105 lines
3.7 KiB
Python
Executable File
105 lines
3.7 KiB
Python
Executable File
#!/usr/bin/env python3
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# Copyright (c) 2018-2022, Martin Günther (DFKI GmbH) and contributors
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# * Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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#
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# * Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in the
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# documentation and/or other materials provided with the distribution.
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#
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# * Neither the name of the the copyright holder nor the names of its
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# contributors may be used to endorse or promote products derived from
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# this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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# Author: Martin Günther
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import rospy
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from geometry_msgs.msg import Twist
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from nav_msgs.msg import Odometry
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LIN_MAX = 1.0
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ANG_MAX = 1.5 # adjust this value to the rough maximum angular velocity
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state = 'stopped'
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start = rospy.Time(0)
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def odom_cb(msg):
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global state
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twist = msg.twist.twist
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t = (rospy.Time.now() - start).to_sec()
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if state == 'wait_for_stop':
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if -0.05 < twist.linear.x < 0.05 and -0.1 < twist.angular.z < 0.1:
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state = 'stopped'
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rospy.loginfo('state transition --> %s', state)
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return
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if state == 'backward' and twist.linear.x < -0.9 * LIN_MAX:
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rospy.loginfo('backward from 0 to %f m/s in %f sec', twist.linear.x, t)
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elif state == 'forward' and twist.linear.x > 0.9 * LIN_MAX:
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rospy.loginfo('forward from 0 to %f m/s in %f sec', twist.linear.x, t)
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elif state == 'turning_clockwise' and twist.angular.z < -0.9 * ANG_MAX:
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rospy.loginfo('turning_clockwise from 0 to %f rad/s in %f sec', twist.angular.z, t)
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elif state == 'turning_counter_clockwise' and twist.angular.z > 0.9 * ANG_MAX:
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rospy.loginfo('turning_counter_clockwise from 0 to %f rad/s in %f sec', twist.angular.z, t)
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else:
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return
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state = 'wait_for_stop'
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rospy.loginfo('state transition --> %s', state)
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def cmd_vel_cb(msg):
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global state, start
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if state != 'stopped':
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return
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if msg.linear.x <= -LIN_MAX:
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start = rospy.Time.now()
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state = 'backward'
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elif msg.linear.x >= LIN_MAX:
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start = rospy.Time.now()
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state = 'forward'
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elif msg.angular.z <= -ANG_MAX:
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start = rospy.Time.now()
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state = 'turning_clockwise'
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elif msg.angular.z >= ANG_MAX:
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start = rospy.Time.now()
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state = 'turning_counter_clockwise'
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else:
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return
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rospy.loginfo('state transition --> %s', state)
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def main():
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rospy.init_node('acc_finder', anonymous=True)
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rospy.Subscriber('odom', Odometry, odom_cb)
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rospy.Subscriber('cmd_vel', Twist, cmd_vel_cb)
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rospy.loginfo('acc_finder node ready and listening. now use teleop to move your robot to the limits!')
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rospy.spin()
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if __name__ == '__main__':
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main()
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