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rm obsolete versions of "commande" source code, please use file "commande-abs.cpp"

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Paul Janin 2015-05-27 16:40:19 +02:00
parent 5c3bac7473
commit 444a8d26a7
2 changed files with 0 additions and 431 deletions
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211
src/commande-new.cpp
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#include <ros/ros.h>
#include <ros/time.h>
#include <locale.h>
#include <limits>
#include <math.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <hand_control/Plan.h>
#include <geometry_msgs/Twist.h>
#include <math.h>
class Run
{
private:
float xx, yy, dz;
// xx > 0 : forward
// xx < 0 : backward
// yy > 0 : right
// yy < 0 : left
// dz > 0 : up
// dz < 0 : down
float plan_vel, z_vel;
// to calculate dz
float z_current, z_previous;
ros::Time t_current, t_previous;
// conditions to publish a message
float max_curv;
float dz_min, x_dev_min, y_dev_min;
uint64_t min_number;
bool first_msg;
ros::Publisher pub;
void publish()
{
geometry_msgs::Twist::Ptr mvt(new geometry_msgs::Twist());
if (fabs(dz) > dz_min)
{
mvt->linear.z = dz * z_vel;
}
if (fabs(xx) > x_dev_min)
{
mvt->linear.x = xx * plan_vel;
}
if (fabs(yy) > y_dev_min)
{
mvt->linear.y = yy * plan_vel;
}
pub.publish(mvt);
ROS_INFO("cmd published");
}//end publish
public:
Run(const ros::Publisher& cmd_publisher, const float& max_curvature, const float& plan_velocity,
const float& z_velocity, const float& x_minimal_deviation, const float& y_minimal_deviation,
const float& dz_minimal_difference, const int& min_points_number) :
pub(cmd_publisher),
plan_vel(plan_velocity),
max_curv(max_curvature),
z_vel(z_velocity),
xx(0),
yy(0),
dz(0),
x_dev_min(x_minimal_deviation),
y_dev_min(y_minimal_deviation),
dz_min(dz_minimal_difference),
first_msg(true),
min_number(min_points_number){
z_current = z_previous = std::numeric_limits<float>::signaling_NaN();
t_previous.nsec = t_previous.sec =
t_previous.nsec = t_previous.sec = std::numeric_limits<uint32_t>::signaling_NaN();
}
void callback(const hand_control::Plan::ConstPtr& msg)
{
ROS_INFO("plan received");
if (msg->curvature < max_curv && msg->number > min_number)
{
t_current = msg->header.stamp;
z_current = msg->altitude;
if (!first_msg)
{
dz = (z_current - z_previous)/((t_current - t_previous).toSec());
ROS_INFO("dz = %f", dz);
}
if(msg->normal.z > 0)
{
yy = msg->normal.x;
xx = msg->normal.y;
}
else
{
yy = - msg->normal.x;
xx = - msg->normal.y;
}
t_previous = t_current;
z_previous = z_current;
z_current = std::numeric_limits<float>::signaling_NaN();
t_current.nsec = t_current.sec = std::numeric_limits<uint32_t>::signaling_NaN();
if (first_msg)
{
first_msg = false;
ROS_INFO("first msg received");
}
ROS_INFO("coords updated");
} else {
xx = yy = dz = 0.;
}
publish();
};
void run()
{
ros::spin();
}
};
int main(int argc, char** argv)
{
ros::init(argc, argv, "commande");
ros::NodeHandle node("commande");
double max_curv(0);
if (node.getParam("max_curv", max_curv))
{
ROS_INFO("max_curv : %f" , max_curv);
} else {
node.setParam("max_curv", 0.08);
node.getParam("max_curv", max_curv);
ROS_INFO("max_curv : %f (default value)", max_curv);
}
double plan_vel(0);
if (node.getParam("plan_vel", plan_vel))
{
ROS_INFO("plan_vel : %f" , plan_vel);
} else {
node.setParam("plan_vel", 0.8);
node.getParam("plan_vel", plan_vel);
ROS_INFO("plan_vel : %f (default value)", plan_vel);
}
double z_vel(0);
if (node.getParam("z_vel", z_vel))
{
ROS_INFO("z_vel : %f" , z_vel);
} else {
node.setParam("z_vel", 0.8);
node.getParam("z_vel", z_vel);
ROS_INFO("z_vel : %f (default value)", z_vel);
}
int min_number(0);
if (node.getParam("min_number", min_number))
{
ROS_INFO("min_number : %d" , min_number);
} else {
node.setParam("min_number", 500);
node.getParam("min_number", min_number);
ROS_INFO("min_number : %d (default value)", min_number);
}
double x_dev_min(0);
if (node.getParam("x_dev_min", x_dev_min))
{
ROS_INFO("x_dev_min : %f" , x_dev_min);
} else {
node.setParam("x_dev_min", 0.05);
node.getParam("x_dev_min", x_dev_min);
ROS_INFO("x_dev_min : %f (default value)", x_dev_min);
}
double y_dev_min(0);
if (node.getParam("y_dev_min", y_dev_min))
{
ROS_INFO("y_dev_min : %f" , y_dev_min);
} else {
node.setParam("y_dev_min", 0.05);
node.getParam("y_dev_min", y_dev_min);
ROS_INFO("y_dev_min : %f (default value)", y_dev_min);
}
double dz_dev_min(0);
if (node.getParam("dz_dev_min", dz_dev_min))
{
ROS_INFO("dz_dev_min : %f" , dz_dev_min);
} else {
node.setParam("dz_dev_min", 0.05);
node.getParam("dz_dev_min", dz_dev_min);
ROS_INFO("dz_dev_min : %f (default value)", dz_dev_min);
}
ros::Publisher cmd_pub = node.advertise<geometry_msgs::Twist>("/cmd_vel", 1);
Run run(cmd_pub, max_curv, plan_vel, z_vel, x_dev_min, y_dev_min, dz_dev_min, min_number);
ros::Subscriber plan_sub = node.subscribe<hand_control::Plan>("input", 1, &Run::callback, &run);
run.run();
return 0;
}

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src/commande.cpp
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#include <ros/ros.h>
#include <ros/time.h>
#include <locale.h>
#include <limits>
#include <math.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <hand_control/Plan.h>
#include <geometry_msgs/Twist.h>
#include <math.h>
class Run
{
private:
ros::Rate loop_rate;
float xx, yy, dz;
// xx > 0 : forward
// xx < 0 : backward
// yy > 0 : right
// yy < 0 : left
// dz > 0 : up
// dz < 0 : down
float plan_vel, z_vel;
// to calculate dz
float z_current, z_previous;
ros::Time t_current, t_previous;
// conditions to publish a message
float max_curv;
float dz_min, x_dev_min, y_dev_min;
uint64_t min_number;
bool first_msg;
ros::Publisher pub;
void publish()
{
geometry_msgs::Twist::Ptr mvt(new geometry_msgs::Twist());
if (fabs(dz) > dz_min)
{
mvt->linear.z = dz * z_vel;
ROS_INFO("z changed : %f, z_vel %f", mvt->linear.z, z_vel);
}
if (fabs(xx) > x_dev_min)
{
mvt->linear.x = xx * plan_vel;
}
if (fabs(yy) > y_dev_min)
{
mvt->linear.y = yy * plan_vel;
}
pub.publish(mvt);
ROS_INFO("cmd published");
}//end publish
public:
Run(const ros::Publisher& cmd_publisher, const float& max_curvature, const float& plan_velocity,
const float& z_velocity, const float& x_minimal_deviation, const float& y_minimal_deviation,
const float& dz_minimal_difference, const int& min_points_number) :
pub(cmd_publisher),
plan_vel(plan_velocity),
max_curv(max_curvature),
z_vel(z_velocity),
xx(0),
yy(0),
dz(0),
x_dev_min(x_minimal_deviation),
y_dev_min(y_minimal_deviation),
dz_min(dz_minimal_difference),
first_msg(true),
loop_rate(30),
min_number(min_points_number){
z_current = z_previous = std::numeric_limits<float>::signaling_NaN();
t_previous.nsec = t_previous.sec =
t_previous.nsec = t_previous.sec = std::numeric_limits<uint32_t>::signaling_NaN();
}
void callback(const hand_control::Plan::ConstPtr& msg)
{
ROS_INFO("plan received");
if (msg->curvature < max_curv && msg->number > min_number)
{
t_current = msg->header.stamp;
z_current = msg->altitude;
if (!first_msg)
{
dz = (z_current - z_previous)/((t_current - t_previous).toSec());
ROS_INFO("dz = %f", dz);
}
if(msg->normal.z > 0)
{
yy = msg->normal.x;
xx = msg->normal.y;
}
else
{
yy = - msg->normal.x;
xx = - msg->normal.y;
}
t_previous = t_current;
z_previous = z_current;
z_current = std::numeric_limits<float>::signaling_NaN();
t_current.nsec = t_current.sec = std::numeric_limits<uint32_t>::signaling_NaN();
if (first_msg)
{
first_msg = false;
ROS_INFO("first msg received");
}
ROS_INFO("coords updated");
} else {
xx = yy = dz = 0.;
}
};
void run()
{
while(ros::ok())
{
publish();
ros::spinOnce();
loop_rate.sleep();
}
}
};
int main(int argc, char** argv)
{
ros::init(argc, argv, "commande");
ros::NodeHandle node("commande");
double max_curv(0);
if (node.getParam("max_curv", max_curv))
{
ROS_INFO("max_curv : %f" , max_curv);
} else {
node.setParam("max_curv", 0.08);
node.getParam("max_curv", max_curv);
ROS_INFO("max_curv : %f (default value)", max_curv);
}
double plan_vel(0);
if (node.getParam("plan_vel", plan_vel))
{
ROS_INFO("plan_vel : %f" , plan_vel);
} else {
node.setParam("plan_vel", 0.8);
node.getParam("plan_vel", plan_vel);
ROS_INFO("plan_vel : %f (default value)", plan_vel);
}
double z_vel(0);
if (node.getParam("z_vel", z_vel))
{
ROS_INFO("z_vel : %f" , z_vel);
} else {
node.setParam("z_vel", 0.8);
node.getParam("z_vel", z_vel);
ROS_INFO("z_vel : %f (default value)", z_vel);
}
int min_number(0);
if (node.getParam("min_number", min_number))
{
ROS_INFO("min_number : %d" , min_number);
} else {
node.setParam("min_number", 500);
node.getParam("min_number", min_number);
ROS_INFO("min_number : %d (default value)", min_number);
}
double x_dev_min(0);
if (node.getParam("x_dev_min", x_dev_min))
{
ROS_INFO("x_dev_min : %f" , x_dev_min);
} else {
node.setParam("x_dev_min", 0.05);
node.getParam("x_dev_min", x_dev_min);
ROS_INFO("x_dev_min : %f (default value)", x_dev_min);
}
double y_dev_min(0);
if (node.getParam("y_dev_min", y_dev_min))
{
ROS_INFO("y_dev_min : %f" , y_dev_min);
} else {
node.setParam("y_dev_min", 0.05);
node.getParam("y_dev_min", y_dev_min);
ROS_INFO("y_dev_min : %f (default value)", y_dev_min);
}
double dz_dev_min(0);
if (node.getParam("dz_dev_min", dz_dev_min))
{
ROS_INFO("dz_dev_min : %f" , dz_dev_min);
} else {
node.setParam("dz_dev_min", 0.05);
node.getParam("dz_dev_min", dz_dev_min);
ROS_INFO("dz_dev_min : %f (default value)", dz_dev_min);
}
ros::Publisher cmd_pub = node.advertise<geometry_msgs::Twist>("/cmd_vel", 1);
Run run(cmd_pub, max_curv, plan_vel, z_vel, x_dev_min, y_dev_min, dz_dev_min, min_number);
ros::Subscriber plan_sub = node.subscribe<hand_control::Plan>("input", 1, &Run::callback, &run);
run.run();
return 0;
}