#include "RelativeMove.h"
namespace rei_relative_move {
RelativeMove::RelativeMove()
: motionModel_(0),
getPoseReady_(false),
moveFinished_(true),
robotModel_(0) {}
RelativeMove::~RelativeMove() {
if (listenTfThread_.joinable()) {
listenTfThread_.join();
}
geometry_msgs::Twist stopCmd;
velPub_.publish(stopCmd);
}
int8_t RelativeMove::Init(ros::NodeHandle& nh) {
tfBuffer_ = std::make_unique<tf2_ros::Buffer>();
tfListener_ = std::make_shared<tf2_ros::TransformListener>(*tfBuffer_);
xPid_ = std::make_shared<rei_tools::ReiPID>(1.0, 0, 0.0);
yPid_ = std::make_shared<rei_tools::ReiPID>(1.0, 0, 0.0);
thetaPid_ = std::make_shared<rei_tools::ReiPID>(2.0, 0, 0.0);
xPid_->setOutputLimit(0.5, 0.05);
yPid_->setOutputLimit(0.5, 0.05);
thetaPid_->setOutputLimit(1.0, 0.2);
relativeMoveServer_ = nh_.advertiseService(
"relative_move", &RelativeMove::RelativeMoveCallback, this);
velPub_ = nh_.advertise<geometry_msgs::Twist>("cmd_vel", 5);
xErrPub_ = nh_.advertise<std_msgs::Float64>("relative/x_err", 5);
yErrPub_ = nh_.advertise<std_msgs::Float64>("relative/y_err", 5);
thetaErrPub_ = nh_.advertise<std_msgs::Float64>("relative/theta_err", 5);
expectXErr_ = 0.01;
expectYErr_ = 0.01;
expectThetaErr_ = 0.01;
return 0;
}
void RelativeMove::SetXPid(int p, int i, int d) {
xPid_->setP(p);
xPid_->setI(i);
xPid_->setD(d);
}
void RelativeMove::SetYPid(int p, int i, int d) {
yPid_->setP(p);
yPid_->setI(i);
yPid_->setD(d);
}
void RelativeMove::SetThetaPid(int p, int i, int d) {
thetaPid_->setP(p);
thetaPid_->setI(i);
thetaPid_->setD(d);
}
void RelativeMove::ListenTf(std::string frameId, std::string childFrameId) {
geometry_msgs::TransformStamped transform;
std::string errMsg;
if (!tfBuffer_->canTransform(frameId, childFrameId, ros::Time(0),
ros::Duration(2.0), &errMsg)) {
ROS_ERROR("Unable to get pose from TF: %s", errMsg.c_str());
return;
}
{
std::unique_lock<std::mutex> lock(getFlagMutex_);
getPoseReady_ = true;
}
ros::Rate rate(10.0);
while (ros::ok() && (!GetFinishFlag())) {
try {
transform =
tfBuffer_->lookupTransform(frameId, childFrameId, ros::Time(0));
SetTfPose(transform.transform);
} catch (tf2::TransformException& ex) {
ROS_WARN("%s", ex.what());
ros::Duration(0.1).sleep();
continue;
}
rate.sleep();
}
}
void RelativeMove::SetTfPose(geometry_msgs::Transform& tfPose) {
std::unique_lock<std::mutex> lock(getTfPoseMutex_);
tfPose_ = tfPose;
}
void RelativeMove::GetTfPose(geometry_msgs::Transform& trans) {
std::unique_lock<std::mutex> lock(getTfPoseMutex_);
trans = tfPose_;
}
geometry_msgs::Pose2D RelativeMove::GetTargetGoal(
const geometry_msgs::Pose2D& goal) {
tf2::Quaternion goal_quat;
goal_quat.setRPY(0, 0, goal.theta);
geometry_msgs::Transform robotPose;
GetTfPose(robotPose);
tf2::Transform robotPoseTrans, goalPoseTrans, goalBaseRobotTrans;
goalBaseRobotTrans.setOrigin(tf2::Vector3(goal.x, goal.y, 0));
goalBaseRobotTrans.setRotation(goal_quat);
geometry_msgs::Transform goalPose;
tf2::fromMsg(robotPose, robotPoseTrans);
goalPoseTrans = robotPoseTrans * goalBaseRobotTrans;
// ROS_INFO("robotPose: %lf, %lf, %lf, %lf", robotPose.translation.x,
// robotPose.translation.y, robotPose.rotation.z,
// robotPose.rotation.w);
// ROS_INFO("goalBaseRobotTrans: %lf, %lf, %lf, %lf",
// goalBaseRobotTrans.getOrigin().x(),
// goalBaseRobotTrans.getOrigin().y(),
// goalBaseRobotTrans.getRotation().z(),
// goalBaseRobotTrans.getRotation().w());
// ROS_INFO("goalPoseTrans: %lf, %lf, %lf, %lf",
// goalPoseTrans.getOrigin().x(),
// goalPoseTrans.getOrigin().y(),
// goalPoseTrans.getRotation().z(),
// goalPoseTrans.getRotation().w());
geometry_msgs::Pose2D goalReuslt;
goalReuslt.x = goalPoseTrans.getOrigin().getX();
goalReuslt.y = goalPoseTrans.getOrigin().getY();
tf2::Matrix3x3 mat(goalPoseTrans.getRotation());
double roll, pitch;
mat.getRPY(roll, pitch, goalReuslt.theta);
return goalReuslt;
}
int8_t RelativeMove::GetBaseToGoal(std::string frameId,
const geometry_msgs::Pose2D& inGoal) {
std::string errMsg;
if (!tfBuffer_->canTransform(frameId, "base_link", ros::Time(0),
ros::Duration(2.0), &errMsg)) {
ROS_ERROR("Unable to get pose from TF: %s", errMsg.c_str());
return -1;
}
try {
geometry_msgs::TransformStamped transform =
tfBuffer_->lookupTransform(frameId, "base_link", ros::Time(0));
SetTfPose(transform.transform);
} catch (tf2::TransformException& ex) {
ROS_WARN("%s", ex.what());
ros::Duration(0.1).sleep();
return -1;
}
baseToTargetPose_ = GetTargetGoal(inGoal);
return 0;
}
int8_t RelativeMove::MovXY(double x, double y) {
xPid_->reset_integral();
yPid_->reset_integral();
geometry_msgs::Pose2D goalReal;
geometry_msgs::Pose2D targetGoal;
targetGoal.x = x;
targetGoal.y = y;
double xErr, yErr;
ros::Rate loop(10);
while (ros::ok()) {
goalReal = GetTargetGoal(targetGoal);
// ROS_WARN("goalReal: %lf, %lf", goalReal.x, goalReal.y);
xErr = .0;
yErr = .0;
if (x != 0) xErr = goalReal.x;
if (y != 0) yErr = goalReal.y;
std_msgs::Float64 errMsg;
errMsg.data = xErr;
xErrPub_.publish(errMsg);
errMsg.data = yErr;
yErrPub_.publish(errMsg);
// ROS_WARN("err: %lf, %lf", xErr, yErr);
if ((fabs(xErr) < expectXErr_) && (fabs(yErr) < expectYErr_)) {
velPub_.publish(stopCmd_);
break;
} else {
geometry_msgs::Twist velCmd;
if (fabs(xErr) > expectXErr_) velCmd.linear.x = xPid_->compute(0.0, xErr);
if (fabs(yErr) > expectYErr_) velCmd.linear.y = yPid_->compute(0.0, yErr);
velPub_.publish(velCmd);
}
loop.sleep();
}
return 0;
}
int8_t RelativeMove::MovTheta(double theta) {
thetaPid_->reset_integral();
geometry_msgs::Pose2D goalReal;
geometry_msgs::Pose2D targetGoal;
targetGoal.theta = theta;
double thetaErr;
ros::Rate loop(10);
while (ros::ok()) {
goalReal = GetTargetGoal(targetGoal);
// ROS_WARN("goalReal: %lf, %lf", goalReal.x, goalReal.y);
thetaErr = goalReal.theta;
// ROS_WARN("thetaErr: %lf",thetaErr);
if (fabs(thetaErr) < expectThetaErr_) {
velPub_.publish(stopCmd_);
break;
} else {
geometry_msgs::Twist velCmd;
velCmd.angular.z = thetaPid_->compute(0.0, thetaErr);
velPub_.publish(velCmd);
}
loop.sleep();
}
return 0;
}
bool RelativeMove::RelativeMoveCallback(
relative_move::SetRelativeMove::Request& req,
relative_move::SetRelativeMove::Response& res) {
if (listenTfThread_.joinable()) {
res.message = "last move task still run";
return false;
}
getPoseReady_ = false;
moveFinished_ = false;
res.message = "Get tf trans error";
if (GetBaseToGoal(req.global_frame, req.goal) < 0) return true;
listenTfThread_ =
std::thread(&RelativeMove::ListenTf, this, "base_link", req.global_frame);
double lastTime = ros::Time::now().toSec();
ros::Rate loop(10);
while (ros::ok() && (!GetReadyFlag())) {
if ((ros::Time::now().toSec() - lastTime) > 2) return true;
loop.sleep();
}
if (robotModel_) {
MovXY(baseToTargetPose_.x, baseToTargetPose_.y);
if (req.goal.theta != 0) MovTheta(baseToTargetPose_.theta);
} else {
geometry_msgs::Pose2D tmpPose;
tmpPose = GetTargetGoal(req.goal);
double tmpTheta = atan2(tmpPose.y, tmpPose.x);
if(tmpTheta>3.1415927) tmpTheta = tmpTheta - M_PI;
else if(tmpTheta<-3.1415927) tmpTheta = tmpTheta + M_PI;
MovTheta(tmpTheta);
MovXY(baseToTargetPose_.x, 0.0);
MovTheta(baseToTargetPose_.theta);
}
SetFinishFlag(true);
if (listenTfThread_.joinable()) listenTfThread_.join();
res.message = "";
res.success = true;
return true;
}
} // namespace rei_relative_move解释上述代码
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