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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #include <Eigen/Core> 00036 #include <Eigen/SVD> 00037 #include <nav_msgs/Odometry.h> 00038 #include <pr2_mechanism_controllers/Odometer.h> 00039 #include <realtime_tools/realtime_publisher.h> 00040 #include <tf/tfMessage.h> 00041 #include <tf/tf.h> 00042 #include <pr2_mechanism_controllers/base_kinematics.h> 00043 #include <angles/angles.h> 00044 00045 #include <boost/scoped_ptr.hpp> 00046 #include <boost/thread/condition.hpp> 00047 00048 #include <std_msgs/Float64.h> 00049 #include <pr2_mechanism_controllers/OdometryMatrix.h> 00050 #include <pr2_mechanism_controllers/DebugInfo.h> 00051 00052 #include <std_msgs/Bool.h> 00053 #include <pr2_mechanism_controllers/BaseOdometryState.h> 00054 00055 namespace controller 00056 { 00057 00058 typedef Eigen::Matrix<float, 3, 1> OdomMatrix3x1; 00059 typedef Eigen::Matrix<float, 16, 1> OdomMatrix16x1; 00060 typedef Eigen::Matrix<float, 16, 3> OdomMatrix16x3; 00061 typedef Eigen::Matrix<float, 16, 16> OdomMatrix16x16; 00062 00063 00067 class Pr2Odometry : public pr2_controller_interface::Controller 00068 { 00069 public: 00070 00074 Pr2Odometry(); 00075 00079 ~Pr2Odometry(); 00080 00087 bool init(pr2_mechanism_model::RobotState *robot_state, ros::NodeHandle &node); 00088 00089 /* 00090 * \brief The starting method is called by the realtime thread just before 00091 * the first call to update. Overrides Controller.staring(). 00092 * @return Successful start 00093 */ 00094 void starting(); 00095 00100 void update(); 00101 00105 void publish(); 00106 00110 void publishTransform(); 00111 00115 void publishOdometer(); 00116 00120 void publishState(); 00121 00122 00123 EIGEN_MAKE_ALIGNED_OPERATOR_NEW 00124 00125 private: 00126 00127 ros::NodeHandle node_; 00128 00132 BaseKinematics base_kin_; 00133 00137 void updateOdometry(); 00138 00143 void getOdometryMessage(nav_msgs::Odometry &msg); 00144 00154 void getOdometry(double &x, double &y, double &yaw, double &vx, double &vy, double &vw); 00155 00161 void getOdometry(geometry_msgs::Point &odom, geometry_msgs::Twist &odom_vel); 00162 00166 void computeBaseVelocity(); 00167 00172 double getCorrectedWheelSpeed(const int &index); 00173 00177 OdomMatrix3x1 iterativeLeastSquares(const OdomMatrix16x3 &lhs, const OdomMatrix16x1 &rhs, const std::string &weight_type, const int &max_iter); 00178 00182 OdomMatrix16x16 findWeightMatrix(const OdomMatrix16x1 &residual, const std::string &weight_type); 00183 00187 double odometer_distance_; 00188 00192 double odometer_angle_; 00193 00197 ros::Time last_time_,current_time_; 00198 00202 // Eigen::MatrixXf cbv_rhs_, fit_rhs_, fit_residual_, odometry_residual_, cbv_lhs_, fit_lhs_, cbv_soln_,fit_soln_, weight_matrix_; 00203 00207 geometry_msgs::Point odom_; 00208 00212 geometry_msgs::Twist odom_vel_; 00213 00217 std::string ils_weight_type_; 00218 00222 int ils_max_iterations_; 00223 00227 double odometry_residual_max_; 00228 00232 std::string odom_frame_; 00233 00237 std::string base_link_frame_; 00238 00242 std::string base_footprint_frame_; 00243 00247 ros::Time last_publish_time_; 00248 00252 ros::Time last_transform_publish_time_; 00253 00257 ros::Time last_odometer_publish_time_; 00258 00262 ros::Time last_state_publish_time_; 00263 00267 double expected_publish_time_; 00268 00272 double expected_odometer_publish_time_; 00273 00277 double expected_state_publish_time_; 00278 00282 boost::scoped_ptr<realtime_tools::RealtimePublisher <nav_msgs::Odometry> > odometry_publisher_ ; 00283 00287 boost::scoped_ptr<realtime_tools::RealtimePublisher <pr2_mechanism_controllers::Odometer> > odometer_publisher_ ; 00288 00292 boost::scoped_ptr<realtime_tools::RealtimePublisher <pr2_mechanism_controllers::BaseOdometryState> > state_publisher_ ; 00293 00297 boost::scoped_ptr<realtime_tools::RealtimePublisher <tf::tfMessage> > transform_publisher_ ; 00298 00299 double sigma_x_,sigma_y_,sigma_theta_,cov_x_y_,cov_x_theta_,cov_y_theta_; 00300 00301 double base_link_floor_z_offset_; 00302 00304 bool publish_tf_; 00305 00306 00310 void populateCovariance(const double &residual, nav_msgs::Odometry &msg); 00311 00312 boost::scoped_ptr<realtime_tools::RealtimePublisher <pr2_mechanism_controllers::OdometryMatrix> > matrix_publisher_; 00313 boost::scoped_ptr<realtime_tools::RealtimePublisher <pr2_mechanism_controllers::DebugInfo> > debug_publisher_; 00314 00315 int sequence_; 00316 00317 bool isInputValid(); 00318 00319 bool verbose_, publish_odom_, publish_odometer_, publish_state_; 00320 00321 double odom_publish_rate_; 00322 00323 double odometer_publish_rate_; 00324 00325 double state_publish_rate_; 00326 00327 double caster_calibration_multiplier_; 00328 00329 OdomMatrix16x3 cbv_lhs_, fit_lhs_; 00330 OdomMatrix16x1 cbv_rhs_, fit_residual_, odometry_residual_; 00331 OdomMatrix16x1 fit_rhs_; 00332 OdomMatrix16x16 weight_matrix_, w_fit; 00333 OdomMatrix3x1 cbv_soln_, fit_soln_; 00334 00335 std::string tf_prefix_; 00336 00337 }; 00338 }