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follower.cpp
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follower.cpp
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#include <leader_follower_task/follower.h>
#include <leader_follower_task/velocity_estimator.h>
#include <leader_follower_task/FollowerConfig.h>
bool is_initialized = false;
bool got_odometry = false;
bool got_tracker_output = false;
bool got_uvdar = false;
Eigen::Vector3d follower_position_odometry;
Eigen::Vector3d follower_linear_velocity_odometry;
double follower_heading_odometry;
double follower_heading_rate_odometry;
Eigen::Vector3d follower_position_tracker;
Eigen::Vector3d follower_linear_velocity_tracker;
double follower_heading_tracker;
double follower_heading_rate_tracker;
Eigen::Vector3d leader_position;
ros::Time last_leader_contact;
// dynamically reconfigurable
Eigen::Vector3d position_offset = Eigen::Vector3d(0.0, 0.0, 0.0);
double heading_offset = 0.0;
double uvdar_msg_interval = 0.1;
bool use_estimator = false;
bool use_speed_tracker = false;
bool use_trajectory_reference = false;
VelocityEstimator estimator;
Eigen::Vector3d leader_predicted_position;
Eigen::Vector3d leader_predicted_velocity;
/* initialize //{ */
leader_follower_task::FollowerConfig FollowerController::initialize(mrs_lib::ParamLoader& param_loader) {
ROS_INFO("[Follower]: Waiting for odometry and uvdar");
while (ros::ok()) {
if (got_odometry && got_uvdar) {
break;
} else {
ROS_INFO_THROTTLE(1.0, "[Follower]: waiting, got ODOMETRY=%s, UVDAR=%s", got_odometry ? "TRUE" : "FALSE", got_uvdar ? "TRUE" : "FALSE");
}
ros::Duration(0.01).sleep();
ros::spinOnce();
}
Eigen::Matrix<double, 6, 6> Q;
Eigen::Matrix<double, 3, 3> R;
param_loader.loadMatrixStatic("Q", Q);
param_loader.loadMatrixStatic("R", R);
param_loader.loadParam("control_action_interval", control_action_interval);
param_loader.loadParam("desired_offset/x", position_offset.x());
param_loader.loadParam("desired_offset/y", position_offset.y());
param_loader.loadParam("desired_offset/z", position_offset.z());
param_loader.loadParam("heading_offset", heading_offset);
//// initialize the dynamic reconfigurables with values from YAML file and values set above
leader_follower_task::FollowerConfig config;
config.desired_offset_x = position_offset.x();
config.desired_offset_y = position_offset.y();
config.desired_offset_z = position_offset.z();
config.heading_offset = heading_offset;
config.filter_data = use_estimator;
config.use_trajectory_reference = use_trajectory_reference;
config.use_speed_tracker = use_speed_tracker;
////
VelocityEstimator::kalman3D::x_t initial_states;
// set initial state of estimator as follows: leader position: (current follower pos - desired offset), leader velocity: (0,0,0)
initial_states << follower_position_odometry.x() - position_offset.x(), follower_position_odometry.y() - position_offset.y(),
follower_position_odometry.z() - position_offset.z(), 0, 0, 0;
estimator = VelocityEstimator(Q, R, initial_states, uvdar_msg_interval);
is_initialized = true;
return config;
}
//}
/* dynamicReconfigureCallback //{ */
void FollowerController::dynamicReconfigureCallback(leader_follower_task::FollowerConfig& config, [[maybe_unused]] uint32_t level) {
position_offset = Eigen::Vector3d(config.desired_offset_x, config.desired_offset_y, config.desired_offset_z);
heading_offset = config.heading_offset;
use_speed_tracker = config.use_speed_tracker;
use_trajectory_reference = config.use_trajectory_reference;
if (!use_estimator && config.filter_data) {
ROS_INFO("[%s]: Estimator started", ros::this_node::getName().c_str());
}
use_estimator = config.filter_data;
}
//}
/* receiveOdometry //{ */
void FollowerController::receiveOdometry(const nav_msgs::Odometry& odometry_msg) {
follower_position_odometry.x() = odometry_msg.pose.pose.position.x;
follower_position_odometry.y() = odometry_msg.pose.pose.position.y;
follower_position_odometry.z() = odometry_msg.pose.pose.position.z;
mrs_lib::AttitudeConverter ac(odometry_msg.pose.pose.orientation);
follower_heading_odometry = ac.getHeading();
follower_linear_velocity_odometry.x() = odometry_msg.twist.twist.linear.x;
follower_linear_velocity_odometry.y() = odometry_msg.twist.twist.linear.y;
follower_linear_velocity_odometry.z() = odometry_msg.twist.twist.linear.z;
follower_heading_rate_odometry =
ac.getHeadingRate(Eigen::Vector3d(odometry_msg.twist.twist.angular.x, odometry_msg.twist.twist.angular.y, odometry_msg.twist.twist.angular.z));
got_odometry = true;
}
//}
/* receiveTrackerOutput //{ */
void FollowerController::receiveTrackerOutput(const mrs_msgs::TrackerCommand& position_cmd) {
follower_position_tracker.x() = position_cmd.position.x;
follower_position_tracker.y() = position_cmd.position.y;
follower_position_tracker.z() = position_cmd.position.z;
follower_heading_tracker = position_cmd.heading;
follower_linear_velocity_tracker.x() = position_cmd.velocity.x;
follower_linear_velocity_tracker.y() = position_cmd.velocity.y;
follower_linear_velocity_tracker.z() = position_cmd.velocity.z;
follower_heading_rate_tracker = position_cmd.heading_rate;
got_tracker_output = true;
}
//}
/* receiveUvdar //{ */
void FollowerController::receiveUvdar(const geometry_msgs::PoseWithCovarianceStamped& uvdar_msg) {
Eigen::Vector3d leader_new_position;
leader_new_position.x() = uvdar_msg.pose.pose.position.x;
leader_new_position.y() = uvdar_msg.pose.pose.position.y;
leader_new_position.z() = uvdar_msg.pose.pose.position.z;
last_leader_contact = uvdar_msg.header.stamp;
got_uvdar = true;
leader_position = leader_new_position;
if (use_estimator && is_initialized) {
estimator.fuse(leader_new_position);
}
}
//}
/* createReferencePoint //{ */
ReferencePoint FollowerController::createReferencePoint() {
ReferencePoint point;
// sanity check
if (!is_initialized || !got_odometry || !got_uvdar || !got_tracker_output) {
point.position = Eigen::Vector3d(0, 0, 0);
point.heading = 0;
point.use_for_control = false;
return point;
}
if (use_estimator) {
point.position.x() = leader_predicted_position.x() + position_offset.x();
point.position.y() = leader_predicted_position.y() + position_offset.y();
point.position.z() = 3.0;
} else {
point.position.x() = leader_position.x() + position_offset.x();
point.position.y() = leader_position.y() + position_offset.y();
point.position.z() = 3.0;
}
point.heading = heading_offset;
point.use_for_control = true;
return point;
}
//}
/* createReferenceTrajectory //{ */
ReferenceTrajectory FollowerController::createReferenceTrajectory() {
ReferenceTrajectory trajectory;
// sanity check
if (!is_initialized || !got_odometry || !got_uvdar || !got_tracker_output) {
trajectory.positions.push_back(Eigen::Vector3d::Zero());
trajectory.headings.push_back(0.0);
trajectory.sampling_time = 0.0;
trajectory.use_for_control = false;
return trajectory;
}
// Example - start trajectory at current UAV position and move in the predicted direction of leader motion
// No subsampling, only two points are created in this example
Eigen::Vector3d point_1;
double heading_1;
Eigen::Vector3d point_2;
double heading_2;
trajectory.use_for_control = false;
if (use_trajectory_reference) {
if (use_estimator) {
point_1 = follower_position_tracker;
heading_1 = follower_heading_tracker;
point_2 = leader_predicted_position + position_offset + (leader_predicted_velocity * control_action_interval);
heading_2 = heading_offset;
trajectory.positions.push_back(point_1);
trajectory.positions.push_back(point_2);
trajectory.headings.push_back(heading_1);
trajectory.headings.push_back(heading_2);
trajectory.sampling_time = control_action_interval;
trajectory.use_for_control = true;
} else {
ROS_WARN("[%s]: Tried to plan a trajectory without leader velocity estimation", ros::this_node::getName().c_str());
}
}
return trajectory;
}
//}
/* createSpeedCommand //{ */
SpeedCommand FollowerController::createSpeedCommand() {
SpeedCommand command;
if (!got_odometry || !got_uvdar || !got_tracker_output) {
command.velocity = Eigen::Vector3d(0, 0, 0);
command.heading = 0;
command.height = 0;
command.use_for_control = false;
}
if (use_estimator) {
command.velocity = leader_predicted_velocity;
command.height = leader_predicted_position.z() + position_offset.z();
command.heading = follower_heading_odometry;
}
if (use_speed_tracker) {
command.use_for_control = true;
} else {
command.use_for_control = false;
}
return command;
}
//}
/* getCurrentEstimate //{ */
// You can use this method for debugging purposes.
// It allows you to visualize the leader predictions in rviz
// It is called once per control action of the summer_schoo_supervisor
nav_msgs::Odometry FollowerController::getCurrentEstimate() {
nav_msgs::Odometry leader_est;
if (use_estimator) {
auto leader_prediction = estimator.predict(Eigen::Vector3d(0, 0, 0), control_action_interval);
leader_predicted_position = Eigen::Vector3d(leader_prediction[0], leader_prediction[1], leader_prediction[2]);
leader_predicted_velocity = Eigen::Vector3d(leader_prediction[3], leader_prediction[4], leader_prediction[5]);
leader_est.pose.pose.position.x = leader_prediction[0];
leader_est.pose.pose.position.y = leader_prediction[1];
leader_est.pose.pose.position.z = leader_prediction[2];
leader_est.twist.twist.linear.x = leader_prediction[3];
leader_est.twist.twist.linear.y = leader_prediction[4];
leader_est.twist.twist.linear.z = leader_prediction[5];
} else {
leader_est.pose.pose.position.x = leader_position.x();
leader_est.pose.pose.position.y = leader_position.y();
leader_est.pose.pose.position.z = leader_position.z();
}
return leader_est;
}
//}