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Add stuck detection #19

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Add stuck detection #19

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8abd151
Add stuck detection
lukicdarkoo Dec 9, 2023
e17688b
fix
lukicdarkoo Dec 9, 2023
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2 changes: 1 addition & 1 deletion docker/Dockerfile.pc
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Original file line number Diff line number Diff line change
Expand Up @@ -75,7 +75,7 @@ ENV DOCKERUSER=${DOCKERUSER}
COPY bashrc /tmp/bashrc
RUN cat /tmp/bashrc >> /${DOCKERUSER}/.bashrc

RUN wget https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.1.1-x86_64.AppImage -O /usr/bin/groot2 && \
RUN wget https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.4.0-x86_64.AppImage -O /usr/bin/groot2 && \
chmod +x /usr/bin/groot2

USER ${DOCKERUSER}
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3 changes: 3 additions & 0 deletions spes_move/include/spes_move/move.hpp
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Expand Up @@ -51,6 +51,9 @@ namespace spes_move
int update_rate_;
double stopping_distance_;

double angular_stuck_coeff_;
double linear_stuck_coeff_;

spes_msgs::msg::MoveState state_msg_;

rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr cmd_vel_pub_;
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22 changes: 21 additions & 1 deletion spes_move/src/move.cpp
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Expand Up @@ -347,6 +347,20 @@ namespace spes_move
break;
}

// Detect stuck
const double planned_rotation_velocity = rotation_ruckig_output_.new_velocity[0];
const double planned_translation_velocity = translation_ruckig_output_.new_velocity[0];
if (abs(last_error_x_) > abs(planned_translation_velocity * linear_stuck_coeff_) || abs(last_error_yaw_) > abs(planned_rotation_velocity * angular_stuck_coeff_)) {
stop_robot();
RCLCPP_WARN(get_logger(), "Stuck detected, stopping...");

state_msg_.error = spes_msgs::msg::MoveState::ERROR_STUCK;

state_ = spes_msgs::msg::MoveState::STATE_IDLE;
update_state_msg(tf_base_target);
state_pub_->publish(state_msg_);
}

// Stop if there is a collision
if (!command_->ignore_obstacles)
{
Expand Down Expand Up @@ -382,7 +396,7 @@ namespace spes_move
if (is_collision_ahead)
{
stop_robot();
RCLCPP_WARN(get_logger(), "Collision Ahead - Exiting Move");
RCLCPP_WARN(get_logger(), "Collision detected, stopping...");

state_msg_.error = spes_msgs::msg::MoveState::ERROR_OBSTACLE;

Expand Down Expand Up @@ -554,6 +568,9 @@ namespace spes_move
declare_parameter("linear.tolerance", rclcpp::ParameterValue(0.01));
get_parameter("linear.tolerance", default_command_->linear_properties.tolerance);

declare_parameter("linear.stuck_coeff", rclcpp::ParameterValue(0.1));
get_parameter("linear.stuck_coeff", linear_stuck_coeff_);

// Angular
declare_parameter("angular.kp", rclcpp::ParameterValue(5.0));
get_parameter("angular.kp", default_command_->angular_properties.kp);
Expand All @@ -569,6 +586,9 @@ namespace spes_move

declare_parameter("angular.tolerance", rclcpp::ParameterValue(0.03));
get_parameter("angular.tolerance", default_command_->angular_properties.tolerance);

declare_parameter("angular.stuck_coeff", rclcpp::ParameterValue(0.1));
get_parameter("angular.stuck_coeff", angular_stuck_coeff_);
}

void Move::debouncing_reset()
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