Revision a2e6bd4c
ID | a2e6bd4c826a26463a1cde2b2ed7e2c16ff43bdd |
Added sonar, though it looks buggy.
Use sonar_viz to continue debugging and make sonar work!
scout/scoutsim/src/scout.cpp | ||
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83 | 83 |
|
84 | 84 |
pose_pub = node.advertise<Pose>("pose", 1); |
85 | 85 |
color_pub = node.advertise<Color>("color_sensor", 1); |
86 |
sonar_pub = node.advertise<sonar::sonar_distance>("sonar_distance", 1); |
|
86 | 87 |
set_pen_srv = node.advertiseService("set_pen", |
87 | 88 |
&Scout::setPenCallback, |
88 | 89 |
this); |
... | ... | |
102 | 103 |
} |
103 | 104 |
|
104 | 105 |
meter = scout.GetHeight(); |
106 |
|
|
107 |
// Initialize sonar |
|
108 |
sonar_position = 0; |
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109 |
sonar_stop_l = 0; |
|
110 |
sonar_stop_r = 23; |
|
111 |
sonar_direction = 1; |
|
112 |
sonar_tick_time = ros::Duration(scoutsim::SONAR_HALF_SPIN_TIME / 24.0); |
|
105 | 113 |
} |
106 | 114 |
|
107 | 115 |
/** |
... | ... | |
177 | 185 |
} |
178 | 186 |
|
179 | 187 |
// Scale to linesensor value |
180 |
unsigned int Scout::rgb_to_linesensor_val(unsigned char r,
|
|
181 |
unsigned char g,
|
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182 |
unsigned char b)
|
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188 |
unsigned int Scout::rgb_to_grey(unsigned char r,
|
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unsigned char g, |
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190 |
unsigned char b) |
|
183 | 191 |
{ |
184 | 192 |
// Should be 0 to 255 |
185 | 193 |
unsigned int grey = ((unsigned int) r + (unsigned int) g + (unsigned int) b) / 3; |
... | ... | |
188 | 196 |
return 255 - grey; |
189 | 197 |
} |
190 | 198 |
|
191 |
void Scout::update_linesensor(const wxImage& lines_image, int x, int y, double theta) |
|
199 |
unsigned int Scout::trace_sonar(const wxImage& walls_image, int x, int y, |
|
200 |
double robot_theta, int sonar_pos) |
|
201 |
{ |
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202 |
double angle = robot_theta + (180.0 * ((float) sonar_pos) / 24.0); |
|
203 |
unsigned int d = 0; |
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204 |
|
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205 |
unsigned int reading = 0; |
|
206 |
do |
|
207 |
{ |
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208 |
int d_x = x + (int) floor(d * cos(angle)); |
|
209 |
int d_y = y + (int) floor(d * sin(angle)); |
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210 |
|
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211 |
// Out of image boundary |
|
212 |
if (d_x < 0 || d_x >= walls_image.GetWidth() || |
|
213 |
d_y < 0 || d_y >= walls_image.GetHeight()) |
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214 |
{ |
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215 |
return d; |
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216 |
} |
|
217 |
|
|
218 |
// Max range |
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219 |
if (d > scoutsim::SONAR_MAX_RANGE) |
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220 |
{ |
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221 |
return d; |
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222 |
} |
|
223 |
|
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224 |
// Get the sonar reading at the current position of the sonar |
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225 |
unsigned char r = walls_image.GetRed(d_x, d_y); |
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226 |
unsigned char g = walls_image.GetGreen(d_x, d_y); |
|
227 |
unsigned char b = walls_image.GetBlue(d_x, d_y); |
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228 |
|
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229 |
reading = rgb_to_grey(r, g, b); |
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230 |
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231 |
d++; |
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232 |
} |
|
233 |
while (reading < 128); |
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234 |
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235 |
return d; |
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236 |
} |
|
237 |
|
|
238 |
void Scout::update_sonar(const wxImage& walls_image, int x, int y, |
|
239 |
double robot_theta) |
|
240 |
{ |
|
241 |
// Only rotate the sonar at the correct rate. |
|
242 |
if (ros::Time::now() - last_sonar_time < sonar_tick_time) |
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243 |
{ |
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244 |
return; |
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245 |
} |
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246 |
last_sonar_time = ros::Time::now(); |
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247 |
|
|
248 |
unsigned int d_front = trace_sonar(walls_image, x, y, robot_theta, |
|
249 |
sonar_position); |
|
250 |
unsigned int d_back = trace_sonar(walls_image, x, y, robot_theta, |
|
251 |
sonar_position + 24); |
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252 |
|
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253 |
// Publish |
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254 |
sonar::sonar_distance msg; |
|
255 |
msg.pos = sonar_position; |
|
256 |
msg.distance0 = d_front; |
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257 |
msg.distance1 = d_back; |
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258 |
|
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259 |
sonar_pub.publish(msg); |
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260 |
|
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261 |
// Update the sonar rotation |
|
262 |
if (sonar_position + sonar_direction <= sonar_stop_r && |
|
263 |
sonar_position + sonar_direction >= sonar_stop_l) |
|
264 |
{ |
|
265 |
sonar_position = sonar_position + sonar_direction; |
|
266 |
} |
|
267 |
else |
|
268 |
{ |
|
269 |
sonar_direction = -sonar_direction; |
|
270 |
} |
|
271 |
} |
|
272 |
|
|
273 |
void Scout::update_linesensor(const wxImage& lines_image, int x, int y, |
|
274 |
double robot_theta) |
|
192 | 275 |
{ |
193 | 276 |
linesensor_readings.clear(); |
194 | 277 |
|
... | ... | |
197 | 280 |
{ |
198 | 281 |
double offset = -(scout_image.GetWidth() / 2) + s * spacing; |
199 | 282 |
|
200 |
int sensor_x = (int) (x - LNSNSR_D * cos(theta) - offset * sin(theta)); |
|
201 |
int sensor_y = (int) (y + LNSNSR_D * sin(theta) - offset * cos(theta)); |
|
283 |
int sensor_x = (int) (x - LNSNSR_D * cos(robot_theta) - |
|
284 |
offset * sin(robot_theta)); |
|
285 |
int sensor_y = (int) (y + LNSNSR_D * sin(robot_theta) - |
|
286 |
offset * cos(robot_theta)); |
|
202 | 287 |
|
203 | 288 |
unsigned char r = lines_image.GetRed(sensor_x, sensor_y); |
204 | 289 |
unsigned char g = lines_image.GetGreen(sensor_x, sensor_y); |
205 | 290 |
unsigned char b = lines_image.GetBlue(sensor_x, sensor_y); |
206 | 291 |
|
207 |
unsigned int reading = rgb_to_linesensor_val(r, g, b);
|
|
292 |
unsigned int reading = rgb_to_grey(r, g, b);
|
|
208 | 293 |
|
209 | 294 |
linesensor_readings.push_back(reading); |
210 | 295 |
} |
... | ... | |
215 | 300 |
geometry_msgs::Pose2D Scout::update(double dt, wxMemoryDC& path_dc, |
216 | 301 |
const wxImage& path_image, |
217 | 302 |
const wxImage& lines_image, |
303 |
const wxImage& walls_image, |
|
218 | 304 |
wxColour background_color, |
219 | 305 |
world_state state) |
220 | 306 |
{ |
... | ... | |
286 | 372 |
pose_pub.publish(p); |
287 | 373 |
|
288 | 374 |
update_linesensor(lines_image, canvas_x, canvas_y, p.theta); |
375 |
update_sonar(walls_image, |
|
376 |
canvas_x + scoutsim::SCOUT_SONAR_X, |
|
377 |
canvas_y + scoutsim::SCOUT_SONAR_Y, |
|
378 |
p.theta); |
|
289 | 379 |
|
290 | 380 |
// Figure out (and publish) the color underneath the scout |
291 | 381 |
{ |
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