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Genaro LOPEZ MARTINEZ 2022-11-22 17:20:09 +01:00
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CMakeLists.txt Normal file
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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})

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package.xml Normal file
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<?xml version="1.0"?>
<package format="2">
<name>ros_lab2</name>
<version>0.0.0</version>
<description>The ros_lab2 package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="ros@todo.todo">ros</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/ros_lab2</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>std_msgs</build_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>sensor_msgs</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>sensor_msgs</exec_depend>
<exec_depend>std_msgs</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>

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/// 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 <cstdlib> // Use for the absolute value method abs()
#include <iostream> // 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 &currentPose) {
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<geometry_msgs::Twist>("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;
}