def __init__(self, side_prefix):
self.ik = IK(side_prefix)
self.side_prefix = side_prefix
self._im_server = InteractiveMarkerServer('ik_request_markers')
self._tf_listener = TransformListener()
self._menu_handler = MenuHandler()
self._menu_handler.insert('Move arm here',
callback=self.move_to_pose_cb)
self.is_control_visible = False
self.ee_pose = self.get_ee_pose()
self.update_viz()
self._menu_handler.apply(self._im_server, 'ik_target_marker')
self._im_server.applyChanges()
# Code for moving the robots joints
switch_srv_name = 'pr2_controller_manager/switch_controller'
rospy.loginfo('Waiting for switch controller service...')
rospy.wait_for_service(switch_srv_name)
self.switch_service_client = rospy.ServiceProxy(
switch_srv_name, SwitchController)
self.r_joint_names = [
'r_shoulder_pan_joint', 'r_shoulder_lift_joint',
'r_upper_arm_roll_joint', 'r_elbow_flex_joint',
'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint'
]
self.l_joint_names = [
'l_shoulder_pan_joint', 'l_shoulder_lift_joint',
'l_upper_arm_roll_joint', 'l_elbow_flex_joint',
'l_forearm_roll_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint'
]
# Create a trajectory action client
r_traj_controller_name = '/r_arm_controller/joint_trajectory_action'
self.r_traj_action_client = SimpleActionClient(r_traj_controller_name,
JointTrajectoryAction)
rospy.loginfo(
'Waiting for a response from the trajectory action server for RIGHT arm...'
)
self.r_traj_action_client.wait_for_server()
l_traj_controller_name = '/l_arm_controller/joint_trajectory_action'
self.l_traj_action_client = SimpleActionClient(l_traj_controller_name,
JointTrajectoryAction)
rospy.loginfo(
'Waiting for a response from the trajectory action server for LEFT arm...'
)
self.l_traj_action_client.wait_for_server()
def __init__(self, side_prefix):
self.side_prefix = side_prefix
self._im_server = InteractiveMarkerServer('ik_request_markers_' +
self.side_prefix)
self._tf_listener = TransformListener()
self._menu_handler = MenuHandler()
self._menu_handler.insert('Move arm here',
callback=self.move_to_pose_cb)
self.r_joint_names = [
'r_shoulder_pan_joint', 'r_shoulder_lift_joint',
'r_upper_arm_roll_joint', 'r_elbow_flex_joint',
'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint'
]
self.l_joint_names = [
'l_shoulder_pan_joint', 'l_shoulder_lift_joint',
'l_upper_arm_roll_joint', 'l_elbow_flex_joint',
'l_forearm_roll_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint'
]
# Create a trajectory action client
r_traj_contoller_name = None
l_traj_contoller_name = None
if self.side_prefix == 'r':
r_traj_controller_name = '/r_arm_controller/joint_trajectory_action'
self.r_traj_action_client = SimpleActionClient(
r_traj_controller_name, JointTrajectoryAction)
rospy.loginfo('Waiting for a response from the trajectory ' +
'action server for RIGHT arm...')
self.r_traj_action_client.wait_for_server()
else:
l_traj_controller_name = '/l_arm_controller/joint_trajectory_action'
self.l_traj_action_client = SimpleActionClient(
l_traj_controller_name, JointTrajectoryAction)
rospy.loginfo('Waiting for a response from the trajectory ' +
'action server for LEFT arm...')
self.l_traj_action_client.wait_for_server()
self.is_control_visible = False
self.ee_pose = self.get_ee_pose()
self.ik = IK(side_prefix)
self.update_viz()
self._menu_handler.apply(self._im_server,
'ik_target_marker_' + self.side_prefix)
self._im_server.applyChanges()
print self.ik
def __init__(self, side_prefix):
if GripperMarkers._tf_listener is None:
GripperMarkers._tf_listener = TransformListener()
self.ik = IK(side_prefix)
self.side_prefix = side_prefix
self._im_server = InteractiveMarkerServer(side_prefix + '_ik_request_markers')
self._menu_handler = MenuHandler()
self._menu_handler.insert('Move arm here', callback=self.move_to_pose_cb)
self.is_control_visible = False
self.marker_pose = self._offset_pose(self.get_ee_pose(), -GripperMarkers._offset)
self.update_viz()
self._menu_handler.apply(self._im_server, 'ik_target_marker')
self._im_server.applyChanges()
def __init__(self, side_prefix):
self.ik = IK(side_prefix)
self.side_prefix = side_prefix
self._im_server = InteractiveMarkerServer('ik_request_markers')
self._tf_listener = TransformListener()
self._menu_handler = MenuHandler()
self._menu_handler.insert('Move arm here', callback=self.move_to_pose_cb)
self.is_control_visible = False
self.ee_pose = self.get_ee_pose()
self.update_viz()
self._menu_handler.apply(self._im_server, 'ik_target_marker')
self._im_server.applyChanges()
def __init__(self, side_prefix):
self.side_prefix = side_prefix
self._im_server = InteractiveMarkerServer('ik_request_markers_' + self.side_prefix)
self._tf_listener = TransformListener()
self._menu_handler = MenuHandler()
self._menu_handler.insert('Move arm here', callback=self.move_to_pose_cb)
self.r_joint_names = ['r_shoulder_pan_joint',
'r_shoulder_lift_joint',
'r_upper_arm_roll_joint',
'r_elbow_flex_joint',
'r_forearm_roll_joint',
'r_wrist_flex_joint',
'r_wrist_roll_joint']
self.l_joint_names = ['l_shoulder_pan_joint',
'l_shoulder_lift_joint',
'l_upper_arm_roll_joint',
'l_elbow_flex_joint',
'l_forearm_roll_joint',
'l_wrist_flex_joint',
'l_wrist_roll_joint']
# Create a trajectory action client
r_traj_contoller_name = None
l_traj_contoller_name = None
if self.side_prefix == 'r':
r_traj_controller_name = '/r_arm_controller/joint_trajectory_action'
self.r_traj_action_client = SimpleActionClient(r_traj_controller_name,
JointTrajectoryAction)
rospy.loginfo('Waiting for a response from the trajectory '
+ 'action server for RIGHT arm...')
self.r_traj_action_client.wait_for_server()
else:
l_traj_controller_name = '/l_arm_controller/joint_trajectory_action'
self.l_traj_action_client = SimpleActionClient(l_traj_controller_name,
JointTrajectoryAction)
rospy.loginfo('Waiting for a response from the trajectory '
+ 'action server for LEFT arm...')
self.l_traj_action_client.wait_for_server()
self.is_control_visible = False
self.ee_pose = self.get_ee_pose()
self.ik = IK(side_prefix)
self.update_viz()
self._menu_handler.apply(self._im_server, 'ik_target_marker_' + self.side_prefix)
self._im_server.applyChanges()
print self.ik
def __init__(self, side_prefix):
self.ik = IK(side_prefix)
self.side_prefix = side_prefix
self._im_server = InteractiveMarkerServer('ik_request_markers')
self._tf_listener = TransformListener()
self._menu_handler = MenuHandler()
self._menu_handler.insert('Move arm here', callback=self.move_to_pose_cb)
self.is_control_visible = False
self.ee_pose = self.get_ee_pose()
self.update_viz()
self._menu_handler.apply(self._im_server, 'ik_target_marker')
self._im_server.applyChanges()
# Code for moving the robots joints
switch_srv_name = 'pr2_controller_manager/switch_controller'
rospy.loginfo('Waiting for switch controller service...')
rospy.wait_for_service(switch_srv_name)
self.switch_service_client = rospy.ServiceProxy(switch_srv_name,
SwitchController)
self.r_joint_names = ['r_shoulder_pan_joint',
'r_shoulder_lift_joint',
'r_upper_arm_roll_joint',
'r_elbow_flex_joint',
'r_forearm_roll_joint',
'r_wrist_flex_joint',
'r_wrist_roll_joint']
self.l_joint_names = ['l_shoulder_pan_joint',
'l_shoulder_lift_joint',
'l_upper_arm_roll_joint',
'l_elbow_flex_joint',
'l_forearm_roll_joint',
'l_wrist_flex_joint',
'l_wrist_roll_joint']
# Create a trajectory action client
r_traj_controller_name = '/r_arm_controller/joint_trajectory_action'
self.r_traj_action_client = SimpleActionClient(r_traj_controller_name, JointTrajectoryAction)
rospy.loginfo('Waiting for a response from the trajectory action server for RIGHT arm...')
self.r_traj_action_client.wait_for_server()
l_traj_controller_name = '/l_arm_controller/joint_trajectory_action'
self.l_traj_action_client = SimpleActionClient(l_traj_controller_name, JointTrajectoryAction)
rospy.loginfo('Waiting for a response from the trajectory action server for LEFT arm...')
self.l_traj_action_client.wait_for_server()
def __init__(self, side_prefix):
if GripperMarkers._tf_listener is None:
GripperMarkers._tf_listener = TransformListener()
self.ik = IK(side_prefix)
self.side_prefix = side_prefix
self._im_server = InteractiveMarkerServer(side_prefix + '_ik_request_markers')
self._menu_handler = MenuHandler()
self._menu_handler.insert('Move arm here', callback=self.move_to_pose_cb)
self.is_control_visible = False
self.marker_pose = self._offset_pose(self.get_ee_pose(), -GripperMarkers._offset)
self.update_viz()
self._menu_handler.apply(self._im_server, 'ik_target_marker')
self._im_server.applyChanges()
rospy.Subscriber('ar_pose_marker', AlvarMarkers, self.marker_cb)
def __init__(self, side_prefix):
self._ik_service = IK(side_prefix)
r_traj_controller_name = '/r_arm_controller/joint_trajectory_action'
self.r_traj_action_client = SimpleActionClient(r_traj_controller_name, JointTrajectoryAction)
rospy.loginfo('Waiting for a response from the trajectory action server for RIGHT arm...')
self.r_traj_action_client.wait_for_server()
l_traj_controller_name = '/l_arm_controller/joint_trajectory_action'
self.l_traj_action_client = SimpleActionClient(l_traj_controller_name, JointTrajectoryAction)
rospy.loginfo('Waiting for a response from the trajectory action server for LEFT arm...')
self.l_traj_action_client.wait_for_server()
self.r_joint_names = ['r_shoulder_pan_joint',
'r_shoulder_lift_joint',
'r_upper_arm_roll_joint',
'r_elbow_flex_joint',
'r_forearm_roll_joint',
'r_wrist_flex_joint',
'r_wrist_roll_joint']
self.l_joint_names = ['l_shoulder_pan_joint',
'l_shoulder_lift_joint',
'l_upper_arm_roll_joint',
'l_elbow_flex_joint',
'l_forearm_roll_joint',
'l_wrist_flex_joint',
'l_wrist_roll_joint']
rospy.Subscriber('ar_pose_marker', AlvarMarkers, self.marker_cb)
self.side_prefix = side_prefix
self._im_server = InteractiveMarkerServer("ik_request_markers_{}".format(side_prefix))
self._tf_listener = TransformListener()
self._menu_handler = MenuHandler()
self._menu_handler.insert("Move {} arm here".format(side_prefix), callback=self.move_to_pose_cb)
self.is_control_visible = False
self.ee_pose = self.get_ee_pose()
self.update_viz()
self._menu_handler.apply(self._im_server, 'ik_target_marker')
self._im_server.applyChanges()
def __init__(self):
#Setup inverse kinematics
self.ik = IK()
self.gripper = Robot_Gripper()
class GripperMarkers:
_offset = 0.09
def __init__(self, side_prefix):
self.ik = IK(side_prefix)
self.side_prefix = side_prefix
self._im_server = InteractiveMarkerServer('ik_request_markers')
self._tf_listener = TransformListener()
self._menu_handler = MenuHandler()
self._menu_handler.insert('Move arm here',
callback=self.move_to_pose_cb)
self.is_control_visible = False
self.ee_pose = self.get_ee_pose()
self.update_viz()
self._menu_handler.apply(self._im_server, 'ik_target_marker')
self._im_server.applyChanges()
# Code for moving the robots joints
switch_srv_name = 'pr2_controller_manager/switch_controller'
rospy.loginfo('Waiting for switch controller service...')
rospy.wait_for_service(switch_srv_name)
self.switch_service_client = rospy.ServiceProxy(
switch_srv_name, SwitchController)
self.r_joint_names = [
'r_shoulder_pan_joint', 'r_shoulder_lift_joint',
'r_upper_arm_roll_joint', 'r_elbow_flex_joint',
'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint'
]
self.l_joint_names = [
'l_shoulder_pan_joint', 'l_shoulder_lift_joint',
'l_upper_arm_roll_joint', 'l_elbow_flex_joint',
'l_forearm_roll_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint'
]
# Create a trajectory action client
r_traj_controller_name = '/r_arm_controller/joint_trajectory_action'
self.r_traj_action_client = SimpleActionClient(r_traj_controller_name,
JointTrajectoryAction)
rospy.loginfo(
'Waiting for a response from the trajectory action server for RIGHT arm...'
)
self.r_traj_action_client.wait_for_server()
l_traj_controller_name = '/l_arm_controller/joint_trajectory_action'
self.l_traj_action_client = SimpleActionClient(l_traj_controller_name,
JointTrajectoryAction)
rospy.loginfo(
'Waiting for a response from the trajectory action server for LEFT arm...'
)
self.l_traj_action_client.wait_for_server()
def get_ee_pose(self):
from_frame = 'base_link'
to_frame = self.side_prefix + '_wrist_roll_link'
try:
t = self._tf_listener.getLatestCommonTime(from_frame, to_frame)
(pos,
rot) = self._tf_listener.lookupTransform(from_frame, to_frame, t)
except:
rospy.logerr('Could not get end effector pose through TF.')
pos = [1.0, 0.0, 1.0]
rot = [0.0, 0.0, 0.0, 1.0]
return Pose(Point(pos[0], pos[1], pos[2]),
Quaternion(rot[0], rot[1], rot[2], rot[3]))
def move_to_pose_cb(self, dummy):
rospy.loginfo('You pressed the `Move arm here` button from the menu.')
joint_positions = self.ik.get_ik_for_ee(self.ee_pose)
print 'joint: ' + str(joint_positions)
if (joint_positions != None):
self.toggle_arm(self.side_prefix, 'Freeze', False)
#joint_positions = [-0.993560463247, -0.357041076593, 0.0534981848008, -1.24934444608, -3.10068096283, -1.7906747183, -28.4704855309]
print 'returned from IK: ' + str(joint_positions)
#print 'random position : ' + str([-0.993560463247, -0.357041076593, 0.0534981848008, -1.24934444608, -3.10068096283, -1.7906747183, -28.4704855309])
#joint_positions = [-1.03129153, -0.35312086, -0.08, -1.25402906, -2.98718287, -1.7816027, 3.03965124]
self.move_to_joints(self.side_prefix, list(joint_positions), 5.0)
print 'done'
def toggle_arm(self, side, toggle, button):
controller_name = side + '_arm_controller'
print 'toggle'
start_controllers = []
stop_controllers = []
if (toggle == 'Relax'):
stop_controllers.append(controller_name)
else:
start_controllers.append(controller_name)
self.set_arm_mode(start_controllers, stop_controllers)
def set_arm_mode(self, start_controllers, stop_controllers):
try:
self.switch_service_client(start_controllers, stop_controllers, 1)
except rospy.ServiceException:
rospy.logerr('Could not change arm mode.')
def move_to_joints(self, side_prefix, positions, time_to_joint):
'''Moves the arm to the desired joints'''
velocities = [0] * len(positions)
traj_goal = JointTrajectoryGoal()
traj_goal.trajectory.header.stamp = (rospy.Time.now() +
rospy.Duration(0.1))
traj_goal.trajectory.points.append(
JointTrajectoryPoint(
positions=positions,
velocities=velocities,
time_from_start=rospy.Duration(time_to_joint)))
if (side_prefix == 'r'):
traj_goal.trajectory.joint_names = self.r_joint_names
self.r_traj_action_client.send_goal(traj_goal)
else:
traj_goal.trajectory.joint_names = self.l_joint_names
self.l_traj_action_client.send_goal(traj_goal)
def marker_clicked_cb(self, feedback):
if feedback.event_type == InteractiveMarkerFeedback.POSE_UPDATE:
self.ee_pose = feedback.pose
self.update_viz()
self._menu_handler.reApply(self._im_server)
self._im_server.applyChanges()
elif feedback.event_type == InteractiveMarkerFeedback.BUTTON_CLICK:
rospy.loginfo('Changing visibility of the pose controls.')
if (self.is_control_visible):
self.is_control_visible = False
else:
self.is_control_visible = True
else:
rospy.loginfo('Unhandled event: ' + str(feedback.event_type))
def update_viz(self):
menu_control = InteractiveMarkerControl()
menu_control.interaction_mode = InteractiveMarkerControl.BUTTON
menu_control.always_visible = True
frame_id = 'base_link'
pose = self.ee_pose
menu_control = self._add_gripper_marker(menu_control)
text_pos = Point()
text_pos.x = pose.position.x
text_pos.y = pose.position.y
text_pos.z = pose.position.z + 0.1
text = 'x=' + str(pose.position.x) + ' y=' + str(
pose.position.y) + ' x=' + str(pose.position.z)
menu_control.markers.append(
Marker(type=Marker.TEXT_VIEW_FACING,
id=0,
scale=Vector3(0, 0, 0.03),
text=text,
color=ColorRGBA(0.0, 0.0, 0.0, 0.5),
header=Header(frame_id=frame_id),
pose=Pose(text_pos, Quaternion(0, 0, 0, 1))))
int_marker = InteractiveMarker()
int_marker.name = 'ik_target_marker'
int_marker.header.frame_id = frame_id
int_marker.pose = pose
int_marker.scale = 0.2
self._add_6dof_marker(int_marker)
int_marker.controls.append(menu_control)
self._im_server.insert(int_marker, self.marker_clicked_cb)
def _add_gripper_marker(self, control):
is_hand_open = False
if is_hand_open:
angle = 28 * numpy.pi / 180.0
else:
angle = 0
transform1 = tf.transformations.euler_matrix(0, 0, angle)
transform1[:3, 3] = [0.07691 - GripperMarkers._offset, 0.01, 0]
transform2 = tf.transformations.euler_matrix(0, 0, -angle)
transform2[:3, 3] = [0.09137, 0.00495, 0]
t_proximal = transform1
t_distal = tf.transformations.concatenate_matrices(
transform1, transform2)
mesh1 = self._make_mesh_marker()
mesh1.mesh_resource = (
'package://pr2_description/meshes/gripper_v0/gripper_palm.dae')
mesh1.pose.position.x = -GripperMarkers._offset
mesh1.pose.orientation.w = 1
mesh2 = self._make_mesh_marker()
mesh2.mesh_resource = (
'package://pr2_description/meshes/gripper_v0/l_finger.dae')
mesh2.pose = GripperMarkers.get_pose_from_transform(t_proximal)
mesh3 = self._make_mesh_marker()
mesh3.mesh_resource = (
'package://pr2_description/meshes/gripper_v0/l_finger_tip.dae')
mesh3.pose = GripperMarkers.get_pose_from_transform(t_distal)
quat = tf.transformations.quaternion_multiply(
tf.transformations.quaternion_from_euler(numpy.pi, 0, 0),
tf.transformations.quaternion_from_euler(0, 0, angle))
transform1 = tf.transformations.quaternion_matrix(quat)
transform1[:3, 3] = [0.07691 - GripperMarkers._offset, -0.01, 0]
transform2 = tf.transformations.euler_matrix(0, 0, -angle)
transform2[:3, 3] = [0.09137, 0.00495, 0]
t_proximal = transform1
t_distal = tf.transformations.concatenate_matrices(
transform1, transform2)
mesh4 = self._make_mesh_marker()
mesh4.mesh_resource = (
'package://pr2_description/meshes/gripper_v0/l_finger.dae')
mesh4.pose = GripperMarkers.get_pose_from_transform(t_proximal)
mesh5 = self._make_mesh_marker()
mesh5.mesh_resource = (
'package://pr2_description/meshes/gripper_v0/l_finger_tip.dae')
mesh5.pose = GripperMarkers.get_pose_from_transform(t_distal)
control.markers.append(mesh1)
control.markers.append(mesh2)
control.markers.append(mesh3)
control.markers.append(mesh4)
control.markers.append(mesh5)
return control
@staticmethod
def get_pose_from_transform(transform):
pos = transform[:3, 3].copy()
rot = tf.transformations.quaternion_from_matrix(transform)
return Pose(Point(pos[0], pos[1], pos[2]),
Quaternion(rot[0], rot[1], rot[2], rot[3]))
def _make_mesh_marker(self):
mesh = Marker()
mesh.mesh_use_embedded_materials = False
mesh.type = Marker.MESH_RESOURCE
mesh.scale.x = 1.0
mesh.scale.y = 1.0
mesh.scale.z = 1.0
mesh.color = ColorRGBA(0.0, 0.5, 1.0, 0.6)
ik_solution = self.ik.get_ik_for_ee(self.ee_pose)
if (ik_solution == None):
mesh.color = ColorRGBA(1.0, 0.0, 0.0, 0.6)
else:
mesh.color = ColorRGBA(0.0, 1.0, 0.0, 0.6)
return mesh
def _add_6dof_marker(self, int_marker):
is_fixed = True
control = self._make_6dof_control('rotate_x', Quaternion(1, 0, 0, 1),
False, is_fixed)
int_marker.controls.append(control)
control = self._make_6dof_control('move_x', Quaternion(1, 0, 0, 1),
True, is_fixed)
int_marker.controls.append(control)
control = self._make_6dof_control('rotate_z', Quaternion(0, 1, 0, 1),
False, is_fixed)
int_marker.controls.append(control)
control = self._make_6dof_control('move_z', Quaternion(0, 1, 0, 1),
True, is_fixed)
int_marker.controls.append(control)
control = self._make_6dof_control('rotate_y', Quaternion(0, 0, 1, 1),
False, is_fixed)
int_marker.controls.append(control)
control = self._make_6dof_control('move_y', Quaternion(0, 0, 1, 1),
True, is_fixed)
int_marker.controls.append(control)
def _make_6dof_control(self, name, orientation, is_move, is_fixed):
control = InteractiveMarkerControl()
control.name = name
control.orientation = orientation
control.always_visible = False
if (self.is_control_visible):
if is_move:
control.interaction_mode = InteractiveMarkerControl.MOVE_AXIS
else:
control.interaction_mode = InteractiveMarkerControl.ROTATE_AXIS
else:
control.interaction_mode = InteractiveMarkerControl.NONE
if is_fixed:
control.orientation_mode = InteractiveMarkerControl.FIXED
return control
class GripperMarkers:
_offset = 0.09
def __init__(self, side_prefix):
self.side_prefix = side_prefix
self._im_server = InteractiveMarkerServer('ik_request_markers_' +
self.side_prefix)
self._tf_listener = TransformListener()
self._menu_handler = MenuHandler()
self._menu_handler.insert('Move arm here',
callback=self.move_to_pose_cb)
self.r_joint_names = [
'r_shoulder_pan_joint', 'r_shoulder_lift_joint',
'r_upper_arm_roll_joint', 'r_elbow_flex_joint',
'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint'
]
self.l_joint_names = [
'l_shoulder_pan_joint', 'l_shoulder_lift_joint',
'l_upper_arm_roll_joint', 'l_elbow_flex_joint',
'l_forearm_roll_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint'
]
# Create a trajectory action client
r_traj_contoller_name = None
l_traj_contoller_name = None
if self.side_prefix == 'r':
r_traj_controller_name = '/r_arm_controller/joint_trajectory_action'
self.r_traj_action_client = SimpleActionClient(
r_traj_controller_name, JointTrajectoryAction)
rospy.loginfo('Waiting for a response from the trajectory ' +
'action server for RIGHT arm...')
self.r_traj_action_client.wait_for_server()
else:
l_traj_controller_name = '/l_arm_controller/joint_trajectory_action'
self.l_traj_action_client = SimpleActionClient(
l_traj_controller_name, JointTrajectoryAction)
rospy.loginfo('Waiting for a response from the trajectory ' +
'action server for LEFT arm...')
self.l_traj_action_client.wait_for_server()
self.is_control_visible = False
self.ee_pose = self.get_ee_pose()
self.ik = IK(side_prefix)
self.update_viz()
self._menu_handler.apply(self._im_server,
'ik_target_marker_' + self.side_prefix)
self._im_server.applyChanges()
print self.ik
def get_ee_pose(self):
from_frame = 'base_link'
to_frame = self.side_prefix + '_wrist_roll_link'
try:
if self._tf_listener.frameExists(
from_frame) and self._tf_listener.frameExists(to_frame):
t = self._tf_listener.getLatestCommonTime(from_frame, to_frame)
# t = rospy.Time.now()
(pos, rot) = self._tf_listener.lookupTransform(
to_frame, from_frame, t) # Note argument order :(
else:
rospy.logerr(
'TF frames do not exist; could not get end effector pose.')
except Exception as err:
rospy.logerr('Could not get end effector pose through TF.')
rospy.logerr(err)
pos = [1.0, 0.0, 1.0]
rot = [0.0, 0.0, 0.0, 1.0]
return Pose(Point(pos[0], pos[1], pos[2]),
Quaternion(rot[0], rot[1], rot[2], rot[3]))
def move_to_pose_cb(self, feedback):
rospy.loginfo('You pressed the `Move arm here` button from the menu.')
'''Moves the arm to the desired joints'''
print feedback
time_to_joint = 2.0
positions = self.ik.get_ik_for_ee(feedback.pose)
velocities = [0] * len(positions)
traj_goal = JointTrajectoryGoal()
traj_goal.trajectory.header.stamp = (rospy.Time.now() +
rospy.Duration(0.1))
traj_goal.trajectory.points.append(
JointTrajectoryPoint(
positions=positions,
velocities=velocities,
time_from_start=rospy.Duration(time_to_joint)))
if (self.side_prefix == 'r'):
traj_goal.trajectory.joint_names = self.r_joint_names
self.r_traj_action_client.send_goal(traj_goal)
else:
traj_goal.trajectory.joint_names = self.l_joint_names
self.l_traj_action_client.send_goal(traj_goal)
pass
def marker_clicked_cb(self, feedback):
if feedback.event_type == InteractiveMarkerFeedback.POSE_UPDATE:
self.ee_pose = feedback.pose
self.update_viz()
self._menu_handler.reApply(self._im_server)
self._im_server.applyChanges()
elif feedback.event_type == InteractiveMarkerFeedback.BUTTON_CLICK:
rospy.loginfo('Changing visibility of the pose controls.')
if (self.is_control_visible):
self.is_control_visible = False
else:
self.is_control_visible = True
else:
rospy.loginfo('Unhandled event: ' + str(feedback.event_type))
def update_viz(self):
menu_control = InteractiveMarkerControl()
menu_control.interaction_mode = InteractiveMarkerControl.BUTTON
menu_control.always_visible = True
frame_id = 'base_link'
pose = self.ee_pose
menu_control = self._add_gripper_marker(menu_control)
text_pos = Point()
text_pos.x = pose.position.x
text_pos.y = pose.position.y
text_pos.z = pose.position.z + 0.1
text = 'x=' + str(pose.position.x) + ' y=' + str(
pose.position.y) + ' x=' + str(pose.position.z)
menu_control.markers.append(
Marker(type=Marker.TEXT_VIEW_FACING,
id=0,
scale=Vector3(0, 0, 0.03),
text=text,
color=ColorRGBA(0.0, 0.0, 0.0, 0.5),
header=Header(frame_id=frame_id),
pose=Pose(text_pos, Quaternion(0, 0, 0, 1))))
int_marker = InteractiveMarker()
int_marker.name = 'ik_target_marker_' + self.side_prefix
int_marker.header.frame_id = frame_id
int_marker.pose = pose
int_marker.scale = 0.2
self._add_6dof_marker(int_marker)
int_marker.controls.append(menu_control)
self._im_server.insert(int_marker, self.marker_clicked_cb)
def _add_gripper_marker(self, control):
is_hand_open = False
if is_hand_open:
angle = 28 * numpy.pi / 180.0
else:
angle = 0
transform1 = tf.transformations.euler_matrix(0, 0, angle)
transform1[:3, 3] = [0.07691 - GripperMarkers._offset, 0.01, 0]
transform2 = tf.transformations.euler_matrix(0, 0, -angle)
transform2[:3, 3] = [0.09137, 0.00495, 0]
t_proximal = transform1
t_distal = tf.transformations.concatenate_matrices(
transform1, transform2)
mesh1 = self._make_mesh_marker()
mesh1.mesh_resource = (
'package://pr2_description/meshes/gripper_v0/gripper_palm.dae')
mesh1.pose.position.x = -GripperMarkers._offset
mesh1.pose.orientation.w = 1
mesh2 = self._make_mesh_marker()
mesh2.mesh_resource = (
'package://pr2_description/meshes/gripper_v0/l_finger.dae')
mesh2.pose = GripperMarkers.get_pose_from_transform(t_proximal)
mesh3 = self._make_mesh_marker()
mesh3.mesh_resource = (
'package://pr2_description/meshes/gripper_v0/l_finger_tip.dae')
mesh3.pose = GripperMarkers.get_pose_from_transform(t_distal)
quat = tf.transformations.quaternion_multiply(
tf.transformations.quaternion_from_euler(numpy.pi, 0, 0),
tf.transformations.quaternion_from_euler(0, 0, angle))
transform1 = tf.transformations.quaternion_matrix(quat)
transform1[:3, 3] = [0.07691 - GripperMarkers._offset, -0.01, 0]
transform2 = tf.transformations.euler_matrix(0, 0, -angle)
transform2[:3, 3] = [0.09137, 0.00495, 0]
t_proximal = transform1
t_distal = tf.transformations.concatenate_matrices(
transform1, transform2)
mesh4 = self._make_mesh_marker()
mesh4.mesh_resource = (
'package://pr2_description/meshes/gripper_v0/l_finger.dae')
mesh4.pose = GripperMarkers.get_pose_from_transform(t_proximal)
mesh5 = self._make_mesh_marker()
mesh5.mesh_resource = (
'package://pr2_description/meshes/gripper_v0/l_finger_tip.dae')
mesh5.pose = GripperMarkers.get_pose_from_transform(t_distal)
control.markers.append(mesh1)
control.markers.append(mesh2)
control.markers.append(mesh3)
control.markers.append(mesh4)
control.markers.append(mesh5)
return control
@staticmethod
def get_pose_from_transform(transform):
pos = transform[:3, 3].copy()
rot = tf.transformations.quaternion_from_matrix(transform)
return Pose(Point(pos[0], pos[1], pos[2]),
Quaternion(rot[0], rot[1], rot[2], rot[3]))
def _make_mesh_marker(self):
mesh = Marker()
mesh.mesh_use_embedded_materials = False
mesh.type = Marker.MESH_RESOURCE
mesh.scale.x = 1.0
mesh.scale.y = 1.0
mesh.scale.z = 1.0
print self
ik_solution = self.ik.get_ik_for_ee(self.ee_pose)
if (ik_solution is None):
mesh.color = ColorRGBA(1.0, 0.0, 0.0, 0.6)
else:
mesh.color = ColorRGBA(0.0, 1.0, 0.0, 0.6)
return mesh
def _add_6dof_marker(self, int_marker):
is_fixed = True
control = self._make_6dof_control('rotate_x', Quaternion(1, 0, 0, 1),
False, is_fixed)
int_marker.controls.append(control)
control = self._make_6dof_control('move_x', Quaternion(1, 0, 0, 1),
True, is_fixed)
int_marker.controls.append(control)
control = self._make_6dof_control('rotate_z', Quaternion(0, 1, 0, 1),
False, is_fixed)
int_marker.controls.append(control)
control = self._make_6dof_control('move_z', Quaternion(0, 1, 0, 1),
True, is_fixed)
int_marker.controls.append(control)
control = self._make_6dof_control('rotate_y', Quaternion(0, 0, 1, 1),
False, is_fixed)
int_marker.controls.append(control)
control = self._make_6dof_control('move_y', Quaternion(0, 0, 1, 1),
True, is_fixed)
int_marker.controls.append(control)
def _make_6dof_control(self, name, orientation, is_move, is_fixed):
control = InteractiveMarkerControl()
control.name = name
control.orientation = orientation
control.always_visible = False
if (self.is_control_visible):
if is_move:
control.interaction_mode = InteractiveMarkerControl.MOVE_AXIS
else:
control.interaction_mode = InteractiveMarkerControl.ROTATE_AXIS
else:
control.interaction_mode = InteractiveMarkerControl.NONE
if is_fixed:
control.orientation_mode = InteractiveMarkerControl.FIXED
return control
class RRTUtils():
def __init__(self):
self.ik = IK()
self.plan_env = gym.make('PandaReacher-v0', shelf=True)
self.plan_env.reset()
self.p = self.plan_env.robot._p
self.drive_res = 100
def getConfig(self):
config = self.p.getJointStates(0, range(7))
config = np.array([e[0] for e in config])
return config
def setConfig(self, cfg):
for j in range(7):
self.p.resetJointState(0, j, cfg[j], 0)
self.p.setJointMotorControlArray(bodyIndex=0,
jointIndices=range(7),
controlMode=pybullet.POSITION_CONTROL,
targetPositions=cfg,
positionGains=[0.5] * 7,
velocityGains=[1.0] * 7)
def drive_to_position(self, from_joint_config, to_joint_config):
waypoints = np.linspace(from_joint_config, to_joint_config,
self.drive_res)
self.setConfig(from_joint_config)
for waypoint in waypoints:
self.p.setJointMotorControlArray(
bodyIndex=0,
jointIndices=range(7),
controlMode=pybullet.POSITION_CONTROL,
targetPositions=waypoint,
positionGains=[0.5] * 7,
velocityGains=[1.0] * 7)
self.p.stepSimulation()
end_config = self.getConfig()
if not self.in_collision(end_config):
return end_config
for u in np.arange(0.01, 1, 0.01):
target_config = (1 -
u) * end_config + u * np.array(from_joint_config)
if not self.in_collision(target_config):
return target_config
raise Exception('not returning', target_loc)
def in_collision(self, config):
self.setConfig(config)
self.p.stepSimulation()
contacts = self.p.getContactPoints()
for c in contacts:
_, bodyA, bodyB, linkA, linkB, posA, posB, norm, dist, nf, _, _, _, _ = c
if dist < 0:
return True
return False
def in_free(self, config):
return not self.in_collision(config)
def target_loc_to_joint_config(self, target_loc):
flag, cfg, initial_cfg = self.ik.solve(target_loc)
self.plan_env.reset(target_loc=target_loc)
cfg = self.drive_to_position(initial_cfg, cfg)
assert not self.in_collision(cfg), target_loc
return cfg
class GripperMarkers:
_offset = 0.09
def __init__(self, side_prefix):
self.ik = IK(side_prefix)
self.side_prefix = side_prefix
self._im_server = InteractiveMarkerServer('ik_request_markers')
self._tf_listener = TransformListener()
self._menu_handler = MenuHandler()
self._menu_handler.insert('Move arm here', callback=self.move_to_pose_cb)
self.is_control_visible = False
self.ee_pose = self.get_ee_pose()
self.update_viz()
self._menu_handler.apply(self._im_server, 'ik_target_marker')
self._im_server.applyChanges()
def get_ee_pose(self):
from_frame = '/base_link'
to_frame = '/' + self.side_prefix + '_wrist_roll_link'
try:
t = self._tf_listener.getLatestCommonTime(from_frame, to_frame)
(pos, rot) = self._tf_listener.lookupTransform(from_frame, to_frame, t)
except:
rospy.logwarn('Could not get end effector pose through TF.')
pos = [1.0, 0.0, 1.0]
rot = [0.0, 0.0, 0.0, 1.0]
return Pose(Point(pos[0], pos[1], pos[2]),
Quaternion(rot[0], rot[1], rot[2], rot[3]))
def move_to_pose_cb(self, dummy):
rospy.loginfo('You pressed the `Move arm here` button from the menu.')
target_pose = GripperMarkers._offset_pose(self.ee_pose)
ik_solution = self.ik.get_ik_for_ee(target_pose)
#TODO: Send the arms to ik_solution
def marker_clicked_cb(self, feedback):
if feedback.event_type == InteractiveMarkerFeedback.POSE_UPDATE:
self.ee_pose = feedback.pose
self.update_viz()
self._menu_handler.reApply(self._im_server)
self._im_server.applyChanges()
elif feedback.event_type == InteractiveMarkerFeedback.BUTTON_CLICK:
rospy.loginfo('Changing visibility of the pose controls.')
if (self.is_control_visible):
self.is_control_visible = False
else:
self.is_control_visible = True
else:
rospy.loginfo('Unhandled event: ' + str(feedback.event_type))
def update_viz(self):
menu_control = InteractiveMarkerControl()
menu_control.interaction_mode = InteractiveMarkerControl.BUTTON
menu_control.always_visible = True
frame_id = 'base_link'
pose = self.ee_pose
menu_control = self._add_gripper_marker(menu_control)
text_pos = Point()
text_pos.x = pose.position.x
text_pos.y = pose.position.y
text_pos.z = pose.position.z + 0.1
text = 'x=' + str(pose.position.x) + ' y=' + str(pose.position.y) + ' x=' + str(pose.position.z)
menu_control.markers.append(Marker(type=Marker.TEXT_VIEW_FACING,
id=0, scale=Vector3(0, 0, 0.03),
text=text,
color=ColorRGBA(0.0, 0.0, 0.0, 0.5),
header=Header(frame_id=frame_id),
pose=Pose(text_pos, Quaternion(0, 0, 0, 1))))
int_marker = InteractiveMarker()
int_marker.name = 'ik_target_marker'
int_marker.header.frame_id = frame_id
int_marker.pose = pose
int_marker.scale = 0.2
self._add_6dof_marker(int_marker)
int_marker.controls.append(menu_control)
self._im_server.insert(int_marker, self.marker_clicked_cb)
def _add_gripper_marker(self, control):
is_hand_open=False
if is_hand_open:
angle = 28 * numpy.pi / 180.0
else:
angle = 0
transform1 = tf.transformations.euler_matrix(0, 0, angle)
transform1[:3, 3] = [0.07691 - GripperMarkers._offset, 0.01, 0]
transform2 = tf.transformations.euler_matrix(0, 0, -angle)
transform2[:3, 3] = [0.09137, 0.00495, 0]
t_proximal = transform1
t_distal = tf.transformations.concatenate_matrices(transform1, transform2)
mesh1 = self._make_mesh_marker()
mesh1.mesh_resource = ('package://pr2_description/meshes/gripper_v0/gripper_palm.dae')
mesh1.pose.position.x = -GripperMarkers._offset
mesh1.pose.orientation.w = 1
mesh2 = self._make_mesh_marker()
mesh2.mesh_resource = ('package://pr2_description/meshes/gripper_v0/l_finger.dae')
mesh2.pose = GripperMarkers.get_pose_from_transform(t_proximal)
mesh3 = self._make_mesh_marker()
mesh3.mesh_resource = ('package://pr2_description/meshes/gripper_v0/l_finger_tip.dae')
mesh3.pose = GripperMarkers.get_pose_from_transform(t_distal)
quat = tf.transformations.quaternion_multiply(
tf.transformations.quaternion_from_euler(numpy.pi, 0, 0),
tf.transformations.quaternion_from_euler(0, 0, angle))
transform1 = tf.transformations.quaternion_matrix(quat)
transform1[:3, 3] = [0.07691 - GripperMarkers._offset, -0.01, 0]
transform2 = tf.transformations.euler_matrix(0, 0, -angle)
transform2[:3, 3] = [0.09137, 0.00495, 0]
t_proximal = transform1
t_distal = tf.transformations.concatenate_matrices(transform1,transform2)
mesh4 = self._make_mesh_marker()
mesh4.mesh_resource = ('package://pr2_description/meshes/gripper_v0/l_finger.dae')
mesh4.pose = GripperMarkers.get_pose_from_transform(t_proximal)
mesh5 = self._make_mesh_marker()
mesh5.mesh_resource = ('package://pr2_description/meshes/gripper_v0/l_finger_tip.dae')
mesh5.pose = GripperMarkers.get_pose_from_transform(t_distal)
control.markers.append(mesh1)
control.markers.append(mesh2)
control.markers.append(mesh3)
control.markers.append(mesh4)
control.markers.append(mesh5)
return control
@staticmethod
def get_pose_from_transform(transform):
pos = transform[:3,3].copy()
rot = tf.transformations.quaternion_from_matrix(transform)
return Pose(Point(pos[0], pos[1], pos[2]),
Quaternion(rot[0], rot[1], rot[2], rot[3]))
@staticmethod
def _offset_pose(pose):
transform = GripperMarkers.get_matrix_from_pose(pose)
offset_array = [GripperMarkers._offset, 0, 0]
offset_transform = tf.transformations.translation_matrix(offset_array)
hand_transform = tf.transformations.concatenate_matrices(transform, offset_transform)
return GripperMarkers.get_pose_from_transform(hand_transform)
@staticmethod
def get_matrix_from_pose(pose):
rotation = [pose.orientation.x, pose.orientation.y,
pose.orientation.z, pose.orientation.w]
transformation = tf.transformations.quaternion_matrix(rotation)
position = [pose.position.x, pose.position.y, pose.position.z]
transformation[:3, 3] = position
return transformation
def _make_mesh_marker(self):
mesh = Marker()
mesh.mesh_use_embedded_materials = False
mesh.type = Marker.MESH_RESOURCE
mesh.scale.x = 1.0
mesh.scale.y = 1.0
mesh.scale.z = 1.0
target_pose = GripperMarkers._offset_pose(self.ee_pose)
ik_solution = self.ik.get_ik_for_ee(target_pose)
if (ik_solution == None):
mesh.color = ColorRGBA(1.0, 0.0, 0.0, 0.6)
else:
mesh.color = ColorRGBA(0.0, 1.0, 0.0, 0.6)
mesh.color = ColorRGBA(0.0, 0.5, 1.0, 0.6)
return mesh
def _add_6dof_marker(self, int_marker):
is_fixed = True
control = self._make_6dof_control('rotate_x', Quaternion(1, 0, 0, 1), False, is_fixed)
int_marker.controls.append(control)
control = self._make_6dof_control('move_x', Quaternion(1, 0, 0, 1), True, is_fixed)
int_marker.controls.append(control)
control = self._make_6dof_control('rotate_z', Quaternion(0, 1, 0, 1), False, is_fixed)
int_marker.controls.append(control)
control = self._make_6dof_control('move_z', Quaternion(0, 1, 0, 1), True, is_fixed)
int_marker.controls.append(control)
control = self._make_6dof_control('rotate_y', Quaternion(0, 0, 1, 1), False, is_fixed)
int_marker.controls.append(control)
control = self._make_6dof_control('move_y', Quaternion(0, 0, 1, 1), True, is_fixed)
int_marker.controls.append(control)
def _make_6dof_control(self, name, orientation, is_move, is_fixed):
control = InteractiveMarkerControl()
control.name = name
control.orientation = orientation
control.always_visible = False
if (self.is_control_visible):
if is_move:
control.interaction_mode = InteractiveMarkerControl.MOVE_AXIS
else:
control.interaction_mode = InteractiveMarkerControl.ROTATE_AXIS
else:
control.interaction_mode = InteractiveMarkerControl.NONE
if is_fixed:
control.orientation_mode = InteractiveMarkerControl.FIXED
return control
def __init__(self):
self.ik = IK()
self.plan_env = gym.make('PandaReacher-v0', shelf=True)
self.plan_env.reset()
self.p = self.plan_env.robot._p
self.drive_res = 100
class GripperMarkers:
_offset = 0.09
def __init__(self, side_prefix):
self.ik = IK(side_prefix)
self.side_prefix = side_prefix
self._im_server = InteractiveMarkerServer('ik_request_markers')
self._tf_listener = TransformListener()
self._menu_handler = MenuHandler()
self._menu_handler.insert('Move arm here', callback=self.move_to_pose_cb)
self.is_control_visible = False
self.ee_pose = self.get_ee_pose()
self.update_viz()
self._menu_handler.apply(self._im_server, 'ik_target_marker')
self._im_server.applyChanges()
# Code for moving the robots joints
switch_srv_name = 'pr2_controller_manager/switch_controller'
rospy.loginfo('Waiting for switch controller service...')
rospy.wait_for_service(switch_srv_name)
self.switch_service_client = rospy.ServiceProxy(switch_srv_name,
SwitchController)
self.r_joint_names = ['r_shoulder_pan_joint',
'r_shoulder_lift_joint',
'r_upper_arm_roll_joint',
'r_elbow_flex_joint',
'r_forearm_roll_joint',
'r_wrist_flex_joint',
'r_wrist_roll_joint']
self.l_joint_names = ['l_shoulder_pan_joint',
'l_shoulder_lift_joint',
'l_upper_arm_roll_joint',
'l_elbow_flex_joint',
'l_forearm_roll_joint',
'l_wrist_flex_joint',
'l_wrist_roll_joint']
# Create a trajectory action client
r_traj_controller_name = '/r_arm_controller/joint_trajectory_action'
self.r_traj_action_client = SimpleActionClient(r_traj_controller_name, JointTrajectoryAction)
rospy.loginfo('Waiting for a response from the trajectory action server for RIGHT arm...')
self.r_traj_action_client.wait_for_server()
l_traj_controller_name = '/l_arm_controller/joint_trajectory_action'
self.l_traj_action_client = SimpleActionClient(l_traj_controller_name, JointTrajectoryAction)
rospy.loginfo('Waiting for a response from the trajectory action server for LEFT arm...')
self.l_traj_action_client.wait_for_server()
def get_ee_pose(self):
from_frame = 'base_link'
to_frame = self.side_prefix + '_wrist_roll_link'
try:
t = self._tf_listener.getLatestCommonTime(from_frame, to_frame)
(pos, rot) = self._tf_listener.lookupTransform(from_frame, to_frame, t)
except:
rospy.logerr('Could not get end effector pose through TF.')
pos = [1.0, 0.0, 1.0]
rot = [0.0, 0.0, 0.0, 1.0]
return Pose(Point(pos[0], pos[1], pos[2]),
Quaternion(rot[0], rot[1], rot[2], rot[3]))
def move_to_pose_cb(self, dummy):
rospy.loginfo('You pressed the `Move arm here` button from the menu.')
joint_positions = self.ik.get_ik_for_ee(self.ee_pose)
print 'joint: ' + str(joint_positions)
if(joint_positions != None):
self.toggle_arm(self.side_prefix, 'Freeze', False)
#joint_positions = [-0.993560463247, -0.357041076593, 0.0534981848008, -1.24934444608, -3.10068096283, -1.7906747183, -28.4704855309]
print 'returned from IK: ' + str(joint_positions)
#print 'random position : ' + str([-0.993560463247, -0.357041076593, 0.0534981848008, -1.24934444608, -3.10068096283, -1.7906747183, -28.4704855309])
#joint_positions = [-1.03129153, -0.35312086, -0.08, -1.25402906, -2.98718287, -1.7816027, 3.03965124]
self.move_to_joints(self.side_prefix, list(joint_positions), 5.0)
print 'done'
def toggle_arm(self, side, toggle, button):
controller_name = side + '_arm_controller'
print 'toggle'
start_controllers = []
stop_controllers = []
if (toggle == 'Relax'):
stop_controllers.append(controller_name)
else:
start_controllers.append(controller_name)
self.set_arm_mode(start_controllers, stop_controllers)
def set_arm_mode(self, start_controllers, stop_controllers):
try:
self.switch_service_client(start_controllers, stop_controllers, 1)
except rospy.ServiceException:
rospy.logerr('Could not change arm mode.')
def move_to_joints(self, side_prefix, positions, time_to_joint):
'''Moves the arm to the desired joints'''
velocities = [0] * len(positions)
traj_goal = JointTrajectoryGoal()
traj_goal.trajectory.header.stamp = (rospy.Time.now() + rospy.Duration(0.1))
traj_goal.trajectory.points.append(JointTrajectoryPoint(positions=positions,
velocities=velocities, time_from_start=rospy.Duration(time_to_joint)))
if (side_prefix == 'r'):
traj_goal.trajectory.joint_names = self.r_joint_names
self.r_traj_action_client.send_goal(traj_goal)
else:
traj_goal.trajectory.joint_names = self.l_joint_names
self.l_traj_action_client.send_goal(traj_goal)
def marker_clicked_cb(self, feedback):
if feedback.event_type == InteractiveMarkerFeedback.POSE_UPDATE:
self.ee_pose = feedback.pose
self.update_viz()
self._menu_handler.reApply(self._im_server)
self._im_server.applyChanges()
elif feedback.event_type == InteractiveMarkerFeedback.BUTTON_CLICK:
rospy.loginfo('Changing visibility of the pose controls.')
if (self.is_control_visible):
self.is_control_visible = False
else:
self.is_control_visible = True
else:
rospy.loginfo('Unhandled event: ' + str(feedback.event_type))
def update_viz(self):
menu_control = InteractiveMarkerControl()
menu_control.interaction_mode = InteractiveMarkerControl.BUTTON
menu_control.always_visible = True
frame_id = 'base_link'
pose = self.ee_pose
menu_control = self._add_gripper_marker(menu_control)
text_pos = Point()
text_pos.x = pose.position.x
text_pos.y = pose.position.y
text_pos.z = pose.position.z + 0.1
text = 'x=' + str(pose.position.x) + ' y=' + str(pose.position.y) + ' x=' + str(pose.position.z)
menu_control.markers.append(Marker(type=Marker.TEXT_VIEW_FACING,
id=0, scale=Vector3(0, 0, 0.03),
text=text,
color=ColorRGBA(0.0, 0.0, 0.0, 0.5),
header=Header(frame_id=frame_id),
pose=Pose(text_pos, Quaternion(0, 0, 0, 1))))
int_marker = InteractiveMarker()
int_marker.name = 'ik_target_marker'
int_marker.header.frame_id = frame_id
int_marker.pose = pose
int_marker.scale = 0.2
self._add_6dof_marker(int_marker)
int_marker.controls.append(menu_control)
self._im_server.insert(int_marker, self.marker_clicked_cb)
def _add_gripper_marker(self, control):
is_hand_open=False
if is_hand_open:
angle = 28 * numpy.pi / 180.0
else:
angle = 0
transform1 = tf.transformations.euler_matrix(0, 0, angle)
transform1[:3, 3] = [0.07691 - GripperMarkers._offset, 0.01, 0]
transform2 = tf.transformations.euler_matrix(0, 0, -angle)
transform2[:3, 3] = [0.09137, 0.00495, 0]
t_proximal = transform1
t_distal = tf.transformations.concatenate_matrices(transform1, transform2)
mesh1 = self._make_mesh_marker()
mesh1.mesh_resource = ('package://pr2_description/meshes/gripper_v0/gripper_palm.dae')
mesh1.pose.position.x = -GripperMarkers._offset
mesh1.pose.orientation.w = 1
mesh2 = self._make_mesh_marker()
mesh2.mesh_resource = ('package://pr2_description/meshes/gripper_v0/l_finger.dae')
mesh2.pose = GripperMarkers.get_pose_from_transform(t_proximal)
mesh3 = self._make_mesh_marker()
mesh3.mesh_resource = ('package://pr2_description/meshes/gripper_v0/l_finger_tip.dae')
mesh3.pose = GripperMarkers.get_pose_from_transform(t_distal)
quat = tf.transformations.quaternion_multiply(
tf.transformations.quaternion_from_euler(numpy.pi, 0, 0),
tf.transformations.quaternion_from_euler(0, 0, angle))
transform1 = tf.transformations.quaternion_matrix(quat)
transform1[:3, 3] = [0.07691 - GripperMarkers._offset, -0.01, 0]
transform2 = tf.transformations.euler_matrix(0, 0, -angle)
transform2[:3, 3] = [0.09137, 0.00495, 0]
t_proximal = transform1
t_distal = tf.transformations.concatenate_matrices(transform1,transform2)
mesh4 = self._make_mesh_marker()
mesh4.mesh_resource = ('package://pr2_description/meshes/gripper_v0/l_finger.dae')
mesh4.pose = GripperMarkers.get_pose_from_transform(t_proximal)
mesh5 = self._make_mesh_marker()
mesh5.mesh_resource = ('package://pr2_description/meshes/gripper_v0/l_finger_tip.dae')
mesh5.pose = GripperMarkers.get_pose_from_transform(t_distal)
control.markers.append(mesh1)
control.markers.append(mesh2)
control.markers.append(mesh3)
control.markers.append(mesh4)
control.markers.append(mesh5)
return control
@staticmethod
def get_pose_from_transform(transform):
pos = transform[:3,3].copy()
rot = tf.transformations.quaternion_from_matrix(transform)
return Pose(Point(pos[0], pos[1], pos[2]),
Quaternion(rot[0], rot[1], rot[2], rot[3]))
def _make_mesh_marker(self):
mesh = Marker()
mesh.mesh_use_embedded_materials = False
mesh.type = Marker.MESH_RESOURCE
mesh.scale.x = 1.0
mesh.scale.y = 1.0
mesh.scale.z = 1.0
mesh.color = ColorRGBA(0.0, 0.5, 1.0, 0.6)
ik_solution = self.ik.get_ik_for_ee(self.ee_pose)
if (ik_solution == None):
mesh.color = ColorRGBA(1.0, 0.0, 0.0, 0.6)
else:
mesh.color = ColorRGBA(0.0, 1.0, 0.0, 0.6)
return mesh
def _add_6dof_marker(self, int_marker):
is_fixed = True
control = self._make_6dof_control('rotate_x', Quaternion(1, 0, 0, 1), False, is_fixed)
int_marker.controls.append(control)
control = self._make_6dof_control('move_x', Quaternion(1, 0, 0, 1), True, is_fixed)
int_marker.controls.append(control)
control = self._make_6dof_control('rotate_z', Quaternion(0, 1, 0, 1), False, is_fixed)
int_marker.controls.append(control)
control = self._make_6dof_control('move_z', Quaternion(0, 1, 0, 1), True, is_fixed)
int_marker.controls.append(control)
control = self._make_6dof_control('rotate_y', Quaternion(0, 0, 1, 1), False, is_fixed)
int_marker.controls.append(control)
control = self._make_6dof_control('move_y', Quaternion(0, 0, 1, 1), True, is_fixed)
int_marker.controls.append(control)
def _make_6dof_control(self, name, orientation, is_move, is_fixed):
control = InteractiveMarkerControl()
control.name = name
control.orientation = orientation
control.always_visible = False
if (self.is_control_visible):
if is_move:
control.interaction_mode = InteractiveMarkerControl.MOVE_AXIS
else:
control.interaction_mode = InteractiveMarkerControl.ROTATE_AXIS
else:
control.interaction_mode = InteractiveMarkerControl.NONE
if is_fixed:
control.orientation_mode = InteractiveMarkerControl.FIXED
return control
class GripperMarkers:
_offset = -0.09
_tf_listener = None
def __init__(self, side_prefix):
if GripperMarkers._tf_listener is None:
GripperMarkers._tf_listener = TransformListener()
self.ik = IK(side_prefix)
self.side_prefix = side_prefix
self._im_server = InteractiveMarkerServer(side_prefix + '_ik_request_markers')
self._menu_handler = MenuHandler()
self._menu_handler.insert('Move arm here', callback=self.move_to_pose_cb)
self.is_control_visible = False
self.marker_pose = self._offset_pose(self.get_ee_pose(), -GripperMarkers._offset)
self.update_viz()
self._menu_handler.apply(self._im_server, 'ik_target_marker')
self._im_server.applyChanges()
def get_ee_pose(self):
from_frame = '/base_link'
to_frame = '/' + self.side_prefix + '_wrist_roll_link'
try:
GripperMarkers._tf_listener.waitForTransform(from_frame, to_frame, rospy.Time(0), rospy.Duration(5))
t = GripperMarkers._tf_listener.getLatestCommonTime(from_frame, to_frame)
(pos, rot) = GripperMarkers._tf_listener.lookupTransform(from_frame, to_frame, t)
except:
rospy.logwarn('Could not get end effector pose through TF.')
pos = [1.0, 0.0, 1.0]
rot = [0.0, 0.0, 0.0, 1.0]
return Pose(Point(pos[0], pos[1], pos[2]),
Quaternion(rot[0], rot[1], rot[2], rot[3]))
def move_to_pose_cb(self, dummy):
rospy.loginfo('You pressed the `Move arm here` button from the menu.')
target_pose = GripperMarkers._offset_pose(self.marker_pose, GripperMarkers._offset)
ik_solution = self.ik.get_ik_for_ee(target_pose)
if (ik_solution == None):
rospy.logwarn('No IK solutions for this pose, cannot move.')
else:
self.ik.move_to_joints(ik_solution, 2.0)
pass
def marker_clicked_cb(self, feedback):
if feedback.event_type == InteractiveMarkerFeedback.POSE_UPDATE:
self.marker_pose = feedback.pose
self.update_viz()
self._menu_handler.reApply(self._im_server)
self._im_server.applyChanges()
elif feedback.event_type == InteractiveMarkerFeedback.BUTTON_CLICK:
rospy.loginfo('Changing visibility of the pose controls.')
if (self.is_control_visible):
self.is_control_visible = False
else:
self.is_control_visible = True
else:
rospy.loginfo('Unhandled event: ' + str(feedback.event_type))
def update_viz(self):
menu_control = InteractiveMarkerControl()
menu_control.interaction_mode = InteractiveMarkerControl.BUTTON
menu_control.always_visible = True
frame_id = 'base_link'
pose = self.marker_pose
menu_control = self._add_gripper_marker(menu_control)
text_pos = Point()
text_pos.x = pose.position.x
text_pos.y = pose.position.y
text_pos.z = pose.position.z + 0.1
#text = 'x=' + str(pose.position.x) + ' y=' + str(pose.position.y) + ' x=' + str(pose.position.z)
text = self.side_prefix + '_arm'
menu_control.markers.append(Marker(type=Marker.TEXT_VIEW_FACING,
id=0, scale=Vector3(0, 0, 0.05),
text=text,
color=ColorRGBA(0.0, 0.0, 0.0, 0.5),
header=Header(frame_id=frame_id),
pose=Pose(text_pos, Quaternion(0, 0, 0, 1))))
int_marker = InteractiveMarker()
int_marker.name = 'ik_target_marker'
int_marker.header.frame_id = frame_id
int_marker.pose = pose
int_marker.scale = 0.2
self._add_6dof_marker(int_marker)
int_marker.controls.append(menu_control)
self._im_server.insert(int_marker, self.marker_clicked_cb)
def _add_gripper_marker(self, control):
is_hand_open=False
if is_hand_open:
angle = 28 * numpy.pi / 180.0
else:
angle = 0
offset = -GripperMarkers._offset
transform1 = tf.transformations.euler_matrix(0, 0, angle)
transform1[:3, 3] = [0.07691 - offset, 0.01, 0]
transform2 = tf.transformations.euler_matrix(0, 0, -angle)
transform2[:3, 3] = [0.09137, 0.00495, 0]
t_proximal = transform1
t_distal = tf.transformations.concatenate_matrices(transform1, transform2)
mesh1 = self._make_mesh_marker()
mesh1.mesh_resource = ('package://pr2_description/meshes/gripper_v0/gripper_palm.dae')
mesh1.pose.position.x = -offset
mesh1.pose.orientation.w = 1
mesh2 = self._make_mesh_marker()
mesh2.mesh_resource = ('package://pr2_description/meshes/gripper_v0/l_finger.dae')
mesh2.pose = GripperMarkers.get_pose_from_transform(t_proximal)
mesh3 = self._make_mesh_marker()
mesh3.mesh_resource = ('package://pr2_description/meshes/gripper_v0/l_finger_tip.dae')
mesh3.pose = GripperMarkers.get_pose_from_transform(t_distal)
quat = tf.transformations.quaternion_multiply(
tf.transformations.quaternion_from_euler(numpy.pi, 0, 0),
tf.transformations.quaternion_from_euler(0, 0, angle))
transform1 = tf.transformations.quaternion_matrix(quat)
transform1[:3, 3] = [0.07691 - offset, -0.01, 0]
transform2 = tf.transformations.euler_matrix(0, 0, -angle)
transform2[:3, 3] = [0.09137, 0.00495, 0]
t_proximal = transform1
t_distal = tf.transformations.concatenate_matrices(transform1,transform2)
mesh4 = self._make_mesh_marker()
mesh4.mesh_resource = ('package://pr2_description/meshes/gripper_v0/l_finger.dae')
mesh4.pose = GripperMarkers.get_pose_from_transform(t_proximal)
mesh5 = self._make_mesh_marker()
mesh5.mesh_resource = ('package://pr2_description/meshes/gripper_v0/l_finger_tip.dae')
mesh5.pose = GripperMarkers.get_pose_from_transform(t_distal)
control.markers.append(mesh1)
control.markers.append(mesh2)
control.markers.append(mesh3)
control.markers.append(mesh4)
control.markers.append(mesh5)
return control
@staticmethod
def get_pose_from_transform(transform):
pos = transform[:3,3].copy()
rot = tf.transformations.quaternion_from_matrix(transform)
return Pose(Point(pos[0], pos[1], pos[2]),
Quaternion(rot[0], rot[1], rot[2], rot[3]))
@staticmethod
def _offset_pose(pose, x_offset):
transform = GripperMarkers.get_matrix_from_pose(pose)
offset_array = [x_offset, 0, 0]
offset_transform = tf.transformations.translation_matrix(offset_array)
hand_transform = tf.transformations.concatenate_matrices(transform,
offset_transform)
return GripperMarkers.get_pose_from_transform(hand_transform)
@staticmethod
def get_matrix_from_pose(pose):
rotation = [pose.orientation.x, pose.orientation.y,
pose.orientation.z, pose.orientation.w]
transformation = tf.transformations.quaternion_matrix(rotation)
position = [pose.position.x, pose.position.y, pose.position.z]
transformation[:3, 3] = position
return transformation
def _make_mesh_marker(self):
mesh = Marker()
mesh.mesh_use_embedded_materials = False
mesh.type = Marker.MESH_RESOURCE
mesh.scale.x = 1.0
mesh.scale.y = 1.0
mesh.scale.z = 1.0
target_pose = GripperMarkers._offset_pose(self.marker_pose, GripperMarkers._offset)
ik_solution = self.ik.get_ik_for_ee(target_pose)
if (ik_solution == None):
mesh.color = ColorRGBA(1.0, 0.0, 0.0, 0.6)
else:
mesh.color = ColorRGBA(0.0, 1.0, 0.0, 0.6)
return mesh
def _add_6dof_marker(self, int_marker):
is_fixed = True
control = self._make_6dof_control('rotate_x', Quaternion(1, 0, 0, 1), False, is_fixed)
int_marker.controls.append(control)
control = self._make_6dof_control('move_x', Quaternion(1, 0, 0, 1), True, is_fixed)
int_marker.controls.append(control)
control = self._make_6dof_control('rotate_z', Quaternion(0, 1, 0, 1), False, is_fixed)
int_marker.controls.append(control)
control = self._make_6dof_control('move_z', Quaternion(0, 1, 0, 1), True, is_fixed)
int_marker.controls.append(control)
control = self._make_6dof_control('rotate_y', Quaternion(0, 0, 1, 1), False, is_fixed)
int_marker.controls.append(control)
control = self._make_6dof_control('move_y', Quaternion(0, 0, 1, 1), True, is_fixed)
int_marker.controls.append(control)
def _make_6dof_control(self, name, orientation, is_move, is_fixed):
control = InteractiveMarkerControl()
control.name = name
control.orientation = orientation
control.always_visible = False
if (self.is_control_visible):
if is_move:
control.interaction_mode = InteractiveMarkerControl.MOVE_AXIS
else:
control.interaction_mode = InteractiveMarkerControl.ROTATE_AXIS
else:
control.interaction_mode = InteractiveMarkerControl.NONE
if is_fixed:
control.orientation_mode = InteractiveMarkerControl.FIXED
return control
class GripperMarkers:
_offset = 0.09
def __init__(self, side_prefix):
self.side_prefix = side_prefix
self._im_server = InteractiveMarkerServer('ik_request_markers_' + self.side_prefix)
self._tf_listener = TransformListener()
self._menu_handler = MenuHandler()
self._menu_handler.insert('Move arm here', callback=self.move_to_pose_cb)
self.r_joint_names = ['r_shoulder_pan_joint',
'r_shoulder_lift_joint',
'r_upper_arm_roll_joint',
'r_elbow_flex_joint',
'r_forearm_roll_joint',
'r_wrist_flex_joint',
'r_wrist_roll_joint']
self.l_joint_names = ['l_shoulder_pan_joint',
'l_shoulder_lift_joint',
'l_upper_arm_roll_joint',
'l_elbow_flex_joint',
'l_forearm_roll_joint',
'l_wrist_flex_joint',
'l_wrist_roll_joint']
# Create a trajectory action client
r_traj_contoller_name = None
l_traj_contoller_name = None
if self.side_prefix == 'r':
r_traj_controller_name = '/r_arm_controller/joint_trajectory_action'
self.r_traj_action_client = SimpleActionClient(r_traj_controller_name,
JointTrajectoryAction)
rospy.loginfo('Waiting for a response from the trajectory '
+ 'action server for RIGHT arm...')
self.r_traj_action_client.wait_for_server()
else:
l_traj_controller_name = '/l_arm_controller/joint_trajectory_action'
self.l_traj_action_client = SimpleActionClient(l_traj_controller_name,
JointTrajectoryAction)
rospy.loginfo('Waiting for a response from the trajectory '
+ 'action server for LEFT arm...')
self.l_traj_action_client.wait_for_server()
self.is_control_visible = False
self.ee_pose = self.get_ee_pose()
self.ik = IK(side_prefix)
self.update_viz()
self._menu_handler.apply(self._im_server, 'ik_target_marker_' + self.side_prefix)
self._im_server.applyChanges()
print self.ik
def get_ee_pose(self):
from_frame = 'base_link'
to_frame = self.side_prefix + '_wrist_roll_link'
try:
if self._tf_listener.frameExists(from_frame) and self._tf_listener.frameExists(to_frame):
t = self._tf_listener.getLatestCommonTime(from_frame, to_frame)
# t = rospy.Time.now()
(pos, rot) = self._tf_listener.lookupTransform(to_frame, from_frame, t) # Note argument order :(
else:
rospy.logerr('TF frames do not exist; could not get end effector pose.')
except Exception as err:
rospy.logerr('Could not get end effector pose through TF.')
rospy.logerr(err)
pos = [1.0, 0.0, 1.0]
rot = [0.0, 0.0, 0.0, 1.0]
return Pose(Point(pos[0], pos[1], pos[2]),
Quaternion(rot[0], rot[1], rot[2], rot[3]))
def move_to_pose_cb(self, feedback):
rospy.loginfo('You pressed the `Move arm here` button from the menu.')
'''Moves the arm to the desired joints'''
print feedback
time_to_joint = 2.0
positions = self.ik.get_ik_for_ee(feedback.pose)
velocities = [0] * len(positions)
traj_goal = JointTrajectoryGoal()
traj_goal.trajectory.header.stamp = (rospy.Time.now() + rospy.Duration(0.1))
traj_goal.trajectory.points.append(JointTrajectoryPoint(positions=positions,
velocities=velocities, time_from_start=rospy.Duration(time_to_joint)))
if (self.side_prefix == 'r'):
traj_goal.trajectory.joint_names = self.r_joint_names
self.r_traj_action_client.send_goal(traj_goal)
else:
traj_goal.trajectory.joint_names = self.l_joint_names
self.l_traj_action_client.send_goal(traj_goal)
pass
def marker_clicked_cb(self, feedback):
if feedback.event_type == InteractiveMarkerFeedback.POSE_UPDATE:
self.ee_pose = feedback.pose
self.update_viz()
self._menu_handler.reApply(self._im_server)
self._im_server.applyChanges()
elif feedback.event_type == InteractiveMarkerFeedback.BUTTON_CLICK:
rospy.loginfo('Changing visibility of the pose controls.')
if (self.is_control_visible):
self.is_control_visible = False
else:
self.is_control_visible = True
else:
rospy.loginfo('Unhandled event: ' + str(feedback.event_type))
def update_viz(self):
menu_control = InteractiveMarkerControl()
menu_control.interaction_mode = InteractiveMarkerControl.BUTTON
menu_control.always_visible = True
frame_id = 'base_link'
pose = self.ee_pose
menu_control = self._add_gripper_marker(menu_control)
text_pos = Point()
text_pos.x = pose.position.x
text_pos.y = pose.position.y
text_pos.z = pose.position.z + 0.1
text = 'x=' + str(pose.position.x) + ' y=' + str(pose.position.y) + ' x=' + str(pose.position.z)
menu_control.markers.append(Marker(type=Marker.TEXT_VIEW_FACING,
id=0, scale=Vector3(0, 0, 0.03),
text=text,
color=ColorRGBA(0.0, 0.0, 0.0, 0.5),
header=Header(frame_id=frame_id),
pose=Pose(text_pos, Quaternion(0, 0, 0, 1))))
int_marker = InteractiveMarker()
int_marker.name = 'ik_target_marker_' + self.side_prefix
int_marker.header.frame_id = frame_id
int_marker.pose = pose
int_marker.scale = 0.2
self._add_6dof_marker(int_marker)
int_marker.controls.append(menu_control)
self._im_server.insert(int_marker, self.marker_clicked_cb)
def _add_gripper_marker(self, control):
is_hand_open=False
if is_hand_open:
angle = 28 * numpy.pi / 180.0
else:
angle = 0
transform1 = tf.transformations.euler_matrix(0, 0, angle)
transform1[:3, 3] = [0.07691 - GripperMarkers._offset, 0.01, 0]
transform2 = tf.transformations.euler_matrix(0, 0, -angle)
transform2[:3, 3] = [0.09137, 0.00495, 0]
t_proximal = transform1
t_distal = tf.transformations.concatenate_matrices(transform1, transform2)
mesh1 = self._make_mesh_marker()
mesh1.mesh_resource = ('package://pr2_description/meshes/gripper_v0/gripper_palm.dae')
mesh1.pose.position.x = -GripperMarkers._offset
mesh1.pose.orientation.w = 1
mesh2 = self._make_mesh_marker()
mesh2.mesh_resource = ('package://pr2_description/meshes/gripper_v0/l_finger.dae')
mesh2.pose = GripperMarkers.get_pose_from_transform(t_proximal)
mesh3 = self._make_mesh_marker()
mesh3.mesh_resource = ('package://pr2_description/meshes/gripper_v0/l_finger_tip.dae')
mesh3.pose = GripperMarkers.get_pose_from_transform(t_distal)
quat = tf.transformations.quaternion_multiply(
tf.transformations.quaternion_from_euler(numpy.pi, 0, 0),
tf.transformations.quaternion_from_euler(0, 0, angle))
transform1 = tf.transformations.quaternion_matrix(quat)
transform1[:3, 3] = [0.07691 - GripperMarkers._offset, -0.01, 0]
transform2 = tf.transformations.euler_matrix(0, 0, -angle)
transform2[:3, 3] = [0.09137, 0.00495, 0]
t_proximal = transform1
t_distal = tf.transformations.concatenate_matrices(transform1,transform2)
mesh4 = self._make_mesh_marker()
mesh4.mesh_resource = ('package://pr2_description/meshes/gripper_v0/l_finger.dae')
mesh4.pose = GripperMarkers.get_pose_from_transform(t_proximal)
mesh5 = self._make_mesh_marker()
mesh5.mesh_resource = ('package://pr2_description/meshes/gripper_v0/l_finger_tip.dae')
mesh5.pose = GripperMarkers.get_pose_from_transform(t_distal)
control.markers.append(mesh1)
control.markers.append(mesh2)
control.markers.append(mesh3)
control.markers.append(mesh4)
control.markers.append(mesh5)
return control
@staticmethod
def get_pose_from_transform(transform):
pos = transform[:3,3].copy()
rot = tf.transformations.quaternion_from_matrix(transform)
return Pose(Point(pos[0], pos[1], pos[2]),
Quaternion(rot[0], rot[1], rot[2], rot[3]))
def _make_mesh_marker(self):
mesh = Marker()
mesh.mesh_use_embedded_materials = False
mesh.type = Marker.MESH_RESOURCE
mesh.scale.x = 1.0
mesh.scale.y = 1.0
mesh.scale.z = 1.0
print self
ik_solution = self.ik.get_ik_for_ee(self.ee_pose)
if (ik_solution is None):
mesh.color = ColorRGBA(1.0, 0.0, 0.0, 0.6)
else:
mesh.color = ColorRGBA(0.0, 1.0, 0.0, 0.6)
return mesh
def _add_6dof_marker(self, int_marker):
is_fixed = True
control = self._make_6dof_control('rotate_x', Quaternion(1, 0, 0, 1), False, is_fixed)
int_marker.controls.append(control)
control = self._make_6dof_control('move_x', Quaternion(1, 0, 0, 1), True, is_fixed)
int_marker.controls.append(control)
control = self._make_6dof_control('rotate_z', Quaternion(0, 1, 0, 1), False, is_fixed)
int_marker.controls.append(control)
control = self._make_6dof_control('move_z', Quaternion(0, 1, 0, 1), True, is_fixed)
int_marker.controls.append(control)
control = self._make_6dof_control('rotate_y', Quaternion(0, 0, 1, 1), False, is_fixed)
int_marker.controls.append(control)
control = self._make_6dof_control('move_y', Quaternion(0, 0, 1, 1), True, is_fixed)
int_marker.controls.append(control)
def _make_6dof_control(self, name, orientation, is_move, is_fixed):
control = InteractiveMarkerControl()
control.name = name
control.orientation = orientation
control.always_visible = False
if (self.is_control_visible):
if is_move:
control.interaction_mode = InteractiveMarkerControl.MOVE_AXIS
else:
control.interaction_mode = InteractiveMarkerControl.ROTATE_AXIS
else:
control.interaction_mode = InteractiveMarkerControl.NONE
if is_fixed:
control.orientation_mode = InteractiveMarkerControl.FIXED
return control
class GripperMarkers:
_offset = 0.09
def __init__(self, side_prefix):
self._ik_service = IK(side_prefix)
r_traj_controller_name = '/r_arm_controller/joint_trajectory_action'
self.r_traj_action_client = SimpleActionClient(r_traj_controller_name, JointTrajectoryAction)
rospy.loginfo('Waiting for a response from the trajectory action server for RIGHT arm...')
self.r_traj_action_client.wait_for_server()
l_traj_controller_name = '/l_arm_controller/joint_trajectory_action'
self.l_traj_action_client = SimpleActionClient(l_traj_controller_name, JointTrajectoryAction)
rospy.loginfo('Waiting for a response from the trajectory action server for LEFT arm...')
self.l_traj_action_client.wait_for_server()
self.r_joint_names = ['r_shoulder_pan_joint',
'r_shoulder_lift_joint',
'r_upper_arm_roll_joint',
'r_elbow_flex_joint',
'r_forearm_roll_joint',
'r_wrist_flex_joint',
'r_wrist_roll_joint']
self.l_joint_names = ['l_shoulder_pan_joint',
'l_shoulder_lift_joint',
'l_upper_arm_roll_joint',
'l_elbow_flex_joint',
'l_forearm_roll_joint',
'l_wrist_flex_joint',
'l_wrist_roll_joint']
rospy.Subscriber('ar_pose_marker', AlvarMarkers, self.marker_cb)
self.side_prefix = side_prefix
self._im_server = InteractiveMarkerServer("ik_request_markers_{}".format(side_prefix))
self._tf_listener = TransformListener()
self._menu_handler = MenuHandler()
self._menu_handler.insert("Move {} arm here".format(side_prefix), callback=self.move_to_pose_cb)
self.is_control_visible = False
self.ee_pose = self.get_ee_pose()
self.update_viz()
self._menu_handler.apply(self._im_server, 'ik_target_marker')
self._im_server.applyChanges()
def get_ee_pose(self):
from_frame = '/base_link'
to_frame = '/' + self.side_prefix + '_wrist_roll_link'
try:
t = self._tf_listener.getLatestCommonTime(from_frame, to_frame)
(pos, rot) = self._tf_listener.lookupTransform(from_frame, to_frame, t)
except Exception as e:
rospy.logerr('Could not get end effector pose through TF.')
pos = [1.0, 0.0, 1.0]
rot = [0.0, 0.0, 0.0, 1.0]
import traceback
traceback.print_exc()
return Pose(Point(pos[0], pos[1], pos[2]),
Quaternion(rot[0], rot[1], rot[2], rot[3]))
def move_to_pose_cb(self, dummy):
target_pose = GripperMarkers._offset_pose(self.ee_pose)
ik_sol = self._ik_service.get_ik_for_ee(target_pose)
self.move_to_joints(self.side_prefix, [ik_sol], 1.0)
def marker_clicked_cb(self, feedback):
if feedback.event_type == InteractiveMarkerFeedback.POSE_UPDATE:
self.ee_pose = feedback.pose
self.update_viz()
self._menu_handler.reApply(self._im_server)
self._im_server.applyChanges()
elif feedback.event_type == InteractiveMarkerFeedback.BUTTON_CLICK:
rospy.loginfo('Changing visibility of the pose controls.')
if (self.is_control_visible):
self.is_control_visible = False
else:
self.is_control_visible = True
else:
rospy.loginfo('Unhandled event: ' + str(feedback.event_type))
def marker_cb(self, pose_markers):
rospy.loginfo('AR Marker Pose updating')
transform = GripperMarkers.get_matrix_from_pose(pose_markers.markers[0].pose.pose)
offset_array = [0, 0, .03]
offset_transform = tf.transformations.translation_matrix(offset_array)
hand_transform = tf.transformations.concatenate_matrices(transform,
offset_transform)
self.ee_pose = GripperMarkers.get_pose_from_transform(hand_transform)
self.update_viz()
def update_viz(self):
menu_control = InteractiveMarkerControl()
menu_control.interaction_mode = InteractiveMarkerControl.BUTTON
menu_control.always_visible = True
frame_id = 'base_link'
pose = self.ee_pose
menu_control = self._add_gripper_marker(menu_control)
text_pos = Point()
text_pos.x = pose.position.x
text_pos.y = pose.position.y
text_pos.z = pose.position.z + 0.1
text = "x=%.3f y=%.3f z=%.3f" % (pose.position.x, pose.position.y, pose.position.z)
menu_control.markers.append(Marker(type=Marker.TEXT_VIEW_FACING,
id=0, scale=Vector3(0, 0, 0.03),
text=text,
color=ColorRGBA(0.0, 0.0, 0.0, 0.5),
header=Header(frame_id=frame_id),
pose=Pose(text_pos, Quaternion(0, 0, 0, 1))))
label_pos = Point()
label_pos.x = pose.position.x
label_pos.y = pose.position.y
label_pos.z = pose.position.z
label = "{} arm".format(self.side_prefix)
menu_control.markers.append(Marker(type=Marker.TEXT_VIEW_FACING,
id=0, scale=Vector3(0, 0, 0.03),
text=label,
color=ColorRGBA(0.0, 0.0, 0.0, 0.9),
header=Header(frame_id=frame_id),
pose=Pose(label_pos, Quaternion(0, 0, 0, 1))))
int_marker = InteractiveMarker()
int_marker.name = 'ik_target_marker'
int_marker.header.frame_id = frame_id
int_marker.pose = pose
int_marker.scale = 0.2
self._add_6dof_marker(int_marker)
int_marker.controls.append(menu_control)
self._im_server.insert(int_marker, self.marker_clicked_cb)
def _add_gripper_marker(self, control):
is_hand_open=False
if is_hand_open:
angle = 28 * numpy.pi / 180.0
else:
angle = 0
transform1 = tf.transformations.euler_matrix(0, 0, angle)
transform1[:3, 3] = [0.07691 - GripperMarkers._offset, 0.01, 0]
transform2 = tf.transformations.euler_matrix(0, 0, -angle)
transform2[:3, 3] = [0.09137, 0.00495, 0]
t_proximal = transform1
t_distal = tf.transformations.concatenate_matrices(transform1, transform2)
mesh1 = self._make_mesh_marker()
mesh1.mesh_resource = ('package://pr2_description/meshes/gripper_v0/gripper_palm.dae')
mesh1.pose.position.x = -GripperMarkers._offset
mesh1.pose.orientation.w = 1
mesh2 = self._make_mesh_marker()
mesh2.mesh_resource = ('package://pr2_description/meshes/gripper_v0/l_finger.dae')
mesh2.pose = GripperMarkers.get_pose_from_transform(t_proximal)
mesh3 = self._make_mesh_marker()
mesh3.mesh_resource = ('package://pr2_description/meshes/gripper_v0/l_finger_tip.dae')
mesh3.pose = GripperMarkers.get_pose_from_transform(t_distal)
quat = tf.transformations.quaternion_multiply(
tf.transformations.quaternion_from_euler(numpy.pi, 0, 0),
tf.transformations.quaternion_from_euler(0, 0, angle))
transform1 = tf.transformations.quaternion_matrix(quat)
transform1[:3, 3] = [0.07691 - GripperMarkers._offset, -0.01, 0]
transform2 = tf.transformations.euler_matrix(0, 0, -angle)
transform2[:3, 3] = [0.09137, 0.00495, 0]
t_proximal = transform1
t_distal = tf.transformations.concatenate_matrices(transform1,transform2)
mesh4 = self._make_mesh_marker()
mesh4.mesh_resource = ('package://pr2_description/meshes/gripper_v0/l_finger.dae')
mesh4.pose = GripperMarkers.get_pose_from_transform(t_proximal)
mesh5 = self._make_mesh_marker()
mesh5.mesh_resource = ('package://pr2_description/meshes/gripper_v0/l_finger_tip.dae')
mesh5.pose = GripperMarkers.get_pose_from_transform(t_distal)
control.markers.append(mesh1)
control.markers.append(mesh2)
control.markers.append(mesh3)
control.markers.append(mesh4)
control.markers.append(mesh5)
return control
@staticmethod
def _offset_pose(pose):
transform = GripperMarkers.get_matrix_from_pose(pose)
offset_array = [-GripperMarkers._offset, 0, 0]
offset_transform = tf.transformations.translation_matrix(offset_array)
hand_transform = tf.transformations.concatenate_matrices(transform,
offset_transform)
return GripperMarkers.get_pose_from_transform(hand_transform)
@staticmethod
def get_matrix_from_pose(pose):
rotation = [pose.orientation.x, pose.orientation.y,
pose.orientation.z, pose.orientation.w]
transformation = tf.transformations.quaternion_matrix(rotation)
position = [pose.position.x, pose.position.y, pose.position.z]
transformation[:3, 3] = position
return transformation
@staticmethod
def get_pose_from_transform(transform):
pos = transform[:3,3].copy()
rot = tf.transformations.quaternion_from_matrix(transform)
return Pose(Point(pos[0], pos[1], pos[2]),
Quaternion(rot[0], rot[1], rot[2], rot[3]))
def _make_mesh_marker(self):
mesh = Marker()
mesh.mesh_use_embedded_materials = False
mesh.type = Marker.MESH_RESOURCE
mesh.scale.x = 1.0
mesh.scale.y = 1.0
mesh.scale.z = 1.0
target_pose = GripperMarkers._offset_pose(self.ee_pose)
ik_sol = self._ik_service.get_ik_for_ee(target_pose)
if ik_sol == None:
mesh.color = ColorRGBA(1.0, 0.0, 0.0, 0.6)
else:
mesh.color = ColorRGBA(0.0, 1.0, 0.0, 0.6)
return mesh
def _add_6dof_marker(self, int_marker):
is_fixed = True
control = self._make_6dof_control('rotate_x', Quaternion(1, 0, 0, 1), False, is_fixed)
int_marker.controls.append(control)
control = self._make_6dof_control('move_x', Quaternion(1, 0, 0, 1), True, is_fixed)
int_marker.controls.append(control)
control = self._make_6dof_control('rotate_z', Quaternion(0, 1, 0, 1), False, is_fixed)
int_marker.controls.append(control)
control = self._make_6dof_control('move_z', Quaternion(0, 1, 0, 1), True, is_fixed)
int_marker.controls.append(control)
control = self._make_6dof_control('rotate_y', Quaternion(0, 0, 1, 1), False, is_fixed)
int_marker.controls.append(control)
control = self._make_6dof_control('move_y', Quaternion(0, 0, 1, 1), True, is_fixed)
int_marker.controls.append(control)
def _make_6dof_control(self, name, orientation, is_move, is_fixed):
control = InteractiveMarkerControl()
control.name = name
control.orientation = orientation
control.always_visible = False
if (self.is_control_visible):
if is_move:
control.interaction_mode = InteractiveMarkerControl.MOVE_AXIS
else:
control.interaction_mode = InteractiveMarkerControl.ROTATE_AXIS
else:
control.interaction_mode = InteractiveMarkerControl.NONE
if is_fixed:
control.orientation_mode = InteractiveMarkerControl.FIXED
return control
def move_to_joints(self, side_prefix, positions, time_to_joint):
'''Moves the arm to the desired joints'''
traj_goal = JointTrajectoryGoal()
traj_goal.trajectory.header.stamp = (rospy.Time.now() + rospy.Duration(0.1))
time_move = time_to_joint
print "using following positions %s" % positions
for pose in positions:
velocities = [0] * len(pose)
traj_goal.trajectory.points.append(JointTrajectoryPoint(positions=pose,
velocities=velocities, time_from_start=rospy.Duration(time_move)))
time_move += time_to_joint
if (side_prefix == 'r'):
traj_goal.trajectory.joint_names = self.r_joint_names
self.r_traj_action_client.send_goal(traj_goal)
else:
traj_goal.trajectory.joint_names = self.l_joint_names
self.l_traj_action_client.send_goal(traj_goal)
def BuildKineModules(self): assert (len(dh)>0,'No dh params found') assert( len(rho)==len(dh),'Specify all joint descriptions') self.IK=IK(self)
