ros_beginner/sinX.cpp at master · khoatranrb/ros_beginner · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
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
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <turtlesim/Pose.h>
#include <cmath>
#include <iostream>
#include <queue>
using namespace std;

int i = 0;
float x, y, theta, v, vt;
float tx = 0, ty = 5;
int state = 0, rate = 1000;
float a_z;
float target, target_angle, t_a;
double pi = 3.1415926535;
ros::Publisher pub;

geometry_msgs::Twist getMessage(double linear_x, double angular_z)
{
    geometry_msgs::Twist msg;
    msg.linear.x = linear_x;
    msg.angular.z = angular_z;
    return msg;
}

void move()
{
    //if()
    if (abs(t_a - theta) > pi / 4 && abs(t_a - theta) < 2 * pi - pi / 4)
    // if (t_a < 0.1 || t_a > 6.1)
    //     pub.publish(getMessage(1.5 * target, 0 * (t_a - theta)));
    // else
    {
        pub.publish(getMessage(0, 2 * a_z));
        //cout << "1" << endl;
    }
    else
    {
        if (abs(target) > 0.01)
        {
            if (abs(target) > 0.1)
                if (abs(t_a - theta) > 0.16)
                {
                    pub.publish(getMessage(2.4 * target, 0.2 * a_z));
                    //cout << "2" << endl;
                }
                else
                {
                    pub.publish(getMessage(2 * target, 0.2 * a_z));
                    //cout << "3" << endl;
                }
            else
            {
                if (abs(t_a - theta) > 0.016)
                {
                    pub.publish(getMessage(1 * target, 0.05 * a_z));
                    //cout << "4" << endl;
                }
                else
                {
                    pub.publish(getMessage(0.2 * target, 0.02 * a_z));
                    //cout << "5" << endl;
                }
            }
        }
        else
        {
            pub.publish(getMessage(0, 0));
            state = 0;
        }
    }
}

void poseCallback(const turtlesim::Pose::ConstPtr &msg)
{
    float prevx = x, prevy = y;
    x = msg->x, y = msg->y, theta = msg->theta,
    v = msg->linear_velocity, vt = msg->angular_velocity;
    tx += 0.0008;
    ty = 5 + sin(tx);
    cout << tx << endl
         << ty << endl
         << endl;
    // if (abs(t_a - theta) > pi / 4)
    // {
    //     cout << "a=" << t_a << endl
    //          << "t=" << target_angle << endl
    //          << "vt=" << vt << endl
    //          << endl;
    // };

    target = sqrt((tx - x) * (tx - x) + (ty - y) * (ty - y));
    target_angle = atan2(ty - y, tx - x);

    if (i != 0)
    {
        if (abs(target) > 0.01)
            state = 1;
        else
            state = 0;

        if (ty < y && tx < x)
            t_a = 2 * pi + target_angle;
        else
            t_a = target_angle;
    }
    else
    {
        t_a = 0;
        target = 0.1;
        state = 0;
        i++;
    }
    if (t_a < pi)
    {
        if (theta < t_a + pi)
            a_z = t_a - theta;
        else
            a_z = theta - t_a;
    }
    else
    {
        if (theta < t_a - pi)
            a_z = theta - t_a;
        else
            a_z = t_a - theta;
    }
}

void move(float x, float y)
{
    state = 1;
    target = sqrt((tx - x) * (tx - x) + (ty - y) * (ty - y));
}

int main(int argc, char **argv)
{
    ros::init(argc, argv, "myturtle_control");
    ros::NodeHandle h;
    pub = h.advertise<geometry_msgs::Twist>("turtle2/cmd_vel", 1000);
    ros::Subscriber sub =
        h.subscribe("/turtle2/pose", 1000, poseCallback);
    ros::Rate loopRate(rate);

    bool in_action = false;
    while (ros::ok())
    {
        if (state == 1)
        {
            move();
        }
        loopRate.sleep();
        ros::spinOnce();
    }

    return 0;
}