/
multi_goals4_cmd_vel.cpp
541 lines (418 loc) · 18.8 KB
/
multi_goals4_cmd_vel.cpp
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/*
multi_goals4_cmd_vel.cpp
https://wiki.ros.org/pr2_controllers/Tutorials/Using%20the%20base%20controller%20with%20odometry%20and%20transform%20information
https://www.k-cube.co.jp/wakaba/server/func/math_h.html
https://answers.ros.org/question/50113/transform-quaternion/
build
$ colcon build --symlink-install --parallel-workers 1 --packages-select turtlebot3_navi_my
$ source install/local_setup.bash
#$ ros2 run turtlebot3_navi_my multi_goals4_cmd_vel
$ ros2 launch turtlebot3_navi_my multi_goals4_cmd_vel.launch.py use_sim_time:=[True|False]
*/
#include <memory>
#include "rclcpp/rclcpp.hpp"
#include <iostream>
//#include <ros/ros.h>
//#include <ros/topic.h>
//#include <geometry_msgs/Twist.h>
//#include <tf/transform_listener.h>
//#include "std_srvs/Empty.h"
#include <unistd.h>
//#include <math.h>
#include "turtlebot3_navi_my/pro_control.hpp"
//#include <nav_msgs/OccupancyGrid.h>
//from nav_msgs.msg import OccupancyGrid,Odometry
// https://progsennin.com/c-initstructarray/221/
std::string map_frame="map";
bool use_sim_time = false;
GoalList abnormal_test[] ={
{60, 0.0, 0.0, 0.0}, // course correct ON
{64, 0.0, 0.0, 0.0}, // go curve ON
{66, 0.0, 0.0, 0.0}, // force current position to map(0,0)
{67, 0.0, 0.0, 0.0}, // set dumper ON
{0, 0.0, 0.0, 0.0}, // go (0.0,0.0) and rotate 0
{0, 0.0, 0.0, -90.0}, // go (0.0,0.0) and rotate 90
{0, 0.0, -0.5, -90.0}, // go (0.0,-0.5) and rotate 90
{0, 0.0, -1.5, -90.0}, // go (0.0,-1.0) and rotate 90
{99,0.0,0.0, 0.0} // end
};
GoalList goallist_test[] ={
{60, 0.0, 0.0, 0.0}, // course correct ON
{64, 0.0, 0.0, 0.0}, // go curve ON
{66, 0.0, 0.0, 0.0}, // force current position to map(0,0)
{67, 0.0, 0.0, 0.0}, // set dumper ON
{0, 0.0, 0.0, 0.0}, // go (0.0,0.0) and rotate 0
//{3, 0.0, 0.0, 90.0}, // rotate 90
//{3, 0.0, 0.0, 90.0}, // rotate 90
//{3, 0.0, 0.0, 90.0}, // rotate 90
//{3, 0.0, 0.0, 90.0}, // rotate 90
//{3, 0.0, 0.0, 360.0}, // rotate 360
//{3, 0.0, 0.0, -360.0}, // rotate -360
//{3, 0.0, 0.0, 200.0}, // rotate 200
//{3, 0.0, 0.0, -200.0}, // rotate -200
//{3, 0.0, 0.0, 20.0}, // rotate 20
//{3, 0.0, 0.0, -20.0}, // rotate -20
//{3, 0.0, 0.0, 30.0}, // rotate 30
//{3, 0.0, 0.0, -30.0}, // rotate -30
// 単体でのテスト
//{0, 0.0, 0.0, 90.0}, // go (0.0,0.0) and rotate 90
//{0, 0.0, 0.0, -90.0}, // go (0.0,0.0) and rotate 90
//{0, 0.0, 0.0, 180.0}, // go (0.0,0.0) and rotate 180
//{0, 0.0, 0.0, -180.0}, // go (0.0,0.0) and rotate -180
// rotae_abs() の連続テスト -> OK
{0, 0.0, 0.0, 90.0}, // go (0.0,0.0) and rotate 90
{0, 0.0, 0.0, 180.0}, // go (0.0,0.0) and rotate 90
{0, 0.0, 0.0, 270.0}, // go (0.0,0.0) and rotate 90
{0, 0.0, 0.0, 360.0}, // go (0.0,0.0) and rotate 90
// rotae_abs() の連続テスト -> OK
//{0, 0.0, 0.0, -90.0}, // go (0.0,0.0) and rotate -90
//{0, 0.0, 0.0, -180.0}, // go (0.0,0.0) and rotate -180
//{0, 0.0, 0.0, -270.0}, // go (0.0,0.0) and rotate -270
//{0, 0.0, 0.0, -360.0}, // go (0.0,0.0) and rotate -360
// rotae_abs() 1回転 テスト -> 対応しない
//{0, 0.0, 0.0, 360.0}, // go (0.0,0.0) and rotate 360 -> 対応しない
//{0, 0.0, 0.0, -360.0}, // go (0.0,0.0) and rotate -360 -> 対応しない
// rotae_abs() 1/2 pi, pi を跨った テスト
//{0, 0.0, 0.0, 90.0+45.0}, // go (0.0,0.0) and rotate 135 -> OK
//{0, 0.0, 0.0, 180.0+45.0}, // go (0.0,0.0) and rotate 225 -> OK
//{0, 0.0, 0.0, 170.0}, // go (0.0,0.0) and rotate 170 -> OK
//{0, 0.0, 0.0, 180.0+45.0}, // go (0.0,0.0) and rotate 225 -> OK
//{0, 0.0, 0.0, 180.0+10.0}, // go (0.0,0.0) and rotate 190 -> OK
// 反転 Zero のテスト -> OK
//{0, 0.0, 0.0, 90.0}, // go (0.0,0.0) and rotate 90
//{0, 0.0, 0.0, 0.0}, // go (0.0,0.0) and rotate 0
//{0, 0.0, 0.0, -90.0}, // go (0.0,0.0) and rotate -90
//{0, 0.0, 0.0, 0.0}, // go (0.0,0.0) and rotate 0
// 180 反転 のテスト -> OK
//{0, 0.0, 0.0, 90.0}, // go (0.0,0.0) and rotate 90
//{0, 0.0, 0.0, -90.0}, // go (0.0,0.0) and rotate -90 -> OK
//{0, 0.0, 0.0, -90.0}, // go (0.0,0.0) and rotate -90
//{0, 0.0, 0.0, 90.0}, // go (0.0,0.0) and rotate 90 -> OK
// 180 反転 のテスト2 -> OK
//{0, 0.0, 0.0, 90.0}, // go (0.0,0.0) and rotate 90
//{0, 0.0, 0.0, 270.0}, // go (0.0,0.0) and rotate 270 -> OK
//{0, 0.0, 0.0, -90.0}, // go (0.0,0.0) and rotate -90
//{0, 0.0, 0.0, -270.0}, // go (0.0,0.0) and rotate -270 -> OK
// 180 のテスト -> OK
//{0, 0.0, 0.0, 180.0}, // go (0.0,0.0) and rotate 180 -> OK
//{0, 0.0, 0.0, -180.0}, // go (0.0,0.0) and rotate -180 -> OK --> 非対応にする。
// 180 の反転テスト
//{0, 0.0, 0.0, 180.0}, // go (0.0,0.0) and rotate 180
//{0, 0.0, 0.0, -180.0}, // go (0.0,0.0) and rotate -180 -> 右回転 360(-) した。--> 非対応にする。
// 180 の反転テスト
//{0, 0.0, 0.0, -180.0}, // go (0.0,0.0) and rotate -180
//{0, 0.0, 0.0, 180.0}, // go (0.0,0.0) and rotate 180 -> 左回転 360(+) した。 --> 非対応にする。
// 180 の反転テスト
//{0, 0.0, 0.0, 180.0}, // go (0.0,0.0) and rotate 180
//{0, 0.0, 0.0, 180.0}, // go (0.0,0.0) and rotate 180 -> 動かない
// 180 の反転テスト
//{0, 0.0, 0.0, -180.0}, // go (0.0,0.0) and rotate -180
//{0, 0.0, 0.0, -180.0}, // go (0.0,0.0) and rotate -180 -> 右回転 360(-) した。上と動きが違った。ちょっとの角度差なら、小さい方に回転させるべきか?
// 戻りテスト
//{0, 0.0, 0.0, 90.0}, // go (0.0,0.0) and rotate 90
//{0, 0.0, 0.0, 45.0}, // go (0.0,0.0) and rotate 45
//{0, 0.0, 0.0, -90.0}, // go (0.0,0.0) and rotate -90
//{0, 0.0, 0.0, -45.0}, // go (0.0,0.0) and rotate -45
{99,0.0,0.0, 0.0} // end
};
GoalList goallist[] ={
{60, 0.0, 0.0, 0.0}, // course correct ON
{64, 0.0, 0.0, 0.0}, // go curve ON
{66, 0.0, 0.0, 0.0}, // force current position to map(0,0)
{67, 0.0, 0.0, 0.0}, // set dumper ON
{0, 0.0, 0.0, 0.0}, // go (0.0,0.0) and rotate 0
{2, 0.0, 0.0, 90.0}, // rotate 90
{2, 0.0, 0.0, 180.0}, // rotate 180
{2, 0.0, 0.0, 270.0}, // rotate 270
{2, 0.0, 0.0, 360}, // rotate 360
//{50,0.0,0.0, 0.0}, // set Navigation mode
//{22,0.0,0.0, 0.0}, // get map
//{99,0.0,0.0, 0.0}, // end
{0,1.0,0.0, 0.0}, // go (1.0,0.0) and rotate 0
{2,1.0,0.0, 90.0}, // rotate 90
{2,1.0,0.0, 180.0}, // rotate 180
{2,1.0,0.0, 270.0}, // rotate 270
{2,1.0,0.0, 360.0}, // rotate 360
//{2,0.0,0.0, 0.0},
//{99,0.0,0.0, 0.0}, // end
{0,2.0,0.0, 0.0}, // go (2.0,0.0) and rotate 0
{2,2.0,0.0, 90.0}, // rotate 90
{0,2.0,0.4, 90.0}, // go (2.0,0.4) and rotate 90
{2,2.0,0.4, 180.0}, // rotate 180
{2,2.0,0.4, 270.0}, // rotate 270
{0,2.0,0.0, 270.0}, // go (2.0,0.0) and rotate 270
{2,2.0,0.0, -180.0}, // rotate -180
//{99,0.0,0.0, 0.0}, // end
//{50,0.0,0.0, 0.0}, // set Navigation mode
//{2,0.0,0.0, 0.0},
//{99,0.0,0.0, 0.0},
//{50,0.0,0.0, 0.0},
{0,1.0,0.0, -180.0 }, // go (1.0,0.0) and rotate -180
{2,1.0,0.0, 270.0 }, // rotate 270
{2,1.0,0.0, 360.0}, // rotate 360
{2,1.0,0.0, 90.0}, // rotate 90
{2,1.0,0.0, 180.0}, // rotate 180
//{2,0.0,0.0, 0.0},
{0,0.0,0.0, 180.0}, // (0.0,0.0) and rotate 180
{2,0.0,0.0, 270.0}, // rotate 270
{2,0.0,0.0, 360.0}, // rotate 360
//{22,0.0,0.0, 0.0},
{99,0.0,0.0, 0.0} // end
};
GoalList turtlebot3_house[] ={
{60, 0.0, 0.0, 0.0}, // course correct ON
{64, 0.0, 0.0, 0.0}, // go curve ON
{66, 0.0, 0.0, 0.0}, // force current position to map(0,0)
//{67, 0.0, 0.0, 0.0}, // set dumper ON
{0, 0.0, 0.0, 0.0}, // go (0.0,0.0) and rotate 0
//{2, 0.0, 0.0, 90.0}, // rotate 90
//{2, 0.0, 0.0, 180.0}, // rotate 180
//{2, 0.0, 0.0, 270.0}, // rotate 270
//{2, 0.0, 0.0, 360}, // rotate 360
//{0,0.0, -1.5, 270.0}, // go (0.0,-1.5) and rotate 270
//{50,0.0,0.0, 0.0}, // set Navigation mode
//{22,0.0,0.0, 0.0}, // get map
//{99,0.0,0.0, 0.0}, // end
{1,1.0, 0.0, 0.0}, // go (1.0,0.0)
//{69,0.0, 0.0, 0.0}, // save local cost map
//{99,0.0,0.0, 0.0}, // end
//{2,1.0,0.0, 90.0}, // rotate 90
//{2,1.0,0.0, 180.0}, // rotate 180
//{2,1.0,0.0, 270.0}, // rotate 270
//{2,1.0,0.0, 360.0}, // rotate 360
//{2,0.0,0.0, 0.0},
{1,2.0,0.0, 0.0}, // go (2.0,0.0)
{2,2.0,0.0, 90.0}, // rotate 90
{1,2.0,1.5, 90.0}, // go (2.0,2.0) and rotate 90
{1,2.0,3.0, 90.0}, // go (2.0,4.0) and rotate 90
{2,2.0,3.0, 180.0}, // rotate 180
{1,0.0,3.5, 180.0}, // go (4.0,4.0)
{1,-1.0,3.5, 180.0}, // go (4.0,4.0)
{2,-1.0,3.5, 270.0}, // rotate 270
{99,0.0,0.0, 0.0},
{0,2.0,0.0, 270.0}, // go (2.0,0.0) and rotate 270
{2,2.0,0.0, -180.0}, // rotate -180
//{50,0.0,0.0, 0.0}, // set Navigation mode
//{2,0.0,0.0, 0.0},
{99,0.0,0.0, 0.0},
//{50,0.0,0.0, 0.0},
{0,1.0,0.0, -180.0 }, // go (1.0,0.0) and rotate -180
{2,1.0,0.0, 270.0 }, // rotate 270
{2,1.0,0.0, 360.0}, // rotate 360
{2,1.0,0.0, 90.0}, // rotate 90
{2,1.0,0.0, 180.0}, // rotate 180
//{2,0.0,0.0, 0.0},
{0,0.0,0.0, 180.0}, // (0.0,0.0) and rotate 180
{2,0.0,0.0, 270.0}, // rotate 270
{2,0.0,0.0, 360.0}, // rotate 360
{22,0.0,0.0, 0.0},
{99,0.0,0.0, 0.0} // end
};
GoalList goallist2[] ={
{60, 0.0, 0.0, 0.0}, // course correct ON
{64, 0.0, 0.0, 0.0}, // go curve ON
{0, 0.0, 0.0, 0.0}, // go (0.0,0.0) and rotate 0
{0,2.0,0.5, 0.0}, // go (2.0,0.5) and rotate 0
{0,5.0,0.0, 0.0}, // go (5.0,0.0) and rotate 0
//{50,0.0,0.0, 0.0}, // set Navigation mode
//{22,0.0,0.0, 0.0}, // get map
{99,0.0,0.0, 0.0}, // end
{0,1.0,0.0, 0.0}, // go (1.0,0.0) and rotate 0
{2,1.0,0.0, 90.0}, // rotate 90
{2,1.0,0.0, 180.0}, // rotate 180
{2,1.0,0.0, 270.0}, // rotate 270
{2,1.0,0.0, 360.0}, // rotate 360
//{2,0.0,0.0, 0.0},
{0,2.0,0.0, 0.0}, // go (2.0,0.0) and rotate 0
{2,2.0,0.0, 90.0}, // rotate 90
{0,2.0,0.4, 90.0}, // go (2.0,0.4) and rotate 90
{2,2.0,0.4, 180.0}, // rotate 180
{2,2.0,0.4, 270.0}, // rotate 270
{0,2.0,0.0, 270.0}, // go (2.0,0.0) and rotate 270
{2,2.0,0.0, -180.0}, // rotate -180
{50,0.0,0.0, 0.0}, // set Navigation mode
//{2,0.0,0.0, 0.0},
//{99,0.0,0.0, 0.0},
//{50,0.0,0.0, 0.0},
{0,1.0,0.0, -180.0 }, // go (1.0,0.0) and rotate -180
{2,1.0,0.0, 270.0 }, // rotate 270
{2,1.0,0.0, 360.0}, // rotate 360
{2,1.0,0.0, 90.0}, // rotate 90
{2,1.0,0.0, 180.0}, // rotate 180
//{2,0.0,0.0, 0.0},
{0,0.0,0.0, 180.0}, // (0.0,0.0) and rotate 180
{2,0.0,0.0, 270.0}, // rotate 270
{2,0.0,0.0, 360.0}, // rotate 360
{22,0.0,0.0, 0.0},
{99,0.0,0.0, 0.0} // end
};
GoalList navi_list1[] ={
{60, 0.0, 0.0, 0.0}, // course correct ON
{10, 1.0, 0.0, 0}, // navi_move 1,0,0
{2,1.0,0.0, 90.0}, // rotate 90
{0,1.0,0.4, 90.0}, // go (2.0,0.4) and rotate 90
//{50,0.0,0.0, 0.0}, // set Navigation mode
//{22,0.0,0.0, 0.0}, // get map
{99,0.0,0.0, 0.0}, // end
};
GoalList2 m_goalList[] ={
{60,0.0, 0.0}, // course correct ON
{0, 0.0, 0}, // [0,0]
{0, 0.0, 90},
{0, 0.0, 180},
{0, 0.0, 270},
{0, 0.0, 360},
//[2,0.0,0.0, 0.0],
{0, 1.0, 0}, // [1,0]
{0, 0.0, 90},
{0, 0.0, 180},
{0, 0.0, 270},
{0, 0.0, 360},
//[2,0.0,0.0, 0.0],
{0, 1.0, 0}, // [2,0]
{0, 0.0, 90}, // [2,0]
{0, 0.4, 90}, // [2,0.4]
{0,0.0, 180},
{0,0.0, 270 },
{0,0.4,270}, // [2,0]
{0,0.0, -180},
{50,0.0, 0.0},
{60,0.0, 0.0}, // course correct ON
//[62,0.0, 0.0], // after_correct_wait ON
//[99,0.0,0.0, 0.0],
//[50,0.0,0.0, 0.0],
{0,1.0, 180}, // [1.5,0]
{0,0.0, 270},
{0,0.0, 360},
{0,0.0, 90},
{0,0.0, 180},
//[2,0.0,0.0, 0.0],
{0,1.0, 180}, // [0,0]
{0,0.0, 270},
{0,0.0, 360},
{22,0.0, 0.0},
{99,0.0, 0.0}
};
GoalList2 m_goalList2[] ={
{60, 0.0, 0.0}, // course correct ON
{64, 0.0, 0.0}, // go curve ON
{66, 0.0, 0.0}, // force current position to map(0,0)
{67, 0.0, 0.0}, // set dumper ON
{0, 0.0, 90}, // rotate left 90
{0, 0.0, 45}, // rotate left 45
//{0, 2.0, 30}, // move back [-0.5,45]
//{0, 0.0, 45}, // rotate left 45
//{0, -0.5, 0.0}, // move back [-0.5,0]
//{2,0.0,0.0, 0.0},
//{0, 1.0, 0}, // [2,0]
{99, 0.0, 0} // [3,0]
};
GoalList2 m_goalList3[] ={{60, 0.0, 0.0}, // course correct ON
{0, 0.0, 0}, // [0,0]
{0, 0.0, 90},
{0, 0.0, 180},
{0, 0.0, 270},
{0, 0.0, 360},
//{2,0.0,0.0, 0.0},
{0, 0.0, 90}, // [1,0]
{0, 1.0, 90},
{0, 0.0, 180},
{0, 0.0, 270},
{0, 2.0, 270},
{0, 0.0, -180},
{0, 0.0, -270},
{0, 1.0, -270},
//[2,0.0,0.0, 0.0],
{0,0.0, -360},
{99,0.0,0}
};
// 1平米を動く 0.8 x 0.8
GoalList2 m_square_1[] ={{0, 0.0, 90}, // (0,0)
{0, 0.4, 90}, // (0,0.4)
{0, 0.0, -360},
{0, 0.8, 0}, // (0.8,0.4)
{0, 0.0, -90},
{0, 0.2, -90}, // (0.8,0.2)
{0, 0.0, -180},
{0, 0.8, -180}, // (0.0,0.2)
{0, 0.0, 270},
{0, 0.2, 270}, // (0.0,0.0)
//{0, 0.0, 0}, //
//{0, 0.8, 0}, // (0.8,0.0)
//{0, 0.0, -90},
//{0, 0.2, -90}, // (0.8,-0.2)
//{0, 0.0, -180},
//{0, 0.8, -180}, // (0.0,-0.2)
//{0, 0.0, 270},
//{0, 0.2, 270}, // (0.0,-0.4)
//{0, 0.0, 0},
//{0, 0.8, 0}, // (0.8,-0.4)
{99, 0.0, 0} // (0.0,0.0)
};
GoalList2 m_rotate_1[] ={{0, 0, 0},
{0, 0, 45},
{0, 0, 90}, // (0,0)
{0, 0, 180},
{0, 0, 270},
{0, 0, 360},
{99, 0, 0}
//[0, 1.0, -90], // (0,0.4)
};
GoalList2 m_rotate_2[] ={{0, 0, -0},
{0, 0, -90}, // (0,0)
{0, 0, -180},
{0, 0, -270},
{0, 0, -360},
{99, 0, 0}
};
int main(int argc, char** argv)
{
using namespace std::chrono_literals;
std::cout << "start " << std::endl;
//init the ROS node
rclcpp::init(argc, argv);
//ros::init(argc, argv, "muliti_goals4");
std::shared_ptr<rclcpp::Node> node = rclcpp::Node::make_shared("muliti_goals4",rclcpp::NodeOptions{});
//ros::NodeHandle nh;
//ros::NodeHandle nh("~");
//rosparam
//map_frame = rospy.get_param('~map_frame', 'map' )
//nh.getParam("~map_frame", map_frame);
//use_sim_time=rospy.get_param('/use_sim_time')
//nh.getParam("/use_sim_time", use_sim_time);
//GetMap mp;
//mp.init(nh);
//mp.get();
//RobotNavi navi;
//navi.init(nh);
ProControl mg_ex;
//mg_ex.init(nh);
mg_ex.init(node);
//ros::Rate rate(1); // 1[Hz]
//rclcpp::WallRate rate(1);
//for(int i=0;i<10;i++){
// ros::spinOnce();
// rate.sleep();
//}
//mg_ex.mloop_ex(abnormal_test);
//mg_ex.mloop_ex(goallist_test);
mg_ex.mloop_ex(goallist);
//mg_ex.mloop_ex(turtlebot3_house);
//mg_ex.mloop_ex(goallist2);
//mg_ex.mloop_ex2(m_rotate_2);
//mg_ex.mloop_ex2(m_goalList2);
//mg_ex.mloop_ex(navi_list1);
//unsigned char cost = mg_ex.drive.navi_.check_cost(-3.0,1.0);
//std::cout <<"cost = "<< std::hex << (unsigned int)cost << std::endl;
//ros::Rate rate(1); // 1[Hz]
rclcpp::WallRate loop(1);
while(rclcpp::ok()){
//rclcpp::spin(std::make_shared<RobotDrive>());
//get_tf.get(2);
std::cout << "loop" << std::endl;
loop.sleep();
}
//std::exit(0);
rclcpp::shutdown();
return 0;
}