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Yujin Robot's open-source control libraries

Home Page: http://wiki.ros.org/yujin_ocs

CMake 9.94% C++ 72.83% Python 17.19% Shell 0.04%

yujin_ocs's Introduction

Yujin Open Control System (yocs)

Yujin Robot's open-source control system including libraries and exectuables

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davidhodo tfoote dwlee bit-pirate kbogert alexreimann daikimaekawa benmaidel darcyg mors25 marco-andarcia corot yangfuyuan tutorgaming geeklfs marinakollmitz asimay jihoonl riddicksky liushengkai008 wilylcyu zhangaigh ncnynl haryngod aaroncheng1991 lijiayijiali pei-yachao akifh robofisshy chaiso-krit tony1213 bulwahn dandanrevolution merlinwu housx procopiostein panecho jonpol01 nlimpert zhaozong xyh922 haochihlin enwaytech layne22 zhuoligetu123 wwfzs1990 dfyuan 3spheresroboticsproject longfeiprojects michaelchi08 davidhan008 ericyao2013 zjzcn hs29590 sweetquiet baicai1990 leisur joehrobot luruiwu rahulindoria5 robust-rosin hamradiodxer lybhit d-misra wangxian4423 troski jindaping dxmcu jaxx016 punkli cy20lin ompugao lijianhualeigua danielarnett kejxu lrxiao liyaozone luguo15123 sbgisen ms-iot litzar akrobotics gvc0461082002 guofengpeng ryuyamamoto zhangpeng-roborock zkl2017 mansonziqian pinpea eeemanchester nazisht uchile-robotics-forks hjny22 rom1es izzetemre smilejx shengjiangtou robotics-upo robohou szf2020

yujin_ocs's Issues

drop move base launcher in yocs_navigator

To properly support yocs_navigator/navigator.launch
we would need to add move_base and turtlebot dependencies, which would blow up this light-weight package.

if this launcher is used, then I suggest to move it to where it is used (what it is used with), e.g. turtlebot.

Rename cmd_vel_mux as yocs_cmd_vel_mux

Looks little professional, now with a bunch of other yocs_ packages

keep direction constant when smoothing velocities

Currently the velocity smoother adjusts the velocities independently, what can cause the original velocity heading (vector orientation) to be modified as well.

Please adjust the smoothing in the way that the original heading is not changed.

Python version of basic_move_controller used?

There is a python library replicating the C++ version of the basic_move_controller, but I cannot find any script using it.

@jihoonl do you know, if it is used?

Investigate a proper way of evaluating timestamp delays

e.g. with motor driver or sensor, how much latency before timestamping?

e.g. hokuyo.

marker approach: handle controller failure

Add logic to the approach node to handle the situation when the pose controller fails to reach the goal:https://github.com/yujinrobot/yujin_ocs/blob/hydro-devel/yocs_ar_pair_approach/src/yocs_ar_pair_approach/node.py#L120

Migrated from yujinrobot/kobuki-x#17

Redesign yocs_waypoints_navi

Instead of standalone package which parses waypoints from yaml and request move_base to navigate around, redesign it to utilise yocs_waypoint_manager to parse waypoints from yaml, and only controls move_base.

adding yaml-cpp dependency for yocs_ar_marker_tracking

Create yocs_rapps and migrate teleop implementation rapps from rocon_apps

robotics-in-concert/rocon_app_platform#262

migrate robot_teleop implementation from rocon_apps

remove unnecessary dependency from yocs_navigator

simple_annotation_msgs is not need.

Library improvements.

yocs_navigator

basic_move_controller python module
library export

yocs_localization_manager

now it uses action.
it receives spin_and_localize command.

yocs_ar_marker_tracking

some utility functions are added.

merging yocs_keyop and yocs_joyop with ros-teleop?

There is ros-teleop repositories started by @mikepurvis which contains teleop joystick and teleop keyboard. Shall we merge yocs implementations with them?

Add bugtracker and repo info to package.xml

Use odom or odom_combined?

I wonder if we should move this from odom (nav_msgs/Odometry) to odom_combined (geometry_msgs/PoseWithCovarianceStamped).

Point being, ros by convention typically looks to the latter as output from the robot_pose_ekf, not the raw odometry.

Dynamically reconfigure vel_mux

Add a service that receives a new YAML formatted string with a new configuration and and re-configures the node from scratch

velocity smoother keeps publishing velocities

even when the publisher stops publishing, e.g. rostopic command line tool.
Have seen that in other cases as well.

Migrate changelog from ros wiki to this repo

Timeouts do not stop robot motion

Shouldn't the mux output a zero cmd_vel when the timeout expires?

Or is that purely the responsibility of the robot driver to make sure it's getting commands consistently? Is there a REP of some sort that defines this behavior?

Dynamic reconfigure for velocity smoother

This would be really really super fantastically convenient.

See the cmd_vel_mux for example implementation.

split basic_move_controller and navigator into separate nodes

The basic_move_controller does not seem to be used inside the navigator, but only is made available through it.

Hence, I suggest to put the basic move controller into it's own node, so it can be started when needed.

@jihoonl what do you think?

Waypoint and trajectory input for yocs_waypoints_navi

Currently waypoints can be set using yaml or RViz. With the yocs_waypoint_provider in place, we now like to use it for the navigator.

Drop yaml and RViz input and add yocs_msgs/Waypoint and yocs_msgs/Trajectory subscribers.

This is a follow-up of #41.

[indigo] ar_track_alvar compatibility

indigo version of ar_track_alvar now has independent msg package ar_track_alvar_msgs.

Sync with it.

Why are .project and .cproject files on src directory on packages yocs_ar_marker_tracking and yocs_ar_pair_tracking?

Also they are missing for yocs_ar_pair_approach

Re-release with new bloom

There is an issue with optimisation and debug flags not set, when doing release with an old bloom version (<0.5.8) for Quantal, Raring and Trusty for both Hydro and Indigo.

Whenever convenient we should do a re-release of all YOCS packages for Hydro and Indigo.

Details here: http://lists.ros.org/pipermail/ros-users/2014-May/068657.html

package namespacing

Some packages in yujin_ocs use yocs as class namespace and some packages use its own package name as class namespace. We may want to apply one or the other for consistency.

We shall check if there is recommendation for c++ package class namespacing.

Options

All packages in yujin_ocs repository use yocs as class namespace
All packages use package name as class namespace.

add shutdown flag to nodelet

Following from yujinrobot/kobuki#325

Develop interactive waypoint editor

@corot already developed a tool to specify a path along multiple waypoints using RViz (see yocs_waypoint_navi). Maybe we can extend this approach. Otherwise we an RViz or rQt plugin might be the way to go.

In any case this feature should be implemented within the yocs_waypoint_provider and dropped from yocs_waypoints_navi.

This is a follow-up of #41.

yocs_msgs to its own stack

Good practice to put message message packages in their own repositories away from source code (aka zeroconf_msgs or rocon_msgs). This lets people easily source rosinstall the message stacks without having to compile your sources.

Imagine someone writing a pc application for turtlebot. All they need is the various turtlebot message stacks to auto-generate headers as a dependency. They shouldn't need to compile turtlebot at all.

Perhaps it to a unary stack yocs_msgs or part of a bigger stack we can call yujin_messages.

Yocs_joyop dependency error

Scanning dependencies of target yocs_keyop
/home/yujin/ros/waiterbot/src/yujin_ocs/yocs_joyop/src/joyop.cpp:6:30: fatal error: ecl/exceptions.hpp: No such file or directory
 #include <ecl/exceptions.hpp>
                              ^
compilation terminated.

I am not sure what dependency is missing exactly

Rename yocs_waypoint_manager

... to yocs_waypoint_provider.

This is a follow-up of #41.

indigo release preparation

Install Rule

yocs_ar_marker_tracking
yocs_ar_pair_tracking
yocs_ar_pair_approach

Documentation

yocs_ar_marker_tracking
yocs_ar_pair_tracking
yocs_ar_pair_approach

[Velocity smoother] Zeroing out velocity in the middle of navigation...

When does this happen?

[ WARN] [1401959005.438486434]: Velocity Smoother : input got inactive leaving us a non-zero target velocity (0, -1), zeroing...[navigation_velocity_smoother]

Use smaller convariance for ar_pair tracking.

Reduce uncertainty to help localizaiton. The previous values were too high.

Check that the robot feedback topic exist and/or publish

If not, the robot will move shaky without a clear indication of why, at it will always compare current command with zero velocity.

Giving covariance on ar based localization.

AR Markers can be placed with some error in real environment.

So provide covariance when robot initialize pose with ar pair and let AMCL corrects the exact pose.

Improving yocs_waypoints_navi

I'd like to be able to

store multiple lists of way points (aka trajectory), each identified by a name/key
execute the navigation along a set of way points (aka trajectory) by providing the name/key of a specific list of way points

Deceleration smoothing isn't working

Doesn't appear to be doing any smoothing when decelerating, just tracks the incoming velocity perfectly.

This is easiest show with turtlebot, xbox360_teleop and rqt_plot on /cmd_vel/linear/x (smoother input) and /cmd_vel_mux/input/teleop/linear/x (smoother output).

I can demonstrate for you on wednesday.

Catkinize

Unify naming politics for...

namespaces
executables
libraries
plugins

Ros wiki documentation

Update.

yaml0.5 support

yocs_ar_marker_tracking
yocs_waypoint_manager
yocs_waypoint_navi

yocs_keypo compile error

-- +++ processing catkin package: 'yocs_keyop'
-- ==> add_subdirectory(yujin_ocs/yocs_keyop)
CMake Error at yujin_ocs/yocs_keyop/src/CMakeLists.txt:11 (add_executable):
  add_executable cannot create target "keyop" because another target with the
  same name already exists.  The existing target is an executable created in
  source directory
  "/home/jihoonl/research/ros/turtlebot/src/kobuki/kobuki_keyop/src".  See
  documentation for policy CMP0002 for more details.


CMake Error at yujin_ocs/yocs_keyop/src/CMakeLists.txt:13 (target_link_libraries):
  Attempt to add link library "/opt/ros/indigo/lib/libecl_threads.so" to
  target "keyop" which is not built in this directory.


CMake Error at yujin_ocs/yocs_keyop/src/CMakeLists.txt:13 (target_link_libraries):
  Attempt to add link library "/opt/ros/indigo/lib/libecl_type_traits.so" to
  target "keyop" which is not built in this directory.


CMake Error at yujin_ocs/yocs_keyop/src/CMakeLists.txt:13 (target_link_libraries):
  Attempt to add link library "/opt/ros/indigo/lib/libecl_time.so" to target
  "keyop" which is not built in this directory.


CMake Error at yujin_ocs/yocs_keyop/src/CMakeLists.txt:13 (target_link_libraries):
  Attempt to add link library "/opt/ros/indigo/lib/libecl_time_lite.so" to
  target "keyop" which is not built in this directory.


CMake Error at yujin_ocs/yocs_keyop/src/CMakeLists.txt:13 (target_link_libraries):
  Attempt to add link library "/usr/lib/x86_64-linux-gnu/librt.so" to target
  "keyop" which is not built in this directory.


CMake Error at yujin_ocs/yocs_keyop/src/CMakeLists.txt:13 (target_link_libraries):
  Attempt to add link library "/opt/ros/indigo/lib/libecl_exceptions.so" to
  target "keyop" which is not built in this directory.


CMake Error at yujin_ocs/yocs_keyop/src/CMakeLists.txt:13 (target_link_libraries):
  Attempt to add link library "/opt/ros/indigo/lib/libecl_errors.so" to
  target "keyop" which is not built in this directory.


CMake Error at yujin_ocs/yocs_keyop/src/CMakeLists.txt:13 (target_link_libraries):
  Attempt to add link library "/opt/ros/indigo/lib/libroscpp.so" to target
  "keyop" which is not built in this directory.


CMake Error at yujin_ocs/yocs_keyop/src/CMakeLists.txt:13 (target_link_libraries):
  Attempt to add link library "/usr/lib/x86_64-linux-gnu/libboost_signals.so"
  to target "keyop" which is not built in this directory.


CMake Error at yujin_ocs/yocs_keyop/src/CMakeLists.txt:13 (target_link_libraries):
  Attempt to add link library
  "/usr/lib/x86_64-linux-gnu/libboost_filesystem.so" to target "keyop" which
  is not built in this directory.


CMake Error at yujin_ocs/yocs_keyop/src/CMakeLists.txt:13 (target_link_libraries):
  Attempt to add link library "/opt/ros/indigo/lib/librosconsole.so" to
  target "keyop" which is not built in this directory.


CMake Error at yujin_ocs/yocs_keyop/src/CMakeLists.txt:13 (target_link_libraries):
  Attempt to add link library "/opt/ros/indigo/lib/librosconsole_log4cxx.so"
  to target "keyop" which is not built in this directory.


CMake Error at yujin_ocs/yocs_keyop/src/CMakeLists.txt:13 (target_link_libraries):
  Attempt to add link library
  "/opt/ros/indigo/lib/librosconsole_backend_interface.so" to target "keyop"
  which is not built in this directory.


CMake Error at yujin_ocs/yocs_keyop/src/CMakeLists.txt:13 (target_link_libraries):
  Attempt to add link library "/usr/lib/liblog4cxx.so" to target "keyop"
  which is not built in this directory.


CMake Error at yujin_ocs/yocs_keyop/src/CMakeLists.txt:13 (target_link_libraries):
  Attempt to add link library "/usr/lib/x86_64-linux-gnu/libboost_regex.so"
  to target "keyop" which is not built in this directory.


CMake Error at yujin_ocs/yocs_keyop/src/CMakeLists.txt:13 (target_link_libraries):
  Attempt to add link library
  "/opt/ros/indigo/lib/libroscpp_serialization.so" to target "keyop" which is
  not built in this directory.


CMake Error at yujin_ocs/yocs_keyop/src/CMakeLists.txt:13 (target_link_libraries):
  Attempt to add link library "/opt/ros/indigo/lib/librostime.so" to target
  "keyop" which is not built in this directory.


CMake Error at yujin_ocs/yocs_keyop/src/CMakeLists.txt:13 (target_link_libraries):
  Attempt to add link library
  "/usr/lib/x86_64-linux-gnu/libboost_date_time.so" to target "keyop" which
  is not built in this directory.


CMake Error at yujin_ocs/yocs_keyop/src/CMakeLists.txt:13 (target_link_libraries):
  Attempt to add link library "/opt/ros/indigo/lib/libxmlrpcpp.so" to target
  "keyop" which is not built in this directory.


CMake Error at yujin_ocs/yocs_keyop/src/CMakeLists.txt:13 (target_link_libraries):
  Attempt to add link library "/opt/ros/indigo/lib/libcpp_common.so" to
  target "keyop" which is not built in this directory.


CMake Error at yujin_ocs/yocs_keyop/src/CMakeLists.txt:13 (target_link_libraries):
  Attempt to add link library "/usr/lib/x86_64-linux-gnu/libboost_system.so"
  to target "keyop" which is not built in this directory.


CMake Error at yujin_ocs/yocs_keyop/src/CMakeLists.txt:13 (target_link_libraries):
  Attempt to add link library "/usr/lib/x86_64-linux-gnu/libboost_thread.so"
  to target "keyop" which is not built in this directory.


CMake Error at yujin_ocs/yocs_keyop/src/CMakeLists.txt:13 (target_link_libraries):
  Attempt to add link library "/usr/lib/x86_64-linux-gnu/libpthread.so" to
  target "keyop" which is not built in this directory.


CMake Error at yujin_ocs/yocs_keyop/src/CMakeLists.txt:13 (target_link_libraries):
  Attempt to add link library
  "/usr/lib/x86_64-linux-gnu/libconsole_bridge.so" to target "keyop" which is
  not built in this directory.


CMake Error at yujin_ocs/yocs_keyop/src/CMakeLists.txt:15 (install):
  install TARGETS given target "keyop" which does not exist in this
  directory.

Migrate virtual sensor and math toolkit to here

fix warning introduced by new catkin version

Fix this warning:

WARNING: The metapackage 'yujin_ocs' has no CMakeLists.txt. Please add one to the package source. You can use the following file: /opt/kobuki_workspace/catkin_ws/build/catkin_generated/metapackages/yujin_ocs/CMakeLists.txt

Document ROS API for yocs_waypoints_navi

It's missing: http://wiki.ros.org/yocs_waypoints_navi

Merge new modules into indigo branch

Merge modules which developed while preparing delivery exihibition.

yocs_localization_manager
yocs_navigator

Docking interactor developement

provides following api

~wake_up : Move back until it sees docking AR. and register on the robot's frame
~register_dock_ar : register dock ar on global frame
~return_to_base : navigate back to in front of base and auto dock.

Velocity smoother robot feedback: odometry sometimes causes troubles

So we should try to use end velocity commands to the robot (that is, the /mobile_base/commands/velocity)

Dependency wrong

As being notified for a long time by the build farm: http://jenkins.ros.org/view/IbinT64/job/ros-indigo-yocs-ar-marker-tracking_binarydeb_trusty_amd64/

Using yaml_cpp:

yujin_ocs/yocs_ar_marker_tracking/CMakeLists.txt

Line 22 in 21e1cca

pkg_search_module(REQUIRED yaml_cpp)

[yocs_diff_drive_controller] move function code from header to separate cpp file

E.g.

void DiffDrivePoseController::spinOnce()
{ ... }

Put it inside the class declaration or add inline.

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