outcomes from the hacking

Author: Rezenders

dockerfiles/ignition-foxy-hackathon-dev/Dockerfile

@@ -1,4 +1,4 @@
-FROM rezenders/ignition:hackathon
+FROM rezenders/ignition:hackathon-nvidia
 
 COPY . /home/docker/tudelft_hackathon_ws/src/tudelft_hackathon/
 RUN [ "/bin/bash","-c","export MAKEFLAGS='-j 1' \

launch/bluerov_bringup.launch.py

@@ -65,7 +65,7 @@ def generate_launch_description():
 
     agent_node = Node(
         package='tudelft_hackathon',
-        executable='bluerov_agent.py',
+        executable='potential_avoidance.py',
         output='screen'
     )
 
@@ -102,7 +102,7 @@ def generate_launch_description():
             package='ping360_sonar',
             executable='ping360_node',
             parameters=[{
-                'angle_sector' : 180,
+                'angle_sector' : 90,
                 'connection_type': 'udp',
                 'udp_address': '192.168.2.2',
                 'udp_port': 9092,

launch/bluerov_bringup_no_ign.launch.py

@@ -65,7 +65,7 @@ def generate_launch_description():
 
     agent_node = Node(
         package='tudelft_hackathon',
-        executable='bluerov_agent.py',
+        executable='potential_avoidance.py',
         output='screen'
     )
 

scripts/potential_avoidance.py

@@ -11,7 +11,7 @@
 from mavros_wrapper.ardusub_wrapper import *
 
 def laser_scan_cb(msg, ardusub):
-    forward_speed = 0.3 # Maximum forward velocity
+    forward_speed = 1 # Maximum forward velocity
 
     # TODO: Do something with the sonar msg in order to make the robot not
     # crash into the walls
@@ -42,35 +42,36 @@ def laser_scan_cb(msg, ardusub):
     # set some gains
     k_p = 1/sum_potentials_angles
     # k_p = 1/sum_potentials_x
-    k_phi = -0.5
+    k_phi = -2
 
     # Function for computing the new velocity vector
     potential_velocity(forward_speed,(p),k_p,k_phi)
 
 def potential_velocity(max_vel,p,K_p,K_phi):
     """
-    This function sends velocity commands to ardusub according to 
-    the maximum velocity set for the robot 
+    This function sends velocity commands to ardusub according to
+    the maximum velocity set for the robot
     and a potential repulsive field generated by an obstacle
     Parameters:
 
     -max_vel: maximum forward velocity (without obstacles)
     -p: (px,py) values generated by the potential field in the x and y axis, respectively
     -K_p: gain that regulates linear velocity
     -K_phi: gain that regulates angular velocity
-    
+
     """
     p_x,p_y = p
     forward_vel = max_vel - K_p * p_x
     # compute the angle between linear velocity and vy generated by potential obstacles
     yaw_vel = K_phi*np.arctan(float(- K_p * p_y/forward_vel))
-        
+
     # Write velocities in channels
-    # The previous values should be between -1 and 1. 
+    # The previous values should be between -1 and 1.
     ardusub.toogle_rc_override(True) # start overriding RC
     ardusub.set_rc_override_channels(forward=forward_vel, yaw = yaw_vel) # set values to override
     print("forward_vel : ",forward_vel)
     print("yaw_vel : ",yaw_vel)
+    print("kp : ",K_p)
 
 if __name__ == '__main__':
     print("Starting wall avoidance. Let's swim!")
@@ -106,7 +107,7 @@ def potential_velocity(max_vel,p,K_p,K_phi):
 
     # Sonar subscriber
     laser_subscriber = ardusub.create_subscription(
-        LaserScan, '/scan', (lambda msg: laser_scan_cb(msg, ardusub)), 10)
+        LaserScan, '/scan', (lambda msg: laser_scan_cb(msg, ardusub)), 20)
 
     rate = ardusub.create_rate(2)
     try:

scripts/random_wall_avoidance.py

@@ -10,9 +10,9 @@
 from mavros_wrapper.ardusub_wrapper import *
 
 def laser_scan_cb(msg, ardusub):
-    min_distance = 1.25
+    min_distance = 1.5
     yaw_speed = 0.3
-    forward_speed = 0.12
+    forward_speed = 0.15
     allGreater = True
     for scan in msg.ranges:
         if scan < min_distance:
@@ -23,7 +23,7 @@ def laser_scan_cb(msg, ardusub):
                 yaw=_yaw_speed)
             break
     if allGreater:
-        ardusub.set_rc_override_channels(throttle=0, pitch=0, forward=forward_speed)
+        ardusub.set_rc_override_channels(forward=forward_speed)
 
 
 if __name__ == '__main__':
@@ -53,7 +53,7 @@ def laser_scan_cb(msg, ardusub):
     print("Initializing mission")
 
     ardusub.toogle_rc_override(True)
-    ardusub.set_rc_override_channels(throttle=0.0, pitch=0.0, forward=0.12)
+    ardusub.set_rc_override_channels(forward=0.35)
 
     laser_subscriber = ardusub.create_subscription(
         LaserScan, '/scan', (lambda msg: laser_scan_cb(msg, ardusub)), 10)