From bd1dc4235435ec4e39dd395608add8eeb3fd4007 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Mon, 11 Sep 2017 23:11:35 +0300 Subject: [PATCH 001/121] first commit --- README.md | 1 + 1 file changed, 1 insertion(+) create mode 100644 README.md diff --git a/README.md b/README.md new file mode 100644 index 00000000..df54dbe3 --- /dev/null +++ b/README.md @@ -0,0 +1 @@ +# clever_bundle From 00f227ad8a879b7a772578535f2bc44a8e546c6d Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Mon, 11 Sep 2017 23:28:14 +0300 Subject: [PATCH 002/121] Update README.md --- README.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/README.md b/README.md index df54dbe3..6a0ce923 100644 --- a/README.md +++ b/README.md @@ -1 +1,3 @@ # clever_bundle + +Здесь будет великая вещь. From 901cc27776fe3397c1bc83cc036eb5dc34d45fc3 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Mon, 11 Sep 2017 23:55:41 +0300 Subject: [PATCH 003/121] Add marker_navigator --- .gitmodules | 3 +++ marker_navigator | 1 + 2 files changed, 4 insertions(+) create mode 100644 .gitmodules create mode 160000 marker_navigator diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 00000000..10e27f0e --- /dev/null +++ b/.gitmodules @@ -0,0 +1,3 @@ +[submodule "marker_navigator"] + path = marker_navigator + url = https://github.com/CopterExpress/marker_navigator.git diff --git a/marker_navigator b/marker_navigator new file mode 160000 index 00000000..33881d8a --- /dev/null +++ b/marker_navigator @@ -0,0 +1 @@ +Subproject commit 33881d8a1a51a586d606650d8d13192a33bc2f1e From 261339374804d566ee91c8a86b780d9e41d0bfbb Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Mon, 11 Sep 2017 23:59:03 +0300 Subject: [PATCH 004/121] clever_suite --- clever_suite/readme.md | 1 + 1 file changed, 1 insertion(+) create mode 100644 clever_suite/readme.md diff --git a/clever_suite/readme.md b/clever_suite/readme.md new file mode 100644 index 00000000..00b6627a --- /dev/null +++ b/clever_suite/readme.md @@ -0,0 +1 @@ +Мета-пакет со всеми ROS-зависимостями From d0f2dda58b52832fe26788e03f916fbd8c43ad5b Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 7 Nov 2017 15:35:53 +0300 Subject: [PATCH 005/121] Add some deploy files + readme --- README.md | 33 ++++++++++++++++++++++++++++++++- clever_suite/readme.md | 1 - deploy/clever.service | 11 +++++++++++ deploy/roscore.env | 10 ++++++++++ deploy/roscore.service | 11 +++++++++++ 5 files changed, 64 insertions(+), 2 deletions(-) delete mode 100644 clever_suite/readme.md create mode 100644 deploy/clever.service create mode 100644 deploy/roscore.env create mode 100644 deploy/roscore.service diff --git a/README.md b/README.md index 6a0ce923..747773f3 100644 --- a/README.md +++ b/README.md @@ -1,3 +1,34 @@ # clever_bundle -Здесь будет великая вещь. +Пакет программ и библиотек для Клевера. + +Установка +--------- + +Склонировать репозиторий в папку `/home/pi/catkin_ws/src/clever` (**важно**): + +```bash +cd ~/catkin_ws/src +git clone https://github.com/CopterExpress/clever_bundle.git clever +``` + +Пересобрать ROS-пакеты: + +```bash +cd ~/catkin_ws +catkin_make -j1 +``` + +Включить сервис roscore (если он не включен): + +```bash +sudo systemctl enable catkin_ws/src/clever/deploy/roscore.service +sudo systemctl start roscore +``` + +Включить сервис clever: + +```bash +sudo systemctl enable catkin_ws/src/clever/deploy/clever.service +sudo systemctl start clever +``` diff --git a/clever_suite/readme.md b/clever_suite/readme.md deleted file mode 100644 index 00b6627a..00000000 --- a/clever_suite/readme.md +++ /dev/null @@ -1 +0,0 @@ -Мета-пакет со всеми ROS-зависимостями diff --git a/deploy/clever.service b/deploy/clever.service new file mode 100644 index 00000000..460ed405 --- /dev/null +++ b/deploy/clever.service @@ -0,0 +1,11 @@ +[Unit] +Description=Launcher for the ROS master, parameter server and rosout logging node +After=network.target + +[Service] +EnvironmentFile=/home/pi/catkin_ws/src/clever/deploy/roscore.env +ExecStart=/opt/ros/kinetic/bin/roslaunch clever clever.launch +Restart=on-abort + +[Install] +WantedBy=multi-user.target diff --git a/deploy/roscore.env b/deploy/roscore.env new file mode 100644 index 00000000..f794e05b --- /dev/null +++ b/deploy/roscore.env @@ -0,0 +1,10 @@ +ROS_ROOT=/opt/ros/kinetic/share/ros +ROS_DISTRO=kinetic +ROS_PACKAGE_PATH=/home/pi/catkin_ws/src:/opt/ros/kinetic/share +ROS_PORT=11311 +ROS_MASTER_URI=http://localhost:11311 +CMAKE_PREFIX_PATH=/home/pi/catkin_ws/devel:/opt/ros/kinetic +PATH=/opt/ros/kinetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin +LD_LIBRARY_PATH=/opt/ros/kinetic/lib +PYTHONPATH=/home/pi/catkin_ws/devel/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages +ROS_IP=192.168.11.1 \ No newline at end of file diff --git a/deploy/roscore.service b/deploy/roscore.service new file mode 100644 index 00000000..56f949ac --- /dev/null +++ b/deploy/roscore.service @@ -0,0 +1,11 @@ +[Unit] +Description=Launcher for the ROS master, parameter server and rosout logging node +After=network.target + +[Service] +EnvironmentFile=/home/pi/catkin_ws/src/clever/deploy/roscore.env +ExecStart=/opt/ros/kinetic/bin/roscore +Restart=on-abort + +[Install] +WantedBy=multi-user.target From dfebf7e4e28b8348ede395dc9b8ba82df07f6420 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 7 Nov 2017 15:36:25 +0300 Subject: [PATCH 006/121] Launch-file for the bottom camera --- clever/camera_info/fisheye_cam.yaml | 20 ++++++++++++++++++++ clever/launch/bottom_camera.launch | 14 ++++++++++++++ 2 files changed, 34 insertions(+) create mode 100644 clever/camera_info/fisheye_cam.yaml create mode 100644 clever/launch/bottom_camera.launch diff --git a/clever/camera_info/fisheye_cam.yaml b/clever/camera_info/fisheye_cam.yaml new file mode 100644 index 00000000..55946f2c --- /dev/null +++ b/clever/camera_info/fisheye_cam.yaml @@ -0,0 +1,20 @@ +image_width: 2592 +image_height: 1944 +distortion_model: pinhole +camera_name: raspicam +camera_matrix: + rows: 3 + cols: 3 + data: [1.34689524e+03, 0., 1.30767920e+03, 0., 1.35094361e+03, 9.60238450e+02, 0.0e+00, 0.0e+00, 1.0] +distortion_coefficients: + rows: 1 + cols: 8 + data: [1.11718277e+00, 4.70912345e-01, -2.16258281e-04, 1.71516924e-04, 2.32202095e-02, 1.46837794e+00, 7.92173021e-01, 1.19647684e-01] +rectification_matrix: + rows: 3 + cols: 3 + data: [1, 0, 0, 0, 1, 0, 0, 0, 1] +projection_matrix: + rows: 3 + cols: 4 + data: [1.34689524e+03, 0., 1.30767920e+03, 0., 0., 1.35094361e+03, 9.60238450e+02, 0., 0., 0., 1., 0.] diff --git a/clever/launch/bottom_camera.launch b/clever/launch/bottom_camera.launch new file mode 100644 index 00000000..26f4fc5c --- /dev/null +++ b/clever/launch/bottom_camera.launch @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + From 6d1f215de2957b0af3b8d4dfab36c3fd6a89ccb0 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 7 Nov 2017 15:37:03 +0300 Subject: [PATCH 007/121] clever ros-package --- clever/CMakeLists.txt | 195 ++++++++++++++++++++++++++++++++++++++++++ clever/package.xml | 50 +++++++++++ 2 files changed, 245 insertions(+) create mode 100644 clever/CMakeLists.txt create mode 100644 clever/package.xml diff --git a/clever/CMakeLists.txt b/clever/CMakeLists.txt new file mode 100644 index 00000000..b3cb2aba --- /dev/null +++ b/clever/CMakeLists.txt @@ -0,0 +1,195 @@ +cmake_minimum_required(VERSION 2.8.3) +project(clever) + +## 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) + +## 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 run_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 run_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 +# std_msgs # Or other packages containing 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 run_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 you 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 clever +# CATKIN_DEPENDS other_catkin_pkg +# 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/${PROJECT_NAME}/clever.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/clever_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 +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${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_clever.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) diff --git a/clever/package.xml b/clever/package.xml new file mode 100644 index 00000000..b41ce0f3 --- /dev/null +++ b/clever/package.xml @@ -0,0 +1,50 @@ + + + clever + 0.0.1 + The clever package + + + + + Oleg Kalachev + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + + + + + + + From 13a6efc4db996d93ef63faee67ddf5361bd389c7 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 7 Nov 2017 15:37:54 +0300 Subject: [PATCH 008/121] Launch-file for mavros and copter visualization node --- clever/launch/copter_visualization.launch | 12 +++++++++++ clever/launch/mavros.launch | 25 +++++++++++++++++++++++ 2 files changed, 37 insertions(+) create mode 100644 clever/launch/copter_visualization.launch create mode 100644 clever/launch/mavros.launch diff --git a/clever/launch/copter_visualization.launch b/clever/launch/copter_visualization.launch new file mode 100644 index 00000000..24006baf --- /dev/null +++ b/clever/launch/copter_visualization.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/clever/launch/mavros.launch b/clever/launch/mavros.launch new file mode 100644 index 00000000..0e84e0ba --- /dev/null +++ b/clever/launch/mavros.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + From fe624b7f5963d69bc6826c1b3845644ce14a5344 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 7 Nov 2017 15:38:25 +0300 Subject: [PATCH 009/121] Simple web-server node for serving Clever interface --- clever/launch/web_server.launch | 5 +++++ clever/requirements.txt | 1 + clever/src/web_server.py | 28 ++++++++++++++++++++++++++++ 3 files changed, 34 insertions(+) create mode 100644 clever/launch/web_server.launch create mode 100644 clever/requirements.txt create mode 100644 clever/src/web_server.py diff --git a/clever/launch/web_server.launch b/clever/launch/web_server.launch new file mode 100644 index 00000000..9d8944ac --- /dev/null +++ b/clever/launch/web_server.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/clever/requirements.txt b/clever/requirements.txt new file mode 100644 index 00000000..484d3c57 --- /dev/null +++ b/clever/requirements.txt @@ -0,0 +1 @@ +flask==0.12.2 diff --git a/clever/src/web_server.py b/clever/src/web_server.py new file mode 100644 index 00000000..d035ac4b --- /dev/null +++ b/clever/src/web_server.py @@ -0,0 +1,28 @@ +#!/usr/bin/env python + +import rospy +from flask import Flask, send_from_directory, send_file + + +rospy.init_node('web_server', disable_signals=True) + + +port = rospy.get_param('~port', 8080) +host = rospy.get_param('~host', '0.0.0.0') +serve_path = rospy.get_param('~path') +app = Flask(__name__) + + +@app.route('/') +def serve_index(): + return send_from_directory(serve_path, 'index.html') + + +@app.route('/') +def serve_static(path): + print serve_path, path + return send_from_directory(serve_path, path) + + +rospy.loginfo('Serving on %s:%s', host, port) +app.run(host=host, port=port, threaded=True) From 29dc58a6ca2054d1d7637c3fa019e4d37bed7b64 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 7 Nov 2017 15:39:41 +0300 Subject: [PATCH 010/121] +x for web_server.py --- clever/src/web_server.py | 0 1 file changed, 0 insertions(+), 0 deletions(-) mode change 100644 => 100755 clever/src/web_server.py diff --git a/clever/src/web_server.py b/clever/src/web_server.py old mode 100644 new mode 100755 From 258ebe76848468c3d82b7e0624621193d8ecd763 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 7 Nov 2017 15:41:57 +0300 Subject: [PATCH 011/121] Common launch-file for Clever --- clever/launch/clever.launch | 32 ++++++++++++++++++++++++++++++++ 1 file changed, 32 insertions(+) create mode 100644 clever/launch/clever.launch diff --git a/clever/launch/clever.launch b/clever/launch/clever.launch new file mode 100644 index 00000000..42e538d7 --- /dev/null +++ b/clever/launch/clever.launch @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 421f766a94724b8afead562279598fc94472a98a Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 7 Nov 2017 16:04:24 +0300 Subject: [PATCH 012/121] Describe ROS-requirements in readme --- README.md | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) diff --git a/README.md b/README.md index 747773f3..1caf379d 100644 --- a/README.md +++ b/README.md @@ -32,3 +32,19 @@ sudo systemctl start roscore sudo systemctl enable catkin_ws/src/clever/deploy/clever.service sudo systemctl start clever ``` + +Зависимости +----------- + +Необходимые для работы ROS-пакеты: + +* `mavros` +* `rosbridge_suite` +* `web_video_server` +* `cv_camera` +* `nodelet` +* `dynamic_reconfigure` +* `bondcpp`, ветка `master` +* `roslint` + +TODO: внести в package.xml From 9526f1aeaf66f4e86364d965fd0eb7e88e3302f2 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 7 Nov 2017 20:32:52 +0300 Subject: [PATCH 013/121] Enable vizualisation by defult --- clever/launch/clever.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clever/launch/clever.launch b/clever/launch/clever.launch index 42e538d7..3a0ee366 100644 --- a/clever/launch/clever.launch +++ b/clever/launch/clever.launch @@ -1,7 +1,7 @@ - + From 4c69963593e8aabe9e6184b2f0acf9f4a75f2769 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 7 Nov 2017 20:33:14 +0300 Subject: [PATCH 014/121] clever.service requires roscore --- deploy/clever.service | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/deploy/clever.service b/deploy/clever.service index 460ed405..b0de6020 100644 --- a/deploy/clever.service +++ b/deploy/clever.service @@ -1,6 +1,7 @@ [Unit] Description=Launcher for the ROS master, parameter server and rosout logging node -After=network.target +Requires=roscore +After=roscore [Service] EnvironmentFile=/home/pi/catkin_ws/src/clever/deploy/roscore.env From 9b8f422d0f776a17f554b87dc15b95e6a6b0c65b Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 7 Nov 2017 22:21:41 +0300 Subject: [PATCH 015/121] Wait for roscore master in clever service file + some fixes --- deploy/clever.service | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/deploy/clever.service b/deploy/clever.service index b0de6020..4939ed29 100644 --- a/deploy/clever.service +++ b/deploy/clever.service @@ -1,11 +1,11 @@ [Unit] -Description=Launcher for the ROS master, parameter server and rosout logging node -Requires=roscore +Description=Clever ROS package +Requires=roscore.service After=roscore [Service] EnvironmentFile=/home/pi/catkin_ws/src/clever/deploy/roscore.env -ExecStart=/opt/ros/kinetic/bin/roslaunch clever clever.launch +ExecStart=/opt/ros/kinetic/bin/roslaunch clever clever.launch --wait Restart=on-abort [Install] From c38d2e62a88b2b8182116c38bc5195360dadc469 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 8 Nov 2017 01:19:03 +0300 Subject: [PATCH 016/121] Remove marker_navigator for a while --- marker_navigator | 1 - 1 file changed, 1 deletion(-) delete mode 160000 marker_navigator diff --git a/marker_navigator b/marker_navigator deleted file mode 160000 index 33881d8a..00000000 --- a/marker_navigator +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 33881d8a1a51a586d606650d8d13192a33bc2f1e From 5c470bd8709be99b07b7fc16acef8d0e7dbf9060 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 8 Nov 2017 01:20:21 +0300 Subject: [PATCH 017/121] Fix --- deploy/clever.service | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/deploy/clever.service b/deploy/clever.service index 4939ed29..282ab0af 100644 --- a/deploy/clever.service +++ b/deploy/clever.service @@ -1,7 +1,7 @@ [Unit] Description=Clever ROS package Requires=roscore.service -After=roscore +After=roscore.service [Service] EnvironmentFile=/home/pi/catkin_ws/src/clever/deploy/roscore.env From b26cf3d3ecb616af60f2ffefafedf8a890235ed5 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 15 Nov 2017 19:02:29 +0300 Subject: [PATCH 018/121] Add launching FPV camera to the launch-file --- clever/launch/clever.launch | 7 +++++++ clever/launch/fpv_camera.launch | 6 ++++++ clever/src/fpv_camera | 8 ++++++++ 3 files changed, 21 insertions(+) create mode 100644 clever/launch/fpv_camera.launch create mode 100644 clever/src/fpv_camera diff --git a/clever/launch/clever.launch b/clever/launch/clever.launch index 3a0ee366..272619ce 100644 --- a/clever/launch/clever.launch +++ b/clever/launch/clever.launch @@ -6,6 +6,8 @@ + + @@ -29,4 +31,9 @@ + + + + + diff --git a/clever/launch/fpv_camera.launch b/clever/launch/fpv_camera.launch new file mode 100644 index 00000000..359ef14f --- /dev/null +++ b/clever/launch/fpv_camera.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/clever/src/fpv_camera b/clever/src/fpv_camera new file mode 100644 index 00000000..832b7059 --- /dev/null +++ b/clever/src/fpv_camera @@ -0,0 +1,8 @@ +#!/usr/bin/env bash + +# Usage +# fpv_camera + +echo "Starting FPV camera $1 on :$2" +cd /home/pi/mjpg-streamer/mjpg-streamer-experimental +./mjpg_streamer -i "./input_uvc.so -d $1 -r 1024x720 -f 30" -o "./output_http.so -w ./www -p $2" From e47b8c10ecd1c0cb60983ce644207a597d80f179 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 15 Nov 2017 19:02:37 +0300 Subject: [PATCH 019/121] =?UTF-8?q?Change=20default=20web=20server?= =?UTF-8?q?=E2=80=99s=20port=20to=207070?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- clever/src/web_server.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clever/src/web_server.py b/clever/src/web_server.py index d035ac4b..4ea47451 100755 --- a/clever/src/web_server.py +++ b/clever/src/web_server.py @@ -7,7 +7,7 @@ from flask import Flask, send_from_directory, send_file rospy.init_node('web_server', disable_signals=True) -port = rospy.get_param('~port', 8080) +port = rospy.get_param('~port', 7070) host = rospy.get_param('~host', '0.0.0.0') serve_path = rospy.get_param('~path') app = Flask(__name__) From f06e59e6ad6b675ebd67f9cc7cac9f42741357b4 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 15 Nov 2017 19:02:43 +0300 Subject: [PATCH 020/121] Comment --- clever/launch/clever.launch | 1 + 1 file changed, 1 insertion(+) diff --git a/clever/launch/clever.launch b/clever/launch/clever.launch index 272619ce..8a6f1cab 100644 --- a/clever/launch/clever.launch +++ b/clever/launch/clever.launch @@ -27,6 +27,7 @@ + From b8d57b8b423268c7dfb0e5885467ba86fa45ad9f Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 15 Nov 2017 22:02:12 +0300 Subject: [PATCH 021/121] Arudino-bridge launch file --- README.md | 1 + clever/launch/arduino.launch | 9 +++++++++ clever/launch/clever.launch | 4 ++++ 3 files changed, 14 insertions(+) create mode 100644 clever/launch/arduino.launch diff --git a/README.md b/README.md index 1caf379d..a8f8878a 100644 --- a/README.md +++ b/README.md @@ -46,5 +46,6 @@ sudo systemctl start clever * `dynamic_reconfigure` * `bondcpp`, ветка `master` * `roslint` +* `rosserial` TODO: внести в package.xml diff --git a/clever/launch/arduino.launch b/clever/launch/arduino.launch new file mode 100644 index 00000000..6ddddf9e --- /dev/null +++ b/clever/launch/arduino.launch @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/clever/launch/clever.launch b/clever/launch/clever.launch index 8a6f1cab..ac5921db 100644 --- a/clever/launch/clever.launch +++ b/clever/launch/clever.launch @@ -8,6 +8,7 @@ + @@ -37,4 +38,7 @@ + + + From 0ae0f6a9b8d577bcb5037a592b0c96b1b5ecf018 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 16 Nov 2017 22:04:06 +0300 Subject: [PATCH 022/121] gcs_bridge clever launch file argument: tcp or udp --- clever/launch/clever.launch | 4 ++-- clever/launch/mavros.launch | 6 +++--- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/clever/launch/clever.launch b/clever/launch/clever.launch index ac5921db..f57be01b 100644 --- a/clever/launch/clever.launch +++ b/clever/launch/clever.launch @@ -1,6 +1,6 @@ - + @@ -13,7 +13,7 @@ - + diff --git a/clever/launch/mavros.launch b/clever/launch/mavros.launch index 0e84e0ba..03cc583e 100644 --- a/clever/launch/mavros.launch +++ b/clever/launch/mavros.launch @@ -1,6 +1,6 @@ - + @@ -10,8 +10,8 @@ - - + + From 06d8fef66876b4ef9843befc0b8eba74bc053cc1 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 16 Nov 2017 22:04:20 +0300 Subject: [PATCH 023/121] Lower default fpv camera resolution --- clever/src/fpv_camera | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clever/src/fpv_camera b/clever/src/fpv_camera index 832b7059..7ca4981d 100644 --- a/clever/src/fpv_camera +++ b/clever/src/fpv_camera @@ -5,4 +5,4 @@ echo "Starting FPV camera $1 on :$2" cd /home/pi/mjpg-streamer/mjpg-streamer-experimental -./mjpg_streamer -i "./input_uvc.so -d $1 -r 1024x720 -f 30" -o "./output_http.so -w ./www -p $2" +./mjpg_streamer -i "./input_uvc.so -d $1 -r 320x240 -f 30" -o "./output_http.so -w ./www -p $2" From 76e020d16244a69f2570a8586d657e26f7865230 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 17 Nov 2017 01:44:26 +0300 Subject: [PATCH 024/121] Clever Arduino bundle generator + clever_arduino.tar.gz (first version) --- deploy/clever_arudino.tar.gz | Bin 0 -> 164791 bytes deploy/generate_ros_lib | 9 +++++++++ 2 files changed, 9 insertions(+) create mode 100644 deploy/clever_arudino.tar.gz create mode 100644 deploy/generate_ros_lib diff --git a/deploy/clever_arudino.tar.gz b/deploy/clever_arudino.tar.gz new file mode 100644 index 0000000000000000000000000000000000000000..f3b0de39177dac453f4c134bfd5765dc442fe37c GIT binary patch literal 164791 zcmZ^~Wl$Vl)HRA*a0w9H-60U1;O_435Zv9}-QC@t5S-vag9UdP+@?RC?|pCGKllDw 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z&T;;R6BF2-fqKMx{(M5OMxaM757^3#sbXIIgsKyaR6W)}TYeK`$z3PPHhc`PBYrGm z$~aUC`d=Z5BUCbu?0d4d)4V+Huz%~n8|t4kcWasWkgbKmGqMOblL&>2Fp+k>rtz6K zGfZ0ws8|WoNbHi=i4uf6xFacc*JxD%gjG%)aiN%-MiYD*jR+z^64^st0^^R10%*0- z92c-ON8g#Bs)!7i5p|2wCw@OupoRl@z3W|&eWs_A^u3I&btJy|)w?-fPP;KV2q2br zpA>iVy9LoT0@MK4B*VOeUogNPQD@1$4n(0*eU4FY@p-TDrt-Rs83UuPi5cdmS@r@s z>HDq%GCQ{0%YlovA^DOqfpWcEh%vf_GFOISHCF_A|39yu-Ww1!Dp#~8L_R6R{{pJw BBZL3| literal 0 HcmV?d00001 diff --git a/deploy/generate_ros_lib b/deploy/generate_ros_lib new file mode 100644 index 00000000..b72c5602 --- /dev/null +++ b/deploy/generate_ros_lib @@ -0,0 +1,9 @@ +#!/usr/bin/env bash + +# This script generates ros_lib library for Arduino for using with rosseial_arduino: +# http://wiki.ros.org/rosserial_arduino/Tutorials +# https://copterexpress.gitbooks.io/clever/content/docs/arduino.html + +rm -rf ros_lib +rosrun rosserial_arduino make_libraries.py . +tar czf clever_arudino.tar.gz ros_lib From dbaa8bdf8813c3797733cc9f0f964be5e5ed6d15 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 17 Nov 2017 05:23:02 +0300 Subject: [PATCH 025/121] =?UTF-8?q?=E2=80=98udp=E2=80=99=20fcu=5Fconn=20in?= =?UTF-8?q?=20mavros=20launch-file?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- clever/launch/clever.launch | 2 ++ clever/launch/mavros.launch | 4 ++++ 2 files changed, 6 insertions(+) diff --git a/clever/launch/clever.launch b/clever/launch/clever.launch index f57be01b..011db8e4 100644 --- a/clever/launch/clever.launch +++ b/clever/launch/clever.launch @@ -1,5 +1,6 @@ + @@ -13,6 +14,7 @@ + diff --git a/clever/launch/mavros.launch b/clever/launch/mavros.launch index 03cc583e..2eb2d1b3 100644 --- a/clever/launch/mavros.launch +++ b/clever/launch/mavros.launch @@ -1,5 +1,6 @@ + @@ -10,6 +11,9 @@ + + + From 870bc8ba43679273ea8ce491165932d7e6f97593 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 17 Nov 2017 05:24:43 +0300 Subject: [PATCH 026/121] ros_lib folder to .gitignore --- .gitignore | 1 + 1 file changed, 1 insertion(+) create mode 100644 .gitignore diff --git a/.gitignore b/.gitignore new file mode 100644 index 00000000..dbe405b7 --- /dev/null +++ b/.gitignore @@ -0,0 +1 @@ +/deploy/ros_lib/ From 75f70c0150fa02eb9e86833a9a5f1f28a016fce2 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 17 Nov 2017 05:42:12 +0300 Subject: [PATCH 027/121] Link to Clever book --- README.md | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/README.md b/README.md index a8f8878a..4c1165a0 100644 --- a/README.md +++ b/README.md @@ -2,6 +2,11 @@ Пакет программ и библиотек для Клевера. +Основная документация +--------------------- + +https://copterexpress.gitbooks.io/clever/content/ + Установка --------- From e5c5352ff84957814650400951c4245ceb402aa3 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 17 Nov 2017 05:42:40 +0300 Subject: [PATCH 028/121] Fix in readme --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 4c1165a0..bc11787a 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,4 @@ -# clever_bundle +# Clever Пакет программ и библиотек для Клевера. From e7249f86e76492407d2cfe1cb2c65a216424598c Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 17 Nov 2017 16:46:28 +0300 Subject: [PATCH 029/121] New version of simple_offboard node --- clever/CMakeLists.txt | 33 ++- clever/launch/clever.launch | 4 +- clever/requirements.txt | 1 + clever/src/global_local.py | 36 +++ clever/src/simple_offboard.py | 301 ++++++++++++++++++++++++ clever/src/util.py | 28 +++ clever/srv/SetAttitude.srv | 9 + clever/srv/SetAttitudeYawRate.srv | 7 + clever/srv/SetPosition.srv | 9 + clever/srv/SetPositionGlobal.srv | 9 + clever/srv/SetPositionGlobalYawRate.srv | 9 + clever/srv/SetPositionYawRate.srv | 9 + clever/srv/SetRates.srv | 7 + clever/srv/SetRatesYaw.srv | 9 + clever/srv/SetVelocity.srv | 9 + clever/srv/SetVelocityYawRate.srv | 9 + 16 files changed, 477 insertions(+), 12 deletions(-) create mode 100644 clever/src/global_local.py create mode 100644 clever/src/simple_offboard.py create mode 100644 clever/src/util.py create mode 100644 clever/srv/SetAttitude.srv create mode 100644 clever/srv/SetAttitudeYawRate.srv create mode 100644 clever/srv/SetPosition.srv create mode 100644 clever/srv/SetPositionGlobal.srv create mode 100644 clever/srv/SetPositionGlobalYawRate.srv create mode 100644 clever/srv/SetPositionYawRate.srv create mode 100644 clever/srv/SetRates.srv create mode 100644 clever/srv/SetRatesYaw.srv create mode 100644 clever/srv/SetVelocity.srv create mode 100644 clever/srv/SetVelocityYawRate.srv diff --git a/clever/CMakeLists.txt b/clever/CMakeLists.txt index b3cb2aba..c13ff221 100644 --- a/clever/CMakeLists.txt +++ b/clever/CMakeLists.txt @@ -7,7 +7,12 @@ project(clever) ## 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) +find_package(catkin REQUIRED COMPONENTS + rospy + std_msgs + message_generation +) + ## System dependencies are found with CMake's conventions # find_package(Boost REQUIRED COMPONENTS system) @@ -50,11 +55,19 @@ find_package(catkin REQUIRED) # ) ## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) +add_service_files( + FILES + SetPosition.srv + SetPositionYawRate.srv + SetPositionGlobal.srv + SetPositionGlobalYawRate.srv + SetVelocity.srv + SetVelocityYawRate.srv + SetAttitude.srv + SetAttitudeYawRate.srv + SetRatesYaw.srv + SetRates.srv +) ## Generate actions in the 'action' folder # add_action_files( @@ -64,10 +77,10 @@ find_package(catkin REQUIRED) # ) ## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# std_msgs # Or other packages containing msgs -# ) +generate_messages( + DEPENDENCIES + std_msgs # Or other packages containing msgs +) ################################################ ## Declare ROS dynamic reconfigure parameters ## diff --git a/clever/launch/clever.launch b/clever/launch/clever.launch index 011db8e4..94ba7954 100644 --- a/clever/launch/clever.launch +++ b/clever/launch/clever.launch @@ -27,8 +27,8 @@ - - + + diff --git a/clever/requirements.txt b/clever/requirements.txt index 484d3c57..6cb6a548 100644 --- a/clever/requirements.txt +++ b/clever/requirements.txt @@ -1 +1,2 @@ flask==0.12.2 +geopy==1.11.0 diff --git a/clever/src/global_local.py b/clever/src/global_local.py new file mode 100644 index 00000000..a4f8f047 --- /dev/null +++ b/clever/src/global_local.py @@ -0,0 +1,36 @@ +import rospy +import math +import geopy +from geometry_msgs.msg import PoseStamped +from geopy.distance import VincentyDistance, vincenty +from sensor_msgs.msg import NavSatFix + + +def global_to_local(lat, lon): + # TODO: refactor + + position_global = rospy.wait_for_message('mavros/global_position/global', NavSatFix, timeout=5) + pose = rospy.wait_for_message('mavros/local_position/pose', PoseStamped, timeout=5) + + d = math.hypot(pose.pose.position.x, pose.pose.position.y) + + bearing = math.degrees(math.atan2(-pose.pose.position.x, -pose.pose.position.y)) + if bearing < 0: + bearing += 360 + + cur = geopy.Point(position_global.latitude, position_global.longitude) + origin = VincentyDistance(meters=d).destination(cur, bearing) + + _origin = origin.latitude, origin.longitude + olat_tlon = origin.latitude, lon + tlat_olon = lat, origin.longitude + + N = vincenty(_origin, tlat_olon) + if lat < origin.latitude: + N = -N + + E = vincenty(_origin, olat_tlon) + if lon < origin.longitude: + E = -E + + return E.meters, N.meters diff --git a/clever/src/simple_offboard.py b/clever/src/simple_offboard.py new file mode 100644 index 00000000..c091c068 --- /dev/null +++ b/clever/src/simple_offboard.py @@ -0,0 +1,301 @@ +#!/usr/bin/env python +from __future__ import division + +import rospy +from geometry_msgs.msg import TransformStamped, PoseStamped, Point, Vector3, Vector3Stamped +import tf2_ros +import tf2_geometry_msgs +from mavros_msgs.msg import PositionTarget, AttitudeTarget, State +from mavros_msgs.srv import CommandBool, SetMode +from threading import Lock +import math + +from global_local import global_to_local +from util import euler_from_orientation, vector3_from_point, orientation_from_euler +from std_srvs.srv import Trigger +from clever import srv + + +rospy.init_node('simple_offboard') + + +# TF2 stuff +tf_broadcaster = tf2_ros.TransformBroadcaster() +static_tf_broadcaster = tf2_ros.StaticTransformBroadcaster() + +tf_buffer = tf2_ros.Buffer() +tf_listener = tf2_ros.TransformListener(tf_buffer) + + +def init_fcu_horiz(): + # `fcu_horiz` frame publishing + + tr = TransformStamped() + tr.header.frame_id = 'local_origin' + tr.child_frame_id = 'fcu_horiz' + + def update_pose(data): + tr.header.stamp = data.header.stamp + tr.transform.translation = vector3_from_point(data.pose.position) + yaw = euler_from_orientation(data.pose.orientation)[2] + tr.transform.rotation = orientation_from_euler(0, 0, yaw) + tf_broadcaster.sendTransform(tr) + + rospy.Subscriber('/mavros/local_position/pose', PoseStamped, update_pose) + + +init_fcu_horiz() + + +position_pub = rospy.Publisher('/mavros/setpoint_raw/local', PositionTarget, queue_size=1) +attitude_pub = rospy.Publisher('/mavros/setpoint_raw/attitude', AttitudeTarget, queue_size=1) +arming = rospy.ServiceProxy('/mavros/cmd/arming', CommandBool) +set_mode = rospy.ServiceProxy('/mavros/set_mode', SetMode) + + +state = None + + +def state_update(data): + global state + state = data + + +rospy.Subscriber('/mavros/state', State, state_update) + + +AUTO_OFFBOARD = rospy.get_param('~auto_offboard', True) +AUTO_ARM = AUTO_OFFBOARD and rospy.get_param('~auto_arm', True) +OFFBOARD_TIMEOUT = rospy.Duration(rospy.get_param('~offboard_timeout', 3)) +ARM_TIMEOUT = rospy.Duration(rospy.get_param('~arm_timeout', 5)) +TRANSFORM_TIMEOUT = rospy.Duration(rospy.get_param('~transform_timeout', 3)) +SETPOINT_RATE = rospy.get_param('~setpoint_rate', 50) + + +def offboard_and_arm(): + if AUTO_OFFBOARD and state.mode != 'OFFBOARD': + rospy.sleep(.3) + rospy.loginfo('Switch mode to OFFBOARD') + res = set_mode(base_mode=0, custom_mode='OFFBOARD') + + start = rospy.get_rostime() + while True: + if state.mode == 'OFFBOARD': + break + if rospy.get_rostime() - start > OFFBOARD_TIMEOUT: + raise Exception('OFFBOARD request timed out') + + if AUTO_ARM and not state.armed: + rospy.loginfo('Arming') + res = arming(True) + + start = rospy.get_rostime() + while True: + if state.armed: + return True + + if rospy.get_rostime() - start > ARM_TIMEOUT: + raise Exception('Arming timed out') + + +ps = PoseStamped() +vs = Vector3Stamped() + + +def get_publisher_and_message(req, stamp): + ps.header.stamp = stamp + vs.header.stamp = stamp + + if isinstance(req, srv.SetPositionRequest): + ps.header.frame_id = req.frame_id or 'local_origin' + ps.pose.position = Point(req.x, req.y, req.z) + ps.pose.orientation = orientation_from_euler(0, 0, req.yaw) + pose_local = tf_buffer.transform(ps, 'local_origin', TRANSFORM_TIMEOUT) + + msg = PositionTarget(coordinate_frame=PositionTarget.FRAME_LOCAL_NED, + type_mask=PositionTarget.IGNORE_VX + PositionTarget.IGNORE_VY + PositionTarget.IGNORE_VZ + + PositionTarget.IGNORE_AFX + PositionTarget.IGNORE_AFY + PositionTarget.IGNORE_AFZ + + PositionTarget.IGNORE_YAW_RATE, + position=pose_local.pose.position, + yaw=euler_from_orientation(pose_local.pose.orientation)[2] - math.pi / 2) + return position_pub, msg + + elif isinstance(req, srv.SetPositionYawRateRequest): + ps.header.frame_id = req.frame_id or 'local_origin' + ps.pose.position = Point(req.x, req.y, req.z) + pose_local = tf_buffer.transform(ps, 'local_origin', TRANSFORM_TIMEOUT) + msg = PositionTarget(coordinate_frame=PositionTarget.FRAME_LOCAL_NED, + type_mask=PositionTarget.IGNORE_VX + PositionTarget.IGNORE_VY + PositionTarget.IGNORE_VZ + + PositionTarget.IGNORE_AFX + PositionTarget.IGNORE_AFY + PositionTarget.IGNORE_AFZ + + PositionTarget.IGNORE_YAW, + position=pose_local.pose.position, + yaw_rate=req.yaw_rate) + return position_pub, msg + + elif isinstance(req, srv.SetPositionGlobalRequest): + x, y = global_to_local(req.lat, req.lon) + + ps.header.frame_id = req.frame_id or 'local_origin' + ps.pose.position = Point(0, 0, req.z) + ps.pose.orientation = orientation_from_euler(0, 0, req.yaw) + pose_local = tf_buffer.transform(ps, 'local_origin', TRANSFORM_TIMEOUT) + pose_local.pose.position.x = x + pose_local.pose.position.y = y + + msg = PositionTarget(coordinate_frame=PositionTarget.FRAME_LOCAL_NED, + type_mask=PositionTarget.IGNORE_VX + PositionTarget.IGNORE_VY + PositionTarget.IGNORE_VZ + + PositionTarget.IGNORE_AFX + PositionTarget.IGNORE_AFY + PositionTarget.IGNORE_AFZ + + PositionTarget.IGNORE_YAW_RATE, + position=pose_local.pose.position, + yaw=euler_from_orientation(pose_local.pose.orientation)[2] - math.pi / 2) + return position_pub, msg + + elif isinstance(req, srv.SetPositionGlobalYawRateRequest): + x, y = global_to_local(req.lat, req.lon) + + ps.header.frame_id = req.frame_id or 'local_origin' + ps.pose.position = Point(0, 0, req.z) + pose_local = tf_buffer.transform(ps, 'local_origin', TRANSFORM_TIMEOUT) + pose_local.pose.position.x = x + pose_local.pose.position.y = y + + msg = PositionTarget(coordinate_frame=PositionTarget.FRAME_LOCAL_NED, + type_mask=PositionTarget.IGNORE_VX + PositionTarget.IGNORE_VY + PositionTarget.IGNORE_VZ + + PositionTarget.IGNORE_AFX + PositionTarget.IGNORE_AFY + PositionTarget.IGNORE_AFZ + + PositionTarget.IGNORE_YAW, + position=pose_local.pose.position, + yaw_rate=req.yaw_rate) + return position_pub, msg + + elif isinstance(req, srv.SetVelocityRequest): + vs.vector = Vector3(req.vx, req.vy, req.vz) + vs.header.frame_id = req.frame_id or 'local_origin' + ps.header.frame_id = req.frame_id or 'local_origin' + ps.pose.orientation = orientation_from_euler(0, 0, req.yaw) + pose_local = tf_buffer.transform(ps, 'local_origin', TRANSFORM_TIMEOUT) + vector_local = tf_buffer.transform(vs, 'local_origin', TRANSFORM_TIMEOUT) + msg = PositionTarget(coordinate_frame=PositionTarget.FRAME_LOCAL_NED, + type_mask=PositionTarget.IGNORE_PX + PositionTarget.IGNORE_PY + PositionTarget.IGNORE_PZ + + PositionTarget.IGNORE_AFX + PositionTarget.IGNORE_AFY + PositionTarget.IGNORE_AFZ + + PositionTarget.IGNORE_YAW_RATE, + velocity=vector_local.vector, + yaw=euler_from_orientation(pose_local.pose.orientation)[2] - math.pi / 2) + return position_pub, msg + + elif isinstance(req, srv.SetVelocityYawRateRequest): + vs.vector = Vector3(req.vx, req.vy, req.vz) + vs.header.frame_id = req.frame_id or 'local_origin' + vector_local = tf_buffer.transform(vs, 'local_origin', TRANSFORM_TIMEOUT) + msg = PositionTarget(coordinate_frame=PositionTarget.FRAME_LOCAL_NED, + type_mask=PositionTarget.IGNORE_PX + PositionTarget.IGNORE_PY + PositionTarget.IGNORE_PZ + + PositionTarget.IGNORE_AFX + PositionTarget.IGNORE_AFY + PositionTarget.IGNORE_AFZ + + PositionTarget.IGNORE_YAW, + velocity=vector_local.vector, + yaw_rate=req.yaw_rate) + return position_pub, msg + + elif isinstance(req, srv.SetAttitudeRequest): + ps.header.frame_id = req.frame_id or 'local_origin' + ps.pose.orientation = orientation_from_euler(req.roll, req.pitch, req.yaw) + pose_local = tf_buffer.transform(ps, 'local_origin', TRANSFORM_TIMEOUT) + msg = AttitudeTarget(orientation=pose_local.pose.orientation, + thrust=req.thrust, + type_mask=AttitudeTarget.IGNORE_YAW_RATE + AttitudeTarget.IGNORE_PITCH_RATE + + AttitudeTarget.IGNORE_ROLL_RATE) + return attitude_pub, msg + + elif isinstance(req, srv.SetAttitudeYawRateRequest): + msg = AttitudeTarget(orientation=orientation_from_euler(req.roll, req.pitch, 0), + thrust=req.thrust, + type_mask=AttitudeTarget.IGNORE_PITCH_RATE + AttitudeTarget.IGNORE_ROLL_RATE) + msg.body_rate.z = req.yaw_rate + return attitude_pub, msg + + elif isinstance(req, srv.SetRatesYawRequest): + ps.header.frame_id = req.frame_id or 'local_origin' + ps.pose.orientation = orientation_from_euler(0, 0, req.yaw) + pose_local = tf_buffer.transform(ps, 'local_origin', TRANSFORM_TIMEOUT) + msg = AttitudeTarget(orientation=pose_local.pose.orientation, + thrust=req.thrust, + type_mask=AttitudeTarget.IGNORE_YAW_RATE, + body_rate=Vector3(req.roll_rate, req.pitch_rate, 0)) + return attitude_pub, msg + + elif isinstance(req, srv.SetRatesRequest): + msg = AttitudeTarget(thrust=req.thrust, + type_mask=AttitudeTarget.IGNORE_ATTITUDE, + body_rate=Vector3(req.roll_rate, req.pitch_rate, req.yaw_rate)) + return attitude_pub, msg + + +current_pub = None +current_msg = None +current_req = None +handle_lock = Lock() + + +def handle(req): + global current_pub, current_msg, current_req + with handle_lock: + try: + stamp = rospy.get_rostime() + current_pub, current_msg = get_publisher_and_message(req, stamp) + rospy.loginfo('Topic: %s, message: %s', current_pub.name, current_msg) + + current_msg.header.stamp = stamp + current_pub.publish(current_msg) + + offboard_and_arm() + return {'success': True} + + except Exception as e: + rospy.logerr(str(e)) + return {'success': False, 'message': str(e)} + + +def release(req): + global current_pub + current_pub = None + rospy.loginfo('simple_offboard: release') + return {'success': True} + + +rospy.Service('set_position', srv.SetPosition, handle) +rospy.Service('set_position/yaw_rate', srv.SetPositionYawRate, handle) +rospy.Service('set_position_global', srv.SetPositionGlobal, handle) +rospy.Service('set_position_global/yaw_rate', srv.SetPositionGlobalYawRate, handle) +rospy.Service('set_velocity', srv.SetVelocity, handle) +rospy.Service('set_velocity/yaw_rate', srv.SetVelocityYawRate, handle) +rospy.Service('set_attitude', srv.SetAttitude, handle) +rospy.Service('set_attitude/yaw_rate', srv.SetAttitudeYawRate, handle) +rospy.Service('set_rates', srv.SetRates, handle) +rospy.Service('set_rates/yaw', srv.SetRatesYaw, handle) +rospy.Service('release', Trigger, release) + + +rospy.loginfo('simple_offboard inited') + + +def start_loop(): + global current_pub, current_msg, current_req + r = rospy.Rate(SETPOINT_RATE) + + while not rospy.is_shutdown(): + with handle_lock: + if current_pub is not None: + try: + stamp = rospy.get_rostime() + + if getattr(current_req, 'update_frame', False): + current_pub, current_msg = get_publisher_and_message(current_req, stamp) + + current_msg.header.stamp = stamp + current_pub.publish(current_msg) + + except Exception as e: + rospy.logwarn_throttle(10, str(e)) + + r.sleep() + + +start_loop() diff --git a/clever/src/util.py b/clever/src/util.py new file mode 100644 index 00000000..eafa72fd --- /dev/null +++ b/clever/src/util.py @@ -0,0 +1,28 @@ +from geometry_msgs.msg import Quaternion, Vector3, Point +import tf.transformations as t + + +def orientation_from_quaternion(q): + return Quaternion(*q) + + +def orientation_from_euler(roll, pitch, yaw): + q = t.quaternion_from_euler(roll, pitch, yaw) + return orientation_from_quaternion(q) + + +def quaternion_from_orientation(o): + return o.x, o.y, o.z, o.w + + +def euler_from_orientation(o): + q = quaternion_from_orientation(o) + return t.euler_from_quaternion(q) + + +def vector3_from_point(p): + return Vector3(p.x, p.y, p.z) + + +def point_from_vector3(v): + return Point(v.x, v.y, v.z) diff --git a/clever/srv/SetAttitude.srv b/clever/srv/SetAttitude.srv new file mode 100644 index 00000000..9c41fff9 --- /dev/null +++ b/clever/srv/SetAttitude.srv @@ -0,0 +1,9 @@ +float32 pitch +float32 roll +float32 yaw +float32 thrust +string frame_id +bool update_frame +--- +bool success +string message diff --git a/clever/srv/SetAttitudeYawRate.srv b/clever/srv/SetAttitudeYawRate.srv new file mode 100644 index 00000000..80e68a6a --- /dev/null +++ b/clever/srv/SetAttitudeYawRate.srv @@ -0,0 +1,7 @@ +float32 roll +float32 pitch +float32 yaw_rate +float32 thrust +--- +bool success +string message diff --git a/clever/srv/SetPosition.srv b/clever/srv/SetPosition.srv new file mode 100644 index 00000000..53e375ed --- /dev/null +++ b/clever/srv/SetPosition.srv @@ -0,0 +1,9 @@ +float32 x +float32 y +float32 z +float32 yaw +string frame_id +bool update_frame +--- +bool success +string message diff --git a/clever/srv/SetPositionGlobal.srv b/clever/srv/SetPositionGlobal.srv new file mode 100644 index 00000000..4bbdfc95 --- /dev/null +++ b/clever/srv/SetPositionGlobal.srv @@ -0,0 +1,9 @@ +float32 lat +float32 lon +float32 z +float32 yaw +string frame_id +bool update_frame +--- +bool success +string message diff --git a/clever/srv/SetPositionGlobalYawRate.srv b/clever/srv/SetPositionGlobalYawRate.srv new file mode 100644 index 00000000..a7959e04 --- /dev/null +++ b/clever/srv/SetPositionGlobalYawRate.srv @@ -0,0 +1,9 @@ +float32 lat +float32 lon +float32 z +float32 yaw_rate +string frame_id +bool update_frame +--- +bool success +string message diff --git a/clever/srv/SetPositionYawRate.srv b/clever/srv/SetPositionYawRate.srv new file mode 100644 index 00000000..76feda1f --- /dev/null +++ b/clever/srv/SetPositionYawRate.srv @@ -0,0 +1,9 @@ +float32 x +float32 y +float32 z +float32 yaw_rate +string frame_id +bool update_frame +--- +bool success +string message diff --git a/clever/srv/SetRates.srv b/clever/srv/SetRates.srv new file mode 100644 index 00000000..7e7c1cb1 --- /dev/null +++ b/clever/srv/SetRates.srv @@ -0,0 +1,7 @@ +float32 pitch_rate +float32 roll_rate +float32 yaw_rate +float32 thrust +--- +bool success +string message diff --git a/clever/srv/SetRatesYaw.srv b/clever/srv/SetRatesYaw.srv new file mode 100644 index 00000000..fb9dbcc3 --- /dev/null +++ b/clever/srv/SetRatesYaw.srv @@ -0,0 +1,9 @@ +float32 pitch_rate +float32 roll_rate +float32 yaw +float32 thrust +string frame_id +bool update_frame +--- +bool success +string message diff --git a/clever/srv/SetVelocity.srv b/clever/srv/SetVelocity.srv new file mode 100644 index 00000000..88efaaa2 --- /dev/null +++ b/clever/srv/SetVelocity.srv @@ -0,0 +1,9 @@ +float32 vx +float32 vy +float32 vz +float32 yaw +string frame_id +bool update_frame +--- +bool success +string message diff --git a/clever/srv/SetVelocityYawRate.srv b/clever/srv/SetVelocityYawRate.srv new file mode 100644 index 00000000..965bdf68 --- /dev/null +++ b/clever/srv/SetVelocityYawRate.srv @@ -0,0 +1,9 @@ +float32 vx +float32 vy +float32 vz +float32 yaw_rate +string frame_id +bool update_frame +--- +bool success +string message From 009cfde319190e33399646effeec53d6dc758533 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 17 Nov 2017 16:46:42 +0300 Subject: [PATCH 030/121] Launch file for sitl --- clever/src/sitl.launch | 13 +++++++++++++ 1 file changed, 13 insertions(+) create mode 100644 clever/src/sitl.launch diff --git a/clever/src/sitl.launch b/clever/src/sitl.launch new file mode 100644 index 00000000..90a27ac9 --- /dev/null +++ b/clever/src/sitl.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + + From 920c309226e0ed527530eb02e39d66ceeb8ede66 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 17 Nov 2017 22:32:00 +0300 Subject: [PATCH 031/121] Move sitl.launch --- clever/{src => launch}/sitl.launch | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename clever/{src => launch}/sitl.launch (100%) diff --git a/clever/src/sitl.launch b/clever/launch/sitl.launch similarity index 100% rename from clever/src/sitl.launch rename to clever/launch/sitl.launch From 12de95bb657ffdfdfdc17cf61e96303c8904d27b Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 17 Nov 2017 22:40:01 +0300 Subject: [PATCH 032/121] =?UTF-8?q?=E2=80=98rosbridge=E2=80=99=20sitl.laun?= =?UTF-8?q?ch=20argument?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- clever/launch/sitl.launch | 2 ++ 1 file changed, 2 insertions(+) diff --git a/clever/launch/sitl.launch b/clever/launch/sitl.launch index 90a27ac9..27cb2055 100644 --- a/clever/launch/sitl.launch +++ b/clever/launch/sitl.launch @@ -1,6 +1,7 @@ + @@ -9,5 +10,6 @@ + From 6b4777063bbe2609ef552f0571eb8b3198e044a0 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 17 Nov 2017 23:31:40 +0300 Subject: [PATCH 033/121] +x for simple_offboard.py --- clever/src/simple_offboard.py | 0 1 file changed, 0 insertions(+), 0 deletions(-) mode change 100644 => 100755 clever/src/simple_offboard.py diff --git a/clever/src/simple_offboard.py b/clever/src/simple_offboard.py old mode 100644 new mode 100755 From 8cd1281382f2a37b6e624fb53b8d189fef1368fa Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sun, 26 Nov 2017 03:23:27 +0300 Subject: [PATCH 034/121] Rename bottom camera frame from bottom_camera to bottom_camera_optical --- clever/launch/bottom_camera.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clever/launch/bottom_camera.launch b/clever/launch/bottom_camera.launch index 26f4fc5c..bfcb9dda 100644 --- a/clever/launch/bottom_camera.launch +++ b/clever/launch/bottom_camera.launch @@ -2,7 +2,7 @@ - + From 9a15094b314848aee9c4bbe5dc5114cc3eb04904 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sun, 26 Nov 2017 03:23:37 +0300 Subject: [PATCH 035/121] Default device for FPV camera --- clever/launch/fpv_camera.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clever/launch/fpv_camera.launch b/clever/launch/fpv_camera.launch index 359ef14f..399d403d 100644 --- a/clever/launch/fpv_camera.launch +++ b/clever/launch/fpv_camera.launch @@ -1,5 +1,5 @@ - + From bb081f9d8518894020fad53bc790111e2c0cc1de Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sun, 26 Nov 2017 03:23:49 +0300 Subject: [PATCH 036/121] =?UTF-8?q?output=3D=C2=ABscreen=C2=BB=20for=20sim?= =?UTF-8?q?ple=20offboard=20service?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- clever/launch/clever.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clever/launch/clever.launch b/clever/launch/clever.launch index 94ba7954..ab129b56 100644 --- a/clever/launch/clever.launch +++ b/clever/launch/clever.launch @@ -28,7 +28,7 @@ - + From 53f2fcd678656c30eb39381b5050106b2c2ab68a Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sun, 26 Nov 2017 03:26:58 +0300 Subject: [PATCH 037/121] Take offboard_and_arm out of the handle_lock + error if no FCU connection --- clever/src/simple_offboard.py | 28 ++++++++++++++++------------ 1 file changed, 16 insertions(+), 12 deletions(-) diff --git a/clever/src/simple_offboard.py b/clever/src/simple_offboard.py index c091c068..6ddd0dd7 100755 --- a/clever/src/simple_offboard.py +++ b/clever/src/simple_offboard.py @@ -236,21 +236,25 @@ handle_lock = Lock() def handle(req): global current_pub, current_msg, current_req - with handle_lock: - try: - stamp = rospy.get_rostime() - current_pub, current_msg = get_publisher_and_message(req, stamp) - rospy.loginfo('Topic: %s, message: %s', current_pub.name, current_msg) - current_msg.header.stamp = stamp - current_pub.publish(current_msg) + if not state.connected: + return {'message': 'No connection to the FCU'} - offboard_and_arm() - return {'success': True} + try: + with handle_lock: + stamp = rospy.get_rostime() + current_pub, current_msg = get_publisher_and_message(req, stamp) + rospy.loginfo('Topic: %s, message: %s', current_pub.name, current_msg) - except Exception as e: - rospy.logerr(str(e)) - return {'success': False, 'message': str(e)} + current_msg.header.stamp = stamp + current_pub.publish(current_msg) + + offboard_and_arm() + return {'success': True} + + except Exception as e: + rospy.logerr(str(e)) + return {'success': False, 'message': str(e)} def release(req): From 2c5862a3781e454a63eb7be9b3ece6e724e979bb Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sun, 26 Nov 2017 03:29:41 +0300 Subject: [PATCH 038/121] =?UTF-8?q?get=5Ftelemetry=20service=20for=20simpl?= =?UTF-8?q?e=20accessing=20all=20copter=E2=80=99s=20telemtry?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- clever/CMakeLists.txt | 5 ++ clever/src/simple_offboard.py | 95 ++++++++++++++++++++++++++++++++++- clever/srv/GetTelemetry.srv | 22 ++++++++ 3 files changed, 121 insertions(+), 1 deletion(-) create mode 100644 clever/srv/GetTelemetry.srv diff --git a/clever/CMakeLists.txt b/clever/CMakeLists.txt index c13ff221..2f3afaba 100644 --- a/clever/CMakeLists.txt +++ b/clever/CMakeLists.txt @@ -11,6 +11,9 @@ find_package(catkin REQUIRED COMPONENTS rospy std_msgs message_generation + geometry_msgs + sensor_msgs + geographic_msgs ) @@ -57,6 +60,7 @@ find_package(catkin REQUIRED COMPONENTS ## Generate services in the 'srv' folder add_service_files( FILES + GetTelemetry.srv SetPosition.srv SetPositionYawRate.srv SetPositionGlobal.srv @@ -80,6 +84,7 @@ add_service_files( generate_messages( DEPENDENCIES std_msgs # Or other packages containing msgs + mavros_msgs ) ################################################ diff --git a/clever/src/simple_offboard.py b/clever/src/simple_offboard.py index 6ddd0dd7..f7cf8dd3 100755 --- a/clever/src/simple_offboard.py +++ b/clever/src/simple_offboard.py @@ -2,7 +2,8 @@ from __future__ import division import rospy -from geometry_msgs.msg import TransformStamped, PoseStamped, Point, Vector3, Vector3Stamped +from geometry_msgs.msg import TransformStamped, PoseStamped, Point, Vector3, Vector3Stamped, TwistStamped +from sensor_msgs.msg import NavSatFix, BatteryState import tf2_ros import tf2_geometry_msgs from mavros_msgs.msg import PositionTarget, AttitudeTarget, State @@ -53,7 +54,26 @@ arming = rospy.ServiceProxy('/mavros/cmd/arming', CommandBool) set_mode = rospy.ServiceProxy('/mavros/set_mode', SetMode) +pose = None +global_position = None +velocity = None state = None +battery = None + + +def pose_update(data): + global pose + pose = data + + +def global_position_update(data): + global global_position + global_position = data + + +def velocity_update(data): + global velocity + velocity = data def state_update(data): @@ -61,7 +81,16 @@ def state_update(data): state = data +def battery_update(data): + global battery + battery = data + + rospy.Subscriber('/mavros/state', State, state_update) +rospy.Subscriber('/mavros/local_position/pose', PoseStamped, pose_update) +rospy.Subscriber('/mavros/local_position/velocity', TwistStamped, velocity_update) +rospy.Subscriber('/mavros/global_position/global', NavSatFix, global_position_update) +rospy.Subscriber('/mavros/battery', BatteryState, battery_update) AUTO_OFFBOARD = rospy.get_param('~auto_offboard', True) @@ -277,6 +306,70 @@ rospy.Service('set_rates/yaw', srv.SetRatesYaw, handle) rospy.Service('release', Trigger, release) +def get_telemetry(req): + res = { + 'frame_id': req.frame_id or 'local_origin', + 'x': float('nan'), + 'y': float('nan'), + 'z': float('nan'), + 'lat': float('nan'), + 'lon': float('nan'), + 'vx': float('nan'), + 'vy': float('nan'), + 'vz': float('nan'), + 'pitch': float('nan'), + 'roll': float('nan'), + 'yaw': float('nan'), + 'pitch_rate': float('nan'), + 'roll_rate': float('nan'), + 'yaw_rate': float('nan'), + 'voltage': float('nan'), + 'cell_voltage': float('nan') + } + frame_id = req.frame_id or 'local_origin' + stamp = rospy.get_rostime() + + if pose: + p = tf_buffer.transform(pose, frame_id, TRANSFORM_TIMEOUT) + res['x'] = p.pose.position.x + res['y'] = p.pose.position.y + res['z'] = p.pose.position.z + # Get yaw in the request's frame_in + _, _, res['yaw'] = euler_from_orientation(p.pose.orientation) + # Calculate pitch and roll as angles between the pose and fcu_horiz + attitude_pose = tf_buffer.transform(pose, 'fcu_horiz', TRANSFORM_TIMEOUT) + res['pitch'], res['roll'], _ = euler_from_orientation(attitude_pose.pose.orientation) + + if velocity: + v = Vector3Stamped() + v.header.stamp = velocity.header.stamp + v.header.frame_id = velocity.header.frame_id + v.vector = velocity.twist.linear + linear = tf_buffer.transform(v, frame_id, TRANSFORM_TIMEOUT) + res['vx'] = linear.vector.x + res['vy'] = linear.vector.y + res['vz'] = linear.vector.z + # TODO pitch_rate, roll_rate, yaw_rate + + if global_position and stamp - global_position.header.stamp < rospy.Duration(5): + res['lat'] = global_position.latitude + res['lon'] = global_position.longitude + + if state: + res['connected'] = state.connected + res['armed'] = state.armed + res['mode'] = state.mode + + if battery: + res['voltage'] = battery.voltage + res['cell_voltage'] = battery.cell_voltage[0] + + return res + + +rospy.Service('get_telemetry', srv.GetTelemetry, get_telemetry) + + rospy.loginfo('simple_offboard inited') diff --git a/clever/srv/GetTelemetry.srv b/clever/srv/GetTelemetry.srv new file mode 100644 index 00000000..b815ce89 --- /dev/null +++ b/clever/srv/GetTelemetry.srv @@ -0,0 +1,22 @@ +string frame_id +--- +string frame_id +bool connected +bool armed +string mode +float32 x +float32 y +float32 z +float32 lat +float32 lon +float32 vx +float32 vy +float32 vz +float32 pitch +float32 roll +float32 yaw +float32 pitch_rate +float32 roll_rate +float32 yaw_rate +float32 voltage +float32 cell_voltage From d1a4458cc785b28f40235af5d2cb52873b2109c5 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sun, 26 Nov 2017 03:33:13 +0300 Subject: [PATCH 039/121] bottom_camera => bottom_camera_optical --- clever/launch/bottom_camera.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clever/launch/bottom_camera.launch b/clever/launch/bottom_camera.launch index bfcb9dda..8f26376d 100644 --- a/clever/launch/bottom_camera.launch +++ b/clever/launch/bottom_camera.launch @@ -5,8 +5,8 @@ - + From e79a88050033f2d382e9b39f953efd532dd4b6cf Mon Sep 17 00:00:00 2001 From: Smirnov Artem Date: Mon, 27 Nov 2017 20:00:18 +0300 Subject: [PATCH 040/121] Delete .gitmodules --- .gitmodules | 3 --- 1 file changed, 3 deletions(-) delete mode 100644 .gitmodules diff --git a/.gitmodules b/.gitmodules deleted file mode 100644 index 10e27f0e..00000000 --- a/.gitmodules +++ /dev/null @@ -1,3 +0,0 @@ -[submodule "marker_navigator"] - path = marker_navigator - url = https://github.com/CopterExpress/marker_navigator.git From 0a325be70b99fcc640c0d6d17ad4bfed27ac1b00 Mon Sep 17 00:00:00 2001 From: Smirnov Artem Date: Mon, 27 Nov 2017 20:13:50 +0300 Subject: [PATCH 041/121] Update README.md --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index bc11787a..367a1369 100644 --- a/README.md +++ b/README.md @@ -27,14 +27,14 @@ catkin_make -j1 Включить сервис roscore (если он не включен): ```bash -sudo systemctl enable catkin_ws/src/clever/deploy/roscore.service +sudo systemctl enable /home/pi/catkin_ws/src/clever/deploy/roscore.service sudo systemctl start roscore ``` Включить сервис clever: ```bash -sudo systemctl enable catkin_ws/src/clever/deploy/clever.service +sudo systemctl enable /home/pi/catkin_ws/src/clever/deploy/clever.service sudo systemctl start clever ``` From af62fb95b4f647bf8c86821a4db069089bfb74fe Mon Sep 17 00:00:00 2001 From: urpylka Date: Tue, 28 Nov 2017 12:16:07 +0000 Subject: [PATCH 042/121] Add *.pyc to .gitignore --- .gitignore | 1 + 1 file changed, 1 insertion(+) diff --git a/.gitignore b/.gitignore index dbe405b7..960e17c6 100644 --- a/.gitignore +++ b/.gitignore @@ -1 +1,2 @@ /deploy/ros_lib/ +*.pyc From ed6915c26a15aa058ba59dd2b167a4f22cc7a68b Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 28 Nov 2017 17:15:13 +0300 Subject: [PATCH 043/121] +x for fpv_camera --- clever/src/fpv_camera | 0 1 file changed, 0 insertions(+), 0 deletions(-) mode change 100644 => 100755 clever/src/fpv_camera diff --git a/clever/src/fpv_camera b/clever/src/fpv_camera old mode 100644 new mode 100755 From c747270405c75c22d45450f58acb155dc8e7d5d6 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 28 Nov 2017 23:45:05 +0300 Subject: [PATCH 044/121] Change USB device path to /dev/ttyACM0 As it can be either /dev/serial/by-id/usb-3D_Robotics_PX4_FMU_v2.x_0-if00 or /dev/serial/by-id/usb-3D_Robotics_PX4_FMU_v4.x_0-if00 --- clever/launch/mavros.launch | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/clever/launch/mavros.launch b/clever/launch/mavros.launch index 2eb2d1b3..64e508b1 100644 --- a/clever/launch/mavros.launch +++ b/clever/launch/mavros.launch @@ -8,8 +8,8 @@ - - + + From e975213a13bf8cb03355ad62d1aaeb2668ee0cb4 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 23 Nov 2017 05:59:25 +0300 Subject: [PATCH 045/121] First version of aruco_pose nodelet --- aruco_pose/CMakeLists.txt | 210 +++++++++++++++++ aruco_pose/nodelet_plugins.xml | 5 + aruco_pose/package.xml | 62 +++++ aruco_pose/src/aruco_pose.cpp | 409 +++++++++++++++++++++++++++++++++ aruco_pose/src/fix.cpp | 61 +++++ clever/src/aruco_vpe.py | 80 +++++++ 6 files changed, 827 insertions(+) create mode 100644 aruco_pose/CMakeLists.txt create mode 100644 aruco_pose/nodelet_plugins.xml create mode 100644 aruco_pose/package.xml create mode 100644 aruco_pose/src/aruco_pose.cpp create mode 100644 aruco_pose/src/fix.cpp create mode 100644 clever/src/aruco_vpe.py diff --git a/aruco_pose/CMakeLists.txt b/aruco_pose/CMakeLists.txt new file mode 100644 index 00000000..90403cf5 --- /dev/null +++ b/aruco_pose/CMakeLists.txt @@ -0,0 +1,210 @@ +cmake_minimum_required(VERSION 2.8.3) +project(aruco_pose) + +add_definitions(-std=c++11 -Wall -g) + +## 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 + nodelet + pluginlib + roscpp + image_transport + cv_bridge + tf + #tf2 + #tf2_ros + #aruco_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 run_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 run_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 +# Marker.msg +# MarkerArray.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 +# std_msgs # Or other packages containing 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 run_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 you 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 aruco_pose +# CATKIN_DEPENDS other_catkin_pkg +# 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/aruco_pose.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/aruco_pose_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} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +link_directories(/opt/ros/kinetic/lib) + +target_link_libraries(${PROJECT_NAME} + ${catkin_LIBRARIES} + "/opt/ros/kinetic/lib/libopencv_aruco3.so" # TODO: fix launch fails with .so loading +) + +############# +## 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 +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${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_aruco_pose.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) diff --git a/aruco_pose/nodelet_plugins.xml b/aruco_pose/nodelet_plugins.xml new file mode 100644 index 00000000..79d5ddad --- /dev/null +++ b/aruco_pose/nodelet_plugins.xml @@ -0,0 +1,5 @@ + + + + + diff --git a/aruco_pose/package.xml b/aruco_pose/package.xml new file mode 100644 index 00000000..b4da81c3 --- /dev/null +++ b/aruco_pose/package.xml @@ -0,0 +1,62 @@ + + + aruco_pose + 0.0.0 + ArUco maps precise pose estimation nodelet + + + + + Oleg Kalachev + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + nodelet + roscpp + image_transport + cv_bridge + tf + + nodelet + roscpp + image_transport + cv_bridge + tf + + + + + + + + diff --git a/aruco_pose/src/aruco_pose.cpp b/aruco_pose/src/aruco_pose.cpp new file mode 100644 index 00000000..b68c1e08 --- /dev/null +++ b/aruco_pose/src/aruco_pose.cpp @@ -0,0 +1,409 @@ +#include +#include +#include +#include +#include +//#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +// #include +// #include + +namespace aruco_pose { + +class ArucoPose : public nodelet::Nodelet { +// tf2_ros::TransformBroadcaster br; + tf::TransformBroadcaster br; + cv::Ptr dictionary; + cv::Ptr parameters; + cv::Ptr board; + std::string frame_id_; + image_transport::CameraSubscriber img_sub; + image_transport::Publisher img_pub; + ros::Publisher marker_pub; + ros::Publisher pose_pub; + ros::NodeHandle nh_, nh_priv_; + + virtual void onInit(); + void createBoard(); + void publishVisualizationMarkers(); + cv::Point3f getObjPointsCenter(cv::Mat objPoints); + void detect(const sensor_msgs::ImageConstPtr&, const sensor_msgs::CameraInfoConstPtr&); + void parseCameraInfo(const sensor_msgs::CameraInfoConstPtr&, cv::Mat&, cv::Mat&); + tf::Transform aruco2tf(cv::Mat rvec, cv::Mat tvec); + +public: + ArucoPose() {}; + virtual ~ArucoPose() {}; +}; + +void ArucoPose::onInit() { + ROS_INFO("Initializing aruco_pose"); + nh_ = getNodeHandle(); + nh_priv_ = getPrivateNodeHandle(); + + nh_priv_.param("frame_id", frame_id_, std::string("aruco_map")); + + dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_1000); + parameters = cv::aruco::DetectorParameters::create(); + createBoard(); + + image_transport::ImageTransport it(nh_); + img_sub = it.subscribeCamera("image", 1, &ArucoPose::detect, this); + + image_transport::ImageTransport it_priv(nh_priv_); + img_pub = it_priv.advertise("debug", 1); + + pose_pub = nh_priv_.advertise("pose", 1); + + publishVisualizationMarkers(); + + ROS_INFO("aruco_pose nodelet inited"); +} + +void ArucoPose::createBoard() +{ + std::string type; + nh_priv_.param("type", type, "gridboard"); + if (type == "gridboard") + { + ROS_INFO("Initialize gridboard"); + + int markers_x, markers_y, first_marker; + float markers_side, markers_sep; + nh_priv_.param("markers_x", markers_x, 10); + nh_priv_.param("markers_y", markers_y, 10); + nh_priv_.param("first_marker", first_marker, 0); + + if (!nh_priv_.getParam("markers_side", markers_side)) + ROS_ERROR("gridboard: required parameter ~markers_side is not set."); + + if (!nh_priv_.getParam("markers_sep", markers_sep)) + ROS_ERROR("gridboard: required parameter ~markers_sep is not set."); + + board = cv::aruco::GridBoard::create(markers_x, markers_y, markers_side, markers_sep, dictionary, first_marker); + + // Publish map image for debugging + cv::Mat map_image; + board->draw( cv::Size(2000, 2000), map_image, 0, 1); + cv::cvtColor(map_image, map_image, CV_GRAY2BGR); + + static auto map_image_pub = nh_priv_.advertise("map_image", 1, true); + cv_bridge::CvImage map_image_msg; + map_image_msg.encoding = sensor_msgs::image_encodings::BGR8; + map_image_msg.image = map_image; + map_image_pub.publish(map_image_msg.toImageMsg()); + } + else + { + ROS_ERROR("Incorrect map type '%s'", type.c_str()); + } +} + +void ArucoPose::publishVisualizationMarkers() +{ + // Create latched publisher + static auto viz_markers_pub = nh_.advertise("viz", 1, true); + visualization_msgs::MarkerArray viz; + visualization_msgs::Marker marker; + marker.header.frame_id = "world"; + marker.type = visualization_msgs::Marker::CUBE; + marker.scale.x = 1; + marker.scale.y = 1; + marker.scale.z = 0.001; + marker.color.r = 1; + marker.color.g = 1; + marker.color.b = 1; + marker.color.a = 0.9; + marker.frame_locked = true; + viz.markers.push_back(marker); + marker.type = visualization_msgs::Marker::TEXT_VIEW_FACING; + marker.scale.z = 0.3; + marker.color.r = 0; + marker.color.g = 0; + marker.color.b = 0; + marker.color.a = 0.8; + marker.text = "240"; + viz.markers.push_back(marker); + viz_markers_pub.publish(viz); +} + +cv::Point3f ArucoPose::getObjPointsCenter(cv::Mat objPoints) { + float min_x = std::numeric_limits::max(); + float max_x = std::numeric_limits::min(); + float min_y = min_x, max_y = max_x; + for (int i = 0; i < objPoints.rows; i++) { + max_x = std::max(max_x, objPoints.at(i, 0)); + max_y = std::max(max_y, objPoints.at(i, 1)); + min_x = std::min(max_x, objPoints.at(i, 0)); + min_y = std::min(max_y, objPoints.at(i, 1)); + } + cv::Point3f res((min_x + max_x) / 2, (min_y + max_y) / 2, 0); + return res; +} + +#include "fix.cpp" + +void ArucoPose::detect(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr &cinfo) { + cv::Mat image = cv_bridge::toCvShare(msg, "bgr8")->image; + + std::vector markerIds; + std::vector> markerCorners; + std::vector> rejectedCandidates; + + cv::aruco::detectMarkers(image, dictionary, markerCorners, markerIds, parameters, rejectedCandidates); + + cv::Mat cameraMatrix(3, 3, CV_64F); + cv::Mat distCoeffs(8, 1, CV_64F); + parseCameraInfo(cinfo, cameraMatrix, distCoeffs); + + // std::cout << "dist " << distCoeffs << " mat " << cameraMatrix; + // std::cout << markerIds.size() << std::endl; + + // cv::Vec3d rvec, tvec; + // int valid = cv::aruco::estimatePoseBoard(markerCorners, markerIds, board, cameraMatrix, distCoeffs, rvec, tvec); + + // std::vector< cv::Vec3d > rvecs, tvecs; + //cv::aruco::estimatePoseSingleMarkers(markerCorners, 0.3362, cameraMatrix, distCoeffs, rvecs, tvecs); + // cv::aruco::estimatePoseSingleMarkers(markerCorners, 0.15, cameraMatrix, distCoeffs, rvecs, tvecs); + + + // Publish markers + // aruco_pose::MarkerArray markerArray; + // markerArray.header.frame_id = msg->header.frame_id; + // markerArray.header.stamp = msg->header.stamp; + // markerArray.markers.resize(markerIds.size()); + // for (int i = 0; i < markerIds.size(); i++) { + // markerArray.markers[i].id = markerIds[i]; + // markerArray.markers[i].pose.x = tvect[0]; + // markerArray.markers[i].pose.y = tvect[1]; + // markerArray.markers[i].pose.z = tvect[2]; + // markerArray.markers[i].header.stamp = msg->header.stamp; + // markerArray.markers[i].header.frame_id = msg->header.frame_id; + // } + // marker_pub.publish(markerArray); + + /* + for (int i = 0; i < markerIds.size(); i++) { + //if (markerIds[i] == 242) { + if (markerIds[i] == 9) { + tf::Transform transform = aruco2tf(rvecs[i], tvecs[i]); + tf::StampedTransform stampedTransform(transform, msg->header.stamp, msg->header.frame_id, frame_id); + br.sendTransform(stampedTransform); + + // geometry_msgs::TransformStamped transformStamped; + // transformStamped.header.stamp = msg->header.stamp; + // transformStamped.header.frame_id = cinfo->header.frame_id; + // transformStamped.child_frame_id = frame_id; + // transformStamped.transform = aruco2tf(rvecs[i], tvecs[i]); + // transformStamped.transform.translation = transformStamped.transform.translation.normalize(); + // br.sendTransform(transformStamped); + break; + } + } + */ + + // std::cout << "markers: "; + // for (auto const& c : markerIds) std::cout << c << ' '; + +// return; + + if (markerIds.size() > 0) { +// for (auto const& c : markerCorners) std::cout << c << ' '; +// for (auto const& c : markerIds) std::cout << c << ' '; + +// cv::aruco::drawDetectedMarkers(image, markerCorners, markerIds); + + // std::vector< cv::Vec3d > rvecs, tvecs; + // cv::aruco::estimatePoseSingleMarkers(markerCorners, 0.3362, cameraMatrix, distCoeffs, rvecs, tvecs); + // draw axis for each marker + // for(int i=0; iheader.stamp, cinfo->header.frame_id, frame_id_); + br.sendTransform(transform); + + // Publish map pose + static geometry_msgs::PoseStamped ps; + ps.header.frame_id = frame_id_; + ps.header.stamp = msg->header.stamp; + ps.pose.orientation.w = 1; + pose_pub.publish(ps); + + // Publish reference point + cv::Point3f ref = getObjPointsCenter(objPoints); + tf::Vector3 ref_vector3 = tf::Vector3(ref.x, ref.y, ref.z); + tf::Quaternion q(0, 0, 0); + static tf::StampedTransform ref_transform; + ref_transform.stamp_ = msg->header.stamp; + ref_transform.frame_id_ = frame_id_; + ref_transform.child_frame_id_ = "aruco_map_reference"; + ref_transform.setOrigin(ref_vector3); + ref_transform.setRotation(q); + br.sendTransform(ref_transform); + +// geometry_msgs::TransformStamped transformMsg; + // transform.header.stamp = msg->header.stamp; + // transform.header.frame_id = cinfo->header.frame_id; + // transform.child_frame_id = frame_id; + // transform.transform = aruco2tf(rvec, tvec); +// tf::transformStampedTFToMsg(transform, transformMsg); +// br.sendTransform(transformMsg); +// std::cout << rvec << ";" << tvec << std::endl; +// geometry_msgs::TransformStamped transformStamped; +// transformStamped.header.stamp = msg->header.stamp; +// transformStamped.header.frame_id = cinfo->header.frame_id; +// transformStamped.child_frame_id = frame_id; +// transformStamped.transform.translation.x = tvec[0]; +// transformStamped.transform.translation.y = tvec[1]; +// transformStamped.transform.translation.z = tvec[1]; +// transformStamped.transform.rotation.w = 1; +// br.sendTransform(transformStamped); + + if(img_pub.getNumSubscribers() > 0) + { + //show input with augmented information + // for(int i=0; iheader.frame_id; + out_msg.header.stamp = msg->header.stamp; + out_msg.encoding = sensor_msgs::image_encodings::BGR8; // sensor_msgs::image_encodings::RGB8; + out_msg.image = image; + img_pub.publish(out_msg.toImageMsg()); + } + } + } +} + +void ArucoPose::parseCameraInfo(const sensor_msgs::CameraInfoConstPtr &cinfo, cv::Mat &cameraMat, cv::Mat &distCoeffs) { + for (int i = 0; i < 3; ++i) { + for (int j = 0; j < 3; ++j) { + cameraMat.at(i, j) = cinfo->K[3 * i + j]; + } + } + for (int k = 0; k < cinfo->D.size(); k++) { + distCoeffs.at(k) = cinfo->D[k]; + } +} + +tf::Transform ArucoPose::aruco2tf(cv::Mat rvec, cv::Mat tvec) { + + cv::Mat rot; + cv::Rodrigues(rvec, rot); + +// rot = rot.t(); // inverse rotation + //tvec = -rot * tvec; // translation of inverse + + // camPose is a 4x4 matrix with the pose of the camera in the object frame + // cv::Mat camPose = cv::Mat::eye(4, 4, R.type()); + // R.copyTo(camPose.rowRange(0, 3).colRange(0, 3)); // copies R into camPose + // tvec.copyTo(camPose.rowRange(0, 3).colRange(3, 4)); // copies tvec into camPose + + tf::Matrix3x3 tf_rot(rot.at(0,0), rot.at(0,1), rot.at(0,2), + rot.at(1,0), rot.at(1,1), rot.at(1,2), + rot.at(2,0), rot.at(2,1), rot.at(2,2)); + tf::Vector3 tf_orig(tvec.at(0,0), tvec.at(1,0), tvec.at(2,0)); + return tf::Transform(tf_rot, tf_orig); +} + +/* +tf::Transform ArucoPose::aruco2tf(cv::Vec3d rvec, cv::Vec3d tvec) { + cv::Mat rot(3, 3, CV_64FC1); + // cv::Mat Rvec64; + // rvec.convertTo(rvec, CV_64FC1); + cv::Rodrigues(rvec, rot); + cv::Mat tran64; + // tvec.convertTo(tran64, CV_64FC1); + + cv::Mat rotate_to_ros(3, 3, CV_64FC1); + rotate_to_ros.at(0,0) = 1.0; + rotate_to_ros.at(0,1) = 0.0; + rotate_to_ros.at(0,2) = 0.0; + rotate_to_ros.at(1,0) = 0.0; + rotate_to_ros.at(1,1) = -1.0; + rotate_to_ros.at(1,2) = 0.0; + rotate_to_ros.at(2,0) = 0.0; + rotate_to_ros.at(2,1) = 0.0; + rotate_to_ros.at(2,2) = -1.0; + + rot = rot*rotate_to_ros.t(); + + tf::Matrix3x3 tf_rot(rot.at(0,0), rot.at(0,1), rot.at(0,2), + rot.at(1,0), rot.at(1,1), rot.at(1,2), + rot.at(2,0), rot.at(2,1), rot.at(2,2)); + + tf::Vector3 tf_orig(tvec[0], tvec[1], tvec[2]); + + + return tf::Transform(tf_rot, tf_orig); +} +*/ + +// tf::Transform ArucoPose::aruco2tf(cv::Vec3d rvec, cv::Vec3d tvec) { +// /* Code it based on https://github.com/Sahloul/ar_sys/blob/master/src/utils.cpp#L44 */ +// /* TODO: rewrite */ + +// cv::Mat rot(3, 3, CV_64FC1); +// cv::Rodrigues(rvec, rot); + +// cv::Mat rotate_to_sys(3, 3, CV_64FC1); +// /** +// /* Fixed the rotation to meet the ROS system +// /* Doing a basic rotation around X with theta=PI +// /* By Sahloul +// /* See http://en.wikipedia.org/wiki/Rotation_matrix for details +// */ + +// // 1 0 0 +// // 0 -1 0 +// // 0 0 -1 + +// rotate_to_sys.at(0,0) = 1.0; +// rotate_to_sys.at(0,1) = 0.0; +// rotate_to_sys.at(0,2) = 0.0; +// rotate_to_sys.at(1,0) = 0.0; +// rotate_to_sys.at(1,1) = -1.0; +// rotate_to_sys.at(1,2) = 0.0; +// rotate_to_sys.at(2,0) = 0.0; +// rotate_to_sys.at(2,1) = 0.0; +// rotate_to_sys.at(2,2) = -1.0; + +// rot = rot * rotate_to_sys.t(); + + +// tf::Matrix3x3 tf_rot(rot.at(0,0), rot.at(0,1), rot.at(0,2), +// rot.at(1,0), rot.at(1,1), rot.at(1,2), +// rot.at(2,0), rot.at(2,1), rot.at(2,2)); + +// tf::Vector3 tf_orig(tvec[0], tvec[1], tvec[2]); + +// tf::Transform tft(tf_rot, tf_orig); +// return tft; +// } + +PLUGINLIB_EXPORT_CLASS(ArucoPose, nodelet::Nodelet) + +} + diff --git a/aruco_pose/src/fix.cpp b/aruco_pose/src/fix.cpp new file mode 100644 index 00000000..294ff569 --- /dev/null +++ b/aruco_pose/src/fix.cpp @@ -0,0 +1,61 @@ +using namespace cv; + +// Temporal fix! +// TODO: remove +// fix strange bug in our OpenCV version + +void _getBoardObjectAndImagePoints(const Ptr &board, InputArrayOfArrays detectedCorners, + InputArray detectedIds, OutputArray objPoints, OutputArray imgPoints) { + + CV_Assert(board->ids.size() == board->objPoints.size()); + CV_Assert(detectedIds.total() == detectedCorners.total()); + + size_t nDetectedMarkers = detectedIds.total(); + + std::vector< Point3f > objPnts; + objPnts.reserve(nDetectedMarkers); + + std::vector< Point2f > imgPnts; + imgPnts.reserve(nDetectedMarkers); + + // look for detected markers that belong to the board and get their information + for(unsigned int i = 0; i < nDetectedMarkers; i++) { + int currentId = detectedIds.getMat().ptr< int >(0)[i]; + for(unsigned int j = 0; j < board->ids.size(); j++) { + if(currentId == board->ids[j]) { + for(int p = 0; p < 4; p++) { + objPnts.push_back(board->objPoints[j][p]); + imgPnts.push_back(detectedCorners.getMat(i).ptr< Point2f >(0)[p]); + } + } + } + } + + // create output + Mat(objPnts).copyTo(objPoints); + Mat(imgPnts).copyTo(imgPoints); +} + +int _estimatePoseBoard(InputArrayOfArrays _corners, InputArray _ids, const Ptr &board, + InputArray _cameraMatrix, InputArray _distCoeffs, OutputArray _rvec, + OutputArray _tvec, bool useExtrinsicGuess, Mat &objPoints) { + + CV_Assert(_corners.total() == _ids.total()); + + // get object and image points for the solvePnP function + Mat /*objPoints, */imgPoints; + _getBoardObjectAndImagePoints(board, _corners, _ids, objPoints, imgPoints); + + CV_Assert(imgPoints.total() == objPoints.total()); + + if(objPoints.total() == 0) // 0 of the detected markers in board + return 0; + +// std::cout << "objPoints: " << objPoints << std::endl; +// std::cout << "imgPoints: " << imgPoints << std::endl; + + solvePnP(objPoints, imgPoints, _cameraMatrix, _distCoeffs, _rvec, _tvec, useExtrinsicGuess); + + // divide by four since all the four corners are concatenated in the array for each marker + return (int)objPoints.total() / 4; +} diff --git a/clever/src/aruco_vpe.py b/clever/src/aruco_vpe.py new file mode 100644 index 00000000..198bb846 --- /dev/null +++ b/clever/src/aruco_vpe.py @@ -0,0 +1,80 @@ +#!/usr/bin/env python + +import rospy +from geometry_msgs.msg import PoseStamped, PointStamped, Quaternion +import tf2_ros +from tf2_geometry_msgs import do_transform_pose +import tf.transformations + +from util import orientation_from_euler, euler_from_orientation + + +rospy.init_node('aruco_vpe') + + +LOOKUP_TIMEOUT = rospy.Duration(.1) +CAMERA_FRAME_ID = rospy.get_param('~camera_frame_id', 'bottom_camera_optical') + + +# TF2 stuff +tf_broadcaster = tf2_ros.TransformBroadcaster() +static_tf_broadcaster = tf2_ros.StaticTransformBroadcaster() + +tf_buffer = tf2_ros.Buffer() +tf_listener = tf2_ros.TransformListener(tf_buffer) + + +vision_position_pub = rospy.Publisher('mavros/vision_pose/pose', PoseStamped, queue_size=1) +_vision_position_pub = rospy.Publisher('fake_vision_pose', PoseStamped, queue_size=1) +last_published = None + + +q = Quaternion() +q.w = 1 +ps = PoseStamped() +ps.pose.orientation = q + + +def send_transform(transform, child_frame_id): + transform.child_frame_id = child_frame_id + tf_broadcaster.sendTransform(transform) + + +def publish_vpe(pose): + global last_published + stamp = pose.header.stamp + + def lookup_transform(target_frame, source_frame): + return tf_buffer.lookup_transform(target_frame, source_frame, stamp, LOOKUP_TIMEOUT) + + # Refine aruco_map + reference_in_local_origin = lookup_transform('local_origin', 'aruco_map_reference') + roll, pitch, yaw = euler_from_orientation(reference_in_local_origin.transform.rotation) + reference_in_local_origin.transform.rotation = orientation_from_euler(0, 0, yaw) + send_transform(reference_in_local_origin, 'aruco_map_reference_horiz') + + aruco_map_in_reference = lookup_transform('aruco_map_reference', 'aruco_map_raw') + aruco_map_in_reference.header.frame_id = 'aruco_map_reference_horiz' + send_transform(aruco_map_in_reference, 'aruco_map') + + # Reset VPE + if last_published is None or stamp - last_published > rospy.Duration(2): + rospy.loginfo('Reset VPE') + aruco_map_in_local_origin = lookup_transform('local_origin', 'aruco_map') + aruco_map_in_local_origin.child_frame_id = 'vpe_origin' + static_tf_broadcaster.sendTransform(aruco_map_in_local_origin) + + # Calculate VPE + ps.header.frame_id = 'fcu_horiz' + ps.header.stamp = stamp + vpe_raw = tf_buffer.transform(ps, 'aruco_map', LOOKUP_TIMEOUT) + vpe_raw.header.frame_id = 'vpe_origin' + vpe = tf_buffer.transform(vpe_raw, 'local_origin', LOOKUP_TIMEOUT) + _vision_position_pub.publish(vpe_raw) + vision_position_pub.publish(vpe) + last_published = stamp + + +rospy.Subscriber('aruco_pose/pose', PoseStamped, publish_vpe, queue_size=1) +rospy.loginfo('aruco_vpe inited') +rospy.spin() From 13b1a79f650a0f76cfbad36a5de4998f709bb727 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 29 Nov 2017 19:20:34 +0300 Subject: [PATCH 046/121] get_telemetry service --- clever/CMakeLists.txt | 1 + clever/src/simple_offboard.py | 95 ++++++++++++++++++++++++++++++++++- clever/srv/GetTelemetry.srv | 22 ++++++++ 3 files changed, 117 insertions(+), 1 deletion(-) create mode 100644 clever/srv/GetTelemetry.srv diff --git a/clever/CMakeLists.txt b/clever/CMakeLists.txt index c13ff221..49f2ee06 100644 --- a/clever/CMakeLists.txt +++ b/clever/CMakeLists.txt @@ -67,6 +67,7 @@ add_service_files( SetAttitudeYawRate.srv SetRatesYaw.srv SetRates.srv + GetTelemetry.srv ) ## Generate actions in the 'action' folder diff --git a/clever/src/simple_offboard.py b/clever/src/simple_offboard.py index c091c068..50032b09 100755 --- a/clever/src/simple_offboard.py +++ b/clever/src/simple_offboard.py @@ -2,7 +2,8 @@ from __future__ import division import rospy -from geometry_msgs.msg import TransformStamped, PoseStamped, Point, Vector3, Vector3Stamped +from geometry_msgs.msg import TransformStamped, PoseStamped, Point, PointStamped, Vector3, Vector3Stamped, TwistStamped, QuaternionStamped +from sensor_msgs.msg import NavSatFix, BatteryState import tf2_ros import tf2_geometry_msgs from mavros_msgs.msg import PositionTarget, AttitudeTarget, State @@ -53,7 +54,26 @@ arming = rospy.ServiceProxy('/mavros/cmd/arming', CommandBool) set_mode = rospy.ServiceProxy('/mavros/set_mode', SetMode) +pose = None +global_position = None +velocity = None state = None +battery = None + + +def pose_update(data): + global pose + pose = data + + +def global_position_update(data): + global global_position + global_position = data + + +def velocity_update(data): + global velocity + velocity = data def state_update(data): @@ -61,7 +81,16 @@ def state_update(data): state = data +def battery_update(data): + global battery + battery = data + + rospy.Subscriber('/mavros/state', State, state_update) +rospy.Subscriber('/mavros/local_position/pose', PoseStamped, pose_update) +rospy.Subscriber('/mavros/local_position/velocity', TwistStamped, velocity_update) +rospy.Subscriber('/mavros/global_position/global', NavSatFix, global_position_update) +rospy.Subscriber('/mavros/battery', BatteryState, battery_update) AUTO_OFFBOARD = rospy.get_param('~auto_offboard', True) @@ -273,6 +302,70 @@ rospy.Service('set_rates/yaw', srv.SetRatesYaw, handle) rospy.Service('release', Trigger, release) +def get_telemetry(req): + res = { + 'frame_id': req.frame_id or 'local_origin', + 'x': float('nan'), + 'y': float('nan'), + 'z': float('nan'), + 'lat': float('nan'), + 'lon': float('nan'), + 'vx': float('nan'), + 'vy': float('nan'), + 'vz': float('nan'), + 'pitch': float('nan'), + 'roll': float('nan'), + 'yaw': float('nan'), + 'pitch_rate': float('nan'), + 'roll_rate': float('nan'), + 'yaw_rate': float('nan'), + 'voltage': float('nan'), + 'cell_voltage': float('nan') + } + frame_id = req.frame_id or 'local_origin' + stamp = rospy.get_rostime() + + if pose: + p = tf_buffer.transform(pose, frame_id, TRANSFORM_TIMEOUT) + res['x'] = p.pose.position.x + res['y'] = p.pose.position.y + res['z'] = p.pose.position.z + # Get yaw in the request's frame_in + _, _, res['yaw'] = euler_from_orientation(p.pose.orientation) + # Calculate pitch and roll as angles between the pose and fcu_horiz + attitude_pose = tf_buffer.transform(pose, 'fcu_horiz', TRANSFORM_TIMEOUT) + res['pitch'], res['roll'], _ = euler_from_orientation(attitude_pose.pose.orientation) + + if velocity: + v = Vector3Stamped() + v.header.stamp = velocity.header.stamp + v.header.frame_id = velocity.header.frame_id + v.vector = velocity.twist.linear + linear = tf_buffer.transform(v, frame_id, TRANSFORM_TIMEOUT) + res['vx'] = linear.vector.x + res['vy'] = linear.vector.y + res['vz'] = linear.vector.z + # TODO pitch_rate, roll_rate, yaw_rate + + if global_position and stamp - global_position.header.stamp < rospy.Duration(5): + res['lat'] = global_position.latitude + res['lon'] = global_position.longitude + + if state: + res['connected'] = state.connected + res['armed'] = state.armed + res['mode'] = state.mode + + if battery: + res['voltage'] = battery.voltage + res['cell_voltage'] = battery.cell_voltage[0] + + return res + + +rospy.Service('get_telemetry', srv.GetTelemetry, get_telemetry) + + rospy.loginfo('simple_offboard inited') diff --git a/clever/srv/GetTelemetry.srv b/clever/srv/GetTelemetry.srv new file mode 100644 index 00000000..b815ce89 --- /dev/null +++ b/clever/srv/GetTelemetry.srv @@ -0,0 +1,22 @@ +string frame_id +--- +string frame_id +bool connected +bool armed +string mode +float32 x +float32 y +float32 z +float32 lat +float32 lon +float32 vx +float32 vy +float32 vz +float32 pitch +float32 roll +float32 yaw +float32 pitch_rate +float32 roll_rate +float32 yaw_rate +float32 voltage +float32 cell_voltage From 0c6f6c29ae5911ec7c5f58793417d770b424fc7f Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 29 Nov 2017 19:30:24 +0300 Subject: [PATCH 047/121] launch-file for aruco_pose --- clever/launch/aruco.launch | 13 +++++++++++++ clever/launch/clever.launch | 3 ++- 2 files changed, 15 insertions(+), 1 deletion(-) create mode 100644 clever/launch/aruco.launch diff --git a/clever/launch/aruco.launch b/clever/launch/aruco.launch new file mode 100644 index 00000000..2c3915bb --- /dev/null +++ b/clever/launch/aruco.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/clever/launch/clever.launch b/clever/launch/clever.launch index ab129b56..57352d61 100644 --- a/clever/launch/clever.launch +++ b/clever/launch/clever.launch @@ -7,6 +7,7 @@ + @@ -25,7 +26,7 @@ - + From 81d38438178a05dc5d4304e8db1497c5d7adc33e Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 29 Nov 2017 19:55:57 +0300 Subject: [PATCH 048/121] auto_arm parameter for services --- clever/CMakeLists.txt | 1 - clever/src/simple_offboard.py | 4 +++- clever/srv/SetAttitude.srv | 1 + clever/srv/SetAttitudeYawRate.srv | 1 + clever/srv/SetPosition.srv | 1 + clever/srv/SetPositionGlobal.srv | 1 + clever/srv/SetPositionGlobalYawRate.srv | 1 + clever/srv/SetPositionYawRate.srv | 1 + clever/srv/SetRates.srv | 1 + clever/srv/SetRatesYaw.srv | 1 + clever/srv/SetVelocity.srv | 1 + clever/srv/SetVelocityYawRate.srv | 1 + deploy/clever_arudino.tar.gz | Bin 164791 -> 185816 bytes 13 files changed, 13 insertions(+), 2 deletions(-) diff --git a/clever/CMakeLists.txt b/clever/CMakeLists.txt index 22ba58d9..2f3afaba 100644 --- a/clever/CMakeLists.txt +++ b/clever/CMakeLists.txt @@ -71,7 +71,6 @@ add_service_files( SetAttitudeYawRate.srv SetRatesYaw.srv SetRates.srv - GetTelemetry.srv ) ## Generate actions in the 'action' folder diff --git a/clever/src/simple_offboard.py b/clever/src/simple_offboard.py index 0e48831c..f808fe2b 100755 --- a/clever/src/simple_offboard.py +++ b/clever/src/simple_offboard.py @@ -278,7 +278,9 @@ def handle(req): current_msg.header.stamp = stamp current_pub.publish(current_msg) - offboard_and_arm() + if req.auto_offboard: + offboard_and_arm() + return {'success': True} except Exception as e: diff --git a/clever/srv/SetAttitude.srv b/clever/srv/SetAttitude.srv index 9c41fff9..05ba13db 100644 --- a/clever/srv/SetAttitude.srv +++ b/clever/srv/SetAttitude.srv @@ -4,6 +4,7 @@ float32 yaw float32 thrust string frame_id bool update_frame +bool auto_arm --- bool success string message diff --git a/clever/srv/SetAttitudeYawRate.srv b/clever/srv/SetAttitudeYawRate.srv index 80e68a6a..e914cf7e 100644 --- a/clever/srv/SetAttitudeYawRate.srv +++ b/clever/srv/SetAttitudeYawRate.srv @@ -2,6 +2,7 @@ float32 roll float32 pitch float32 yaw_rate float32 thrust +bool auto_arm --- bool success string message diff --git a/clever/srv/SetPosition.srv b/clever/srv/SetPosition.srv index 53e375ed..421c4931 100644 --- a/clever/srv/SetPosition.srv +++ b/clever/srv/SetPosition.srv @@ -4,6 +4,7 @@ float32 z float32 yaw string frame_id bool update_frame +bool auto_arm --- bool success string message diff --git a/clever/srv/SetPositionGlobal.srv b/clever/srv/SetPositionGlobal.srv index 4bbdfc95..742f4d95 100644 --- a/clever/srv/SetPositionGlobal.srv +++ b/clever/srv/SetPositionGlobal.srv @@ -4,6 +4,7 @@ float32 z float32 yaw string frame_id bool update_frame +bool auto_arm --- bool success string message diff --git a/clever/srv/SetPositionGlobalYawRate.srv b/clever/srv/SetPositionGlobalYawRate.srv index a7959e04..3fc42931 100644 --- a/clever/srv/SetPositionGlobalYawRate.srv +++ b/clever/srv/SetPositionGlobalYawRate.srv @@ -4,6 +4,7 @@ float32 z float32 yaw_rate string frame_id bool update_frame +bool auto_arm --- bool success string message diff --git a/clever/srv/SetPositionYawRate.srv b/clever/srv/SetPositionYawRate.srv index 76feda1f..419621ca 100644 --- a/clever/srv/SetPositionYawRate.srv +++ b/clever/srv/SetPositionYawRate.srv @@ -4,6 +4,7 @@ float32 z float32 yaw_rate string frame_id bool update_frame +bool auto_arm --- bool success string message diff --git a/clever/srv/SetRates.srv b/clever/srv/SetRates.srv index 7e7c1cb1..f6ebddf9 100644 --- a/clever/srv/SetRates.srv +++ b/clever/srv/SetRates.srv @@ -2,6 +2,7 @@ float32 pitch_rate float32 roll_rate float32 yaw_rate float32 thrust +bool auto_arm --- bool success string message diff --git a/clever/srv/SetRatesYaw.srv b/clever/srv/SetRatesYaw.srv index fb9dbcc3..df8950ac 100644 --- a/clever/srv/SetRatesYaw.srv +++ b/clever/srv/SetRatesYaw.srv @@ -4,6 +4,7 @@ float32 yaw float32 thrust string frame_id bool update_frame +bool auto_arm --- bool success string message diff --git a/clever/srv/SetVelocity.srv b/clever/srv/SetVelocity.srv index 88efaaa2..01b818b2 100644 --- a/clever/srv/SetVelocity.srv +++ b/clever/srv/SetVelocity.srv @@ -4,6 +4,7 @@ float32 vz float32 yaw string frame_id bool update_frame +bool auto_arm --- bool success string message diff --git a/clever/srv/SetVelocityYawRate.srv b/clever/srv/SetVelocityYawRate.srv index 965bdf68..3155644e 100644 --- a/clever/srv/SetVelocityYawRate.srv +++ 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z&T;;R6BF2-fqKMx{(M5OMxaM757^3#sbXIIgsKyaR6W)}TYeK`$z3PPHhc`PBYrGm z$~aUC`d=Z5BUCbu?0d4d)4V+Huz%~n8|t4kcWasWkgbKmGqMOblL&>2Fp+k>rtz6K zGfZ0ws8|WoNbHi=i4uf6xFacc*JxD%gjG%)aiN%-MiYD*jR+z^64^st0^^R10%*0- z92c-ON8g#Bs)!7i5p|2wCw@OupoRl@z3W|&eWs_A^u3I&btJy|)w?-fPP;KV2q2br zpA>iVy9LoT0@MK4B*VOeUogNPQD@1$4n(0*eU4FY@p-TDrt-Rs83UuPi5cdmS@r@s z>HDq%GCQ{0%YlovA^DOqfpWcEh%vf_GFOISHCF_A|39yu-Ww1!Dp#~8L_R6R{{pJw BBZL3| From 23dc75bb912358e76258de7ef0d840103eab2fa3 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 29 Nov 2017 19:27:00 +0300 Subject: [PATCH 049/121] Auto respawn for web_video_server --- clever/launch/clever.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clever/launch/clever.launch b/clever/launch/clever.launch index 57352d61..3caa15c0 100644 --- a/clever/launch/clever.launch +++ b/clever/launch/clever.launch @@ -24,7 +24,7 @@ - + From aed0ca99a80621b615b3b7f164be43459f53c83e Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 29 Nov 2017 19:25:56 +0300 Subject: [PATCH 050/121] Use nodelet for camera instead of node --- clever/launch/bottom_camera.launch | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/clever/launch/bottom_camera.launch b/clever/launch/bottom_camera.launch index 8f26376d..b0c629f9 100644 --- a/clever/launch/bottom_camera.launch +++ b/clever/launch/bottom_camera.launch @@ -1,12 +1,14 @@ + + - - + + - - + + From bdc9008d05419484c38f318d39a292c62522dec0 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 29 Nov 2017 20:08:50 +0300 Subject: [PATCH 051/121] camera => bottom_camera --- clever/launch/clever.launch | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/clever/launch/clever.launch b/clever/launch/clever.launch index 3caa15c0..5be50ef8 100644 --- a/clever/launch/clever.launch +++ b/clever/launch/clever.launch @@ -6,7 +6,7 @@ - + @@ -32,7 +32,7 @@ - + From 95ccdffcdd7aeb32443dab4b4c861c02edd0b8b5 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 29 Nov 2017 20:16:14 +0300 Subject: [PATCH 052/121] Remove mavros_msgs from generate_messages --- clever/CMakeLists.txt | 1 - 1 file changed, 1 deletion(-) diff --git a/clever/CMakeLists.txt b/clever/CMakeLists.txt index 2f3afaba..15929c58 100644 --- a/clever/CMakeLists.txt +++ b/clever/CMakeLists.txt @@ -84,7 +84,6 @@ add_service_files( generate_messages( DEPENDENCIES std_msgs # Or other packages containing msgs - mavros_msgs ) ################################################ From 15635d28a1c6ed053eb00f659d1bb6f24f596671 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 29 Nov 2017 23:08:29 +0300 Subject: [PATCH 053/121] Fix --- clever/src/simple_offboard.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clever/src/simple_offboard.py b/clever/src/simple_offboard.py index f808fe2b..cf62ef22 100755 --- a/clever/src/simple_offboard.py +++ b/clever/src/simple_offboard.py @@ -278,7 +278,7 @@ def handle(req): current_msg.header.stamp = stamp current_pub.publish(current_msg) - if req.auto_offboard: + if req.auto_arm: offboard_and_arm() return {'success': True} From 03fb0e96444fb0c4785221e1a22529fdc796aac3 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 29 Nov 2017 23:09:42 +0300 Subject: [PATCH 054/121] Cmaera parameters --- clever/camera_info/fisheye_cam.yaml | 20 ----------- clever/camera_info/fisheye_cam_320.yaml | 45 +++++++++++++++++++++++++ clever/camera_info/fisheye_cam_640.yaml | 45 +++++++++++++++++++++++++ clever/launch/bottom_camera.launch | 2 +- 4 files changed, 91 insertions(+), 21 deletions(-) delete mode 100644 clever/camera_info/fisheye_cam.yaml create mode 100644 clever/camera_info/fisheye_cam_320.yaml create mode 100644 clever/camera_info/fisheye_cam_640.yaml diff --git a/clever/camera_info/fisheye_cam.yaml b/clever/camera_info/fisheye_cam.yaml deleted file mode 100644 index 55946f2c..00000000 --- a/clever/camera_info/fisheye_cam.yaml +++ /dev/null @@ -1,20 +0,0 @@ -image_width: 2592 -image_height: 1944 -distortion_model: pinhole -camera_name: raspicam -camera_matrix: - rows: 3 - cols: 3 - data: [1.34689524e+03, 0., 1.30767920e+03, 0., 1.35094361e+03, 9.60238450e+02, 0.0e+00, 0.0e+00, 1.0] -distortion_coefficients: - rows: 1 - cols: 8 - data: [1.11718277e+00, 4.70912345e-01, -2.16258281e-04, 1.71516924e-04, 2.32202095e-02, 1.46837794e+00, 7.92173021e-01, 1.19647684e-01] -rectification_matrix: - rows: 3 - cols: 3 - data: [1, 0, 0, 0, 1, 0, 0, 0, 1] -projection_matrix: - rows: 3 - cols: 4 - data: [1.34689524e+03, 0., 1.30767920e+03, 0., 0., 1.35094361e+03, 9.60238450e+02, 0., 0., 0., 1., 0.] diff --git a/clever/camera_info/fisheye_cam_320.yaml b/clever/camera_info/fisheye_cam_320.yaml new file mode 100644 index 00000000..76fcd8c2 --- /dev/null +++ b/clever/camera_info/fisheye_cam_320.yaml @@ -0,0 +1,45 @@ +image_width: 320 +image_height: 240 +distortion_model: plumb_bob +camera_name: raspicam +camera_matrix: + rows: 3 + cols: 3 + data: + - 166.23942373073172 + - 0. + - 162.19011246829268 + - 0. + - 166.5880923974026 + - 109.82227735714285 + - 0. + - 0. + - 1. +distortion_coefficients: + rows: 1 + cols: 8 + data: [ 2.15356885e-01, -1.17472846e-01, -3.06197672e-04, + -1.09444025e-04, -4.53657258e-03, 5.73090623e-01, + -1.27574577e-01, -2.86125589e-02, 0.00000000e+00, + 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, + 0.00000000e+00, 0.00000000e+00] +rectification_matrix: + rows: 3 + cols: 3 + data: [1, 0, 0, 0, 1, 0, 0, 0, 1] +projection_matrix: + rows: 3 + cols: 4 + data: + - 166.23942373073172 + - 0. + - 162.19011246829268 + - 0. + - 0. + - 166.5880923974026 + - 109.82227735714285 + - 0. + - 0. + - 0. + - 1. + - 0. diff --git a/clever/camera_info/fisheye_cam_640.yaml b/clever/camera_info/fisheye_cam_640.yaml new file mode 100644 index 00000000..f664bb7c --- /dev/null +++ b/clever/camera_info/fisheye_cam_640.yaml @@ -0,0 +1,45 @@ +image_width: 640 +image_height: 480 +distortion_model: plumb_bob +camera_name: raspicam +camera_matrix: + rows: 3 + cols: 3 + data: + - 332.47884746146343 + - 0. + - 324.38022493658536 + - 0. + - 333.1761847948052 + - 219.6445547142857 + - 0. + - 0. + - 1. +distortion_coefficients: + rows: 1 + cols: 8 + data: [ 2.15356885e-01, -1.17472846e-01, -3.06197672e-04, + -1.09444025e-04, -4.53657258e-03, 5.73090623e-01, + -1.27574577e-01, -2.86125589e-02, 0.00000000e+00, + 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, + 0.00000000e+00, 0.00000000e+00] +rectification_matrix: + rows: 3 + cols: 3 + data: [1, 0, 0, 0, 1, 0, 0, 0, 1] +projection_matrix: + rows: 3 + cols: 4 + data: + - 332.47884746146343 + - 0. + - 324.38022493658536 + - 0. + - 0. + - 333.1761847948052 + - 219.6445547142857 + - 0. + - 0. + - 0. + - 1. + - 0. diff --git a/clever/launch/bottom_camera.launch b/clever/launch/bottom_camera.launch index b0c629f9..65beb928 100644 --- a/clever/launch/bottom_camera.launch +++ b/clever/launch/bottom_camera.launch @@ -8,7 +8,7 @@ - + From ab5835b1f852da31afef9d6cf34be58c75ebfb46 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 29 Nov 2017 23:09:54 +0300 Subject: [PATCH 055/121] =?UTF-8?q?Print=20arudino=E2=80=99s=20log?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- clever/launch/arduino.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clever/launch/arduino.launch b/clever/launch/arduino.launch index 6ddddf9e..593f38d2 100644 --- a/clever/launch/arduino.launch +++ b/clever/launch/arduino.launch @@ -3,7 +3,7 @@ - + From 09f4be3665d68562018c44737be705fa9e31cec0 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 29 Nov 2017 23:09:58 +0300 Subject: [PATCH 056/121] Fix --- clever/launch/aruco.launch | 3 +++ 1 file changed, 3 insertions(+) diff --git a/clever/launch/aruco.launch b/clever/launch/aruco.launch index 2c3915bb..07da39e6 100644 --- a/clever/launch/aruco.launch +++ b/clever/launch/aruco.launch @@ -1,4 +1,7 @@ + + + From 3c358aea5ab9fed0eccfd06d667e167d3d4d1b09 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 29 Nov 2017 23:10:19 +0300 Subject: [PATCH 057/121] Use USB by default --- clever/launch/clever.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clever/launch/clever.launch b/clever/launch/clever.launch index 5be50ef8..9f876e56 100644 --- a/clever/launch/clever.launch +++ b/clever/launch/clever.launch @@ -1,5 +1,5 @@ - + From 48c9e64f196c5eba0881e8c07ad9522efe4ba685 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 30 Nov 2017 00:36:44 +0300 Subject: [PATCH 058/121] markers_ids settings for grid boards --- aruco_pose/src/aruco_pose.cpp | 61 +++++++++++++++++++++++++++++++---- clever/launch/aruco.launch | 3 ++ 2 files changed, 58 insertions(+), 6 deletions(-) diff --git a/aruco_pose/src/aruco_pose.cpp b/aruco_pose/src/aruco_pose.cpp index b68c1e08..def8541e 100644 --- a/aruco_pose/src/aruco_pose.cpp +++ b/aruco_pose/src/aruco_pose.cpp @@ -27,7 +27,7 @@ class ArucoPose : public nodelet::Nodelet { tf::TransformBroadcaster br; cv::Ptr dictionary; cv::Ptr parameters; - cv::Ptr board; + cv::Ptr board; std::string frame_id_; image_transport::CameraSubscriber img_sub; image_transport::Publisher img_pub; @@ -72,9 +72,45 @@ void ArucoPose::onInit() { ROS_INFO("aruco_pose nodelet inited"); } +cv::Ptr createCustomBoard(int markersX, int markersY, float markerLength, float markerSeparation, + const cv::Ptr &dictionary, std::vector ids) { + + CV_Assert(markersX > 0 && markersY > 0 && markerLength > 0 && markerSeparation > 0); + + cv::Ptr res = cv::makePtr(); + + res->dictionary = dictionary; + + size_t totalMarkers = (size_t) markersX * markersY; + res->ids = ids; + res->objPoints.reserve(totalMarkers); + + // calculate Board objPoints + float maxY = (float)markersY * markerLength + (markersY - 1) * markerSeparation; + for(int y = 0; y < markersY; y++) { + for(int x = 0; x < markersX; x++) { + std::vector< cv::Point3f > corners; + corners.resize(4); + corners[0] = cv::Point3f(x * (markerLength + markerSeparation), + maxY - y * (markerLength + markerSeparation), 0); + corners[1] = corners[0] + cv::Point3f(markerLength, 0, 0); + corners[2] = corners[0] + cv::Point3f(markerLength, -markerLength, 0); + corners[3] = corners[0] + cv::Point3f(0, -markerLength, 0); + res->objPoints.push_back(corners); + } + } + + return res; +} + void ArucoPose::createBoard() { + static auto map_image_pub = nh_priv_.advertise("map_image", 1, true); + cv_bridge::CvImage map_image_msg; + cv::Mat map_image; + std::string type; + nh_priv_.param("type", type, "gridboard"); if (type == "gridboard") { @@ -82,6 +118,7 @@ void ArucoPose::createBoard() int markers_x, markers_y, first_marker; float markers_side, markers_sep; + std::vector marker_ids; nh_priv_.param("markers_x", markers_x, 10); nh_priv_.param("markers_y", markers_y, 10); nh_priv_.param("first_marker", first_marker, 0); @@ -92,19 +129,31 @@ void ArucoPose::createBoard() if (!nh_priv_.getParam("markers_sep", markers_sep)) ROS_ERROR("gridboard: required parameter ~markers_sep is not set."); - board = cv::aruco::GridBoard::create(markers_x, markers_y, markers_side, markers_sep, dictionary, first_marker); + if (nh_priv_.getParam("marker_ids", marker_ids)) { + if (markers_x * markers_y != marker_ids.size()) { + ROS_FATAL("~marker_ids length should be equal to ~markers_x * ~markers_y"); + exit(1); + } + board = createCustomBoard(markers_x, markers_y, markers_side, markers_sep, dictionary, marker_ids); + } + else { + board = cv::aruco::GridBoard::create(markers_x, markers_y, markers_side, markers_sep, dictionary, first_marker); + } // Publish map image for debugging - cv::Mat map_image; - board->draw( cv::Size(2000, 2000), map_image, 0, 1); + cv::aruco::drawPlanarBoard(board, cv::Size(2000, 2000), map_image, 50, 1); + cv::cvtColor(map_image, map_image, CV_GRAY2BGR); - static auto map_image_pub = nh_priv_.advertise("map_image", 1, true); - cv_bridge::CvImage map_image_msg; map_image_msg.encoding = sensor_msgs::image_encodings::BGR8; map_image_msg.image = map_image; map_image_pub.publish(map_image_msg.toImageMsg()); } + else if (type == "custom") + { + // Not implemented yet + ROS_FATAL("Custom boards are not implemented yet.") + } else { ROS_ERROR("Incorrect map type '%s'", type.c_str()); diff --git a/clever/launch/aruco.launch b/clever/launch/aruco.launch index 07da39e6..f9013c2d 100644 --- a/clever/launch/aruco.launch +++ b/clever/launch/aruco.launch @@ -10,6 +10,9 @@ + + + From 9a12e295ac904fd54cda9c1c085e8be6ce5e2d4f Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 30 Nov 2017 00:41:31 +0300 Subject: [PATCH 059/121] Cleanup code --- aruco_pose/src/aruco_pose.cpp | 217 +--------------------------------- 1 file changed, 5 insertions(+), 212 deletions(-) diff --git a/aruco_pose/src/aruco_pose.cpp b/aruco_pose/src/aruco_pose.cpp index def8541e..77f17d80 100644 --- a/aruco_pose/src/aruco_pose.cpp +++ b/aruco_pose/src/aruco_pose.cpp @@ -3,7 +3,6 @@ #include #include #include -//#include #include #include #include @@ -17,13 +16,9 @@ #include #include -// #include -// #include - namespace aruco_pose { class ArucoPose : public nodelet::Nodelet { -// tf2_ros::TransformBroadcaster br; tf::TransformBroadcaster br; cv::Ptr dictionary; cv::Ptr parameters; @@ -37,15 +32,10 @@ class ArucoPose : public nodelet::Nodelet { virtual void onInit(); void createBoard(); - void publishVisualizationMarkers(); cv::Point3f getObjPointsCenter(cv::Mat objPoints); void detect(const sensor_msgs::ImageConstPtr&, const sensor_msgs::CameraInfoConstPtr&); void parseCameraInfo(const sensor_msgs::CameraInfoConstPtr&, cv::Mat&, cv::Mat&); tf::Transform aruco2tf(cv::Mat rvec, cv::Mat tvec); - -public: - ArucoPose() {}; - virtual ~ArucoPose() {}; }; void ArucoPose::onInit() { @@ -67,8 +57,6 @@ void ArucoPose::onInit() { pose_pub = nh_priv_.advertise("pose", 1); - publishVisualizationMarkers(); - ROS_INFO("aruco_pose nodelet inited"); } @@ -152,7 +140,7 @@ void ArucoPose::createBoard() else if (type == "custom") { // Not implemented yet - ROS_FATAL("Custom boards are not implemented yet.") + ROS_FATAL("Custom boards are not implemented yet."); } else { @@ -160,34 +148,6 @@ void ArucoPose::createBoard() } } -void ArucoPose::publishVisualizationMarkers() -{ - // Create latched publisher - static auto viz_markers_pub = nh_.advertise("viz", 1, true); - visualization_msgs::MarkerArray viz; - visualization_msgs::Marker marker; - marker.header.frame_id = "world"; - marker.type = visualization_msgs::Marker::CUBE; - marker.scale.x = 1; - marker.scale.y = 1; - marker.scale.z = 0.001; - marker.color.r = 1; - marker.color.g = 1; - marker.color.b = 1; - marker.color.a = 0.9; - marker.frame_locked = true; - viz.markers.push_back(marker); - marker.type = visualization_msgs::Marker::TEXT_VIEW_FACING; - marker.scale.z = 0.3; - marker.color.r = 0; - marker.color.g = 0; - marker.color.b = 0; - marker.color.a = 0.8; - marker.text = "240"; - viz.markers.push_back(marker); - viz_markers_pub.publish(viz); -} - cv::Point3f ArucoPose::getObjPointsCenter(cv::Mat objPoints) { float min_x = std::numeric_limits::max(); float max_x = std::numeric_limits::min(); @@ -217,75 +177,14 @@ void ArucoPose::detect(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs: cv::Mat distCoeffs(8, 1, CV_64F); parseCameraInfo(cinfo, cameraMatrix, distCoeffs); - // std::cout << "dist " << distCoeffs << " mat " << cameraMatrix; - // std::cout << markerIds.size() << std::endl; - - // cv::Vec3d rvec, tvec; - // int valid = cv::aruco::estimatePoseBoard(markerCorners, markerIds, board, cameraMatrix, distCoeffs, rvec, tvec); - - // std::vector< cv::Vec3d > rvecs, tvecs; - //cv::aruco::estimatePoseSingleMarkers(markerCorners, 0.3362, cameraMatrix, distCoeffs, rvecs, tvecs); - // cv::aruco::estimatePoseSingleMarkers(markerCorners, 0.15, cameraMatrix, distCoeffs, rvecs, tvecs); - - - // Publish markers - // aruco_pose::MarkerArray markerArray; - // markerArray.header.frame_id = msg->header.frame_id; - // markerArray.header.stamp = msg->header.stamp; - // markerArray.markers.resize(markerIds.size()); - // for (int i = 0; i < markerIds.size(); i++) { - // markerArray.markers[i].id = markerIds[i]; - // markerArray.markers[i].pose.x = tvect[0]; - // markerArray.markers[i].pose.y = tvect[1]; - // markerArray.markers[i].pose.z = tvect[2]; - // markerArray.markers[i].header.stamp = msg->header.stamp; - // markerArray.markers[i].header.frame_id = msg->header.frame_id; - // } - // marker_pub.publish(markerArray); - - /* - for (int i = 0; i < markerIds.size(); i++) { - //if (markerIds[i] == 242) { - if (markerIds[i] == 9) { - tf::Transform transform = aruco2tf(rvecs[i], tvecs[i]); - tf::StampedTransform stampedTransform(transform, msg->header.stamp, msg->header.frame_id, frame_id); - br.sendTransform(stampedTransform); - - // geometry_msgs::TransformStamped transformStamped; - // transformStamped.header.stamp = msg->header.stamp; - // transformStamped.header.frame_id = cinfo->header.frame_id; - // transformStamped.child_frame_id = frame_id; - // transformStamped.transform = aruco2tf(rvecs[i], tvecs[i]); - // transformStamped.transform.translation = transformStamped.transform.translation.normalize(); - // br.sendTransform(transformStamped); - break; - } - } - */ - - // std::cout << "markers: "; - // for (auto const& c : markerIds) std::cout << c << ' '; - -// return; - if (markerIds.size() > 0) { -// for (auto const& c : markerCorners) std::cout << c << ' '; -// for (auto const& c : markerIds) std::cout << c << ' '; - -// cv::aruco::drawDetectedMarkers(image, markerCorners, markerIds); - - // std::vector< cv::Vec3d > rvecs, tvecs; - // cv::aruco::estimatePoseSingleMarkers(markerCorners, 0.3362, cameraMatrix, distCoeffs, rvecs, tvecs); - // draw axis for each marker - // for(int i=0; iheader.stamp, cinfo->header.frame_id, frame_id_); br.sendTransform(transform); @@ -296,7 +195,7 @@ void ArucoPose::detect(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs: ps.pose.orientation.w = 1; pose_pub.publish(ps); - // Publish reference point + // Send reference point cv::Point3f ref = getObjPointsCenter(objPoints); tf::Vector3 ref_vector3 = tf::Vector3(ref.x, ref.y, ref.z); tf::Quaternion q(0, 0, 0); @@ -308,37 +207,15 @@ void ArucoPose::detect(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs: ref_transform.setRotation(q); br.sendTransform(ref_transform); -// geometry_msgs::TransformStamped transformMsg; - // transform.header.stamp = msg->header.stamp; - // transform.header.frame_id = cinfo->header.frame_id; - // transform.child_frame_id = frame_id; - // transform.transform = aruco2tf(rvec, tvec); -// tf::transformStampedTFToMsg(transform, transformMsg); -// br.sendTransform(transformMsg); -// std::cout << rvec << ";" << tvec << std::endl; -// geometry_msgs::TransformStamped transformStamped; -// transformStamped.header.stamp = msg->header.stamp; -// transformStamped.header.frame_id = cinfo->header.frame_id; -// transformStamped.child_frame_id = frame_id; -// transformStamped.transform.translation.x = tvec[0]; -// transformStamped.transform.translation.y = tvec[1]; -// transformStamped.transform.translation.z = tvec[1]; -// transformStamped.transform.rotation.w = 1; -// br.sendTransform(transformStamped); - if(img_pub.getNumSubscribers() > 0) { - //show input with augmented information - // for(int i=0; iheader.frame_id; out_msg.header.stamp = msg->header.stamp; - out_msg.encoding = sensor_msgs::image_encodings::BGR8; // sensor_msgs::image_encodings::RGB8; + out_msg.encoding = sensor_msgs::image_encodings::BGR8; out_msg.image = image; img_pub.publish(out_msg.toImageMsg()); } @@ -362,14 +239,6 @@ tf::Transform ArucoPose::aruco2tf(cv::Mat rvec, cv::Mat tvec) { cv::Mat rot; cv::Rodrigues(rvec, rot); -// rot = rot.t(); // inverse rotation - //tvec = -rot * tvec; // translation of inverse - - // camPose is a 4x4 matrix with the pose of the camera in the object frame - // cv::Mat camPose = cv::Mat::eye(4, 4, R.type()); - // R.copyTo(camPose.rowRange(0, 3).colRange(0, 3)); // copies R into camPose - // tvec.copyTo(camPose.rowRange(0, 3).colRange(3, 4)); // copies tvec into camPose - tf::Matrix3x3 tf_rot(rot.at(0,0), rot.at(0,1), rot.at(0,2), rot.at(1,0), rot.at(1,1), rot.at(1,2), rot.at(2,0), rot.at(2,1), rot.at(2,2)); @@ -377,82 +246,6 @@ tf::Transform ArucoPose::aruco2tf(cv::Mat rvec, cv::Mat tvec) { return tf::Transform(tf_rot, tf_orig); } -/* -tf::Transform ArucoPose::aruco2tf(cv::Vec3d rvec, cv::Vec3d tvec) { - cv::Mat rot(3, 3, CV_64FC1); - // cv::Mat Rvec64; - // rvec.convertTo(rvec, CV_64FC1); - cv::Rodrigues(rvec, rot); - cv::Mat tran64; - // tvec.convertTo(tran64, CV_64FC1); - - cv::Mat rotate_to_ros(3, 3, CV_64FC1); - rotate_to_ros.at(0,0) = 1.0; - rotate_to_ros.at(0,1) = 0.0; - rotate_to_ros.at(0,2) = 0.0; - rotate_to_ros.at(1,0) = 0.0; - rotate_to_ros.at(1,1) = -1.0; - rotate_to_ros.at(1,2) = 0.0; - rotate_to_ros.at(2,0) = 0.0; - rotate_to_ros.at(2,1) = 0.0; - rotate_to_ros.at(2,2) = -1.0; - - rot = rot*rotate_to_ros.t(); - - tf::Matrix3x3 tf_rot(rot.at(0,0), rot.at(0,1), rot.at(0,2), - rot.at(1,0), rot.at(1,1), rot.at(1,2), - rot.at(2,0), rot.at(2,1), rot.at(2,2)); - - tf::Vector3 tf_orig(tvec[0], tvec[1], tvec[2]); - - - return tf::Transform(tf_rot, tf_orig); -} -*/ - -// tf::Transform ArucoPose::aruco2tf(cv::Vec3d rvec, cv::Vec3d tvec) { -// /* Code it based on https://github.com/Sahloul/ar_sys/blob/master/src/utils.cpp#L44 */ -// /* TODO: rewrite */ - -// cv::Mat rot(3, 3, CV_64FC1); -// cv::Rodrigues(rvec, rot); - -// cv::Mat rotate_to_sys(3, 3, CV_64FC1); -// /** -// /* Fixed the rotation to meet the ROS system -// /* Doing a basic rotation around X with theta=PI -// /* By Sahloul -// /* See http://en.wikipedia.org/wiki/Rotation_matrix for details -// */ - -// // 1 0 0 -// // 0 -1 0 -// // 0 0 -1 - -// rotate_to_sys.at(0,0) = 1.0; -// rotate_to_sys.at(0,1) = 0.0; -// rotate_to_sys.at(0,2) = 0.0; -// rotate_to_sys.at(1,0) = 0.0; -// rotate_to_sys.at(1,1) = -1.0; -// rotate_to_sys.at(1,2) = 0.0; -// rotate_to_sys.at(2,0) = 0.0; -// rotate_to_sys.at(2,1) = 0.0; -// rotate_to_sys.at(2,2) = -1.0; - -// rot = rot * rotate_to_sys.t(); - - -// tf::Matrix3x3 tf_rot(rot.at(0,0), rot.at(0,1), rot.at(0,2), -// rot.at(1,0), rot.at(1,1), rot.at(1,2), -// rot.at(2,0), rot.at(2,1), rot.at(2,2)); - -// tf::Vector3 tf_orig(tvec[0], tvec[1], tvec[2]); - -// tf::Transform tft(tf_rot, tf_orig); -// return tft; -// } - PLUGINLIB_EXPORT_CLASS(ArucoPose, nodelet::Nodelet) } - From 7b196e1776f564d85ae48898e95815863a4996ad Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 30 Nov 2017 00:44:48 +0300 Subject: [PATCH 060/121] +x for aruco_vpe --- clever/src/aruco_vpe.py | 0 1 file changed, 0 insertions(+), 0 deletions(-) mode change 100644 => 100755 clever/src/aruco_vpe.py diff --git a/clever/src/aruco_vpe.py b/clever/src/aruco_vpe.py old mode 100644 new mode 100755 From 497182e5162b5fa5bad340c51918a2854dde18eb Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 30 Nov 2017 03:58:42 +0300 Subject: [PATCH 061/121] Fix sitl launch --- clever/launch/sitl.launch | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/clever/launch/sitl.launch b/clever/launch/sitl.launch index 27cb2055..94c0698b 100644 --- a/clever/launch/sitl.launch +++ b/clever/launch/sitl.launch @@ -8,8 +8,11 @@ - + + + + From 67520c02c93e38c5d549f4e18e8ee6f2489ec239 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 30 Nov 2017 03:59:15 +0300 Subject: [PATCH 062/121] Fix simple_offboard --- clever/src/simple_offboard.py | 1 + 1 file changed, 1 insertion(+) diff --git a/clever/src/simple_offboard.py b/clever/src/simple_offboard.py index cf62ef22..7c1fad06 100755 --- a/clever/src/simple_offboard.py +++ b/clever/src/simple_offboard.py @@ -272,6 +272,7 @@ def handle(req): try: with handle_lock: stamp = rospy.get_rostime() + current_req = req current_pub, current_msg = get_publisher_and_message(req, stamp) rospy.loginfo('Topic: %s, message: %s', current_pub.name, current_msg) From d2061236594c9c008ffb2f72aa8002b5375a4193 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Mon, 4 Dec 2017 02:33:06 +0300 Subject: [PATCH 063/121] aruco_pose: clear_params=true --- clever/launch/aruco.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clever/launch/aruco.launch b/clever/launch/aruco.launch index f9013c2d..b29a81af 100644 --- a/clever/launch/aruco.launch +++ b/clever/launch/aruco.launch @@ -2,7 +2,7 @@ - + From 42409a80a2a726a8f53439d6a91d8b4076317487 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 6 Dec 2017 05:53:43 +0300 Subject: [PATCH 064/121] `Navigate` service added --- clever/CMakeLists.txt | 1 + clever/src/simple_offboard.py | 75 +++++++++++++++++++++++++++++++--- clever/srv/Navigate.srv | 11 +++++ deploy/clever_arudino.tar.gz | Bin 185816 -> 186276 bytes 4 files changed, 82 insertions(+), 5 deletions(-) create mode 100644 clever/srv/Navigate.srv diff --git a/clever/CMakeLists.txt b/clever/CMakeLists.txt index 15929c58..579cf6bd 100644 --- a/clever/CMakeLists.txt +++ b/clever/CMakeLists.txt @@ -61,6 +61,7 @@ find_package(catkin REQUIRED COMPONENTS add_service_files( FILES GetTelemetry.srv + Navigate.srv SetPosition.srv SetPositionYawRate.srv SetPositionGlobal.srv diff --git a/clever/src/simple_offboard.py b/clever/src/simple_offboard.py index 7c1fad06..f1c309f8 100755 --- a/clever/src/simple_offboard.py +++ b/clever/src/simple_offboard.py @@ -131,11 +131,67 @@ ps = PoseStamped() vs = Vector3Stamped() -def get_publisher_and_message(req, stamp): +BRAKE_TIME = rospy.Duration(2) + + +def get_navigate_setpoint(stamp, start, finish, start_stamp, speed): + distance = math.sqrt((finish.z - start.z)**2 + (finish.x - start.x)**2 + (finish.y - start.y)**2) + time = rospy.Duration(distance / speed) + k = (stamp - start_stamp) / time + time_left = start_stamp + time - stamp + + if BRAKE_TIME and time_left < BRAKE_TIME: + # time to brake + time_before_braking = time - BRAKE_TIME + brake_time_passed = (stamp - start_stamp - time_before_braking) + + if brake_time_passed > 2 * BRAKE_TIME: + # finish + k = 1 + else: + # brake! + k_before_braking = time_before_braking / time + k_after_braking = (speed * brake_time_passed.to_sec() - brake_time_passed.to_sec() ** 2 * speed / 4 / BRAKE_TIME.to_sec()) / distance + k = k_before_braking + k_after_braking + + k = min(k, 1) + + p = Point() + p.x = start.x + (finish.x - start.x) * k + p.y = start.y + (finish.y - start.y) * k + p.z = start.z + (finish.z - start.z) * k + return p + + +def get_publisher_and_message(req, stamp, continued=True, update_frame=True): ps.header.stamp = stamp vs.header.stamp = stamp - if isinstance(req, srv.SetPositionRequest): + if isinstance(req, srv.NavigateRequest): + global current_nav_start, current_nav_start_stamp, current_nav_finish + + if update_frame: + ps.header.frame_id = req.frame_id or 'local_origin' + ps.pose.position = Point(req.x, req.y, req.z) + ps.pose.orientation = orientation_from_euler(0, 0, req.yaw) + current_nav_finish = tf_buffer.transform(ps, 'local_origin', TRANSFORM_TIMEOUT) + + if not continued: + current_nav_start = pose.pose.position + current_nav_start_stamp = stamp + + setpoint = get_navigate_setpoint(stamp, current_nav_start, current_nav_finish.pose.position, + current_nav_start_stamp, req.speed) + + msg = PositionTarget(coordinate_frame=PositionTarget.FRAME_LOCAL_NED, + type_mask=PositionTarget.IGNORE_VX + PositionTarget.IGNORE_VY + PositionTarget.IGNORE_VZ + + PositionTarget.IGNORE_AFX + PositionTarget.IGNORE_AFY + PositionTarget.IGNORE_AFZ + + PositionTarget.IGNORE_YAW_RATE, + position=setpoint, + yaw=euler_from_orientation(current_nav_finish.pose.orientation)[2] - math.pi / 2) + return position_pub, msg + + elif isinstance(req, srv.SetPositionRequest): ps.header.frame_id = req.frame_id or 'local_origin' ps.pose.position = Point(req.x, req.y, req.z) ps.pose.orientation = orientation_from_euler(0, 0, req.yaw) @@ -260,6 +316,9 @@ def get_publisher_and_message(req, stamp): current_pub = None current_msg = None current_req = None +current_nav_start = None +current_nav_finish = None +current_nav_start_stamp = None handle_lock = Lock() @@ -269,11 +328,15 @@ def handle(req): if not state.connected: return {'message': 'No connection to the FCU'} + if isinstance(req, srv.NavigateRequest) and req.speed <= 0: + rospy.logwarn('Navigate speed must be greater than zero, %s passed') + return {'message': 'Navigate speed must be greater than zero, %s passed' % req.speed} + try: with handle_lock: stamp = rospy.get_rostime() current_req = req - current_pub, current_msg = get_publisher_and_message(req, stamp) + current_pub, current_msg = get_publisher_and_message(req, stamp, False) rospy.loginfo('Topic: %s, message: %s', current_pub.name, current_msg) current_msg.header.stamp = stamp @@ -296,6 +359,7 @@ def release(req): return {'success': True} +rospy.Service('navigate', srv.Navigate, handle) rospy.Service('set_position', srv.SetPosition, handle) rospy.Service('set_position/yaw_rate', srv.SetPositionYawRate, handle) rospy.Service('set_position_global', srv.SetPositionGlobal, handle) @@ -386,8 +450,9 @@ def start_loop(): try: stamp = rospy.get_rostime() - if getattr(current_req, 'update_frame', False): - current_pub, current_msg = get_publisher_and_message(current_req, stamp) + if getattr(current_req, 'update_frame', False) or isinstance(current_req, srv.NavigateRequest): + current_pub, current_msg = get_publisher_and_message(current_req, stamp, True, + getattr(current_req, 'update_frame', False)) current_msg.header.stamp = stamp current_pub.publish(current_msg) diff --git a/clever/srv/Navigate.srv b/clever/srv/Navigate.srv new file mode 100644 index 00000000..e368f284 --- /dev/null +++ b/clever/srv/Navigate.srv @@ -0,0 +1,11 @@ +float32 x +float32 y +float32 z +float32 yaw +float32 speed +string frame_id +bool update_frame +bool auto_arm +--- +bool success +string message diff --git a/deploy/clever_arudino.tar.gz b/deploy/clever_arudino.tar.gz index 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z9_sE92ldr;8^~n2izqSWhAz`?boLPqqND-q&oF+A&35*1e=b<06)3Ctsn6|kWEUvG z@A|i%zsWBZBIK4Ph9n~Wj2ilE8?3la_tJ|}_Loz+s9qI@WRIY<0>DFv44|?c>FyYJ z9_hqjjcquDr#&cTi9AFX^(2{RV5}E>!OR@MA@`kW`ffL!Ajztf{*#_+sbgt{*V|ez z9OvF}b4By;FnC8wVHTrmw3$h3FE<*~4X`VQ^IT?7e}~SqOzt{Le#t@i|E3Fgv&f8U x;hylg5cNq)qWngOsG|!>-O)^tBnbL3!`Z?p-~Asxiw%HbN0Forp_Zti{s+nT=n4P; From 56eea04a8620dd9b91d0e29230607645088ca835 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 6 Dec 2017 05:54:21 +0300 Subject: [PATCH 065/121] /simple_offboard/target topic (for monitoring target) --- clever/src/simple_offboard.py | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/clever/src/simple_offboard.py b/clever/src/simple_offboard.py index f1c309f8..dcac5a6f 100755 --- a/clever/src/simple_offboard.py +++ b/clever/src/simple_offboard.py @@ -50,6 +50,8 @@ init_fcu_horiz() position_pub = rospy.Publisher('/mavros/setpoint_raw/local', PositionTarget, queue_size=1) attitude_pub = rospy.Publisher('/mavros/setpoint_raw/attitude', AttitudeTarget, queue_size=1) +target_pub = rospy.Publisher('~target', PoseStamped, queue_size=1) + arming = rospy.ServiceProxy('/mavros/cmd/arming', CommandBool) set_mode = rospy.ServiceProxy('/mavros/set_mode', SetMode) @@ -457,6 +459,15 @@ def start_loop(): current_msg.header.stamp = stamp current_pub.publish(current_msg) + # For monitoring + if isinstance(current_msg, PositionTarget): + p = PoseStamped() + p.header.frame_id = 'local_origin' + p.header.stamp = stamp + p.pose.position = current_msg.position + p.pose.orientation = orientation_from_euler(0, 0, current_msg.yaw) + target_pub.publish(p) + except Exception as e: rospy.logwarn_throttle(10, str(e)) From 07d42dce3582de3da754e98da5a99741ca30fce2 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 6 Dec 2017 05:54:34 +0300 Subject: [PATCH 066/121] Note for setting up larger camera FPS --- clever/launch/bottom_camera.launch | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/clever/launch/bottom_camera.launch b/clever/launch/bottom_camera.launch index 65beb928..6c6d8c38 100644 --- a/clever/launch/bottom_camera.launch +++ b/clever/launch/bottom_camera.launch @@ -10,6 +10,11 @@ + + + + + From 2711b65a2531c6cd238ea22757fb60e13ad37ced Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 6 Dec 2017 06:15:39 +0300 Subject: [PATCH 067/121] simple_offboard/target yaw fix --- clever/src/simple_offboard.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clever/src/simple_offboard.py b/clever/src/simple_offboard.py index dcac5a6f..2375a4ff 100755 --- a/clever/src/simple_offboard.py +++ b/clever/src/simple_offboard.py @@ -465,7 +465,7 @@ def start_loop(): p.header.frame_id = 'local_origin' p.header.stamp = stamp p.pose.position = current_msg.position - p.pose.orientation = orientation_from_euler(0, 0, current_msg.yaw) + p.pose.orientation = orientation_from_euler(0, 0, current_msg.yaw + math.pi / 2) target_pub.publish(p) except Exception as e: From d27719e16e58502e04c8da8ca7906dc8efd1c718 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 6 Dec 2017 20:49:29 +0300 Subject: [PATCH 068/121] Adjust nodelet_manager num_worker_threads --- clever/launch/bottom_camera.launch | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/clever/launch/bottom_camera.launch b/clever/launch/bottom_camera.launch index 6c6d8c38..fcef5b06 100644 --- a/clever/launch/bottom_camera.launch +++ b/clever/launch/bottom_camera.launch @@ -1,5 +1,7 @@ - + + + From 96657a99e1f1aff9b8d54bb6ad49b35cb1aa5d41 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 7 Dec 2017 01:16:30 +0300 Subject: [PATCH 069/121] aruco_map -> aruco_map_vision; vpe_origin -> aruco_map --- clever/src/aruco_vpe.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/clever/src/aruco_vpe.py b/clever/src/aruco_vpe.py index 198bb846..a5e589e1 100755 --- a/clever/src/aruco_vpe.py +++ b/clever/src/aruco_vpe.py @@ -55,20 +55,20 @@ def publish_vpe(pose): aruco_map_in_reference = lookup_transform('aruco_map_reference', 'aruco_map_raw') aruco_map_in_reference.header.frame_id = 'aruco_map_reference_horiz' - send_transform(aruco_map_in_reference, 'aruco_map') + send_transform(aruco_map_in_reference, 'aruco_map_vision') # Reset VPE if last_published is None or stamp - last_published > rospy.Duration(2): rospy.loginfo('Reset VPE') - aruco_map_in_local_origin = lookup_transform('local_origin', 'aruco_map') - aruco_map_in_local_origin.child_frame_id = 'vpe_origin' + aruco_map_in_local_origin = lookup_transform('local_origin', 'aruco_map_vision') + aruco_map_in_local_origin.child_frame_id = 'aruco_map' static_tf_broadcaster.sendTransform(aruco_map_in_local_origin) # Calculate VPE ps.header.frame_id = 'fcu_horiz' ps.header.stamp = stamp - vpe_raw = tf_buffer.transform(ps, 'aruco_map', LOOKUP_TIMEOUT) - vpe_raw.header.frame_id = 'vpe_origin' + vpe_raw = tf_buffer.transform(ps, 'aruco_map_vision', LOOKUP_TIMEOUT) + vpe_raw.header.frame_id = 'aruco_map' vpe = tf_buffer.transform(vpe_raw, 'local_origin', LOOKUP_TIMEOUT) _vision_position_pub.publish(vpe_raw) vision_position_pub.publish(vpe) From 30b488010f7797d44fc397fed5fbf5d1b6b97dd3 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 7 Dec 2017 01:16:59 +0300 Subject: [PATCH 070/121] Post vpe 0:0:0 if no local position to initialize it --- clever/src/aruco_vpe.py | 30 ++++++++++++++++++++++++++++-- 1 file changed, 28 insertions(+), 2 deletions(-) diff --git a/clever/src/aruco_vpe.py b/clever/src/aruco_vpe.py index a5e589e1..e9d6ca26 100755 --- a/clever/src/aruco_vpe.py +++ b/clever/src/aruco_vpe.py @@ -40,10 +40,15 @@ def send_transform(transform, child_frame_id): tf_broadcaster.sendTransform(transform) +vpe_posted = False + + def publish_vpe(pose): - global last_published stamp = pose.header.stamp + global last_published, vpe_posted + vpe_posted = True + def lookup_transform(target_frame, source_frame): return tf_buffer.lookup_transform(target_frame, source_frame, stamp, LOOKUP_TIMEOUT) @@ -76,5 +81,26 @@ def publish_vpe(pose): rospy.Subscriber('aruco_pose/pose', PoseStamped, publish_vpe, queue_size=1) + + +local_pose = None + + +def handle_pose(data): + global local_pose + local_pose = data + + +rospy.Subscriber('mavros/local_position/pose', PoseStamped, handle_pose, queue_size=1) + + rospy.loginfo('aruco_vpe inited') -rospy.spin() +r = rospy.Rate(5) + + +while not rospy.is_shutdown(): + if not vpe_posted and not local_pose: + ps.header.stamp = rospy.get_rostime() + vision_position_pub.publish(ps) + + r.sleep() From 5d8aa13d62fb20629a820c7ae3dcec3e7f596d72 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 7 Dec 2017 01:17:08 +0300 Subject: [PATCH 071/121] Increase brake time --- clever/src/simple_offboard.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clever/src/simple_offboard.py b/clever/src/simple_offboard.py index 2375a4ff..ef04017f 100755 --- a/clever/src/simple_offboard.py +++ b/clever/src/simple_offboard.py @@ -133,7 +133,7 @@ ps = PoseStamped() vs = Vector3Stamped() -BRAKE_TIME = rospy.Duration(2) +BRAKE_TIME = rospy.Duration(2.5) def get_navigate_setpoint(stamp, start, finish, start_stamp, speed): From 1a6e376b1e069700b572f936f8b54e28e926cc57 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 7 Dec 2017 01:18:26 +0300 Subject: [PATCH 072/121] bottom_camera_optical shift --- clever/launch/bottom_camera.launch | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/clever/launch/bottom_camera.launch b/clever/launch/bottom_camera.launch index fcef5b06..81f50599 100644 --- a/clever/launch/bottom_camera.launch +++ b/clever/launch/bottom_camera.launch @@ -5,8 +5,8 @@ - - + + From df1ae9e74863ee8ad4ae699d6bdd3966355716e8 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 7 Dec 2017 01:19:26 +0300 Subject: [PATCH 073/121] Always publish /aruco_pose/debug --- aruco_pose/src/aruco_pose.cpp | 16 ++++++++++------ 1 file changed, 10 insertions(+), 6 deletions(-) diff --git a/aruco_pose/src/aruco_pose.cpp b/aruco_pose/src/aruco_pose.cpp index 77f17d80..54eeaf5d 100644 --- a/aruco_pose/src/aruco_pose.cpp +++ b/aruco_pose/src/aruco_pose.cpp @@ -212,15 +212,19 @@ void ArucoPose::detect(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs: // Publish debug image cv::aruco::drawDetectedMarkers(image, markerCorners, markerIds); cv::aruco::drawAxis(image, cameraMatrix, distCoeffs, rvec, tvec, 0.3); - cv_bridge::CvImage out_msg; - out_msg.header.frame_id = msg->header.frame_id; - out_msg.header.stamp = msg->header.stamp; - out_msg.encoding = sensor_msgs::image_encodings::BGR8; - out_msg.image = image; - img_pub.publish(out_msg.toImageMsg()); } } } + + if (img_pub.getNumSubscribers() > 0) + { + cv_bridge::CvImage out_msg; + out_msg.header.frame_id = msg->header.frame_id; + out_msg.header.stamp = msg->header.stamp; + out_msg.encoding = sensor_msgs::image_encodings::BGR8; + out_msg.image = image; + img_pub.publish(out_msg.toImageMsg()); + } } void ArucoPose::parseCameraInfo(const sensor_msgs::CameraInfoConstPtr &cinfo, cv::Mat &cameraMat, cv::Mat &distCoeffs) { From 0b045038ce6b6de5cb5b1bbf05a0a5a7cd6f5565 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 7 Dec 2017 02:18:35 +0300 Subject: [PATCH 074/121] Post 0:0:0 vision pose everytime until normal vpe is posted --- clever/src/aruco_vpe.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clever/src/aruco_vpe.py b/clever/src/aruco_vpe.py index e9d6ca26..29c1ab78 100755 --- a/clever/src/aruco_vpe.py +++ b/clever/src/aruco_vpe.py @@ -99,7 +99,7 @@ r = rospy.Rate(5) while not rospy.is_shutdown(): - if not vpe_posted and not local_pose: + if not vpe_posted: ps.header.stamp = rospy.get_rostime() vision_position_pub.publish(ps) From fc2c8168ac40901844f69b37df820b6d0a3b6dcb Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 7 Dec 2017 02:18:51 +0300 Subject: [PATCH 075/121] simple_offboard: use persistent connection to arming and set_mode services --- clever/src/simple_offboard.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/clever/src/simple_offboard.py b/clever/src/simple_offboard.py index ef04017f..83a9b8cd 100755 --- a/clever/src/simple_offboard.py +++ b/clever/src/simple_offboard.py @@ -52,8 +52,8 @@ position_pub = rospy.Publisher('/mavros/setpoint_raw/local', PositionTarget, que attitude_pub = rospy.Publisher('/mavros/setpoint_raw/attitude', AttitudeTarget, queue_size=1) target_pub = rospy.Publisher('~target', PoseStamped, queue_size=1) -arming = rospy.ServiceProxy('/mavros/cmd/arming', CommandBool) -set_mode = rospy.ServiceProxy('/mavros/set_mode', SetMode) +arming = rospy.ServiceProxy('/mavros/cmd/arming', CommandBool, persistent=True) +set_mode = rospy.ServiceProxy('/mavros/set_mode', SetMode, persistent=True) pose = None From 1e6922cc28a2d0ca6dc513d015b2e7f34a5ea6bf Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 7 Dec 2017 02:23:40 +0300 Subject: [PATCH 076/121] Update README.md --- README.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/README.md b/README.md index 367a1369..adac150a 100644 --- a/README.md +++ b/README.md @@ -7,6 +7,8 @@ https://copterexpress.gitbooks.io/clever/content/ +**Готовый образ** с предустановленным и преднастроенным clever_bundle можно скачать [здесь](https://copterexpress.gitbooks.io/clever/content/docs/microsd_images.html). + Установка --------- From 82694ddc5f9bf1b7ef55e2cf140641ca26a3928b Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 7 Dec 2017 02:23:58 +0300 Subject: [PATCH 077/121] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index adac150a..ab76c075 100644 --- a/README.md +++ b/README.md @@ -7,7 +7,7 @@ https://copterexpress.gitbooks.io/clever/content/ -**Готовый образ** с предустановленным и преднастроенным clever_bundle можно скачать [здесь](https://copterexpress.gitbooks.io/clever/content/docs/microsd_images.html). +**Готовый образ** для RPi 3 с предустановленным и преднастроенным clever_bundle можно скачать [здесь](https://copterexpress.gitbooks.io/clever/content/docs/microsd_images.html). Установка --------- From d347b710fb0c8485ae9b34fe775c67a860015ef3 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 7 Dec 2017 02:25:13 +0300 Subject: [PATCH 078/121] Update README.md --- README.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/README.md b/README.md index ab76c075..cf30003e 100644 --- a/README.md +++ b/README.md @@ -9,6 +9,8 @@ https://copterexpress.gitbooks.io/clever/content/ **Готовый образ** для RPi 3 с предустановленным и преднастроенным clever_bundle можно скачать [здесь](https://copterexpress.gitbooks.io/clever/content/docs/microsd_images.html). +[Описание API](https://copterexpress.gitbooks.io/clever/content/docs/simple_offboard.html) для автономных полетов. + Установка --------- From 09dd32a6ce9c1a3e9de79e365ba0d584ca135309 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sun, 10 Dec 2017 03:08:39 +0300 Subject: [PATCH 079/121] =?UTF-8?q?Continue=20=C2=ABfixing=C2=BB=20weird?= =?UTF-8?q?=20bugs=20in=20aruco=20functions?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- aruco_pose/src/aruco_pose.cpp | 6 +-- aruco_pose/src/fix.cpp | 84 +++++++++++++++++++++++++++++++++++ 2 files changed, 87 insertions(+), 3 deletions(-) diff --git a/aruco_pose/src/aruco_pose.cpp b/aruco_pose/src/aruco_pose.cpp index 54eeaf5d..7723dd35 100644 --- a/aruco_pose/src/aruco_pose.cpp +++ b/aruco_pose/src/aruco_pose.cpp @@ -91,6 +91,8 @@ cv::Ptr createCustomBoard(int markersX, int markersY, float ma return res; } +#include "fix.cpp" + void ArucoPose::createBoard() { static auto map_image_pub = nh_priv_.advertise("map_image", 1, true); @@ -129,7 +131,7 @@ void ArucoPose::createBoard() } // Publish map image for debugging - cv::aruco::drawPlanarBoard(board, cv::Size(2000, 2000), map_image, 50, 1); + _drawPlanarBoard(board, cv::Size(2000, 2000), map_image, 50, 1); cv::cvtColor(map_image, map_image, CV_GRAY2BGR); @@ -162,8 +164,6 @@ cv::Point3f ArucoPose::getObjPointsCenter(cv::Mat objPoints) { return res; } -#include "fix.cpp" - void ArucoPose::detect(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr &cinfo) { cv::Mat image = cv_bridge::toCvShare(msg, "bgr8")->image; diff --git a/aruco_pose/src/fix.cpp b/aruco_pose/src/fix.cpp index 294ff569..c15bf3b7 100644 --- a/aruco_pose/src/fix.cpp +++ b/aruco_pose/src/fix.cpp @@ -1,4 +1,5 @@ using namespace cv; +using namespace cv::aruco; // Temporal fix! // TODO: remove @@ -59,3 +60,86 @@ int _estimatePoseBoard(InputArrayOfArrays _corners, InputArray _ids, const Ptr 0); + CV_Assert(marginSize >= 0); + + _img.create(outSize, CV_8UC1); + Mat out = _img.getMat(); + out.setTo(Scalar::all(255)); + out.adjustROI(-marginSize, -marginSize, -marginSize, -marginSize); + + // calculate max and min values in XY plane + CV_Assert(_board->objPoints.size() > 0); + float minX, maxX, minY, maxY; + minX = maxX = _board->objPoints[0][0].x; + minY = maxY = _board->objPoints[0][0].y; + + for(unsigned int i = 0; i < _board->objPoints.size(); i++) { + for(int j = 0; j < 4; j++) { + minX = min(minX, _board->objPoints[i][j].x); + maxX = max(maxX, _board->objPoints[i][j].x); + minY = min(minY, _board->objPoints[i][j].y); + maxY = max(maxY, _board->objPoints[i][j].y); + } + } + + float sizeX = maxX - minX; + float sizeY = maxY - minY; + + // proportion transformations + float xReduction = sizeX / float(out.cols); + float yReduction = sizeY / float(out.rows); + + // determine the zone where the markers are placed + if(xReduction > yReduction) { + int nRows = int(sizeY / xReduction); + int rowsMargins = (out.rows - nRows) / 2; + out.adjustROI(-rowsMargins, -rowsMargins, 0, 0); + } else { + int nCols = int(sizeX / yReduction); + int colsMargins = (out.cols - nCols) / 2; + out.adjustROI(0, 0, -colsMargins, -colsMargins); + } + + // now paint each marker + Dictionary &dictionary = *(_board->dictionary); + Mat marker; + Point2f outCorners[3]; + Point2f inCorners[3]; + for(unsigned int m = 0; m < _board->objPoints.size(); m++) { + // transform corners to markerZone coordinates + for(int j = 0; j < 3; j++) { + Point2f pf = Point2f(_board->objPoints[m][j].x, _board->objPoints[m][j].y); + // move top left to 0, 0 + pf -= Point2f(minX, minY); + pf.x = pf.x / sizeX * float(out.cols); + pf.y = (1.0f - pf.y / sizeY) * float(out.rows); + outCorners[j] = pf; + } + + // get marker + Size dst_sz(outCorners[2] - outCorners[0]); // assuming CCW order + dst_sz.width = dst_sz.height = std::min(dst_sz.width, dst_sz.height); //marker should be square + dictionary.drawMarker(_board->ids[m], dst_sz.width, marker, borderBits); + + if((outCorners[0].y == outCorners[1].y) && (outCorners[1].x == outCorners[2].x)) { + // marker is aligned to image axes + marker.copyTo(out(Rect(outCorners[0], dst_sz))); + continue; + } + + // interpolate tiny marker to marker position in markerZone + inCorners[0] = Point2f(-0.5f, -0.5f); + inCorners[1] = Point2f(marker.cols - 0.5f, -0.5f); + inCorners[2] = Point2f(marker.cols - 0.5f, marker.rows - 0.5f); + + // remove perspective + Mat transformation = getAffineTransform(inCorners, outCorners); + warpAffine(marker, out, transformation, out.size(), INTER_LINEAR, + BORDER_TRANSPARENT); + } +} From 3c0529d5c0dc3c3a071b6e0c09f56319922d3a0e Mon Sep 17 00:00:00 2001 From: 4ert Date: Mon, 11 Dec 2017 19:50:46 +0300 Subject: [PATCH 080/121] Adding handler which returns ip address and a signal strength of a wifi client --- clever/src/web_server.py | 38 +++++++++++++++++++++++++++++++++++--- 1 file changed, 35 insertions(+), 3 deletions(-) diff --git a/clever/src/web_server.py b/clever/src/web_server.py index 4ea47451..86874760 100755 --- a/clever/src/web_server.py +++ b/clever/src/web_server.py @@ -1,12 +1,12 @@ #!/usr/bin/env python import rospy -from flask import Flask, send_from_directory, send_file - +import subprocess +import re +from flask import Flask, send_from_directory, send_file, request, jsonify rospy.init_node('web_server', disable_signals=True) - port = rospy.get_param('~port', 7070) host = rospy.get_param('~host', '0.0.0.0') serve_path = rospy.get_param('~path') @@ -24,5 +24,37 @@ def serve_static(path): return send_from_directory(serve_path, path) +@app.route('/wifi_data/') +def get_wifi_data(): + cur_ip = request.remote_addr + ip_signal = get_ip_signal() + return jsonify({'ip': cur_ip, 'signal': ip_signal[cur_ip]}), 200 + + +def get_ip_signal(): + wlan_interface = 'wlan0' + # Getting info about wifi client connected to access point. From here we know MAC and signal level + iwl = subprocess.check_output(['sudo', 'iw', 'dev', 'wlan0', 'station', 'dump']).splitlines() + mac_signal = {} + cur_client = '' + for line in iwl: + if line.find('Station') != -1: + cur_client = re.search(r'([0-9A-F]{2}[:-]){5}([0-9A-F]{2})', line, re.I).group() + if line.find('signal') != -1: + sg = re.search(r'(\[-?\d*\])', line, re.I).group() + mac_signal[cur_client] = re.sub(r'[\[\]]', '', sg) + ip_signal = {} + # Getting ip-mac mapping + ip_mac = subprocess.check_output(['arp', '-i', wlan_interface]).splitlines() + for line in ip_mac: + mac = re.search(r'([0-9A-F]{2}[:-]){5}([0-9A-F]{2})', line, re.I) + if mac is not None: + mac = mac.group() + if mac in mac_signal: + ips = re.search(r'((2[0-5]|1[0-9]|[0-9])?[0-9]\.){3}((2[0-5]|1[0-9]|[0-9])?[0-9])', line, re.I).group() + ip_signal[ips] = mac_signal[mac] + return ip_signal + + rospy.loginfo('Serving on %s:%s', host, port) app.run(host=host, port=port, threaded=True) From 2c651983256393ad6328ae65cc146f75c85b711b Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Mon, 11 Dec 2017 20:19:48 +0300 Subject: [PATCH 081/121] Update README.md --- README.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/README.md b/README.md index cf30003e..3e147258 100644 --- a/README.md +++ b/README.md @@ -45,8 +45,11 @@ sudo systemctl start clever Зависимости ----------- +ROS Kinetic. + Необходимые для работы ROS-пакеты: +* `opencv3` * `mavros` * `rosbridge_suite` * `web_video_server` From c425a6c1f0a38ec4515f8709206b023d0ca58eee Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Mon, 11 Dec 2017 20:57:41 +0300 Subject: [PATCH 082/121] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 3e147258..4fa3c0eb 100644 --- a/README.md +++ b/README.md @@ -45,7 +45,7 @@ sudo systemctl start clever Зависимости ----------- -ROS Kinetic. +[ROS Kinetic](http://wiki.ros.org/kinetic). Необходимые для работы ROS-пакеты: From 47a57d263124956fdbb4e61928b6851b766d44d7 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 13 Dec 2017 21:18:57 +0300 Subject: [PATCH 083/121] Increase bottom camera FPS --- clever/launch/bottom_camera.launch | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/clever/launch/bottom_camera.launch b/clever/launch/bottom_camera.launch index 81f50599..73748782 100644 --- a/clever/launch/bottom_camera.launch +++ b/clever/launch/bottom_camera.launch @@ -11,11 +11,10 @@ - - - - + + + From f3e8e939587d85cbf3396170ba58a500ca73567f Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 13 Dec 2017 21:19:10 +0300 Subject: [PATCH 084/121] clear_params=true --- clever/launch/bottom_camera.launch | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/clever/launch/bottom_camera.launch b/clever/launch/bottom_camera.launch index 73748782..30fc77f2 100644 --- a/clever/launch/bottom_camera.launch +++ b/clever/launch/bottom_camera.launch @@ -1,5 +1,5 @@ - + @@ -8,7 +8,7 @@ - + From 6803a03578c9fc475435fe4d490e20696d1287d2 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 13 Dec 2017 21:20:00 +0300 Subject: [PATCH 085/121] required=false for web_video_server --- clever/launch/clever.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clever/launch/clever.launch b/clever/launch/clever.launch index 9f876e56..d916fa6b 100644 --- a/clever/launch/clever.launch +++ b/clever/launch/clever.launch @@ -24,7 +24,7 @@ - + From 286a68509562a5f1bcc01e552a537469141c4510 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 13 Dec 2017 21:20:22 +0300 Subject: [PATCH 086/121] Decrease lookup timeout for aruco_vpe --- clever/src/aruco_vpe.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clever/src/aruco_vpe.py b/clever/src/aruco_vpe.py index 29c1ab78..aaadbd6a 100755 --- a/clever/src/aruco_vpe.py +++ b/clever/src/aruco_vpe.py @@ -12,7 +12,7 @@ from util import orientation_from_euler, euler_from_orientation rospy.init_node('aruco_vpe') -LOOKUP_TIMEOUT = rospy.Duration(.1) +LOOKUP_TIMEOUT = rospy.Duration(.05) CAMERA_FRAME_ID = rospy.get_param('~camera_frame_id', 'bottom_camera_optical') From 7ac28f5f68ac459aa34b213baa2b1af5c2b47ce7 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 15 Dec 2017 00:20:26 +0300 Subject: [PATCH 087/121] Increase camera rate limit to 100 (and fix some camera buffering bug) --- clever/launch/bottom_camera.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clever/launch/bottom_camera.launch b/clever/launch/bottom_camera.launch index 30fc77f2..5662c4f0 100644 --- a/clever/launch/bottom_camera.launch +++ b/clever/launch/bottom_camera.launch @@ -13,7 +13,7 @@ - + From 4d26cdf50682b66ba1ebebbb8521650d58054fd2 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 15 Dec 2017 00:27:48 +0300 Subject: [PATCH 088/121] Disable FPV camera by default --- clever/launch/clever.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clever/launch/clever.launch b/clever/launch/clever.launch index d916fa6b..a3fa16e3 100644 --- a/clever/launch/clever.launch +++ b/clever/launch/clever.launch @@ -8,7 +8,7 @@ - + From 648348bfb59342a4fc157523161aa0699331eb19 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 15 Dec 2017 00:28:17 +0300 Subject: [PATCH 089/121] Disable some of the mavros plugins --- clever/launch/mavros.launch | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) diff --git a/clever/launch/mavros.launch b/clever/launch/mavros.launch index 64e508b1..c3091bcf 100644 --- a/clever/launch/mavros.launch +++ b/clever/launch/mavros.launch @@ -26,4 +26,22 @@ + + - safety_area + - image_pub + - vibration + - distance_sensor + - rangefinder + - 3dr_radio + - actuator_control + - hil_controls + - manual_control + - vfr_hud + - px4flow + - vision_speed_estimate + - fake_gps + - cam_imu_sync + - hil + - adsb + From f1b4d7fe26f0751ea4a071e61af7fbe475d824e3 Mon Sep 17 00:00:00 2001 From: Oleg Apostol Date: Fri, 15 Dec 2017 13:24:43 +0300 Subject: [PATCH 090/121] =?UTF-8?q?=F0=9F=93=A6=20=20Add=20web-rc=20bundle?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .gitmodules | 4 ++++ clever/static | 1 + 2 files changed, 5 insertions(+) create mode 100644 .gitmodules create mode 160000 clever/static diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 00000000..d78ff0b3 --- /dev/null +++ b/.gitmodules @@ -0,0 +1,4 @@ +[submodule "clever/static"] + path = clever/static + url = https://github.com/CopterExpress/clever-rc.git + branch = build diff --git a/clever/static b/clever/static new file mode 160000 index 00000000..0ec80bbc --- /dev/null +++ b/clever/static @@ -0,0 +1 @@ +Subproject commit 0ec80bbccf1d1617118ec4a8b7c7fe9ca5abe5b3 From e01fcf1b7487b4052bdef4b69e4100f10f5ee381 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sun, 17 Dec 2017 22:01:59 +0300 Subject: [PATCH 091/121] Remove braking by default --- clever/src/simple_offboard.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clever/src/simple_offboard.py b/clever/src/simple_offboard.py index 83a9b8cd..9c4c8061 100755 --- a/clever/src/simple_offboard.py +++ b/clever/src/simple_offboard.py @@ -133,7 +133,7 @@ ps = PoseStamped() vs = Vector3Stamped() -BRAKE_TIME = rospy.Duration(2.5) +BRAKE_TIME = rospy.Duration(0) def get_navigate_setpoint(stamp, start, finish, start_stamp, speed): From 23b9bb8bea35565f7c7a78385e4d196507c69bdd Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 19 Dec 2017 03:36:26 +0300 Subject: [PATCH 092/121] Rewrite `fcu_horiz` publisher in C++ as a nodelet --- clever/CMakeLists.txt | 20 ++++++++++++-------- clever/launch/clever.launch | 2 ++ clever/nodelet_plugins.xml | 5 +++++ clever/package.xml | 6 ++++++ clever/src/fcu_horiz.cpp | 31 +++++++++++++++++++++++++++++++ clever/src/simple_offboard.py | 20 -------------------- 6 files changed, 56 insertions(+), 28 deletions(-) create mode 100644 clever/nodelet_plugins.xml create mode 100644 clever/src/fcu_horiz.cpp diff --git a/clever/CMakeLists.txt b/clever/CMakeLists.txt index 579cf6bd..523d79ca 100644 --- a/clever/CMakeLists.txt +++ b/clever/CMakeLists.txt @@ -2,12 +2,15 @@ cmake_minimum_required(VERSION 2.8.3) project(clever) ## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) +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 + nodelet + pluginlib + roscpp rospy std_msgs message_generation @@ -131,13 +134,13 @@ catkin_package( ## Your package locations should be listed before other locations include_directories( # include -# ${catkin_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} ) ## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/clever.cpp -# ) +add_library(fcu_horiz + src/fcu_horiz.cpp +) ## Add cmake target dependencies of the library ## as an example, code may need to be generated before libraries @@ -160,9 +163,10 @@ include_directories( # add_dependencies(${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} -# ) +target_link_libraries(fcu_horiz + ${catkin_LIBRARIES} + "/opt/ros/kinetic/lib/libtf2_ros.so" +) ############# ## Install ## diff --git a/clever/launch/clever.launch b/clever/launch/clever.launch index a3fa16e3..e53cb5b5 100644 --- a/clever/launch/clever.launch +++ b/clever/launch/clever.launch @@ -28,6 +28,8 @@ + + diff --git a/clever/nodelet_plugins.xml b/clever/nodelet_plugins.xml new file mode 100644 index 00000000..86ef931a --- /dev/null +++ b/clever/nodelet_plugins.xml @@ -0,0 +1,5 @@ + + + + + diff --git a/clever/package.xml b/clever/package.xml index b41ce0f3..5759150f 100644 --- a/clever/package.xml +++ b/clever/package.xml @@ -41,9 +41,15 @@ catkin + nodelet + roscpp + + nodelet + roscpp + diff --git a/clever/src/fcu_horiz.cpp b/clever/src/fcu_horiz.cpp new file mode 100644 index 00000000..4dd4adc0 --- /dev/null +++ b/clever/src/fcu_horiz.cpp @@ -0,0 +1,31 @@ +#include +#include +#include +#include +#include + +class FcuHoriz : public nodelet::Nodelet +{ + geometry_msgs::TransformStamped t_; + + void handlePose(const geometry_msgs::PoseStampedConstPtr& msg) + { + static tf2_ros::TransformBroadcaster br; + t_.header.stamp = msg->header.stamp; + t_.header.frame_id = msg->header.frame_id; + t_.transform.translation.x = msg->pose.position.x; + t_.transform.translation.y = msg->pose.position.y; + t_.transform.translation.z = msg->pose.position.z; + br.sendTransform(t_); + } + + void onInit() + { + t_.child_frame_id = "fcu_horiz"; + t_.transform.rotation.w = 1; + static ros::Subscriber pose_sub = getNodeHandle().subscribe("mavros/local_position/pose", 1, &FcuHoriz::handlePose, this); + ROS_INFO("fcu_horiz initialized"); + } +}; + +PLUGINLIB_EXPORT_CLASS(FcuHoriz, nodelet::Nodelet) diff --git a/clever/src/simple_offboard.py b/clever/src/simple_offboard.py index 9c4c8061..ecc909bc 100755 --- a/clever/src/simple_offboard.py +++ b/clever/src/simple_offboard.py @@ -28,26 +28,6 @@ tf_buffer = tf2_ros.Buffer() tf_listener = tf2_ros.TransformListener(tf_buffer) -def init_fcu_horiz(): - # `fcu_horiz` frame publishing - - tr = TransformStamped() - tr.header.frame_id = 'local_origin' - tr.child_frame_id = 'fcu_horiz' - - def update_pose(data): - tr.header.stamp = data.header.stamp - tr.transform.translation = vector3_from_point(data.pose.position) - yaw = euler_from_orientation(data.pose.orientation)[2] - tr.transform.rotation = orientation_from_euler(0, 0, yaw) - tf_broadcaster.sendTransform(tr) - - rospy.Subscriber('/mavros/local_position/pose', PoseStamped, update_pose) - - -init_fcu_horiz() - - position_pub = rospy.Publisher('/mavros/setpoint_raw/local', PositionTarget, queue_size=1) attitude_pub = rospy.Publisher('/mavros/setpoint_raw/attitude', AttitudeTarget, queue_size=1) target_pub = rospy.Publisher('~target', PoseStamped, queue_size=1) From 094f96b0960641ecbd67c4d0452cbb7c090f889d Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 19 Dec 2017 03:57:50 +0300 Subject: [PATCH 093/121] =?UTF-8?q?Fix=20aruco=20board=20=C2=ABreference?= =?UTF-8?q?=20point=C2=BB=20determination?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- aruco_pose/src/aruco_pose.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/aruco_pose/src/aruco_pose.cpp b/aruco_pose/src/aruco_pose.cpp index 7723dd35..11fad954 100644 --- a/aruco_pose/src/aruco_pose.cpp +++ b/aruco_pose/src/aruco_pose.cpp @@ -157,8 +157,8 @@ cv::Point3f ArucoPose::getObjPointsCenter(cv::Mat objPoints) { for (int i = 0; i < objPoints.rows; i++) { max_x = std::max(max_x, objPoints.at(i, 0)); max_y = std::max(max_y, objPoints.at(i, 1)); - min_x = std::min(max_x, objPoints.at(i, 0)); - min_y = std::min(max_y, objPoints.at(i, 1)); + min_x = std::min(min_x, objPoints.at(i, 0)); + min_y = std::min(min_y, objPoints.at(i, 1)); } cv::Point3f res((min_x + max_x) / 2, (min_y + max_y) / 2, 0); return res; From 947ed4f9c3acf4bbfbe04b1a5e340cb7f2208032 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 19 Dec 2017 15:42:50 +0300 Subject: [PATCH 094/121] Update sitl.launch --- clever/launch/sitl.launch | 1 - 1 file changed, 1 deletion(-) diff --git a/clever/launch/sitl.launch b/clever/launch/sitl.launch index 94c0698b..5cc8a0ca 100644 --- a/clever/launch/sitl.launch +++ b/clever/launch/sitl.launch @@ -13,6 +13,5 @@ - From b89574c6c562390bf8bbd6b8cc0639db36cb701c Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 19 Dec 2017 20:13:28 +0300 Subject: [PATCH 095/121] Fix yaw value in rewritten fcu_horiz --- clever/src/fcu_horiz.cpp | 9 +++++++++ clever/src/util.h | 17 +++++++++++++++++ 2 files changed, 26 insertions(+) create mode 100644 clever/src/util.h diff --git a/clever/src/fcu_horiz.cpp b/clever/src/fcu_horiz.cpp index 4dd4adc0..aa17c1e3 100644 --- a/clever/src/fcu_horiz.cpp +++ b/clever/src/fcu_horiz.cpp @@ -4,6 +4,8 @@ #include #include +#include "util.h" + class FcuHoriz : public nodelet::Nodelet { geometry_msgs::TransformStamped t_; @@ -11,11 +13,18 @@ class FcuHoriz : public nodelet::Nodelet void handlePose(const geometry_msgs::PoseStampedConstPtr& msg) { static tf2_ros::TransformBroadcaster br; + double roll, pitch, yaw; + t_.header.stamp = msg->header.stamp; t_.header.frame_id = msg->header.frame_id; t_.transform.translation.x = msg->pose.position.x; t_.transform.translation.y = msg->pose.position.y; t_.transform.translation.z = msg->pose.position.z; + + // Warning: this is not thead-safe + quaternionToEuler(msg->pose.orientation, roll, pitch, yaw); + eulerToQuaternion(t_.transform.rotation, 0, 0, yaw); + br.sendTransform(t_); } diff --git a/clever/src/util.h b/clever/src/util.h new file mode 100644 index 00000000..0eb7f1e9 --- /dev/null +++ b/clever/src/util.h @@ -0,0 +1,17 @@ +#pragma once + +#include +#include + +inline void quaternionToEuler(geometry_msgs::Quaternion q, double& roll, double& pitch, double& yaw) +{ + tf::Quaternion tfq(q.x, q.y, q.z, q.w); + tf::Matrix3x3 m(tfq); + m.getRPY(roll, pitch, yaw); +} + +inline void eulerToQuaternion(geometry_msgs::Quaternion& q, double roll, double pitch, double yaw) +{ + tf::Quaternion tfq(roll, pitch, yaw); + quaternionTFToMsg(tfq, q); +} From 4d8810a66795228b44863cd4c1e6ddba50d2ef53 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 20 Dec 2017 22:19:16 +0300 Subject: [PATCH 096/121] Transfer nodelet_manager to clever.launch --- clever/launch/bottom_camera.launch | 4 ---- clever/launch/clever.launch | 6 ++++++ 2 files changed, 6 insertions(+), 4 deletions(-) diff --git a/clever/launch/bottom_camera.launch b/clever/launch/bottom_camera.launch index 5662c4f0..87ecb77a 100644 --- a/clever/launch/bottom_camera.launch +++ b/clever/launch/bottom_camera.launch @@ -1,8 +1,4 @@ - - - - diff --git a/clever/launch/clever.launch b/clever/launch/clever.launch index e53cb5b5..3fc09faf 100644 --- a/clever/launch/clever.launch +++ b/clever/launch/clever.launch @@ -26,8 +26,14 @@ + + + + + + From 5d358c54149336c3baaf34a3e93a9d01dc52190a Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 21 Dec 2017 03:24:54 +0300 Subject: [PATCH 097/121] +comment --- clever/launch/clever.launch | 1 + 1 file changed, 1 insertion(+) diff --git a/clever/launch/clever.launch b/clever/launch/clever.launch index 3fc09faf..ec3e44ab 100644 --- a/clever/launch/clever.launch +++ b/clever/launch/clever.launch @@ -29,6 +29,7 @@ + From 4cab4e752639ebbe081f970e490b5e9b84720ef5 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 21 Dec 2017 06:22:28 +0300 Subject: [PATCH 098/121] Add C++ version of aruco_vpe --- clever/src/aruco_vpe.cpp | 112 +++++++++++++++++++++++++++++++++++++++ 1 file changed, 112 insertions(+) create mode 100644 clever/src/aruco_vpe.cpp diff --git a/clever/src/aruco_vpe.cpp b/clever/src/aruco_vpe.cpp new file mode 100644 index 00000000..e737970b --- /dev/null +++ b/clever/src/aruco_vpe.cpp @@ -0,0 +1,112 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "util.h" + +using namespace tf2_ros; +using geometry_msgs::PoseStamped; +using geometry_msgs::TransformStamped; + +class ArucoVPE : public nodelet::Nodelet +{ +public: + ArucoVPE() : + last_published_(0), + lookup_timeout_(0.05) + {} + +private: + ros::Time last_published_; + ros::Duration lookup_timeout_; + ros::Publisher vision_position_pub_; + ros::Timer dummy_vision_timer_; + + void onInit() + { + ros::NodeHandle& nh = getNodeHandle(); + static ros::Subscriber pose_sub = nh.subscribe("aruco_pose/pose", 1, &ArucoVPE::handleArucoPose, this); + vision_position_pub_ = nh.advertise("mavros/vision_pose/pose", 1); + + dummy_vision_timer_ = nh.createTimer(ros::Duration(0.5), &ArucoVPE::publishDummy, this); + + ROS_INFO("Aruco VPE initialized"); + } + + void publishDummy(const ros::TimerEvent&) + { + // This is published to init FCU's position estimator + static PoseStamped ps; + ps.header.stamp = ros::Time::now(); + ps.pose.orientation.w = 1; + vision_position_pub_.publish(ps); + } + + void handleArucoPose(const geometry_msgs::PoseStampedConstPtr& pose) + { + static TransformBroadcaster br; + static Buffer tf_buffer; + static TransformListener tfListener(tf_buffer); + static StaticTransformBroadcaster static_br; + static PoseStamped ps, vpe_raw, vpe; + TransformStamped t; + + ros::Time stamp = pose->header.stamp; + double roll, pitch, yaw; + + try + { + // Refine aruco map pose + // Reference in local origin + t = tf_buffer.lookupTransform("local_origin", "aruco_map_reference", stamp, lookup_timeout_); + quaternionToEuler(t.transform.rotation, roll, pitch, yaw); + eulerToQuaternion(t.transform.rotation, 0, 0, yaw); + t.child_frame_id = "aruco_map_reference_horiz"; + br.sendTransform(t); + + // Aruco map in reference + t = tf_buffer.lookupTransform("aruco_map_reference", "aruco_map_raw", stamp, lookup_timeout_); + t.header.frame_id = "aruco_map_reference_horiz"; + t.child_frame_id = "aruco_map_vision"; + br.sendTransform(t); + + // Reset VPE + if (!last_published_.isValid() or ros::Time::now() - last_published_ > ros::Duration(2)) + { + ROS_INFO("Reset VPE"); + t = tf_buffer.lookupTransform("local_origin", "aruco_map_vision", stamp, lookup_timeout_); + t.child_frame_id = "aruco_map"; + static_br.sendTransform(t); + } + + // Calculate VPE + ps.header.frame_id = "fcu_horiz"; + ps.header.stamp = stamp; + ps.pose.orientation.w = 1; + + tf_buffer.transform(ps, vpe_raw, "aruco_map_vision", lookup_timeout_); + + vpe_raw.header.frame_id = "aruco_map"; + tf_buffer.transform(vpe_raw, vpe, "local_origin", lookup_timeout_); + + vision_position_pub_.publish(vpe); + + last_published_ = stamp; + dummy_vision_timer_.stop(); + } + catch (const tf2::TransformException& e) + { + ROS_WARN_THROTTLE(10, "Aruco VPE: failed to transform: %s", e.what()); + } + } +}; + +PLUGINLIB_EXPORT_CLASS(ArucoVPE, nodelet::Nodelet) From 1ff46dc6b0232e6b6184336b6ee14935a9ea263f Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 21 Dec 2017 23:44:35 +0300 Subject: [PATCH 099/121] local_origin_upside_down frame (for ceiling markers orientation) --- clever/launch/clever.launch | 2 ++ 1 file changed, 2 insertions(+) diff --git a/clever/launch/clever.launch b/clever/launch/clever.launch index ec3e44ab..35099f72 100644 --- a/clever/launch/clever.launch +++ b/clever/launch/clever.launch @@ -34,6 +34,8 @@ + + From 7be12fcbe4a1560ef34b2ea1ffe66f8aaf97fb14 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 21 Dec 2017 23:46:20 +0300 Subject: [PATCH 100/121] Use C++ version of aruco_vpe --- clever/CMakeLists.txt | 11 ++++ clever/launch/aruco.launch | 5 +- clever/nodelet_plugins.xml | 5 ++ clever/src/aruco_vpe.cpp | 9 +++- clever/src/aruco_vpe.py | 106 ------------------------------------- 5 files changed, 28 insertions(+), 108 deletions(-) delete mode 100755 clever/src/aruco_vpe.py diff --git a/clever/CMakeLists.txt b/clever/CMakeLists.txt index 523d79ca..a32e4da9 100644 --- a/clever/CMakeLists.txt +++ b/clever/CMakeLists.txt @@ -17,6 +17,9 @@ find_package(catkin REQUIRED COMPONENTS geometry_msgs sensor_msgs geographic_msgs + tf + tf2 + tf2_geometry_msgs ) @@ -142,6 +145,10 @@ add_library(fcu_horiz src/fcu_horiz.cpp ) +add_library(aruco_vpe + src/aruco_vpe.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 @@ -168,6 +175,10 @@ target_link_libraries(fcu_horiz "/opt/ros/kinetic/lib/libtf2_ros.so" ) +target_link_libraries(aruco_vpe + ${catkin_LIBRARIES} +) + ############# ## Install ## ############# diff --git a/clever/launch/aruco.launch b/clever/launch/aruco.launch index b29a81af..ea7e450b 100644 --- a/clever/launch/aruco.launch +++ b/clever/launch/aruco.launch @@ -15,5 +15,8 @@ - + + + + diff --git a/clever/nodelet_plugins.xml b/clever/nodelet_plugins.xml index 86ef931a..9e1c2c67 100644 --- a/clever/nodelet_plugins.xml +++ b/clever/nodelet_plugins.xml @@ -3,3 +3,8 @@ + + + + + diff --git a/clever/src/aruco_vpe.cpp b/clever/src/aruco_vpe.cpp index e737970b..547be33b 100644 --- a/clever/src/aruco_vpe.cpp +++ b/clever/src/aruco_vpe.cpp @@ -15,6 +15,7 @@ using namespace tf2_ros; using geometry_msgs::PoseStamped; using geometry_msgs::TransformStamped; +using std::string; class ArucoVPE : public nodelet::Nodelet { @@ -29,12 +30,18 @@ private: ros::Duration lookup_timeout_; ros::Publisher vision_position_pub_; ros::Timer dummy_vision_timer_; + string aruco_orientation_; void onInit() { ros::NodeHandle& nh = getNodeHandle(); + ros::NodeHandle& nh_priv = getPrivateNodeHandle(); + static ros::Subscriber pose_sub = nh.subscribe("aruco_pose/pose", 1, &ArucoVPE::handleArucoPose, this); vision_position_pub_ = nh.advertise("mavros/vision_pose/pose", 1); + nh_priv.param("aruco_orientation", aruco_orientation_, "local_origin"); + + ROS_INFO("aruco orientation frame: %s", aruco_orientation_.c_str()); dummy_vision_timer_ = nh.createTimer(ros::Duration(0.5), &ArucoVPE::publishDummy, this); @@ -66,7 +73,7 @@ private: { // Refine aruco map pose // Reference in local origin - t = tf_buffer.lookupTransform("local_origin", "aruco_map_reference", stamp, lookup_timeout_); + t = tf_buffer.lookupTransform(aruco_orientation_, "aruco_map_reference", stamp, lookup_timeout_); quaternionToEuler(t.transform.rotation, roll, pitch, yaw); eulerToQuaternion(t.transform.rotation, 0, 0, yaw); t.child_frame_id = "aruco_map_reference_horiz"; diff --git a/clever/src/aruco_vpe.py b/clever/src/aruco_vpe.py deleted file mode 100755 index aaadbd6a..00000000 --- a/clever/src/aruco_vpe.py +++ /dev/null @@ -1,106 +0,0 @@ -#!/usr/bin/env python - -import rospy -from geometry_msgs.msg import PoseStamped, PointStamped, Quaternion -import tf2_ros -from tf2_geometry_msgs import do_transform_pose -import tf.transformations - -from util import orientation_from_euler, euler_from_orientation - - -rospy.init_node('aruco_vpe') - - -LOOKUP_TIMEOUT = rospy.Duration(.05) -CAMERA_FRAME_ID = rospy.get_param('~camera_frame_id', 'bottom_camera_optical') - - -# TF2 stuff -tf_broadcaster = tf2_ros.TransformBroadcaster() -static_tf_broadcaster = tf2_ros.StaticTransformBroadcaster() - -tf_buffer = tf2_ros.Buffer() -tf_listener = tf2_ros.TransformListener(tf_buffer) - - -vision_position_pub = rospy.Publisher('mavros/vision_pose/pose', PoseStamped, queue_size=1) -_vision_position_pub = rospy.Publisher('fake_vision_pose', PoseStamped, queue_size=1) -last_published = None - - -q = Quaternion() -q.w = 1 -ps = PoseStamped() -ps.pose.orientation = q - - -def send_transform(transform, child_frame_id): - transform.child_frame_id = child_frame_id - tf_broadcaster.sendTransform(transform) - - -vpe_posted = False - - -def publish_vpe(pose): - stamp = pose.header.stamp - - global last_published, vpe_posted - vpe_posted = True - - def lookup_transform(target_frame, source_frame): - return tf_buffer.lookup_transform(target_frame, source_frame, stamp, LOOKUP_TIMEOUT) - - # Refine aruco_map - reference_in_local_origin = lookup_transform('local_origin', 'aruco_map_reference') - roll, pitch, yaw = euler_from_orientation(reference_in_local_origin.transform.rotation) - reference_in_local_origin.transform.rotation = orientation_from_euler(0, 0, yaw) - send_transform(reference_in_local_origin, 'aruco_map_reference_horiz') - - aruco_map_in_reference = lookup_transform('aruco_map_reference', 'aruco_map_raw') - aruco_map_in_reference.header.frame_id = 'aruco_map_reference_horiz' - send_transform(aruco_map_in_reference, 'aruco_map_vision') - - # Reset VPE - if last_published is None or stamp - last_published > rospy.Duration(2): - rospy.loginfo('Reset VPE') - aruco_map_in_local_origin = lookup_transform('local_origin', 'aruco_map_vision') - aruco_map_in_local_origin.child_frame_id = 'aruco_map' - static_tf_broadcaster.sendTransform(aruco_map_in_local_origin) - - # Calculate VPE - ps.header.frame_id = 'fcu_horiz' - ps.header.stamp = stamp - vpe_raw = tf_buffer.transform(ps, 'aruco_map_vision', LOOKUP_TIMEOUT) - vpe_raw.header.frame_id = 'aruco_map' - vpe = tf_buffer.transform(vpe_raw, 'local_origin', LOOKUP_TIMEOUT) - _vision_position_pub.publish(vpe_raw) - vision_position_pub.publish(vpe) - last_published = stamp - - -rospy.Subscriber('aruco_pose/pose', PoseStamped, publish_vpe, queue_size=1) - - -local_pose = None - - -def handle_pose(data): - global local_pose - local_pose = data - - -rospy.Subscriber('mavros/local_position/pose', PoseStamped, handle_pose, queue_size=1) - - -rospy.loginfo('aruco_vpe inited') -r = rospy.Rate(5) - - -while not rospy.is_shutdown(): - if not vpe_posted: - ps.header.stamp = rospy.get_rostime() - vision_position_pub.publish(ps) - - r.sleep() From deaba007cd450c1df93fe3f32879c59635e794fc Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 22 Dec 2017 02:56:04 +0300 Subject: [PATCH 101/121] `aruco_orientation`, `use_mocap` params for aruco_vpe --- clever/src/aruco_vpe.cpp | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/clever/src/aruco_vpe.cpp b/clever/src/aruco_vpe.cpp index 547be33b..acd66add 100644 --- a/clever/src/aruco_vpe.cpp +++ b/clever/src/aruco_vpe.cpp @@ -37,9 +37,13 @@ private: ros::NodeHandle& nh = getNodeHandle(); ros::NodeHandle& nh_priv = getPrivateNodeHandle(); + nh_priv.param("aruco_orientation", aruco_orientation_, "local_origin"); + bool use_mocap; + nh_priv.param("use_mocap", use_mocap, false); + static ros::Subscriber pose_sub = nh.subscribe("aruco_pose/pose", 1, &ArucoVPE::handleArucoPose, this); - vision_position_pub_ = nh.advertise("mavros/vision_pose/pose", 1); - nh_priv.param("aruco_orientation", aruco_orientation_, "local_origin"); + + vision_position_pub_ = nh.advertise(use_mocap ? "mavros/mocap/pose" : "mavros/vision_pose/pose", 1); ROS_INFO("aruco orientation frame: %s", aruco_orientation_.c_str()); From a7cdfb4a0fdc1f230c1cdce745a19a03c0e10b1b Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 22 Dec 2017 18:09:57 +0300 Subject: [PATCH 102/121] Fix pitch and roll in get_telemetry --- clever/src/simple_offboard.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clever/src/simple_offboard.py b/clever/src/simple_offboard.py index ecc909bc..d4ff37f9 100755 --- a/clever/src/simple_offboard.py +++ b/clever/src/simple_offboard.py @@ -387,7 +387,7 @@ def get_telemetry(req): _, _, res['yaw'] = euler_from_orientation(p.pose.orientation) # Calculate pitch and roll as angles between the pose and fcu_horiz attitude_pose = tf_buffer.transform(pose, 'fcu_horiz', TRANSFORM_TIMEOUT) - res['pitch'], res['roll'], _ = euler_from_orientation(attitude_pose.pose.orientation) + res['roll'], res['pitch'], _ = euler_from_orientation(attitude_pose.pose.orientation) if velocity: v = Vector3Stamped() From fca6bc1fc042b18c27bab30dc5e3f18c3b0e1618 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sun, 24 Dec 2017 01:51:49 +0300 Subject: [PATCH 103/121] Little comment change --- clever/launch/clever.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clever/launch/clever.launch b/clever/launch/clever.launch index 35099f72..abbee064 100644 --- a/clever/launch/clever.launch +++ b/clever/launch/clever.launch @@ -29,7 +29,7 @@ - + From e6e5e1a29979021cc7517d4e02d191c8dcc4f704 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 28 Dec 2017 03:52:55 +0300 Subject: [PATCH 104/121] Decrease ~setpoint_rate default --- clever/src/simple_offboard.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clever/src/simple_offboard.py b/clever/src/simple_offboard.py index d4ff37f9..63c0fc63 100755 --- a/clever/src/simple_offboard.py +++ b/clever/src/simple_offboard.py @@ -80,7 +80,7 @@ AUTO_ARM = AUTO_OFFBOARD and rospy.get_param('~auto_arm', True) OFFBOARD_TIMEOUT = rospy.Duration(rospy.get_param('~offboard_timeout', 3)) ARM_TIMEOUT = rospy.Duration(rospy.get_param('~arm_timeout', 5)) TRANSFORM_TIMEOUT = rospy.Duration(rospy.get_param('~transform_timeout', 3)) -SETPOINT_RATE = rospy.get_param('~setpoint_rate', 50) +SETPOINT_RATE = rospy.get_param('~setpoint_rate', 30) def offboard_and_arm(): From daddb30698b03eebec9672222f2feba76a6831f7 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 28 Dec 2017 03:53:17 +0300 Subject: [PATCH 105/121] simple_offboard: error on lack of mavros/state --- clever/src/simple_offboard.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clever/src/simple_offboard.py b/clever/src/simple_offboard.py index 63c0fc63..749c146a 100755 --- a/clever/src/simple_offboard.py +++ b/clever/src/simple_offboard.py @@ -307,7 +307,7 @@ handle_lock = Lock() def handle(req): global current_pub, current_msg, current_req - if not state.connected: + if not state or not state.connected: return {'message': 'No connection to the FCU'} if isinstance(req, srv.NavigateRequest) and req.speed <= 0: From 6769e8b86f0418a10666e84faabbb7d59ef71d3d Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 28 Dec 2017 03:53:38 +0300 Subject: [PATCH 106/121] simple_offboard: error if copter is not armed/offboarded and auto_arm=False --- clever/src/simple_offboard.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/clever/src/simple_offboard.py b/clever/src/simple_offboard.py index 749c146a..4ec0727f 100755 --- a/clever/src/simple_offboard.py +++ b/clever/src/simple_offboard.py @@ -326,6 +326,11 @@ def handle(req): if req.auto_arm: offboard_and_arm() + else: + if state.mode != 'OFFBOARD': + return {'message': 'Copter is not in OFFBOARD mode, use auto_arm?'} + if not state.armed: + return {'message': 'Copter is not armed, use auto_arm?'} return {'success': True} From ecddf122bffb42b5e542cf78d24e412e6eba3a6b Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 28 Dec 2017 04:01:52 +0300 Subject: [PATCH 107/121] Stop publishing zero vision positions when local position is obtained --- clever/src/aruco_vpe.cpp | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/clever/src/aruco_vpe.cpp b/clever/src/aruco_vpe.cpp index acd66add..890a9822 100644 --- a/clever/src/aruco_vpe.cpp +++ b/clever/src/aruco_vpe.cpp @@ -41,7 +41,8 @@ private: bool use_mocap; nh_priv.param("use_mocap", use_mocap, false); - static ros::Subscriber pose_sub = nh.subscribe("aruco_pose/pose", 1, &ArucoVPE::handleArucoPose, this); + static ros::Subscriber pose_sub = nh.subscribe("mavros/local_position/pose", 1, &ArucoVPE::handlePose, this); + static ros::Subscriber aruco_pose_sub = nh.subscribe("aruco_pose/pose", 1, &ArucoVPE::handleArucoPose, this); vision_position_pub_ = nh.advertise(use_mocap ? "mavros/mocap/pose" : "mavros/vision_pose/pose", 1); @@ -61,6 +62,13 @@ private: vision_position_pub_.publish(ps); } + void handlePose(const geometry_msgs::PoseStampedConstPtr& pose) + { + // local position is inited, stop posting dummy position + ROS_INFO_ONCE("Got local position, stop publishing zeroes"); + dummy_vision_timer_.stop(); + } + void handleArucoPose(const geometry_msgs::PoseStampedConstPtr& pose) { static TransformBroadcaster br; From 69f8b6e5456876d20d3e6f1e9c7a21318d7ae4f2 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 28 Dec 2017 04:02:19 +0300 Subject: [PATCH 108/121] ~reset_vpe option to reset VPE only once (enabled by default if MOCAP package is used) --- clever/src/aruco_vpe.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/clever/src/aruco_vpe.cpp b/clever/src/aruco_vpe.cpp index 890a9822..122297c1 100644 --- a/clever/src/aruco_vpe.cpp +++ b/clever/src/aruco_vpe.cpp @@ -31,6 +31,7 @@ private: ros::Publisher vision_position_pub_; ros::Timer dummy_vision_timer_; string aruco_orientation_; + bool reset_vpe_; void onInit() { @@ -40,6 +41,7 @@ private: nh_priv.param("aruco_orientation", aruco_orientation_, "local_origin"); bool use_mocap; nh_priv.param("use_mocap", use_mocap, false); + nh_priv.param("reset_vpe", reset_vpe_, !use_mocap); static ros::Subscriber pose_sub = nh.subscribe("mavros/local_position/pose", 1, &ArucoVPE::handlePose, this); static ros::Subscriber aruco_pose_sub = nh.subscribe("aruco_pose/pose", 1, &ArucoVPE::handleArucoPose, this); @@ -97,8 +99,8 @@ private: t.child_frame_id = "aruco_map_vision"; br.sendTransform(t); - // Reset VPE - if (!last_published_.isValid() or ros::Time::now() - last_published_ > ros::Duration(2)) + if (last_published_.toSec() == 0 || // no vpe has been posted + (reset_vpe_ && (ros::Time::now() - last_published_ > ros::Duration(2)))) // vpe origin outdated { ROS_INFO("Reset VPE"); t = tf_buffer.lookupTransform("local_origin", "aruco_map_vision", stamp, lookup_timeout_); From afa044e457fa8c8b311ee51745c7e6423411c316 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 28 Dec 2017 04:04:35 +0300 Subject: [PATCH 109/121] Run mavros_node explicitly instead of using px4.launch --- clever/launch/mavros.launch | 74 ++++++++++++++++++++----------------- 1 file changed, 40 insertions(+), 34 deletions(-) diff --git a/clever/launch/mavros.launch b/clever/launch/mavros.launch index c3091bcf..ae2a1c8c 100644 --- a/clever/launch/mavros.launch +++ b/clever/launch/mavros.launch @@ -4,44 +4,50 @@ - - - + + + - - + + - - + + - - - + + + + + + + + + + + + + + + + - safety_area + - image_pub + - vibration + - distance_sensor + - rangefinder + - 3dr_radio + - actuator_control + - hil_controls + - manual_control + - vfr_hud + - px4flow + - vision_speed_estimate + - fake_gps + - cam_imu_sync + - hil + - adsb + + - - - - - - - - - safety_area - - image_pub - - vibration - - distance_sensor - - rangefinder - - 3dr_radio - - actuator_control - - hil_controls - - manual_control - - vfr_hud - - px4flow - - vision_speed_estimate - - fake_gps - - cam_imu_sync - - hil - - adsb - From 0030eb54446e796629b1eb7dc9146cbab091f2e9 Mon Sep 17 00:00:00 2001 From: Arthur Golubtsov Date: Thu, 28 Dec 2017 11:27:33 +0300 Subject: [PATCH 110/121] update clever-rc version --- clever/static | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clever/static b/clever/static index 0ec80bbc..54c53043 160000 --- a/clever/static +++ b/clever/static @@ -1 +1 @@ -Subproject commit 0ec80bbccf1d1617118ec4a8b7c7fe9ca5abe5b3 +Subproject commit 54c530431f1060cf21ceeb8f38a0ab914e570d8b From 53dafed67977765968309f487a1eac7f6e95da5b Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 28 Dec 2017 23:47:45 +0300 Subject: [PATCH 111/121] Show exception if creating aruco board fails --- aruco_pose/src/aruco_pose.cpp | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/aruco_pose/src/aruco_pose.cpp b/aruco_pose/src/aruco_pose.cpp index 11fad954..5f40f98a 100644 --- a/aruco_pose/src/aruco_pose.cpp +++ b/aruco_pose/src/aruco_pose.cpp @@ -47,7 +47,16 @@ void ArucoPose::onInit() { dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_1000); parameters = cv::aruco::DetectorParameters::create(); - createBoard(); + + try + { + createBoard(); + } + catch (const std::exception &exc) + { + std::cerr << exc.what(); + exit(0); + } image_transport::ImageTransport it(nh_); img_sub = it.subscribeCamera("image", 1, &ArucoPose::detect, this); From 4fd9f15ebae8fb43a4cd273cf4ea4b6bbe17d98e Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 28 Dec 2017 23:49:17 +0300 Subject: [PATCH 112/121] ~markers_sep_x, ~markers_sep_y parameters for grid boards + various fixes --- aruco_pose/src/aruco_pose.cpp | 54 ++++++++++++++++++++++++++--------- 1 file changed, 41 insertions(+), 13 deletions(-) diff --git a/aruco_pose/src/aruco_pose.cpp b/aruco_pose/src/aruco_pose.cpp index 5f40f98a..d6f4853f 100644 --- a/aruco_pose/src/aruco_pose.cpp +++ b/aruco_pose/src/aruco_pose.cpp @@ -69,10 +69,10 @@ void ArucoPose::onInit() { ROS_INFO("aruco_pose nodelet inited"); } -cv::Ptr createCustomBoard(int markersX, int markersY, float markerLength, float markerSeparation, +cv::Ptr createCustomGridBoard(int markersX, int markersY, float markerLength, float markerSeparationX, float markerSeparationY, const cv::Ptr &dictionary, std::vector ids) { - CV_Assert(markersX > 0 && markersY > 0 && markerLength > 0 && markerSeparation > 0); + CV_Assert(markersX > 0 && markersY > 0 && markerLength > 0 && markerSeparationX > 0 && markerSeparationY > 0); cv::Ptr res = cv::makePtr(); @@ -83,13 +83,13 @@ cv::Ptr createCustomBoard(int markersX, int markersY, float ma res->objPoints.reserve(totalMarkers); // calculate Board objPoints - float maxY = (float)markersY * markerLength + (markersY - 1) * markerSeparation; + float maxY = (float)markersY * markerLength + (markersY - 1) * markerSeparationY; for(int y = 0; y < markersY; y++) { for(int x = 0; x < markersX; x++) { std::vector< cv::Point3f > corners; corners.resize(4); - corners[0] = cv::Point3f(x * (markerLength + markerSeparation), - maxY - y * (markerLength + markerSeparation), 0); + corners[0] = cv::Point3f(x * (markerLength + markerSeparationX), + maxY - y * (markerLength + markerSeparationY), 0); corners[1] = corners[0] + cv::Point3f(markerLength, 0, 0); corners[2] = corners[0] + cv::Point3f(markerLength, -markerLength, 0); corners[3] = corners[0] + cv::Point3f(0, -markerLength, 0); @@ -116,29 +116,57 @@ void ArucoPose::createBoard() ROS_INFO("Initialize gridboard"); int markers_x, markers_y, first_marker; - float markers_side, markers_sep; + float markers_side, markers_sep_x, markers_sep_y; std::vector marker_ids; nh_priv_.param("markers_x", markers_x, 10); nh_priv_.param("markers_y", markers_y, 10); nh_priv_.param("first_marker", first_marker, 0); if (!nh_priv_.getParam("markers_side", markers_side)) + { ROS_ERROR("gridboard: required parameter ~markers_side is not set."); + exit(1); + } - if (!nh_priv_.getParam("markers_sep", markers_sep)) - ROS_ERROR("gridboard: required parameter ~markers_sep is not set."); + if (!nh_priv_.getParam("markers_sep_x", markers_sep_x)) + { + if (!nh_priv_.getParam("markers_sep", markers_sep_x)) + { + ROS_ERROR("gridboard: ~markers_sep_x or ~markers_sep parameters are required"); + exit(1); + } + } - if (nh_priv_.getParam("marker_ids", marker_ids)) { - if (markers_x * markers_y != marker_ids.size()) { + if (!nh_priv_.getParam("markers_sep_y", markers_sep_y)) + { + if (!nh_priv_.getParam("markers_sep", markers_sep_y)) + { + ROS_ERROR("gridboard: ~markers_sep_y or ~markers_sep parameters are required"); + exit(1); + } + } + + if (nh_priv_.getParam("marker_ids", marker_ids)) + { + if (markers_x * markers_y != marker_ids.size()) + { ROS_FATAL("~marker_ids length should be equal to ~markers_x * ~markers_y"); exit(1); } - board = createCustomBoard(markers_x, markers_y, markers_side, markers_sep, dictionary, marker_ids); } - else { - board = cv::aruco::GridBoard::create(markers_x, markers_y, markers_side, markers_sep, dictionary, first_marker); + else + { + // Fill marker_ids automatically + marker_ids.resize(markers_x * markers_y); + for(int i = 0; i < markers_x * markers_y; i++) + { + marker_ids.at(i) = first_marker++; + } } + // Create grid board + board = createCustomGridBoard(markers_x, markers_y, markers_side, markers_sep_x, markers_sep_y, dictionary, marker_ids); + // Publish map image for debugging _drawPlanarBoard(board, cv::Size(2000, 2000), map_image, 50, 1); From 242e798842f9d66bf3829b848c8adcb837a81c28 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 29 Dec 2017 00:15:02 +0300 Subject: [PATCH 113/121] =?UTF-8?q?simple=5Foffboard:=20don=E2=80=99t=20fa?= =?UTF-8?q?ll=20if=20no=20cell=20voltage?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- clever/src/simple_offboard.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/clever/src/simple_offboard.py b/clever/src/simple_offboard.py index 4ec0727f..e276cb22 100755 --- a/clever/src/simple_offboard.py +++ b/clever/src/simple_offboard.py @@ -416,7 +416,10 @@ def get_telemetry(req): if battery: res['voltage'] = battery.voltage - res['cell_voltage'] = battery.cell_voltage[0] + try: + res['cell_voltage'] = battery.cell_voltage[0] + except: + pass return res From ab42ea9259017a48f16cac95b321fbca5be8f345 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 9 Jan 2018 22:55:54 +0300 Subject: [PATCH 114/121] Rename bottom_camera => main_camera --- clever/launch/aruco.launch | 4 ++-- clever/launch/clever.launch | 6 +++--- .../launch/{bottom_camera.launch => main_camera.launch} | 9 +++++++-- clever/launch/sitl.launch | 2 +- 4 files changed, 13 insertions(+), 8 deletions(-) rename clever/launch/{bottom_camera.launch => main_camera.launch} (65%) diff --git a/clever/launch/aruco.launch b/clever/launch/aruco.launch index ea7e450b..158b84b5 100644 --- a/clever/launch/aruco.launch +++ b/clever/launch/aruco.launch @@ -1,6 +1,6 @@ - - + + diff --git a/clever/launch/clever.launch b/clever/launch/clever.launch index abbee064..f8a433db 100644 --- a/clever/launch/clever.launch +++ b/clever/launch/clever.launch @@ -6,7 +6,7 @@ - + @@ -42,8 +42,8 @@ - - + + diff --git a/clever/launch/bottom_camera.launch b/clever/launch/main_camera.launch similarity index 65% rename from clever/launch/bottom_camera.launch rename to clever/launch/main_camera.launch index 87ecb77a..b9f1f1e6 100644 --- a/clever/launch/bottom_camera.launch +++ b/clever/launch/main_camera.launch @@ -1,8 +1,13 @@ - - + + + + + + + diff --git a/clever/launch/sitl.launch b/clever/launch/sitl.launch index 5cc8a0ca..1e48052f 100644 --- a/clever/launch/sitl.launch +++ b/clever/launch/sitl.launch @@ -8,7 +8,7 @@ - + From adeca2174c2888b2166de2bf8f75fc11919506d5 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 9 Jan 2018 22:56:39 +0300 Subject: [PATCH 115/121] Use MOCAP package for Aruco vision --- clever/launch/aruco.launch | 1 + 1 file changed, 1 insertion(+) diff --git a/clever/launch/aruco.launch b/clever/launch/aruco.launch index 158b84b5..f4a69ada 100644 --- a/clever/launch/aruco.launch +++ b/clever/launch/aruco.launch @@ -18,5 +18,6 @@ + From a27dac53cbf389a1454f2975fabd10f6a74c025c Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 9 Jan 2018 22:57:19 +0300 Subject: [PATCH 116/121] Formatting --- clever/launch/aruco.launch | 1 + 1 file changed, 1 insertion(+) diff --git a/clever/launch/aruco.launch b/clever/launch/aruco.launch index f4a69ada..f9dc88c5 100644 --- a/clever/launch/aruco.launch +++ b/clever/launch/aruco.launch @@ -18,6 +18,7 @@ + From 4a969126422a9402cdade86ad9c81b4f81a23893 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 9 Jan 2018 22:57:30 +0300 Subject: [PATCH 117/121] Verbosity --- clever/src/simple_offboard.py | 1 + 1 file changed, 1 insertion(+) diff --git a/clever/src/simple_offboard.py b/clever/src/simple_offboard.py index e276cb22..a84b9367 100755 --- a/clever/src/simple_offboard.py +++ b/clever/src/simple_offboard.py @@ -308,6 +308,7 @@ def handle(req): global current_pub, current_msg, current_req if not state or not state.connected: + rospy.logwarn('No connection to the FCU') return {'message': 'No connection to the FCU'} if isinstance(req, srv.NavigateRequest) and req.speed <= 0: From 7826cad8587354e4aee96404bb3116de0231f96c Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 9 Jan 2018 22:58:00 +0300 Subject: [PATCH 118/121] bottom_camera => main_camera --- clever/launch/main_camera.launch | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/clever/launch/main_camera.launch b/clever/launch/main_camera.launch index b9f1f1e6..a9bc4a63 100644 --- a/clever/launch/main_camera.launch +++ b/clever/launch/main_camera.launch @@ -1,16 +1,16 @@ - - - + + - + - - + + - - + + + From c32295e88e2f5b4253549b20859aa13d75cd53ac Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sat, 27 Jan 2018 21:03:46 +0300 Subject: [PATCH 119/121] Disable web server for a while --- clever/launch/clever.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clever/launch/clever.launch b/clever/launch/clever.launch index f8a433db..c89f32f1 100644 --- a/clever/launch/clever.launch +++ b/clever/launch/clever.launch @@ -3,7 +3,7 @@ - + From 07886e3afeb1842dad217a9407ab40bc0766d44c Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 30 Jan 2018 20:13:34 +0300 Subject: [PATCH 120/121] Make default camera frame clever 3 downwards --- clever/launch/main_camera.launch | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/clever/launch/main_camera.launch b/clever/launch/main_camera.launch index a9bc4a63..480ba38f 100644 --- a/clever/launch/main_camera.launch +++ b/clever/launch/main_camera.launch @@ -3,10 +3,10 @@ - + - + From 5417b32b49ad15d430ba1787c5708c94a072ef9b Mon Sep 17 00:00:00 2001 From: urpylka Date: Mon, 5 Feb 2018 21:15:49 +0300 Subject: [PATCH 121/121] Remove README.md before merge --- README.md | 63 ------------------------------------------------------- 1 file changed, 63 deletions(-) delete mode 100644 README.md diff --git a/README.md b/README.md deleted file mode 100644 index 4fa3c0eb..00000000 --- a/README.md +++ /dev/null @@ -1,63 +0,0 @@ -# Clever - -Пакет программ и библиотек для Клевера. - -Основная документация ---------------------- - -https://copterexpress.gitbooks.io/clever/content/ - -**Готовый образ** для RPi 3 с предустановленным и преднастроенным clever_bundle можно скачать [здесь](https://copterexpress.gitbooks.io/clever/content/docs/microsd_images.html). - -[Описание API](https://copterexpress.gitbooks.io/clever/content/docs/simple_offboard.html) для автономных полетов. - -Установка ---------- - -Склонировать репозиторий в папку `/home/pi/catkin_ws/src/clever` (**важно**): - -```bash -cd ~/catkin_ws/src -git clone https://github.com/CopterExpress/clever_bundle.git clever -``` - -Пересобрать ROS-пакеты: - -```bash -cd ~/catkin_ws -catkin_make -j1 -``` - -Включить сервис roscore (если он не включен): - -```bash -sudo systemctl enable /home/pi/catkin_ws/src/clever/deploy/roscore.service -sudo systemctl start roscore -``` - -Включить сервис clever: - -```bash -sudo systemctl enable /home/pi/catkin_ws/src/clever/deploy/clever.service -sudo systemctl start clever -``` - -Зависимости ------------ - -[ROS Kinetic](http://wiki.ros.org/kinetic). - -Необходимые для работы ROS-пакеты: - -* `opencv3` -* `mavros` -* `rosbridge_suite` -* `web_video_server` -* `cv_camera` -* `nodelet` -* `dynamic_reconfigure` -* `bondcpp`, ветка `master` -* `roslint` -* `rosserial` - -TODO: внести в package.xml