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zamantousif
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Aug 13, 2019
zamantousif
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- Merging M scripts relevant for implementation on the TurtleBot2 from test branch to master
- Obstacles are now moving from point A to point B in a straight line at constant velocity - Stream function ensures streamlines are directed outside the obstacles at all times and converging to the origin
- state feedback is taken using VICON motion capture system - state feedback checked for TurtleBot and a stationary obstacle
- global ROS node connects to external master in the new initialize_ros function and therefore no further initialization is required for turtlebot
- initialize_ros.m and terminate_ros.m replace the old scripts initialize_turtlebot... - comments are updated in several scripts - updated the state feedback using VICON to read the position and/or orientation of TurtleBot and stationary obstacle - Quaternion to Euler ZYX conversion is taken care for reading angles in degrees - limiter function is added to limit control inputs to safe values
- loop iteration is done based on rosrate - timesteps are synced with ROS time - state feedback for MPC is updated - error matrix ehat is updated with (current - desired) state - tested behavior on TurtleBot2
Initial simulation scripts moved to Stream_Function folder
- script running - issue writing to publisher
- script runs without errors - control values are calculated but no movement/response observed on TurtleBot side - inputs are probably applied too quick for actuators to respond
- angles are calculated in radians - linear velocity limitation added
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