Merge pull request ros-drivers#32 from msoe-vex/odometry-package

Basic odometry for holonomic and tank drives

.vscode/settings.json

@@ -81,7 +81,9 @@
         "valarray": "cpp",
         "variant": "cpp",
         "*.ipp": "cpp",
-        "core": "cpp"
+        "core": "cpp",
+        "forward_list": "cpp",
+        "dense": "cpp"
     },
     "C_Cpp.clang_format_fallbackStyle": "Google"
 }

src/adaptive_pursuit_controller/CMakeLists.txt

@@ -0,0 +1,224 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(adaptive_pursuit_controller)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++17)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+)
+
+find_package(Eigen3 REQUIRED)
+include_directories(${EIGEN3_INCLUDE_DIR})
+
+
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES adaptive_pursuit_controller
+#  CATKIN_DEPENDS roscpp
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+  include/adaptive_pursuit_controller
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+add_library(${PROJECT_NAME}
+  src/${PROJECT_NAME}/AdaptivePursuit.cpp
+  src/${PROJECT_NAME}/Logger.cpp
+  src/${PROJECT_NAME}/Path.cpp
+  src/${PROJECT_NAME}/PathManager.cpp
+  src/${PROJECT_NAME}/PathSegment.cpp
+  src/${PROJECT_NAME}/Position2d.cpp
+  src/${PROJECT_NAME}/Rotation2d.cpp
+  src/${PROJECT_NAME}/TankOdometry.cpp
+  src/${PROJECT_NAME}/Trans2d.cpp
+)
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/adaptive_pursuit_controller_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+catkin_add_gtest(${PROJECT_NAME}-test 
+  test/test_Main.cpp
+  test/test_AdaptivePurePursuitController.cpp
+  test/test_Path.cpp
+  test/test_PathSegment.cpp
+  test/test_TankOdometry.cpp
+)
+
+if(TARGET ${PROJECT_NAME}-test)
+  target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/AdaptivePursuit.h

@@ -0,0 +1,47 @@
+#pragma once
+
+#include "TankOdometry.h"
+#include <optional>
+#include "Path.h"
+#include "Logger.h"
+
+class VelocityPair {
+public:
+    VelocityPair(double l, double r);
+    double left;
+    double right;
+};
+
+class AdaptivePursuit{
+private:
+    double m_fixedLookahead;
+    Path m_path;
+    Position2d::Delta m_lastCommand;
+    double m_lastTime;
+    double m_maxAccel;
+    double m_wheelDiameter;
+    double m_dt;
+    bool m_reversed;
+    double m_pathCompletionTolerance;
+    bool m_hasRun = false;
+    bool m_gradualStop = true;
+
+public:
+    AdaptivePursuit(double fixedLookahead, double maxAccel, double nominalDt, Path path,
+                    bool reversed, double pathCompletionTolerance, bool gradualStop, double wheelDiameter);
+
+    bool isDone();
+
+    VelocityPair Update(Pose robotPos, double now);
+
+    bool checkEvent(std::string event);
+
+    struct Circle{
+        Trans2d center;
+        double radius;
+        bool turnRight;
+        Circle(Trans2d cent, double rad, bool turn_right);
+    };
+
+    std::optional<Circle> joinPath(Position2d pos, Trans2d lookahead);
+};

src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/Logger.h

@@ -0,0 +1,30 @@
+#pragma once
+
+#include <vector>
+#include <queue>
+#include <string>
+#include <memory>
+#include <ctime>
+#include <fstream>
+#include <iostream>
+#include <cmath>
+
+using namespace std;
+
+class Logger {
+public:
+    enum loggingLevel {
+        INFO,
+        WARNING,
+        ERROR
+    };
+    static void logInfo(ostringstream& message);
+    static void logInfo(string message);
+    static void logWarning(ostringstream& message);
+    static void logWarning(string message);
+    static void logError(ostringstream& message);
+    static void logError(string message);
+    static void setConsoleLoggingLevel(loggingLevel level);
+private:
+    static loggingLevel m_consoleLoggingLevel;
+};

src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/Math/Math.h

@@ -0,0 +1,50 @@
+#pragma once
+
+#include <cmath>
+#include <iostream>
+
+#ifndef PI
+#define PI 3.141592653589793
+#endif
+
+#define kEpsilon .000000001
+#define kE .000000001
+
+using namespace std;
+
+inline double toRadians(double degrees) {
+    return degrees * (PI / 180.0);
+}
+
+inline double toDegrees(double degrees) {
+    return degrees * (180.0 / PI);
+}
+
+inline double arctan(double x, double y) {
+    double result = toDegrees(atan2(y, x));
+    if(x >= 0 && y >= 0) {
+        return 90 - result;
+    } else if(x >= 0 && y < 0) {
+        return 90 + -1 * result;
+    } else if(x <= 0 && y < 0) {
+        return 90 + -1 * result;
+    } else if(x < 0 && y >= 0) {
+        return 450 - result;
+    }
+    return -1;
+}
+
+inline double pathogram(double x, double y){
+    return sqrt(x*x + y*y);
+}
+
+inline double clamp(double value, double minimum, double maximum) {
+    if(value < minimum) {
+        return minimum;
+    } else if(value > maximum) {
+        return maximum;
+    } else {
+        return value;
+    }
+}
+

src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/Math/Pose.h

@@ -0,0 +1,22 @@
+#pragma once
+
+#include <Eigen/Dense>
+
+using namespace Eigen;
+
+struct Pose {
+    Vector2d position;
+    Rotation2Dd angle;
+
+    Pose(Vector2d positionIn, Rotation2Dd angleIn) {
+        position = positionIn;
+        angle = angleIn;
+    }
+
+    Pose() {
+        position = Vector2d(0, 0);
+        angle = Rotation2Dd(0);
+    }
+
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};