From 49011dec3a538fd24ef515159aa5a6f0184cc375 Mon Sep 17 00:00:00 2001
From: ivan-sh <shargin.ia@phystech.edu>
Date: Mon, 3 Jul 2023 15:55:11 +0300
Subject: [PATCH 01/23] added xz_angle_from_quaternion
---
.../scripts/xz_angle_from_quaternion.py | 18 ++++++++++++++++++
1 file changed, 18 insertions(+)
create mode 100644 src/server_main/scripts/xz_angle_from_quaternion.py
diff --git a/src/server_main/scripts/xz_angle_from_quaternion.py b/src/server_main/scripts/xz_angle_from_quaternion.py
new file mode 100644
index 0000000..6f410c8
--- /dev/null
+++ b/src/server_main/scripts/xz_angle_from_quaternion.py
@@ -0,0 +1,18 @@
+#angle between new z and old x
+
+import tf
+# rotate vector vector by quaternion quat
+def quat_mult(quat, vector):
+ # comment this out if vector doesn't need to be a unit vector
+ vector = tf.transformations.unit_vector(vector)
+ quat_auxiliary = list(vector)
+ quat_auxiliary.append(0.0)
+ return tf.transformations.quaternion_multiply(
+ tf.transformations.quaternion_multiply(quat, quat_auxiliary),
+ tf.transformations.quaternion_conjugate(quat)
+ )[:3]
+
+def xz_angle_from_quat(quat):
+ z_vector = [0, 0, 1]
+ return quat_mult(quat, z_vector)[0]
+
--
GitLab
From f16f5256a78cbf3087639f04d95817cb1b8d3a9d Mon Sep 17 00:00:00 2001
From: ivan-sh <shargin.ia@phystech.edu>
Date: Sat, 8 Jul 2023 18:13:34 +0300
Subject: [PATCH 02/23] working xz_angle_from_quat
---
.../scripts/xz_angle_from_quaternion.py | 32 +++++++++++--------
src/server_main/test/test_angle_from_quat.py | 23 +++++++++++++
2 files changed, 41 insertions(+), 14 deletions(-)
create mode 100644 src/server_main/test/test_angle_from_quat.py
diff --git a/src/server_main/scripts/xz_angle_from_quaternion.py b/src/server_main/scripts/xz_angle_from_quaternion.py
index 6f410c8..056ab04 100644
--- a/src/server_main/scripts/xz_angle_from_quaternion.py
+++ b/src/server_main/scripts/xz_angle_from_quaternion.py
@@ -1,18 +1,22 @@
#angle between new z and old x
-import tf
-# rotate vector vector by quaternion quat
-def quat_mult(quat, vector):
- # comment this out if vector doesn't need to be a unit vector
- vector = tf.transformations.unit_vector(vector)
- quat_auxiliary = list(vector)
- quat_auxiliary.append(0.0)
- return tf.transformations.quaternion_multiply(
- tf.transformations.quaternion_multiply(quat, quat_auxiliary),
- tf.transformations.quaternion_conjugate(quat)
- )[:3]
+def q_mult(q1, q2):
+ w1, x1, y1, z1 = q1
+ w2, x2, y2, z2 = q2
+ w = w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2
+ x = w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2
+ y = w1 * y2 + y1 * w2 + z1 * x2 - x1 * z2
+ z = w1 * z2 + z1 * w2 + x1 * y2 - y1 * x2
+ return w, x, y, z
-def xz_angle_from_quat(quat):
- z_vector = [0, 0, 1]
- return quat_mult(quat, z_vector)[0]
+def q_conjugate(q):
+ w, x, y, z = q
+ return (w, -x, -y, -z)
+
+def qv_mult(q1, v1):
+ q2 = (0.0,) + v1
+ return q_mult(q_mult(q1, q2), q_conjugate(q1))[1:]
+def xz_angle_from_quat(quat):
+ z_vector = (0, 0, 1)
+ return qv_mult(quat, z_vector)[0]
diff --git a/src/server_main/test/test_angle_from_quat.py b/src/server_main/test/test_angle_from_quat.py
new file mode 100644
index 0000000..49aac45
--- /dev/null
+++ b/src/server_main/test/test_angle_from_quat.py
@@ -0,0 +1,23 @@
+def q_mult(q1, q2):
+ w1, x1, y1, z1 = q1
+ w2, x2, y2, z2 = q2
+ w = w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2
+ x = w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2
+ y = w1 * y2 + y1 * w2 + z1 * x2 - x1 * z2
+ z = w1 * z2 + z1 * w2 + x1 * y2 - y1 * x2
+ return w, x, y, z
+
+def q_conjugate(q):
+ w, x, y, z = q
+ return (w, -x, -y, -z)
+
+def qv_mult(q1, v1):
+ q2 = (0.0,) + v1
+ return q_mult(q_mult(q1, q2), q_conjugate(q1))[1:]
+
+def xz_angle_from_quat(quat):
+ z_vector = (0, 0, 1)
+ return qv_mult(quat, z_vector)[0]
+
+
+print(xz_angle_from_quat((0, -0.924606, 0, 0.3809248)))
--
GitLab
From 93e5218f53aafbaf1d147800dffb5313e313d9e5 Mon Sep 17 00:00:00 2001
From: ivan-sh <shargin.ia@phystech.edu>
Date: Mon, 10 Jul 2023 08:39:56 +0300
Subject: [PATCH 03/23] new get_yaw
---
src/server_main/server_main/server_node.py | 72 ++++++++++++++--------
1 file changed, 46 insertions(+), 26 deletions(-)
diff --git a/src/server_main/server_main/server_node.py b/src/server_main/server_main/server_node.py
index be6a44e..a66594c 100644
--- a/src/server_main/server_main/server_node.py
+++ b/src/server_main/server_main/server_node.py
@@ -26,6 +26,8 @@ from skspatial.objects import Line, Plane, Point
from pyquaternion import Quaternion
import paho.mqtt.client as mqtt
+import numpy as np
+
class ServerNode(Node):
def __init__(self):
@@ -280,33 +282,51 @@ class ServerNode(Node):
self.ball_coordinate_world = plane.intersect_line(line)
#self.ball_coordinate_world = (ray_to_ball_world.point.x, ray_to_ball_world.point.y, ray_to_ball_world.point.z)
- def get_yaw_world_rotation(self, pose:Pose) -> float:
- x_ax = [0,0,1]
- quat_arr = [pose.orientation.x,pose.orientation.y,pose.orientation.z,pose.orientation.w]
- quat_conj = tf_transformations.quaternion_conjugate(quat_arr)
- # rotation_matrix = tf_transformations.quaternion_matrix(quat_conj)
- rotated_x = Quaternion(quat_arr).rotate(x_ax)# rotation_matrix @ z_ax
- return math.atan2(rotated_x[1], rotated_x[0]) #?? https://math.stackexchange.com/questions/4191786/getting-the-rotation-angle-along-a-single-local-axis-from-a-quaternion
+
+def q_mult(q1, q2):
+ w1, x1, y1, z1 = q1
+ w2, x2, y2, z2 = q2
+ w = w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2
+ x = w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2
+ y = w1 * y2 + y1 * w2 + z1 * x2 - x1 * z2
+ z = w1 * z2 + z1 * w2 + x1 * y2 - y1 * x2
+ return w, x, y, z
+
+def q_conjugate(q):
+ w, x, y, z = q
+ return (w, -x, -y, -z)
+
+def qv_mult(q1, v1):
+ q2 = (0.0,) + v1
+ return q_mult(q_mult(q1, q2), q_conjugate(q1))[1:]
+
+def xz_angle_from_quat(quat):
+ z_vector = (0, 0, 1)
+ return np.arccos(qv_mult(quat, z_vector)[0])
+
+def get_yaw_world_rotation(self, pose:Pose) -> float:
+ quat = (pose.orientation.x,pose.orientation.y,pose.orientation.z,pose.orientation.w)
+ return xz_angle_from_quat(quat)
+
+def send_command_to_robots(self):
+ #self.update_ball_pose()
+ self.get_camera_to_world_frame()
+ if (self.ball_coordinate_world is not None):
+ ball_msg = PointStamped()
+ ball_msg.header.stamp = self.get_clock().now().to_msg()
+ ball_msg.header.frame_id = "world"
+ ball_msg.point.x =self.ball_coordinate_world [0]
+ ball_msg.point.y =self.ball_coordinate_world [1]
+ ball_msg.point.z =self.ball_coordinate_world [2]
+ self.ball_pub.publish(ball_msg)
+ ball_msg = f"{self.ball_coordinate_world [0]} {self.ball_coordinate_world[1]}"
+ self.mqttc.publish(self.ball_topic, ball_msg, 1)
- def send_command_to_robots(self):
- #self.update_ball_pose()
- self.get_camera_to_world_frame()
- if (self.ball_coordinate_world is not None):
- ball_msg = PointStamped()
- ball_msg.header.stamp = self.get_clock().now().to_msg()
- ball_msg.header.frame_id = "world"
- ball_msg.point.x =self.ball_coordinate_world [0]
- ball_msg.point.y =self.ball_coordinate_world [1]
- ball_msg.point.z =self.ball_coordinate_world [2]
- self.ball_pub.publish(ball_msg)
- ball_msg = f"{self.ball_coordinate_world [0]} {self.ball_coordinate_world[1]}"
- self.mqttc.publish(self.ball_topic, ball_msg, 1)
-
- self.count_robots_poses()
- self.send_command_to_goalkeeper(0)
- self.send_command_to_forward(1)
- self.mqttc.loop()
- pass
+ self.count_robots_poses()
+ self.send_command_to_goalkeeper(0)
+ self.send_command_to_forward(1)
+ self.mqttc.loop()
+ pass
--
GitLab
From 814539754d1e42f4247362af19c07e71bd651e4b Mon Sep 17 00:00:00 2001
From: ivan-sh <shargin.ia@phystech.edu>
Date: Mon, 10 Jul 2023 13:48:38 +0300
Subject: [PATCH 04/23] fixed get_yaw
---
src/server_main/server_main/server_node.py | 29 +++++--------------
src/server_main/test/test_angle_from_quat.py | 30 +++++++-------------
2 files changed, 17 insertions(+), 42 deletions(-)
diff --git a/src/server_main/server_main/server_node.py b/src/server_main/server_main/server_node.py
index a66594c..24ae158 100644
--- a/src/server_main/server_main/server_node.py
+++ b/src/server_main/server_main/server_node.py
@@ -283,30 +283,15 @@ class ServerNode(Node):
#self.ball_coordinate_world = (ray_to_ball_world.point.x, ray_to_ball_world.point.y, ray_to_ball_world.point.z)
-def q_mult(q1, q2):
- w1, x1, y1, z1 = q1
- w2, x2, y2, z2 = q2
- w = w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2
- x = w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2
- y = w1 * y2 + y1 * w2 + z1 * x2 - x1 * z2
- z = w1 * z2 + z1 * w2 + x1 * y2 - y1 * x2
- return w, x, y, z
-
-def q_conjugate(q):
- w, x, y, z = q
- return (w, -x, -y, -z)
-
-def qv_mult(q1, v1):
- q2 = (0.0,) + v1
- return q_mult(q_mult(q1, q2), q_conjugate(q1))[1:]
-
-def xz_angle_from_quat(quat):
- z_vector = (0, 0, 1)
- return np.arccos(qv_mult(quat, z_vector)[0])
+def angle_from_quat(x, y, z, w):
+ quat = Quaternion(w, x, y, z)
+ z_vector = np.array([0., 0., 1.])
+ new_z = quat.rotate(z_vector)
+ print(new_z)
+ return math.atan2(new_z[1], new_z[0])
def get_yaw_world_rotation(self, pose:Pose) -> float:
- quat = (pose.orientation.x,pose.orientation.y,pose.orientation.z,pose.orientation.w)
- return xz_angle_from_quat(quat)
+ return angle_from_quat(pose.orientation.x,pose.orientation.y,pose.orientation.z,pose.orientation.w)
def send_command_to_robots(self):
#self.update_ball_pose()
diff --git a/src/server_main/test/test_angle_from_quat.py b/src/server_main/test/test_angle_from_quat.py
index 49aac45..d31ae20 100644
--- a/src/server_main/test/test_angle_from_quat.py
+++ b/src/server_main/test/test_angle_from_quat.py
@@ -1,23 +1,13 @@
-def q_mult(q1, q2):
- w1, x1, y1, z1 = q1
- w2, x2, y2, z2 = q2
- w = w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2
- x = w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2
- y = w1 * y2 + y1 * w2 + z1 * x2 - x1 * z2
- z = w1 * z2 + z1 * w2 + x1 * y2 - y1 * x2
- return w, x, y, z
+from pyquaternion import Quaternion
+import numpy as np
+import math
-def q_conjugate(q):
- w, x, y, z = q
- return (w, -x, -y, -z)
+def angle_from_quat(x, y, z, w):
+ quat = Quaternion(w, x, y, z)
+ z_vector = np.array([0., 0., 1.])
+ new_z = quat.rotate(z_vector)
+ print(new_z)
+ return math.atan2(new_z[1], new_z[0])
-def qv_mult(q1, v1):
- q2 = (0.0,) + v1
- return q_mult(q_mult(q1, q2), q_conjugate(q1))[1:]
-def xz_angle_from_quat(quat):
- z_vector = (0, 0, 1)
- return qv_mult(quat, z_vector)[0]
-
-
-print(xz_angle_from_quat((0, -0.924606, 0, 0.3809248)))
+print(angle_from_quat(-0.707, 0, 0, 0.707))
--
GitLab
From 8e593a25137e3b00baf17571bac8daea64227815 Mon Sep 17 00:00:00 2001
From: ivan-sh <shargin.ia@phystech.edu>
Date: Mon, 10 Jul 2023 19:56:30 +0300
Subject: [PATCH 05/23] removed unnecesarry print
---
src/server_main/server_main/server_node.py | 1 -
1 file changed, 1 deletion(-)
diff --git a/src/server_main/server_main/server_node.py b/src/server_main/server_main/server_node.py
index 24ae158..39e4a45 100644
--- a/src/server_main/server_main/server_node.py
+++ b/src/server_main/server_main/server_node.py
@@ -287,7 +287,6 @@ def angle_from_quat(x, y, z, w):
quat = Quaternion(w, x, y, z)
z_vector = np.array([0., 0., 1.])
new_z = quat.rotate(z_vector)
- print(new_z)
return math.atan2(new_z[1], new_z[0])
def get_yaw_world_rotation(self, pose:Pose) -> float:
--
GitLab
From 3269b92e1892e6aaf040cad81c0d6aad887bfea0 Mon Sep 17 00:00:00 2001
From: ivan-sh <shargin.ia@phystech.edu>
Date: Mon, 3 Jul 2023 15:55:11 +0300
Subject: [PATCH 06/23] added xz_angle_from_quaternion
---
.../scripts/xz_angle_from_quaternion.py | 18 ++++++++++++++++++
1 file changed, 18 insertions(+)
create mode 100644 src/server_main/scripts/xz_angle_from_quaternion.py
diff --git a/src/server_main/scripts/xz_angle_from_quaternion.py b/src/server_main/scripts/xz_angle_from_quaternion.py
new file mode 100644
index 0000000..6f410c8
--- /dev/null
+++ b/src/server_main/scripts/xz_angle_from_quaternion.py
@@ -0,0 +1,18 @@
+#angle between new z and old x
+
+import tf
+# rotate vector vector by quaternion quat
+def quat_mult(quat, vector):
+ # comment this out if vector doesn't need to be a unit vector
+ vector = tf.transformations.unit_vector(vector)
+ quat_auxiliary = list(vector)
+ quat_auxiliary.append(0.0)
+ return tf.transformations.quaternion_multiply(
+ tf.transformations.quaternion_multiply(quat, quat_auxiliary),
+ tf.transformations.quaternion_conjugate(quat)
+ )[:3]
+
+def xz_angle_from_quat(quat):
+ z_vector = [0, 0, 1]
+ return quat_mult(quat, z_vector)[0]
+
--
GitLab
From 4b497d84e3f4df09beb08f3efe720450662540dd Mon Sep 17 00:00:00 2001
From: ivan-sh <shargin.ia@phystech.edu>
Date: Sat, 8 Jul 2023 18:13:34 +0300
Subject: [PATCH 07/23] working xz_angle_from_quat
---
.../scripts/xz_angle_from_quaternion.py | 32 +++++++++++--------
src/server_main/test/test_angle_from_quat.py | 23 +++++++++++++
2 files changed, 41 insertions(+), 14 deletions(-)
create mode 100644 src/server_main/test/test_angle_from_quat.py
diff --git a/src/server_main/scripts/xz_angle_from_quaternion.py b/src/server_main/scripts/xz_angle_from_quaternion.py
index 6f410c8..056ab04 100644
--- a/src/server_main/scripts/xz_angle_from_quaternion.py
+++ b/src/server_main/scripts/xz_angle_from_quaternion.py
@@ -1,18 +1,22 @@
#angle between new z and old x
-import tf
-# rotate vector vector by quaternion quat
-def quat_mult(quat, vector):
- # comment this out if vector doesn't need to be a unit vector
- vector = tf.transformations.unit_vector(vector)
- quat_auxiliary = list(vector)
- quat_auxiliary.append(0.0)
- return tf.transformations.quaternion_multiply(
- tf.transformations.quaternion_multiply(quat, quat_auxiliary),
- tf.transformations.quaternion_conjugate(quat)
- )[:3]
+def q_mult(q1, q2):
+ w1, x1, y1, z1 = q1
+ w2, x2, y2, z2 = q2
+ w = w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2
+ x = w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2
+ y = w1 * y2 + y1 * w2 + z1 * x2 - x1 * z2
+ z = w1 * z2 + z1 * w2 + x1 * y2 - y1 * x2
+ return w, x, y, z
-def xz_angle_from_quat(quat):
- z_vector = [0, 0, 1]
- return quat_mult(quat, z_vector)[0]
+def q_conjugate(q):
+ w, x, y, z = q
+ return (w, -x, -y, -z)
+
+def qv_mult(q1, v1):
+ q2 = (0.0,) + v1
+ return q_mult(q_mult(q1, q2), q_conjugate(q1))[1:]
+def xz_angle_from_quat(quat):
+ z_vector = (0, 0, 1)
+ return qv_mult(quat, z_vector)[0]
diff --git a/src/server_main/test/test_angle_from_quat.py b/src/server_main/test/test_angle_from_quat.py
new file mode 100644
index 0000000..49aac45
--- /dev/null
+++ b/src/server_main/test/test_angle_from_quat.py
@@ -0,0 +1,23 @@
+def q_mult(q1, q2):
+ w1, x1, y1, z1 = q1
+ w2, x2, y2, z2 = q2
+ w = w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2
+ x = w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2
+ y = w1 * y2 + y1 * w2 + z1 * x2 - x1 * z2
+ z = w1 * z2 + z1 * w2 + x1 * y2 - y1 * x2
+ return w, x, y, z
+
+def q_conjugate(q):
+ w, x, y, z = q
+ return (w, -x, -y, -z)
+
+def qv_mult(q1, v1):
+ q2 = (0.0,) + v1
+ return q_mult(q_mult(q1, q2), q_conjugate(q1))[1:]
+
+def xz_angle_from_quat(quat):
+ z_vector = (0, 0, 1)
+ return qv_mult(quat, z_vector)[0]
+
+
+print(xz_angle_from_quat((0, -0.924606, 0, 0.3809248)))
--
GitLab
From a8a807c16a601f43097ded25e257354d0eb6122b Mon Sep 17 00:00:00 2001
From: ivan-sh <shargin.ia@phystech.edu>
Date: Mon, 10 Jul 2023 08:39:56 +0300
Subject: [PATCH 08/23] new get_yaw
---
src/server_main/server_main/server_node.py | 72 ++++++++++++++--------
1 file changed, 46 insertions(+), 26 deletions(-)
diff --git a/src/server_main/server_main/server_node.py b/src/server_main/server_main/server_node.py
index be6a44e..a66594c 100644
--- a/src/server_main/server_main/server_node.py
+++ b/src/server_main/server_main/server_node.py
@@ -26,6 +26,8 @@ from skspatial.objects import Line, Plane, Point
from pyquaternion import Quaternion
import paho.mqtt.client as mqtt
+import numpy as np
+
class ServerNode(Node):
def __init__(self):
@@ -280,33 +282,51 @@ class ServerNode(Node):
self.ball_coordinate_world = plane.intersect_line(line)
#self.ball_coordinate_world = (ray_to_ball_world.point.x, ray_to_ball_world.point.y, ray_to_ball_world.point.z)
- def get_yaw_world_rotation(self, pose:Pose) -> float:
- x_ax = [0,0,1]
- quat_arr = [pose.orientation.x,pose.orientation.y,pose.orientation.z,pose.orientation.w]
- quat_conj = tf_transformations.quaternion_conjugate(quat_arr)
- # rotation_matrix = tf_transformations.quaternion_matrix(quat_conj)
- rotated_x = Quaternion(quat_arr).rotate(x_ax)# rotation_matrix @ z_ax
- return math.atan2(rotated_x[1], rotated_x[0]) #?? https://math.stackexchange.com/questions/4191786/getting-the-rotation-angle-along-a-single-local-axis-from-a-quaternion
+
+def q_mult(q1, q2):
+ w1, x1, y1, z1 = q1
+ w2, x2, y2, z2 = q2
+ w = w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2
+ x = w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2
+ y = w1 * y2 + y1 * w2 + z1 * x2 - x1 * z2
+ z = w1 * z2 + z1 * w2 + x1 * y2 - y1 * x2
+ return w, x, y, z
+
+def q_conjugate(q):
+ w, x, y, z = q
+ return (w, -x, -y, -z)
+
+def qv_mult(q1, v1):
+ q2 = (0.0,) + v1
+ return q_mult(q_mult(q1, q2), q_conjugate(q1))[1:]
+
+def xz_angle_from_quat(quat):
+ z_vector = (0, 0, 1)
+ return np.arccos(qv_mult(quat, z_vector)[0])
+
+def get_yaw_world_rotation(self, pose:Pose) -> float:
+ quat = (pose.orientation.x,pose.orientation.y,pose.orientation.z,pose.orientation.w)
+ return xz_angle_from_quat(quat)
+
+def send_command_to_robots(self):
+ #self.update_ball_pose()
+ self.get_camera_to_world_frame()
+ if (self.ball_coordinate_world is not None):
+ ball_msg = PointStamped()
+ ball_msg.header.stamp = self.get_clock().now().to_msg()
+ ball_msg.header.frame_id = "world"
+ ball_msg.point.x =self.ball_coordinate_world [0]
+ ball_msg.point.y =self.ball_coordinate_world [1]
+ ball_msg.point.z =self.ball_coordinate_world [2]
+ self.ball_pub.publish(ball_msg)
+ ball_msg = f"{self.ball_coordinate_world [0]} {self.ball_coordinate_world[1]}"
+ self.mqttc.publish(self.ball_topic, ball_msg, 1)
- def send_command_to_robots(self):
- #self.update_ball_pose()
- self.get_camera_to_world_frame()
- if (self.ball_coordinate_world is not None):
- ball_msg = PointStamped()
- ball_msg.header.stamp = self.get_clock().now().to_msg()
- ball_msg.header.frame_id = "world"
- ball_msg.point.x =self.ball_coordinate_world [0]
- ball_msg.point.y =self.ball_coordinate_world [1]
- ball_msg.point.z =self.ball_coordinate_world [2]
- self.ball_pub.publish(ball_msg)
- ball_msg = f"{self.ball_coordinate_world [0]} {self.ball_coordinate_world[1]}"
- self.mqttc.publish(self.ball_topic, ball_msg, 1)
-
- self.count_robots_poses()
- self.send_command_to_goalkeeper(0)
- self.send_command_to_forward(1)
- self.mqttc.loop()
- pass
+ self.count_robots_poses()
+ self.send_command_to_goalkeeper(0)
+ self.send_command_to_forward(1)
+ self.mqttc.loop()
+ pass
--
GitLab
From e6488983d954a4341aba0882fc2314dea3371687 Mon Sep 17 00:00:00 2001
From: ivan-sh <shargin.ia@phystech.edu>
Date: Mon, 10 Jul 2023 13:48:38 +0300
Subject: [PATCH 09/23] fixed get_yaw
---
src/server_main/server_main/server_node.py | 29 +++++--------------
src/server_main/test/test_angle_from_quat.py | 30 +++++++-------------
2 files changed, 17 insertions(+), 42 deletions(-)
diff --git a/src/server_main/server_main/server_node.py b/src/server_main/server_main/server_node.py
index a66594c..24ae158 100644
--- a/src/server_main/server_main/server_node.py
+++ b/src/server_main/server_main/server_node.py
@@ -283,30 +283,15 @@ class ServerNode(Node):
#self.ball_coordinate_world = (ray_to_ball_world.point.x, ray_to_ball_world.point.y, ray_to_ball_world.point.z)
-def q_mult(q1, q2):
- w1, x1, y1, z1 = q1
- w2, x2, y2, z2 = q2
- w = w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2
- x = w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2
- y = w1 * y2 + y1 * w2 + z1 * x2 - x1 * z2
- z = w1 * z2 + z1 * w2 + x1 * y2 - y1 * x2
- return w, x, y, z
-
-def q_conjugate(q):
- w, x, y, z = q
- return (w, -x, -y, -z)
-
-def qv_mult(q1, v1):
- q2 = (0.0,) + v1
- return q_mult(q_mult(q1, q2), q_conjugate(q1))[1:]
-
-def xz_angle_from_quat(quat):
- z_vector = (0, 0, 1)
- return np.arccos(qv_mult(quat, z_vector)[0])
+def angle_from_quat(x, y, z, w):
+ quat = Quaternion(w, x, y, z)
+ z_vector = np.array([0., 0., 1.])
+ new_z = quat.rotate(z_vector)
+ print(new_z)
+ return math.atan2(new_z[1], new_z[0])
def get_yaw_world_rotation(self, pose:Pose) -> float:
- quat = (pose.orientation.x,pose.orientation.y,pose.orientation.z,pose.orientation.w)
- return xz_angle_from_quat(quat)
+ return angle_from_quat(pose.orientation.x,pose.orientation.y,pose.orientation.z,pose.orientation.w)
def send_command_to_robots(self):
#self.update_ball_pose()
diff --git a/src/server_main/test/test_angle_from_quat.py b/src/server_main/test/test_angle_from_quat.py
index 49aac45..d31ae20 100644
--- a/src/server_main/test/test_angle_from_quat.py
+++ b/src/server_main/test/test_angle_from_quat.py
@@ -1,23 +1,13 @@
-def q_mult(q1, q2):
- w1, x1, y1, z1 = q1
- w2, x2, y2, z2 = q2
- w = w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2
- x = w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2
- y = w1 * y2 + y1 * w2 + z1 * x2 - x1 * z2
- z = w1 * z2 + z1 * w2 + x1 * y2 - y1 * x2
- return w, x, y, z
+from pyquaternion import Quaternion
+import numpy as np
+import math
-def q_conjugate(q):
- w, x, y, z = q
- return (w, -x, -y, -z)
+def angle_from_quat(x, y, z, w):
+ quat = Quaternion(w, x, y, z)
+ z_vector = np.array([0., 0., 1.])
+ new_z = quat.rotate(z_vector)
+ print(new_z)
+ return math.atan2(new_z[1], new_z[0])
-def qv_mult(q1, v1):
- q2 = (0.0,) + v1
- return q_mult(q_mult(q1, q2), q_conjugate(q1))[1:]
-def xz_angle_from_quat(quat):
- z_vector = (0, 0, 1)
- return qv_mult(quat, z_vector)[0]
-
-
-print(xz_angle_from_quat((0, -0.924606, 0, 0.3809248)))
+print(angle_from_quat(-0.707, 0, 0, 0.707))
--
GitLab
From de15a89e1729f53bfe8089df2a8bdaeb1aaf4205 Mon Sep 17 00:00:00 2001
From: ivan-sh <shargin.ia@phystech.edu>
Date: Mon, 10 Jul 2023 19:56:30 +0300
Subject: [PATCH 10/23] removed unnecesarry print
---
src/server_main/server_main/server_node.py | 1 -
1 file changed, 1 deletion(-)
diff --git a/src/server_main/server_main/server_node.py b/src/server_main/server_main/server_node.py
index 24ae158..39e4a45 100644
--- a/src/server_main/server_main/server_node.py
+++ b/src/server_main/server_main/server_node.py
@@ -287,7 +287,6 @@ def angle_from_quat(x, y, z, w):
quat = Quaternion(w, x, y, z)
z_vector = np.array([0., 0., 1.])
new_z = quat.rotate(z_vector)
- print(new_z)
return math.atan2(new_z[1], new_z[0])
def get_yaw_world_rotation(self, pose:Pose) -> float:
--
GitLab
From 155fa2b81a1b56342a3f95088c50dd418afa65ed Mon Sep 17 00:00:00 2001
From: ivan-sh <shargin.ia@phystech.edu>
Date: Tue, 11 Jul 2023 12:33:27 +0300
Subject: [PATCH 11/23] added logging
---
install_deps.sh | 2 +-
src/server_main/server_main/server_node.py | 59 +++++++++++-----------
src/server_main/test/logger.py | 42 +++++++++++++++
src/server_main/test/mqtt_kondo_dummy.py | 21 +++++---
4 files changed, 88 insertions(+), 36 deletions(-)
create mode 100644 src/server_main/test/logger.py
diff --git a/install_deps.sh b/install_deps.sh
index d2d565b..f14290b 100755
--- a/install_deps.sh
+++ b/install_deps.sh
@@ -2,7 +2,7 @@
pip3 install transforms3d
pip3 install openvino
pip install scikit-spatial
- sudo apt install ros-humble-usb-cam ros-humble-tf-transformations ros-humble-soccer-vision-2d-msgs
+ sudo apt install ros-humble-usb-cam ros-humble-tf-transformations ros-humble-soccer-vision-2d-msgs ros-humble-aruco
pip3 install paho-mqtt pyquaternion
apt install mosquitto
diff --git a/src/server_main/server_main/server_node.py b/src/server_main/server_main/server_node.py
index 39e4a45..5ebf2fa 100644
--- a/src/server_main/server_main/server_node.py
+++ b/src/server_main/server_main/server_node.py
@@ -76,7 +76,7 @@ class ServerNode(Node):
self.camera_model = None #PinholeCameraModel()
# self.create_subscription(Pose, "ball", etc get while volodya yola get done
- self.timer = self.create_timer(0.01, self.send_command_to_robots)
+ self.timer = self.create_timer(1, self.send_command_to_robots)
self.current_aruco_poses = {}# {if: x, y}
self.current_robot_poses = {}
self.world_robots_poses = {}
@@ -100,7 +100,7 @@ class ServerNode(Node):
print("Subscribed: " + str(mid) + " " + str(granted_qos))
def init_mqqt(self):
- self.declare_parameter('mqtt_broker', '192.168.243.71')
+ self.declare_parameter('mqtt_broker', '127.0.0.1')
self.broker = self.get_parameter('mqtt_broker').value
self.declare_parameter('mqtt_port', 1900)
self.port = self.get_parameter('mqtt_port').value
@@ -283,34 +283,35 @@ class ServerNode(Node):
#self.ball_coordinate_world = (ray_to_ball_world.point.x, ray_to_ball_world.point.y, ray_to_ball_world.point.z)
-def angle_from_quat(x, y, z, w):
- quat = Quaternion(w, x, y, z)
- z_vector = np.array([0., 0., 1.])
- new_z = quat.rotate(z_vector)
- return math.atan2(new_z[1], new_z[0])
-
-def get_yaw_world_rotation(self, pose:Pose) -> float:
- return angle_from_quat(pose.orientation.x,pose.orientation.y,pose.orientation.z,pose.orientation.w)
+ @staticmethod
+ def angle_from_quat(x, y, z, w):
+ quat = Quaternion(w, x, y, z)
+ z_vector = np.array([0., 0., 1.])
+ new_z = quat.rotate(z_vector)
+ return math.atan2(new_z[1], new_z[0])
-def send_command_to_robots(self):
- #self.update_ball_pose()
- self.get_camera_to_world_frame()
- if (self.ball_coordinate_world is not None):
- ball_msg = PointStamped()
- ball_msg.header.stamp = self.get_clock().now().to_msg()
- ball_msg.header.frame_id = "world"
- ball_msg.point.x =self.ball_coordinate_world [0]
- ball_msg.point.y =self.ball_coordinate_world [1]
- ball_msg.point.z =self.ball_coordinate_world [2]
- self.ball_pub.publish(ball_msg)
- ball_msg = f"{self.ball_coordinate_world [0]} {self.ball_coordinate_world[1]}"
- self.mqttc.publish(self.ball_topic, ball_msg, 1)
+ def get_yaw_world_rotation(self, pose:Pose) -> float:
+ return self.angle_from_quat(pose.orientation.x,pose.orientation.y,pose.orientation.z,pose.orientation.w)
- self.count_robots_poses()
- self.send_command_to_goalkeeper(0)
- self.send_command_to_forward(1)
- self.mqttc.loop()
- pass
+ def send_command_to_robots(self):
+ #self.update_ball_pose()
+ self.get_camera_to_world_frame()
+ if (self.ball_coordinate_world is not None):
+ ball_msg = PointStamped()
+ ball_msg.header.stamp = self.get_clock().now().to_msg()
+ ball_msg.header.frame_id = "world"
+ ball_msg.point.x =self.ball_coordinate_world [0]
+ ball_msg.point.y =self.ball_coordinate_world [1]
+ ball_msg.point.z =self.ball_coordinate_world [2]
+ self.ball_pub.publish(ball_msg)
+ ball_msg = f"{self.ball_coordinate_world [0]} {self.ball_coordinate_world[1]}"
+ self.mqttc.publish(self.ball_topic, ball_msg, 1)
+
+ self.count_robots_poses()
+ self.send_command_to_goalkeeper(0)
+ self.send_command_to_forward(1)
+ self.mqttc.loop()
+ pass
@@ -329,4 +330,4 @@ def main(args=None):
if __name__ == '__main__':
- main()
\ No newline at end of file
+ main()
diff --git a/src/server_main/test/logger.py b/src/server_main/test/logger.py
new file mode 100644
index 0000000..1bce16d
--- /dev/null
+++ b/src/server_main/test/logger.py
@@ -0,0 +1,42 @@
+
+import matplotlib.pyplot as plt
+import numpy as np
+# from collections import defaultdict
+# from multiprocessing import Process, Value
+# import json
+
+plt.style.use('seaborn') # fivethirtyeight is name of style
+plt.rcParams['font.size'] = 100
+plt.rcParams['legend.fontsize'] = 50
+plt.rc('xtick', labelsize=50)
+plt.rc('ytick', labelsize=50)
+plt.rcParams['axes.labelsize'] = 30
+plt.rcParams['axes.titlesize'] = 50
+
+plt.rcParams['xtick.major.size'] = 5.0
+plt.rcParams['xtick.minor.size'] = 3.0
+plt.rcParams['ytick.major.size'] = 5.0
+plt.rcParams['ytick.minor.size'] = 3.0
+
+# plt.rcParams["font.family"] = "Times New Roman"
+
+class Logger:
+ def __init__(self):
+ self.yaw_log = []
+ self.plot_name = 'yaw_plot'
+
+ def log_yaw(self, value):
+ self.yaw_log.append(value)
+
+ def init_plot_yaw(self):
+ self.fig, self.ax = plt.subplots(figsize=(30, 20))
+ # ax.tick_params(axis='both', which='major', labelsize=30)
+ self.ax.set(xlabel='time [s]', ylabel='yaw [rad]',
+ title='Robot\'s Yaw')
+ # fig.suptitle('Yaw')
+ # ax.set_title('RobotYaw', loc='left', fontsize='large')
+ self.ax.plot(self.yaw_log)
+ # plt.savefig(self.plot_name)
+
+ def update_plot_yaw(self):
+
\ No newline at end of file
diff --git a/src/server_main/test/mqtt_kondo_dummy.py b/src/server_main/test/mqtt_kondo_dummy.py
index ef9935c..1ffc37d 100644
--- a/src/server_main/test/mqtt_kondo_dummy.py
+++ b/src/server_main/test/mqtt_kondo_dummy.py
@@ -18,6 +18,8 @@ import paho.mqtt.client as mqtt
# https://github.com/eclipse/paho.mqtt.python
import tf_transformations
import math
+
+from logger import Logger
class MqttKondoDummy(Node):
def __init__(self):
super().__init__('MqttKondoDummy')
@@ -27,25 +29,29 @@ class MqttKondoDummy(Node):
self.init_publisher()
self.init_mqqt()
self.timer = self.create_timer(0.001, self.forward_main_cycle)
+ self.logger = Logger()
def on_connect(mqttc, obj, flags, rc):
- print("rc: " + str(rc))
+ pass
+ # print("rc: " + str(rc))
def on_message(self, mqttc, obj, msg):
print("get msg")
if (msg.topic == self.ball_topic):
# print(msg.topic + " " + str(msg.qos) + " " + str(msg.payload))
self.ball_coord = [float(i) for i in msg.payload.split(b" ")]
- print(self.ball_coord)
+ # print(self.ball_coord)
elif (msg.topic == self.robot_topic):
self.pf_coord = [float(i) for i in msg.payload.split(b" ")]
print(self.pf_coord)
def on_publish(mqttc, obj, mid):
- print("mid: " + str(mid))
+ pass
+ # print("mid: " + str(mid))
def on_subscribe(mqttc, obj, mid, granted_qos):
- print("Subscribed: " + str(mid) + " " + str(granted_qos))
+ pass
+ # print("Subscribed: " + str(mid) + " " + str(granted_qos))
def init_mqqt(self):
self.declare_parameter('mqtt_broker', 'localhost')
@@ -84,6 +90,9 @@ class MqttKondoDummy(Node):
marker.pose.position.x = self.pf_coord[0]
marker.pose.position.y = self.pf_coord[1]
quaternion = tf_transformations.quaternion_about_axis(self.pf_coord[2], (0,0,1))
+ self.logger.log_yaw(self.pf_coord[2])
+ if True:
+ self.logger.plot_yaw()
marker.pose.orientation.x = quaternion[0]
marker.pose.orientation.y = quaternion[1]
marker.pose.orientation.z = quaternion[2]
@@ -97,7 +106,7 @@ class MqttKondoDummy(Node):
marker.color.g = 0.9
marker.color.b = 0.2
self.robot_pub.publish(marker)
- print("robot:", marker)
+ # print("robot:", marker)
if (self.ball_coord is not None):
marker = Marker()
marker.header.frame_id = 'world'
@@ -114,7 +123,7 @@ class MqttKondoDummy(Node):
marker.color.g = 0.4
marker.color.b = 1.0
self.ball_pub.publish(marker)
- print("ball " ,marker)
+ # print("ball " ,marker)
def forward_main_cycle(self):
self.mqttc.loop()
self.publish_marker()
--
GitLab
From a3114adec5ae931487aebbf1e15077a299dd6e05 Mon Sep 17 00:00:00 2001
From: ivan-sh <shargin.ia@phystech.edu>
Date: Tue, 11 Jul 2023 13:48:58 +0300
Subject: [PATCH 12/23] deleted some trash
---
src/server_main/server_main/server_node.py | 2 +-
src/server_main/test/logger.py | 1 +
src/server_main/test/yaw.png | Bin 10531 -> 0 bytes
src/server_main/test/yaw_plot.png | Bin 127467 -> 0 bytes
4 files changed, 2 insertions(+), 1 deletion(-)
delete mode 100644 src/server_main/test/yaw.png
delete mode 100644 src/server_main/test/yaw_plot.png
diff --git a/src/server_main/server_main/server_node.py b/src/server_main/server_main/server_node.py
index 5ebf2fa..e85931c 100644
--- a/src/server_main/server_main/server_node.py
+++ b/src/server_main/server_main/server_node.py
@@ -296,7 +296,7 @@ class ServerNode(Node):
def send_command_to_robots(self):
#self.update_ball_pose()
self.get_camera_to_world_frame()
- if (self.ball_coordinate_world is not None):
+ if (self.ball_coordinate_world is not None):
ball_msg = PointStamped()
ball_msg.header.stamp = self.get_clock().now().to_msg()
ball_msg.header.frame_id = "world"
diff --git a/src/server_main/test/logger.py b/src/server_main/test/logger.py
index 1bce16d..59108a6 100644
--- a/src/server_main/test/logger.py
+++ b/src/server_main/test/logger.py
@@ -39,4 +39,5 @@ class Logger:
# plt.savefig(self.plot_name)
def update_plot_yaw(self):
+ pass
\ No newline at end of file
diff --git a/src/server_main/test/yaw.png b/src/server_main/test/yaw.png
deleted file mode 100644
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G`}}VduTnh#
--
GitLab
From 329e21c290a08d0a94145343145ffb75bdcc0e03 Mon Sep 17 00:00:00 2001
From: ivan-sh <shargin.ia@phystech.edu>
Date: Tue, 11 Jul 2023 13:50:54 +0300
Subject: [PATCH 13/23] deleted spaces
---
src/server_main/server_main/server_node.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/server_main/server_main/server_node.py b/src/server_main/server_main/server_node.py
index e85931c..a69f1fa 100644
--- a/src/server_main/server_main/server_node.py
+++ b/src/server_main/server_main/server_node.py
@@ -296,7 +296,7 @@ class ServerNode(Node):
def send_command_to_robots(self):
#self.update_ball_pose()
self.get_camera_to_world_frame()
- if (self.ball_coordinate_world is not None):
+ if (self.ball_coordinate_world is not None):
ball_msg = PointStamped()
ball_msg.header.stamp = self.get_clock().now().to_msg()
ball_msg.header.frame_id = "world"
--
GitLab
From 1dc98f2797a9302020ff8c5976c3368f180acca0 Mon Sep 17 00:00:00 2001
From: ivan-sh <shargin.ia@phystech.edu>
Date: Tue, 11 Jul 2023 13:58:06 +0300
Subject: [PATCH 14/23] deleted spaces 2
---
src/server_main/server_main/server_node.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/server_main/server_main/server_node.py b/src/server_main/server_main/server_node.py
index a69f1fa..f13cfba 100644
--- a/src/server_main/server_main/server_node.py
+++ b/src/server_main/server_main/server_node.py
@@ -296,7 +296,7 @@ class ServerNode(Node):
def send_command_to_robots(self):
#self.update_ball_pose()
self.get_camera_to_world_frame()
- if (self.ball_coordinate_world is not None):
+ if (self.ball_coordinate_world is not None):
ball_msg = PointStamped()
ball_msg.header.stamp = self.get_clock().now().to_msg()
ball_msg.header.frame_id = "world"
--
GitLab
From d9f1a550375e57f9c3ffd875f77232b58243e923 Mon Sep 17 00:00:00 2001
From: ivan-sh <shargin.ia@phystech.edu>
Date: Tue, 11 Jul 2023 13:58:55 +0300
Subject: [PATCH 15/23] deleted spaces 3
---
src/server_main/server_main/server_node.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/server_main/server_main/server_node.py b/src/server_main/server_main/server_node.py
index f13cfba..6afaac5 100644
--- a/src/server_main/server_main/server_node.py
+++ b/src/server_main/server_main/server_node.py
@@ -296,7 +296,7 @@ class ServerNode(Node):
def send_command_to_robots(self):
#self.update_ball_pose()
self.get_camera_to_world_frame()
- if (self.ball_coordinate_world is not None):
+ if (self.ball_coordinate_world is not None):
ball_msg = PointStamped()
ball_msg.header.stamp = self.get_clock().now().to_msg()
ball_msg.header.frame_id = "world"
--
GitLab
From 1b08bac263dd30e3993253f5a04bc33bef81b7bd Mon Sep 17 00:00:00 2001
From: ivan-sh <shargin.ia@phystech.edu>
Date: Tue, 11 Jul 2023 13:59:32 +0300
Subject: [PATCH 16/23] deleted spaces 4
---
src/server_main/server_main/server_node.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/server_main/server_main/server_node.py b/src/server_main/server_main/server_node.py
index 6afaac5..5ebf2fa 100644
--- a/src/server_main/server_main/server_node.py
+++ b/src/server_main/server_main/server_node.py
@@ -296,7 +296,7 @@ class ServerNode(Node):
def send_command_to_robots(self):
#self.update_ball_pose()
self.get_camera_to_world_frame()
- if (self.ball_coordinate_world is not None):
+ if (self.ball_coordinate_world is not None):
ball_msg = PointStamped()
ball_msg.header.stamp = self.get_clock().now().to_msg()
ball_msg.header.frame_id = "world"
--
GitLab
From c3fecf127f8bde3aba58fa562e66cd2696b6d0fb Mon Sep 17 00:00:00 2001
From: ivan-sh <shargin.ia@phystech.edu>
Date: Tue, 11 Jul 2023 19:54:08 +0300
Subject: [PATCH 17/23] new logger
---
src/server_main/test/logger.py | 8 ++++++--
src/server_main/test/mqtt_kondo_dummy.py | 8 +++++---
2 files changed, 11 insertions(+), 5 deletions(-)
diff --git a/src/server_main/test/logger.py b/src/server_main/test/logger.py
index 59108a6..f72b9a3 100644
--- a/src/server_main/test/logger.py
+++ b/src/server_main/test/logger.py
@@ -35,9 +35,13 @@ class Logger:
title='Robot\'s Yaw')
# fig.suptitle('Yaw')
# ax.set_title('RobotYaw', loc='left', fontsize='large')
- self.ax.plot(self.yaw_log)
+ # self.ax.plot(self.yaw_log)
# plt.savefig(self.plot_name)
def update_plot_yaw(self):
- pass
+ plt.ion()
+ plt.show()
+ self.ax.plot(self.yaw_log)
+ plt.pause(0.5)
+
\ No newline at end of file
diff --git a/src/server_main/test/mqtt_kondo_dummy.py b/src/server_main/test/mqtt_kondo_dummy.py
index 1ffc37d..9e7fce6 100644
--- a/src/server_main/test/mqtt_kondo_dummy.py
+++ b/src/server_main/test/mqtt_kondo_dummy.py
@@ -30,6 +30,7 @@ class MqttKondoDummy(Node):
self.init_mqqt()
self.timer = self.create_timer(0.001, self.forward_main_cycle)
self.logger = Logger()
+ self.logger.init_plot_yaw()
def on_connect(mqttc, obj, flags, rc):
pass
@@ -90,9 +91,10 @@ class MqttKondoDummy(Node):
marker.pose.position.x = self.pf_coord[0]
marker.pose.position.y = self.pf_coord[1]
quaternion = tf_transformations.quaternion_about_axis(self.pf_coord[2], (0,0,1))
- self.logger.log_yaw(self.pf_coord[2])
- if True:
- self.logger.plot_yaw()
+
+ self.logger.log_yaw(self.pf_coord[2])
+ self.logger.update_plot_yaw()
+
marker.pose.orientation.x = quaternion[0]
marker.pose.orientation.y = quaternion[1]
marker.pose.orientation.z = quaternion[2]
--
GitLab
From ac4d88a4bb55db94b6e0b0e38263a212a6be36a2 Mon Sep 17 00:00:00 2001
From: ivan-sh <shargin.ia@phystech.edu>
Date: Wed, 12 Jul 2023 10:51:50 +0300
Subject: [PATCH 18/23] fixed merge request
---
src/server_main/server_main/server_node.py | 5 ++---
src/server_main/test/mqtt_kondo_dummy.py | 25 ++++++----------------
2 files changed, 9 insertions(+), 21 deletions(-)
diff --git a/src/server_main/server_main/server_node.py b/src/server_main/server_main/server_node.py
index 71cec17..bdd91be 100644
--- a/src/server_main/server_main/server_node.py
+++ b/src/server_main/server_main/server_node.py
@@ -64,9 +64,8 @@ class ServerNode(Node):
)
self.camera_models[frame] = None
self.ball_coordinate_world = None
-
- # self.create_subscription(Pose, "ball", etc get while volodya yola get done
- self.timer = self.create_timer(1, self.send_command_to_robots)
+
+ self.timer = self.create_timer(0.01, self.send_command_to_robots)
self.current_aruco_poses = {}# {if: x, y}
self.current_robot_poses = {}
self.world_robots_poses = {}
diff --git a/src/server_main/test/mqtt_kondo_dummy.py b/src/server_main/test/mqtt_kondo_dummy.py
index de65058..6a68490 100644
--- a/src/server_main/test/mqtt_kondo_dummy.py
+++ b/src/server_main/test/mqtt_kondo_dummy.py
@@ -18,8 +18,6 @@ import paho.mqtt.client as mqtt
# https://github.com/eclipse/paho.mqtt.python
import tf_transformations
import math
-
-from logger import Logger
class MqttKondoDummy(Node):
def __init__(self):
super().__init__('MqttKondoDummy')
@@ -29,30 +27,25 @@ class MqttKondoDummy(Node):
self.init_publisher()
self.init_mqqt()
self.timer = self.create_timer(0.001, self.forward_main_cycle)
- self.logger = Logger()
- self.logger.init_plot_yaw()
-
+
def on_connect(mqttc, obj, flags, rc):
- pass
- # print("rc: " + str(rc))
+ print("rc: " + str(rc))
def on_message(self, mqttc, obj, msg):
print("get msg")
if (msg.topic == self.ball_topic):
# print(msg.topic + " " + str(msg.qos) + " " + str(msg.payload))
self.ball_coord = [float(i) for i in msg.payload.split(b" ")]
- # print(self.ball_coord)
+ print(self.ball_coord)
elif (msg.topic == self.robot_topic):
self.pf_coord = [float(i) for i in msg.payload.split(b" ")]
print(self.pf_coord)
def on_publish(mqttc, obj, mid):
- pass
- # print("mid: " + str(mid))
+ print("mid: " + str(mid))
def on_subscribe(mqttc, obj, mid, granted_qos):
- pass
- # print("Subscribed: " + str(mid) + " " + str(granted_qos))
+ print("Subscribed: " + str(mid) + " " + str(granted_qos))
def init_mqqt(self):
self.declare_parameter('mqtt_broker', 'localhost')
@@ -92,10 +85,6 @@ class MqttKondoDummy(Node):
marker.pose.position.x = self.pf_coord[0]
marker.pose.position.y = self.pf_coord[1]
quaternion = tf_transformations.quaternion_about_axis(self.pf_coord[2], (0,0,1))
-
- self.logger.log_yaw(self.pf_coord[2])
- self.logger.update_plot_yaw()
-
marker.pose.orientation.x = quaternion[0]
marker.pose.orientation.y = quaternion[1]
marker.pose.orientation.z = quaternion[2]
@@ -109,7 +98,7 @@ class MqttKondoDummy(Node):
marker.color.g = 0.9
marker.color.b = 0.2
self.robot_pub.publish(marker)
- # print("robot:", marker)
+ print("robot:", marker)
if (self.ball_coord is not None):
marker = Marker()
marker.header.frame_id = 'world'
@@ -126,7 +115,7 @@ class MqttKondoDummy(Node):
marker.color.g = 0.4
marker.color.b = 1.0
self.ball_pub.publish(marker)
- # print("ball " ,marker)
+ print("ball " ,marker)
def forward_main_cycle(self):
self.mqttc.loop()
self.publish_marker()
--
GitLab
From 8fcd43bfdf503c5204829ffc5be7baafd4524d47 Mon Sep 17 00:00:00 2001
From: ivan-sh <shargin.ia@phystech.edu>
Date: Wed, 12 Jul 2023 10:57:15 +0300
Subject: [PATCH 19/23] fixed merge request 2
---
src/ros2_aruco | 2 +-
src/server_main/server_main/server_node.py | 4 ++--
2 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/src/ros2_aruco b/src/ros2_aruco
index 91813cb..8ec6303 160000
--- a/src/ros2_aruco
+++ b/src/ros2_aruco
@@ -1 +1 @@
-Subproject commit 91813cb3d9f899789d03811943c72d30fa7a8774
+Subproject commit 8ec6303acdd0cd5b0def965ac81a9a6ce971fa9a
diff --git a/src/server_main/server_main/server_node.py b/src/server_main/server_main/server_node.py
index bdd91be..0d30a0b 100644
--- a/src/server_main/server_main/server_node.py
+++ b/src/server_main/server_main/server_node.py
@@ -64,9 +64,9 @@ class ServerNode(Node):
)
self.camera_models[frame] = None
self.ball_coordinate_world = None
-
+
self.timer = self.create_timer(0.01, self.send_command_to_robots)
- self.current_aruco_poses = {}# {if: x, y}
+ self.current_aruco_poses = {} # {if: x, y}
self.current_robot_poses = {}
self.world_robots_poses = {}
self.init_mqqt()
--
GitLab
From ad5ca3b0c3ede145097a6b4aa21c38731e650e0d Mon Sep 17 00:00:00 2001
From: ivan-sh <shargin.ia@phystech.edu>
Date: Wed, 12 Jul 2023 10:59:29 +0300
Subject: [PATCH 20/23] fixed merge request 3
---
src/server_main/server_main/server_node.py | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/server_main/server_main/server_node.py b/src/server_main/server_main/server_node.py
index 0d30a0b..2264f4f 100644
--- a/src/server_main/server_main/server_node.py
+++ b/src/server_main/server_main/server_node.py
@@ -64,9 +64,9 @@ class ServerNode(Node):
)
self.camera_models[frame] = None
self.ball_coordinate_world = None
-
+
self.timer = self.create_timer(0.01, self.send_command_to_robots)
- self.current_aruco_poses = {} # {if: x, y}
+ self.current_aruco_poses = {} # {if: x, y}
self.current_robot_poses = {}
self.world_robots_poses = {}
self.init_mqqt()
--
GitLab
From 7cf73983bea611ba01787c248decc588ea9f3468 Mon Sep 17 00:00:00 2001
From: ivan-sh <shargin.ia@phystech.edu>
Date: Wed, 12 Jul 2023 11:01:51 +0300
Subject: [PATCH 21/23] fixed merge request 4
---
.../test/__pycache__/logger.cpython-310.pyc | Bin 1352 -> 0 bytes
1 file changed, 0 insertions(+), 0 deletions(-)
delete mode 100644 src/server_main/test/__pycache__/logger.cpython-310.pyc
diff --git a/src/server_main/test/__pycache__/logger.cpython-310.pyc b/src/server_main/test/__pycache__/logger.cpython-310.pyc
deleted file mode 100644
index d45abc66769eb10faf1f80d144fd66276e4f7ec8..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001
literal 1352
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ZKNf?t(V?7nqBaa@7k+rQnV0l#_%9GWOBMhC
--
GitLab
From 57fe95b0f84bab89a3eb3941391eab2e6b724c6f Mon Sep 17 00:00:00 2001
From: ivan-sh <shargin.ia@phystech.edu>
Date: Wed, 12 Jul 2023 13:22:40 +0300
Subject: [PATCH 22/23] added average quaternion
---
src/server_main/server_main/server_node.py | 50 +++++++++++++++++++---
1 file changed, 44 insertions(+), 6 deletions(-)
diff --git a/src/server_main/server_main/server_node.py b/src/server_main/server_main/server_node.py
index 2264f4f..ce68293 100644
--- a/src/server_main/server_main/server_node.py
+++ b/src/server_main/server_main/server_node.py
@@ -205,22 +205,60 @@ class ServerNode(Node):
shifted_pose = self.shift_pose_to_robot_centre(pose, id)
rotated_pose = self.rotate_pose_to_forward(shifted_pose, id)
return rotated_pose
+
+ @staticmethod
+ def quatWAvg(Q, weights):
+ '''
+ Averaging Quaternions.
+
+ Arguments:
+ Q(ndarray): an Mx4 ndarray of quaternions.
+ weights(list): an M elements list, a weight for each quaternion.
+ '''
+
+ # Form the symmetric accumulator matrix
+ A = np.zeros((4, 4))
+ M = Q.shape[0]
+ wSum = 0
+
+ for i in range(M):
+ q = Q[i, :]
+ w_i = weights[i]
+ A += w_i * (np.outer(q, q)) # rank 1 update
+ wSum += w_i
+
+ # scale
+ A /= wSum
+
+ # Get the eigenvector corresponding to largest eigen value
+ return np.linalg.eigh(A)[1][:, -1]
def find_mid_pose(self, poses) -> Pose:
mid_pose = Pose()
- # find mid of orientation euler angles
- for pose in poses:
+ Q_array = np.zeros((4, len(poses)))
+ # find mid of orientation and coordinates
+ for count, pose in enumerate(poses):
mid_pose.position.x += pose.pose.position.x
mid_pose.position.y += pose.pose.position.y
mid_pose.position.z += pose.pose.position.z
- mid_pose.orientation.x = pose.pose.orientation.x # [TODO] Find medium
- mid_pose.orientation.y = pose.pose.orientation.y
- mid_pose.orientation.z = pose.pose.orientation.z
- mid_pose.orientation.w = pose.pose.orientation.w
+
+ Q_array[0, count] = pose.pose.orientation.x
+ Q_array[1, count] = pose.pose.orientation.y
+ Q_array[2, count] = pose.pose.orientation.z
+ Q_array[3, count] = pose.pose.orientation.w
mid_pose.position.x /= len(poses)
mid_pose.position.y /= len(poses)
mid_pose.position.z /= len(poses)
+
+ mid_quat = self.quatWAvg(Q_array, np.ones(len(poses)))
+ print('MID_quat')
+ print(mid_quat)
+ mid_pose.orientation.x = mid_quat[0]
+ mid_pose.orientation.y = mid_quat[1]
+ mid_pose.orientation.z = mid_quat[2]
+ mid_pose.orientation.w = mid_quat[3]
+
return mid_pose
def count_robots_poses(self):
--
GitLab
From b8ad19a9465b6648192d68eecd498eb72f7b7266 Mon Sep 17 00:00:00 2001
From: ivan-sh <shargin.ia@phystech.edu>
Date: Wed, 12 Jul 2023 13:55:50 +0300
Subject: [PATCH 23/23] fixed and tested averaging of quaternions
---
src/server_main/server_main/server_node.py | 16 ++++-------
src/server_main/test/logger.py | 18 +++++++-----
src/server_main/test/test_avg_quat.py | 32 ++++++++++++++++++++++
3 files changed, 48 insertions(+), 18 deletions(-)
create mode 100644 src/server_main/test/test_avg_quat.py
diff --git a/src/server_main/server_main/server_node.py b/src/server_main/server_main/server_node.py
index ce68293..1aeb528 100644
--- a/src/server_main/server_main/server_node.py
+++ b/src/server_main/server_main/server_node.py
@@ -207,7 +207,7 @@ class ServerNode(Node):
return rotated_pose
@staticmethod
- def quatWAvg(Q, weights):
+ def quatWAvg(Q):
'''
Averaging Quaternions.
@@ -218,17 +218,11 @@ class ServerNode(Node):
# Form the symmetric accumulator matrix
A = np.zeros((4, 4))
- M = Q.shape[0]
- wSum = 0
+ M = Q.shape[1]
for i in range(M):
- q = Q[i, :]
- w_i = weights[i]
- A += w_i * (np.outer(q, q)) # rank 1 update
- wSum += w_i
-
- # scale
- A /= wSum
+ q = Q[:, i]
+ A += np.outer(q, q)# rank 1 update
# Get the eigenvector corresponding to largest eigen value
return np.linalg.eigh(A)[1][:, -1]
@@ -251,7 +245,7 @@ class ServerNode(Node):
mid_pose.position.y /= len(poses)
mid_pose.position.z /= len(poses)
- mid_quat = self.quatWAvg(Q_array, np.ones(len(poses)))
+ mid_quat = self.quatWAvg(Q_array)
print('MID_quat')
print(mid_quat)
mid_pose.orientation.x = mid_quat[0]
diff --git a/src/server_main/test/logger.py b/src/server_main/test/logger.py
index f72b9a3..58c60f8 100644
--- a/src/server_main/test/logger.py
+++ b/src/server_main/test/logger.py
@@ -6,12 +6,12 @@ import numpy as np
# import json
plt.style.use('seaborn') # fivethirtyeight is name of style
-plt.rcParams['font.size'] = 100
-plt.rcParams['legend.fontsize'] = 50
-plt.rc('xtick', labelsize=50)
-plt.rc('ytick', labelsize=50)
-plt.rcParams['axes.labelsize'] = 30
-plt.rcParams['axes.titlesize'] = 50
+plt.rcParams['font.size'] = 10
+plt.rcParams['legend.fontsize'] = 10
+plt.rc('xtick', labelsize=10)
+plt.rc('ytick', labelsize=10)
+plt.rcParams['axes.labelsize'] = 10
+plt.rcParams['axes.titlesize'] = 10
plt.rcParams['xtick.major.size'] = 5.0
plt.rcParams['xtick.minor.size'] = 3.0
@@ -31,7 +31,7 @@ class Logger:
def init_plot_yaw(self):
self.fig, self.ax = plt.subplots(figsize=(30, 20))
# ax.tick_params(axis='both', which='major', labelsize=30)
- self.ax.set(xlabel='time [s]', ylabel='yaw [rad]',
+ self.ax.set(xlabel='step', ylabel='yaw [rad]',
title='Robot\'s Yaw')
# fig.suptitle('Yaw')
# ax.set_title('RobotYaw', loc='left', fontsize='large')
@@ -44,4 +44,8 @@ class Logger:
self.ax.plot(self.yaw_log)
plt.pause(0.5)
+ def plot_all_and_save_fig(self):
+ self.ax.plot(self.yaw_log)
+ plt.savefig(self.plot_name)
+
\ No newline at end of file
diff --git a/src/server_main/test/test_avg_quat.py b/src/server_main/test/test_avg_quat.py
new file mode 100644
index 0000000..564c1e8
--- /dev/null
+++ b/src/server_main/test/test_avg_quat.py
@@ -0,0 +1,32 @@
+import numpy as np
+def quatWAvg(Q):
+ '''
+ Averaging Quaternions.
+
+ Arguments:
+ Q(ndarray): an Mx4 ndarray of quaternions.
+ weights(list): an M elements list, a weight for each quaternion.
+ '''
+
+ # Form the symmetric accumulator matrix
+ A = np.zeros((4, 4))
+ M = Q.shape[1]
+ # wSum = 0
+
+ for i in range(M):
+ q = Q[:, i]
+ # w_i = weights[i]
+ A += np.outer(q, q)# rank 1 update
+ # wSum += w_i
+
+ # scale
+ # A /= wSum
+
+ # Get the eigenvector corresponding to largest eigen value
+ return np.linalg.eigh(A)[1][:, -1]
+
+quat_array = np.array(([[0.707, -0.383],
+ [0, 0.0],
+ [0, 0.0],
+ [0.707, 0.924]]))
+print(quatWAvg(quat_array))
\ No newline at end of file
--
GitLab