-
Notifications
You must be signed in to change notification settings - Fork 64
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Refactor, add odom and tf pub, add bumper
- Loading branch information
Georg Novotny
committed
Jan 27, 2024
1 parent
393f5d1
commit 59d32c9
Showing
12 changed files
with
933 additions
and
705 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
171 changes: 171 additions & 0 deletions
171
sjtu_drone_description/include/sjtu_drone_description/plugin_drone_private.h
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,171 @@ | ||
| // Copyright 2024 Georg Novotny | ||
| // | ||
| // Licensed under the GNU GENERAL PUBLIC LICENSE, Version 3.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // https://www.gnu.org/licenses/gpl-3.0.en.html | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
|
||
| #ifndef GAZEBO_PLUGINS_DRONE_SIMPLE_PRIVATE_H | ||
| #define GAZEBO_PLUGINS_DRONE_SIMPLE_PRIVATE_H | ||
|
|
||
| #include "gazebo_ros/node.hpp" | ||
| #include "gazebo/physics/Link.hh" | ||
| #include "gazebo/physics/Model.hh" | ||
| #include "gazebo/physics/World.hh" | ||
| #include "sdf/sdf.hh" | ||
|
|
||
| #include <rclcpp/rclcpp.hpp> | ||
| #include <rclcpp/callback_group.hpp> | ||
|
|
||
| #include <geometry_msgs/msg/point.hpp> | ||
| #include <geometry_msgs/msg/twist.hpp> | ||
| #include <geometry_msgs/msg/pose.hpp> | ||
| #include <geometry_msgs/msg/transform_stamped.hpp> | ||
| #include <sensor_msgs/msg/imu.hpp> | ||
| #include <std_msgs/msg/empty.hpp> | ||
| #include <std_msgs/msg/bool.hpp> | ||
| #include <std_msgs/msg/string.hpp> | ||
| #include <std_msgs/msg/int8.hpp> | ||
| #include <nav_msgs/msg/odometry.hpp> | ||
|
|
||
| #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp> | ||
| #include <tf2/LinearMath/Quaternion.h> | ||
| #include <tf2_ros/transform_broadcaster.h> | ||
|
|
||
| #include "sjtu_drone_description/pid_controller.h" | ||
|
|
||
|
|
||
| #define LANDED_MODEL 0 | ||
| #define FLYING_MODEL 1 | ||
| #define TAKINGOFF_MODEL 2 | ||
| #define LANDING_MODEL 3 | ||
|
|
||
| namespace gazebo_plugins | ||
| { | ||
|
|
||
| class DroneSimpleControllerPrivate | ||
| { | ||
| public: | ||
| DroneSimpleControllerPrivate(void); | ||
| ~DroneSimpleControllerPrivate(void); | ||
|
|
||
| void Reset(); | ||
| void InitSubscribers( | ||
| std::string cmd_normal_topic_ = "cmd_vel", std::string posctrl_topic_ = "posctrl", | ||
| std::string imu_topic_ = "imu", std::string takeoff_topic_ = "takeoff", | ||
| std::string land_topic_ = "land", std::string reset_topic_ = "reset", | ||
| std::string switch_mode_topic_ = "dronevel_mode"); | ||
| void InitPublishers( | ||
| std::string gt_topic_ = "gt_pose", std::string gt_vel_topic_ = "gt_vel", | ||
| std::string gt_acc_topic_ = "gt_acc", std::string cmd_mode_topic_ = "cmd_mode", | ||
| std::string state_topic_ = "state", std::string odom_topic_ = "odom"); | ||
| void LoadControllerSettings(gazebo::physics::ModelPtr _model, sdf::ElementPtr _sdf); | ||
|
|
||
| void UpdateState(double dt); | ||
| void UpdateDynamics(double dt); | ||
|
|
||
| // Gazebo variables | ||
| gazebo::physics::WorldPtr world; | ||
| gazebo::physics::LinkPtr link; | ||
| gazebo::physics::ModelPtr model; | ||
| gazebo::common::Time current_time; | ||
| gazebo::common::Time last_time; | ||
|
|
||
| // Simunlation configuration | ||
| double max_force_; | ||
| double motion_small_noise_; | ||
| double motion_drift_noise_; | ||
| double motion_drift_noise_time_; | ||
|
|
||
| // Inertia and mass of the drone | ||
| ignition::math::v6::Vector3<double> inertia; | ||
| double mass; | ||
| double m_timeAfterCmd; | ||
| int navi_state; | ||
| bool m_posCtrl; | ||
| bool m_velMode; | ||
| int odom_seq; | ||
| int odom_hz; | ||
| bool pub_odom; | ||
|
|
||
| // rclcpp configuration | ||
| rclcpp::Node::SharedPtr ros_node_{nullptr}; | ||
| rclcpp::CallbackGroup::SharedPtr callback_group_{nullptr}; | ||
| std::unique_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_; | ||
|
|
||
| private: | ||
| rclcpp::SubscriptionOptions create_subscription_options( | ||
| std::string topic_name, | ||
| uint32_t queue_size); | ||
|
|
||
| // Callbacks | ||
| void CmdCallback(const geometry_msgs::msg::Twist::SharedPtr cmd); | ||
| void PosCtrlCallback(const std_msgs::msg::Bool::SharedPtr cmd); | ||
| void ImuCallback(const sensor_msgs::msg::Imu::SharedPtr imu); | ||
| void TakeoffCallback(const std_msgs::msg::Empty::SharedPtr msg); | ||
| void LandCallback(const std_msgs::msg::Empty::SharedPtr msg); | ||
| void ResetCallback(const std_msgs::msg::Empty::SharedPtr msg); | ||
| void SwitchModeCallback(const std_msgs::msg::Bool::SharedPtr msg); | ||
|
|
||
| double last_odom_publish_time_; | ||
| void PublishOdom( | ||
| const ignition::math::v6::Pose3<double> & pose, | ||
| const ignition::math::v6::Vector3<double> & velocity, | ||
| const ignition::math::v6::Vector3<double> & acceleration); | ||
|
|
||
| struct Controllers | ||
| { | ||
| PIDController roll; | ||
| PIDController pitch; | ||
| PIDController yaw; | ||
| PIDController velocity_x; | ||
| PIDController velocity_y; | ||
| PIDController velocity_z; | ||
| PIDController pos_x; | ||
| PIDController pos_y; | ||
| PIDController pos_z; | ||
| }; | ||
|
|
||
| // ROS Interfaces | ||
| geometry_msgs::msg::Twist cmd_vel; | ||
| nav_msgs::msg::Odometry odom; | ||
|
|
||
|
|
||
| // Subscribers | ||
| rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr cmd_subscriber_{nullptr}; | ||
| rclcpp::Subscription<std_msgs::msg::Bool>::SharedPtr posctrl_subscriber_{nullptr}; | ||
| rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr imu_subscriber_{nullptr}; | ||
| rclcpp::Subscription<std_msgs::msg::Empty>::SharedPtr takeoff_subscriber_{nullptr}; | ||
| rclcpp::Subscription<std_msgs::msg::Empty>::SharedPtr land_subscriber_{nullptr}; | ||
| rclcpp::Subscription<std_msgs::msg::Empty>::SharedPtr reset_subscriber_{nullptr}; | ||
| rclcpp::Subscription<std_msgs::msg::Bool>::SharedPtr switch_mode_subscriber_{nullptr}; | ||
|
|
||
| // Publishers | ||
| rclcpp::Publisher<geometry_msgs::msg::Pose>::SharedPtr pub_gt_pose_{nullptr}; //for publishing ground truth pose | ||
| rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr pub_gt_vec_{nullptr}; //ground truth velocity in the body frame | ||
| rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr pub_gt_acc_{nullptr}; //ground truth acceleration in the body frame | ||
| rclcpp::Publisher<std_msgs::msg::String>::SharedPtr pub_cmd_mode{nullptr}; //for publishing command mode | ||
| rclcpp::Publisher<std_msgs::msg::Int8>::SharedPtr pub_state{nullptr}; //for publishing current STATE (Landed, Flying, Takingoff, Landing) | ||
| rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr pub_odom_{nullptr}; //for publishing odometry | ||
|
|
||
| // PID Controller | ||
| Controllers controllers_; | ||
|
|
||
| // State of the drone | ||
| ignition::math::v6::Pose3<double> pose; | ||
| ignition::math::v6::Vector3<double> euler; | ||
| ignition::math::v6::Vector3<double> velocity, acceleration, angular_velocity, position; | ||
|
|
||
|
|
||
| }; // class DroneSimpleControllerPrivate | ||
|
|
||
| } // namespace gazebo_plugins | ||
|
|
||
| #endif // GAZEBO_PLUGINS_DRONE_SIMPLE_PRIVATE_H |
This file was deleted.
Oops, something went wrong.
This file was deleted.
Oops, something went wrong.
Oops, something went wrong.