cob_base_velocity_smoother.cpp

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0

 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */


#include <cob_base_velocity_smoother/cob_base_velocity_smoother.h>

/****************************************************************
 * the ros navigation doesn't run very smoothly because acceleration is too high
 * --> cob has strong base motors and therefore reacts with shaking behavior
 * (PR2 has much more mechanical damping)
 * solution: the additional node cob_base_velocity_smoother smooths the velocities
 * comming from ROS-navigation or teleoperation, by calculating the mean values of a certain number
 * of past messages and limiting the acceleration under a given threshold.
 * cob_base_velocity_smoother subsribes (input) and publishes (output) geometry_msgs::Twist.
 ****************************************************************/

// function for checking wether a new msg has been received, triggering publishers accordingly
void cob_base_velocity_smoother::set_new_msg_received(bool received)
{
  pthread_mutex_lock(&m_mutex);
  new_msg_received_ = received;
  pthread_mutex_unlock(&m_mutex);
}

bool cob_base_velocity_smoother::get_new_msg_received()
{
  pthread_mutex_lock(&m_mutex);
  bool ret_val = new_msg_received_;
  pthread_mutex_unlock(&m_mutex);
  return ret_val;
}

// constructor
cob_base_velocity_smoother::cob_base_velocity_smoother()
{
  m_mutex = PTHREAD_MUTEX_INITIALIZER;
  new_msg_received_ = false;

  // create node handles
  nh_ = ros::NodeHandle();
  pnh_ = ros::NodeHandle("~");

  // publisher
  pub_ = nh_.advertise<geometry_msgs::Twist>("output", 1);

  // subscriber
  geometry_msgs_sub_ = nh_.subscribe<geometry_msgs::Twist>("input", 1, boost::bind(&cob_base_velocity_smoother::geometryCallback, this, _1));

  // get parameters from parameter server if possible or write default values to variables
  if( !pnh_.hasParam("circular_buffer_capacity") )
  {
     ROS_WARN("No parameter circular_buffer_capacity on parameter server. Using default [12]");
  }
  pnh_.param("circular_buffer_capacity", buffer_capacity_, 12);

  if( !pnh_.hasParam("maximal_time_delay") )
  {
    ROS_WARN("No parameter maximal_time_delay on parameter server. Using default [4 in s]");
  }
  pnh_.param("maximal_time_delay", store_delay_, 4.0);

  if( !pnh_.hasParam("maximal_time_delay_to_stop") )
  {
    ROS_WARN("No parameter maximal_time_delay_to_stop on parameter server. Using default [0.1 in s]");
  }
  pnh_.param("maximal_time_delay_to_stop", stop_delay_after_no_sub_, 0.1);

  if( !pnh_.hasParam("thresh_max_acc") )
  {
    ROS_WARN("No parameter thresh_max_acc on parameter server. Using default [0.3 in m/s]");
  }
  pnh_.param("thresh_max_acc", acc_limit_, 0.3);

  if( !pnh_.hasParam("loop_rate") )
  {
    ROS_WARN("No parameter loop_rate on parameter server. Using default [30 in Hz]");
  }
  pnh_.param("loop_rate", loop_rate_, 30.0);

  double min_input_rate;
  if( !pnh_.hasParam("min_input_rate") )
  {
    ROS_WARN("No parameter min_input_rate on parameter server. Using default [9 in Hz]");
  }
  pnh_.param("min_input_rate", min_input_rate, 9.0);

  if( min_input_rate > loop_rate_)
  {
    ROS_WARN("min_input_rate > loop_rate: Setting min_input_rate to loop_rate = %f", loop_rate_);
    min_input_rate = loop_rate_;
  }
  max_delay_between_commands_ = 1/min_input_rate;

  // set a geometry message containing zero-values
  zero_values_.linear.x = 0.0;
  zero_values_.linear.y = 0.0;
  zero_values_.linear.z = 0.0;

  zero_values_.angular.x = 0.0;
  zero_values_.angular.y = 0.0;
  zero_values_.angular.z = 0.0;

  // initialize circular buffers
  cb_.set_capacity(buffer_capacity_);
  cb_out_.set_capacity(buffer_capacity_);
  cb_time_.set_capacity(buffer_capacity_);

  // set actual ros::Time
  ros::Time now = ros::Time::now();

  // fill circular buffer with zero values
  while(cb_.full() == false)
  {
    cb_.push_front(zero_values_);
    cb_time_.push_front(now);
  }
};

// destructor
cob_base_velocity_smoother::~cob_base_velocity_smoother(){}

// callback function to subsribe to the geometry messages cmd_vel and save them in a member variable
void cob_base_velocity_smoother::geometryCallback(const geometry_msgs::Twist::ConstPtr &cmd_vel)
{
  sub_msg_ = *cmd_vel;
  set_new_msg_received(true);
}

// calculation function called periodically in main
void cob_base_velocity_smoother::calculationStep()
{
  // set current ros::Time
  ros::Time now = ros::Time::now();
  static ros::Time last = now;

  geometry_msgs::Twist result = geometry_msgs::Twist();

  // only publish command if we received a msg or the last message was actually zero
  if (get_new_msg_received())
  {
    // generate Output messages
    result = this->setOutput(now, sub_msg_);
    pub_.publish(result);

    last = now;
    set_new_msg_received(false);
  }
  // start writing in zeros if we did not receive a new msg within a certain amount of time.
  // Do not publish! Otherwise, the output of other nodes will be overwritten!
  else if ( fabs((last - now).toSec()) > max_delay_between_commands_)
  {
    result = this->setOutput(now, geometry_msgs::Twist());
  }
  // if last message was a zero msg, fill the buffer with zeros and publish again
  else if (IsZeroMsg(sub_msg_))
  {
    result = this->setOutput(now, sub_msg_);
    pub_.publish(result);
  }
}

// function for the actual computation
// calls the reviseCircBuff and the meanValue-functions and limits the acceleration under thresh
// returns the resulting geomtry message to be published to the base_controller
geometry_msgs::Twist cob_base_velocity_smoother::setOutput(ros::Time now, geometry_msgs::Twist cmd_vel)
{
  geometry_msgs::Twist result = zero_values_;

  // update the circular buffers
  this->reviseCircBuff(now, cmd_vel);

  // calculate the mean values for each direction
  result.linear.x = meanValueX();
  result.linear.y = meanValueY();
  result.angular.z = meanValueZ();

  // limit acceleration
  this->limitAcceleration(now, result);

  // insert the result-message into the circular-buffer storing the output
  cb_out_.push_front(result);

  return result;
}

// function that updates the circular buffer after receiving a new geometry message
void cob_base_velocity_smoother::reviseCircBuff(ros::Time now, geometry_msgs::Twist cmd_vel)
{
  if(this->circBuffOutOfDate(now) == true)
  {
    // the circular buffer is out of date, so clear and refill with zero messages before adding the new command

    // clear buffers
    cb_.clear();
    cb_time_.clear();

    // fill circular buffer with zero_values_ and time buffer with actual time-stamp
    while(cb_.full() == false)
    {
      cb_.push_front(zero_values_);
      cb_time_.push_front(now);
    }

    // add new command velocity message to circular buffer
    cb_.push_front(cmd_vel);
    // add new timestamp for subscribed command velocity message
    cb_time_.push_front(now);
  }
  else
  {
    // only some elements of the circular buffer are out of date, so only delete those
    double delay=(now.toSec() - cb_time_.back().toSec());

    while( delay >= store_delay_ )
    {
      // remove out-dated messages
      cb_.pop_back();
      cb_time_.pop_back();

      delay=(now.toSec() - cb_time_.back().toSec());
    }
    // if the circular buffer is empty now, refill with zero values
    if(cb_.empty() == true)
    {
      while(cb_.full() == false)
      {
        cb_.push_front(zero_values_);
        cb_time_.push_front(now);
      }
    }
    if(this->IsZeroMsg(cmd_vel))
    {
      // here we subscribed  a zero message, so we want to stop the robot
      long unsigned int size = floor( cb_.size() / 3 );

      // to stop the robot faster, fill the circular buffer with more than one, in fact floor (cb_.size() / 3 ), zero messages
      for(long unsigned int i=0; i< size; i++)
      {
        // add new command velocity message to circular buffer
        cb_.push_front(cmd_vel);
        // add new timestamp for subscribed command velocity message
        cb_time_.push_front(now);
      }
    }
    else
    {
      // add new command velocity message to circular buffer
      cb_.push_front(cmd_vel);
      // add new timestamp for subscribed command velocity message
      cb_time_.push_front(now);
    }
  }
};

// returns true if all messages in cb are out of date in consideration of store_delay
bool cob_base_velocity_smoother::circBuffOutOfDate(ros::Time now)
{
  bool result=true;

  long unsigned int count=0;

  while( (count < cb_.size()) && (result == true) )
  {
    double delay=(now.toSec() - cb_time_[count].toSec());
    if(delay < store_delay_)
    {
      result = false;
    }
    count++;
  }

  return result;
};

// returns true if the input msg cmd_vel equals zero_values_, false otherwise
bool cob_base_velocity_smoother::IsZeroMsg(geometry_msgs::Twist cmd_vel)
{
  bool result = true;
  if( (cmd_vel.linear.x) != 0 || (cmd_vel.linear.y != 0) || (cmd_vel.angular.z != 0) )
  {
    result = false;
  }

  return result;
};

int cob_base_velocity_smoother::signum(double var)
{
  if(var < 0)
  {
    return -1;
  }
  else
  {
    return 1;
  }
};

// functions to calculate the mean values for linear/x
double cob_base_velocity_smoother::meanValueX()
{
  double result = 0;
  long unsigned int size = cb_.size();

  // calculate sum
  for(long unsigned int i=0; i<size; i++)
  {
    result += cb_[i].linear.x;
  }
  result /= size;

  if(size > 1)
  {
    double help_result = 0;
    double max = cb_[0].linear.x;
    long unsigned int max_ind = 0;
    for(long unsigned int i=0; i<size; i++)
    {
      if(abs(result-cb_[i].linear.x) > abs(result-max))
      {
        max = cb_[i].linear.x;
        max_ind = i;
      }
    }

    // calculate sum
    for(long unsigned int i=0; i<size; i++)
    {
      if(i != max_ind)
      {
        help_result += cb_[i].linear.x;
      }
    }
    result = help_result / (size - 1);
  }

  return result;
};

// functions to calculate the mean values for linear/y
double cob_base_velocity_smoother::meanValueY()
{
  double result = 0;
  long unsigned int size = cb_.size();

  // calculate sum
  for(long unsigned int i=0; i<size; i++)
  {
    result += cb_[i].linear.y;
  }
  result /= size;

  if(size > 1)
  {
    double help_result = 0;
    double max = cb_[0].linear.y;
    long unsigned int max_ind = 0;
    for(long unsigned int i=0; i<size; i++)
    {
      if(abs(result-cb_[i].linear.y) > abs(result-max))
      {
        max = cb_[i].linear.y;
        max_ind = i;
      }
    }

    // calculate sum
    for(long unsigned int i=0; i<size; i++)
    {
      if(i != max_ind)
      {
        help_result += cb_[i].linear.y;
      }
    }
    result = help_result / (size - 1);
  }

  return result;
};

// functions to calculate the mean values for angular/z
double cob_base_velocity_smoother::meanValueZ()
{
  double result = 0;
  long unsigned int size = cb_.size();

  // calculate sum
  for(long unsigned int i=0; i<size; i++)
  {
    result += cb_[i].angular.z;
  }
  result /= size;

  if(size > 1)
  {
    double help_result = 0;
    double max = cb_[0].angular.z;
    long unsigned int max_ind = 0;
    for(long unsigned int i = 0; i < size; i++)
    {
      if(abs(result-cb_[i].angular.z) > abs(result-max))
      {
        max = cb_[i].angular.z;
        max_ind = i;
      }
    }

    // calculate sum
    for(long unsigned int i = 0; i < size; i++)
    {
      if(i != max_ind)
      {
        help_result += cb_[i].angular.z;
      }
    }
    result = help_result / (size - 1);
  }

  return result;
};

// function to make the loop rate availabe outside the class
double cob_base_velocity_smoother::getLoopRate()
{
  return loop_rate_;
}

// function to compare two geometry messages
bool cob_base_velocity_smoother::IsEqual(geometry_msgs::Twist msg1, geometry_msgs::Twist msg2)
{
  if( (msg1.linear.x == msg2.linear.x) && (msg1.linear.y == msg2.linear.y) && (msg1.angular.z == msg2.angular.z))
  {
    return true;
  }
  else
  {
    return false;
  }
}

//function to limit the acceleration under the given threshhold thresh
void cob_base_velocity_smoother::limitAcceleration(ros::Time now, geometry_msgs::Twist& result)
{
  // limit the acceleration under thresh
  // only if cob_base_velocity_smoother has published a message yet

  double deltaTime = 0;

  if(cb_time_.size() > 1)
  {
    deltaTime = now.toSec() - cb_time_[2].toSec();
  }

  if( cb_out_.size() > 0)
  {
    if(deltaTime > 0)
    {
      // set delta velocity and acceleration values
      double deltaX = result.linear.x - cb_out_.front().linear.x;

      double deltaY = result.linear.y - cb_out_.front().linear.y;

      double deltaZ = result.angular.z - cb_out_.front().angular.z;

      if( abs(deltaX) > acc_limit_)
      {
        result.linear.x = cb_out_.front().linear.x + this->signum(deltaX) * acc_limit_;
      }
      if( abs(deltaY) > acc_limit_ )
      {
        result.linear.y = cb_out_.front().linear.y + this->signum(deltaY) * acc_limit_;
      }
      if( abs(deltaZ) > acc_limit_ )
      {
        result.angular.z = cb_out_.front().angular.z + this->signum(deltaZ) * acc_limit_;
      }
    }
  }
};


int main(int argc, char **argv)
{
  // initialize ros and specifiy node name
  ros::init(argc, argv, "cob_base_velocity_smoother");

  // create Node Class
  cob_base_velocity_smoother my_velocity_smoother;
  // get loop rate from class member
  ros::Rate rate(my_velocity_smoother.getLoopRate());
  // actual calculation step with given frequency
  while(my_velocity_smoother.nh_.ok())
  {
    my_velocity_smoother.calculationStep();

    ros::spinOnce();
    rate.sleep();
  }

  return 0;
}