Merge pull request #2 from uci-uav-forge/imaging_nav_directories

README.md

@@ -1,4 +1,4 @@
-# Sample repository showcasing model predictive control with PX4's offboard mode and ROS 2.
+# UAV Forge's ROS2 package for GN&C and Aerial Imagery Object Detection.
 
 
 ## Usage
@@ -18,6 +18,16 @@
 
 ## Install instructions
 
+### Install required and local Python libraries
+
+1. cd into this repo's root directory.
+
+2. Run:
+	```
+	pip install -e .
+	```
+
+
 ### [ROS 2 Foxy for Ubuntu 20.04 Focal](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html)
 
 1. Uninstall ROS Noetic.
@@ -159,13 +169,3 @@
 1. [Follow these instructions to install Acados.](https://docs.acados.org/installation/)
 
 2. [Install the Python interface afterwards.](https://docs.acados.org/python_interface/index.html)
-
-
-### Install required and local Python libraries (again, for MPC usage)
-
-1. cd into this repo's root directory.
-
-2. Run:
-	```
-	pip install -e .
-	```

scripts/commander_node.py

@@ -7,7 +7,7 @@
     OffboardControlMode,  VehicleCommand, VehicleStatus, VehicleOdometry, VehicleGlobalPosition
 from uavf_ros2_msgs.msg import GpsAltitudePosition, NedEnuOdometry, NedEnuSetpoint, NedEnuWaypoint
 
-from uavf_2024.conversions import convert_quaternion_to_euler_angles, convert_NED_ENU_in_inertial,\
+from uavf_2024.gnc.conversions import convert_quaternion_to_euler_angles, convert_NED_ENU_in_inertial,\
     convert_NED_ENU_in_body, convert_body_to_inertial_frame, convert_inertial_to_body_frame
 import numpy as np
 from scipy.spatial.transform import Rotation
@@ -74,7 +74,7 @@ def __init__(self) -> None:
             VehicleOdometry, '/fmu/out/vehicle_odometry', self.odom_cb, qos_profile)
 
 
-        self.traj_planner_is_ENU = True
+        #self.traj_planner_is_ENU = True
         self.all_wp_reached = False
         self.waypoint_is_ENU = False
         self.waypoint = np.zeros(3, dtype=np.float32)
@@ -88,7 +88,9 @@ def make_decision(self) -> None:
         '''
         self.publish_heartbeat()
         if not self.all_wp_reached:
-            self.publish_trajectory_planner_command(self, self.waypoint, self.waypoint_is_ENU)
+            self.publish_trajectory_planner_command(
+                pos_decision=self.waypoint, 
+                pos_is_ENU=self.waypoint_is_ENU)
         else:
             self.land()
             self.disarm()
@@ -97,11 +99,20 @@ def make_decision(self) -> None:
     def traj_plan_cb(self, ned_enu_setpt:NedEnuSetpoint) -> None:
         ''' Reads the setpoint calculated by the trajectory planner
             and publishes the corresponding setpoints to PX4.
-            Incomplete.
         '''
-        # assert something
-        self.traj_planner_is_ENU = ned_enu_setpt.is_enu
-        pass
+        #self.traj_planner_is_ENU = ned_enu_setpt.is_enu
+        self.publish_trajectory_setpoint(
+            pos=ned_enu_setpt.position_setpoint, 
+            vel=ned_enu_setpt.velocity_setpoint, 
+            is_ENU=ned_enu_setpt.is_enu)
+        self.publish_euler_angle_setpoint(
+            ang=ned_enu_setpt.euler_angle_setpoint, 
+            is_ENU=ned_enu_setpt.is_enu)
+        self.publish_euler_angle_rate_setpoint(
+            ang_rate=ned_enu_setpt.euler_angle_rate_setpoint, 
+            is_ENU=ned_enu_setpt.is_enu, 
+            is_inertial=ned_enu_setpt.is_inertial
+        )
 
 
     def wp_tracker_cb(self, ned_enu_wp:NedEnuWaypoint) -> None:
@@ -110,7 +121,7 @@ def wp_tracker_cb(self, ned_enu_wp:NedEnuWaypoint) -> None:
         '''
         if not ned_enu_wp.all_waypoints_reached:
             self.waypoint_is_ENU = ned_enu_wp.is_enu
-            self.waypoint = ned_enu_wp.position_waypoint
+            self.waypoint = np.float32(ned_enu_wp.position_waypoint)
         else:
             self.destroy_subscription(self.wp_tracker_sub)
             self.all_wp_reached = ned_enu_wp.all_waypoints_reached
@@ -265,8 +276,8 @@ def publish_trajectory_setpoint(self, pos:np.ndarray, vel:np.ndarray, is_ENU:boo
         vel_f32 = np.float32(vel)
 
         if is_ENU:
-            pos_f32 = self.convert_NED_ENU_in_inertial(pos_f32)
-            vel_f32 = self.convert_NED_ENU_in_inertial(vel_f32)
+            pos_f32 = convert_NED_ENU_in_inertial(pos_f32)
+            vel_f32 = convert_NED_ENU_in_inertial(vel_f32)
 
         msg = TrajectorySetpoint()
         msg.position = pos_f32
@@ -286,7 +297,7 @@ def publish_euler_angle_setpoint(self, ang:np.ndarray, is_ENU:bool) -> None:
         assert type(is_ENU) == bool
         ang_f32 = np.float32(ang)
         if is_ENU:
-            ang_f32 = self.convert_NED_ENU_in_inertial(ang_f32)
+            ang_f32 = convert_NED_ENU_in_inertial(ang_f32)
 
         msg = VehicleAttitudeSetpoint()
         msg.roll_body = ang_f32[0]
@@ -309,9 +320,9 @@ def publish_euler_angle_rate_setpoint(self, ang_rate:float, is_ENU:bool, is_iner
         assert type(is_inertial) == bool
         ang_rate_f32 = np.float32(ang_rate)
         if is_ENU:
-            ang_rate_f32 = self.convert_NED_ENU_in_body(ang_rate_f32)
+            ang_rate_f32 = convert_NED_ENU_in_body(ang_rate_f32)
         if is_inertial:
-            ang_rate_f32 = self.convert_inertial_to_body_frame(ang_rate_f32, is_ENU=is_ENU)
+            ang_rate_f32 = convert_inertial_to_body_frame(ang_rate_f32, is_ENU=is_ENU)
 
         msg = VehicleRatesSetpoint()
         msg.roll = ang_rate_f32[0]

scripts/trajectory_planner_node.py

@@ -5,7 +5,7 @@
 from rclpy.qos import QoSProfile, ReliabilityPolicy, HistoryPolicy, DurabilityPolicy
 from uavf_ros2_msgs.msg import NedEnuOdometry, NedEnuSetpoint
 
-from uavf_2024.sqp_nlmpc import derive_quad_dynamics, SQP_NLMPC
+from uavf_2024.gnc.sqp_nlmpc import derive_quad_dynamics, SQP_NLMPC
 import numpy as np
 import atexit