anytime-stack

Anytime Autonomy Project

Anytime compute is a framework that can allow a local planner to exploit the natural trade-off between the estimator's speed and accuracy during runtime by specifying a time of completion $\delta$ and error bound $\epsilon$, in the form of a contract specified by the controller based on its immediate control objectives.

See Anytime_Compute_Study_README.pdf for details

Structure

• anytime-stack is a ROS 2 workspace, src contains ROS 2 packages as usual
• anytime-icp-stack directory contains the main implementation
  • anytime-icp-stack/src/laser_icp.cpp – Contains the main Anytime ICP Node with the shared memory interface
  • anytime-icp-stack/src/anytime_stanley_controller.cpp – Contains the main Anytime Stanley Controller Node with the shared memory interface

External Dependecies

• [ackermann_msgs] [https://index.ros.org/r/ackermann_msgs/#foxy].
• [urg_node] [https://index.ros.org/p/urg_node/#foxy]. This is the driver for Hokuyo LiDARs.
• [joy] [https://index.ros.org/p/joy/#foxy]. This is the driver for joysticks in ROS 2.
• [teleop_tools] [https://index.ros.org/p/teleop_tools/#foxy]. This is the package for teleop with joysticks in ROS 2.
• [vesc] GitHub - f1tenth/vesc at ros2. This is the driver for VESCs in ROS 2.
• [ackermann_mux] GitHub - f1tenth/ackermann_mux: Twist multiplexer. This is a package for multiplexing ackermann messages in ROS 2.
• [eigen3][https://eigen.tuxfamily.org/dox/GettingStarted.html]
• [libInterpolate][https://github.com/CD3/libInterpolate]

Nodes launched during startup

• joy
• joy_teleop
• ackermann_to_vesc_node
• vesc_to_odom_node
• vesc_driver_node
• urg_node
• ackermann_mux
• icp
• anytime_stanley

Parameters and topics

icp

• Parameters
  • max_iterations
• Publishes to:
  • icp/odom
• Subscribes to:
  • /scan
• Shared Memory Communication
  • anytime_stanley

anytime_stanley

• Parameters
  • k_gain
  • speed
  • slope
  • intercept
  • steering_max
  • time_to_collision
• Publishes to:
  • /drive
• Subscribes to:
  • /icp/odom
  • /joy
  • /scan
• Shared Memory Communication
  • icp

Parameters and topics for dependencies

vesc_driver

• Parameters:
  • duty_cycle_min, duty_cycle_max
  • current_min, current_max
  • brake_min, brake_max
  • speed_min, speed_max
  • position_min, position_max
  • servo_min, servo_max
• Publishes to:
  • sensors/core
  • sensors/servo_position_command
  • sensors/imu
  • sensors/imu/raw
• Subscribes to:
  • commands/motor/duty_cycle
  • commands/motor/current
  • commands/motor/brake
  • commands/motor/speed
  • commands/motor/position
  • commands/servo/position

ackermann_to_vesc

• Parameters:
  • speed_to_erpm_gain
  • speed_to_erpm_offset
  • steering_angle_to_servo_gain
  • steering_angle_to_servo_offset
• Publishes to:
  • ackermann_cmd
• Subscribes to:
  • commands/motor/speed
  • commands/servo/position

vesc_to_odom

• Parameters:
  • odom_frame
  • base_frame
  • use_servo_cmd_to_calc_angular_velocity
  • speed_to_erpm_gain
  • speed_to_erpm_offset
  • steering_angle_to_servo_gain
  • steering_angle_to_servo_offset
  • wheelbase
  • publish_tf
• Publishes to:
  • odom
• Subscribes to:
  • sensors/core
  • sensors/servo_position_command

Development

Requirements:

• Ubuntu 20.04
• a working installation of ROS 2, see Installing ROS 2 via Debian Packages
• vcstool
  • Test if you have it using: vcs --version (should print vcs 0.3.0)
  • You can install using sudo apt install python3-vcstool or python3 -m pip install -U vcstool

Note about sourcing

**Note! * Always use a separate terminal windows/tabs for building and running.

In a terminal window/tab where you are building the workspace, you must source **only * the ROS 2 (i.e., source /opt/ros/foxy.setup.bash).

Then, in other terminal windows/tabs you can source the built workspace (source install/setup.bash) and run the programs.

If you source workspace in the building terminal window/tab, then you will pollute the environment and the resulting built workspace might not work correctly.

Run when you pull the latest changes

Re-run vcs and rosdep when you pull the latest changes:

source /opt/ros/foxy/setup.bash
vcs import --input stack.repos
vcs pull --nested
rosdep install -i --from-paths src -y