From c473084cda7a40602884238edf8c8aa3240fa7b5 Mon Sep 17 00:00:00 2001 From: "Bingham, Brian S" <bsbingha@nps.edu> Date: Tue, 6 Jun 2017 18:57:17 -0700 Subject: [PATCH] rfid example --- matlab/navsat_init.png | Bin 161378 -> 160492 bytes matlab/plot_rfid.m | 194 +++++++++++++++++++++++++++++++++++++++++ matlab/post_odom.m | 1 + matlab/post_rfid.m | 138 +++++++++++++++++++++++++++++ 4 files changed, 333 insertions(+) create mode 100644 matlab/plot_rfid.m create mode 100644 matlab/post_rfid.m diff --git a/matlab/navsat_init.png b/matlab/navsat_init.png index c305921beddb28ba79137dd13eae91d869698fbf..9b44ac30cf8961336e4ced91454ed58004b57fa0 100644 GIT binary patch delta 43298 zcmbrm2UL~!_AQE05e0=P0tyO=s6-G@5m1_FlprEvp;rrCsuXD-QZ#`85rYVbC<cfk zMS8CyB3%TeBS`PPv)}w+Z_j!6{_h*(jl0J=8Hw)wm0wwFt~uxWbq;MF>fZd<8TzAQ z?w5jN?#ZXfuN%rEDAnRs>kGQ#m(NXzpJ=^0{Mm!uurp5IvOfAJz0aScqOwl&GCW9C zc%1P5%?nS@)^F~{4C$M_Shm~!D4;*<t!R0Kk^V;Cu7Cxz@~E~`N?L-lhPo;mH`)cF 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Create a time series object based on the fields of the message type +ts_odom = timeseries(bagselect,'Pose.Pose.Position.X','Pose.Pose.Position.Y',... + 'Pose.Pose.Orientation.X','Pose.Pose.Orientation.Y',... + 'Pose.Pose.Orientation.Z','Pose.Pose.Orientation.W',... + 'Twist.Twist.Linear.X'); +% Extract the data as simple vectors. +x_odom = ts_odom.Data(:,1); +y_odom = ts_odom.Data(:,2); +angles = quat2eul([ts_odom.Data(:,6), ts_odom.Data(:,3),ts_odom.Data(:,4),ts_odom.Data(:,5)]); +yaw_odom = angles(:,1); +vel_odom=ts_odom.Data(:,7); + +figure(); +clf(); +plot(x_odom,y_odom); +hold on +plot(x_odom(1),y_odom(1),'go','markerfacecolor','g') +plot(x_odom(end),y_odom(end),'ro','markerfacecolor','r') +xlabel('Odom X [m]') +ylabel('Odom Y [m]') +title('Raw Odometry Estimate') +title('Odometry Estimate') +legend('Path','Start','End') +axis('equal') +grid on; + +%% Geonav from GPS/IMU +bagselect = select(bag,'Topic',['/' NS '/geonav_odom']); + +% Create a time series object based on the fields of the message type +ts_nav = timeseries(bagselect,'Pose.Pose.Position.X','Pose.Pose.Position.Y',... + 'Pose.Pose.Orientation.X','Pose.Pose.Orientation.Y',... + 'Pose.Pose.Orientation.Z','Pose.Pose.Orientation.W',... + 'Twist.Twist.Linear.X'); +% Extract the data as simple vectors. +x = ts_nav.Data(:,1); +y = ts_nav.Data(:,2); +angles = quat2eul([ts_nav.Data(:,6), ts_nav.Data(:,3),ts_nav.Data(:,4),ts_nav.Data(:,5)]); +yaw = angles(:,1); +vel=ts_nav.Data(:,7); + +% Plot the path with endpoints +figure(); +clf(); +plot(x,y); +hold on +plot(x(1),y(1),'go','markerfacecolor','g') +plot(x(end),y(end),'ro','markerfacecolor','r') +xlabel('Geonav X [m]') +ylabel('Geonav Y [m]') +legend('Path','Start','End') +axis('equal') +grid on; + +% Quiver plot to check the heading alignment. +figure(); +clf() +u = vel.*cos(yaw); +v = vel.*sin(yaw); +ii = 1:10:length(x); % Decimate the data so that it plot only every Nth point. +quiver(x(ii),y(ii),u(ii)*10,v(ii)*10); +hold on +plot(x(1),y(1),'go','markerfacecolor','g') +plot(x(end),y(end),'ro','markerfacecolor','r') +xlabel('Geonav X [m]') +ylabel('Geonav Y [m]') +axis('equal') +grid on; + +% Extract the covariance estimates from the navigation solution +% as a measure of navigation quality +varX = []; +varY = []; +msgs = readMessages(bagselect); +for ii = 1:length(msgs) + varX(ii) = msgs{ii}.Pose.Covariance(1); + varY(ii) = msgs{ii}.Pose.Covariance(8); +end + +figure(4); +clf(); +plot(ts_nav.Time,varX,ts_nav.Time,varY); +legend('\sigma_x^2','\sigma_y^2'); +xlabel('Time[s]') +ylabel('Variance [m^2]') + +%% Compare odometry and geonav estimates +% Normalize the odometry with the initial geonav estimate +dyaw = yaw_odom(1)-yaw(1); % rotation angle for odom frame +dx = x_odom-x_odom(1); +dy = y_odom-y_odom(1); +x_o = (dx.*cos(dyaw)-dy.*sin(dyaw))+x(1); +y_o = (dx.*sin(dyaw)+dy.*cos(dyaw))+y(1); + +figure(); +clf(); +plot(x_o,y_o,x,y); +legend('Odometry','Geonav'); +hold on +plot(x(1),y(1),'go','markerfacecolor','g') +plot(x(end),y(end),'ro','markerfacecolor','r') +plot(x_o(1),y_o(1),'go','markerfacecolor','g') +plot(x_o(end),y_o(end),'ro','markerfacecolor','r') +grid on; +axis('equal') +xlabel('X [m]') +ylabel('Y [m]') + +%% Navigation Sensor Status +% Plot the status of the navigation solution +bagstatus = select(bag,'Topic',['/' NS '/nav/status']); +msgs = readMessages(bagstatus); +status = [] +for ii = 1:length(msgs) + status(ii,:) = msgs{ii}.Data; +end +ts_status = timeseries(bagstatus); + +figure(); +clf(); +plot(ts_status.Time,status) +legend('FilterState','DynamicsMode','StatusFlags'); +title('Navigation Kalman Filter Status') +xlabel('Time [s]') +ylabel('Value') + + +%% RFID tag times +bagrfid = select(bag,'Topic',['/' NS '/rfid']); +ts_rfid = timeseries(bagrfid); + +% Plot the times of the rfid tag collections +figure() +plot(ts_rfid.Time-ts_rfid.Time(1),1:length(ts_rfid.Time),'o') +xlabel('Time [s]') +ylabel('RFID detection index [N]') +grid on + +% Estract the tag IDs as a cell array +msgs = readMessages(bagrfid); +rfids = {}; +for ii = 1:length(msgs) + rfids{ii} = msgs{ii}.Data; +end + +% Re-plot the geonav positions +% Plot the path with endpoints +figure(10); +clf(); +plot(ts_nav.Data(:,1),ts_nav.Data(:,2)); +hold on +plot(ts_nav.Data(1,1),ts_nav.Data(1,2),'go','markerfacecolor','g') +plot(ts_nav.Data(end,1),ts_nav.Data(end,2),'ro','markerfacecolor','r') +xlabel('Geonav X [m]') +ylabel('Geonav Y [m]') +legend('Path','Start','End') +axis('equal') +grid on; + +% Find the unique ID numbers +rfid_u = unique(rfids); + +% For each unique ID, determine the x/y locations via interpolation +clist = hsv(length(rfid_u)); % list of colors +for ii = 1:length(rfid_u) + II = find(ismember(rfids,rfid_u{ii})); + if ~isempty(II) + t_rfid = ts_rfid.Time(II); + % Interpolation + x_rfid = interp1(ts_nav.Time,ts_nav.Data(:,1),t_rfid,'nearest'); + y_rfid = interp1(ts_nav.Time,ts_nav.Data(:,2),t_rfid,'nearest'); + % Plot each detection + plot(x_rfid,y_rfid,'o','col',clist(ii,:)) + % Then plot the average location (centroid) + plot(mean(x_rfid),mean(y_rfid),'x','col',clist(ii,:),'markersize',20) + end + +end + + diff --git a/matlab/post_odom.m b/matlab/post_odom.m index ebd38f9..eda8339 100644 --- a/matlab/post_odom.m +++ b/matlab/post_odom.m @@ -3,6 +3,7 @@ close('all') % Create a bag file object with the file name %bag = rosbag('../data/perimeter_all3.bag') bag = rosbag('2017-05-30-20-02-36.bag'); + % Display a list of the topics and message types in the bag file bag.AvailableTopics diff --git a/matlab/post_rfid.m b/matlab/post_rfid.m new file mode 100644 index 0000000..7883b0c --- /dev/null +++ b/matlab/post_rfid.m @@ -0,0 +1,138 @@ +close('all') + +% Create a bag file object with the file name +bag = rosbag('/home/bsb/WorkingCopies/mrc/smsundey/mrc_project/data/two_bots.bag') + +% Display a list of the topics and message types in the bag file +bag.AvailableTopics + + +%% Odometry estimate from P3AT + +bagselect = select(bag,'Topic','/p5/my_p3at/pose'); +% Create a time series object based on the fields of the message type +ts_odom = timeseries(bagselect,'Pose.Pose.Position.X','Pose.Pose.Position.Y',... + 'Pose.Pose.Orientation.X','Pose.Pose.Orientation.Y',... + 'Pose.Pose.Orientation.Z','Pose.Pose.Orientation.W',... + 'Twist.Twist.Linear.X'); +% Extract the data as simple vectors. +x_odom = ts_odom.Data(:,1); +y_odom = ts_odom.Data(:,2); +angles = quat2eul([ts_odom.Data(:,6), ts_odom.Data(:,3),ts_odom.Data(:,4),ts_odom.Data(:,5)]); +yaw_odom = angles(:,1); +vel_odom=ts_odom.Data(:,7); + +figure(); +clf(); +plot(x_odom,y_odom); +hold on +plot(x_odom(1),y_odom(1),'go','markerfacecolor','g') +plot(x_odom(end),y_odom(end),'ro','markerfacecolor','r') +xlabel('Odom X [m]') +ylabel('Odom Y [m]') +title('Raw Odometry Estimate') +title('Odometry Estimate') +legend('Path','Start','End') +axis('equal') +grid on; + +%% Geonav from GPS/IMU +bagselect = select(bag,'Topic','/p5/geonav_odom'); + +% Create a time series object based on the fields of the message type +ts_nav = timeseries(bagselect,'Pose.Pose.Position.X','Pose.Pose.Position.Y',... + 'Pose.Pose.Orientation.X','Pose.Pose.Orientation.Y',... + 'Pose.Pose.Orientation.Z','Pose.Pose.Orientation.W',... + 'Twist.Twist.Linear.X'); +% Extract the data as simple vectors. +x = ts_nav.Data(:,1); +y = ts_nav.Data(:,2); +angles = quat2eul([ts_nav.Data(:,6), ts_nav.Data(:,3),ts_nav.Data(:,4),ts_nav.Data(:,5)]); +yaw = angles(:,1); +vel=ts_nav.Data(:,7); + +% Plot the path with endpoints +figure(); +clf(); +plot(x,y); +hold on +plot(x(1),y(1),'go','markerfacecolor','g') +plot(x(end),y(end),'ro','markerfacecolor','r') +xlabel('Geonav X [m]') +ylabel('Geonav Y [m]') +legend('Path','Start','End') +axis('equal') +grid on; + +% Quiver plot to check the heading alignment. +figure(); +clf() +u = vel.*cos(yaw); +v = vel.*sin(yaw); +ii = 1:10:length(x); % Decimate the data so that it plot only every Nth point. +quiver(x(ii),y(ii),u(ii)*10,v(ii)*10); +hold on +plot(x(1),y(1),'go','markerfacecolor','g') +plot(x(end),y(end),'ro','markerfacecolor','r') +xlabel('Geonav X [m]') +ylabel('Geonav Y [m]') +axis('equal') +grid on; + +% Extract the covariance estimates from the navigation solution +% as a measure of navigation quality +varX = []; +varY = []; +msgs = readMessages(bagselect); +for ii = 1:length(msgs) + varX(ii) = msgs{ii}.Pose.Covariance(1); + varY(ii) = msgs{ii}.Pose.Covariance(8); +end + +figure(4); +clf(); +plot(ts_nav.Time,varX,ts_nav.Time,varY); +legend('\sigma_x^2','\sigma_y^2'); +xlabel('Time[s]') +ylabel('Variance [m^2]') + +%% Compare odometry and geonav estimates +% Normalize the odometry with the initial geonav estimate +dyaw = yaw_odom(1)-yaw(1); % rotation angle for odom frame +dx = x_odom-x_odom(1); +dy = y_odom-y_odom(1); +x_o = (dx.*cos(dyaw)-dy.*sin(dyaw))+x(1); +y_o = (dx.*sin(dyaw)+dy.*cos(dyaw))+y(1); + +figure(); +clf(); +plot(x_o,y_o,x,y); +legend('Odometry','Geonav'); +hold on +plot(x(1),y(1),'go','markerfacecolor','g') +plot(x(end),y(end),'ro','markerfacecolor','r') +plot(x_o(1),y_o(1),'go','markerfacecolor','g') +plot(x_o(end),y_o(end),'ro','markerfacecolor','r') +grid on; +axis('equal') +xlabel('X [m]') +ylabel('Y [m]') + +%% Navigation Sensor Status +% Plot the status of the navigation solution +bagstatus = select(bag,'Topic','/p5/nav/status'); +msgs = readMessages(bagstatus); +status = [] +for ii = 1:length(msgs) + status(ii,:) = msgs{ii}.Data; +end +ts_status = timeseries(bagstatus); + +figure(); +clf(); +plot(ts_status.Time,status) +legend('FilterState','DynamicsMode','StatusFlags'); +title('Navigation Kalman Filter Status') +xlabel('Time [s]') +ylabel('Value') + -- GitLab