graft_ukf_velocity.cpp
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00001 /*
00002  * Copyright (c) 2013, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 /* 
00031  * Author: Chad Rockey
00032  */
00033 
00034 #include <iostream>
00035 #include <Eigen/Dense>
00036 #include <ros/ros.h>
00037 #include <graft/GraftParameterManager.h>
00038 #include <graft/GraftSensor.h>
00039 #include <graft/GraftOdometryTopic.h>
00040 #include <graft/GraftImuTopic.h>
00041 #include <graft/GraftUKFVelocity.h>
00042 #include <graft/GraftState.h>
00043 #include <tf/transform_broadcaster.h>
00044 
00045 GraftUKFVelocity ukfv;
00046 
00047 ros::Publisher state_pub;
00048 ros::Publisher odom_pub;
00049 
00050 nav_msgs::Odometry odom_;
00051 
00052 // tf
00053 bool publish_tf_;
00054 boost::shared_ptr<tf::TransformBroadcaster> broadcaster_;
00055 
00056 std::string parent_frame_id_;
00057 std::string child_frame_id_;
00058 
00059 void publishTF(const nav_msgs::Odometry& msg){
00060   geometry_msgs::TransformStamped tf;
00061   tf.header.stamp = msg.header.stamp;
00062   tf.header.frame_id = msg.header.frame_id;
00063   tf.child_frame_id = msg.child_frame_id;
00064   
00065   tf.transform.translation.x = msg.pose.pose.position.x;
00066   tf.transform.translation.y = msg.pose.pose.position.y;
00067   tf.transform.translation.z = msg.pose.pose.position.z;
00068   tf.transform.rotation = msg.pose.pose.orientation;
00069   
00070   broadcaster_->sendTransform(tf);
00071 }
00072 
00073 void timer_callback(const ros::TimerEvent& event){
00074         double dt = ukfv.predictAndUpdate();
00075 
00076         graft::GraftState state = *ukfv.getMessageFromState();
00077         state.header.stamp = ros::Time::now();
00078         state_pub.publish(state);
00079 
00080         odom_.header.stamp = ros::Time::now();
00081         odom_.header.frame_id = parent_frame_id_;
00082         odom_.child_frame_id = child_frame_id_;
00083         odom_.twist.twist.linear.x = state.twist.linear.x;
00084         odom_.twist.twist.linear.y = state.twist.linear.y;
00085         odom_.twist.twist.angular.z = state.twist.angular.z;
00086 
00087         // Update Odometry
00088         double diff = pow(odom_.pose.pose.orientation.w, 2.0)-pow(odom_.pose.pose.orientation.z, 2.0);
00089         double mult = 2.0*odom_.pose.pose.orientation.w*odom_.pose.pose.orientation.z;
00090         double theta = atan2(mult, diff);
00091         if(std::abs(odom_.twist.twist.angular.z) < 0.00001){ // There's no (or very little) curvature, apply the straight line model
00092                 odom_.pose.pose.position.x += odom_.twist.twist.linear.x*dt*cos(theta)-odom_.twist.twist.linear.y*dt*sin(theta);
00093                 odom_.pose.pose.position.y += odom_.twist.twist.linear.x*dt*sin(theta)+odom_.twist.twist.linear.y*dt*cos(theta);
00094         } else { // Calculate components of arc distance and add distances.
00095                 double curvature_x = odom_.twist.twist.linear.x/odom_.twist.twist.angular.z;
00096                 double curvature_y = odom_.twist.twist.linear.y/odom_.twist.twist.angular.z;
00097                 double new_theta = theta + odom_.twist.twist.angular.z*dt;
00098 
00099                 odom_.pose.pose.position.x += -curvature_x*sin(theta) + curvature_x*sin(new_theta);
00100                 odom_.pose.pose.position.x += -curvature_y*cos(theta) + curvature_y*cos(new_theta);
00101                 odom_.pose.pose.position.y += curvature_x*cos(theta) - curvature_x*cos(new_theta);
00102                 odom_.pose.pose.position.y += -curvature_y*sin(theta) + curvature_y*sin(new_theta);
00103                 theta = new_theta;
00104         }
00105         odom_.pose.pose.orientation.z = sin(theta/2.0);
00106         odom_.pose.pose.orientation.w = cos(theta/2.0);
00107         odom_pub.publish(odom_);
00108         if(publish_tf_){
00109           publishTF(odom_);
00110         }
00111 }
00112 
00113 int main(int argc, char **argv)
00114 {
00115         ros::init(argc, argv, "graft_ukf_velocity");
00116         ros::NodeHandle n;
00117         ros::NodeHandle pnh("~");
00118         state_pub = pnh.advertise<graft::GraftState>("state", 5);
00119         odom_pub = n.advertise<nav_msgs::Odometry>("odom_combined", 5);
00120 
00121         // Load parameters
00122         std::vector<boost::shared_ptr<GraftSensor> > topics;
00123         std::vector<ros::Subscriber> subs;
00124         GraftParameterManager manager(n, pnh);
00125         manager.loadParameters(topics, subs);
00126 
00127         publish_tf_ = manager.getPublishTF();
00128 
00129         parent_frame_id_ = manager.getParentFrameID();
00130         child_frame_id_ = manager.getChildFrameID();
00131 
00132         // Set up the E
00133         std::vector<double> initial_covariance = manager.getInitialCovariance();
00134         std::vector<double> Q = manager.getProcessNoise();
00135         ukfv.setAlpha(manager.getAlpha());
00136         ukfv.setKappa(manager.getKappa());
00137         ukfv.setBeta(manager.getBeta());
00138         ukfv.setInitialCovariance(initial_covariance);
00139         ukfv.setProcessNoise(Q);
00140         ukfv.setTopics(topics);
00141 
00142         odom_.pose.pose.position.x = 0.0;
00143         odom_.pose.pose.position.y = 0.0;
00144         odom_.pose.pose.position.z = 0.0;
00145 
00146         odom_.pose.pose.orientation.w = 1.0;
00147         odom_.pose.pose.orientation.x = 0.0;
00148         odom_.pose.pose.orientation.y = 0.0;
00149         odom_.pose.pose.orientation.z = 0.0;
00150 
00151         odom_.twist.twist.linear.x = 0.0;
00152         odom_.twist.twist.linear.y = 0.0;
00153         odom_.twist.twist.linear.z = 0.0;
00154         odom_.twist.twist.angular.x = 0.0;
00155         odom_.twist.twist.angular.y = 0.0;
00156         odom_.twist.twist.angular.z = 0.0;
00157 
00158         // Tf Broadcaster
00159     broadcaster_.reset(new tf::TransformBroadcaster());
00160 
00161         // Start loop
00162         ros::Timer timer = n.createTimer(ros::Duration(1.0/manager.getUpdateRate()), timer_callback);
00163 
00164         // Spin
00165         ros::spin();
00166 }


graft
Author(s): Chad Rockey
autogenerated on Sat Jun 8 2019 10:26:16