pose_based_vs_alg_node.cpp

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#include "pose_based_vs_alg_node.h"

PoseBasedVsAlgNode::PoseBasedVsAlgNode(void) :
  algorithm_base::IriBaseAlgorithm<PoseBasedVsAlgorithm>()
{
  //init class attributes if necessary
  this->loop_rate_ = 100;//in [Hz]

  //Initialize vectors
  this->current_pose_.resize(6,0.0);
  this->desired_pose_.resize(6,0.0);
  this->kp_.resize(6,0.0);
  this->kd_.resize(6,0.0);
  this->ki_.resize(6,0.0);
  this->cam_vel_.resize(6,0.0);


  // [init publishers]
  this->cmd_vel_cov_publisher_ = this->public_node_handle_.advertise<geometry_msgs::TwistWithCovariance>("cmd_vel_cov", 1);
  
  // [init subscribers]
  this->input_ARtag_subscriber_ = this->public_node_handle_.subscribe("input_ARtag", 1, &PoseBasedVsAlgNode::input_ARtag_callback, this);
  
  // [init services]
  
  // [init clients]
  
  // [init action servers]
  
  // [init action clients]
}

PoseBasedVsAlgNode::~PoseBasedVsAlgNode(void)
{
  // [free dynamic memory]
}

void PoseBasedVsAlgNode::mainNodeThread(void)
{
  // [fill msg structures]
  //this->Twist_msg_.data = my_var;
  
  // [fill srv structure and make request to the server]
  
  // [fill action structure and make request to the action server]

  // [publish messages]
  this->cmd_vel_cov_publisher_.publish(this->TwistWC_msg_);
}

/*  [subscriber callbacks] */
void PoseBasedVsAlgNode::input_ARtag_callback(const ar_pose::ARMarkers::ConstPtr& msg) 
{ 
  //ROS_INFO("PoseBasedVsAlgNode::input_ARtag_callback: New Message Received"); 

  //use appropiate mutex to shared variables if necessary 
  //this->alg_.lock(); 
  this->input_ARtag_mutex_.enter(); 

  this->time_ = ros::Time::now();
  this->dt_ = this->time_.toSec()-this->time_last_.toSec();

  if (msg->markers.empty()){
    this->cam_vel_.resize(6,0.0);

    //Twist message to publish with the camera velocities
    this->TwistWC_msg_.twist.linear.x=this->cam_vel_[0];
    this->TwistWC_msg_.twist.linear.y=this->cam_vel_[1];
    this->TwistWC_msg_.twist.linear.z=this->cam_vel_[2];
    this->TwistWC_msg_.twist.angular.x=this->cam_vel_[3];
    this->TwistWC_msg_.twist.angular.y=this->cam_vel_[4];
    this->TwistWC_msg_.twist.angular.z=this->cam_vel_[5];

    //Covariance matrix set to high values because there is no marker
    this->TwistWC_msg_.covariance[0]  = 
    this->TwistWC_msg_.covariance[7]  = 
    this->TwistWC_msg_.covariance[14] = 
    this->TwistWC_msg_.covariance[21] = 
    this->TwistWC_msg_.covariance[28] = 
    this->TwistWC_msg_.covariance[35] = 99999;
  }
  else if (!msg->markers.empty()){

    //Get Marker pose in the camera frame
    geometry_msgs::Pose pose;
    pose = msg->markers.back().pose.pose;

    tf::Transform tf_pose;
    double roll,pitch,yaw;
    tf::poseMsgToTF(pose, tf_pose);
    //Initial rotation with z,x,y euler convention
    tf_pose.getBasis().getRPY(roll,pitch,yaw);

    this->current_pose_.at(0)=pose.position.x;
    this->current_pose_.at(1)=pose.position.y;
    this->current_pose_.at(2)=pose.position.z;
    this->current_pose_.at(3)=roll;
    this->current_pose_.at(4)=pitch;
    this->current_pose_.at(5)=yaw;

    //Pose based visual servo
    this->pose_based_vs_alg_.pose_vs(this->current_pose_,this->desired_pose_,this->kp_,this->kd_,this->ki_,this->i_lim_,this->dt_,this->cam_vel_);

    //Twist message to publish with the camera velocities
    this->TwistWC_msg_.twist.linear.x=this->cam_vel_[0];
    this->TwistWC_msg_.twist.linear.y=this->cam_vel_[1];
    this->TwistWC_msg_.twist.linear.z=this->cam_vel_[2];
    this->TwistWC_msg_.twist.angular.x=this->cam_vel_[3];
    this->TwistWC_msg_.twist.angular.y=this->cam_vel_[4];
    this->TwistWC_msg_.twist.angular.z=this->cam_vel_[5];

    //Covariance matrix set to low values because there is marker, and 
    double cov = double(100-msg->markers.back().confidence)/100;
    this->TwistWC_msg_.covariance[0]  = 
    this->TwistWC_msg_.covariance[7]  = 
    this->TwistWC_msg_.covariance[14] = 
    this->TwistWC_msg_.covariance[21] = 
    this->TwistWC_msg_.covariance[28] = 
    this->TwistWC_msg_.covariance[35] = cov;
  }


  this->time_last_ = this->time_;

  //std::cout << msg->data << std::endl; 
  //unlock previously blocked shared variables 
  //this->alg_.unlock(); 
  this->input_ARtag_mutex_.exit(); 
}

/*  [service callbacks] */

/*  [action callbacks] */

/*  [action requests] */

void PoseBasedVsAlgNode::node_config_update(Config &config, uint32_t level)
{
  this->alg_.lock();

  //get values form dynamic reconfigure
  this->desired_pose_.at(0)=config.desired_x;
  this->desired_pose_.at(1)=config.desired_y;
  this->desired_pose_.at(2)=config.desired_z;
  this->desired_pose_.at(3)=config.desired_roll;
  this->desired_pose_.at(4)=config.desired_pitch;
  this->desired_pose_.at(5)=config.desired_yaw;
  this->kp_.at(0)=config.kp_x;
  this->kd_.at(0)=config.kd_x;
  this->ki_.at(0)=config.ki_x;
  this->kp_.at(1)=config.kp_y;
  this->kd_.at(1)=config.kd_y;
  this->ki_.at(1)=config.ki_y;
  this->kp_.at(2)=config.kp_z;
  this->kd_.at(2)=config.kd_z;
  this->ki_.at(2)=config.ki_z;
  this->kp_.at(3)=config.kp_roll;
  this->kd_.at(3)=config.kd_roll;
  this->ki_.at(3)=config.ki_roll;
  this->kp_.at(4)=config.kp_pitch;
  this->kd_.at(4)=config.kd_pitch;
  this->ki_.at(4)=config.ki_pitch;
  this->kp_.at(5)=config.kp_yaw;
  this->kd_.at(5)=config.kd_yaw;
  this->ki_.at(5)=config.ki_yaw;
  this->i_lim_=config.i_lim;

  this->alg_.unlock();
}

void PoseBasedVsAlgNode::addNodeDiagnostics(void)
{
}

/* main function */
int main(int argc,char *argv[])
{
  return algorithm_base::main<PoseBasedVsAlgNode>(argc, argv, "pose_based_vs_alg_node");
}