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zhuangzx7zhuangzx7
committedMay 16, 2023
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‎README.md

+54-11
Original file line numberDiff line numberDiff line change
@@ -3,7 +3,25 @@
33
## 仿真世界加载二维码
44
Clone our project and put [apriltag](/apriltag/) in /home/${USER_NAME}/.gazebo/models, so you can see apriltags on the wall in the simulation world.
55

6+
~~~
7+
sudo cp -r ./apriltag ~/.gazebo/models
8+
~~~
9+
10+
Extract the models.zip and copy to /home/${USER_NAME}/.gazebo/models.
11+
12+
~~~
13+
sudo cp -r ./models/* ~/.gazebo/models
14+
~~~
15+
16+
## 下载RotorS
17+
Information about downloading RotorS could be found in https://github.com/ethz-asl/rotors_simulator.
18+
If you're using ubuntu20.04, you may meet "catkin build failed, command not found:catkin", try this to solve:
19+
```
20+
sudo apt-get install python3-catkin-tools
21+
```
22+
623
## 仿真器相关话题
24+
725
We provide a basic quadrotor model with a depth camera attached to it. Users can subscribe to odom topic and depth topic published in the simulation. Some topics are as follows:
826
```
927
odom_topic: /ardrone/ground_truth/odometry
@@ -13,12 +31,7 @@ depth_topic: /camera/depth/image_raw
1331
quadrotor control topic: /gazebo/set_model_state
1432
```
1533
## 仿真器编译
16-
This project has been tested on 18.04(ROS Melodic) and 20.04(ROS Noetic). Take Ubuntu 18.04 as an example, run the following commands to install required tools:
17-
18-
```
19-
sudo apt-get install ros-melodic-joy ros-melodic-octomap-ros ros-melodic-mavlink python-wstool python-catkin-tools protobuf-compiler libgoogle-glog-dev ros-melodic-control-toolbox ros-melodic-mavros
20-
```
21-
Then simply clone and compile our package (using ssh here):
34+
This project has been tested on 18.04(ROS Melodic) and 20.04(ROS Noetic). Take Ubuntu 18.04 as an example, simply clone and compile our package (using ssh here):
2235
```
2336
cd ${YOUR_WORKSPACE_PATH}/src
2437
git clone git@github.com:SYSU-STAR/CICRSIM.git
@@ -28,10 +41,17 @@ catkin_make
2841
## 键盘控制节点依赖
2942
For keyboard, you should install ```pygame``` first, by:
3043
```
31-
sudo apt-get install python-pygame
44+
sudo install python-pygame
3245
```
33-
将[files](/files)放入工作空间下，如果键盘控制节点无法运行，请检查[files](/files)的位置
34-
## 仿真启动
46+
For ubuntu20.04, you may use:
47+
48+
~~~
49+
pip install pygame
50+
~~~
51+
52+
将[files](/files)放入工作空间的根目录(和src、build、devel一级)，如果键盘控制节点无法运行，请检查[files](/files)的位置
53+
54+
## 键盘仿真启动
3555
请按照以下步骤依次启动仿真，否则可能导致随机地图无法刷新
3656
```
3757
source devel/setup.bash
@@ -44,14 +64,37 @@ source devel/setup.bash
4464
4565
roslaunch uav_simulation uav_simulation.launch
4666
```
47-
最后启动键盘控制节点，控制方式：方向键控制无人机前后左右的速度, W和S控制飞机上下, A和D控制飞机yaw角朝向
67+
最后启动控制消息转换程序和键盘控制节点，控制方式：方向键控制无人机前后左右的速度, W和S控制飞机上下, A和D控制飞机yaw角朝向
4868
```
4969
source devel/setup.bash
5070
71+
rosrun uav_simulation command_process.py
72+
73+
source devel/setup.bash
74+
5175
rosrun uav_simulation keyboard_control.py
5276
```
77+
## 打分系统测试(单独启动)
78+
会在终端输出当前时刻的分数和剩余时间
79+
```
80+
source devel/setup.bash
81+
82+
rosrun uav_simulation referee_system
83+
```
84+
## Known Issues
85+
> 无人机在碰撞到场地道具后出现姿态不稳定的翻转
86+
87+
将无人机降落到地面上再起飞即可恢复正常。
88+
89+
> 如果遇到std成员函数导致的编译问题
90+
91+
将所有CmakeLists.txt中的-std=c++11改为-std=c++17。
92+
93+
> 如果遇到Gazebo打开卡住的问题
94+
95+
将电脑网络断开。
5396

5497
## Acknowledegments
55-
We use [RotorS](https://github.com/ethz-asl/rotors_simulator) to generate a quadrotor and odometry information, [apriltag_ros](https://github.com/AprilRobotics/apriltag_ros.git) to detect Apriltags. We really appreciate these open source projects!
5698

99+
We use [RotorS](https://github.com/ethz-asl/rotors_simulator) to generate a quadrotor and odometry information, [apriltag_ros](https://github.com/AprilRobotics/apriltag_ros.git) to detect Apriltags. We really appreciate these open source projects!
57100

‎cicr2023_simulator/uav_simulation/CMakeLists.txt

+11-2
Original file line numberDiff line numberDiff line change
@@ -19,8 +19,8 @@ find_package(catkin REQUIRED COMPONENTS
1919

2020
catkin_package(
2121
# INCLUDE_DIRS include
22-
# LIBRARIES exploration_manager
23-
# CATKIN_DEPENDS plan_env path_searching bspline bspline_opt active_perception traj_utils lkh_tsp_solver plan_manage
22+
# LIBRARIES
23+
# CATKIN_DEPENDS
2424
# DEPENDS system_lib
2525
)
2626

@@ -31,9 +31,18 @@ include_directories(
3131
${EIGEN3_INCLUDE_DIR}
3232
)
3333

34+
add_executable (referee_system src/referee_system.cpp )
35+
target_link_libraries(referee_system
36+
${catkin_LIBRARIES})
37+
38+
add_executable (detect_sim src/detect_sim.cpp )
39+
target_link_libraries(detect_sim
40+
${catkin_LIBRARIES})
41+
3442

3543

3644
catkin_install_python(PROGRAMS
3745
src/keyboard_control.py
46+
src/command_process.py
3847
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
3948
)

‎cicr2023_simulator/uav_simulation/src/command_process.py

+49
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,49 @@
1+
#! /usr/bin/env python
2+
import rospy
3+
from gazebo_msgs.srv import GetModelState
4+
from gazebo_msgs.msg import ModelState
5+
from geometry_msgs.msg import TwistStamped
6+
7+
cmd_sub = TwistStamped()
8+
def poseFeedback(msg):
9+
# global cmd_sub
10+
cmd_sub.twist.linear.x = msg.twist.linear.x
11+
cmd_sub.twist.linear.y = msg.twist.linear.y
12+
cmd_sub.twist.linear.z = msg.twist.linear.z
13+
cmd_sub.twist.angular.z = msg.twist.angular.z
14+
def main():
15+
rospy.init_node('command_process')
16+
model_control_pub = rospy.Publisher('/gazebo/set_model_state', ModelState, queue_size=10)
17+
get_model_state = rospy.ServiceProxy('/gazebo/get_model_state', GetModelState)
18+
rospy.Subscriber('/position_control',TwistStamped,poseFeedback)
19+
# global cmd_sub
20+
pub_pose_msg = ModelState()
21+
pub_pose_msg.model_name = 'ardrone'
22+
pub_pose_msg.reference_frame = 'world'
23+
while not rospy.is_shutdown():
24+
model_state = get_model_state('ardrone','world')
25+
pub_pose_msg.pose.position.x = model_state.pose.position.x
26+
pub_pose_msg.pose.position.y = model_state.pose.position.y
27+
pub_pose_msg.pose.position.z = model_state.pose.position.z
28+
29+
pub_pose_msg.pose.orientation.w = model_state.pose.orientation.w
30+
pub_pose_msg.pose.orientation.x = model_state.pose.orientation.x
31+
pub_pose_msg.pose.orientation.y = model_state.pose.orientation.y
32+
pub_pose_msg.pose.orientation.z = model_state.pose.orientation.z
33+
34+
pub_pose_msg.twist.linear.x = cmd_sub.twist.linear.x
35+
pub_pose_msg.twist.linear.y = cmd_sub.twist.linear.y
36+
pub_pose_msg.twist.linear.z = cmd_sub.twist.linear.z
37+
38+
39+
pub_pose_msg.twist.angular.x = model_state.twist.angular.x
40+
pub_pose_msg.twist.angular.y = model_state.twist.angular.y
41+
pub_pose_msg.twist.angular.z = cmd_sub.twist.angular.z
42+
model_control_pub.publish(pub_pose_msg)
43+
rospy.spin()
44+
45+
if __name__ == '__main__':
46+
try:
47+
main()
48+
except rospy.ROSInterruptException:
49+
pass

‎cicr2023_simulator/uav_simulation/src/detect_sim.cpp

+110
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,110 @@
1+
#include <ros/ros.h>
2+
#include <referee_msgs/Apriltag_info.h>
3+
ros::Publisher topic0;
4+
5+
void Pub0()
6+
{
7+
referee_msgs::Apriltag_info msg;
8+
msg.tag_num =0;
9+
msg.tag_pos_x = 5.05;
10+
msg.tag_pos_y = 1.85;
11+
msg.tag_pos_z = 1.2;
12+
topic0.publish(msg);
13+
}
14+
void Pub1()
15+
{
16+
referee_msgs::Apriltag_info msg;
17+
msg.tag_num =1;
18+
msg.tag_pos_x = -0.62;
19+
msg.tag_pos_y = 3.23;
20+
msg.tag_pos_z = 1.2;
21+
topic0.publish(msg);
22+
}
23+
void Pub2()
24+
{
25+
referee_msgs::Apriltag_info msg;
26+
msg.tag_num =2;
27+
msg.tag_pos_x = -4.5;
28+
msg.tag_pos_y = -1.52;
29+
msg.tag_pos_z = 1.2;
30+
topic0.publish(msg);
31+
}
32+
void Pub3()
33+
{
34+
referee_msgs::Apriltag_info msg;
35+
msg.tag_num =3;
36+
msg.tag_pos_x = -3.98;
37+
msg.tag_pos_y = -1.30;
38+
msg.tag_pos_z = 1.2;
39+
topic0.publish(msg);
40+
}
41+
void Pub4()
42+
{
43+
referee_msgs::Apriltag_info msg;
44+
msg.tag_num =4;
45+
msg.tag_pos_x = 5.52;
46+
msg.tag_pos_y = -3.00;
47+
msg.tag_pos_z = 1.2;
48+
topic0.publish(msg);
49+
}
50+
void Pub5()
51+
{
52+
referee_msgs::Apriltag_info msg;
53+
msg.tag_num =5;
54+
msg.tag_pos_x = -6.56;
55+
msg.tag_pos_y = -3.05;
56+
msg.tag_pos_z = 1.2;
57+
topic0.publish(msg);
58+
}
59+
void Pub6()
60+
{
61+
referee_msgs::Apriltag_info msg;
62+
msg.tag_num =6;
63+
msg.tag_pos_x = -9.27;
64+
msg.tag_pos_y = -0.2;
65+
msg.tag_pos_z = 1.2;
66+
topic0.publish(msg);
67+
}
68+
void Pub7()
69+
{
70+
referee_msgs::Apriltag_info msg;
71+
msg.tag_num =7;
72+
msg.tag_pos_x = -9.5;
73+
msg.tag_pos_y = 3.84;
74+
msg.tag_pos_z = 1.2;
75+
topic0.publish(msg);
76+
}
77+
78+
int main(int argc, char** argv)
79+
{
80+
ros::init(argc, argv, "detect_sim");
81+
ros::NodeHandle nh;
82+
topic0 = nh.advertise<referee_msgs::Apriltag_info>("/apriltag_detection",10);
83+
// referee_msgs::Apriltag_info msg;
84+
// msg.tag_pos_x = 5.05;
85+
// msg.tag_pos_y = 2.82;
86+
// msg.tag_pos_z = 1.2;
87+
// for(int i=0;i<8;i++)
88+
// {
89+
// ros::Duration(3).sleep();
90+
// msg.tag_num = i;
91+
// topic0.publish(msg);
92+
93+
// }
94+
ros::Duration(3).sleep();
95+
Pub0();
96+
ros::Duration(3).sleep();
97+
Pub1();
98+
ros::Duration(3).sleep();
99+
Pub2();
100+
ros::Duration(3).sleep();
101+
Pub3();
102+
ros::Duration(3).sleep();
103+
Pub4();
104+
ros::Duration(3).sleep();
105+
Pub5();
106+
ros::Duration(3).sleep();
107+
Pub6();
108+
ros::Duration(3).sleep();
109+
Pub7();
110+
}

‎cicr2023_simulator/uav_simulation/src/keyboard_control.py

+25-25
Original file line numberDiff line numberDiff line change
@@ -8,6 +8,7 @@
88
from sensor_msgs.msg import Joy
99
from gazebo_msgs.msg import ModelState
1010
from gazebo_msgs.srv import GetModelState
11+
from geometry_msgs.msg import TwistStamped
1112
import numpy as np
1213
import math
1314
import tf.transformations as tft
@@ -19,22 +20,21 @@ def main():
1920
window_size = Rect(0, 0, 750, 272)
2021
screen = pygame.display.set_mode(window_size.size)
2122
img = pygame.image.load("./files/keyboard_control.png")
22-
key_pub = rospy.Publisher('/gazebo/set_model_state', ModelState, queue_size=10)
23+
model_vel_pub = rospy.Publisher('/position_control',TwistStamped,queue_size=10)
2324
get_model_state = rospy.ServiceProxy('/gazebo/get_model_state', GetModelState)
2425

25-
rate = rospy.Rate(50)
2626

2727
body_pose_msg = ModelState() #uav body pose
2828
last_body_pose_msg = ModelState() #
2929
pub_pose_msg = ModelState()
30+
pose_control = TwistStamped()
3031
pub_pose_msg.model_name = 'ardrone'
3132
pub_pose_msg.reference_frame = 'world'
3233
while not rospy.is_shutdown():
3334
rospy.sleep(0.01)
3435
screen.blit(img, (1,1))
3536
pygame.display.flip()
3637
drone_state = get_model_state('ardrone','world')
37-
rospy.loginfo("Robot position: x=%f, y=%f, z=%f" % (drone_state.pose.position.x, drone_state.pose.position.y, drone_state.pose.position.z))
3838
for event in pygame.event.get():
3939
if event.type == KEYDOWN:
4040

@@ -46,6 +46,7 @@ def main():
4646
key_axes[2] = 1
4747
if event.key == pygame.K_RIGHT:
4848
key_axes[3] = 1
49+
4950
if event.key == pygame.K_w:
5051
key_axes[4] = 1
5152
if event.key == pygame.K_s:
@@ -55,25 +56,36 @@ def main():
5556
if event.key == pygame.K_d:
5657
key_axes[7] = 1
5758

58-
59+
# when keyup, reset velcity
5960
elif event.type == pygame.KEYUP:
61+
6062
if event.key == pygame.K_UP:
63+
6164
key_axes[0] = 0
6265
if event.key == pygame.K_DOWN:
66+
6367
key_axes[1] = 0
6468
if event.key == pygame.K_LEFT:
69+
6570
key_axes[2] = 0
6671
if event.key == pygame.K_RIGHT:
72+
6773
key_axes[3] = 0
74+
6875
if event.key == pygame.K_w:
76+
6977
key_axes[4] = 0
7078
if event.key == pygame.K_s:
79+
7180
key_axes[5] = 0
7281
if event.key == pygame.K_a:
82+
7383
key_axes[6] = 0
7484
if event.key == pygame.K_d:
85+
7586
key_axes[7] = 0
7687

88+
######
7789
if(key_axes[0]==1 and key_axes[1]==0):
7890
body_pose_msg.twist.linear.x = 1
7991
last_body_pose_msg.twist.linear.x = body_pose_msg.twist.linear.x
@@ -128,37 +140,25 @@ def main():
128140

129141
# orientation ---> euler
130142
quaternion_uav = (drone_state.pose.orientation.w, drone_state.pose.orientation.x, drone_state.pose.orientation.y, drone_state.pose.orientation.z)
131-
euler_angles = tft.euler_from_quaternion(quaternion_uav, 'sxyz') # y
143+
euler_angles = tft.euler_from_quaternion(quaternion_uav, 'sxyz') # yaw
132144
if(euler_angles[0]>=0):
133145
uav_yaw = math.pi - euler_angles[0]
134146
if(euler_angles[0]<0):
135147
uav_yaw = -math.pi - euler_angles[0]
148+
136149
# body ---> world
137150
rotation_matrix_z = np.matrix([[math.cos(uav_yaw),-math.sin(uav_yaw),0],[math.sin(uav_yaw),math.cos(uav_yaw),0],[0,0,1]])
138-
rotation_matrix_z_inv = np.linalg.inv(rotation_matrix_z)
139151
body_vel_matrix = np.matrix([last_body_pose_msg.twist.linear.x, last_body_pose_msg.twist.linear.y, last_body_pose_msg.twist.linear.z])
140152
body_vel_matrix_trans = body_vel_matrix.T
141153
world_vel_matrix = rotation_matrix_z.dot(body_vel_matrix_trans)
142154

155+
#######################################################
156+
pose_control.twist.linear.x = world_vel_matrix[0]
157+
pose_control.twist.linear.y = world_vel_matrix[1]
158+
pose_control.twist.linear.z = world_vel_matrix[2]
159+
pose_control.twist.angular.z = last_body_pose_msg.twist.angular.z
160+
model_vel_pub.publish(pose_control)
143161

144-
pub_pose_msg.pose.position.x = drone_state.pose.position.x
145-
pub_pose_msg.pose.position.y = drone_state.pose.position.y
146-
pub_pose_msg.pose.position.z = drone_state.pose.position.z
147-
148-
pub_pose_msg.pose.orientation.w = drone_state.pose.orientation.w
149-
pub_pose_msg.pose.orientation.x = drone_state.pose.orientation.x
150-
pub_pose_msg.pose.orientation.y = drone_state.pose.orientation.y
151-
pub_pose_msg.pose.orientation.z = drone_state.pose.orientation.z
152-
153-
pub_pose_msg.twist.linear.x = world_vel_matrix[0]
154-
pub_pose_msg.twist.linear.y = world_vel_matrix[1]
155-
pub_pose_msg.twist.linear.z = world_vel_matrix[2]
156-
157-
pub_pose_msg.twist.angular.x = drone_state.twist.angular.x
158-
pub_pose_msg.twist.angular.y = drone_state.twist.angular.y
159-
pub_pose_msg.twist.angular.z = last_body_pose_msg.twist.angular.z
160-
161-
key_pub.publish(pub_pose_msg)
162162

163163

164164

@@ -171,4 +171,4 @@ def main():
171171
except rospy.ROSInterruptException:
172172
pass
173173

174-
#######################################################
174+

‎cicr2023_simulator/uav_simulation/src/referee_system.cpp

+115
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,115 @@
1+
#include <ros/ros.h>
2+
#include <geometry_msgs/PoseStamped.h>
3+
#include <gazebo_msgs/GetModelState.h>
4+
#include "referee_msgs/Apriltag_info.h"
5+
#include <iostream>
6+
#include <thread>
7+
#include <chrono>
8+
using namespace std;
9+
ros::Subscriber rcv_start_flag, rcv_tag_info;
10+
ros::ServiceClient client;
11+
int tags_num = 8;
12+
int minutes = 3;
13+
int seconds = 0;
14+
int total_score;
15+
bool start_flag = false;
16+
double detect_error = 0.03;//允许的3cm检测误差
17+
bool finish_detection = false;//如果全部二维码被发现，视为完成探索
18+
vector<geometry_msgs::PoseStamped>real_apriltag_pose(tags_num);//仿真场景中的二维码位置
19+
vector<geometry_msgs::PoseStamped>player_apriltag_pose(tags_num);//接收参赛选手发布的二维码位置
20+
vector<bool>tag_flag = {false,false,false,false,false,false,false,false};//所有二维码默认没有检测到，置为false
21+
vector<int>tag_score = {0,0,0,0,0,0,0,0};
22+
void ApriltagInfo()//获取二维码位置
23+
{
24+
vector<gazebo_msgs::GetModelState> apriltag(tags_num);
25+
vector<string> apriltag_names = {"static_apriltag_0","static_apriltag_1","static_apriltag_2","static_apriltag_3","static_apriltag_4","static_apriltag_5","static_apriltag_6","static_apriltag_7"};
26+
for(int i=0;i<tags_num;i++)
27+
{
28+
apriltag[i].request.model_name= apriltag_names[i];
29+
apriltag[i].request.relative_entity_name = "world";
30+
// ROS_INFO("Tag_Name: %s Pos_x: %d Pos_y: %d Pos_z: %d",apriltag[i].request.model_name,apriltag[i].response.pose.position.x,apriltag[i].response.pose.position.y,apriltag[i].response.pose.position.z );
31+
if(client.call(apriltag[i]))
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{
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real_apriltag_pose[i].pose.position.x = apriltag[i].response.pose.position.x;
34+
real_apriltag_pose[i].pose.position.y = apriltag[i].response.pose.position.y;
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real_apriltag_pose[i].pose.position.z = apriltag[i].response.pose.position.z;
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}
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}
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}
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void Time_Count(const geometry_msgs::PoseStamped& msg)//回调函数，2d nav_goal 触发计时开始
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{
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start_flag = true;
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}
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void ApriltaginfoCallBack(const referee_msgs::Apriltag_info& msg)//回调函数，订阅参赛选手发布的二维码位置
44+
{
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player_apriltag_pose[msg.tag_num].pose.position.x = msg.tag_pos_x;
46+
player_apriltag_pose[msg.tag_num].pose.position.y = msg.tag_pos_y;
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player_apriltag_pose[msg.tag_num].pose.position.z = msg.tag_pos_z;
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}
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void Score()//评分函数
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{
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for(int i=0;i<tags_num;i++)//判断是否检测到了二维码
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{
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if(player_apriltag_pose[i].pose.position.x!=0&&player_apriltag_pose[i].pose.position.y!=0&&player_apriltag_pose[i].pose.position.z!=0)
54+
{
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// cout<<"TAG "<<i<<" has been detected"<<endl;
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tag_flag[i]=true;
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// cout<<"_____________________________________________________"<<endl;
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}
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}
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for(int i=0;i<tags_num;i++)
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{
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if(tag_flag[i])//如果检测到，进行精确度判断
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{
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double x_err = abs(player_apriltag_pose[i].pose.position.x - real_apriltag_pose[i].pose.position.x);
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double y_err = abs(player_apriltag_pose[i].pose.position.y - real_apriltag_pose[i].pose.position.y);
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double z_err = abs(player_apriltag_pose[i].pose.position.z - real_apriltag_pose[i].pose.position.z);
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if(x_err < detect_error && y_err < detect_error&& z_err < detect_error)
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{
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tag_score[i]=1;
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}
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}
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}
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bool tag_check = all_of(tag_flag.begin(), tag_flag.end(), [](bool value){return value;});
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if(tag_check)
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{
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finish_detection = true;
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// cout<<"successfully detect all tags"<<endl;
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}
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if(start_flag)
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{
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int t=0;
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for(int i=0;i<tags_num;i++)
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{
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t+=tag_score[i];
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}
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total_score=t;
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cout<<"Total Score: "<<total_score<<endl;
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cout<<"Remain Time: "<<minutes<<" min "<<seconds<< " sec"<<endl;
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this_thread::sleep_for(chrono::seconds(1));
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seconds--;
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if(seconds<0)
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{
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seconds = 59;
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minutes--;
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}
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}
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}
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int main(int argc, char** argv)
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{
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ros::init(argc, argv, "referee_system");
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ros::NodeHandle nh;
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rcv_start_flag = nh.subscribe("/move_base_simple/goal", 10, Time_Count);
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rcv_tag_info = nh.subscribe("/apriltag_detection", 10, ApriltaginfoCallBack);
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client = nh.serviceClient<gazebo_msgs::GetModelState>("/gazebo/get_model_state");
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ros::Rate rate(200);
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while(ros::ok()&&(minutes>=0&&seconds>=0)&&!finish_detection)
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{
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ApriltagInfo();
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Score();
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ros::spinOnce();
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rate.sleep();
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}
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}

‎models.zip

50.3 MB
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