From 4c59e1952b594cbf2e8ea323015c0d47d77d2560 Mon Sep 17 00:00:00 2001
From: ailognov <lailognov@yandex.ru>
Date: Mon, 11 Nov 2024 23:27:09 +0300
Subject: [PATCH 1/2] add new file

---
 lesson_06/step_1.py | 77 +++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 77 insertions(+)
 create mode 100644 lesson_06/step_1.py

diff --git a/lesson_06/step_1.py b/lesson_06/step_1.py
new file mode 100644
index 0000000..f8c4145
--- /dev/null
+++ b/lesson_06/step_1.py
@@ -0,0 +1,77 @@
+import rclpy
+from rclpy.node import Node
+
+from geometry_msgs.msg import Twist
+from geometry_msgs.msg import PoseStamped, Pose
+
+from tf_transformations import euler_from_quaternion
+from std_msgs.msg import Float64
+
+
+import math                                                                    
+
+def angle_diff(a1, a2):
+    a = a1-a2
+    return (a+math.pi)%(2*math.pi)-math.pi
+
+def get_yaw_from_quaternion(q):
+    return euler_from_quaternion([q.x, q.y, q.z, q.w])[2]
+
+
+class RurMover(Node):
+    def __init__(self):
+        super().__init__('controller')
+        self.publisher_twist = self.create_publisher(Twist, '/waterstrider/twist_command', 10)
+        self.pose_subscriber = self.create_subscription(PoseStamped, '/waterstrider/ground_truth_to_tf_waterstrider/pose', self.pose_callback, 10)
+        self.PID_setpoint = self.create_publisher(Float64, '/pid/setpoint', 10)
+        self.PID_output = self.create_subscription(Float64, '/pid/output', self.PID_callback, 10)
+        self.PID_state = self.create_publisher(Float64, '/pid/state', 10)
+
+        self.desired_heading = - math.pi / 2
+        self.SIDE_TIME = 5.0
+        self.LINEAR_SPEED = 2.0
+        self.timer = self.create_timer(self.SIDE_TIME, self.pub_timer_callback)
+
+        self.Points = []
+
+    def pose_callback(self, msg):
+
+        heading = Float64()
+        if self.desired_heading <= math.pi / 2:
+            heading.data = get_yaw_from_quaternion(msg.pose.orientation)
+        elif get_yaw_from_quaternion(msg.pose.orientation) < 0:
+            heading.data = 2 * math.pi + get_yaw_from_quaternion(msg.pose.orientation)
+        
+
+        self.PID_state.publish(heading)
+
+        desired_heading = Float64()
+        desired_heading.data = self.desired_heading
+        self.PID_setpoint.publish(desired_heading)
+
+
+    def PID_callback(self, msg):
+        
+        msg_pub = Twist()
+        msg_pub.linear.x = self.LINEAR_SPEED
+        msg_pub.angular.z = msg.data
+        self.publisher_twist.publish(msg_pub)
+
+    def pub_timer_callback(self):
+        self.desired_heading += math.pi / 2
+        self.desired_heading %= 2 * math.pi
+        self.get_logger().info('New angle setpoint: "%f"' % self.desired_heading)
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    mover = RurMover()
+
+    rclpy.spin(mover)
+
+
+    mover.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
\ No newline at end of file
-- 
GitLab


From bdccd395eb4628677cdbf8e17191d1d0bd4c222c Mon Sep 17 00:00:00 2001
From: ailognov <lailognov@yandex.ru>
Date: Mon, 11 Nov 2024 23:27:30 +0300
Subject: [PATCH 2/2] Config change

---
 config/control-config.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/config/control-config.yaml b/config/control-config.yaml
index 80bbe66..39c82b9 100644
--- a/config/control-config.yaml
+++ b/config/control-config.yaml
@@ -4,8 +4,8 @@
         angular: true
         clamp: 15.0
         inverted: false
-        kd: 0.9
+        kd: 3.0
         ki: 0.0
-        kp: 0.04
+        kp: 10.0
         start_type_description_service: true
         use_sim_time: false
-- 
GitLab