tutorial-ros-pioneer-visual-servo.cpp

Example that shows how to control the Pioneer mobile robot by IBVS visual servoing with respect to a blob. The current visual features that are used are s = (x, log(Z/Z*)). The desired one are s* = (x*, 0), with:

The degrees of freedom that are controlled are (vx, wz), where wz is the rotational velocity and vx the translational velocity of the mobile platform at point M located at the middle between the two wheels.

The feature x allows to control wy, while log(Z/Z*) allows to control vz. The value of x is measured thanks to a blob tracker. The value of Z is estimated from the surface of the blob that is proportional to the depth Z.

#include <iostream>
#include <visp/vpCameraParameters.h>
#include <visp/vpDisplayX.h>
#include <visp/vpDot2.h>
#include <visp/vpFeatureBuilder.h>
#include <visp/vpFeatureDepth.h>
#include <visp/vpFeaturePoint.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpImage.h>
#include <visp/vpImageConvert.h>
#include <visp/vpServo.h>
#include <visp/vpVelocityTwistMatrix.h>
#if defined( VISP_HAVE_DC1394_2 ) && defined( VISP_HAVE_X11 )
#define TEST_COULD_BE_ACHIEVED
#endif
#ifdef TEST_COULD_BE_ACHIEVED
int
main( int argc, char **argv )
{
try
{
vpImage< unsigned char > I; // Create a gray level image container
double depth = 1.;
double lambda = 0.6;
double coef = 1. / 6.77; // Scale parameter used to estimate the depth Z of the blob from its surface
robot.setCmdVelTopic( "/RosAria/cmd_vel" );
robot.init();
// Wait 3 sec to be sure that the low level Aria thread used to control
// the robot is started. Without this delay we experienced a delay (arround 2.2 sec)
// between the velocity send to the robot and the velocity that is really applied
// to the wheels.
vpTime::sleepMs( 3000 );
std::cout << "Robot connected" << std::endl;
// Camera parameters. In this experiment we don't need a precise calibration of the camera
vpCameraParameters cam;
// Create a grabber based on libdc1394-2.x third party lib (for firewire cameras under Linux)
g.setCameraInfoTopic( "/camera/camera_info" );
g.setImageTopic( "/camera/image_raw" );
g.setRectify( true );
// Get camera parameters from /camera/camera_info topic
if ( g.getCameraInfo( cam ) == false )
cam.initPersProjWithoutDistortion( 600, 600, I.getWidth() / 2, I.getHeight() / 2 );
g.acquire( I );
// Create an image viewer
vpDisplayX d( I, 10, 10, "Current frame" );
vpDisplay::display( I );
vpDisplay::flush( I );
// Create a blob tracker
vpDot2 dot;
dot.setGraphics( true );
dot.setComputeMoments( true );
dot.setEllipsoidShapePrecision( 0. ); // to track a blob without any constraint on the shape
dot.setGrayLevelPrecision( 0.9 ); // to set the blob gray level bounds for binarisation
dot.setEllipsoidBadPointsPercentage( 0.5 ); // to be accept 50% of bad inner and outside points with bad gray level
dot.initTracking( I );
vpDisplay::flush( I );
vpServo task;
task.setServo( vpServo::EYEINHAND_L_cVe_eJe );
task.setInteractionMatrixType( vpServo::DESIRED, vpServo::PSEUDO_INVERSE );
task.setLambda( lambda );
vpVelocityTwistMatrix cVe;
cVe = robot.get_cVe();
task.set_cVe( cVe );
std::cout << "cVe: \n" << cVe << std::endl;
vpMatrix eJe;
robot.get_eJe( eJe );
task.set_eJe( eJe );
std::cout << "eJe: \n" << eJe << std::endl;
// Current and desired visual feature associated to the x coordinate of the point
vpFeaturePoint s_x, s_xd;
// Create the current x visual feature
vpFeatureBuilder::create( s_x, cam, dot );
// Create the desired x* visual feature
s_xd.buildFrom( 0, 0, depth );
// Add the feature
task.addFeature( s_x, s_xd );
// Create the current log(Z/Z*) visual feature
vpFeatureDepth s_Z, s_Zd;
// Surface of the blob estimated from the image moment m00 and converted in meters
double surface = 1. / sqrt( dot.m00 / ( cam.get_px() * cam.get_py() ) );
double Z, Zd;
// Initial depth of the blob in from of the camera
Z = coef * surface;
// Desired depth Z* of the blob. This depth is learned and equal to the initial depth
Zd = Z;
std::cout << "Z " << Z << std::endl;
s_Z.buildFrom( s_x.get_x(), s_x.get_y(), Z, 0 ); // log(Z/Z*) = 0 that's why the last parameter is 0
s_Zd.buildFrom( s_x.get_x(), s_x.get_y(), Zd, 0 ); // log(Z/Z*) = 0 that's why the last parameter is 0
// Add the feature
task.addFeature( s_Z, s_Zd );
vpColVector v; // vz, wx
while ( 1 )
{
// Acquire a new image
g.acquire( I );
// Set the image as background of the viewer
vpDisplay::display( I );
// Does the blob tracking
dot.track( I );
// Update the current x feature
vpFeatureBuilder::create( s_x, cam, dot );
// Update log(Z/Z*) feature. Since the depth Z change, we need to update the intection matrix
surface = 1. / sqrt( dot.m00 / ( cam.get_px() * cam.get_py() ) );
Z = coef * surface;
s_Z.buildFrom( s_x.get_x(), s_x.get_y(), Z, log( Z / Zd ) );
robot.get_cVe( cVe );
task.set_cVe( cVe );
robot.get_eJe( eJe );
task.set_eJe( eJe );
// Compute the control law. Velocities are computed in the mobile robot reference frame
v = task.computeControlLaw();
std::cout << "Send velocity to the pionner: " << v[0] << " m/s " << vpMath::deg( v[1] ) << " deg/s" << std::endl;
// Send the velocity to the robot
robot.setVelocity( vpRobot::REFERENCE_FRAME, v );
// Draw a vertical line which corresponds to the desired x coordinate of the dot cog
vpDisplay::displayLine( I, 0, 320, 479, 320, vpColor::red );
vpDisplay::flush( I );
// A click in the viewer to exit
if ( vpDisplay::getClick( I, false ) )
break;
}
std::cout << "Ending robot thread..." << std::endl;
// Kill the servo task
task.print();
task.kill();
}
catch ( vpException e )
{
std::cout << "Catch an exception: " << e << std::endl;
return 1;
}
}
#else
int
{
std::cout << "You don't have the right 3rd party libraries to run this example..." << std::endl;
}
#endif
main
int main(int argc, char **argv)
Definition: tutorial-ros-pioneer-visual-servo.cpp:44
vpROSRobotPioneer.h
vpROSGrabber::getCameraInfo
bool getCameraInfo(vpCameraParameters &cam)
Definition: vpROSGrabber.cpp:649
vpROSGrabber
Class for cameras video capture for ROS cameras.
Definition: vpROSGrabber.h:104
vpROSRobotPioneer::init
void init()
basic initialization
Definition: vpROSRobotPioneer.cpp:65
dot
TFSIMD_FORCE_INLINE tfScalar dot(const Quaternion &q1, const Quaternion &q2)
d
d
vpROSGrabber::setImageTopic
void setImageTopic(const std::string &topic_name)
Definition: vpROSGrabber.cpp:592
vpROSRobotPioneer
Interface for Pioneer mobile robots based on ROS.
Definition: vpROSRobotPioneer.h:64
vpROSGrabber::setCameraInfoTopic
void setCameraInfoTopic(const std::string &topic_name)
Definition: vpROSGrabber.cpp:579
vpROSRobot::setCmdVelTopic
void setCmdVelTopic(std::string topic_name)
Definition: vpROSRobot.cpp:305
vpROSGrabber::acquire
void acquire(vpImage< unsigned char > &I)
Definition: vpROSGrabber.cpp:412
vpROSRobotPioneer::get_eJe
void get_eJe(vpMatrix &eJe)
Definition: vpROSRobotPioneer.h:84
vpROSGrabber::setRectify
void setRectify(bool rectify)
Definition: vpROSGrabber.cpp:517
vpROSGrabber.h
class for Camera video capture for ROS middleware.
vpROSRobotPioneer::setVelocity
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
Definition: vpROSRobotPioneer.cpp:96


visp_ros
Author(s): Francois Pasteau, Fabien Spindler, Gatien Gaumerais, Alexander Oliva
autogenerated on Wed Mar 2 2022 01:13:29