Pid controller

CMakeLists.txt

@@ -38,6 +38,7 @@ catkin_package()
 cs_add_library(${PROJECT_NAME}
         # Modules
         src/frame_converter.cpp
+        src/pid_controller.cpp
         src/online_simulator/simulator.cpp
         src/online_simulator/sensor_timer.cpp
         src/simulator_processing/processor_factory.cpp

app/airsim_simulator_node.cpp

@@ -25,6 +25,9 @@ int main(int argc, char** argv) {
   ros::NodeHandle nh("");
   ros::NodeHandle nh_private("~");
   signal(SIGINT, sigintHandler);
+  LOG(INFO) << "Setting up Airsim.";
+
+  ros::Duration(1.0).sleep();
   the_simulator =
       std::make_unique<unreal_airsim::AirsimSimulator>(nh, nh_private);
 

app/tools/parse_config_to_airsim.py

@@ -90,7 +90,8 @@ def parse(self):
     def write_target_file(self):
         j = json.dumps(self.new_cfg, indent=2)
         f = open(self.target_file_path, 'w')
-        print >> f, j
+        #print >> f, j
+        print(j, file=f)
         f.close()
         self.log("Wrote config to target file '%s'." % self.target_file_path)
 

cfg/airsim.yaml

@@ -0,0 +1,64 @@
+vehicle_name: airsim_drone
+state_refresh_rate: 100
+ClockSpeed: 1
+velocity: 0.5
+ViewMode: Fpv # Manual, NoDisplay, Fpv
+publish_sensor_transforms: true
+
+SegmentationSettings:
+  InitMethod: None # CommonObjectsRandomIDs
+  MeshNamingMethod: OwnerName # StaticMeshName, OwnerName
+  OverrideExisting: false
+
+sensors:
+  Scene_cam:
+    sensor_type: Camera
+    image_type: Scene
+    rate: 10
+    CaptureSettings:   
+      Width: 640
+      Height: 480
+      FOV_Degrees: 90
+      AutoExposureSpeed: 100
+      AutoExposureBias: 0
+      AutoExposureMaxBrightness: 0.64
+      AutoExposureMinBrightness: 0.03
+      MotionBlurAmount: 0
+      TargetGamma: 1.0
+      ProjectionMode: ""
+      OrthoWidth: 5.12
+    T_B_S:
+      - [1, 0, 0, 0.3]
+      - [0, 1, 0, 0]
+      - [0, 0, 1, 0]
+      - [0, 0, 0, 1]
+
+  Depth_cam:
+    sensor_type: Camera
+    image_type: DepthPlanar
+    rate: 10
+    pixels_as_float: true
+    CaptureSettings:   
+      Width: 640
+      Height: 480
+      FOV_Degrees: 90
+      AutoExposureSpeed: 100
+      AutoExposureBias: 0
+      AutoExposureMaxBrightness: 0.64
+      AutoExposureMinBrightness: 0.03
+      MotionBlurAmount: 0
+      TargetGamma: 1.0
+      ProjectionMode: ""
+      OrthoWidth: 5.12
+    T_B_S:
+      - [1, 0, 0, 0.3]
+      - [0, 1, 0, 0]
+      - [0, 0, 1, 0]
+      - [0, 0, 0, 1]
+
+
+processors:
+  RGB_pcl:
+    processor_type: DepthToPointcloud
+    depth_camera_name: Depth_cam
+    color_camera_name: Scene_cam

cfg/visualization/visualization.rviz

@@ -0,0 +1,245 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /PointCloud21
+        - /MarkerArray1
+        - /MarkerArray2
+        - /PointCloud22
+      Splitter Ratio: 0.5
+    Tree Height: 456
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: Image
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: false
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: false
+    - Alpha: 1
+      Class: rviz/Axes
+      Enabled: false
+      Length: 1.5
+      Name: Axes
+      Radius: 0.05000000074505806
+      Reference Frame: <Fixed Frame>
+      Value: false
+    - Alpha: 1
+      Class: rviz/Axes
+      Enabled: true
+      Length: 0.5
+      Name: Axes
+      Radius: 0.15000000596046448
+      Reference Frame: airsim_drone
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.07999999821186066
+      Style: Boxes
+      Topic: /occupancy_pointcloud
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: voxblox_rviz_plugin/VoxbloxMesh
+      Enabled: false
+      Name: VoxbloxMesh
+      Queue Size: 10
+      Topic: /voxblox_node/mesh
+      Unreliable: false
+      Value: false
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /path_visualizer/path
+      Name: Marker
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /airsim_drone/Id_corrected
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Class: rviz/MarkerArray
+      Enabled: false
+      Marker Topic: /voxblox_node/occupied_nodes
+      Name: MarkerArray
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: false
+    - Class: rviz/MarkerArray
+      Enabled: false
+      Marker Topic: /trajectory_visualization
+      Name: MarkerArray
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: false
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: ""
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: ""
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic: /voxblox_node/traversable
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+  Enabled: true
+  Global Options:
+    Background Color: 255; 255; 255
+    Default Light: true
+    Fixed Frame: world
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 13.82581901550293
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 3.2142393589019775
+        Y: 0.4664399027824402
+        Z: -0.8909653425216675
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.4147963523864746
+      Target Frame: <Fixed Frame>
+      Yaw: 3.0186057090759277
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 986
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001560000033cfc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000253000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000296000000e30000001600ffffff000000010000010f0000033cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000033c000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006480000003efc0100000002fb0000000800540069006d0065010000000000000648000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000003d70000033c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1608
+  X: 1992
+  Y: 27

include/unreal_airsim/frame_converter.h

@@ -42,9 +42,11 @@ class FrameConverter {
 
   void rosToAirsim(Eigen::Vector3d* point) const;
   void rosToAirsim(geometry_msgs::Point* point) const;
+  void rosToAirsim(geometry_msgs::Vector3* vector) const;
   void rosToAirsim(Eigen::Quaterniond* orientation) const;
   void rosToAirsim(geometry_msgs::Quaternion* orientation) const;
   void rosToAirsim(geometry_msgs::Pose* pose) const;
+  void rosToAirsim(geometry_msgs::Transform* pose) const;
 
   // transformations
   void transformPointAirsimToRos(double* x, double* y, double* z) const;