Revision a2e6bd4c
Added sonar, though it looks buggy.
Use sonar_viz to continue debugging and make sonar work!
scout/scoutsim/CMakeLists.txt | ||
---|---|---|
36 | 36 |
#rosbuild_add_executable(turtle_teleop_key tutorials/teleop_turtle_key.cpp) |
37 | 37 |
#rosbuild_add_executable(draw_square tutorials/draw_square.cpp) |
38 | 38 |
#rosbuild_add_executable(mimic tutorials/mimic.cpp) |
39 |
rosbuild_add_executable(sonar_viz src/sonar_viz.cpp) |
|
39 | 40 |
rosbuild_add_executable(scout_teleop src/scout_teleop.cpp) |
40 | 41 |
rosbuild_add_executable(scout_teleop_userinput src/scout_teleop_userinput.cpp) |
scout/scoutsim/manifest.xml | ||
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16 | 16 |
<depend package="motors" /> |
17 | 17 |
<depend package="encoders" /> |
18 | 18 |
<depend package="linesensor" /> |
19 |
<depend package="sonar" /> |
|
19 | 20 |
<depend package="geometry_msgs" /> |
20 | 21 |
<depend package="messages"/> |
21 | 22 |
|
scout/scoutsim/src/scout.cpp | ||
---|---|---|
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; |
|
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,
|
|
182 |
unsigned char b)
|
|
188 |
unsigned int Scout::rgb_to_grey(unsigned char r,
|
|
189 |
unsigned char g, |
|
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 |
{ |
|
202 |
double angle = robot_theta + (180.0 * ((float) sonar_pos) / 24.0); |
|
203 |
unsigned int d = 0; |
|
204 |
|
|
205 |
unsigned int reading = 0; |
|
206 |
do |
|
207 |
{ |
|
208 |
int d_x = x + (int) floor(d * cos(angle)); |
|
209 |
int d_y = y + (int) floor(d * sin(angle)); |
|
210 |
|
|
211 |
// Out of image boundary |
|
212 |
if (d_x < 0 || d_x >= walls_image.GetWidth() || |
|
213 |
d_y < 0 || d_y >= walls_image.GetHeight()) |
|
214 |
{ |
|
215 |
return d; |
|
216 |
} |
|
217 |
|
|
218 |
// Max range |
|
219 |
if (d > scoutsim::SONAR_MAX_RANGE) |
|
220 |
{ |
|
221 |
return d; |
|
222 |
} |
|
223 |
|
|
224 |
// Get the sonar reading at the current position of the sonar |
|
225 |
unsigned char r = walls_image.GetRed(d_x, d_y); |
|
226 |
unsigned char g = walls_image.GetGreen(d_x, d_y); |
|
227 |
unsigned char b = walls_image.GetBlue(d_x, d_y); |
|
228 |
|
|
229 |
reading = rgb_to_grey(r, g, b); |
|
230 |
|
|
231 |
d++; |
|
232 |
} |
|
233 |
while (reading < 128); |
|
234 |
|
|
235 |
return d; |
|
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) |
|
243 |
{ |
|
244 |
return; |
|
245 |
} |
|
246 |
last_sonar_time = ros::Time::now(); |
|
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); |
|
252 |
|
|
253 |
// Publish |
|
254 |
sonar::sonar_distance msg; |
|
255 |
msg.pos = sonar_position; |
|
256 |
msg.distance0 = d_front; |
|
257 |
msg.distance1 = d_back; |
|
258 |
|
|
259 |
sonar_pub.publish(msg); |
|
260 |
|
|
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 |
{ |
scout/scoutsim/src/scout.h | ||
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55 | 55 |
#include <motors/set_motors.h> |
56 | 56 |
#include <encoders/query_encoders.h> |
57 | 57 |
#include <linesensor/query_linesensor.h> |
58 |
#include <sonar/sonar_distance.h> |
|
58 | 59 |
|
59 | 60 |
#include <scoutsim/Pose.h> |
60 | 61 |
#include <scoutsim/SetPen.h> |
... | ... | |
65 | 66 |
#include <wx/wx.h> |
66 | 67 |
|
67 | 68 |
#include "scoutsim_internal.h" |
68 |
|
|
69 |
//#include "scout_constants.h" |
|
69 |
#include "scout_constants.h" |
|
70 | 70 |
|
71 | 71 |
#define PI 3.14159265 |
72 | 72 |
|
... | ... | |
115 | 115 |
geometry_msgs::Pose2D update(double dt, wxMemoryDC& path_dc, |
116 | 116 |
const wxImage& path_image, |
117 | 117 |
const wxImage& lines_image, |
118 |
const wxImage& walls_image, |
|
118 | 119 |
wxColour background_color, |
119 | 120 |
world_state state); |
120 | 121 |
void paint(wxDC& dc); |
... | ... | |
128 | 129 |
encoders::query_encoders::Response&); |
129 | 130 |
bool query_linesensor_callback(linesensor::query_linesensor::Request&, |
130 | 131 |
linesensor::query_linesensor::Response&); |
131 |
unsigned int rgb_to_linesensor_val(unsigned char r, |
|
132 |
unsigned char g, |
|
133 |
unsigned char b); |
|
134 |
void update_linesensor(const wxImage& lines_image, int x, int y, double theta); |
|
132 |
unsigned int rgb_to_grey(unsigned char r, |
|
133 |
unsigned char g, |
|
134 |
unsigned char b); |
|
135 |
unsigned int trace_sonar(const wxImage& walls_image, int x, int y, |
|
136 |
double robot_theta, int sonar_pos); |
|
137 |
void update_sonar(const wxImage& walls_image, int x, int y, |
|
138 |
double robot_theta); |
|
139 |
void update_linesensor(const wxImage& lines_image, int x, int y, |
|
140 |
double theta); |
|
135 | 141 |
|
136 | 142 |
ros::NodeHandle node; |
137 | 143 |
|
... | ... | |
155 | 161 |
unsigned int bl_ticks; |
156 | 162 |
unsigned int br_ticks; |
157 | 163 |
|
164 |
int sonar_position; |
|
165 |
int sonar_stop_l; |
|
166 |
int sonar_stop_r; |
|
167 |
int sonar_direction; |
|
168 |
// The last time the sonar changed its position. |
|
169 |
ros::Time last_sonar_time; |
|
170 |
ros::Duration sonar_tick_time; |
|
171 |
|
|
158 | 172 |
// A vector of the 8 linesensor readings |
159 | 173 |
std::vector<unsigned int> linesensor_readings; |
160 | 174 |
|
... | ... | |
167 | 181 |
ros::Subscriber motors_sub; |
168 | 182 |
ros::Publisher pose_pub; |
169 | 183 |
ros::Publisher color_pub; |
184 |
ros::Publisher sonar_pub; |
|
170 | 185 |
ros::ServiceServer set_pen_srv; |
171 | 186 |
ros::ServiceServer query_encoders_srv; |
172 | 187 |
ros::ServiceServer query_linesensor_srv; |
scout/scoutsim/src/scout_constants.h | ||
---|---|---|
56 | 56 |
// Position of sonar relative to robot center |
57 | 57 |
const float SCOUT_SONAR_X = -0.01; |
58 | 58 |
const float SCOUT_SONAR_Y = 0.0; |
59 |
|
|
60 |
const unsigned int SONAR_MAX_RANGE = 255; |
|
61 |
// Time it takes for the sonar to spin from position 0 to position 23 |
|
62 |
const float SONAR_HALF_SPIN_TIME = 24.0; |
|
59 | 63 |
} |
scout/scoutsim/src/sim_frame.cpp | ||
---|---|---|
323 | 323 |
|
324 | 324 |
for (; it != end; ++it) |
325 | 325 |
{ |
326 |
it->second->update(0.016, path_dc, path_image, lines_image, |
|
326 |
it->second->update(0.016, path_dc, |
|
327 |
path_image, lines_image, walls_image, |
|
327 | 328 |
path_dc.GetBackground().GetColour(), |
328 | 329 |
state); |
329 | 330 |
} |
scout/scoutsim/src/sonar_viz.cpp | ||
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1 |
#include <iostream> |
|
2 |
#include <iomanip> |
|
3 |
|
|
4 |
#include <ros/ros.h> |
|
5 |
#include <sonar/sonar_distance.h> |
|
6 |
|
|
7 |
#include "scout_teleop.h" |
|
8 |
|
|
9 |
#define QUEUE_SIZE 10 |
|
10 |
|
|
11 |
using namespace std; |
|
12 |
|
|
13 |
vector<unsigned int> distances; |
|
14 |
|
|
15 |
void sonar_distance_callback(const sonar::sonar_distance::ConstPtr& msg) |
|
16 |
{ |
|
17 |
distances[msg->pos] = msg->distance0; |
|
18 |
distances[msg->pos + 24] = msg->distance1; |
|
19 |
|
|
20 |
cout << endl << endl << endl << "[ "; |
|
21 |
for (int i = 0; i < 48; i++) |
|
22 |
{ |
|
23 |
cout << setw(3) << distances[i] << " "; |
|
24 |
} |
|
25 |
cout << "]" << endl; |
|
26 |
} |
|
27 |
|
|
28 |
int main(int argc, char **argv) |
|
29 |
{ |
|
30 |
if (argc < 2) |
|
31 |
{ |
|
32 |
cout << "Usage: " << argv[0] << " <scout_name>" << endl; |
|
33 |
exit(1); |
|
34 |
} |
|
35 |
|
|
36 |
ros::init(argc, argv, "sonar_viz"); |
|
37 |
|
|
38 |
distances = vector<unsigned int>(48, 0); |
|
39 |
ros::NodeHandle n; |
|
40 |
|
|
41 |
string scoutname = argv[1]; |
|
42 |
ros::Subscriber sonar_distance_sub = n.subscribe(scoutname + "/sonar_distance", |
|
43 |
QUEUE_SIZE, |
|
44 |
sonar_distance_callback); |
|
45 |
|
|
46 |
ros::spin(); |
|
47 |
} |
scout/sonar/msg/sonar_distance.msg | ||
---|---|---|
5 | 5 |
int8 pos |
6 | 6 |
|
7 | 7 |
# Distance reading from the front sonar in mm |
8 |
int8 distance0 |
|
8 |
uint8 distance0
|
|
9 | 9 |
# Distance reading from the back sonar in mm |
10 |
int8 distance1 |
|
10 |
uint8 distance1 |
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