Sameer Parekh
97 linhas
3.4 KiB
Python
Arquivo Executável
97 linhas
3.4 KiB
Python
Arquivo Executável
#!/usr/bin/env python
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# Copyright (c) 2012, Falkor Systems, Inc. All rights reserved.
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are
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# met:
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# Redistributions of source code must retain the above copyright notice,
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# this list of conditions and the following disclaimer. Redistributions
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# in binary form must reproduce the above copyright notice, this list of
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# conditions and the following disclaimer in the documentation and/or
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# other materials provided with the distribution. THIS SOFTWARE IS
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# PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
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# EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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# PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
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# CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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# EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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# PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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# PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
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# LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
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# NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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import roslib
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roslib.load_manifest('falkor_ardrone')
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import rospy
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from geometry_msgs.msg import Twist
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from std_msgs.msg import Empty
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from ardrone_autonomy.msg import Navdata
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import pid
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import time
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class ArdroneControl:
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def __init__( self ):
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self.nav_sub = rospy.Subscriber( "ardrone/navdata", Navdata, self.callback_navdata )
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self.cmd_vel_pub = rospy.Publisher( "cmd_vel", Twist )
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self.goal_vel_sub = rospy.Subscriber( "goal_vel", Twist, self.callback_goal_vel )
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# gain_p, gain_i, gain_d
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self.linearxpid = pid.Pid2( 0.5, 0.0, 0.5 )
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self.linearypid = pid.Pid2( 0.5, 0.0, 0.5 )
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self.vx = self.vy = self.vz = self.ax = self.ay = self.az = 0.0
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self.last_time = None
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self.goal_vel = Twist()
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def callback_goal_vel( self, data ):
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self.goal_vel = data
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def callback_navdata( self, data ):
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self.vx = data.vx/1e3
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self.vy = data.vy/1e3
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self.vz = data.vz/1e3
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# these accelerations must take into account orientation, so we get acceleration relative
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# to base_stabilized. This does not.
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# self.ax = (data.ax*9.82)
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# self.ay = (data.ay*9.82)
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# self.az = (data.az - 1.0)*9.82
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def update( self ):
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if self.last_time == None:
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self.last_time = rospy.Time.now()
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dt = 0.0
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else:
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time = rospy.Time.now()
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dt = ( time - self.last_time ).to_sec()
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self.last_time = time
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cmd = Twist()
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cmd.angular.y = 0
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cmd.angular.x = 0
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cmd.angular.z = self.goal_vel.angular.z
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cmd.linear.z = self.goal_vel.linear.z
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cmd.linear.x = self.linearxpid.update( self.goal_vel.linear.x, self.vx, 0.0, dt )
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cmd.linear.y = self.linearypid.update( self.goal_vel.linear.y, self.vy, 0.0, dt )
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self.cmd_vel_pub.publish( cmd )
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def main():
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rospy.init_node( 'ardrone_control' )
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control = ArdroneControl()
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r = rospy.Rate(100)
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try:
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while not rospy.is_shutdown():
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control.update()
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r.sleep()
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except KeyboardInterrupt:
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print "Shutting down"
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if __name__ == '__main__':
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main()
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