Merge pull request #2 from srmainwaring/develop

Release v0.2.0

- Simplify custom messages for servo data and commands
- Simplify parameters for base controller for in arduino controller
- Simplify the topic name for radio control data.
- Add a regression stage to the encoder filter
- Add Arduino firmware for servo controller and radio control decoder
- Add odometry and a tf broadcaster
- Add tuning parameters for odometry

ackermann_drive_controller/package.xml

@@ -1,10 +1,13 @@
 <?xml version="1.0"?>
 <package format="2">
     <name>ackermann_drive_controller</name>
-    <version>0.0.0</version>
+    <version>0.2.0</version>
     <description>Ackermann drive controller for a 6 wheel drive 4 wheel steering robot</description>
     <maintainer email="[email protected]">Rhys Mainwaring</maintainer>
     <license>BSD-3-Clause</license>
+    <url type="website">https://github.com/srmainwaring/curio</url>
+    <url type="repository">https://github.com/srmainwaring/curio</url>
+    <url type="bugtracker">https://github.com/srmainwaring/curio/issues</url>
     <author email="[email protected]">Rhys Mainwaring</author>
     <buildtool_depend>catkin</buildtool_depend>
 

curio_base/CMakeLists.txt

@@ -8,10 +8,18 @@ add_compile_options(-std=c++11)
 # Find dependent catkin packages
 
 find_package(catkin REQUIRED COMPONENTS
-    rospy
-    # serial
+    curio_description
+    curio_control
+    curio_msgs
     geometry_msgs
+    joint_state_publisher
+    nav_msgs
+    robot_state_publisher
+    roscpp
+    rospy
+    serial
     std_msgs
+    tf
 )
 
 ################################################################################
@@ -23,31 +31,70 @@ catkin_python_setup()
 # Declare catkin configuration
 
 catkin_package(
-    # INCLUDE_DIRS include
-    LIBRARIES 
+    INCLUDE_DIRS
+        include
+    LIBRARIES
+        curio_base
     CATKIN_DEPENDS
-        rospy
-        # serial
+        curio_description
+        curio_control
+        curio_msgs
         geometry_msgs
+        joint_state_publisher
+        nav_msgs
+        robot_state_publisher
+        roscpp
+        rospy
+        serial
         std_msgs
+        tf
 )
 
 ################################################################################
 # Build
 
-# include_directories(
-#     include
-#     ${catkin_INCLUDE_DIRS}
-# )
+include_directories(
+    include
+    ${catkin_INCLUDE_DIRS}
+)
+
+add_library(curio_base
+    src/lx16a_driver.cpp
+)
+target_link_libraries(curio_base ${catkin_LIBRARIES})
+
+add_executable(lx16a_position_publisher
+    src/examples/lx16a_position_publisher.cpp
+)
+target_link_libraries(lx16a_position_publisher curio_base ${catkin_LIBRARIES})
 
 ################################################################################
 # Install
 
+install(TARGETS
+    curio_base
+    lx16a_position_publisher
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+
+install(DIRECTORY include/curio_base/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+
 catkin_install_python(PROGRAMS
-    nodes/curio_motor_controller
+    nodes/curio_base_controller
+    scripts/lx16a_cmd_vel_random.py
+    scripts/lx16a_cmd_vel_sinusoid.py
+    scripts/lx16a_cmd_vel_stepped.py
     scripts/lx16a_driver_test.py
-    scripts/lx16a_encoder_calibration.py
-    scripts/lx16a_make_training_data.py
-    scripts/lx16a_odometry.py
+    scripts/lx16a_encoder_filter_test.py
+    scripts/lx16a_encoder_logger.py
+    scripts/lx16a_mean_filter_test.py
+    scripts/lx16a_odometry_test.py
+    scripts/lx16a_train_classifier.py
+    scripts/lx16a_train_regressor.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
+
+install(DIRECTORY config data launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

curio_base/README.md

@@ -0,0 +1,93 @@
+# LX-16A Learn
+
+ML estimator to predict whether the position data from a LX-16A servo is in its valid range or not.
+
+## Instructions
+
+### Generate basic data
+
+Run `roscore`:
+
+```bash
+roscore
+```
+
+Run rotary encoder node
+
+```bash
+roslaunch curio_base rotary_encoder.launch
+```
+
+Run the servo logger node:
+
+```bash
+rosrun curio_base lx16a_encoder_logger.py
+```
+
+Start `rqt` and use the topic publisher to the linear velocity component of `/cmd_vel`.
+
+### Generate data from a simulation
+
+#### Record a sample of `/cmd_vel`
+
+Run `roscore`
+
+```bash
+roscore
+```
+
+Run the Gazebo simulation node:
+
+```bash
+roslaunch curio_gazebo curio_mars_world.launch 
+```
+
+Run the `teleop_rc` node:
+
+```bash
+roslaunch curio_teleop teleop_rc.launch port:=/dev/cu.usbmodemFD5121
+```
+
+Relay `/cmd_vel` to `/ackermann_drive_controller/cmd_vel` for the controller:
+
+```bash
+rosrun topic_tools relay /cmd_vel /ackermann_drive_controller/cmd_vel
+```
+
+Start recording with `rosbag`:
+
+```bash
+rosbag record -o curio_mars cmd_vel
+```
+
+Drive the rover about the simulation using the RC unit. 
+
+#### Play a sample of `/cmd_vel`
+
+Run `roscore`:
+
+```bash
+roscore
+```
+
+Run the rotary encoder node:
+
+```bash
+roslaunch curio_base rotary_encoder.launch
+```
+
+Run the servo logger node:
+
+```bash
+rosrun curio_base lx16a_encoder_logger.py
+```
+
+Play the `rosbag` using simulation time:
+
+```bash
+rosparam set use_sim_time true
+rosplay --clock curio_mars_2020-01-11-16-49-30.bag
+```
+
+The calibration node will record the encoder count associated with the servo position
+for the commanded duty.

curio_base/config/base_controller.yaml

@@ -0,0 +1,61 @@
+# Curio base controller parameters
+# 
+#  ROS frame convention for mobile robots:
+# 
+#                         x
+#                         ^
+#                         | longatudinal dir
+#                         |
+#  lateral dir  y <-------
+# 
+# 
+# Wheel geometry / servo location. The numbers are servo serial ids:
+# two digits for wheel servos, three digits for steering servos.
+# 
+#     <- front wheel lat separation ->
+#    11 / 111 |-----|-----| 21 / 212   ---
+#                   |                   ^
+#                   |             front wheel lon separation
+#       <- mid wheel lat separation ->  v
+#        12 |-------|-------| 22       ---
+#                   |                   ^
+#                   |             back wheel lon separation
+#                   |                   v
+#   13 / 131 |------|------| 23 / 233  ---
+#      <- back wheel lat separation ->
+# 
+
+# Servo driver port settings
+# port: /dev/cu.wchusbserialfd5110
+port: /dev/ttyACM0
+baudrate: 115200
+timeout: 1.0
+
+# Update frequencies: control loop
+control_frequency: 20.0
+
+# Robot dimensions and limits
+max_linear_velocity:  0.37   # [m/s]
+max_angular_velocity: 1.45   # [rad/s]
+
+wheel_radius: 0.060
+mid_wheel_lat_separation: 0.52
+front_wheel_lat_separation: 0.47 
+front_wheel_lon_separation: 0.28
+back_wheel_lat_separation: 0.47
+back_wheel_lon_separation: 0.25
+
+# Odometry calibration / tuning (default 1.0 - no adjustment)
+wheel_radius_multiplier: 1.0
+mid_wheel_lat_separation_multiplier: 0.96875
+
+# Wheel servo parameters
+wheel_servo_ids:           [     11,     12,      13,      21,      22,      23]
+wheel_servo_lon_labels:    ['front',  'mid',  'back', 'front',   'mid',  'back']
+wheel_servo_lat_labels:    [ 'left', 'left',  'left', 'right', 'right', 'right']
+
+# Steering servo parameters
+steer_servo_ids:           [    111,    131,     211,     231]
+steer_servo_lon_labels:    ['front', 'back', 'front',  'back']
+steer_servo_lat_labels:    [ 'left', 'left', 'right', 'right']
+steer_servo_angle_offsets: [    -10,     -5,      40,      20]