Merge branch 'release/tedx'

launch/track.launch

@@ -40,6 +40,5 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   <node name="joy_node" pkg="joy" type="joy_node" >
     <param name="dev" value="/dev/input/js1" />
   </node>
-  <node pkg="rxtools" type="rxplot" name="plot_battery" args="/ardrone/navdata/batteryPercent" />
 
 </launch>

nodes/ardrone_follow.py

@@ -68,7 +68,7 @@ class ArdroneFollow:
 
         self.xPid = pid.Pid( 0.020, 0.0, 0.0, self.angularZlimit )
         self.yPid = pid.Pid( 0.020, 0.0, 0.0, self.linearZlimit )
-        self.zPid = pid.Pid( 0.035, 0.0, 0.0, self.linearXlimit )
+        self.zPid = pid.Pid( 0.050, 0.0, 0.0, self.linearXlimit )
 
         self.xPid.setPointMin = 40
         self.xPid.setPointMax = 60
@@ -76,8 +76,8 @@ class ArdroneFollow:
         self.yPid.setPointMin = 40
         self.yPid.setPointMax = 60
 
-        self.zPid.setPointMin = 25
-        self.zPid.setPointMax = 32
+        self.zPid.setPointMin = 32
+        self.zPid.setPointMax = 40
 
         self.lastAnim = -1
 
@@ -90,8 +90,24 @@ class ArdroneFollow:
 
         self.bridge = CvBridge()
 
+        self.navdata_sub = rospy.Subscriber( "/ardrone/navdata", Navdata, self.navdata_cb )
+        self.navdata = None
+        self.states = { 0: 'Unknown',
+                        1: 'Init',
+                        2: 'Landed',
+                        3: 'Flying',
+                        4: 'Hovering',
+                        5: 'Test',
+                        6: 'Taking Off',
+                        7: 'Goto Fix Point',
+                        8: 'Landing',
+                        9: 'Looping' }
+
         cv2.namedWindow( 'AR.Drone Follow', cv2.cv.CV_WINDOW_NORMAL )
 
+    def navdata_cb( self, data ):
+        self.navdata = data
+
     def image_cb( self, data ):
         try:
             cv_image = self.bridge.imgmsg_to_cv( data, "passthrough" )
@@ -148,7 +164,7 @@ class ArdroneFollow:
              self.current_cmd.angular.z == 0 ):
             self.manual_cmd = False
         else:
-            #self.setLedAnim( 9 )
+            self.setLedAnim( 9 )
             self.manual_cmd = True
 
         self.goal_vel_pub.publish( self.current_cmd )
@@ -167,7 +183,7 @@ class ArdroneFollow:
 
     def takeoff( self ):
         self.takeoff_pub.publish( Empty() )
-#        self.setLedAnim( 9 )
+        self.setLedAnim( 9 )
 
     def land( self ):
         self.land_pub.publish( Empty() )
@@ -175,14 +191,6 @@ class ArdroneFollow:
     def reset( self ):
         self.reset_pub.publish( Empty() )
 
-    def navdata_cb( self, data ):
-        self.vx = data.vx/1e3
-        self.vy = data.vy/1e3
-        self.vz = data.vz/1e3
-        self.ax = (data.ax*9.82)
-        self.ay = (data.ay*9.82)
-        self.az = (data.az - 1)*9.82
-
     def found_point_cb( self, data ):
         self.found_point = data
         self.found_time = rospy.Time.now()
@@ -194,6 +202,14 @@ class ArdroneFollow:
     def hover_cmd_cb( self, data ):
         self.hover()
 
+    def put_text( self, vis, text, pos ):
+        cv2.putText( vis, text,
+                     pos, cv2.FONT_HERSHEY_PLAIN, 1.0,
+                     (255, 255, 255) )
+        cv2.putText( vis, text,
+                     pos, cv2.FONT_HERSHEY_PLAIN, 1.0,
+                     ( 0, 0, 0), thickness = 2 )
+
     def draw_picture( self ):
         if self.tracker_image == None:
             return
@@ -234,6 +250,18 @@ class ArdroneFollow:
                   line_color,
                   min( max( int( abs( self.current_cmd.linear.x ) * 255 ), 0 ), 255 ) )
 
+        if self.navdata != None:
+            self.put_text( vis, 'State: %s' % self.states[ self.navdata.state ],
+                           ( 150, 240 ) )
+            self.put_text( vis, 'Battery Percent: %4.1f' % self.navdata.batteryPercent,
+                           ( 150, 260 ) )
+
+        if self.manual_cmd:
+            self.put_text( vis, 'MANUAL CONTROL', ( 150, 280 ) )
+
+        if self.auto_cmd:
+            self.put_text( vis, 'TRACKING', ( 150, 300 ) ) 
+
         cv2.imshow( 'AR.Drone Follow', vis )
         cv2.waitKey( 1 )
 
@@ -266,7 +294,7 @@ class ArdroneFollow:
             self.setLedAnim( 8, 2 )
 
         if self.auto_cmd == False or self.manual_cmd == True:
-#            self.setLedAnim( 9 )
+            self.setLedAnim( 9 )
             return
 
         self.goal_vel_pub.publish( self.current_cmd )