added simulation of robot

remote_control/position_controller.py

@@ -1,5 +1,6 @@
 # startup:
 # roscore
+# rosparam set cv_camera/device_id 0
 # rosrun cv_camera cv_camera_node
 
 import sys
@@ -9,10 +10,20 @@ import numpy as np
 import cv2
 import cv2.aruco as aruco
 import socket
+import scipy.integrate
+
+import threading
+from copy import deepcopy
+
+import matplotlib.pyplot as plt
+import matplotlib.animation as anim
+
+import time
 
 from sensor_msgs.msg import Image
 from sensor_msgs.msg import CompressedImage
 from cv_bridge import CvBridge, CvBridgeError
+import math
 
 pygame.init()
 pygame.font.init()
@@ -20,8 +31,8 @@ pygame.font.init()
 
 myfont = pygame.font.SysFont('Comic Sans MS', 30)
 pygame.display.set_caption("ROS camera stream on Pygame")
-screenheight = 480
+screenheight = 1024
-screenwidth = 640 #4*screenheight//3
+screenwidth = 1280 #4*screenheight//3
 screen = pygame.display.set_mode([screenwidth, screenheight])
 red = (255, 0, 0)
 teal = (0, 255, 255)
@@ -31,33 +42,93 @@ camera_stream = "/cv_camera/image_raw"
 #camera_stream = "/image_raw"
 compression = False
 
+
+# taken from https://www.learnopencv.com/rotation-matrix-to-euler-angles/
+# Checks if a matrix is a valid rotation matrix.
+def isRotationMatrix(R):
+    Rt = np.transpose(R)
+    shouldBeIdentity = np.dot(Rt, R)
+    I = np.identity(3, dtype=R.dtype)
+    n = np.linalg.norm(I - shouldBeIdentity)
+    return n < 1e-6
+
+
+# Calculates rotation matrix to euler angles
+# The result is the same as MATLAB except the order
+# of the euler angles ( x and z are swapped ).
+def rotationMatrixToEulerAngles(R):
+    assert (isRotationMatrix(R))
+
+    sy = math.sqrt(R[0, 0] * R[0, 0] + R[1, 0] * R[1, 0])
+
+    singular = sy < 1e-6
+
+    if not singular:
+        x = math.atan2(R[2, 1], R[2, 2])
+        y = math.atan2(-R[2, 0], sy)
+        z = math.atan2(R[1, 0], R[0, 0])
+    else:
+        x = math.atan2(-R[1, 2], R[1, 1])
+        y = math.atan2(-R[2, 0], sy)
+        z = 0
+
+    return np.array([x, y, z])
+
 class Robot:
     def __init__(self, id, ip=None):
         self.pos = None
+        self.orient = None
 
         self.id = id
 
-        self.ip = None
+        self.pos = None
+        self.euler = None
+
+        self.ip = ip
+
+def f_ode(t, x, u):
+    # dynamical model of the two-wheeled robot
+    # TODO: find exact values for these parameters
+    r = 0.03
+    R = 0.05
+    d = 0.02
+
+    theta = x[2]
+
+    omega_r = u[0]
+    omega_l = u[1]
+
+    dx = np.zeros(3)
+
+    dx[0] = (r/2.0 * np.cos(theta) - r*d/(2.0*R) * np.sin(theta)) * omega_r \
+          + (r/2.0 * np.cos(theta) + r*d/(2.0 * R) * np.sin(theta)) * omega_l
+    dx[1] = (r/2.0 * np.sin(theta) + r*d/(2.0*R) * np.cos(theta)) * omega_r \
+          + (r/2 * np.sin(theta) - r*d/(2.0*R) * np.cos(theta)) * omega_l
+    dx[2] = -r/(2.0*R) * (omega_r - omega_l)
+
+    return dx
 
 class RemoteController:
     def __init__(self):
-        self.cam = cv2.VideoCapture(2)
+        #self.cam = cv2.VideoCapture(1)
 
         #self.image_pub = rospy.Publisher("pygame_image", Image)
 
-        #self.bridge = CvBridge()
+        self.bridge = CvBridge()
-
-        #if compression:
-        #    self.image_sub = rospy.Subscriber(camera_stream + "/compressed", CompressedImage, self.callback)
-        #else:
-        #    self.image_sub = rospy.Subscriber(camera_stream, Image, self.callback)
 
         #self.cv_image = np.zeros((1, 1, 3), np.uint8)
+        self.cv_image = None
 
-        self.robots = [Robot(1), Robot(2), Robot(512)]
+        self.robots = [Robot(2), Robot(6), Robot(7), Robot(8), Robot(9)]
+
+        self.robot_ids = [r.id for r in self.robots]
 
         screen.fill([0, 0, 0])
 
+        cv_file = cv2.FileStorage("test.yaml", cv2.FILE_STORAGE_READ)
+        self.camera_matrix = cv_file.getNode("camera_matrix").mat()
+        self.dist_matrix = cv_file.getNode("dist_coeff").mat()
+
         self.aruco_dict = aruco.Dictionary_get(aruco.DICT_ARUCO_ORIGINAL)
         self.parameters = aruco.DetectorParameters_create()
 
@@ -68,14 +139,99 @@ class RemoteController:
         except socket.error:
             print("could not connect to socket")
 
-    def callback(self, data):
+        self.mutex = threading.Lock()
-        try:
+
+        self.k = 0
+        self.ii = 0.1
+        self.pp = 0.4
+
+        self.inc = 0.0
+
+        self.alphas = []
+
+        self.speed = 1.0
+        self.controlling = False
+
+        self.u1 = 0.0
+        self.u2 = 0.0
+
+        self.t = time.time()
+        self.x0 = np.zeros(3)
+
+        self.ts = np.array([0.0])
+        self.xs = np.array([[0.0, 0.0, 0.0]])
+        self.ys = []
+        self.omegas = []
+
+        self.tms_0 = None
+        self.tms = None #np.array([0.0])
+        self.xm_0 = None
+        self.xms = None #np.array([[0.0, 0.0, 0.0]])
+        self.alpha_0 = None
+        self.alphas = []
+
+        self.pos_0 = None
+        self.possx = []
+        self.possy = []
+
         if compression:
-                self.cv_image = self.bridge.compressed_imgmsg_to_cv2(data)
+           self.image_sub = rospy.Subscriber(camera_stream + "/compressed", CompressedImage, self.callback)
         else:
-                self.cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
+           self.image_sub = rospy.Subscriber(camera_stream, Image, self.callback)
-        except CvBridgeError as e:
+
-            print(e)
+        self.fig = plt.figure()
+        self.ani = anim.FuncAnimation(self.fig, init_func=self.ani_init, func=self.ani_update, interval=10, blit=True)
+
+        self.ax = self.fig.add_subplot(1,1,1)
+        self.xdata, self.ydata = [], []
+        self.line, = self.ax.plot([],[])
+        self.line_sim, = self.ax.plot([], [])
+        self.dir, = self.ax.plot([], [])
+        plt.xlabel('x-position')
+        plt.ylabel('y-position')
+
+
+
+    def ani_init(self):
+        self.ax.set_xlim(-2, 2)
+        self.ax.set_ylim(-2, 2)
+        self.ax.set_aspect('equal', adjustable='box')
+
+        return self.line, self.line_sim, self.dir,
+
+    def ani_update(self, frame):
+        self.mutex.acquire()
+        try:
+            # copy data for plot from global arrays
+            if self.tms is not None:
+                tm_local = deepcopy(self.tms)
+                xm_local = deepcopy(self.xms)
+
+            #print(len(tm_local))
+
+                if len(tm_local) > 0:
+                    self.line.set_data(xm_local[:,0], xm_local[:,1])
+
+                    a = xm_local[-1, 0]
+                    b = xm_local[-1, 0]
+
+                    a2 = a + np.cos(xm_local[-1, 2]) * 1.0
+                    b2 = b + np.sin(xm_local[-1, 2]) * 1.0
+
+                    self.dir.set_data(np.array([a, a2]), np.array([b, b2]))
+
+            ts_local = deepcopy(self.ts)
+            xs_local = deepcopy(self.xs)
+
+            if len(ts_local) > 0:
+                self.line_sim.set_data(xs_local[:,0], xs_local[:,1])
+        finally:
+            self.mutex.release()
+
+        return self.line, self.line_sim, self.dir,
+
+    def callback(self, data):
+
         #self.cv_image_small = np.fliplr(self.cv_image_small) # why is this necessary?
 
         # marker detection
@@ -84,29 +240,76 @@ class RemoteController:
 
                         #print("robot {} pos = {}".format(r.id, r.pos))
 
-    def capture(self):
+        #ret_val, self.cv_image = self.cam.read()
-        ret_val, self.cv_image = self.cam.read()
+        try:
+            if compression:
+                self.cv_image = self.bridge.compressed_imgmsg_to_cv2(data)
+            else:
+                self.cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
+        except CvBridgeError as e:
+            print(e)
 
         corners, ids, rejectedImgPoints = aruco.detectMarkers(self.cv_image, self.aruco_dict, parameters=self.parameters)
-        rvec, tvec, _ = aruco.estimatePoseSingleMarkers(corners[0], 0.05, mtx, dist)
         marker_found = len(corners) > 0
 
         if marker_found:
-            for i in range(len(corners)):
+            markers = zip(corners, ids)
-                #print("id = {}".format(ids[i]))
+            #print("found!")
-                pos = np.mean(corners[i][0], axis=0)
+            # filter markers with unknown ids
+            #print("detected markers = {}".format(markers))
+            markers_filtered = list(filter(lambda x: x[1] in self.robot_ids, markers))
+            #print("filtered markers = {}".format(markers_filtered))
+            if len(markers_filtered) > 0:
+                filtered_corners, filtered_ids = zip(*markers_filtered)
+                #print("filtered corners = {}".format(filtered_corners[0]))
+
+                rvec, tvec, _ = aruco.estimatePoseSingleMarkers(filtered_corners, 0.1, self.camera_matrix,
+                                                            self.dist_matrix)
+
+                aruco.drawDetectedMarkers(self.cv_image, filtered_corners)
+                for i in range(len(filtered_corners)):
+                    aruco.drawAxis(self.cv_image, self.camera_matrix, self.dist_matrix, rvec[i], tvec[i],
+                                   0.1)
 
                     for r in self.robots:
-                    if r.id == ids[i]:
+                        if r.id == filtered_ids[i]:
-                        pos_flipped = (self.cv_image.shape[1] - int(pos[0]), int(pos[1]))
+                            r.pos = tvec[i][0] # only x and y component are important for us
-                        r.pos = pos_flipped
+                            r.orient = rvec[i][0]
+                            r.rot_mat, r.jacobian = cv2.Rodrigues(r.orient)
+                            r.euler = rotationMatrixToEulerAngles(r.rot_mat)
+
+                            # save measured position and angle for plotting
+                            measurement = np.array([-r.pos[0], -r.pos[1], r.euler[2] + np.pi/4.0])
+                            if self.xm_0 is None:
+                                self.tms_0 = time.time()
+                                self.xm_0 = deepcopy(measurement)
+                                self.xm_0[2] = 0.0
+
+                                self.tms = np.array([self.tms_0])
+                                self.xms = measurement - self.xm_0
+                            else:
+                                self.mutex.acquire()
+                                try:
+                                    self.tms = np.vstack((self.tms, time.time() - self.tms_0))
+                                    self.xms = np.vstack((self.xms, measurement - self.xm_0))
+
+                                    if len(self.tms) == 50:
+                                        self.alpha_0 = np.mean(self.xms[:,2])
+                                finally:
+                                    self.mutex.release()
 
     def show_display(self):
+        while self.alpha_0 is None:
+            pass
+        self.x0[2] = self.alpha_0
+        print("alpha_0 = {}".format(self.alpha_0))
+        print("show_display")
         while True:
-            self.capture()
+            #self.capture()
 
             # show ros camera image on the pygame screen
-            #image = cv2.resize(self.cv_image,(screenwidth,screenheight))
+            if self.cv_image is not None:
+                image = cv2.resize(self.cv_image,(screenwidth,screenheight))
                 frame = cv2.cvtColor(self.cv_image, cv2.COLOR_BGR2RGB)
                 frame = np.rot90(frame)
                 frame = pygame.surfarray.make_surface(frame)
@@ -114,37 +317,170 @@ class RemoteController:
 
             # plot robot positions
             for r in self.robots:
-                if r.pos is not None:
+                if r.euler is not None:
+                    #print("r.pos = {}".format(r.pos))
+                    #print("r.euler = {}".format(r.euler[2]))
                     #print("drawing at {}".format(r.pos))
-                    pygame.draw.circle(screen, (255, 0, 0), r.pos, 10)
+                    #pygame.draw.circle(screen, (255, 0, 0), r.pos, 10)
+                    pass
 
             pygame.display.update()
 
+            keyboard_control = True
+            keyboard_control_speed_test = False
+            pid = False
+
+            if keyboard_control:
+                events = pygame.event.get()
+                speed = 1.0
+                for event in events:
+                    if event.type == pygame.KEYDOWN:
+                        if event.key == pygame.K_LEFT:
+                            self.u1 = speed
+                            self.u2 = -speed
+                            #print("turn left: ({},{})".format(u1, u2))
+                        elif event.key == pygame.K_RIGHT:
+                            self.u1 = -speed
+                            self.u2 = speed
+                            #print("turn right: ({},{})".format(u1, u2))
+                        elif event.key == pygame.K_UP:
+                            self.u1 = -speed
+                            self.u2 = -speed
+                            print("forward: ({},{})".format(self.u1, self.u2))
+                        elif event.key == pygame.K_DOWN:
+                            self.u1 = speed
+                            self.u2 = speed
+                            #print("forward: ({},{})".format(u1, u2))
+                        self.rc_socket.send('({},{})\n'.format(self.u1, self.u2))
+                    elif event.type == pygame.KEYUP:
+                        self.u1 = 0
+                        self.u2 = 0
+                        #print("key released, resetting: ({},{})".format(u1, u2))
+                        self.rc_socket.send('({},{})\n'.format(self.u1, self.u2))
+
+                tnew = time.time()
+                dt = tnew - self.t
+                r = scipy.integrate.ode(f_ode)
+                r.set_f_params(np.array([self.u1 * 13.32, self.u2 * 13.32]))
+
+                x = self.x0
+                r.set_initial_value(x, self.t)
+                xnew = r.integrate(r.t + dt)
+
+                self.t = tnew
+                self.x0 = xnew
+
+                self.mutex.acquire()
+                try:
+                    self.ts = np.vstack((self.ts, tnew))
+                    self.xs = np.vstack((self.xs, xnew))
+                    #self.ys.append(xnew[1])
+                    #self.omegas.append(xnew[2])
+                finally:
+                    self.mutex.release()
+                # for r in self.robots:
+                #     if r.euler is not None:
+                #         if self.alpha_0 is not None:
+                #             self.alphas.append(r.euler[2]-self.alpha_0)
+                #         else:
+                #             self.alpha_0 = r.euler[2]
+                #             self.alphas.append(0.0)
+                #     if r.pos is not None:
+                #         if self.pos_0 is not None:
+                #             self.possx.append(r.pos[0] - self.pos_0[0])
+                #             self.possy.append(r.pos[1] - self.pos_0[1])
+                #         else:
+                #             self.pos_0 = r.pos[0:2]
+                #             self.possx.append(0.0)
+                #             self.possy.append(0.0)
+
+                #print("(t,x,u) = ({},{},{})".format(tnew,xnew,[self.u1, self.u2]))
+                #time.sleep(0.1)
+
+
+            elif keyboard_control_speed_test:
                 events = pygame.event.get()
                 for event in events:
                     if event.type == pygame.KEYDOWN:
                         if event.key == pygame.K_LEFT:
-                        u1 = 1.0
+                            self.speed = self.speed / np.sqrt(np.sqrt(np.sqrt(10.0)))
-                        u2 = -1.0
-                        #print("turn left: ({},{})".format(u1, u2))
                         elif event.key == pygame.K_RIGHT:
-                        u1 = -1.0
+                            self.speed = self.speed * np.sqrt(np.sqrt(np.sqrt(10.0)))
-                        u2 = 1.0
-                        #print("turn right: ({},{})".format(u1, u2))
                         elif event.key == pygame.K_UP:
-                        u1 = -1.0
+                            u1 = self.speed
-                        u2 = -1.0
+                            u2 = -self.speed
-                        #print("forward: ({},{})".format(u1, u2))
                         elif event.key == pygame.K_DOWN:
-                        u1 = 1.0
+                            u1 = 0.0
-                        u2 = 1.0
+                            u2 = 0.0
-                        #print("forward: ({},{})".format(u1, u2))
+                        print("speed = {}".format(self.speed))
                         self.rc_socket.send('({},{})\n'.format(u1, u2))
-                elif event.type == pygame.KEYUP:
+
-                    u1 = 0
+            elif pid:
-                    u2 = 0
+                events = pygame.event.get()
-                    #print("key released, resetting: ({},{})".format(u1, u2))
+                for event in events:
+                    if event.type == pygame.KEYDOWN:
+                        if event.key == pygame.K_LEFT:
+                            self.ii = self.ii / np.sqrt(np.sqrt(np.sqrt(10.0)))
+                            print("ii = {}".format(self.pp))
+                        elif event.key == pygame.K_RIGHT:
+                            self.ii = self.ii * np.sqrt(np.sqrt(np.sqrt(10.0)))
+                            print("ii = {}".format(self.pp))
+                        elif event.key == pygame.K_UP:
+                            self.controlling = True
+                        elif event.key == pygame.K_DOWN:
+                            self.controlling = False
+                            self.rc_socket.send('({},{})\n'.format(0, 0))
+
+                dt = 0.1
+
+                #i = 0.0 # 0.001
+                if self.controlling:
+                    # test: turn robot such that angle is zero
+                    for r in self.robots:
+                        if r.euler is not None:
+                            self.k = self.k + 1
+
+                            alpha = r.euler[2]
+                            self.alphas.append(alpha)
+                            e = alpha - 0
+                            p = self.pp * e
+                            self.inc += e * dt
+                            d = 0.0
+
+                            u1 = p + self.ii * self.inc + d
+                            u2 = - p - self.ii * self.inc - d
+                            print("alpha = {}, u = ({}, {})".format(alpha, u1, u2))
                             self.rc_socket.send('({},{})\n'.format(u1, u2))
+                            time.sleep(dt)
+                # elif self.k == kmax:
+                #     u1 = u2 = 0.0
+                #     self.rc_socket.send('({},{})\n'.format(u1, u2))
+                #     self.k = self.k + 1
+                #
+                #     plt.plot(np.array(self.alphas))
+                #     plt.show()
+                pass
+
+    def calibration_sequence(self):
+        speed = 1.0
+        u1 = speed
+        u2 = speed
+        self.rc_socket.send('({},{})\n'.format(u1, u2))
+        time.sleep(4.0)
+        u1 = u2 = 0
+        self.rc_socket.send('({},{})\n'.format(u1, u2))
+        self.rc_socket.send('\n')
+
+        # test:
+        # -> 1.6 m in 4 seconds
+        # angular velocity: angle/second
+        #  1.6 / (2 * pi * 0.03)
+        # l = 1.6
+        # r = 0.03
+        # t = 4.0
+        # -> number of rotations n = l / (2 * pi * r)
+        # -> angular velocity = 2 * pi * n / t = l / (r * t)
+        # result: maximum angular velocity: omega_max = 13.32 rad/sec
 
 
 def main(args):
@@ -155,7 +491,16 @@ def main(args):
     pygame.init()
     pygame.display.set_mode((640, 480))
 
-    rc.show_display()
+    #p = multiprocessing.Process(target=rc.show_display)
+    threading.Thread(target=rc.show_display).start()
+    #p.start()
+    plt.ion()
+    plt.pause(0.01)
+    #p.join()
+    pass
+
+    #rc.show_display()
+    #rc.calibration_sequence()
         #game.loop()
 
     # try: