Exemplo n.º 1
0
  int init(PhantomState *s)
  {
    if(!s)
    {
      ROS_FATAL("Internal error. PhantomState is NULL.");
      return -1;
    }

    node_ = ros::NodeHandlePtr(new ros::NodeHandle);
    pnode_ = ros::NodeHandlePtr(new ros::NodeHandle("~"));
    pnode_->param(std::string("tf_prefix"), tf_prefix_, std::string(""));

    // Vertical displacement from base_link to link_0. Defaults to Omni offset.
    pnode_->param(std::string("table_offset"), table_offset_, .135);

    // Force feedback damping coefficient
    pnode_->param(std::string("damping_k"), damping_k_, 0.001);

    // On startup device will generate forces to hold end-effector at origin.
    pnode_->param(std::string("locked"), locked_, false);

    // Check calibration status on start up and calibrate if necessary.
    pnode_->param(std::string("calibrate"), calibrate_, false);

    //Frame attached to the base of the phantom (NAME/base_link)
    base_link_name_ = "base_link";

    //Publish on NAME/pose
    std::string pose_topic_name = "pose";
    pose_publisher_ = node_->advertise<geometry_msgs::PoseStamped>(pose_topic_name, 100);

    //Publish button state on NAME/button
    std::string button_topic = "button";
    button_publisher_ = node_->advertise<sensable_phantom::PhantomButtonEvent>(button_topic, 100);

    //Subscribe to NAME/force_feedback
    std::string force_feedback_topic = "force_feedback";
    wrench_sub_ = node_->subscribe(force_feedback_topic, 100, &PhantomROS::wrench_callback, this);

    //Frame of force feedback (NAME/sensable_origin)
    sensable_frame_name_ = "sensable_origin";

    for (int i = 0; i < 7; i++)
    {
      std::ostringstream stream1;
      stream1 << "link_" << i;
      link_names_[i] = std::string(stream1.str());
    }

    state_ = s;
    state_->buttons[0] = 0;
    state_->buttons[1] = 0;
    state_->buttons_prev[0] = 0;
    state_->buttons_prev[1] = 0;
    hduVector3Dd zeros(0, 0, 0);
    state_->velocity = zeros;
    state_->inp_vel1 = zeros; //3x1 history of velocity
    state_->inp_vel2 = zeros; //3x1 history of velocity
    state_->inp_vel3 = zeros; //3x1 history of velocity
    state_->out_vel1 = zeros; //3x1 history of velocity
    state_->out_vel2 = zeros; //3x1 history of velocity
    state_->out_vel3 = zeros; //3x1 history of velocity
    state_->pos_hist1 = zeros; //3x1 history of position
    state_->pos_hist2 = zeros; //3x1 history of position
    state_->lock = locked_;
    state_->lock_pos = zeros;
    state_->hd_cur_transform = hduMatrix::createTranslation(0, 0, 0);

    return 0;
  }
  int init()
  {
    // Use global namespace for node
    node_ = ros::NodeHandlePtr(new ros::NodeHandle());
    // Get tf_prefix from global namespace
    node_->param("tf_prefix", tf_prefix_, std::string(""));

    // Use private namespace for parameters
    pnode_ = ros::NodeHandlePtr(new ros::NodeHandle("~"));
    pnode_->param("publish_rate", publish_rate_, PUBLISH_RATE);

    pnode_->param("fixed_frame_id", fixed_frame_id_, std::string("odom"));
    fixed_frame_id_ = tf::resolve(tf_prefix_, fixed_frame_id_);

    pnode_->param("publish_odom_tf", publish_odom_tf_, true);

    pnode_->param("crio/ip", crio_ip_, std::string("127.0.0.1"));
    pnode_->param("crio/command_port", crio_cmd_port_, std::string("39000"));
    pnode_->param("crio/state_port", crio_state_port_, std::string("39001"));
    pnode_->param("crio/socket_timeout", socket_timeout_, 10);

    VehicleKinematics::Parameters kin_params;
    tfScalar minimum_radius_outer;

    if (!pnode_->getParam("kinematics/frame_id", kin_params.frame_id))
    {
      ROS_WARN_STREAM(pnode_->getNamespace() << "/kinematics/frame_id parameter is not set");
    }
    else
    {
      kin_params.frame_id = tf::resolve(tf_prefix_, kin_params.frame_id);
    }

    if (!pnode_->getParam("kinematics/wheelbase", kin_params.wheelbase_length))
    {
      ROS_FATAL_STREAM(pnode_->getNamespace() << "/kinematics/wheelbase parameter is not set");
      return -1;
    }
    if (!pnode_->getParam("kinematics/track", kin_params.track_width))
    {
      ROS_FATAL_STREAM( pnode_->getNamespace() << "/kinematics/track parameter is not set");
      return -1;
    }
    if (!pnode_->getParam("kinematics/rotation_center", kin_params.rotation_center))
    {
      ROS_WARN_STREAM(
          pnode_->getNamespace()
          << "/kinematics/rotation_center parameter is not set. Using default: wheelbase/2 = "
          << kin_params.wheelbase_length / 2);
      kin_params.rotation_center = kin_params.wheelbase_length / 2;
    }
    if (!pnode_->getParam("kinematics/minimum_radius_outer", minimum_radius_outer))
    {
      ROS_FATAL_STREAM(pnode_->getNamespace() << "/kinematics/minimum_radius_outer parameter is not set");
      return -1;
    }
    else
    {
      kin_params.minimum_radius = minimum_radius_outer - kin_params.track_width / 2;
    }
    if (!pnode_->getParam("kinematics/steering_ratio", kin_params.steering_ratio))
    {
      ROS_FATAL_STREAM(pnode_->getNamespace() << "/kinematics/steering_ratio parameter is not set");
      return -1;
    }

//    kin_(2.7, 1.626, 1.35);
    kin_ = boost::make_shared<VehicleKinematics>(kin_params);

    sub_ = node_->subscribe<kut_ugv_msgs::MotionCommandStamped>("motion_command", 200,
                                                                &CompactRIOCommunicationNode::motionCommand, this);
    odom_pub_ = node_->advertise<nav_msgs::Odometry>("odom", 200);
    state_pub_ = node_->advertise<kut_ugv_vehicle::StateStamped>("state", 200);

    tf_br_ = boost::shared_ptr<tf::TransformBroadcaster>(new tf::TransformBroadcaster);

    timeout_ = boost::posix_time::seconds(socket_timeout_);
    send_ep_ = udp::endpoint(boost::asio::ip::address::from_string(crio_ip_), std::atoi(crio_cmd_port_.c_str()));
    receive_ep_ = udp::endpoint(udp::v4(), std::atoi(crio_state_port_.c_str()));

    socket_.open(udp::v4());

    deadline_.expires_at(boost::posix_time::pos_infin);
    this->deadlineCallback(deadline_, socket_);

    return 0;
  }
Exemplo n.º 3
0
	void init()
	{
		/*
		This is the initialize funtion to load configuration parameters from launch file
		*/
		// Ros Node
		node_ = ros::NodeHandlePtr(new ros::NodeHandle("~"));
			std::cout << "Starting with the following parameters:" << std::endl;
		// Settings
		node_->param(std::string("publish_rate"), publish_rate_, PUBLISH_RATE);
			std::cout << "\t" << "publish_rate = " << publish_rate_ << std::endl;
		node_->param(std::string("master1"), master1_, false);
					std::cout << "\t" << "master 1 = " << master1_ << std::endl;
		node_->param(std::string("master2"), master2_, false);
					std::cout << "\t" << "master 2 = " << master2_ << std::endl;
		node_->param(std::string("slave"), slave_, false);
					std::cout << "\t" << "slave = " << slave_ << std::endl;
		node_->param(std::string("popc_enable"), popc_enable_, false);
					std::cout << "\t" << "popc_enable = " << popc_enable_ << std::endl;
		// Time delay
		node_->param(std::string("time_delay"), time_delay_, TIME_DELAY);
			std::cout << "\t" << "time_delay = " << time_delay_ << std::endl;
		// Subscriber settings
		// actual velocity
		node_->param(std::string("actual_velocity_src_name"), actual_velocity_src_name_, std::string(""));
		if (!actual_velocity_src_name_.empty())
		{
			node_->param(std::string("actual_velocity_topic_name"), actual_velocity_topic_name_, std::string("velocity"));
			std::cout << "\t" << "actual_velocity_topic_name = " << actual_velocity_topic_name_ << std::endl;

			actual_velocity_sub_ = node_->subscribe<brl_teleop_msgs::Vel>(actual_velocity_src_name_ + std::string("/") +
					actual_velocity_topic_name_, 100,&controller::actualVelocityCallback,this);
		}
		// Velocity Master - Master
		node_->param(std::string("velocity_master_master_src_name"), velocity_master_master_src_name_, std::string(""));
		if(!velocity_master_master_src_name_.empty())
		{
			node_->param(std::string("velocity_master_master_topic_name"), velocity_master_master_topic_name_, std::string("velocity_master_master"));
			std::cout << "\t" << "velocity_master_master_topic_name = " << velocity_master_master_topic_name_ << std::endl;

			velocity_master_master_sub_ = node_->subscribe<brl_teleop_msgs::Package>(velocity_master_master_src_name_ + std::string("/") + velocity_master_master_topic_name_, 100,
								&controller::velocityMasterToMasterCallback,this);
		}
		// Force Master - Master
		node_->param(std::string("force_master_master_src_name"), force_master_master_src_name_, std::string(""));
		if(!force_master_master_src_name_.empty())
		{
			node_->param(std::string("force_master_master_topic_name"), force_master_master_topic_name_, std::string("force_master_master"));
			std::cout << "\t" << "force_master_master_topic_name = " << force_master_master_topic_name_ << std::endl;

			force_master_master_sub_ = node_->subscribe<brl_teleop_msgs::Package>(force_master_master_src_name_ + std::string("/") + force_master_master_topic_name_, 100,
								&controller::forceMasterToMasterCallback,this);
		}

		// Velocity Master1 - Slave
		node_->param(std::string("velocity_master1_slave_src_name"), velocity_master1_slave_src_name_, std::string(""));
		if(!velocity_master1_slave_src_name_.empty())
		{
			node_->param(std::string("velocity_master1_slave_topic_name"), velocity_master1_slave_topic_name_, std::string("velocity_master_slave"));
			std::cout << "\t" << "velocity_master1_slave_topic_name = " << velocity_master1_slave_topic_name_ << std::endl;

			velocity_master1_slave_sub_ = node_->subscribe<brl_teleop_msgs::Package>(velocity_master1_slave_src_name_ + std::string("/") + velocity_master1_slave_topic_name_, 100,
								&controller::velocityMaster1ToSlaveCallback,this);
		}
		// Velocity Master2 - Slave
		node_->param(std::string("velocity_master2_slave_src_name"), velocity_master2_slave_src_name_, std::string(""));
		if(!velocity_master2_slave_src_name_.empty())
		{
			node_->param(std::string("velocity_master2_slave_topic_name"), velocity_master2_slave_topic_name_, std::string("velocity_master_slave"));
			std::cout << "\t" << "velocity_master2_slave_topic_name = " << velocity_master2_slave_topic_name_ << std::endl;

			velocity_master2_slave_sub_ = node_->subscribe<brl_teleop_msgs::Package>(velocity_master2_slave_src_name_ + std::string("/") + velocity_master2_slave_topic_name_, 100,
								&controller::velocityMaster2ToSlaveCallback,this);
		}

		// Force Slave - Master
		node_->param(std::string("force_slave_master_src_name"), force_slave_master_src_name_, std::string(""));
		if(!force_slave_master_src_name_.empty())
		{
			node_->param(std::string("force_slave_master_topic_name"), force_slave_master_topic_name_, std::string("force_slave_master"));
			std::cout << "\t" << "force_slave_master_topic_name = " << force_slave_master_topic_name_ << std::endl;

			force_slave_master_sub_ = node_->subscribe<brl_teleop_msgs::Package>(force_slave_master_src_name_ + std::string("/") + force_slave_master_topic_name_, 100,
								&controller::forceSlaveToMasterCallback,this);
		}
		
		//PID
		node_->param(std::string("gains/P"), Kp_, 0.1);
		node_->param(std::string("gains/D"), Kd_, 0.01);

		std::cout << "\t" << "Gains = { P: " << Kp_ << ", D: " << Kd_ << "}" << std::endl;

		// Publishing settings
		velocity_master_master_pub_ = node_->advertise<brl_teleop_msgs::Package>("velocity_master_master", 100);
		velocity_master_slave_pub_ = node_->advertise<brl_teleop_msgs::Package>("velocity_master_slave", 100);
		
		force_master_master_pub_ = node_->advertise<brl_teleop_msgs::Package>("force_master_master", 100);
		force_slave_master1_pub_ = node_->advertise<brl_teleop_msgs::Package>("force_slave_master1", 100);
		force_slave_master2_pub_ = node_->advertise<brl_teleop_msgs::Package>("force_slave_master2", 100);
		
		force_popc_pub_ = node_->advertise<brl_teleop_msgs::Package>("force_popc", 100);
	}