├── CMakeLists.txt ├── Data └── stage_1 │ ├── ANGLES_lidar.csv │ ├── DISTANCES_lidar.csv │ ├── Estimation │ ├── PARTICLES_step_0.csv │ ├── PARTICLES_step_1.csv │ ├── PARTICLES_step_10.csv │ ├── PARTICLES_step_100.csv │ ├── PARTICLES_step_101.csv │ ├── PARTICLES_step_102.csv │ ├── PARTICLES_step_103.csv │ ├── PARTICLES_step_104.csv │ ├── PARTICLES_step_105.csv │ ├── PARTICLES_step_106.csv │ ├── PARTICLES_step_107.csv │ ├── PARTICLES_step_108.csv │ ├── PARTICLES_step_109.csv │ ├── PARTICLES_step_11.csv │ ├── PARTICLES_step_110.csv │ ├── PARTICLES_step_111.csv │ ├── PARTICLES_step_112.csv │ ├── PARTICLES_step_113.csv │ ├── PARTICLES_step_114.csv │ ├── PARTICLES_step_115.csv │ ├── PARTICLES_step_116.csv │ ├── PARTICLES_step_117.csv │ ├── PARTICLES_step_118.csv │ ├── PARTICLES_step_119.csv │ ├── PARTICLES_step_12.csv │ ├── PARTICLES_step_120.csv │ ├── PARTICLES_step_121.csv │ ├── PARTICLES_step_122.csv │ ├── PARTICLES_step_123.csv │ ├── PARTICLES_step_124.csv │ ├── PARTICLES_step_125.csv │ ├── PARTICLES_step_126.csv │ ├── PARTICLES_step_127.csv │ ├── PARTICLES_step_128.csv │ ├── PARTICLES_step_129.csv │ ├── PARTICLES_step_13.csv │ ├── PARTICLES_step_130.csv │ ├── PARTICLES_step_131.csv │ ├── PARTICLES_step_132.csv │ ├── PARTICLES_step_133.csv │ ├── PARTICLES_step_134.csv │ ├── PARTICLES_step_135.csv │ ├── PARTICLES_step_136.csv │ ├── PARTICLES_step_137.csv │ ├── PARTICLES_step_138.csv │ ├── PARTICLES_step_139.csv │ ├── PARTICLES_step_14.csv │ ├── PARTICLES_step_140.csv │ ├── PARTICLES_step_141.csv │ ├── PARTICLES_step_142.csv │ ├── PARTICLES_step_143.csv │ ├── PARTICLES_step_144.csv │ ├── PARTICLES_step_145.csv │ ├── PARTICLES_step_146.csv │ ├── PARTICLES_step_147.csv │ ├── PARTICLES_step_148.csv │ ├── PARTICLES_step_149.csv │ ├── PARTICLES_step_15.csv │ ├── PARTICLES_step_150.csv │ ├── PARTICLES_step_16.csv │ ├── PARTICLES_step_17.csv │ ├── PARTICLES_step_18.csv │ ├── PARTICLES_step_19.csv │ ├── PARTICLES_step_2.csv │ ├── PARTICLES_step_20.csv │ ├── PARTICLES_step_21.csv │ ├── PARTICLES_step_22.csv │ ├── PARTICLES_step_23.csv │ ├── PARTICLES_step_24.csv │ ├── PARTICLES_step_25.csv │ ├── PARTICLES_step_26.csv │ ├── PARTICLES_step_27.csv │ ├── PARTICLES_step_28.csv │ ├── PARTICLES_step_29.csv │ ├── PARTICLES_step_3.csv │ ├── PARTICLES_step_30.csv │ ├── PARTICLES_step_31.csv │ ├── PARTICLES_step_32.csv │ ├── PARTICLES_step_33.csv │ ├── PARTICLES_step_34.csv │ ├── PARTICLES_step_35.csv │ ├── PARTICLES_step_36.csv │ ├── PARTICLES_step_37.csv │ ├── PARTICLES_step_38.csv │ ├── PARTICLES_step_39.csv │ ├── PARTICLES_step_4.csv │ ├── PARTICLES_step_40.csv │ ├── PARTICLES_step_41.csv │ ├── PARTICLES_step_42.csv │ ├── PARTICLES_step_43.csv │ ├── PARTICLES_step_44.csv │ ├── PARTICLES_step_45.csv │ ├── PARTICLES_step_46.csv │ ├── PARTICLES_step_47.csv │ ├── PARTICLES_step_48.csv │ ├── PARTICLES_step_49.csv │ ├── PARTICLES_step_5.csv │ ├── PARTICLES_step_50.csv │ ├── PARTICLES_step_51.csv │ ├── PARTICLES_step_52.csv │ ├── PARTICLES_step_53.csv │ ├── PARTICLES_step_54.csv │ ├── PARTICLES_step_55.csv │ ├── PARTICLES_step_56.csv │ ├── PARTICLES_step_57.csv │ ├── PARTICLES_step_58.csv │ ├── PARTICLES_step_59.csv │ ├── PARTICLES_step_6.csv │ ├── PARTICLES_step_60.csv │ ├── PARTICLES_step_61.csv │ ├── PARTICLES_step_62.csv │ ├── PARTICLES_step_63.csv │ ├── PARTICLES_step_64.csv │ ├── PARTICLES_step_65.csv │ ├── PARTICLES_step_66.csv │ ├── PARTICLES_step_67.csv │ ├── PARTICLES_step_68.csv │ ├── PARTICLES_step_69.csv │ ├── PARTICLES_step_7.csv │ ├── PARTICLES_step_70.csv │ ├── PARTICLES_step_71.csv │ ├── PARTICLES_step_72.csv │ ├── PARTICLES_step_73.csv │ ├── PARTICLES_step_74.csv │ ├── PARTICLES_step_75.csv │ ├── PARTICLES_step_76.csv │ ├── PARTICLES_step_77.csv │ ├── PARTICLES_step_78.csv │ ├── PARTICLES_step_79.csv │ ├── PARTICLES_step_8.csv │ ├── PARTICLES_step_80.csv │ ├── PARTICLES_step_81.csv │ ├── PARTICLES_step_82.csv │ ├── PARTICLES_step_83.csv │ ├── PARTICLES_step_84.csv │ ├── PARTICLES_step_85.csv │ ├── PARTICLES_step_86.csv │ ├── PARTICLES_step_87.csv │ ├── PARTICLES_step_88.csv │ ├── PARTICLES_step_89.csv │ ├── PARTICLES_step_9.csv │ ├── PARTICLES_step_90.csv │ ├── PARTICLES_step_91.csv │ ├── PARTICLES_step_92.csv │ ├── PARTICLES_step_93.csv │ ├── PARTICLES_step_94.csv │ ├── PARTICLES_step_95.csv │ ├── PARTICLES_step_96.csv │ ├── PARTICLES_step_97.csv │ ├── PARTICLES_step_98.csv │ └── PARTICLES_step_99.csv │ ├── THETA_odom.csv │ ├── X_odom.csv │ └── Y_odom.csv ├── Maps └── stage_1 │ ├── Wall_0.csv │ ├── Wall_2.csv │ ├── Wall_3.csv │ └── Wall_4.csv ├── Papers ├── KLD-sampling-adaptive-particle-filters-Paper.pdf └── The-particle-filter-algorithm-pseudocode.png ├── README.md ├── package.xml └── scripts ├── __pycache__ ├── pf_classes.cpython-38.pyc └── pf_functions.cpython-38.pyc ├── pf_algo.py ├── pf_classes.py ├── pf_collect_data_node.py ├── pf_functions.py ├── plot_map_features.py └── scan_node.py /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.0.2) 2 | project(pf_localization) 3 | 4 | ## Find catkin and any catkin packages 5 | find_package(catkin REQUIRED COMPONENTS rospy std_msgs ) 6 | 7 | ## Declare a catkin package 8 | catkin_package() 9 | 10 | # Install python scripts 11 | catkin_install_python(PROGRAMS scripts/pf_algo.py 12 | scripts/pf_classes.py 13 | scripts/pf_functions.py 14 | scripts/pf_collect_data_node.py 15 | scripts/plot_map_features.py 16 | scripts/scan_node.py 17 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 18 | ) 19 | 20 | ## Build talker and listener 21 | include_directories(include ${catkin_INCLUDE_DIRS}) 22 | -------------------------------------------------------------------------------- /Data/stage_1/Estimation/PARTICLES_step_11.csv: -------------------------------------------------------------------------------- 1 | -4.532313386393883037e-01 , 3.279757863729299561e-01 , 1.692896571072016298e+00 , 5.203643979013753730e-03 2 | 2.410890529629680645e-01 , 3.219235516790445173e-01 , 2.369222921044605190e+00 , 5.203643979013753730e-03 3 | 1.550072713868458629e-01 , 7.716389824399765285e-01 , 1.915263723724184075e+00 , 5.203643979013753730e-03 4 | -8.088412199616898945e-01 , -8.017114258528874604e-01 , 4.317247236689735423e+00 , 5.203643979013753730e-03 5 | 3.013098921791612650e-01 , -4.915154921288713563e-01 , -4.861395167853575505e-01 , 5.203643979013753730e-03 6 | -8.311987900736551582e-01 , -7.963685357462424452e-01 , 4.301285074540709630e+00 , 5.203643979013753730e-03 7 | -6.794511475871813921e-01 , -6.579826484841627687e-01 , 4.554842334250558622e+00 , 5.203643979013753730e-03 8 | 2.014090257745000667e-01 , 8.042611135870474381e-01 , 1.582741616198930279e+00 , 5.203643979013753730e-03 9 | 2.245899939581161853e-01 , 7.622517832597932586e-01 , 1.669116040373126664e+00 , 5.203643979013753730e-03 10 | 2.257205915216521086e-01 , 8.397683350478665210e-01 , 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6.418552070725763725e-01 153 | -------------------------------------------------------------------------------- /Maps/stage_1/Wall_0.csv: -------------------------------------------------------------------------------- 1 | -1.850000000000000089e+00 2 | 1.850000000000000089e+00 3 | 1.850000000000000089e+00 4 | 1.850000000000000089e+00 5 | -------------------------------------------------------------------------------- /Maps/stage_1/Wall_2.csv: -------------------------------------------------------------------------------- 1 | -1.849993204571064753e+00 2 | -1.850006795429947060e+00 3 | 1.849999999987519406e+00 4 | -1.849999999987519406e+00 5 | -------------------------------------------------------------------------------- /Maps/stage_1/Wall_3.csv: -------------------------------------------------------------------------------- 1 | -1.850000000000000089e+00 2 | 1.850000000000000089e+00 3 | -1.850000000000000089e+00 4 | -1.850000000000000089e+00 5 | -------------------------------------------------------------------------------- /Maps/stage_1/Wall_4.csv: -------------------------------------------------------------------------------- 1 | 1.850006795429947060e+00 2 | 1.849993204571064753e+00 3 | -1.849999999987519406e+00 4 | 1.849999999987519406e+00 5 | -------------------------------------------------------------------------------- /Papers/KLD-sampling-adaptive-particle-filters-Paper.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lukovicaleksa/mobile-robot-localization-using-particle-filter/4ea6c218a235ca77a51945c4f95cb015a32f0ff5/Papers/KLD-sampling-adaptive-particle-filters-Paper.pdf -------------------------------------------------------------------------------- /Papers/The-particle-filter-algorithm-pseudocode.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lukovicaleksa/mobile-robot-localization-using-particle-filter/4ea6c218a235ca77a51945c4f95cb015a32f0ff5/Papers/The-particle-filter-algorithm-pseudocode.png -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # mobile-robot-localization-using-particle-filter 2 | Implementation of Particle filter algorithm for mobile robot (turtlebot3_burger) localization in ROS. 3 | 4 | * Algorithm is implemented from scratch 5 | * Only the map turtlebot3_stage_1.launch from turtlebot3_gazebo is handled, im working on more complex maps 6 | * Data collection is done by manually driving turtlebot using turtlebot3_teleop_key.launch while [pf_collect_data_node.py](scripts/pf_collect_data_node.py) is active 7 | 8 | # Content 9 | * [Papers](Papers) -> materials used for the project 10 | * [Data](Data) -> folder containing Odometry and Lidar data needed for the algorithm 11 | * [Estimation](Data/stage_1/Estimation) -> folder containing particles data at each step 12 | * [Maps](Maps) -> folder containing map parameters 13 | * [scripts](scripts) -> python scripts 14 | * [plot_map_features.py](scripts/plot_map_features.py) -> plotting the selected map with its features (obstacles) 15 | * [pf_functions.py](scripts/pf_functions.py) -> functions needed for Particle filter algorithm and Odometry/Lidar messages processing 16 | * [pf_classes.py](scripts/pf_classes.py) -> classes needed for Particle filter algorithm and Map representation 17 | * [pf_collect_data_node.py](scripts/pf_collect_data_node.py) -> node for collecting the data from Odometry and Lidar and storing in Data folder 18 | * [pf_algo.py](scripts/pf_algo.py) -> calculating particles at each step using Data folder and storing results in Data/Estimation folder or just plotting the results directly from Data/Estimation folder 19 | -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | pf_localization 4 | 0.0.0 5 | The pf_localization package 6 | 7 | 8 | 9 | 10 | maestro 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | catkin 52 | rospy 53 | std_msgs 54 | rospy 55 | std_msgs 56 | rospy 57 | std_msgs 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | -------------------------------------------------------------------------------- /scripts/__pycache__/pf_classes.cpython-38.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lukovicaleksa/mobile-robot-localization-using-particle-filter/4ea6c218a235ca77a51945c4f95cb015a32f0ff5/scripts/__pycache__/pf_classes.cpython-38.pyc -------------------------------------------------------------------------------- /scripts/__pycache__/pf_functions.cpython-38.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lukovicaleksa/mobile-robot-localization-using-particle-filter/4ea6c218a235ca77a51945c4f95cb015a32f0ff5/scripts/__pycache__/pf_functions.cpython-38.pyc -------------------------------------------------------------------------------- /scripts/pf_algo.py: -------------------------------------------------------------------------------- 1 | #! /usr/bin/env python 2 | 3 | import rospy 4 | import os 5 | 6 | from time import perf_counter 7 | from time import sleep 8 | from datetime import datetime 9 | import matplotlib.pyplot as plt 10 | 11 | import sys 12 | DATA_PATH = '/home/maestro/catkin_ws/src/pf_localization/Data' 13 | MODULES_PATH = '/home/maestro/catkin_ws/src/pf_localization/scripts' 14 | sys.path.insert(0, MODULES_PATH) 15 | 16 | from pf_functions import * 17 | 18 | DATA_DIR = DATA_PATH + '/stage_1' 19 | MAP_NAME = 'stage_1' 20 | 21 | LOAD_EST_DATA = True # True - load data from DATA_DIR/Estimation 22 | 23 | if __name__ == '__main__': 24 | try: 25 | # Map configuration and object extraction 26 | map = Map(MAP_NAME) 27 | map.load_objects() 28 | 29 | # Load data 30 | DATA_X_odom = np.genfromtxt(DATA_DIR + '/X_odom.csv', delimiter = ' , ') 31 | DATA_Y_odom = np.genfromtxt(DATA_DIR + '/Y_odom.csv', delimiter = ' , ') 32 | DATA_THETA_odom = np.genfromtxt(DATA_DIR + '/THETA_odom.csv', delimiter = ' , ') 33 | DATA_DISTANCES_lidar = np.genfromtxt(DATA_DIR + '/DISTANCES_lidar.csv', delimiter = ' , ') 34 | DATA_ANGLES_lidar = np.genfromtxt(DATA_DIR + '/ANGLES_lidar.csv', delimiter = ' , ') 35 | 36 | print('\r\nLoaded data:') 37 | print('X_odom: ' + str(DATA_X_odom.shape) + ' ' + str(type(DATA_X_odom))) 38 | print('Y_odom: ' + str(DATA_Y_odom.shape) + ' ' + str(type(DATA_Y_odom))) 39 | print('THETA_odom: ' + str(DATA_THETA_odom.shape) + ' ' + str(type(DATA_THETA_odom))) 40 | print('DISTANCES_lidar: ' + str(DATA_DISTANCES_lidar.shape) + ' ' + str(type(DATA_DISTANCES_lidar))) 41 | print('ANGLES_lidar: ' + str(DATA_ANGLES_lidar.shape) + ' ' + str(type(DATA_ANGLES_lidar))) 42 | 43 | # Init storing data 44 | DATA_PARTICLES = [] 45 | 46 | # Remembering init values 47 | x_odom_prev = DATA_X_odom[0] 48 | y_odom_prev = DATA_Y_odom[0] 49 | theta_odom_prev = DATA_THETA_odom[0] 50 | distances = DATA_DISTANCES_lidar[0] 51 | angles = DATA_ANGLES_lidar[0] 52 | 53 | # Init time 54 | t_start = perf_counter() 55 | 56 | if not LOAD_EST_DATA: 57 | ####################################### 58 | ### PARTICLE FILTER INITIALIZATION ### 59 | ##################################### 60 | 61 | N = 200 # Number of particles 62 | 63 | # Particle filter algorithm - Create N uniformly distributed particles 64 | particles = generate_uniform_particles(map, N) 65 | 66 | for p in particles: 67 | # Calculate particle weights: w_t = p(z_t|x_t) 68 | p = calculate_particle_weight(p, angles, distances, map) 69 | 70 | # Normalize particle weight 71 | particles = normalize_particle_weights(particles) 72 | 73 | print('\r\nInitial particles: ') 74 | for (i, p) in enumerate(particles): 75 | print(str(i + 1) + '. (x,y,theta) = (%.2f,%.2f,%.2f), weight = %.5f' % (p.X[0], p.X[1], p.X[2], p.w)) 76 | 77 | ################################## 78 | ### PARTICLE FILTER MAIN LOOP ### 79 | ################################ 80 | for i in range(1, len(DATA_X_odom)): 81 | # Evaluate Particle Filter algorithm on DATA_DIR 82 | 83 | print('\r\nStep {} calculating...\r\n'.format(i)) 84 | 85 | # Calculate step time in [s] 86 | step_time = perf_counter() 87 | step_duration = step_time - t_start 88 | t_start = step_time 89 | 90 | # LIDAR measurements 91 | distances = DATA_DISTANCES_lidar[i] # distances in [m] 92 | angles = DATA_ANGLES_lidar[i] # angles in [radians] 93 | 94 | # Odometry measurements 95 | x_odom = DATA_X_odom[i] # x coordinate in [m] 96 | y_odom = DATA_Y_odom[i] # y coordinate in [m] 97 | theta_odom = DATA_THETA_odom[i] # theta coordinate in [radians] 98 | 99 | X_odom = np.array([x_odom, y_odom, theta_odom]) 100 | X_odom_prev = np.array([x_odom_prev, y_odom_prev, theta_odom_prev]) 101 | dX = X_odom - X_odom_prev 102 | 103 | # Resample particles from distribution based on weights w_t 104 | particles = resample_particles(particles, map) 105 | 106 | for p in particles: 107 | # State transition model: p(x_t|x_t_1, u_t) 108 | p = apply_state_transision(p, dX) 109 | 110 | # Calculate particle weights: w_t = p(z_t|x_t) 111 | p = calculate_particle_weight(p, angles, distances, map) 112 | 113 | # Normalize particle weight 114 | particles = normalize_particle_weights(particles) 115 | 116 | # Sorting particles by weights 117 | particles.sort(key = Particle.get_weight, reverse = True) 118 | # Top particle - maximum likelihood estimate 119 | p_mle = particles[0] 120 | 121 | print('\r\nStep {}, step time: {} [s]'.format(i, step_duration)) 122 | 123 | print('Particles: ') 124 | for (i, p) in enumerate(particles): 125 | print(str(i + 1) + '. (x,y,theta) = (%.2f,%.2f,%.2f), weight = %.5f' % (p.X[0], p.X[1], p.X[2], p.w)) 126 | 127 | x_odom_prev = x_odom 128 | y_odom_prev = y_odom 129 | theta_odom_prev = theta_odom 130 | 131 | # DATA_PARTICLES.append(particles) overwrites all existing elements in list 132 | DATA_PARTICLES.append(copy_particles(particles)) 133 | else: 134 | """ 135 | Load estimated data from file 136 | """ 137 | DATA_PARTICLES = [] 138 | estimations = os.listdir(DATA_DIR + '/Estimation') 139 | estimations.sort(key = get_estimation_step, reverse = False) 140 | 141 | for est in estimations: 142 | data_particles = np.genfromtxt(DATA_DIR + '/Estimation/' + est, delimiter = ' , ') 143 | particles = [] 144 | 145 | for dp in data_particles: 146 | p_X = [dp[0], dp[1], dp[2]] 147 | p_w = dp[3] 148 | particles.append(Particle(p_X, p_w)) 149 | 150 | DATA_PARTICLES.append(particles) 151 | 152 | 153 | algo_time_s = perf_counter() 154 | algo_time_h = algo_time_s // 3600 155 | algo_time_m = (algo_time_s - algo_time_h * 3600) // 60 156 | algo_time_s = algo_time_s - algo_time_h * 3600 - algo_time_m * 60 157 | 158 | print('\r\nAlgorithm duration: %i:%i:%.2f [h:m:s]\r\n' % (algo_time_h, algo_time_m, algo_time_s)) 159 | 160 | # Log the data 161 | if not LOAD_EST_DATA: 162 | for (i, particles) in enumerate(DATA_PARTICLES): 163 | 164 | PARTICLES = np.empty([len(particles), 4]) 165 | file_name = 'PARTICLES_step_{}.csv'.format(i) 166 | 167 | for (j,p) in enumerate(particles): 168 | PARTICLES[j,0] = p.X[0] 169 | PARTICLES[j,1] = p.X[1] 170 | PARTICLES[j,2] = p.X[2] 171 | PARTICLES[j,3] = p.w 172 | 173 | np.savetxt(DATA_DIR + '/Estimation/' + file_name, PARTICLES, delimiter = ' , ') 174 | 175 | # Init figure - simulated real time 176 | plt.style.use('seaborn-ticks') 177 | fig = plt.figure(1) 178 | ax = fig.add_subplot(1,1,1) 179 | box = ax.get_position() 180 | ax.set_position([box.x0, box.y0, box.width * 0.8, box.height]) 181 | 182 | print('Plotting\r\n') 183 | 184 | for (i, particles) in enumerate(DATA_PARTICLES): 185 | print('Plotting step {}'.format(i)) 186 | 187 | # LIDAR measurements 188 | distances = DATA_DISTANCES_lidar[i] # distances in [m] 189 | angles = DATA_ANGLES_lidar[i] # angles in [radians] 190 | 191 | # Sorting particles by weights 192 | particles.sort(key = Particle.get_weight, reverse = True) 193 | # Top particle - maximum likelihood estimate 194 | p_mle = particles[0] 195 | 196 | # Lidar measurements of MLE in x-y plane 197 | lidar_p_mle_x = np.array([]) 198 | lidar_p_mle_y = np.array([]) 199 | 200 | for (dist, ang) in zip(distances, angles): 201 | lidar_p_mle_x = np.append(lidar_p_mle_x, p_mle.X[0] + dist * np.cos(ang + p_mle.X[2])) 202 | lidar_p_mle_y = np.append(lidar_p_mle_y, p_mle.X[1] + dist * np.sin(ang + p_mle.X[2])) 203 | 204 | # Plot 205 | ax.clear() 206 | 207 | # objects 208 | for w in map.walls: 209 | ax.plot(w.x, w.y, color = 'black', lw = 4) 210 | 211 | # particles 212 | for (j,p) in enumerate(particles): 213 | 214 | dir_p_x = np.array([p.X[0], p.X[0] + 0.1 * np.cos(p.X[2])]) 215 | dir_p_y = np.array([p.X[1], p.X[1] + 0.1 * np.sin(p.X[2])]) 216 | 217 | if j == 0: 218 | # MLE 219 | ax.scatter(p.X[0], p.X[1], color = 'green', marker = 'o', lw = 7, label = 'MLE') 220 | ax.plot(dir_p_x, dir_p_y, color = 'green', lw = 4) 221 | elif j == 1: 222 | ax.scatter(p.X[0], p.X[1], color = 'blue', marker = 'o', lw = 1, label = 'particles') 223 | ax.plot(dir_p_x, dir_p_y, color = 'blue', lw = 0.75) 224 | else: 225 | ax.scatter(p.X[0], p.X[1], color = 'blue', marker = 'o', lw = 1) 226 | ax.plot(dir_p_x, dir_p_y, color = 'blue', lw = 0.75) 227 | 228 | # LIDAR measurements of MLE 229 | ax.plot(lidar_p_mle_x, lidar_p_mle_y, 'r.', markersize = 4, label = 'lidar') 230 | 231 | # plotting MLE again to get in front 232 | dir_p_mle_x = np.array([p_mle.X[0], p_mle.X[0] + 0.12 * np.cos(p_mle.X[2])]) 233 | dir_p_mle_y = np.array([p_mle.X[1], p_mle.X[1] + 0.12 * np.sin(p_mle.X[2])]) 234 | 235 | ax.scatter(p_mle.X[0], p_mle.X[1], color = 'green', marker = 'o', lw = 7) 236 | ax.plot(dir_p_mle_x, dir_p_mle_y, color = 'green', lw = 4) 237 | 238 | plt.xlabel('x[m]') 239 | plt.ylabel('y[m]') 240 | plt.xlim((-2.2, 2.2)) 241 | plt.ylim((-2.5, 2.2)) 242 | plt.title('Particle filter algorithm') 243 | ax.legend(loc = 'center left', bbox_to_anchor = (1, 0.5)) 244 | plt.draw() 245 | plt.pause(0.0001) 246 | 247 | if i == 0: 248 | sleep(3) 249 | 250 | if i == (len(DATA_PARTICLES) - 1): 251 | print('End of plotting') 252 | sleep(10) 253 | 254 | except rospy.ROSInterruptException: 255 | print('Simulation terminated!') 256 | pass 257 | -------------------------------------------------------------------------------- /scripts/pf_classes.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | import os 4 | import numpy as np 5 | import csv 6 | 7 | from pf_functions import * 8 | 9 | MAPS_PATH = '/home/maestro/catkin_ws/src/pf_localization/Maps/' 10 | 11 | MAX_LIDAR_DISTANCE = 1.01 # maximum LIDAR distance in [m] 12 | COLLISION_DISTANCE = 0.12 # collision distance in [m] 13 | 14 | class Particle: 15 | """ 16 | Particle class 17 | """ 18 | def __init__(self, X, w): 19 | self.X = X # [x, y, theta] coordinates 20 | self.w = w # particle weight 21 | 22 | # for sorting purpose 23 | def get_weight(self): 24 | return self.w 25 | 26 | class Wall: 27 | """ 28 | Wall object class 29 | """ 30 | def __init__(self, x_1, x_2, y_1, y_2, name): 31 | self.name = name 32 | 33 | # for loggin the map objects 34 | self.x_1 = x_1 35 | self.x_2 = x_2 36 | self.y_1 = y_1 37 | self.y_2 = y_2 38 | 39 | self.x = np.linspace(x_1, x_2, 1000) 40 | self.y = np.linspace(y_1, y_2, 1000) 41 | 42 | class Map: 43 | """ 44 | Map class 45 | """ 46 | def __init__(self, name): 47 | self.name = name 48 | self.walls = [] 49 | 50 | def extract_objects(self): 51 | """ 52 | Extract objects in a map 53 | """ 54 | model_properties = rosservice.call_service('/gazebo/get_model_properties', ['turtlebot3_square'])[1] 55 | 56 | for object_name in model_properties.body_names: 57 | if object_name[:4] == 'Wall': 58 | # Wall extraction 59 | wall = rosservice.call_service('/gazebo/get_link_state', [object_name, 'turtlebot3_square'])[1] 60 | 61 | x_center = wall.link_state.pose.position.x 62 | y_center = wall.link_state.pose.position.y 63 | theta = transform_orientation(wall.link_state.pose.orientation) 64 | length = 4.0 # Unreachable through rosservice, accessed from object_i -> collision -> geometry 65 | width = 0.15 # Unreachable through rosservice, accessed from object_i -> collision -> geometry 66 | name = wall.link_state.link_name 67 | 68 | # offset the objects center to collision spot 69 | x_center = x_center - width / 2 * np.sign(x_center) * np.abs(np.sin(theta)) 70 | y_center = y_center - width / 2 * np.sign(y_center) * np.abs(np.cos(theta)) 71 | 72 | # length of object is reduced by the overlaping area with other objects 73 | x_1 = x_center - (length / 2 - width) * np.cos(theta) 74 | x_2 = x_center + (length / 2 - width) * np.cos(theta) 75 | y_1 = y_center - (length / 2 - width) * np.sin(theta) 76 | y_2 = y_center + (length / 2 - width) * np.sin(theta) 77 | 78 | self.walls.append(Wall(x_1, x_2, y_1, y_2, name)) 79 | 80 | def check_invalid_position(self, particle): 81 | """ 82 | Checking if particle position on map is invalid 83 | """ 84 | x_min, y_min, x_max, y_max = 100, 100, -100, -100 85 | 86 | for w in self.walls: 87 | x_min = np.min(np.append(w.x, x_min)) 88 | x_max = np.max(np.append(w.x, x_max)) 89 | y_min = np.min(np.append(w.y, y_min)) 90 | y_max = np.max(np.append(w.y, y_max)) 91 | 92 | x_min = x_min + COLLISION_DISTANCE 93 | x_max = x_max - COLLISION_DISTANCE 94 | y_min = y_min + COLLISION_DISTANCE 95 | y_max = y_max - COLLISION_DISTANCE 96 | 97 | if particle.X[0] < x_min or particle.X[0] > x_max or particle.X[1] < y_min or particle.X[1] > y_max: 98 | return True 99 | else: 100 | return False 101 | 102 | def save_objects(self): 103 | """ 104 | Save map objects as .csv 105 | """ 106 | for (i,w) in enumerate(self.walls): 107 | np.savetxt(MAPS_PATH + self.name + '/' + w.name + '.csv', np.array([w.x_1, w.x_2, w.y_1, w.y_2]), delimiter = ' , ') 108 | 109 | def load_objects(self): 110 | """ 111 | Load map objects from .csv 112 | """ 113 | self.walls = [] # reinitialize map objects 114 | for object_name in os.listdir(MAPS_PATH + self.name + '/'): 115 | (x_1, x_2, y_1, y_2) = np.genfromtxt('Maps/' + self.name + '/' + object_name, delimiter = ' , ') 116 | self.walls.append(Wall(x_1, x_2, y_1, y_2, object_name[:-4])) 117 | -------------------------------------------------------------------------------- /scripts/pf_collect_data_node.py: -------------------------------------------------------------------------------- 1 | #! /usr/bin/env python 2 | 3 | import rospy 4 | 5 | import os 6 | import csv 7 | 8 | from time import time 9 | from time import sleep 10 | from datetime import datetime 11 | import matplotlib.pyplot as plt 12 | 13 | import sys 14 | DATA_PATH = '/home/maestro/catkin_ws/src/pf_localization/Data' 15 | MODULES_PATH = '/home/maestro/catkin_ws/src/pf_localization/scripts' 16 | sys.path.insert(0, MODULES_PATH) 17 | 18 | from pf_classes import * 19 | 20 | X_INIT = 1.3 # in [m] 21 | Y_INIT = 0.0 # in [m] 22 | THETA_INIT = 0.0 # in [degree] 23 | 24 | SIM_TIME = 30.0 # Simulation time [s] 25 | 26 | LOG_DIR = DATA_PATH + '/test' 27 | 28 | if __name__ == '__main__': 29 | try: 30 | # Node initialization 31 | rospy.init_node('pf_algo_node', anonymous = False) 32 | rate = rospy.Rate(10) 33 | 34 | setPosPub = rospy.Publisher('/gazebo/set_model_state', ModelState, queue_size = 10) 35 | 36 | # Set in initial position and orientation 37 | robot_in_pos = False 38 | 39 | while not robot_in_pos: 40 | (x_init, y_init, theta_init) = robot_set_pos(setPosPub, X_INIT, Y_INIT, radians(THETA_INIT)) 41 | 42 | msgOdom = rospy.wait_for_message('/odom', Odometry) 43 | (x, y) = get_odom_position(msgOdom) # x,y in [m] 44 | theta = get_odom_orientation(msgOdom) # theta in [radians] 45 | 46 | # check init pos 47 | if abs(x - x_init) < 0.01 and abs(y - y_init) < 0.01: 48 | robot_in_pos = True 49 | print('Robot in pos\r\n') 50 | sleep(3) 51 | else: 52 | robot_in_pos = False 53 | print('Robot not in pos\r\n') 54 | 55 | # Initialize log data 56 | X_odom = [] 57 | Y_odom = [] 58 | THETA_odom = [] 59 | DISTANCES_lidar = [] 60 | ANGLES_lidar = [] 61 | 62 | # Initialize time 63 | t_start = rospy.Time.now() 64 | print('SIMULATION HAS STARTED! \r\n') 65 | 66 | # main loop 67 | while not rospy.is_shutdown(): 68 | elapsed_time = (rospy.Time.now() - t_start).to_sec() 69 | 70 | # LIDAR measurements 71 | msgScan = rospy.wait_for_message('/scan', LaserScan) 72 | (distances, angles) = lidar_scan(msgScan, 1.01) # distances in [m], angles in [radians] 73 | 74 | # Odometry measurements 75 | msgOdom = rospy.wait_for_message('/odom', Odometry) 76 | (x_odom, y_odom) = get_odom_position(msgOdom) # x,y in [m] 77 | theta_odom = get_odom_orientation(msgOdom) # theta in [radians] 78 | 79 | # Appending log data 80 | X_odom.append(x_odom) 81 | Y_odom.append(y_odom) 82 | THETA_odom.append(theta_odom) 83 | DISTANCES_lidar.append(distances) 84 | ANGLES_lidar.append(angles) 85 | 86 | crash = check_crash(distances) 87 | 88 | print('CRASH: ' + str(crash)) 89 | print('ODOMETRY: (x,y,theta): (%.2f, %.2f, %.2f)' % (x_odom, y_odom, theta_odom)) 90 | print('ELAPSED TIME %.2f in [s]' % elapsed_time) 91 | print('\r\n') 92 | 93 | # End of simulation 94 | if elapsed_time > SIM_TIME: 95 | # Log the data 96 | np.savetxt(LOG_DIR + '/X_odom.csv', np.array(X_odom), delimiter = ' , ') 97 | np.savetxt(LOG_DIR + '/Y_odom.csv', np.array(Y_odom), delimiter = ' , ') 98 | np.savetxt(LOG_DIR + '/THETA_odom.csv', np.array(THETA_odom), delimiter = ' , ') 99 | 100 | DIST_LIDAR = np.empty([len(DISTANCES_lidar), len(DISTANCES_lidar[0])]) 101 | ANG_LIDAR = np.empty([len(DISTANCES_lidar), len(DISTANCES_lidar[0])]) 102 | 103 | for i in range(len(DISTANCES_lidar)): 104 | DIST_LIDAR[i,:] = DISTANCES_lidar[i] 105 | ANG_LIDAR[i,:] = ANGLES_lidar[i] 106 | 107 | np.savetxt(LOG_DIR + '/DISTANCES_lidar.csv', DIST_LIDAR, delimiter = ' , ') 108 | np.savetxt(LOG_DIR + '/ANGLES_lidar.csv', ANG_LIDAR, delimiter = ' , ') 109 | break 110 | 111 | except rospy.ROSInterruptException: 112 | print('Simulation terminated!') 113 | pass 114 | -------------------------------------------------------------------------------- /scripts/pf_functions.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | import rospy 4 | import rosservice 5 | 6 | import numpy as np 7 | import numpy.matlib as nm 8 | from math import * 9 | 10 | from tf.transformations import euler_from_quaternion, quaternion_from_euler 11 | from sensor_msgs.msg import LaserScan 12 | from nav_msgs.msg import Odometry 13 | from gazebo_msgs.msg import ModelState 14 | 15 | from pf_classes import * 16 | 17 | COLLISION_DISTANCE = 0.12 # collision distance in [m] 18 | 19 | def resample_particles(particles, map): 20 | """ 21 | Resample particles from distribution based on weights w_t 22 | """ 23 | weights = np.array([p.w for p in particles]) 24 | resampled_particles = [] 25 | 26 | while not (len(resampled_particles) == len(particles)): 27 | 28 | rnd = np.random.rand() # unifrom distribution between 0-1 29 | cumsum = np.cumsum(weights) # cumulative sum of particles weights 30 | 31 | # find index of selected particle 32 | ind = np.where(cumsum > rnd)[0][0] 33 | 34 | # resample new particle around selected particle 35 | mu_x = particles[ind].X[0] 36 | sigma_x = 0.01 # in [m] 37 | mu_y = particles[ind].X[1] 38 | sigma_y = 0.01 # in [m] 39 | mu_theta = particles[ind].X[2] 40 | sigma_theta = 0.06 # in [radians] 41 | 42 | X_res_particle = [np.random.normal(mu_x, sigma_x), 43 | np.random.normal(mu_y, sigma_y), 44 | np.random.normal(mu_theta, sigma_theta)] 45 | 46 | w_res_particle = 1 / len(particles) # Not important at the moment, will be recalculated 47 | 48 | res_particle = Particle(X_res_particle, w_res_particle) 49 | 50 | # if resampled particle position is valid, add it to the list of resampled particles 51 | if not map.check_invalid_position(res_particle): 52 | resampled_particles.append(res_particle) 53 | 54 | return resampled_particles 55 | 56 | def normalize_particle_weights(particles): 57 | """ 58 | Normalize weights of particles to satisfy: sum(weights) = 1.0 59 | """ 60 | cumsum = 0.0 61 | 62 | for p in particles: 63 | cumsum += p.w 64 | 65 | for p in particles: 66 | p.w /= (cumsum + 1e-6) 67 | 68 | return particles 69 | 70 | def calculate_particle_weight(p, angles, distances, map): 71 | """ 72 | Calculate particle weights based on measurements: w_t = p(z_t|x_t) 73 | """ 74 | p_distances = np.array([]) 75 | p_angles = angles 76 | 77 | for ang in angles: 78 | distances_to_obstacles = [] 79 | 80 | for w in map.walls: 81 | # fit line parameters r and alpha 82 | (r, alpha) = fit_line(np.array([w.x, w.y]), np.array([p.X[0], p.X[1], p.X[2]])) 83 | 84 | # distance to object 85 | obst_dist = r / np.cos(ang - alpha) 86 | 87 | # object bounds 88 | x_min = np.min(w.x) 89 | x_max = np.max(w.x) 90 | y_min = np.min(w.y) 91 | y_max = np.max(w.y) 92 | 93 | # corners tolerance 94 | x_min -= (0.02 * np.sign(x_min)) * x_min 95 | x_max += (0.02 * np.sign(x_max)) * x_max 96 | y_min -= (0.02 * np.sign(y_min)) * y_min 97 | y_max += (0.02 * np.sign(y_max)) * y_max 98 | 99 | # intersection in (x,y) coordinates 100 | intersection_x = p.X[0] + obst_dist * np.cos(ang + p.X[2]) 101 | intersection_y = p.X[1] + obst_dist * np.sin(ang + p.X[2]) 102 | 103 | # object parallel to lidar beam 104 | if obst_dist < 100: 105 | parallel = False 106 | else: 107 | parallel = True 108 | 109 | # object behind lidar beam 110 | if obst_dist > 0: 111 | behind = False 112 | else: 113 | behind = True 114 | 115 | # lidar beam hits the object - bounded line 116 | if x_min < intersection_x < x_max and y_min < intersection_y < y_max: 117 | out_of_bounds = False 118 | else: 119 | out_of_bounds = True 120 | 121 | if not out_of_bounds and not parallel and not behind: 122 | distances_to_obstacles.append(obst_dist) 123 | 124 | # if lidar beam hits near the corner it will intersect 2 obstacles -> choose closest 125 | min_obst_dist = min(distances_to_obstacles) 126 | 127 | # limit measurement 128 | if min_obst_dist > MAX_LIDAR_DISTANCE: 129 | min_obst_dist = MAX_LIDAR_DISTANCE 130 | 131 | p_distances = np.append(p_distances, min_obst_dist) 132 | 133 | # euc dist between estimated lidar measurements of particle and ground truth 134 | lidar_est_dist = np.linalg.norm(distances - p_distances) 135 | 136 | # max euc dist between estimated lidar measurements of particle and ground truth 137 | max_lidar_est_dist = np.linalg.norm(MAX_LIDAR_DISTANCE * np.ones(len(distances)) - COLLISION_DISTANCE * np.ones(len(distances))) 138 | 139 | # weight of particle - not normalized 140 | p.w = (max_lidar_est_dist - lidar_est_dist) ** 2 141 | 142 | return p 143 | 144 | def apply_state_transision(p, dX): 145 | """ 146 | Apply state transision model p(x_t|x_t_1, u_t) to particle 147 | """ 148 | traveled_distance = np.sqrt(dX[0] ** 2 + dX[1] ** 2) 149 | dX_particle = [traveled_distance * np.cos(p.X[2] + dX[2]), 150 | traveled_distance * np.sin(p.X[2] + dX[2]), 151 | dX[2]] 152 | 153 | p.X = list(np.array(p.X) + np.array(dX_particle)) 154 | 155 | # normalize to 0 - 2 pi 156 | if p.X[2] > 2 * np.pi: 157 | p.X[2] = p.X[2] % (2 * np.pi) 158 | 159 | return p 160 | 161 | def generate_uniform_particles(map, N): 162 | """ 163 | Generate N uniformly distributed particles on the map 164 | """ 165 | x_min, y_min, x_max, y_max = 100, 100, -100, -100 166 | 167 | for w in map.walls: 168 | x_min = np.min(np.append(w.x, x_min)) 169 | x_max = np.max(np.append(w.x, x_max)) 170 | y_min = np.min(np.append(w.y, y_min)) 171 | y_max = np.max(np.append(w.y, y_max)) 172 | 173 | x_min = x_min + (COLLISION_DISTANCE + 0.03) 174 | x_max = x_max - (COLLISION_DISTANCE + 0.03) 175 | y_min = y_min + (COLLISION_DISTANCE + 0.03) 176 | y_max = y_max - (COLLISION_DISTANCE + 0.03) 177 | 178 | x_rand = np.random.uniform(low = x_min, high = x_max, size = N) 179 | y_rand = np.random.uniform(low = y_min, high = y_max, size = N) 180 | theta_rand = np.random.uniform(low = 0, high = 2*np.pi, size = N) 181 | 182 | particles = [] 183 | 184 | for i in range(N): 185 | X = [x_rand[i], y_rand[i], theta_rand[i]] 186 | w = 1.0 / N 187 | particles.append(Particle(X, w)) 188 | 189 | return particles 190 | 191 | def copy_particles(particles): 192 | """ 193 | Copy particles function - for appending list of lists of particles 194 | DATA_PARTICLES = [particles_0, particles_1, ...] 195 | """ 196 | new_particles = [] 197 | 198 | for p in particles: 199 | new_particles.append(Particle(p.X, p.w)) 200 | 201 | return new_particles 202 | 203 | def fit_line(X_line, X_robot): 204 | """ 205 | Fit line parameters r and alpha from X,Y points 206 | """ 207 | # Transformation to robot's local coordinate frame 208 | R = np.array([[+np.cos(X_robot[2]), +np.sin(X_robot[2])], 209 | [-np.sin(X_robot[2]), +np.cos(X_robot[2])]]) 210 | 211 | X_line_local = np.matmul(R, X_line - np.reshape(X_robot[0:2], (2,1))) 212 | 213 | # line center 214 | line_center_x = sum(X_line_local[0]) / len(X_line_local[0]) 215 | line_center_y = sum(X_line_local[1]) / len(X_line_local[1]) 216 | 217 | num = 0 218 | denum = 0 219 | 220 | for i in range(len(X_line_local[0])): 221 | num += (X_line_local[0][i] - line_center_x) * (X_line_local[1][i] - line_center_y) 222 | denum += (X_line_local[1][i] - line_center_y) ** 2 - (X_line_local[0][i] - line_center_x) ** 2 223 | 224 | num = -2 * num 225 | alpha = atan2(num, denum) / 2 226 | 227 | r = line_center_x * cos(alpha) + line_center_y * sin(alpha) 228 | 229 | if r < 0: 230 | alpha = alpha + pi 231 | if alpha > pi: 232 | alpha = alpha - 2 * pi 233 | r = -r 234 | 235 | return (r, alpha) 236 | 237 | def get_estimation_step(est_csv_name): 238 | """ 239 | Get estimation step from csv file with name 'PARTICLES_step_i.csv', step == i 240 | """ 241 | return int(est_csv_name.split('_')[-1].split('.')[0]) 242 | 243 | def transform_orientation(orientation_q): 244 | """ 245 | Transform theta to [radians] from [quaternion orientation] 246 | """ 247 | orientation_list = [ orientation_q.x, orientation_q.y, orientation_q.z, orientation_q.w] 248 | (roll, pitch, yaw) = euler_from_quaternion(orientation_list) 249 | if yaw < 0: 250 | yaw = 2 * np.pi + yaw # 0->360 degrees >> 0->2pi 251 | return yaw 252 | 253 | def get_odom_orientation(msgOdom): 254 | """" 255 | Get theta from Odometry msg in [radians] 256 | """ 257 | orientation_q = msgOdom.pose.pose.orientation 258 | theta = transform_orientation(orientation_q) 259 | return theta 260 | 261 | def get_odom_position(msgOdom): 262 | """ 263 | Get (x,y) coordinates from Odometry msg in [m] 264 | """ 265 | x = msgOdom.pose.pose.position.x 266 | y = msgOdom.pose.pose.position.y 267 | return (x, y) 268 | 269 | def robot_set_pos(setPosPub, x, y, theta): 270 | """ 271 | Set robot position and orientation 272 | """ 273 | checkpoint = ModelState() 274 | 275 | checkpoint.model_name = 'turtlebot3' 276 | 277 | checkpoint.pose.position.x = x 278 | checkpoint.pose.position.y = y 279 | checkpoint.pose.position.z = 0.0 280 | 281 | [x_q,y_q,z_q,w_q] = quaternion_from_euler(0.0,0.0,theta) 282 | 283 | checkpoint.pose.orientation.x = x_q 284 | checkpoint.pose.orientation.y = y_q 285 | checkpoint.pose.orientation.z = z_q 286 | checkpoint.pose.orientation.w = w_q 287 | 288 | checkpoint.twist.linear.x = 0.0 289 | checkpoint.twist.linear.y = 0.0 290 | checkpoint.twist.linear.z = 0.0 291 | 292 | checkpoint.twist.angular.x = 0.0 293 | checkpoint.twist.angular.y = 0.0 294 | checkpoint.twist.angular.z = 0.0 295 | 296 | setPosPub.publish(checkpoint) 297 | return (x, y, theta) 298 | 299 | def lidar_scan(msgScan, max_lidar_distance): 300 | """ 301 | Convert LaserScan msg to array 302 | """ 303 | distances = np.array([]) 304 | angles = np.array([]) 305 | 306 | for i in range(len(msgScan.ranges)): 307 | angle = i * msgScan.angle_increment 308 | if ( msgScan.ranges[i] > max_lidar_distance ): 309 | distance = max_lidar_distance 310 | elif ( msgScan.ranges[i] < msgScan.range_min ): 311 | distance = msgScan.range_min 312 | # For real robot - protection 313 | if msgScan.ranges[i] < 0.01: 314 | distance = max_lidar_distance 315 | else: 316 | distance = msgScan.ranges[i] 317 | 318 | distances = np.append(distances, distance) 319 | angles = np.append(angles, angle) 320 | 321 | # distances in [m], angles in [radians] 322 | return ( distances, angles ) 323 | 324 | def check_crash(distances): 325 | """ 326 | Check for crash 327 | """ 328 | if np.min(distances) <= COLLISION_DISTANCE: 329 | return True 330 | else: 331 | return False 332 | -------------------------------------------------------------------------------- /scripts/plot_map_features.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | import numpy as np 4 | import matplotlib.pyplot as plt 5 | 6 | import sys 7 | DATA_PATH = '/home/maestro/catkin_ws/src/pf_localization/Data' 8 | MODULES_PATH = '/home/maestro/catkin_ws/src/pf_localization/scripts' 9 | sys.path.insert(0, MODULES_PATH) 10 | 11 | from pf_classes import * 12 | 13 | //TODO: Proveriti zasto nece da se pokrene mapa stage_1 14 | MAP_NAME = DATA_PATH + '/stage_1_test' 15 | 16 | map = Map(MAP_NAME) 17 | map.extract_objects() 18 | map.save_objects() 19 | 20 | print('*************') 21 | print('Map: ' + map.name) 22 | print('*************') 23 | print('Objects: ') 24 | 25 | plt.figure(1) 26 | 27 | for w in map.walls: 28 | plt.plot(w.x, w.y, label = w.name, lw = 2) 29 | print(w.name) 30 | print(' (x,y) : (%.3f,%.3f) => (%.3f,%.3f) [m]' % (np.min(w.x), np.min(w.y), np.max(w.x), np.max(w.y))) 31 | 32 | plt.title('Map "' + map.name + '" in X-Y plane') 33 | plt.xlabel('x[m]') 34 | plt.ylabel('y[m]') 35 | plt.xlim(-3,3) 36 | plt.ylim(-3,3) 37 | plt.legend() 38 | 39 | plt.show() 40 | -------------------------------------------------------------------------------- /scripts/scan_node.py: -------------------------------------------------------------------------------- 1 | #! /usr/bin/env python 2 | 3 | import rospy 4 | import matplotlib.pyplot as plt 5 | from datetime import datetime 6 | from time import sleep 7 | 8 | import sys 9 | MODULES_PATH = '/home/maestro/catkin_ws/src/pf_localization/scripts' 10 | sys.path.insert(0, MODULES_PATH) 11 | 12 | from pf_functions import * 13 | 14 | MAX_SIMULATION_TIME = 180 # in seconds 15 | X_INIT = -6.5 16 | Y_INIT = -3 17 | THETA_INIT = 90 18 | 19 | max_sim = False 20 | 21 | if __name__ == '__main__': 22 | try: 23 | rospy.init_node('scan_node', anonymous = False) 24 | rate = rospy.Rate(10) 25 | 26 | setPosPub = rospy.Publisher('/gazebo/set_model_state', ModelState, queue_size = 10) 27 | 28 | # Set in initial position and orientation 29 | robot_in_pos = False 30 | 31 | while not robot_in_pos: 32 | (x_init, y_init, theta_init) = robot_set_pos(setPosPub, X_INIT, Y_INIT, radians(THETA_INIT)) 33 | 34 | msgOdom = rospy.wait_for_message('/odom', Odometry) 35 | (x, y) = get_odom_position(msgOdom) # x,y in [m] 36 | theta = get_odom_orientation(msgOdom) # theta in [radians] 37 | 38 | # check init pos 39 | if abs(x - x_init) < 0.01 and abs(y - y_init) < 0.01: 40 | robot_in_pos = True 41 | print('Robot in pos\r\n') 42 | sleep(3) 43 | else: 44 | robot_in_pos = False 45 | print('Robot not in pos\r\n') 46 | 47 | now = datetime.now() 48 | dt_string_start = now.strftime("%d/%m/%Y %H:%M:%S") 49 | print('SCAN NODE START ==> ', dt_string_start ,'\r\n') 50 | 51 | scan_time = 0 52 | count = 0 53 | 54 | t_0 = rospy.Time.now() 55 | t_start = rospy.Time.now() 56 | 57 | # init timer 58 | while not (t_start > t_0): 59 | t_start = rospy.Time.now() 60 | 61 | t = t_start 62 | 63 | # Init figure - real time 64 | plt.style.use('seaborn-ticks') 65 | fig = plt.figure(1) 66 | ax = fig.add_subplot(1,1,1) 67 | 68 | # main loop 69 | while not rospy.is_shutdown(): 70 | 71 | # Lidar measurements 72 | msgScan = rospy.wait_for_message('/scan', LaserScan) 73 | ( distances, angles ) = lidar_scan(msgScan, 3.5) # distances in [m], angles in [degrees] 74 | 75 | # Odometry measurements 76 | msgOdom = rospy.wait_for_message('/odom', Odometry) 77 | (x_odom, y_odom) = get_odom_position(msgOdom) # x,y in [m] 78 | theta_odom = get_odom_orientation(msgOdom) # theta in [radians] 79 | 80 | scan_time = (rospy.Time.now() - t).to_sec() 81 | sim_time = (rospy.Time.now() - t_start).to_sec() 82 | count = count + 1 83 | 84 | print('\r\nScan cycle:', count , '\r\nScan time:', scan_time, 's') 85 | print('Simulation time:', sim_time, 's') 86 | t = rospy.Time.now() 87 | 88 | # Lidar measurements x-y plane 89 | distances_x = np.array([]) 90 | distances_y = np.array([]) 91 | 92 | for (dist, ang) in zip(distances, angles): 93 | distances_x = np.append(distances_x, x_odom + dist * np.cos(ang + theta_odom)) 94 | distances_y = np.append(distances_y, y_odom + dist * np.sin(ang + theta_odom)) 95 | 96 | # Plot 97 | ax.clear() 98 | 99 | # Plot Lidar measurements 100 | ax.plot(distances_x, distances_y, 'b.', markersize = 1.2, label = 'lidar') 101 | 102 | # Plot Robot position 103 | dir_robot_x = np.array([x_odom, x_odom + 0.25 * np.cos(theta_odom)]) 104 | dir_robot_y = np.array([y_odom, y_odom + 0.25 * np.sin(theta_odom)]) 105 | 106 | ax.plot(x_odom, y_odom, 'r.', markersize = 8, label = 'robot') 107 | ax.plot(dir_robot_x, dir_robot_y, color = 'red', lw = 1.5) 108 | 109 | plt.xlabel('x[m]') 110 | plt.ylabel('y[m]') 111 | plt.title('Scan node') 112 | plt.xlim([-10, 10]) 113 | plt.ylim([-6, 6]) 114 | plt.draw() 115 | plt.pause(0.0001) 116 | 117 | if sim_time > MAX_SIMULATION_TIME: 118 | now = datetime.now() 119 | dt_string_stop = now.strftime("%d/%m/%Y %H:%M:%S") 120 | print('\r\nSCAN NODE START ==> ', dt_string_start ,'\r\n') 121 | print('SCAN NODE STOP ==> ', dt_string_stop ,'\r\n') 122 | rospy.signal_shutdown('End of simulation') 123 | max_sim = True 124 | 125 | rate.sleep() 126 | 127 | except rospy.ROSInterruptException: 128 | 129 | if not max_sim: 130 | print('\r\nSIMULATION TERMINATED!') 131 | now = datetime.now() 132 | dt_string_stop = now.strftime("%d/%m/%Y %H:%M:%S") 133 | print('\r\nSCAN NODE START ==> ', dt_string_start ,'\r\n') 134 | print('SCAN NODE STOP ==> ', dt_string_stop ,'\r\n') 135 | rospy.signal_shutdown('End of simulation') 136 | 137 | pass 138 | --------------------------------------------------------------------------------