diff --git a/robots/aero_mobility/CHANGELOG.rst b/robots/aero_mobility/CHANGELOG.rst deleted file mode 100644 index d7647fc76..000000000 --- a/robots/aero_mobility/CHANGELOG.rst +++ /dev/null @@ -1,6 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package hydrus -^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.3.0 (2021-08-06) ------------------- diff --git a/robots/aero_mobility/CMakeLists.txt b/robots/aero_mobility/CMakeLists.txt deleted file mode 100644 index f508212c4..000000000 --- a/robots/aero_mobility/CMakeLists.txt +++ /dev/null @@ -1,26 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(aero_mobility) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED COMPONENTS - roscpp - aerial_robot_msgs - aerial_robot_control - aerial_robot_model - spinal - ) - -find_package(Eigen3 REQUIRED) - -SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14") - -catkin_package( - CATKIN_DEPENDS roscpp aerial_robot_control aerial_robot_model aerial_robot_msgs spinal - DEPENDS EIGEN3 -) - -########### -## Build ## -########### diff --git a/robots/aero_mobility/README.md b/robots/aero_mobility/README.md deleted file mode 100644 index 8c5af1480..000000000 --- a/robots/aero_mobility/README.md +++ /dev/null @@ -1,62 +0,0 @@ -# HYDRUS: - -**Definiation**: Transformable multirotor with two-dimensional multilinks - -

-euroc -

- -**Related Papers**: -- Moju Zhao, Koji Kawasaki, Kei Okada, Masayuki Inaba: -Transformable multirotor with two-dimensional multilinks: modeling, control, and motion planning for aerial transformation, -Advanced Robotics, Vol.30, No.13, pp.825--845, 2016. -- Tomoki Anzai, Moju Zhao, Xiangyu Chen, Fan Shi, Koji Kawasaki, Kei Okada, Masayuki Inaba: -Multilinked Multirotor with Internal Communication System for Multiple Objects Transportation based on Form Optimization Method, -in Proceedings of The 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.5977-5984, 2017. -- Tomoki Anzai, Moju Zhao, Shunichi Nozawa, Fan Shi, Kei Okada, Masayuki Inaba: -Aerial Grasping Based on Shape Adaptive Transformation by HALO: Horizontal Plane Transformable Aerial Robot with Closed-Loop Multilinks Structure, -in Proceedings of The 2018 IEEE International Conference on Robotics and Automation, pp.6990-6996, 2018. - -# how to use: - -**note**: the following instructions are based on hex type robot, we also have quad type robot (chage the var ```type```) - -## 0. calibration: - Calibration is via rosserial between on-board processor and spinal. Please check the wiki. -## 1. robot bringup command: - -### real machine -**note**: `${model}` can be `quad` or `hex`. -- egomotion estimation only with on-board sensors: -``` -$ roslaunch hydrus bringup.launch control_mode:=0 estimate_mode:=0 type:=${model} -``` -- egomotion estimation with mocap: -``` -$ roslaunch hydrus bringup.launch control_mode:=0 estimate_mode:=1 type:=${model} -``` - -### simulation -- flight control in gazebo: -``` -$ roslaunch hydrus bringup.launch real_machine:=false simulation:=true headless:=false control_mode:=0 type:=${model} -``` -- only check kinematics -``` -$ roslaunch hydrus bringup.launch real_machine:=false simulation:=false headless:=false type:=${model} -``` -- egomotion estimation debug -``` -$ roslaunch hydrus bringup.launch real_machine:=true simulation:=true headless:=false type:=${model} -``` - -## 2. tele-operation - **note**: after the robot completely transforms to normal form - - - **keyboard**: please check instruction [wiki](https://github.com/JSKAerialRobot/aerial_robot/wiki/keyboard_operation) - - **joystick**: please check instruction [wiki](https://github.com/JSKAerialRobot/aerial_robot/wiki/joystick_operation) - -## 3. transformation demostration - **note**: after the robot completely hovering with the message `Hovering!` - - - quad: ``` $ rosrun hydrus hydrus_demo.py _link_num:=4 _duration:=6 _joint_control_topic_name:=/hydrus/joints_ctrl ``` diff --git a/robots/aero_mobility/config/Battery.yaml b/robots/aero_mobility/config/Battery.yaml deleted file mode 100644 index 52c3a4daf..000000000 --- a/robots/aero_mobility/config/Battery.yaml +++ /dev/null @@ -1,5 +0,0 @@ -bat_info: - bat_cell: 6 - bat_resistance: 0.08 # [m Ohm] - hovering_current: 10 #[A], MN3510, prop14inch, 3 ~ 4.5 - low_voltage_thre: 1 #[100%] diff --git a/robots/aero_mobility/config/FlightControl.yaml b/robots/aero_mobility/config/FlightControl.yaml deleted file mode 100644 index 7f0c4d5f7..000000000 --- a/robots/aero_mobility/config/FlightControl.yaml +++ /dev/null @@ -1,54 +0,0 @@ -aerial_robot_control_name: aerial_robot_control/hydrus_tilted_lqi_controller - -controller: - xy: - p_gain: 1.0 - i_gain: 0.05 - d_gain: 2.0 - limit_sum: 3 - limit_p: 3 - limit_i: 1.5 - limit_d: 3 - - z: - p_gain: 3.6 - i_gain: 1.55 - d_gain: 3.4 - limit_err_p: 1.0 - limit_sum: 160 # N for clamping thrust force - limit_p: 160 # m / s^2 - limit_i: 160 # m / s^2 - limit_d: 160 # m / s^2 - landing_err_z: -0.55 - force_landing_descending_rate: -0.6 - - yaw: - limit_sum: 6.0 # N for clamping thrust force - limit_p: 4.0 - limit_i: 4.0 - limit_d: 4.0 - limit_err_p: 0.4 - need_d_control: false - - # LQI gain generator - lqi: - gain_generate_rate: 15.0 - gyro_moment_compensation: true - clamp_gain: true - - roll_pitch_p: 2000 - roll_pitch_i: 10 - roll_pitch_d: 200 - - yaw_p: 100 - yaw_i: 0.5 - yaw_d: 50 - - r1: 1.0 - r2: 1.0 - r3: 1.0 - r4: 1.0 - - trans_constraint_weight: 100 - att_control_weight: 1 - diff --git a/robots/aero_mobility/config/MotorInfo.yaml b/robots/aero_mobility/config/MotorInfo.yaml deleted file mode 100644 index 45f2586a7..000000000 --- a/robots/aero_mobility/config/MotorInfo.yaml +++ /dev/null @@ -1,14 +0,0 @@ -motor_info: # TODO: update - min_pwm: 0.6 # 1200 [ms] - max_pwm: 0.96 # 1920 [ms] - min_thrust: 3 # [N] - force_landing_thrust: 6.5 #[N] - m_f_rate: -0.0369 - pwm_conversion_mode: 0 # SQRT Mode - vel_ref_num: 1 - ref1: - voltage: 50 - max_thrust: 150 # N - polynominal2: 0.778514483 # 0.07983707 # x10 - polynominal1: -83.356154265 # -6.627443098 # x10 - polynominal0: 222.7523230182 # 12.3593793002 # x1 \ No newline at end of file diff --git a/robots/aero_mobility/config/NavigationConfig.yaml b/robots/aero_mobility/config/NavigationConfig.yaml deleted file mode 100644 index 7af89ae23..000000000 --- a/robots/aero_mobility/config/NavigationConfig.yaml +++ /dev/null @@ -1,30 +0,0 @@ -# Teleop Basic Param - -navigation: - xy_control_mode: 0 - # World Pos Control Mode: 0 - # World Vel Control Mode: 2 - # Local Vel Control Mode: 3 - # Attitude Control Mode: 4 - - - takeoff_height: 0.6 - outdoor_takeoff_height: 1.5 - - # teleop operation - max_target_vel: 0.5 - joy_target_vel_interval: 0.005 # 0.2 / 20 = 0.01, 0.005 ~ 0.01 m/s - joy_target_z_interval: 0.02 - max_target_yaw_rate: 0.1 # 0.05 - teleop_local_frame: fc - - cmd_vel_lev2_gain : 2.0 - nav_vel_limit : 1.0 - - gain_tunning_mode: 0 - max_target_tilt_angle: 0.2 - cmd_angle_lev2_gain : 1.5 - - # gps waypoint - gps_waypoint_threshold: 3.0 - gps_waypoint_check_du: 1.0 diff --git a/robots/aero_mobility/config/RobotModel.yaml b/robots/aero_mobility/config/RobotModel.yaml deleted file mode 100644 index 081dcff4e..000000000 --- a/robots/aero_mobility/config/RobotModel.yaml +++ /dev/null @@ -1,5 +0,0 @@ -# robot model plugin -robot_model_plugin_name: hydrus_robot_model # multirotor_robot_model - -wrench_mat_det_thre: 0 - diff --git a/robots/aero_mobility/config/RvizInit.yaml b/robots/aero_mobility/config/RvizInit.yaml deleted file mode 100644 index b3bbaabd4..000000000 --- a/robots/aero_mobility/config/RvizInit.yaml +++ /dev/null @@ -1,9 +0,0 @@ -zeros: - rotor1: 0 - rotor2: 0 - rotor3: 0 - rotor4: 0 - rotor5: 0 - rotor6: 0 - rotor7: 0 - rotor8: 0 \ No newline at end of file diff --git a/robots/aero_mobility/config/Simulation.yaml b/robots/aero_mobility/config/Simulation.yaml deleted file mode 100644 index 0d17670f5..000000000 --- a/robots/aero_mobility/config/Simulation.yaml +++ /dev/null @@ -1,28 +0,0 @@ -# overwrite parameter for simulation - -sensor_plugin: - mocap: - ground_truth_sub_name: ground_truth - gps: - estimate_mode: 4 #1 << 2 - ned_flag: true # hector_gazebo_plugins/GPS - -# ground truth parameter -# global namespace -simulation: - # gaussian noise - ground_truth_pos_noise: 0.001 - ground_truth_vel_noise: 0.005 - ground_truth_rot_noise: 0.001 - ground_truth_angular_noise: 0.005 - - # drift model: e^(-dt * drift_frequency) * curr_drift + dt * gaussian_kernel(sqrt( 2 * drift_frequency) * drfit)) - # drift diviation: - ground_truth_vel_drift: 0 - ground_truth_rot_drift: 0 - ground_truth_angular_drift: 0 - - # drift frequency: - ground_truth_vel_drift_frequency: 0 - ground_truth_rot_drift_frequency: 0 - ground_truth_angular_drift_frequency: 0 diff --git a/robots/aero_mobility/config/StateEstimation.yaml b/robots/aero_mobility/config/StateEstimation.yaml deleted file mode 100644 index bbc6a8398..000000000 --- a/robots/aero_mobility/config/StateEstimation.yaml +++ /dev/null @@ -1,53 +0,0 @@ -# Sensor Fuser Loader -estimation: - # sensor plugin - sensor_list: - - sensor_plugin/imu - - sensor_plugin/mocap - - sensor_plugin/alt - - sensor_plugin/gps - - # egomotion estimation - egomotion_list: - - kalman_filter/kf_pos_vel_acc - - kalman_filter/kf_pos_vel_acc - - kalman_filter/kf_pos_vel_acc - - # experiment estimation - experiment_list: - - kalman_filter/kf_pos_vel_acc - - kalman_filter/kf_pos_vel_acc - - kalman_filter/kf_pos_vel_acc - - # specific id(int) of sensor fuser, axis for kf - fuser_egomotion_id1: 8 # 1 << 3 - fuser_egomotion_id2: 16 # 1 << 4 - fuser_egomotion_id3: 32 # 1 << 5 - - fuser_experiment_id1: 8 # 1 << 3 - fuser_experiment_id2: 16 # 1 << 4 - fuser_experiment_id3: 32 # 1 << 5 - - # specific name of sensor fuser - fuser_egomotion_name1: /ee/x - fuser_egomotion_name2: /ee/y - fuser_egomotion_name3: /ee/z - - fuser_experiment_name1: /ex/x - fuser_experiment_name2: /ex/y - fuser_experiment_name3: /ex/z - - -# EGOMOTION_ESTIMATION_MODE = 0 -# EXPERIMENT_MODE = 1 -# GROUND_TRUTH_MODE = 2 - -sensor_plugin: - imu: - estimate_mode: 3 # 1<<0 + 1<<1 - mocap: - estimate_mode: 6 # 1<<1 + 1<<2 - alt: - estimate_mode: 1 # 1<<0 - gps: - estimate_mode: 1 # 1<<0 diff --git a/robots/aero_mobility/config/rviz_config b/robots/aero_mobility/config/rviz_config deleted file mode 100644 index 10b722eba..000000000 --- a/robots/aero_mobility/config/rviz_config +++ /dev/null @@ -1,253 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /TF1 - - /RobotModel1 - Splitter Ratio: 0.5 - Tree Height: 1251 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Class: rviz/TF - Enabled: true - Frame Timeout: 15 - Frames: - All Enabled: true - aero_mobility/cog: - Value: true - aero_mobility/fc: - Value: true - aero_mobility/main_body: - Value: true - aero_mobility/root: - Value: true - aero_mobility/thrust1: - Value: true - aero_mobility/thrust2: - Value: true - aero_mobility/thrust3: - Value: true - aero_mobility/thrust4: - Value: true - aero_mobility/thrust5: - Value: true - aero_mobility/thrust6: - Value: true - aero_mobility/thrust7: - Value: true - aero_mobility/thrust8: - Value: true - world: - Value: true - Marker Scale: 0.30000001192092896 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - world: - aero_mobility/root: - aero_mobility/cog: - {} - aero_mobility/main_body: - aero_mobility/fc: - {} - aero_mobility/thrust1: - {} - aero_mobility/thrust2: - {} - aero_mobility/thrust3: - {} - aero_mobility/thrust4: - {} - aero_mobility/thrust5: - {} - aero_mobility/thrust6: - {} - aero_mobility/thrust7: - {} - aero_mobility/thrust8: - {} - Update Interval: 0 - Value: true - - Alpha: 1 - Class: rviz/RobotModel - Collision Enabled: false - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - fc: - Alpha: 1 - Show Axes: false - Show Trail: false - main_body: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - root: - Alpha: 1 - Show Axes: false - Show Trail: false - thrust1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - thrust2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - thrust3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - thrust4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - thrust5: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - thrust6: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - thrust7: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - thrust8: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - Robot Description: aero_mobility/robot_description - TF Prefix: aero_mobility - Update Interval: 0 - Value: true - Visual Enabled: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Default Light: true - Fixed Frame: world - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 5.862760066986084 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0.7939224243164062 - Y: 0.1640194207429886 - Z: 0.2843625247478485 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.3047972321510315 - Target Frame: - Value: Orbit (rviz) - Yaw: 3.4604008197784424 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1548 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 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- Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1267 - X: 957 - Y: 27 diff --git a/robots/aero_mobility/config/sensors/imu/spinal.yaml b/robots/aero_mobility/config/sensors/imu/spinal.yaml deleted file mode 100644 index b77c36f35..000000000 --- a/robots/aero_mobility/config/sensors/imu/spinal.yaml +++ /dev/null @@ -1,10 +0,0 @@ -sensor_plugin: - imu: - imu_board: 1 #d_board - imu_topic_name: imu - level_acc_noise_sigma: 0.05 - z_acc_noise_sigma: 0.05 #real:0.05 - level_acc_bias_noise_sigma: 0.001 #0.005#0.04 (> 0 means to do the acc bias estimation by kalman filter) - z_acc_bias_noise_sigma: 0.001 # (= 0 means not to do the acc bias estimation by kalman filter) - angle_bias_noise_sigma: 0.0002 #good for EKF - calib_time: 2.0 diff --git a/robots/aero_mobility/launch/bringup.launch b/robots/aero_mobility/launch/bringup.launch deleted file mode 100644 index ba9bc1c48..000000000 --- a/robots/aero_mobility/launch/bringup.launch +++ /dev/null @@ -1,92 +0,0 @@ - - - ########### launch config ########### - - - - - - - - - - - - - - - - - - ########### Parameters ########### - - - ########### Basic Param ########### - # EGOMOTION_ESTIMATE = 0 - # EXPERIMENT_ESTIMATE = 1. for unstable mocap, use this mode - # GROUND_TRUTH = 2 - - - - # Drone = 0 - - - - ########### Motor Config ########### - - - ########### Battery Config ########### - - - ########### Control ########### - - - ########### Sensor Fusion ########### - - - - ########### Navigation ########### - - - - ########### Base Platform ########### - - - - - - - ########### Robot Model ########### - - - - - - - - - - - - - ########### Sensors ########### - - - - - - - ########## Simulation in Gazebo ######### - - - - - - - - - - - - - diff --git a/robots/aero_mobility/launch/includes/sensors.launch.xml b/robots/aero_mobility/launch/includes/sensors.launch.xml deleted file mode 100644 index 1122273ea..000000000 --- a/robots/aero_mobility/launch/includes/sensors.launch.xml +++ /dev/null @@ -1,32 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/robots/aero_mobility/launch/spawn_model.launch b/robots/aero_mobility/launch/spawn_model.launch deleted file mode 100644 index efca61321..000000000 --- a/robots/aero_mobility/launch/spawn_model.launch +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/robots/aero_mobility/package.xml b/robots/aero_mobility/package.xml deleted file mode 100644 index e349aceb8..000000000 --- a/robots/aero_mobility/package.xml +++ /dev/null @@ -1,27 +0,0 @@ - - - aero_mobility - 1.3.0 - The basic packages for aero mobility - - Bakui Chou - BSD - https://github.com/JSKAerialRobot/aerial_robot - Bakui Chou - - catkin - - aerial_robot_control - aerial_robot_model - aerial_robot_msgs - cmake_modules - roscpp - spinal - - aerial_robot_control - aerial_robot_model - aerial_robot_msgs - roscpp - spinal - - diff --git 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4 0 5 0 3 0 3 1 5 1 2 1 43 2 7 2 2 2 2 3 7 3 6 3 22 4 9 4 14 4 14 5 9 5 8 5 0 6 1 6 8 6 8 7 1 7 15 7 2 8 6 8 3 8 3 9 6 9 10 9 3 10 10 10 11 10 11 11 10 11 12 11 11 12 12 12 13 12 13 13 12 13 14 13 13 14 14 14 15 14 15 15 14 15 8 15 16 16 17 16 18 16 19 17 20 17 7 17 7 18 20 18 21 18 18 19 22 19 16 19 16 20 22 20 23 20 23 21 22 21 14 21 23 22 14 22 24 22 24 23 14 23 12 23 24 24 12 24 10 24 24 25 10 25 25 25 25 26 10 26 6 26 25 27 6 27 26 27 26 28 6 28 7 28 26 29 7 29 21 29 21 30 27 30 26 30 26 31 27 31 28 31 26 32 28 32 25 32 25 33 28 33 29 33 25 34 29 34 24 34 24 35 29 35 30 35 24 36 30 36 23 36 23 37 30 37 31 37 23 38 31 38 16 38 16 39 31 39 32 39 27 40 33 40 34 40 35 41 36 41 1 41 1 42 36 42 32 42 31 43 15 43 32 43 32 44 15 44 1 44 28 45 3 45 29 45 29 46 3 46 11 46 29 47 11 47 30 47 30 48 11 48 13 48 30 47 13 47 31 47 31 49 13 49 15 49 34 50 4 50 27 50 27 51 4 51 28 51 28 52 4 52 3 52 37 53 20 53 38 53 38 54 20 54 33 54 27 55 39 55 38 55 27 56 38 56 33 56 39 57 27 57 21 57 20 58 37 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49 153 48 153 55 153 55 154 48 154 71 154 50 155 53 155 76 155 76 156 53 156 78 156 52 70 51 70 77 70 77 70 51 70 75 70 52 157 85 157 53 157 85 158 78 158 53 158 78 159 86 159 77 159 77 160 86 160 52 160 52 161 86 161 85 161 86 162 70 162 83 162 86 163 83 163 85 163 85 164 83 164 82 164 85 165 82 165 58 165 85 166 58 166 78 166 78 167 58 167 70 167 78 168 70 168 86 168 50 169 76 169 44 169 91 170 92 170 90 170 90 171 92 171 89 171 130 172 94 172 89 172 89 173 94 173 93 173 109 174 96 174 101 174 101 175 96 175 95 175 87 176 88 176 95 176 95 177 88 177 102 177 89 178 93 178 90 178 90 179 93 179 97 179 90 180 97 180 98 180 98 181 97 181 99 181 98 182 99 182 100 182 100 13 99 13 101 13 100 183 101 183 102 183 102 184 101 184 95 184 103 185 104 185 105 185 106 186 107 186 94 186 94 187 107 187 108 187 105 19 109 19 103 19 103 188 109 188 110 188 110 21 109 21 101 21 110 189 101 189 111 189 111 23 101 23 99 23 111 190 99 190 97 190 111 25 97 25 112 25 112 26 97 26 93 26 112 191 93 191 113 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- - - - - - - - 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 - - - - - - - - - - 0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1 - - - - -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 - - - - - - - - \ No newline at end of file diff --git a/robots/aero_mobility/urdf/robot.gazebo.xacro b/robots/aero_mobility/urdf/robot.gazebo.xacro deleted file mode 100644 index 11e97105c..000000000 --- a/robots/aero_mobility/urdf/robot.gazebo.xacro +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - 0.1 - 0.1 - - - diff --git a/robots/aero_mobility/urdf/robot.urdf.xacro b/robots/aero_mobility/urdf/robot.urdf.xacro deleted file mode 100644 index 875f98ffd..000000000 --- a/robots/aero_mobility/urdf/robot.urdf.xacro +++ /dev/null @@ -1,161 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - 0.00 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - transmission_interface/SimpleTransmission - - - RotorInterface - - - - RotorInterface - 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/robots/assemble_quadrotors/CHANGELOG.rst b/robots/assemble_quadrotors/CHANGELOG.rst deleted file mode 100644 index d7647fc76..000000000 --- a/robots/assemble_quadrotors/CHANGELOG.rst +++ /dev/null @@ -1,6 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package hydrus -^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.3.0 (2021-08-06) ------------------- diff --git a/robots/assemble_quadrotors/CMakeLists.txt b/robots/assemble_quadrotors/CMakeLists.txt deleted file mode 100644 index d922ebd66..000000000 --- a/robots/assemble_quadrotors/CMakeLists.txt +++ /dev/null @@ -1,35 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(assemble_quadrotors) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED COMPONENTS - roscpp - aerial_robot_msgs - aerial_robot_control - aerial_robot_model - ) - -find_package(NLopt REQUIRED) -find_package(Eigen3 REQUIRED) - -include_directories( - include - ${catkin_INCLUDE_DIRS} - ${NLOPT_INCLUDE_DIRS} -) - - -SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14") - -catkin_package( - CATKIN_DEPENDS roscpp aerial_robot_control aerial_robot_model aerial_robot_msgs - DEPENDS EIGEN3 -) - -########### -## Build ## -########### -add_executable(optimal_design_node src/optimal_design.cpp) -target_link_libraries(optimal_design_node ${catkin_LIBRARIES} ${NLOPT_LIBRARIES}) diff --git a/robots/assemble_quadrotors/README.md b/robots/assemble_quadrotors/README.md deleted file mode 100644 index 8c5af1480..000000000 --- a/robots/assemble_quadrotors/README.md +++ /dev/null @@ -1,62 +0,0 @@ -# HYDRUS: - -**Definiation**: Transformable multirotor with two-dimensional multilinks - -

-euroc -

- -**Related Papers**: -- Moju Zhao, Koji Kawasaki, Kei Okada, Masayuki Inaba: -Transformable multirotor with two-dimensional multilinks: modeling, control, and motion planning for aerial transformation, -Advanced Robotics, Vol.30, No.13, pp.825--845, 2016. -- Tomoki Anzai, Moju Zhao, Xiangyu Chen, Fan Shi, Koji Kawasaki, Kei Okada, Masayuki Inaba: -Multilinked Multirotor with Internal Communication System for Multiple Objects Transportation based on Form Optimization Method, -in Proceedings of The 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.5977-5984, 2017. -- Tomoki Anzai, Moju Zhao, Shunichi Nozawa, Fan Shi, Kei Okada, Masayuki Inaba: -Aerial Grasping Based on Shape Adaptive Transformation by HALO: Horizontal Plane Transformable Aerial Robot with Closed-Loop Multilinks Structure, -in Proceedings of The 2018 IEEE International Conference on Robotics and Automation, pp.6990-6996, 2018. - -# how to use: - -**note**: the following instructions are based on hex type robot, we also have quad type robot (chage the var ```type```) - -## 0. calibration: - Calibration is via rosserial between on-board processor and spinal. Please check the wiki. -## 1. robot bringup command: - -### real machine -**note**: `${model}` can be `quad` or `hex`. -- egomotion estimation only with on-board sensors: -``` -$ roslaunch hydrus bringup.launch control_mode:=0 estimate_mode:=0 type:=${model} -``` -- egomotion estimation with mocap: -``` -$ roslaunch hydrus bringup.launch control_mode:=0 estimate_mode:=1 type:=${model} -``` - -### simulation -- flight control in gazebo: -``` -$ roslaunch hydrus bringup.launch real_machine:=false simulation:=true headless:=false control_mode:=0 type:=${model} -``` -- only check kinematics -``` -$ roslaunch hydrus bringup.launch real_machine:=false simulation:=false headless:=false type:=${model} -``` -- egomotion estimation debug -``` -$ roslaunch hydrus bringup.launch real_machine:=true simulation:=true headless:=false type:=${model} -``` - -## 2. tele-operation - **note**: after the robot completely transforms to normal form - - - **keyboard**: please check instruction [wiki](https://github.com/JSKAerialRobot/aerial_robot/wiki/keyboard_operation) - - **joystick**: please check instruction [wiki](https://github.com/JSKAerialRobot/aerial_robot/wiki/joystick_operation) - -## 3. transformation demostration - **note**: after the robot completely hovering with the message `Hovering!` - - - quad: ``` $ rosrun hydrus hydrus_demo.py _link_num:=4 _duration:=6 _joint_control_topic_name:=/hydrus/joints_ctrl ``` diff --git a/robots/assemble_quadrotors/config/Battery.yaml b/robots/assemble_quadrotors/config/Battery.yaml deleted file mode 100644 index 9e82d450a..000000000 --- a/robots/assemble_quadrotors/config/Battery.yaml +++ /dev/null @@ -1,5 +0,0 @@ -bat_info: - bat_cell: 3 - bat_resistance: 0.08 # [m Ohm] - hovering_current: 4 #[A] - low_voltage_thre: 1 #[100%] diff --git a/robots/assemble_quadrotors/config/FlightControlFullyActuated.yaml b/robots/assemble_quadrotors/config/FlightControlFullyActuated.yaml deleted file mode 100644 index ae85667c0..000000000 --- a/robots/assemble_quadrotors/config/FlightControlFullyActuated.yaml +++ /dev/null @@ -1,49 +0,0 @@ -### Fully actuated PID control for hydrus_xi hex branch type -aerial_robot_control_name: aerial_robot_control/fully_actuated_controller - -controller: - torque_allocation_matrix_inv_pub_interval: 0.05 - wrench_allocation_matrix_pub_interval: 0.1 - - xy: - p_gain: 2.5 - i_gain: 0.05 - d_gain: 1.5 - limit_sum: 4.0 - limit_p: 12.0 - limit_i: 12.0 - limit_d: 12.0 - - z: - p_gain: 5.0 - i_gain: 1.0 - d_gain: 2.5 - limit_err_p: 1.0 - limit_sum: 25.0 # N for clamping thrust force - limit_p: 25.0 - limit_i: 25.0 - limit_d: 25.0 - force_landing_descending_rate: -0.5 - - roll_pitch: - p_gain: 25.0 - i_gain: 1.0 - d_gain: 8.0 - limit_sum: 20.0 - limit_p: 20.0 - limit_i: 20.0 - limit_d: 20.0 - - start_rp_integration_height: 0.01 - - yaw: - p_gain: 8.0 - i_gain: 1.0 - d_gain: 4.0 - limit_err_p: 0.4 - limit_sum: 20.0 - limit_p: 20.0 - limit_i: 20.0 - limit_d: 20.0 - - need_d_control: false diff --git a/robots/assemble_quadrotors/config/FlightControlUnderActuated.yaml b/robots/assemble_quadrotors/config/FlightControlUnderActuated.yaml deleted file mode 100644 index 398bc8bdc..000000000 --- a/robots/assemble_quadrotors/config/FlightControlUnderActuated.yaml +++ /dev/null @@ -1,54 +0,0 @@ -aerial_robot_control_name: aerial_robot_control/hydrus_tilted_lqi_controller # under-acuated - -controller: - xy: - p_gain: 5.0 - i_gain: 0.05 - d_gain: 3.0 - limit_sum: 3 - limit_p: 3 - limit_i: 1.5 - limit_d: 3 - - z: - p_gain: 5.0 - i_gain: 1.0 - d_gain: 5.0 - limit_err_p: 1.0 - limit_sum: 160 # N for clamping thrust force - limit_p: 160 # m / s^2 - limit_i: 160 # m / s^2 - limit_d: 160 # m / s^2 - landing_err_z: -0.55 - force_landing_descending_rate: -0.6 - - yaw: - limit_sum: 6.0 # N for clamping thrust force - limit_p: 4.0 - limit_i: 4.0 - limit_d: 4.0 - limit_err_p: 0.4 - need_d_control: false - - # LQI gain generator - lqi: - gain_generate_rate: 15.0 - gyro_moment_compensation: true - clamp_gain: true - - roll_pitch_p: 20 - roll_pitch_i: 0.5 - roll_pitch_d: 0.15 - - yaw_p: 60 - yaw_i: 0.5 - yaw_d: 1.0 - - r1: 1.0 - r2: 1.0 - r3: 1.0 - r4: 1.0 - - trans_constraint_weight: 100 - att_control_weight: 1 - diff --git a/robots/assemble_quadrotors/config/FlightControlUnderActuated_tilt.yaml b/robots/assemble_quadrotors/config/FlightControlUnderActuated_tilt.yaml deleted file mode 100644 index 28b7a7358..000000000 --- a/robots/assemble_quadrotors/config/FlightControlUnderActuated_tilt.yaml +++ /dev/null @@ -1,53 +0,0 @@ -aerial_robot_control_name: aerial_robot_control/hydrus_tilted_lqi_controller - -controller: - xy: - p_gain: 4 - i_gain: 0.05 - d_gain: 5.0 - limit_sum: 3 - limit_p: 3 - limit_i: 1.5 - limit_d: 3 - - z: - p_gain: 3.6 - i_gain: 2.0 - d_gain: 3.4 - limit_err_p: 1.0 - limit_sum: 160 # N for clamping thrust force - limit_p: 160 # m / s^2 - limit_i: 160 # m / s^2 - limit_d: 160 # m / s^2 - landing_err_z: -0.55 - force_landing_descending_rate: -0.6 - - yaw: - limit_sum: 6.0 # N for clamping thrust force - limit_p: 4.0 - limit_i: 4.0 - limit_d: 4.0 - limit_err_p: 0.4 - need_d_control: false - - # LQI gain generator - lqi: - gain_generate_rate: 15.0 - gyro_moment_compensation: true - clamp_gain: true - - roll_pitch_p: 200 - roll_pitch_i: 1 - roll_pitch_d: 1 - - yaw_p: 200 - yaw_i: 0.5 - yaw_d: 100 - - r1: 1.0 - r2: 1.0 - r3: 1.0 - r4: 1.0 - - trans_constraint_weight: 100 - att_control_weight: 1 diff --git a/robots/assemble_quadrotors/config/MotorInfo.yaml b/robots/assemble_quadrotors/config/MotorInfo.yaml deleted file mode 100644 index 90b868916..000000000 --- a/robots/assemble_quadrotors/config/MotorInfo.yaml +++ /dev/null @@ -1,35 +0,0 @@ -motor_info: # TODO: update - min_pwm: 0.6 # 1200 [ms] - max_pwm: 0.975 # 1950 [ms] - min_thrust: 0 # [N] - force_landing_thrust: 1.1 #[N] - m_f_rate: -0.011 - pwm_conversion_mode: 0 # SQRT Mode - vel_ref_num: 4 - ref1: - voltage: 11 - max_thrust: 8 # N - polynominal2: 0.016997207 # 0.0016997207 # x10 - polynominal1: -0.715646031 # -0.0715646031 # x10 - polynominal0: -1.5748406196 # -1.5748406196 # x1 - - ref2: - voltage: 12 - max_thrust: 9 # N - polynominal2: 0.016041006 # 0.0016041006 # x10 - polynominal1: -0.334605432 # -0.0334605432 # x10 - polynominal0: -3.4646704800 # -3.4646704800 # x1 - - ref3: - voltage: 15 - max_thrust: 11 # N - polynominal2: 0.021394023 # 0.0021394023 # x10 - polynominal1: -0.581850250 # -0.0581850250 # x10 - polynominal0: 3.7059776008 # 3.7059776008 # x1 - - ref4: - voltage: 16 - max_thrust: 12 # N - polynominal2: 0.027952492 # 0.0027952492 # x10 - polynominal1: -1.450135122 # -0.1450135122 # x10 - polynominal0: 0.7839164615 # 0.7839164615 # x1 diff --git a/robots/assemble_quadrotors/config/MotorInfo_5inch.yaml b/robots/assemble_quadrotors/config/MotorInfo_5inch.yaml deleted file mode 100644 index 90b868916..000000000 --- a/robots/assemble_quadrotors/config/MotorInfo_5inch.yaml +++ /dev/null @@ -1,35 +0,0 @@ -motor_info: # TODO: update - min_pwm: 0.6 # 1200 [ms] - max_pwm: 0.975 # 1950 [ms] - min_thrust: 0 # [N] - force_landing_thrust: 1.1 #[N] - m_f_rate: -0.011 - pwm_conversion_mode: 0 # SQRT Mode - vel_ref_num: 4 - ref1: - voltage: 11 - max_thrust: 8 # N - polynominal2: 0.016997207 # 0.0016997207 # x10 - polynominal1: -0.715646031 # -0.0715646031 # x10 - polynominal0: -1.5748406196 # -1.5748406196 # x1 - - ref2: - voltage: 12 - max_thrust: 9 # N - polynominal2: 0.016041006 # 0.0016041006 # x10 - polynominal1: -0.334605432 # -0.0334605432 # x10 - polynominal0: -3.4646704800 # -3.4646704800 # x1 - - ref3: - voltage: 15 - max_thrust: 11 # N - polynominal2: 0.021394023 # 0.0021394023 # x10 - polynominal1: -0.581850250 # -0.0581850250 # x10 - polynominal0: 3.7059776008 # 3.7059776008 # x1 - - ref4: - voltage: 16 - max_thrust: 12 # N - polynominal2: 0.027952492 # 0.0027952492 # x10 - polynominal1: -1.450135122 # -0.1450135122 # x10 - polynominal0: 0.7839164615 # 0.7839164615 # x1 diff --git a/robots/assemble_quadrotors/config/MotorInfo_6inch.yaml b/robots/assemble_quadrotors/config/MotorInfo_6inch.yaml deleted file mode 100644 index 18c72bb25..000000000 --- a/robots/assemble_quadrotors/config/MotorInfo_6inch.yaml +++ /dev/null @@ -1,35 +0,0 @@ -motor_info: # TODO: update - min_pwm: 0.6 # 1200 [ms] - max_pwm: 0.975 # 1950 [ms] - min_thrust: 0 # [N] - force_landing_thrust: 1.1 #[N] - m_f_rate: -0.012 - pwm_conversion_mode: 0 # SQRT Mode - vel_ref_num: 4 - ref1: - voltage: 11 - max_thrust: 9 # N - polynominal2: 0.013229152 # 0.0013229152 # x10 - polynominal1: 0.228138702 # 0.0228138702 # x10 - polynominal0: -5.8471975014 # -5.8471975014 # x1 - - ref2: - voltage: 12 - max_thrust: 10 # N - polynominal2: 0.010044652 # 0.0010044652 # x10 - polynominal1: 0.941228892 # 0.0941228892 # x10 - polynominal0: -8.9286187437 # -8.9286187437 # x1 - - ref3: - voltage: 15 - max_thrust: 12 # N - polynominal2: -0.003458630 # -0.0003458630 # x10 - polynominal1: 3.530410357 # 0.3530410357 # x10 - polynominal0: -19.6295627811 # -19.6295627811 # x1 - - ref4: - voltage: 16 - max_thrust: 12 # N - polynominal2: 0.001710800 # 0.0001710800 # x10 - polynominal1: 2.784404685 # 0.2784404685 # x10 - polynominal0: -16.8521571788 # -16.8521571788 # x1 diff --git a/robots/assemble_quadrotors/config/MotorInfo_F35.yaml b/robots/assemble_quadrotors/config/MotorInfo_F35.yaml deleted file mode 100644 index 5d62c7284..000000000 --- a/robots/assemble_quadrotors/config/MotorInfo_F35.yaml +++ /dev/null @@ -1,28 +0,0 @@ -motor_info: # TODO: update - min_pwm: 0.6 # 1200 [ms] - max_pwm: 0.975 # 1950 [ms] - min_thrust: 0 # [N] - force_landing_thrust: 1.1 #[N] - m_f_rate: -0.011 #反トルク - pwm_conversion_mode: 0 # SQRT Mode - vel_ref_num: 3 - ref1: - voltage: 11 - max_thrust: 7.8 # N - polynominal2: 0.010576985 # 0.0010576985 #x10 - polynominal1: 0.203228685 # 0.0203228685 #x10 - polynominal0: -4.8287044777 # -4.8287044777 # x1 - - ref2: - voltage: 12 - max_thrust: 8.6 # N - polynominal2: 0.007079477 # 0.0007079477 # x10 - polynominal1: 0.971954932 # 0.0971954932 x10 - polynominal0: -8.1814872957 # -8.1814872957 # x1 - - ref3: - voltage: 15 - max_thrust: 11 # N - polynominal2: -0.005535287 # -0.0005535287 # x10 - polynominal1: 3.491470057 # 0.3491470057 # x10 - polynominal0: -18.637065433 # -18.637065433 # x1 diff --git a/robots/assemble_quadrotors/config/NavigationConfig.yaml b/robots/assemble_quadrotors/config/NavigationConfig.yaml deleted file mode 100644 index 3be65b0c6..000000000 --- a/robots/assemble_quadrotors/config/NavigationConfig.yaml +++ /dev/null @@ -1,30 +0,0 @@ -# Teleop Basic Param - -navigation: - xy_control_mode: 0 - # World Pos Control Mode: 0 - # World Vel Control Mode: 2 - # Local Vel Control Mode: 3 - # Attitude Control Mode: 4 - - - takeoff_height: 0.6 #1.0 - outdoor_takeoff_height: 1.5 - - # teleop operation - max_target_vel: 0.5 - joy_target_vel_interval: 0.005 # 0.2 / 20 = 0.01, 0.005 ~ 0.01 m/s - joy_target_z_interval: 0.02 - max_target_yaw_rate: 0.1 # 0.05 - teleop_local_frame: fc - - cmd_vel_lev2_gain : 2.0 - nav_vel_limit : 1.0 - - gain_tunning_mode: 0 - max_target_tilt_angle: 0.2 - cmd_angle_lev2_gain : 1.5 - - # gps waypoint - gps_waypoint_threshold: 3.0 - gps_waypoint_check_du: 1.0 diff --git a/robots/assemble_quadrotors/config/RobotModelFullyActuated.yaml b/robots/assemble_quadrotors/config/RobotModelFullyActuated.yaml deleted file mode 100644 index f9a63e65b..000000000 --- a/robots/assemble_quadrotors/config/RobotModelFullyActuated.yaml +++ /dev/null @@ -1,5 +0,0 @@ -# robot model plugin -robot_model_plugin_name: hydrus_xi_fully_actuated_robot_model # multirotor_robot_model - -wrench_mat_det_thre: 0 - diff --git a/robots/assemble_quadrotors/config/RobotModelUnderActuated.yaml b/robots/assemble_quadrotors/config/RobotModelUnderActuated.yaml deleted file mode 100644 index 9a6552514..000000000 --- a/robots/assemble_quadrotors/config/RobotModelUnderActuated.yaml +++ /dev/null @@ -1,11 +0,0 @@ -# robot model plugin -robot_model_plugin_name: hydrus_tilted_robot_model # multirotor_robot_model - -wrench_mat_det_thre: 0 - -# feasible control configuration -fc_t_min_thre: 0.01 -fc_rp_min_thre: 1.8 -rp_position_margin_thre: 0.13 # deprecated - - diff --git a/robots/assemble_quadrotors/config/RvizInit.yaml b/robots/assemble_quadrotors/config/RvizInit.yaml deleted file mode 100644 index b3bbaabd4..000000000 --- a/robots/assemble_quadrotors/config/RvizInit.yaml +++ /dev/null @@ -1,9 +0,0 @@ -zeros: - rotor1: 0 - rotor2: 0 - rotor3: 0 - rotor4: 0 - rotor5: 0 - rotor6: 0 - rotor7: 0 - rotor8: 0 \ No newline at end of file diff --git a/robots/assemble_quadrotors/config/Simulation.yaml b/robots/assemble_quadrotors/config/Simulation.yaml deleted file mode 100644 index 0d17670f5..000000000 --- a/robots/assemble_quadrotors/config/Simulation.yaml +++ /dev/null @@ -1,28 +0,0 @@ -# overwrite parameter for simulation - -sensor_plugin: - mocap: - ground_truth_sub_name: ground_truth - gps: - estimate_mode: 4 #1 << 2 - ned_flag: true # hector_gazebo_plugins/GPS - -# ground truth parameter -# global namespace -simulation: - # gaussian noise - ground_truth_pos_noise: 0.001 - ground_truth_vel_noise: 0.005 - ground_truth_rot_noise: 0.001 - ground_truth_angular_noise: 0.005 - - # drift model: e^(-dt * drift_frequency) * curr_drift + dt * gaussian_kernel(sqrt( 2 * drift_frequency) * drfit)) - # drift diviation: - ground_truth_vel_drift: 0 - ground_truth_rot_drift: 0 - ground_truth_angular_drift: 0 - - # drift frequency: - ground_truth_vel_drift_frequency: 0 - ground_truth_rot_drift_frequency: 0 - ground_truth_angular_drift_frequency: 0 diff --git a/robots/assemble_quadrotors/config/StateEstimation.yaml b/robots/assemble_quadrotors/config/StateEstimation.yaml deleted file mode 100644 index bbc6a8398..000000000 --- a/robots/assemble_quadrotors/config/StateEstimation.yaml +++ /dev/null @@ -1,53 +0,0 @@ -# Sensor Fuser Loader -estimation: - # sensor plugin - sensor_list: - - sensor_plugin/imu - - sensor_plugin/mocap - - sensor_plugin/alt - - sensor_plugin/gps - - # egomotion estimation - egomotion_list: - - kalman_filter/kf_pos_vel_acc - - kalman_filter/kf_pos_vel_acc - - kalman_filter/kf_pos_vel_acc - - # experiment estimation - experiment_list: - - kalman_filter/kf_pos_vel_acc - - kalman_filter/kf_pos_vel_acc - - kalman_filter/kf_pos_vel_acc - - # specific id(int) of sensor fuser, axis for kf - fuser_egomotion_id1: 8 # 1 << 3 - fuser_egomotion_id2: 16 # 1 << 4 - fuser_egomotion_id3: 32 # 1 << 5 - - fuser_experiment_id1: 8 # 1 << 3 - fuser_experiment_id2: 16 # 1 << 4 - fuser_experiment_id3: 32 # 1 << 5 - - # specific name of sensor fuser - fuser_egomotion_name1: /ee/x - fuser_egomotion_name2: /ee/y - fuser_egomotion_name3: /ee/z - - fuser_experiment_name1: /ex/x - fuser_experiment_name2: /ex/y - fuser_experiment_name3: /ex/z - - -# EGOMOTION_ESTIMATION_MODE = 0 -# EXPERIMENT_MODE = 1 -# GROUND_TRUTH_MODE = 2 - -sensor_plugin: - imu: - estimate_mode: 3 # 1<<0 + 1<<1 - mocap: - estimate_mode: 6 # 1<<1 + 1<<2 - alt: - estimate_mode: 1 # 1<<0 - gps: - estimate_mode: 1 # 1<<0 diff --git a/robots/assemble_quadrotors/config/opt_design/config.rviz b/robots/assemble_quadrotors/config/opt_design/config.rviz deleted file mode 100644 index c91562ec0..000000000 --- a/robots/assemble_quadrotors/config/opt_design/config.rviz +++ /dev/null @@ -1,130 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /MarkerArray1 - - /MarkerArray1/Status1 - Splitter Ratio: 0.5 - Tree Height: 1808 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Class: rviz/MarkerArray - Enabled: true - Marker Topic: /rotor_configuration_markers - Name: MarkerArray - Namespaces: - world: true - Queue Size: 100 - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Default Light: true - Fixed Frame: world - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 4.086756229400635 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0 - Y: 0 - Z: 0 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.6653973460197449 - Target Frame: - Value: Orbit (rviz) - Yaw: 1.1303986310958862 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 2105 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd0000000400000000000001560000079bfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000079b000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000079bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000079b000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000075f0000003efc0100000002fb0000000800540069006d006501000000000000075f000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004ee0000079b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1887 - X: 1953 - Y: 27 diff --git a/robots/assemble_quadrotors/config/rviz_config b/robots/assemble_quadrotors/config/rviz_config deleted file mode 100644 index 4c65e07c8..000000000 --- a/robots/assemble_quadrotors/config/rviz_config +++ /dev/null @@ -1,253 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /TF1 - - /RobotModel1 - Splitter Ratio: 0.5 - Tree Height: 1251 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Class: rviz/TF - Enabled: true - Frame Timeout: 15 - Frames: - All Enabled: true - assemble_quadrotors/cog: - Value: true - assemble_quadrotors/fc: - Value: true - assemble_quadrotors/main_body: - Value: true - assemble_quadrotors/root: - Value: true - assemble_quadrotors/thrust1: - Value: true - assemble_quadrotors/thrust2: - Value: true - assemble_quadrotors/thrust3: - Value: true - assemble_quadrotors/thrust4: - Value: true - assemble_quadrotors/thrust5: - Value: true - assemble_quadrotors/thrust6: - Value: true - assemble_quadrotors/thrust7: - Value: true - assemble_quadrotors/thrust8: - Value: true - world: - Value: true - Marker Scale: 0.30000001192092896 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - world: - assemble_quadrotors/root: - assemble_quadrotors/cog: - {} - assemble_quadrotors/main_body: - assemble_quadrotors/fc: - {} - assemble_quadrotors/thrust1: - {} - assemble_quadrotors/thrust2: - {} - assemble_quadrotors/thrust3: - {} - assemble_quadrotors/thrust4: - {} - assemble_quadrotors/thrust5: - {} - assemble_quadrotors/thrust6: - {} - assemble_quadrotors/thrust7: - {} - assemble_quadrotors/thrust8: - {} - Update Interval: 0 - Value: true - - Alpha: 1 - Class: rviz/RobotModel - Collision Enabled: false - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - fc: - Alpha: 1 - Show Axes: false - Show Trail: false - main_body: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - root: - Alpha: 1 - Show Axes: false - Show Trail: false - thrust1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - thrust2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - thrust3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - thrust4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - thrust5: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - thrust6: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - thrust7: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - thrust8: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - Robot Description: assemble_quadrotors/robot_description - TF Prefix: assemble_quadrotors - Update Interval: 0 - Value: true - Visual Enabled: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Default Light: true - Fixed Frame: world - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 5.862760066986084 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0.7939224243164062 - Y: 0.1640194207429886 - Z: 0.2843625247478485 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.3047972321510315 - Target Frame: - Value: Orbit (rviz) - Yaw: 3.4604008197784424 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1548 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000016a0000056efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000056e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000056efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000056e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004f30000003efc0100000002fb0000000800540069006d00650100000000000004f3000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000026e0000056e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1267 - X: 957 - Y: 27 diff --git a/robots/assemble_quadrotors/config/sensors/imu/spinal.yaml b/robots/assemble_quadrotors/config/sensors/imu/spinal.yaml deleted file mode 100644 index b77c36f35..000000000 --- a/robots/assemble_quadrotors/config/sensors/imu/spinal.yaml +++ /dev/null @@ -1,10 +0,0 @@ -sensor_plugin: - imu: - imu_board: 1 #d_board - imu_topic_name: imu - level_acc_noise_sigma: 0.05 - z_acc_noise_sigma: 0.05 #real:0.05 - level_acc_bias_noise_sigma: 0.001 #0.005#0.04 (> 0 means to do the acc bias estimation by kalman filter) - z_acc_bias_noise_sigma: 0.001 # (= 0 means not to do the acc bias estimation by kalman filter) - angle_bias_noise_sigma: 0.0002 #good for EKF - calib_time: 2.0 diff --git a/robots/assemble_quadrotors/include/assemble_quadrotors/optimal_design.h b/robots/assemble_quadrotors/include/assemble_quadrotors/optimal_design.h deleted file mode 100644 index 12fde8496..000000000 --- a/robots/assemble_quadrotors/include/assemble_quadrotors/optimal_design.h +++ /dev/null @@ -1,66 +0,0 @@ -// -*- mode: c++ -*- -/********************************************************************* - * Software License Agreement (BSD License) - * - * Copyright (c) 2022, JSK Lab - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/o2r other materials provided - * with the distribution. - * * Neither the name of the JSK Lab nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - *********************************************************************/ - -#pragma once - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -class OptimalDesign -{ -public: - OptimalDesign(ros::NodeHandle nh, ros::NodeHandle nhp); - ~OptimalDesign() {} - - // unit configurable parameters - int unit_rotor_num_; // rotor number per unit - double unit_mass_; // mass per unit - int units_num_; // nubmer of units - double m_f_rate_; - double max_thrust_; - double pos_bound_; - double fc_f_min_weight_, fc_t_min_weight_; - - ros::Publisher visualize_pub_; - ros::Publisher feasible_control_info_pub_; - ros::Publisher feasible_control_info_pub_unit_; -}; diff --git a/robots/assemble_quadrotors/launch/bringup.launch b/robots/assemble_quadrotors/launch/bringup.launch deleted file mode 100644 index 360232eee..000000000 --- a/robots/assemble_quadrotors/launch/bringup.launch +++ /dev/null @@ -1,104 +0,0 @@ - - - ########### launch config ########### - - - - - - - - - - - - - - - - - - - - - ########### Parameters ########### - - - ########### Basic Param ########### - # EGOMOTION_ESTIMATE = 0 - # EXPERIMENT_ESTIMATE = 1. for unstable mocap, use this mode - # GROUND_TRUTH = 2 - - - - # Drone = 0 - - - - - ########### Motor Config ########### - - - ########### Battery Config ########### - - - ########### Control ########### - - - - ########### Sensor Fusion ########### - - - - ########### Navigation ########### - - - - ########### Base Platform ########### - - - - - - - ########### Robot Model ########### - - - - - - - - - - - - - - - - - ########### Sensors ########### - - - - - - - ########## Simulation in Gazebo ######### - - - - - - - - - - - - - ######## work around to evoke robot model update ####### - - - diff --git a/robots/assemble_quadrotors/launch/includes/sensors.launch.xml b/robots/assemble_quadrotors/launch/includes/sensors.launch.xml deleted file mode 100644 index 1675aae4c..000000000 --- a/robots/assemble_quadrotors/launch/includes/sensors.launch.xml +++ /dev/null @@ -1,32 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/robots/assemble_quadrotors/launch/spawn_model.launch b/robots/assemble_quadrotors/launch/spawn_model.launch deleted file mode 100644 index 4a4d31c64..000000000 --- a/robots/assemble_quadrotors/launch/spawn_model.launch +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/robots/assemble_quadrotors/launch/visualize_optimzie_design.launch b/robots/assemble_quadrotors/launch/visualize_optimzie_design.launch deleted file mode 100644 index c495e88a8..000000000 --- a/robots/assemble_quadrotors/launch/visualize_optimzie_design.launch +++ /dev/null @@ -1,13 +0,0 @@ - - - ########### visualize the rotor configuration in rviz ########### - - - ########### visualize the feasible control force/torque convex by matplot ########### - - - ########### visualize the feasible control force/torque convex by matplot ########### - - - - diff --git a/robots/assemble_quadrotors/package.xml b/robots/assemble_quadrotors/package.xml deleted file mode 100644 index c05c71fd7..000000000 --- a/robots/assemble_quadrotors/package.xml +++ /dev/null @@ -1,25 +0,0 @@ - - - assemble_quadrotors - 1.3.0 - The basic packages for assemble quadrotors - - Bakui Chou - BSD - https://github.com/JSKAerialRobot/aerial_robot - Bakui Chou - - catkin - - aerial_robot_control - aerial_robot_model - aerial_robot_msgs - cmake_modules - roscpp - - aerial_robot_control - aerial_robot_model - aerial_robot_msgs - roscpp - - diff --git a/robots/assemble_quadrotors/scripts/feasible_control_convex_plot.py b/robots/assemble_quadrotors/scripts/feasible_control_convex_plot.py deleted file mode 100755 index c52c26796..000000000 --- a/robots/assemble_quadrotors/scripts/feasible_control_convex_plot.py +++ /dev/null @@ -1,240 +0,0 @@ -#!/usr/bin/env python - -import sys -import time -import rospy -import tf -import math -import threading -from std_msgs.msg import Float32 -from aerial_robot_msgs.msg import FeasibleControlConvexInfo -import numpy as np -from scipy.spatial import ConvexHull, convex_hull_plot_2d -import matplotlib.pyplot as plt -import mpl_toolkits.mplot3d as a3 -import matplotlib.patches as patches -from sympy import Plane, Point3D -import networkx as nx -from copy import deepcopy - - -# https://stackoverflow.com/questions/49098466/plot-3d-convex-closed-regions-in-matplot-lib -def simplify(triangles): - """ - Simplify an iterable of triangles such that adjacent and coplanar triangles form a single face. - Each triangle is a set of 3 points in 3D space. - """ - - # create a graph in which nodes represent triangles; - # nodes are connected if the corresponding triangles are adjacent and coplanar - G = nx.Graph() - G.add_nodes_from(range(len(triangles))) - for ii, a in enumerate(triangles): - for jj, b in enumerate(triangles): - if (ii < jj): # test relationships only in one way as adjacency and co-planarity are bijective - if is_adjacent(a, b): - if is_coplanar(a, b, np.pi / 180.): - G.add_edge(ii,jj) - - # triangles that belong to a connected component can be combined - components = list(nx.connected_components(G)) - simplified = [set(flatten(triangles[index] for index in component)) for component in components] - - # need to reorder nodes so that patches are plotted correctly - reordered = [reorder(face) for face in simplified] - - return reordered - - -def is_adjacent(a, b): - return len(set(a) & set(b)) == 2 # i.e. triangles share 2 points and hence a side - - -def is_coplanar(a, b, tolerance_in_radians=0): - a1, a2, a3 = a - b1, b2, b3 = b - plane_a = Plane(Point3D(a1), Point3D(a2), Point3D(a3)) - plane_b = Plane(Point3D(b1), Point3D(b2), Point3D(b3)) - if not tolerance_in_radians: # only accept exact results - return plane_a.is_coplanar(plane_b) - else: - angle = plane_a.angle_between(plane_b).evalf() - angle %= np.pi # make sure that angle is between 0 and np.pi - return (angle - tolerance_in_radians <= 0.) or ((np.pi - angle) - tolerance_in_radians <= 0.) - - -flatten = lambda l: [item for sublist in l for item in sublist] - - -def reorder(vertices): - """ - Reorder nodes such that the resulting path corresponds to the "hull" of the set of points. - - Note: - ----- - Not tested on edge cases, and likely to break. - Probably only works for convex shapes. - - """ - if len(vertices) <= 3: # just a triangle - return vertices - else: - # take random vertex (here simply the first) - reordered = [vertices.pop()] - # get next closest vertex that is not yet reordered - # repeat until only one vertex remains in original list - vertices = list(vertices) - while len(vertices) > 1: - idx = np.argmin(get_distance(reordered[-1], vertices)) - v = vertices.pop(idx) - reordered.append(v) - # add remaining vertex to output - reordered += vertices - return reordered - -def get_distance(v1, v2): - v2 = np.array(list(v2)) - difference = v2 - v1 - ssd = np.sum(difference**2, axis=1) - return np.sqrt(ssd) - - -class FeasibleControlConvexPlot(): - def __init__(self, name="feasible_control_convex_plot"): - - - self.xyz_equal_scale = rospy.get_param("~xyz_equal_scale", True) - - rospy.Subscriber("feasible_control_convex_info", FeasibleControlConvexInfo, self.cb) - - def cb(self, msg): - - force_radius = msg.fc_f_min - torque_radius = msg.fc_t_min - gravity_force = msg.total_mass * 9.8 - - cnt = 0 - force_vertices = np.empty((0,3), float) - while cnt < 2 ** len(msg.u): - vertice = np.array([0.0, 0.0, -gravity_force]) - for i in range(len(msg.u)): - if 2 ** i & cnt: - vertice += [msg.u[i].x, msg.u[i].y, msg.u[i].z] - - force_vertices = np.append(force_vertices, np.array([vertice]), axis=0) - cnt += 1 - - cnt = 0 - torque_vertices = np.empty((0,3), float) - while cnt < 2 ** len(msg.v): - vertice = np.array([0.0, 0.0, 0.0]) - for i in range(len(msg.v)): - if 2 ** i & cnt: - vertice += [msg.v[i].x, msg.v[i].y, msg.v[i].z] - - torque_vertices = np.append(torque_vertices, np.array([vertice]), axis=0) - cnt += 1 - - - ax = a3.Axes3D(plt.figure("feasible_control_force_convex")) - x_min = np.amin(force_vertices, axis = 0)[0] - 1 - y_min = np.amin(force_vertices, axis = 0)[1] - 1 - z_min = np.amin(force_vertices, axis = 0)[2] - 1 - x_max = np.amax(force_vertices, axis = 0)[0] + 1 - y_max = np.amax(force_vertices, axis = 0)[1] + 1 - z_max = np.amax(force_vertices, axis = 0)[2] + 1 - ax.set_xlim([x_min, x_max]) - ax.set_ylim([y_min, y_max]) - ax.set_zlim([z_min, z_max]) - ax.xaxis.set_tick_params(labelsize=20) - ax.yaxis.set_tick_params(labelsize=20) - ax.zaxis.set_tick_params(labelsize=20) - - if self.xyz_equal_scale: - xyz_min = np.amin(np.amin(force_vertices, axis = 0), axis = 0) - 1 - xyz_max = np.amax(np.amax(force_vertices, axis = 0), axis = 0) + 1 - - ax.set_xlim([xyz_min, xyz_max]) - ax.set_ylim([xyz_min, xyz_max]) - ax.set_zlim([xyz_min, xyz_max]) - - hull = ConvexHull(force_vertices) - triangles = [] - - for s in hull.simplices: - - sq = [ - (force_vertices[s[0], 0], force_vertices[s[0], 1], force_vertices[s[0], 2]), - (force_vertices[s[1], 0], force_vertices[s[1], 1], force_vertices[s[1], 2]), - (force_vertices[s[2], 0], force_vertices[s[2], 1], force_vertices[s[2], 2]) - ] - triangles.append(sq) - - f = a3.art3d.Poly3DCollection([sq], alpha=0.5, linewidth=0.5) - f.set_facecolor('c') - f.set_edgecolor('k') - ax.add_collection3d(f) - - - # force minimum sphere - u,v=np.mgrid[0:2*np.pi:50j, 0:np.pi:25j] - x=np.cos(u)*np.sin(v) * force_radius - y=np.sin(u)*np.sin(v) * force_radius - z=np.cos(v) * force_radius - ax.plot_wireframe(x, y, z, color='darkblue', linewidth=1.0) - - - ax = a3.Axes3D(plt.figure("feasible_control_torque_convex")) - x_min = np.amin(torque_vertices, axis = 0)[0] - 1 - y_min = np.amin(torque_vertices, axis = 0)[1] - 1 - z_min = np.amin(torque_vertices, axis = 0)[2] - 1 - x_max = np.amax(torque_vertices, axis = 0)[0] + 1 - y_max = np.amax(torque_vertices, axis = 0)[1] + 1 - z_max = np.amax(torque_vertices, axis = 0)[2] + 1 - ax.set_xlim([x_min, x_max]) - ax.set_ylim([y_min, y_max]) - ax.set_zlim([z_min, z_max]) - ax.xaxis.set_tick_params(labelsize=20) - ax.yaxis.set_tick_params(labelsize=20) - ax.zaxis.set_tick_params(labelsize=20) - - if self.xyz_equal_scale: - xyz_min = np.amin(np.amin(torque_vertices, axis = 0), axis = 0) - 1 - xyz_max = np.amax(np.amax(torque_vertices, axis = 0), axis = 0) + 1 - - ax.set_xlim([xyz_min, xyz_max]) - ax.set_ylim([xyz_min, xyz_max]) - ax.set_zlim([xyz_min, xyz_max]) - - hull = ConvexHull(torque_vertices) - triangles = [] - - for s in hull.simplices: - - sq = [ - (torque_vertices[s[0], 0], torque_vertices[s[0], 1], torque_vertices[s[0], 2]), - (torque_vertices[s[1], 0], torque_vertices[s[1], 1], torque_vertices[s[1], 2]), - (torque_vertices[s[2], 0], torque_vertices[s[2], 1], torque_vertices[s[2], 2]) - ] - triangles.append(sq) - - f = a3.art3d.Poly3DCollection([sq], alpha=0.5, linewidth=0.5) - f.set_facecolor('c') - f.set_edgecolor('k') - ax.add_collection3d(f) - - - # torque minimum sphere - u,v=np.mgrid[0:2*np.pi:50j, 0:np.pi:25j] - x=np.cos(u)*np.sin(v) * torque_radius - y=np.sin(u)*np.sin(v) * torque_radius - z=np.cos(v) * torque_radius - ax.plot_wireframe(x, y, z, color='darkblue', linewidth=1.0) - - plt.show() - -if __name__=="__main__": - rospy.init_node("feasible_control_conex_plot") - FeasibleControlConvexPlot() - rospy.spin() - diff --git a/robots/assemble_quadrotors/scripts/feasible_control_convex_plot_unit.py b/robots/assemble_quadrotors/scripts/feasible_control_convex_plot_unit.py deleted file mode 100755 index ed9128651..000000000 --- a/robots/assemble_quadrotors/scripts/feasible_control_convex_plot_unit.py +++ /dev/null @@ -1,239 +0,0 @@ -#!/usr/bin/env python - -import sys -import time -import rospy -import tf -import math -import threading -from std_msgs.msg import Float32 -from aerial_robot_msgs.msg import FeasibleControlConvexInfo -import numpy as np -from scipy.spatial import ConvexHull, convex_hull_plot_2d -import matplotlib.pyplot as plt -import mpl_toolkits.mplot3d as a3 -import matplotlib.patches as patches -from sympy import Plane, Point3D -import networkx as nx -from copy import deepcopy - - -# https://stackoverflow.com/questions/49098466/plot-3d-convex-closed-regions-in-matplot-lib -def simplify(triangles): - """ - Simplify an iterable of triangles such that adjacent and coplanar triangles form a single face. - Each triangle is a set of 3 points in 3D space. - """ - - # create a graph in which nodes represent triangles; - # nodes are connected if the corresponding triangles are adjacent and coplanar - G = nx.Graph() - G.add_nodes_from(range(len(triangles))) - for ii, a in enumerate(triangles): - for jj, b in enumerate(triangles): - if (ii < jj): # test relationships only in one way as adjacency and co-planarity are bijective - if is_adjacent(a, b): - if is_coplanar(a, b, np.pi / 180.): - G.add_edge(ii,jj) - - # triangles that belong to a connected component can be combined - components = list(nx.connected_components(G)) - simplified = [set(flatten(triangles[index] for index in component)) for component in components] - - # need to reorder nodes so that patches are plotted correctly - reordered = [reorder(face) for face in simplified] - - return reordered - - -def is_adjacent(a, b): - return len(set(a) & set(b)) == 2 # i.e. triangles share 2 points and hence a side - - -def is_coplanar(a, b, tolerance_in_radians=0): - a1, a2, a3 = a - b1, b2, b3 = b - plane_a = Plane(Point3D(a1), Point3D(a2), Point3D(a3)) - plane_b = Plane(Point3D(b1), Point3D(b2), Point3D(b3)) - if not tolerance_in_radians: # only accept exact results - return plane_a.is_coplanar(plane_b) - else: - angle = plane_a.angle_between(plane_b).evalf() - angle %= np.pi # make sure that angle is between 0 and np.pi - return (angle - tolerance_in_radians <= 0.) or ((np.pi - angle) - tolerance_in_radians <= 0.) - - -flatten = lambda l: [item for sublist in l for item in sublist] - - -def reorder(vertices): - """ - Reorder nodes such that the resulting path corresponds to the "hull" of the set of points. - - Note: - ----- - Not tested on edge cases, and likely to break. - Probably only works for convex shapes. - - """ - if len(vertices) <= 3: # just a triangle - return vertices - else: - # take random vertex (here simply the first) - reordered = [vertices.pop()] - # get next closest vertex that is not yet reordered - # repeat until only one vertex remains in original list - vertices = list(vertices) - while len(vertices) > 1: - idx = np.argmin(get_distance(reordered[-1], vertices)) - v = vertices.pop(idx) - reordered.append(v) - # add remaining vertex to output - reordered += vertices - return reordered - -def get_distance(v1, v2): - v2 = np.array(list(v2)) - difference = v2 - v1 - ssd = np.sum(difference**2, axis=1) - return np.sqrt(ssd) - - -class FeasibleControlConvexPlot(): - def __init__(self, name="feasible_control_convex_plot"): - - - self.xyz_equal_scale = rospy.get_param("~xyz_equal_scale", True) - - rospy.Subscriber("feasible_control_convex_info_unit", FeasibleControlConvexInfo, self.cb) - - def cb(self, msg): - - force_radius = msg.fc_f_min - torque_radius = msg.fc_t_min - gravity_force = msg.total_mass * 9.8 - - cnt = 0 - force_vertices = np.empty((0,3), float) - while cnt < 2 ** len(msg.u): - vertice = np.array([0.0, 0.0, -gravity_force]) - for i in range(len(msg.u)): - if 2 ** i & cnt: - vertice += [msg.u[i].x, msg.u[i].y, msg.u[i].z] - - force_vertices = np.append(force_vertices, np.array([vertice]), axis=0) - cnt += 1 - - cnt = 0 - torque_vertices = np.empty((0,3), float) - while cnt < 2 ** len(msg.v): - vertice = np.array([0.0, 0.0, 0.0]) - for i in range(len(msg.v)): - if 2 ** i & cnt: - vertice += [msg.v[i].x, msg.v[i].y, msg.v[i].z] - - torque_vertices = np.append(torque_vertices, np.array([vertice]), axis=0) - cnt += 1 - - - ax = a3.Axes3D(plt.figure("feasible_control_force_convex_unit")) - x_min = np.amin(force_vertices, axis = 0)[0] - 1 - y_min = np.amin(force_vertices, axis = 0)[1] - 1 - z_min = np.amin(force_vertices, axis = 0)[2] - 1 - x_max = np.amax(force_vertices, axis = 0)[0] + 1 - y_max = np.amax(force_vertices, axis = 0)[1] + 1 - z_max = np.amax(force_vertices, axis = 0)[2] + 1 - ax.set_xlim([x_min, x_max]) - ax.set_ylim([y_min, y_max]) - ax.set_zlim([z_min, z_max]) - ax.xaxis.set_tick_params(labelsize=20) - ax.yaxis.set_tick_params(labelsize=20) - ax.zaxis.set_tick_params(labelsize=20) - - if self.xyz_equal_scale: - xyz_min = np.amin(np.amin(force_vertices, axis = 0), axis = 0) - 1 - xyz_max = np.amax(np.amax(force_vertices, axis = 0), axis = 0) + 1 - - ax.set_xlim([xyz_min, xyz_max]) - ax.set_ylim([xyz_min, xyz_max]) - ax.set_zlim([xyz_min, xyz_max]) - - hull = ConvexHull(force_vertices) - triangles = [] - - for s in hull.simplices: - - sq = [ - (force_vertices[s[0], 0], force_vertices[s[0], 1], force_vertices[s[0], 2]), - (force_vertices[s[1], 0], force_vertices[s[1], 1], force_vertices[s[1], 2]), - (force_vertices[s[2], 0], force_vertices[s[2], 1], force_vertices[s[2], 2]) - ] - triangles.append(sq) - - f = a3.art3d.Poly3DCollection([sq], alpha=0.5, linewidth=0.5) - f.set_facecolor('c') - f.set_edgecolor('k') - ax.add_collection3d(f) - - - # force minimum sphere - u,v=np.mgrid[0:2*np.pi:50j, 0:np.pi:25j] - x=np.cos(u)*np.sin(v) * force_radius - y=np.sin(u)*np.sin(v) * force_radius - z=np.cos(v) * force_radius - ax.plot_wireframe(x, y, z, color='darkblue', linewidth=1.0) - - - ax = a3.Axes3D(plt.figure("feasible_control_torque_convex_unit")) - x_min = np.amin(torque_vertices, axis = 0)[0] - 1 - y_min = np.amin(torque_vertices, axis = 0)[1] - 1 - z_min = np.amin(torque_vertices, axis = 0)[2] - 1 - x_max = np.amax(torque_vertices, axis = 0)[0] + 1 - y_max = np.amax(torque_vertices, axis = 0)[1] + 1 - z_max = np.amax(torque_vertices, axis = 0)[2] + 1 - ax.set_xlim([x_min, x_max]) - ax.set_ylim([y_min, y_max]) - ax.set_zlim([z_min, z_max]) - ax.xaxis.set_tick_params(labelsize=20) - ax.yaxis.set_tick_params(labelsize=20) - ax.zaxis.set_tick_params(labelsize=20) - - if self.xyz_equal_scale: - xyz_min = np.amin(np.amin(torque_vertices, axis = 0), axis = 0) - 1 - xyz_max = np.amax(np.amax(torque_vertices, axis = 0), axis = 0) + 1 - - ax.set_xlim([xyz_min, xyz_max]) - ax.set_ylim([xyz_min, xyz_max]) - ax.set_zlim([xyz_min, xyz_max]) - - hull = ConvexHull(torque_vertices) - triangles = [] - - for s in hull.simplices: - - sq = [ - (torque_vertices[s[0], 0], torque_vertices[s[0], 1], torque_vertices[s[0], 2]), - (torque_vertices[s[1], 0], torque_vertices[s[1], 1], torque_vertices[s[1], 2]), - (torque_vertices[s[2], 0], torque_vertices[s[2], 1], torque_vertices[s[2], 2]) - ] - triangles.append(sq) - - f = a3.art3d.Poly3DCollection([sq], alpha=0.5, linewidth=0.5) - f.set_facecolor('c') - f.set_edgecolor('k') - ax.add_collection3d(f) - - - # torque minimum sphere - u,v=np.mgrid[0:2*np.pi:50j, 0:np.pi:25j] - x=np.cos(u)*np.sin(v) * torque_radius - y=np.sin(u)*np.sin(v) * torque_radius - z=np.cos(v) * torque_radius - ax.plot_wireframe(x, y, z, color='darkblue', linewidth=1.0) - - plt.show() - -if __name__=="__main__": - rospy.init_node("feasible_control_conex_plot_unit") - FeasibleControlConvexPlot() - rospy.spin() diff --git a/robots/assemble_quadrotors/scripts/joint_state_pub.py b/robots/assemble_quadrotors/scripts/joint_state_pub.py deleted file mode 100755 index 61833d0be..000000000 --- a/robots/assemble_quadrotors/scripts/joint_state_pub.py +++ /dev/null @@ -1,16 +0,0 @@ -#!/usr/bin/env python - -import rospy -from sensor_msgs.msg import JointState -import time - -if __name__=="__main__": - - rospy.init_node('joint_state_pub') - joint_state_pub = rospy.Publisher('joint_states', JointState, queue_size=1) - - time.sleep(5) - - joint_state = JointState() - joint_state.header.stamp = rospy.Time.now() - joint_state_pub.publish(joint_state) diff --git a/robots/assemble_quadrotors/src/optimal_design.cpp b/robots/assemble_quadrotors/src/optimal_design.cpp deleted file mode 100644 index 6fdbcfc44..000000000 --- a/robots/assemble_quadrotors/src/optimal_design.cpp +++ /dev/null @@ -1,549 +0,0 @@ - -// -*- mode: c++ -*- -/********************************************************************* - * Software License Agreement (BSD License) - * - * Copyright (c) 2022, JSK Lab - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/o2r other materials provided - * with the distribution. - * * Neither the name of the JSK Lab nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - *********************************************************************/ - -#include - -int cnt = 0; - -void calcRotorConfiguration(const std::vector& x, const int unit_rotor_num, const double pos_bound, const double m_f_rate, std::vector& p, std::vector& u, std::vector& v, std::vector& direct, const bool unit_calc) -{ - p.clear(); - u.clear(); - v.clear(); - direct.clear(); - - // determine the origin point by the type of calclation - Eigen::Vector3d unit1_center_pos; - int calc_num; - - if(unit_calc){ - unit1_center_pos(0) = 0; - unit1_center_pos(1) = 0; - unit1_center_pos(2) = 0; - }else{ - unit1_center_pos(0) = pos_bound; - unit1_center_pos(1) = 0; - unit1_center_pos(2) = 0; - } - // x: [ang1, ang2] * n/2 - - for(int i = 0; i < unit_rotor_num; i++) { - double direct_i = std::pow(-1, i); - Eigen::Vector3d p_i; - Eigen::Vector3d p_i_pair; - switch(i) { - case 0: - p_i = unit1_center_pos + Eigen::Vector3d(-pos_bound/2, -pos_bound/2, 0); - break; - case 1: - p_i = unit1_center_pos + Eigen::Vector3d(+pos_bound/2, -pos_bound/2, 0); - break; - case 2: - p_i = unit1_center_pos + Eigen::Vector3d(+pos_bound/2, +pos_bound/2, 0); - break; - case 3: - p_i = unit1_center_pos + Eigen::Vector3d(-pos_bound/2, +pos_bound/2, 0); - break; - default: - break; - } - - // http://fnorio.com/0098spherical_trigonometry1/spherical_trigonometry1.html - double ang1 = x.at(i*2); - double ang2 = x.at(i*2+1); - Eigen::Vector3d u_i(sin(ang1) * cos(ang2), sin(ang1) * sin(ang2), cos(ang1)); - Eigen::Vector3d v_i = p_i.cross(u_i) - m_f_rate * direct_i * u_i; - //std::cout<< "m_f_rate: " << m_f_rate << "; pi: " << p_i.transpose() << "; u_i: " << u_i.transpose() << "; vi: " << v_i.transpose() << std::endl; - p.push_back(p_i); // append rotor position - u.push_back(u_i); // append rotor force normal - v.push_back(v_i); // append rotor torque normal - direct.push_back(direct_i); // append propeller rotating direction - - // the mirror rotor - // simplest rule: rotate the unit around the z axis - if(!unit_calc){ - double direct_i_mirror = std::pow(-1, i); // append propeller rotating direction (same direction) - Eigen::Vector3d p_i_mirror = Eigen::AngleAxisd(M_PI, Eigen::Vector3d::UnitZ()) * p_i; - Eigen::Vector3d u_i_mirror = Eigen::AngleAxisd(M_PI, Eigen::Vector3d::UnitZ()) * u_i; - Eigen::Vector3d v_i_mirror = p_i_mirror.cross(u_i_mirror) - m_f_rate * direct_i_mirror * u_i_mirror; - p.push_back(p_i_mirror); - u.push_back(u_i_mirror); - v.push_back(v_i_mirror); - direct.push_back(direct_i_mirror); - } - } - -} - - -// temporarily copy https://github.com/jsk-ros-pkg/jsk_aerial_robot/blob/master/aerial_robot_model/src/transformable_aerial_robot_model/stability.cpp#L33-L40 -double calcTripleProduct(const Eigen::Vector3d& ui, const Eigen::Vector3d& uj, const Eigen::Vector3d& uk) -{ - Eigen::Vector3d uixuj = ui.cross(uj); - if (uixuj.norm() < 0.00001) { - return 0.0; - } - return uixuj.dot(uk) / uixuj.norm(); -} - - -// copy and modified from https://github.com/jsk-ros-pkg/jsk_aerial_robot/blob/master/aerial_robot_model/src/transformable_aerial_robot_model/stability.cpp#L56-L86 -double calcFeasibleControlFDists(const std::vector& u, const double thrust_max, const double mass) -{ - - const int rotor_num = u.size(); - Eigen::VectorXd fc_f_dists = Eigen::VectorXd::Zero(rotor_num * (rotor_num - 1)); - Eigen::Vector3d gravity_force(0, 0, mass * 9.8); // considering the gravity - - int index = 0; - for (int i = 0; i < rotor_num; ++i) { - const Eigen::Vector3d& u_i = u.at(i); - for (int j = 0; j < rotor_num; ++j) { - if (i == j) continue; - const Eigen::Vector3d& u_j = u.at(j); - double dist_ij = 0.0; - - if(u.at(i).cross(u.at(j)).norm() < 1e-5) { - // assume u_i and u_j has same direction, so this is not plane can generate - dist_ij = 1e6; - } - - for (int k = 0; k < rotor_num; ++k) { - if (i == k || j == k) continue; - const Eigen::Vector3d& u_k = u.at(k); - double u_triple_product = calcTripleProduct(u_i, u_j, u_k); - dist_ij += std::max(0.0, u_triple_product * thrust_max); - } - Eigen::Vector3d uixuj = u_i.cross(u_j); - fc_f_dists(index) = fabs(dist_ij - (uixuj.dot(gravity_force) / uixuj.norm())); // considering the gravity - index++; - } - } - return fc_f_dists.minCoeff(); -} - -// copy and modified from https://github.com/jsk-ros-pkg/jsk_aerial_robot/blob/master/aerial_robot_model/src/transformable_aerial_robot_model/stability.cpp#L88-L114 -double calcFeasibleControlTDists(const std::vector& v, const double thrust_max) -{ - - const int rotor_num = v.size(); - Eigen::VectorXd fc_t_dists = Eigen::VectorXd::Zero(rotor_num * (rotor_num - 1)); - - int index = 0; - for (int i = 0; i < rotor_num; ++i) { - const Eigen::Vector3d& v_i = v.at(i); - for (int j = 0; j < rotor_num; ++j) { - if (i == j) continue; - - const Eigen::Vector3d& v_j = v.at(j); - double dist_ij = 0.0; - - if(v.at(i).cross(v.at(j)).norm() < 1e-5) { - // assume v_i and v_j has same direction, so this is not plane can generate - dist_ij = 1e6; - } - else { - for (int k = 0; k < rotor_num; ++k) { - if (i == k || j == k) continue; - const Eigen::Vector3d& v_k = v.at(k); - double v_triple_product = calcTripleProduct(v_i, v_j, v_k); - dist_ij += std::max(0.0, v_triple_product * thrust_max); - } - } - fc_t_dists(index) = dist_ij; - index++; - } - } - //std::cout << fc_t_dists.transpose() << std::endl; - return fc_t_dists.minCoeff(); -} - - -double objectiveFunc(const std::vector &x, std::vector &grad, void *ptr) -{ - OptimalDesign *planner = reinterpret_cast(ptr); - - // get the p, u, v and direction - std::vector p; - std::vector u; - std::vector v; - std::vector direct; - - calcRotorConfiguration(x, planner->unit_rotor_num_, planner->pos_bound_, planner->m_f_rate_, p, u, v, direct, false); - - // get the fc_f_min and fc_t_min - double fc_f_min = calcFeasibleControlFDists(u, planner->max_thrust_, planner->unit_mass_ * planner->units_num_); - double fc_t_min = calcFeasibleControlTDists(v, planner->max_thrust_); - - // penalty against rotor angle - double penalty_rate = 0.0; - double angle_penalty = 0; - for(int i; i < x.size() / 2; i++){ - double penalty_i = abs(x[i*2]) * penalty_rate ; - angle_penalty += penalty_i; - } - - if (cnt % 10000 == 0) { - std::stringstream ss; - ss << "fc_f_min: " << fc_f_min << "; fc_t_min: " << fc_t_min << "/n"; - std::cout << ss.str() << std::endl; - std::cout << "angle_penalty: " << angle_penalty << std::endl; - std::cout << "value: " << (planner->fc_f_min_weight_ * fc_f_min + planner->fc_t_min_weight_ * fc_t_min + angle_penalty) << std::endl; - } - - cnt++; - - return planner->fc_f_min_weight_ * fc_f_min + planner->fc_t_min_weight_ * fc_t_min + angle_penalty; -} - -// set the bounds by constrains of unit rotor fource -double unitFzConstraint(const std::vector &x, std::vector &grad, void *ptr) -{ - OptimalDesign *planner = reinterpret_cast(ptr); - - return (9.8 * planner->unit_mass_ - (cos(x[0]) + cos(x[2]) + cos(x[4]) + cos(x[6])) * planner->max_thrust_); -} - -// set the bounds by constrains of unit rotor torque -double unitFxFyTCeonstraint(const std::vector &x, std::vector &grad, void *ptr) -{ - OptimalDesign *planner = reinterpret_cast(ptr); - - // get the p, u, v and direction - std::vector p; - std::vector u; - std::vector v; - std::vector direct; - - calcRotorConfiguration(x, planner->unit_rotor_num_, planner->pos_bound_, planner->m_f_rate_, p, u, v, direct, true); - - double fx_sum = 0; - double fy_sum = 0; - double tx_sum = 0; - double ty_sum = 0; - double tz_sum = 0; - for(int i = 0; i< planner->unit_rotor_num_; i++){ - fx_sum += u[i][0] * planner-> max_thrust_ ; - fy_sum += u[i][1] * planner-> max_thrust_ ; - tx_sum += v[i][0] * planner-> max_thrust_ ; - ty_sum += v[i][1] * planner-> max_thrust_ ; - tz_sum += v[i][2] * planner-> max_thrust_ ; - } - return ( (pow(fx_sum, 2) + pow(fy_sum,2) + pow(tx_sum,2) + pow(ty_sum,2) + pow(tz_sum,2)) - 0.01); -} - - - -OptimalDesign::OptimalDesign(ros::NodeHandle nh, ros::NodeHandle nhp) -{ - // intialize variables - nhp.param("unit_rotor_num", unit_rotor_num_, 4); - nhp.param("unit_mass", unit_mass_, 0.5); // [kg] - nhp.param("max_thrust", max_thrust_, 5.0); // [N] - nhp.param("fc_fmin_weight", fc_f_min_weight_, 1.0); - nhp.param("fc_tmin_weight", fc_t_min_weight_, 1.0); - nhp.param("pos_bound", pos_bound_, 0.25); // [m] - nhp.param("m_f_rate", m_f_rate_, -0.006); // [Nm/N] - - units_num_ = 2; // we only consider two units - - visualize_pub_ = nh.advertise("rotor_configuration_markers", 1); - feasible_control_info_pub_ = nh.advertise("feasible_control_convex_info", 1); - feasible_control_info_pub_unit_ = nh.advertise("feasible_control_convex_info_unit", 1); - ros::Duration(1.0).sleep(); - - - // design the optimiazation problem - // x: [ang1, ang2] * n - // p_x: fixed - // n: the number of rotors in unit module, which means the half of the two-assemble model - // p_x, p_y, p_z: 3D position - // ang1, ang2: 2D angles describing the rotor normal - nlopt::opt optimizer_solver(nlopt::GN_ISRES, unit_rotor_num_ * 2); // chose the proper optimization model - optimizer_solver.set_max_objective(objectiveFunc, this); // register "this" as the second arg in objectiveFunc - - //set bounds - std::vector lb(unit_rotor_num_ * 2); - std::vector ub(unit_rotor_num_ * 2); - for(int i = 0; i < unit_rotor_num_; i++) { - lb.at(2 * i) = -M_PI/6; - ub.at(2 * i) = M_PI/6; - - lb.at(2 * i + 1) = 0; // lower bound of ang1 - ub.at(2 * i + 1) = 2 * M_PI; // upper bound of ang1 - } - optimizer_solver.set_lower_bounds(lb); - optimizer_solver.set_upper_bounds(ub); - - optimizer_solver.add_inequality_constraint(unitFzConstraint, this, 1e-8); - optimizer_solver.add_inequality_constraint(unitFxFyTCeonstraint, this, 1e-8); - - - optimizer_solver.set_xtol_rel(1e-4); //1e-4 - int max_eval; - nhp.param("max_eval", max_eval, 100000); - optimizer_solver.set_maxeval(max_eval); - double max_val; - //std::vector opt_x(2 * unit_rotor_num_, 0.01); - // std::vector opt_x(unit_rotor_num_, 0.01); - std::vector opt_x(unit_rotor_num_ * 2, 0.01); - - bool search_flag; - nhp.param("search_flag", search_flag, true); - if (search_flag) { - nlopt::result result = optimizer_solver.optimize(opt_x, max_val); - if (result != nlopt::SUCCESS) - ROS_WARN_STREAM("the optimize solution does not succeed, result is " << result); - } - - - // get the p, u, v and direction of assembled rotors - std::vector p; - std::vector u; - std::vector v; - std::vector direct; - calcRotorConfiguration(opt_x, unit_rotor_num_, pos_bound_, m_f_rate_, p, u, v, direct, false); - - // get the p, u, v and direction of a unit rotor - std::vector p_unit; - std::vector u_unit; - std::vector v_unit; - std::vector direct_unit; - calcRotorConfiguration(opt_x, unit_rotor_num_, pos_bound_, m_f_rate_, p_unit, u_unit, v_unit, direct_unit, true); - - - // get the fc_f_min and fc_t_min of assembled rotors - double fc_f_min = calcFeasibleControlFDists(u, max_thrust_, unit_mass_ * units_num_); - double fc_t_min = calcFeasibleControlTDists(v, max_thrust_); - - // get the fc_f_min and fc_t_min of a unit rotor - double fc_f_min_unit = calcFeasibleControlFDists(u_unit, max_thrust_, unit_mass_); - double fc_t_min_unit = calcFeasibleControlTDists(v_unit, max_thrust_); - - // modify opt_x from sphere coordinates to euler angles - std::vector opt_x_rpy(unit_rotor_num_ * 3 ,0); //[roll, pitch, yaw ]*unit_rotor_num_ /2 - std::vector opt_x_rpy_ref(unit_rotor_num_ * 3 ,0); //[roll, pitch, yaw ]*unit_rotor_num_ /2 - for(int i = 0; i < unit_rotor_num_ ; i++){ - opt_x_rpy[i*3] = 0; // roll - opt_x_rpy[i*3+1] = opt_x[i*2]; // pitch - opt_x_rpy[i*3+2] = opt_x[i*2+1]; // yaw - - opt_x_rpy_ref[i*3+2] = atan2(u.at(i*2).y(), u.at(i*2).x()); - Eigen::Vector3d u_original_pos = Eigen::AngleAxisd(-opt_x_rpy_ref[i*3+2], Eigen::Vector3d::UnitZ()) * u.at(i*2); // inverse rotation of u - double pitch_sign = u_original_pos.x() / fabs(u_original_pos.x()); - opt_x_rpy_ref[i*3] = 0; // roll - opt_x_rpy_ref[i*3+1] = atan2(sqrt(u_original_pos.x() * u_original_pos.x() + u_original_pos.y() * u_original_pos.y()), u_original_pos.z()) * pitch_sign; // pich - - } - - double fx_sum = 0; - double fy_sum = 0; - double tx_sum = 0; - double ty_sum = 0; - double tz_sum = 0; - for(int i = 0; i< unit_rotor_num_; i++){ - fx_sum += u_unit[i][0] * max_thrust_ ; - fy_sum += u_unit[i][1] * max_thrust_ ; - tx_sum += v_unit[i][0] * max_thrust_ ; - ty_sum += v_unit[i][1] * max_thrust_ ; - tz_sum += v_unit[i][2] * max_thrust_ ; - } - std::cout << "fx_sum : " << fx_sum << std::endl; - std::cout << "fy_sum : " << fy_sum << std::endl; - std::cout << "tx_sum : " << tx_sum << std::endl; - std::cout << "ty_sum : " << ty_sum << std::endl; - std::cout << "tz_sum : " << tz_sum << std::endl; - - std::cout << "fz : " <<(9.8*unit_mass_ - (cos(opt_x[0]) + cos(opt_x[2]) + cos(opt_x[4]) + cos(opt_x[6])) * max_thrust_ )<< std::endl; - - - std::stringstream ss; - ss << "u: "; - for(auto& u_i: u) ss << u_i << ", "; - std::cout << ss.str() << std::endl; - ss.str(""); - ss.clear(std::stringstream::goodbit); - - ss << "opt x(roll pich yaw): "; - for(auto& opt_x_i: opt_x_rpy) ss << opt_x_i << ", "; - std::cout << ss.str() << std::endl; - ss.str(""); - ss.clear(std::stringstream::goodbit); - - - ss << "opt x(roll pich yaw) ref:\n"; - for(auto& opt_x_i: opt_x_rpy_ref) ss << opt_x_i << ", "; - std::cout << ss.str() << std::endl; - ss.str(""); - ss.clear(std::stringstream::goodbit); - - ss << "final fc_f_min: " << fc_f_min << "; fc_t_min: " << fc_t_min; - std::cout << ss.str() << std::endl; - ss.str(""); - ss.clear(std::stringstream::goodbit); - - // publish the info of assembled rotors - aerial_robot_msgs::FeasibleControlConvexInfo msg; - msg.header.stamp = ros::Time::now(); - - for(const auto& u_i: u) { - geometry_msgs::Vector3 vec; - vec.x = u_i.x() * max_thrust_; - vec.y = u_i.y() * max_thrust_; - vec.z = u_i.z() * max_thrust_; - msg.u.push_back(vec); - } - msg.fc_f_min = fc_f_min; - - for(const auto& v_i: v) { - geometry_msgs::Vector3 vec; - vec.x = v_i.x() * max_thrust_; - vec.y = v_i.y() * max_thrust_; - vec.z = v_i.z() * max_thrust_; - msg.v.push_back(vec); - } - msg.fc_t_min = fc_t_min; - - msg.total_mass = units_num_ * unit_mass_; - - feasible_control_info_pub_.publish(msg); - - // publish the info of unit rotor - aerial_robot_msgs::FeasibleControlConvexInfo msg_unit; - msg_unit.header.stamp = ros::Time::now(); - - for(const auto& u_i: u_unit) { - geometry_msgs::Vector3 vec; - vec.x = u_i.x() * max_thrust_; - vec.y = u_i.y() * max_thrust_; - vec.z = u_i.z() * max_thrust_; - msg_unit.u.push_back(vec); - } - msg_unit.fc_f_min = fc_f_min_unit; - - for(const auto& v_i: v_unit) { - geometry_msgs::Vector3 vec; - vec.x = v_i.x() * max_thrust_; - vec.y = v_i.y() * max_thrust_; - vec.z = v_i.z() * max_thrust_; - msg_unit.v.push_back(vec); - } - msg_unit.fc_t_min = fc_t_min_unit; - - msg_unit.total_mass = unit_mass_; - - feasible_control_info_pub_unit_.publish(msg_unit); - - - - visualization_msgs::MarkerArray marker_msg; - for (int j = 0; j < unit_rotor_num_ * 2; j++) { - visualization_msgs::Marker marker; - marker.header.stamp = ros::Time::now(); - marker.header.frame_id = std::string("world"); - marker.ns = std::string("drone"); - marker.id = 3 * j; - marker.action = visualization_msgs::Marker::ADD; - marker.type = visualization_msgs::Marker::ARROW; - geometry_msgs::Point point; - point.x = 0; - point.y = 0; - point.z = 0; - marker.points.push_back(point); - point.x = p.at(j).x(); - point.y = p.at(j).y(); - point.z = p.at(j).z(); - marker.points.push_back(point); - marker.scale.x = 0.01; - marker.scale.y = 0.01; - marker.pose.orientation.w = 1.0; - marker.color.r = 1.0; - marker.color.a = 1.0; - marker_msg.markers.push_back(marker); - - marker.id = 3 * j + 1; - marker.action = visualization_msgs::Marker::ADD; - marker.type = visualization_msgs::Marker::CYLINDER; - marker.pose.position.x = p.at(j).x(); - marker.pose.position.y = p.at(j).y(); - marker.pose.position.z = p.at(j).z(); - double yaw = atan2(u.at(j).y(), u.at(j).x()); - Eigen::Vector3d u_original_pos = Eigen::AngleAxisd(-yaw, Eigen::Vector3d::UnitZ()) * u.at(j); // inverse rotation of u - double pitch_sign = u_original_pos.x() / fabs(u_original_pos.x()); - double pitch = atan2(sqrt(u_original_pos.x() * u_original_pos.x() + u_original_pos.y() * u_original_pos.y()), u_original_pos.z()); - marker.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(0, pitch, yaw); - marker.scale.x = pos_bound_/2; - marker.scale.y = pos_bound_/2; - marker.scale.z = 0.02; - marker.color.b = 1.0; - marker.color.r = 0.0; - marker.color.a = 1.0; - marker_msg.markers.push_back(marker); - - marker.id = 3 * j + 2; - marker.action = visualization_msgs::Marker::ADD; - marker.type = visualization_msgs::Marker::CYLINDER; - marker.pose.position.x = p.at(j).x() + u.at(j).x() * 0.01; - marker.pose.position.y = p.at(j).y() + u.at(j).y() * 0.01; - marker.pose.position.z = p.at(j).z() + u.at(j).z() * 0.01; - pitch = atan2(sqrt(u.at(j).x() * u.at(j).x() + u.at(j).y() * u.at(j).y()), u.at(j).z()); - yaw = atan2(u.at(j).y(), u.at(j).x()); - marker.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(0, pitch, yaw); - marker.scale.x = pos_bound_/10; - marker.scale.y = pos_bound_/10; - marker.scale.z = 0.01; - marker.color.b = 1.0; - marker.color.r = 0.0; - marker.color.a = 1.0; - marker_msg.markers.push_back(marker); - - } - visualize_pub_.publish(marker_msg); - - ros::Duration(1.0).sleep(); -} - - -int main (int argc, char **argv) -{ - ros::init (argc, argv, "aeria_robot_base"); - ros::NodeHandle nh; - ros::NodeHandle nhp("~"); // node handle with private namespace - - OptimalDesign optimizer(nh, nhp); - - return 0; -} diff --git a/robots/assemble_quadrotors/urdf/assemble_dual_quadrotor.gazebo.xacro b/robots/assemble_quadrotors/urdf/assemble_dual_quadrotor.gazebo.xacro deleted file mode 100644 index 1ae262a77..000000000 --- a/robots/assemble_quadrotors/urdf/assemble_dual_quadrotor.gazebo.xacro +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - - - - - - - 0.1 - 0.1 - - - 0.1 - 0.1 - - - diff --git a/robots/assemble_quadrotors/urdf/assemble_dual_quadrotor.urdf.xacro b/robots/assemble_quadrotors/urdf/assemble_dual_quadrotor.urdf.xacro deleted file mode 100644 index 0fe4243a2..000000000 --- a/robots/assemble_quadrotors/urdf/assemble_dual_quadrotor.urdf.xacro +++ /dev/null @@ -1,208 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0.00 - - - 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a/robots/assemble_quadrotors/urdf/assemble_dual_quadrotor_test.urdf.xacro +++ /dev/null @@ -1,207 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0.00 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - transmission_interface/SimpleTransmission - - - RotorInterface - - - - RotorInterface - 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/robots/assemble_quadrotors/urdf/assemble_dual_quadrotors_female.gazebo.xacro b/robots/assemble_quadrotors/urdf/assemble_dual_quadrotors_female.gazebo.xacro deleted file mode 100644 index 6e7c37fe3..000000000 --- a/robots/assemble_quadrotors/urdf/assemble_dual_quadrotors_female.gazebo.xacro +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - 0.1 - 0.1 - - - diff --git a/robots/assemble_quadrotors/urdf/assemble_dual_quadrotors_female.urdf.xacro 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