Skip to content

Commit 3356959

Browse files
lilrookie76lilrookie76
authored
Add files via upload
1 parent 8551451 commit 3356959

File tree

79 files changed

+21601
-0
lines changed

Some content is hidden

Large Commits have some content hidden by default. Use the searchbox below for content that may be hidden.

79 files changed

+21601
-0
lines changed

‎Simulation_results/迅飞组初赛 ackermann+rf2o方案仿真效果(real time 约1分40秒)(tag 1).mp4

22.7 MB
Binary file not shown.

‎racecar_control/CMakeLists.txt

+181
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,181 @@
1+
cmake_minimum_required(VERSION 2.8.3)
2+
project(racecar_control)
3+
4+
## Find catkin macros and libraries
5+
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
6+
## is used, also find other catkin packages
7+
find_package(catkin REQUIRED)
8+
9+
## System dependencies are found with CMake's conventions
10+
# find_package(Boost REQUIRED COMPONENTS system)
11+
12+
13+
## Uncomment this if the package has a setup.py. This macro ensures
14+
## modules and global scripts declared therein get installed
15+
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
16+
# catkin_python_setup()
17+
18+
################################################
19+
## Declare ROS messages, services and actions ##
20+
################################################
21+
22+
## To declare and build messages, services or actions from within this
23+
## package, follow these steps:
24+
## * Let MSG_DEP_SET be the set of packages whose message types you use in
25+
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
26+
## * In the file package.xml:
27+
## * add a build_depend tag for "message_generation"
28+
## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
29+
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
30+
## but can be declared for certainty nonetheless:
31+
## * add a run_depend tag for "message_runtime"
32+
## * In this file (CMakeLists.txt):
33+
## * add "message_generation" and every package in MSG_DEP_SET to
34+
## find_package(catkin REQUIRED COMPONENTS ...)
35+
## * add "message_runtime" and every package in MSG_DEP_SET to
36+
## catkin_package(CATKIN_DEPENDS ...)
37+
## * uncomment the add_*_files sections below as needed
38+
## and list every .msg/.srv/.action file to be processed
39+
## * uncomment the generate_messages entry below
40+
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
41+
42+
## Generate messages in the 'msg' folder
43+
# add_message_files(
44+
# FILES
45+
# Message1.msg
46+
# Message2.msg
47+
# )
48+
49+
## Generate services in the 'srv' folder
50+
# add_service_files(
51+
# FILES
52+
# Service1.srv
53+
# Service2.srv
54+
# )
55+
56+
## Generate actions in the 'action' folder
57+
# add_action_files(
58+
# FILES
59+
# Action1.action
60+
# Action2.action
61+
# )
62+
63+
## Generate added messages and services with any dependencies listed here
64+
# generate_messages(
65+
# DEPENDENCIES
66+
# std_msgs # Or other packages containing msgs
67+
# )
68+
69+
################################################
70+
## Declare ROS dynamic reconfigure parameters ##
71+
################################################
72+
73+
## To declare and build dynamic reconfigure parameters within this
74+
## package, follow these steps:
75+
## * In the file package.xml:
76+
## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
77+
## * In this file (CMakeLists.txt):
78+
## * add "dynamic_reconfigure" to
79+
## find_package(catkin REQUIRED COMPONENTS ...)
80+
## * uncomment the "generate_dynamic_reconfigure_options" section below
81+
## and list every .cfg file to be processed
82+
83+
## Generate dynamic reconfigure parameters in the 'cfg' folder
84+
# generate_dynamic_reconfigure_options(
85+
# cfg/DynReconf1.cfg
86+
# cfg/DynReconf2.cfg
87+
# )
88+
89+
###################################
90+
## catkin specific configuration ##
91+
###################################
92+
## The catkin_package macro generates cmake config files for your package
93+
## Declare things to be passed to dependent projects
94+
## INCLUDE_DIRS: uncomment this if you package contains header files
95+
## LIBRARIES: libraries you create in this project that dependent projects also need
96+
## CATKIN_DEPENDS: catkin_packages dependent projects also need
97+
## DEPENDS: system dependencies of this project that dependent projects also need
98+
catkin_package(
99+
# INCLUDE_DIRS include
100+
# LIBRARIES racecar_control
101+
# CATKIN_DEPENDS other_catkin_pkg
102+
# DEPENDS system_lib
103+
)
104+
105+
###########
106+
## Build ##
107+
###########
108+
109+
## Specify additional locations of header files
110+
## Your package locations should be listed before other locations
111+
# include_directories(include)
112+
113+
## Declare a C++ library
114+
# add_library(racecar_control
115+
# src/${PROJECT_NAME}/racecar_control.cpp
116+
# )
117+
118+
## Add cmake target dependencies of the library
119+
## as an example, code may need to be generated before libraries
120+
## either from message generation or dynamic reconfigure
121+
# add_dependencies(racecar_control ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
122+
123+
## Declare a C++ executable
124+
# add_executable(racecar_control_node src/racecar_control_node.cpp)
125+
126+
## Add cmake target dependencies of the executable
127+
## same as for the library above
128+
# add_dependencies(racecar_control_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
129+
130+
## Specify libraries to link a library or executable target against
131+
# target_link_libraries(racecar_control_node
132+
# ${catkin_LIBRARIES}
133+
# )
134+
135+
#############
136+
## Install ##
137+
#############
138+
139+
# all install targets should use catkin DESTINATION variables
140+
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
141+
142+
## Mark executable scripts (Python etc.) for installation
143+
## in contrast to setup.py, you can choose the destination
144+
# install(PROGRAMS
145+
# scripts/my_python_script
146+
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
147+
# )
148+
149+
## Mark executables and/or libraries for installation
150+
# install(TARGETS racecar_control racecar_control_node
151+
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
152+
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
153+
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
154+
# )
155+
156+
## Mark cpp header files for installation
157+
# install(DIRECTORY include/${PROJECT_NAME}/
158+
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
159+
# FILES_MATCHING PATTERN "*.h"
160+
# PATTERN ".svn" EXCLUDE
161+
# )
162+
163+
## Mark other files for installation (e.g. launch and bag files, etc.)
164+
# install(FILES
165+
# # myfile1
166+
# # myfile2
167+
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
168+
# )
169+
170+
#############
171+
## Testing ##
172+
#############
173+
174+
## Add gtest based cpp test target and link libraries
175+
# catkin_add_gtest(${PROJECT_NAME}-test test/test_racecar_control.cpp)
176+
# if(TARGET ${PROJECT_NAME}-test)
177+
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
178+
# endif()
179+
180+
## Add folders to be run by python nosetests
181+
# catkin_add_nosetests(test)

‎racecar_control/config/racecar_control.yaml

+36
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,36 @@
1+
racecar:
2+
# Publish all joint states -----------------------------------
3+
joint_state_controller:
4+
type: joint_state_controller/JointStateController
5+
publish_rate: 50
6+
7+
8+
# Velocity Controllers ---------------------------------------
9+
left_rear_wheel_velocity_controller:
10+
type: effort_controllers/JointVelocityController
11+
joint: left_rear_axle
12+
pid: {p: 1.0, i: 0.0, d: 0.0, i_clamp: 0.0}
13+
right_rear_wheel_velocity_controller:
14+
type: effort_controllers/JointVelocityController
15+
joint: right_rear_axle
16+
pid: {p: 1.0, i: 0.0, d: 0.0, i_clamp: 0.0}
17+
left_front_wheel_velocity_controller:
18+
type: effort_controllers/JointVelocityController
19+
joint: left_front_axle
20+
pid: {p: 0.5, i: 0.0, d: 0.0, i_clamp: 0.0}
21+
right_front_wheel_velocity_controller:
22+
type: effort_controllers/JointVelocityController
23+
joint: right_front_axle
24+
pid: {p: 0.5, i: 0.0, d: 0.0, i_clamp: 0.0}
25+
26+
27+
# Position Controllers ---------------------------------------
28+
left_steering_hinge_position_controller:
29+
joint: left_steering_joint
30+
type: effort_controllers/JointPositionController
31+
pid: {p: 10.0, i: 0.0, d: 0.5}
32+
right_steering_hinge_position_controller:
33+
joint: right_steering_joint
34+
type: effort_controllers/JointPositionController
35+
pid: {p: 10.0, i: 0.0, d: 0.5}
36+

‎racecar_control/launch/racecar_control.launch

+26
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,26 @@
1+
<?xml version='1.0'?>
2+
3+
<launch>
4+
5+
<!-- Load joint controller configurations from YAML file to parameter server -->
6+
<rosparam file="$(find racecar_control)/config/racecar_control.yaml" command="load"/>
7+
8+
<!-- load the controllers -->
9+
<node name="controller_manager" pkg="controller_manager" type="spawner" respawn="false"
10+
output="screen" ns="/racecar" args="left_rear_wheel_velocity_controller right_rear_wheel_velocity_controller
11+
left_front_wheel_velocity_controller right_front_wheel_velocity_controller
12+
left_steering_hinge_position_controller right_steering_hinge_position_controller
13+
joint_state_controller"/>
14+
15+
<!-- convert joint states to TF transforms for rviz, etc -->
16+
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen">
17+
<remap from="/joint_states" to="/racecar/joint_states" />
18+
<param name="publish_frequency" type="double" value="10.0" />
19+
</node>
20+
21+
<!-- servo node -->
22+
<node pkg="racecar_control" type="servo_commands.py" name="servo_commands" output="screen">
23+
<!-- <remap from="/racecar/ackermann_cmd_mux/output" to="/vesc/low_level/ackermann_cmd_mux/output"/> -->
24+
</node>
25+
26+
</launch>

‎racecar_control/package.xml

+50
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,50 @@
1+
<?xml version="1.0"?>
2+
<package>
3+
<name>racecar_control</name>
4+
<version>0.0.0</version>
5+
<description>The racecar_control package</description>
6+
7+
<!-- One maintainer tag required, multiple allowed, one person per tag -->
8+
<!-- Example: -->
9+
<!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
10+
<maintainer email="[email protected]">ubuntu</maintainer>
11+
12+
13+
<!-- One license tag required, multiple allowed, one license per tag -->
14+
<!-- Commonly used license strings: -->
15+
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
16+
<license>TODO</license>
17+
18+
19+
<!-- Url tags are optional, but mutiple are allowed, one per tag -->
20+
<!-- Optional attribute type can be: website, bugtracker, or repository -->
21+
<!-- Example: -->
22+
<!-- <url type="website">http://wiki.ros.org/racecar_control</url> -->
23+
24+
25+
<!-- Author tags are optional, mutiple are allowed, one per tag -->
26+
<!-- Authors do not have to be maintianers, but could be -->
27+
<!-- Example: -->
28+
<!-- <author email="[email protected]">Jane Doe</author> -->
29+
30+
31+
<!-- The *_depend tags are used to specify dependencies -->
32+
<!-- Dependencies can be catkin packages or system dependencies -->
33+
<!-- Examples: -->
34+
<!-- Use build_depend for packages you need at compile time: -->
35+
<!-- <build_depend>message_generation</build_depend> -->
36+
<!-- Use buildtool_depend for build tool packages: -->
37+
<!-- <buildtool_depend>catkin</buildtool_depend> -->
38+
<!-- Use run_depend for packages you need at runtime: -->
39+
<!-- <run_depend>message_runtime</run_depend> -->
40+
<!-- Use test_depend for packages you need only for testing: -->
41+
<!-- <test_depend>gtest</test_depend> -->
42+
<buildtool_depend>catkin</buildtool_depend>
43+
44+
45+
<!-- The export tag contains other, unspecified, tags -->
46+
<export>
47+
<!-- Other tools can request additional information be placed here -->
48+
49+
</export>
50+
</package>

‎racecar_control/scripts/servo_commands.py

+48
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,48 @@
1+
#!/usr/bin/env python
2+
import rospy
3+
from std_msgs.msg import Bool
4+
from std_msgs.msg import Float32
5+
from std_msgs.msg import Float64
6+
from ackermann_msgs.msg import AckermannDriveStamped
7+
8+
flag_move = 0
9+
10+
def set_throttle_steer(data):
11+
12+
global flag_move
13+
14+
pub_vel_left_rear_wheel = rospy.Publisher('/racecar/left_rear_wheel_velocity_controller/command', Float64, queue_size=1)
15+
pub_vel_right_rear_wheel = rospy.Publisher('/racecar/right_rear_wheel_velocity_controller/command', Float64, queue_size=1)
16+
pub_vel_left_front_wheel = rospy.Publisher('/racecar/left_front_wheel_velocity_controller/command', Float64, queue_size=1)
17+
pub_vel_right_front_wheel = rospy.Publisher('/racecar/right_front_wheel_velocity_controller/command', Float64, queue_size=1)
18+
19+
pub_pos_left_steering_hinge = rospy.Publisher('/racecar/left_steering_hinge_position_controller/command', Float64, queue_size=1)
20+
pub_pos_right_steering_hinge = rospy.Publisher('/racecar/right_steering_hinge_position_controller/command', Float64, queue_size=1)
21+
22+
# Velocity is in terms of radians per second.
23+
# Want to go 1 m/s with a wheel of radius 0.05m. This translates to 19.97 radians per second, roughly 20.
24+
# However, at a multiplication factor of 20 speed is half of what it should be, so doubled to 40.
25+
throttle = data.drive.speed * 40.0
26+
steer = data.drive.steering_angle
27+
28+
pub_vel_left_rear_wheel.publish(throttle)
29+
pub_vel_right_rear_wheel.publish(throttle)
30+
pub_vel_left_front_wheel.publish(throttle)
31+
pub_vel_right_front_wheel.publish(throttle)
32+
pub_pos_left_steering_hinge.publish(steer)
33+
pub_pos_right_steering_hinge.publish(steer)
34+
35+
def servo_commands():
36+
37+
rospy.init_node('servo_commands', anonymous=True)
38+
39+
rospy.Subscriber("/racecar/ackermann_cmd_mux/output", AckermannDriveStamped, set_throttle_steer)
40+
41+
# spin() simply keeps python from exiting until this node is stopped
42+
rospy.spin()
43+
44+
if __name__ == '__main__':
45+
try:
46+
servo_commands()
47+
except rospy.ROSInterruptException:
48+
pass

0 commit comments

Comments
 (0)