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support ubuntu20.04 with python3 #1

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12 changes: 6 additions & 6 deletions parkingdemo_control/config/parkingdemo_control.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -8,31 +8,31 @@ parkingdemo:
# Effort Controllers ---------------------------------------
rr_Wheel_effort_controller:
type: effort_controllers/JointEffortController
joint: wheel_rr
joint: wheel_rr_joint
pid: {p: 100.0, i: 0.1, d: 10.0}

rl_Wheel_effort_controller:
type: effort_controllers/JointEffortController
joint: wheel_rl
joint: wheel_rl_joint
pid: {p: 100.0, i: 0.1, d: 10.0}

fr_Wheel_effort_controller:
type: effort_controllers/JointEffortController
joint: wheel_fr
joint: wheel_fr_joint
pid: {p: 100.0, i: 0.1, d: 10.0}

fl_Wheel_effort_controller:
type: effort_controllers/JointEffortController
joint: wheel_fl
joint: wheel_fl_joint
pid: {p: 100.0, i: 0.1, d: 10.0}

# Position Controllers ---------------------------------------
fr_Steer_position_controller:
type: effort_controllers/JointPositionController
joint: steer_fr
joint: steer_fr_joint
pid: {p: 100.0, i: 0.1, d: 10.0}

fl_Steer_position_controller:
type: effort_controllers/JointPositionController
joint: steer_fl
joint: steer_fl_joint
pid: {p: 100.0, i: 0.1, d: 10.0}
28 changes: 14 additions & 14 deletions parkingdemo_description/urdf/fusion_13_structure.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -127,53 +127,53 @@
</collision>
</link>

<joint name="base_link" type="fixed">
<joint name="base_link_joint" type="fixed">
<origin xyz="0 0 0.33" rpy="0 0 0"/>
<parent link="base_footprint"/>
<child link="base_link"/>
</joint>

<joint name="steer_fl" type="continuous">
<joint name="steer_fl_joint" type="continuous">
<origin xyz="2.85 0.79121 0" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="steer_fl"/>
<axis xyz="0 0 1.0"/>
<!-- <limit lower="-0.65" upper="0.65" effort="0" velocity="0"/> -->
</joint>

<joint name="steer_fr" type="continuous">
<joint name="steer_fr_joint" type="continuous">
<origin xyz="2.85 -0.79121 0" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="steer_fr"/>
<axis xyz="0 0 1.0"/>
<!-- <limit lower="-0.65" upper="0.65" effort="0" velocity="0"/> -->
</joint>

<joint name="wheel_fl" type="continuous">
<joint name="wheel_fl_joint" type="continuous">
<origin xyz="0 0 0" rpy="1.570796 0 -3.141593"/>
<parent link="steer_fl"/>
<child link="wheel_fl"/>
<axis xyz="0 0 1.0"/>
<limit effort="0" velocity="22.0"/>
</joint>

<joint name="wheel_fr" type="continuous">
<joint name="wheel_fr_joint" type="continuous">
<origin xyz="0 0 0" rpy="1.570796 0 -3.141593"/>
<parent link="steer_fr"/>
<child link="wheel_fr"/>
<axis xyz="0 0 1.0"/>
<limit effort="0" velocity="22.0"/>
</joint>

<joint name="wheel_rl" type="continuous">
<joint name="wheel_rl_joint" type="continuous">
<origin xyz="0 0.7874 0" rpy="1.570796 0 -3.141593"/>
<parent link="base_link"/>
<child link="wheel_rl"/>
<axis xyz="0 0 1.0"/>
<limit effort="5000.0" velocity="22.0"/>
</joint>

<joint name="wheel_rr" type="continuous">
<joint name="wheel_rr_joint" type="continuous">
<origin xyz="0 -0.7874 0" rpy="1.570796 0 -3.141593"/>
<parent link="base_link"/>
<child link="wheel_rr"/>
Expand All @@ -185,7 +185,7 @@

<transmission name="tran1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wheel_rr">
<joint name="wheel_rr_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="wheel_Motor1">
Expand All @@ -196,7 +196,7 @@

<transmission name="tran2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wheel_rl">
<joint name="wheel_rl_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="wheel_Motor2">
Expand All @@ -207,7 +207,7 @@

<transmission name="tran3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wheel_fr">
<joint name="wheel_fr_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="wheel_Motor3">
Expand All @@ -218,7 +218,7 @@

<transmission name="tran4">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wheel_fl">
<joint name="wheel_fl_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="wheel_Motor4">
Expand All @@ -229,7 +229,7 @@

<transmission name="tran5">
<type>transmission_interface/SimpleTransmission</type>
<joint name="steer_fr">
<joint name="steer_fr_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="wheel_Motor5">
Expand All @@ -240,7 +240,7 @@

<transmission name="tran6">
<type>transmission_interface/SimpleTransmission</type>
<joint name="steer_fl">
<joint name="steer_fl_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="wheel_Motor6">
Expand All @@ -257,7 +257,7 @@
<plugin name="p3d_base_controller" filename="libgazebo_ros_p3d.so">
<alwaysOn>true</alwaysOn>
<updateRate>50.0</updateRate>
<bodyName>base_link</bodyName>
<bodyName>base_footprint</bodyName>
<topicName>ground_truth/state</topicName>
<gaussianNoise>0.01</gaussianNoise>
<frameName>world</frameName>
Expand Down
24 changes: 18 additions & 6 deletions parkingdemo_gazebo/scripts/parallel_parking.py
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
#!/usr/bin/env python
#!/usr/bin/env python3
# For ubuntu20.04 LTS
# Software License Agreement (BSD License)
#
# Copyright (c) 2008, Willow Garage, Inc.
Expand Down Expand Up @@ -145,9 +146,12 @@ def calc_distance(a, b):


def veh_control(initial_pos, start_pos, transition_pos, goal_pos, radius, update_pos):
global flag
# print("Input to func veh_control", initial_pos, start_pos, transition_pos, goal_pos, radius, update_pos)

print initial_pos, start_pos, transition_pos, goal_pos, radius, update_pos

# Here, we only need to give the target value of steering angle or wheel effort(force or torque)
# steer_position_controller is a steering angle controller, with radians as unit
# wheel_effort_controller is a wheel effort controller, with Nm as unit.
if update_pos[0]>start_pos[0]:
vel = -12
steer = 0
Expand All @@ -159,10 +163,11 @@ def veh_control(initial_pos, start_pos, transition_pos, goal_pos, radius, update
elif update_pos[0]<=(transition_pos[0]) and update_pos[0]>(goal_pos[0]-0.5) and flag == 0:
steer = 0.49
vel = -104

elif update_pos[0]<=goal_pos[0]-0.5:
steer = 0
vel = 20
global flag

flag = 1

elif flag == 1:
Expand All @@ -186,19 +191,26 @@ def veh_mission(msg):
first_obstacle = np.array([20-(length/2+7), 20-(width/2+0.5)])
goal = np.array([first_obstacle[0], first_obstacle[1] - width/2])

print float(msg.pose.pose.position.x)
# print( float(msg.pose.pose.position.x))
launch_coord = np.array([20, 20])
current_pos = np.array([msg.pose.pose.position.x, msg.pose.pose.position.y])
current_vel = np.array([msg.twist.twist.linear.x, msg.twist.twist.linear.y])

r_star, center1, center2, initial, start, transition = park_points(Ri_min, launch_coord, goal, width)
#trajectory(center1, center2, initial, start, transition, goal_pos, r_star)

vel_cmd, steer_cmd = veh_control(initial, start, transition, goal, r_star, current_pos)



rospy.loginfo("current_pos:")
rospy.loginfo(current_pos)
rospy.loginfo("current_vel:")
rospy.loginfo(current_vel)
rospy.loginfo("vel_cmd:")
rospy.loginfo(vel_cmd)
rospy.loginfo("steer_cmd:")
rospy.loginfo(steer_cmd)
#rospy.loginfo(current_pos)
rr_pub.publish(vel_cmd)
rl_pub.publish(vel_cmd)
fr_pub.publish(steer_cmd)
Expand Down
2 changes: 1 addition & 1 deletion parkingdemo_gazebo/worlds/parkingdemo.world
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Original file line number Diff line number Diff line change
Expand Up @@ -179,7 +179,7 @@
<pose frame=''>16.25 17.5 0 0 -0 0</pose>
</model>

<model name='Construction Cone1'>
<model name='Construction Cone4'>
<static>1</static>
<link name='link'>
<collision name='collision'>
Expand Down