From fe8d2500474f0ac7310ea377ca60bed1a563d684 Mon Sep 17 00:00:00 2001 From: manxilin <matthewlin98@hotmail.com> Date: Mon, 25 May 2020 17:02:57 +0200 Subject: [PATCH] mission 1 completed --- final.xml | 78 ---- final_project_final | 693 ---------------------------- laser_020200524_225558.logg | 1 - log | 0 main.sh | 5 + mrc_src/data.debug | 2 +- mrc_src/main | 73 ++- mrc_src/spawnNodes | 6 +- mrc_src/test | 306 ------------- odoPose20200524_224836.logg | 888 ------------------------------------ simconfig388.xml | 56 --- 11 files changed, 59 insertions(+), 2049 deletions(-) delete mode 100644 final.xml delete mode 100644 final_project_final delete mode 100644 laser_020200524_225558.logg delete mode 100644 log delete mode 100644 mrc_src/test delete mode 100644 odoPose20200524_224836.logg delete mode 100644 simconfig388.xml diff --git a/final.xml b/final.xml deleted file mode 100644 index 0c76f64..0000000 --- a/final.xml +++ /dev/null @@ -1,78 +0,0 @@ -<?xml version="1.0" ?> -<!-- - Configuration file for - Simulator Server ---> - -<simserver> - <!-- *** Core Components Configuration *** --> - <!-- Sheduler configuration --> - <scheduler> - <period value="10000"/><!--in usec--> - </scheduler> - - <!-- Simulator configuration --> - <simstage> - <world wallmap="388project" linemap="" scale="150" yoff="775"/> - 1<guidemark gmno="1" gmpose=" 0 1.5 3.14 "/> - 2<guidemark gmno="7" gmpose=" 0 1.5 0"/> - 3<guidemark gmno="6" gmpose=" 4.0 1.5 3.14 "/> - 4<guidemark gmno="4" gmpose=" 4.0 1.5 0"/> - 5<guidemark gmno="5" gmpose=" 0.0 3.5 3.14"/> - 6<guidemark gmno="12" gmpose=" 0.0 3.5 0"/> - 7<guidemark gmno="11" gmpose=" 4.0 3.5 3.14"/> - 8<guidemark gmno="5" gmpose=" 4.0 3.5 0.0"/> - 9<guidemark gmno="5" gmpose=" 0.0 4.5 0.0"/> - 10<guidemark gmno="5" gmpose=" 4.0 4.5 3.14"/> - 11<guidemark gmno="3" gmpose=" 0.5 5.0 -1.57"/> - 12<guidemark gmno="13" gmpose=" 3.5 5.0 -1.57"/> - 13<guidemark gmno="98" gmpose=" 2.0 4.0 3.14"/> - 14<guidemark gmno="98" gmpose=" 2.0 4.0 0"/> - </simstage> - - <!-- Robot server no. 0 --> - <!-- Robot size: 0.35*0.3 --> - <robot> - <mrcserver port="8000"/> - <clients number="5"/> - <params name="smr0" robotpose="0.25 0.45 0" wheelbase="0.26" encresolution="0.00010245"/> - <corner x="-0.1" y="-0.15"/> - <corner x="0.25" y="-0.15"/> - <corner x="0.25" y="0.15"/> - <corner x="-0.1" y="0.15"/> - <irsensor ka="16.0" kb="76.0"/> - <laserscanner port="19001" laserpose="0.26 0.0 0.0"/> - </robot> - - <!-- Robot server no. 1 - <robot> - <mrcserver port="8001"/> - <clients number="5"/> - <params name="smr1" robotpose=" 1.0 1.0 0.0" wheelbase="0.26" encresolution="0.00010245"/> - <corner x="-0.1" y="-0.15"/> - <corner x="0.25" y="-0.15"/> - <corner x="0.25" y="0.15"/> - <corner x="-0.1" y="0.15"/> - <irsensor ka="16.0" kb="76.0"/> - <laserscanner port="19001" laserpose="0.26 0 0"/> - </robot> - --> - <!-- Robot server no. 2 - <robot> - <mrcserver port="8002"/> - <clients number="4"/> - <params name="smr2" wheelbase="0.26" encresolution="0.00010245"/> - <irsensor ka="16.0" kb="76.0"/> - <laserscanner port="19002"/> - </robot> ---> - <!-- Robot server no. 3 - <robot> - <mrcserver port="8003"/> - <clients number="5"/> - <params name="smr3" wheelbase="0.26" encresolution="0.00010245"/> - <irsensor ka="16.0" kb="76.0"/> - <laserscanner port="19003"/> - </robot> ---> -</simserver> diff --git a/final_project_final b/final_project_final deleted file mode 100644 index b272e75..0000000 --- a/final_project_final +++ /dev/null @@ -1,693 +0,0 @@ -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -%%%%%%%%%%%%%%%FINAL PROJECT%%%%%%%%%%%%%% -%%%%%%%%%%%%%%%%%%31388%%%%%%%%%%%%%%%%%%% -%%%%%%%%Advanced Autonomous Robots%%%%%%%% -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -%%%%%%%%%%%Dennis Jensen, s155629%%%%%%%%% -%%%%%%%%%%%Martin Jensen, s164033%%%%%%%%% -%%%%%%%%%%%Theis Jensen, s164022%%%%%%%%% -%%%%%%%%%%%Stefan Larsen, s164029%%%%%%%%% -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -% laser update call -laser "resetplanner" -laser "scanget" -laser "resetlocalizer" - -% For logging purposes -laser "scanset logopen" -laser "scanset log=1" -laser "odopose log=true" - -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -%%%%%%%%%%%%%%%MISSION%%%%%%%%%%%%%%%%%%%% -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -% mission 1: follow guidemarks -% mission 2: find object -% mission 3: drive to goal - -%first mission is initialized -mission = 1 - -%first guidemark to visit -gmkno = 2 - -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -%%%%%%%%%%%%%%CONSTANTS%%%%%%%%%%%%%%%%%%% -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -fwdVel = 1.0 %forward velocity -slowVel = 0.5 %slow forward velocity - -pi = 3.141592 - -xlaser = 0.26 %laser offset in x-direction - - - -%------------------- -% POINTS -%------------------- -% straight up from start position -laser "addpoint pno=1 x=0.5 y=0.5" -laser "addpoint pno=2 x=0.5 y=1.5" -laser "addpoint pno=3 x=0.5 y=2.35" -laser "addpoint pno=4 x=0.5 y=3.5" -laser "addpoint pno=5 x=0.5 y=4.55" - -% top left straight right (Inside track) -laser "addpoint pno=6 x=1.5 y=4.65" -laser "addpoint pno=7 x=2.5 y=4.65" -laser "addpoint pno=8 x=3.5 y=4.55" - -% Right corner and down (inside track) -laser "addpoint pno=9 x=3.5 y=3.5" -laser "addpoint pno=10 x=3.5 y=2.35" -laser "addpoint pno=11 x=3.5 y=1.5" -laser "addpoint pno=12 x=3.5 y=0.5" - -% Right corner bottom back to start -laser "addpoint pno=13 x=2.5 y=0.5" -laser "addpoint pno=14 x=1.5 y=0.5" - -% Left side out of track box -laser "addpoint pno=15 x=-0.5 y=2.5" -laser "addpoint pno=16 x=-0.5 y=3.5" -laser "addpoint pno=17 x=-0.5 y=1.5" - -% Right side out of track box -laser "addpoint pno=18 x=4.5 y=2.5" -laser "addpoint pno=19 x=4.5 y=3.5" -laser "addpoint pno=20 x=4.5 y=1.5" - -% From left side to the entrance of the red box (G13, G14) -laser "addpoint pno=21 x=1.25 y=2.35" - -% Infront of the entrance of the red box -laser "addpoint pno=22 x=2.0 y=2.25" - -% From right side to the entrance of the red box (G13, G14) -laser "addpoint pno=23 x=2.75 y=2.35" - -% Inside the red box (G13, G14) -%laser "addpoint pno=24 x=2 y=3" -laser "addpoint pno=25 x=2 y=3.3" -%% Inside the red box (G13) -laser "addpoint pno=26 x=1.25 y=3.4" -laser "addpoint pno=27 x=1.25 y=4.0" -%%% Infront of G13 -laser "addpoint pno=28 x=1.4 y=4.0" -%% Inside the red box (G14) -laser "addpoint pno=29 x=2.8 y=3.4" -laser "addpoint pno=30 x=2.8 y=4.0" -%%% Infront of G14 -laser "addpoint pno=31 x=2.7 y=4.0" - -%------------------- -% CONNECTIONS -%------------------- -laser "addcon pno1=1 pno2=2" -laser "addcon pno1=2 pno2=1" - -laser "addcon pno1=2 pno2=3" -laser "addcon pno1=3 pno2=2" - -laser "addcon pno1=3 pno2=4" -laser "addcon pno1=4 pno2=3" - -laser "addcon pno1=4 pno2=5" -laser "addcon pno1=5 pno2=4" - -laser "addcon pno1=5 pno2=6" -laser "addcon pno1=6 pno2=5" - -laser "addcon pno1=6 pno2=7" -laser "addcon pno1=7 pno2=6" - -laser "addcon pno1=7 pno2=8" -laser "addcon pno1=8 pno2=7" - -laser "addcon pno1=8 pno2=9" -laser "addcon pno1=9 pno2=8" - -laser "addcon pno1=9 pno2=10" -laser "addcon pno1=10 pno2=9" - -laser "addcon pno1=10 pno2=11" -laser "addcon pno1=11 pno2=10" - -laser "addcon pno1=11 pno2=12" -laser "addcon pno1=12 pno2=11" - -laser "addcon pno1=12 pno2=13" -laser "addcon pno1=13 pno2=12" - -laser "addcon pno1=13 pno2=14" -laser "addcon pno1=14 pno2=13" - -laser "addcon pno1=14 pno2=1" -laser "addcon pno1=1 pno2=14" - -laser "addcon pno1=3 pno2=15" -laser "addcon pno1=15 pno2=3" - -laser "addcon pno1=15 pno2=16" -laser "addcon pno1=16 pno2=15" - -laser "addcon pno1=15 pno2=17" -laser "addcon pno1=17 pno2=15" - -laser "addcon pno1=10 pno2=18" -laser "addcon pno1=18 pno2=10" - -laser "addcon pno1=18 pno2=19" -laser "addcon pno1=19 pno2=18" - -laser "addcon pno1=18 pno2=20" -laser "addcon pno1=20 pno2=18" - -laser "addcon pno1=3 pno2=21" -laser "addcon pno1=21 pno2=3" - -laser "addcon pno1=21 pno2=22" -laser "addcon pno1=22 pno2=21" - -laser "addcon pno1=22 pno2=25" -laser "addcon pno1=25 pno2=22" - -%laser "addcon pno1=24 pno2=25" -%laser "addcon pno1=25 pno2=24" - -laser "addcon pno1=25 pno2=26" -laser "addcon pno1=26 pno2=25" - -laser "addcon pno1=26 pno2=27" -laser "addcon pno1=27 pno2=26" - -laser "addcon pno1=27 pno2=28" -laser "addcon pno1=28 pno2=27" - -laser "addcon pno1=25 pno2=29" -laser "addcon pno1=29 pno2=25" - -laser "addcon pno1=29 pno2=30" -laser "addcon pno1=30 pno2=29" - -laser "addcon pno1=30 pno2=31" -laser "addcon pno1=31 pno2=30" - -laser "addcon pno1=22 pno2=23" -laser "addcon pno1=23 pno2=22" - -laser "addcon pno1=10 pno2=23" -laser "addcon pno1=23 pno2=10" - -% calculate the cost -laser "calculatecost" - -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -%%%%%%%%%%%%%%%ADDING LINES%%%%%%%%%%%%%%% -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -laser "addline startx=0 starty=0 endx=1.8 endy=0 name='bottom left'" -laser "addline startx=2.2 starty=0 endx=4.0 endy=0 name='ottom right'" -laser "addline startx=0 starty=5.0 endx=1.8 endy=0 name='top left'" -laser "addline startx=2.2 starty=5.0 endx=4.0 endy=5.0 name='top right'" -laser "addline startx=0 starty=0 endx=0 endy=1.8 name='left down'" -laser "addline startx=0 starty=3.2 endx=0 endy=5 name='left up'" -laser "addline startx=4 starty=0 endx=4 endy=1.8 name='right down'" -laser "addline startx=4 starty=3.2 endx=4 endy=5 name='right up'" -laser "addline startx=0.9 starty=3.1 endx=1.7 endy=3.1 name='maze bottom left'" -laser "addline startx=2.3 starty=3.1 endx=3.1 endy=3.1 name='maze bottom right'" -laser "addline startx=1.7 starty=2.5 endx=1.7 endy=3.1 name='maze left down'" -laser "addline startx=0.9 starty=3.1 endx=0.9 endy=4.3 name='maze left up'" -laser "addline startx=2.3 starty=2.5 endx=2.3 endy=3.1 name='maze right down'" -laser "addline startx=3.1 starty=3.1 endx=3.1 endy=4.3 name='maze right up'" -laser "addline startx=1.5 starty=3.7 endx=2.5 endy=3.7 name='maze middle horizontal'" -laser "addline startx=2.0 starty=3.7 endx=2.0 endy=4.3 name='maze middle vertical'" -laser "addline startx=0.9 starty=4.3 endx=3.1 endy=4.3 name='maze top'" - -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -%%%%%%%%%%%%%%%SET UP%%%%%%%%%%%%%%%%%%%%% -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -% start pose and covariance -laser "setinitpose x=xlaser y=0 th=0" -laser "setinitcov Cx=0.01 Cy=0.01 Cth=0.01" - -set "$odox" 0.25 -set "$odoy" 0.25 -set "$odoth" 0 - -% set localizer -laser "LOCALIZE silent" -laser "push t='0.5' cmd='localize'" - -%------------------- -% GUIDEMARKS -%------------------- -array "gmkx" 14 -array "gmky" 14 -array "gmkth" 14 - -gmkx[1] = -0.01 -gmkx[2] = 0 -gmkx[3] = 4.0 -gmkx[4] = 4.01 -gmkx[5] = -0.01 -gmkx[6] = 0.0 -gmkx[7] = 4.0 -gmkx[8] = 4.01 -gmkx[9] = 0.0 -gmkx[10] = 4.0 -gmkx[11] = 0.5 -gmkx[12] = 3.5 -gmkx[13] = 1.99 -gmkx[14] = 2.01 - -gmky[1] = 1.5 -gmky[2] = 1.5 -gmky[3] = 1.5 -gmky[4] = 1.5 -gmky[5] = 3.5 -gmky[6] = 3.5 -gmky[7] = 3.5 -gmky[8] = 3.5 -gmky[9] = 4.5 -gmky[10] = 4.5 -gmky[11] = 5.0 -gmky[12] = 5.0 -gmky[13] = 4.0 -gmky[14] = 4.0 - -gmkth[1] = 3.14 -gmkth[2] = 0 -gmkth[3] = 3.14 -gmkth[4] = 0 -gmkth[5] = 3.14 -gmkth[6] = 0 -gmkth[7] = 3.14 -gmkth[8] = 0 -gmkth[9] = 0 -gmkth[10] = 3.14 -gmkth[11] = -1.57 -gmkth[12] = -1.57 -gmkth[13] = 3.14 -gmkth[14] = 0 - - -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -%%%%%%%%%%%%RUN MISSION%%%%%%%%%%%%%%%%%%% -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -label "start" - -switch(mission) - case 1 - goto "mission1" - case 2 - goto "mission2" - case 3 - goto "mission3" -endswitch - -goto "missionerror" - -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -%%%%%%%%%%%%%%MISSION 1%%%%%%%%%%%%%%%%%%% -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -label "mission1" - -call "init" -call "drive" -call "gm" - -if (gmval != 14) "mission1" - -goto "complete" - -label "init" - -%current pose -xc = $odox -yc = $odoy -thc = $odoth - -%first guidemark pose -xg = gmkx[gmkno] -yg = gmky[gmkno] -thg = gmkth[gmkno] - -stringcat "findroute startx="xc" starty="yc" endx="xg" endy="yg"" -laser "$string" -wait 1 -N = $l4 - - -return - - - -%-------------------------% -% Drive % -%-------------------------% - -label "drive" - -stringcat "getpoint p=" N"" -laser "$string" -wait 1 - -x = $l5 -y = $l6 -th = $l7 - -eval x -eval y -eval th - -invtrans $l0 $l1 $l2 $odox $odoy $odoth - -angle = th-$res2 -angle = normalizeanglerad(angle) -ignoreobstacles -eval angle -wait 0.5 -turn angle "rad" @v 0.3 :($cmdtime>3) - -ignoreobstacles -wait 0.5 -drivew x y th "rad" @v 0.8 :($targetdist<0.05) -stop -wait 1 - - -N = N - 1 -if (N>-1) "drive" - - -invtrans $l0 $l1 $l2 $odox $odoy $odoth - -xx = xg-$res0 -yy = yg-$res1 - -angle = atan2(yy,xx)-$res2 - -wait 1 - -angle = normalizeanglerad(angle) -ignoreobstacles -turn angle "rad" @v 0.3 :($cmdtime>3) -wait 0.5 - - -return - - - -%------------------------% -% DOING EVALUATION OF GM % -%------------------------% - -label "gm" -call "readgm" -if (gmval < 1) "bad" -if (gmval >= 1) "good" - -label "bad" - -wait 1 -gmval = $fiducialid - -if (gmval >= 1) "good" -turn 10 @v 0.2 -wait 1 -call "readgm" -if (gmval >= 1) "good" -turn -20 @v 0.2 -wait 1 -call "readgm" -if (gmval >= 1) "good" -return - -label "good" -gmkno = gmval -stringcat "Guidemark no. " "gmkno"" -return - - - -%-------------------------% -% READ GUIDEMARK FUNCTION % -%-------------------------% - -label "readgm" -tries = 0 -label "retry" -wait 2 :($fiducialid) -eval $fiducialid -gmval = $fiducialid -wait 2 -tries = tries + 1 - -if (gmval == 98) "complete" - -if (tries < 2 | gmval < 1) "retry" - -return - -label "complete" -mission = mission + 1 -goto "start" - -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -%%%%%%%%%%%%%%MISSION 2%%%%%%%%%%%%%%%%%%% -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -% This mission finds the object on the loose -label "mission2" - -n=1 %iterator for switch case - -% (x,y) of box with object on the loose -midx = 2 -midy = 1.5 - -% Go to reading points -label "objectfinding" - - -% Read from points 22 -> 21 -> 3 -> 2 -> 1 -> 14 -> 13 -> 12 -> 11 -> 10 -> 23 -switch(n) - case 1: - x=2.0 - y=2.25 - case 2: - x=1.25 - y=2.35 - case 3: - x=0.5 - y=2.35 - case 4: - x=0.5 - y=1.5 - case 5: - x=0.5 - y=0.5 - case 6: - x=1.5 - y=0.5 - case 7: - x=2.5 - y=0.5 - case 8: - x=3.5 - y=0.5 - case 9: - x=3.5 - y=1.5 - case 10: - x=3.5 - y=2.35 - case 11: - x=2.75 - y=2.35 -endswitch - - -xc = $odox -yc = $odoy -thc = $odoth - - -stringcat "findroute startx="xc" starty="yc" endx="x" endy="y"" -laser "$string" -wait 1 - -K = $l4 - - -label "drivearound" -stringcat "getpoint p=" K"" -laser "$string" -wait 1 - -x = $l5 -y = $l6 - -th = $l7 - -eval x -eval y -eval th - -invtrans $l0 $l1 $l2 $odox $odoy $odoth - -angle = th-$res2 -angle = normalizeanglerad(angle) -eval angle -ignoreobstacles -turn angle "rad" @v 0.3 :($cmdtime>3) - -ignoreobstacles -wait 0.5 -drivew x y th "rad" @v 0.5 :($targetdist<0.05) -stop -wait 0.5 - -K=K-1 - -if (K>-1) "drivearound" - - -% Turning towards middle of box on the loose - -posx = midx - $odox -posy = midy - $odoy - -midangle = atan2(posy, posx) - $odoth -midangle = normalizeanglerad(midangle) - -ignoreobstacles -turn midangle "rad" @v 0.2 :($cmdtime>3) -wait 2 -stringcat "zoneobst detect x="$odox" y="$odoy" th="$odoth"" -laser "$string" -wait 2 - -n=n+1 - -if (n!=12) "objectfinding" - -wait 1 - -%determine object -laser "zoneobst determine" -wait 3 - -goto "finish" - -mission = mission + 1 -goto "start" - - -label "findobject" -posx = midx - $odox -posy = midy - $odoy - -midangle = atan2(posy, posx) - $odoth -midangle = normalizeanglerad(midangle) - -ignoreobstacles -turn midangle "rad" @v 0.2 -wait 2 - -stringcat "zoneobst findobject x="$odox" y="$odoy" th="$odoth"" -laser "$string" - -boxx = $l0 -boxy = $l1 - -eval boxx -eval boxy - -return - -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -%%%%%%%%%%%%%%MISSION 3%%%%%%%%%%%%%%%%%%% -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -% drive to goal - -label "mission3" - -startx=0.25 -starty=0.25 - -xc = $odox -yc = $odoy -stringcat "findroute startx="xc" starty="yc" endx="startx" endy="starty"" -laser "$string" -wait 1 -N = $l4 - -label "driveHome" - -stringcat "getpoint p=" N"" -laser "$string" -wait 1 - -x = $l5 -y = $l6 -th = $l7 - -eval x -eval y -eval th - -invtrans $l0 $l1 $l2 $odox $odoy $odoth - -angle = th-$res2 -angle = normalizeanglerad(angle) -ignoreobstacles -eval angle -wait 1 -turn angle "rad" @v 0.3 :($cmdtime>3) - -ignoreobstacles -wait 1 -drivew x y th "rad" @v 0.8 :($targetdist<0.05) -stop -wait 1 - -N = N - 1 - -if (N>-1) "driveHome" - -turn 90 -fwd -0.25 -turn 90 -fwd -0.25 - -goto "finish" - - -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -%%%%%%%%%%%%%%%FINISH%%%%%%%%%%%%%%%%%%%%% -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -label "missionerror" -%NO MISSION NUMBER DETECTED - -label "finish" -stop - -% closing logging -laser "scanset logclose" -laser "odopose log=false" - -% DRIVE FINISHED diff --git a/laser_020200524_225558.logg b/laser_020200524_225558.logg deleted file mode 100644 index 6e40d98..0000000 --- a/laser_020200524_225558.logg +++ /dev/null @@ -1 +0,0 @@ -11.650000 1163 -0.5 90 361 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 3.731 3.445 3.200 2.987 2.802 2.679 2.683 2.686 2.690 2.695 2.699 2.704 2.709 2.714 2.719 2.725 2.731 2.737 2.743 2.750 2.756 2.763 2.771 2.778 2.786 2.794 2.802 2.811 2.820 2.829 2.838 2.848 2.858 2.868 2.878 2.889 2.900 2.869 2.815 2.764 2.714 2.666 2.621 2.577 2.534 2.493 2.454 2.416 2.380 3.771 3.791 0.001 0.001 0.001 0.001 0.001 0.001 3.160 3.120 3.082 3.045 3.009 2.974 2.940 2.907 2.875 2.844 2.814 2.784 2.756 2.728 3.538 3.565 3.594 3.623 3.653 3.683 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 3.738 3.725 3.713 3.702 3.691 3.680 3.669 3.659 3.649 3.639 3.630 3.621 3.613 3.604 3.596 3.589 3.581 3.574 3.567 3.561 3.555 3.549 3.543 3.538 3.533 3.528 3.524 3.520 3.516 3.512 3.509 3.506 3.503 3.500 3.498 3.496 3.494 3.493 3.492 3.491 3.490 3.490 3.490 3.490 3.490 3.491 3.492 3.493 3.494 3.496 3.498 3.500 3.503 3.506 3.509 3.512 3.516 3.447 3.233 3.044 2.876 2.726 2.591 2.469 2.358 2.257 2.164 2.079 2.000 1.927 1.860 1.797 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 1.348 1.315 1.284 1.255 1.227 1.201 1.175 1.151 1.128 1.106 1.085 1.064 1.045 1.026 1.008 0.991 0.974 0.958 0.943 0.928 0.913 0.900 0.886 0.873 0.861 0.849 0.837 0.826 0.815 0.804 0.794 0.784 0.774 0.765 0.756 0.747 0.739 0.730 0.722 0.715 0.707 0.700 0.692 0.685 0.679 0.672 0.666 0.659 0.653 0.647 0.642 0.636 0.630 0.625 0.620 0.615 0.610 0.605 0.600 0.596 0.591 0.587 0.583 0.579 0.575 0.571 0.567 0.563 0.559 0.556 0.552 0.549 0.546 0.542 0.539 0.536 0.533 0.530 0.527 0.524 0.522 0.519 0.517 0.514 0.512 0.509 0.507 0.505 0.502 0.500 0.498 0.496 0.494 0.492 0.490 0.488 0.487 0.485 0.483 0.482 0.480 0.478 0.477 0.475 0.474 0.473 0.471 0.470 0.469 0.468 0.466 0.465 0.464 0.463 0.462 0.461 0.460 0.460 0.459 0.458 0.457 0.456 0.456 0.455 0.454 0.454 0.453 0.453 0.452 0.452 0.452 0.451 0.451 0.451 0.450 0.450 0.450 0.450 0.450 0.450 0.450 0.450 0 1 0 diff --git a/log b/log deleted file mode 100644 index e69de29..0000000 diff --git a/main.sh b/main.sh index dadfc90..3498949 100644 --- a/main.sh +++ b/main.sh @@ -1,4 +1,9 @@ #!usr/bin/bash +# install gnome-terminal +if ! [ -x "$(command -v gnome-terminal)" ]; then + sudo apt-get install gnome-terminal + sleep 1 +fi # terminal 1: laser server gnome-terminal -t "laser server" -x bash -c "cd /home/smr/sim/bash_src/; sh laser.sh;exec bash;" diff --git a/mrc_src/data.debug b/mrc_src/data.debug index c59c016..411a13d 100644 --- a/mrc_src/data.debug +++ b/mrc_src/data.debug @@ -1,6 +1,6 @@ Debug file for the robot initialization --------------------------------------- -Sun May 24 22:57:24 2020 +Mon May 25 16:45:39 2020 --------------------------------------- Module : robotinfo diff --git a/mrc_src/main b/mrc_src/main index 44bf605..f5a620c 100644 --- a/mrc_src/main +++ b/mrc_src/main @@ -7,13 +7,13 @@ pi = 3.1415926535 xOrig = 0.25 yOrig = 0.45 % distance from the expected robot position to the guidemark -dist = 0.4 +dist = 0.35 % distance from the nearest node to the guidemark -nodeDist = 0.15 +nodeDist = 0.25 % robot length length = 0.25 % the first guidemark number -gmno = 4 +gmno = 14 % task number %% - 1: subtask1, follow the guidemarks %% - 2: subtask2, recognize unknown object @@ -86,6 +86,11 @@ laser "localize" laser “push t='0.3' cmd='localize' “ wait 1 +%% log +laser "scanset logopen" +laser "scanset log=1" +laser "odopose log=true" + %%%%%%%%MAIN PROCESS%%%%%%%%%% % switch(task) @@ -95,6 +100,7 @@ call "backToOrig" goto "end" case 1 call "subtask1" +wait 5 call "backToOrig" goto "end" case 2 @@ -123,6 +129,7 @@ eval thEnd call "plan" % read the guidemark, update gmno call "look" +wait 1 if(gmno!=98) "subtask1" return label "rightSide" @@ -163,9 +170,9 @@ rotAng = atan2(yTar-yCurr,xTar-xCurr)-thCurr rotAng = normalizeanglerad(rotAng) wait 0.5 eval rotAng -ignoreobstacles turn rotAng "rad" @v 0.1 :($cmdtime>5)|($irdistfrontmiddle<=nodeDist)| ($irdistfrontleft<=0.05) | ($irdistfrontright<=0.05) -wait 1.5 +stop +wait 2 ignoreobstacles drivew xTar yTar thTar "rad" @v 0.3 :($targetdist<0.01)|($cmdtime>10)|($irdistfrontmiddle<=nodeDist) stop @@ -174,8 +181,8 @@ call "update" % correct orientation rotAng = thTar-thCurr rotAng = normalizeanglerad(rotAng) +stop wait 0.5 -ignoreobstacles turn rotAng "rad" @v 0.1 :($cmdtime>5)|($irdistfrontmiddle<=nodeDist)| ($irdistfrontleft<=0.05) | ($irdistfrontright<=0.05) wait 1 return @@ -196,9 +203,7 @@ wait 0.5 xTar = $l5 yTar = $l6 thTar = $l7 -% remove the verbose pose -if((xTar==xOrig)&(yTar==yOrig)) "loop" -eval pno +if((xTar==xOrig)&(yTar==yOrig)&(pno>1)) "loop" call "go" wait 2 if(pno>0) "loop" @@ -207,33 +212,55 @@ xTar = xEnd yTar = yEnd thTar = thEnd call "go" -wait 1 -ignoreobstacles -fwd -0.3 @v 0.1 -stop -ignoreobstacles -drive @v 0.1 :($irdistfrontmiddle<=dist) -stop -wait 0.5 return % function: look % return guidemarkNumber label "look" +counter = 0 +label "scan" +switch(counter) wait 3 : ($fiducialid>0) -eval $fiducialid -eval $guidemarkok gmno = $fiducialid eval gmno -eval $gmkx -eval $gmky -eval $gmkz -goto "look" +goto "hasGotcha" +case 1 +turn 10 +wait 3 : ($fiducialid>0) +if(gmno==$fiducialid) "next" +gmno = $fiducialid +eval gmno +"hasGotcha" +case 2 +turn -20 +wait 3 : ($fiducialid>0) +gmno = $fiducialid +eval gmno +label "hasGotcha" +counter = counter+1 +if(counter>2) "next" +if(gmno<0) "scan" +return +label "next" +gmno = gmno+1 +if(gmno>14) "overflow" +return +label "overflow" +gmno = 14 return % function: backToOrig % drive the robot back to the start square label "backToOrig" +fwd -0.45 @v 0.1 +wait 1 +xEnd = xOrig +yEnd = yOrig-0.1 +thEnd = 0 +call "plan" +wait 1 +laser "scanset logclose" +laser "odopose log=false" return diff --git a/mrc_src/spawnNodes b/mrc_src/spawnNodes index aa9d153..e62911f 100644 --- a/mrc_src/spawnNodes +++ b/mrc_src/spawnNodes @@ -17,9 +17,9 @@ laser "addpoint pno=10 x=3.5 y=2.5" laser "addpoint pno=11 x=4.5 y=2.5" laser "addpoint pno=12 x=-0.5 y=3.5" laser "addpoint pno=13 x=0.5 y=3.5" -laser "addpoint pno=14 x=1.3 y=3.3" -laser "addpoint pno=15 x=2 y=3.3" -laser "addpoint pno=16 x=2.7 y=3.3" +laser "addpoint pno=14 x=1.3 y=3.4" +laser "addpoint pno=15 x=2 y=3.4" +laser "addpoint pno=16 x=2.7 y=3.4" laser "addpoint pno=17 x=3.5 y=3.5" laser "addpoint pno=18 x=4.5 y=3.5" laser "addpoint pno=19 x=1.3 y=4" diff --git a/mrc_src/test b/mrc_src/test deleted file mode 100644 index ce102d0..0000000 --- a/mrc_src/test +++ /dev/null @@ -1,306 +0,0 @@ -%Set laser scanner states -laser "setinitpose x=0.3 y=0.3 th=0" -laser "setinitcov Cx=0.05 Cy=0.05 Cth=0.05" -laser "resetplanner" -laser "push t='1' cmd='localize'" -laser "odopose log = true" -log $odox $odoy $odoth - - -%Add 34 nodes to laser scanner -laser "addpoint pno=1 x=-0.5 y=-0.5" -laser "addpoint pno=2 x=2 y=-0.5" -laser "addpoint pno=3 x=4.5 y=-0.5" -laser "addpoint pno=4 x=0.5 y=0.5" -laser "addpoint pno=5 x=2 y=0.5" -laser "addpoint pno=6 x=3.5 y=0.5" -laser "addpoint pno=7 x=-0.5 y=1.5" -laser "addpoint pno=8 x=0.5 y=1.5" -laser "addpoint pno=9 x=3.5 y=1.5" -laser "addpoint pno=10 x=4.5 y=1.5" -laser "addpoint pno=11 x=-0.5 y=2.2" -laser "addpoint pno=12 x=0.5 y=2.2" -laser "addpoint pno=13 x=2 y=2.2" -laser "addpoint pno=14 x=3.5 y=2.2" -laser "addpoint pno=15 x=4.5 y=2.2" -laser "addpoint pno=16 x=-0.5 y=3.4" -laser "addpoint pno=17 x=0.5 y=3.4" -laser "addpoint pno=18 x=1.2 y=3.4" -laser "addpoint pno=19 x=2 y=3.4" -laser "addpoint pno=20 x=2.7 y=3.4" -laser "addpoint pno=21 x=3.5 y=3.4" -laser "addpoint pno=22 x=4.5 y=3.4" -laser "addpoint pno=23 x=1.2 y=4" -laser "addpoint pno=24 x=2.7 y=4" -laser "addpoint pno=25 x=-0.5 y=4.6" -laser "addpoint pno=26 x=0.5 y=4.6" -laser "addpoint pno=27 x=2 y=4.6" -laser "addpoint pno=28 x=3.5 y=4.6" -laser "addpoint pno=29 x=4.5 y=4.6" -laser "addpoint pno=30 x=-0.5 y=5.5" -laser "addpoint pno=31 x=0.3 y=5.5" -laser "addpoint pno=32 x=2.0 y=5.5" -laser "addpoint pno=33 x=3.7 y=5.5" -laser "addpoint pno=34 x=4.5 y=5.5" -laser "addpoint pno=35 x=1.7 y=4" -laser "addpoint pno=36 x=2.2 y=4" - -% Set connections -% Out-loop: counter-clockwise -laser "addcon pno1=1 pno2=2" -laser "addcon pno1=2 pno2=3" -laser "addcon pno1=3 pno2=10" -laser "addcon pno1=10 pno2=15" -laser "addcon pno1=15 pno2=22" -laser "addcon pno1=22 pno2=29" -laser "addcon pno1=29 pno2=34" -laser "addcon pno1=34 pno2=33" -laser "addcon pno1=33 pno2=32" -laser "addcon pno1=32 pno2=31" -laser "addcon pno1=31 pno2=30" -laser "addcon pno1=30 pno2=25" -laser "addcon pno1=25 pno2=16" -laser "addcon pno1=16 pno2=11" -laser "addcon pno1=11 pno2=7" -laser "addcon pno1=7 pno2=1" -% Out-loop: clockwise -laser "addcon pno1=1 pno2=7" -laser "addcon pno1=7 pno2=11" -laser "addcon pno1=11 pno2=16" -laser "addcon pno1=16 pno2=25" -laser "addcon pno1=25 pno2=30" -laser "addcon pno1=30 pno2=31" -laser "addcon pno1=31 pno2=32" -laser "addcon pno1=32 pno2=33" -laser "addcon pno1=33 pno2=34" -laser "addcon pno1=34 pno2=29" -laser "addcon pno1=29 pno2=22" -laser "addcon pno1=22 pno2=15" -laser "addcon pno1=15 pno2=10" -laser "addcon pno1=10 pno2=3" -laser "addcon pno1=3 pno2=2" -laser "addcon pno1=2 pno2=1" -% Connections between out-loop and inner-loop -laser "addcon pno1=2 pno2=5" -laser "addcon pno1=5 pno2=2" -laser "addcon pno1=14 pno2=15" -laser "addcon pno1=15 pno2=14" -laser "addcon pno1=27 pno2=32" -laser "addcon pno1=32 pno2=27" -laser "addcon pno1=12 pno2=11" -laser "addcon pno1=11 pno2=12" -% Inner-loop: counter-clockwise -laser "addcon pno1=4 pno2=5" -laser "addcon pno1=5 pno2=6" -laser "addcon pno1=6 pno2=9" -laser "addcon pno1=9 pno2=14" -laser "addcon pno1=14 pno2=21" -laser "addcon pno1=21 pno2=28" -laser "addcon pno1=28 pno2=27" -laser "addcon pno1=27 pno2=26" -laser "addcon pno1=26 pno2=17" -laser "addcon pno1=17 pno2=12" -laser "addcon pno1=12 pno2=8" -laser "addcon pno1=8 pno2=4" -% Inner-loop: clockwise -laser "addcon pno1=4 pno2=8" -laser "addcon pno1=8 pno2=12" -laser "addcon pno1=12 pno2=17" -laser "addcon pno1=17 pno2=26" -laser "addcon pno1=26 pno2=27" -laser "addcon pno1=27 pno2=28" -laser "addcon pno1=28 pno2=21" -laser "addcon pno1=21 pno2=14" -laser "addcon pno1=14 pno2=9" -laser "addcon pno1=9 pno2=6" -laser "addcon pno1=6 pno2=5" -laser "addcon pno1=5 pno2=4" -% Connections between inner-loop and path in maze -laser "addcon pno1=12 pno2=13" -laser "addcon pno1=13 pno2=12" -laser "addcon pno1=13 pno2=14" -laser "addcon pno1=14 pno2=13" -laser "addcon pno1=13 pno2=19" -laser "addcon pno1=19 pno2=13" -% In maze: counter-clockwise -laser "addcon pno1=35 pno2=23" -laser "addcon pno1=23 pno2=18" -laser "addcon pno1=18 pno2=19" -laser "addcon pno1=19 pno2=20" -laser "addcon pno1=20 pno2=24" -laser "addcon pno1=24 pno2=36" -% In maze: clockwise -laser "addcon pno1=36 pno2=24" -laser "addcon pno1=24 pno2=20" -laser "addcon pno1=20 pno2=19" -laser "addcon pno1=19 pno2=18" -laser "addcon pno1=18 pno2=23" -laser "addcon pno1=23 pno2=35" - -% Calculate cost of navigating -laser "calculatecost" - -% Guidemark info -array "gmx" 15 -array "gmy" 15 -array "gmth" 15 -pi=3.1416 -% x-coordinates -gmx[1]=0 -gmx[2]=0 -gmx[3]=4 -gmx[4]=4 -gmx[5]=0 -gmx[6]=0 -gmx[7]=4 -gmx[8]=4 -gmx[9]=0 -gmx[10]=4 -gmx[11]=0.4 -gmx[12]=3.6 -gmx[13]=2 -gmx[14]=2 -% y-coordinates -gmy[1]=1.5 -gmy[2]=1.5 -gmy[3]=1.5 -gmy[4]=1.5 -gmy[5]=3.5 -gmy[6]=3.5 -gmy[7]=3.5 -gmy[8]=3.5 -gmy[9]=4.7 -gmy[10]=4.7 -gmy[11]=5 -gmy[12]=5 -gmy[13]=4.0 -gmy[14]=4.0 -% z-coordinates -gmth[1]=pi -gmth[2]=0 -gmth[3]=pi -gmth[4]=0 -gmth[5]=pi -gmth[6]=0 -gmth[7]=pi -gmth[8]=0 -gmth[9]=0 -gmth[10]=pi -gmth[11]=-pi/2 -gmth[12]=-pi/2 -gmth[13]=pi -gmth[14]=0 - -% Define guidemark number -num = 1 - -% Go to node 4 -% Get the current location in world frame -%invtrans $l0 $l1 $l2 $odox $odoy $odoth -%xw = $res0 -%yw = $res1 -%thw = $res2 -% Drive to node 4 -%ndx = 0.5 -%ndy = 0.5 -%dx = ndx - xw -%dy = ndy - yw -%ang = -thw -%turn ang "rad" -%fwd dx -%turn 90 -%fwd dy -num = 2 - -% Navigate through guidemarks -label"GuidemarkTour" - % Want to go to guidemark 1 - tgmx = gmx[num] % Off set term determined by orientation of guidemark pose. If 0, the inner side of the wall, so shift to the left. - tgmy = gmy[num] - tgmth = gmth[num] - delx = (tgmth==0)*0.4 + (tgmth==pi)*-0.4 - dely = (tgmth==-pi/2)*-0.4 - tgmx = tgmx + delx - tgmy = tgmy + dely - fang = (tgmth==0)*pi + (tgmth==pi)*0 + (tgmth==-pi/2)*pi/2 - % Get current location in world frame - invtrans $l0 $l1 $l2 $odox $odoy $odoth - xw = $res0 - yw = $res1 - % Start planning - stringcat "findroute startx="xw "starty="yw "endx="tgmx "endy="tgmy - laser "$string" - wait 1 - N = $l4 - cost = $l5 - % Drive to target guidemark - label"Drive" - % Take coordinates - stringcat "getpoint p="N - laser "$string" - x = $l5 - y = $l6 - th = $l7 - % Drive to middle points - drivew x y th "rad":($targetdist<0.25) - N = N - 1 - if(N>=0)"Drive" - wait 1 - % Adjust pose - invtrans $l0 $l1 $l2 $odox $odoy $odoth - xw = $res0 - yw = $res1 - thw = $res2 - % Turn and face guidemark - ang = fang - thw - turn ang "rad" - stop - % Read new guidemark value - wait 1 - num = $fiducialid - eval num -if(num<30&num!=-1)"GuidemarkTour" - - -% Now Back to origin -fang = -3/4*pi -invtrans $l0 $l1 $l2 $odox $odoy $odoth -xw = $res0 -yw = $res1 -stringcat "findroute startx="xw "starty="yw "endx="0.5 "endy="0.5 -laser "$string" -wait 1 -N = $l4 -cost = $l5 -% Lable names must be distinctive. -label"Drive2" - % Take coordinates - stringcat "getpoint p="N - laser "$string" - x = $l5 - y = $l6 - th = $l7 - % Drive to the point - drivew x y th "rad":($targetdist<0.25) - N = N - 1 -if(N>=0)"Drive2" -wait 1 -invtrans $l0 $l1 $l2 $odox $odoy $odoth -xw = $res0 -yw = $res1 -thw = $res2 -ang = fang - thw -turn ang "rad" -fwd 0.25 - - - - - - - - - - - - diff --git a/odoPose20200524_224836.logg b/odoPose20200524_224836.logg deleted file mode 100644 index 2bacf4b..0000000 --- a/odoPose20200524_224836.logg +++ /dev/null @@ -1,888 +0,0 @@ -7.610000 0.000 0.000 0.01500 0.000 -1 1590353132.730909 -7.620000 0.000 0.000 0.03070 0.000 -1 1590353132.739658 -7.630000 0.000 0.000 0.04570 0.000 -1 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*** --> - <!-- Sheduler configuration --> - <scheduler> - <period value="10000"/><!--in usec--> - </scheduler> - - <!-- Simulator configuration --> - <simstage> - <world wallmap="388wall" linemap="388line" scale="200" gmno="2" - gmpose="1.9 1.0 0"/> - </simstage> - - <!-- Robot server no. 0 --> - <robot> - <mrcserver port="8000"/> - <clients number="5"/> - <params name="smr0" robotpose="0 1.0 0" wheelbase="0.26" encresolution="0.00010245"/> - <irsensor ka="16.0" kb="76.0"/> - <laserscanner port="19001" laserpose="0.26 0.0 0.0"/> - </robot> - - <!-- Robot server no. 1 - <robot> - <mrcserver port="8001"/> - <clients number="5"/> - <params name="smr1" robotpose=" 1.0 1.0 0.0" wheelbase="0.26" encresolution="0.00010245"/> - <irsensor ka="16.0" kb="76.0"/> - <laserscanner port="19001" laserpose="0.26 0 0"/> - </robot> - --> - <!-- Robot server no. 2 - <robot> - <mrcserver port="8002"/> - <clients number="4"/> - <params name="smr2" wheelbase="0.26" encresolution="0.00010245"/> - <irsensor ka="16.0" kb="76.0"/> - <laserscanner port="19002"/> - </robot> ---> - <!-- Robot server no. 3 - <robot> - <mrcserver port="8003"/> - <clients number="5"/> - <params name="smr3" wheelbase="0.26" encresolution="0.00010245"/> - <irsensor ka="16.0" kb="76.0"/> - <laserscanner port="19003"/> - </robot> ---> -</simserver> -- GitLab