diff --git a/README.md b/README.md index bdbd241..59ecf47 100644 --- a/README.md +++ b/README.md @@ -3,7 +3,7 @@ ### 介绍 -这是基于PX4和ROS的无人机仿真平台(目前模拟器使用Gazebo，与Airsim的连接正在开发中)。目前支持多旋翼飞行器（包含四轴和六轴）、固定翼飞行器、可垂直起降固定翼飞行器（包含quadplane，tailsitter和tiltrotor）和无人车。在XTDrone上验证过的算法，可以方便地部署到真实无人机上。 +这是基于PX4和ROS的无人机仿真平台(目前模拟器使用Gazebo，与Airsim的连接正在开发中)。目前支持多旋翼飞行器（包含四轴和六轴）、固定翼飞行器、复合翼飞行器（包含quadplane，tailsitter和tiltrotor）和无人车。在XTDrone上验证过的算法，可以方便地部署到真实无人机上。 @@ -59,7 +59,7 @@ Xiao, K., Ma, L., Tan, S., Cong, Y., Wang, X.: Implementation of UAV Coordinatio -10. VTOL +10. 复合翼 diff --git a/communication/rover_communication.py b/communication/rover_communication.py index e7ea795..499c99b 100644 --- a/communication/rover_communication.py +++ b/communication/rover_communication.py @@ -125,12 +125,12 @@ class Communication: def cmd_vel_flu_callback(self, msg): self.coordinate_frame=8 self.motion_type=1 - self.target_motion = self.construct_target(vx=msg.linear.x,vy=msg.linear.y,vz=msg.linear.z,yaw=0) + self.target_motion = self.construct_target(vx=msg.linear.x,vy=msg.angular.z,vz=msg.linear.z,yaw=0) def cmd_vel_enu_callback(self, msg): self.coordinate_frame=1 self.motion_type=1 - self.target_motion = self.construct_target(vx=msg.linear.x,vy=msg.linear.y,vz=msg.linear.z,yaw=0) + self.target_motion = self.construct_target(vx=msg.linear.x,vy=msg.angular.z,vz=msg.linear.z,yaw=0) def cmd_callback(self, msg): if msg.data == '': diff --git a/control/keyboard/rover_keyboard_control.py b/control/keyboard/rover_keyboard_control.py index d484842..0be730f 100755 --- a/control/keyboard/rover_keyboard_control.py +++ b/control/keyboard/rover_keyboard_control.py @@ -163,7 +163,7 @@ if __name__=="__main__": elif angle < -MAX_ANGLE: angle = -MAX_ANGLE - twist.linear.x = forward; twist.linear.y = angle + twist.linear.x = forward; twist.angular.z = angle for i in range(rover_num): if ctrl_leader: diff --git a/control/rover_self_driving.py b/control/rover_self_driving.py index ec024e3..db4267d 100644 --- a/control/rover_self_driving.py +++ b/control/rover_self_driving.py @@ -9,14 +9,14 @@ def lane_mid_error_callback(msg): global twist if msg.data == 1000: twist.linear.x = 0.0 - twist.linear.y = 0.0 + twist.angular.z = 0.0 else: if abs(msg.data) > 20: - twist.linear.y = - Kp * msg.data + twist.angular.z = - Kp * msg.data else: - twist.linear.y = 0.0 + twist.angular.z = 0.0 - twist.linear.x = Vx * (1 - abs(twist.linear.y)) + twist.linear.x = Vx * (1 - abs(twist.angular.z)) if __name__ == "__main__": diff --git a/coordination/launch_generator/multi_vehicle.launch b/coordination/launch_generator/multi_vehicle.launch index b1c2db9..e9b6fef 100644 --- a/coordination/launch_generator/multi_vehicle.launch +++ b/coordination/launch_generator/multi_vehicle.launch @@ -18,8 +18,8 @@ - - + + @@ -32,8 +32,8 @@ - - + + @@ -47,498 +47,5 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/sitl_config/car/colorado/Assets/colorado.blend b/sitl_config/car/colorado/Assets/colorado.blend new file mode 100644 index 0000000..7414646 Binary files /dev/null and b/sitl_config/car/colorado/Assets/colorado.blend differ diff --git a/sitl_config/car/colorado/Assets/colorado.blend1 b/sitl_config/car/colorado/Assets/colorado.blend1 new file mode 100644 index 0000000..178a7dc Binary files /dev/null and b/sitl_config/car/colorado/Assets/colorado.blend1 differ diff --git a/sitl_config/car/colorado/Assets/colorado_body.dae b/sitl_config/car/colorado/Assets/colorado_body.dae new file mode 100644 index 0000000..8e5ec73 --- /dev/null +++ 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+ + + + + + + + + -0.8558155 2.93191e-7 0 2.23822e-10 -2.7886e-7 -0.8997965 0 0 0 0 0.8522445 0 0 0 0 1 + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/sitl_config/car/colorado/CMakeLists.txt b/sitl_config/car/colorado/CMakeLists.txt new file mode 100644 index 0000000..d58323c --- /dev/null +++ b/sitl_config/car/colorado/CMakeLists.txt @@ -0,0 +1,44 @@ +cmake_minimum_required(VERSION 2.8.3) +project(colorado) + +SET(CMAKE_CXX_FLAGS "-std=c++0x") + + +find_package(catkin REQUIRED COMPONENTS + gazebo_plugins + gazebo_ros + roscpp + std_msgs + geometry_msgs + dynamic_reconfigure +) +find_package(Boost REQUIRED COMPONENTS + thread + system +) + +find_package(gazebo REQUIRED) + +generate_dynamic_reconfigure_options(cfg/colorado.cfg) + + +link_directories(${GAZEBO_LIBRARY_DIRS}) + +include_directories(${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS}) + +catkin_package( + CATKIN_DEPENDS + geometry_msgs + roscpp + std_msgs + #dynamic_reconfigure +) + + +include_directories( ${catkin_INCLUDE_DIRS}) + +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}") + +add_library(colorado_driving_plugin SHARED src/colorado_driving_plugin.cc) +target_link_libraries(colorado_driving_plugin ${catkin_LIBRARIES} ${Boost_LIBRARIES} ) +add_dependencies(colorado_driving_plugin ${PROJECT_NAME}_gencfg) diff --git a/sitl_config/car/colorado/CMakeLists.txt~ b/sitl_config/car/colorado/CMakeLists.txt~ new file mode 100644 index 0000000..16e752b --- /dev/null +++ b/sitl_config/car/colorado/CMakeLists.txt~ @@ -0,0 +1,44 @@ +cmake_minimum_required(VERSION 2.8.3) +project(colorado) + +SET(CMAKE_CXX_FLAGS "-std=c++0x") + + +find_package(catkin REQUIRED COMPONENTS + gazebo_plugins + gazebo_ros + roscpp + std_msgs + geometry_msgs + dynamic_reconfigure +) +find_package(Boost REQUIRED COMPONENTS + thread + system +) + +find_package(gazebo REQUIRED) + +generate_dynamic_reconfigure_options(cfg/colorado_model.cfg) + + +link_directories(${GAZEBO_LIBRARY_DIRS}) + +include_directories(${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS}) + +catkin_package( + CATKIN_DEPENDS + geometry_msgs + roscpp + std_msgs + #dynamic_reconfigure +) + + +include_directories( ${catkin_INCLUDE_DIRS}) + +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}") + +add_library(colorado_driving_plugin SHARED src/colorado_driving_plugin.cc) +target_link_libraries(colorado_driving_plugin ${catkin_LIBRARIES} ${Boost_LIBRARIES} ) +add_dependencies(colorado_driving_plugin ${PROJECT_NAME}_gencfg) diff --git a/sitl_config/car/colorado/Scripts/CMD_VEL_Direct_Control.py b/sitl_config/car/colorado/Scripts/CMD_VEL_Direct_Control.py new file mode 100755 index 0000000..300e311 --- /dev/null +++ b/sitl_config/car/colorado/Scripts/CMD_VEL_Direct_Control.py @@ -0,0 +1,47 @@ +#!/usr/bin/env python +import roslib +import rospy +# import socket + +# UDP_IP = "127.0.0.1" +# UDP_PORT = 5005 +# MESSAGE = "" + +# print "UDP target IP:", UDP_IP +# print "UDP target port:", UDP_PORT +# print "message:", MESSAGE + +# sock = socket.socket(socket.AF_INET, # Internet +# socket.SOCK_DGRAM) # UDP + + +from geometry_msgs.msg import Twist +from std_msgs.msg import Float64 +pubt = rospy.Publisher('/colorado/Driving/Throttle', Float64, queue_size=10) +pubs = rospy.Publisher('/colorado/Driving/Steering', Float64, queue_size=10) +Throttle=0 +Steer=0 +rospy.init_node('cmd_vel_listener') +rate = rospy.Rate(30) +def callback(msg): + + Throttle = msg.linear.x + Steer = msg.angular.z + # rospy.loginfo(Throttle) + pubt.publish(Float64(Throttle)) + pubs.publish(Float64(-Steer)) + # MESSAGE ="%f %f" % (Throttle, -Steer) + # sock.sendto(MESSAGE, (UDP_IP, UDP_PORT)) + +def listener(): + + rospy.Subscriber("/xtdrone/rover_0/cmd_vel_flu", Twist, callback) + rate.sleep() + rospy.spin() + +if __name__ == '__main__': + + try: + listener() + except rospy.ROSInterruptException: + pass diff --git a/sitl_config/car/colorado/Scripts/transform_broadcaster.py b/sitl_config/car/colorado/Scripts/transform_broadcaster.py new file mode 100755 index 0000000..cc9edb2 --- /dev/null +++ b/sitl_config/car/colorado/Scripts/transform_broadcaster.py @@ -0,0 +1,45 @@ +#!/usr/bin/env python + +import roslib +import rospy +import tf +from gazebo_msgs.msg import LinkStates + +def command_callback(msg): + names = msg.name + if 'colorado::body' in names: + index = names.index('colorado::body') + + pos_x = msg.pose[index].position.x + pos_y = msg.pose[index].position.y + pos_z = msg.pose[index].position.z + + ori_x = msg.pose[index].orientation.x + ori_y = msg.pose[index].orientation.y + ori_z = msg.pose[index].orientation.z + ori_w = msg.pose[index].orientation.w + + + br = tf.TransformBroadcaster() + br.sendTransform( (pos_x, pos_y, pos_z), + (ori_x, ori_y ,ori_z, ori_w), + rospy.Time.now(), + "body", + "world_gazebo") + + else: + print 'colorado::body dosn\'t exist in the Gazebo' + + +rospy.init_node('world_to_body_TF_pub') + +def main(): + rate = rospy.Rate(100) + while not rospy.is_shutdown(): + msg = rospy.wait_for_message("/gazebo/link_states", LinkStates) + command_callback(msg) + rate.sleep() + + +main() + diff --git a/sitl_config/car/colorado/cfg/colorado.cfg b/sitl_config/car/colorado/cfg/colorado.cfg new file mode 100755 index 0000000..4fa2c74 --- /dev/null +++ b/sitl_config/car/colorado/cfg/colorado.cfg @@ -0,0 +1,21 @@ +#!/usr/bin/env python +PACKAGE = "colorado" + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +gen.add("Steer_control_P", double_t, 0, "Porptional", 50000, 0, 50000) +gen.add("Steer_control_I", double_t, 0, "Integral", 100, 0, 1000) +gen.add("Steer_control_D", double_t, 0, "Differential", 800, 0, 10000) +#Engine power, Velocity damping and steering speed: +gen.add("Power", double_t, 0, "Power multiplier", 2, 0, 10000) +gen.add("Damping", double_t, 0, "Velocity Damping", 12, 0, 1000) +gen.add("Friction", double_t, 0, "Wheel Dynamic Friction", 100, 0, 1000) +gen.add("Steering", double_t, 0, "Streeing speed", 2, 0, 1000) +#Suspension system values: +gen.add("Spring", double_t, 0, "Suspension Spring", 28000, 0, 100000) +gen.add("Damper", double_t, 0, "Suspesion Damping", 4000, -5000, 5000) +gen.add("Target", double_t, 0, "Suspesion Target", 0.11, -2, 2) + +exit(gen.generate(PACKAGE, "colorado_reconfig_node", "colorado")) \ No newline at end of file diff --git a/sitl_config/car/colorado/cfg/colorado.cfg~ b/sitl_config/car/colorado/cfg/colorado.cfg~ new file mode 100755 index 0000000..21856d8 --- /dev/null +++ b/sitl_config/car/colorado/cfg/colorado.cfg~ @@ -0,0 +1,20 @@ +#!/usr/bin/env python +PACKAGE = "colorado" + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +gen.add("Steer_control_P", double_t, 0, "Porptional", 10000, 0, 50000) +gen.add("Steer_control_I", double_t, 0, "Porptional", 0.0, 0, 1000) +gen.add("Steer_control_D", double_t, 0, "Porptional", 1000, 0, 10000) + +gen.add("Power", double_t, 0, "Power multiplier", 4, 0, 1000) +gen.add("Damping", double_t, 0, "Velocity Damping", 100, 0, 1000) +gen.add("Steering", double_t, 0, "streeing power", 0.001, 0, 1) + + +gen.add("Command_Linear_Noise", double_t, 0, "Porptional", 0.0, 0, 1) +gen.add("Command_Angular_Noise", double_t, 0, "Porptional", 0.0, 0, 1) + +exit(gen.generate(PACKAGE, "colorado_reconfig_node", "colorado")) diff --git a/sitl_config/car/colorado/launch/colorado_empty_world.launch b/sitl_config/car/colorado/launch/colorado_empty_world.launch new file mode 100755 index 0000000..4862b7b --- /dev/null +++ b/sitl_config/car/colorado/launch/colorado_empty_world.launch @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sitl_config/car/colorado/package.xml b/sitl_config/car/colorado/package.xml new file mode 100644 index 0000000..562e593 --- /dev/null +++ b/sitl_config/car/colorado/package.xml @@ -0,0 +1,59 @@ + + + colorado + 0.0.0 + The colorado package + + + + + dany + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + geometry_msgs + + roscpp + rospy + std_msgs + geometry_msgs + + + + + + + + diff --git a/sitl_config/car/colorado/sdf_models/colorado/BuildSDFModelFromAssets.sh b/sitl_config/car/colorado/sdf_models/colorado/BuildSDFModelFromAssets.sh new file mode 100755 index 0000000..2d45455 --- /dev/null +++ b/sitl_config/car/colorado/sdf_models/colorado/BuildSDFModelFromAssets.sh @@ -0,0 +1,5 @@ +#This script merges all the sdf_assets into the final model.sdf +rm -f model.sdf +cat sdf_assets/Body.xml sdf_assets/Suspension.xml sdf_assets/Steering.xml sdf_assets/Wheels.xml sdf_assets/Ender.xml > model.sdf +echo model.sdf built! + diff --git a/sitl_config/car/colorado/sdf_models/colorado/model.config b/sitl_config/car/colorado/sdf_models/colorado/model.config new file mode 100644 index 0000000..7e53c14 --- /dev/null +++ b/sitl_config/car/colorado/sdf_models/colorado/model.config @@ -0,0 +1,6 @@ + + + colorado + 1.0 + model.sdf + diff --git a/sitl_config/car/colorado/sdf_models/colorado/model.sdf b/sitl_config/car/colorado/sdf_models/colorado/model.sdf new file mode 100644 index 0000000..00298b8 --- /dev/null +++ b/sitl_config/car/colorado/sdf_models/colorado/model.sdf @@ -0,0 +1,819 @@ + + + + + + 0 0 0 0 0 0 + 1 + 1 + + 0.00 0.00 1 0 0 0 + 2000 + + 500 + 0.00 + 0.00 + 2000 + 0.00 + 2000 + + + + -0.17975 0 1.20715 0 0 0 + + + 1.934 2.392 1.438 + + + + + 1.65953 0 1.20715 0 0.09472 0 + + + 1.622 2.414 0.1 + + + + + -2.59851 0 1.08547 0 0 0 + + + 0.158 2.46 0.591 + + + + + -1.93823 0 1.56472 0 -0.33794 0 + + + 1.384 2.460 0.269 + + + + + 0 0 0 0 0 0 + + + 1 1 1 + model://../Assets/colorado_body.dae + + + + + + + + + +1.6 0.27504 0.65450 0 0 0 + + + 0.01 + 0.0 + 0.0 + 0.01 + 0.0 + 0.01 + + 50 + + + +1.6 0.3666 0.8654 1.09558 0 0 + + + 0.01 + 0.0 + 0.0 + 0.01 + 0.0 + 0.01 + + 50 + + + 0 0 -0.25 0 0 0 + + + 0.025 + 0.5 + + + 0.1 0.1 0.1 10.1 0.1 0.1 11 1 1 10 0 0 1 + + + +1.6 0.9 0.391 0 0 0 + + + 0.01 + 0.0 + 0.0 + 0.01 + 0.0 + 0.01 + + 50 + + + 0 0 0 0 0 0 + + + 0.025 + 0.1 + + + + + + body + suspension_main_left_1 + 0.0 0.0 0.0 0.0 0.0 0.0 + + 1 0 0 + + + + body + suspension_holder_left_1 + 0.0 0.0 0.0 0.0 0.0 0.0 + + 1 0 0 + + + + suspension_holder_left_1 + suspension_left_1 + 0.0 0.0 0.21 0.0 0.0 0.0 + + 1 0 0 + + -0.5 + 0.5 + + + + + suspension_main_left_1 + suspension_left_1 + 0.0 0.0 -0.11 0.0 0.0 0.0 + + 1 0 0 + + + + +-1.6 0.27504 0.65450 0 0 0 + + + 0.01 + 0.0 + 0.0 + 0.01 + 0.0 + 0.01 + + 50 + + + + +-1.6 0.3666 0.8654 1.09558 0 0 + + + 0.01 + 0.0 + 0.0 + 0.01 + 0.0 + 0.01 + + 50 + + + 0 0 -0.25 0 0 0 + + + 0.025 + 0.5 + + + 0.1 0.1 0.1 10.1 0.1 0.1 11 1 1 10 0 0 1 + + + +-1.6 0.9 0.391 0 0 0 + + + 0.01 + 0.0 + 0.0 + 0.01 + 0.0 + 0.01 + + 50 + + + 0 0 0 0 0 0 + + + 0.025 + 0.1 + + + + + + body + suspension_main_left_2 + 0.0 0.0 0.0 0.0 0.0 0.0 + + 1 0 0 + + + + body + suspension_holder_left_2 + 0.0 0.0 0.0 0.0 0.0 0.0 + + 1 0 0 + + + + suspension_holder_left_2 + suspension_left_2 + 0.0 0.0 0.21 0.0 0.0 0.0 + + 1 0 0 + + -0.5 + 0.5 + + + + + suspension_main_left_2 + suspension_left_2 + 0.0 0.0 -0.11 0.0 0.0 0.0 + + 1 0 0 + + + + +1.6 -0.27504 0.65450 0 0 0 + + + 0.01 + 0.0 + 0.0 + 0.01 + 0.0 + 0.01 + + 50 + + + +1.6 -0.3666 0.8654 -1.09558 0 0 + + + 0.01 + 0.0 + 0.0 + 0.01 + 0.0 + 0.01 + + 50 + + + 0 0 -0.25 0 0 0 + + + 0.025 + 0.5 + + + 0.1 0.1 0.1 10.1 0.1 0.1 11 1 1 10 0 0 1 + + + +1.6 -0.9 0.391 0 0 0 + + + 0.01 + 0.0 + 0.0 + 0.01 + 0.0 + 0.01 + + 50 + + + 0 0 0 0 0 0 + + + 0.025 + 0.1 + + + + + + body + suspension_main_right_1 + 0.0 0.0 0.0 0.0 0.0 0.0 + + -1 0 0 + + + + body + suspension_holder_right_1 + 0.0 0.0 0.0 0.0 0.0 0.0 + + 1 0 0 + + + + suspension_holder_right_1 + suspension_right_1 + 0.0 0.0 0.21 0.0 0.0 0.0 + + 1 0 0 + + -0.5 + 0.5 + + + + + suspension_main_right_1 + suspension_right_1 + 0.0 0.0 -0.11 0.0 0.0 0.0 + + 1 0 0 + + + + +-1.6 -0.27504 0.65450 0 0 0 + + + 0.01 + 0.0 + 0.0 + 0.01 + 0.0 + 0.01 + + 50 + + + +-1.6 -0.3666 0.8654 -1.09558 0 0 + + + 0.01 + 0.0 + 0.0 + 0.01 + 0.0 + 0.01 + + 50 + + + 0 0 -0.25 0 0 0 + + + 0.025 + 0.5 + + + 0.1 0.1 0.1 10.1 0.1 0.1 11 1 1 10 0 0 1 + + + +-1.6 -0.9 0.391 0 0 0 + + + 0.01 + 0.0 + 0.0 + 0.01 + 0.0 + 0.01 + + 50 + + + 0 0 0 0 0 0 + + + 0.025 + 0.1 + + + + + + body + suspension_main_right_2 + 0.0 0.0 0.0 0.0 0.0 0.0 + + -1 0 0 + + + + body + suspension_holder_right_2 + 0.0 0.0 0.0 0.0 0.0 0.0 + + 1 0 0 + + + + suspension_holder_right_2 + suspension_right_2 + 0.0 0.0 0.21 0.0 0.0 0.0 + + 1 0 0 + + -0.5 + 0.5 + + + + + suspension_main_right_2 + suspension_right_2 + 0.0 0.0 -0.11 0.0 0.0 0.0 + + 1 0 0 + + + + + + + 1.6 0.9 0.391 0 0 0 + + + 0.01 + 0.0 + 0.0 + 0.01 + 0.0 + 0.01 + + 50 + + + 0 0 0 0 0 3.14159265359 + + + 0.02 + 0.3 + + + 0.2 0.2 0.2 10.1 0.1 0.1 11 1 1 10 0 0 1 + + + + suspension_left_1 + steering_left_1 + 0.0 0.0 0.0 0.0 0.0 0.0 + + + 1 + + + -0.61 + 0.61 + + 0 0 1 + + + + 1.6 -0.9 0.391 0 0 0 + + + 0.01 + 0.0 + 0.0 + 0.01 + 0.0 + 0.01 + + 50 + + + 0 0 0 0 0 0 + + + 0.02 + 0.3 + + + 0.2 0.2 0.2 10.1 0.1 0.1 11 1 1 10 0 0 1 + + + + suspension_right_1 + steering_right_1 + 0.0 0.0 0.0 0.0 0.0 0.0 + + + 1 + + + -0.61 + 0.61 + + 0 0 1 + + + + + + + 1.6 0.9 0.391 0 0 0 + + 0 0 0 0 0 0 + 80 + + 5.9 + 0 + 0 + 9.88 + 0 + 5.9 + + + + 0 0 0 1.57079633 0 0 + + + 0.1 + 0.388 + + + + + 0 0 0 1.57079633 0 0 + + + 0.2 + 0.387 + + + + + 0 0 0 1.57079633 0 0 + + + 0.24 + 0.385 + + + + + 0 0 0 1.57079633 0 0 + + + 0.254 + 0.38 + + + + + 0 0 0 0 0 3.1469265 + + + model://../Assets/colorado_wheel.dae + + + + 1 + 0 + + + left_wheel_1 + steering_left_1 + + 0 1 0 + + + + -1.6 0.9 0.391 0 0 0 + + 0 0 0 0 0 0 + 80 + + 5.9 + 0 + 0 + 9.88 + 0 + 5.9 + + + + 0 0 0 1.57079633 0 0 + + + 0.1 + 0.388 + + + + + 0 0 0 1.57079633 0 0 + + + 0.2 + 0.387 + + + + + 0 0 0 1.57079633 0 0 + + + 0.24 + 0.385 + + + + + 0 0 0 1.57079633 0 0 + + + 0.254 + 0.38 + + + + + 0 0 0 0 0 3.1469265 + + + model://../Assets/colorado_wheel.dae + + + + 1 + 0 + + + left_wheel_2 + suspension_left_2 + + 0 1 0 + + + + 1.6 -0.9 0.391 0 0 0 + + 0 0 0 0 0 0 + 80 + + 5.9 + 0 + 0 + 9.88 + 0 + 5.9 + + + + 0 0 0 1.57079633 0 0 + + + 0.1 + 0.388 + + + + + 0 0 0 1.57079633 0 0 + + + 0.2 + 0.387 + + + + + 0 0 0 1.57079633 0 0 + + + 0.24 + 0.385 + + + + + 0 0 0 1.57079633 0 0 + + + 0.254 + 0.38 + + + + + 0 0 0 0 0 0 + + + model://../Assets/colorado_wheel.dae + + + + 1 + 0 + + + right_wheel_1 + steering_right_1 + + 0 1 0 + + + + -1.6 -0.9 0.391 0 0 0 + + 0 0 0 0 0 0 + 80 + + 5.9 + 0 + 0 + 9.88 + 0 + 5.9 + + + + 0 0 0 1.57079633 0 0 + + + 0.1 + 0.388 + + + + + 0 0 0 1.57079633 0 0 + + + 0.2 + 0.387 + + + + + 0 0 0 1.57079633 0 0 + + + 0.24 + 0.385 + + + + + 0 0 0 1.57079633 0 0 + + + 0.254 + 0.38 + + + + + 0 0 0 0 0 0 + + + model://../Assets/colorado_wheel.dae + + + + 1 + 0 + + + right_wheel_2 + suspension_right_2 + + 0 1 0 + + + + + + + \ No newline at end of file diff --git a/sitl_config/car/colorado/sdf_models/colorado/sdf_assets/Body.xml b/sitl_config/car/colorado/sdf_models/colorado/sdf_assets/Body.xml new file mode 100644 index 0000000..c59c19b --- /dev/null +++ b/sitl_config/car/colorado/sdf_models/colorado/sdf_assets/Body.xml @@ -0,0 +1,62 @@ + + + + + + 0 0 0 0 0 0 + 1 + 1 + + 0.00 0.00 1 0 0 0 + 2000 + + 500 + 0.00 + 0.00 + 2000 + 0.00 + 2000 + + + + -0.17975 0 1.20715 0 0 0 + + + 1.934 2.392 1.438 + + + + + 1.65953 0 1.20715 0 0.09472 0 + + + 1.622 2.414 0.1 + + + + + -2.59851 0 1.08547 0 0 0 + + + 0.158 2.46 0.591 + + + + + -1.93823 0 1.56472 0 -0.33794 0 + + + 1.384 2.460 0.269 + + + + + 0 0 0 0 0 0 + + + 1 1 1 + model://../Assets/colorado_body.dae + + + + diff --git a/sitl_config/car/colorado/sdf_models/colorado/sdf_assets/Ender.xml b/sitl_config/car/colorado/sdf_models/colorado/sdf_assets/Ender.xml new file mode 100644 index 0000000..b1317f3 --- /dev/null +++ b/sitl_config/car/colorado/sdf_models/colorado/sdf_assets/Ender.xml @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/sitl_config/car/colorado/sdf_models/colorado/sdf_assets/Steering.xml b/sitl_config/car/colorado/sdf_models/colorado/sdf_assets/Steering.xml new file mode 100644 index 0000000..c738ea7 --- /dev/null +++ b/sitl_config/car/colorado/sdf_models/colorado/sdf_assets/Steering.xml @@ -0,0 +1,83 @@ + + + + + 1.6 0.9 0.391 0 0 0 + + + 0.01 + 0.0 + 0.0 + 0.01 + 0.0 + 0.01 + + 50 + + + 0 0 0 0 0 3.14159265359 + + + 0.02 + 0.3 + + + 0.2 0.2 0.2 10.1 0.1 0.1 11 1 1 10 0 0 1 + + + + suspension_left_1 + steering_left_1 + 0.0 0.0 0.0 0.0 0.0 0.0 + + + 1 + + + -0.61 + 0.61 + + 0 0 1 + + + + 1.6 -0.9 0.391 0 0 0 + + + 0.01 + 0.0 + 0.0 + 0.01 + 0.0 + 0.01 + + 50 + + + 0 0 0 0 0 0 + + + 0.02 + 0.3 + + + 0.2 0.2 0.2 10.1 0.1 0.1 11 1 1 10 0 0 1 + + + + suspension_right_1 + steering_right_1 + 0.0 0.0 0.0 0.0 0.0 0.0 + + + 1 + + + -0.61 + 0.61 + + 0 0 1 + + + + \ No newline at end of file diff --git a/sitl_config/car/colorado/sdf_models/colorado/sdf_assets/Suspension.xml b/sitl_config/car/colorado/sdf_models/colorado/sdf_assets/Suspension.xml new file mode 100644 index 0000000..46d00d3 --- /dev/null +++ b/sitl_config/car/colorado/sdf_models/colorado/sdf_assets/Suspension.xml @@ -0,0 +1,397 @@ + + + + + +1.6 0.27504 0.65450 0 0 0 + + + 0.01 + 0.0 + 0.0 + 0.01 + 0.0 + 0.01 + + 50 + + + +1.6 0.3666 0.8654 1.09558 0 0 + + + 0.01 + 0.0 + 0.0 + 0.01 + 0.0 + 0.01 + + 50 + + + 0 0 -0.25 0 0 0 + + + 0.025 + 0.5 + + + 0.1 0.1 0.1 10.1 0.1 0.1 11 1 1 10 0 0 1 + + + +1.6 0.9 0.391 0 0 0 + + + 0.01 + 0.0 + 0.0 + 0.01 + 0.0 + 0.01 + + 50 + + + 0 0 0 0 0 0 + + + 0.025 + 0.1 + + + + + + body + suspension_main_left_1 + 0.0 0.0 0.0 0.0 0.0 0.0 + + 1 0 0 + + + + body + suspension_holder_left_1 + 0.0 0.0 0.0 0.0 0.0 0.0 + + 1 0 0 + + + + suspension_holder_left_1 + suspension_left_1 + 0.0 0.0 0.21 0.0 0.0 0.0 + + 1 0 0 + + -0.5 + 0.5 + + + + + suspension_main_left_1 + suspension_left_1 + 0.0 0.0 -0.11 0.0 0.0 0.0 + + 1 0 0 + + + + +-1.6 0.27504 0.65450 0 0 0 + + + 0.01 + 0.0 + 0.0 + 0.01 + 0.0 + 0.01 + + 50 + + + + +-1.6 0.3666 0.8654 1.09558 0 0 + + + 0.01 + 0.0 + 0.0 + 0.01 + 0.0 + 0.01 + + 50 + + + 0 0 -0.25 0 0 0 + + + 0.025 + 0.5 + + + 0.1 0.1 0.1 10.1 0.1 0.1 11 1 1 10 0 0 1 + + + +-1.6 0.9 0.391 0 0 0 + + + 0.01 + 0.0 + 0.0 + 0.01 + 0.0 + 0.01 + + 50 + + + 0 0 0 0 0 0 + + + 0.025 + 0.1 + + + + + + body + suspension_main_left_2 + 0.0 0.0 0.0 0.0 0.0 0.0 + + 1 0 0 + + + + body + suspension_holder_left_2 + 0.0 0.0 0.0 0.0 0.0 0.0 + + 1 0 0 + + + + suspension_holder_left_2 + suspension_left_2 + 0.0 0.0 0.21 0.0 0.0 0.0 + + 1 0 0 + + -0.5 + 0.5 + + + + + suspension_main_left_2 + suspension_left_2 + 0.0 0.0 -0.11 0.0 0.0 0.0 + + 1 0 0 + + + + +1.6 -0.27504 0.65450 0 0 0 + + + 0.01 + 0.0 + 0.0 + 0.01 + 0.0 + 0.01 + + 50 + + + +1.6 -0.3666 0.8654 -1.09558 0 0 + + + 0.01 + 0.0 + 0.0 + 0.01 + 0.0 + 0.01 + + 50 + + + 0 0 -0.25 0 0 0 + + + 0.025 + 0.5 + + + 0.1 0.1 0.1 10.1 0.1 0.1 11 1 1 10 0 0 1 + + + +1.6 -0.9 0.391 0 0 0 + + + 0.01 + 0.0 + 0.0 + 0.01 + 0.0 + 0.01 + + 50 + + + 0 0 0 0 0 0 + + + 0.025 + 0.1 + + + + + + body + suspension_main_right_1 + 0.0 0.0 0.0 0.0 0.0 0.0 + + -1 0 0 + + + + body + suspension_holder_right_1 + 0.0 0.0 0.0 0.0 0.0 0.0 + + 1 0 0 + + + + suspension_holder_right_1 + suspension_right_1 + 0.0 0.0 0.21 0.0 0.0 0.0 + + 1 0 0 + + -0.5 + 0.5 + + + + + suspension_main_right_1 + suspension_right_1 + 0.0 0.0 -0.11 0.0 0.0 0.0 + + 1 0 0 + + + + +-1.6 -0.27504 0.65450 0 0 0 + + + 0.01 + 0.0 + 0.0 + 0.01 + 0.0 + 0.01 + + 50 + + + +-1.6 -0.3666 0.8654 -1.09558 0 0 + + + 0.01 + 0.0 + 0.0 + 0.01 + 0.0 + 0.01 + + 50 + + + 0 0 -0.25 0 0 0 + + + 0.025 + 0.5 + + + 0.1 0.1 0.1 10.1 0.1 0.1 11 1 1 10 0 0 1 + + + +-1.6 -0.9 0.391 0 0 0 + + + 0.01 + 0.0 + 0.0 + 0.01 + 0.0 + 0.01 + + 50 + + + 0 0 0 0 0 0 + + + 0.025 + 0.1 + + + + + + body + suspension_main_right_2 + 0.0 0.0 0.0 0.0 0.0 0.0 + + -1 0 0 + + + + body + suspension_holder_right_2 + 0.0 0.0 0.0 0.0 0.0 0.0 + + 1 0 0 + + + + suspension_holder_right_2 + suspension_right_2 + 0.0 0.0 0.21 0.0 0.0 0.0 + + 1 0 0 + + -0.5 + 0.5 + + + + + suspension_main_right_2 + suspension_right_2 + 0.0 0.0 -0.11 0.0 0.0 0.0 + + 1 0 0 + + + diff --git a/sitl_config/car/colorado/sdf_models/colorado/sdf_assets/Wheels.xml b/sitl_config/car/colorado/sdf_models/colorado/sdf_assets/Wheels.xml new file mode 100644 index 0000000..e69e139 --- /dev/null +++ b/sitl_config/car/colorado/sdf_models/colorado/sdf_assets/Wheels.xml @@ -0,0 +1,276 @@ + + + + 1.6 0.9 0.391 0 0 0 + + 0 0 0 0 0 0 + 80 + + 5.9 + 0 + 0 + 9.88 + 0 + 5.9 + + + + 0 0 0 1.57079633 0 0 + + + 0.1 + 0.388 + + + + + 0 0 0 1.57079633 0 0 + + + 0.2 + 0.387 + + + + + 0 0 0 1.57079633 0 0 + + + 0.24 + 0.385 + + + + + 0 0 0 1.57079633 0 0 + + + 0.254 + 0.38 + + + + + 0 0 0 0 0 3.1469265 + + + model://../Assets/colorado_wheel.dae + + + + 1 + 0 + + + left_wheel_1 + steering_left_1 + + 0 1 0 + + + + -1.6 0.9 0.391 0 0 0 + + 0 0 0 0 0 0 + 80 + + 5.9 + 0 + 0 + 9.88 + 0 + 5.9 + + + + 0 0 0 1.57079633 0 0 + + + 0.1 + 0.388 + + + + + 0 0 0 1.57079633 0 0 + + + 0.2 + 0.387 + + + + + 0 0 0 1.57079633 0 0 + + + 0.24 + 0.385 + + + + + 0 0 0 1.57079633 0 0 + + + 0.254 + 0.38 + + + + + 0 0 0 0 0 3.1469265 + + + model://../Assets/colorado_wheel.dae + + + + 1 + 0 + + + left_wheel_2 + suspension_left_2 + + 0 1 0 + + + + 1.6 -0.9 0.391 0 0 0 + + 0 0 0 0 0 0 + 80 + + 5.9 + 0 + 0 + 9.88 + 0 + 5.9 + + + + 0 0 0 1.57079633 0 0 + + + 0.1 + 0.388 + + + + + 0 0 0 1.57079633 0 0 + + + 0.2 + 0.387 + + + + + 0 0 0 1.57079633 0 0 + + + 0.24 + 0.385 + + + + + 0 0 0 1.57079633 0 0 + + + 0.254 + 0.38 + + + + + 0 0 0 0 0 0 + + + model://../Assets/colorado_wheel.dae + + + + 1 + 0 + + + right_wheel_1 + steering_right_1 + + 0 1 0 + + + + -1.6 -0.9 0.391 0 0 0 + + 0 0 0 0 0 0 + 80 + + 5.9 + 0 + 0 + 9.88 + 0 + 5.9 + + + + 0 0 0 1.57079633 0 0 + + + 0.1 + 0.388 + + + + + 0 0 0 1.57079633 0 0 + + + 0.2 + 0.387 + + + + + 0 0 0 1.57079633 0 0 + + + 0.24 + 0.385 + + + + + 0 0 0 1.57079633 0 0 + + + 0.254 + 0.38 + + + + + 0 0 0 0 0 0 + + + model://../Assets/colorado_wheel.dae + + + + 1 + 0 + + + right_wheel_2 + suspension_right_2 + + 0 1 0 + + + + diff --git a/sitl_config/car/colorado/src/colorado_driving_plugin.cc b/sitl_config/car/colorado/src/colorado_driving_plugin.cc new file mode 100644 index 0000000..6039360 --- /dev/null +++ b/sitl_config/car/colorado/src/colorado_driving_plugin.cc @@ -0,0 +1,456 @@ +// Written By : Yossi Cohen +#define MY_GAZEBO_VER 5 +// If the plugin is not defined then define it +#include +#include +#include +#include +// Gazebo Libraries +#include +#include +#include +#include +#include +#include +#include +// Ignition +#include +// ROS Communication +#include "ros/ros.h" +#include "std_msgs/Float64.h" +#include "std_msgs/Bool.h" +// Boost Thread Mutex +#include +// Dynamic Configuration +#include +#include +#include // Boost Bind + +#include + +// Maximum time delay before a "no command" behaviour is initiated. +#define command_MAX_DELAY 0.3 + +#define PI 3.14159265359 +#define VehicleLength 3.5932 +#define VehicleWidth 1.966 +#define WheelRadius 0.497 +#define HP 190 //190 HP @3400 rpm=142KW @3400 rpm & 515 NM @1300 +#define POWER 142 +#define TRANSMISSIONS 4 +#define IDLE_RPM 550 +//#define MY_GAZEBO_VER 5 + +namespace gazebo +{ + +class coloradoDrivingPlugin : public ModelPlugin +{ + double deltaSimTime = 0.001; + /// Constructor +public: + coloradoDrivingPlugin() {} + + /// The load function is called by Gazebo when the plugin is inserted into simulation + /// \param[in] _model A pointer to the model that this plugin is attached to. + /// \param[in] _sdf A pointer to the plugin's SDF element. +public: + void Load(physics::ModelPtr _model, sdf::ElementPtr /*_sdf*/) // we are not using the pointer to the sdf file so its commanted as an option + { + std::cout << "My major GAZEBO VER = [" << GAZEBO_MAJOR_VERSION << "]" << std::endl; + this->model = _model; + // Store the pointers to the joints + this->left_wheel_1 = this->model->GetJoint("left_wheel_1"); + this->left_wheel_2 = this->model->GetJoint("left_wheel_2"); + this->right_wheel_1 = this->model->GetJoint("right_wheel_1"); + this->right_wheel_2 = this->model->GetJoint("right_wheel_2"); + this->streer_joint_left_1 = this->model->GetJoint("steering_joint_left_1"); + this->streer_joint_right_1 = this->model->GetJoint("steering_joint_right_1"); + this->spring_left_1 = this->model->GetJoint("spring_left_1"); + this->spring_right_1 = this->model->GetJoint("spring_right_1"); + this->spring_left_2 = this->model->GetJoint("spring_left_2"); + this->spring_right_2 = this->model->GetJoint("spring_right_2"); + + // Starting Timers + Throttle_command_timer.Start(); + Angular_command_timer.Start(); + Breaking_command_timer.Start(); + this->Ros_nh = new ros::NodeHandle("coloradoDrivingPlugin_node"); + + // Subscribe to the topic, and register a callback + Steering_rate_sub = this->Ros_nh->subscribe("colorado/Driving/Steering", 60, &coloradoDrivingPlugin::On_Steering_command, this); + Velocity_rate_sub = this->Ros_nh->subscribe("colorado/Driving/Throttle", 60, &coloradoDrivingPlugin::On_Throttle_command, this); + Breaking_sub = this->Ros_nh->subscribe("colorado/Driving/Break", 60, &coloradoDrivingPlugin::On_Break_command, this); + + platform_hb_pub_ = this->Ros_nh->advertise("colorado/ConnctionStatus", 60); + platform_Speedometer_pub = this->Ros_nh->advertise("colorado/Speedometer", 60); + + // Listen to the update event. This event is broadcast every simulation iteration. + this->updateConnection = event::Events::ConnectWorldUpdateBegin(boost::bind(&coloradoDrivingPlugin::OnUpdate, this, _1)); + std::cout << "Setting up dynamic config" << std::endl; + + this->model_reconfiguration_server = new dynamic_reconfigure::Server(*(this->Ros_nh)); + this->model_reconfiguration_server->setCallback(boost::bind(&coloradoDrivingPlugin::dynamic_Reconfiguration_callback, this, _1, _2)); + std::cout << "Dynamic configuration is set up" << std::endl; + Steering_Request = 0; + Throttle_command = 0; + std::cout << "Driving Plugin Loaded" << std::endl; + } + +public: + void dynamic_Reconfiguration_callback(colorado::coloradoConfig &config, uint32_t level) + { + control_P = config.Steer_control_P; + control_I = config.Steer_control_I; + control_D = config.Steer_control_D; + steeringSpeed = config.Steering; + damping = config.Damping; + friction = config.Friction; + power = config.Power; + suspenSpring = config.Spring; + SuspenDamp = config.Damper; + SuspenTarget = config.Target; + } + + // Called by the world update start event, This function is the event that will be called every update +public: + void OnUpdate(const common::UpdateInfo &simInfo) // we are not using the pointer to the info so its commanted as an option + { + + deltaSimTime = simInfo.simTime.Double() - simTime.Double(); + simTime = simInfo.simTime; + // std::cout << "update function started"<spring_right_1->GetAngle(0).Radian() << std::endl; + SpeedMsg.data = Speed * 3.6; + platform_Speedometer_pub.publish(SpeedMsg); + connection.data = true; + platform_hb_pub_.publish(connection); + tf::Transform transform; + transform.setOrigin( tf::Vector3(model->WorldPose().Pos().X(), model->WorldPose().Pos().Y(), model->WorldPose().Pos().Z())); + transform.setRotation(tf::Quaternion(model->WorldPose().Rot().X(),model->WorldPose().Rot().Y(),model->WorldPose().Rot().Z(),model->WorldPose().Rot().W())); + + TF_Broadcast(transform, "WORLD", model->GetName(), simInfo.simTime); + + } + void TF_Broadcast(tf::Transform transform, std::string frame_id, std::string child_frame_id, common::Time time) + { + static tf::TransformBroadcaster br; + tf::StampedTransform st(transform, ros::Time::now()/*(time.sec, time.nsec)*/, frame_id, child_frame_id); + br.sendTransform(st); + + } + void EngineCalculations() + { + ThrottlePedal = ThrottlePedal + deltaSimTime * 5 * (Throttle_command - ThrottlePedal); //move the gas pedal smoothly + if (Throttle_command < 0 && Speed > 5) + ThrottlePedal = 0; + CurrentRPM = fabs(Speed) * GearRatio[CurrentGear] * 3.1 / (WheelRadius * 2 * PI / 60) + IDLE_RPM; //Calculating RPM from wheel speed. 3.1 being the Final Drive Gear ratio. + if (CurrentGear < TRANSMISSIONS && Speed * 3.6 > ShiftSpeed[CurrentGear]) //simulating Torque drop in transmission + { + CurrentGear++; + ShiftTime = simTime.Double() + 0.25; + } + else if (CurrentGear > 1 && Speed * 3.6 < ShiftSpeed[CurrentGear - 1] - 10) //simulating Torque drop in transmission + { + CurrentGear--; + ShiftTime = simTime.Double() + 0.25; + } + int indexRPM = ((int)CurrentRPM) / 600; + double interpolatedEngineTorque = 400 + 0.1620123 * CurrentRPM - 0.00005657748 * CurrentRPM * CurrentRPM; //An extracted function from the TorqueRPM600 array + // double interpolatedEngineTorque=(TorqueRPM600[indexRPM]+TorqueRPM600[indexRPM+1]*fmod(CurrentRPM,600)/600)/(1+fmod(CurrentRPM,600)/600); Deprecated interpolation code + Torque = ThrottlePedal * interpolatedEngineTorque * GearRatio[CurrentGear] * power; + if (simTime < ShiftTime) //simulating Torque drop in transmission + Torque *= 0.5; + EngineLoad = Torque; + // std::cout << CurrentRPM << " RPM at Gear " << CurrentGear << " Speed " << Speed * 3.6 << " Engine Torque " << EngineLoad << std::endl; + } + void apply_efforts() + { + double WheelTorque = Torque; + // std::cout << " Controlling wheels"<< std::endl; + wheel_controller(this->left_wheel_1, WheelTorque); + wheel_controller(this->left_wheel_2, WheelTorque); + wheel_controller(this->right_wheel_1, WheelTorque); + wheel_controller(this->right_wheel_2, WheelTorque); + // std::cout << " Controlling Steering"<< std::endl; + } + void wheel_controller(physics::JointPtr wheelJoint, double Torque2) + { + WheelPower = Torque2; + + double wheelOmega = wheelJoint->GetVelocity(0); + if (abs(wheelOmega > 1)) + jointforce = WheelPower - damping * wheelOmega - friction * wheelOmega / fabs(wheelOmega); + else + jointforce = WheelPower - damping * wheelOmega; + wheelJoint->SetForce(0, jointforce); + if (wheelJoint == right_wheel_2) + { + wheelsSpeedSum = wheelsSpeedSum + wheelOmega; + Speed = wheelsSpeedSum * WheelRadius / 4; + wheelsSpeedSum = 0; + } + else + wheelsSpeedSum = wheelsSpeedSum + wheelOmega; + } + void apply_steering() + { + double ThetaAckerman = 0; + double ThetaOuter = 0; + if (Steering_Request > 0) //turning right + { + ThetaAckerman = atan(1 / ((1 / (tan(Steering_Request)) + (VehicleWidth / VehicleLength)))); + steer_controller(this->streer_joint_left_1, Steering_Request); + steer_controller(this->streer_joint_right_1, ThetaAckerman); + } + else if (Steering_Request < 0) //turning left + { + ThetaAckerman = atan(1 / ((1 / (tan(-Steering_Request)) + (VehicleWidth / VehicleLength)))); + steer_controller(this->streer_joint_left_1, -ThetaAckerman); + steer_controller(this->streer_joint_right_1, Steering_Request); + } + else + { + steer_controller(this->streer_joint_left_1, 0); + steer_controller(this->streer_joint_right_1, 0); + } + + // std::cout << ThetaAckerman << std::endl; + } + void steer_controller(physics::JointPtr steer_joint, double Angle) + { + // std::cout << " getting angle"<< std::endl; + double currentWheelAngle = steer_joint->Position(0); + double steeringOmega = steer_joint->GetVelocity(0); + if (steer_joint == this->streer_joint_left_1) + { + DesiredAngle = DesiredAngle + steeringSpeed * deltaSimTime * (Angle - DesiredAngle); + if (fabs(Angle - DesiredAngle)<0.01)DesiredAngle=Angle; + IerL+=DesiredAngleR - currentWheelAngle; + double jointforce = control_P * (DesiredAngle - currentWheelAngle)+control_I*IerL - control_D * (steeringOmega); + steer_joint->SetForce(0, jointforce); + // std::cout << currentWheelAngle<< std::endl; + } + else + { + DesiredAngleR = DesiredAngleR + steeringSpeed * deltaSimTime * (Angle - DesiredAngleR); + if (fabs(Angle - DesiredAngleR)<0.01)DesiredAngleR=Angle; + IerR+=DesiredAngleR - currentWheelAngle; + double jointforce = control_P * (DesiredAngleR - currentWheelAngle)+control_I*IerR - control_D * (steeringOmega); + steer_joint->SetForce(0, jointforce); + } + // std::cout << "efforting"<< std::endl; + // this->jointController->SetJointPosition(steer_joint, Angle*0.61); + } + void breaker() + { + + // std::cout << " getting angle"<< std::endl; + if (BreakPedal >= 0.09 && !Breaks) + { + TempDamping = damping; + damping = 10000 * BreakPedal * BreakPedal; + Breaks = true; + std::cout << "Break on " << damping << std::endl; + } + else if (BreakPedal == 0 && Breaks) + { + damping = TempDamping; + Breaks = false; + std::cout << "Breaks off " << damping << std::endl; + } + if (BreakPedal >= 0.09 && Breaks) + damping = 10000 * BreakPedal * BreakPedal; + + // std::cout << "efforting"<< std::endl; + // this->jointController->SetJointPosition(steer_joint, Angle*0.61); + } + void ApplySuspension() + { + Suspension(spring_left_1); + Suspension(spring_left_2); + Suspension(spring_right_1); + Suspension(spring_right_2); + } + void Suspension(physics::JointPtr Suspension) + { //The function to control the suspension of the Vehicle + double SpringForce = -(Suspension->Position(0) + SuspenTarget) * suspenSpring - Suspension->GetVelocity(0) * SuspenDamp; + Suspension->SetForce(0, SpringForce); + } + + // The subscriber callback , each time data is published to the subscriber this function is being called and recieves the data in pointer msg + void On_Throttle_command(const std_msgs::Float64ConstPtr &msg) + { + + Throttle_command_mutex.lock(); + // Recieving referance velocity + if (msg->data > 1) + { + Throttle_command = 1; + } + else if (msg->data < -1) + { + Throttle_command = -1; + } + else + { + Throttle_command = msg->data; + } + +// Reseting timer every time LLC publishes message +#if GAZEBO_MAJOR_VERSION >= 5 + Throttle_command_timer.Reset(); +#endif + Throttle_command_timer.Start(); + + Throttle_command_mutex.unlock(); + } + // The subscriber callback , each time data is published to the subscriber this function is being called and recieves the data in pointer msg + void On_Steering_command(const std_msgs::Float64ConstPtr &msg) + { + Angular_command_mutex.lock(); + // Recieving referance steering angle + if (msg->data > 1) + { + Steering_Request = 1; + } + else if (msg->data < -1) + { + Steering_Request = -1; + } + else + { + Steering_Request = msg->data; + } + Steering_Request = -Steering_Request; + +// Reseting timer every time LLC publishes message +#if GAZEBO_MAJOR_VERSION >= 5 + Angular_command_timer.Reset(); +#endif + Angular_command_timer.Start(); + Angular_command_mutex.unlock(); + } + void On_Break_command(const std_msgs::Float64ConstPtr &msg) + { + Breaking_command_mutex.lock(); + // Recieving referance velocity + if (msg->data >= 1) + BreakPedal = 1; + else if (msg->data >= 0.09) + BreakPedal = msg->data; + else + BreakPedal = 0; + +// Reseting timer every message +#if GAZEBO_MAJOR_VERSION >= 5 + Breaking_command_timer.Reset(); +#endif + Breaking_command_timer.Start(); + Breaking_command_mutex.unlock(); + } + + // Defining private Pointer to model + physics::ModelPtr model; + + // Defining private Pointer to joints + + physics::JointPtr right_wheel_1; + physics::JointPtr right_wheel_2; + physics::JointPtr left_wheel_1; + physics::JointPtr left_wheel_2; + physics::JointPtr streer_joint_left_1; + physics::JointPtr streer_joint_right_1; + physics::JointPtr spring_left_1; + physics::JointPtr spring_right_1; + physics::JointPtr spring_left_2; + physics::JointPtr spring_right_2; + + // Defining private Pointer to the update event connection + event::ConnectionPtr updateConnection; + + // Defining private Ros Node Handle + ros::NodeHandle *Ros_nh; + + // Defining private Ros Subscribers + ros::Subscriber Steering_rate_sub; + ros::Subscriber Velocity_rate_sub; + ros::Subscriber Breaking_sub; + // Defining private Ros Publishers + ros::Publisher platform_hb_pub_; + ros::Publisher platform_Speedometer_pub; + std_msgs::Bool connection; + std_msgs::Float64 SpeedMsg; + + // Defining private Timers + common::Timer Throttle_command_timer; + common::Timer Angular_command_timer; + common::Timer Breaking_command_timer; + common::Time simTime; + + // Defining private Mutex + boost::mutex Angular_command_mutex; + boost::mutex Throttle_command_mutex; + boost::mutex Breaking_command_mutex; + //helper vars + float Throttle_command = 0; + float ThrottlePedal = 0; + float Steering_Request = 0; + float BreakPedal = 0; + double friction = 0; + double WheelPower = 0; + double DesiredAngle = 0; + double DesiredAngleR = 0; + double wheelsSpeedSum = 0; + double CurrentRPM = 0; + double ShiftTime = 0; + double EngineLoad = 0; + int CurrentGear = 1; + double Torque = 0; + double jointforce = 0; + float tempTime = 0; + float Speed = 0; + bool Breaks = false; + double IerL=0; + double IerR=0; + double ShiftSpeed[TRANSMISSIONS] = {0, 20, 40, 65}; + double GearRatio[TRANSMISSIONS + 1] = {0, 3.2, 2.5, 1.5, 0.8}; + double TorqueRPM600[8] = {0, 350, 515, 500, 450, 300, 200, 200}; + double PowerRPM600[8] = {0, 10, 60, 80, 120, 142, 120, 120}; + //Dynamic Configuration Definitions + dynamic_reconfigure::Server *model_reconfiguration_server; + double control_P, control_I, control_D, steeringSpeed, + damping, power, TempDamping, suspenSpring, SuspenDamp, SuspenTarget; +}; + +// Tell Gazebo about this plugin, so that Gazebo can call Load on this plugin. +GZ_REGISTER_MODEL_PLUGIN(coloradoDrivingPlugin) +} +// 4*(0.8654*50+0.65450*50+0.48924*50+0.48924*50)+0.48924*80*4-0.48924*50*2+2000 is 0.863347 which is the CoM height. +// LeftRearWheelLoc = (1.79660 1.04 0.48924) \ No newline at end of file diff --git a/sitl_config/car/colorado/worlds/colorado_empty.world b/sitl_config/car/colorado/worlds/colorado_empty.world new file mode 100644 index 0000000..98a4fee --- /dev/null +++ b/sitl_config/car/colorado/worlds/colorado_empty.world @@ -0,0 +1,59 @@ + + + + + model://sun + + + + + + 5 + 1.14 + 0.3 + + + + + + 80 -60 60 0 0.5 2 + + + + + model://ground_plane + ground_plane + 0 0 0 0 0 0 + + + model://colorado + colorado1 + 0 0 2 0 0 0 + + + + model://colorado + colorado2 + 0 5 2 0 0 0 + + + +