From d0b04d9afda06ae730bf2f94654960e47d25532d Mon Sep 17 00:00:00 2001
From: Fabien Grzeskowiak <fabien.grzeskowiak@inria.fr>
Date: Tue, 14 Apr 2020 19:30:02 +0200
Subject: [PATCH] challenge wip, fix wheelchairphysics, fix motor based
controller
---
Assets/AddOns/friction.physicMaterial | 2 +-
Assets/MotorWriter.cs | 2 +-
.../RobotsModels/Wheelchair_sensors.prefab | 20211 +-
.../RosCommuncation/TwistSubscriber.cs | 73 +-
.../Challenge/CrowdBotChallenge.unity | 202894 +++++++--------
catkin_crowdbotsim | 2 +-
6 files changed, 102541 insertions(+), 120643 deletions(-)
diff --git a/Assets/AddOns/friction.physicMaterial b/Assets/AddOns/friction.physicMaterial
index 734f6f9d..50ccd340 100644
--- a/Assets/AddOns/friction.physicMaterial
+++ b/Assets/AddOns/friction.physicMaterial
@@ -8,7 +8,7 @@ PhysicMaterial:
m_PrefabAsset: {fileID: 0}
m_Name: friction
dynamicFriction: 1
- staticFriction: 0
+ staticFriction: 0.5
bounciness: 0
frictionCombine: 3
bounceCombine: 2
diff --git a/Assets/MotorWriter.cs b/Assets/MotorWriter.cs
index 1234950b..024533a5 100644
--- a/Assets/MotorWriter.cs
+++ b/Assets/MotorWriter.cs
@@ -34,7 +34,7 @@ namespace RosSharp.RosBridgeClient
public void Write(float value)
{
- targetVelocity = value * MaxVelocity;
+ targetVelocity = Mathf.Min(value, MaxVelocity);
isMessageReceived = true;
}
}
diff --git a/Assets/Robots/RobotsModels/Wheelchair_sensors.prefab b/Assets/Robots/RobotsModels/Wheelchair_sensors.prefab
index e50884c6..8fe78553 100644
--- a/Assets/Robots/RobotsModels/Wheelchair_sensors.prefab
+++ b/Assets/Robots/RobotsModels/Wheelchair_sensors.prefab
@@ -80933,7 +80933,7 @@ Transform:
m_LocalScale: {x: 1, y: 1, z: 1}
m_Children:
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m_Father: {fileID: 6067560104288354397}
m_RootOrder: 0
m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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m_LocalScale: {x: 1, y: 1, z: 1}
m_Children:
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m_Father: {fileID: 6067560104288354469}
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m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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m_LocalScale: {x: 1, y: 1, z: 1}
m_Children:
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m_LocalScale: {x: 1, y: 1, z: 1}
m_Children:
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+ - {fileID: 7756613989980157707}
m_Father: {fileID: 6067560104288354397}
m_RootOrder: 1
m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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m_LocalPosition: {x: -0.0263, y: 1.4210856e-16, z: 0.07700001}
m_LocalScale: {x: 1, y: 1, z: 1}
m_Children:
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m_Father: {fileID: 6067560104288354475}
m_RootOrder: 0
@@ -81154,7 +81154,7 @@ Transform:
m_LocalPosition: {x: -0.052174907, y: 0.010730421, z: 0.07700001}
m_LocalScale: {x: 1, y: 1, z: 1}
m_Children:
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+ - {fileID: 7756613989672120023}
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m_Father: {fileID: 6067560104288354469}
m_RootOrder: 1
@@ -81186,7 +81186,7 @@ Transform:
m_LocalPosition: {x: -0.0004161262, y: 0.010708766, z: 0.07700001}
m_LocalScale: {x: 1, y: 1, z: 1}
m_Children:
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+ - {fileID: 7756613988731375278}
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m_Father: {fileID: 6067560104288354467}
m_RootOrder: 1
@@ -81219,7 +81219,7 @@ Transform:
m_LocalScale: {x: 1, y: 1, z: 1}
m_Children:
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m_Father: {fileID: 6067560104288354397}
m_RootOrder: 2
m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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m_LocalScale: {x: 1, y: 1, z: 1}
m_Children:
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m_Father: {fileID: 6067560104288354475}
m_RootOrder: 1
m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
@@ -81282,7 +81282,7 @@ Transform:
m_LocalPosition: {x: -0.062883675, y: 0.0366143, z: 0.07700001}
m_LocalScale: {x: 1, y: 1, z: 1}
m_Children:
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m_RootOrder: 2
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m_LocalScale: {x: 1, y: 1, z: 1}
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m_RootOrder: 2
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m_LocalScale: {x: 1, y: 1, z: 1}
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m_LocalScale: {x: 1, y: 1, z: 1}
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m_Father: {fileID: 6318118007108444388}
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m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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m_LocalScale: {x: 10, y: 10, z: 10}
m_Children: []
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m_LocalScale: {x: 1, y: 1, z: 1}
m_Children:
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m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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m_LocalScale: {x: 10, y: 10, z: 10}
m_Children: []
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@@ -191357,8 +191304,8 @@ Transform:
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m_LocalScale: {x: 1, y: 1, z: 1}
m_Children:
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m_Father: {fileID: 6318118007108444388}
m_RootOrder: 6
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@@ -191384,7 +191331,7 @@ Rigidbody:
m_GameObject: {fileID: 6318118006626998281}
serializedVersion: 2
m_Mass: 5
- m_Drag: 5
+ m_Drag: 0
m_AngularDrag: 0.05
m_UseGravity: 1
m_IsKinematic: 0
@@ -191435,7 +191382,7 @@ HingeJoint:
m_Anchor: {x: 0, y: 0, z: 0}
m_Axis: {x: 1, y: 0, z: 0}
m_AutoConfigureConnectedAnchor: 1
- m_ConnectedAnchor: {x: -0.27150005, y: 0.1662, z: -0.00000035762787}
+ m_ConnectedAnchor: {x: -0.27149963, y: 0.16620012, z: -0.000000059604645}
m_UseSpring: 0
m_Spring:
spring: 0
@@ -191444,7 +191391,7 @@ HingeJoint:
m_UseMotor: 1
m_Motor:
targetVelocity: 0
- force: 250
+ force: 400
freeSpin: 0
m_UseLimits: 0
m_Limits:
@@ -191457,8 +191404,8 @@ HingeJoint:
m_BreakTorque: Infinity
m_EnableCollision: 0
m_EnablePreprocessing: 1
- m_MassScale: 25
- m_ConnectedMassScale: 1
+ m_MassScale: 5
+ m_ConnectedMassScale: 200
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m_PrefabAsset: {fileID: 0}
m_GameObject: {fileID: 6318118007108444389}
serializedVersion: 2
- m_Mass: 1
+ m_Mass: 200
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m_AngularDrag: 0.05
m_UseGravity: 1
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m_LocalScale: {x: 1, y: 1, z: 1}
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m_GameObject: {fileID: 6318118007830923666}
serializedVersion: 2
- m_Mass: 25
+ m_Mass: 5
m_Drag: 0
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m_UseGravity: 1
@@ -192202,7 +192165,7 @@ HingeJoint:
m_Anchor: {x: 0, y: 0, z: 0}
m_Axis: {x: 1, y: 0, z: 0}
m_AutoConfigureConnectedAnchor: 1
- m_ConnectedAnchor: {x: 0.27149987, y: 0.1662, z: -0.00000047683716}
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m_UseSpring: 0
m_Spring:
spring: 0
@@ -192211,7 +192174,7 @@ HingeJoint:
m_UseMotor: 1
m_Motor:
targetVelocity: 0
- force: 250
+ force: 400
freeSpin: 0
m_UseLimits: 0
m_Limits:
@@ -192224,8 +192187,8 @@ HingeJoint:
m_BreakTorque: Infinity
m_EnableCollision: 0
m_EnablePreprocessing: 1
- m_MassScale: 25
- m_ConnectedMassScale: 1
+ m_MassScale: 5
+ m_ConnectedMassScale: 200
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m_LocalScale: {x: 1, y: 1, z: 1}
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diff --git a/Assets/Robots/RosSharp/Scripts/RosBridgeClient/RosCommuncation/TwistSubscriber.cs b/Assets/Robots/RosSharp/Scripts/RosBridgeClient/RosCommuncation/TwistSubscriber.cs
index 7b33cb40..a1995f21 100644
--- a/Assets/Robots/RosSharp/Scripts/RosBridgeClient/RosCommuncation/TwistSubscriber.cs
+++ b/Assets/Robots/RosSharp/Scripts/RosBridgeClient/RosCommuncation/TwistSubscriber.cs
@@ -17,14 +17,15 @@ limitations under the License.
// © Siemens AG, 2018, Dr. Martin Bischoff (martin.bischoff@siemens.com)
using UnityEngine;
+using RosSharp;
namespace RosSharp.RosBridgeClient
{
public class TwistSubscriber : Subscriber<Messages.Geometry.Twist>
{
+ public enum Mode {kinematic, force, motor};
public Transform SubscribedTransform;
-
- public bool is_forced_based = false;
+ public Mode mode = Mode.kinematic;
private Rigidbody rigidbody;
private float previousRealTime;
@@ -32,16 +33,28 @@ namespace RosSharp.RosBridgeClient
private Vector3 angularVelocity;
private bool isMessageReceived;
+ private DiffDriveController controller;
+
protected override void Start()
{
base.Start();
rigidbody = SubscribedTransform.GetComponent<Rigidbody>();
+
+ try
+ {
+ controller = SubscribedTransform.GetComponent<DiffDriveController>();
+ }
+ catch (System.Exception)
+ {
+
+ throw;
+ }
}
protected override void ReceiveMessage(Messages.Geometry.Twist message)
{
- linearVelocity = ToVector3(message.linear);
- angularVelocity = ToVector3(message.angular).Ros2Unity();
+ linearVelocity = ToVector3(message.linear).Ros2Unity();
+ angularVelocity = ToVector3(message.angular).Ros2Unity()*Mathf.Deg2Rad;
isMessageReceived = true;
}
@@ -59,34 +72,40 @@ namespace RosSharp.RosBridgeClient
{
// float deltaTime = Time.realtimeSinceStartup - previousRealTime;
float deltaTime = ToolsTime.DeltaTime;
-
- if(is_forced_based)
+
+ switch(mode)
{
- if(deltaTime > 0)
- {
- if(linearVelocity.magnitude > 0)
+ case Mode.force:
+ if(deltaTime > 0)
{
- Vector3 force = rigidbody.transform.rotation * (linearVelocity - rigidbody.velocity) * rigidbody.mass / deltaTime * 2;
- rigidbody.AddForce( new Vector3 (force.x, 0, force.z) );
- }
+ if(linearVelocity.magnitude > 0)
+ {
+ Vector3 force = rigidbody.transform.rotation * (linearVelocity - rigidbody.velocity) * rigidbody.mass / deltaTime * 2;
+ rigidbody.AddForce( new Vector3 (force.x, 0, force.z) );
+ }
- if (angularVelocity.magnitude > 0)
- {
- Vector3 torque = rigidbody.transform.rotation * (angularVelocity - rigidbody.angularVelocity) * rigidbody.mass / deltaTime * 2;
- rigidbody.AddTorque( new Vector3 (0, torque.y , 0) );
- }
+ if (angularVelocity.magnitude > 0)
+ {
+ Vector3 torque = rigidbody.transform.rotation * (angularVelocity - rigidbody.angularVelocity) * rigidbody.mass / deltaTime * 2;
+ rigidbody.AddTorque( new Vector3 (0, torque.y , 0) );
+ }
- }
- }
- else
- {
- SubscribedTransform.Translate(linearVelocity * deltaTime);
- SubscribedTransform.Rotate(Vector3.forward, angularVelocity.x * deltaTime);
- SubscribedTransform.Rotate(Vector3.up, angularVelocity.y * deltaTime);
- SubscribedTransform.Rotate(Vector3.left, angularVelocity.z * deltaTime);
+ }
+ break;
+
+ case Mode.kinematic:
+ SubscribedTransform.Translate(linearVelocity * deltaTime);
+ SubscribedTransform.Rotate(Vector3.forward, angularVelocity.x * deltaTime);
+ SubscribedTransform.Rotate(Vector3.up, angularVelocity.y * deltaTime);
+ SubscribedTransform.Rotate(Vector3.left, angularVelocity.z * deltaTime);
+ break;
+
+ case Mode.motor:
+ if(controller == null) break;
+ controller.ControlMotorsClosedLoop(deltaTime, linearVelocity.z, angularVelocity.y);
+ break;
}
-
-
+
previousRealTime = Time.realtimeSinceStartup;
isMessageReceived = false;
diff --git a/Assets/Scenes/CrowdBot/Challenge/CrowdBotChallenge.unity b/Assets/Scenes/CrowdBot/Challenge/CrowdBotChallenge.unity
index 9529c15f..e80b7337 100644
--- a/Assets/Scenes/CrowdBot/Challenge/CrowdBotChallenge.unity
+++ b/Assets/Scenes/CrowdBot/Challenge/CrowdBotChallenge.unity
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diff --git a/catkin_crowdbotsim b/catkin_crowdbotsim
index e1f30f11..941aee0c 160000
--- a/catkin_crowdbotsim
+++ b/catkin_crowdbotsim
@@ -1 +1 @@
-Subproject commit e1f30f112fb9d3e923fc35eb1315269d9d17bf17
+Subproject commit 941aee0c7e1018c1846ca1f02043fa4d05b65961
--
GitLab