From 49dd9208ddafd1c2a814475bd0ec1b74ce4d0728 Mon Sep 17 00:00:00 2001 From: Louis-Guillaume DUBOIS Date: Fri, 22 May 2015 17:09:29 +0200 Subject: [PATCH] adds up_factor --- launch/all-param.launch | 4 ++-- src/commande-new-1d.cpp | 27 ++++++++++++++++++++++----- 2 files changed, 24 insertions(+), 7 deletions(-) diff --git a/launch/all-param.launch b/launch/all-param.launch index 496cef7..7002684 100644 --- a/launch/all-param.launch +++ b/launch/all-param.launch @@ -2,10 +2,10 @@ - + diff --git a/src/commande-new-1d.cpp b/src/commande-new-1d.cpp index 65fedf6..ed577b4 100644 --- a/src/commande-new-1d.cpp +++ b/src/commande-new-1d.cpp @@ -25,7 +25,7 @@ class Run // dz > 0 : up // dz < 0 : down - float plan_vel, z_vel; + float plan_vel, z_vel, up_factor; // to calculate dz float z_current, z_previous; @@ -43,10 +43,15 @@ class Run void publish() { geometry_msgs::Twist::Ptr mvt(new geometry_msgs::Twist()); + if (fabs(dz) > dz_min) { - mvt->linear.z = dz * z_vel; + if (dz > 0) + mvt->linear.z = dz * z_vel * up_factor ; + else + mvt->linear.z = dz * z_vel; } + if (fabs(yy) > fabs(xx) && fabs(yy) > y_dev_min) { mvt->linear.y = yy * plan_vel; @@ -55,6 +60,7 @@ class Run { mvt->linear.x = xx * plan_vel; } + pub.publish(mvt); ROS_INFO("cmd published"); }//end publish @@ -62,7 +68,7 @@ class Run 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) : + const float& dz_minimal_difference, const int& min_points_number, const float& up_fact) : pub(cmd_publisher), plan_vel(plan_velocity), max_curv(max_curvature), @@ -74,7 +80,8 @@ class Run y_dev_min(y_minimal_deviation), dz_min(dz_minimal_difference), first_msg(true), - min_number(min_points_number){ + min_number(min_points_number), + up_factor(up_fact) { z_current = z_previous = std::numeric_limits::signaling_NaN(); t_previous.nsec = t_previous.sec = t_previous.nsec = t_previous.sec = std::numeric_limits::signaling_NaN(); @@ -203,8 +210,18 @@ int main(int argc, char** argv) ROS_INFO("dz_dev_min : %f (default value)", dz_dev_min); } + double up_fact(0); + if (node.getParam("up_fact", up_fact)) + { + ROS_INFO("up_fact : %f" , up_fact); + } else { + node.setParam("up_fact", 1.5); + node.getParam("up_fact", up_fact); + ROS_INFO("up_fact : %f (default value)", up_fact); + } + ros::Publisher cmd_pub = node.advertise("/cmd_vel", 1); - Run run(cmd_pub, max_curv, plan_vel, z_vel, x_dev_min, y_dev_min, dz_dev_min, min_number); + Run run(cmd_pub, max_curv, plan_vel, z_vel, x_dev_min, y_dev_min, dz_dev_min, min_number, up_fact); ros::Subscriber plan_sub = node.subscribe("input", 1, &Run::callback, &run); run.run(); return 0;