leader

#!/usr/bin/env python
####################################################################
#This is follower1#
# Author: Hongbo Li 2019.05.09#

import rospy
import time
from geometry_msgs.msg import Twist, Point, Quaternion
import tf
from math import radians, copysign, sqrt, pow, pi, atan2,sin,cos
from tf.transformations import euler_from_quaternion
import numpy as np
from sensor_msgs.msg import LaserScan

msg = """
control your Turtlebot3!
-----------------------
this is leader
-----------------------
"""

binge=1

follower1_pos=Point()
follower2_pos=Point()
follower3_pos=Point()
follower4_pos=Point()
leader_pos=Point()
attacker_pos=Point()
follower1_vel=Twist()
follower2_vel=Twist()
follower3_vel=Twist()
follower4_vel=Twist()
leader_vel=Twist()

leader_rot=Point()
K1=0.4
K2=0.1
alpha=0
detect_R=0.8
safe_r1=0.2
safe_r2=0.5
ID=2 


class GotoPoint():
    def __init__(self):
        rospy.init_node('leader', anonymous=False)

        rospy.on_shutdown(self.shutdown)
        self.cmd_vel = rospy.Publisher('cmd_vel', Twist, queue_size=5)#5
        self.leader_pos=rospy.Publisher('/leader_pos',Point,queue_size=5)#5
        position = Point()
        move_cmd = Twist()
        r = rospy.Rate(10)
        self.tf_listener = tf.TransformListener()
        self.odom_frame = '/leader/odom'
        #print 1
        try:
            self.tf_listener.waitForTransform(self.odom_frame, '/leader/base_footprint', rospy.Time(), rospy.Duration(1.0))
            self.base_frame = '/leader/base_footprint'
        except (tf.Exception, tf.ConnectivityException, tf.LookupException):
            try:
                self.tf_listener.waitForTransform(self.odom_frame, '/leader/base_link', rospy.Time(), rospy.Duration(1.0))
                self.base_frame = '/leader/base_link'
            except (tf.Exception, tf.ConnectivityException, tf.LookupException):
                rospy.loginfo("Cannot find transform between odom and base_link or base_footprint")
                rospy.signal_shutdown("tf Exception")

        #print 2
        global follower1_pos
        global follower2_pos
        global follower3_pos
        global follower4_pos
        global attacker_pos
        global follower1_vel
        global follower2_vel
        global follower3_vel
        global follower4_vel
        global leader_vel

        avo=1
        (position, rotation) = self.get_odom()
        rospy.Subscriber('/follower2_pos',Point,point_callback_2)
        # rospy.Subscriber('/follower3_pos',Point,point_callback_3)
        # rospy.Subscriber('/follower4_pos',Point,point_callback_4)
        rospy.Subscriber('/follower1_pos',Point,point_callback_1)
        rospy.Subscriber('/attacker_pos',Point,point_callback_6)
        rospy.Subscriber('/follower1/cmd_vel',Twist,vel_callback_1)
        rospy.Subscriber('/follower2/cmd_vel',Twist,vel_callback_2)
        # rospy.Subscriber('/follower3/cmd_vel',Twist,vel_callback_3)
        # rospy.Subscriber('/follower4/cmd_vel',Twist,vel_callback_4)

        (position, rotation) = self.get_odom()
        self.leader_pos.publish(position)
        leader_pos=position
        angular_now=rotation
        lidar_nodes=Point()
        # pos_nodes=[follower2_pos,follower1_pos,follower3_pos,follower4_pos,leader_pos]
        # lidar_nodes=self.lidar(position)
        # print ('lidar_nodesx is %f'%lidar_nodes.x)
        # if lidar_nodes.x!=-1000:
        #     #pos_nodes=[follower1_pos,follower2_pos,follower3_pos,follower4_pos,leader_pos,lidar_nodes]
        #     pos_nodes=[follower1_pos,follower2_pos,follower3_pos,follower4_pos,leader_pos,attacker_pos]
        # else:
        # 	pos_nodes=[follower1_pos,follower2_pos,follower3_pos,follower4_pos,leader_pos,attacker_pos]
        attacker_posnew=Point()
        attacker_posnew.x=attacker_pos.x+0.5
        attacker_posnew.y=attacker_pos.y-1
        pos_nodes=[follower1_pos,follower2_pos,leader_pos,attacker_posnew]
        vel_nodes=[follower1_vel,follower2_vel]
        temp_x_sum=0
        temp_y_sum=0
        #print 3
        print (pos_nodes)
        for i in range(len(pos_nodes)):
            if i!=ID and pos_nodes[i].x!=0:
                
                r=sqrt(pow(pos_nodes[i].x-position.x,2)+pow(pos_nodes[i].y-position.y,2))
                print ('distance from %d is %f'%(i,r))
                if r<detect_R:
                    temp_x=(1/r-1/detect_R)*(pos_nodes[ID].x-pos_nodes[i].x)
                    temp_y=(1/r-1/detect_R)*(pos_nodes[ID].y-pos_nodes[i].y)
                    temp_fenmu=pow(r,3)
                    temp_x=temp_x/temp_fenmu
                    temp_y=temp_y/temp_fenmu
                    temp_x_sum=temp_x_sum+temp_x
                    temp_y_sum=temp_y_sum+temp_y
                    if r>safe_r2:
                    	avo=2
                    elif r<safe_r1:
                    	avo=5
                    else:
                		avo=3
        avoid_delta=temp_x_sum*cos(angular_now)+temp_y_sum*sin(angular_now)
        print ('avoid_delta is %f'%avoid_delta)
        leader_vel.linear.x=0.2+avo*avoid_delta
        # leader_vel.linear.x=0
        print ('the vel=%f'%(leader_vel.linear.x))
        leader_vel.angular.z=0
        self.cmd_vel.publish(leader_vel)
        # (position, rotation) = self.get_odom()
        msgs ="""this is leader_theta"""
        print msgs
        
    def lidar(self,tb_pos):
    	#print 12
        msg = rospy.wait_for_message("/leader/scan", LaserScan)
        #print (msg)
        LIDAR_ERR = 0.05
        LIDAR_MAX = 2
        obstacle=[]
        min_dis=3
        min_ang=0
        min_point=Point()
        for i in range(360):
            if i!=0:
            	obstacle_pos=Point()
            	if msg.ranges[i] >= LIDAR_ERR and msg.ranges[i]<=LIDAR_MAX and msg.ranges[i]>0.17:
                    obstacle_pos.x=tb_pos.x+msg.ranges[i]*cos(i*2*pi/360)
                    obstacle_pos.y=tb_pos.y+msg.ranges[i]*sin(i*2*pi/360)
                    obstacle.append(obstacle_pos)
                    if msg.ranges[i] < min_dis:
                            min_dis = msg.ranges[i]
                            min_ang = i
        if min_dis<3:
        	min_point.x=tb_pos.x+min_dis*cos(i*2*pi/360)
        	min_point.y=tb_pos.y+min_dis*sin(i*2*pi/360)
        	min_point.z=min_ang
        else:
            min_point.x=-1000
            min_point.y=-1000
       	return min_point

    def get_odom(self):
        try:
            (trans, rot) = self.tf_listener.lookupTransform(self.odom_frame, self.base_frame, rospy.Time(0))
            rotation = euler_from_quaternion(rot)

        except (tf.Exception, tf.ConnectivityException, tf.LookupException):
            rospy.loginfo("TF Exception")
            return

        return (Point(*trans), rotation[2])
    def shutdown(self):
        self.cmd_vel.publish(Twist())
        rospy.sleep(1)


def ori_callback_5(data):
    global leader_rot
    leader_rot=data
def point_callback_1(data):
    global follower1_pos
    follower1_pos.x=data.x
    follower1_pos.y=data.y
def point_callback_2(data):
    global follower2_pos
    follower2_pos.x=data.x
    follower2_pos.y=data.y
def point_callback_3(data):
    global follower3_pos
    follower3_pos.x=data.x
    follower3_pos.y=data.y
def point_callback_4(data):
    global follower4_pos
    follower4_pos.x=data.x
    follower4_pos.y=data.y
def point_callback_5(data):
    global leader_pos
    leader_pos.x=data.x
    leader_pos.y=data.y
def point_callback_6(data):
    global attacker_pos
    attacker_pos.x=data.x
    attacker_pos.y=data.y

def vel_callback_1(data):
    global follower1_vel
    follower1_vel.linear.x=data.linear.x
    follower1_vel.angular.z=data.angular.z
def vel_callback_2(data):
    global follower2_vel
    follower2_vel.linear.x=data.linear.x
    follower2_vel.angular.z=data.angular.z
def vel_callback_3(data):
    global follower3_vel
    follower3_vel.linear.x=data.linear.x
    follower3_vel.angular.z=data.angular.z
def vel_callback_4(data):
    global follower4_vel
    follower4_vel.linear.x=data.linear.x
    follower4_vel.angular.z=data.angular.z
def vel_callback_5(data):
    global leader_vel
    leader_vel=data

if __name__ == '__main__':
	try:
		while not rospy.is_shutdown():
			print(msg)
			binge=binge+1
			GotoPoint()
	except:
		rospy.loginfo("shutdown program.")
        # print bingg