Local control algorithm test only
This commit is contained in:
liuhaoyan
parent
e301e7cf67
commit
060cf2b078
@ -1,5 +1,5 @@
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# auto drive misson center webots simulation:
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该分支修复了原LQR算法中矩阵错误问题，并对参数进行调教，增加stanley前轮转向控制算法，并适配webots仿真环境。后续实车测试优先使用该分支
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lhy本地控制测试分支，无本地控制测试需求请勿使用
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## 1, `ubuntu20.04`, `ubuntu22.04`
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## 2, 安装 `webots`
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`https://github.com/cyberbotics/webots/tags`， 版本： `ubuntu20.04： R2023a， ubuntu22.04：R2025a`
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217
path_generate_json.py
Normal file
217
path_generate_json.py
Normal file
@ -0,0 +1,217 @@
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import json
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import math
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import matplotlib.pyplot as plt
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# ============================================================
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# 参数配置
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# ============================================================
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# 起点：采用你提供的第一个路径点
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START_LAT = 30.80062100422322
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START_LON = 121.21541599992909
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TURN_RADIUS = 1.5
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MISSION_SPEED = 0.32
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ARC_SPACING = 0.3
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# 地球半径（m）
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EARTH_RADIUS = 6378137.0
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#
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first_line_length = 6.0
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first_arc_rad = math.pi # 180° 半圆
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second_line_length = 8.0
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second_arc_rad = math.pi / 2 # 90° 四分之一圆
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third_line_length = 5.0
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# ============================================================
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# 工具函数
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# ============================================================
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def normalize_yaw(yaw):
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"""将 yaw 归一化到 [-pi, pi]。"""
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return math.atan2(math.sin(yaw), math.cos(yaw))
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def local_to_latlon(x, y):
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"""
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局部 ENU 坐标转经纬度。
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x: East，向东为正，单位 m
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y: North，向北为正，单位 m
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"""
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lat0 = math.radians(START_LAT)
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lat = START_LAT + math.degrees(y / EARTH_RADIUS)
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lon = START_LON + math.degrees(
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x / (EARTH_RADIUS * math.cos(lat0))
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)
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return lat, lon
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def add_point(points, x, y, yaw):
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"""添加一个 [latitude, longitude, yaw] 路径点。"""
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lat, lon = local_to_latlon(x, y)
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points.append([
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round(lat, 12),
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round(lon, 12),
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round(normalize_yaw(yaw), 9)
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])
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def add_arc(points, cx, cy, radius,
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start_angle, sweep_angle, spacing):
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"""
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添加圆弧采样点，不重复添加圆弧起点。
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yaw 为圆弧的切线方向，单位 rad。
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"""
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arc_length = abs(radius * sweep_angle)
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num_segments = max(1, math.ceil(arc_length / spacing))
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for i in range(1, num_segments + 1):
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ratio = i / num_segments
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angle = start_angle + sweep_angle * ratio
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x = cx + radius * math.cos(angle)
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y = cy + radius * math.sin(angle)
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# CCW 左转时，切线方向 = 圆心角 + pi/2
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yaw = angle + (
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math.pi / 2 if sweep_angle > 0
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else -math.pi / 2
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)
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add_point(points, x, y, yaw)
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coordinates = []
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# 1. 第一段直线：长度 6 m
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# 起点 (0, 0)，终点 (6, 0)
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add_point(coordinates, 0, 0, 0.0)
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add_point(coordinates, first_line_length, 0, 0.0)
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# 第一段圆弧起始索引
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first_turn_index = len(coordinates) - 1
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# 2. 第一段半圆：R=1，逆时针 180°
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# 圆心 (6, 1)，从 -90° 转到 90°
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add_arc(
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coordinates,
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cx=first_line_length,
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cy=TURN_RADIUS,
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radius=TURN_RADIUS,
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start_angle=-math.pi / 2,
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sweep_angle= first_arc_rad,
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spacing=ARC_SPACING
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)
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# 3. 第二段直线：长度 8 m
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# 半圆终点 (6, 2)，直线终点 (-2, 2)
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second_line_end_x = first_line_length - second_line_length
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second_line_end_y = 2 * TURN_RADIUS
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add_point(
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coordinates,
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second_line_end_x,
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second_line_end_y,
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math.pi
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)
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# 第二段圆弧起始索引
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second_turn_index = len(coordinates) - 1
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# 4. 第二段四分之一圆：顺时针 90°
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# 与第一段圆弧方向相反
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second_arc_cx = second_line_end_x
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second_arc_cy = second_line_end_y + TURN_RADIUS
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add_arc(
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coordinates,
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cx=second_arc_cx,
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cy=second_arc_cy,
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radius=TURN_RADIUS,
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start_angle=-math.pi / 2,
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sweep_angle=-second_arc_rad,
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spacing=ARC_SPACING
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)
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# 5. 最后一段直线：长度 5 m
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third_line_start_x = second_arc_cx
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third_line_start_y = second_arc_cy
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add_point(
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coordinates,
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third_line_start_x - TURN_RADIUS,
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third_line_start_y + third_line_length,
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math.pi / 2
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)
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# ============================================================
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# 构造符合现有项目的 GeoJSON
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# ============================================================
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path_json = {
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"type": "FeatureCollection",
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"properties": {
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"turnRadius": TURN_RADIUS,
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"misionSpeed": MISSION_SPEED
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},
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"features": [
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{
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"type": "Feature",
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"properties": {
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"turnInds": [
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first_turn_index,
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second_turn_index
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],
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"mission": []
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},
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"geometry": {
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"type": "LineString",
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"coordinates": coordinates
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}
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}
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]
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}
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# ============================================================
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# 保存文件
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# ============================================================
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output_file = "test_path.json"
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with open(output_file, "w", encoding="utf-8") as f:
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json.dump(
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path_json,
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f,
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ensure_ascii=False,
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indent=2
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)
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print(f"JSON 文件已生成: {output_file}")
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print(f"路径点数量: {len(coordinates)}")
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print(f"turnInds: {path_json['features'][0]['properties']['turnInds']}")
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print(f"起点: {coordinates[0]}")
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print(f"终点: {coordinates[-1]}")
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fig, ax = plt.subplots(figsize=(10, 6))
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ax.plot([p[0] for p in coordinates], [p[1] for p in coordinates], "-o", markersize=3, label="Path")
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ax.set_xlabel("X (m)")
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ax.set_ylabel("Y (m)")
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ax.axis("equal")
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ax.grid(True)
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ax.legend()
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plt.tight_layout()
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plt.show()
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37893
path_visualizer.log
Normal file
37893
path_visualizer.log
Normal file
File diff suppressed because it is too large
Load Diff
@ -10,12 +10,12 @@ import matplotlib.pyplot as plt
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# 参数
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# ============================================================
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LOG_PATTERN = "logs/mission_center_logger*.txt"
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LOG_PATTERN = "path_visualizer.log"
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# 每 5 个完整数据取 1 个
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SAMPLE_STEP = 40
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SAMPLE_STEP = 1
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CSV_FILE = "recalculated_tracking_error.csv"
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CSV_FILE = "tracking_error.csv"
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# ============================================================
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@ -74,6 +74,9 @@ current_path_pattern = re.compile(
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r"current_path_yaw:([-+0-9.eE]+)"
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)
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yaw_command_pattern = re.compile(
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r"current_cmd_angular_z:([-+0-9.eE]+)"
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)
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# ============================================================
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# 3. 函数：角度归一化
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@ -178,6 +181,7 @@ def calculate_errors(
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# ============================================================
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all_data = []
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yaw_command_data = []
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total_raw_count = 0
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@ -202,6 +206,7 @@ for file in files:
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# --------------------------------------------------------
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pending_pose = None
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pending_yaw = None
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with file.open(
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@ -222,7 +227,13 @@ for file in files:
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line
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)
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m_yaw = yaw_command_pattern.search(line)
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if m_yaw:
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pending_yaw = float(m_yaw.group(1))
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if file_data_count % SAMPLE_STEP == 0:
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if abs(pending_yaw) >= 2.0:
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pending_yaw = 0 # 避免添加接近零的值
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yaw_command_data.append(pending_yaw)
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if m_pose:
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pending_pose = {
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@ -351,6 +362,7 @@ for file in files:
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pending_pose = None
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print(
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f"原始完整数据：{file_data_count}"
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)
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@ -447,6 +459,12 @@ alpha_deg = np.array([
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for d in all_data
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])
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yaw_command = yaw_command_data# 确保长度一致
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print(
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f"yaw size: {len(yaw_command)}"
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)
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# ============================================================
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# 8. 计算车辆累计行驶距离
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@ -524,13 +542,18 @@ with open(
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"heading_error_deg",
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"yaw_command",
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])
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for i in range(
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len(all_data)
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):
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if yaw_command[i] is None:
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print(f"yaw_command[{i}] is None")
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print(f"i = {i}")
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print(f"yaw_command length = {len(yaw_command)}")
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writer.writerow([
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f"{distance_m[i]:.8f}",
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@ -545,6 +568,8 @@ with open(
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f"{alpha_deg[i]:.8f}",
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f"{yaw_command[i]:.8f}"
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])
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@ -630,7 +655,43 @@ plt.grid(True)
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plt.tight_layout()
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plt.show()
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# ============================================================
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# 14. yaw command rad
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# ============================================================
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plt.figure(
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figsize=(12, 5)
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)
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plt.plot(
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distance_m,
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yaw_command,
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linewidth=1.2
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)
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plt.axhline(
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0.0,
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linestyle="--",
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linewidth=0.8
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)
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plt.xlabel(
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"Distance (m)"
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)
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plt.ylabel(
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"Yaw Command (rad)"
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)
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plt.title(
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"Recalculated Yaw Command"
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)
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plt.grid(True)
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plt.tight_layout()
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plt.show()
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# ============================================================
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# 15. 车辆轨迹 + 路径点
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@ -23,6 +23,10 @@
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#include <tf2/LinearMath/Quaternion.h>
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#include <std_msgs/msg/int32.hpp>
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#include <spdlog/spdlog.h>
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#include <spdlog/sinks/stdout_color_sinks.h>
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#include <spdlog/sinks/rotating_file_sink.h>
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class PathVisualizer : public rclcpp::Node
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{
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public:
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@ -38,6 +42,8 @@ private:
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double w);
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double normalize_angle(double angle);
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bool downloadPathJson(const std::string &url,std::string &json_data);
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bool downloadPathJson(const std::string &file_path,std::string &json_data,
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bool is_local_file);
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bool loadPathFromJson(const std::string &json_data);
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double gps_to_x(double lat,double lon);
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@ -101,7 +107,7 @@ private:
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// contorl paramss
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double max_speed_ = 0.8;
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double max_yaw_rate_ = 2.0;
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double lookahead_distance_ =0.6;
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double lookahead_distance_ =0.4;
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double max_interval_distance_ = 0.2;
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double origin_lat_;
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double origin_lon_;
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@ -113,10 +119,15 @@ private:
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bool origin_set_= false;
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bool path_transed = false;
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std::string file_path_;
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std::string file_name_;
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std::string path_url_ ;
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std::string json_data_;
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std::unique_ptr<GeodeticConverter> geodetic_converter_;
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// logger
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std::shared_ptr<spdlog::logger> logger_;
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};
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#endif
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@ -1,5 +1,7 @@
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#include "sweet_webots_robot/PathVisualizer.hpp"
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PathVisualizer::PathVisualizer(const std::string& file_name):
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Node("path_visualizer"),
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target_index_(0),
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@ -7,6 +9,7 @@ has_pose_(false)
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{
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file_name_ = file_name;
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path_url_ = "https://test.sweetai.cn:4433/load/locationCmdPath/" + file_name_;
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file_path_ = "/home/sweetai/auto_drive_misson_center_webots_simulation/test_path.json";
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RCLCPP_INFO(this->get_logger(),"PathVisualizer started");
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// pub
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cmd_pub_ = this->create_publisher<geometry_msgs::msg::Twist>("/twist_cmd_vel",10);
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@ -39,9 +42,35 @@ has_pose_(false)
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// urdf pose
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tf_broadcaster_ = std::make_unique<tf2_ros::TransformBroadcaster>(*this);
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// path get
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downloadPathJson(path_url_,json_data_);
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downloadPathJson(file_path_,json_data_,true);
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loadPathFromJson(json_data_);
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// logger初始化
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auto console_sink =
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std::make_shared<spdlog::sinks::stdout_color_sink_mt>();
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auto file_sink =
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std::make_shared<spdlog::sinks::rotating_file_sink_mt>(
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"./path_visualizer.log",
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10 * 1024 * 1024, // 10 MB
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5 // 保留5个文件
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);
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std::vector<spdlog::sink_ptr> sinks{
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console_sink,
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file_sink
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};
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logger_ = std::make_shared<spdlog::logger>(
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"path_visualizer",
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sinks.begin(),
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sinks.end()
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);
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logger_->set_level(spdlog::level::debug);
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logger_->info("PathVisualizer started");
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}
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using json = nlohmann::json;
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@ -122,6 +151,60 @@ void PathVisualizer::transformPathToVehicleStart(double vehicle_initial_yaw)
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}
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}
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#include <fstream>
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#include <sstream>
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#include <string>
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bool PathVisualizer::downloadPathJson(const std::string &file_path,
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std::string &json_data,
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bool is_local_file)
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{
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json_data.clear();
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// 打开本地 JSON 文件
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std::ifstream file(file_path);
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if (!file.is_open())
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{
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RCLCPP_ERROR(
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this->get_logger(),
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"Failed to open JSON file: %s",
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file_path.c_str());
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return false;
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}
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// 读取文件全部内容
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std::stringstream buffer;
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buffer << file.rdbuf();
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if (file.bad())
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{
|
||||
RCLCPP_ERROR(
|
||||
this->get_logger(),
|
||||
"Failed to read JSON file: %s",
|
||||
file_path.c_str());
|
||||
return false;
|
||||
}
|
||||
|
||||
json_data = buffer.str();
|
||||
|
||||
if (json_data.empty())
|
||||
{
|
||||
RCLCPP_ERROR(
|
||||
this->get_logger(),
|
||||
"JSON file is empty: %s",
|
||||
file_path.c_str());
|
||||
return false;
|
||||
}
|
||||
|
||||
RCLCPP_INFO(
|
||||
this->get_logger(),
|
||||
"Path JSON loaded successfully, size = %zu, path = %s",
|
||||
json_data.size(),
|
||||
file_path.c_str());
|
||||
|
||||
return true;
|
||||
}
|
||||
bool PathVisualizer::downloadPathJson(const std::string &url,
|
||||
std::string &json_data)
|
||||
{
|
||||
@ -171,6 +254,14 @@ bool PathVisualizer::loadPathFromJson(
|
||||
{
|
||||
// 解析 JSON
|
||||
json data =json::parse(json_data);
|
||||
// 检查 properties
|
||||
if (!data.contains("properties") ||
|
||||
!data["properties"].is_object())
|
||||
{
|
||||
RCLCPP_ERROR(this->get_logger(),"JSON does not contain valid properties");
|
||||
return false;
|
||||
}
|
||||
max_speed_ = data["properties"]["misionSpeed"].get<double>();
|
||||
// 检查 features
|
||||
if (!data.contains("features") ||
|
||||
!data["features"].is_array() ||
|
||||
@ -601,10 +692,11 @@ void PathVisualizer::control(){
|
||||
"control has not pose.");
|
||||
return;
|
||||
}
|
||||
|
||||
double speed=max_speed_;
|
||||
publishVehicleInfoRviz();
|
||||
publishLocalPose();
|
||||
target_index_= findClosestPoint(forward_index_limit_);
|
||||
int current_index = target_index_;
|
||||
int target =findLookAheadPoint();
|
||||
|
||||
double target_x =path_x_[target];
|
||||
@ -617,15 +709,38 @@ void PathVisualizer::control(){
|
||||
double local_x =cos(yaw_)*dx+sin(yaw_)*dy;
|
||||
double local_y =-sin(yaw_)*dx+cos(yaw_)*dy;
|
||||
|
||||
double target_angle = std::atan2(dy, dx);
|
||||
double alpha = target_angle - yaw_;
|
||||
while (alpha > M_PI) alpha -= 2 * M_PI;
|
||||
while (alpha < -M_PI) alpha += 2 * M_PI;
|
||||
|
||||
/*Pure Pursuit*/
|
||||
double Ld =sqrt(local_x*local_x+local_y*local_y);
|
||||
double curvature =2.0*local_y/(Ld*Ld);
|
||||
// double Ld =sqrt(local_x*local_x+local_y*local_y);
|
||||
// double w_cmd =2.0*speed*sin(alpha)/(Ld);
|
||||
|
||||
/*Stanley*/
|
||||
double curent_path_x = path_x_[current_index];
|
||||
double curent_path_y = path_y_[current_index];
|
||||
double current_path_yaw =path_yaw_[current_index];
|
||||
|
||||
double dx_path = x_ - curent_path_x;
|
||||
double dy_path = y_ - curent_path_y;
|
||||
double error_lat = -dx_path * sin(current_path_yaw) + dy_path * cos(current_path_yaw);
|
||||
double w_cmd =1.0 * alpha - 1.5 * std::atan2(error_lat,speed);
|
||||
|
||||
geometry_msgs::msg::Twist cmd;
|
||||
|
||||
double speed=max_speed_;
|
||||
cmd.linear.x =speed;
|
||||
cmd.angular.z =speed*curvature;
|
||||
logger_->debug("current_pose_x:{}, current_pose_y:{},current_pose_yaw:{}",
|
||||
x_, y_,yaw_
|
||||
);
|
||||
logger_->debug("current_path_x:{}, current_path_y:{},current_path_yaw:{}",
|
||||
target_x,
|
||||
target_y,
|
||||
target_yaw
|
||||
);
|
||||
cmd.linear.x = speed;
|
||||
cmd.angular.z = w_cmd;
|
||||
|
||||
|
||||
if(cmd.angular.z >max_yaw_rate_)
|
||||
{
|
||||
@ -637,7 +752,8 @@ void PathVisualizer::control(){
|
||||
cmd.angular.z=-max_yaw_rate_;
|
||||
}
|
||||
|
||||
//cmd_pub_->publish(cmd);
|
||||
cmd_pub_->publish(cmd);
|
||||
logger_->debug("current_cmd_angular_z:{}",cmd.angular.z);
|
||||
|
||||
// RCLCPP_INFO_THROTTLE(
|
||||
// this->get_logger(),
|
||||
|
||||
164
test_path.json
Normal file
164
test_path.json
Normal file
@ -0,0 +1,164 @@
|
||||
{
|
||||
"type": "FeatureCollection",
|
||||
"properties": {
|
||||
"turnRadius": 1.5,
|
||||
"misionSpeed": 0.32
|
||||
},
|
||||
"features": [
|
||||
{
|
||||
"type": "Feature",
|
||||
"properties": {
|
||||
"turnInds": [
|
||||
1,
|
||||
18
|
||||
],
|
||||
"mission": []
|
||||
},
|
||||
"geometry": {
|
||||
"type": "LineString",
|
||||
"coordinates": [
|
||||
[
|
||||
30.800621004223,
|
||||
121.215415999929,
|
||||
0.0
|
||||
],
|
||||
[
|
||||
30.800621004223,
|
||||
121.215478749384,
|
||||
0.0
|
||||
],
|
||||
[
|
||||
30.800621263136,
|
||||
121.215481809837,
|
||||
0.196349541
|
||||
],
|
||||
[
|
||||
30.800622029926,
|
||||
121.215484752678,
|
||||
0.392699082
|
||||
],
|
||||
[
|
||||
30.800623275125,
|
||||
121.215487464816,
|
||||
0.589048623
|
||||
],
|
||||
[
|
||||
30.80062495088,
|
||||
121.215489842025,
|
||||
0.785398163
|
||||
],
|
||||
[
|
||||
30.800626992794,
|
||||
121.21549179295,
|
||||
0.981747704
|
||||
],
|
||||
[
|
||||
30.800629322397,
|
||||
121.215493242618,
|
||||
1.178097245
|
||||
],
|
||||
[
|
||||
30.800631850163,
|
||||
121.215494135319,
|
||||
1.374446786
|
||||
],
|
||||
[
|
||||
30.800634478952,
|
||||
121.215494436748,
|
||||
1.570796327
|
||||
],
|
||||
[
|
||||
30.800637107742,
|
||||
121.215494135319,
|
||||
1.767145868
|
||||
],
|
||||
[
|
||||
30.800639635508,
|
||||
121.215493242618,
|
||||
1.963495408
|
||||
],
|
||||
[
|
||||
30.800641965111,
|
||||
121.21549179295,
|
||||
2.159844949
|
||||
],
|
||||
[
|
||||
30.800644007025,
|
||||
121.215489842025,
|
||||
2.35619449
|
||||
],
|
||||
[
|
||||
30.80064568278,
|
||||
121.215487464816,
|
||||
2.552544031
|
||||
],
|
||||
[
|
||||
30.800646927979,
|
||||
121.215484752678,
|
||||
2.748893572
|
||||
],
|
||||
[
|
||||
30.800647694769,
|
||||
121.215481809837,
|
||||
2.945243113
|
||||
],
|
||||
[
|
||||
30.800647953682,
|
||||
121.215478749384,
|
||||
3.141592654
|
||||
],
|
||||
[
|
||||
30.800647953682,
|
||||
121.215395083444,
|
||||
3.141592654
|
||||
],
|
||||
[
|
||||
30.800648212595,
|
||||
121.215392022991,
|
||||
2.945243113
|
||||
],
|
||||
[
|
||||
30.800648979384,
|
||||
121.21538908015,
|
||||
2.748893572
|
||||
],
|
||||
[
|
||||
30.800650224583,
|
||||
121.215386368012,
|
||||
2.552544031
|
||||
],
|
||||
[
|
||||
30.800651900339,
|
||||
121.215383990803,
|
||||
2.35619449
|
||||
],
|
||||
[
|
||||
30.800653942253,
|
||||
121.215382039878,
|
||||
2.159844949
|
||||
],
|
||||
[
|
||||
30.800656271855,
|
||||
121.21538059021,
|
||||
1.963495408
|
||||
],
|
||||
[
|
||||
30.800658799622,
|
||||
121.215379697509,
|
||||
1.767145868
|
||||
],
|
||||
[
|
||||
30.800661428411,
|
||||
121.21537939608,
|
||||
1.570796327
|
||||
],
|
||||
[
|
||||
30.800706344175,
|
||||
121.21537939608,
|
||||
1.570796327
|
||||
]
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user