test_run_base_controller.cpp

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2008, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
#include <pr2_mechanism_controllers/Pose3D.h>
#include <ros/node.h>
#include <nav_msgs/Odometry.h>
#include <geometry_msgs/Twist.h>
#include <nav_msgs/Odometry.h>
#include <geometry_msgs/Quaternion.h>
 
static int done = 0;
 
void finalize(int donecare)
{
  done = 1;
}
 
 
// Return the rotation in Euler angles
libTF::Vector GetAsEuler(geometry_msgs::Quaternion quat)
{
  libTF::Vector vec;
 
  double squ;
  double sqx;
  double sqy;
  double sqz;
 
//  this->Normalize();
 
  squ = quat.w * quat.w;
  sqx = quat.x * quat.x;
  sqy = quat.y * quat.y;
  sqz = quat.z * quat.z;
 
  // Roll
  vec.x = atan2(2 * (quat.y*quat.z + quat.w*quat.x), squ - sqx - sqy + sqz);
 
  // Pitch
  vec.y = asin(-2 * (quat.x*quat.z - quat.w * quat.y));
 
  // Yaw
  vec.z = atan2(2 * (quat.x*quat.y + quat.w*quat.z), squ + sqx - sqy - sqz);
 
  return vec;
}
 
 
class test_run_base
{
  public:
 
    test_run_base():subscriber_connected(0){}; 
 
    ~test_run_base() {}
 
    nav_msgs::Odometry ground_truth;
 
    nav_msgs::Odometry odom;
 
    int subscriber_connected;
 
    void subscriber_connect()
    {
      subscriber_connected = 1;
    }
 
    void odomMsgReceived()
    {
//       cout << "Odom:: (" << ground_truth.pos.position.x << "), (" <<  ground_truth.pos.orientation.x << ")" << std::endl;  
    };
 
    void groundTruthMsgReceived()
    {
//       cout << "Odom:: (" << ground_truth.pos.position.x << "), (" <<  ground_truth.pos.orientation.x << ")" << std::endl;  
    };
};
 
int main( int argc, char** argv )
{
 
  /*********** Initialize ROS  ****************/
  ros::init(argc,argv);
  ros::Node *node = new ros::Node("test_run_base_controller"); 
 
 
  // receive messages from 2dnav stack
  nav_msgs::Odometry ground_truth;
 
  test_run_base tb;
 
  node->subscribe("base_pose_ground_truth",tb.ground_truth,&test_run_base::groundTruthMsgReceived,&tb,10);
 
  node->subscribe("odom",tb.odom,&test_run_base::odomMsgReceived,&tb,10);
 
  signal(SIGINT,  finalize);
  signal(SIGQUIT, finalize);
  signal(SIGTERM, finalize);
 
 
  /*********** Start moving the robot ************/
  geometry_msgs::Twist cmd;
  cmd.linear.x = 0;
  cmd.linear.y = 0;
  cmd.linear.z = 0;
  cmd.angular.x = 0;
  cmd.angular.y = 0;
  cmd.angular.z = 0;
 
  double run_time = 0;
  bool run_time_set = false;
  int file_num = 0;
 
  if(argc >= 2)
    cmd.linear.x = atof(argv[1]);
 
  if(argc >= 3)
    cmd.linear.y = atof(argv[2]);
 
  if(argc >= 4)
    cmd.angular.z = atof(argv[3]);
 
  if(argc ==5)
  { 
     run_time = atof(argv[4]);
     run_time_set = true;
  }
  node->advertise<geometry_msgs::Twist>("cmd_vel",1);
  sleep(1);
  node->publish("cmd_vel",cmd);
  sleep(1);
 
  libTF::Vector ground_truth_angles;
  ros::Time start_time = ros::Time::now();
  ros::Duration sleep_time(0.01);
  while(!done)
  {
     ros::Duration delta_time = ros::Time::now() - start_time;
     cout << "Sending out command " << cmd.linear.x << " " << cmd.linear.y << " " << cmd.angular.z  << endl;
     if(run_time_set && delta_time.toSec() > run_time)
        break;
    //   ang_rates = GetAsEuler(tb.ground_truth.vel.ang_vel);
     ground_truth_angles = GetAsEuler(tb.ground_truth.pose.pose.orientation);
     cout << "g:: " << tb.ground_truth.twist.twist.linear.x <<  " " << tb.ground_truth.twist.twist.linear.y << " "  << tb.ground_truth.twist.twist.angular.z  << " " << tb.ground_truth.pose.pose.position.x << " " << tb.ground_truth.pose.pose.position.y <<  " " << ground_truth_angles.z << " " <<  tb.ground_truth.header.stamp.sec + tb.ground_truth.header.stamp.nsec/1.0e9 << std::endl;
    cout << "o:: " << tb.odom.twist.twist.linear.x <<  " " << tb.odom.twist.twist.linear.y << " " << tb.odom.twist.twist.angular.z << " " << tb.odom.pose.pose.position.x <<  " " << tb.odom.pose.pose.position.y << " " << tf::getYaw(tb.odom.pose.pose.orientation) << " " << tb.odom.header.stamp.sec + tb.odom.header.stamp.nsec/1.0e9 << std::endl;
    //    cout << delta_time.toSec() << "  " << run_time << endl;
    node->publish("cmd_vel",cmd);
    sleep_time.sleep();
  }
 
  
}