Add alternative driving method using LIDAR only

selfie_control/cfg/Control.cfg

@@ -4,6 +4,6 @@ PACKAGE = "selfie_control"
 from dynamic_reconfigure.parameter_generator_catkin import *
 
 gen = ParameterGenerator()
-gen.add("speed", double_t, 0, "Desired speed of the vehicle", 0.25, 0, 15)
+gen.add("speed", double_t, 0, "Desired speed of the vehicle", 0.5, 0, 15)
 
 exit(gen.generate(PACKAGE, "selfie_angle_to_ackermann", "Control"))

selfie_control/launch/pid.launch

@@ -1,8 +1,8 @@
 <launch>
   <node name="position_pid" pkg="pid" type="controller" >
-    <param name="Kp" value="15.0" />
+    <param name="Kp" value="0.1" />
     <param name="Ki" value="0.05" />
-    <param name="Kd" value="0.1" />
+    <param name="Kd" value="0.15" />
     <param name="upper_limit" value="0.785" />
     <param name="lower_limit" value="-0.785" />
     <param name="windup_limit" value="10" />

selfie_control/scripts/angle_to_ackermann.py

@@ -14,6 +14,7 @@ def steering_angle_callback(msg):
 
     cmd.drive.steering_angle = msg.data
     cmd.drive.speed = speed
+    cmd.drive.steering_angle_velocity = 15.0
 
     drive_pub.publish(cmd)
 

selfie_simple_laser_control/CMakeLists.txt

@@ -0,0 +1,203 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(selfie_simple_laser_control)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  sensor_msgs
+  std_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   sensor_msgs#   std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES selfie_simple_laser_control
+#  CATKIN_DEPENDS roscpp sensor_msgs std_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/selfie_simple_laser_control.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/selfie_simple_laser_control_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_selfie_simple_laser_control.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
+
+add_executable(selfie_simple_laser_control src/selfie_simple_laser_control.cpp)
+target_link_libraries(selfie_simple_laser_control ${catkin_LIBRARIES})
+add_dependencies(selfie_simple_laser_control selfie_simple_laser_control_generate_messages_cpp)

selfie_simple_laser_control/package.xml

@@ -0,0 +1,68 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>selfie_simple_laser_control</name>
+  <version>0.0.0</version>
+  <description>The selfie_simple_laser_control package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">mateusz</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/selfie_simple_laser_control</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="[email protected]">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>sensor_msgs</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

selfie_simple_laser_control/src/selfie_simple_laser_control.cpp

@@ -0,0 +1,74 @@
+#include <ros/ros.h>
+#include <sensor_msgs/LaserScan.h>
+#include <std_msgs/Float64.h>
+#include <math.h>
+
+sensor_msgs::LaserScan scan;
+
+ros::Publisher offset_pub;
+float min_angle = M_PI/2;
+float read_angle_range = M_PI/4;
+std_msgs::Float64 offset;
+float last_offset = 0;
+
+void scanCallback(const sensor_msgs::LaserScan &msg){
+    scan = msg;
+    last_offset = offset.data;
+    float right_read_angle = scan.angle_max;
+    int left_read_angle_index = 0;
+    int right_read_angle_index = 0;
+    for(right_read_angle; right_read_angle >= scan.angle_min; right_read_angle -= scan.angle_increment){
+        right_read_angle_index++;
+    }
+    right_read_angle = scan.angle_max;
+    float middle_sum = 0;
+    float front_sum = 0;
+    int counter = 0;
+    right_read_angle_index = right_read_angle_index - ((scan.angle_max - min_angle) / scan.angle_increment);
+    left_read_angle_index = left_read_angle_index + ((scan.angle_max - min_angle )/ scan.angle_increment);
+    right_read_angle = min_angle;
+    float left_read_angle = -1 * min_angle;
+    for (float angle_counter = 0; angle_counter <= read_angle_range; angle_counter += scan.angle_increment){
+        if((scan.ranges[right_read_angle_index] >= scan.range_min && scan.ranges[right_read_angle_index] <= scan.range_max) 
+        && (scan.ranges[left_read_angle_index] >= scan.range_min && scan.ranges[left_read_angle_index] <= scan.range_max)){
+            float xPLUSy = sqrt(scan.ranges[left_read_angle_index]*scan.ranges[left_read_angle_index]+scan.ranges[right_read_angle_index]*scan.ranges[right_read_angle_index]
+            -2*scan.ranges[left_read_angle_index]*scan.ranges[right_read_angle_index]*cos(2*right_read_angle));
+            float temp_angle = asin(scan.ranges[left_read_angle_index]*sin(2*right_read_angle)/xPLUSy);
+            float temo_angle2 = M_PI - temp_angle - right_read_angle;
+            float x = scan.ranges[right_read_angle_index] * sin(right_read_angle) / sin(temo_angle2);
+            front_sum += x;
+            middle_sum += xPLUSy / 2;
+            counter++;
+        }
+        right_read_angle_index--;
+        left_read_angle_index++;
+        right_read_angle -= scan.angle_increment;
+        left_read_angle += scan.angle_increment;
+    }
+
+    float avr_front = front_sum / counter;
+    float avr_middle = middle_sum / counter;
+    offset.data = -1 * (avr_front - avr_middle);
+    if(!(offset.data > -10 && offset.data < 10))
+        offset.data = last_offset;  
+    offset_pub.publish(offset);
+}
+
+int main(int argc, char** argv){
+    ros::init(argc, argv, "selfie_simple_laser_control");
+
+    ros::NodeHandle n("~");
+    offset.data = 0;
+
+    offset_pub = n.advertise<std_msgs::Float64>("/steering_state", 50);
+    ros::Subscriber sub_scan = n.subscribe("/scan", 50, scanCallback);
+
+    ros::Rate loop_rate(15);
+    while (n.ok())
+    {
+        ros::spinOnce();
+        loop_rate.sleep();
+    }
+
+    return 0;
+}