{ "cells": [ { "cell_type": "markdown", "id": "781c8286", "metadata": {}, "source": [ "# Tutorial 0: Cruise Control" ] }, { "cell_type": "markdown", "id": "abaa2c25", "metadata": {}, "source": [ "```{admonition} Download\n", ":class: tip\n", "{download}`Download this notebook <0_cruise_control.ipynb>`\n", "```" ] }, { "cell_type": "markdown", "id": "775e132c", "metadata": {}, "source": [ "## Overview\n", "This is the introductory notebook for the dynamicalnodes pipeline. In it, we work through the cruise control example in the dynamicalnodes papein more detail. This notebook assumes you have already read the paper; if you haven't, we recommend you read the paper first.\n", "\n", "We first reintroduce our car-with-cruise-control system from section [blank] in the paper and its discrete-time block diagram. Then we implement the discrete-time diagram via DynamicalSystem objects in order to simulate its behaviour. Next, we wrap DynamicalSystem objects in ROSNode objects and simulate ROS node communication. Finally, we autogenerate ROS files from our ROSNode objects, write a launch file, and spin up a live ROS graph of our car-with-cruise-control system." ] }, { "cell_type": "markdown", "id": "2cca13fe", "metadata": {}, "source": [ "## Feedback: A Car with Cruise Control\n", "Recall that the discrete-time diagram for a general feedback system is of the following form:\n", "\n", "For our car-with-cruise-control system, each block will be implemented as follows:\n", "\n", "- reference generator = cruise control button​\n", "\n", "- controller = PID control\n", "\n", "- plant = car + speedometer\n", "\n", "- observer = Kalman filter\n", "\n", "The car velocity will track a sinusoidal reference signal. A Kalman filter estimates the car state from noisy velocity measurements\n", "and feeds the estimate back to the PID controller." ] }, { "cell_type": "markdown", "id": "247eb30d", "metadata": {}, "source": [ "## Implementing the discrete-time blocks\n", "\n", "Each block above can be cast as a [`DynamicalSystem(f=..., h=...)`](https://nehalsinghmangat.github.io/dynamicalnodes/api/dynamical_system.html) object, where:\n", "\n", "- `f(x_k, ...)` → `x_{k+1}`\n", "- `h(x_k, ...)` → `y_k`\n", "\n", "The associated (f,h)-functions for each block are defined below and then encapsulated in a DynamicalSystem object." ] }, { "cell_type": "code", "execution_count": 1, "id": "b3e176e7", "metadata": { "execution": { "iopub.execute_input": "2026-06-04T11:39:58.169230Z", "iopub.status.busy": "2026-06-04T11:39:58.169099Z", "iopub.status.idle": "2026-06-04T11:39:58.229505Z", "shell.execute_reply": "2026-06-04T11:39:58.228888Z" }, "lines_to_next_cell": 2 }, "outputs": [], "source": [ "import numpy as np\n", "from dynamicalnodes import DynamicalSystem" ] }, { "cell_type": "markdown", "id": "b45d63eb", "metadata": { "lines_to_next_cell": 2 }, "source": [ "### Reference Signal\n", "\n", "Stateless sinusoid: $r_k = A \\sin(\\omega\\, t_k)$.\n", "Computed directly from $t_k$ — no internal state, so a dynamics function $f$ is unnecessary." ] }, { "cell_type": "code", "execution_count": 2, "id": "d1401b82", "metadata": { "execution": { "iopub.execute_input": "2026-06-04T11:39:58.234617Z", "iopub.status.busy": "2026-06-04T11:39:58.234149Z", "iopub.status.idle": "2026-06-04T11:39:58.237765Z", "shell.execute_reply": "2026-06-04T11:39:58.237417Z" }, "lines_to_next_cell": 2 }, "outputs": [], "source": [ "def ref_h(tk, A, omega):\n", " return A * np.sin(omega * tk)\n", "\n", "\n", "ref_block = DynamicalSystem(h=ref_h)" ] }, { "cell_type": "markdown", "id": "34834153", "metadata": { "lines_to_next_cell": 2 }, "source": [ "### PID Controller\n", "\n", "State: $(e_{k-1},\\, \\int e)$ — previous error and accumulated integral.\n", "\n", "$$u_k = K_P e_k + K_I \\sum e_k \\Delta t + K_D \\frac{e_k - e_{k-1}}{\\Delta t}$$" ] }, { "cell_type": "code", "execution_count": 3, "id": "18739ba3", "metadata": { "execution": { "iopub.execute_input": "2026-06-04T11:39:58.240007Z", "iopub.status.busy": "2026-06-04T11:39:58.239419Z", "iopub.status.idle": "2026-06-04T11:39:58.243637Z", "shell.execute_reply": "2026-06-04T11:39:58.242859Z" }, "lines_to_next_cell": 2 }, "outputs": [], "source": [ "def pid_f(ck, rk, xhatk, KP, KI, KD, dt):\n", " \"\"\"Update PID state: returns (prev_error, integral).\"\"\"\n", " e_prev, e_int = ck\n", " ek = rk - xhatk\n", " return (ek, e_int + ek * dt)\n", "\n", "\n", "def pid_h(ck, rk, xhatk, KP, KI, KD, dt):\n", " \"\"\"Compute control output from current PID state.\"\"\"\n", " e_prev, e_int = ck\n", " ek = rk - xhatk\n", " e_der = (ek - e_prev) / dt\n", " return KP * ek + KI * e_int + KD * e_der\n", "\n", "\n", "pid_block = DynamicalSystem(f=pid_f, h=pid_h)" ] }, { "cell_type": "markdown", "id": "d749b634", "metadata": { "lines_to_next_cell": 2 }, "source": [ "### Car Plant\n", "\n", "State: $p_k = [\\text{position},\\; \\text{velocity}]^\\top$.\n", "\n", "$$\n", "\\begin{bmatrix} p_{k+1} \\\\ v_{k+1} \\end{bmatrix}\n", "=\n", "\\begin{bmatrix} p_k + \\Delta t\\, v_k \\\\ v_k + \\Delta t\\left(-\\tfrac{b}{m} v_k + \\tfrac{u_k}{m}\\right) \\end{bmatrix}\n", "$$\n", "\n", "The measurement $y_k = v_k$ is the current velocity (we will simulate noise in our simulation later)." ] }, { "cell_type": "code", "execution_count": 4, "id": "439ccd5e", "metadata": { "execution": { "iopub.execute_input": "2026-06-04T11:39:58.244975Z", "iopub.status.busy": "2026-06-04T11:39:58.244846Z", "iopub.status.idle": "2026-06-04T11:39:58.248394Z", "shell.execute_reply": "2026-06-04T11:39:58.247689Z" }, "lines_to_next_cell": 2 }, "outputs": [], "source": [ "def plant_f(pk, uk, m, b, dt):\n", " p, v = pk\n", " return np.array([p + dt * v, v + dt * (-b / m * v + uk / m)])\n", "\n", "\n", "def plant_h(pk):\n", " return pk[1] # velocity\n", "\n", "\n", "plant_block = DynamicalSystem(f=plant_f, h=plant_h)" ] }, { "cell_type": "markdown", "id": "e5769b4e", "metadata": { "lines_to_next_cell": 2 }, "source": [ "### Kalman Filter\n", "\n", "State: $z_k = (\\hat{x}_k,\\, P_k)$ — state estimate and covariance.\n", "\n", "**Predict:**\n", "$$\\hat{x}_{k|k-1} = F_k \\hat{x}_{k-1} + B_k u_k, \\qquad P_{k|k-1} = F_k P_{k-1} F_k^\\top + Q_k$$\n", "\n", "**Update:**\n", "$$K_k = P_{k|k-1} H_k^\\top S_k^{-1}, \\quad\n", "\\hat{x}_k = \\hat{x}_{k|k-1} + K_k(y_k - H_k \\hat{x}_{k|k-1}), \\quad\n", "P_k = (I - K_k H_k) P_{k|k-1}$$" ] }, { "cell_type": "code", "execution_count": 5, "id": "efe587e1", "metadata": { "execution": { "iopub.execute_input": "2026-06-04T11:39:58.250244Z", "iopub.status.busy": "2026-06-04T11:39:58.249679Z", "iopub.status.idle": "2026-06-04T11:39:58.253570Z", "shell.execute_reply": "2026-06-04T11:39:58.253248Z" } }, "outputs": [], "source": [ "def kf_f(zk, uk, yk, Fk, Bk, Hk, Qk, Rk):\n", " \"\"\"Discrete Kalman predict-update. Returns updated (x_est, P).\"\"\"\n", " x, P = zk\n", " # Predict\n", " x_pred = Fk @ x + Bk * uk\n", " P_pred = Fk @ P @ Fk.T + Qk\n", " # Update\n", " yk = np.atleast_1d(yk)\n", " y_res = yk - Hk @ x_pred\n", " S = Hk @ P_pred @ Hk.T + Rk\n", " K = P_pred @ Hk.T @ np.linalg.inv(S)\n", " x_upd = x_pred + K @ y_res\n", " P_upd = (np.eye(len(x)) - K @ Hk) @ P_pred\n", " return (x_upd, P_upd)\n", "\n", "\n", "def kf_h(zk):\n", " return zk[0][1] # velocity estimate\n", "\n", "\n", "kf_block = DynamicalSystem(f=kf_f, h=kf_h)" ] }, { "cell_type": "markdown", "id": "28ea5601", "metadata": {}, "source": [ "## Simulate the discrete-time diagram using DynamicalSystem" ] }, { "cell_type": "code", "execution_count": 6, "id": "a5f4de44", "metadata": { "execution": { "iopub.execute_input": "2026-06-04T11:39:58.255206Z", "iopub.status.busy": "2026-06-04T11:39:58.255077Z", "iopub.status.idle": "2026-06-04T11:39:58.324470Z", "shell.execute_reply": "2026-06-04T11:39:58.323480Z" } }, "outputs": [], "source": [ "# Simulation Time\n", "dt = 1.0\n", "sim_time = np.arange(0, 60, dt)\n", "\n", "# ── Parameters ──────────────────────────────────────────────\n", "# Reference\n", "A_ref = 30.0\n", "omega_ref = np.pi / 60.0 # rad/s — full period 120 s\n", "\n", "# PID\n", "KP, KI, KD = 500.0, 30.0, 10.0\n", "\n", "# Car\n", "m, b = 1500.0, 50.0\n", "\n", "# Kalman filter\n", "Fk = np.array([[1.0, dt], [0.0, 1.0 - (b / m) * dt]])\n", "Bk = np.array([0.0, dt / m]) # control-input vector\n", "Hk = np.array([[0.0, 1.0]]) # observe velocity\n", "Qk = np.array([[0.05, 0.0], [0.0, 0.1]])\n", "Rk = np.array([[2.0]])\n", "\n", "# Measurement noise std for synthetic observations\n", "v_noise_std = np.sqrt(Rk[0, 0])\n", "\n", "# ── Initial States ──────────────────────────────────────────────\n", "ck = (0.0, 0.0) # PID: (e_prev, e_int)\n", "pk = np.array([0.0, 0.0]) # plant: [position, velocity]\n", "zk = (np.array([0.0, 0.0]), np.eye(2)) # KF: (x_est, P)\n", "\n", "# ── Initial Inputs ──────────────────────────────────────────────\n", "v_est = zk[0][1] # required for first step of our controller\n", "\n", "# ── Simulation Memory ──────────────────────────────────────────────\n", "ref_out, ctrl_out, plant_out, kf_out = [], [], [], []\n", "\n", "for tk in sim_time:\n", "\n", " # ── Reference ──────────────────────────────────────────────\n", " rk = ref_block.step(tk=tk, A=A_ref, omega=omega_ref)\n", "\n", " # ── PID (uses KF velocity estimate) ─────────────────\n", " ck_next, uk = pid_block.step(ck=ck, rk=rk, xhatk=v_est, KP=KP, KI=KI, KD=KD, dt=dt)\n", "\n", " # ── Car ──────────────────────────────────────────────────\n", " pk_next, vk = plant_block.step(pk=pk, uk=uk, m=m, b=b, dt=dt)\n", "\n", " yk_noisy = vk + np.random.normal(0.0, v_noise_std) # add noise\n", "\n", " # ── Kalman Filter ──────────────────────────────────────────\n", " zk_next, v_est = kf_block.step(\n", " zk=zk, uk=uk, yk=np.array([yk_noisy]), Fk=Fk, Bk=Bk, Hk=Hk, Qk=Qk, Rk=Rk\n", " )\n", "\n", " ref_out.append(rk)\n", " ctrl_out.append(uk)\n", " plant_out.append(vk)\n", " kf_out.append(v_est)\n", "\n", " # ── set n + 1 state ────────────────────────────────────────────────\n", " ck, pk, zk = ck_next, pk_next, zk_next" ] }, { "cell_type": "markdown", "id": "64d27d57", "metadata": { "lines_to_next_cell": 0 }, "source": [] }, { "cell_type": "code", "execution_count": 7, "id": "f8fe4018", "metadata": { "execution": { "iopub.execute_input": "2026-06-04T11:39:58.326528Z", "iopub.status.busy": "2026-06-04T11:39:58.326326Z", "iopub.status.idle": "2026-06-04T11:39:59.269166Z", "shell.execute_reply": "2026-06-04T11:39:59.268427Z" }, "title": "[hide-input]" }, "outputs": [ { "data": { "image/png": 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"text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "import matplotlib.pyplot as plt\n", "\n", "fig, axs = plt.subplots(4, 1, sharex=True, figsize=(10, 10))\n", "\n", "axs[0].plot(sim_time, ref_out, color=\"orange\")\n", "axs[0].set_ylabel(\"Reference (m/s)\")\n", "axs[0].set_title(\"Reference Output ($r_k$)\")\n", "\n", "axs[1].plot(sim_time, ctrl_out, color=\"red\")\n", "axs[1].set_ylabel(\"Control Input (N)\")\n", "axs[1].set_title(\"PID Output ($u_k$)\")\n", "axs[1].ticklabel_format(style=\"sci\", axis=\"y\", scilimits=(0, 0))\n", "\n", "axs[2].plot(sim_time, plant_out, color=\"green\")\n", "axs[2].set_ylabel(\"Velocity (m/s)\")\n", "axs[2].set_title(\"Car Output ($y_k$)\")\n", "\n", "axs[3].plot(sim_time, kf_out, color=\"blue\")\n", "axs[3].set_ylabel(\"Velocity (m/s)\")\n", "axs[3].set_xlabel(\"Time (s)\")\n", "axs[3].set_title(\"Kalman Filter Output ($\\\\hat{x}_k$)\")\n", "\n", "plt.tight_layout()\n", "plt.savefig(\"car_cruise_control_figure.pdf\", format=\"pdf\", bbox_inches=\"tight\")\n", "plt.show()" ] }, { "cell_type": "markdown", "id": "7a0d5bb3", "metadata": {}, "source": [ "## ROSNode Simulation — Converter Verification\n", "\n", "This section re-runs the same cruise-control loop through the [`ROSNode`](https://nehalsinghmangat.github.io/dynamicalnodes/api/rosnode.html) layer.\n", "The purpose is not to simulate ROS timing behaviour, but to confirm that the\n", "ros2py / py2ros message converters and the `DynamicalSystem` wiring are correct\n", "before generating the deployment nodes." ] }, { "cell_type": "code", "execution_count": 8, "id": "55974e8f", "metadata": { "execution": { "iopub.execute_input": "2026-06-04T11:39:59.270532Z", "iopub.status.busy": "2026-06-04T11:39:59.270310Z", "iopub.status.idle": "2026-06-04T11:39:59.466145Z", "shell.execute_reply": "2026-06-04T11:39:59.465230Z" } }, "outputs": [], "source": [ "from dynamicalnodes import ROSNode\n", "from dynamicalnodes.ros2py_py2ros import ros2py_float64, py2ros_float64\n", "from std_msgs.msg import Float64\n", "\n", "ref_node = ROSNode(\n", " dynamical_system=ref_block,\n", " publishes_to=[{\"topic\": \"/rk\", \"msg_type\": Float64, \"py2ros\": py2ros_float64}],\n", " timer_hz=10,\n", ")\n", "\n", "pid_node = ROSNode(\n", " dynamical_system=pid_block,\n", " subscribes_to=[\n", " {\"topic\": \"/rk\", \"msg_type\": Float64, \"arg\": \"rk\", \"ros2py\": ros2py_float64},\n", " {\n", " \"topic\": \"/xhatk\",\n", " \"msg_type\": Float64,\n", " \"arg\": \"xhatk\",\n", " \"ros2py\": ros2py_float64,\n", " },\n", " ],\n", " publishes_to=[{\"topic\": \"/uk\", \"msg_type\": Float64, \"py2ros\": py2ros_float64}],\n", " sync_mode=\"all\",\n", " state_name=\"ck\",\n", ")\n", "\n", "plant_node = ROSNode(\n", " dynamical_system=plant_block,\n", " subscribes_to=[\n", " {\"topic\": \"/uk\", \"msg_type\": Float64, \"arg\": \"uk\", \"ros2py\": ros2py_float64},\n", " ],\n", " publishes_to=[{\"topic\": \"/yk\", \"msg_type\": Float64, \"py2ros\": py2ros_float64}],\n", " state_name=\"pk\",\n", ")\n", "\n", "kf_node = ROSNode(\n", " dynamical_system=kf_block,\n", " subscribes_to=[\n", " {\"topic\": \"/uk\", \"msg_type\": Float64, \"arg\": \"uk\", \"ros2py\": ros2py_float64},\n", " {\"topic\": \"/yk\", \"msg_type\": Float64, \"arg\": \"yk\", \"ros2py\": ros2py_float64},\n", " ],\n", " publishes_to=[{\"topic\": \"/xhatk\", \"msg_type\": Float64, \"py2ros\": py2ros_float64}],\n", " sync_mode=\"all\",\n", " state_name=\"zk\",\n", ")\n", "# %%[markdown]\n", "# Run the simulation" ] }, { "cell_type": "code", "execution_count": 9, "id": "d5ac25dd", "metadata": { "execution": { "iopub.execute_input": "2026-06-04T11:39:59.467864Z", "iopub.status.busy": "2026-06-04T11:39:59.467743Z", "iopub.status.idle": "2026-06-04T11:39:59.481529Z", "shell.execute_reply": "2026-06-04T11:39:59.480641Z" } }, "outputs": [], "source": [ "# Initial States\n", "pid_node._state = (0.0, 0.0) # PID: (e_prev, e_int)\n", "plant_node._state = np.array([0.0, 0.0]) # plant: [position, velocity]\n", "kf_node._state = (np.zeros(2), np.eye(2)) # KF: (x_est, P)\n", "\n", "# Initial Inputs\n", "xhatk_ros = Float64(data=0.0) # bootstrap before first KF output\n", "\n", "ref_node_out, ctrl_node_out, plant_node_out, kf_node_out = [], [], [], []\n", "\n", "for tk in sim_time:\n", "\n", " # ── Reference ──────────────────────────────────────────────\n", " rk_ros = ref_node.step(tk=tk, A=A_ref, omega=omega_ref)\n", "\n", " # ── PID ────────────────────────────────────────────────────\n", " uk_ros = pid_node.step(rk=rk_ros, xhatk=xhatk_ros, KP=KP, KI=KI, KD=KD, dt=dt)\n", "\n", " # ── Plant ──────────────────────────────────────────────────\n", " yk_ros = plant_node.step(uk=uk_ros, m=m, b=b, dt=dt)\n", "\n", " yk_meas_ros = Float64(\n", " data=yk_ros.data + np.random.normal(0.0, v_noise_std)\n", " ) # add noise\n", "\n", " # ── Kalman Filter ──────────────────────────────────────────\n", " xhatk_ros = kf_node.step(\n", " uk=uk_ros, yk=yk_meas_ros, Fk=Fk, Bk=Bk, Hk=Hk, Qk=Qk, Rk=Rk\n", " )\n", "\n", " ref_node_out.append(rk_ros.data)\n", " ctrl_node_out.append(uk_ros.data)\n", " plant_node_out.append(yk_ros.data)\n", " kf_node_out.append(xhatk_ros.data)" ] }, { "cell_type": "code", "execution_count": 10, "id": "f69a21d1", "metadata": { "execution": { "iopub.execute_input": "2026-06-04T11:39:59.482925Z", "iopub.status.busy": "2026-06-04T11:39:59.482812Z", "iopub.status.idle": "2026-06-04T11:39:59.994629Z", "shell.execute_reply": "2026-06-04T11:39:59.993944Z" } }, "outputs": [ { "data": { "image/png": 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", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "fig3, axs3 = plt.subplots(4, 1, sharex=True, figsize=(10, 10))\n", "\n", "axs3[0].plot(\n", " sim_time,\n", " ref_out,\n", " color=\"orange\",\n", " linestyle=\"--\",\n", " alpha=0.5,\n", " label=\"DynamicalSystem\",\n", ")\n", "axs3[0].plot(\n", " sim_time, ref_node_out, color=\"orange\", label=\"ROSNode (converter verification)\"\n", ")\n", "axs3[0].set_ylabel(\"Reference (m/s)\")\n", "axs3[0].set_title(\"Reference Output ($r_k$)\")\n", "axs3[0].legend(fontsize=8)\n", "\n", "axs3[1].plot(\n", " sim_time, ctrl_out, color=\"red\", linestyle=\"--\", alpha=0.5, label=\"DynamicalSystem\"\n", ")\n", "axs3[1].plot(sim_time, ctrl_node_out, color=\"red\", label=\"ROSNode\")\n", "axs3[1].set_ylabel(\"Control Input (N)\")\n", "axs3[1].set_title(\"PID Output ($u_k$)\")\n", "axs3[1].ticklabel_format(style=\"sci\", axis=\"y\", scilimits=(0, 0))\n", "axs3[1].legend(fontsize=8)\n", "\n", "axs3[2].plot(\n", " sim_time,\n", " plant_out,\n", " color=\"green\",\n", " linestyle=\"--\",\n", " alpha=0.5,\n", " label=\"DynamicalSystem\",\n", ")\n", "axs3[2].plot(sim_time, plant_node_out, color=\"green\", label=\"ROSNode\")\n", "axs3[2].set_ylabel(\"Velocity (m/s)\")\n", "axs3[2].set_title(\"Car Output ($y_k$)\")\n", "axs3[2].legend(fontsize=8)\n", "\n", "axs3[3].plot(\n", " sim_time, kf_out, color=\"blue\", linestyle=\"--\", alpha=0.5, label=\"DynamicalSystem\"\n", ")\n", "axs3[3].plot(sim_time, kf_node_out, color=\"blue\", label=\"ROSNode\")\n", "axs3[3].set_ylabel(\"Velocity (m/s)\")\n", "axs3[3].set_xlabel(\"Time (s)\")\n", "axs3[3].set_title(\"Kalman Filter Output ($\\\\hat{x}_k$)\")\n", "axs3[3].legend(fontsize=8)\n", "\n", "plt.tight_layout()\n", "plt.savefig(\"cruise_control_async.pdf\", format=\"pdf\", bbox_inches=\"tight\")\n", "plt.show()" ] }, { "cell_type": "markdown", "id": "d00c8f89", "metadata": {}, "source": [ "## Deploying to ROS2\n", "\n", "`write_ROSNode_to_rclpy()` generates a self-contained rclpy Python file for each node —\n", "a native `Node` subclass with explicit QoS profiles, subscription buffers,\n", "callbacks, publishers, and executor setup. No dynamicalnodes runtime is needed\n", "on the deployment machine beyond `DynamicalSystem`.\n", "\n", "Pass `node_name` here (not in the constructor) since it is a deployment detail,\n", "not a simulation one.\n", "\n", "Parameters fall into three categories:\n", "\n", "| Parameter | Purpose | Example |\n", "|---|---|---|\n", "| `static_params` | Baked in at generation time — never change | `dt`, `m`, `b`, model matrices |\n", "| `dynamic_params` | Declared on the ROS2 parameter server — tunable at runtime via `ros2 param set` | `KP`, `KI`, `KD` |\n", "| `initial_inputs` | Cold-start value for a subscribed input — used only until the first message arrives, then the subscription takes over; goes to `None` (not this value) if the publisher later stops | `xhatk=0.0` breaks the PID→KF startup ordering dependency |" ] }, { "cell_type": "code", "execution_count": 11, "id": "aa97adbc", "metadata": { "execution": { "iopub.execute_input": "2026-06-04T11:39:59.998925Z", "iopub.status.busy": "2026-06-04T11:39:59.998797Z", "iopub.status.idle": "2026-06-04T11:40:00.010854Z", "shell.execute_reply": "2026-06-04T11:40:00.009839Z" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Written: reference_node.py controller_node.py plant_node.py kalman_node.py\n" ] } ], "source": [ "import os\n", "\n", "os.makedirs(\"./ros_nodes\", exist_ok=True)\n", "\n", "# Deployment dt matches the reference node's publish rate.\n", "# The simulation uses dt=1.0 s; the ROS2 nodes fire at 10 Hz → dt=0.1 s.\n", "ref_hz = 10 # must match timer_hz on ref_node\n", "dt_ros = 1.0 / ref_hz\n", "\n", "# Recompute KF matrices for the deployment timestep.\n", "Fk_ros = np.array([[1.0, dt_ros], [0.0, 1.0 - (b / m) * dt_ros]])\n", "Bk_ros = np.array([0.0, dt_ros / m])\n", "Qk_ros = Qk * (dt_ros / dt) # process noise scales linearly with dt\n", "\n", "ref_node.write_ROSNode_to_rclpy(\n", " \"./ros_nodes/reference_node.py\",\n", " node_name=\"reference\",\n", " static_params={\"A\": A_ref, \"omega\": omega_ref},\n", ")\n", "pid_node.write_ROSNode_to_rclpy(\n", " \"./ros_nodes/controller_node.py\",\n", " node_name=\"controller\",\n", " initial_state=(0.0, 0.0),\n", " static_params={\"dt\": dt_ros},\n", " dynamic_params={\"KP\": KP, \"KI\": KI, \"KD\": KD},\n", " initial_inputs={\"xhatk\": 0.0},\n", ")\n", "plant_node.write_ROSNode_to_rclpy(\n", " \"./ros_nodes/plant_node.py\",\n", " node_name=\"plant\",\n", " initial_state=np.array([0.0, 0.0]),\n", " static_params={\"m\": m, \"b\": b, \"dt\": dt_ros},\n", " pub_noise={\"/yk\": v_noise_std},\n", ")\n", "kf_node.write_ROSNode_to_rclpy(\n", " \"./ros_nodes/kalman_node.py\",\n", " node_name=\"kalman\",\n", " initial_state=(np.zeros(2), np.eye(2)),\n", " static_params={\"Fk\": Fk_ros, \"Bk\": Bk_ros, \"Hk\": Hk, \"Qk\": Qk_ros, \"Rk\": Rk},\n", ")\n", "print(\"Written: reference_node.py controller_node.py plant_node.py kalman_node.py\")" ] }, { "cell_type": "markdown", "id": "db68601a", "metadata": {}, "source": [ "## Write the launch file\n", "\n", "Copy and paste the contents below into a launch file (recommended name: cruise_control.launch.py)." ] }, { "cell_type": "code", "execution_count": 12, "id": "86f2552f", "metadata": { "execution": { "iopub.execute_input": "2026-06-04T11:40:00.013004Z", "iopub.status.busy": "2026-06-04T11:40:00.012820Z", "iopub.status.idle": "2026-06-04T11:40:00.050803Z", "shell.execute_reply": "2026-06-04T11:40:00.049944Z" }, "lines_to_next_cell": 2 }, "outputs": [], "source": [ "#!/usr/bin/env python3\n", "\"\"\"\n", "Launch all four cruise-control nodes as separate processes.\n", "\n", "Topic graph:\n", " reference → /rk → controller\n", " controller → /uk → plant, kalman\n", " plant → /yk → kalman\n", " kalman → /xhatk → controller\n", "\n", "Startup ordering:\n", " Nodes may start in any order. The controller's initial_inputs={\"xhatk\": 0.0}\n", " provides a cold-start value for /xhatk so it does not stall waiting for the\n", " Kalman filter to produce its first estimate.\n", "\n", "Run:\n", " ros2 launch ros_nodes/cruise_control.launch.py\n", "\n", "Tune PID gains at runtime (no restart required):\n", " ros2 param set /controller KP 600.0\n", " ros2 param set /controller KI 25.0\n", " ros2 param set /controller KD 15.0\n", "\n", "Inspect:\n", " ros2 topic echo /uk\n", " rqt_graph\n", "\"\"\"\n", "\n", "import os\n", "from launch import LaunchDescription\n", "from launch.actions import ExecuteProcess, TimerAction\n", "\n", "\n", "def generate_launch_description() -> LaunchDescription:\n", " here = os.path.dirname(os.path.abspath(__file__))\n", "\n", " def py_node(script: str) -> ExecuteProcess:\n", " return ExecuteProcess(\n", " cmd=[\"python3\", os.path.join(here, script)],\n", " output=\"screen\",\n", " )\n", "\n", " return LaunchDescription(\n", " [\n", " py_node(\"reference_node.py\"),\n", " py_node(\"controller_node.py\"),\n", " py_node(\"plant_node.py\"),\n", " py_node(\"kalman_node.py\"),\n", " # Delay rqt_graph so all nodes have registered before it opens.\n", " TimerAction(\n", " period=2.0,\n", " actions=[ExecuteProcess(cmd=[\"rqt_graph\"])],\n", " ),\n", " ]\n", " )" ] }, { "cell_type": "markdown", "id": "9214d6f6", "metadata": {}, "source": [ "## Running the Live ROS2 Graph\n", "\n", "**Terminal 1 — launch all nodes:**\n", "\n", "```bash\n", "ros2 launch cruise_control.launch.py\n", "```\n", "\n", "All four nodes start and stream their output to the terminal. After 2 seconds,\n", "`rqt_graph` opens automatically showing the live topic graph — if you see all\n", "four nodes connected by the correct topics (`/rk`, `/uk`, `/yk`, `/xhatk`),\n", "everything is working.\n", "\n", "**Terminal 2 — visualize with PlotJuggler:**\n", "\n", "Open a second terminal into the same container:\n", "\n", "```bash\n", "sudo docker exec -it $(sudo docker ps -q) bash\n", "```\n", "\n", "Then launch PlotJuggler:\n", "\n", "```bash\n", "ros2 run plotjuggler plotjuggler\n", "```\n", "\n", "In PlotJuggler: click **Streaming → ROS2 Topic Subscriber**, select the topics\n", "you want (`/rk`, `/uk`, `/yk`, `/xhatk`), click **Start**, then drag individual\n", "fields from the left panel onto the plot area to watch them live." ] } ], "metadata": { "kernelspec": { "display_name": ".venv (3.12.12)", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.12.12" }, "orphan": true }, "nbformat": 4, "nbformat_minor": 5 }