def arHandler(self, marker, armname):
pose = marker.pose.pose
if armname == 'left':
tool_frame = ConstantsClass.ToolFrame.Left
elif armname == 'right':
tool_frame = ConstantsClass.ToolFrame.Right
time = self.listener.getLatestCommonTime(ConstantsClass.Camera, tool_frame)
if time == 0:
return
(trans, rot) = self.listener.lookupTransform(ConstantsClass.Camera, tool_frame, time)
if (self.state == ImageDetectionClass.State.CalibrateLeft):
offset = Point()
offset.x = pose.position.x - trans[0]
offset.y = pose.position.y - trans[1]
offset.z = pose.position.z - trans[2]
self.offset = offset
self.state = ImageDetectionClass.State.Calibrated
elif self.state == ImageDetectionClass.State.Calibrated:
pos = Util.positionSubtract(pose.position, self.offset)
gp = PoseStamped()
gp.header.stamp = marker.header.stamp
gp.header.frame_id = marker.header.frame_id
gp.pose.position = pos
gp.pose.orientation = Util.makeQuaternion(rot[3], rot[0], rot[1], rot[2])
self.leftGripperPose = gp
self.debugAr(gp)
def __init__(self, normal=None):
# PointStamped TEMP!!!!!!!!!!!!!!
self.objectPoint = None
# gripper pose. Must both have frame_id of respective tool frame
self.leftGripperPose = None
self.rightGripperPose = None
# receptacle point. Must have frame_id of global (or main camera) frame
# is the exact place to drop off (i.e. don't need to do extra calcs to move away
self.receptaclePoint = None
# table normal. Must be according to global (or main camera) frame
if normal != None:
self.normal = normal
else:
# default to straight up
# self.normal = Util.makeQuaternion(.5**.5, 0, -.5**.5, 0)
# default to sideways
quat = tft.quaternion_from_euler(0, 0, -math.pi / 2)
self.normal = Util.makeQuaternion(quat[3], quat[0], quat[1], quat[2])
# Lock so two arms can access one ImageDetectionClass
# TEMP!!!!
self.objectLock = Lock()
# image processing to find object
self.objectProcessing = ImageProcessingClass()
# Temporary. Will eventually be placed with real image detection
# Will subscribe to camera feeds eventually
rospy.Subscriber("stereo_points_3d", PointStamped, self.stereoCallback)
rospy.Subscriber("/wide_stereo/right/image_rect", Image, self.imageCallback)
def __init__(self, normal=None):
#gripper pose. Must both have frame_id of respective tool frame
self.leftGripperPose = None
self.rightGripperPose = None
#receptacle point. Must have frame_id of global (or main camera) frame
#is the exact place to drop off (i.e. don't need to do extra calcs to move away)
self.receptaclePoint = None
#table normal. Must be according to global (or main camera) frame
if normal != None:
self.normal = normal
else:
# default to straight up
#self.normal = Util.makeQuaternion(.5**.5, 0, -.5**.5, 0)
# default to sideways
quat = tft.quaternion_from_euler(0,0,-math.pi/2)
self.normal = Util.makeQuaternion(quat[3], quat[0], quat[1], quat[2])
# image processing to find object
self.listener = tf.TransformListener()
self.state = ImageDetectionClass.State.Calibrating
self.objectProcessing = ImageProcessingClass()
# Temporary. For finding the receptacle
rospy.Subscriber('stereo_points_3d', PointStamped, self.stereoCallback)
# Get grippers using AR
self.debugArCount = 0
rospy.Subscriber('/stereo_pose', ARMarkers, self.arCallback)
