From 81667c67d932997b93d9e3d71e8673f540b25fd3 Mon Sep 17 00:00:00 2001
From: pateman16 <patrickkarlsson16@gmail.com>
Date: Tue, 1 May 2018 09:44:20 +0200
Subject: [PATCH] minor
---
action/gotoposition_sensor.action | 8 ++
...utonomous_offboard_coverage_descend.launch | 9 ++
.../autonomous_offboard_gotopos_sensor.launch | 6 +
.../autonomous_offboard_vel_square.launch | 6 +
.../action_controllerGotopos_sensor.py | 37 ++++++
.../action_controller_coverage_descend.py | 107 ++++++++++++++++++
src/scripts/action_controller_pid_square.py | 63 +++++++++++
src/scripts/gotoposition_sensor_server.py | 94 +++++++++++++++
src/scripts/object-detection.pbtxt | 8 ++
src/scripts/object_detection/__init__.pyc | Bin 0 -> 174 bytes
.../object_detection/core/__init__.pyc | Bin 0 -> 179 bytes
.../object_detection/core/standard_fields.pyc | Bin 0 -> 9726 bytes
.../object_detection/protos/__init__.pyc | Bin 0 -> 181 bytes
.../protos/string_int_label_map_pb2.pyc | Bin 0 -> 3615 bytes
.../object_detection/utils/__init__.pyc | Bin 0 -> 180 bytes
.../object_detection/utils/label_map_util.pyc | Bin 0 -> 6552 bytes
.../utils/visualization_utils.pyc | Bin 0 -> 24963 bytes
src/scripts/stuff/__init__.pyc | Bin 0 -> 163 bytes
src/scripts/stuff/helper.pyc | Bin 0 -> 9279 bytes
19 files changed, 338 insertions(+)
create mode 100755 action/gotoposition_sensor.action
create mode 100644 src/launch/autonomous_offboard_coverage_descend.launch
create mode 100644 src/launch/autonomous_offboard_gotopos_sensor.launch
create mode 100644 src/launch/autonomous_offboard_vel_square.launch
create mode 100755 src/scripts/action_controllerGotopos_sensor.py
create mode 100755 src/scripts/action_controller_coverage_descend.py
create mode 100755 src/scripts/action_controller_pid_square.py
create mode 100755 src/scripts/gotoposition_sensor_server.py
create mode 100755 src/scripts/object-detection.pbtxt
create mode 100644 src/scripts/object_detection/__init__.pyc
create mode 100644 src/scripts/object_detection/core/__init__.pyc
create mode 100644 src/scripts/object_detection/core/standard_fields.pyc
create mode 100644 src/scripts/object_detection/protos/__init__.pyc
create mode 100644 src/scripts/object_detection/protos/string_int_label_map_pb2.pyc
create mode 100644 src/scripts/object_detection/utils/__init__.pyc
create mode 100644 src/scripts/object_detection/utils/label_map_util.pyc
create mode 100644 src/scripts/object_detection/utils/visualization_utils.pyc
create mode 100644 src/scripts/stuff/__init__.pyc
create mode 100644 src/scripts/stuff/helper.pyc
diff --git a/action/gotoposition_sensor.action b/action/gotoposition_sensor.action
new file mode 100755
index 0000000..cacbd29
--- /dev/null
+++ b/action/gotoposition_sensor.action
@@ -0,0 +1,8 @@
+#goal definition
+geometry_msgs/PoseStamped destination
+---
+#result definition
+std_msgs/String data
+---
+#feedback
+geometry_msgs/PoseStamped current_position
diff --git a/src/launch/autonomous_offboard_coverage_descend.launch b/src/launch/autonomous_offboard_coverage_descend.launch
new file mode 100644
index 0000000..8be0a7c
--- /dev/null
+++ b/src/launch/autonomous_offboard_coverage_descend.launch
@@ -0,0 +1,9 @@
+<launch>
+ <node name="position_control" pkg="autonomous_offboard" type="position_control.py" output="screen" />
+ <node name="action_controller_coverage_descend" pkg="autonomous_offboard" type="action_controller_coverage_descend.py" output="screen" />
+ <node name="goto_position_server" pkg="autonomous_offboard" type="goto_position_server.py" output="screen" />
+ <node name="goto_position_vel_server" pkg="autonomous_offboard" type="goto_position_vel_server.py" output="screen" />
+ <node name="tensorflow_detection" pkg="autonomous_offboard" type="tensorflow_hw_mvBlueFox_detection.py" output="screen" />
+ <node name="descend_on_object_server" pkg="autonomous_offboard" type="descend_on_object_server.py" output="screen" />
+ <node name="obstacle_detection_control" pkg="autonomous_offobard" type="obstacle_detection_control.py" output="screen" />
+</launch>
diff --git a/src/launch/autonomous_offboard_gotopos_sensor.launch b/src/launch/autonomous_offboard_gotopos_sensor.launch
new file mode 100644
index 0000000..7a9b4f9
--- /dev/null
+++ b/src/launch/autonomous_offboard_gotopos_sensor.launch
@@ -0,0 +1,6 @@
+<launch>
+ <node name="position_control" pkg="autonomous_offboard" type="position_control.py" output="screen" />
+ <node name="action_controllerGotopos_sensor" pkg="autonomous_offboard" type="action_controllerGotopos_sensor.py" output="screen" />
+ <node name="goto_position_server" pkg="autonomous_offboard" type="goto_position_server.py" output="screen" />
+ <node name="gotoposition_sensor_server" pkg="autonomous_offboard" type="gotoposition_sensor_server.py" output="screen" />
+</launch>
diff --git a/src/launch/autonomous_offboard_vel_square.launch b/src/launch/autonomous_offboard_vel_square.launch
new file mode 100644
index 0000000..9602a07
--- /dev/null
+++ b/src/launch/autonomous_offboard_vel_square.launch
@@ -0,0 +1,6 @@
+<launch>
+ <node name="position_control" pkg="autonomous_offboard" type="position_control.py" output="screen" />
+ <node name="action_controller_pid_square" pkg="autonomous_offboard" type="action_controller_pid_square.py" output="screen" />
+ <node name="goto_position_server" pkg="autonomous_offboard" type="goto_position_server.py" output="screen" />
+ <node name="goto_position_vel_server" pkg="autonomous_offboard" type="goto_position_vel_server.py" output="screen" />
+</launch>
diff --git a/src/scripts/action_controllerGotopos_sensor.py b/src/scripts/action_controllerGotopos_sensor.py
new file mode 100755
index 0000000..5a7ee96
--- /dev/null
+++ b/src/scripts/action_controllerGotopos_sensor.py
@@ -0,0 +1,37 @@
+#!/usr/bin/env python
+import roslib
+#roslib.load_manifest('autonomous_offboard')
+import rospy
+import actionlib
+import mavros_state
+import time
+
+from autonomous_offboard.msg import center_on_objectAction, center_on_objectGoal, descend_on_objectAction, descend_on_objectGoal, detect_objectAction, detect_objectGoal,goto_position_velAction, goto_position_velGoal, goto_positionAction, goto_positionGoal, short_grippersAction, short_grippersGoal, long_grippersAction, long_grippersGoal, coverageAction, coverageGoal, gotoposition_sensorAction , gotoposition_sensorGoal
+
+from std_msgs.msg import Float32
+from geometry_msgs.msg import PoseStamped
+
+if __name__ == '__main__':
+ rospy.init_node('action_controllerGotopos_sensor')
+ gotoposition_sensor_client = actionlib.SimpleActionClient('gotoposition_sensor', gotoposition_sensorAction)
+ gotoposition_sensor_client.wait_for_server()
+ gotoposition_sensor_goal = gotoposition_sensorGoal()
+ mv_state = mavros_state.mavros_state()
+ print 'Setting offboard'
+ mv_state.set_mode('OFFBOARD')
+ print 'Arming vehicle'
+ mv_state.arm(True)
+ rospy.loginfo("Taking off")
+ time.sleep(10)
+
+ rospy.loginfo("First position")
+ gotoposition_sensor_goal.destination.pose.position.x = 2
+ gotoposition_sensor_goal.destination.pose.position.y = 0
+ gotoposition_sensor_goal.destination.pose.position.z = 3
+ gotoposition_sensor_client.send_goal(gotoposition_sensor_goal)
+ gotoposition_sensor_client.wait_for_result()
+
+
+ time.sleep(10)
+
+ mv_state.land(0.0)
diff --git a/src/scripts/action_controller_coverage_descend.py b/src/scripts/action_controller_coverage_descend.py
new file mode 100755
index 0000000..2709bb5
--- /dev/null
+++ b/src/scripts/action_controller_coverage_descend.py
@@ -0,0 +1,107 @@
+#!/usr/bin/env python
+
+import roslib
+#roslib.load_manifest('autonomous_offboard')
+import rospy
+import actionlib
+import mavros_state
+import time
+
+from autonomous_offboard.msg import center_on_objectAction, center_on_objectGoal, descend_on_objectAction, descend_on_objectGoal, detect_objectAction, detect_objectGoal,goto_position_velAction, goto_position_velGoal, goto_positionAction, goto_positionGoal, short_grippersAction, short_grippersGoal, long_grippersAction, long_grippersGoal, coverageAction, coverageGoal
+
+from std_msgs.msg import Float32
+from geometry_msgs.msg import PoseStamped
+
+if __name__ == '__main__':
+ rospy.init_node('action_controller_coverage_descend')
+ goto_position_vel_client = actionlib.SimpleActionClient('goto_position_vel', goto_position_velAction)
+ goto_position_vel_client.wait_for_server()
+ goto_position_vel_goal = goto_position_velGoal()
+ mv_state = mavros_state.mavros_state()
+ print 'Setting offboard'
+ mv_state.set_mode('OFFBOARD')
+ print 'Arming vehicle'
+ mv_state.arm(True)
+ rospy.loginfo("Taking off")
+ time.sleep(10)
+
+ coverage_client = actionlib.SimpleActionClient('coverage', coverageAction)
+ coverage_client.wait_for_server()
+ coverage_goal = coverageGoal()
+ coverage_goal.destination.pose.position.x = 5
+ coverage_goal.destination.pose.position.y = 0
+ coverage_goal.destination.pose.position.z = 5
+ coverage_client.send_goal(coverage_goal)
+ coverage_client.wait_for_result()
+ res = PoseStamped()
+ res = coverage_client.get_result().detected_object_pos
+ rospy.loginfo("Detected object is at position (x,y,z)=({}, {}, {})".format(
+ res.pose.position.x,
+ res.pose.position.y,
+ res.pose.position.z))
+ if res.pose.position.x == float("inf"):
+ rospy.loginfo("ABORT no object detected. going home")
+ mv_state.land(0.0)
+ mv_state.arm(False)
+ else:
+ rospy.loginfo("Going to detected position")
+ goto_position_vel_goal.destination.pose.position.x = coverage_client.get_result().detected_object_pos.pose.position.x
+ goto_position_vel_goal.destination.pose.position.y = coverage_client.get_result().detected_object_pos.pose.position.y
+ goto_position_vel_goal.destination.pose.position.z = coverage_client.get_result().detected_object_pos.pose.position.z
+ goto_position_vel_client.send_goal(goto_position_goal)
+ goto_position_vel_client.wait_for_result()
+ rospy.loginfo("Is at position (x,y,z)=({}, {}, {})".format(coverage_client.get_result().detected_object_pos.pose.position.x,
+ coverage_client.get_result().detected_object_pos.pose.position.y,
+ coverage_client.get_result().detected_object_pos.pose.position.z))
+
+ rospy.loginfo("Descending on object")
+ descend_on_object_client = actionlib.SimpleActionClient('descend_on_object', descend_on_objectAction)
+ descend_on_object_client.wait_for_server()
+ rospy.loginfo("Descending server started")
+ descend_on_object_goal = descend_on_objectGoal()
+ descend_on_objectGoal = 2.0
+ descend_on_object_client.send_goal(descend_on_object_goal)
+ descend_on_object_client.wait_for_result()
+ if descend_on_object_client.get_result().position_reached.data:
+ print("landing")
+ mv_state.arm(False)
+ else:
+ rospy.loginfo("Couldnt land exiting")
+
+ time.sleep(3)
+
+ print 'Setting offboard'
+ mv_state.set_mode('OFFBOARD')
+ print 'Arming vehicle'
+ mv_state.arm(True)
+
+ time.sleep(5)
+
+ rospy.loginfo("Takeoff")
+ goto_position_goal.destination.pose.position.x = 0
+ goto_position_goal.destination.pose.position.y = 0
+ goto_position_goal.destination.pose.position.z = 3
+ goto_position_client.send_goal(goto_position_goal)
+ goto_position_client.wait_for_result()
+
+ time.sleep(5)
+
+ rospy.loginfo("Going Home")
+ goto_position_goal.destination.pose.position.x = -5
+ goto_position_goal.destination.pose.position.y = 0
+ goto_position_goal.destination.pose.position.z = 3
+ goto_position_client.send_goal(goto_position_goal)
+ goto_position_client.wait_for_result()
+
+ time.sleep(5)
+
+ rospy.loginfo("Landing")
+ goto_position_vel_goal.destination.pose.position.x = 0
+ goto_position_vel_goal.destination.pose.position.y = 0
+ goto_position_vel_goal.destination.pose.position.z = -0.1
+ goto_position_vel_client.send_goal(goto_position_vel_goal)
+ goto_position_vel_client.wait_for_result()
+ rospy.loginfo("Trying to land, 10 second sleep")
+ time.sleep(10)
+
+ mv_state.arm(False)
diff --git a/src/scripts/action_controller_pid_square.py b/src/scripts/action_controller_pid_square.py
new file mode 100755
index 0000000..c66f2c6
--- /dev/null
+++ b/src/scripts/action_controller_pid_square.py
@@ -0,0 +1,63 @@
+#!/usr/bin/env python
+import roslib
+#roslib.load_manifest('autonomous_offboard')
+import rospy
+import actionlib
+import mavros_state
+import time
+
+from autonomous_offboard.msg import center_on_objectAction, center_on_objectGoal, descend_on_objectAction, descend_on_objectGoal, detect_objectAction, detect_objectGoal,goto_position_velAction, goto_position_velGoal, goto_positionAction, goto_positionGoal, short_grippersAction, short_grippersGoal, long_grippersAction, long_grippersGoal, coverageAction, coverageGoal
+
+from std_msgs.msg import Float32
+from geometry_msgs.msg import PoseStamped
+
+if __name__ == '__main__':
+ rospy.init_node('action_controller_pid_square')
+ goto_position_vel_client = actionlib.SimpleActionClient('goto_position_vel', goto_position_velAction)
+ goto_position_vel_client.wait_for_server()
+ goto_position_vel_goal = goto_position_velGoal()
+ mv_state = mavros_state.mavros_state()
+ print 'Setting offboard'
+ mv_state.set_mode('OFFBOARD')
+ print 'Arming vehicle'
+ mv_state.arm(True)
+ rospy.loginfo("Taking off")
+ time.sleep(10)
+
+ rospy.loginfo("First position")
+ goto_position_vel_goal.destination.pose.position.x = 5
+ goto_position_vel_goal.destination.pose.position.y = 0
+ goto_position_vel_goal.destination.pose.position.z = 3
+ goto_position_vel_client.send_goal(goto_position_vel_goal)
+ goto_position_vel_client.wait_for_result()
+
+ time.sleep(10)
+
+ rospy.loginfo("Second position")
+ goto_position_vel_goal.destination.pose.position.x = 0
+ goto_position_vel_goal.destination.pose.position.y = -5
+ goto_position_vel_goal.destination.pose.position.z = 3
+ goto_position_vel_client.send_goal(goto_position_vel_goal)
+ goto_position_vel_client.wait_for_result()
+
+ time.sleep(10)
+
+ rospy.loginfo("Third position")
+ goto_position_vel_goal.destination.pose.position.x = -5
+ goto_position_vel_goal.destination.pose.position.y = 0
+ goto_position_vel_goal.destination.pose.position.z = 3
+ goto_position_vel_client.send_goal(goto_position_vel_goal)
+ goto_position_vel_client.wait_for_result()
+
+ time.sleep(10)
+
+ rospy.loginfo("Fourth position")
+ goto_position_vel_goal.destination.pose.position.x = 0
+ goto_position_vel_goal.destination.pose.position.y = 5
+ goto_position_vel_goal.destination.pose.position.z = 3
+ goto_position_vel_client.send_goal(goto_position_vel_goal)
+ goto_position_vel_client.wait_for_result()
+
+ time.sleep(10)
+
+ mv_state.land(0.0)
diff --git a/src/scripts/gotoposition_sensor_server.py b/src/scripts/gotoposition_sensor_server.py
new file mode 100755
index 0000000..213939b
--- /dev/null
+++ b/src/scripts/gotoposition_sensor_server.py
@@ -0,0 +1,94 @@
+#!/usr/bin/env python
+import rospy
+import actionlib
+import math
+import tf
+import numpy
+import time
+import autonomous_offboard.msg
+from std_msgs.msg import Bool, String, Float32, Float64
+from geometry_msgs.msg import PoseStamped, Quaternion
+
+
+
+
+
+
+class gotoposition_sensor_server():
+ def __init__(self):
+
+ #---------------Variables---------------#
+
+ self.local_pose = PoseStamped()
+ self.avoid_pose = PoseStamped()
+ self.goal_pose = PoseStamped()
+ self.distance = Float32()
+ self.yaw = Float32()
+
+
+ #---------------Publishers---------------#
+ self.pose_control = rospy.Publisher('/position_control/set_position', PoseStamped, queue_size=10)
+ self.mode_control = rospy.Publisher('/position_control/set_mode', String, queue_size=10)
+ self.vel_control = rospy.Publisher('/position_control/set_velocity', PoseStamped, queue_size=10)
+ self.velpose_control = rospy.Publisher('/position_control/set_velocityPose',PoseStamped,queue_size=10)
+
+ # ---------------Subscribers---------------#
+
+ rospy.Subscriber('/position_control/distance', Bool, self.distance_reached_cb)
+ rospy.Subscriber('/position_control/Real_pose', PoseStamped, self._Real_pose_callback)
+ rospy.Subscriber('/position_control/set_mode', String, self.set_mode_callback)
+ rospy.Subscriber('/position_control/Yawangle', Float32, self.yaw_callback)
+
+ # ---------------Start---------------#
+ self.rate = rospy.Rate(20)
+ self.action_server = actionlib.SimpleActionServer('gotoposition_sensor', autonomous_offboard.msg.gotoposition_sensorAction,
+ execute_cb=self.execute_cb, auto_start=False)
+ self.action_server.start()
+
+ def execute_cb(self, goal):
+
+ #Set the orientation before start in position mode.
+ self.mode_control.publish('velposctr')
+ Azimut = math.atan2(goal.destination.pose.position.y - self.Real_pose.pose.position.y,
+ goal.destination.pose.position.x - self.Real_pose.pose.position.x)
+ quaternion = tf.transformations.quaternion_from_euler(0, 0, Azimut)
+ goal.destination.pose.orientation.x = quaternion[0]
+ goal.destination.pose.orientation.y = quaternion[1]
+ goal.destination.pose.orientation.z = quaternion[2]
+ goal.destination.pose.orientation.w = quaternion[3]
+ self.goal_pose = goal.destination
+ self.velpose_control.publish(goal.destination)
+
+
+ while not self.target_reached:
+ self.rate.sleep()
+
+ rospy.loginfo("Destination reached")
+ self.action_server.set_succeeded()
+
+
+
+ def distance_reached_cb(self, data):
+ self.target_reached = data.data
+
+ def _Real_pose_callback(self, data):
+ self.Real_pose = data
+
+
+ def set_mode_callback(self, data):
+ self.current_mode = data
+
+
+ def yaw_callback(self,data):
+ self.yaw = data
+
+
+
+
+if __name__ == '__main__':
+ try:
+
+ rospy.init_node('gotoposition_sensor_server')
+ gotoposition_sensor_server()
+ except rospy.ROSInterruptException:
+ pass
diff --git a/src/scripts/object-detection.pbtxt b/src/scripts/object-detection.pbtxt
new file mode 100755
index 0000000..e4b0964
--- /dev/null
+++ b/src/scripts/object-detection.pbtxt
@@ -0,0 +1,8 @@
+item{
+ id: 1
+ name: 'UAVFrame'
+}
+item{
+ id: 2
+ name: 'UAVCenter'
+}
diff --git a/src/scripts/object_detection/__init__.pyc b/src/scripts/object_detection/__init__.pyc
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GitLab