def setUp(self):
# create a action client of move group
self._move_client = SimpleActionClient('move_group', MoveGroupAction)
self._move_client.wait_for_server()
moveit_commander.roscpp_initialize(sys.argv)
group_name = moveit_commander.RobotCommander().get_group_names()[0]
group = moveit_commander.MoveGroupCommander(group_name)
# prepare a joint goal
self._goal = MoveGroupGoal()
self._goal.request.group_name = group_name
self._goal.request.max_velocity_scaling_factor = 0.1
self._goal.request.max_acceleration_scaling_factor = 0.1
self._goal.request.start_state.is_diff = True
goal_constraint = Constraints()
joint_values = [0.1, 0.2, 0.3, 0.4, 0.5, 0.6]
joint_names = group.get_active_joints()
for i in range(len(joint_names)):
joint_constraint = JointConstraint()
joint_constraint.joint_name = joint_names[i]
joint_constraint.position = joint_values[i]
joint_constraint.weight = 1.0
goal_constraint.joint_constraints.append(joint_constraint)
self._goal.request.goal_constraints.append(goal_constraint)
self._goal.planning_options.planning_scene_diff.robot_state.is_diff = True
def _cmd_to_request(self, robot):
"""Transforms the gripper command to a MotionPlanRequest."""
req = MotionPlanRequest()
# Set general info
req.planner_id = "PTP"
req.group_name = self._planning_group
req.max_velocity_scaling_factor = self._vel_scale * robot.global_motion_factor
req.max_acceleration_scaling_factor = self._acc_scale * robot.global_motion_factor
req.allowed_planning_time = 1.0
# Set an empty diff as start_state => the current state is used by the planner
req.start_state.is_diff = True
# create goal constraints
goal_constraints = Constraints()
if isinstance(self._goal, (float, int, long)):
joint_names = robot._robot_commander.get_group(self._planning_group).get_active_joints()
if len(joint_names) != 1:
raise IndexError("PG70 should have only one joint. But group " + req.group_name +
" contains " + str(len(joint_names)) + " joints.")
joint_constraint = JointConstraint()
joint_constraint.joint_name = joint_names[0]
joint_constraint.position = float(self._goal)
joint_constraint.weight = 1
goal_constraints.joint_constraints.append(joint_constraint)
else:
raise NotImplementedError("Unknown type of goal is given.")
req.goal_constraints.append(goal_constraints)
return req
def add_way_points(self, waypoints):
arm = self.arm
# 限制末端夹具运动
right_joint_const = JointConstraint()
right_joint_const.joint_name = "gripper_r_joint_r"
right_joint_const.position = 0
right_joint_const.weight = 1.0
# 施加全约束
consts = Constraints()
consts.joint_constraints = [right_joint_const]
arm.set_path_constraints(consts)
wpose = arm.get_current_pose().pose
wpose.orientation.x = Qux
wpose.orientation.y = Quy
wpose.orientation.z = Quz
wpose.orientation.w = Quw
wpose.position.x = a[5]
wpose.position.y = a[3]
wpose.position.z = a[4]
waypoints.append(copy.deepcopy(wpose))
# print waypoints
# print "----------------\n"
return waypoints
def setUp(self):
# create a action client of move group
self._move_client = SimpleActionClient('move_group', MoveGroupAction)
self._move_client.wait_for_server()
moveit_commander.roscpp_initialize(sys.argv)
group_name = moveit_commander.RobotCommander().get_group_names()[0]
group = moveit_commander.MoveGroupCommander(group_name)
# prepare a joint goal
self._goal = MoveGroupGoal()
self._goal.request.group_name = group_name
self._goal.request.max_velocity_scaling_factor = 0.1
self._goal.request.max_acceleration_scaling_factor = 0.1
self._goal.request.start_state.is_diff = True
goal_constraint = Constraints()
joint_values = [0.1, 0.2, 0.3, 0.4, 0.5, 0.6]
joint_names = group.get_active_joints()
for i in range(len(joint_names)):
joint_constraint = JointConstraint()
joint_constraint.joint_name = joint_names[i]
joint_constraint.position = joint_values[i]
joint_constraint.weight = 1.0
goal_constraint.joint_constraints.append(joint_constraint)
self._goal.request.goal_constraints.append(goal_constraint)
self._goal.planning_options.planning_scene_diff.robot_state.is_diff = True
def right_arm_go_to_pose_goal(self):
# 设置动作对象变量,此处为arm
right_arm = self.right_arm
# Create a path constraint for the arm
# UNCOMMENT TO ENABLE ORIENTATION CONSTRAINTS
joint_const = JointConstraint()
joint_const.joint_name = "gripper_r_joint_r"
joint_const.position = 0
consts = Constraints()
consts.joint_constraints = [joint_const]
right_arm.set_path_constraints(consts)
# 获取当前末端执行器位置姿态
pose_goal = right_arm.get_current_pose().pose
# print (a)
# print (Qux, Quy, Quz, Quw)
# 设置动作对象目标位置姿态
pose_goal.orientation.x = Right_Qux
pose_goal.orientation.y = Right_Quy
pose_goal.orientation.z = Right_Quz
pose_goal.orientation.w = Right_Quw
pose_goal.position.x = Neurondata[5]
pose_goal.position.y = Neurondata[3]
pose_goal.position.z = Neurondata[4]
right_arm.set_pose_target(pose_goal)
print "End effector pose %s" % pose_goal
# 规划和输出动作
traj = right_arm.plan()
right_arm.execute(traj, wait=False)
# 动作完成后清除目标信息
right_arm.clear_pose_targets()
# 确保没有剩余未完成动作在执行
right_arm.stop()
def _cmd_to_request(self, robot):
"""Transforms the given command to a MotionPlanRequest."""
req = MotionPlanRequest()
# Set general info
req.planner_id = self._planner_id
req.group_name = self._planning_group
req.max_velocity_scaling_factor = self._vel_scale
req.max_acceleration_scaling_factor = self._acc_scale
req.allowed_planning_time = 1.0
# Set an empty diff as start_state => the current state is used by the planner
req.start_state.is_diff = True
# Set goal constraint
if self._goal is None:
raise NameError("Goal is not given.")
goal_constraints = Constraints()
# goal as Pose in Cartesian space
if isinstance(self._goal, Pose):
goal_pose = self._get_goal_pose(robot)
robot_reference_frame = robot._robot_commander.get_planning_frame()
goal_constraints.orientation_constraints.append(
_to_ori_constraint(goal_pose, robot_reference_frame,
self._target_link))
goal_constraints.position_constraints.append(
_to_pose_constraint(goal_pose, robot_reference_frame,
self._target_link))
# goal as list of int or float in joint space
elif isinstance(self._goal, list):
joint_names = robot._robot_commander.get_group(
self._planning_group).get_active_joints()
joint_values = self._get_joint_pose(robot)
if len(joint_names) != len(joint_values):
raise IndexError(
"Given joint goal does not match the planning group " +
req.group_name + ".")
for joint_name, joint_value in zip(joint_names, joint_values):
joint_constraint = JointConstraint()
joint_constraint.joint_name = joint_name
joint_constraint.position = joint_value
joint_constraint.weight = 1
goal_constraints.joint_constraints.append(joint_constraint)
else:
raise NotImplementedError("Unknown type of goal is given.")
req.goal_constraints.append(goal_constraints)
return req
def right_arm_go_to_pose_goal(self):
# 设置动作对象变量,此处为arm
right_arm = self.right_arm
# 获取当前末端执行器位置姿态
pose_goal = right_arm.get_current_pose().pose
# 限制末端夹具运动
right_joint_const = JointConstraint()
right_joint_const.joint_name = "gripper_r_joint_r"
# if Rightfinger > -55 :
# right_joint_const.position = 0.024
# else:
right_joint_const.position = 0
right_joint_const.weight = 1.0
# 施加全约束
consts = Constraints()
consts.joint_constraints = [right_joint_const]
right_arm.set_path_constraints(consts)
# 计算夹取姿态
if obj_theta <= 0:
(Qux, Quy, Quz,
Quw) = quaternion_from_euler(90.01 / 180 * pi, 0,
(-180 - obj_theta) / 180 * pi)
else:
(Qux, Quy, Quz,
Quw) = quaternion_from_euler(90.01 / 180 * pi, 0,
(180 - obj_theta) / 180 * pi)
# (Qux, Quy, Quz, Quw) = quaternion_from_euler(90/180*pi, 0, -180/180*pi)
# 设置动作对象目标位置姿态
pose_goal.orientation.x = Qux
pose_goal.orientation.y = Quy
pose_goal.orientation.z = Quz
pose_goal.orientation.w = Quw
# pose_goal.position.y = 0.0244387395252 + (-0.595877665686-0.0244387395252)*obj_x/320
# pose_goal.position.x = 0.625989932306 + (0.197518221397-0.625989932306)*obj_y/240
pose_goal.position.x = 0.1819576873 + (160 - obj_y) * (
0.494596343128 - 0.1819576873) / 160
pose_goal.position.y = obj_x * (
-0.455644324437 + 0.0238434066464) / 220 - 0.0238434066464
pose_goal.position.z = 0.0942404372508
right_arm.set_pose_target(pose_goal)
print "End effector pose %s" % pose_goal
# 规划和输出动作
traj = right_arm.plan()
right_arm.execute(traj, wait=False)
# 动作完成后清除目标信息
right_arm.clear_pose_targets()
# 清除路径约束
right_arm.clear_path_constraints()
# 确保没有剩余未完成动作在执行
right_arm.stop()
def plan_trajectory(self, start_point, goal_point, planner_number, joint_names, group_name, planning_time, planner_config_name):
"""
Given a start and goal point, returns the planned path.
Args:
start_point (list of float): A starting joint configuration.
goal_point (list of float): A goal joint configuration.
planner_number (int): The index of the planner to be used as
returned by acquire_planner().
joint_names (list of str): The name of the joints corresponding to
start_point and goal_point.
group_name (str): The name of the group to which the joint names
correspond.
planning_time (float): Maximum allowed time for planning, in seconds.
planner_config_name (str): Type of planner to use.
Return:
list of list of float: A sequence of points representing the joint
configurations at each point on the path.
"""
planner_client = rospy.ServiceProxy(self.planners[planner_number], GetMotionPlan)
rospy.loginfo("Plan Trajectory Wrapper: got a plan_trajectory request for %s with start = %s and goal = %s" % (self.planners[planner_number], start_point, goal_point))
# Put together the service request.
req = GetMotionPlanRequest()
req.motion_plan_request.workspace_parameters.header.stamp = rospy.get_rostime()
req.motion_plan_request.group_name = group_name
req.motion_plan_request.num_planning_attempts = 1
req.motion_plan_request.allowed_planning_time = planning_time
req.motion_plan_request.planner_id = planner_config_name #using RRT planner by default
req.motion_plan_request.start_state.joint_state.header.stamp = rospy.get_rostime()
req.motion_plan_request.start_state.joint_state.name = joint_names
req.motion_plan_request.start_state.joint_state.position = start_point
req.motion_plan_request.goal_constraints.append(Constraints())
req.motion_plan_request.goal_constraints[0].joint_constraints = []
for i in xrange(len(joint_names)):
temp_constraint = JointConstraint()
temp_constraint.joint_name = joint_names[i]
temp_constraint.position = goal_point[i]
temp_constraint.tolerance_above = 0.05;
temp_constraint.tolerance_below = 0.05;
req.motion_plan_request.goal_constraints[0].joint_constraints.append(temp_constraint)
#call the planner
rospy.wait_for_service(self.planners[planner_number])
rospy.loginfo("Plan Trajectory Wrapper: sent request to service %s" % planner_client.resolved_name)
try:
response = planner_client(req)
except rospy.ServiceException, e:
rospy.loginfo("Plan Trajectory Wrapper: service call failed: %s"%e)
return None
def right_arm_go_down_goal(self):
# 设置动作对象变量,此处为arm
right_arm = self.right_arm
waypoints = []
# 获取当前末端执行器位置姿态
pose_goal = right_arm.get_current_pose().pose
# 添加路径起始点
waypoints.append(copy.deepcopy(pose_goal))
# 限制末端夹具运动
right_joint_const = JointConstraint()
right_joint_const.joint_name = "gripper_r_joint_r"
# if Rightfinger > -55 :
# right_joint_const.position = 0.024
# else:
right_joint_const.position = 0.0239
right_joint_const.weight = 1.0
# 施加全约束
consts = Constraints()
consts.joint_constraints = [right_joint_const]
right_arm.set_path_constraints(consts)
# 设置动作对象目标位置姿态
pose_goal.position.z = pose_goal.position.z - 0.045
# pose_goal.position.y = pose_goal.position.y - 0.1
# 添加路径末端点
waypoints.append(copy.deepcopy(pose_goal))
# 路径规划
(plan, fraction) = right_arm.compute_cartesian_path(
waypoints, # waypoints to follow
0.01, # eef_step
0.0) # jump_threshold
print "End effector pose %s" % waypoints
# robot = self.robot
# display_trajectory_publisher = self.display_trajectory_publisher
# display_trajectory = moveit_msgs.msg.DisplayTrajectory()
# display_trajectory.trajectory_start = robot.get_current_state()
# display_trajectory.trajectory.append(plan)
# display_trajectory_publisher.publish(display_trajectory)
# 规划和输出动作
right_arm.execute(plan, wait=False)
def make_moveit_action_goal(joint_names, joint_positions):
goal_config_constraint = Constraints()
for name, position in zip(joint_names, joint_positions):
joint_constraint = JointConstraint()
joint_constraint.joint_name = name
joint_constraint.position = position
goal_config_constraint.joint_constraints.append(joint_constraint)
req = MotionPlanRequest()
req.group_name = 'both_arms'
req.goal_constraints.append(goal_config_constraint)
goal = MoveGroupGoal()
goal.request = req
return goal
def send_move_group_joint_space_goal(self, move_group, joint_names, joint_values, plan_only=None):
'''
Retrieve the current move group action configuration and send the move request
@param move_group : string specifying a particular move group
@param joint_names : list of joint names for command
@param joint_values : list of joint values for target
'''
# We should have already set this pairing up during initialization
action_topic = ProxyMoveItClient._move_group_clients_[move_group]
# Get the latest setup of of the MoveGroup goal data
goal = MoveGroupGoal()
goal.request = copy.deepcopy(ProxyMoveItClient._motion_plan_requests[move_group])
goal.planning_options = copy.deepcopy(ProxyMoveItClient._planning_options[move_group])
if (plan_only is not None):
goal.planning_options.plan_only = plan_only
goal_constraints = Constraints()
for i in range(len(joint_names)):
jc = ProxyMoveItClient._joint_constraints[move_group][joint_names[i]]
goal_constraints.joint_constraints.append(JointConstraint(
joint_name=joint_names[i],
position=joint_values[i],
tolerance_above=jc.tolerance_above,
tolerance_below=jc.tolerance_above,
weight=jc.weight))
goal.request.goal_constraints.append(goal_constraints)
ProxyMoveItClient._action_clients[action_topic].send_goal(action_topic, goal)
def on_enter(self, userdata):
self._planning_failed = False
self._control_failed = False
self._success = False
self._action_topic = userdata.move_group_prefix + userdata.action_topic
self._client = ProxyActionClient({self._action_topic: MoveGroupAction})
self._move_group = userdata.move_group
self._joint_names = None
self._joint_names = userdata.joint_names
action_goal = MoveGroupGoal()
action_goal.request.group_name = self._move_group
goal_constraints = Constraints()
for i in range(len(self._joint_names)):
goal_constraints.joint_constraints.append(JointConstraint(joint_name=self._joint_names[i], position=userdata.joint_values[i]))
action_goal.request.goal_constraints.append(goal_constraints)
try:
self._client.send_goal(self._action_topic, action_goal)
except Exception as e:
Logger.logwarn('Failed to send action goal for group: %s\n%s' % (self._move_group, str(e)))
self._planning_failed = True
def on_enter(self, userdata):
self._planning_failed = False
self._control_failed = False
self._success = False
self._config_name = userdata.config_name # Currently not used
self._robot_name = userdata.robot_name # Currently not used
self._move_group = userdata.move_group
self._action_topic = userdata.action_topic
self._joint_config = userdata.joint_values
self._joint_names = userdata.joint_names
self._client = ProxyActionClient({self._action_topic: MoveGroupAction})
# Action Initialization
action_goal = MoveGroupGoal()
action_goal.request.group_name = self._move_group
action_goal.request.allowed_planning_time = 1.0
goal_constraints = Constraints()
for i in range(len(self._joint_names)):
goal_constraints.joint_constraints.append(
JointConstraint(joint_name=self._joint_names[i],
position=self._joint_config[i],
weight=1.0))
action_goal.request.goal_constraints.append(goal_constraints)
try:
self._client.send_goal(self._action_topic, action_goal)
userdata.action_topic = self._action_topic # Save action topic to output key
except Exception as e:
Logger.logwarn('Failed to send action goal for group: %s\n%s' %
(self._move_group, str(e)))
self._planning_failed = True
def __init__(self, frame, ns = ''):
# self.scene_pub = PlanningScenePublisher(ns)
self.move_group_client = SimpleActionClient("/{}/move_group".format(ns), MoveGroupAction)
self.move_group_client.wait_for_server()
self.move_group_msg = MoveGroupGoal()
#Create the message for the request
self.move_group_msg.request = MotionPlanRequest()
self.move_group_msg.request.workspace_parameters.header.frame_id = frame
self.move_group_msg.request.workspace_parameters.min_corner.x = -50
self.move_group_msg.request.workspace_parameters.min_corner.y = -50
self.move_group_msg.request.workspace_parameters.min_corner.z = 0
self.move_group_msg.request.workspace_parameters.max_corner.x = 50
self.move_group_msg.request.workspace_parameters.max_corner.y = 50
self.move_group_msg.request.workspace_parameters.max_corner.z = 50
# Target definition
self.move_group_msg.request.goal_constraints.append(Constraints())
self.constraints = JointConstraint()
self.constraints.tolerance_above = 0.001
self.constraints.tolerance_below = 0.001
self.constraints.weight = 1.0
for i in range(0,7):
self.move_group_msg.request.goal_constraints[0].joint_constraints.append(copy.deepcopy(self.constraints))
self.move_group_msg.planning_options.planning_scene_diff.is_diff = True
self.move_group_msg.planning_options.plan_only = True
def on_enter(self, userdata):
self._planning_failed = False
self._control_failed = False
self._success = False
self._joint_config = userdata.joint_values
self._joint_names = userdata.joint_names
self._sub = ProxySubscriberCached({self._position_topic: JointState})
self._current_position = []
self._client = ProxyActionClient({self._action_topic: MoveGroupAction})
# Action Initialization
action_goal = MoveGroupGoal()
action_goal.request.group_name = self._move_group
action_goal.request.allowed_planning_time = 1.0
goal_constraints = Constraints()
for i in range(len(self._joint_names)):
goal_constraints.joint_constraints.append(
JointConstraint(joint_name=self._joint_names[i],
position=self._joint_config[i],
weight=1.0))
action_goal.request.goal_constraints.append(goal_constraints)
try:
self._client.send_goal(self._action_topic, action_goal)
except Exception as e:
Logger.logwarn('Failed to send action goal for group: %s\n%s' %
(self._move_group, str(e)))
self._planning_failed = True
def on_enter(self, userdata):
self._param_error = False
self._planning_failed = False
self._control_failed = False
self._success = False
#Parameter check
if self._srdf_param is None:
self._param_error = True
return
try:
self._srdf = ET.fromstring(self._srdf_param)
except Exception as e:
Logger.logwarn('Unable to parse given SRDF parameter: /robot_description_semantic')
self._param_error = True
if not self._param_error:
robot = None
for r in self._srdf.iter('robot'):
if self._robot_name == '' or self._robot_name == r.attrib['name']:
robot = r
break
if robot is None:
Logger.logwarn('Did not find robot name in SRDF: %s' % self._robot_name)
return 'param_error'
config = None
for c in robot.iter('group_state'):
if (self._move_group == '' or self._move_group == c.attrib['group']) \
and c.attrib['name'] == self._config_name:
config = c
break
if config is None:
Logger.logwarn('Did not find config name in SRDF: %s' % self._config_name)
return 'param_error'
try:
self._joint_config = [float(j.attrib['value']) for j in config.iter('joint')]
self._joint_names = [str(j.attrib['name']) for j in config.iter('joint')]
except Exception as e:
Logger.logwarn('Unable to parse joint values from SRDF:\n%s' % str(e))
return 'param_error'
#Action Initialization
action_goal = MoveGroupGoal()
action_goal.request.group_name = self._move_group
goal_constraints = Constraints()
for i in range(len(self._joint_names)):
goal_constraints.joint_constraints.append(JointConstraint(joint_name=self._joint_names[i], position=self._joint_config[i]))
action_goal.request.goal_constraints.append(goal_constraints)
try:
self._client.send_goal(self._action_topic, action_goal)
except Exception as e:
Logger.logwarn('Failed to send action goal for group: %s\n%s' % (self._move_group, str(e)))
self._planning_failed = True
def left_arm_go_to_pose_goal(self):
# 设置动作对象变量,此处为arm
left_arm = self.left_arm
# 限制末端夹具运动
left_joint_const = JointConstraint()
left_joint_const.joint_name = "gripper_l_joint_r"
if Leftfinger >= 0.025:
left_joint_const.position = 0.024
else:
left_joint_const.position = 0
consts = Constraints()
consts.joint_constraints = [left_joint_const]
left_arm.set_path_constraints(consts)
# 获取当前末端执行器位置姿态
pose_goal = left_arm.get_current_pose().pose
# 设置动作对象目标位置姿态
pose_goal.orientation.x = Left_Qux
pose_goal.orientation.y = Left_Quy
pose_goal.orientation.z = Left_Quz
pose_goal.orientation.w = Left_Quw
pose_goal.position.x = (Neurondata[11] - 0.05) * 1.48 + 0.053
pose_goal.position.y = (Neurondata[9] - 0.18) * 1.48 + 0.12
pose_goal.position.z = (Neurondata[10] - 0.53) * 1.48 + 0.47
left_arm.set_pose_target(pose_goal)
print "End effector pose %s" % pose_goal
# # 设置动作对象目标位置姿态
# pose_goal.orientation.x = pose_goal.orientation.x
# pose_goal.orientation.y = pose_goal.orientation.y
# pose_goal.orientation.z = pose_goal.orientation.z
# pose_goal.orientation.w = pose_goal.orientation.w
# pose_goal.position.x = pose_goal.position.x
# pose_goal.position.y = pose_goal.position.y - 0.01
# pose_goal.position.z = pose_goal.position.z
# left_arm.set_pose_target(pose_goal)
# print "End effector pose %s" % pose_goal
# 规划和输出动作
traj = left_arm.plan()
left_arm.execute(traj, wait=False)
# 动作完成后清除目标信息
left_arm.clear_pose_targets()
# 确保没有剩余未完成动作在执行
left_arm.stop()
def right_arm_go_to_pose_goal(self):
# 设置动作对象变量,此处为arm
right_arm = self.right_arm
# 限制末端夹具运动
right_joint_const = JointConstraint()
right_joint_const.joint_name = "gripper_r_joint_r"
if Rightfinger >= 0.025:
right_joint_const.position = 0.024
else:
right_joint_const.position = 0
consts = Constraints()
consts.joint_constraints = [right_joint_const]
right_arm.set_path_constraints(consts)
# 获取当前末端执行器位置姿态
pose_goal = right_arm.get_current_pose().pose
# 设置动作对象目标位置姿态
pose_goal.orientation.x = Right_Qux
pose_goal.orientation.y = Right_Quy
pose_goal.orientation.z = Right_Quz
pose_goal.orientation.w = Right_Quw
pose_goal.position.x = (Neurondata[5] - 0.05) * 1.48 + 0.053
pose_goal.position.y = (Neurondata[3] + 0.18) * 1.48 - 0.12
pose_goal.position.z = (Neurondata[4] - 0.53) * 1.48 + 0.47
right_arm.set_pose_target(pose_goal)
print "End effector pose %s" % pose_goal
# # 设置动作对象目标位置姿态
# pose_goal.orientation.x = pose_goal.orientation.x
# pose_goal.orientation.y = pose_goal.orientation.y
# pose_goal.orientation.z = pose_goal.orientation.z
# pose_goal.orientation.w = pose_goal.orientation.w
# pose_goal.position.x = pose_goal.position.x
# pose_goal.position.y = pose_goal.position.y - 0.01
# pose_goal.position.z = pose_goal.position.z
# right_arm.set_pose_target(pose_goal)
# print "End effector pose %s" % pose_goal
# 规划和输出动作
traj = right_arm.plan()
right_arm.execute(traj, wait=False)
# 动作完成后清除目标信息
right_arm.clear_pose_targets()
# 确保没有剩余未完成动作在执行
right_arm.stop()
def create_move_group_joints_goal(self,
joint_names,
joint_values,
group="right_arm",
plan_only=False):
""" Creates a move_group goal based on pose.
@arg joint_names list of strings of the joint names
@arg joint_values list of digits with the joint values
@arg group string representing the move_group group to use
@arg plan_only bool to for only planning or planning and executing
@return MoveGroupGoal with the desired contents"""
header = Header()
header.frame_id = 'base_link'
header.stamp = rospy.Time.now()
moveit_goal = MoveGroupGoal()
goal_c = Constraints()
for name, value in zip(joint_names, joint_values):
joint_c = JointConstraint()
joint_c.joint_name = name
joint_c.position = value
joint_c.tolerance_above = 0.01
joint_c.tolerance_below = 0.01
joint_c.weight = 1.0
goal_c.joint_constraints.append(joint_c)
moveit_goal.request.goal_constraints.append(goal_c)
moveit_goal.request.num_planning_attempts = 5
moveit_goal.request.allowed_planning_time = 5.0
moveit_goal.planning_options.plan_only = plan_only
moveit_goal.planning_options.planning_scene_diff.is_diff = True
moveit_goal.request.group_name = group
return moveit_goal
def execute(self, userdata):
header = Header()
header.frame_id = 'base_link'
header.stamp = rospy.Time.now()
userdata.move_it_joint_goal = MoveGroupGoal()
goal_c = Constraints()
for name, value in zip(userdata.manip_joint_names, userdata.manip_goal_joint_pose):
joint_c = JointConstraint()
joint_c.joint_name = name
joint_c.position = value
joint_c.tolerance_above = 0.01
joint_c.tolerance_below = 0.01
joint_c.weight = 1.0
goal_c.joint_constraints.append(joint_c)
userdata.move_it_joint_goal.request.goal_constraints.append(goal_c)
userdata.move_it_joint_goal.request.num_planning_attempts = 5
userdata.move_it_joint_goal.request.allowed_planning_time = 5.0
userdata.move_it_joint_goal.planning_options.plan_only = False #False = Plan + Execute ; True = Plan only
userdata.move_it_joint_goal.planning_options.planning_scene_diff.is_diff = True
userdata.move_it_joint_goal.request.group_name = userdata.manip_joint_group
rospy.loginfo('Group Name: ' + userdata.manip_joint_group)
rospy.loginfo('Joints name: ' + str(userdata.manip_joint_names))
rospy.loginfo('Joints Values: ' + str(userdata.manip_goal_joint_pose))
rospy.loginfo('GOAL TO SEND IS:... ' + str(userdata.move_it_joint_goal))
return 'succeeded'
def _create_get_motion_plan_request(self, start_point, goal_point, group_name, joint_names, planning_time):
# Just puts together a MotionPlanRequest to send to the lightning node.
req = GetMotionPlanRequest()
req.motion_plan_request.group_name = group_name
req.motion_plan_request.start_state.joint_state.name = joint_names
req.motion_plan_request.start_state.joint_state.position = start_point
req.motion_plan_request.goal_constraints.append(Constraints())
req.motion_plan_request.goal_constraints[0].joint_constraints = []
for i in xrange(len(joint_names)):
tempConstraint = JointConstraint()
tempConstraint.joint_name = joint_names[i]
tempConstraint.position = goal_point[i]
req.motion_plan_request.goal_constraints[0].joint_constraints.append(tempConstraint)
req.motion_plan_request.allowed_planning_time = planning_time
return req
def init_constraint():
joint_constraint = JointConstraint()
joint_constraint.joint_name = "shoulder_pan_joint"
joint_constraint.position = 0
joint_constraint.tolerance_above = 0.7854
joint_constraint.tolerance_below = 0.7854
joint_constraint.weight = 1
base_constraint.joint_constraints.append(joint_constraint)
def init_gripper(self):
"""
Initialise gripper interface.
"""
# Gripper
self.gripper_group_name = "hand"
self.gripper_joints = ["panda_finger_joint1", "panda_finger_joint2"]
self.gripper_links = ["panda_leftfinger", "panda_rightfinger"]
self.gripper_max_speed = 0.2
# Service client for IK
self.plan_gripper_path_client = self.create_client(
GetMotionPlan, "plan_kinematic_path")
while not self.plan_gripper_path_client.wait_for_service(
timeout_sec=1.0):
self.get_logger().info(
"Service [plan_kinematic_path] not currently available, waiting..."
)
self.gripper_path_request = GetMotionPlan.Request()
self.gripper_path_request.motion_plan_request.workspace_parameters.header.frame_id = \
self.arm_base_link
# self.gripper_path_request.motion_plan_request.workspace_parameters.header.stamp = \
# "Set during request"
self.gripper_path_request.motion_plan_request.workspace_parameters.min_corner.x = -0.855
self.gripper_path_request.motion_plan_request.workspace_parameters.min_corner.y = -0.855
self.gripper_path_request.motion_plan_request.workspace_parameters.min_corner.z = -0.36
self.gripper_path_request.motion_plan_request.workspace_parameters.max_corner.x = 0.855
self.gripper_path_request.motion_plan_request.workspace_parameters.max_corner.y = 0.855
self.gripper_path_request.motion_plan_request.workspace_parameters.max_corner.z = 1.19
# self.gripper_path_request.motion_plan_request.start_state = "Ignored"
self.gripper_path_request.motion_plan_request.goal_constraints = \
[Constraints()]
(self.gripper_path_request.motion_plan_request.goal_constraints[0].
joint_constraints.append(JointConstraint()))
(self.gripper_path_request.motion_plan_request.goal_constraints[0].
joint_constraints[0].joint_name) = self.gripper_joints[0]
# (self.gripper_path_request.motion_plan_request.goal_constraints[0].joint_constraints[0]
# .position) = "Set during request"
# (self.gripper_path_request.motion_plan_request.goal_constraints[0].joint_constraints[0]
# .tolerance_above) = "Ignored"
# (self.gripper_path_request.motion_plan_request.goal_constraints[0].joint_constraints[0]
# .tolerance_below) = "Ignored"
self.gripper_path_request.motion_plan_request.goal_constraints[
0].joint_constraints[0].weight = 1.0
# self.gripper_path_request.motion_plan_request.path_constraints = "Ignored"
# self.gripper_path_request.motion_plan_request.trajectory_constraints = "Ignored"
# self.gripper_path_request.motion_plan_request.reference_trajectories = "Ignored"
# self.gripper_path_request.motion_plan_request.planner_id = "Ignored"
self.gripper_path_request.motion_plan_request.group_name = self.gripper_group_name
self.gripper_path_request.motion_plan_request.num_planning_attempts = 1
self.gripper_path_request.motion_plan_request.allowed_planning_time = 0.1
# self.gripper_path_request.motion_plan_request.max_velocity_scaling_factor = \
# "Set during request"
self.gripper_path_request.motion_plan_request.max_acceleration_scaling_factor = 0.0
def left_arm_go_to_pose_goal(self):
# 设置动作对象变量,此处为arm
left_arm = self.left_arm
# 获取当前末端执行器位置姿态
pose_goal = left_arm.get_current_pose().pose
# 限制末端夹具运动
left_joint_const = JointConstraint()
left_joint_const.joint_name = "gripper_l_joint_r"
# if Leftfinger > -60 :
# left_joint_const.position = 0.024
# else:
left_joint_const.position = 0
left_joint_const.weight = 1.0
# 施加全约束
consts = Constraints()
consts.joint_constraints = [left_joint_const]
# consts.orientation_constraints = [left_orientation_const]
# consts.position_constraints = [left_position_const]
left_arm.set_path_constraints(consts)
# 设置动作对象目标位置姿态
pose_goal.orientation.x = -0.626215011187053
pose_goal.orientation.y = -0.4552380340595104
pose_goal.orientation.z = -0.48010690496799074
pose_goal.orientation.w = 0.4124444834298159
pose_goal.position.x = (Neurondata[11] - 0.05) * 1.48 + 0.053
pose_goal.position.y = (Neurondata[9] - 0.18) * 1.48 + 0.12
pose_goal.position.z = (Neurondata[10] - 0.53) * 1.48 + 0.47
left_arm.set_pose_target(pose_goal)
print "End effector pose %s" % pose_goal
# 规划和输出动作
traj = left_arm.plan()
left_arm.execute(traj, wait=False)
# 动作完成后清除目标信息
left_arm.clear_pose_targets()
# 清除路径约束
left_arm.clear_path_constraints()
# 确保没有剩余未完成动作在执行
left_arm.stop()
def quick_motion_test_client():
rospy.wait_for_service('/lightning/lightning_get_path')
print "Working on it..."
req = GetMotionPlanRequest()
req.motion_plan_request.group_name = "torso"
req.motion_plan_request.start_state.joint_state.name = ["torso_lift_joint"]
req.motion_plan_request.start_state.joint_state.position = [float(0.2)]
tempConstraint = JointConstraint()
tempConstraint.joint_name = req.motion_plan_request.start_state.joint_state.name[0]
tempConstraint.position = float(0.15)
fullConstraint = Constraints()
fullConstraint.joint_constraints = [tempConstraint]
req.motion_plan_request.goal_constraints = [fullConstraint]
req.motion_plan_request.allowed_planning_time = 50.0
try:
client_func = rospy.ServiceProxy('/lightning/lightning_get_path', GetMotionPlan)
res = client_func(req)
except rospy.ServiceException, e:
print "Service call failed: %s"%e
def plan_cartesian_path(self, waypoints):
arm = self.arm
# 限制末端夹具运动
right_joint_const = JointConstraint()
right_joint_const.joint_name = "gripper_r_joint_r"
right_joint_const.position = 0
right_joint_const.weight = 1.0
# 施加全约束
consts = Constraints()
consts.joint_constraints = [right_joint_const]
arm.set_path_constraints(consts)
(plan, fraction) = arm.compute_cartesian_path(
waypoints, # waypoints to follow
0.01, # eef_step
0.0) # jump_threshold
return plan, fraction
def set_global_defaults( self, group ):
"""
Initializes the proxy with default parameters to use with connections
@param group : string move group name
"""
# Default planning parameters for new connections
num_planning_attempts=5
allowed_planning_time=10.0
plan_only=True
planner_id='RRTConnectkConfigDefault'
# Set the default plan request data
plan_request = MotionPlanRequest()
plan_request.start_state.is_diff = True # Flags start state as empty to use current state on server
plan_request.num_planning_attempts = num_planning_attempts
plan_request.allowed_planning_time = allowed_planning_time
plan_request.planner_id = planner_id
plan_request.group_name = group
#@TODO - retrieve from ROS parameters
ProxyMoveItClient._motion_plan_requests[group] = plan_request
ProxyMoveItClient._default_motion_plan_requests[group] = copy.deepcopy(plan_request)
planning_options = PlanningOptions()
planning_options.plan_only = plan_only
planning_options.planning_scene_diff.robot_state.is_diff = True # Flags start state as empty to use current state on server
#@TODO - retrieve from ROS parameters
ProxyMoveItClient._planning_options[group] = planning_options
ProxyMoveItClient._default_planning_options[group] = copy.deepcopy(planning_options)
# Set up the default joint constraints
joint_constraints = {}
for name in ProxyMoveItClient._joint_names[group]:
joint_constraints[name] = JointConstraint(joint_name=name, tolerance_above=0.05, tolerance_below=0.05,weight=1.0)
#@TODO - retrieve from ROS parameters
ProxyMoveItClient._joint_constraints[group] = joint_constraints
ProxyMoveItClient._default_joint_constraints[group] = copy.deepcopy(joint_constraints)
# @TODO - add real constraints
ProxyMoveItClient._position_constraints[group] = []
ProxyMoveItClient._default_position_constraints[group] = []
ProxyMoveItClient._orientation_constraints[group] = []
ProxyMoveItClient._default_orientation_constraints[group] = []
ProxyMoveItClient._visibility_constraints[group] = []
ProxyMoveItClient._default_visibility_constraints[group] = []
ProxyMoveItClient._robot_states[group] = RobotState()
ProxyMoveItClient._default_robot_states[group] = RobotState()
def quick_motion_test_client():
rospy.wait_for_service('/lightning/lightning_get_path')
print "Working on it..."
req = GetMotionPlanRequest()
req.motion_plan_request.group_name = "torso"
req.motion_plan_request.start_state.joint_state.name = ["torso_lift_joint"]
req.motion_plan_request.start_state.joint_state.position = [float(0.2)]
tempConstraint = JointConstraint()
tempConstraint.joint_name = req.motion_plan_request.start_state.joint_state.name[
0]
tempConstraint.position = float(0.15)
fullConstraint = Constraints()
fullConstraint.joint_constraints = [tempConstraint]
req.motion_plan_request.goal_constraints = [fullConstraint]
req.motion_plan_request.allowed_planning_time = 50.0
try:
client_func = rospy.ServiceProxy('/lightning/lightning_get_path',
GetMotionPlan)
res = client_func(req)
except rospy.ServiceException, e:
print "Service call failed: %s" % e
def create_move_group_joints_goal(joint_names, joint_values, group="right_arm_torso", plan_only=True):
""" Creates a move_group goal based on pose.
@arg joint_names list of strings of the joint names
@arg joint_values list of digits with the joint values
@arg group string representing the move_group group to use
@arg plan_only bool to for only planning or planning and executing
@return MoveGroupGoal with the desired contents"""
header = Header()
header.frame_id = 'base_link'
header.stamp = rospy.Time.now()
moveit_goal = MoveGroupGoal()
goal_c = Constraints()
for name, value in zip(joint_names, joint_values):
joint_c = JointConstraint()
joint_c.joint_name = name
joint_c.position = value
joint_c.tolerance_above = 0.01
joint_c.tolerance_below = 0.01
joint_c.weight = 1.0
goal_c.joint_constraints.append(joint_c)
moveit_goal.request.goal_constraints.append(goal_c)
moveit_goal.request.num_planning_attempts = 1
moveit_goal.request.allowed_planning_time = 5.0
moveit_goal.planning_options.plan_only = plan_only
moveit_goal.planning_options.planning_scene_diff.is_diff = True
moveit_goal.request.group_name = group
return moveit_goal
def execute(self, userdata):
header = Header()
header.frame_id = "base_link"
header.stamp = rospy.Time.now()
userdata.move_it_joint_goal = MoveGroupGoal()
goal_c = Constraints()
for name, value in zip(userdata.manip_joint_names, userdata.manip_goal_joint_pose):
joint_c = JointConstraint()
joint_c.joint_name = name
joint_c.position = value
joint_c.tolerance_above = 0.01
joint_c.tolerance_below = 0.01
joint_c.weight = 1.0
goal_c.joint_constraints.append(joint_c)
userdata.move_it_joint_goal.request.goal_constraints.append(goal_c)
userdata.move_it_joint_goal.request.num_planning_attempts = 5
userdata.move_it_joint_goal.request.allowed_planning_time = 5.0
userdata.move_it_joint_goal.planning_options.plan_only = False # False = Plan + Execute ; True = Plan only
userdata.move_it_joint_goal.planning_options.planning_scene_diff.is_diff = True
userdata.move_it_joint_goal.request.group_name = userdata.manip_joint_group
rospy.loginfo("Group Name: " + userdata.manip_joint_group)
rospy.loginfo("Joints name: " + str(userdata.manip_joint_names))
rospy.loginfo("Joints Values: " + str(userdata.manip_goal_joint_pose))
rospy.loginfo("GOAL TO SEND IS:... " + str(userdata.move_it_joint_goal))
return "succeeded"
def plan_execute_pose_constraints_cb(self, goal):
feedback = PlanExecutePoseConstraintsFeedback()
result = PlanExecutePoseConstraintsResult()
result.result = True
#include default arm_base_joint // it is bug that moveit does not exclude passive joint in thier joint trajectory.
js_base = JointConstraint()
js_base.joint_name = "arm_base_joint"
js_base.position = 0.0
js_base.tolerance_above = 0.001
js_base.tolerance_below = 0.001
js_base.weight = 1.0
self.contraints.name = "constraints"
self.contraints.joint_constraints.append(js_base)
print("==================== Joint Constraints ====================")
for js in goal.joint_constraints:
self.contraints.joint_constraints.append(js)
print(js)
self.group.set_path_constraints(self.contraints)
print("============================================================")
self.group.clear_pose_targets()
self.group.set_start_state_to_current_state()
try:
self.group.set_pose_target(goal.target_pose)
except MoveItCommanderException:
result.result = False
return
rospy.loginfo('Planning goal pose...')
plan1 = self.group.plan()
if len(plan1.joint_trajectory.points) == 0:
result.result = False
return
display_trajectory = moveit_msgs.msg.DisplayTrajectory()
display_trajectory.trajectory_start = self.robot.get_current_state()
display_trajectory.trajectory.append(plan1)
self.traj_publisher.publish(display_trajectory)
# rospy.sleep(0.5)
rospy.loginfo('Start moving...')
self.group.go(wait=True)
rospy.loginfo('End moving')
# rospy.sleep(2.0)
self.group.set_path_constraints(None)
self.contraints.joint_constraints = []
rospy.loginfo('Planning goal pose succeeded.')
self.action_plan_execute_pose_w_constraints.set_succeeded(result)
def set_path_constraints(self, value):
# In order to force planning in joint coordinates we add dummy joint
# constrains.
empty_joint_constraints = JointConstraint()
empty_joint_constraints.joint_name = "r1_joint_grip"
empty_joint_constraints.position = 0
empty_joint_constraints.tolerance_above = 1.5
empty_joint_constraints.tolerance_below = 1.5
empty_joint_constraints.weight = 1
value.joint_constraints.append(empty_joint_constraints)
MoveGroupCommander.set_path_constraints(self, value)
def _do_ik(self, px, py, pz, arm):
"""
Does inverse kinematics for a given arm and given position.
This solver is collision aware.
Args:
px, py, pz (float): Cartesian coordinates for position of arm end
effector.
arm (str): Which arm ("right_arm" or "left_arm") to do ik for.
Returns:
list: List of joint configuration for specific arm. Returns an
empty list if unable to do IK.
"""
IK_INFO_NAME = "/pr2_%s_kinematics/get_ik_solver_info" % (arm)
IK_NAME = "/compute_ik"
ik_solver_info_service_proxy = rospy.ServiceProxy(IK_INFO_NAME, GetKinematicSolverInfo)
ik_info_req = GetKinematicSolverInfoRequest()
rospy.loginfo("LightningTest: do_ik: Waiting for %s" % (IK_INFO_NAME))
rospy.wait_for_service(IK_INFO_NAME)
rospy.loginfo("About to get IK info.")
ik_info_res = ik_solver_info_service_proxy(ik_info_req)
rospy.loginfo("Got IK Solver info.")
ik_solver_service_proxy = rospy.ServiceProxy(IK_NAME, GetPositionIK)
ik_solve_req = GetPositionIKRequest()
ik_solve_req.ik_request.group_name = arm
ik_solve_req.ik_request.timeout = rospy.Duration(5.0)
ik_solve_req.ik_request.ik_link_name = "%s_wrist_roll_link" % (arm[0])
ik_solve_req.ik_request.pose_stamped.header.frame_id = "odom_combined"
ik_solve_req.ik_request.pose_stamped.pose.position.x = px
ik_solve_req.ik_request.pose_stamped.pose.position.y = py
ik_solve_req.ik_request.pose_stamped.pose.position.z = pz
ik_solve_req.ik_request.pose_stamped.pose.orientation.x = 0.0;
ik_solve_req.ik_request.pose_stamped.pose.orientation.y = 0.0;
ik_solve_req.ik_request.pose_stamped.pose.orientation.z = 0.0;
ik_solve_req.ik_request.pose_stamped.pose.orientation.w = 1.0;
# TODO: Consider retrieving current robto state.
ik_solve_req.ik_request.robot_state.joint_state.name = ik_info_res.kinematic_solver_info.joint_names;
for i in xrange(len(ik_info_res.kinematic_solver_info.joint_names)):
joint_limits = ik_info_res.kinematic_solver_info.limits[i]
ik_solve_req.ik_request.robot_state.joint_state.position.append((joint_limits.min_position + joint_limits.max_position)/2.0)
joint_constraint = JointConstraint()
joint_constraint.joint_name = ik_info_res.kinematic_solver_info.joint_names[i]
joint_constraint.position = (joint_limits.max_position + joint_limits.min_position) / 2.0
joint_constraint.tolerance_above = (joint_limits.max_position - joint_limits.min_position) / 2.0
joint_constraint.tolerance_below = joint_constraint.tolerance_above
ik_solve_req.ik_request.constraints.joint_constraints.append(joint_constraint)
rospy.loginfo("LightningTest: do_ik: Waiting for IK service.")
rospy.wait_for_service(IK_NAME)
ik_solve_res = ik_solver_service_proxy(ik_solve_req)
if ik_solve_res.error_code.val == ik_solve_res.error_code.SUCCESS:
return ik_solve_res.solution.joint_state.position[30:37]
else:
rospy.loginfo("Lightning tester: cannot move to sampled position...trying another position")
return []
def plan_trajectory(self, start_point, goal_point, planner_number, joint_names, group_name, planning_time, planner_config_name, plan_type='pfs'):
"""
Given a start and goal point, plan by classical planner.
Args:
start_point (list of float): A starting joint configuration.
goal_point (list of float): A goal joint configuration.
planner_number (int): The index of the planner to be used as
returned by acquire_planner().
joint_names (list of str): The name of the joints corresponding to
start_point and goal_point.
group_name (str): The name of the group to which the joint names
correspond.
planning_time (float): Maximum allowed time for planning, in seconds.
planner_config_name (str): Type of planner to use.
plan_type (str): either pfs or rr. If rr we don't use the path length threshold.
Return:
list of list of float: A sequence of points representing the joint
configurations at each point on the path.
"""
planner_client = rospy.ServiceProxy(self.planners[planner_number], GetMotionPlan)
rospy.loginfo("%s Plan Trajectory Wrapper: got a plan_trajectory request for %s with start = %s and goal = %s" \
% (rospy.get_name(), self.planners[planner_number], start_point, goal_point))
# Put together the service request.
req = GetMotionPlanRequest()
req.motion_plan_request.workspace_parameters.header.stamp = rospy.get_rostime()
req.motion_plan_request.group_name = group_name
req.motion_plan_request.num_planning_attempts = 1
req.motion_plan_request.allowed_planning_time = planning_time
req.motion_plan_request.planner_id = planner_config_name #using RRT planner by default
req.motion_plan_request.start_state.joint_state.header.stamp = rospy.get_rostime()
req.motion_plan_request.start_state.joint_state.name = joint_names
req.motion_plan_request.start_state.joint_state.position = start_point
req.motion_plan_request.goal_constraints.append(Constraints())
req.motion_plan_request.goal_constraints[0].joint_constraints = []
for i in xrange(len(joint_names)):
temp_constraint = JointConstraint()
temp_constraint.joint_name = joint_names[i]
temp_constraint.position = goal_point[i]
temp_constraint.tolerance_above = 0.05;
temp_constraint.tolerance_below = 0.05;
req.motion_plan_request.goal_constraints[0].joint_constraints.append(temp_constraint)
#call the planner
rospy.wait_for_service(self.planners[planner_number])
rospy.loginfo("Plan Trajectory Wrapper: sent request to service %s" % planner_client.resolved_name)
plan_time = np.inf
try:
plan_time = time.time()
response = planner_client(req)
plan_time = time.time() - plan_time
except rospy.ServiceException, e:
rospy.loginfo("%s Plan Trajectory Wrapper: service call failed: %s"
% (rospy.get_name(), e))
return plan_time, None
def set_constraints(self):
consts = Constraints()
consts.joint_constraints.append(
JointConstraint(joint_name='shoulder_pan_joint',
position=0.3,
tolerance_above=2.5,
tolerance_below=0.1,
weight=1))
consts.joint_constraints.append(
JointConstraint(joint_name='shoulder_lift_joint',
position=0,
tolerance_above=0.0,
tolerance_below=2.5,
weight=1))
#consts.joint_constraints.append(
# JointConstraint(joint_name='elbow_joint',
# position=0, tolerance_above=pi,
# tolerance_bel=pi, weight=0.5))
consts.joint_constraints.append(
JointConstraint(joint_name='wrist_1_joint',
position=-2.2,
tolerance_above=2.2,
tolerance_below=2.7,
weight=1))
consts.joint_constraints.append(
JointConstraint(joint_name='wrist_2_joint',
position=0.4,
tolerance_above=0.1,
tolerance_below=4.0,
weight=1))
consts.joint_constraints.append(
JointConstraint(joint_name='wrist_3_joint',
position=pi / 4.0,
tolerance_above=0.5,
tolerance_below=0.5,
weight=1))
self.group.set_path_constraints(consts)
def createJointConstraints(pose_from_params, tolerances=0.1):
"""Create a JointConstraints message with its joint names and positions with some default tolerances
@param pose_from_params dictionary with names of the joints and it's values
@param tolerances the tolerance in radians for the joint positions, defaults to 0.1
@return moveit_msgs/JointConstraints[] message with the joint names and positions"""
joint_constraints = []
for joint in pose_from_params:
joint_constraint = JointConstraint()
joint_constraint.joint_name = joint
joint_constraint.position = pose_from_params[joint]
joint_constraint.tolerance_above = tolerances
joint_constraint.tolerance_below = tolerances
joint_constraint.weight = 1.0
joint_constraints.append(joint_constraint)
return joint_constraints
def createJointConstraintsZero():
joint_positions = [1.7567944054, 1.68571255762, -0.35731008621,
1.06480870567, 1.36986326531, -0.662985424101,
-1.31376998814]
joint_constraints = []
for joint_num in range(1,8):
joint_constraint = JointConstraint()
joint_constraint.joint_name = 'arm_right_' + str(joint_num) + '_joint'
joint_constraint.tolerance_above = 0.1
joint_constraint.tolerance_below = 0.1
joint_constraint.weight = 1.0
joint_constraint.position = 0.0
joint_constraints.append(joint_constraint)
print str(joint_constraint)
return joint_constraints
def createJointConstraints(joint_names, joint_positions, tolerances=0.1):
"""Create a JointConstraints message with its joint names and positions with some default tolerances
@param joint_names names of the joints which will reference to values in param joint_positions
@param joint_positions values for the joints specified in joint_names
@param tolerances the tolerance in radians for the joint positions, defaults to 0.1
@return moveit_msgs/JointConstraints[] message with the joint names and positions"""
joint_constraints = []
for joint, pos in zip(joint_names, joint_positions):
joint_constraint = JointConstraint()
joint_constraint.joint_name = joint
joint_constraint.position = pos
joint_constraint.tolerance_above = tolerances
joint_constraint.tolerance_below = tolerances
joint_constraint.weight = 1.0
joint_constraints.append(joint_constraint)
return joint_constraints
msg = MotionPlanRequest()
workspace_parameters = WorkspaceParameters()
workspace_parameters.header.stamp = rospy.Time.now()
workspace_parameters.header.frame_id = "/BASE"
workspace_parameters.min_corner = Vector3(-1.0, -1.0, -1.0)
workspace_parameters.max_corner = Vector3(1.0, 1.0, 1.0)
start_state = RobotState()
# start_state.joint_state.header.stamp = rospy.Time.now()
start_state.joint_state.header.frame_id = "/BASE"
start_state.joint_state.name = ["j1", "j2", "j3", "j4", "j5", "flange"]
start_state.joint_state.position = [-0.2569046038066598, -0.8442722962923348, 1.849082034218144, 0.26825374068443164, -0.04090683809444329, 5.745512865657193]
start_state.joint_state.velocity = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
jc2 = JointConstraint()
jc2.joint_name = "j1"
jc2.position = -1.37353344093
jc2.tolerance_above = 0.0001
jc2.tolerance_below = 0.0001
jc2.weight = 1.0
jc3 = JointConstraint()
jc3.joint_name = "j2"
jc3.position = -1.45013378543
jc3.tolerance_above = 0.0001
jc3.tolerance_below = 0.0001
jc3.weight = 1.0
jc4 = JointConstraint()
jc4.joint_name = "j3"
def kinect_planner():
global fresh_data
global joint_target, pose_target, goal
global joints_req, pose_req
moveit_commander.roscpp_initialize(sys.argv)
rospy.init_node('kinect_trajectory_planner', anonymous=True)
rate = rospy.Rate(0.5)
#rospy.sleep(3)
# Instantiate a RobotCommander object.
robot = moveit_commander.RobotCommander()
# Instantiate a PlanningSceneInterface object (interface to the world surrounding the robot).
scene = moveit_commander.PlanningSceneInterface()
print "Remember to disable firewall if it's not working"
# Instantiate MoveGroupCommander objects for arms and Kinect2.
group = moveit_commander.MoveGroupCommander("Kinect2_Target")
group_left_arm = moveit_commander.MoveGroupCommander("left_arm")
group_right_arm = moveit_commander.MoveGroupCommander("right_arm")
# We create this DisplayTrajectory publisher to publish
# trajectories for RVIZ to visualize.
display_trajectory_publisher = rospy.Publisher('planned_path',
moveit_msgs.msg.DisplayTrajectory, queue_size=5)
# Set the planner for Moveit
group.set_planner_id("RRTConnectkConfigDefault")
group.set_planning_time(8)
group.set_pose_reference_frame('base_footprint')
# Setting tolerance
group.set_goal_tolerance(0.08)
group.set_num_planning_attempts(10)
# Suscribing to the desired pose topic
target = rospy.Subscriber("desired_pose", PoseStamped, callback)
target_joint = rospy.Subscriber("desired_joints", pose_w_joints, callback_joints)
# Locating the arms and the Kinect2 sensor
group_left_arm_values = group_left_arm.get_current_joint_values()
group_right_arm_values = group_right_arm.get_current_joint_values()
#group_kinect_values = group_kinect.get_current_joint_values()
neck_init_joints = group.get_current_joint_values()
neck_init_joints[0] = -1.346
neck_init_joints[1] = -1.116
neck_init_joints[2] = -2.121
neck_init_joints[3] = 0.830
neck_init_joints[4] = 1.490
neck_init_joints[5] = 0.050
neck_init_joints[6] = 0
neck_init_joints[7] = 0
neck_init_joints[8] = 0
neck_init_joints[9] = 0
# Creating a box to limit the arm position
box_pose = PoseStamped()
box_pose.pose.orientation.w = 1
box_pose.pose.position.x = 0.6
box_pose.pose.position.y = 0.03
box_pose.pose.position.z = 1.5
box_pose.header.frame_id = 'base_footprint'
scene.add_box('box1', box_pose, (0.4, 0.4, 0.1))
rospy.sleep(2)
# Defining position constraints for the trajectory of the kinect
neck_const = Constraints()
neck_const.name = 'neck_constraints'
target_const = JointConstraint()
target_const.joint_name = "neck_joint_end"
target_const.position = 0.95
target_const.tolerance_above = 0.45
target_const.tolerance_below = 0.05
target_const.weight = 0.9 # Importance of this constraint
neck_const.joint_constraints.append(target_const)
# Talking to the robot
#client = actionlib.SimpleActionClient('/Kinect2_Target_controller/follow_joint_trajectory', FollowJointTrajectoryAction)
client = actionlib.SimpleActionClient('/neck/follow_joint_trajectory', FollowJointTrajectoryAction)
print "====== Waiting for server..."
client.wait_for_server()
print "====== Connected to server"
while not rospy.is_shutdown():
print('.')
skip_iter = False
if fresh_data == True: #If a new pose is received, plan.
# Update arms position
group_left_arm_values = group_left_arm.get_current_joint_values()
group_right_arm_values = group_right_arm.get_current_joint_values()
# Set the target pose (or joint values) and generate a plan
if pose_req:
group.set_pose_target(pose_target)
if joints_req:
print('about to set joint target')
print(joint_target)
try:
if len(joint_target) == 6:
#Setting also values for the four virtual joints (one prismatic, and three rotational)
new_joint_target = joint_target + [0.1]*4
else:
new_joint_target = joint_target
print('setting: '),
print new_joint_target
group.set_joint_value_target(new_joint_target)
except:
print('cannot set joint target')
skip_iter = True
print "=========== Calculating trajectory... \n"
# Generate several plans and compare them to get the shorter one
plan_opt = dict()
differ = dict()
if not skip_iter:
try:
num = 1
rep = 0
# Generate several plans and compare them to get the shortest one
#for num in range(1,8):
while num < 7:
num += 1
plan_temp = group.plan()
move(plan_temp)
plan_opt[num] = goal.trajectory
diff=0
for point in goal.trajectory.points:
# calculate the distance between initial pose and planned one
for i in range(0,6):
diff = abs(neck_init_joints[i] - point.positions[i])+abs(diff)
differ[num] = diff
# If the current plan is good, take it
if diff < 110:
break
# If plan is too bad, don't consider it
if diff > 400:
num = num - 1
print "Plan is too long. Replanning."
rep = rep + 1
if rep > 4:
num = num +1
# If no plan was found...
if differ == {}:
print "---- Fail: No motion plan found. No execution attempted. Probably robot joints are out of range."
break
else:
# Select the shortest plan
min_plan = min(differ.itervalues())
select = [k for k, value in differ.iteritems() if value == min_plan]
goal.trajectory = plan_opt[select[0]]
#print " Plan difference:======= ", differ
#print " Selected plan:========= ", select[0]
# Remove the last 4 names and data from each point (dummy joints) before sending the goal
goal.trajectory.joint_names = goal.trajectory.joint_names[:6]
for point in goal.trajectory.points:
point.positions = point.positions[:6]
point.velocities = point.velocities[:6]
point.accelerations = point.accelerations[:6]
print "Sending goal"
client.send_goal(goal)
print "Waiting for result"
client.wait_for_result()
# Change the position of the virtual joint to avoid collision
neck_joints = group.get_current_joint_values()
print('neck joints:')
print neck_joints
#neck_joints[6] = 0.7
#group.set_joint_value_target(neck_joints)
#group.go(wait=True)
except (KeyboardInterrupt, SystemExit):
client.cancel_goal()
raise
rate.sleep()
fresh_data = False
rate.sleep()
def joint_position_callback(joints):
global plan_only
fixed_frame = rospy.get_param("/fixed_frame")
client = actionlib.SimpleActionClient('move_group', MoveGroupAction)
client.wait_for_server()
move_group_goal = MoveGroupGoal()
try:
msg = MotionPlanRequest()
workspace_parameters = WorkspaceParameters()
workspace_parameters.header.stamp = rospy.Time.now()
workspace_parameters.header.frame_id = fixed_frame
workspace_parameters.min_corner = Vector3(-1.0, -1.0, -1.0)
workspace_parameters.max_corner = Vector3(1.0, 1.0, 1.0)
start_state = RobotState()
# start_state.joint_state.header.stamp = rospy.Time.now()
start_state.joint_state.header.frame_id = fixed_frame
start_state.joint_state.name = []
start_state.joint_state.position = []
cons = Constraints()
cons.name = ""
i = 0
for dim in joints.start_joint.layout.dim:
start_state.joint_state.name.append(dim.label)
start_state.joint_state.position.append(joints.start_joint.data[i])
jc = JointConstraint()
jc.joint_name = dim.label
jc.position = joints.goal_joint.data[i]
jc.tolerance_above = 0.0001
jc.tolerance_below = 0.0001
jc.weight = 1.0
i = i + 1
cons.joint_constraints.append(jc)
msg.workspace_parameters = workspace_parameters
msg.start_state = start_state
msg.goal_constraints.append(cons)
msg.num_planning_attempts = 1
msg.allowed_planning_time = 5.0
msg.group_name = joints.group_name
move_group_goal.request = msg
if joints.plan_only:
plan_only = True
move_group_goal.planning_options.plan_only = True
else:
plan_only = False
client.send_goal(move_group_goal)
client.wait_for_result(rospy.Duration.from_sec(5.0))
except rospy.ROSInterruptException, e:
print "failed: %s"%e
def main():
#Initialize the node
rospy.init_node('moveit_client')
# Create the SimpleActionClient, passing the type of the action
# (MoveGroupAction) to the constructor.
client = actionlib.SimpleActionClient('move_group', MoveGroupAction)
# Wait until the action server has started up and started
# listening for goals.
client.wait_for_server()
# Creates a goal to send to the action server.
goal = MoveGroupGoal()
#----------------Construct the goal message (start)----------------
joint_names = ['head_pan', 'left_s0', 'left_s1', 'left_e0', 'left_e1', 'left_w0', 'left_w1', 'left_w2', 'right_s0', 'right_s1', 'right_e0', 'right_e1', 'right_w0', 'right_w1', 'right_w2']
#Set parameters for the planner
goal.request.group_name = 'both_arms'
goal.request.num_planning_attempts = 1
goal.request.allowed_planning_time = 5.0
#Define the workspace in which the planner will search for solutions
goal.request.workspace_parameters.min_corner.x = -1
goal.request.workspace_parameters.min_corner.y = -1
goal.request.workspace_parameters.min_corner.z = -1
goal.request.workspace_parameters.max_corner.x = 1
goal.request.workspace_parameters.max_corner.y = 1
goal.request.workspace_parameters.max_corner.z = 1
goal.request.start_state.joint_state.header.frame_id = "base"
#Set the start state for the trajectory
goal.request.start_state.joint_state.name = joint_names
goal.request.start_state.joint_state.position = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
goal.request.start_state.joint_state.velocity = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
print 'Enter start state:'
try:
for i in range(len(joint_names)):
val = float(raw_input(joint_names[i]+':'))
goal.request.start_state.joint_state.position[i] = val
except:
print 'Using defaults for remaining joints'
print goal.request.start_state.joint_state.position
#Tell MoveIt whether to execute the trajectory after planning it
goal.planning_options.plan_only = True
#Set the goal position of the robot
#Note that the goal is specified with a collection of individual
#joint constraints, rather than a vector of joint angles
arm_joint_names = joint_names[1:]
target_joint_angles = [0.5, -0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
print 'Enter goal state:'
try:
for i in range(len(target_joint_angles)):
val = float(raw_input(joint_names[i]+':'))
target_joint_angles[i] = val
except:
print 'Using defaults for remaining joints'
print target_joint_angles
tolerance = 0.0001
consts = []
for i in range(len(arm_joint_names)):
const = JointConstraint()
const.joint_name = arm_joint_names[i]
const.position = target_joint_angles[i]
const.tolerance_above = tolerance
const.tolerance_below = tolerance
const.weight = 1.0
consts.append(const)
goal.request.goal_constraints.append(Constraints(name='', joint_constraints=consts))
#---------------Construct the goal message (end)-----------------
# Send the goal to the action server.
client.send_goal(goal)
# Wait for the server to finish performing the action.
client.wait_for_result()
# Print out the result of executing the action
print(client.get_result())
def main():
# Initialize the node
rospy.init_node("moveit_client")
# Create the SimpleActionClient, passing the type of the action
# (MoveGroupAction) to the constructor.
client = actionlib.SimpleActionClient("move_group", MoveGroupAction)
# Wait until the action server has started up and started
# listening for goals.
client.wait_for_server()
# Creates a goal to send to the action server.
goal = MoveGroupGoal()
# ----------------Construct the goal message (start)----------------
joint_names = [
"head_pan",
"left_s0",
"left_s1",
"left_e0",
"left_e1",
"left_w0",
"left_w1",
"left_w2",
"right_s0",
"right_s1",
"right_e0",
"right_e1",
"right_w0",
"right_w1",
"right_w2",
]
# Set parameters for the planner
goal.request.group_name = "both_arms"
goal.request.num_planning_attempts = 1
goal.request.allowed_planning_time = 5.0
# Define the workspace in which the planner will search for solutions
goal.request.workspace_parameters.min_corner.x = -1
goal.request.workspace_parameters.min_corner.y = -1
goal.request.workspace_parameters.min_corner.z = -1
goal.request.workspace_parameters.max_corner.x = 1
goal.request.workspace_parameters.max_corner.y = 1
goal.request.workspace_parameters.max_corner.z = 1
goal.request.start_state.joint_state.header.frame_id = "base"
# Set the start state for the trajectory
goal.request.start_state.joint_state.name = joint_names
goal.request.start_state.joint_state.position = [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
]
goal.request.start_state.joint_state.velocity = [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
]
# Tell MoveIt whether to execute the trajectory after planning it
goal.planning_options.plan_only = True
# Set the goal position of the robot
# Note that the goal is specified with a collection of individual
# joint constraints, rather than a vector of joint angles
arm_joint_names = joint_names[1:]
print("Joint angles...? Are coming one at a time. Give them to me in radians")
target_joint_angles = []
for joint in joint_names:
str = raw_input(joint + "\n-->")
val = float(str)
target_joint_angles.append(val)
print("I think that you want me to go to...")
print(target_joint_angles)
raw_input("Press any key to continue")
# target_joint_angles = [0.5, -0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
tolerance = 0.0001
consts = []
for i in range(len(arm_joint_names)):
const = JointConstraint()
const.joint_name = arm_joint_names[i]
const.position = target_joint_angles[i]
const.tolerance_above = tolerance
const.tolerance_below = tolerance
const.weight = 1.0
consts.append(const)
goal.request.goal_constraints.append(Constraints(name="", joint_constraints=consts))
# ---------------Construct the goal message (end)-----------------
# Send the goal to the action server.
client.send_goal(goal)
# Wait for the server to finish performing the action.
client.wait_for_result()
# Print out the result of executing the action
print(client.get_result())
correct_js = copy.deepcopy(current_joint_states)
result = fk.getFK('arm_right_7_link', current_joint_states.name, correct_js.position, 'base_link')
rospy.loginfo("Result of current robot pose FK is: " + str(result))
rs = RobotState()
rs.joint_state = correct_js
drs = DisplayRobotState()
drs.state = rs
rs_pub.publish(drs)
rospy.loginfo("Published current robot state")
rospy.sleep(2.0)
c = Constraints()
jc = JointConstraint()
jc.joint_name = 'arm_right_1_link'
jc.position = 0.0
jc.tolerance_above = 0.00001
jc.tolerance_below = 0.00001
jc.weight = 1.0
c.joint_constraints.append(jc)
rospy.loginfo("Result without constraints:")
resultik = ik.getIK("right_arm", "right_arm_7_link", result.pose_stamped[0], False, 0, rs)
rospy.loginfo(str(resultik))
rs = RobotState()
rs.joint_state = resultik.solution.joint_state
drs = DisplayRobotState()
drs.state = rs
