Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Avoid nan vel #141

Merged
merged 5 commits into from
Aug 6, 2023
Merged

Avoid nan vel #141

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
4162105
Avoid nan vel.
ye-luo-xi-tui Aug 6, 2023
9b69873
Merge branch 'rm-controls:master' into master
ye-luo-xi-tui Aug 6, 2023
d9c6fe5
Add max_odom_vel and delete useless params.
ye-luo-xi-tui Aug 6, 2023
8ab2083
Merge remote-tracking branch 'origin/master'
ye-luo-xi-tui Aug 6, 2023
df4b902
Run pre-commit.
ye-luo-xi-tui Aug 6, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
5 changes: 3 additions & 2 deletions rm_chassis_controllers/include/rm_chassis_controllers/chassis_base.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -146,8 +146,9 @@ class ChassisBase : public controller_interface::MultiInterfaceController<T...>
hardware_interface::EffortJointInterface* effort_joint_interface_{};
std::vector<hardware_interface::JointHandle> joint_handles_{};

double wheel_base_{}, wheel_track_{}, wheel_radius_{}, publish_rate_{}, twist_angular_{}, timeout_{}, effort_coeff_{},
velocity_coeff_{}, power_offset_{};
double wheel_radius_{}, publish_rate_{}, twist_angular_{}, timeout_{}, effort_coeff_{}, velocity_coeff_{},
power_offset_{};
double max_odom_vel_;
bool enable_odom_tf_ = false;
bool topic_update_ = false;
bool publish_odom_tf_ = false;
Expand Down
15 changes: 10 additions & 5 deletions rm_chassis_controllers/src/chassis_base.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -61,9 +61,8 @@ bool ChassisBase<T...>::init(hardware_interface::RobotHW* robot_hw, ros::NodeHan
return false;
}
wheel_radius_ = getParam(controller_nh, "wheel_radius", 0.02);
wheel_track_ = getParam(controller_nh, "wheel_track", 0.410);
wheel_base_ = getParam(controller_nh, "wheel_base", 0.320);
twist_angular_ = getParam(controller_nh, "twist_angular", M_PI / 6);
max_odom_vel_ = getParam(controller_nh, "max_odom_vel", 0);
enable_odom_tf_ = getParam(controller_nh, "enable_odom_tf", true);
publish_odom_tf_ = getParam(controller_nh, "publish_odom_tf", false);

Expand Down Expand Up @@ -281,10 +280,16 @@ void ChassisBase<T...>::updateOdom(const ros::Time& time, const ros::Duration& p
// integral vel to pos and angle
tf2::doTransform(vel_base.linear, linear_vel_odom, odom2base_);
tf2::doTransform(vel_base.angular, angular_vel_odom, odom2base_);
odom2base_.transform.translation.x += linear_vel_odom.x * period.toSec();
odom2base_.transform.translation.y += linear_vel_odom.y * period.toSec();
odom2base_.transform.translation.z += linear_vel_odom.z * period.toSec();
double length =
std::sqrt(std::pow(linear_vel_odom.x, 2) + std::pow(linear_vel_odom.y, 2) + std::pow(linear_vel_odom.z, 2));
if (length < max_odom_vel_)
{
// avoid nan vel
odom2base_.transform.translation.x += linear_vel_odom.x * period.toSec();
odom2base_.transform.translation.y += linear_vel_odom.y * period.toSec();
odom2base_.transform.translation.z += linear_vel_odom.z * period.toSec();
}
length =
std::sqrt(std::pow(angular_vel_odom.x, 2) + std::pow(angular_vel_odom.y, 2) + std::pow(angular_vel_odom.z, 2));
if (length > 0.001)
{ // avoid nan quat
Expand Down
23 changes: 13 additions & 10 deletions rm_gimbal_controllers/src/bullet_solver.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -116,10 +116,10 @@ bool BulletSolver::solve(geometry_msgs::Point pos, geometry_msgs::Vector3 vel, d
double r = r1;
double z = pos.z;
track_target_ = std::abs(v_yaw) < max_track_target_vel_;
double switch_armor_angle =
track_target_ ?
acos(r / target_rho) - M_PI / 12 + (-acos(r / target_rho) + M_PI / 6) * std::abs(v_yaw) / max_track_target_vel_ :
M_PI / 12;
double switch_armor_angle = track_target_ ?
acos(r / target_rho) - M_PI / 12 +
(-acos(r / target_rho) + M_PI / 6) * std::abs(v_yaw) / max_track_target_vel_ :
M_PI / 12;
if ((((yaw + v_yaw * rough_fly_time) > output_yaw_ + switch_armor_angle) && v_yaw > 0.) ||
(((yaw + v_yaw * rough_fly_time) < output_yaw_ - switch_armor_angle) && v_yaw < 0.))
{
Expand Down Expand Up @@ -287,13 +287,16 @@ double BulletSolver::getGimbalError(geometry_msgs::Point pos, geometry_msgs::Vec
else
{
geometry_msgs::Point target_pos_after_fly_time_and_delay{};
target_pos_after_fly_time_and_delay.x = pos.x + vel.x * (fly_time_ + delay) -
r * cos(yaw + v_yaw * (fly_time_ + delay) + selected_armor_ * 2 * M_PI / armors_num);
target_pos_after_fly_time_and_delay.y = pos.y + vel.y * (fly_time_ + delay) -
r * sin(yaw + v_yaw * (fly_time_ + delay) + selected_armor_ * 2 * M_PI / armors_num);
target_pos_after_fly_time_and_delay.x =
pos.x + vel.x * (fly_time_ + delay) -
r * cos(yaw + v_yaw * (fly_time_ + delay) + selected_armor_ * 2 * M_PI / armors_num);
target_pos_after_fly_time_and_delay.y =
pos.y + vel.y * (fly_time_ + delay) -
r * sin(yaw + v_yaw * (fly_time_ + delay) + selected_armor_ * 2 * M_PI / armors_num);
target_pos_after_fly_time_and_delay.z = z + vel.z * (fly_time_ + delay);
error = std::sqrt(std::pow(target_pos_.x - target_pos_after_fly_time_and_delay.x,2) + std::pow(target_pos_.y - target_pos_after_fly_time_and_delay.y,2) +
std::pow(target_pos_.z - target_pos_after_fly_time_and_delay.z,2));
error = std::sqrt(std::pow(target_pos_.x - target_pos_after_fly_time_and_delay.x, 2) +
std::pow(target_pos_.y - target_pos_after_fly_time_and_delay.y, 2) +
std::pow(target_pos_.z - target_pos_after_fly_time_and_delay.z, 2));
}
return error;
}
Expand Down