def __init__(self):
self.client = actionlib.SimpleActionClient(
"movo/head_controller/point_head_action", PointHeadAction)
rospy.loginfo("Waiting for head_controller...")
self.client.wait_for_server()
self.pag = PointHeadGoal()
self.pag.max_velocity = 1.0
self.pag.pointing_axis.x = 1.0
self.pag.pointing_frame = "/movo_camera_link"
def look_at(self, x, y, z, frame, duration=1.0):
goal = PointHeadGoal()
goal.target.header.stamp = rospy.Time.now()
goal.target.header.frame_id = frame
goal.target.point.x = x
goal.target.point.y = y
goal.target.point.z = z
goal.min_duration = rospy.Duration(duration)
self.client.send_goal(goal)
self.client.wait_for_result()
def look_at(self, x, y, z, frame, max_v, duration=0.5):
goal = PointHeadGoal()
goal.target.header.stamp = rospy.Time.now()
goal.target.header.frame_id = frame
goal.target.point.x = x
goal.target.point.y = y
goal.target.point.z = z
goal.min_duration = rospy.Duration(duration)
goal.max_velocity = max_v
self.client.send_goal(goal)
def execute(self, point_value):
goal_msg = PointHeadGoal()
point_st_msg = PointStamped()
point_st_msg.header.frame_id = "/base_link"
point_st_msg.header.stamp = rospy.Time.now()
point_st_msg.point.x = point_value[0]
point_st_msg.point.y = point_value[1]
point_st_msg.point.z = point_value[2]
goal_msg.target = point_st_msg
self._client.send_goal(goal_msg)
def lookAt(self, point):
# Create tf transformer for z point transformation to keep TIAGo's head on the same level
tfBuffer = tf2_ros.Buffer()
tf = tf2_ros.TransformListener(tfBuffer)
# Wait for the server to come up
rospy.loginfo('Waiting for the point head server to come up')
self.point_head_client.wait_for_server(rospy.Duration(10.0))
# Create the goal
print('Looking at: ', point)
ph_goal = PointHeadGoal()
ph_goal.target.header.frame_id = 'map'
ph_goal.max_velocity = 1
ph_goal.min_duration = rospy.Duration(0.5)
ph_goal.target.point.x = point[0]
ph_goal.target.point.y = point[1]
ph_goal.pointing_frame = 'head_2_link'
ph_goal.pointing_axis.x = 1
ph_goal.pointing_axis.y = 0
ph_goal.pointing_axis.z = 0
ps = PointStamped()
ps.header.stamp = rospy.Time(0)
ps.header.frame_id = 'head_2_link'
transform_ok = False
while not transform_ok and not rospy.is_shutdown():
try:
transform = tfBuffer.lookup_transform('base_link', 'head_2_link',
rospy.Time(0))
get_z_ps = do_transform_point(ps, transform)
transform_ok = True
# This usually happens only on startup
except tf2_ros.ExtrapolationException as e:
rospy.sleep(1.0 / 4)
ps.header.stamp = rospy.Time(0)
rospy.logwarn(
"Exception on transforming point... trying again \n(" +
str(e) + ") at time " + str(ps.header.stamp))
except tf2_ros.LookupException:
pass
except tf2_ros.ConnectivityException:
pass
ph_goal.target.point.z = get_z_ps.point.z
print(get_z_ps.point.z)
# Send the goal
rospy.loginfo("Sending the goal...")
self.point_head_client.send_goal(ph_goal)
rospy.loginfo("Goal sent!!")
rospy.sleep(3)
def move_to_start(self):
self.moving_mode = True
# Look down
goal = PointHeadGoal()
goal.target.header.stamp = rospy.Time.now()
goal.target.header.frame_id = '/base_link'
goal.target.point.x = 1.5
goal.target.point.y = 0.0
goal.target.point.z = -0.2
goal.min_duration = rospy.Duration(0.5)
if 0: logger.info('Point head to %s...', goal)
self.head_point_client.send_goal(goal)
if 0: logger.info('Point head sent')
goal = GripperCommandGoal()
goal.command.max_effort = 60
goal.command.position = 0.1
self.gripper_client.send_goal(goal)
joints = [
'shoulder_pan_joint',
'shoulder_lift_joint',
'upperarm_roll_joint',
'elbow_flex_joint',
'forearm_roll_joint',
'wrist_flex_joint',
'wrist_roll_joint',
]
pose = [0.0, +0.8, 0.0, -0.8, 0.0, 0.0, 0.0]
result = self.arm_move_group.moveToJointPosition(joints,
pose,
plan_only=True)
if result.error_code.val == MoveItErrorCodes.SUCCESS:
if 0: logger.info('Got trajectory %s', result.planned_trajectory)
follow_goal = FollowJointTrajectoryGoal()
follow_goal.trajectory = result.planned_trajectory.joint_trajectory
logger.info('sending trajectory to arm...')
self.arm_trajectory_client.send_goal(follow_goal)
result = self.arm_trajectory_client.wait_for_result()
logger.info('arm followed trajectory %s', result)
else:
logger.warn('moveToJointPosition returned %s', result)
return
result = self.head_point_client.wait_for_result()
logger.info('head followed trajectory %s', result)
logger.info('sending empty arm goal')
empty_goal = FollowJointTrajectoryGoal()
self.arm_trajectory_client.send_goal(empty_goal)
logger.info('Point head done')
self.moving_mode = False
def look_at_bin():
head_client = actionlib.SimpleActionClient("head_controller/point_head", PointHeadAction)
head_client.wait_for_server()
goal = PointHeadGoal()
goal.target.header.stamp = rospy.Time.now()
goal.target.header.frame_id = "base_link"
goal.target.point.x = 0.7
goal.target.point.y = 0
goal.target.point.z = 0.4
goal.min_duration = rospy.Duration(1.0)
head_client.send_goal(goal)
head_client.wait_for_result()
def look_at(self, x, y, z):
phg = PointHeadGoal()
phg.target.header.frame_id = '/stereo_optical_frame'
phg.target.point.x = x
phg.target.point.y = y
phg.target.point.z = z
phg.pointing_axis.z = 1.0
phg.pointing_frame = phg.target.header.frame_id
phg.min_duration = rospy.Duration(1.0)
phg.max_velocity = 1.0
self.point_head_ac.send_goal_and_wait(phg)
def lookAt(self, point):
rospy.loginfo("sending look command %s" % point.point)
goal = PointHeadGoal()
goal.target = point
goal.pointing_axis.x = 1.0
goal.pointing_frame = "kinect2_link"
goal.min_duration.secs = 2.0
goal.max_velocity = 1.0
action_goal = PointHeadActionGoal()
action_goal.goal = goal
self.pub.publish(action_goal)
def SetPointHead(self, point):
goal = PointHeadGoal()
now = rospy.Time.now() # point.header.stamp
rospy.loginfo(
self.tf.waitForTransform('head_pan_link', 'base_link', now,
rospy.Duration(4.0)))
corrected_point = self.tf.transformPoint('head_pan_link', point)
corrected_point.point.z = 0.0
rospy.loginfo(corrected_point)
goal.target = corrected_point
goal.min_duration = rospy.Duration(.5)
goal.max_velocity = 1
self.client.send_goal_and_wait(goal)
def look_at(self, target_pose, duration=1.0):
look_goal = PointHeadGoal()
look_goal.target.header.stamp = rospy.Time.now()
look_goal.target.header.frame_id = 'map'
look_goal.target.point.x = target_pose.pose.orientation.x
look_goal.target.point.y = target_pose.pose.orientation.y
look_goal.target.point.z = target_pose.pose.orientation.z
look_goal.min_duration = rospy.Duration(duration)
self.client.send_goal(look_goal)
wait = self.client.wait_for_result()
if not wait:
rospy.logerr('Action server for point head not available')
else:
rospy.loginfo('looking at the object')
def look_at(self, target_point, frame='base_footprint'):
# make tiago look at a point
point_head_goal = PointHeadGoal()
point_head_goal.target.header.frame_id = frame
point_head_goal.max_velocity = 1
point_head_goal.min_duration = rospy.Duration(2.0)
point_head_goal.target.header.stamp = rospy.Time(0)
point_head_goal.target.point = target_point
point_head_goal.pointing_frame = 'head_2_link'
point_head_goal.pointing_axis = Vector3(1, 0, 0)
self.point_head.send_goal_and_wait(point_head_goal)
rospy.loginfo(
'Sent point_head goal and waiting for robot to carry it out... ')
def look_at(self, frame_id, x, y, z):
goal = PointHeadGoal()
goal.target.header.stamp = rospy.Time.now()
goal.target.header.frame_id = frame_id
goal.target.point.x = x
goal.target.point.y = y
goal.target.point.z = z
goal.pointing_frame = "pointing_frame"
goal.pointing_axis.x = 1
goal.pointing_axis.y = 0
goal.pointing_axis.z = 0
# send goal
self.point_head_client.send_goal(goal)
def look_at_r_gripper(self):
name_space = '/head_traj_controller/point_head_action'
head_client = SimpleActionClient(name_space, PointHeadAction)
head_client.wait_for_server()
head_goal = PointHeadGoal()
head_goal.target.header.frame_id = "r_gripper_tool_frame"
head_goal.min_duration = rospy.Duration(0.3)
head_goal.target.point = Point(0, 0, 0)
head_goal.max_velocity = 1.0
head_client.send_goal(head_goal)
head_client.wait_for_result(rospy.Duration(5.0))
if (head_client.get_state() != GoalStatus.SUCCEEDED):
rospy.logwarn('Head action unsuccessful.')
def run(self, pose):
rospy.logdebug("Action {}: Looking at point: {}".format(self.name, pose))
# Parse out the pose
parsed_pose = self._parse_pose(pose)
if parsed_pose is None:
rospy.logerr("Action {}: FAIL. Unknown Format: {}".format(self.name, pose))
raise KeyError(self.name, "Unknown Format", pose)
# Create and send the goal pose
goal = PointHeadGoal()
goal.target.header.stamp = rospy.Time.now()
goal.target.header.frame_id = parsed_pose['frame']
goal.target.point.x = parsed_pose['x']
goal.target.point.y = parsed_pose['y']
goal.target.point.z = parsed_pose['z']
goal.min_duration = rospy.Duration(self._duration)
self._look_client.send_goal(goal)
self.notify_action_send_goal(LookAction.HEAD_ACTION_SERVER, goal)
# Yield an empty dict while we're executing
while self._look_client.get_state() in AbstractStep.RUNNING_GOAL_STATES:
yield self.set_running()
# Wait for a result and yield based on how we exited
status = self._look_client.get_state()
self._look_client.wait_for_result()
result = self._look_client.get_result()
self.notify_action_recv_result(LookAction.HEAD_ACTION_SERVER, status, result)
if status == GoalStatus.SUCCEEDED:
yield self.set_succeeded()
elif status == GoalStatus.PREEMPTED:
yield self.set_preempted(
action=self.name,
status=status,
goal=goal,
result=result
)
else:
yield self.set_aborted(
action=self.name,
status=status,
goal=goal,
result=result
)
def loop(self):
while not rospy.is_shutdown():
# Reset head if no face found in 1 second
if time.time() - self.lastFaceCallback > 1:
self.lastHeadTarget = None
# Reset head
pos = PointStamped()
pos.header.stamp = rospy.Time.now()
pos.header.frame_id = "base_link"
pos.point.x = 1
pos.point.y = 0
pos.point.z = 1.5
goal = PointHeadGoal()
goal.min_duration = rospy.Duration(0.5)
goal.target = pos
#self.client.cancel_all_goals()
self.client.send_goal(goal)
rospy.sleep(0.1)
def look_at_bin(self):
print("look at the bin")
head_client = actionlib.SimpleActionClient(
"head_controller/point_head", PointHeadAction)
head_client.wait_for_server()
goal = PointHeadGoal()
goal.target.header.stamp = rospy.Time.now()
goal.target.header.frame_id = "base_link"
goal.target.point.x = 0.7
goal.target.point.y = 0
goal.target.point.z = 0.4
goal.min_duration = rospy.Duration(1.0)
head_client.send_goal(goal)
head_client.wait_for_result()
rospy.loginfo("Wating for ar_pose_marker topic...")
rospy.wait_for_message('ar_pose_marker', AlvarMarkers)
rospy.Subscriber('ar_pose_marker', AlvarMarkers, self.ar_callback)
def move_head():
name_space = '/head_traj_controller/point_head_action'
head_client = SimpleActionClient(name_space, PointHeadAction)
head_client.wait_for_server()
head_goal = PointHeadGoal()
head_goal.target.header.frame_id = self.get_frame()
head_goal.min_duration = rospy.Duration(0.3)
head_goal.target.point = self.get_target()
head_goal.max_velocity = 10.0
head_client.send_goal(head_goal)
head_client.wait_for_result(rospy.Duration(2.0))
if (head_client.get_state() != GoalStatus.SUCCEEDED):
rospy.logwarn('Head action unsuccessful.')
self.gui.show_text_in_rviz("Head!")
def look_at(parent_frame, x, y, z):
goal = PointHeadGoal()
#the point to be looking at is expressed in the "base_link" frame
point = PointStamped()
point.header.frame_id = parent_frame
point.header.stamp = rospy.Time.now()
point.point.x = x
point.point.y = y
point.point.z = z
goal.target = point
#we want the X axis of the camera frame to be pointing at the target
goal.pointing_frame = "high_def_frame"
goal.pointing_axis.x = 1
goal.pointing_axis.y = 0
goal.pointing_axis.z = 0
goal.min_duration = rospy.Duration(0.5)
client.send_goal(goal)
def on_enter(self, userdata):
# When entering this state, we send the action goal once to let the robot start its work.
# Create the goal.
goal = PointHeadGoal()
goal.target.header.stamp = rospy.Time.now()
goal.target.header.frame_id = "base_link"
goal.target.point = userdata.point2see
# Send the goal.
self._error = False # make sure to reset the error state since a previous state execution might have failed
try:
self._client.send_goal(self._topic, goal)
except Exception as e:
# Since a state failure not necessarily causes a behavior failure, it is recommended to only print warnings, not errors.
# Using a linebreak before appending the error log enables the operator to collapse details in the GUI.
Logger.logwarn('Failed to send the point2see command:\n%s' %
str(e))
self._error = True
def main():
rospy.init_node('ball_tracking', anonymous=True)
head_client = actionlib.SimpleActionClient(
"/head_controller/absolute_point_head_action", PointHeadAction)
head_client.wait_for_server()
goal = PointHeadGoal()
goal.target.header.stamp = rospy.Time.now()
goal.target.header.frame_id = "/camera_color_optical_frame"
goal.pointing_axis.x = 0
goal.pointing_axis.y = 0
goal.pointing_axis.z = 1
goal.target.point.x = 0.7
goal.target.point.y = 0
goal.target.point.z = 0.4
goal.max_velocity = 0.1
goal.min_duration = rospy.Duration(2.0)
head_client.send_goal(goal)
head_client.wait_for_result()
def move():
rospy.init_node("move")
move_group = MoveGroupInterface("arm_with_torso", "base_link")
#planning scene setup
planning_scene = PlanningSceneInterface("base_link")
planning_scene.removeCollisionObject("my_front_ground")
planning_scene.removeCollisionObject("my_back_ground")
planning_scene.removeCollisionObject("my_right_ground")
planning_scene.removeCollisionObject("my_left_ground")
planning_scene.addCube("my_front_ground", 2, 1.1, 0.0, -1.0)
planning_scene.addCube("my_back_ground", 2, -1.2, 0.0, -1.0)
planning_scene.addCube("my_left_ground", 2, 0.0, 1.2, -1.0)
planning_scene.addCube("my_right_ground", 2, 0.0, -1.2, -1.0)
#move head camera
client = actionlib.SimpleActionClient("head_controller/point_head", PointHeadAction)
rospy.loginfo("Waiting for head_controller...")
client.wait_for_server()
goal = PointHeadGoal()
goal.target.header.stamp = rospy.Time.now()
goal.target.header.frame_id = "base_link"
goal.target.point.x = 1.2
goal.target.point.y = 0.0
goal.target.point.z = 0.0
goal.min_duration = rospy.Duration(1.0)
client.send_goal(goal)
client.wait_for_result()
#arm setup
move_group = MoveGroupInterface("arm", "base_link")
#set arm initial position
joints = ["shoulder_pan_joint", "shoulder_lift_joint", "upperarm_roll_joint",
"elbow_flex_joint", "forearm_roll_joint", "wrist_flex_joint", "wrist_roll_joint"]
pose = [1.32, 0.7, 0.0, -2.0, 0.0, -0.57, 0.0]
while not rospy.is_shutdown():
result = move_group.moveToJointPosition(joints, pose, 0.02)
if result.error_code.val == MoveItErrorCodes.SUCCESS:
return
def tiago_point_head(x, y, wait=False):
point_head_client = actionlib.SimpleActionClient(
'/head_controller/point_head_action', PointHeadAction)
point_head_client.wait_for_server()
chair_point = Point(x, y, 1)
# create head goal
ph_goal = PointHeadGoal()
ph_goal.target.header.frame_id = 'map'
ph_goal.max_velocity = 1
ph_goal.min_duration = rospy.Duration(0.5)
ph_goal.target.header.stamp = rospy.Time(0)
ph_goal.target.point = chair_point
ph_goal.pointing_frame = 'head_2_link'
ph_goal.pointing_axis = Vector3(1, 0, 0)
point_head_client.send_goal(ph_goal)
if wait:
point_head_client.wait_for_result()
def tilt_head(self, down=True):
name_space = '/head_traj_controller/point_head_action'
head_client = SimpleActionClient(name_space, PointHeadAction)
head_client.wait_for_server()
head_goal = PointHeadGoal()
head_goal.target.header.frame_id = self.get_frame()
head_goal.min_duration = rospy.Duration(0.3)
if down:
head_goal.target.point = Point(1, 0, Head.speed * -0.1)
else:
head_goal.target.point = Point(1, 0, Head.speed * 0.1)
head_goal.max_velocity = 10.0
head_client.send_goal(head_goal)
head_client.wait_for_result(rospy.Duration(2.0))
if (head_client.get_state() != GoalStatus.SUCCEEDED):
rospy.logwarn('Head action unsuccessful.')
def look_at(self, frame_id, x, y, z):
"""Moves the head to look at a point in space.
Args:
frame_id: The name of the frame in which x, y, and z are specified.
x: The x value of the point to look at.
y: The y value of the point to look at.
z: The z value of the point to look at.
"""
# TODO: Create goal
goal = PointHeadGoal()
# t = JointTrajectory()
# t.header.frame_id = frame_id
pointStamped = PointStamped()
point = Point()
point.x = x
point.y = y
point.z = z
# point.positions.append(y)
# point.positions.append(z)
pointStamped.point = point
# goal.target.append(point)
goal.target = pointStamped
goal.target.header.frame_id = frame_id
# t.points.append(point)
# t.joint_names.append(PAN_JOINT)
# t.joint_names.append(TILT_JOINT)
# TODO: Fill out the goal (we recommend setting min_duration to 1 second)
goal.min_duration = rospy.Duration(secs=1, nsecs=0)
# TODO: Send the goal
# goal.trajectory = t
self._look_client.send_goal(goal)
# TODO: Wait for result
self._look_client.wait_for_result()
def move():
rospy.init_node("move")
move_group = MoveGroupInterface("arm_with_torso", "base_link")
#move head camera
client = actionlib.SimpleActionClient("head_controller/point_head",
PointHeadAction)
rospy.loginfo("Waiting for head_controller...")
client.wait_for_server()
goal = PointHeadGoal()
goal.target.header.stamp = rospy.Time.now()
goal.target.header.frame_id = "base_link"
goal.target.point.x = 1.5
goal.target.point.y = 0.0
goal.target.point.z = 0.0
goal.min_duration = rospy.Duration(1.0)
client.send_goal(goal)
client.wait_for_result()
def look_at(self, frame_id, x, y, z):
'''
Description: sends the ROS node a goal position to move
the head to face
Input: self <Object>, frame_id <Int>, x <Int>, y <Int>, z <Int>
Return: None
'''
goal = PointHeadGoal()
goal.target.header.stamp = rospy.Time.now()
goal.target.header.frame_id = frame_id
goal.target.point.x = x
goal.target.point.y = y
goal.target.point.z = z
goal.pointing_frame = "pointing_frame"
goal.pointing_axis.x = 1
goal.pointing_axis.y = 0
goal.pointing_axis.z = 0
# send goal
self.point_head_client.send_goal(goal)
def execute(self, userdata):
if userdata.point_to_look == None and self.point_to_look == None:
rospy.logerr("No point to look at! Error at SM Look_to_point")
return 'aborted'
print str(self.direction)
self.point_to_look = self.point_to_look if self.point_to_look else userdata.point_to_look
phg = PointHeadGoal()
phg.min_duration = rospy.Duration(
self.min_duration) # adapt for as far as the detection is??
phg.target.header.frame_id = self.frame_id if self.frame_id else self.point_to_look.header.frame_id
phg.target.header.stamp = rospy.Time.now()
phg.target.point.x = self.point_to_look.point.x
phg.target.point.y = self.point_to_look.point.y
phg.target.point.z = self.point_to_look.point.z
phg.pointing_axis.x = 1.0
phg.pointing_frame = 'head_mount_xtion_rgb_frame'
if self.direction != "":
print "I HAVE A NEW ORDER"
phg.target.point.z = UP
if self.direction == "left":
phg.target.point.y = 1
elif self.direction == "right":
phg.target.point.y = -1
elif self.direction == "front":
phg.target.point.y = 0
elif self.direction == "up":
phg.target.point.y = 0
phg.target.point.z = 1.6
userdata.point_head_goal = phg
print phg
return 'succeeded'
def lookatpoint(self, x, y, z, velocity=10.8):
head_client = actionlib.SimpleActionClient(
"/head_controller/absolute_point_head_action", PointHeadAction)
head_client.wait_for_server()
goal = PointHeadGoal()
goal.target.header.stamp = rospy.Time.now()
goal.target.header.frame_id = "/camera_color_optical_frame"
goal.pointing_axis.x = 0
goal.pointing_axis.y = 0
goal.pointing_axis.z = 1
goal.target.point.x = x
goal.target.point.y = y
goal.target.point.z = z
goal.max_velocity = velocity
goal.min_duration = rospy.Duration(1.0)
## motion start
if self.isMotion == False:
head_client.send_goal(goal)
self.isMotion = True
rospy.sleep(0.5)
def point():
goal = PointHeadGoal()
goal.target.header.stamp = rospy.Time.now()
#goal.target.header.frame_id = "base_link"
goal.target.header.frame_id = "map"
## look right
goal.target.point.x = 0.3
goal.target.point.y = -1.6
goal.target.point.z = 0.6
##look right
## look forward
goal.target.point.x = 0.5
goal.target.point.y = 0
goal.target.point.z = 0.6
##look forward
## look to an apple
goal.target.point.x = 0.07
goal.target.point.y = 2.75
goal.target.point.z = 0.74
##look to an apple
goal.min_duration = rospy.Duration(1.0)
client = actionlib.SimpleActionClient('head_controller/point_head',
PointHeadAction)
wait = client.wait_for_server()
if (wait):
print("succesfuly connected to action server")
client.send_goal(goal)
client.wait_for_result()
print("done")
else:
print("failed to connect to action server")
