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localization.py
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localization.py
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#!/usr/bin/env python
# -*- coding: utf-8 -*-
import math
import numpy as np
import time
from modules.control.proto.chassis_pb2 import Chassis
from modules.sensors.proto.sensors_pb2 import Pose
from modules.sensors.proto.sensors_pb2 import Point
from modules.localization.proto.localization_pb2 import pos
from modules.localization.proto.localization_pb2 import localization
from modules.localization.proto.localization_pb2 import Tags
from cyber_py import cyber
import sys
sys.path.append("../")
class Exercise(object):
def __init__(self, node):
self.node = node
self.msg = Tags()
self.localization = localization()
self.position_0 = pos()
self.position_1 = pos()
self.pos = pos()
self.marker_pos = {0: [1.0, 0], 1: [2.0, 0]}
self.node.create_reader("/localization/tag", Tags, self.callback)
self.node.create_reader("/realsense/pose", Pose, self.posecallback)
self.node.create_reader("/chassis", Chassis, self.chassiscallback)
self.writer = self.node.create_writer("/localization", localization)
self.start_yaw = 0
self.init_flag = 0
self.speed = 0
self.yaw = 0
while not cyber.is_shutdown():
time.sleep(0.05)
self.localization_with_odometer_calculation()
self.writer.write(self.localization)
print(self.localization)
def callback(self, data):
self.get_global_pos_by_apriltag(data)
def chassiscallback(self, Chassis):
self.speed = Chassis.speed
def posecallback(self, Pose):
if self.init_flag == 1:
q1 = Pose.rotation.x
q2 = Pose.rotation.y
q3 = Pose.rotation.z
q0 = Pose.rotation.w
yaw = math.atan2((q1 * q2 - q0 * q3) * 2, q0 *
q0 + q1 * q1 - q2 * q2 - q3 * q3) - self.start_yaw
self.yaw = yaw
else:
q1 = Pose.rotation.x
q2 = Pose.rotation.y
q3 = Pose.rotation.z
q0 = Pose.rotation.w
self.start_yaw = math.atan2(
(q1 * q2 - q0 * q3) * 2, q0 * q0 + q1 * q1 - q2 * q2 - q3 * q3)
self.init_flag = 1
self.localization.predict.z = 0
self.localization.predict.y = 0
self.localization.predict.x = 0
self.localization.predict.yaw = 0
# start_yaw
def localization_with_odometer_calculation(self):
# this needs to be done by student
self.localization.predict.z += self.speed * 0.05 * math.cos(self.yaw)
self.localization.predict.y = 0
self.localization.predict.x += self.speed * 0.05 * math.sin(self.yaw)
self.localization.predict.yaw = self.yaw
def get_global_pos_by_apriltag(self, data):
pitch = -30 * 3.14159265358979 / 180
R1 = 0
R2 = 0
print(math.sin(pitch * 2))
for i in range(0, len(data.tag)):
if (data.tag[i].id == 0):
x = data.tag[i].pose.t.element[0] # self.marker_pos[1][1] -
self.position_0.y = math.cos(
pitch) * data.tag[i].pose.t.element[1] - math.sin(pitch) * data.tag[i].pose.t.element[2]
z = (math.sin(pitch) * data.tag[i].pose.t.element[1] + math.cos(
pitch) * data.tag[i].pose.t.element[2]) # self.marker_pos[1][0] -
x = data.tag[i].pose.t.element[0]
y = data.tag[i].pose.t.element[1]
z = data.tag[i].pose.t.element[2]
R1 = math.sqrt(x * x + z * z + y * y)
r21 = data.tag[i].pose.r.element[2 * 3 + 1]
r22 = data.tag[i].pose.r.element[2 * 3 + 2]
sy = math.sqrt(r21 * r21 + r22 * r22)
theta_y = math.atan2(
-data.tag[i].pose.r.element[2 * 3 + 0], sy)
R1 = math.sqrt(x * x + z * z)
# print("!!!!!!!!!!!!!!!!!!!!!!!")
# print(R)
self.position_0.x = 0 - \
math.cos(-theta_y) * x + math.sin(-theta_y) * z
#self.position_0.x = R * math.cos(-theta_y)
self.position_0.z = 1 - \
math.sin(-theta_y) * x - math.cos(-theta_y) * z
#self.position_0.x = R * math.sin(-theta_y)
self.position_0.yaw = R1
if data.tag[i].id == 1:
#x = self.marker_pos[1][1] - data.tag[i].pose.t.element[0]
x = data.tag[i].pose.t.element[0]
y = data.tag[i].pose.t.element[1]
z = data.tag[i].pose.t.element[2]
# self.position_1.y = math.cos(
# pitch) * data.tag[i].pose.t.element[1] - math.sin(pitch) * data.tag[i].pose.t.element[2]
# z = self.marker_pos[1][0] - (math.sin(pitch) * data.tag[i].pose.t.element[1] + math.cos(
# pitch) * data.tag[i].pose.t.element[2])
r21 = data.tag[i].pose.r.element[2 * 3 + 1]
R2 = math.sqrt(x * x + z * z + y * y)
r22 = data.tag[i].pose.r.element[2 * 3 + 2]
sy = math.sqrt(r21 * r21 + r22 * r22)
theta_y = math.atan2(
-data.tag[i].pose.r.element[2 * 3 + 0], sy)
self.position_1.x = self.marker_pos[1][1] - \
math.cos(theta_y) * x + math.sin(theta_y) * z
self.position_1.z = self.marker_pos[1][0] - \
math.sin(theta_y) * x - math.cos(theta_y) * z
self.position_1.yaw = R2
if (len(data.tag)) == 0:
self.pos.x = -1
self.pos.y = -1
self.pos.z = -1
elif (len(data.tag)) == 2:
# self.pos.x =
self.pos.y = 0 # (self.position_1.y + self.position_0.y) / 2
self.pos.x = (R2 * R2 - R1 * R1 - 0.29 * 0.29) / 0.58
self.pos.z = math.sqrt(R1 * R1 - self.pos.x * self.pos.x)
elif (len(data.tag)) == 1:
if (data.tag[0].id == 0):
pass
#self.pos.x = -1
#self.pos.y = self.position_0.y
#self.pos.z = self.position_0.z
if (data.tag[0].id == 1):
pass
#self.pos.x = self.position_1.x
#self.pos.y = self.position_1.y
#self.pos.z = self.position_1.z
self.localization.apriltag0.x = self.position_0.x
self.localization.apriltag0.y = self.position_0.y
self.localization.apriltag0.z = self.position_0.z
self.localization.apriltag0.yaw = self.position_0.yaw
self.localization.apriltag1.x = self.position_1.x
self.localization.apriltag1.y = self.position_1.y
self.localization.apriltag1.z = self.position_1.z
self.localization.apriltag1.yaw = self.position_1.yaw
self.localization.apriltag.x = self.pos.x
self.localization.apriltag.y = self.pos.y
self.localization.apriltag.z = self.pos.z
self.localization.apriltag.yaw = self.pos.yaw
if __name__ == '__main__':
cyber.init()
exercise_node = cyber.Node("localization_node")
exercise = Exercise(exercise_node)
exercise_node.spin()
cyber.shutdown()