commit 221bc86dcea11899a583d7822984cff8b9ca1a5d Author: ros Date: Tue Nov 22 17:20:09 2022 +0100 first commit diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..a1720b8 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,208 @@ +cmake_minimum_required(VERSION 3.0.2) +project(ros_lab2) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + sensor_msgs + std_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# sensor_msgs# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES ros_lab2 +# CATKIN_DEPENDS roscpp sensor_msgs std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/ros_lab2.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/ros_lab2_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_ros_lab2.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) +add_executable(lab2 src/lab2.cpp) +target_link_libraries(lab2 ${catkin_LIBRARIES}) diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..2d50ac0 --- /dev/null +++ b/package.xml @@ -0,0 +1,68 @@ + + + ros_lab2 + 0.0.0 + The ros_lab2 package + + + + + ros + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + sensor_msgs + std_msgs + roscpp + sensor_msgs + std_msgs + roscpp + sensor_msgs + std_msgs + + + + + + + + diff --git a/src/lab2.cpp b/src/lab2.cpp new file mode 100644 index 0000000..ffbf59b --- /dev/null +++ b/src/lab2.cpp @@ -0,0 +1,133 @@ +/// This program takes the coordinates of the turtlesim robot as input +/// and outputs a velocity command as a Twist message. The velocity command +/// will be calculated so as to get the turtlesim robot to move to a goal +/// x coordinate that can be any number from 0 to 11. + +#include // Use for the absolute value method abs() +#include // Enables command line input and output + +#include "ros/ros.h" // Necessary header files for ROS +#include "geometry_msgs/Twist.h" // Twist messages (linear & angular velocity) +#include "geometry_msgs/Pose2D.h" // x, y position and theta orientation +#include "turtlesim/Pose.h" // x, y, theta, linear & angular velocity + +// Remove the need to use std:: prefix +using namespace std; + +// Key variable declarations +geometry_msgs::Twist velCommand; // Linear and angular velocity in m/s +geometry_msgs::Pose2D current; // Current x, y, and theta +geometry_msgs::Pose2D desired; // Desired x, y, and theta + +// Goal x-value, which can be any number from 0 to 11 (inclusive) +const double GOAL = 1.3; + +// The gain K, which is used to calculate the linear velocity +const double K_l = 1.0; + +// The distance threshold in meters that will determine when +// the turtlesim robot successfully reaches the goal. +const double distanceTolerance = 0.1; + +// Initialized variables and take care of other setup tasks +void setup() { + + // Desired x goal coordinate + desired.x = GOAL; + + // Initialize the Twist message. + // Initial linear and angular velocities are 0 m/s and rad/s, respectively. + velCommand.linear.x = 0.0; + velCommand.linear.y = 0.0; + velCommand.linear.z = 0.0; + velCommand.angular.x = 0.0; + velCommand.angular.y = 0.0; + velCommand.angular.z = 0.0; +} + +// Get the distance between the current x coordinate and +// the desired x coordinate. +double getDistanceToGoal() { + return desired.x - current.x; +} + +// If we haven't yet reached the goal, set the velocity value. +// Otherwise, stop the robot. +void setVelocity() { + if (abs(getDistanceToGoal()) > distanceTolerance) { + + // The magnitude of the robot's velocity is directly + // proportional to the distance the robot is from the + // goal. + velCommand.linear.x = K_l * getDistanceToGoal(); + } + else { + cout << "Goal has been reached!" << endl << endl; + velCommand.linear.x = 0; + } +} + +// This callback function updates the current position and +// orientation of the robot. +void updatePose(const turtlesim::PoseConstPtr ¤tPose) { + current.x = currentPose->x; + current.y = currentPose->y; + current.theta = currentPose->theta; +} + +int main(int argc, char **argv) { + + setup(); + + // Initiate ROS + ros::init(argc, argv, "go_to_goal_x"); + + // Create the main access point to communicate with ROS + ros::NodeHandle node; + + // Subscribe to the robot's pose + // Hold no messages in the queue. Automatically throw away + // any messages that are received that are not able to be + // processed quickly enough. + // Every time a new pose is received, update the robot's pose. + ros::Subscriber currentPoseSub = + node.subscribe("turtle1/pose", 0, updatePose); + + // Publish velocity commands to a topic. + // Hold no messages in the queue. Automatically throw away + // any messages that are received that are not able to be + // processed quickly enough. + ros::Publisher velocityPub = + node.advertise("turtle1/cmd_vel", 0); + + // Specify a frequency that want the while loop below to loop at + // In this case, we want to loop 10 cycles per second + ros::Rate loop_rate(10); + + // Keep running the while loop below as long as the ROS Master is active. + while (ros::ok()) { + + // Here is where we call the callbacks that need to be called. + ros::spinOnce(); + + // After we call the callback function to update the robot's pose, we + // set the velocity values for the robot. + setVelocity(); + + // Publish the velocity command to the ROS topic + velocityPub.publish(velCommand); + + // Print the output to the console + cout << "Current x = " << current.x << endl + << "Desired x = " << desired.x << endl + << "Distance to Goal = " << getDistanceToGoal() << " m" << endl + << "Linear Velocity (x) = " << velCommand.linear.x << " m/s" << endl + << endl; + + // Sleep as long as we need to to make sure that we have a frequency of + // 10Hz + loop_rate.sleep(); + } + + return 0; +}