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Finish rename of nonholonomic to ackermann, make ackermann vehicles standardized with RMF stack #49

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merged 5 commits into from
Sep 9, 2021
Merged

Finish rename of nonholonomic to ackermann, make ackermann vehicles standardized with RMF stack #49

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89de581
Nonholonomic vehicles now report their state
luca-della-vedova Sep 7, 2021
4bc3c46
Cleanup and change nonholonomic to ackermann
luca-della-vedova Sep 7, 2021
3e638fb
Minor cleanup, style
luca-della-vedova Sep 7, 2021
2fcbd61
Merge branch 'main' into feataure/nonholonomic_state
ddengster Sep 7, 2021
de0f865
Address feedback
luca-della-vedova Sep 8, 2021
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44 changes: 24 additions & 20 deletions rmf_robot_sim_common/include/rmf_robot_sim_common/slotcar_common.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -37,9 +37,9 @@ namespace rmf_robot_sim_common {
// TODO migrate ign-math-eigen conversions when upgrading to ign-math5

//3rd coordinate is yaw
struct NonHolonomicTrajectory
struct AckermannTrajectory
{
NonHolonomicTrajectory(const Eigen::Vector2d& _x0, const Eigen::Vector2d& _x1,
AckermannTrajectory(const Eigen::Vector2d& _x0, const Eigen::Vector2d& _x1,
const Eigen::Vector2d& _v1 = Eigen::Vector2d(0, 0),
bool _turning = false)
: x0(_x0), x1(_x1),
Expand Down Expand Up @@ -130,6 +130,13 @@ enum class SteeringType
class SlotcarCommon
{
public:
typedef struct UpdateResult
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{
double v = 0.0; // Target displacement in X (forward)
double w = 0.0; // Target displacement in yaw
double speed = 0.0; // Target speed
} UpdateResult;

SlotcarCommon();

rclcpp::Logger logger() const;
Expand All @@ -143,13 +150,10 @@ class SlotcarCommon

void init_ros_node(const rclcpp::Node::SharedPtr node);

std::pair<double, double> update(const Eigen::Isometry3d& pose,
UpdateResult update(const Eigen::Isometry3d& pose,
const std::vector<Eigen::Vector3d>& obstacle_positions,
const double time);

std::pair<double, double> update_nonholonomic(Eigen::Isometry3d& pose,
double& target_linear_velocity);

bool emergency_stop(const std::vector<Eigen::Vector3d>& obstacle_positions,
const Eigen::Vector3d& current_heading);

Expand All @@ -164,20 +168,10 @@ class SlotcarCommon
const std::pair<double, double>& displacements,
const double dt) const;

std::array<double, 2> calculate_model_control_signals(
const std::array<double, 2>& curr_velocities,
const std::pair<double, double>& displacements,
const double dt,
const double target_linear_velocity = 0.0) const;

void charge_state_cb(const std::string& name, bool selected);

void publish_robot_state(const double time);

SteeringType get_steering_type() const;

bool is_ackermann_steered() const;

private:
// Paramters needed for power dissipation and charging calculations
// Default values may be overriden using values from sdf file
Expand Down Expand Up @@ -218,15 +212,14 @@ class SlotcarCommon

std::vector<Eigen::Isometry3d> trajectory;
std::size_t _traj_wp_idx = 0;
std::vector<NonHolonomicTrajectory> nonholonomic_trajectory;
std::size_t _nonholonomic_traj_idx = 0;
std::vector<AckermannTrajectory> ackermann_trajectory;
std::size_t _ackermann_traj_idx = 0;

rmf_fleet_msgs::msg::PauseRequest pause_request;

std::vector<rclcpp::Time> _hold_times;

std::mutex _mutex;
std::mutex _ackmann_path_req_mutex;

std::string _model_name;
bool _emergency_stop = false;
Expand Down Expand Up @@ -317,7 +310,10 @@ class SlotcarCommon

void path_request_cb(const rmf_fleet_msgs::msg::PathRequest::SharedPtr msg);

void ackmann_path_request_cb(
void diff_drive_path_request_cb(
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const rmf_fleet_msgs::msg::PathRequest::SharedPtr msg);

void ackermann_path_request_cb(
const rmf_fleet_msgs::msg::PathRequest::SharedPtr msg);

void pause_request_cb(const rmf_fleet_msgs::msg::PauseRequest::SharedPtr msg);
Expand All @@ -326,6 +322,14 @@ class SlotcarCommon

void map_cb(const rmf_building_map_msgs::msg::BuildingMap::SharedPtr msg);

UpdateResult update_diff_drive(const Eigen::Isometry3d& pose,
const std::vector<Eigen::Vector3d>& obstacle_positions,
const double time);

UpdateResult update_ackermann(const Eigen::Isometry3d& pose,
const std::vector<Eigen::Vector3d>& obstacle_positions,
const double time);

bool near_charger(const Eigen::Isometry3d& pose) const;

double compute_charge(const double run_time) const;
Expand Down
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