Ruben-RV-ROS01 - Revision history

Victorm at 18:33, 15 January 2015

2015-01-15T18:33:48Z

Victorm at 10:38, 25 June 2014

2014-06-25T10:38:26Z

Rrodrf04: /* Convert sensor_msgs/Range to sensor_msgs/LaserScan message */

2014-04-03T09:55:48Z

‎Convert sensor_msgs/Range to sensor_msgs/LaserScan message

Rrodrf04: /* Goals correction for navigation stack */

2014-03-01T18:43:40Z

‎Goals correction for navigation stack

Rrodrf04: /* Goals correction for navigation stack */

2014-03-01T18:42:30Z

‎Goals correction for navigation stack

Rrodrf04: /* Goals correction for navigation stack */

2014-03-01T18:42:06Z

‎Goals correction for navigation stack

Rrodrf04: /* Goals correction for navigation stack */

2014-02-27T18:17:59Z

‎Goals correction for navigation stack

Rrodrf04: /* Stop and resume actual navigation in ROS navigation stack */

2014-02-27T17:57:34Z

‎Stop and resume actual navigation in ROS navigation stack

Rrodrf04 at 23:22, 26 February 2014

2014-02-26T23:22:55Z

Rrodrf04: /* Dynamic window algorithm */

2013-10-13T15:09:27Z

‎Dynamic window algorithm

@@ Line 3: / Line 3: @@
 * '''Degree:''' Summer Research Residence
 * '''Authors:''' Rubén Rodríguez Fernández
-* '''Contact:''' runix404@gmail.com
+* '''Contact:''' runix404@gmail.com, rrodrf04@estudiantes.unileon.es
 * '''Tags:''' ROS, navigation, turtlebot
 * '''Technologies:''' kinect, pcl, openni, c++, cmake, ROS

@@ Line 1: / Line 1: @@
 * '''Project name:''' Turtlebot robot indoor navigation
 * '''Dates:''' July 2013 -
 * '''Degree:''' Summer Research Residence
+* '''Authors:''' Rubén Rodríguez Fernández
 * '''Contact:''' runix404@gmail.com
 * '''Tags:''' ROS, navigation, turtlebot
 * '''Technologies:''' kinect, pcl, openni, c++, cmake, ROS
-==ROS Fuerte Installation on Ubuntu 12.04==
+==Repository configuration==
 First we need to add the repository
@@ Line 29: / Line 19: @@
 <syntaxhighlight lang=Bash>wget http://packages.ros.org/ros.key -O - | sudo apt-key add -</syntaxhighlight>
-===Installation===
+==Installation==
 We need to refresh the cache of your package manager
 <syntaxhighlight lang=Bash>sudo apt-get update</syntaxhighlight>
@@ Line 37: / Line 28: @@
 <syntaxhighlight lang=Bash>sudo apt-get install ros-fuerte-desktop-full</syntaxhighlight>
 ==Enviroment Configuration==
 Now we need to configure the enviroment variables
@@ Line 48: / Line 38: @@
 <syntaxhighlight lang=Bash> . ~/.bashrc </syntaxhighlight>
-==Turtlebot installation==
+=Turtlebot installation=
 The turtlebot installation is very simple, you only have to type in your terminal
 <syntaxhighlight lang=Bash> sudo apt-get install ros-fuerte-turtlebot* </syntaxhighlight>
-==Navigation==
+=Navigation=
-=== Feasible Solutions ===
+==Feasible Solutions==
 The feasible solutions are Dynamic Window and Potencial Field :
@@ Line 66: / Line 56: @@
 and the goal has a attraction fiel
-=== Dynamic window algorithm ===
+==Dynamic window algorithm==
 .- Calculate the desired velocities ( angular and linear ).
@@ Line 73: / Line 62: @@
 .- Select the allowable velocities ( angular and linear ) , this is compute the dynamic window, after this step we have a
 allowable velocities range ( [ min linear, max linear ], [ min angular, max angular ])
 .- For each tuple [ v, w ] determine the closest obstacle
@@ Line 107: / Line 95: @@
      END
-=== Experiments ===
+==Experiments==
 In these experiments, the robot will try to reach the position (3,3) from the origin.
@@ Line 122: / Line 110: @@
 A realistic scenario
-==Path Planning==
+=Path Planning=
-=== Voronoi ===
+==Voronoi==
 ongoing
-=== Graph SLAM ===
+==Graph SLAM==
 ongoing
 =Convert sensor_msgs/Range to sensor_msgs/LaserScan message=
 To be able to use Ultrasonic data in Laserscan we need to convert the sensor_msgs/Range message to sensor_msgs/Laserscan. The messages
@@ Line 139: / Line 126: @@
 The proccess is simple, in our case we need to convert 5 Ranges that are besides into a Laserscan message. So, the first part is to link the 5 messages and after convert into a Laserscan message. For achieve that, we use a cache and store the messages and when we have the 5 ranges create the Laserscan message, the proccess of caching the messages is simple too but we need to take care because the messages mightn't be sequencial.
 Create laserscan message process
@@ Line 314: / Line 300: @@
 </syntaxhighlight>
-==Stop and resume actual navigation in ROS navigation stack==
+=Stop and resume actual navigation in ROS navigation stack=
 The main goal of this chapter is stop and resume the actual navigation, this can be useful when the robot need to wait for example to a person.
@@ Line 322: / Line 308: @@
 When you want to start the navigation stack, you must start the custom navigation stack that introduces this modifications, after you can change this value using the library libmb_sendskip.so that includes the class MB_robot::SendState that allows to change this parameter with the method sendState(bool state).
-==Goals correction for navigation stack==
+=Goals correction for navigation stack=
 One of the problems with the robots is that normally they are smaller than a human, in some situations this isn't a problem, but if a human is follow the robot it can become in a problem. For example, the optimal path can go under a table or other object.

← Older revision		Revision as of 09:55, 3 April 2014
Line 135:		Line 135:
	==Convert sensor_msgs/Range to sensor_msgs/LaserScan message==		==Convert sensor_msgs/Range to sensor_msgs/LaserScan message==

		+	To be able to use Ultrasonic data in Laserscan we need to convert the sensor_msgs/Range message to sensor_msgs/Laserscan. The messages
		+	has two fields in common and the other fields can be calculated using tfs and the other data contained in the Range message.
		+
		+	The proccess is simple, in our case we need to convert 5 Ranges that are besides into a Laserscan message. So, the first part is to link the 5 messages and after convert into a Laserscan message. For achieve that, we use a cache and store the messages and when we have the 5 ranges create the Laserscan message, the proccess of caching the messages is simple too but we need to take care because the messages mightn't be sequencial.
		+
		+
		+	Create laserscan message process
		+
		+	Caching process
		+
		+	<syntaxhighlight lang=c++>
		+	ROS_DEBUG("Cache message");
		+	boost::mutex::scoped_lock lock(cache_mutex);
		+	bool justCached = false;
		+	int maxMessage = 0;
		+	for (unsigned int i = 0; i < this->subscribers.size(); i++) {
		+	if (cache[0][i] == 0) {
		+	maxMessage = i;
		+	break;
		+	}
		+	ROS_DEBUG("cache %s with number %d ", message.header.frame_id.c_str(), i);
		+	if (cache[0][i]->header.frame_id.
		+	compare(message.header.frame_id) == 0) {
		+	justCached = true;
		+	break;
		+	}
		+	}
		+
		+	if (!justCached) {
		+	sensor_msgs::LaserScan * copy = new sensor_msgs::LaserScan;
		+	copy-> header = message.header;
		+	copy-> angle_min = message.angle_min;
		+	copy-> angle_max = message.angle_max;
		+	copy-> angle_increment = message.angle_increment;
		+	copy-> time_increment = message.time_increment;
		+	copy-> scan_time = message.scan_time;
		+	copy-> range_min = message.range_min;
		+	copy-> range_max = message.range_max;
		+	copy-> ranges = message.ranges;
		+	copy-> intensities = message.intensities;
		+
		+	cache[0][maxMessage] = copy;
		+
		+	if (maxMessage == this->subscribers.size() - 1) {
		+	this->proccessTrigger();
		+	for (unsigned int i = 0; i < this->subscribers.size(); i++) {
		+	delete cache[0][i];
		+	cache[0][i] = 0;
		+	}
		+	sensor_msgs::LaserScan ** temp = cache[1];
		+	cache[1] = cache[0];
		+	cache[0] = temp;
		+	}
		+	} else {
		+	maxMessage = 0;
		+	justCached = false;
		+	sensor_msgs::LaserScan * copy = new sensor_msgs::LaserScan;
		+	copy-> header = message.header;
		+	copy-> angle_min = message.angle_min;
		+	copy-> angle_max = message.angle_max;
		+	copy-> angle_increment = message.angle_increment;
		+	copy-> time_increment = message.time_increment;
		+	copy-> scan_time = message.scan_time;
		+	copy-> range_min = message.range_min;
		+	copy-> range_max = message.range_max;
		+	copy-> ranges = message.ranges;
		+	copy-> intensities = message.intensities;
		+
		+	for (unsigned int i = 0; i < this->subscribers.size(); i++) {
		+	if (cache[1][i] == 0) {
		+	maxMessage = i;
		+	break;
		+	}
		+	if (cache[1][i]->header.frame_id.
		+	compare(message.header.frame_id) == 0) {
		+	cache[1][i] = copy;
		+	justCached = true;
		+	}
		+	}
		+	if (!justCached) {
		+	cache[1][maxMessage] = copy;
		+	}
		+	}
		+	</syntaxhighlight>
		+
		+	Finally we need to link the messages and publish the laserscan message
		+
		+
		+	<syntaxhighlight lang=c++>
		+	void UltrasonicFakeLaserscan::createMessageFromRanges(sensor_msgs::
		+	LaserScan ** lc,
		+	int size) {
		+	ROS_DEBUG("Create new message with stamp %d ",sequence);
		+	float minAngle = lc[0]->angle_min;
		+	float maxAngle = lc[0]->angle_max;
		+	float minRange = lc[0]->range_min;
		+	float maxRange = lc[0]->range_max;
		+	int indexMin = 0;
		+	long nanoseconds = 0;
		+	long seconds = 0;
		+	int pointsSize = 0;
		+	for (int i = 0; i < size; i++) {
		+	if (minAngle > lc[i]->angle_min) {
		+	indexMin = i;
		+	minAngle = lc[i]->angle_min;
		+	}
		+
		+	if (maxAngle < lc[i]->angle_max) {
		+	maxAngle = lc[i]->angle_max;
		+	}
		+
		+	if (minRange > lc[i]->range_min) {
		+	minRange = lc[i]->range_min;
		+	}
		+
		+	if (maxRange < lc[i]->range_max) {
		+	maxRange = lc[i]->range_max;
		+	}
		+
		+	nanoseconds = nanoseconds + lc[i]->header.stamp.nsec;
		+	seconds = seconds + lc[i]->header.stamp.sec;
		+	pointsSize = pointsSize + lc[i]->ranges.size();
		+	}
		+
		+
		+	nanoseconds = nanoseconds / size;
		+	seconds = seconds / size;
		+
		+	sensor_msgs::LaserScan scan;
		+	//Create laserscan message
		+	scan.header.seq = sequence++;
		+	scan.header.stamp = ros::Time(seconds, nanoseconds);
		+	scan.header.frame_id = UltrasonicFakeLaserscan::CAMERA_LINK;
		+	scan.angle_min = minAngle;
		+	scan.angle_max = maxAngle;
		+	scan.angle_increment = (fabs(scan.angle_max - scan.angle_min)) / pointsSize ;
		+	scan.time_increment = 0;
		+	scan.range_min = minRange;
		+	scan.range_max = maxRange;
		+	scan.ranges.resize(pointsSize);
		+
		+	//Copy the first message
		+	float actualMaxAngle = lc[indexMin]->angle_max;;
		+	int count = 0;
		+	for (unsigned int i = 0; i < lc[indexMin]->ranges.size(); i++) {
		+	scan.ranges[count++] = lc[indexMin]->ranges[i];
		+	}
		+
		+	if (indexMin != 0) {
		+	sensor_msgs::LaserScan * temp = lc[indexMin];
		+	lc[indexMin] = lc[0];
		+	lc[0] = temp;
		+	}
		+
		+	for(int i = 1; i < size; i++) {
		+	int index = i;
		+	double min = lc[i]->angle_min;
		+	for(int j = i; j < size; j++) {
		+	if(min > lc[j]->angle_min) {
		+	index = j;
		+	min = lc[j]->angle_min;
		+	}
		+	}
		+	if(index != i) {
		+	sensor_msgs::LaserScan * temp = lc[index];
		+	lc[index] = lc[i];
		+	lc[i] = temp;
		+	}
		+
		+	for (unsigned int index = 0;
		+	index < lc[i]->ranges.size(); index++) {
		+	scan.ranges[count++] = lc[i]->ranges[index];
		+	}
		+	}
		+	ROS_DEBUG("Sent");
		+	this->scan_pub.publish(scan);
		+
		+	</syntaxhighlight>

	==Stop and resume actual navigation in ROS navigation stack==		==Stop and resume actual navigation in ROS navigation stack==

← Older revision		Revision as of 18:43, 1 March 2014
Line 154:		Line 154:
	''The maximum height in meters of a sensor reading considered valid. This is usually set to be slightly higher than the height of the robot. Setting this parameter to a value greater than the global max_obstacle_height parameter has no effect. Setting this parameter to a value less than the global max_obstacle_height will filter out points from this sensor above that height.''		''The maximum height in meters of a sensor reading considered valid. This is usually set to be slightly higher than the height of the robot. Setting this parameter to a value greater than the global max_obstacle_height parameter has no effect. Setting this parameter to a value less than the global max_obstacle_height will filter out points from this sensor above that height.''

−	So, if we put the value of a human we solve this problem	+	So, if we put the value of a human we solve this problem.

@@ Line 152: / Line 152: @@
 If you take a look at the [http://wiki.ros.org/costmap_2d Costmap2D doc] you can see an attribute called max_obstacle_height, the doc description about this parameter is the following :
-The maximum height in meters of a sensor reading considered valid. This is usually set to be slightly higher than the height of the robot. Setting this parameter to a value greater than the global max_obstacle_height parameter has no effect. Setting this parameter to a value less than the global max_obstacle_height will filter out points from this sensor above that height.
+''The maximum height in meters of a sensor reading considered valid. This is usually set to be slightly higher than the height of the robot. Setting this parameter to a value greater than the global max_obstacle_height parameter has no effect. Setting this parameter to a value less than the global max_obstacle_height will filter out points from this sensor above that height.''
 So, if we put the value of a human we solve this problem

← Older revision		Revision as of 18:42, 1 March 2014
Line 150:		Line 150:
	In ROS, the navigation stack uses costmaps to find valid paths, this costmap is 2D so we only need to modify the property of the maximun obstacle height and put a value higher than the height of the robot.		In ROS, the navigation stack uses costmaps to find valid paths, this costmap is 2D so we only need to modify the property of the maximun obstacle height and put a value higher than the height of the robot.

−	~~ONGOING~~	+	If you take a look at the [http://wiki.ros.org/costmap_2d Costmap2D doc] you can see an attribute called max_obstacle_height, the doc description about this parameter is the following :
		+
		+	The maximum height in meters of a sensor reading considered valid. This is usually set to be slightly higher than the height of the robot. Setting this parameter to a value greater than the global max_obstacle_height parameter has no effect. Setting this parameter to a value less than the global max_obstacle_height will filter out points from this sensor above that height.
		+
		+	So, if we put the value of a human we solve this problem

← Older revision		Revision as of 18:17, 27 February 2014
Line 145:		Line 145:

	==Goals correction for navigation stack==		==Goals correction for navigation stack==
		+
		+	One of the problems with the robots is that normally they are smaller than a human, in some situations this isn't a problem, but if a human is follow the robot it can become in a problem. For example, the optimal path can go under a table or other object.
		+
		+	In ROS, the navigation stack uses costmaps to find valid paths, this costmap is 2D so we only need to modify the property of the maximun obstacle height and put a value higher than the height of the robot.
		+
		+	ONGOING

← Older revision		Revision as of 17:57, 27 February 2014
Line 138:		Line 138:
	==Stop and resume actual navigation in ROS navigation stack==		==Stop and resume actual navigation in ROS navigation stack==

		+	The main goal of this chapter is stop and resume the actual navigation, this can be useful when the robot need to wait for example to a person.
		+
		+	For achieve that, we need to modify the move base package and introduce a few lines. This lines only check if the navigation is stopped and then don't sending the velocity command. And for modify the state of the navigation, we create a new topic to change this value.
		+
		+	When you want to start the navigation stack, you must start the custom navigation stack that introduces this modifications, after you can change this value using the library libmb_sendskip.so that includes the class MB_robot::SendState that allows to change this parameter with the method sendState(bool state).

	==Goals correction for navigation stack==		==Goals correction for navigation stack==

← Older revision		Revision as of 23:22, 26 February 2014
Line 131:		Line 131:

	ongoing		ongoing
		+
		+
		+	==Convert sensor_msgs/Range to sensor_msgs/LaserScan message==
		+
		+
		+	==Stop and resume actual navigation in ROS navigation stack==
		+
		+
		+	==Goals correction for navigation stack==

@@ Line 88: / Line 88: @@
     BEGIN DWA(robotPose,robotGoal,robotModel)
-   desiredV = calculateV(robotPose,robotGoal)
+   	desiredV = calculateV(robotPose,robotGoal)
-   laserscan = readScanner()
+   	laserscan = readScanner()
-   allowable_v = generateWindow(robotV, robotModel)
+   	allowable_v = generateWindow(robotV, robotModel)
-   allowable_w  = generateWindow(robotW, robotModel)
+   	allowable_w  = generateWindow(robotW, robotModel)
-   for each v in allowable_v
+   	for each v in allowable_v
-      for each w in allowable_w
+   	   for each w in allowable_w
-      dist = find_dist(v,w,laserscan,robotModel)
+   	   dist = find_dist(v,w,laserscan,robotModel)
-      breakDist = calculateBreakingDistance(v)
+   	   breakDist = calculateBreakingDistance(v)
-      if (dist > breakDist)  //can stop in time
+   	   if (dist > breakDist)  //can stop in time
-         heading = hDiff(robotPose,goalPose, v,w)
+   	      heading = hDiff(robotPose,goalPose, v,w)
-         clearance = (dist-breakDist)/(dmax - breakDist)
+   	      clearance = (dist-breakDist)/(dmax - breakDist)
-         cost = costFunction(heading,clearance, abs(desired_v - v))
+   	      cost = costFunction(heading,clearance, abs(desired_v - v))
-         if (cost > optimal)
+   	      if (cost > optimal)
-            best_v = v
+   	         best_v = v
-            best_w = w
+   	         best_w = w
-            optimal = cost
+   	         optimal = cost
-    set robot trajectory to best_v, best_w
+   	 set robot trajectory to best_v, best_w
-END
+    END
 === Experiments ===