def rrt(target_x, q0, NIter = 10000, pub = None, vis_pub= None):
nodes = [ Node(q0) ]
start_x = fk(q0)
if vis_pub is not None:
vis_pub.publish(createSphereMarker(2, namespace="", pose = [target_x[0], 0, target_x[1], 0, 0, 0 ,1], rgba=(0,0,1,1), frame_id = '/arm_base'))
rospy.sleep(0.2)
vis_pub.publish(createSphereMarker(3, namespace="", pose = [start_x[0], 0, start_x[1], 0, 0, 0 ,1], rgba=(1,0,1,1), frame_id = '/arm_base'))
rospy.sleep(0.2)
for i in xrange(NIter):
if i % 100 == 0:
print 'iteration:', i
rospy.sleep(0.01)
# pick a node in work space randomly
q_rand = [ np.random.uniform(joint_limits[0][0], joint_limits[0][1]),
np.random.uniform(joint_limits[1][0], joint_limits[1][1]) ]
nearest_node_index = find_nearest_node (nodes, q_rand)
new_q = step_from_toward(nodes[nearest_node_index].q, q_rand)
#print 'new_q', new_q
#print 'in_workspace(new_q)', in_workspace(new_q)
#print 'in_collision(new_q)', in_collision(new_q)
if pub is not None:
js = sensor_msgs.msg.JointState(name=['joint1', 'joint2'], position = (new_q[0], new_q[1]))
pub.publish(js)
if in_workspace(new_q) and not collision.in_collision(new_q, obstacle_segs) and not path_in_collision(new_q, nodes[nearest_node_index].q, obstacle_segs):
if vis_pub is not None:
xz = fk(new_q)
xz_old = fk(nodes[nearest_node_index].q)
vis_pub.publish(createPointMarker([[xz[0], 0, xz[1]]], i+6, namespace="", rgba=(0,1,0,1), frame_id = '/arm_base'))
vis_pub.publish(createLineStripMarker([[xz_old[0], 0, xz_old[1]] , [xz[0], 0, xz[1]]],
marker_id = i+200000, rgba = (0,0.5,0,1), pose=[0,0,0,0,0,0,1], frame_id = '/arm_base'))
new_node = Node(new_q, nearest_node_index)
nodes.append(new_node)
if dist(fk(new_q), target_x) < TARGET_RADIUS:
plan = backtrace(nodes, new_node)
return plan
return None # no plan found
def main():
rospy.init_node("test_rrt")
# initiate publishers
exec_virtual_pub = rospy.Publisher('/virtual_joint_states', sensor_msgs.msg.JointState, queue_size=10)
exec_real_pubs = [rospy.Publisher('/joint1_controller/command', Float64, queue_size=1) ,
rospy.Publisher('/joint2_controller/command', Float64, queue_size=1) ]
vis_pub = rospy.Publisher('visualization_marker', Marker, queue_size=100)
rospy.sleep(0.5)
# get whether to use real arm
use_real_arm = rospy.get_param('/real_arm', False)
# visualizing obstacles
vis_pub.publish(Marker(action=3)) # delete all markers
rospy.sleep(0.5)
for iseg, seg in enumerate(obstacle_segs):
vis_pub.publish(createLineStripMarker([[seg[0][0], 0, seg[0][1]] , [seg[1][0], 0, seg[1][1]]],
marker_id = iseg+100000, rgba = (1,0,0,1), pose=[0,0,0,0,0,0,1], frame_id = '/arm_base'))
# back to the starting pose
if use_real_arm:
exec_joints(exec_real_pubs, q0)
rospy.sleep(0.5)
# run rrt
print 'target_x', target_x
print 'q0', q0
plan = rrt(target_x = target_x, q0 = q0, NIter = NIter, pub = exec_virtual_pub, vis_pub= vis_pub)
if plan is None:
print 'no plan found in %d iterations' % NIter
return
print 'found 1 plan', plan
# execute it
result = tkMessageBox.askquestion("RRT Plan", "A plan is found, execute?", icon='warning')
if result == 'yes':
for p in plan:
if not use_real_arm:
js = sensor_msgs.msg.JointState(name=['joint1', 'joint2'], position = (p[0], p[1]))
exec_virtual_pub.publish(js)
else:
exec_joints(exec_real_pubs, p)
rospy.sleep(0.1)
