-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathmazerunner_m.py
336 lines (285 loc) · 10.7 KB
/
mazerunner_m.py
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
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
#!/usr/bin/env python
#Matthew Atkins
#University of Lincoln
#School of Computer Science
#ATK16657290
from cmath import isnan
import rospy
from geometry_msgs.msg import Twist
from math import radians
from nav_msgs.msg import Odometry
from geometry_msgs.msg import Twist
from sensor_msgs.msg import LaserScan
from sensor_msgs.msg import Image
from cv_bridge import CvBridge, CvBridgeError
from math import radians
from math import pi
from tf_conversions import transformations
import cv2
from cv2 import namedWindow, cvtColor, imshow
from cv_bridge import CvBridge
import numpy
from cv2 import waitKey
import rospy
import cv2
from threading import Thread, Lock
import math
import numpy
from nav_msgs.msg import Odometry
from geometry_msgs.msg import Twist
from sensor_msgs.msg import LaserScan
from cv_bridge import CvBridge, CvBridgeError
from sensor_msgs.msg import Image
import numpy as np
class MazeRunner:
def __init__(self):
self.rate = rospy.Rate(5)
#initialise publishers and subscribers
#For visual feed.
self.bridge = CvBridge()
self.image_sub = rospy.Subscriber("/camera/rgb/image_raw", Image, self.image_callback)
#Velocity
self.velPub = rospy.Publisher('/mobile_base/commands/velocity', Twist, queue_size = 1)
self.odom = rospy.Subscriber('/odom', Odometry, self.odom_callback)
self.laser_sub = rospy.Subscriber("/scan", LaserScan, self.laserscan_callback, queue_size = 1)
self.laser = None
self.angle = None
self.isSearching = None
self.stopAngle = None
self.sBegin = False
self.isMoving = None
self.isTurningLeft = None
self.isTurningRight = None
#self.wallHit = None
self.isStopped = None
self.isSearching = True
self.stopAngle = 0
self.angle = 0
self.check_left_and_right = False
self.counter = 0
self.rightTurnLoop = False
self.wallHit = False
self.space_in_front = 0
self.initial_spin = False
self.blue_seen_init_spin = False
self.i = 0
def image_callback(self, data):
cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")# this decides output
hsv = cv2.cvtColor(cv_image, cv2.COLOR_BGR2HSV)
#HSV colour ranges for each colour within the maze
lower_red = numpy.array([0, 50, 50])
upper_red = numpy.array([20, 255, 255])
lower_blue = numpy.array([80, 50, 50])
upper_blue = numpy.array([130, 255, 255])
lower_green = numpy.array([40,40,40])
upper_green = numpy.array([70,255,255])
#Masks
red_mask = cv2.inRange(hsv,lower_red, upper_red)
blue_mask = cv2.inRange(hsv,lower_blue, upper_blue)
green_mask = cv2.inRange(hsv,lower_green, upper_green)
h, w, c = cv_image.shape # height, width & color channels
_, red_contours, _ = cv2.findContours(red_mask.copy(), cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
_, green_contours, _ = cv2.findContours(green_mask.copy(), cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
_, blue_contours, _ = cv2.findContours(blue_mask.copy(), cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
#Search regions based on where that colour is found, then create mask for that region
red_top = 9*h/10
red_bottom = h
# red_left = 9*w/10
# red_right = w
red_mask[0:red_top, 0:w] = 0
red_mask[red_bottom:h, 0:w] = 0
#Get moments from the masks
blue_moments = cv2.moments(blue_mask)
red_moments = cv2.moments(red_mask)
green_moments = cv2.moments(green_mask)
#approach hint, then ignore
if blue_moments['m00'] > 0:
for c in blue_contours:
area_of_color = cv2.contourArea(c)
if area_of_color > 1.0 and self.space_in_front > 1.5 and self.check_left_and_right == False:#0.75:
self.blue_seen_init_spin = True
cx = int(blue_moments['m10']/blue_moments['m00'])
cy = int(blue_moments['m01']/blue_moments['m00'])
cv2.circle(cv_image, (cx, cy), 20, (120, 255, 255), -1)
err = cx - w/2
self.move_to_color(err)
#when close enough, imagine red is a wall
if red_moments['m00'] > 0 :
for c in red_contours:
area_of_color = cv2.contourArea(c)
if area_of_color > 1000.0:
self.wallHit = True
#end main loop and approach, then stop when on the tile
if green_moments['m00'] > 0:
for c in green_contours:
area_of_color = cv2.contourArea(c)
if area_of_color > 500.0 :
self.sBegin = False
cx = int(green_moments['m10']/green_moments['m00'])
cy = int(green_moments['m01']/green_moments['m00'])
cv2.circle(cv_image, (cx, cy), 20, (120, 255, 255), -1)
err = cx - w/2
self.move_to_color(err)
if self.space_in_front < 0.6:
print("DONE")
self.moveStop()
cv2.imshow("window", cv_image)
cv2.waitKey(3)
def odom_callback(self, odom):
self.angle = self.odom_orientation(odom.pose.pose.orientation)
#print(self.angle)
def odom_orientation(self, q):
y, p, r = transformations.euler_from_quaternion([q.w, q.x, q.y, q.z])
return y * 180 / pi
def moveFront(self):
self.isTurningLeft = False
self.isTurningRight = False
self.isStopped = False
self.isMoving = True
self.move(0, 0.2)
rospy.loginfo("mFront")
def turnLeft(self):
self.isTurningLeft = True
self.isTurningRight = False
self.isStopped = False
self.isMoving = False
self.turn(45, 0)
rospy.loginfo("mLeft")
def turnRight(self):
self.isTurningLeft = False
self.isTurningRight = True
self.isStopped = False
self.isMoving = False
self.turn(-45, 0)
rospy.loginfo("mRight")
def moveStop(self):
self.isTurningLeft = False
self.isTurningRight = False
self.isStopped = True
self.isMoving = False
self.move(0, 0)
rospy.loginfo("mStop")
def move(self, ang, lin):
t = Twist()
t.linear.x = lin
t.angular.z = radians(ang)
self.velPub.publish(t)
print("moving")
def turn(self, ang, lin):
t = Twist()
t.linear.x = lin
t.angular.z = radians(ang)
self.velPub.publish(t)
#rospy.sleep(1)
print("turning")
def checkFront(self, laser):
print("IN front = " + str(min(laser.ranges[310:330])))
if min(laser.ranges[310:330]) < 0.7:
print("Object Detected!")
return True
else:
return False
def adjust(self, laser):
laser_range = np.array(laser.ranges) #get laserscan ranges and convert to numpy arrray
left = laser_range[len(laser_range) - 10] # single hard left value
laser_range = laser_range[numpy.logical_not(numpy.isnan(laser_range))]
right = laser_range[10] # single hard left value
err = right - left
if math.isnan(err) == True:
err = 0
t = Twist()
t.angular.z = -float(err) / 15
t.linear.x = 0.2
print("error\n", err)
self.velPub.publish(t)
def move_to_color(self, err):
t = Twist()
t.linear.x = 0.3
t.angular.z = -float(err) / 50
self.velPub.publish(t)
def turn_x_degrees(self, radians):
t = Twist()
t.linear.x = 0
t.angular.z = math.radians(radians)
self.velPub.publish(t)
def halfTurn(self, direction):
if direction == "l":
self.moveStop()
for x in range(0,10):
self.turnLeft()
self.rate.sleep()
#rospy.sleep(1)
if direction == "r":
self.moveStop()
for x in range(0,10):
self.turnRight()
self.rate.sleep()
#rospy.sleep(1)
def laserscan_callback(self, laser):
laser_range = np.array(laser.ranges)
middle_val = int(round(len(laser_range)/2))
laser_range = laser_range[numpy.logical_not(numpy.isnan(laser_range))]
#front = min(laser_range[middle_val-7:middle_val+7])
front = min(laser_range[middle_val-2:middle_val+2])
self.space_in_front = min(laser_range[middle_val-2:middle_val+2])
print(middle_val)
print("callback - front = " + str(front))
if self.initial_spin == False:
print("initial spin")
if self.blue_seen_init_spin == False or self.i <= 14:
if self.i >= 14:
self.blue_seen_init_spin = True
print(self.i)
self.turn(-30, 0)
self.i = self.i +1
rospy.sleep(1)
else:
print("ending spin")
self.inital_spin = True
self.sBegin = True
if self.sBegin == True:
#
print("main")
self.moveFront()
self.adjust(laser)
self.wallHit = self.checkFront(laser)
if self.wallHit == True:
self.moveStop()
self.check_left_and_right = True
self.counter = 1
self.sBegin = False
#return
if self.check_left_and_right == True:
self.wallHit = False
print("checking left and right - front = " + str(front))
print(self.counter)
if front > 1:
self.check_left_and_right = False
self.sBegin = True
self.counter = 0
#check left
if self.counter == 1:
print("check left")
self.halfTurn("l")
self.rate.sleep()
rospy.sleep(1)
self.counter += 1
elif self.counter == 2:
#check right
print("check right")
self.rightTurnLoop = True
### RIGHT TURN LOOP ###
if self.rightTurnLoop:
print("correcting right")
if front > 1.5 : # turn 10 degreees until these conditions are met
self.sBegin = True
self.rightTurnLoop = False
else:
for x in range(0,5):
self.turn(-25, 0)
#self.rate.sleep()
rospy.sleep(1)
rospy.init_node('mazerunner')
MazeRunner()
rospy.spin()
#cv2.destroyAllWindows()