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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,16 +1,121 @@ | ||
| // Stanley controller | ||
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| #include <chrono> | ||
| #include <functional> | ||
| #include <memory> | ||
| #include <string> | ||
| #include <math.h> | ||
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| #include "rclcpp/rclcpp.hpp" | ||
| #include "std_msgs/msg/color_rgba.hpp" | ||
| #include "std_msgs/msg/float32.hpp" | ||
| #include "std_msgs/msg/bool.hpp" | ||
| #include "visualization_msgs/msg/marker_array.hpp" | ||
| #include "visualization_msgs/msg/marker.hpp" | ||
| #include "geometry_msgs/msg/twist.hpp" | ||
| #include "geometry_msgs/msg/pose.hpp" | ||
| #include "geometry_msgs/msg/pose_stamped.hpp" | ||
| #include "geometry_msgs/msg/pose_array.hpp" | ||
| #include "rcl_interfaces/msg/set_parameters_result.hpp" | ||
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| #include "tf2/LinearMath/Quaternion.h" | ||
| #include "tf2/LinearMath/Matrix3x3.h" | ||
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| std::string waypoint_topic = "/lexus3/pursuitgoal"; | ||
| geometry_msgs::msg::Twist pursuit_vel; | ||
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| using namespace std::chrono_literals; | ||
| using std::placeholders::_1; | ||
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| class StanleyControl : public rclcpp::Node | ||
| { | ||
| rcl_interfaces::msg::SetParametersResult parametersCallback(const std::vector<rclcpp::Parameter> ¶meters) | ||
| { | ||
| rcl_interfaces::msg::SetParametersResult result; | ||
| result.successful = true; | ||
| result.reason = "success"; | ||
| for (const auto ¶m : parameters) | ||
| { | ||
| RCLCPP_INFO_STREAM(this->get_logger(), "Param update: " << param.get_name().c_str() << ": " << param.value_to_string().c_str()); | ||
| if (param.get_name() == "waypoint_topic") | ||
| { | ||
| waypoint_topic = param.as_string(); | ||
| sub_w_ = this->create_subscription<geometry_msgs::msg::PoseArray>(waypoint_topic, 10, std::bind(&SingleGoalPursuit::waypointCallback, this, _1)); | ||
| } | ||
| if (param.get_name() == "wheelbase") | ||
| { | ||
| wheelbase = param.as_double(); | ||
| } | ||
| } | ||
| return result; | ||
| } | ||
|
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| public: | ||
| StanleyControl() : Node("stanley_control_node") | ||
| { | ||
| RCLCPP_INFO_STREAM(this->get_logger(), "stanley_control_node started: "); | ||
| this->declare_parameter<std::string>("waypoint_topic", ""); | ||
| this->declare_parameter<float>("wheelbase", wheelbase); | ||
| this->get_parameter("waypoint_topic", waypoint_topic); | ||
| this->get_parameter("wheelbase", wheelbase); | ||
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| goal_pub_ = this->create_publisher<geometry_msgs::msg::Twist>("/lexus3/cmd_vel", 10); | ||
| reinit_pub_ = this->create_publisher<std_msgs::msg::Bool>("/lexus3/control_reinit", 10); | ||
| sub_w_ = this->create_subscription<geometry_msgs::msg::PoseArray>(waypoint_topic, 10, std::bind(&StanleyControl::waypointCallback, this, _1)); | ||
| sub_s_ = this->create_subscription<std_msgs::msg::Float32>("/lexus3/pursuitspeedtarget", 10, std::bind(&StanleyControl::speedCallback, this, _1)); | ||
| timer_ = this->create_wall_timer(50ms, std::bind(&StanleyControl::timerLoop, this)); | ||
| callback_handle_ = this->add_on_set_parameters_callback(std::bind(&StanleyControl::parametersCallback, this, std::placeholders::_1)); | ||
| std::this_thread::sleep_for(600ms); | ||
| reinitControl(); | ||
| } | ||
|
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| private: | ||
| // TODO: | ||
| // heading error | ||
| // cross-track error | ||
| float calcStanley(float goal_x, float goal_y, float goal_yaw, float current_yaw) const | ||
| { | ||
| float alpha = atan2(goal_y, goal_x); | ||
| float lookahead_distance = sqrt(pow(goal_x, 2) + pow(goal_y, 2)); | ||
| float steering_angle = atan2(2.0 * wheelbase * sin(alpha) / (lookahead_distance), 1); | ||
| return steering_angle; | ||
| } | ||
|
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| void speedCallback(const std_msgs::msg::Float32 &msg) const | ||
| { | ||
| pursuit_vel.linear.x = msg.data; | ||
| } | ||
|
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| void waypointCallback(const geometry_msgs::msg::PoseArray &msg) const | ||
| { | ||
| pursuit_vel.angular.z = calcStanley(msg.poses[0].position.x, msg.poses[0].position.y, 0, 0); | ||
| } | ||
| void timerLoop() | ||
| { | ||
| // RCLCPP_INFO_STREAM(this->get_logger(), "timer"); | ||
| goal_pub_->publish(pursuit_vel); | ||
| } | ||
| void reinitControl() | ||
| { | ||
| RCLCPP_INFO_STREAM(this->get_logger(), "reinitControl"); | ||
| std_msgs::msg::Bool reinit; | ||
| reinit.data = true; | ||
| reinit_pub_->publish(reinit); | ||
| } | ||
|
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| rclcpp::Subscription<geometry_msgs::msg::PoseArray>::SharedPtr sub_w_; | ||
| rclcpp::Subscription<std_msgs::msg::Float32>::SharedPtr sub_s_; | ||
| // parameters | ||
| rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr goal_pub_; | ||
| rclcpp::Publisher<std_msgs::msg::Bool>::SharedPtr reinit_pub_; | ||
| rclcpp::TimerBase::SharedPtr timer_; | ||
| float wheelbase = 2.789; // Lexus3 | ||
| OnSetParametersCallbackHandle::SharedPtr callback_handle_; | ||
| }; | ||
|
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| int main(int argc, char **argv) | ||
| { | ||
|
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| rclcpp::init(argc, argv); | ||
| rclcpp::spin(std::make_shared<StanleyControl>()); | ||
| rclcpp::shutdown(); | ||
| return 0; | ||
| } |