Improving the CPU %

Author: ATemova

move_basic/scripts/move_patterns.py

@@ -0,0 +1,193 @@
+#!/usr/bin/env python
+
+"""
+Copyright (c) 2020, Ubiquity Robotics
+All rights reserved.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+* Neither the name of display_node nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+"""
+
+"""
+Example client program for sending multiple move_basic commands
+"""
+
+import rospy
+import getopt
+import sys
+import tf
+import actionlib
+from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
+
+class Controller:
+    """
+    Controller for moving the robot through predefined waypoints.
+    Supports different patterns (line, box, octagon, figure-8).
+    """
+
+    # Predefined waypoints (x, y, yaw, comment)
+    waypoints = {
+        "line": [
+            [0.00, 0.00, 0.000, "MOVE: Leg A"],
+            [0.50, 0.00, 0.000, "MOVE: Leg B"]
+        ],
+        "box": [
+            [0.00, 0.00, 0.000, "MOVE: Leg A"],
+            [0.50, 0.00, 1.570, "MOVE: Leg B"],
+            [0.50, 0.50, 3.140, "MOVE: Leg C"],
+            [0.00, 0.50, -1.570, "MOVE: Leg D"]
+        ],
+        "octagon": [
+            [0.40, 0.30, 0.000, "MOVE: Leg A"],
+            [0.60, 0.10, -0.785, "MOVE: Leg B"],
+            [0.60, -0.10, -1.571, "MOVE: Leg C"],
+            [0.40, -0.30, -2.356, "MOVE: Leg D"],
+            [0.20, -0.30, -3.141, "MOVE: Leg E"],
+            [0.00, -0.10, 2.356, "MOVE: Leg F"],
+            [0.00, 0.10, 1.571, "MOVE: Leg G"],
+            [0.20, 0.30, 0.785, "MOVE: Leg H"]
+        ],
+        "figure8": [
+            # First Octagon
+            [0.40, 0.30, 0.000, "MOVE: Leg A"],
+            [0.60, 0.10, -0.785, "MOVE: Leg B"],
+            [0.60, -0.10, -1.571, "MOVE: Leg C"],
+            [0.40, -0.30, -2.356, "MOVE: Leg D"],
+            [0.20, -0.30, -3.141, "MOVE: Leg E"],
+            [0.00, -0.10, 2.356, "MOVE: Leg F"],
+            [0.00, 0.10, 1.571, "MOVE: Leg G"],
+            [0.20, 0.30, 0.785, "MOVE: Leg H"],
+            # Second Octagon
+            [-0.20, 0.30, 2.356, "MOVE: Leg I"],
+            [-0.40, 0.30, 3.141, "MOVE: Leg J"],
+            [-0.60, 0.10, -2.356, "MOVE: Leg K"],
+            [-0.60, -0.10, -1.571, "MOVE: Leg L"],
+            [-0.40, -0.30, -0.785, "MOVE: Leg M"],
+            [-0.20, -0.30, 0.000, "MOVE: Leg N"],
+            [0.00, -0.10, 0.785, "MOVE: Leg O"],
+            [0.00, 0.10, 1.571, "MOVE: Leg P"]
+        ]
+    }
+
+    def __init__(self):
+        rospy.init_node('controller', anonymous=True)
+        rospy.on_shutdown(self.shutdown)
+
+        # Default values
+        self.wait_at_each_vertex = True
+        self.scale_x = 1.0
+        self.scale_y = 1.0
+        self.offset_x = 0.0
+        self.offset_y = 0.0
+        self.waypoint_name = "line"
+        self.waypoint_list = self.waypoints[self.waypoint_name]
+
+        # Parse command-line arguments
+        self.parse_arguments()
+
+        rospy.loginfo(f"Selected waypoints: {self.waypoint_name}")
+        rospy.loginfo(f"Scale: ({self.scale_x}, {self.scale_y}), Offset: ({self.offset_x}, {self.offset_y})")
+        rospy.loginfo(f"Total waypoints: {len(self.waypoint_list)}")
+
+    def parse_arguments(self):
+        """Parse command-line arguments to configure the waypoint navigation."""
+        try:
+            opts, _ = getopt.getopt(sys.argv[1:], "hcw:s:x:y:", 
+                ["help", "continue", "waypoints=", "scale=", "offsetX=", "offsetY="])
+        except getopt.GetoptError:
+            rospy.logerr("Error parsing arguments")
+            self.print_usage()
+            sys.exit(2)
+
+        for o, a in opts:
+            if o in ("-h", "--help"):
+                self.print_usage()
+                sys.exit(0)
+            elif o in ("-c", "--continue"):
+                self.wait_at_each_vertex = False
+            elif o in ("-w", "--waypoints"):
+                if a in self.waypoints:
+                    self.waypoint_name = a
+                    self.waypoint_list = self.waypoints[a]
+                else:
+                    rospy.logerr("Invalid waypoint list name")
+                    sys.exit(2)
+            elif o in ("-s", "--scale"):
+                self.scale_x = self.scale_y = float(a)
+            elif o in ("-x", "--offsetX"):
+                self.offset_x = float(a)
+            elif o in ("-y", "--offsetY"):
+                self.offset_y = float(a)
+
+    def publish_move_base_goal(self, x, y, yaw, comment):
+        """Send a goal to the move_base action server."""
+        client = actionlib.SimpleActionClient('move_base', MoveBaseAction)
+        client.wait_for_server()
+
+        goal = MoveBaseGoal()
+        goal.target_pose.header.frame_id = "map"
+        goal.target_pose.header.stamp = rospy.Time.now()
+        goal.target_pose.pose.position.x = x
+        goal.target_pose.pose.position.y = y
+        q = tf.transformations.quaternion_from_euler(0, 0, yaw)
+        goal.target_pose.pose.orientation.x, goal.target_pose.pose.orientation.y, \
+        goal.target_pose.pose.orientation.z, goal.target_pose.pose.orientation.w = q
+
+        rospy.loginfo(f"Publishing goal: {comment} | X: {x:.2f}, Y: {y:.2f}, Yaw: {yaw:.2f}")
+        client.send_goal(goal)
+        client.wait_for_result()
+
+        if client.get_result():
+            rospy.loginfo(f"Waypoint reached: {comment}")
+        else:
+            rospy.logwarn(f"Failed to reach waypoint: {comment}")
+
+    def run(self):
+        """Main loop for waypoint navigation."""
+        rospy.loginfo("Starting waypoint navigation...")
+
+        while not rospy.is_shutdown():
+            for x, y, yaw, comment in self.waypoint_list:
+                x = (x * self.scale_x) + self.offset_x
+                y = (y * self.scale_y) + self.offset_y
+
+                self.publish_move_base_goal(x, y, yaw, comment)
+
+                if self.wait_at_each_vertex:
+                    rospy.loginfo("Waiting at waypoint...")
+                    rospy.sleep(2)  # Replaces raw_input for better ROS integration
+
+    def shutdown(self):
+        """Stops the robot on shutdown."""
+        rospy.loginfo("Shutting down waypoint controller.")
+
+    @staticmethod
+    def print_usage():
+        print("Usage:")
+        print("  -h, --help       Show this help message")
+        print("  -c, --continue   Continuous operation (no waiting at each vertex)")
+        print("  -w, --waypoints  Select a predefined waypoint list (line, box, octagon, figure8)")
+        print("  -s, --scale      Scale the pattern size")
+        print("  -x, --offsetX    Offset in X direction")
+        print("  -y, --offsetY    Offset in Y direction")
+
+if __name__ == "__main__":
+    controller = Controller()
+    controller.run()