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| #!/usr/local/bin/python | |
| import rospy | |
| import tf | |
| from sensor_msgs.msg import Joy | |
| from geometry_msgs.msg import Twist | |
| from crazyflie_driver.srv import UpdateParams | |
| from crazyflie_driver.msg import GenericLogData | |
| from crazyflie_driver.msg import FullControl | |
| from std_srvs.srv import Empty | |
| from geometry_msgs.msg import PoseStamped | |
| from numpy import * | |
| from math import radians | |
| LOOP_RATE = 30 # Hz | |
| # command pos: 0b111 | |
| # command vel: 0b011 | |
| # command acc: 0b001 | |
| XMODE = 0b111 | |
| YMODE = 0b111 | |
| ZMODE = 0b111 | |
| # I suggest starting by commanding the accelerations on all axes (0b001, 0b001, 0b001) | |
| # Then command x and y velocity, and z position so it holds the height (0b011, 0b011, 0b111) | |
| # Then command all positions (0b111, 0b111, 0b111) | |
| class Controller(): | |
| def __init__(self, name, joy_topic, frame, worldFrame): | |
| self._name = name | |
| self._frame = frame | |
| self._worldFrame = worldFrame | |
| self._state = [0,0,0,0,0,0] | |
| self._sensor = [0] | |
| self._home = [0,0,0] | |
| self._buttons = None | |
| self._cmd = FullControl() | |
| self._cmd.enable = False | |
| self._cmd.xmode = XMODE | |
| self._cmd.ymode = YMODE | |
| self._cmd.zmode = ZMODE | |
| self._cmd.x = [0,0,0] | |
| self._cmd.y = [0,0,0] | |
| self._cmd.z = [0,0,0] | |
| self._cmd.yaw = [0,0] | |
| rospy.wait_for_service('update_params') | |
| self._update_params = rospy.ServiceProxy('update_params', UpdateParams) | |
| rospy.set_param("ctrlr/coll_fairness", 0) | |
| rospy.set_param("ctrlr/mixing_factor", 1.0) | |
| rospy.set_param("ctrlr/tau_xy", 0.3) | |
| rospy.set_param("ctrlr/zeta_xy", 0.85) | |
| rospy.set_param("ctrlr/tau_z", 0.3) | |
| rospy.set_param("ctrlr/zeta_z", 0.85) | |
| rospy.set_param("ctrlr/tau_rp", 0.25) | |
| rospy.set_param("ctrlr/tau_rp_rate", 0.015) | |
| rospy.set_param("ctrlr/tau_yaw_rate", 0.0075) | |
| rospy.set_param("ctrlr/coll_min", 5) | |
| rospy.set_param("ctrlr/coll_max", 15) | |
| rospy.set_param("ctrlr/omega_rp_max", 30) | |
| rospy.set_param("ctrlr/omega_yaw_max", 10) | |
| rospy.set_param("ctrlr/igain_yaw", 0.01) | |
| rospy.set_param("ctrlr/imax_yaw", 3.14) | |
| rospy.set_param("ctrlr/igain_rate", 0) | |
| self._update_params(["ctrlr/coll_fairness", | |
| "ctrlr/tau_xy", | |
| "ctrlr/zeta_xy", | |
| "ctrlr/tau_z", | |
| "ctrlr/zeta_z", | |
| "ctrlr/tau_rp", | |
| "ctrlr/mixing_factor", | |
| "ctrlr/tau_rp_rate", | |
| "ctrlr/tau_yaw_rate", | |
| "ctrlr/coll_min", | |
| "ctrlr/coll_max", | |
| "ctrlr/omega_rp_max", | |
| "ctrlr/omega_yaw_max", | |
| "ctrlr/igain_yaw", | |
| "ctrlr/imax_yaw", | |
| "ctrlr/igain_rate"]) | |
| self._control_pub = rospy.Publisher("full_control", FullControl, queue_size=1, latch=True) | |
| rospy.Subscriber(joy_topic, Joy, self._joyChanged) | |
| rospy.Subscriber('/{}/measured'.format(name), GenericLogData, self._stateChanged) | |
| rospy.loginfo("Controller initialized for {}".format(name)) | |
| def run(self): | |
| rate = rospy.Rate(LOOP_RATE) | |
| while not rospy.is_shutdown(): | |
| rate.sleep() | |
| self._control_pub.publish(self._cmd) | |
| def _joyChanged(self, data): | |
| for i in range(0, len(data.buttons)): | |
| if self._buttons == None or data.buttons[i] != self._buttons[i]: | |
| if i==0 and data.buttons[i] == 1: | |
| self._cmd.enable = False | |
| rospy.loginfo("Disabled!") | |
| if i==2 and data.buttons[i] == 1: | |
| self._cmd.enable = True | |
| self._home = [self._state[0], self._state[1], self._state[2]] | |
| rospy.loginfo("Enabled!") | |
| if i==8 and data.buttons[i] == 1: | |
| self._cmd.yaw = [self._cmd.yaw[0]-pi/4, 0] | |
| rospy.loginfo("Yaw={}".format(int(self._cmd.yaw[0]*180/pi))) | |
| if i==9 and data.buttons[i] == 1: | |
| self._cmd.yaw = [self._cmd.yaw[0]+pi/4, 0] | |
| rospy.loginfo("Yaw={}".format(int(self._cmd.yaw[0]*180/pi))) | |
| if i == 11 and data.buttons[i] == 1: | |
| rospy.loginfo("resetEstimation = {}".format(data.buttons[i])) | |
| rospy.set_param("kalman/resetEstimation", data.buttons[i]) | |
| self._update_params(["kalman/resetEstimation"]) | |
| self._buttons = data.buttons | |
| # When commanding acceleration, joystick commands are converted to accelerations | |
| # When commanding velocity, joystick commands are converted to velocities | |
| # When commanding position, joystick commands are converted to a position on a square centered at the takeoff position, and with side length +/- 2 meters from the center. | |
| if XMODE==0: | |
| self._cmd.x = [0,0,0] | |
| elif XMODE==0b001: | |
| self._cmd.x = [0,0,5*data.axes[1]] | |
| elif XMODE==0b010 or XMODE==0b011: | |
| self._cmd.x = [0,3*data.axes[1],0] | |
| else: | |
| self._cmd.x = [self._home[0]+2*data.axes[1],0,0] | |
| if YMODE==0: | |
| self._cmd.y = [0,0,0] | |
| elif YMODE==0b001: | |
| self._cmd.y = [0,0,5*data.axes[0]] | |
| elif YMODE==0b010 or YMODE==0b011: | |
| self._cmd.y = [0,3*data.axes[0],0] | |
| else: | |
| self._cmd.y = [self._home[1]+2*data.axes[0],0,0] | |
| if ZMODE==0: | |
| self._cmd.z = [0,0,0] | |
| elif ZMODE==0b001: | |
| self._cmd.z = [0,0,5*data.axes[3]] | |
| elif ZMODE==0b010 or ZMODE==0b011: | |
| self._cmd.z = [0,3*data.axes[3],0] | |
| else: | |
| self._cmd.z = [data.axes[3]+1,0,0] | |
| def _stateChanged(self, state): | |
| self._state = list(state.values) | |
| br = tf.TransformBroadcaster() | |
| x, y, z, roll, pitch, yaw = self._state | |
| br.sendTransform( | |
| (x, y, z), | |
| tf.transformations.quaternion_from_euler(radians(roll), -radians(pitch), radians(yaw)), | |
| rospy.Time.now(), | |
| '{}'.format(self._frame), | |
| self._worldFrame) | |
| if __name__ == '__main__': | |
| rospy.init_node('crazyflie_controller', anonymous=True) | |
| name = rospy.get_namespace().strip('/') | |
| worldFrame = rospy.get_param("~worldFrame", "world") | |
| frame = rospy.get_param("~frame") | |
| joy_topic = rospy.get_param("~joy_topic", "joy") | |
| controller = Controller(name, joy_topic, frame, worldFrame) | |
| controller.run() | |
| rospy.spin() |
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