From 0acd09f0d8c8cd34853a6b07e0e56638374ac860 Mon Sep 17 00:00:00 2001 From: adri-mp Date: Wed, 22 Nov 2023 12:29:11 +0100 Subject: [PATCH] Mejoras en sigue lineas --- src/drone_driver/config/world.json | 2 +- .../launch/as2_sim_circuit.launch.py | 4 +- .../droneExpertPilot.cpython-310.pyc | Bin 5744 -> 5989 bytes src/drone_driver/src/droneExpertPilot.py | 100 ++++++++++-------- src/drone_driver/src/image_filter_node.py | 2 +- src/drone_driver/src/plotData.py | 9 +- src/drone_driver/src/sub_timestamps.npy | Bin 0 -> 480 bytes src/drone_driver/src/vel_timestamps.npy | Bin 0 -> 600576 bytes 8 files changed, 67 insertions(+), 50 deletions(-) create mode 100644 src/drone_driver/src/sub_timestamps.npy create mode 100644 src/drone_driver/src/vel_timestamps.npy diff --git a/src/drone_driver/config/world.json b/src/drone_driver/config/world.json index b7e3bae..19331e7 100644 --- a/src/drone_driver/config/world.json +++ b/src/drone_driver/config/world.json @@ -1,5 +1,5 @@ { - "world": "/home/adrian/workspace/install/drone_driver/share/drone_driver/worlds/montreal_line.world", + "world": "/home/adrian/workspace/install/drone_driver/share/drone_driver/worlds/montmelo_line.world", "drones": [ { "model": "iris_dual_cam", diff --git a/src/drone_driver/launch/as2_sim_circuit.launch.py b/src/drone_driver/launch/as2_sim_circuit.launch.py index 769db96..fe4e66e 100644 --- a/src/drone_driver/launch/as2_sim_circuit.launch.py +++ b/src/drone_driver/launch/as2_sim_circuit.launch.py @@ -11,8 +11,8 @@ # world = "/nurburgring_line.world" # world = "/simple_circuit.world" -# world = "/montmelo_line.world" -world = "/montreal_line.world" +world = "/montmelo_line.world" +# world = "/montreal_line.world" env_vars = { 'AEROSTACK2_SIMULATION_DRONE_ID': namespace diff --git a/src/drone_driver/src/__pycache__/droneExpertPilot.cpython-310.pyc b/src/drone_driver/src/__pycache__/droneExpertPilot.cpython-310.pyc index 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Image parameters LIMIT_UMBRAL = 40 -UPPER_PROPORTION = 0.7 -LOWER_PROPORTION = 0.3 +UPPER_PROPORTION = 0.6 +LOWER_PROPORTION = 0.4 # Vel control -MAX_ANGULAR = 2 -MAX_LINEAR = 2 +MAX_ANGULAR = 4 +MAX_LINEAR = 2.5 MAX_Z = 2 ## PID controlers -ANG_KP = 0.5 -ANG_KD = 0.45 +ANG_KP = 0.8 +ANG_KD = 0.95 ANG_KI = 0.0 -Z_KP = 0.8 -Z_KD = 0.4 +Z_KP = 0.5 +Z_KD = 0.45 Z_KI = 0.0 class droneController(DroneInterface): - def __init__(self, drone_id: str = "drone0", verbose: bool = False, use_sim_time: bool = False) -> None: + def __init__(self, drone_id: str = "drone0", verbose: bool = False, use_sim_time: bool = True) -> None: super().__init__(drone_id, verbose, use_sim_time) self.motion_ref_handler = MotionReferenceHandlerModule(drone=self) @@ -61,34 +61,26 @@ def __init__(self, drone_id: str = "drone0", verbose: bool = False, use_sim_time self.px_rang = MAX_PIXEL - MIN_PIXEL self.ang_rang = MAX_ANGULAR - (- MAX_ANGULAR) self.linearVel = MAX_LINEAR - self.anguarVel = 0 # Updates in the listener callback + + timer_period = 0.01 # seconds + self.timer = self.create_timer(timer_period, self.timer_callback) # Frequency analysis self.image_timestamps = [] self.vel_timestamps = [] + self.cv_image = None - def listener_callback(self, msg): - bridge = CvBridge() - cv_image = bridge.imgmsg_to_cv2(msg, "mono8") - img_height = cv_image.shape[0] - width_center = cv_image.shape[1] / 2 + def listener_callback(self, msg): - top_point = search_top_line(cv_image) - bottom_point = search_bottom_line(cv_image) - red_farest = band_midpoint(cv_image, top_point, top_point + LIMIT_UMBRAL) - red_nearest = band_midpoint(cv_image, bottom_point-LIMIT_UMBRAL*2, bottom_point) - - angular_distance = (width_center - red_farest[0])#*UPPER_PROPORTION + (width_center - red_nearest[0])*LOWER_PROPORTION + self.image_timestamps.append(time.time()) - # Pixel distance to angular vel transformation - angular = (((angular_distance - MIN_PIXEL) * self.ang_rang) / self.px_rang) + (-MAX_ANGULAR) - self.anguarVel = self.angular_pid.get_pid(angular) + bridge = CvBridge() + self.cv_image = bridge.imgmsg_to_cv2(msg, "mono8") + - # Frequency analysis - self.image_timestamps.append(time.time()) def retry_command(self, command, check_func, sleep_time=1.0, max_retries=1): if not check_func(): @@ -154,37 +146,55 @@ def set_vel(self, vx, vy, vz, yaw): self.motion_ref_handler.speed.send_speed_command_with_yaw_speed( [float(velX), float(velY), float(vz)], 'earth', float(yaw)) + + def get_angular_vel(self): + if self.cv_image is None: + return 0.0 + + width_center = self.cv_image.shape[1] / 2 + + # Searchs limits of the line + top_point = search_top_line(self.cv_image) + bottom_point = search_bottom_line(self.cv_image) + + # Searchs the reference points + red_farest = band_midpoint(self.cv_image, top_point, top_point + LIMIT_UMBRAL) + red_nearest = band_midpoint(self.cv_image, bottom_point-LIMIT_UMBRAL, bottom_point) + + angular_distance = (width_center - red_farest[0])*UPPER_PROPORTION + (width_center - red_nearest[0])*LOWER_PROPORTION - def velocityControl(self, height): + # Pixel distance to angular vel transformation + angular = (((angular_distance - MIN_PIXEL) * self.ang_rang) / self.px_rang) + (-MAX_ANGULAR) + anguarVel = self.angular_pid.get_pid(angular) + + return anguarVel + + def timer_callback(self): if self.info['state'] == PlatformStatus.FLYING: - # self.set_vel(self.linearVel, 0, 0, self.anguarVel) - self.set_vel2D(self.linearVel, 0, height, self.anguarVel) + + angular_vel = self.get_angular_vel() + self.get_logger().info("Angular vel = %f" % angular_vel) + + + # self.set_vel(self.linearVel, 0, 0, anguarVel) + self.set_vel2D(self.linearVel, 0, 2.0, angular_vel) self.vel_timestamps.append(time.time()) + return -if __name__ == '__main__': - +def main(args=None): height = 2.0 - rclpy.init() + rclpy.init(args=args) drone = droneController(drone_id="drone0", verbose=False, use_sim_time=True) drone.take_off_process(height) - try: - while True: - drone.velocityControl(height) - time.sleep(0.01) - - except KeyboardInterrupt: - - np.save("~/vel_timestamps.txt", drone.vel_timestamps) - np.save("~/sub_timestamps.txt", drone.image_timestamps) - drone.land() + time.sleep(1) + rclpy.spin(drone) - print("Keyboard interrupt.") drone.destroy_node() @@ -199,6 +209,10 @@ def velocityControl(self, height): exit() +if __name__ == '__main__': + main() + + diff --git a/src/drone_driver/src/image_filter_node.py b/src/drone_driver/src/image_filter_node.py index 4fd884d..747ef8e 100755 --- a/src/drone_driver/src/image_filter_node.py +++ b/src/drone_driver/src/image_filter_node.py @@ -56,7 +56,7 @@ def show_trace(self, label1, label2, rgb_image, original): cv2.line(rgb_image, (width // 2, 0), (width // 2, height), (255, 0, 0), 1) cv2.imshow(label1, rgb_image) - cv2.imshow(label2, original) + #cv2.imshow(label2, original) cv2.waitKey(1) def color_filter(self, image): diff --git a/src/drone_driver/src/plotData.py b/src/drone_driver/src/plotData.py index 8561c7e..e7fc03f 100644 --- a/src/drone_driver/src/plotData.py +++ b/src/drone_driver/src/plotData.py @@ -1,6 +1,8 @@ import numpy as np import matplotlib.pyplot as plt +COLOR = ["b", "r"] + def plot_frequency(timestamps): intervals = [] @@ -14,7 +16,7 @@ def plot_frequency(timestamps): for i, interval in enumerate(intervals): plt.figure() # Crea una nueva figura para cada plot - plt.plot(interval) + plt.plot(interval, linestyle=' ', marker='o', markersize=3, color=COLOR[i]) plt.title(f'Timestamp Intervals - Plot {i + 1}') plt.xlabel('Interval Index') plt.ylabel('Time Interval (Miliseconds)') @@ -23,8 +25,9 @@ def plot_frequency(timestamps): def main(): - data = np.load("./TimestampsData.txt") - plot_frequency(data) + data = np.load("./sub_timestamps.npy") + data2 = np.load("./vel_timestamps.npy") + plot_frequency([data, data2]) if __name__ == "__main__": main() \ No newline at end of file diff --git a/src/drone_driver/src/sub_timestamps.npy b/src/drone_driver/src/sub_timestamps.npy new file mode 100644 index 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