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 | ||
|---|---|---|
| 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);
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|
| 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,
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| 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 |
{
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| 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; |
|
| 204 |
|
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| 205 |
unsigned int reading = 0; |
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| 206 |
do |
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| 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()) |
|
| 214 |
{
|
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| 215 |
return d; |
|
| 216 |
} |
|
| 217 |
|
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| 218 |
// Max range |
|
| 219 |
if (d > scoutsim::SONAR_MAX_RANGE) |
|
| 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 |
|
| 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); |
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| 228 |
|
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| 229 |
reading = rgb_to_grey(r, g, b); |
|
| 230 |
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| 231 |
d++; |
|
| 232 |
} |
|
| 233 |
while (reading < 128); |
|
| 234 |
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| 235 |
return d; |
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| 236 |
} |
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| 237 |
|
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| 238 |
void Scout::update_sonar(const wxImage& walls_image, int x, int y, |
|
| 239 |
double robot_theta) |
|
| 240 |
{
|
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| 241 |
// Only rotate the sonar at the correct rate. |
|
| 242 |
if (ros::Time::now() - last_sonar_time < sonar_tick_time) |
|
| 243 |
{
|
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| 244 |
return; |
|
| 245 |
} |
|
| 246 |
last_sonar_time = ros::Time::now(); |
|
| 247 |
|
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| 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 |
|
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| 253 |
// Publish |
|
| 254 |
sonar::sonar_distance msg; |
|
| 255 |
msg.pos = sonar_position; |
|
| 256 |
msg.distance0 = d_front; |
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| 257 |
msg.distance1 = d_back; |
|
| 258 |
|
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| 259 |
sonar_pub.publish(msg); |
|
| 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 |
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| 268 |
{
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| 269 |
sonar_direction = -sonar_direction; |
|
| 270 |
} |
|
| 271 |
} |
|
| 272 |
|
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| 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);
|
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| 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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