From cf49f28c61bbd14aacdee033b11d1d4b06135094 Mon Sep 17 00:00:00 2001 From: "lucas.marais" Date: Mon, 25 Mar 2024 16:18:55 +0100 Subject: [PATCH] jkhgf --- .../src/ball_tracking/ball_tracking.launch | 3 + .../ball_tracking/ball_tracking_exp.launch | 20 ++ catkin_ws/src/ball_tracking/src/aruco_area.py | 83 +++++++- .../src/ball_tracking/src/ball_prediction.py | 58 +++++ catkin_ws/src/ball_tracking/src/dummy_sub.py | 25 +++ .../src/ball_tracking/src/paddle_action.py | 54 +++++ .../src/ball_tracking/src/polygon_tester.py | 72 +++++++ .../ball_tracking/src/prediction_monitor.py | 54 +++++ .../src/ball_tracking/src/tracker_aruco.py | 4 + catkin_ws/src/ball_tracking/src/trackernew.py | 95 --------- catkin_ws/src/joystick_ros/CMakeLists.txt | 5 +- catkin_ws/src/joystick_ros/package.xml | 3 + catkin_ws/src/poppy_ros/src/poppy_pong_iv.cpp | 198 +++++++++--------- 13 files changed, 467 insertions(+), 207 deletions(-) create mode 100644 catkin_ws/src/ball_tracking/ball_tracking_exp.launch create mode 100755 catkin_ws/src/ball_tracking/src/ball_prediction.py create mode 100755 catkin_ws/src/ball_tracking/src/dummy_sub.py create mode 100755 catkin_ws/src/ball_tracking/src/paddle_action.py create mode 100755 catkin_ws/src/ball_tracking/src/polygon_tester.py create mode 100755 catkin_ws/src/ball_tracking/src/prediction_monitor.py delete mode 100755 catkin_ws/src/ball_tracking/src/trackernew.py diff --git a/catkin_ws/src/ball_tracking/ball_tracking.launch b/catkin_ws/src/ball_tracking/ball_tracking.launch index e38f327..af5f54c 100644 --- a/catkin_ws/src/ball_tracking/ball_tracking.launch +++ b/catkin_ws/src/ball_tracking/ball_tracking.launch @@ -7,5 +7,8 @@ + + + diff --git a/catkin_ws/src/ball_tracking/ball_tracking_exp.launch b/catkin_ws/src/ball_tracking/ball_tracking_exp.launch new file mode 100644 index 0000000..2b68a67 --- /dev/null +++ b/catkin_ws/src/ball_tracking/ball_tracking_exp.launch @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/catkin_ws/src/ball_tracking/src/aruco_area.py b/catkin_ws/src/ball_tracking/src/aruco_area.py index 30de56b..176f6dc 100755 --- a/catkin_ws/src/ball_tracking/src/aruco_area.py +++ b/catkin_ws/src/ball_tracking/src/aruco_area.py @@ -3,6 +3,8 @@ import rospy from geometry_msgs.msg import Point from sensor_msgs.msg import Image +from visualization_msgs.msg import Marker +from std_msgs.msg import ColorRGBA import cv2 import cv2.aruco as aruco import numpy as np @@ -23,17 +25,49 @@ def find_polygon_centroid(centers): centroid_y = np.mean([center[1] for center in centers], axis=0) return centroid_x, centroid_y +def sort_points_clockwise(centers): + """Sort the points in a clockwise order based on their angles relative to the centroid.""" + if not centers: + return [] + + centroid = np.mean(centers, axis=0) + def angle_from_centroid(center): + return np.arctan2(center[1] - centroid[1], center[0] - centroid[0]) + sorted_centers = sorted(centers, key=angle_from_centroid) + return sorted_centers + +def calculate_side_averages(sorted_centers): + """Calculate the average of the x and y coordinates for all sides.""" + # Assuming the sorted centers are in clockwise order: top-left, top-right, bottom-right, bottom-left + right_average = np.mean([sorted_centers[1], sorted_centers[2]], axis=0) + left_average = np.mean([sorted_centers[0], sorted_centers[3]], axis=0) + top_average = np.mean([sorted_centers[0], sorted_centers[1]], axis=0) + bottom_average = np.mean([sorted_centers[2], sorted_centers[3]], axis=0) + return left_average, right_average, top_average, bottom_average + +def publish_side_points(left_average, right_average, top_average, bottom_average): + """Publish the average points for all sides with specified Z coordinates.""" + left_point = Point(x=left_average[0], y=left_average[1], z=1) # Z=1 for left + right_point = Point(x=right_average[0], y=right_average[1], z=2) # Z=2 for right + top_point = Point(x=top_average[0], y=top_average[1], z=3) # Z=3 for top + bottom_point = Point(x=bottom_average[0], y=bottom_average[1], z=4) # Z=4 for bottom + side_pub.publish(left_point) + side_pub.publish(right_point) + side_pub.publish(top_point) + side_pub.publish(bottom_point) + def image_callback(msg): - global pub + global pub, marker_pub, side_pub bridge = CvBridge() frame = bridge.imgmsg_to_cv2(msg, desired_encoding='bgr8') gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY) corners, ids, rejected = aruco.detectMarkers(gray, arucoDict) - if ids is not None and len(ids) == 4: # Ensure exactly four markers are detected + if ids is not None and len(ids) >= 4: # Adjust this condition based on your setup marker_centers = calculate_marker_centers(corners) - centerX, centerY = find_polygon_centroid(marker_centers) + sorted_centers = sort_points_clockwise(marker_centers) + centerX, centerY = find_polygon_centroid(sorted_centers) if centerX is not None and centerY is not None: origin = Point() @@ -42,25 +76,52 @@ def image_callback(msg): origin.z = 0 pub.publish(origin) - # Optional: Visualize the centroid for debugging + left_average, right_average, top_average, bottom_average = calculate_side_averages(sorted_centers) + publish_side_points(left_average - np.array([centerX, centerY]), + right_average - np.array([centerX, centerY]), + top_average - np.array([centerX, centerY]), + bottom_average - np.array([centerX, centerY])) + + # Publish the edges of the polygon + marker = Marker() + marker.header.frame_id = "camera_link" + marker.header.stamp = rospy.Time.now() + marker.ns = "polygon_edges" + marker.id = 0 + marker.type = Marker.LINE_STRIP + marker.action = Marker.ADD + marker.scale.x = 0.02 + marker.color = ColorRGBA(1.0, 0.0, 0.0, 1.0) + marker.lifetime = rospy.Duration() + + for center in sorted_centers: + p = Point() + p.x, p.y = center + p.z = 0 + marker.points.append(p) + if sorted_centers: + p = Point() + p.x, p.y = sorted_centers[0] + p.z = 0 + marker.points.append(p) + + marker_pub.publish(marker) + cv2.circle(frame, (int(centerX), int(centerY)), 5, (0, 255, 0), -1) - # Also, draw detected markers for visualization aruco.drawDetectedMarkers(frame, corners, ids) - # Display the frame with detected markers and the calculated centroid cv2.imshow('Frame', frame) cv2.waitKey(1) def main(): - global pub + global pub, marker_pub, side_pub, arucoDict rospy.init_node('aruco_origin_publisher', anonymous=True) pub = rospy.Publisher('/aruco_origin', Point, queue_size=10) - - # Initialize the ArUco dictionary - global arucoDict + marker_pub = rospy.Publisher('/polygon_edges', Marker, queue_size=10) + side_pub = rospy.Publisher('/LR_edge_centers', Point, queue_size=10) + arucoDict = aruco.getPredefinedDictionary(aruco.DICT_4X4_50) - # Subscribe to the camera_image topic rospy.Subscriber('camera_image', Image, image_callback) rospy.spin() diff --git a/catkin_ws/src/ball_tracking/src/ball_prediction.py b/catkin_ws/src/ball_tracking/src/ball_prediction.py new file mode 100755 index 0000000..97e07e1 --- /dev/null +++ b/catkin_ws/src/ball_tracking/src/ball_prediction.py @@ -0,0 +1,58 @@ +#!/usr/bin/env python3 + +import rospy +from geometry_msgs.msg import Point +from std_msgs.msg import Header +import numpy as np + +class BallMovementPredictor: + def __init__(self): + rospy.init_node('ball_movement_predictor', anonymous=True) + + self.ball_positions = [] + self.forecast_length = 5 # Predict the ball's position 5 steps into the future + + # Subscriber to the ball's current position + self.ball_sub = rospy.Subscriber('/ball_coordinates', Point, self.ball_callback) + + # Publisher for the ball's forecasted future position + self.forecast_pub = rospy.Publisher('/ball_forecast', Point, queue_size=10) + + def ball_callback(self, msg): + # Update the list of recent ball positions + self.ball_positions.append((msg.x, msg.y)) + + # Keep only the last N positions for prediction + if len(self.ball_positions) > 5: + self.ball_positions.pop(0) + + # Predict the ball's future position and publish it + forecasted_position = self.predict_future_position() + if forecasted_position is not None: + forecast_msg = Point(x=forecasted_position[0], y=forecasted_position[1], z=0) + self.forecast_pub.publish(forecast_msg) + + def predict_future_position(self): + if len(self.ball_positions) < 2: + return None # Not enough data to predict + + # Simple linear prediction based on the last two positions + x_positions, y_positions = zip(*self.ball_positions) + x_velocity = x_positions[-1] - x_positions[-2] + y_velocity = y_positions[-1] - y_positions[-2] + + forecasted_x = x_positions[-1] + x_velocity * self.forecast_length + forecasted_y = y_positions[-1] + y_velocity * self.forecast_length + + return (forecasted_x, forecasted_y) + + def run(self): + rospy.spin() + +if __name__ == '__main__': + try: + predictor = BallMovementPredictor() + predictor.run() + except rospy.ROSInterruptException: + pass + diff --git a/catkin_ws/src/ball_tracking/src/dummy_sub.py b/catkin_ws/src/ball_tracking/src/dummy_sub.py new file mode 100755 index 0000000..6b6bcf2 --- /dev/null +++ b/catkin_ws/src/ball_tracking/src/dummy_sub.py @@ -0,0 +1,25 @@ +#!/usr/bin/env python3 +import rospy +from geometry_msgs.msg import Point + +def callback(data): + """Callback function that is called when a message is received on the /trigger topic.""" + rospy.loginfo(f"Received point: (x: {data.x}, y: {data.y}, z: {data.z})") + +def listener(): + """Sets up the subscriber node.""" + # Initialize the node with the name 'point_subscriber' + rospy.init_node('PONG_PADDLES', anonymous=False) + + # Subscribe to the '/trigger' topic with the callback function + rospy.Subscriber("/trigger", Point, callback) + + # Keep the program alive until it is stopped with Ctrl+C + rospy.spin() + +if __name__ == '__main__': + try: + listener() + except rospy.ROSInterruptException: + pass + diff --git a/catkin_ws/src/ball_tracking/src/paddle_action.py b/catkin_ws/src/ball_tracking/src/paddle_action.py new file mode 100755 index 0000000..7241896 --- /dev/null +++ b/catkin_ws/src/ball_tracking/src/paddle_action.py @@ -0,0 +1,54 @@ +#!/usr/bin/env python3 + +import rospy +from geometry_msgs.msg import Point + +class BallEdgeTrigger: + def __init__(self): + rospy.init_node('ball_edge_trigger', anonymous=True) + + # Subscribers + self.ball_sub = rospy.Subscriber('/ball_coordinates', Point, self.ball_callback) + self.edge_sub = rospy.Subscriber('/LR_edge_centers', Point, self.edge_callback) + + # Publishers + self.trigger_pub = rospy.Publisher('/trigger', Point, queue_size=10) + # Additional publisher for /trigger_mm with modified coordinates + self.trigger_mm_pub = rospy.Publisher('/trigger_mm', Point, queue_size=10) + + # To store edge centers + self.edge_centers = [] # List to hold edge center points + + def edge_callback(self, msg): + # Store each edge center with its 'z' value indicating left or right + self.edge_centers.append(msg) + + def ball_callback(self, msg): + # Initialize a Point message with default values (Z=0 means no trigger) + trigger_point = Point(x=msg.x, y=msg.y, z=0) + # Prepare the modified Point message for /trigger_mm + trigger_mm_point = Point(x=msg.x * 0.04, y=msg.y * 0.028, z=0) + + for edge in self.edge_centers: + if abs(msg.x - edge.x) <= 20: + # Set Z to 1 if the ball is approaching the left edge (Z=1), or to 2 if approaching the right (Z=2) + trigger_point.z = edge.z + # Apply the same Z logic to the modified point for /trigger_mm + trigger_mm_point.z = edge.z + break # Stop checking after the first trigger condition is met + + # Publish the original trigger Point message + self.trigger_pub.publish(trigger_point) + # Publish the modified trigger Point message on /trigger_mm + self.trigger_mm_pub.publish(trigger_mm_point) + + def run(self): + rospy.spin() + +if __name__ == '__main__': + try: + trigger_node = BallEdgeTrigger() + trigger_node.run() + except rospy.ROSInterruptException: + pass + diff --git a/catkin_ws/src/ball_tracking/src/polygon_tester.py b/catkin_ws/src/ball_tracking/src/polygon_tester.py new file mode 100755 index 0000000..fa2766c --- /dev/null +++ b/catkin_ws/src/ball_tracking/src/polygon_tester.py @@ -0,0 +1,72 @@ +#!/usr/bin/env python3 + +import rospy +from sensor_msgs.msg import Image +from geometry_msgs.msg import Point +from visualization_msgs.msg import Marker +from cv_bridge import CvBridge, CvBridgeError +import cv2 +import numpy as np + +class ArucoVisualizer: + def __init__(self): + self.bridge = CvBridge() + self.image_sub = rospy.Subscriber('/camera_image', Image, self.image_callback) + self.origin_sub = rospy.Subscriber('/aruco_origin', Point, self.origin_callback) + self.edges_sub = rospy.Subscriber('/polygon_edges', Marker, self.edges_callback) + + self.current_frame = None + self.origin_point = None + self.edge_points = [] + + def origin_callback(self, data): + """Callback function for the origin point.""" + self.origin_point = (int(data.x), int(data.y)) + + def edges_callback(self, data): + """Callback function for the polygon edges.""" + self.edge_points = [] + if data.type == Marker.LINE_STRIP: + for p in data.points: + self.edge_points.append((int(p.x), int(p.y))) + + def image_callback(self, data): + """Callback function for camera image.""" + try: + cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8") + self.current_frame = cv_image + self.draw_visuals() + except CvBridgeError as e: + print(e) + + def draw_visuals(self): + """Draw the origin point and polygon edges on the current frame.""" + if self.current_frame is not None: + frame = self.current_frame.copy() + # Draw the origin + if self.origin_point is not None: + cv2.circle(frame, self.origin_point, 5, (0, 255, 0), -1) + + # Draw the edges + if len(self.edge_points) > 1: + for i in range(len(self.edge_points) - 1): + cv2.line(frame, self.edge_points[i], self.edge_points[i + 1], (0, 0, 255), 2) + # Optionally, close the polygon + cv2.line(frame, self.edge_points[-1], self.edge_points[0], (0, 0, 255), 2) + + # Display the frame + cv2.imshow('Aruco Visualizer', frame) + cv2.waitKey(1) + +def main(): + rospy.init_node('aruco_visualizer', anonymous=True) + av = ArucoVisualizer() + try: + rospy.spin() + except KeyboardInterrupt: + print("Shutting down") + cv2.destroyAllWindows() + +if __name__ == '__main__': + main() + diff --git a/catkin_ws/src/ball_tracking/src/prediction_monitor.py b/catkin_ws/src/ball_tracking/src/prediction_monitor.py new file mode 100755 index 0000000..e92dcea --- /dev/null +++ b/catkin_ws/src/ball_tracking/src/prediction_monitor.py @@ -0,0 +1,54 @@ +#!/usr/bin/env python3 + +import rospy +import cv2 +from cv_bridge import CvBridge +from sensor_msgs.msg import Image +from geometry_msgs.msg import Point + +class BallPredictionVisualizer: + def __init__(self): + rospy.init_node('ball_prediction_visualizer', anonymous=True) + + self.bridge = CvBridge() + self.forecasted_position_aruco = None + self.aruco_origin = None + + self.image_sub = rospy.Subscriber('/camera_image', Image, self.image_callback) + self.forecast_sub = rospy.Subscriber('/ball_forecast', Point, self.forecast_callback) + self.origin_sub = rospy.Subscriber('/aruco_origin', Point, self.origin_callback) + + def forecast_callback(self, msg): + self.forecasted_position_aruco = (int(msg.x), int(msg.y)) + + def origin_callback(self, msg): + self.aruco_origin = (int(msg.x), int(msg.y)) + + def image_callback(self, msg): + cv_image = self.bridge.imgmsg_to_cv2(msg, "bgr8") + + if self.aruco_origin: + # Draw the ArUco origin for verification + cv2.circle(cv_image, self.aruco_origin, 10, (0, 255, 0), -1) # Green dot for the origin + + if self.forecasted_position_aruco and self.aruco_origin: + # Adjust for the origin and possibly invert the y-axis + adjusted_position = ( + self.forecasted_position_aruco[0] + self.aruco_origin[0], + self.forecasted_position_aruco[1] + self.aruco_origin[1] + ) + cv2.circle(cv_image, adjusted_position, 10, (0, 0, 255), -1) # Red dot for the predicted position + + cv2.imshow("Ball Prediction", cv_image) + cv2.waitKey(1) + + def run(self): + rospy.spin() + +if __name__ == '__main__': + try: + visualizer = BallPredictionVisualizer() + visualizer.run() + except rospy.ROSInterruptException: + cv2.destroyAllWindows() + diff --git a/catkin_ws/src/ball_tracking/src/tracker_aruco.py b/catkin_ws/src/ball_tracking/src/tracker_aruco.py index 0eda697..f8714e4 100755 --- a/catkin_ws/src/ball_tracking/src/tracker_aruco.py +++ b/catkin_ws/src/ball_tracking/src/tracker_aruco.py @@ -50,9 +50,12 @@ def image_callback(msg): adjusted_x = x - origin[0] adjusted_y = y - origin[1] ball_point = Point(x=adjusted_x, y=adjusted_y, z=0) + ball_point_mm = Point(x=adjusted_x*0.04, y=adjusted_y*0.028, z=0) else: ball_point = Point(x=x, y=y, z=0) + ball_point_mm = Point(x=x*0.04, y=y*0.028, z=0) coord_pub.publish(ball_point) + coord_pub_mm.publish(ball_point_mm) # Display the frames for debugging cv2.imshow('frame', frame) @@ -71,6 +74,7 @@ rospy.Subscriber('camera_image', Image, image_callback) # ROS Publisher for the ball coordinates coord_pub = rospy.Publisher('/ball_coordinates', Point, queue_size=10) +coord_pub_mm = rospy.Publisher('/ball_coordinates_mm', Point, queue_size=10) # Trackbars setup for HSV thresholding cv2.namedWindow('settings') diff --git a/catkin_ws/src/ball_tracking/src/trackernew.py b/catkin_ws/src/ball_tracking/src/trackernew.py deleted file mode 100755 index b8fb5b4..0000000 --- a/catkin_ws/src/ball_tracking/src/trackernew.py +++ /dev/null @@ -1,95 +0,0 @@ -#!/usr/bin/env python3 - -import rospy -from geometry_msgs.msg import Point -import cv2 -import numpy as np - -def nothing(x): - pass - -# Initialize the ROS node -rospy.init_node('ball_tracking_node', anonymous=True) - -# Create a ROS publisher for the ball's coordinates -coord_pub = rospy.Publisher('/ball_coordinates', Point, queue_size=10) - -# Create a window for the trackbars -cv2.namedWindow('settings') - -# Create trackbars for adjusting the HSV range -cv2.createTrackbar('Lower-H', 'settings', 0, 179, nothing) -cv2.createTrackbar('Lower-S', 'settings', 100, 255, nothing) -cv2.createTrackbar('Lower-V', 'settings', 100, 255, nothing) -cv2.createTrackbar('Upper-H', 'settings', 22, 179, nothing) -cv2.createTrackbar('Upper-S', 'settings', 255, 255, nothing) -cv2.createTrackbar('Upper-V', 'settings', 255, 255, nothing) - -# Attempt to open the video capture -cap = cv2.VideoCapture(0) - -# Check if the camera opened successfully -if not cap.isOpened(): - print("Error: Could not open camera.") - exit() - -while not rospy.is_shutdown(): - # Capture frame-by-frame - ret, frame = cap.read() - if not ret: - print("Can't receive frame (stream end?). Exiting ...") - break - - # Convert the captured frame to HSV - hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV) - - # Get the current positions of the trackbars - lh = cv2.getTrackbarPos('Lower-H', 'settings') - ls = cv2.getTrackbarPos('Lower-S', 'settings') - lv = cv2.getTrackbarPos('Lower-V', 'settings') - uh = cv2.getTrackbarPos('Upper-H', 'settings') - us = cv2.getTrackbarPos('Upper-S', 'settings') - uv = cv2.getTrackbarPos('Upper-V', 'settings') - - # Define the HSV range for the orange color - lower_orange = np.array([lh, ls, lv]) - upper_orange = np.array([uh, us, uv]) - - # Threshold the HSV image to only get the orange colors - mask = cv2.inRange(hsv, lower_orange, upper_orange) - res = cv2.bitwise_and(frame, frame, mask=mask) - - # Find contours in the mask - contours, _ = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE) - center = None - - if contours: - # Find the largest contour in the mask - c = max(contours, key=cv2.contourArea) - ((x, y), radius) = cv2.minEnclosingCircle(c) - - if radius > 10: # Minimum radius threshold - # Draw the circle and centroid on the frame - cv2.circle(frame, (int(x), int(y)), int(radius), (0, 255, 255), 2) - center = (int(x), int(y)) - cv2.circle(frame, center, 5, (0, 0, 255), -1) - - # Publish the ball's coordinates - point_msg = Point() - point_msg.x = x - point_msg.y = y - point_msg.z = 0 # Z-coordinate is not applicable here - coord_pub.publish(point_msg) - - # Display the original and the result - cv2.imshow('frame', frame) - cv2.imshow('mask', mask) - cv2.imshow('res', res) - - if cv2.waitKey(1) & 0xFF == 27: # ESC key to break - break - -# When everything done, release the capture and destroy all windows -cap.release() -cv2.destroyAllWindows() -#Minabebis :3 diff --git a/catkin_ws/src/joystick_ros/CMakeLists.txt b/catkin_ws/src/joystick_ros/CMakeLists.txt index ccf6adc..747d608 100644 --- a/catkin_ws/src/joystick_ros/CMakeLists.txt +++ b/catkin_ws/src/joystick_ros/CMakeLists.txt @@ -11,6 +11,7 @@ find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs + serial ) ## System dependencies are found with CMake's conventions @@ -105,7 +106,7 @@ find_package(catkin REQUIRED COMPONENTS catkin_package( # INCLUDE_DIRS include # LIBRARIES joystick_ros -# CATKIN_DEPENDS roscpp rospy std_msgs + CATKIN_DEPENDS roscpp rospy std_msgs serial # DEPENDS system_lib ) @@ -146,7 +147,7 @@ add_executable(position_ctrl src/position_ctrl.cpp) ## Add cmake target dependencies of the executable ## same as for the library above # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) -target_link_libraries(readSerial ${catkin_LIBRARIES}) +target_link_libraries(readSerial serial ${catkin_LIBRARIES}) target_link_libraries(parser ${catkin_LIBRARIES}) target_link_libraries(position_ctrl ${catkin_LIBRARIES}) ## Specify libraries to link a library or executable target against diff --git a/catkin_ws/src/joystick_ros/package.xml b/catkin_ws/src/joystick_ros/package.xml index 834b245..6f78a1b 100644 --- a/catkin_ws/src/joystick_ros/package.xml +++ b/catkin_ws/src/joystick_ros/package.xml @@ -52,12 +52,15 @@ roscpp rospy std_msgs + serial roscpp rospy std_msgs + serial roscpp rospy std_msgs + serial diff --git a/catkin_ws/src/poppy_ros/src/poppy_pong_iv.cpp b/catkin_ws/src/poppy_ros/src/poppy_pong_iv.cpp index bd48a76..cb439ba 100644 --- a/catkin_ws/src/poppy_ros/src/poppy_pong_iv.cpp +++ b/catkin_ws/src/poppy_ros/src/poppy_pong_iv.cpp @@ -1,99 +1,99 @@ -#include "ros/ros.h" -#include "geometry_msgs/Twist.h" -#include "geometry_msgs/Point.h" -#include -#include -#include -#include // Inclure la bibliothèque std::array pour déclarer des tableaux statiques -#include // Inclure la bibliothèque cmath pour atan2 - -// Global variables -float _fps = 10.0f; // Hz - -int _nbJoints = 6; -float _minJointCmd = 0; -float _maxJointCmd = 1023; -float _minJointAngle = -180.0f; -float _maxJointAngle = 180.0f; -float L1 = 65; -float L2 = 55; -float angleBase = 100; -ros::Publisher _jointPositionPublisher; - - - - -float get_q2(float x, float y) -{ - float q2; // Déclarer un tableau statique de 2 éléments de type float - q2 = acos((x * x + y * y - L1 * L1 - L2 * L2) / (2 * L1 * L2)); - - return q2; -} - - -float get_q1(float x, float y) -{ - float q1; - float q2 = get_q2(x, y); - - q1 = atan2(y, x) - atan2(L2 * sin(q2), L1 + L2 * cos(q2)); - - return q1; -} - -void posCMDCallback(const geometry_msgs::Point& joint_pos) -{ - if (sqrt(pow(joint_pos.x, 2) + pow(joint_pos.y, 2)) <= 120) - { - geometry_msgs::Twist joint_cmd; - float q1 = get_q1(joint_pos.x, joint_pos.y); - float q2 = get_q2(joint_pos.x, joint_pos.y); - // stores them into a msg - joint_cmd.linear.x = q1*(180.0f/3.141592f); - joint_cmd.linear.y = angleBase; - joint_cmd.linear.z = q2*(180.0f/3.141592f); - joint_cmd.angular.x = (-q1-q2)*(180.0f/3.141592f); - - - // publish the Twist message to the joint_position topic - _jointPositionPublisher.publish(joint_cmd); - } -} - -int main(int argc, char** argv) -{ - //ros::init(argc, argv, "autopilot"); - // create a node called poppy_ros - ros::init(argc, argv, "poppy_ik"); - - // create a node handle - ros::NodeHandle nh; - - // create a publisher to joint_position topic - _jointPositionPublisher = nh.advertise("joint_cmd", 1); - //create a subscriber - ros::Subscriber sub = nh.subscribe("position_cmd",1, posCMDCallback); - - // create a loop rate - ros::Rate loopRate(_fps); - - - - - ROS_INFO("===Launching Poppy node==="); - - // loop until Ctrl+C is pressed or ROS connectivity issues - while(ros::ok()) - { - - // spin once to let the process handle callback ad key stroke - ros::spinOnce(); - - // sleep the right amout of time to comply with _fps - loopRate.sleep(); - } - - - return 0; -} +#include "ros/ros.h" +#include "geometry_msgs/Twist.h" +#include "geometry_msgs/Point.h" +#include +#include +#include +#include // Inclure la bibliothèque std::array pour déclarer des tableaux statiques +#include // Inclure la bibliothèque cmath pour atan2 + +// Global variables +float _fps = 10.0f; // Hz +int _nbJoints = 6; +float _minJointCmd = 0; +float _maxJointCmd = 1023; +float _minJointAngle = -180.0f; +float _maxJointAngle = 180.0f; +float L1 = 65; +float L2 = 55; +float angleBase = 100; +bool hitting_need = false; +ros::Publisher _jointPositionPublisher; + +float get_q2(float x, float y) +{ + float q2; // Déclarer un tableau statique de 2 éléments de type float + q2 = acos((x * x + y * y - L1 * L1 - L2 * L2) / (2 * L1 * L2)); + + return q2; +} + +float get_q1(float x, float y) +{ + float q1; + float q2 = get_q2(x, y); + + q1 = atan2(y, x) - atan2(L2 * sin(q2), L1 + L2 * cos(q2)); + + return q1; +} + +void posCMDCallback(const geometry_msgs::Point& joint_pos) +{ + if (sqrt(pow(joint_pos.x, 2) + pow(joint_pos.y, 2)) <= 120) + { + if (hitting_need == true) + { + joint_pos.x += 20; + joint_pos.y += 20; + } + geometry_msgs::Twist joint_cmd; + float q1 = get_q1(joint_pos.x, joint_pos.y); + float q2 = get_q2(joint_pos.x, joint_pos.y); + // stores them into a msg + joint_cmd.linear.x = q1*(180.0f/3.141592f); + joint_cmd.linear.y = angleBase; + joint_cmd.linear.z = q2*(180.0f/3.141592f); + joint_cmd.angular.x = (-q1-q2)*(180.0f/3.141592f); // end-effector orientation + + // publish the Twist message to the joint_position topic + _jointPositionPublisher.publish(joint_cmd); + } +} + +void hittingCommand(const geometry_msgs::Point& trigger_signal) { + hitting_need = true; +} + +int main(int argc, char** argv) +{ + // create a node called poppy_ik + ros::init(argc, argv, "poppy_ik"); + + // create a node handle + ros::NodeHandle nh; + + // create a publisher to joint_cmd topic + _jointPositionPublisher = nh.advertise("joint_cmd", 1); + // create a subscriber to position_cmd + ros::Subscriber sub = nh.subscribe("position_cmd", 1, posCMDCallback); + ros::Subscriber sub_trigger = nh.subscribe("trigger", 1, hittingCommand); + + // create a loop rate + ros::Rate loopRate(_fps); + + + ROS_INFO("===Launching Poppy node==="); + + // loop until Ctrl+C is pressed or ROS connectivity issues + while(ros::ok()) + { + // spin once to let the process handle callback ad key stroke + ros::spinOnce(); + + // sleep the right amout of time to comply with _fps + loopRate.sleep(); + } + + return 0; +}