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Refactor tb3ctrl #32

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merged 5 commits into from
May 14, 2022
Merged

Refactor tb3ctrl #32

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cc5d3ae
Reformat spaces
May 14, 2022
1e46633
Fix typo
May 14, 2022
da118e6
Remove #if comment out
May 14, 2022
94ac032
Remove unused code
May 14, 2022
ba2827d
Align indent
s-hosoai May 14, 2022
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75 changes: 18 additions & 57 deletions ros2/workspace/src/tb3/src/tb3ctrl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@ static void scanCallback(const sensor_msgs::msg::LaserScan::SharedPtr msg) {

static geometry_msgs::msg::Twist cmd_vel;

static float get_foward_distance(void) {
static float get_forward_distance(void) {
int i;
float min = 100.0f;
for (i = 0; i < 15; i++) {
Expand All @@ -34,9 +34,10 @@ static float get_foward_distance(void) {
min = scan_data.ranges[i];
}
}
// printf("foward: %lf\n", min);
// printf("forward: %lf\n", min);
return min;
}

static float get_right_distance(void) {
int i;
float min = 100.0f;
Expand All @@ -48,21 +49,11 @@ static float get_right_distance(void) {
// printf("right: %lf\n", min);
return min;
}
static float sarch_all(void) {
int i;
float min = 100.0f;
for (i = 0; i < 360; i++) {
if (scan_data.ranges[i] < min) {
min = scan_data.ranges[i];
}
}
return min;
}

static bool do_foward(void) {
static bool do_forward(void) {
bool is_stop = false;
cmd_vel.linear.x = 0;
if (get_foward_distance() < 0.2f) {
if (get_forward_distance() < 0.2f) {
cmd_vel.linear.x = 0;
is_stop = true;
} else {
Expand All @@ -72,23 +63,6 @@ static bool do_foward(void) {
return is_stop;
}

#if 0
static bool turn_left(void)
{
bool is_stop = false;
cmd_vel.angular.z = 0;
if (get_right_distance() < 0.05f) {
cmd_vel.angular.z = 5;
is_stop = true;
}
else {
cmd_vel.angular.z = 0;
}

return is_stop;
}
#endif

static bool turn_right(void) {
bool is_stop = false;
cmd_vel.angular.z = 0;
Expand All @@ -103,35 +77,31 @@ static bool turn_right(void) {
}

static void do_control(void) {
(void)do_foward();
(void)do_forward();
(void)turn_right();

if (cmd_vel.linear.x == 0 && cmd_vel.angular.z == 0) {
cmd_vel.angular.z = -1.0f;
}
return;
}

using namespace std::chrono_literals;

typedef enum {
RoboMode_INIT = 0,
RoboMode_RUN,
} RoboModeType;
int main(int argc, char **argv) {
RoboModeType mode = RoboMode_RUN;
char buffer[3][4096];

if (argc > 1) {
sprintf(buffer[0], "%s_tb3_node", argv[1]);
sprintf(buffer[1], "%s_cmd_vel", argv[1]);
sprintf(buffer[2], "%s_scan", argv[1]);
printf("START: %s\n", argv[1]);
sprintf(buffer[0], "%s_tb3_node", argv[1]);
sprintf(buffer[1], "%s_cmd_vel", argv[1]);
sprintf(buffer[2], "%s_scan", argv[1]);
printf("START: %s\n", argv[1]);
}
else {
sprintf(buffer[0], "tb3_node");
sprintf(buffer[1], "cmd_vel");
sprintf(buffer[2], "scan");
printf("START\n");
sprintf(buffer[0], "tb3_node");
sprintf(buffer[1], "cmd_vel");
sprintf(buffer[2], "scan");
printf("START\n");
}
rclcpp::init(argc, argv);

Expand All @@ -144,18 +114,9 @@ int main(int argc, char **argv) {
rclcpp::WallRate rate(10ms);

while (rclcpp::ok()) {
if (mode == RoboMode_INIT) {
float d = sarch_all();
if (d > 0.0f && d <= 0.08f) {
printf("d=%f MOVE\n", d);
mode = RoboMode_RUN;
} else {
printf("WATING d=%f\n", d);
}
} else {
do_control();
publisher->publish(cmd_vel);
}
do_control();
publisher->publish(cmd_vel);

rclcpp::spin_some(node);
rate.sleep();
}
Expand Down