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local_planner_node_check.py
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#!/usr/bin/python3.8
import math
import tf
import rospy
import numpy as np
from tf.transformations import euler_from_quaternion
from std_msgs.msg import Bool, String
from geometry_msgs.msg import Twist, Point, PoseStamped
from png_navigation.srv import StopRobot, StopRobotResponse
from png_navigation.srv import ResumeRobot, ResumeRobotResponse
def normalize_angle(angle):
normalized_angle = math.fmod(angle + math.pi, 2 * math.pi)
if normalized_angle < 0:
normalized_angle += 2*math.pi
return normalized_angle - math.pi
class LocalPlanner:
def __init__(
self,
robot_frame='base_footprint',
linear_speed_levels=(0.05, 0.1, 0.2),
angular_speed_levels=(0.2, 0.4),
distance_threshold=(0.05, 0.3),
angle_threshold=(0.05, 0.1),
linear_speed_increment=0.05,
angular_speed_increment=0.1,
stop_linear_speed_increment=0.1,
stop_angular_speed_increment=0.2,
):
rospy.on_shutdown(self.shutdown)
self.cmd_vel = rospy.Publisher('cmd_vel', Twist, queue_size=5) # gazebo
# * self.cmd_vel = rospy.Publisher('cmd_vel_mux/input/teleop', Twist, queue_size=5) # real world
self.waypoint_reached_pub = rospy.Publisher('/waypoint_reached', Bool, queue_size=1)
self.tf_listener = tf.TransformListener()
self.odom_frame = 'map'
self.base_frame = robot_frame
self.goal_x = 0.0
self.goal_y = 0.0
self.goal_yaw = 0.0
self.is_global_goal = False
self.linear_speed_levels = linear_speed_levels
self.angular_speed_levels = angular_speed_levels
self.linear_speed_increment = linear_speed_increment # 0.05# 0.005
self.angular_speed_increment = angular_speed_increment # 0.1
self.stop_linear_speed_increment = stop_linear_speed_increment # 0.1 # * 0.1 * 2 = 0.2 -> clock time: 2*(1/20)=0.1
self.stop_angular_speed_increment = stop_angular_speed_increment # 0.2
self.linear_speed = 0
self.angular_speed = 0
self.target_linear_speed = 0
self.target_angular_speed = 0
self.distance_threshold = distance_threshold
self.angle_threshold = angle_threshold
self.drive_robot = False
rospy.Subscriber('/waypoint', PoseStamped, self.waypoint_callback)
rospy.Subscriber('png_navigation/local_planner_clock', String, self.clock_callback)
rospy.Service('png_navigation/stop_robot', StopRobot, self.stop_robot)
rospy.Service('png_navigation/resume_robot', ResumeRobot, self.resume_robot)
rospy.loginfo("Local Planner is initialized.")
def waypoint_callback(self, msg):
self.goal_x = msg.pose.position.x
self.goal_y = msg.pose.position.y
if msg.pose.position.z != 0:
self.is_global_goal = True
angles = tf.transformations.euler_from_quaternion([msg.pose.orientation.x, msg.pose.orientation.y, msg.pose.orientation.z, msg.pose.orientation.w])
self.goal_yaw = angles[-1]
self.drive_robot = True
def stop_robot(self, msg):
self.drive_robot = False
self.send_velocity_command(0, 0, stop=True)
rospy.sleep(0.1) # * clock time: 2*(1/20)=0.1
is_stopped = True
return StopRobotResponse(is_stopped)
def resume_robot(self, msg):
# dummy message input
self.drive_robot = True
is_resumed = True
return ResumeRobotResponse(is_resumed)
def clock_callback(self, msg):
if not self.drive_robot:
self.send_velocity_command(0, 0, stop=True)
return
position, rotation = self.get_pose()
distance = np.sqrt((self.goal_x - position.x)**2 + (self.goal_y - position.y)**2)
if self.goal_yaw is not None:
remaining_rotation = normalize_angle(self.goal_yaw - rotation)
else:
path_angle = np.arctan2(self.goal_y - position.y, self.goal_x - position.x)
remaining_rotation = normalize_angle(path_angle - rotation)
if distance < self.distance_threshold[0]:
if not self.is_global_goal:
rospy.loginfo("Waypoint reached.")
self.waypoint_reached_pub.publish(True)
return
else:
self.target_linear_speed = 0
remaining_rotation = normalize_angle(self.goal_yaw - rotation)
if abs(remaining_rotation) > self.angle_threshold[1]:
if remaining_rotation > 0:
self.target_angular_speed = self.angular_speed_levels[1] # 0.4
else:
self.target_angular_speed = -self.angular_speed_levels[1] # -0.4
self.send_velocity_command(self.target_linear_speed, self.target_angular_speed)
return
elif abs(remaining_rotation) > self.angle_threshold[0]:
if remaining_rotation > 0:
self.target_angular_speed = self.angular_speed_levels[0] # 0.2
else:
self.target_angular_speed = -self.angular_speed_levels[0] # -0.2
self.send_velocity_command(self.target_linear_speed, self.target_angular_speed)
return
else:
self.target_angular_speed = 0
self.send_velocity_command(self.target_linear_speed, self.target_angular_speed)
if self.linear_speed==0 and self.angular_speed==0:
rospy.loginfo("Global goal reached announced by local planner.") # global goal reached
self.waypoint_reached_pub.publish(True)
self.drive_robot = False
self.goal_yaw = None
self.is_global_goal = False
return
path_angle = np.arctan2(self.goal_y - position.y, self.goal_x - position.x)
remaining_rotation = normalize_angle(path_angle - rotation)
if abs(remaining_rotation) > self.angle_threshold[1]:
self.target_linear_speed = 0.
if remaining_rotation > 0:
self.target_angular_speed = self.angular_speed_levels[1] # 0.4
else:
self.target_angular_speed = -self.angular_speed_levels[1] # -0.4
self.send_velocity_command(self.target_linear_speed, self.target_angular_speed)
return
elif abs(remaining_rotation) > self.angle_threshold[0]:
if remaining_rotation > 0:
self.target_angular_speed = self.angular_speed_levels[0] # 0.2
else:
self.target_angular_speed = -self.angular_speed_levels[0] # -0.2
if distance < self.distance_threshold[1] and self.is_global_goal:
self.target_linear_speed = self.linear_speed_levels[0] # 0.05
else:
self.target_linear_speed = self.linear_speed_levels[2] # 0.2
self.send_velocity_command(self.target_linear_speed, self.target_angular_speed)
return
else:
self.target_angular_speed = 0.
if distance < self.distance_threshold[1] and self.is_global_goal:
self.target_linear_speed = self.linear_speed_levels[1] # 0.1
else:
self.target_linear_speed = self.linear_speed_levels[2] # 0.2
self.send_velocity_command(self.target_linear_speed, self.target_angular_speed)
return
def send_velocity_command(self, target_linear_speed, target_angular_speed, stop=False):
if stop:
linear_speed_increment = self.stop_linear_speed_increment
angular_speed_increment = self.stop_angular_speed_increment
else:
linear_speed_increment = self.linear_speed_increment
angular_speed_increment = self.angular_speed_increment
if abs(target_linear_speed-self.linear_speed) < linear_speed_increment:
self.linear_speed = target_linear_speed
else:
self.linear_speed += linear_speed_increment*(target_linear_speed-self.linear_speed)/abs(target_linear_speed-self.linear_speed)
if abs(target_angular_speed-self.angular_speed) < angular_speed_increment:
self.angular_speed = target_angular_speed
else:
self.angular_speed += angular_speed_increment*(target_angular_speed-self.angular_speed)/abs(target_angular_speed-self.angular_speed)
move_cmd = Twist()
move_cmd.linear.x = self.linear_speed
move_cmd.angular.z = self.angular_speed
self.cmd_vel.publish(move_cmd)
def get_pose(self):
try:
(trans, rot) = self.tf_listener.lookupTransform(self.odom_frame, self.base_frame, rospy.Time(0))
rotation = euler_from_quaternion(rot)
except (tf.Exception, tf.ConnectivityException, tf.LookupException):
rospy.loginfo("TF Exception")
return
return Point(*trans), rotation[2]
def shutdown(self):
self.cmd_vel.publish(Twist())
self.linear_speed = 0
self.angular_speed = 0
rospy.sleep(1)
if __name__ == '__main__':
try:
rospy.init_node('png_navigation_local_planner', anonymous=True)
gp = LocalPlanner()
rospy.spin()
except rospy.ROSInterruptException:
pass