2019-03-20 16:38:43 +00:00
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#!/usr/bin/env python
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PACKAGE = "detect_targets"
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from dynamic_reconfigure.parameter_generator_catkin import *
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gen = ParameterGenerator()
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gen.add("camera_angle", double_t, 0, "The angle corresponding to the image width", 80, 50, 180)
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gen.add("target_width", double_t, 0, "the real target width (m)", 1, 0.01, 1.5)
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gen.add("target_depth", double_t, 0, "the real target depth (m)", .2, 0.01, 0.5)
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gen.add("distance_to_target", double_t, 0, "The required distance to the target (m)", 2, 1, 5)
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2019-03-29 16:06:03 +00:00
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gen.add("max_speed", double_t, 0, "the maximal linear speed", .3, .01, 3)
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gen.add("max_acceleration", double_t, 0, "the maximal linear speed", .3, .01, 3)
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2019-05-24 11:13:28 +00:00
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gen.add("sample_time", double_t, 0, "the sample time in seconds", 0, .01, 3)
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gen.add("double_loop", bool_t, 0, "Enable double loop", True)
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2019-03-20 16:38:43 +00:00
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2019-03-22 15:59:55 +00:00
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gen.add("speed_linear_x_Kp", double_t, 0, "linear.x controller Kp", .01, 0, 2)
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gen.add("speed_linear_x_Ki", double_t, 0, "linear.x controller Ki", .01, 0, 2)
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gen.add("speed_linear_x_Kd", double_t, 0, "linear.x controller Kd", .01, 0, 2)
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2019-03-20 16:38:43 +00:00
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gen.add("linear_x_Kp", double_t, 0, "linear.x controller Kp", .01, 0, 1)
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gen.add("linear_x_Ki", double_t, 0, "linear.x controller Ki", .01, 0, 1)
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gen.add("linear_x_Kd", double_t, 0, "linear.x controller Kd", .01, 0, 1)
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gen.add("control_linear_x", bool_t, 0, "Control distance to target", True)
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2019-03-29 16:06:03 +00:00
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gen.add("speed_corrector_x", double_t, 0, "Distance from which the speed corrector is disabled", .1, 0, 3)
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2019-03-20 16:38:43 +00:00
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2019-03-22 15:59:55 +00:00
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gen.add("speed_linear_y_Kp", double_t, 0, "linear.y controller Kp", .01, 0, 2)
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gen.add("speed_linear_y_Ki", double_t, 0, "linear.y controller Ki", .01, 0, 2)
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gen.add("speed_linear_y_Kd", double_t, 0, "linear.y controller Kd", .01, 0, 2)
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2019-03-20 16:38:43 +00:00
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gen.add("linear_y_Kp", double_t, 0, "linear.y controller Kp", .01, 0, 1)
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gen.add("linear_y_Ki", double_t, 0, "linear.y controller Ki", .01, 0, 1)
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gen.add("linear_y_Kd", double_t, 0, "linear.y controller Kd", .01, 0, 1)
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gen.add("control_linear_y", bool_t, 0, "Controls the facing to target", True)
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2019-03-29 16:06:03 +00:00
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gen.add("speed_corrector_y", double_t, 0, "Distance from which the speed corrector is disabled", .1, 0, 3)
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2019-03-20 16:38:43 +00:00
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2019-03-22 14:58:24 +00:00
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gen.add("linear_z_Kp", double_t, 0, "linear.z controller Kp", .01, 0, 10)
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gen.add("linear_z_Ki", double_t, 0, "linear.z controller Ki", .01, 0, 10)
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gen.add("linear_z_Kd", double_t, 0, "linear.z controller Kd", .01, 0, 10)
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2019-03-20 16:38:43 +00:00
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gen.add("control_linear_z", bool_t, 0, "Controls the facing to target", True)
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2019-03-22 14:58:24 +00:00
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gen.add("angular_z_Kp", double_t, 0, "angular.z controller Kp", .01, 0, 10)
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gen.add("angular_z_Ki", double_t, 0, "angular.z controller Ki", .01, 0, 10)
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gen.add("angular_z_Kd", double_t, 0, "angular.z controller Kd", .01, 0, 10)
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2019-03-20 16:38:43 +00:00
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gen.add("control_angular_z", bool_t, 0, "Controls the facing to target", True)
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exit(gen.generate(PACKAGE, "detect_targets", "TriangleParam"))
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