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Motor speeds synchronizer/sanitizer #1

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Motor speeds synchronizer/sanitizer #1

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c8b01a1
added motor speed republishing
petrlmat Feb 6, 2024
70cdef6
Merge remote-tracking branch 'origin/master' into motor_speeds
petrlmat Feb 6, 2024
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4 changes: 4 additions & 0 deletions config/px4_api.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,10 @@ simulated_rtk:
utm_y: 5249465.43086
amsl: 340.0

motor_speeds:
num_motors: 4
motor_slowdown_constant: 0.0159236 # used only in simualation

inputs:
control_group: false
attitude_rate: true
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3 changes: 3 additions & 0 deletions launch/api.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,7 @@
<param name="topic_prefix" type="string" value="/$(arg UAV_NAME)/" />
<param name="uav_name" type="string" value="$(arg UAV_NAME)" />
<param name="simulation" type="bool" value="$(eval arg('RUN_TYPE') == 'simulation')" />
<param name="motor_speeds/topic_wo_num" type="string" value="motor_speed/" />

<remap if="$(eval arg('RUN_TYPE') == 'simulation')" from="~ground_truth_in" to="ground_truth" />
<remap if="$(eval arg('RUN_TYPE') == 'realworld')" from="~rtk_in" to="rtk/bestpos" />
Expand All @@ -49,10 +50,12 @@
<remap from="~mavros_rc_in" to="mavros/rc/in" />
<remap from="~mavros_altitude_in" to="mavros/altitude" />
<remap from="~mavros_battery_in" to="mavros/battery" />
<remap from="~mavros_esc_status_in" to="mavros/esc_status" />
<remap from="~mavros_cmd_out" to="mavros/cmd/command" />
<remap from="~mavros_set_mode_out" to="mavros/set_mode" />
<remap from="~mavros_attitude_setpoint_out" to="mavros/setpoint_raw/attitude" />
<remap from="~mavros_actuator_control_out" to="mavros/actuator_control" />
<remap from="~motor_speed_sync_out" to="motor_speeds_sync" />

</node>

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107 changes: 104 additions & 3 deletions src/api.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,8 @@

#include <std_srvs/Trigger.h>

#include <mrs_msgs/Float64ArrayStamped.h>

#include <mrs_modules_msgs/Bestpos.h>

#include <nav_msgs/Odometry.h>
Expand All @@ -29,6 +31,7 @@
#include <mavros_msgs/RCIn.h>
#include <mavros_msgs/Altitude.h>
#include <mavros_msgs/ActuatorControl.h>
#include <mavros_msgs/ESCStatus.h>

//}

Expand Down Expand Up @@ -100,6 +103,10 @@ class MrsUavPx4Api : public mrs_uav_hw_api::MrsUavHwApi {
std::string _sim_rtk_utm_zone_;
double _sim_rtk_amsl_;

double _motor_slowdown_constant_;
int _num_motors_;
std::string _motor_speed_topic_wo_num_;

// | --------------------- service clients -------------------- |

mrs_lib::ServiceClientHandler<mavros_msgs::CommandLong> sch_mavros_command_long_;
Expand Down Expand Up @@ -146,10 +153,18 @@ class MrsUavPx4Api : public mrs_uav_hw_api::MrsUavHwApi {
mrs_lib::SubscribeHandler<sensor_msgs::BatteryState> sh_mavros_battery_;
void callbackBattery(const sensor_msgs::BatteryState::ConstPtr msg);

std::vector<mrs_lib::SubscribeHandler<std_msgs::Float64>> sh_motor_speed_list_;
void callbackMotorSpeed(const std_msgs::Float64ConstPtr msg_in, const int motor_num);


mrs_lib::SubscribeHandler<mavros_msgs::ESCStatus> sh_esc_status_;
void callbackESCStatus(const mavros_msgs::ESCStatusConstPtr msg_in);

// | ----------------------- publishers ----------------------- |

mrs_lib::PublisherHandler<mavros_msgs::AttitudeTarget> ph_mavros_attitude_target_;
mrs_lib::PublisherHandler<mavros_msgs::ActuatorControl> ph_mavros_actuator_control_;
mrs_lib::PublisherHandler<mavros_msgs::AttitudeTarget> ph_mavros_attitude_target_;
mrs_lib::PublisherHandler<mavros_msgs::ActuatorControl> ph_mavros_actuator_control_;
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped> ph_motor_speeds_sync_;

// | ------------------------ variables ----------------------- |

Expand All @@ -158,6 +173,9 @@ class MrsUavPx4Api : public mrs_uav_hw_api::MrsUavHwApi {
std::atomic<bool> armed_ = false;
std::atomic<bool> connected_ = false;
std::mutex mutex_status_;

std::vector<std::pair<double, double>> motor_speeds_;
std::mutex mtx_motor_speeds_;
};

//}
Expand Down Expand Up @@ -193,6 +211,10 @@ void MrsUavPx4Api::initialize(const ros::NodeHandle& parent_nh, std::shared_ptr<
param_loader.loadParam("simulated_rtk/utm_zone", _sim_rtk_utm_zone_);
param_loader.loadParam("simulated_rtk/amsl", _sim_rtk_amsl_);

param_loader.loadParam("motor_speeds/motor_slowdown_constant", _motor_slowdown_constant_);
param_loader.loadParam("motor_speeds/num_motors", _num_motors_);
param_loader.loadParam("motor_speeds/topic_wo_num", _motor_speed_topic_wo_num_);

param_loader.loadParam("inputs/control_group", (bool&)_capabilities_.accepts_control_group_cmd);
param_loader.loadParam("inputs/attitude_rate", (bool&)_capabilities_.accepts_attitude_rate_cmd);
param_loader.loadParam("inputs/attitude", (bool&)_capabilities_.accepts_attitude_cmd);
Expand Down Expand Up @@ -264,10 +286,31 @@ void MrsUavPx4Api::initialize(const ros::NodeHandle& parent_nh, std::shared_ptr<

sh_mavros_battery_ = mrs_lib::SubscribeHandler<sensor_msgs::BatteryState>(shopts, "mavros_battery_in", &MrsUavPx4Api::callbackBattery, this);

if (_simulation_) {
for (int i = 0; i < _num_motors_; i++) {

const std::string topic_abs = "/" + _uav_name_ + "/" + _motor_speed_topic_wo_num_ + std::to_string(i);

const std::function<void(std_msgs::Float64::ConstPtr)> cbk = std::bind(&MrsUavPx4Api::callbackMotorSpeed, this, std::placeholders::_1, i);

sh_motor_speed_list_.push_back(mrs_lib::SubscribeHandler<std_msgs::Float64>(shopts, topic_abs, cbk));
}
}

if (!_simulation_) {
sh_esc_status_ = mrs_lib::SubscribeHandler<mavros_msgs::ESCStatus>(shopts, "mavros_esc_status_in", &MrsUavPx4Api::callbackESCStatus, this);
}

for (int i = 0; i < _num_motors_; i++) {
motor_speeds_.push_back(std::make_pair(ros::Time::now().toSec(), 0.0));
}


// | ----------------------- publishers ----------------------- |

ph_mavros_attitude_target_ = mrs_lib::PublisherHandler<mavros_msgs::AttitudeTarget>(nh_, "mavros_attitude_setpoint_out", 1);
ph_mavros_actuator_control_ = mrs_lib::PublisherHandler<mavros_msgs::ActuatorControl>(nh_, "mavros_actuator_control_out", 1);
ph_motor_speeds_sync_ = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh_, "motor_speed_sync_out", 1);

// | ----------------------- finish init ---------------------- |

Expand Down Expand Up @@ -753,7 +796,7 @@ void MrsUavPx4Api::callbackDistanceSensor(const sensor_msgs::Range::ConstPtr msg
return;
}

ROS_INFO_ONCE("[MrsUavPx4Api]: getting distnace sensor");
ROS_INFO_ONCE("[MrsUavPx4Api]: getting distance sensor");

if (_capabilities_.produces_distance_sensor) {

Expand Down Expand Up @@ -1017,6 +1060,64 @@ void MrsUavPx4Api::callbackRTK(const mrs_modules_msgs::Bestpos::ConstPtr msg) {

//}

/*//{ callbackMotorSpeed() */
void MrsUavPx4Api::callbackMotorSpeed(const std_msgs::Float64ConstPtr msg_in, const int motor_num) {

if (!is_initialized_) {
return;
}

ROS_INFO_ONCE("[MrsUavPx4Api]: getting motor speeds");

std::scoped_lock lock(mtx_motor_speeds_);
// store motor speed in correct place of vector
motor_speeds_[motor_num] = std::make_pair(ros::Time::now().toSec(), _simulation_ ? msg_in->data * _motor_slowdown_constant_ : msg_in->data);

mrs_msgs::Float64ArrayStamped msg_out;
double t = 0.0;
for (int i = 0; i < _num_motors_; i++) {
t = motor_speeds_.at(i).first > t ? motor_speeds_.at(i).first : t;
msg_out.values.push_back(motor_speeds_.at(i).second);
}
msg_out.header.stamp = ros::Time(t);

ph_motor_speeds_sync_.publish(msg_out);
ROS_INFO_ONCE("[MrsUavPx4Api]: publishing synchronized motor speeds");
}
/*//}*/

/*//{ callbackESCStatus() */
void MrsUavPx4Api::callbackESCStatus(const mavros_msgs::ESCStatusConstPtr msg_in) {

if (!is_initialized_) {
return;
}

ROS_INFO_ONCE("[MrsUavPx4Api]: getting ESC Status");

if (msg_in->esc_status.size() < _num_motors_) {
return;
}

mrs_msgs::Float64ArrayStamped msg_out;
double t = 0;
for (size_t i = 0; i < msg_in->esc_status.size(); i++) {
t += msg_in->esc_status[i].header.stamp.toSec();
double rpm = msg_in->esc_status[i].rpm;

// sometimes the RPM value is not measured and reported as 0, which would produce biased acceleration
if (rpm == 0) {
return;
}
msg_out.values.push_back(rpm);
}
msg_out.header.stamp = ros::Time(t / _num_motors_);

ph_motor_speeds_sync_.publish(msg_out);
ROS_INFO_ONCE("[MrsUavPx4Api]: publishing synchronized motor speeds");
}
/*//}*/

} // namespace mrs_uav_px4_api

#include <pluginlib/class_list_macros.h>
Expand Down