpg.key | tee /etc/apt/trusted.gpg.d/apt.llvm.org.asc && \ - echo $'deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy main\n' \ - $'deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy-18 main\n' \ - $'deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy-19 main\n' \ - | tee -a /etc/apt/sources.list && \ - apt-get update && apt-get install -y clang-format clang-format-19 \ - && apt-get clean && rm -rf /var/lib/apt/lists/* - -# Fix libc-bin issue -RUN rm /var/lib/dpkg/info/libc-bin.* || true && apt-get update && apt-get install -y libc-bin - -# Initialize rosdep -RUN rosdep update --rosdistro $ROS_DISTRO - -# Create workspace directory -RUN mkdir -p src/$FOLDER_NAME - -# Copy the full package source code -COPY --parents ./* src/$FOLDER_NAME/ -RUN chmod +x src/$FOLDER_NAME/install.sh && src/$FOLDER_NAME/install.sh - -# Install package dependencies -RUN source /opt/ros/$ROS_DISTRO/setup.bash && rosdep install --from-paths src -r -y - -# Build the ROS2 workspace -RUN source /opt/ros/$ROS_DISTRO/setup.bash && colcon build --symlink-install - -# Set up entrypoint -COPY entrypoint.sh /entrypoint.sh -RUN chmod +x /entrypoint.sh - -ENTRYPOINT ["/entrypoint.sh"] diff --git a/Dockerfile.deploy b/Dockerfile.deploy index 03d49f2..d207901 100644 --- a/Dockerfile.deploy +++ b/Dockerfile.deploy @@ -3,6 +3,13 @@ FROM ros:humble SHELL ["/bin/bash", "-c"] +# Set up CEV user +RUN useradd -m -s /bin/bash cev +RUN usermod -aG sudo cev +# Grant passwordless sudo access to the 'sudo' group +RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers +USER cev + ARG FOLDER_NAME=rc-brain ARG WORKSPACE_DIR=/home/cev WORKDIR $WORKSPACE_DIR @@ -12,36 +19,35 @@ RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc RUN echo "source $WORKSPACE_DIR/install/setup.bash" >> ~/.bashrc # Init rosdep and update package index -# for some reason we need to do this -RUN rm /var/lib/dpkg/info/libc-bin.* -RUN apt-get clean -RUN apt-get update -RUN apt-get install libc-bin +RUN sudo apt-get update RUN rosdep update --rosdistro $ROS_DISTRO -RUN mkdir -p src/$FOLDER_NAME - # Install and build build-from-source packages # We do this as a separate step from the stuff for our code, since that changes more frequently -RUN cd src && \ - git clone https://github.com/Slamtec/sllidar_ros2.git && \ - cd sllidar_ros2 && \ - git checkout 3430009 +COPY --parents external/**/package.xml src/$FOLDER_NAME/ +RUN sudo chown -R cev /home/cev RUN source /opt/ros/$ROS_DISTRO/setup.bash && rosdep install --from-paths src -r -y -RUN source /opt/ros/$ROS_DISTRO/setup.bash && colcon build -# Install self dependencies with rosdep -COPY --parents ./*/package.xml src/$FOLDER_NAME +# Run install.sh, which installs additional dependencies +COPY scripts/install_extra.sh src/$FOLDER_NAME/scripts/ +RUN sudo src/$FOLDER_NAME/scripts/install_extra.sh + +# Finally build external packages +COPY external src/$FOLDER_NAME/external/ +RUN sudo chown -R cev /home/cev +RUN source /opt/ros/$ROS_DISTRO/setup.bash && colcon build --symlink-install + +# Install all other dependencies +COPY --parents **/package.xml src/$FOLDER_NAME/ +RUN sudo chown -R cev /home/cev RUN source /opt/ros/$ROS_DISTRO/setup.bash && rosdep install --from-paths src -r -y # Clean up apt cache to make container smaller -RUN apt-get clean +RUN sudo apt-get clean # Build COPY . src/$FOLDER_NAME -RUN source /opt/ros/$ROS_DISTRO/setup.bash && colcon build +RUN sudo chown -R cev /home/cev +RUN source /opt/ros/$ROS_DISTRO/setup.bash && colcon build --symlink-install -# Copy entrypoint script -COPY entrypoint.sh entrypoint.sh -RUN chmod +x entrypoint.sh -ENTRYPOINT ["/bin/bash", "/home/cev/entrypoint.sh"] +ENTRYPOINT ["/bin/bash", "/home/cev/src/rc-brain/scripts/deployed_entrypoint.sh"] diff --git a/Dockerfile.dev b/Dockerfile.dev index 79db870..94f7aac 100644 --- a/Dockerfile.dev +++ b/Dockerfile.dev @@ -1,4 +1,3 @@ -# syntax=docker/dockerfile:1.7-labs FROM ros:humble SHELL ["/bin/bash", "-c"] @@ -35,10 +34,11 @@ RUN rosdep update --rosdistro $ROS_DISTRO # Run install.sh, which installs additional dependencies COPY scripts/install_extra.sh src/$FOLDER_NAME/scripts/ +RUN sudo chown -R cev /home/cev RUN sudo src/$FOLDER_NAME/scripts/install_extra.sh +# Install own dependencies RUN mkdir -p src/$FOLDER_NAME COPY --parents **/package.xml src/$FOLDER_NAME/ -RUN source /opt/ros/$ROS_DISTRO/setup.bash && rosdep install --from-paths src -r -y - RUN sudo chown -R cev /home/cev +RUN source /opt/ros/$ROS_DISTRO/setup.bash && rosdep install --from-paths src -r -y diff --git a/README.md b/README.md index 4fc738c..740fe91 100644 --- a/README.md +++ b/README.md @@ -1,16 +1,9 @@ # rc-brain One repo to rule them all -## Installation +## Installation (local) `git clone --recurse-submodules https://github.com/cornellev/rc-brain.git` -`cd rc-brain && sudo ./install.sh` - -## Docker -`docker build -t cev-rc-autonomy .` -Then run either -`docker run --rm ros2-autonomy launch` -or -`docker run --rm ros2-autonomy teleop` +`cd rc-brain && sudo ./scripts/install_extra.sh` ## Development @@ -21,12 +14,25 @@ Run `./scripts/deploy/arduino_deploy.sh` to compile and flash code to the arduin #### Formatting If you're not using the DevContainer, please make sure to install `clang-format`, ideally version 19! This will help keep the formatting of our C++ code formatted consistently. Python code is formatted by `black`. The DevContainer will install the `Black` extension for you, which ships with `black`, but otherwise you'll need to install it in VSCode or whatever other IDE you're using. +### Docker (DevContainer) +Everything should pretty much work out of the box, except... +> [!WARNING] +> You must have the Docker buildx plugin installed to build the image correctly. You may get very confusing failures! +> On Ubuntu, you can install the `docker-buildx-plugin` package. + ### Deployment #### Regular deployment If you're just developing, building Docker images will probably take too long. You can deploy normally just by running `scripts/deploy.sh`. It will drop you into an interactive session at the end so you can launch whatever you want to. #### Docker deployment +Use `docker build . --file Dockerfile.deploy -t rc-brain-deploy:latest` to build the deploy container. +Then run either `docker run --rm rc-brain-deploy launch` or `docker run --rm rc-brain-deploy teleop` to launch. + +> [!WARNING] +> You must have the Docker buildx plugin installed to build the image correctly. You may get very confusing failures! +> On Ubuntu, you can install the `docker-buildx-plugin` package. + Our Docker deployment pipeline works by pushing Docker images to a local registry and pulling them down on the mini cars. This avoids both long build times on the mini cars and the long time it takes to transfer whole images (as we can take advantage of Docker's cache). You'll have to do a bit of setup to get your computer to use the local registry. Note that you must be connected to `cev-router`. From a635d6cdee1915c0d4085ef7d1ecf0fe0b6f4bc3 Mon Sep 17 00:00:00 2001 From: Yey007 <55263178+Yey007@users.noreply.github.com> Date: Sat, 24 Jan 2026 22:34:49 +0000 Subject: [PATCH 169/196] Fix CI --- .github/workflows/docker-image.yml | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/.github/workflows/docker-image.yml b/.github/workflows/docker-image.yml index 54f261a..95bddc7 100644 --- a/.github/workflows/docker-image.yml +++ b/.github/workflows/docker-image.yml @@ -15,8 +15,10 @@ jobs: with: submodules: recursive fetch-depth: 0 + - name: Update repositories + run: sudo apt-get update - name: Install buildx component - run: sudo apt install docker-buildx-plugin + run: sudo apt-get install docker-buildx-plugin - name: Build the Docker image run: docker build . --file Dockerfile.deploy --tag rc-brain-deploy:$(date +%s) @@ -28,6 +30,8 @@ jobs: with: submodules: recursive fetch-depth: 0 + - name: Update repositories + run: sudo apt-get update - name: Install buildx component run: sudo apt install docker-buildx-plugin - name: Build the Docker image From 1be96cab89e7f634acbf71f620a39644b995bf65 Mon Sep 17 00:00:00 2001 From: Yey007 <55263178+Yey007@users.noreply.github.com> Date: Sat, 24 Jan 2026 22:36:49 +0000 Subject: [PATCH 170/196] Fix CI --- .github/workflows/docker-image.yml | 12 ++++-------- 1 file changed, 4 insertions(+), 8 deletions(-) diff --git a/.github/workflows/docker-image.yml b/.github/workflows/docker-image.yml index 95bddc7..534edf9 100644 --- a/.github/workflows/docker-image.yml +++ b/.github/workflows/docker-image.yml @@ -15,10 +15,8 @@ jobs: with: submodules: recursive fetch-depth: 0 - - name: Update repositories - run: sudo apt-get update - - name: Install buildx component - run: sudo apt-get install docker-buildx-plugin + - name: Set up Docker Buildx + uses: docker/setup-buildx-action@v3 - name: Build the Docker image run: docker build . --file Dockerfile.deploy --tag rc-brain-deploy:$(date +%s) @@ -30,9 +28,7 @@ jobs: with: submodules: recursive fetch-depth: 0 - - name: Update repositories - run: sudo apt-get update - - name: Install buildx component - run: sudo apt install docker-buildx-plugin + - name: Set up Docker Buildx + uses: docker/setup-buildx-action@v3 - name: Build the Docker image run: docker build . --file Dockerfile.dev --tag rc-brain-dev:$(date +%s) From dc46a9f43b961bf447a4c48a7eabd2e9e96510c6 Mon Sep 17 00:00:00 2001 From: Yey007 <55263178+Yey007@users.noreply.github.com> Date: Sat, 24 Jan 2026 22:38:08 +0000 Subject: [PATCH 171/196] Fix CI --- Dockerfile.dev | 1 + 1 file changed, 1 insertion(+) diff --git a/Dockerfile.dev b/Dockerfile.dev index 94f7aac..2e93011 100644 --- a/Dockerfile.dev +++ b/Dockerfile.dev @@ -1,3 +1,4 @@ +# syntax=docker/dockerfile:1.7-labs FROM ros:humble SHELL ["/bin/bash", "-c"] From ba344f08133ed6772863d376f8d2482c7844ae79 Mon Sep 17 00:00:00 2001 From: Utku Melemetci <55263178+utkudotdev@users.noreply.github.com> Date: Sat, 24 Jan 2026 22:00:48 -0500 Subject: [PATCH 172/196] Fix comment Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> --- Dockerfile.deploy | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Dockerfile.deploy b/Dockerfile.deploy index d207901..26a949f 100644 --- a/Dockerfile.deploy +++ b/Dockerfile.deploy @@ -28,7 +28,7 @@ COPY --parents external/**/package.xml src/$FOLDER_NAME/ RUN sudo chown -R cev /home/cev RUN source /opt/ros/$ROS_DISTRO/setup.bash && rosdep install --from-paths src -r -y -# Run install.sh, which installs additional dependencies +# Run install_extra.sh, which installs additional dependencies COPY scripts/install_extra.sh src/$FOLDER_NAME/scripts/ RUN sudo src/$FOLDER_NAME/scripts/install_extra.sh From bb62937177d8bd92beb63a88693c960e6097baba Mon Sep 17 00:00:00 2001 From: Utku Melemetci <55263178+utkudotdev@users.noreply.github.com> Date: Sat, 24 Jan 2026 22:01:07 -0500 Subject: [PATCH 173/196] Fix comment Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> --- Dockerfile.dev | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Dockerfile.dev b/Dockerfile.dev index 2e93011..cf32c9c 100644 --- a/Dockerfile.dev +++ b/Dockerfile.dev @@ -33,7 +33,7 @@ RUN sudo update-alternatives --install /usr/bin/clangd clangd /usr/bin/clangd-19 # Init rosdep and update package index RUN rosdep update --rosdistro $ROS_DISTRO -# Run install.sh, which installs additional dependencies +# Run install_extra.sh, which installs additional dependencies COPY scripts/install_extra.sh src/$FOLDER_NAME/scripts/ RUN sudo chown -R cev /home/cev RUN sudo src/$FOLDER_NAME/scripts/install_extra.sh From 7a1352d42d6457f6496e80e2fca2b4f1cbc997ea Mon Sep 17 00:00:00 2001 From: Yey007 <55263178+Yey007@users.noreply.github.com> Date: Sat, 24 Jan 2026 22:37:59 -0500 Subject: [PATCH 174/196] Update cev_planner submodule --- cev/cev_planner_ros2 | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cev/cev_planner_ros2 b/cev/cev_planner_ros2 index 098009a..090d71d 160000 --- a/cev/cev_planner_ros2 +++ b/cev/cev_planner_ros2 @@ -1 +1 @@ -Subproject commit 098009a81c3fcbf9815d64897482e08933ad1c34 +Subproject commit 090d71db71894ccb9ab6d4725facf5ac830880f1 From 7e755fdc737787a41a9944952b65349619445357 Mon Sep 17 00:00:00 2001 From: Utku Melemetci <55263178+utkudotdev@users.noreply.github.com> Date: Sun, 25 Jan 2026 03:51:09 +0000 Subject: [PATCH 175/196] Fix chown --- Dockerfile.deploy | 18 +++++++++--------- Dockerfile.dev | 9 +++++---- 2 files changed, 14 insertions(+), 13 deletions(-) diff --git a/Dockerfile.deploy b/Dockerfile.deploy index 26a949f..0b8f613 100644 --- a/Dockerfile.deploy +++ b/Dockerfile.deploy @@ -10,6 +10,10 @@ RUN usermod -aG sudo cev RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers USER cev +# Docker doesn't do this by default +RUN sudo chown -R cev /home/cev + + ARG FOLDER_NAME=rc-brain ARG WORKSPACE_DIR=/home/cev WORKDIR $WORKSPACE_DIR @@ -24,30 +28,26 @@ RUN rosdep update --rosdistro $ROS_DISTRO # Install and build build-from-source packages # We do this as a separate step from the stuff for our code, since that changes more frequently -COPY --parents external/**/package.xml src/$FOLDER_NAME/ -RUN sudo chown -R cev /home/cev +COPY --chown=cev --parents external/**/package.xml src/$FOLDER_NAME/ RUN source /opt/ros/$ROS_DISTRO/setup.bash && rosdep install --from-paths src -r -y # Run install_extra.sh, which installs additional dependencies -COPY scripts/install_extra.sh src/$FOLDER_NAME/scripts/ +COPY --chown=cev scripts/install_extra.sh src/$FOLDER_NAME/scripts/ RUN sudo src/$FOLDER_NAME/scripts/install_extra.sh # Finally build external packages -COPY external src/$FOLDER_NAME/external/ -RUN sudo chown -R cev /home/cev +COPY --chown=cev external src/$FOLDER_NAME/external/ RUN source /opt/ros/$ROS_DISTRO/setup.bash && colcon build --symlink-install # Install all other dependencies -COPY --parents **/package.xml src/$FOLDER_NAME/ -RUN sudo chown -R cev /home/cev +COPY --chown=cev --parents **/package.xml src/$FOLDER_NAME/ RUN source /opt/ros/$ROS_DISTRO/setup.bash && rosdep install --from-paths src -r -y # Clean up apt cache to make container smaller RUN sudo apt-get clean # Build -COPY . src/$FOLDER_NAME -RUN sudo chown -R cev /home/cev +COPY --chown=cev . src/$FOLDER_NAME RUN source /opt/ros/$ROS_DISTRO/setup.bash && colcon build --symlink-install ENTRYPOINT ["/bin/bash", "/home/cev/src/rc-brain/scripts/deployed_entrypoint.sh"] diff --git a/Dockerfile.dev b/Dockerfile.dev index cf32c9c..833878c 100644 --- a/Dockerfile.dev +++ b/Dockerfile.dev @@ -14,6 +14,9 @@ ARG FOLDER_NAME=rc-brain ARG WORKSPACE_DIR=/home/cev WORKDIR $WORKSPACE_DIR +# Docker doesn't do this by default +RUN sudo chown -R cev /home/cev + # Source the ROS2 environment automatically when a new shell is created RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc RUN echo "source $WORKSPACE_DIR/install/setup.bash" >> ~/.bashrc @@ -34,12 +37,10 @@ RUN sudo update-alternatives --install /usr/bin/clangd clangd /usr/bin/clangd-19 RUN rosdep update --rosdistro $ROS_DISTRO # Run install_extra.sh, which installs additional dependencies -COPY scripts/install_extra.sh src/$FOLDER_NAME/scripts/ -RUN sudo chown -R cev /home/cev +COPY --chown=cev scripts/install_extra.sh src/$FOLDER_NAME/scripts/ RUN sudo src/$FOLDER_NAME/scripts/install_extra.sh # Install own dependencies RUN mkdir -p src/$FOLDER_NAME -COPY --parents **/package.xml src/$FOLDER_NAME/ -RUN sudo chown -R cev /home/cev +COPY --chown=cev --parents **/package.xml src/$FOLDER_NAME/ RUN source /opt/ros/$ROS_DISTRO/setup.bash && rosdep install --from-paths src -r -y From 884da0fab57c27d585675b83303fd13fcc2bf6b4 Mon Sep 17 00:00:00 2001 From: Utku Melemetci <55263178+utkudotdev@users.noreply.github.com> Date: Sun, 25 Jan 2026 02:04:12 -0500 Subject: [PATCH 176/196] Move all files to cev/cev_autobrake_ros2 --- CMakeLists.txt => cev/cev_autobrake_ros2/CMakeLists.txt | 0 {config => cev/cev_autobrake_ros2/config}/.gitkeep | 0 {launch => cev/cev_autobrake_ros2/launch}/launch.py | 0 package.xml => cev/cev_autobrake_ros2/package.xml | 0 {src => cev/cev_autobrake_ros2/src}/autobrake_node.cpp | 0 5 files changed, 0 insertions(+), 0 deletions(-) rename CMakeLists.txt => cev/cev_autobrake_ros2/CMakeLists.txt (100%) rename {config => cev/cev_autobrake_ros2/config}/.gitkeep (100%) rename {launch => cev/cev_autobrake_ros2/launch}/launch.py (100%) rename package.xml => cev/cev_autobrake_ros2/package.xml (100%) rename {src => cev/cev_autobrake_ros2/src}/autobrake_node.cpp (100%) diff --git a/CMakeLists.txt b/cev/cev_autobrake_ros2/CMakeLists.txt similarity index 100% rename from CMakeLists.txt rename to cev/cev_autobrake_ros2/CMakeLists.txt diff --git a/config/.gitkeep b/cev/cev_autobrake_ros2/config/.gitkeep similarity index 100% rename from config/.gitkeep rename to cev/cev_autobrake_ros2/config/.gitkeep diff --git a/launch/launch.py b/cev/cev_autobrake_ros2/launch/launch.py similarity index 100% rename from launch/launch.py rename to cev/cev_autobrake_ros2/launch/launch.py diff --git a/package.xml b/cev/cev_autobrake_ros2/package.xml similarity index 100% rename from package.xml rename to cev/cev_autobrake_ros2/package.xml diff --git a/src/autobrake_node.cpp b/cev/cev_autobrake_ros2/src/autobrake_node.cpp similarity index 100% rename from src/autobrake_node.cpp rename to cev/cev_autobrake_ros2/src/autobrake_node.cpp From 7a5db95bdfe9be8be5c1e17b056cc7c0decc95a4 Mon Sep 17 00:00:00 2001 From: Utku Melemetci <55263178+utkudotdev@users.noreply.github.com> Date: Sun, 25 Jan 2026 02:04:12 -0500 Subject: [PATCH 177/196] Remove cev_autobrake_ros2 --- .gitmodules | 3 --- cev/cev_autobrake_ros2 | 1 - 2 files changed, 4 deletions(-) delete mode 160000 cev/cev_autobrake_ros2 diff --git a/.gitmodules b/.gitmodules index cd316c6..f469d43 100644 --- a/.gitmodules +++ b/.gitmodules @@ -19,9 +19,6 @@ [submodule "cev/cev_planner_ros2"] path = cev/cev_planner_ros2 url = https://github.com/cornellev/cev_planner_ros2.git -[submodule "cev/cev_autobrake_ros2"] - path = cev/cev_autobrake_ros2 - url = https://github.com/cornellev/cev_autobrake_ros2.git [submodule "cev/cev_teleop_ros2"] path = cev/cev_teleop_ros2 url = https://github.com/cornellev/cev_teleop_ros2.git diff --git a/cev/cev_autobrake_ros2 b/cev/cev_autobrake_ros2 deleted file mode 160000 index b49dbf0..0000000 --- a/cev/cev_autobrake_ros2 +++ /dev/null @@ -1 +0,0 @@ -Subproject commit b49dbf0e67936d533bc2da42b64db27b08c67e22 From a406582bc5df1a6ab5155327804169e2adfc5a1a Mon Sep 17 00:00:00 2001 From: Utku Melemetci <55263178+utkudotdev@users.noreply.github.com> Date: Sun, 25 Jan 2026 02:04:35 -0500 Subject: [PATCH 178/196] Move all files to cev/cev_encoder_odometry_ros2 --- CMakeLists.txt => cev/cev_encoder_odometry_ros2/CMakeLists.txt | 0 {config => cev/cev_encoder_odometry_ros2/config}/.gitkeep | 0 {launch => cev/cev_encoder_odometry_ros2/launch}/launch.py | 0 package.xml => cev/cev_encoder_odometry_ros2/package.xml | 0 {src => cev/cev_encoder_odometry_ros2/src}/odometry.cpp | 0 5 files changed, 0 insertions(+), 0 deletions(-) rename CMakeLists.txt => cev/cev_encoder_odometry_ros2/CMakeLists.txt (100%) rename {config => cev/cev_encoder_odometry_ros2/config}/.gitkeep (100%) rename {launch => cev/cev_encoder_odometry_ros2/launch}/launch.py (100%) rename package.xml => cev/cev_encoder_odometry_ros2/package.xml (100%) rename {src => cev/cev_encoder_odometry_ros2/src}/odometry.cpp (100%) diff --git a/CMakeLists.txt b/cev/cev_encoder_odometry_ros2/CMakeLists.txt similarity index 100% rename from CMakeLists.txt rename to cev/cev_encoder_odometry_ros2/CMakeLists.txt diff --git a/config/.gitkeep b/cev/cev_encoder_odometry_ros2/config/.gitkeep similarity index 100% rename from config/.gitkeep rename to cev/cev_encoder_odometry_ros2/config/.gitkeep diff --git a/launch/launch.py b/cev/cev_encoder_odometry_ros2/launch/launch.py similarity index 100% rename from launch/launch.py rename to cev/cev_encoder_odometry_ros2/launch/launch.py diff --git a/package.xml b/cev/cev_encoder_odometry_ros2/package.xml similarity index 100% rename from package.xml rename to cev/cev_encoder_odometry_ros2/package.xml diff --git a/src/odometry.cpp b/cev/cev_encoder_odometry_ros2/src/odometry.cpp similarity index 100% rename from src/odometry.cpp rename to cev/cev_encoder_odometry_ros2/src/odometry.cpp From 19148f96bb4cefd62c233402549dca9a516c618e Mon Sep 17 00:00:00 2001 From: Utku Melemetci <55263178+utkudotdev@users.noreply.github.com> Date: Sun, 25 Jan 2026 02:04:35 -0500 Subject: [PATCH 179/196] Remove cev_encoder_odometry_ros2 --- .gitmodules | 3 --- cev/cev_encoder_odometry_ros2 | 1 - 2 files changed, 4 deletions(-) delete mode 160000 cev/cev_encoder_odometry_ros2 diff --git a/.gitmodules b/.gitmodules index f469d43..b8be93a 100644 --- a/.gitmodules +++ b/.gitmodules @@ -25,9 +25,6 @@ [submodule "cev/cev_vision_ros2"] path = cev/cev_vision_ros2 url = https://github.com/cornellev/cev_vision_ros2.git -[submodule "cev/cev_encoder_odometry_ros2"] - path = cev/cev_encoder_odometry_ros2 - url = https://github.com/cornellev/cev_encoder_odometry_ros2.git [submodule "cev/cev_trajectory_follower_ros2"] path = cev/cev_trajectory_follower_ros2 url = https://github.com/cornellev/cev_trajectory_follower_ros2.git diff --git a/cev/cev_encoder_odometry_ros2 b/cev/cev_encoder_odometry_ros2 deleted file mode 160000 index 69844b6..0000000 --- a/cev/cev_encoder_odometry_ros2 +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 69844b675183fc453fde768896f5d531d62e900e From 2b6c6123350db4a81d0991197c72f046d8c20918 Mon Sep 17 00:00:00 2001 From: Utku Melemetci <55263178+utkudotdev@users.noreply.github.com> Date: Sun, 25 Jan 2026 02:04:44 -0500 Subject: [PATCH 180/196] Move all files to cev/cev_localization_ros2 --- .../cev_localization_ros2/.clang-format | 0 .../.devcontainer}/Dockerfile.dev | 0 .../.devcontainer}/devcontainer.json | 0 .gitignore => cev/cev_localization_ros2/.gitignore | 0 .../cev_localization_ros2/.gitmodules | 2 +- .../cev_localization_ros2/CMakeLists.txt | 0 README.md => cev/cev_localization_ros2/README.md | 0 TODO.md => cev/cev_localization_ros2/TODO.md | 0 .../cev_localization_ros2/cev_kalman_filter | 0 .../cev_localization_ros2/config}/.gitkeep | 0 .../cev_localization_ros2/config}/conf.rviz | 0 .../cev_localization_ros2/config}/ekf.conf_doc | 0 .../cev_localization_ros2/config}/ekf_real.yml | 0 ekf_sim.py => cev/cev_localization_ros2/ekf_sim.py | 0 .../cev_localization_ros2/gen_jacobian.py | 0 .../cev_localization_ros2/include}/config_parser.h | 0 .../cev_localization_ros2/include}/ros_sensor.h | 0 .../include}/std_ros_sensors.h | 0 .../cev_localization_ros2/launch}/.gitkeep | 0 .../cev_localization_ros2/launch}/debug_launch.py | 0 .../cev_localization_ros2/launch}/launch.py | 0 .../cev_localization_ros2/package.xml | 0 .../ackermann_recording_v_1_0.db3 | Bin .../rosbag}/ackermann_recording_v_1/metadata.yaml | 0 .../ackermann_recording_v_2_0.db3 | Bin .../rosbag}/ackermann_recording_v_2/metadata.yaml | 0 .../ackermann_recording_v_3_0.db3 | Bin .../rosbag}/ackermann_recording_v_3/metadata.yaml | 0 .../cev_localization_ros2/src}/ackermann_ekf.cpp | 0 .../cev_localization_ros2/src}/config_parser.cpp | 0 .../cev_localization_ros2/src}/localization.cpp | 0 .../cev_localization_ros2/src}/ros_sensor.cpp | 0 .../cev_localization_ros2/src}/std_ros_sensors.cpp | 0 33 files changed, 1 insertion(+), 1 deletion(-) rename .clang-format => cev/cev_localization_ros2/.clang-format (100%) rename {.devcontainer => cev/cev_localization_ros2/.devcontainer}/Dockerfile.dev (100%) rename {.devcontainer => cev/cev_localization_ros2/.devcontainer}/devcontainer.json (100%) rename .gitignore => cev/cev_localization_ros2/.gitignore (100%) rename .gitmodules => cev/cev_localization_ros2/.gitmodules (62%) rename CMakeLists.txt => cev/cev_localization_ros2/CMakeLists.txt (100%) rename README.md => cev/cev_localization_ros2/README.md (100%) rename TODO.md => cev/cev_localization_ros2/TODO.md (100%) rename cev_kalman_filter => cev/cev_localization_ros2/cev_kalman_filter (100%) rename {config => cev/cev_localization_ros2/config}/.gitkeep (100%) rename {config => cev/cev_localization_ros2/config}/conf.rviz (100%) rename {config => cev/cev_localization_ros2/config}/ekf.conf_doc (100%) rename {config => cev/cev_localization_ros2/config}/ekf_real.yml (100%) rename ekf_sim.py => cev/cev_localization_ros2/ekf_sim.py (100%) rename gen_jacobian.py => cev/cev_localization_ros2/gen_jacobian.py (100%) rename {include => cev/cev_localization_ros2/include}/config_parser.h (100%) rename {include => cev/cev_localization_ros2/include}/ros_sensor.h (100%) rename {include => cev/cev_localization_ros2/include}/std_ros_sensors.h (100%) rename {launch => cev/cev_localization_ros2/launch}/.gitkeep (100%) rename {launch => cev/cev_localization_ros2/launch}/debug_launch.py (100%) rename {launch => cev/cev_localization_ros2/launch}/launch.py (100%) rename package.xml => cev/cev_localization_ros2/package.xml (100%) rename {rosbag => cev/cev_localization_ros2/rosbag}/ackermann_recording_v_1/ackermann_recording_v_1_0.db3 (100%) rename {rosbag => cev/cev_localization_ros2/rosbag}/ackermann_recording_v_1/metadata.yaml (100%) rename {rosbag => cev/cev_localization_ros2/rosbag}/ackermann_recording_v_2/ackermann_recording_v_2_0.db3 (100%) rename {rosbag => cev/cev_localization_ros2/rosbag}/ackermann_recording_v_2/metadata.yaml (100%) rename {rosbag => cev/cev_localization_ros2/rosbag}/ackermann_recording_v_3/ackermann_recording_v_3_0.db3 (100%) rename {rosbag => cev/cev_localization_ros2/rosbag}/ackermann_recording_v_3/metadata.yaml (100%) rename {src => cev/cev_localization_ros2/src}/ackermann_ekf.cpp (100%) rename {src => cev/cev_localization_ros2/src}/config_parser.cpp (100%) rename {src => cev/cev_localization_ros2/src}/localization.cpp (100%) rename {src => cev/cev_localization_ros2/src}/ros_sensor.cpp (100%) rename {src => cev/cev_localization_ros2/src}/std_ros_sensors.cpp (100%) diff --git a/.clang-format b/cev/cev_localization_ros2/.clang-format similarity index 100% rename from .clang-format rename to cev/cev_localization_ros2/.clang-format diff --git a/.devcontainer/Dockerfile.dev b/cev/cev_localization_ros2/.devcontainer/Dockerfile.dev similarity index 100% rename from .devcontainer/Dockerfile.dev rename to cev/cev_localization_ros2/.devcontainer/Dockerfile.dev diff --git a/.devcontainer/devcontainer.json b/cev/cev_localization_ros2/.devcontainer/devcontainer.json similarity index 100% rename from .devcontainer/devcontainer.json rename to cev/cev_localization_ros2/.devcontainer/devcontainer.json diff --git a/.gitignore b/cev/cev_localization_ros2/.gitignore similarity index 100% rename from .gitignore rename to cev/cev_localization_ros2/.gitignore diff --git a/.gitmodules b/cev/cev_localization_ros2/.gitmodules similarity index 62% rename from .gitmodules rename to cev/cev_localization_ros2/.gitmodules index 830e34b..f3446d7 100644 --- a/.gitmodules +++ b/cev/cev_localization_ros2/.gitmodules @@ -1,3 +1,3 @@ [submodule "cev_kalman_filter"] - path = cev_kalman_filter + path = cev/cev_localization_ros2/cev_kalman_filter url = https://github.com/cornellev/cev_kalman_filter diff --git a/CMakeLists.txt b/cev/cev_localization_ros2/CMakeLists.txt similarity index 100% rename from CMakeLists.txt rename to cev/cev_localization_ros2/CMakeLists.txt diff --git a/README.md b/cev/cev_localization_ros2/README.md similarity index 100% rename from README.md rename to cev/cev_localization_ros2/README.md diff --git a/TODO.md b/cev/cev_localization_ros2/TODO.md similarity index 100% rename from TODO.md rename to cev/cev_localization_ros2/TODO.md diff --git a/cev_kalman_filter b/cev/cev_localization_ros2/cev_kalman_filter similarity index 100% rename from cev_kalman_filter rename to cev/cev_localization_ros2/cev_kalman_filter diff --git a/config/.gitkeep b/cev/cev_localization_ros2/config/.gitkeep similarity index 100% rename from config/.gitkeep rename to cev/cev_localization_ros2/config/.gitkeep diff --git a/config/conf.rviz b/cev/cev_localization_ros2/config/conf.rviz similarity index 100% rename from config/conf.rviz rename to cev/cev_localization_ros2/config/conf.rviz diff --git a/config/ekf.conf_doc b/cev/cev_localization_ros2/config/ekf.conf_doc similarity index 100% rename from config/ekf.conf_doc rename to cev/cev_localization_ros2/config/ekf.conf_doc diff --git a/config/ekf_real.yml b/cev/cev_localization_ros2/config/ekf_real.yml similarity index 100% rename from config/ekf_real.yml rename to cev/cev_localization_ros2/config/ekf_real.yml diff --git a/ekf_sim.py b/cev/cev_localization_ros2/ekf_sim.py similarity index 100% rename from ekf_sim.py rename to cev/cev_localization_ros2/ekf_sim.py diff --git a/gen_jacobian.py b/cev/cev_localization_ros2/gen_jacobian.py similarity index 100% rename from gen_jacobian.py rename to cev/cev_localization_ros2/gen_jacobian.py diff --git a/include/config_parser.h b/cev/cev_localization_ros2/include/config_parser.h similarity index 100% rename from include/config_parser.h rename to cev/cev_localization_ros2/include/config_parser.h diff --git a/include/ros_sensor.h b/cev/cev_localization_ros2/include/ros_sensor.h similarity index 100% rename from include/ros_sensor.h rename to cev/cev_localization_ros2/include/ros_sensor.h diff --git a/include/std_ros_sensors.h b/cev/cev_localization_ros2/include/std_ros_sensors.h similarity index 100% rename from include/std_ros_sensors.h rename to cev/cev_localization_ros2/include/std_ros_sensors.h diff --git a/launch/.gitkeep b/cev/cev_localization_ros2/launch/.gitkeep similarity index 100% rename from launch/.gitkeep rename to cev/cev_localization_ros2/launch/.gitkeep diff --git a/launch/debug_launch.py b/cev/cev_localization_ros2/launch/debug_launch.py similarity index 100% rename from launch/debug_launch.py rename to cev/cev_localization_ros2/launch/debug_launch.py diff --git a/launch/launch.py b/cev/cev_localization_ros2/launch/launch.py similarity index 100% rename from launch/launch.py rename to cev/cev_localization_ros2/launch/launch.py diff --git a/package.xml b/cev/cev_localization_ros2/package.xml similarity index 100% rename from package.xml rename to cev/cev_localization_ros2/package.xml diff --git a/rosbag/ackermann_recording_v_1/ackermann_recording_v_1_0.db3 b/cev/cev_localization_ros2/rosbag/ackermann_recording_v_1/ackermann_recording_v_1_0.db3 similarity index 100% rename from rosbag/ackermann_recording_v_1/ackermann_recording_v_1_0.db3 rename to cev/cev_localization_ros2/rosbag/ackermann_recording_v_1/ackermann_recording_v_1_0.db3 diff --git a/rosbag/ackermann_recording_v_1/metadata.yaml b/cev/cev_localization_ros2/rosbag/ackermann_recording_v_1/metadata.yaml similarity index 100% rename from rosbag/ackermann_recording_v_1/metadata.yaml rename to cev/cev_localization_ros2/rosbag/ackermann_recording_v_1/metadata.yaml diff --git a/rosbag/ackermann_recording_v_2/ackermann_recording_v_2_0.db3 b/cev/cev_localization_ros2/rosbag/ackermann_recording_v_2/ackermann_recording_v_2_0.db3 similarity index 100% rename from rosbag/ackermann_recording_v_2/ackermann_recording_v_2_0.db3 rename to cev/cev_localization_ros2/rosbag/ackermann_recording_v_2/ackermann_recording_v_2_0.db3 diff --git a/rosbag/ackermann_recording_v_2/metadata.yaml b/cev/cev_localization_ros2/rosbag/ackermann_recording_v_2/metadata.yaml similarity index 100% rename from rosbag/ackermann_recording_v_2/metadata.yaml rename to cev/cev_localization_ros2/rosbag/ackermann_recording_v_2/metadata.yaml diff --git a/rosbag/ackermann_recording_v_3/ackermann_recording_v_3_0.db3 b/cev/cev_localization_ros2/rosbag/ackermann_recording_v_3/ackermann_recording_v_3_0.db3 similarity index 100% rename from rosbag/ackermann_recording_v_3/ackermann_recording_v_3_0.db3 rename to cev/cev_localization_ros2/rosbag/ackermann_recording_v_3/ackermann_recording_v_3_0.db3 diff --git a/rosbag/ackermann_recording_v_3/metadata.yaml b/cev/cev_localization_ros2/rosbag/ackermann_recording_v_3/metadata.yaml similarity index 100% rename from rosbag/ackermann_recording_v_3/metadata.yaml rename to cev/cev_localization_ros2/rosbag/ackermann_recording_v_3/metadata.yaml diff --git a/src/ackermann_ekf.cpp b/cev/cev_localization_ros2/src/ackermann_ekf.cpp similarity index 100% rename from src/ackermann_ekf.cpp rename to cev/cev_localization_ros2/src/ackermann_ekf.cpp diff --git a/src/config_parser.cpp b/cev/cev_localization_ros2/src/config_parser.cpp similarity index 100% rename from src/config_parser.cpp rename to cev/cev_localization_ros2/src/config_parser.cpp diff --git a/src/localization.cpp b/cev/cev_localization_ros2/src/localization.cpp similarity index 100% rename from src/localization.cpp rename to cev/cev_localization_ros2/src/localization.cpp diff --git a/src/ros_sensor.cpp b/cev/cev_localization_ros2/src/ros_sensor.cpp similarity index 100% rename from src/ros_sensor.cpp rename to cev/cev_localization_ros2/src/ros_sensor.cpp diff --git a/src/std_ros_sensors.cpp b/cev/cev_localization_ros2/src/std_ros_sensors.cpp similarity index 100% rename from src/std_ros_sensors.cpp rename to cev/cev_localization_ros2/src/std_ros_sensors.cpp From 33189cd0e6c89dd37f241b1ca2f9e3ea9e6b4acd Mon Sep 17 00:00:00 2001 From: Utku Melemetci <55263178+utkudotdev@users.noreply.github.com> Date: Sun, 25 Jan 2026 02:04:45 -0500 Subject: [PATCH 181/196] Remove cev_localization_ros2 --- .gitmodules | 3 --- cev/cev_localization_ros2 | 1 - 2 files changed, 4 deletions(-) delete mode 160000 cev/cev_localization_ros2 diff --git a/.gitmodules b/.gitmodules index b8be93a..a9394d7 100644 --- a/.gitmodules +++ b/.gitmodules @@ -13,9 +13,6 @@ [submodule "external/bond"] path = external/bond url = https://github.com/ros/bond_core.git -[submodule "cev/cev_localization_ros2"] - path = cev/cev_localization_ros2 - url = https://github.com/cornellev/cev_localization_ros2.git [submodule "cev/cev_planner_ros2"] path = cev/cev_planner_ros2 url = https://github.com/cornellev/cev_planner_ros2.git diff --git a/cev/cev_localization_ros2 b/cev/cev_localization_ros2 deleted file mode 160000 index 8ed79c6..0000000 --- a/cev/cev_localization_ros2 +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 8ed79c6a5c06c6d4bd3168d147f34fd83735ea2e From 20e0edce168738255b5e2cc5c2726e938f06d5ef Mon Sep 17 00:00:00 2001 From: Utku Melemetci <55263178+utkudotdev@users.noreply.github.com> Date: Sun, 25 Jan 2026 02:04:53 -0500 Subject: [PATCH 182/196] Move all files to cev/cev_planner_ros2 --- .clang-format => cev/cev_planner_ros2/.clang-format | 0 .../cev_planner_ros2/.devcontainer}/Dockerfile.dev | 0 .../.devcontainer}/devcontainer.json | 0 .gitignore => cev/cev_planner_ros2/.gitignore | 0 .gitmodules => cev/cev_planner_ros2/.gitmodules | 4 ++-- .../cev_planner_ros2/CMakeLists.txt | 0 README.md => cev/cev_planner_ros2/README.md | 0 TODO.md => cev/cev_planner_ros2/TODO.md | 0 cev_planner => cev/cev_planner_ros2/cev_planner | 0 .../cev_planner_ros2/commit_script.sh | 0 {config => cev/cev_planner_ros2/config}/.gitkeep | 0 .../cev_planner_ros2/config}/cev_planner.yaml | 0 {config => cev/cev_planner_ros2/config}/igvc.yaml | 0 costmap.png => cev/cev_planner_ros2/costmap.png | Bin {launch => cev/cev_planner_ros2/launch}/.gitkeep | 0 {launch => cev/cev_planner_ros2/launch}/igvc.py | 0 {launch => cev/cev_planner_ros2/launch}/launch.py | 0 package.xml => cev/cev_planner_ros2/package.xml | 0 {src => cev/cev_planner_ros2/src}/planner_node.cpp | 0 {src => cev/cev_planner_ros2/src}/tf_test.cpp | 0 {tmp => cev/cev_planner_ros2/tmp}/Makefile | 0 {tmp => cev/cev_planner_ros2/tmp}/chat.cpp | 0 {tmp => cev/cev_planner_ros2/tmp}/costmap.png | Bin {tmp => cev/cev_planner_ros2/tmp}/kernel | Bin {tmp => cev/cev_planner_ros2/tmp}/kernel.cpp | 0 {tmp => cev/cev_planner_ros2/tmp}/matplotlib-cpp | 0 {tmp => cev/cev_planner_ros2/tmp}/path_planner | Bin .../cev_planner_ros2/trajectory.png | Bin 28 files changed, 2 insertions(+), 2 deletions(-) rename .clang-format => cev/cev_planner_ros2/.clang-format (100%) rename {.devcontainer => cev/cev_planner_ros2/.devcontainer}/Dockerfile.dev (100%) rename {.devcontainer => cev/cev_planner_ros2/.devcontainer}/devcontainer.json (100%) rename .gitignore => cev/cev_planner_ros2/.gitignore (100%) rename .gitmodules => cev/cev_planner_ros2/.gitmodules (64%) rename CMakeLists.txt => cev/cev_planner_ros2/CMakeLists.txt (100%) rename README.md => cev/cev_planner_ros2/README.md (100%) rename TODO.md => cev/cev_planner_ros2/TODO.md (100%) rename cev_planner => cev/cev_planner_ros2/cev_planner (100%) rename commit_script.sh => cev/cev_planner_ros2/commit_script.sh (100%) rename {config => cev/cev_planner_ros2/config}/.gitkeep (100%) rename {config => cev/cev_planner_ros2/config}/cev_planner.yaml (100%) rename {config => cev/cev_planner_ros2/config}/igvc.yaml (100%) rename costmap.png => cev/cev_planner_ros2/costmap.png (100%) rename {launch => cev/cev_planner_ros2/launch}/.gitkeep (100%) rename {launch => cev/cev_planner_ros2/launch}/igvc.py (100%) rename {launch => cev/cev_planner_ros2/launch}/launch.py (100%) rename package.xml => cev/cev_planner_ros2/package.xml (100%) rename {src => cev/cev_planner_ros2/src}/planner_node.cpp (100%) rename {src => cev/cev_planner_ros2/src}/tf_test.cpp (100%) rename {tmp => cev/cev_planner_ros2/tmp}/Makefile (100%) rename {tmp => cev/cev_planner_ros2/tmp}/chat.cpp (100%) rename {tmp => cev/cev_planner_ros2/tmp}/costmap.png (100%) rename {tmp => cev/cev_planner_ros2/tmp}/kernel (100%) rename {tmp => cev/cev_planner_ros2/tmp}/kernel.cpp (100%) rename {tmp => cev/cev_planner_ros2/tmp}/matplotlib-cpp (100%) rename {tmp => cev/cev_planner_ros2/tmp}/path_planner (100%) rename trajectory.png => cev/cev_planner_ros2/trajectory.png (100%) diff --git a/.clang-format b/cev/cev_planner_ros2/.clang-format similarity index 100% rename from .clang-format rename to cev/cev_planner_ros2/.clang-format diff --git a/.devcontainer/Dockerfile.dev b/cev/cev_planner_ros2/.devcontainer/Dockerfile.dev similarity index 100% rename from .devcontainer/Dockerfile.dev rename to cev/cev_planner_ros2/.devcontainer/Dockerfile.dev diff --git a/.devcontainer/devcontainer.json b/cev/cev_planner_ros2/.devcontainer/devcontainer.json similarity index 100% rename from .devcontainer/devcontainer.json rename to cev/cev_planner_ros2/.devcontainer/devcontainer.json diff --git a/.gitignore b/cev/cev_planner_ros2/.gitignore similarity index 100% rename from .gitignore rename to cev/cev_planner_ros2/.gitignore diff --git a/.gitmodules b/cev/cev_planner_ros2/.gitmodules similarity index 64% rename from .gitmodules rename to cev/cev_planner_ros2/.gitmodules index 3afdb00..760ae84 100644 --- a/.gitmodules +++ b/cev/cev_planner_ros2/.gitmodules @@ -1,6 +1,6 @@ [submodule "cev_planner"] - path = cev_planner + path = cev/cev_planner_ros2/cev_planner url = https://github.com/cornellev/cev_planner.git [submodule "tmp/matplotlib-cpp"] - path = tmp/matplotlib-cpp + path = cev/cev_planner_ros2/tmp/matplotlib-cpp url = https://github.com/lava/matplotlib-cpp.git diff --git a/CMakeLists.txt b/cev/cev_planner_ros2/CMakeLists.txt similarity index 100% rename from CMakeLists.txt rename to cev/cev_planner_ros2/CMakeLists.txt diff --git a/README.md b/cev/cev_planner_ros2/README.md similarity index 100% rename from README.md rename to cev/cev_planner_ros2/README.md diff --git a/TODO.md b/cev/cev_planner_ros2/TODO.md similarity index 100% rename from TODO.md rename to cev/cev_planner_ros2/TODO.md diff --git a/cev_planner b/cev/cev_planner_ros2/cev_planner similarity index 100% rename from cev_planner rename to cev/cev_planner_ros2/cev_planner diff --git a/commit_script.sh b/cev/cev_planner_ros2/commit_script.sh similarity index 100% rename from commit_script.sh rename to cev/cev_planner_ros2/commit_script.sh diff --git a/config/.gitkeep b/cev/cev_planner_ros2/config/.gitkeep similarity index 100% rename from config/.gitkeep rename to cev/cev_planner_ros2/config/.gitkeep diff --git a/config/cev_planner.yaml b/cev/cev_planner_ros2/config/cev_planner.yaml similarity index 100% rename from config/cev_planner.yaml rename to cev/cev_planner_ros2/config/cev_planner.yaml diff --git a/config/igvc.yaml b/cev/cev_planner_ros2/config/igvc.yaml similarity index 100% rename from config/igvc.yaml rename to cev/cev_planner_ros2/config/igvc.yaml diff --git a/costmap.png b/cev/cev_planner_ros2/costmap.png similarity index 100% rename from costmap.png rename to cev/cev_planner_ros2/costmap.png diff --git a/launch/.gitkeep b/cev/cev_planner_ros2/launch/.gitkeep similarity index 100% rename from launch/.gitkeep rename to cev/cev_planner_ros2/launch/.gitkeep diff --git a/launch/igvc.py b/cev/cev_planner_ros2/launch/igvc.py similarity index 100% rename from launch/igvc.py rename to cev/cev_planner_ros2/launch/igvc.py diff --git a/launch/launch.py b/cev/cev_planner_ros2/launch/launch.py similarity index 100% rename from launch/launch.py rename to cev/cev_planner_ros2/launch/launch.py diff --git a/package.xml b/cev/cev_planner_ros2/package.xml similarity index 100% rename from package.xml rename to cev/cev_planner_ros2/package.xml diff --git a/src/planner_node.cpp b/cev/cev_planner_ros2/src/planner_node.cpp similarity index 100% rename from src/planner_node.cpp rename to cev/cev_planner_ros2/src/planner_node.cpp diff --git a/src/tf_test.cpp b/cev/cev_planner_ros2/src/tf_test.cpp similarity index 100% rename from src/tf_test.cpp rename to cev/cev_planner_ros2/src/tf_test.cpp diff --git a/tmp/Makefile b/cev/cev_planner_ros2/tmp/Makefile similarity index 100% rename from tmp/Makefile rename to cev/cev_planner_ros2/tmp/Makefile diff --git a/tmp/chat.cpp b/cev/cev_planner_ros2/tmp/chat.cpp similarity index 100% rename from tmp/chat.cpp rename to cev/cev_planner_ros2/tmp/chat.cpp diff --git a/tmp/costmap.png b/cev/cev_planner_ros2/tmp/costmap.png similarity index 100% rename from tmp/costmap.png rename to cev/cev_planner_ros2/tmp/costmap.png diff --git a/tmp/kernel b/cev/cev_planner_ros2/tmp/kernel similarity index 100% rename from tmp/kernel rename to cev/cev_planner_ros2/tmp/kernel diff --git a/tmp/kernel.cpp b/cev/cev_planner_ros2/tmp/kernel.cpp similarity index 100% rename from tmp/kernel.cpp rename to cev/cev_planner_ros2/tmp/kernel.cpp diff --git a/tmp/matplotlib-cpp b/cev/cev_planner_ros2/tmp/matplotlib-cpp similarity index 100% rename from tmp/matplotlib-cpp rename to cev/cev_planner_ros2/tmp/matplotlib-cpp diff --git a/tmp/path_planner b/cev/cev_planner_ros2/tmp/path_planner similarity index 100% rename from tmp/path_planner rename to cev/cev_planner_ros2/tmp/path_planner diff --git a/trajectory.png b/cev/cev_planner_ros2/trajectory.png similarity index 100% rename from trajectory.png rename to cev/cev_planner_ros2/trajectory.png From 3d238ccf812a6a4214dceb4bb71666a9ec99ec0b Mon Sep 17 00:00:00 2001 From: Utku Melemetci <55263178+utkudotdev@users.noreply.github.com> Date: Sun, 25 Jan 2026 02:04:53 -0500 Subject: [PATCH 183/196] Remove cev_planner_ros2 --- .gitmodules | 3 --- cev/cev_planner_ros2 | 1 - 2 files changed, 4 deletions(-) delete mode 160000 cev/cev_planner_ros2 diff --git a/.gitmodules b/.gitmodules index a9394d7..077c424 100644 --- a/.gitmodules +++ b/.gitmodules @@ -13,9 +13,6 @@ [submodule "external/bond"] path = external/bond url = https://github.com/ros/bond_core.git -[submodule "cev/cev_planner_ros2"] - path = cev/cev_planner_ros2 - url = https://github.com/cornellev/cev_planner_ros2.git [submodule "cev/cev_teleop_ros2"] path = cev/cev_teleop_ros2 url = https://github.com/cornellev/cev_teleop_ros2.git diff --git a/cev/cev_planner_ros2 b/cev/cev_planner_ros2 deleted file mode 160000 index 090d71d..0000000 --- a/cev/cev_planner_ros2 +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 090d71db71894ccb9ab6d4725facf5ac830880f1 From 55512c31a66917bd044694b28b11f96d77eb5b22 Mon Sep 17 00:00:00 2001 From: Utku Melemetci <55263178+utkudotdev@users.noreply.github.com> Date: Sun, 25 Jan 2026 02:05:00 -0500 Subject: [PATCH 184/196] Move all files to cev/cev_teleop_ros2 --- CMakeLists.txt => cev/cev_teleop_ros2/CMakeLists.txt | 0 {config => cev/cev_teleop_ros2/config}/.gitkeep | 0 {launch => cev/cev_teleop_ros2/launch}/launch.py | 0 package.xml => cev/cev_teleop_ros2/package.xml | 0 {src => cev/cev_teleop_ros2/src}/joy_interpreter.cpp | 0 5 files changed, 0 insertions(+), 0 deletions(-) rename CMakeLists.txt => cev/cev_teleop_ros2/CMakeLists.txt (100%) rename {config => cev/cev_teleop_ros2/config}/.gitkeep (100%) rename {launch => cev/cev_teleop_ros2/launch}/launch.py (100%) rename package.xml => cev/cev_teleop_ros2/package.xml (100%) rename {src => cev/cev_teleop_ros2/src}/joy_interpreter.cpp (100%) diff --git a/CMakeLists.txt b/cev/cev_teleop_ros2/CMakeLists.txt similarity index 100% rename from CMakeLists.txt rename to cev/cev_teleop_ros2/CMakeLists.txt diff --git a/config/.gitkeep b/cev/cev_teleop_ros2/config/.gitkeep similarity index 100% rename from config/.gitkeep rename to cev/cev_teleop_ros2/config/.gitkeep diff --git a/launch/launch.py b/cev/cev_teleop_ros2/launch/launch.py similarity index 100% rename from launch/launch.py rename to cev/cev_teleop_ros2/launch/launch.py diff --git a/package.xml b/cev/cev_teleop_ros2/package.xml similarity index 100% rename from package.xml rename to cev/cev_teleop_ros2/package.xml diff --git a/src/joy_interpreter.cpp b/cev/cev_teleop_ros2/src/joy_interpreter.cpp similarity index 100% rename from src/joy_interpreter.cpp rename to cev/cev_teleop_ros2/src/joy_interpreter.cpp From 9a6743e2c139547338cbb6475f5886bbd428a6b2 Mon Sep 17 00:00:00 2001 From: Utku Melemetci <55263178+utkudotdev@users.noreply.github.com> Date: Sun, 25 Jan 2026 02:05:00 -0500 Subject: [PATCH 185/196] Remove cev_teleop_ros2 --- .gitmodules | 3 --- cev/cev_teleop_ros2 | 1 - 2 files changed, 4 deletions(-) delete mode 160000 cev/cev_teleop_ros2 diff --git a/.gitmodules b/.gitmodules index 077c424..2b6629c 100644 --- a/.gitmodules +++ b/.gitmodules @@ -13,9 +13,6 @@ [submodule "external/bond"] path = external/bond url = https://github.com/ros/bond_core.git -[submodule "cev/cev_teleop_ros2"] - path = cev/cev_teleop_ros2 - url = https://github.com/cornellev/cev_teleop_ros2.git [submodule "cev/cev_vision_ros2"] path = cev/cev_vision_ros2 url = https://github.com/cornellev/cev_vision_ros2.git diff --git a/cev/cev_teleop_ros2 b/cev/cev_teleop_ros2 deleted file mode 160000 index e2e2e9a..0000000 --- a/cev/cev_teleop_ros2 +++ /dev/null @@ -1 +0,0 @@ -Subproject commit e2e2e9ae0e9151eeb86205b350a5ccaa26a894b7 From 97bc78283af751d4f3115cbac51457da25a070de Mon Sep 17 00:00:00 2001 From: Utku Melemetci <55263178+utkudotdev@users.noreply.github.com> Date: Sun, 25 Jan 2026 02:05:07 -0500 Subject: [PATCH 186/196] Move all files to cev/cev_trajectory_follower_ros2 --- CMakeLists.txt => cev/cev_trajectory_follower_ros2/CMakeLists.txt | 0 {config => cev/cev_trajectory_follower_ros2/config}/.gitkeep | 0 {launch => cev/cev_trajectory_follower_ros2/launch}/launch.py | 0 package.xml => cev/cev_trajectory_follower_ros2/package.xml | 0 .../src}/debug_trajectory_publish.cpp | 0 .../cev_trajectory_follower_ros2/src}/trajectory_follower.cpp | 0 6 files changed, 0 insertions(+), 0 deletions(-) rename CMakeLists.txt => cev/cev_trajectory_follower_ros2/CMakeLists.txt (100%) rename {config => cev/cev_trajectory_follower_ros2/config}/.gitkeep (100%) rename {launch => cev/cev_trajectory_follower_ros2/launch}/launch.py (100%) rename package.xml => cev/cev_trajectory_follower_ros2/package.xml (100%) rename {src => cev/cev_trajectory_follower_ros2/src}/debug_trajectory_publish.cpp (100%) rename {src => cev/cev_trajectory_follower_ros2/src}/trajectory_follower.cpp (100%) diff --git a/CMakeLists.txt b/cev/cev_trajectory_follower_ros2/CMakeLists.txt similarity index 100% rename from CMakeLists.txt rename to cev/cev_trajectory_follower_ros2/CMakeLists.txt diff --git a/config/.gitkeep b/cev/cev_trajectory_follower_ros2/config/.gitkeep similarity index 100% rename from config/.gitkeep rename to cev/cev_trajectory_follower_ros2/config/.gitkeep diff --git a/launch/launch.py b/cev/cev_trajectory_follower_ros2/launch/launch.py similarity index 100% rename from launch/launch.py rename to cev/cev_trajectory_follower_ros2/launch/launch.py diff --git a/package.xml b/cev/cev_trajectory_follower_ros2/package.xml similarity index 100% rename from package.xml rename to cev/cev_trajectory_follower_ros2/package.xml diff --git a/src/debug_trajectory_publish.cpp b/cev/cev_trajectory_follower_ros2/src/debug_trajectory_publish.cpp similarity index 100% rename from src/debug_trajectory_publish.cpp rename to cev/cev_trajectory_follower_ros2/src/debug_trajectory_publish.cpp diff --git a/src/trajectory_follower.cpp b/cev/cev_trajectory_follower_ros2/src/trajectory_follower.cpp similarity index 100% rename from src/trajectory_follower.cpp rename to cev/cev_trajectory_follower_ros2/src/trajectory_follower.cpp From 613f32e8b8cfcad3dd64fbfdaee686179a6acfa5 Mon Sep 17 00:00:00 2001 From: Utku Melemetci <55263178+utkudotdev@users.noreply.github.com> Date: Sun, 25 Jan 2026 02:05:07 -0500 Subject: [PATCH 187/196] Remove cev_trajectory_follower_ros2 --- .gitmodules | 3 --- cev/cev_trajectory_follower_ros2 | 1 - 2 files changed, 4 deletions(-) delete mode 160000 cev/cev_trajectory_follower_ros2 diff --git a/.gitmodules b/.gitmodules index 2b6629c..8880041 100644 --- a/.gitmodules +++ b/.gitmodules @@ -16,6 +16,3 @@ [submodule "cev/cev_vision_ros2"] path = cev/cev_vision_ros2 url = https://github.com/cornellev/cev_vision_ros2.git -[submodule "cev/cev_trajectory_follower_ros2"] - path = cev/cev_trajectory_follower_ros2 - url = https://github.com/cornellev/cev_trajectory_follower_ros2.git diff --git a/cev/cev_trajectory_follower_ros2 b/cev/cev_trajectory_follower_ros2 deleted file mode 160000 index 5d07b17..0000000 --- a/cev/cev_trajectory_follower_ros2 +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 5d07b170f237278856859d90b01c339f4f389a11 From 15cc0f4bf5953f24d950bacd923f1fb4f29c6772 Mon Sep 17 00:00:00 2001 From: Utku Melemetci <55263178+utkudotdev@users.noreply.github.com> Date: Sun, 25 Jan 2026 02:05:16 -0500 Subject: [PATCH 188/196] Move all files to cev/cev_vision_ros2 --- .gitignore => cev/cev_vision_ros2/.gitignore | 0 {config => cev/cev_vision_ros2/config}/occupancy.yaml | 0 {launch => cev/cev_vision_ros2/launch}/bag.py | 0 {launch => cev/cev_vision_ros2/launch}/launch.py | 0 package.xml => cev/cev_vision_ros2/package.xml | 0 {resource => cev/cev_vision_ros2/resource}/vision | 0 {rviz => cev/cev_vision_ros2/rviz}/viz.rviz | 0 setup.cfg => cev/cev_vision_ros2/setup.cfg | 0 setup.py => cev/cev_vision_ros2/setup.py | 0 {vision => cev/cev_vision_ros2/vision}/__init__.py | 0 {vision => cev/cev_vision_ros2/vision}/occupancy_transformer.py | 0 11 files changed, 0 insertions(+), 0 deletions(-) rename .gitignore => cev/cev_vision_ros2/.gitignore (100%) rename {config => cev/cev_vision_ros2/config}/occupancy.yaml (100%) rename {launch => cev/cev_vision_ros2/launch}/bag.py (100%) rename {launch => cev/cev_vision_ros2/launch}/launch.py (100%) rename package.xml => cev/cev_vision_ros2/package.xml (100%) rename {resource => cev/cev_vision_ros2/resource}/vision (100%) rename {rviz => cev/cev_vision_ros2/rviz}/viz.rviz (100%) rename setup.cfg => cev/cev_vision_ros2/setup.cfg (100%) rename setup.py => cev/cev_vision_ros2/setup.py (100%) rename {vision => cev/cev_vision_ros2/vision}/__init__.py (100%) rename {vision => cev/cev_vision_ros2/vision}/occupancy_transformer.py (100%) diff --git a/.gitignore b/cev/cev_vision_ros2/.gitignore similarity index 100% rename from .gitignore rename to cev/cev_vision_ros2/.gitignore diff --git a/config/occupancy.yaml b/cev/cev_vision_ros2/config/occupancy.yaml similarity index 100% rename from config/occupancy.yaml rename to cev/cev_vision_ros2/config/occupancy.yaml diff --git a/launch/bag.py b/cev/cev_vision_ros2/launch/bag.py similarity index 100% rename from launch/bag.py rename to cev/cev_vision_ros2/launch/bag.py diff --git a/launch/launch.py b/cev/cev_vision_ros2/launch/launch.py similarity index 100% rename from launch/launch.py rename to cev/cev_vision_ros2/launch/launch.py diff --git a/package.xml b/cev/cev_vision_ros2/package.xml similarity index 100% rename from package.xml rename to cev/cev_vision_ros2/package.xml diff --git a/resource/vision b/cev/cev_vision_ros2/resource/vision similarity index 100% rename from resource/vision rename to cev/cev_vision_ros2/resource/vision diff --git a/rviz/viz.rviz b/cev/cev_vision_ros2/rviz/viz.rviz similarity index 100% rename from rviz/viz.rviz rename to cev/cev_vision_ros2/rviz/viz.rviz diff --git a/setup.cfg b/cev/cev_vision_ros2/setup.cfg similarity index 100% rename from setup.cfg rename to cev/cev_vision_ros2/setup.cfg diff --git a/setup.py b/cev/cev_vision_ros2/setup.py similarity index 100% rename from setup.py rename to cev/cev_vision_ros2/setup.py diff --git a/vision/__init__.py b/cev/cev_vision_ros2/vision/__init__.py similarity index 100% rename from vision/__init__.py rename to cev/cev_vision_ros2/vision/__init__.py diff --git a/vision/occupancy_transformer.py b/cev/cev_vision_ros2/vision/occupancy_transformer.py similarity index 100% rename from vision/occupancy_transformer.py rename to cev/cev_vision_ros2/vision/occupancy_transformer.py From c53e80d6fe91efda0fbd4865dfbf8dcbb478d5f1 Mon Sep 17 00:00:00 2001 From: Utku Melemetci <55263178+utkudotdev@users.noreply.github.com> Date: Sun, 25 Jan 2026 02:05:16 -0500 Subject: [PATCH 189/196] Remove cev_vision_ros2 --- .gitmodules | 3 --- cev/cev_vision_ros2 | 1 - 2 files changed, 4 deletions(-) delete mode 160000 cev/cev_vision_ros2 diff --git a/.gitmodules b/.gitmodules index 8880041..9623be8 100644 --- a/.gitmodules +++ b/.gitmodules @@ -13,6 +13,3 @@ [submodule "external/bond"] path = external/bond url = https://github.com/ros/bond_core.git -[submodule "cev/cev_vision_ros2"] - path = cev/cev_vision_ros2 - url = https://github.com/cornellev/cev_vision_ros2.git diff --git a/cev/cev_vision_ros2 b/cev/cev_vision_ros2 deleted file mode 160000 index 0e0cac9..0000000 --- a/cev/cev_vision_ros2 +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 0e0cac9705df247c7e50d376872ecb28e2844fcb From 72be885a7ddb9ffc0a99736783e98b93de57beb6 Mon Sep 17 00:00:00 2001 From: Utku Melemetci <55263178+utkudotdev@users.noreply.github.com> Date: Sun, 25 Jan 2026 02:05:40 -0500 Subject: [PATCH 190/196] Move all files to cev/cev_msgs --- CMakeLists.txt => cev/cev_msgs/CMakeLists.txt | 0 README.md => cev/cev_msgs/README.md | 0 {msg => cev/cev_msgs/msg}/Obstacle.msg | 0 {msg => cev/cev_msgs/msg}/Obstacles.msg | 0 {msg => cev/cev_msgs/msg}/SensorCollect.msg | 0 {msg => cev/cev_msgs/msg}/Trajectory.msg | 0 {msg => cev/cev_msgs/msg}/Waypoint.msg | 0 package.xml => cev/cev_msgs/package.xml | 0 8 files changed, 0 insertions(+), 0 deletions(-) rename CMakeLists.txt => cev/cev_msgs/CMakeLists.txt (100%) rename README.md => cev/cev_msgs/README.md (100%) rename {msg => cev/cev_msgs/msg}/Obstacle.msg (100%) rename {msg => cev/cev_msgs/msg}/Obstacles.msg (100%) rename {msg => cev/cev_msgs/msg}/SensorCollect.msg (100%) rename {msg => cev/cev_msgs/msg}/Trajectory.msg (100%) rename {msg => cev/cev_msgs/msg}/Waypoint.msg (100%) rename package.xml => cev/cev_msgs/package.xml (100%) diff --git a/CMakeLists.txt b/cev/cev_msgs/CMakeLists.txt similarity index 100% rename from CMakeLists.txt rename to cev/cev_msgs/CMakeLists.txt diff --git a/README.md b/cev/cev_msgs/README.md similarity index 100% rename from README.md rename to cev/cev_msgs/README.md diff --git a/msg/Obstacle.msg b/cev/cev_msgs/msg/Obstacle.msg similarity index 100% rename from msg/Obstacle.msg rename to cev/cev_msgs/msg/Obstacle.msg diff --git a/msg/Obstacles.msg b/cev/cev_msgs/msg/Obstacles.msg similarity index 100% rename from msg/Obstacles.msg rename to cev/cev_msgs/msg/Obstacles.msg diff --git a/msg/SensorCollect.msg b/cev/cev_msgs/msg/SensorCollect.msg similarity index 100% rename from msg/SensorCollect.msg rename to cev/cev_msgs/msg/SensorCollect.msg diff --git a/msg/Trajectory.msg b/cev/cev_msgs/msg/Trajectory.msg similarity index 100% rename from msg/Trajectory.msg rename to cev/cev_msgs/msg/Trajectory.msg diff --git a/msg/Waypoint.msg b/cev/cev_msgs/msg/Waypoint.msg similarity index 100% rename from msg/Waypoint.msg rename to cev/cev_msgs/msg/Waypoint.msg diff --git a/package.xml b/cev/cev_msgs/package.xml similarity index 100% rename from package.xml rename to cev/cev_msgs/package.xml From a44e7b59c97b1b9c1e81b65afa46f7b8db55dd7b Mon Sep 17 00:00:00 2001 From: Utku Melemetci <55263178+utkudotdev@users.noreply.github.com> Date: Sun, 25 Jan 2026 02:05:41 -0500 Subject: [PATCH 191/196] Remove cev_msgs --- .gitmodules | 3 --- cev_msgs | 1 - 2 files changed, 4 deletions(-) delete mode 160000 cev_msgs diff --git a/.gitmodules b/.gitmodules index 9623be8..f0b9517 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,6 +1,3 @@ -[submodule "cev_msgs"] - path = cev_msgs - url = https://github.com/cornellev/cev_msgs.git [submodule "external/serial-ros2"] path = external/serial-ros2 url = https://github.com/RoverRobotics-forks/serial-ros2.git diff --git a/cev_msgs b/cev_msgs deleted file mode 160000 index 4ec3201..0000000 --- a/cev_msgs +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 4ec32014c3ef0fc6a594d4e50fd967c3d5afaf46 From f5b174bc5d0d279e9aab575178acbb45fa6e3e5a Mon Sep 17 00:00:00 2001 From: Utku Melemetci <55263178+utkudotdev@users.noreply.github.com> Date: Sun, 25 Jan 2026 02:07:42 -0500 Subject: [PATCH 192/196] Fix gitmodules --- .gitmodules | 9 +++++++++ cev/cev_localization_ros2/.gitmodules | 3 --- cev/cev_planner_ros2/.gitmodules | 6 ------ 3 files changed, 9 insertions(+), 9 deletions(-) delete mode 100644 cev/cev_localization_ros2/.gitmodules delete mode 100644 cev/cev_planner_ros2/.gitmodules diff --git a/.gitmodules b/.gitmodules index f0b9517..da62ab7 100644 --- a/.gitmodules +++ b/.gitmodules @@ -10,3 +10,12 @@ [submodule "external/bond"] path = external/bond url = https://github.com/ros/bond_core.git +[submodule "cev/cev_localization_ros2/cev_kalman_filter"] + path = cev/cev_localization_ros2/cev_kalman_filter + url = https://github.com/cornellev/cev_kalman_filter +[submodule "cev/cev_planner_ros2/cev_planner"] + path = cev/cev_planner_ros2/cev_planner + url = https://github.com/cornellev/cev_planner.git +[submodule "cev/cev_planner_ros2/tmp/matplotlib-cpp"] + path = cev/cev_planner_ros2/tmp/matplotlib-cpp + url = https://github.com/lava/matplotlib-cpp.git diff --git a/cev/cev_localization_ros2/.gitmodules b/cev/cev_localization_ros2/.gitmodules deleted file mode 100644 index f3446d7..0000000 --- a/cev/cev_localization_ros2/.gitmodules +++ /dev/null @@ -1,3 +0,0 @@ -[submodule "cev_kalman_filter"] - path = cev/cev_localization_ros2/cev_kalman_filter - url = https://github.com/cornellev/cev_kalman_filter diff --git a/cev/cev_planner_ros2/.gitmodules b/cev/cev_planner_ros2/.gitmodules deleted file mode 100644 index 760ae84..0000000 --- a/cev/cev_planner_ros2/.gitmodules +++ /dev/null @@ -1,6 +0,0 @@ -[submodule "cev_planner"] - path = cev/cev_planner_ros2/cev_planner - url = https://github.com/cornellev/cev_planner.git -[submodule "tmp/matplotlib-cpp"] - path = cev/cev_planner_ros2/tmp/matplotlib-cpp - url = https://github.com/lava/matplotlib-cpp.git From 41013b8a0ce54461601e8a8e88d2dda6767b85d9 Mon Sep 17 00:00:00 2001 From: Yey007 <55263178+Yey007@users.noreply.github.com> Date: Sun, 25 Jan 2026 00:25:12 +0000 Subject: [PATCH 193/196] Move hardware files --- hardware/{ => mini}/Onboard/Onboard.ino | 0 hardware/{ => mini}/QuickTest/QuickTest.ino | 0 2 files changed, 0 insertions(+), 0 deletions(-) rename hardware/{ => mini}/Onboard/Onboard.ino (100%) rename hardware/{ => mini}/QuickTest/QuickTest.ino (100%) diff --git a/hardware/Onboard/Onboard.ino b/hardware/mini/Onboard/Onboard.ino similarity index 100% rename from hardware/Onboard/Onboard.ino rename to hardware/mini/Onboard/Onboard.ino diff --git a/hardware/QuickTest/QuickTest.ino b/hardware/mini/QuickTest/QuickTest.ino similarity index 100% rename from hardware/QuickTest/QuickTest.ino rename to hardware/mini/QuickTest/QuickTest.ino From af05ae57b9cc45a865350b292f18e0f0cba552b6 Mon Sep 17 00:00:00 2001 From: Yey007 <55263178+Yey007@users.noreply.github.com> Date: Sun, 25 Jan 2026 00:27:28 +0000 Subject: [PATCH 194/196] Move general packages to all directory --- .gitmodules | 14 +++++++------- cev/{ => all}/cev_autobrake_ros2/CMakeLists.txt | 0 cev/{ => all}/cev_autobrake_ros2/config/.gitkeep | 0 cev/{ => all}/cev_autobrake_ros2/launch/launch.py | 0 cev/{ => all}/cev_autobrake_ros2/package.xml | 0 .../cev_autobrake_ros2/src/autobrake_node.cpp | 0 .../cev_encoder_odometry_ros2/CMakeLists.txt | 0 .../cev_encoder_odometry_ros2/config/.gitkeep | 0 .../cev_encoder_odometry_ros2/launch/launch.py | 0 .../cev_encoder_odometry_ros2/package.xml | 0 .../cev_encoder_odometry_ros2/src/odometry.cpp | 0 cev/{ => all}/cev_localization_ros2/.clang-format | 0 .../.devcontainer/Dockerfile.dev | 0 .../.devcontainer/devcontainer.json | 0 cev/{ => all}/cev_localization_ros2/.gitignore | 0 .../cev_localization_ros2/CMakeLists.txt | 0 cev/{ => all}/cev_localization_ros2/README.md | 0 cev/{ => all}/cev_localization_ros2/TODO.md | 0 .../cev_localization_ros2/cev_kalman_filter | 0 .../cev_localization_ros2/config/.gitkeep | 0 .../cev_localization_ros2/config/conf.rviz | 0 .../cev_localization_ros2/config/ekf.conf_doc | 0 .../cev_localization_ros2/config/ekf_real.yml | 0 cev/{ => all}/cev_localization_ros2/ekf_sim.py | 0 .../cev_localization_ros2/gen_jacobian.py | 0 .../cev_localization_ros2/include/config_parser.h | 0 .../cev_localization_ros2/include/ros_sensor.h | 0 .../include/std_ros_sensors.h | 0 .../cev_localization_ros2/launch/.gitkeep | 0 .../cev_localization_ros2/launch/debug_launch.py | 0 .../cev_localization_ros2/launch/launch.py | 0 cev/{ => all}/cev_localization_ros2/package.xml | 0 .../ackermann_recording_v_1_0.db3 | Bin .../rosbag/ackermann_recording_v_1/metadata.yaml | 0 .../ackermann_recording_v_2_0.db3 | Bin .../rosbag/ackermann_recording_v_2/metadata.yaml | 0 .../ackermann_recording_v_3_0.db3 | Bin .../rosbag/ackermann_recording_v_3/metadata.yaml | 0 .../cev_localization_ros2/src/ackermann_ekf.cpp | 0 .../cev_localization_ros2/src/config_parser.cpp | 0 .../cev_localization_ros2/src/localization.cpp | 0 .../cev_localization_ros2/src/ros_sensor.cpp | 0 .../cev_localization_ros2/src/std_ros_sensors.cpp | 0 cev/{ => all}/cev_msgs/CMakeLists.txt | 0 cev/{ => all}/cev_msgs/README.md | 0 cev/{ => all}/cev_msgs/msg/Obstacle.msg | 0 cev/{ => all}/cev_msgs/msg/Obstacles.msg | 0 cev/{ => all}/cev_msgs/msg/SensorCollect.msg | 0 cev/{ => all}/cev_msgs/msg/Trajectory.msg | 0 cev/{ => all}/cev_msgs/msg/Waypoint.msg | 0 cev/{ => all}/cev_msgs/package.xml | 0 cev/{ => all}/cev_planner_ros2/.clang-format | 0 .../cev_planner_ros2/.devcontainer/Dockerfile.dev | 0 .../.devcontainer/devcontainer.json | 0 cev/{ => all}/cev_planner_ros2/.gitignore | 0 cev/{ => all}/cev_planner_ros2/CMakeLists.txt | 0 cev/{ => all}/cev_planner_ros2/README.md | 0 cev/{ => all}/cev_planner_ros2/TODO.md | 0 cev/{ => all}/cev_planner_ros2/cev_planner | 0 cev/{ => all}/cev_planner_ros2/commit_script.sh | 0 cev/{ => all}/cev_planner_ros2/config/.gitkeep | 0 .../cev_planner_ros2/config/cev_planner.yaml | 0 cev/{ => all}/cev_planner_ros2/config/igvc.yaml | 0 cev/{ => all}/cev_planner_ros2/costmap.png | Bin cev/{ => all}/cev_planner_ros2/launch/.gitkeep | 0 cev/{ => all}/cev_planner_ros2/launch/igvc.py | 0 cev/{ => all}/cev_planner_ros2/launch/launch.py | 0 cev/{ => all}/cev_planner_ros2/package.xml | 0 .../cev_planner_ros2/src/planner_node.cpp | 0 cev/{ => all}/cev_planner_ros2/src/tf_test.cpp | 0 cev/{ => all}/cev_planner_ros2/tmp/Makefile | 0 cev/{ => all}/cev_planner_ros2/tmp/chat.cpp | 0 cev/{ => all}/cev_planner_ros2/tmp/costmap.png | Bin cev/{ => all}/cev_planner_ros2/tmp/kernel | Bin cev/{ => all}/cev_planner_ros2/tmp/kernel.cpp | 0 cev/{ => all}/cev_planner_ros2/tmp/matplotlib-cpp | 0 cev/{ => all}/cev_planner_ros2/tmp/path_planner | Bin cev/{ => all}/cev_planner_ros2/trajectory.png | Bin cev/{ => all}/cev_teleop_ros2/CMakeLists.txt | 0 cev/{ => all}/cev_teleop_ros2/config/.gitkeep | 0 cev/{ => all}/cev_teleop_ros2/launch/launch.py | 0 cev/{ => all}/cev_teleop_ros2/package.xml | 0 .../cev_teleop_ros2/src/joy_interpreter.cpp | 0 .../cev_trajectory_follower_ros2/CMakeLists.txt | 0 .../cev_trajectory_follower_ros2/config/.gitkeep | 0 .../cev_trajectory_follower_ros2/launch/launch.py | 0 .../cev_trajectory_follower_ros2/package.xml | 0 .../src/debug_trajectory_publish.cpp | 0 .../src/trajectory_follower.cpp | 0 cev/{ => all}/cev_vision_ros2/.gitignore | 0 .../cev_vision_ros2/config/occupancy.yaml | 0 cev/{ => all}/cev_vision_ros2/launch/bag.py | 0 cev/{ => all}/cev_vision_ros2/launch/launch.py | 0 cev/{ => all}/cev_vision_ros2/package.xml | 0 cev/{ => all}/cev_vision_ros2/resource/vision | 0 cev/{ => all}/cev_vision_ros2/rviz/viz.rviz | 0 cev/{ => all}/cev_vision_ros2/setup.cfg | 0 cev/{ => all}/cev_vision_ros2/setup.py | 0 cev/{ => all}/cev_vision_ros2/vision/__init__.py | 0 .../vision/occupancy_transformer.py | 0 100 files changed, 7 insertions(+), 7 deletions(-) rename cev/{ => all}/cev_autobrake_ros2/CMakeLists.txt (100%) rename cev/{ => all}/cev_autobrake_ros2/config/.gitkeep (100%) rename cev/{ => all}/cev_autobrake_ros2/launch/launch.py (100%) rename cev/{ => all}/cev_autobrake_ros2/package.xml (100%) rename cev/{ => all}/cev_autobrake_ros2/src/autobrake_node.cpp (100%) rename cev/{ => all}/cev_encoder_odometry_ros2/CMakeLists.txt (100%) rename cev/{ => all}/cev_encoder_odometry_ros2/config/.gitkeep (100%) rename cev/{ => all}/cev_encoder_odometry_ros2/launch/launch.py (100%) rename cev/{ => all}/cev_encoder_odometry_ros2/package.xml (100%) rename cev/{ => all}/cev_encoder_odometry_ros2/src/odometry.cpp (100%) rename cev/{ => all}/cev_localization_ros2/.clang-format (100%) rename cev/{ => all}/cev_localization_ros2/.devcontainer/Dockerfile.dev (100%) rename cev/{ => all}/cev_localization_ros2/.devcontainer/devcontainer.json (100%) rename cev/{ => all}/cev_localization_ros2/.gitignore (100%) rename cev/{ => all}/cev_localization_ros2/CMakeLists.txt (100%) rename cev/{ => all}/cev_localization_ros2/README.md (100%) rename cev/{ => all}/cev_localization_ros2/TODO.md (100%) rename cev/{ => all}/cev_localization_ros2/cev_kalman_filter (100%) rename cev/{ => all}/cev_localization_ros2/config/.gitkeep (100%) rename cev/{ => all}/cev_localization_ros2/config/conf.rviz (100%) rename cev/{ => all}/cev_localization_ros2/config/ekf.conf_doc (100%) rename cev/{ => all}/cev_localization_ros2/config/ekf_real.yml (100%) rename cev/{ => all}/cev_localization_ros2/ekf_sim.py (100%) rename cev/{ => all}/cev_localization_ros2/gen_jacobian.py (100%) rename cev/{ => all}/cev_localization_ros2/include/config_parser.h (100%) rename cev/{ => all}/cev_localization_ros2/include/ros_sensor.h (100%) rename cev/{ => all}/cev_localization_ros2/include/std_ros_sensors.h (100%) rename cev/{ => all}/cev_localization_ros2/launch/.gitkeep (100%) rename cev/{ => all}/cev_localization_ros2/launch/debug_launch.py (100%) rename cev/{ => all}/cev_localization_ros2/launch/launch.py (100%) rename cev/{ => all}/cev_localization_ros2/package.xml (100%) rename cev/{ => all}/cev_localization_ros2/rosbag/ackermann_recording_v_1/ackermann_recording_v_1_0.db3 (100%) rename cev/{ => all}/cev_localization_ros2/rosbag/ackermann_recording_v_1/metadata.yaml (100%) rename cev/{ => all}/cev_localization_ros2/rosbag/ackermann_recording_v_2/ackermann_recording_v_2_0.db3 (100%) rename cev/{ => all}/cev_localization_ros2/rosbag/ackermann_recording_v_2/metadata.yaml (100%) rename cev/{ => all}/cev_localization_ros2/rosbag/ackermann_recording_v_3/ackermann_recording_v_3_0.db3 (100%) rename cev/{ => all}/cev_localization_ros2/rosbag/ackermann_recording_v_3/metadata.yaml (100%) rename cev/{ => all}/cev_localization_ros2/src/ackermann_ekf.cpp (100%) rename cev/{ => all}/cev_localization_ros2/src/config_parser.cpp (100%) rename cev/{ => all}/cev_localization_ros2/src/localization.cpp (100%) rename cev/{ => all}/cev_localization_ros2/src/ros_sensor.cpp (100%) rename cev/{ => all}/cev_localization_ros2/src/std_ros_sensors.cpp (100%) rename cev/{ => all}/cev_msgs/CMakeLists.txt (100%) rename cev/{ => all}/cev_msgs/README.md (100%) rename cev/{ => all}/cev_msgs/msg/Obstacle.msg (100%) rename cev/{ => all}/cev_msgs/msg/Obstacles.msg (100%) rename cev/{ => all}/cev_msgs/msg/SensorCollect.msg (100%) rename cev/{ => all}/cev_msgs/msg/Trajectory.msg (100%) rename cev/{ => all}/cev_msgs/msg/Waypoint.msg (100%) rename cev/{ => all}/cev_msgs/package.xml (100%) rename cev/{ => all}/cev_planner_ros2/.clang-format (100%) rename cev/{ => all}/cev_planner_ros2/.devcontainer/Dockerfile.dev (100%) rename cev/{ => all}/cev_planner_ros2/.devcontainer/devcontainer.json (100%) rename cev/{ => all}/cev_planner_ros2/.gitignore (100%) rename cev/{ => all}/cev_planner_ros2/CMakeLists.txt (100%) rename cev/{ => all}/cev_planner_ros2/README.md (100%) rename cev/{ => all}/cev_planner_ros2/TODO.md (100%) rename cev/{ => all}/cev_planner_ros2/cev_planner (100%) rename cev/{ => all}/cev_planner_ros2/commit_script.sh (100%) rename cev/{ => all}/cev_planner_ros2/config/.gitkeep (100%) rename cev/{ => all}/cev_planner_ros2/config/cev_planner.yaml (100%) rename cev/{ => all}/cev_planner_ros2/config/igvc.yaml (100%) rename cev/{ => all}/cev_planner_ros2/costmap.png (100%) rename cev/{ => all}/cev_planner_ros2/launch/.gitkeep (100%) rename cev/{ => all}/cev_planner_ros2/launch/igvc.py (100%) rename cev/{ => all}/cev_planner_ros2/launch/launch.py (100%) rename cev/{ => all}/cev_planner_ros2/package.xml (100%) rename cev/{ => all}/cev_planner_ros2/src/planner_node.cpp (100%) rename cev/{ => all}/cev_planner_ros2/src/tf_test.cpp (100%) rename cev/{ => all}/cev_planner_ros2/tmp/Makefile (100%) rename cev/{ => all}/cev_planner_ros2/tmp/chat.cpp (100%) rename cev/{ => all}/cev_planner_ros2/tmp/costmap.png (100%) rename cev/{ => all}/cev_planner_ros2/tmp/kernel (100%) rename cev/{ => all}/cev_planner_ros2/tmp/kernel.cpp (100%) rename cev/{ => all}/cev_planner_ros2/tmp/matplotlib-cpp (100%) rename cev/{ => all}/cev_planner_ros2/tmp/path_planner (100%) rename cev/{ => all}/cev_planner_ros2/trajectory.png (100%) rename cev/{ => all}/cev_teleop_ros2/CMakeLists.txt (100%) rename cev/{ => all}/cev_teleop_ros2/config/.gitkeep (100%) rename cev/{ => all}/cev_teleop_ros2/launch/launch.py (100%) rename cev/{ => all}/cev_teleop_ros2/package.xml (100%) rename cev/{ => all}/cev_teleop_ros2/src/joy_interpreter.cpp (100%) rename cev/{ => all}/cev_trajectory_follower_ros2/CMakeLists.txt (100%) rename cev/{ => all}/cev_trajectory_follower_ros2/config/.gitkeep (100%) rename cev/{ => all}/cev_trajectory_follower_ros2/launch/launch.py (100%) rename cev/{ => all}/cev_trajectory_follower_ros2/package.xml (100%) rename cev/{ => all}/cev_trajectory_follower_ros2/src/debug_trajectory_publish.cpp (100%) rename cev/{ => all}/cev_trajectory_follower_ros2/src/trajectory_follower.cpp (100%) rename cev/{ => all}/cev_vision_ros2/.gitignore (100%) rename cev/{ => all}/cev_vision_ros2/config/occupancy.yaml (100%) rename cev/{ => all}/cev_vision_ros2/launch/bag.py (100%) rename cev/{ => all}/cev_vision_ros2/launch/launch.py (100%) rename cev/{ => all}/cev_vision_ros2/package.xml (100%) rename cev/{ => all}/cev_vision_ros2/resource/vision (100%) rename cev/{ => all}/cev_vision_ros2/rviz/viz.rviz (100%) rename cev/{ => all}/cev_vision_ros2/setup.cfg (100%) rename cev/{ => all}/cev_vision_ros2/setup.py (100%) rename cev/{ => all}/cev_vision_ros2/vision/__init__.py (100%) rename cev/{ => all}/cev_vision_ros2/vision/occupancy_transformer.py (100%) diff --git a/.gitmodules b/.gitmodules index da62ab7..6d65ecd 100644 --- a/.gitmodules +++ b/.gitmodules @@ -10,12 +10,12 @@ [submodule "external/bond"] path = external/bond url = https://github.com/ros/bond_core.git -[submodule "cev/cev_localization_ros2/cev_kalman_filter"] - path = cev/cev_localization_ros2/cev_kalman_filter - url = https://github.com/cornellev/cev_kalman_filter -[submodule "cev/cev_planner_ros2/cev_planner"] - path = cev/cev_planner_ros2/cev_planner +[submodule "cev/all/cev_planner_ros2/cev_planner"] + path = cev/all/cev_planner_ros2/cev_planner url = https://github.com/cornellev/cev_planner.git -[submodule "cev/cev_planner_ros2/tmp/matplotlib-cpp"] - path = cev/cev_planner_ros2/tmp/matplotlib-cpp +[submodule "cev/all/cev_planner_ros2/matplotlib-cpp"] + path = cev/all/cev_planner_ros2/tmp/matplotlib-cpp url = https://github.com/lava/matplotlib-cpp.git +[submodule "cev/all/cev_localization_ros2/cev_kalman_filter"] + path = cev/all/cev_localization_ros2/cev_kalman_filter + url = https://github.com/cornellev/cev_kalman_filter diff --git a/cev/cev_autobrake_ros2/CMakeLists.txt b/cev/all/cev_autobrake_ros2/CMakeLists.txt similarity index 100% rename from cev/cev_autobrake_ros2/CMakeLists.txt rename to cev/all/cev_autobrake_ros2/CMakeLists.txt diff --git a/cev/cev_autobrake_ros2/config/.gitkeep b/cev/all/cev_autobrake_ros2/config/.gitkeep similarity index 100% rename from cev/cev_autobrake_ros2/config/.gitkeep rename to cev/all/cev_autobrake_ros2/config/.gitkeep diff --git a/cev/cev_autobrake_ros2/launch/launch.py b/cev/all/cev_autobrake_ros2/launch/launch.py similarity index 100% rename from cev/cev_autobrake_ros2/launch/launch.py rename to cev/all/cev_autobrake_ros2/launch/launch.py diff --git a/cev/cev_autobrake_ros2/package.xml b/cev/all/cev_autobrake_ros2/package.xml similarity index 100% rename from cev/cev_autobrake_ros2/package.xml rename to cev/all/cev_autobrake_ros2/package.xml diff --git a/cev/cev_autobrake_ros2/src/autobrake_node.cpp b/cev/all/cev_autobrake_ros2/src/autobrake_node.cpp similarity index 100% rename from cev/cev_autobrake_ros2/src/autobrake_node.cpp rename to cev/all/cev_autobrake_ros2/src/autobrake_node.cpp diff --git a/cev/cev_encoder_odometry_ros2/CMakeLists.txt b/cev/all/cev_encoder_odometry_ros2/CMakeLists.txt similarity index 100% rename from cev/cev_encoder_odometry_ros2/CMakeLists.txt rename to cev/all/cev_encoder_odometry_ros2/CMakeLists.txt diff --git a/cev/cev_encoder_odometry_ros2/config/.gitkeep b/cev/all/cev_encoder_odometry_ros2/config/.gitkeep similarity index 100% rename from cev/cev_encoder_odometry_ros2/config/.gitkeep rename to cev/all/cev_encoder_odometry_ros2/config/.gitkeep diff --git a/cev/cev_encoder_odometry_ros2/launch/launch.py b/cev/all/cev_encoder_odometry_ros2/launch/launch.py similarity index 100% rename from cev/cev_encoder_odometry_ros2/launch/launch.py rename to cev/all/cev_encoder_odometry_ros2/launch/launch.py diff --git a/cev/cev_encoder_odometry_ros2/package.xml b/cev/all/cev_encoder_odometry_ros2/package.xml similarity index 100% rename from cev/cev_encoder_odometry_ros2/package.xml rename to cev/all/cev_encoder_odometry_ros2/package.xml diff --git a/cev/cev_encoder_odometry_ros2/src/odometry.cpp b/cev/all/cev_encoder_odometry_ros2/src/odometry.cpp similarity index 100% rename from cev/cev_encoder_odometry_ros2/src/odometry.cpp rename to cev/all/cev_encoder_odometry_ros2/src/odometry.cpp diff --git a/cev/cev_localization_ros2/.clang-format b/cev/all/cev_localization_ros2/.clang-format similarity index 100% rename from cev/cev_localization_ros2/.clang-format rename to cev/all/cev_localization_ros2/.clang-format diff --git a/cev/cev_localization_ros2/.devcontainer/Dockerfile.dev b/cev/all/cev_localization_ros2/.devcontainer/Dockerfile.dev similarity index 100% rename from cev/cev_localization_ros2/.devcontainer/Dockerfile.dev rename to cev/all/cev_localization_ros2/.devcontainer/Dockerfile.dev diff --git a/cev/cev_localization_ros2/.devcontainer/devcontainer.json b/cev/all/cev_localization_ros2/.devcontainer/devcontainer.json similarity index 100% rename from cev/cev_localization_ros2/.devcontainer/devcontainer.json rename to cev/all/cev_localization_ros2/.devcontainer/devcontainer.json diff --git a/cev/cev_localization_ros2/.gitignore b/cev/all/cev_localization_ros2/.gitignore similarity index 100% rename from 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cev/all/cev_trajectory_follower_ros2/src/trajectory_follower.cpp diff --git a/cev/cev_vision_ros2/.gitignore b/cev/all/cev_vision_ros2/.gitignore similarity index 100% rename from cev/cev_vision_ros2/.gitignore rename to cev/all/cev_vision_ros2/.gitignore diff --git a/cev/cev_vision_ros2/config/occupancy.yaml b/cev/all/cev_vision_ros2/config/occupancy.yaml similarity index 100% rename from cev/cev_vision_ros2/config/occupancy.yaml rename to cev/all/cev_vision_ros2/config/occupancy.yaml diff --git a/cev/cev_vision_ros2/launch/bag.py b/cev/all/cev_vision_ros2/launch/bag.py similarity index 100% rename from cev/cev_vision_ros2/launch/bag.py rename to cev/all/cev_vision_ros2/launch/bag.py diff --git a/cev/cev_vision_ros2/launch/launch.py b/cev/all/cev_vision_ros2/launch/launch.py similarity index 100% rename from cev/cev_vision_ros2/launch/launch.py rename to cev/all/cev_vision_ros2/launch/launch.py diff --git a/cev/cev_vision_ros2/package.xml b/cev/all/cev_vision_ros2/package.xml similarity index 100% rename from cev/cev_vision_ros2/package.xml rename to cev/all/cev_vision_ros2/package.xml diff --git a/cev/cev_vision_ros2/resource/vision b/cev/all/cev_vision_ros2/resource/vision similarity index 100% rename from cev/cev_vision_ros2/resource/vision rename to cev/all/cev_vision_ros2/resource/vision diff --git a/cev/cev_vision_ros2/rviz/viz.rviz b/cev/all/cev_vision_ros2/rviz/viz.rviz similarity index 100% rename from cev/cev_vision_ros2/rviz/viz.rviz rename to cev/all/cev_vision_ros2/rviz/viz.rviz diff --git a/cev/cev_vision_ros2/setup.cfg b/cev/all/cev_vision_ros2/setup.cfg similarity index 100% rename from cev/cev_vision_ros2/setup.cfg rename to cev/all/cev_vision_ros2/setup.cfg diff --git a/cev/cev_vision_ros2/setup.py b/cev/all/cev_vision_ros2/setup.py similarity index 100% rename from cev/cev_vision_ros2/setup.py rename to cev/all/cev_vision_ros2/setup.py diff --git a/cev/cev_vision_ros2/vision/__init__.py b/cev/all/cev_vision_ros2/vision/__init__.py similarity index 100% rename from cev/cev_vision_ros2/vision/__init__.py rename to cev/all/cev_vision_ros2/vision/__init__.py diff --git a/cev/cev_vision_ros2/vision/occupancy_transformer.py b/cev/all/cev_vision_ros2/vision/occupancy_transformer.py similarity index 100% rename from cev/cev_vision_ros2/vision/occupancy_transformer.py rename to cev/all/cev_vision_ros2/vision/occupancy_transformer.py From 4d8a8c4942e84d1c1046446c9c339520ecfea9b8 Mon Sep 17 00:00:00 2001 From: Yey007 <55263178+Yey007@users.noreply.github.com> Date: Sun, 25 Jan 2026 00:36:19 +0000 Subject: [PATCH 195/196] Move mux and serial_com --- {mux => cev/mini/mux}/CMakeLists.txt | 0 {mux => cev/mini/mux}/config/.gitkeep | 0 {mux => cev/mini/mux}/launch/launch.py | 0 {mux => cev/mini/mux}/package.xml | 0 {mux => cev/mini/mux}/src/mux.cpp | 0 {serial_com => cev/mini/serial_com}/CMakeLists.txt | 0 {serial_com => cev/mini/serial_com}/config/.gitkeep | 0 {serial_com => cev/mini/serial_com}/launch/launch.py | 0 {serial_com => cev/mini/serial_com}/package.xml | 0 {serial_com => cev/mini/serial_com}/src/arduino_com.cpp | 0 10 files changed, 0 insertions(+), 0 deletions(-) rename {mux => cev/mini/mux}/CMakeLists.txt (100%) rename {mux => cev/mini/mux}/config/.gitkeep (100%) rename {mux => cev/mini/mux}/launch/launch.py (100%) rename {mux => cev/mini/mux}/package.xml (100%) rename {mux => cev/mini/mux}/src/mux.cpp (100%) rename {serial_com => cev/mini/serial_com}/CMakeLists.txt (100%) rename {serial_com => cev/mini/serial_com}/config/.gitkeep (100%) rename {serial_com => cev/mini/serial_com}/launch/launch.py (100%) rename {serial_com => cev/mini/serial_com}/package.xml (100%) rename {serial_com => cev/mini/serial_com}/src/arduino_com.cpp (100%) diff --git a/mux/CMakeLists.txt b/cev/mini/mux/CMakeLists.txt similarity index 100% rename from mux/CMakeLists.txt rename to cev/mini/mux/CMakeLists.txt diff --git a/mux/config/.gitkeep b/cev/mini/mux/config/.gitkeep similarity index 100% rename from mux/config/.gitkeep rename to cev/mini/mux/config/.gitkeep diff --git a/mux/launch/launch.py b/cev/mini/mux/launch/launch.py similarity index 100% rename from mux/launch/launch.py rename to cev/mini/mux/launch/launch.py diff --git a/mux/package.xml b/cev/mini/mux/package.xml similarity index 100% rename from mux/package.xml rename to cev/mini/mux/package.xml diff --git a/mux/src/mux.cpp b/cev/mini/mux/src/mux.cpp similarity index 100% rename from mux/src/mux.cpp rename to cev/mini/mux/src/mux.cpp diff --git a/serial_com/CMakeLists.txt b/cev/mini/serial_com/CMakeLists.txt similarity index 100% rename from serial_com/CMakeLists.txt rename to cev/mini/serial_com/CMakeLists.txt diff --git a/serial_com/config/.gitkeep b/cev/mini/serial_com/config/.gitkeep similarity index 100% rename from serial_com/config/.gitkeep rename to cev/mini/serial_com/config/.gitkeep diff --git a/serial_com/launch/launch.py b/cev/mini/serial_com/launch/launch.py similarity index 100% rename from serial_com/launch/launch.py rename to cev/mini/serial_com/launch/launch.py diff --git a/serial_com/package.xml b/cev/mini/serial_com/package.xml similarity index 100% rename from serial_com/package.xml rename to cev/mini/serial_com/package.xml diff --git a/serial_com/src/arduino_com.cpp b/cev/mini/serial_com/src/arduino_com.cpp similarity index 100% rename from serial_com/src/arduino_com.cpp rename to cev/mini/serial_com/src/arduino_com.cpp From 53df0a3fcedf446ef10c90459b2909da1a6e9176 Mon Sep 17 00:00:00 2001 From: Yey007 <55263178+Yey007@users.noreply.github.com> Date: Sun, 25 Jan 2026 00:55:04 +0000 Subject: [PATCH 196/196] Fix launch files --- autonomy/launch/launch.py | 158 ++++++++++++++++++++----------------- autonomy/launch/mux.py | 160 +++++++++++++++++++++----------------- autonomy/launch/teleop.py | 155 ++++++++++++++++++++---------------- 3 files changed, 264 insertions(+), 209 deletions(-) diff --git a/autonomy/launch/launch.py b/autonomy/launch/launch.py index 407b59d..a8fa4fa 100644 --- a/autonomy/launch/launch.py +++ b/autonomy/launch/launch.py @@ -5,21 +5,18 @@ from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource + def get_path(package, dir, file): - return os.path.join( - get_package_share_directory(package), - dir, - file - ) + return os.path.join(get_package_share_directory(package), dir, file) + def launch(package, file, launch_folder="launch", arguments={}): return IncludeLaunchDescription( - PythonLaunchDescriptionSource( - get_path(package, launch_folder, file) - ), - launch_arguments=arguments.items() + PythonLaunchDescriptionSource(get_path(package, launch_folder, file)), + launch_arguments=arguments.items(), ) + def generate_launch_description(): imu_config = get_path("autonomy", "config", "imu.yml") robot_localization_config = get_path("autonomy", "config", "robot_localization.yml") @@ -28,72 +25,95 @@ def generate_launch_description(): [ # STATIC TRANSFORMS Node( - package='tf2_ros', - executable='static_transform_publisher', - name='static_transform_publisher_world_map', - output='screen', + package="tf2_ros", + executable="static_transform_publisher", + name="static_transform_publisher_world_map", + output="screen", arguments=[ - '0', '0', '0', # Translation: x = 0.035, y = 0.04, z = 0 (meters) - '0', '0', '0', '1', # Rotation: 0 - 'world', - 'map' + "0", + "0", + "0", # Translation: x = 0.035, y = 0.04, z = 0 (meters) + "0", + "0", + "0", + "1", # Rotation: 0 + "world", + "map", ], ), Node( - package='tf2_ros', - executable='static_transform_publisher', - name='static_transform_publisher_map_odom', - output='screen', + package="tf2_ros", + executable="static_transform_publisher", + name="static_transform_publisher_map_odom", + output="screen", arguments=[ - '0', '0', '0', # Translation: x = 0.035, y = 0.04, z = 0 (meters) - '0', '0', '0', '1', # Rotation: 0 - 'map', - 'odom' + "0", + "0", + "0", # Translation: x = 0.035, y = 0.04, z = 0 (meters) + "0", + "0", + "0", + "1", # Rotation: 0 + "map", + "odom", ], ), Node( - package='tf2_ros', - executable='static_transform_publisher', - name='static_transform_publisher_odom_base_link', - output='screen', + package="tf2_ros", + executable="static_transform_publisher", + name="static_transform_publisher_odom_base_link", + output="screen", arguments=[ - '0', '0', '0', # Translation: x = 0.035, y = 0.04, z = 0 (meters) - '0', '0', '0', '1', # Rotation: 0 - 'odom', - 'base_link' + "0", + "0", + "0", # Translation: x = 0.035, y = 0.04, z = 0 (meters) + "0", + "0", + "0", + "1", # Rotation: 0 + "odom", + "base_link", ], ), Node( - package='tf2_ros', - executable='static_transform_publisher', - name='static_transform_publisher_base_link_lidar', - output='screen', + package="tf2_ros", + executable="static_transform_publisher", + name="static_transform_publisher_base_link_lidar", + output="screen", arguments=[ - '-0.035', '-0.04', '0', # Translation: x = 0.035, y = 0.04, z = 0 (meters) - '0', '0', '1', '0', # Rotation: M_PI - 'base_link', - 'laser' + "-0.035", + "-0.04", + "0", # Translation: x = 0.035, y = 0.04, z = 0 (meters) + "0", + "0", + "1", + "0", # Rotation: M_PI + "base_link", + "laser", ], ), Node( - package='tf2_ros', - executable='static_transform_publisher', - name='static_transform_publisher_base_link_imu', - output='screen', + package="tf2_ros", + executable="static_transform_publisher", + name="static_transform_publisher_base_link_imu", + output="screen", arguments=[ - '-0.18', '0.0', '0', # Translation: x = -0.18, y = 0.07, z = 0 (meters) - '0', '0', '0', '1', # Rotation: 0 - 'base_link', - 'imu' + "-0.18", + "0.0", + "0", # Translation: x = -0.18, y = 0.07, z = 0 (meters) + "0", + "0", + "0", + "1", # Rotation: 0 + "base_link", + "imu", ], ), # # IMU Node( - package='witmotion_ros', - executable='witmotion_ros_node', - parameters=[ - imu_config - ] + package="witmotion_ros", + executable="witmotion_ros_node", + parameters=[imu_config], ), # Robot Localization # Node( @@ -119,21 +139,20 @@ def generate_launch_description(): "map_update_interval": 0.05, # "position_covariance_scale": 1.0, # "yaw_covariance_scale": 1.0, - "resolution": .09, - "min_laser_range": .15, + "resolution": 0.09, + "min_laser_range": 0.15, "max_laser_range": 12.0, "use_scan_matching": True, "do_loop_closing": True, "use_scan_barycenter": True, - "minimum_travel_distance": .05, - "minimum_travel_heading": .05, - "correlation_search_space_dimension": .2, + "minimum_travel_distance": 0.05, + "minimum_travel_heading": 0.05, + "correlation_search_space_dimension": 0.2, "loop_search_space_dimension": 3.0, - "angle_variance_penalty": 0.0 + "angle_variance_penalty": 0.0, } - ] + ], ), - # UNITREE LIDAR # Node( # package='unitree_lidar_ros2', @@ -153,11 +172,10 @@ def generate_launch_description(): # {'imu_frame': "unilidar_imu"}, # {'imu_topic': "unilidar/imu"}] # ), - # CEV Localization Node( package="cev_localization", - executable="ackermann_ekf", + executable="localization", name="cev_localization_node", output="screen", parameters=[ @@ -168,7 +186,7 @@ def generate_launch_description(): } ], ), - # Node( + # Node( # package="cev_planner_ros2", # executable="planner_node", # name="cev_planner_ros2_node", @@ -177,19 +195,15 @@ def generate_launch_description(): # # get_path("cev_planner_ros2", "config", "cev_planner.yaml") # # ], # ), - # Node( # package="cev_planner_ros2", # executable="planner_node", # name="cev_planner_ros2_node", # output="screen", # ), - # Trajectory Launch launch("trajectory_follower", "launch.py"), - ## LAUNCH FILES - # Teleop # launch("teleop", "launch.py"), # Autobrake @@ -197,7 +211,11 @@ def generate_launch_description(): # Serial Communicator launch("serial_com", "launch.py"), # RPLidar - launch("sllidar_ros2", "sllidar_a1_launch.py", arguments={"serial_port": "/dev/rplidar"}), + launch( + "sllidar_ros2", + "sllidar_a1_launch.py", + arguments={"serial_port": "/dev/rplidar"}, + ), # Encoder Odometry (Ackermann) launch("encoder_odometry", "launch.py"), ] diff --git a/autonomy/launch/mux.py b/autonomy/launch/mux.py index 2e279b5..6974f12 100644 --- a/autonomy/launch/mux.py +++ b/autonomy/launch/mux.py @@ -5,21 +5,18 @@ from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource + def get_path(package, dir, file): - return os.path.join( - get_package_share_directory(package), - dir, - file - ) + return os.path.join(get_package_share_directory(package), dir, file) + def launch(package, file, launch_folder="launch", arguments={}): return IncludeLaunchDescription( - PythonLaunchDescriptionSource( - get_path(package, launch_folder, file) - ), - launch_arguments=arguments.items() + PythonLaunchDescriptionSource(get_path(package, launch_folder, file)), + launch_arguments=arguments.items(), ) + def generate_launch_description(): imu_config = get_path("autonomy", "config", "imu.yml") robot_localization_config = get_path("autonomy", "config", "robot_localization.yml") @@ -28,72 +25,95 @@ def generate_launch_description(): [ # STATIC TRANSFORMS Node( - package='tf2_ros', - executable='static_transform_publisher', - name='static_transform_publisher_world_map', - output='screen', + package="tf2_ros", + executable="static_transform_publisher", + name="static_transform_publisher_world_map", + output="screen", arguments=[ - '0', '0', '0', # Translation: x = 0.035, y = 0.04, z = 0 (meters) - '0', '0', '0', '1', # Rotation: 0 - 'world', - 'map' + "0", + "0", + "0", # Translation: x = 0.035, y = 0.04, z = 0 (meters) + "0", + "0", + "0", + "1", # Rotation: 0 + "world", + "map", ], ), Node( - package='tf2_ros', - executable='static_transform_publisher', - name='static_transform_publisher_map_odom', - output='screen', + package="tf2_ros", + executable="static_transform_publisher", + name="static_transform_publisher_map_odom", + output="screen", arguments=[ - '0', '0', '0', # Translation: x = 0.035, y = 0.04, z = 0 (meters) - '0', '0', '0', '1', # Rotation: 0 - 'map', - 'odom' + "0", + "0", + "0", # Translation: x = 0.035, y = 0.04, z = 0 (meters) + "0", + "0", + "0", + "1", # Rotation: 0 + "map", + "odom", ], ), Node( - package='tf2_ros', - executable='static_transform_publisher', - name='static_transform_publisher_odom_base_link', - output='screen', + package="tf2_ros", + executable="static_transform_publisher", + name="static_transform_publisher_odom_base_link", + output="screen", arguments=[ - '0', '0', '0', # Translation: x = 0.035, y = 0.04, z = 0 (meters) - '0', '0', '0', '1', # Rotation: 0 - 'odom', - 'base_link' + "0", + "0", + "0", # Translation: x = 0.035, y = 0.04, z = 0 (meters) + "0", + "0", + "0", + "1", # Rotation: 0 + "odom", + "base_link", ], ), Node( - package='tf2_ros', - executable='static_transform_publisher', - name='static_transform_publisher_base_link_lidar', - output='screen', + package="tf2_ros", + executable="static_transform_publisher", + name="static_transform_publisher_base_link_lidar", + output="screen", arguments=[ - '-0.035', '-0.04', '0', # Translation: x = 0.035, y = 0.04, z = 0 (meters) - '0', '0', '1', '0', # Rotation: M_PI - 'base_link', - 'laser' + "-0.035", + "-0.04", + "0", # Translation: x = 0.035, y = 0.04, z = 0 (meters) + "0", + "0", + "1", + "0", # Rotation: M_PI + "base_link", + "laser", ], ), Node( - package='tf2_ros', - executable='static_transform_publisher', - name='static_transform_publisher_base_link_imu', - output='screen', + package="tf2_ros", + executable="static_transform_publisher", + name="static_transform_publisher_base_link_imu", + output="screen", arguments=[ - '-0.18', '0.0', '0', # Translation: x = -0.18, y = 0.07, z = 0 (meters) - '0', '0', '0', '1', # Rotation: 0 - 'base_link', - 'imu' + "-0.18", + "0.0", + "0", # Translation: x = -0.18, y = 0.07, z = 0 (meters) + "0", + "0", + "0", + "1", # Rotation: 0 + "base_link", + "imu", ], ), # # IMU Node( - package='witmotion_ros', - executable='witmotion_ros_node', - parameters=[ - imu_config - ] + package="witmotion_ros", + executable="witmotion_ros_node", + parameters=[imu_config], ), # Robot Localization # Node( @@ -119,21 +139,20 @@ def generate_launch_description(): "map_update_interval": 0.05, # "position_covareiance_scale": 1.0, # "yaw_covariance_scale": 1.0, - "resolution": .09, - "min_laser_range": .15, + "resolution": 0.09, + "min_laser_range": 0.15, "max_laser_range": 12.0, "use_scan_matching": True, "do_loop_closing": True, "use_scan_barycenter": True, - "minimum_travel_distance": .05, - "minimum_travel_heading": .05, - "correlation_search_space_dimension": .2, + "minimum_travel_distance": 0.05, + "minimum_travel_heading": 0.05, + "correlation_search_space_dimension": 0.2, "loop_search_space_dimension": 3.0, - "angle_variance_penalty": 0.0 + "angle_variance_penalty": 0.0, } - ] + ], ), - # Node( # package="slam_toolbox", # executable="sync_slam_toolbox_node", @@ -165,7 +184,6 @@ def generate_launch_description(): # } # ] # ), - # UNITREE LIDAR # Node( # package='unitree_lidar_ros2', @@ -185,11 +203,10 @@ def generate_launch_description(): # {'imu_frame': "unilidar_imu"}, # {'imu_topic': "unilidar/imu"}] # ), - # CEV Localization Node( package="cev_localization", - executable="ackermann_ekf", + executable="localization", name="cev_localization_node", output="screen", parameters=[ @@ -200,7 +217,7 @@ def generate_launch_description(): } ], ), - # Node( + # Node( # package="cev_planner_ros2", # executable="planner_node", # name="cev_planner_ros2_node", @@ -209,21 +226,16 @@ def generate_launch_description(): # # get_path("cev_planner_ros2", "config", "cev_planner.yaml") # # ], # ), - # Node( # package="cev_planner_ros2", # executable="planner_node", # name="cev_planner_ros2_node", # output="screen", # ), - # Trajectory Launch # launch("trajectory_follower", "launch.py"), launch("mux", "launch.py"), - - ## LAUNCH FILES - # Teleop # launch("teleop", "launch.py"), # Autobrake @@ -231,7 +243,11 @@ def generate_launch_description(): # Serial Communicator launch("serial_com", "launch.py"), # RPLidar - launch("sllidar_ros2", "sllidar_a1_launch.py", arguments={"serial_port": "/dev/rplidar"}), + launch( + "sllidar_ros2", + "sllidar_a1_launch.py", + arguments={"serial_port": "/dev/rplidar"}, + ), # Encoder Odometry (Ackermann) launch("encoder_odometry", "launch.py"), ] diff --git a/autonomy/launch/teleop.py b/autonomy/launch/teleop.py index 1385bc3..e21294f 100644 --- a/autonomy/launch/teleop.py +++ b/autonomy/launch/teleop.py @@ -5,21 +5,18 @@ from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource + def get_path(package, dir, file): - return os.path.join( - get_package_share_directory(package), - dir, - file - ) + return os.path.join(get_package_share_directory(package), dir, file) + def launch(package, file, launch_folder="launch", arguments={}): return IncludeLaunchDescription( - PythonLaunchDescriptionSource( - get_path(package, launch_folder, file) - ), - launch_arguments=arguments.items() + PythonLaunchDescriptionSource(get_path(package, launch_folder, file)), + launch_arguments=arguments.items(), ) + def generate_launch_description(): imu_config = get_path("autonomy", "config", "imu.yml") robot_localization_config = get_path("autonomy", "config", "robot_localization.yml") @@ -28,73 +25,98 @@ def generate_launch_description(): [ # STATIC TRANSFORMS Node( - package='tf2_ros', - executable='static_transform_publisher', - name='static_transform_publisher_world_map', - output='screen', + package="tf2_ros", + executable="static_transform_publisher", + name="static_transform_publisher_world_map", + output="screen", arguments=[ - '0', '0', '0', # Translation: x = 0.035, y = 0.04, z = 0 (meters) - '0', '0', '0', '1', # Rotation: 0 - 'world', - 'map' + "0", + "0", + "0", # Translation: x = 0.035, y = 0.04, z = 0 (meters) + "0", + "0", + "0", + "1", # Rotation: 0 + "world", + "map", ], ), Node( - package='tf2_ros', - executable='static_transform_publisher', - name='static_transform_publisher_map_odom', - output='screen', + package="tf2_ros", + executable="static_transform_publisher", + name="static_transform_publisher_map_odom", + output="screen", arguments=[ - '0', '0', '0', # Translation: x = 0.035, y = 0.04, z = 0 (meters) - '0', '0', '0', '1', # Rotation: 0 - 'map', - 'odom' + "0", + "0", + "0", # Translation: x = 0.035, y = 0.04, z = 0 (meters) + "0", + "0", + "0", + "1", # Rotation: 0 + "map", + "odom", ], ), Node( - package='tf2_ros', - executable='static_transform_publisher', - name='static_transform_publisher_odom_base_link', - output='screen', + package="tf2_ros", + executable="static_transform_publisher", + name="static_transform_publisher_odom_base_link", + output="screen", arguments=[ - '0', '0', '0', # Translation: x = 0.035, y = 0.04, z = 0 (meters) - '0', '0', '0', '1', # Rotation: 0 - 'odom', - 'base_link' + "0", + "0", + "0", # Translation: x = 0.035, y = 0.04, z = 0 (meters) + "0", + "0", + "0", + "1", # Rotation: 0 + "odom", + "base_link", ], ), Node( - package='tf2_ros', - executable='static_transform_publisher', - name='static_transform_publisher_base_link_lidar', - output='screen', + package="tf2_ros", + executable="static_transform_publisher", + name="static_transform_publisher_base_link_lidar", + output="screen", arguments=[ - '-0.035', '-0.04', '0', # Translation: x = 0.035, y = 0.04, z = 0 (meters) - '0', '0', '1', '0', # Rotation: M_PI - 'base_link', - 'laser' + "-0.035", + "-0.04", + "0", # Translation: x = 0.035, y = 0.04, z = 0 (meters) + "0", + "0", + "1", + "0", # Rotation: M_PI + "base_link", + "laser", ], ), Node( - package='tf2_ros', - executable='static_transform_publisher', - name='static_transform_publisher_base_link_imu', - output='screen', + package="tf2_ros", + executable="static_transform_publisher", + name="static_transform_publisher_base_link_imu", + output="screen", arguments=[ - '-0.18', '0.0', '0', # Translation: x = -0.18, y = 0.07, z = 0 (meters) - '0', '0', '0', '1', # Rotation: 0 - 'base_link', - 'imu' + "-0.18", + "0.0", + "0", # Translation: x = -0.18, y = 0.07, z = 0 (meters) + "0", + "0", + "0", + "1", # Rotation: 0 + "base_link", + "imu", ], ), # # IMU Node( - package='witmotion_ros', - executable='witmotion_ros_node', + package="witmotion_ros", + executable="witmotion_ros_node", parameters=[ # {"port": "witmotion"} imu_config - ] + ], ), # Robot Localization # Node( @@ -120,21 +142,20 @@ def generate_launch_description(): "map_update_interval": 0.05, # "position_covariance_scale": 1.0, # "yaw_covariance_scale": 1.0, - "resolution": .13, - "min_laser_range": .15, + "resolution": 0.13, + "min_laser_range": 0.15, "max_laser_range": 12.0, "use_scan_matching": True, "do_loop_closing": True, "use_scan_barycenter": True, - "minimum_travel_distance": .05, - "minimum_travel_heading": .05, - "correlation_search_space_dimension": .2, + "minimum_travel_distance": 0.05, + "minimum_travel_heading": 0.05, + "correlation_search_space_dimension": 0.2, "loop_search_space_dimension": 3.0, - "angle_variance_penalty": 0.0 + "angle_variance_penalty": 0.0, } - ] + ], ), - # UNITREE LIDAR # Node( # package='unitree_lidar_ros2', @@ -154,11 +175,10 @@ def generate_launch_description(): # {'imu_frame': "unilidar_imu"}, # {'imu_topic': "unilidar/imu"}] # ), - # CEV Localization Node( package="cev_localization", - executable="ackermann_ekf", + executable="localization", name="cev_localization_node", output="screen", parameters=[ @@ -169,20 +189,21 @@ def generate_launch_description(): } ], ), - # Trajectory Launch # launch("trajectory_follower", "launch.py"), - ## LAUNCH FILES - # Teleop - launch("teleop", "keyboard.py"), + launch("teleop", "launch.py"), # Autobrake # launch("autobrake", "launch.py"), # Serial Communicator launch("serial_com", "launch.py"), # RPLidar - launch("sllidar_ros2", "sllidar_a1_launch.py", arguments={"serial_port": "/dev/rplidar"}), + launch( + "sllidar_ros2", + "sllidar_a1_launch.py", + arguments={"serial_port": "/dev/rplidar"}, + ), # Encoder Odometry (Ackermann) launch("encoder_odometry", "launch.py"), ]

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namespace Eigen; using namespace std; @@ -66,11 +67,20 @@ void visualizeCostmap(const std::vector>& costmap, const Mat std::cout << "Costmap image saved as " << filename << std::endl; } +// MatrixXf random_dfs(int rows, int cols) { +// MatrixXf grid = MatrixXf::Zero(rows, cols); +// int num_obstacles = 5000; + +// std::unordered_set> y; +// } + MatrixXf generate_random_obstacles(int rows, int cols) { - int num_obstacles = 1000; - int obstacle_radius = 10; + int num_obstacles = 10; + int obstacle_radius = 5; MatrixXf grid = MatrixXf::Zero(rows, cols); + srand(1000); + for (int i = 0; i < num_obstacles; ++i) { int x = rand() % rows; int y = rand() % cols; @@ -101,15 +111,15 @@ int main() { // 25; // 5x5 grid with random 1s and 0s - MatrixXf grid = generate_random_obstacles(1000, 1000); + MatrixXf grid = generate_random_obstacles(100, 100); grid = (grid.array() > .5).cast(); // Print grid // cout << "Grid:\n" << grid << endl; - int search_radius = 30; + int search_radius = 10; int kernel_size = 2 * search_radius + 1; - float sigma = 20.0; + float sigma = 5.0; // Kernel initialization VectorXf kernel = createGaussianKernel(search_radius, sigma); From 8408812e16532249d2ca48731f5f65d9d516a9db Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Wed, 5 Feb 2025 16:25:27 -0500 Subject: [PATCH 095/196] Get position in map frame. --- CMakeLists.txt | 4 ++++ launch/launch.py | 2 +- package.xml | 3 +++ src/planner_node.cpp | 40 +++++++++++++++++++++++++++++++++++++--- 4 files changed, 45 insertions(+), 4 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index fd06126..c43dd70 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -11,6 +11,8 @@ find_package(rclcpp REQUIRED) find_package(nav_msgs REQUIRED) find_package(Eigen3 REQUIRED) find_package(NLopt REQUIRED) +find_package(tf2_ros REQUIRED) +find_package(tf2_geometry_msgs REQUIRED) # CEV find_package(cev_msgs REQUIRED) @@ -36,6 +38,8 @@ ament_target_dependencies(planner_node cev_msgs nav_msgs Eigen3 + tf2_ros + tf2_geometry_msgs ) target_link_libraries(planner_node diff --git a/launch/launch.py b/launch/launch.py index 42f6841..63e748b 100644 --- a/launch/launch.py +++ b/launch/launch.py @@ -20,6 +20,6 @@ def generate_launch_description(): parameters=[ get_path("cev_planner_ros2", "config", "cev_planner.yaml") ], - ) + ), ] ) diff --git a/package.xml b/package.xml index 5ae52a8..48cd693 100644 --- a/package.xml +++ b/package.xml @@ -12,6 +12,9 @@ rclcpp eigen3 nlopt + tf2 + tf2_ros + tf2_geometry_msgs cev_msgs diff --git a/src/planner_node.cpp b/src/planner_node.cpp index 64eb832..2ca7ca7 100644 --- a/src/planner_node.cpp +++ b/src/planner_node.cpp @@ -2,9 +2,12 @@ #include #include #include - #include #include +#include "tf2_ros/transform_listener.h" +#include "tf2_ros/buffer.h" +#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp" +#include "tf2/utils.h" #include using namespace cev_planner; @@ -18,6 +21,9 @@ class PlannerNode : public rclcpp::Node { auto constraints = Constraints(); planner = std::make_shared(dimensions, constraints); + tf_buffer_ = std::make_unique(this->get_clock()); + tf_listener_ = std::make_shared(*tf_buffer_); + map_sub = this->create_subscription("map", 1, std::bind(&PlannerNode::map_callback, this, std::placeholders::_1)); @@ -43,6 +49,18 @@ class PlannerNode : public rclcpp::Node { std::shared_ptr planner; + // ROS + + // TF + std::unique_ptr tf_buffer_; + std::shared_ptr tf_listener_; + + // Init frames odom map baselink so that we can localize base_link inside map given the odom to + // map transform + std::string odom_frame = "odom"; + std::string map_frame = "map"; + std::string base_link_frame = "base_link"; + // Listener to the map rclcpp::Subscription::SharedPtr map_sub; @@ -67,13 +85,29 @@ class PlannerNode : public rclcpp::Node { start = Pose{msg->pose.pose.position.x, msg->pose.pose.position.y, yaw}; odom_initialized = true; - std::cout << start.x << " , " << start.y << " , " << yaw << std::endl; + // Transform into map frame + geometry_msgs::msg::TransformStamped transform; + try { + transform = tf_buffer_->lookupTransform(map_frame, odom_frame, tf2::TimePointZero); + } catch (tf2::TransformException& ex) { + RCLCPP_ERROR(this->get_logger(), "Could not transform odom to map: %s", ex.what()); + return; + } + + tf2::Transform tf_transform; + tf2::fromMsg(transform.transform, tf_transform); + + start.x += transform.transform.translation.x; + start.y += transform.transform.translation.y; + start.theta = restrict_angle(tf2::getYaw(transform.transform.rotation) + start.theta); + + std::cout << start.x << " , " << start.y << " , " << start.theta << std::endl; if (map_initialized && target_initialized) { Trajectory path = planner->plan_path(grid, start, target); current_path.header.stamp = msg->header.stamp; - current_path.header.frame_id = "odom"; + current_path.header.frame_id = "map"; current_path.waypoints.clear(); for (Waypoint waypoint: path.waypoints) { cev_msgs::msg::Waypoint msg; From c814e3518229a0d4282527d7718724f8417c9dcd Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Wed, 5 Feb 2025 23:20:27 -0500 Subject: [PATCH 096/196] Expand planner node to test kernel integration. --- cev_planner | 2 +- src/planner_node.cpp | 46 ++++++++++++++++++++++++------------------- tmp/costmap.png | Bin 5631 -> 247059 bytes tmp/kernel | Bin 37144 -> 37144 bytes tmp/kernel.cpp | 19 +++++++++++++----- 5 files changed, 41 insertions(+), 26 deletions(-) diff --git a/cev_planner b/cev_planner index 3407573..b1d5406 160000 --- a/cev_planner +++ b/cev_planner @@ -1 +1 @@ -Subproject commit 3407573d127117b18d8e19f043c6e0a9550ecdd3 +Subproject commit b1d540670998c84fcd435364b5eb56c98401ad5d diff --git a/src/planner_node.cpp b/src/planner_node.cpp index 2ca7ca7..7462116 100644 --- a/src/planner_node.cpp +++ b/src/planner_node.cpp @@ -3,13 +3,15 @@ #include #include #include -#include #include "tf2_ros/transform_listener.h" #include "tf2_ros/buffer.h" #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp" #include "tf2/utils.h" #include +#include "local_planning/mpc.h" +#include "cost_map/gaussian_conv.h" + using namespace cev_planner; class PlannerNode : public rclcpp::Node { @@ -19,7 +21,8 @@ class PlannerNode : public rclcpp::Node { auto dimensions = Dimensions(); auto constraints = Constraints(); - planner = std::make_shared(dimensions, constraints); + planner = std::make_shared(dimensions, constraints, + std::make_shared(10, 5.0)); tf_buffer_ = std::make_unique(this->get_clock()); tf_listener_ = std::make_shared(*tf_buffer_); @@ -38,18 +41,18 @@ class PlannerNode : public rclcpp::Node { private: Grid grid = Grid(); - Pose start = Pose(); - Pose target = Pose(); + State start = State(); + State target = State(); bool map_initialized = false; bool odom_initialized = false; - bool target_initialized = false; + bool target_initialized = true; cev_msgs::msg::Trajectory current_path; - std::shared_ptr planner; + std::shared_ptr planner; - // ROS + //// ROS // TF std::unique_ptr tf_buffer_; @@ -82,7 +85,8 @@ class PlannerNode : public rclcpp::Node { float yaw = restrict_angle(atan2(2.0 * (qw * qz + qx * qy), 1.0 - 2.0 * (qy * qy + qz * qz))); - start = Pose{msg->pose.pose.position.x, msg->pose.pose.position.y, yaw}; + start = State{msg->pose.pose.position.x, msg->pose.pose.position.y, yaw, + msg->twist.twist.linear.x, 0.0}; odom_initialized = true; // Transform into map frame @@ -97,23 +101,25 @@ class PlannerNode : public rclcpp::Node { tf2::Transform tf_transform; tf2::fromMsg(transform.transform, tf_transform); - start.x += transform.transform.translation.x; - start.y += transform.transform.translation.y; - start.theta = restrict_angle(tf2::getYaw(transform.transform.rotation) + start.theta); + start.pose.x += transform.transform.translation.x; + start.pose.y += transform.transform.translation.y; + start.pose.theta = restrict_angle(tf2::getYaw(transform.transform.rotation) + + start.pose.theta); - std::cout << start.x << " , " << start.y << " , " << start.theta << std::endl; + std::cout << start.pose.x << " , " << start.pose.y << " , " << start.pose.theta + << std::endl; - if (map_initialized && target_initialized) { - Trajectory path = planner->plan_path(grid, start, target); + if (map_initialized && odom_initialized && target_initialized) { + Trajectory path = planner->plan_path(grid, start, target, Trajectory()); current_path.header.stamp = msg->header.stamp; current_path.header.frame_id = "map"; current_path.waypoints.clear(); for (Waypoint waypoint: path.waypoints) { cev_msgs::msg::Waypoint msg; - msg.x = waypoint.pose.x; - msg.y = waypoint.pose.y; - msg.v = 0.0; + msg.x = waypoint.state.pose.x; + msg.y = waypoint.state.pose.y; + msg.v = waypoint.velocity; current_path.waypoints.push_back(msg); } @@ -122,11 +128,11 @@ class PlannerNode : public rclcpp::Node { } void map_callback(const nav_msgs::msg::OccupancyGrid::SharedPtr msg) { - auto grid = Grid(); + grid = Grid(); grid.origin = Pose{msg->info.origin.position.x, msg->info.origin.position.y, 0}; grid.resolution = msg->info.resolution; - grid.data = Eigen::MatrixXd(msg->info.width, msg->info.height); + grid.data = Eigen::MatrixXf(msg->info.width, msg->info.height); for (int i = 0; i < msg->info.width; i++) { for (int j = 0; j < msg->info.height; j++) { @@ -140,7 +146,7 @@ class PlannerNode : public rclcpp::Node { } void target_callback(const cev_msgs::msg::Waypoint msg) { - target = Pose{msg.x, msg.y, 0}; + target = State{msg.x, msg.y, 0, msg.v, 0}; target_initialized = true; } }; diff --git a/tmp/costmap.png b/tmp/costmap.png index f6b248a1f1e4c64b7d4c3624c8fe78f9dfa539b9..308eb54dfd14522cbc259fb0802e20b94c6f40f0 100644 GIT binary patch literal 247059 zcmbTf2|$!r(k?vr3%P7jP!SYVR4{-La1sXG0zpDc%LpPya8wYD1`-uT11Q@U1o^`f zWeXD(5otuThzp8@ZRiX-V%%^N6_lnGG$d(3H0;ZLs@}H|jhTDDUtBPe=Dc;Po_gx3 zI;THf;<<2?jIt*Xk6u0@SVL;;vezcA+4*i; z<;~cNyACxOYkfBETl~1$1%Di|+~<(=W_|00o@QD>VXp6lVA&XrU~`ufSc5ix8oC&} 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