Commit 6282ad23 authored by cmavrogiannis's avatar cmavrogiannis
Browse files

init lab2

parent a2cef560
# CTags
tags
# Byte-compiled / optimized / DLL files
__pycache__/
*.py[cod]
*$py.class
*.swp
*.swo
;
.ipynb_checkpoints/
cmake_minimum_required(VERSION 2.8.3)
project(lab2)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
rospy
std_msgs
message_generation
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
add_message_files(
FILES
XYHV.msg
XYHVPath.msg
)
## Generate services in the 'srv' folder
add_service_files(
FILES
FollowPath.srv
)
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs # Or other packages containing msgs
)
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES lab2
CATKIN_DEPENDS rospy message_runtime
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/lab2.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/lab2_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_lab2.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
%% Cell type:code id: tags:
``` python
%matplotlib inline
import rosbag
import matplotlib.pyplot as plt
import numpy as np
import tf
def quaternion_to_angle(q):
"""Convert a quaternion _message_ into an angle in radians.
The angle represents the yaw.
This is not just the z component of the quaternion."""
x, y, z, w = q.x, q.y, q.z, q.w
roll, pitch, yaw = tf.transformations.euler_from_quaternion((x, y, z, w))
return yaw
def pose_to_config(pose):
x = pose.position.x
y = pose.position.y
th = quaternion_to_angle(pose.orientation)
return [x, y, th]
```
%% Cell type:code id: tags:
``` python
# put the bag name here.
bag_name = "TA_pid_circle_01.bag"
bag = rosbag.Bag(bag_name)
error = []
poses = []
speeds = []
path = None
for topic, msg, t in bag.read_messages(topics=['/controller/cte', '/sim_car_pose/pose', '/controller/path/poses', '/vesc/high_level/ackermann_cmd_mux/input/nav_0']):
if 'cte' in topic:
error.append(msg.data)
if 'sim' in topic and path is not None:
pose = pose_to_config(msg.pose)
poses.append(pose)
if 'nav' in topic and path is not None:
speeds.append(msg.drive.speed)
if '/controller/path/poses' in topic:
path = map(pose_to_config, msg.poses)
plt.figure(1)
plt.subplot(221)
plt.plot(error)
plt.axhline(0, color='grey')
plt.title("CTE")
plt.ylabel("Cross Track Error (m)")
plt.xlabel("Time (ms)")
path = np.array(path)
poses = np.array(poses)
path_xs = path[:,0]
path_ys = path[:,1]
poses_xs = poses[:, 0]
poses_ys = poses[:, 1]
plt.subplot(222)
plt.title("Position accross path")
plt.plot(path_xs, path_ys, poses_xs, poses_ys)
plt.tight_layout()
fig = plt.gcf()
fig.set_size_inches(18.5, 10.5)
fig.suptitle("Rosbag: " + bag_name)
plt.subplot(223)
plt.plot(speeds)
plt.title("Speed over time")
plt.ylabel("Speed (m/s)")
plt.xlabel("Time (ms)")
plt.subplot(224)
angle_delta = poses[1:,2] - poses[:-1,2]
plt.plot(angle_delta)
plt.title("Heading rate over time")
plt.ylabel("Heading rate (radians/s)")
plt.xlabel("Time (ms)")
plt.show()
```
File added
<launch>
<arg name="map_file" default="$(find lab2)/maps/sandbox.yaml" />
<node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/>
</launch>
This diff is collapsed.
image: cse022.pgm
resolution: 0.020000
origin: [-10.000000, -10.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
This diff is collapsed.
image: cse022_w_obstacles.pgm
resolution: 0.020000
origin: [-10.000000, -10.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
image: sandbox.png
resolution: 0.1
origin: [-50, -50, 0]
occupied_thresh: 0.1
free_thresh: 0.09
negate: 0
image: sandbox_2_circle.png
resolution: 0.1
origin: [-50, -50, 0]
occupied_thresh: 0.1
free_thresh: 0.09
negate: 0
image: sandbox_circle.png
resolution: 0.1
origin: [-50, -50, 0]
occupied_thresh: 0.1
free_thresh: 0.09
negate: 0
float64 x
float64 y
float64 h
float64 v
Header header
lab2/XYHV[] waypoints
<?xml version="1.0"?>
<package format="2">
<name>lab2</name>
<version>0.0.0</version>
<description>Lab 2 controller assignment</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="michajoh@cs.washington.edu">Johan Michalove</maintainer>
<maintainer email="rockettm@cs.washington.edu">Matthew Rockett</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>message_generation</build_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>message_runtime</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment