From 189bcfef723e6b836da9e0bfe32d5992c95648a7 Mon Sep 17 00:00:00 2001 From: Linus NEP <86525017+LinusNEP@users.noreply.github.com> Date: Mon, 8 May 2023 10:04:21 +0200 Subject: [PATCH] Add files via upload --- .../ROS Workspace/src/CMakeLists.txt | 64 + Software Files/ROS Workspace/src/package.xml | 45 + .../src/stabilityTestFiles/cmd_vel_data.csv | 4641 +++ .../src/stabilityTestFiles/imu_data.csv | 1339 + .../src/stabilityTestFiles/odom_data.csv | 2678 ++ .../stabilityTestFiles/rosbagCMD_velToCSV.py | 26 + .../src/stabilityTestFiles/rosbagIMUtoCSV.py | 36 + .../src/stabilityTestFiles/rosbagOdomToCSV.py | 34 + .../src/stabilityTestFiles/stab_plots.mp4 | Bin 0 -> 13488176 bytes .../src/stabilityTestFiles/stab_test.eps | 32603 ++++++++++++++++ .../stabilityTestFiles/stabilityTestPlots.asv | 105 + .../stabilityTestFiles/stabilityTestPlots.m | 113 + .../src/stabilityTestFiles/stability_test.bag | Bin 0 -> 4678994 bytes 13 files changed, 41684 insertions(+) create mode 100644 Software Files/ROS Workspace/src/CMakeLists.txt create mode 100644 Software Files/ROS Workspace/src/package.xml create mode 100644 Software Files/ROS Workspace/src/stabilityTestFiles/cmd_vel_data.csv create mode 100644 Software Files/ROS Workspace/src/stabilityTestFiles/imu_data.csv create mode 100644 Software Files/ROS Workspace/src/stabilityTestFiles/odom_data.csv create mode 100644 Software Files/ROS Workspace/src/stabilityTestFiles/rosbagCMD_velToCSV.py create mode 100644 Software Files/ROS Workspace/src/stabilityTestFiles/rosbagIMUtoCSV.py create mode 100644 Software Files/ROS Workspace/src/stabilityTestFiles/rosbagOdomToCSV.py create mode 100644 Software Files/ROS Workspace/src/stabilityTestFiles/stab_plots.mp4 create mode 100644 Software Files/ROS Workspace/src/stabilityTestFiles/stab_test.eps create mode 100644 Software Files/ROS Workspace/src/stabilityTestFiles/stabilityTestPlots.asv create mode 100644 Software Files/ROS Workspace/src/stabilityTestFiles/stabilityTestPlots.m create mode 100644 Software Files/ROS Workspace/src/stabilityTestFiles/stability_test.bag diff --git a/Software Files/ROS Workspace/src/CMakeLists.txt b/Software Files/ROS Workspace/src/CMakeLists.txt new file mode 100644 index 0000000..be0db87 --- /dev/null +++ b/Software Files/ROS Workspace/src/CMakeLists.txt @@ -0,0 +1,64 @@ +cmake_minimum_required(VERSION 2.8.3) + +project(romr_robot) + +## Compile as C++11, supported in ROS Kinetic and newer + add_compile_options(-std=c++11) + +## 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 + rospy + std_msgs + actionlib + move_base_msgs + tf +) + +find_package( OpenCV REQUIRED ) + + +#find_package(catkin REQUIRED) + +catkin_package() + +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} +) + +catkin_install_python(PROGRAMS + src/send_waypoints.py + src/odom_data.py + src/stability_test.py + + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + + INCLUDE_DIRECTORIES(/usr/local/lib) +LINK_DIRECTORIES(/usr/local/lib) + +add_executable(send_goals src/send_goals.cpp) +target_link_libraries(send_goals ${catkin_LIBRARIES}) + +add_executable(odomtorobottfgenerator src/odomtorobottfgenerator.cpp) +target_link_libraries(odomtorobottfgenerator ${catkin_LIBRARIES}) + +add_executable(imuOrientToCmdVelTranslater src/imuOrientToCmdVelTranslater.cpp) +target_link_libraries(imuOrientToCmdVelTranslater ${catkin_LIBRARIES}) +add_dependencies(imuOrientToCmdVelTranslater ${catkin_EXPORTED_TARGETS}) + +add_executable(detectAndDecide src/detectAndDecide.cpp) +target_link_libraries(detectAndDecide +${catkin_LIBRARIES} +${OpenCV_LIBRARIES} +) +find_package(roslaunch) + +foreach(dir config gazebo launch maps meshes params src urdf worlds) + install(DIRECTORY ${dir}/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) +endforeach(dir) diff --git a/Software Files/ROS Workspace/src/package.xml b/Software Files/ROS Workspace/src/package.xml new file mode 100644 index 0000000..64c2152 --- /dev/null +++ b/Software Files/ROS Workspace/src/package.xml @@ -0,0 +1,45 @@ + + romr_robot + 1.0.0 + +

URDF Description package for romr_assem.SLDASM

+

This package contains configuration data, 3D models and launch files +for romr_robot robot

+ + TODO + + BSD + catkin + roscpp + rospy + std_msgs + actionlib + actionlib_msgs + move_base_msgs + sensor_msgs + roslint + std_srvs + roscpp + rospy + std_msgs + actionlib + move_base_msgs + roscpp + rospy + std_msgs + actionlib + actionlib_msgs + move_base_msgs + imu_filter_madgwick + roscpp + sensor_msgs + std_srvs + roslaunch + robot_state_publisher + rviz + joint_state_publisher_gui + gazebo + + + + diff --git a/Software Files/ROS Workspace/src/stabilityTestFiles/cmd_vel_data.csv b/Software Files/ROS Workspace/src/stabilityTestFiles/cmd_vel_data.csv new file mode 100644 index 0000000..95bff2b --- /dev/null +++ b/Software Files/ROS Workspace/src/stabilityTestFiles/cmd_vel_data.csv @@ -0,0 +1,4641 @@ +timestamp,linear_velocity_x,linear_velocity_y,linear_velocity_z,angular_velocity_x,angular_velocity_y,angular_velocity_z +94.37,0.013,0.0,0.0,0.0,0.0,0.0 +94.37,0.026,0.0,0.0,0.0,0.0,0.0 +94.37,0.046,0.0,0.0,0.0,0.0,0.0 +94.37,0.059,0.0,0.0,0.0,0.0,0.0 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+222.28,-0.2670325505228844,1.0670151192614448,0.22645908651790103,0.0026402023915372444,0.001933199755581254,0.9565520380468439,-0.29154329108807514,0.1337381368535798,0.30840065767194547,0.0,0.0,0.0,13.342806144789277 +222.329,-0.2642077175754521,1.0550497211451637,0.2270640755249048,0.001689679554757887,0.004330544884312691,0.8214859567309194,-0.5702097984583337,0.10190418914986109,0.24633429184634184,0.0,0.0,0.0,13.421388463364352 diff --git a/Software Files/ROS Workspace/src/stabilityTestFiles/rosbagCMD_velToCSV.py b/Software Files/ROS Workspace/src/stabilityTestFiles/rosbagCMD_velToCSV.py new file mode 100644 index 0000000..fb2f15d --- /dev/null +++ b/Software Files/ROS Workspace/src/stabilityTestFiles/rosbagCMD_velToCSV.py @@ -0,0 +1,26 @@ +import rosbag +import csv + +bag = rosbag.Bag('stability_test.bag') +topics = ['/cmd_vel'] # replace '/cmd_vel' with the actual cmd_vel topic in your rosbag file + +with open('cmd_vel_data.csv', 'w') as csvfile: + fieldnames = ['timestamp', 'linear_velocity_x', 'linear_velocity_y', 'linear_velocity_z', + 'angular_velocity_x', 'angular_velocity_y', 'angular_velocity_z'] + writer = csv.DictWriter(csvfile, fieldnames=fieldnames) + writer.writeheader() + + for topic, msg, t in bag.read_messages(topics=topics): + if hasattr(msg, 'header'): + timestamp = str(msg.header.stamp.to_sec()) + else: + timestamp = str(t.to_sec()) + writer.writerow({'timestamp': timestamp, + 'linear_velocity_x': str(msg.linear.x), + 'linear_velocity_y': str(msg.linear.y), + 'linear_velocity_z': str(msg.linear.z), + 'angular_velocity_x': str(msg.angular.x), + 'angular_velocity_y': str(msg.angular.y), + 'angular_velocity_z': str(msg.angular.z)}) + +bag.close() diff --git a/Software Files/ROS Workspace/src/stabilityTestFiles/rosbagIMUtoCSV.py b/Software Files/ROS Workspace/src/stabilityTestFiles/rosbagIMUtoCSV.py new file mode 100644 index 0000000..8726d5d --- /dev/null +++ b/Software Files/ROS Workspace/src/stabilityTestFiles/rosbagIMUtoCSV.py @@ -0,0 +1,36 @@ +import rosbag +import csv +import tf.transformations as tf +import math + +bag = rosbag.Bag('stability_test.bag') +topics = ['/imu'] # replace '/imu' with the actual IMU topic in your rosbag file + +with open('imu_data.csv', 'w') as csvfile: + fieldnames = ['timestamp', 'angular_velocity_x', 'angular_velocity_y', 'angular_velocity_z', + 'linear_acceleration_x', 'linear_acceleration_y', 'linear_acceleration_z', + 'orientation_x', 'orientation_y', 'orientation_z', 'orientation_w', + 'roll_deg', 'pitch_deg'] + writer = csv.DictWriter(csvfile, fieldnames=fieldnames) + writer.writeheader() + + for topic, msg, t in bag.read_messages(topics=topics): + orientation = [msg.orientation.x, msg.orientation.y, msg.orientation.z, msg.orientation.w] + roll, pitch, yaw = tf.euler_from_quaternion(orientation, 'rzyx') # 'rzyx' indicates the order of rotations + roll_deg = roll * 180.0 / math.pi + pitch_deg = pitch * 180.0 / math.pi + writer.writerow({'timestamp': str(msg.header.stamp.to_sec()), + 'angular_velocity_x': str(msg.angular_velocity.x), + 'angular_velocity_y': str(msg.angular_velocity.y), + 'angular_velocity_z': str(msg.angular_velocity.z), + 'linear_acceleration_x': str(msg.linear_acceleration.x), + 'linear_acceleration_y': str(msg.linear_acceleration.y), + 'linear_acceleration_z': str(msg.linear_acceleration.z), + 'orientation_x': str(msg.orientation.x), + 'orientation_y': str(msg.orientation.y), + 'orientation_z': str(msg.orientation.z), + 'orientation_w': str(msg.orientation.w), + 'roll_deg': str(roll_deg), + 'pitch_deg': str(pitch_deg)}) + +bag.close() diff --git a/Software Files/ROS Workspace/src/stabilityTestFiles/rosbagOdomToCSV.py b/Software Files/ROS Workspace/src/stabilityTestFiles/rosbagOdomToCSV.py new file mode 100644 index 0000000..54a1d1c --- /dev/null +++ b/Software Files/ROS Workspace/src/stabilityTestFiles/rosbagOdomToCSV.py @@ -0,0 +1,34 @@ +import rosbag +import csv +import tf +import geometry_msgs.msg + + +bag = rosbag.Bag('stability_test.bag') +topics = ['/odom'] # replace '/odom' with the actual odom topic in your rosbag file + +with open('odom_data.csv', 'w') as csvfile: + fieldnames = ['timestamp', 'position_x', 'position_y', 'position_z', + 'orientation_x', 'orientation_y', 'orientation_z', 'orientation_w', + 'linear_velocity_x', 'linear_velocity_y', 'linear_velocity_z', + 'angular_velocity_x', 'angular_velocity_y', 'angular_velocity_z'] + writer = csv.DictWriter(csvfile, fieldnames=fieldnames) + writer.writeheader() + + for topic, msg, t in bag.read_messages(topics=topics): + writer.writerow({'timestamp': str(msg.header.stamp.to_sec()), + 'position_x': str(msg.pose.pose.position.x), + 'position_y': str(msg.pose.pose.position.y), + 'position_z': str(msg.pose.pose.position.z), + 'orientation_x': str(msg.pose.pose.orientation.x), + 'orientation_y': str(msg.pose.pose.orientation.y), + 'orientation_z': str(msg.pose.pose.orientation.z), + 'orientation_w': str(msg.pose.pose.orientation.w), + 'linear_velocity_x': 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