def __init__( self ):
scriptPath = os.path.dirname( __file__ )
self.cameraImagePixBuf = None
self.servoConfigDict = getArmServoConfig()
self.wristAngle = 0.0
# Connect to the robot via ROS
# TODO: Move arm to all dictionary
servoConfigList = [ self.servoConfigDict[ servoName ] for servoName in self.servoConfigDict ]
self.roboticArm = RoboticArm( gaffa_teleop.LynxmotionArmDescription.ARM_DH_PROXIMAL, servoConfigList )
self.cameraImageTopic = rospy.Subscriber( "/camera/image",
sensor_msgs.msg.Image, self.cameraImageCallback )
self.jointScreenHomography = JointScreenHomography(
self.CORNER_JOINT_ARRAYS, self.CORNER_SCREEN_POSITIONS, self.roboticArm )
# Setup the GUI
builder = gtk.Builder()
builder.add_from_file( scriptPath + "/GUI/VideoTeleop.glade" )
self.window = builder.get_object( "winMain" )
self.dwgCameraImage = builder.get_object( "dwgCameraImage" )
builder.connect_signals( self )
updateLoop = self.update()
gobject.idle_add( updateLoop.next )
self.window.show()
def __init__(self):
scriptPath = os.path.dirname(__file__)
self.cameraImagePixBuf = None
self.servoConfigDict = getArmServoConfig()
self.wristAngle = 0.0
# Connect to the robot via ROS
# TODO: Move arm to all dictionary
servoConfigList = [
self.servoConfigDict[servoName]
for servoName in self.servoConfigDict
]
self.roboticArm = RoboticArm(
gaffa_teleop.LynxmotionArmDescription.ARM_DH_PROXIMAL,
servoConfigList)
self.cameraImageTopic = rospy.Subscriber("/camera/image",
sensor_msgs.msg.Image,
self.cameraImageCallback)
self.jointScreenHomography = JointScreenHomography(
self.CORNER_JOINT_ARRAYS, self.CORNER_SCREEN_POSITIONS,
self.roboticArm)
# Setup the GUI
builder = gtk.Builder()
builder.add_from_file(scriptPath + "/GUI/VideoTeleop.glade")
self.window = builder.get_object("winMain")
self.dwgCameraImage = builder.get_object("dwgCameraImage")
builder.connect_signals(self)
updateLoop = self.update()
gobject.idle_add(updateLoop.next)
self.window.show()
class MainWindow:
OPTICAL_FLOW_BLOCK_WIDTH = 8
OPTICAL_FLOW_BLOCK_HEIGHT = 8
OPTICAL_FLOW_RANGE_WIDTH = 8 # Range to look outside of a block for motion
OPTICAL_FLOW_RANGE_HEIGHT = 8
GRIPPER_WAVE_FREQUENCY = 1.0 # Waves per second
GRIPPER_NUM_WAVES = 3.0
GRIPPER_WAVE_AMPLITUDE = math.radians(20.0) / 4.0
BUFFER_TIME_LENGTH = 10.0
SAMPLES_PER_SECOND = 15.0
MAX_CORRELATION_LAG = 1.0
GRIPPER_DETECTION_TIME = 9.0 # Should be less than BUFFER_TIME_LENGTH
GRIPPER_DETECTION_WAVE_START_TIME = 3.0
# 49, 81 -> 52.05, 15.62, -34.16, 81.33 - Top Left
# 218, 76 -> 28.19, 58.89, -105.32, 48.80 - Top Right
# 283, 135 -> 79.16, 67.70, -119.55, 48.80 - Bottom Right
# 56, 142 -> 78.61, 29.24, -50.29, 65.60 - Bottom Left
CORNER_JOINT_ARRAYS = [
[
math.radians(52.05), # Top Left
math.radians(15.62),
math.radians(-34.16),
math.radians(81.33),
math.radians(0.0)
],
[
math.radians(28.19), # Top Right
math.radians(58.89),
math.radians(-105.32),
math.radians(48.80),
math.radians(0.0)
],
[
math.radians(79.16), # Bottom Right
math.radians(67.70),
math.radians(-119.55),
math.radians(48.80),
math.radians(0.0)
],
[
math.radians(78.61), # Bottom Left
math.radians(29.24),
math.radians(-50.29),
math.radians(65.60),
math.radians(0.0)
]
]
CORNER_SCREEN_POSITIONS = [
(49, 81), # Top Left
(218, 76), # Top Right
(283, 135), # Bottom Right
(56, 142)
] # Bottom Left
#---------------------------------------------------------------------------
def __init__(self):
scriptPath = os.path.dirname(__file__)
self.cameraImagePixBuf = None
self.servoConfigDict = getArmServoConfig()
self.wristAngle = 0.0
# Connect to the robot via ROS
# TODO: Move arm to all dictionary
servoConfigList = [
self.servoConfigDict[servoName]
for servoName in self.servoConfigDict
]
self.roboticArm = RoboticArm(
gaffa_teleop.LynxmotionArmDescription.ARM_DH_PROXIMAL,
servoConfigList)
self.cameraImageTopic = rospy.Subscriber("/camera/image",
sensor_msgs.msg.Image,
self.cameraImageCallback)
self.jointScreenHomography = JointScreenHomography(
self.CORNER_JOINT_ARRAYS, self.CORNER_SCREEN_POSITIONS,
self.roboticArm)
# Setup the GUI
builder = gtk.Builder()
builder.add_from_file(scriptPath + "/GUI/VideoTeleop.glade")
self.window = builder.get_object("winMain")
self.dwgCameraImage = builder.get_object("dwgCameraImage")
builder.connect_signals(self)
updateLoop = self.update()
gobject.idle_add(updateLoop.next)
self.window.show()
#---------------------------------------------------------------------------
def onWinMainDestroy(self, widget, data=None):
gtk.main_quit()
#---------------------------------------------------------------------------
def main(self):
# All PyGTK applications must have a gtk.main(). Control ends here
# and waits for an event to occur (like a key press or mouse event).
gtk.main()
#---------------------------------------------------------------------------
def cameraImageCallback(self, rosImage):
if rosImage.encoding == "rgb8" or rosImage.encoding == "bgr8":
# Display the image
self.cameraImagePixBuf = gtk.gdk.pixbuf_new_from_data(
rosImage.data, gtk.gdk.COLORSPACE_RGB, False, 8,
rosImage.width, rosImage.height, rosImage.step)
# Resize the drawing area if necessary
if self.dwgCameraImage.get_size_request() != (rosImage.width,
rosImage.height):
self.dwgCameraImage.set_size_request(rosImage.width,
rosImage.height)
self.dwgCameraImage.queue_draw()
else:
rospy.logerr("Unhandled image encoding - " + rosImage.encoding)
#---------------------------------------------------------------------------
def moveArmToJointAnglePosition(self, servoAnglesDict, jointSpeed):
self.wristAngle = servoAnglesDict["wrist_rotate"]
self.roboticArm.setJointAngles(servoAnglesDict, jointSpeed)
#---------------------------------------------------------------------------
def onBtnGotoSafePosClicked(self, widget, data=None):
servoAnglesDict = {
"base_rotate": math.radians(72.65),
"shoulder_rotate": 2.3561944901923448,
"elbow_rotate": -2.748893571891069,
"wrist_rotate": 1.9583014768641922,
"gripper_rotate": -0.0004890796739715704
}
self.moveArmToJointAnglePosition(servoAnglesDict, math.radians(1.5))
#---------------------------------------------------------------------------
def onDwgCameraImageButtonPressEvent(self, widget, data):
if self.cameraImagePixBuf != None:
imgRect = self.getImageRectangleInWidget(
widget, self.cameraImagePixBuf.get_width(),
self.cameraImagePixBuf.get_height())
screenX = data.x - imgRect.x
screenY = data.y - imgRect.y
jointArray = self.jointScreenHomography.convertScreenPosToJointPos(
(screenX, screenY))
jointArrayDegrees = [math.degrees(angle) for angle in jointArray]
print "press at", screenX, screenY, "->", jointArrayDegrees
print self.roboticArm.GetEndEffectorPos(jointArray)
servoAnglesDict = {
"base_rotate": jointArray[0],
"shoulder_rotate": jointArray[1],
"elbow_rotate": jointArray[2],
"wrist_rotate": jointArray[3],
"gripper_rotate": jointArray[4]
}
self.moveArmToJointAnglePosition(servoAnglesDict,
math.radians(0.5))
#---------------------------------------------------------------------------
def onDwgCameraImageExposeEvent(self, widget, data=None):
if self.cameraImagePixBuf != None:
imgRect = self.getImageRectangleInWidget(
widget, self.cameraImagePixBuf.get_width(),
self.cameraImagePixBuf.get_height())
imgOffsetX = imgRect.x
imgOffsetY = imgRect.y
# Get the total area that needs to be redrawn
imgRect = imgRect.intersect(data.area)
srcX = imgRect.x - imgOffsetX
srcY = imgRect.y - imgOffsetY
widget.window.draw_pixbuf(
widget.get_style().fg_gc[gtk.STATE_NORMAL],
self.cameraImagePixBuf, srcX, srcY, imgRect.x, imgRect.y,
imgRect.width, imgRect.height)
#---------------------------------------------------------------------------
def getImageRectangleInWidget(self, widget, imageWidth, imageHeight):
# Centre the image inside the widget
widgetX, widgetY, widgetWidth, widgetHeight = widget.get_allocation()
imgRect = gtk.gdk.Rectangle(0, 0, widgetWidth, widgetHeight)
if widgetWidth > imageWidth:
imgRect.x = (widgetWidth - imageWidth) / 2
imgRect.width = imageWidth
if widgetHeight > imageHeight:
imgRect.y = (widgetHeight - imageHeight) / 2
imgRect.height = imageHeight
return imgRect
#---------------------------------------------------------------------------
def update(self):
UPDATE_FREQUENCY = self.SAMPLES_PER_SECOND # Updates in Hz
lastTime = time.clock()
while 1:
curTime = time.clock()
if curTime - lastTime >= 1.0 / UPDATE_FREQUENCY:
# Save the time
lastTime = curTime
yield True
yield False
class MainWindow:
OPTICAL_FLOW_BLOCK_WIDTH = 8
OPTICAL_FLOW_BLOCK_HEIGHT = 8
OPTICAL_FLOW_RANGE_WIDTH = 8 # Range to look outside of a block for motion
OPTICAL_FLOW_RANGE_HEIGHT = 8
GRIPPER_WAVE_FREQUENCY = 1.0 # Waves per second
GRIPPER_NUM_WAVES = 3.0
GRIPPER_WAVE_AMPLITUDE = math.radians( 20.0 )/4.0
BUFFER_TIME_LENGTH = 10.0
SAMPLES_PER_SECOND = 15.0
MAX_CORRELATION_LAG = 1.0
GRIPPER_DETECTION_TIME = 9.0 # Should be less than BUFFER_TIME_LENGTH
GRIPPER_DETECTION_WAVE_START_TIME = 3.0
# 49, 81 -> 52.05, 15.62, -34.16, 81.33 - Top Left
# 218, 76 -> 28.19, 58.89, -105.32, 48.80 - Top Right
# 283, 135 -> 79.16, 67.70, -119.55, 48.80 - Bottom Right
# 56, 142 -> 78.61, 29.24, -50.29, 65.60 - Bottom Left
CORNER_JOINT_ARRAYS = [
[ math.radians( 52.05 ), # Top Left
math.radians( 15.62 ),
math.radians( -34.16 ),
math.radians( 81.33 ),
math.radians( 0.0 ) ],
[ math.radians( 28.19 ), # Top Right
math.radians( 58.89 ),
math.radians( -105.32 ),
math.radians( 48.80 ),
math.radians( 0.0 ) ],
[ math.radians( 79.16 ), # Bottom Right
math.radians( 67.70 ),
math.radians( -119.55 ),
math.radians( 48.80 ),
math.radians( 0.0 ) ],
[ math.radians( 78.61 ), # Bottom Left
math.radians( 29.24 ),
math.radians( -50.29 ),
math.radians( 65.60 ),
math.radians( 0.0 ) ] ]
CORNER_SCREEN_POSITIONS = [
( 49, 81 ), # Top Left
( 218, 76 ), # Top Right
( 283, 135 ), # Bottom Right
( 56, 142 ) ] # Bottom Left
#---------------------------------------------------------------------------
def __init__( self ):
scriptPath = os.path.dirname( __file__ )
self.cameraImagePixBuf = None
self.servoConfigDict = getArmServoConfig()
self.wristAngle = 0.0
# Connect to the robot via ROS
# TODO: Move arm to all dictionary
servoConfigList = [ self.servoConfigDict[ servoName ] for servoName in self.servoConfigDict ]
self.roboticArm = RoboticArm( gaffa_teleop.LynxmotionArmDescription.ARM_DH_PROXIMAL, servoConfigList )
self.cameraImageTopic = rospy.Subscriber( "/camera/image",
sensor_msgs.msg.Image, self.cameraImageCallback )
self.jointScreenHomography = JointScreenHomography(
self.CORNER_JOINT_ARRAYS, self.CORNER_SCREEN_POSITIONS, self.roboticArm )
# Setup the GUI
builder = gtk.Builder()
builder.add_from_file( scriptPath + "/GUI/VideoTeleop.glade" )
self.window = builder.get_object( "winMain" )
self.dwgCameraImage = builder.get_object( "dwgCameraImage" )
builder.connect_signals( self )
updateLoop = self.update()
gobject.idle_add( updateLoop.next )
self.window.show()
#---------------------------------------------------------------------------
def onWinMainDestroy( self, widget, data = None ):
gtk.main_quit()
#---------------------------------------------------------------------------
def main( self ):
# All PyGTK applications must have a gtk.main(). Control ends here
# and waits for an event to occur (like a key press or mouse event).
gtk.main()
#---------------------------------------------------------------------------
def cameraImageCallback( self, rosImage ):
if rosImage.encoding == "rgb8" or rosImage.encoding == "bgr8":
# Display the image
self.cameraImagePixBuf = gtk.gdk.pixbuf_new_from_data(
rosImage.data,
gtk.gdk.COLORSPACE_RGB,
False,
8,
rosImage.width,
rosImage.height,
rosImage.step )
# Resize the drawing area if necessary
if self.dwgCameraImage.get_size_request() != ( rosImage.width, rosImage.height ):
self.dwgCameraImage.set_size_request( rosImage.width, rosImage.height )
self.dwgCameraImage.queue_draw()
else:
rospy.logerr( "Unhandled image encoding - " + rosImage.encoding )
#---------------------------------------------------------------------------
def moveArmToJointAnglePosition( self, servoAnglesDict, jointSpeed ):
self.wristAngle = servoAnglesDict[ "wrist_rotate" ]
self.roboticArm.setJointAngles( servoAnglesDict, jointSpeed )
#---------------------------------------------------------------------------
def onBtnGotoSafePosClicked( self, widget, data = None ):
servoAnglesDict = {
"base_rotate" : math.radians( 72.65 ),
"shoulder_rotate" : 2.3561944901923448,
"elbow_rotate" : -2.748893571891069,
"wrist_rotate" : 1.9583014768641922,
"gripper_rotate" : -0.0004890796739715704
}
self.moveArmToJointAnglePosition( servoAnglesDict, math.radians( 1.5 ) )
#---------------------------------------------------------------------------
def onDwgCameraImageButtonPressEvent( self, widget, data ):
if self.cameraImagePixBuf != None:
imgRect = self.getImageRectangleInWidget( widget,
self.cameraImagePixBuf.get_width(), self.cameraImagePixBuf.get_height() )
screenX = data.x - imgRect.x
screenY = data.y - imgRect.y
jointArray = self.jointScreenHomography.convertScreenPosToJointPos(
( screenX, screenY ) )
jointArrayDegrees = [ math.degrees( angle ) for angle in jointArray ]
print "press at", screenX, screenY, "->", jointArrayDegrees
print self.roboticArm.GetEndEffectorPos( jointArray )
servoAnglesDict = {
"base_rotate" : jointArray[ 0 ],
"shoulder_rotate" : jointArray[ 1 ],
"elbow_rotate" : jointArray[ 2 ],
"wrist_rotate" : jointArray[ 3 ],
"gripper_rotate" : jointArray[ 4 ]
}
self.moveArmToJointAnglePosition( servoAnglesDict, math.radians( 0.5 ) )
#---------------------------------------------------------------------------
def onDwgCameraImageExposeEvent( self, widget, data = None ):
if self.cameraImagePixBuf != None:
imgRect = self.getImageRectangleInWidget( widget,
self.cameraImagePixBuf.get_width(), self.cameraImagePixBuf.get_height() )
imgOffsetX = imgRect.x
imgOffsetY = imgRect.y
# Get the total area that needs to be redrawn
imgRect = imgRect.intersect( data.area )
srcX = imgRect.x - imgOffsetX
srcY = imgRect.y - imgOffsetY
widget.window.draw_pixbuf( widget.get_style().fg_gc[ gtk.STATE_NORMAL ],
self.cameraImagePixBuf, srcX, srcY,
imgRect.x, imgRect.y, imgRect.width, imgRect.height )
#---------------------------------------------------------------------------
def getImageRectangleInWidget( self, widget, imageWidth, imageHeight ):
# Centre the image inside the widget
widgetX, widgetY, widgetWidth, widgetHeight = widget.get_allocation()
imgRect = gtk.gdk.Rectangle( 0, 0, widgetWidth, widgetHeight )
if widgetWidth > imageWidth:
imgRect.x = (widgetWidth - imageWidth) / 2
imgRect.width = imageWidth
if widgetHeight > imageHeight:
imgRect.y = (widgetHeight - imageHeight) / 2
imgRect.height = imageHeight
return imgRect
#---------------------------------------------------------------------------
def update( self ):
UPDATE_FREQUENCY = self.SAMPLES_PER_SECOND # Updates in Hz
lastTime = time.clock()
while 1:
curTime = time.clock()
if curTime - lastTime >= 1.0 / UPDATE_FREQUENCY:
# Save the time
lastTime = curTime
yield True
yield False
