Sw/update velocity

rb_ws/src/buggy/scripts/2d_sim/velocity_updater.py

@@ -0,0 +1,70 @@
+#! /usr/bin/env python3
+import rospy
+from controller_2d import Controller
+from geometry_msgs.msg import Pose
+from geometry_msgs.msg import Point
+import threading
+import math
+
+class VelocityUpdater:
+    RATE = 100
+    # Bubbles for updating acceleration based on position
+    # represented as 4-tuples: (x-pos, y-pos, radius, acceleration)
+    CHECKPOINTS: 'list[tuple[float,float,float,float]]' = [
+        (589701, 4477160, 20, 0.5)
+    ]
+
+    def __init__(self):
+        self.pose_subscriber = rospy.Subscriber(
+            "sim_2d/utm", Pose, self.update_position
+        )
+
+        self.buggy_vel = 15.0
+        self.accel = 0.0
+
+        self.position = Point()
+        self.position.x = 0
+        self.position.y = 0
+        self.position.z = 0
+
+        self.controller = Controller()
+
+        self.lock = threading.Lock()
+
+    def update_position(self, new_pose: Pose):
+        '''Callback function to update internal position variable when new
+        buggy position is published
+
+        Args:
+            new_pose (Pose): Pose object from topic
+        '''
+        with self.lock:
+            self.position = new_pose.position
+
+    def calculate_accel(self):
+        '''Check if the position of the buggy is in any of the checkpoints set
+        in self.CHECKPOINTS, and update acceleration of buggy accordingly
+        '''
+        for (x,y,r,a) in self.CHECKPOINTS:
+            dist = math.sqrt((x - self.position.x)**2 + (y - self.position.y)**2)
+            if dist < r:
+                self.accel = a
+                break
+
+    def step(self):
+        '''Update acceleration and velocity of buggy for one timestep'''
+        self.calculate_accel()
+
+        new_velocity = self.buggy_vel + self.accel / self.RATE
+        self.buggy_vel = new_velocity
+        self.controller.set_velocity(new_velocity)
+
+
+if __name__ == "__main__":
+    rospy.init_node("velocity_updater")
+    vel = VelocityUpdater()
+    rate = rospy.Rate(vel.RATE)
+
+    while not rospy.is_shutdown():
+        vel.step()
+        rate.sleep()