SMCinROS

Realize closed-loop position control for mobile robots with sliding mode control (SMC) in ROS. We assume that the mobile robot can already run standalone with /cmd_vel message. This project is used for sending desired motive commands to the mobile robot. The desired command is achieved from dealing with measured pose and target pose by SMC. We assume the robot only moves forward for now.

It should work in Ubuntu 16.04 x64 with ROS Kinetic, along with Motive 1.8(NatNet 2.8).

Features:

1. Modify the Optitrack Client for Motive 2 (with NatNet 3.0) in ROS to function with an older version (Motive 1.8 with NatNet 2.8 for our case, but can be modified for other version in your case by referring to the package client in your version SDK of NatNet).

   The orginal project is https://github.com/AgileDrones/OptiTrack-Motive-2-Client I tried to mark what I have modified in the source files.

   !BE ATTENTION!: the Eigen only output Yaw angle in range [0,pi],but Roll and Pitch are [-pi,pi].I don't understand why but this can be a problem. You will have to convert Quaterniond from Motive manually if neccessary.

   If there are some copyright problems, please let me know and tell me what I should do :)

2. Write neccessary data into TXT which you can custom easily.

3. Provide calculas functions. I only explain them in detail with Chinese for now. But you can understand from reading the code. With these functions, you can design other control methods as your wish.

4. 'SAPcontrol_noSMC' is only an example for closed-loop. 'SAPcontrol_sync' is only an example for using data sync in closed-loop.

5. Some functions are necessary for me only. Custom or delete them as you wish.

6. The time accuracy of the control loop is not guaranteed since it's a ROS project.

7. I use fast double power reaching law for sliding surface here. You can modify it for other simple methods/algorithms.

8. Please note this is my first ROS project. Therefore, it should be helpful for other ROS learner wishing to step a little further or used in lab, but not be a perfect and steady software framework.

Installation

necessary libs

sudo apt install libeigen3-dev

Download

# You can build your own work space,copy the files in SRC to yours only and catkin_make.
# or:
git clone https://github.com/orcasdli/SMCinROS.git

Run it:

# Switch to the launch file
# source your own setup.bash! 
# or:
source ~/SMCinROS/devel/setup.bash
roslaunch runSMC.launch
# open the launch file for customization.

Refer to https://github.com/AgileDrones/OptiTrack-Motive-2-Client for the installation of Optitrack client please if you have problem or want to use Motive 2.0.

This is my blog (in Chinese) with some detailed infomation about this project: https://blog.csdn.net/asdli/article/details/83070407

Acknowledgements: Personal gratitude to Professor Liang Ding from State Key Laboratory of Robotics and Systems in Harbin Institute of Technology, China, for the support.