init lab2

.gitignore

+# CTags
+tags
+
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+*.swp
+*.swo
+;
+
+.ipynb_checkpoints/

CMakeLists.txt

+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)

README.md

-# lab2
-

bags/Controller Plotting.ipynb

+%% 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()
+```

launch/map_server.launch

+<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>

maps/cse022.yaml

+image: cse022.pgm
+resolution: 0.020000
+origin: [-10.000000, -10.000000, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196

maps/cse022_w_obstacles.yaml

+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

maps/sandbox.yaml

+image: sandbox.png
+resolution: 0.1
+origin: [-50, -50, 0]
+occupied_thresh: 0.1
+free_thresh: 0.09
+negate: 0

maps/sandbox_2_circle.yaml

+image: sandbox_2_circle.png
+resolution: 0.1
+origin: [-50, -50, 0]
+occupied_thresh: 0.1
+free_thresh: 0.09
+negate: 0

maps/sandbox_circle.yaml

+image: sandbox_circle.png
+resolution: 0.1
+origin: [-50, -50, 0]
+occupied_thresh: 0.1
+free_thresh: 0.09
+negate: 0

msg/XYHV.msg

+float64 x
+float64 y
+float64 h
+float64 v

msg/XYHVPath.msg

+Header header
+
+lab2/XYHV[] waypoints

package.xml

+<?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>