move files from simulation-velocity-port

rb_ws/src/buggy/scripts/simulator/velocity_ui.py

@@ -0,0 +1,78 @@
+#! /usr/bin/env python3
+import sys
+import threading
+import tkinter as tk
+# from controller_2d import Controller
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import Float64
+
+class VelocityUI(Node):
+    def __init__(self):
+        super().__init__('velocity_ui')
+        self.get_logger().info('INITIALIZED.')
+
+        # Declare parameters with default values
+        self.declare_parameter('init_vel', 12)
+        self.declare_parameter('buggy_name', 'SC')
+        # Get the parameter values
+        self.init_vel = self.get_parameter("init_vel").value
+        self.buggy_name = self.get_parameter("buggy_name").value
+
+        # initialize variables
+        # TODO: uncomment after controller is implemented
+        # # So the buggy doesn't start moving without user input
+        # self.buggy_vel = 0
+        # # self.controller = Controller(buggy_name)
+        # self.lock = threading.Lock()
+
+        self.buggy_vel = self.init_vel
+
+        # TODO: remove after controller is implemented
+        # publish velocity 
+        self.velocity_publisher = self.create_publisher(Float64, "velocity", 1)
+
+
+        # TODO: tk is not displaying rn
+        self.root = tk.Tk()
+
+        self.root.title(self.buggy_name + ' Manual Velocity: scale = 0.1m/s')
+        self.root.geometry('600x100')
+        self.root.configure(background='#342d66')
+
+        self.scale = tk.Scale(self.root, from_=0, to=300, orient=tk.HORIZONTAL,
+                              length=500, width=30)
+        self.scale.pack()
+
+        self.root.bind("<Up>", lambda i: self.scale.set(self.scale.get() + 2))
+        self.root.bind("<Down>", lambda d: self.scale.set(self.scale.get() - 2))
+
+        # ROS2 timer for stepping
+        # 0.01 is equivalent to 100Hz (100 times per second)
+        # self.create_timer(0.01, self.step)
+
+    def step(self):
+        # Sets the velocity of the buggy to the current scale value
+        # called every tick
+        self.root.update_idletasks()
+        self.root.update()
+        # Update velocity of the buggy
+        # '/10' set velocity with 0.1 precision
+        self.buggy_vel = self.scale.get() / 10
+
+        # TODO: uncomment after controller is implemented
+        # self.controller.set_velocity(self.buggy_vel)
+
+        # TODO: remove after controller is implemented
+        float_64_velocity = Float64()
+        float_64_velocity.data = float(self.buggy_vel)
+        self.velocity_publisher .publish(float_64_velocity)
+
+def main(args=None):
+    rclpy.init(args=args)
+    vel_ui = VelocityUI()
+    rclpy.spin(vel_ui)
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()

rb_ws/src/buggy/scripts/simulator/velocity_updater.py

@@ -0,0 +1,98 @@
+#! /usr/bin/env python3
+import sys
+import math
+import threading
+import rclpy
+from rclpy.node import Node
+# from controller_2d import Controller
+from geometry_msgs.msg import Pose
+from geometry_msgs.msg import Point
+from std_msgs.msg import Float64
+
+class VelocityUpdater(Node):
+    RATE = 100
+    # Bubbles for updating acceleration based on position
+    # represented as 4-tuples: (x-pos, y-pos, radius, acceleration)
+    # 'list[tuple[float,float,float,float]]'
+    # need further update such as more data or import data from certain files
+    CHECKPOINTS = [
+        # (589701, 4477160, 20, 0.5)
+        (589701, 4477160, 10000000000, 100) # for testing
+    ]
+
+    def __init__(self):
+        super().__init__('velocity_updater')
+        self.get_logger().info('INITIALIZED.')
+
+        # Declare parameters with default values
+        self.declare_parameter('init_vel', 12)
+        self.declare_parameter('buggy_name', 'SC')
+        # Get the parameter values
+        self.init_vel = self.get_parameter("init_vel").value
+        self.buggy_name = self.get_parameter("buggy_name").value
+
+        # initialize variables
+        self.buggy_vel = self.init_vel
+        self.accel = 0.0
+        self.position = Point()
+        # TODO: uncomment after controller is implemented
+        # self.controller = Controller(self.buggy_name)
+        # self.lock = threading.Lock()
+
+        # subscribe pose
+        self.pose_subscriber = self.create_subscription(
+            Pose,
+            f"{self.buggy_name}/sim_2d/utm",
+            self.update_position,
+            10  # QoS profile
+        )
+
+        # TODO: remove after controller is implemented
+        # publish velocity 
+        self.velocity_publisher = self.create_publisher(Float64, "velocity", 1)
+
+        # ROS2 timer for stepping
+        self.timer = self.create_timer(1.0 / self.RATE, self.step)
+
+    def update_position(self, new_pose: Pose):
+        '''Callback function to update internal position variable when new
+        buggy position is published
+        
+        Args:
+            new_pose (Pose): Pose object from topic
+        '''
+        with self.lock:
+            self.position = new_pose.position
+
+    def calculate_accel(self):
+        '''Check if the position of the buggy is in any of the checkpoints set
+        in self.CHECKPOINTS, and update acceleration of buggy accordingly
+        '''
+        for (x, y, r, a) in self.CHECKPOINTS:
+            dist = math.sqrt((x-self.position.x)**2 + (y-self.position.y)**2)
+            if dist < r:
+                self.accel = a
+                break
+
+    def step(self):
+        '''Update acceleration and velocity of buggy for one timestep'''
+        self.calculate_accel()
+        new_velocity = self.buggy_vel + self.accel / self.RATE
+        self.buggy_vel = new_velocity
+
+        # TODO: uncomment after controller is implemented
+        # self.controller.set_velocity(new_velocity)
+
+        # TODO: remove after controller is implemented
+        float_64_velocity = Float64()
+        float_64_velocity.data = float(new_velocity)
+        self.velocity_publisher.publish(float_64_velocity)
+
+def main(args=None):
+    rclpy.init(args=args)
+    vel_updater = VelocityUpdater()
+    rclpy.spin(vel_updater)
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()