The kraken_3.0 from auviitkgp

Integrating rqt_plot with the data published by simulator on the IMU and DVL topics

To do tuning of Fuzzy controller, we tried to integrate dynamic plotting for two rostopics :

/kraken/sensor/dvl/bi_x_axis
/kraken/sensor/imu

Issues :
With the first one : it is showing gibberish values on x-axis. http://wiki.ros.org/Clock#Using_Simulation_Time_from_the_.2BAC8-clock_Topic

Please have a look at the above link. I think we have to find a way to use time of uwsim.

With the second one the issue is that the subtopics like "orientation x" etc. are not being shown in the rqt_plot GUI.

Migrate control_system_stack to catkin

Change all the parameters hard-coded across the repository to the ROS parameter server

The issue was first raised in this comment

References:

cc @auviitkgp/developers @auviitkgp/embedded-team @auviitkgp/maintainers

Error in blob package

When i try to build the blob package with clang++ , I get this error.

4 warnings generated.
[ 50%] Building CXX object CMakeFiles/blob.dir/src/ComponentLabeling.cpp.o
In file included from /home/pranay/ros_ws/kraken_3.0/vision_stack/blob/src/ComponentLabeling.cpp:2:
In file included from /home/pranay/ros_ws/kraken_3.0/vision_stack/blob/include/blob/ComponentLabeling.h:6:
/home/pranay/ros_ws/kraken_3.0/vision_stack/blob/include/blob/blob.h:16:9: warning: unknown pragma ignored [-Wunknown-pragmas]
#pragma warning( disable : 4786 )
        ^
/home/pranay/ros_ws/kraken_3.0/vision_stack/blob/src/ComponentLabeling.cpp:6:3: error: non-aggregate type 'const CvPoint' cannot be
      initialized with an initializer list
{ {1, 0}, {1, -1}, {0, -1}, {-1, -1}, {-1, 0}, {-1, 1}, {0, 1}, {1, 1} };
  ^~~~~~
/home/pranay/ros_ws/kraken_3.0/vision_stack/blob/src/ComponentLabeling.cpp:6:11: error: non-aggregate type 'const CvPoint' cannot be
      initialized with an initializer list
{ {1, 0}, {1, -1}, {0, -1}, {-1, -1}, {-1, 0}, {-1, 1}, {0, 1}, {1, 1} };
          ^~~~~~~
/home/pranay/ros_ws/kraken_3.0/vision_stack/blob/src/ComponentLabeling.cpp:6:20: error: non-aggregate type 'const CvPoint' cannot be
      initialized with an initializer list
{ {1, 0}, {1, -1}, {0, -1}, {-1, -1}, {-1, 0}, {-1, 1}, {0, 1}, {1, 1} };
                   ^~~~~~~
/home/pranay/ros_ws/kraken_3.0/vision_stack/blob/src/ComponentLabeling.cpp:6:29: error: non-aggregate type 'const CvPoint' cannot be
      initialized with an initializer list
{ {1, 0}, {1, -1}, {0, -1}, {-1, -1}, {-1, 0}, {-1, 1}, {0, 1}, {1, 1} };
                            ^~~~~~~~
/home/pranay/ros_ws/kraken_3.0/vision_stack/blob/src/ComponentLabeling.cpp:6:39: error: non-aggregate type 'const CvPoint' cannot be
      initialized with an initializer list
{ {1, 0}, {1, -1}, {0, -1}, {-1, -1}, {-1, 0}, {-1, 1}, {0, 1}, {1, 1} };
                                      ^~~~~~~
/home/pranay/ros_ws/kraken_3.0/vision_stack/blob/src/ComponentLabeling.cpp:6:48: error: non-aggregate type 'const CvPoint' cannot be
      initialized with an initializer list
{ {1, 0}, {1, -1}, {0, -1}, {-1, -1}, {-1, 0}, {-1, 1}, {0, 1}, {1, 1} };
                                               ^~~~~~~
/home/pranay/ros_ws/kraken_3.0/vision_stack/blob/src/ComponentLabeling.cpp:6:57: error: non-aggregate type 'const CvPoint' cannot be
      initialized with an initializer list
{ {1, 0}, {1, -1}, {0, -1}, {-1, -1}, {-1, 0}, {-1, 1}, {0, 1}, {1, 1} };
                                                        ^~~~~~
/home/pranay/ros_ws/kraken_3.0/vision_stack/blob/src/ComponentLabeling.cpp:6:65: error: non-aggregate type 'const CvPoint' cannot be
      initialized with an initializer list
{ {1, 0}, {1, -1}, {0, -1}, {-1, -1}, {-1, 0}, {-1, 1}, {0, 1}, {1, 1} };

Issue for uploading Photos to GitHub

Whenever using photos in a Wiki, always upload them to this issue and then use their URL in the wiki.
This issue will be closed as soon as it is created.

[ros-indigo] [14.04] Keyboard control: Code working, Bash script not working.

I added all the code that is required for the keyboard control module, as in the current master tree.

Then, I copied the script runKraken_keyboard.sh from the master tree. (find the file here)

I am using zsh as my default shell. I get the following error when I run ./Scripts/runKraken_keyboard.sh:

➜  kraken_3.0 git:(indigo-devel) ✗ ./Scripts/runKraken_keyboard.sh 
./Scripts/runKraken_keyboard.sh: 9: ./Scripts/runKraken_keyboard.sh: roscd: not found
./Scripts/runKraken_keyboard.sh: 10: cd: can't cd to kraken_3.0/Scripts/
./Scripts/runKraken_keyboard.sh: 11: ./Scripts/runKraken_keyboard.sh: ./kraken_visualization_launcher: not found
./Scripts/runKraken_keyboard.sh: 19: ./Scripts/runKraken_keyboard.sh: roscd: not found
./Scripts/runKraken_keyboard.sh: 20: cd: can't cd to kraken_3.0/simulator_stack/joystick_control/src/
python: can't open file 'main.py': [Errno 2] No such file or directory

The interesting (and the thing I just can't figure out) is that it all works fine when I run the commands in the script one by one. i.e.

➜  kraken_3.0 git:(indigo-devel) ✗ ./Scripts/kraken_visualization_launcher &
[1] 20896
➜  kraken_3.0 git:(indigo-devel) ✗ Starting UWSim...
Loading SimulatedDevices plugin: 'ForceSensor_Factory'
Loading SimulatedDevices plugin: 'SimDev_Echo_Factory'
processROSInterface:: unexpected child: visualize
. Setting localized world: 0.00021s
Loading URDF robot... 
· package://kraken_visualization/kraken/robot/new_model_kraken.3ds: 0.025633s
· : 1e-06s
· : 1e-06s
· : 1e-06s
· : 1e-06s
· : 1e-06s
· : 1e-06s
· : 1e-06s
· : 1e-06s
· : 1e-06s
· : 1e-06s
· : 1e-06s
· Linking links...Robot successfully loaded. Total time: 0.010515s
0.036292s
Loading URDF robot... 
· package://kraken_visualization/kraken/terrain/pool.osg: 0.013931s
· package://kraken_visualization/kraken/objects/gate_obstacle.osg: 0.017827s
· package://kraken_visualization/kraken/objects/buoy_blue.osg: 0.013402s
· package://kraken_visualization/kraken/objects/buoy_green.osg: 0.013979s
· package://kraken_visualization/kraken/objects/buoy_red.osg: 0.013215s
· package://kraken_visualization/kraken/objects/bins.osg: 0.014361s
· package://kraken_visualization/kraken/objects/marker.osg: 0.011685s
· package://kraken_visualization/kraken/objects/marker.osg: 0.011733s
· package://kraken_visualization/kraken/objects/marker.osg: 0.012311s
· package://kraken_visualization/kraken/objects/marker.osg: 0.011685s
· package://kraken_visualization/kraken/objects/shooter.osg: 0.016706s
· Linking links...Robot successfully loaded. Total time: 0.01213s
0.163365s
[ INFO] [1418747219.275247232]: ROSOdomToPAT subscriber on topic /kraken/simulator/dataNavigator
[ INFO] [1418747219.275396047]: ArmToROSJointState publisher on topic /kraken/simulator/joint_state
[ INFO] [1418747219.275604584]: ROSJointStateToArm subscriber on topic /kraken/simulator/joint_state_command
[ INFO] [1418747219.275849858]: VirtualCameraToROSImage publisher on topic /kraken/front_camera_info
[ INFO] [1418747219.305694880]: VirtualCameraToROSImage publisher on topic /kraken/bottom_camera_info
[ INFO] [1418747219.330693642]: Imu publisher on topic /kraken/simulator/imu
[ INFO] [1418747219.330979466]: ROSTwistToPAT subscriber on topic /kraken/simulator/twist
[ INFO] [1418747219.331109929]: PressureSensor publisher on topic /kraken/simulator/depth
[ INFO] [1418747219.331272760]: DVLSensor publisher on topic /kraken/simulator/dvl
[ INFO] [1418747219.331468791]: ROSPoseToPAT subscriber on topic /kraken/simulator/pose

➜  kraken_3.0 git:(indigo-devel) ✗ rosrun simulator_physics_model start_auv_model /kraken/physics_model/pose:=/kraken/simulator/pose &
[2] 21134
➜  kraken_3.0 git:(indigo-devel) ✗ rosrun joystick_control keyboard_control &
[3] 21247
➜  kraken_3.0 git:(indigo-devel) ✗ python simulator_stack/joystick_control/src/main.py 
...
➜  kraken_3.0 git:(indigo-devel) ✗

And everything works as expected.

(I have tried to run the script from bash too, but that doesn't work either.)

Please help me figure this out. All of my code has been pushed to the indigo-devel branch at my fork.

Fix the test.py file

File: https://github.com/auviitkgp/kraken_3.0/blob/indigo-devel/sensor_stack/seabotix/src/test.py

Rename to checkThrusters.py
Remove the code for subscribing, as it is not required
Clean up the print lines at the end of the file. (Print something more meaningful and readable)

Data published by simulator on the IMU topic seems to be incorrect

We are unable to access several subtopics explicitly in this rostopic. Whereas in /kraken/sensor/dvl we are able to access various topics explicitly : for example : /kraken/sensor/dvl/bi_x_axis, etc.

We want this functionality in this imu topic also.

Rename the repository as auv-core

It's easier to type-out and search.
We won't have to rename the repository again for the new vehicle.
'-core' packages is the de-facto naming convention for core libraries.
Renaming is easy, and doesn't break anything down.

`offset` not defined inside thruster_converter

It is referenced on line 41

I have defined it as 0x80 on line 25 to ensure that the code compiles without any errors.

What should be the value of this variable?

cc @VishnuDuttSharma

[hydro] [12.04] Using the kraken_msgs package in ROSpy

@prudhvid

For showing the present values of the force in the Python GUI, I need to use this package, And I am not able to do so. I had added the following line to the top of my main.py file, as per your recommendation and also from Mission Planner.

import roslib;roslib.load_manifest('joystick_control')

siddharth@ubuntu:src$ python main.py 
Traceback (most recent call last):
  File "main.py", line 1, in <module>
    import roslib;roslib.load_manifest('joystick_control')
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslib/launcher.py", line 62, in load_manifest
    sys.path = _generate_python_path(package_name, _rospack) + sys.path
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslib/launcher.py", line 98, in _generate_python_path
    packages = get_depends(pkg, rospack) 
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslib/launcher.py", line 51, in get_depends
    vals = rospack.get_depends(package, implicit=True)
  File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 227, in get_depends
    s.update(self.get_depends(p, implicit))
  File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 227, in get_depends
    s.update(self.get_depends(p, implicit))
  File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 227, in get_depends
    s.update(self.get_depends(p, implicit))
  File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 221, in get_depends
    names = [p.name for p in self.get_manifest(name).depends]
  File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 159, in get_manifest
    return self._load_manifest(name)
  File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 198, in _load_manifest
    retval = self._manifests[name] = parse_manifest_file(self.get_path(name), self._manifest_name, rospack=self)
  File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 190, in get_path
    raise ResourceNotFound(name, ros_paths=self._ros_paths)
rospkg.common.ResourceNotFound: cmake_modules
ROS path [0]=/opt/ros/hydro/share/ros
ROS path [1]=/home/siddharth/ros_workspace
ROS path [2]=/opt/ros/hydro/share
ROS path [3]=/opt/ros/hydro/stacks

Please help me resolve this.

Add a list of the packages to be installed in order for yawControl to work in the readme

Add a bootstrap.sh bash script?
Need to install python-scipy and scikit-fuzzy and required dependencies.

@aniket11bh @kalyan-kumar Anything that I am missing?

Check whether the file generated from the simulator drag and drop GUI works as expected

Untested Merge: 1a1ae47

Figure out the diff of the code between the code on the repo and the code on the vehicle

Figure out this diff
Check out whether we have lost any changes.
Get the repo to the latest Repo HEAD on the default branch.

Migrate vision_stack to catkin

Migrate hardware stack to catkin

Change the ROS_RATE everywhere to a 32-bit integer ROSParam

related to #84 .

Moving to a proper logging system

http://wiki.ros.org/roscpp/Overview/Logging

http://wiki.ros.org/rospy/Overview/Logging

ROS has inbuilt support for Logging. We just have to use it.

We will have to port all of our code from existing cout, std::cout and print statements to ROS_INFO, ROS_DEBUG, etc.

It would be helpful if everyone quickly edited their projects and made these changes, and opened a PR. I would be able to merge them in fast.

Also, I would urge whoever is writing code from here on out to strictly use these instead of using stray cout and print statements in C++ and Python, respectively. (cc @kalyan-kumar , Barno and Priyank)

Opinions? @prudhvid @nevinvalsaraj @VishnuDuttSharma

cc @auviitkgp/developers @auviitkgp/embedded-team

Packages yet to port over to logging system

gitignore is set to ignore these message files

Source: https://github.com/auviitkgp/kraken_3.0/blob/indigo-devel/.gitignore#L7

**/msg/*Action.msg
**/msg/*ActionFeedback.msg
**/msg/*ActionGoal.msg
**/msg/*ActionResult.msg
**/msg/*Feedback.msg
**/msg/*Goal.msg
**/msg/*Result.msg
**/msg/_*.py

We found this problem when @aniket11bh tried to add a message file called controllerResult.msg inside kraken_msgs/msg/ folder.

@nevinvalsaraj :

Why had you added these lines?
Don't we think we should make them more specific?

cc @prudhvid @auviitkgp/developers

Fix the file t.py

File: https://github.com/auviitkgp/kraken_3.0/blob/indigo-devel/sensor_stack/seabotix/src/t.py

Rename to stopKraken.py
Removing code for subscribing to the topic
Document the file properly, with the meaning of 7F clearly mentioned in it.

DOCS: User on the vehicle needs to be added to the `dialout` group for permission to open serial devices (IMU, DVL)

sudo usermod -a -G dialout teamauv or sudo adduser teamauv dialout
Check this with groups teamauv

Add this to a file called FreshInstallSetup.md (or such) containing information on what to do when first the vehicle is setup. (including the network setup screenshots and data)

cc @kalyan-kumar @aniket11bh @prudhvid @nevinvalsaraj

Migrate sensor_stack to catkin

Code changed on the vehicle

The code was imported and has been pushed at this commit: ac83f92

Do you want to merge this commit into the main branch?

Test the new IMU topic on the vehicle

Check topicHeader.cpp for SENSOR_IMU_NEW.

DOCS: Add RSync command

Control the ROS Loop rates using a file instead of having them hardcoded in each of the nodes

@prudhvid @nevinvalsaraj @ankeshanand Any preferred way to do this? (I was thinking environment variables!)

cc @aniket11bh @kshitijgoel007 @auviitkgp/developers

Clean up the code inside yaw and depth control

Add proper documentation
Show the workflow of the two python files
Mention which all files need to be run for it to work properly

simulator_physic_model

@prudhvid : Add a subscriber to listen to topic "/kraken/forceData4Thruster" for 4 thruster model and "/kraken/forceData6Thruster" model.

For 4 thruster model, you can make the column corresponding to sway thrusters zeros

Sparton IMU

Hi Guys,
I have seen that you people are using Sparton IMU for your bot. I have contacted one of your senior who(Atithya Kumar) worked on the AUV, he told me to contact you guys for support. I have some doubts in integrating the Sparton IMU sensor can you please help me out.

Issue for uploading images

Want to use an image inside the Wiki? Paste it here, and copy the link and use it there.

Changes in thruster mapping not compatible with simulator. Patch required to take this as a CL argument.

Why have you changed the thruster mappings ?

[HOUSEKEEPING] Move unused packages to the obsolete folder

Currently, the list of packages is:

NqDVL CPP
Trax
Tracks IMU
Depth sensor? (cc @aniket11bh @kshitijgoel007 I haven't really ever used this package. Is this useful right now? If this is a planned enhancement, we can move this over to obsolete, and then move it back here when necessary.)

cc @prudhvid @nevinvalsaraj Any other packages that you feel are not useful anymore? Probably in the simulator_stack?

fyi @auviitkgp/developers

Migrate simulator_stack to catkin

One remap is missing, due to which `control.py` does not work.

The topic

/kraken/control/thruster6pid

has to be remapped to

/kraken/physics_model/forceData6Thruster

and the corresponding four thruster model topics.

References: Comment by @prudhvid

cc @kalyan-kumar @prudhvid @kshitijgoel007 @aniket11bh

Migrate mission_planner_stack to catkin

Migrate vision_gui to catkin

Find the package here: https://github.com/auviitkgp/kraken_obsolete/tree/master/vision_gui

Guideline: http://stackoverflow.com/a/14013231/2080089

Add the utility and the methodology to use .launch files

@rsrihari: Also, add the command that needs to be used in order to run the simulator.

DOCS: Add a page about the network settings to be done on the vehicle's motherboard for SSH to work

Also, add photos.

Handling the wiki of our repo

I would like the wiki to be bundled into this repository itself (perhaps inside a docs/ folder ? )

Having the wiki on GH is slightly less useful without internet (as on the vehicle)

@prudhvid @nevinvalsaraj Suggestions?

Create launch files to be run on the vehicle

I propose the separation of this task into two parts:

Each package has a launch file (if it has any dependencies).

Eg: buoy package will have a launch file that will run bottomcam package,
There will be some global launch files, for specific tasks: such as:
- YawControl (to run all dependencies of YawControl)
- BuoyTask (which will include the particular package's launch file after running other packages)
- imuDvl (to run the IMU and the DVL)

Opinions: @prudhvid @nevinvalsaraj @auviitkgp/embedded-team

Improve pose_server_python by including I, and other matrices

Take all the matrices from this file

cc @aniket11bh

Change the IMU message type to Sensor_msgs/Imu

Will standardize the message type for IMU messages that we are using.
Will help out a lot when using standard ROS packages / plugins (such as ros-control-center referred to here)

Migration Procedure

We edit the sparton package.
We publish the new message type on a second IMU topic (/kraken/sensor/imu_2) (First pull request)
We start editing the modules using IMU data. (One pull request per module)
We can slowly phase out the old topic once we are sure no other packages depend on it.

@prudhvid @nevinvalsaraj Opinions on the above procedure?

cc @auviitkgp/developers

Handle the case when goal is preempted by client inside the setyaw ActionServer

Working on @aniket11bh 's machine
Not working on mine, although we are using the same version of the code, and the stack is similar.

It would really help if someone else can test this on their machine as well. @kshitijgoel007 @kalyan-kumar @ManviG Can you guys check and tell me what's really going on?

Opinions? @prudhvid @nevinvalsaraj

cc @auviitkgp/developers

roslaunch Scripts runKraken.launch
roscd mission_planner
python src/main.py

This runs the simulator and bot inside the uwsim but acceleration data's from imu is all zeros :(

Check 'Thruster converter package'

Whatever changes has been done in Thruster converter package it is not working in our laptops. @icyflame , @prudhvid , @kalyan-kumar Please check it once on your laptops with the simulator.

The code which is on my repo (not updated with auviitkgp/kraken_3.0) is working fine.

auviitkgp / kraken_3.0 Goto Github PK

kraken_3.0's People

Contributors

Stargazers

Watchers

Forkers

kraken_3.0's Issues

Packages yet to port over to logging system

Migration Procedure

Recommend Projects

Recommend Topics

Recommend Org