def execute(self, userdata):
#wait the settle time, then see if the sample is still there
#timeout for this is also settle time
rospy.sleep(userdata.settle_time)
userdata.target_sample = None
start_time = rospy.Time.now()
while not rospy.core.is_shutdown_requested():
rospy.sleep(0.1)
if userdata.target_sample is not None:
break #sample is still there, approach
if (rospy.Time.now() - start_time) > userdata.settle_time:
return 'point_lost' #sample disappeared, give up
try:
point = userdata.target_sample
self.tf_listener.waitForTransform('manipulator_arm',
point.header.frame_id,
point.header.stamp,
rospy.Duration(2.0))
point_in_base = self.tf_listener.transformPoint('manipulator_arm',
point).point
robot_origin = geometry_msg.Point(0,0,0)
yaw = util.pointing_yaw(robot_origin, point_in_base)
distance = util.point_distance_2d(robot_origin, point_in_base)
robot_yaw = util.get_current_robot_yaw(self.tf_listener, userdata.odometry_frame)
except tf.Exception, e:
rospy.logwarn("PURSUE_SAMPLE failed to get manipulator_arm -> %s transform in 1.0 seconds: %s", point.header.frame_id, e)
return 'aborted'
def execute(self, userdata):
#the expected sample location on the end of the path list
pose_2d_list = userdata.search_poses_2d
header = std_msg.Header(0, rospy.Time(0), '/map')
path_pose_list = []
yaw = 0
for i in range(len(pose_2d_list)):
pose = geometry_msg.Pose()
pose.position = geometry_msg.Point(pose_2d_list[i]['x'],
pose_2d_list[i]['y'],
0.0)
if 'yaw' in pose_2d_list[i]:
yaw = math.radians(pose_2d_list[i]['yaw'])
else:
if (i+1) < len(pose_2d_list):
next_point = geometry_msg.Point(pose_2d_list[i + 1]['x'],
pose_2d_list[i + 1]['y'],
0.0)
yaw = util.pointing_yaw(pose.position, next_point)
# if this is last point, just maintain current yaw
quat_array = tf.transformations.quaternion_from_euler(0, 0, yaw)
pose.orientation = geometry_msg.Quaternion(*quat_array)
pose_stamped = geometry_msg.PoseStamped(header, pose)
path_pose_list.append(pose_stamped)
userdata.pose_list = path_pose_list
userdata.stop_on_sample = False
result = samplereturn_msg.GeneralExecutiveResult()
result.result_string = 'initialized'
userdata.action_result = result
return 'next'
def execute(self, userdata):
userdata.stop_on_sample = False
userdata.detected_sample = None
rospy.sleep(userdata.servo_params['settle_time'])
if self.try_count > userdata.servo_params['try_limit']:
self.announcer.say("Servo exceeded try limit")
rospy.loginfo("SERVO STRAFE failed to hit tolerance before try_limit: %s" % (userdata.servo_params['try_limit']))
self.try_count = 0
#deploy gripper anyway, we still see sample, but it is not positioned well
userdata.latched_sample = userdata.detected_sample
return 'complete'
if userdata.detected_sample is None:
self.announcer.say("Servo lost sample.")
self.try_count = 0
return 'point_lost'
else:
detected_sample = userdata.detected_sample
sample_time = detected_sample.header.stamp
sample_frame = detected_sample.header.frame_id
while not rospy.core.is_shutdown_requested():
try:
self.tf_listener.waitForTransform('manipulator_arm',
sample_frame, sample_time, rospy.Duration(1.0))
point_in_manipulator = self.tf_listener.transformPoint('manipulator_arm',
detected_sample).point
break
except tf.Exception, exc:
rospy.logwarn("SERVO CONTROLLER failed to get manipulator_arm -> {!s} transform. Exception: {!s}".format(sample_frame, exc))
self.try_count = 0
return 'aborted'
#rospy.loginfo("SERVO correction %s: " % (userdata.manipulator_correction))
rospy.loginfo("SERVO point in manipulator before correction %s: " %(point_in_manipulator))
point_in_manipulator.x += userdata.manipulator_correction['x']
point_in_manipulator.y += userdata.manipulator_correction['y']
#rospy.loginfo("SERVO point in manipulator after correction %s: " %(point_in_manipulator))
origin = geometry_msg.Point(0,0,0)
distance = util.point_distance_2d(origin, point_in_manipulator)
if distance < userdata.servo_params['final_tolerance']:
self.try_count = 0
userdata.latched_sample = userdata.detected_sample
self.announcer.say("Servo complete at %.1f millimeters." % (distance*1000))
return 'complete'
elif distance < userdata.servo_params['initial_tolerance']:
velocity = userdata.servo_params['final_velocity']
accel = userdata.servo_params['final_accel']
else:
velocity = userdata.servo_params['initial_velocity']
accel = userdata.servo_params['initial_accel']
yaw = util.pointing_yaw(origin, point_in_manipulator)
userdata.simple_move = SimpleMoveGoal(type=SimpleMoveGoal.STRAFE,
angle = yaw,
distance = distance,
velocity = velocity,
acceleration = accel)
#rospy.loginfo("SERVO simple_move: %s" % (userdata.simple_move))
self.announcer.say("Servo ing, distance, %.1f centimeters" % (distance*100))
rospy.loginfo("DETECTED SAMPLE IN manipulator_arm frame (corrected): %s" % (point_in_manipulator))
self.try_count += 1
return 'move'
def execute(self, userdata):
if self.preempt_requested():
self.service_preempt()
return 'preempted'
#ignore samples after this (applies to mount moves)
#clear previous move_point_map
userdata.stop_on_sample = False
userdata.move_point_map = None
map_header = std_msg.Header(0, rospy.Time(0), userdata.world_fixed_frame)
#get our position in map
current_pose = util.get_current_robot_pose(self.tf_listener,
userdata.world_fixed_frame)
#this is possibly a highly inaccurate number. If we get to the approach point,
#and don't see the beacon, the map is probably messed up
distance_to_approach_point = util.point_distance_2d(current_pose.pose.position,
userdata.beacon_approach_pose.pose.position)
#if we have been ignoring beacon detections prior to this,
#we should clear them here, and wait for a fresh detection
if not userdata.stop_on_beacon:
userdata.beacon_point = None
rospy.sleep(4.0)
if userdata.beacon_point is None: #beacon not in view
#first hope, we can spin slowly and see the beacon
if not self.tried_spin:
self.announcer.say("Beacon not in view. Rotate ing")
userdata.simple_move = SimpleMoveGoal(type=SimpleMoveGoal.SPIN,
angle = math.pi*2,
velocity = userdata.spin_velocity)
userdata.stop_on_beacon = True
self.tried_spin = True
return 'spin'
#already tried a spin, drive towards beacon_approach_point, stopping on detection
elif distance_to_approach_point > 5.0:
#we think we're far from approach_point, so try to go there
self.announcer.say("Beacon not in view. Search ing")
userdata.move_point_map = geometry_msg.PointStamped(map_header,
userdata.beacon_approach_pose.pose.position)
goal = samplereturn_msg.VFHMoveGoal(target_pose = userdata.beacon_approach_pose,
move_velocity = userdata.move_velocity,
spin_velocity = userdata.spin_velocity)
userdata.move_goal = goal
userdata.stop_on_beacon = True
self.tried_spin = False
return 'move'
else:
#gotta add some heroic shit here
#we think we're near the beacon, but we don't see it
#right now, that is just to move 30 m on other side of the beacon that we don't know about
self.announcer.say("Close to approach point in map. Beacon not in view. Search ing")
search_pose = deepcopy(userdata.beacon_approach_pose)
#invert the approach_point, and try again
search_pose.pose.position.x *= -1
#save point
userdata.move_point_map = geometry_msg.PointStamped(map_header,
search_pose.pose.position)
goal = samplereturn_msg.VFHMoveGoal(target_pose = userdata.search_pose,
move_velocity = userdata.move_velocity,
spin_velocity = userdata.spin_velocity)
userdata.move_goal = goal
userdata.stop_on_beacon = True
self.tried_spin = False
return 'move'
else: #beacon is in view
#need to add some stuff here to get to other side of beacon if viewing back
current_yaw = util.get_current_robot_yaw(self.tf_listener,
userdata.world_fixed_frame)
yaw_to_platform = util.pointing_yaw(current_pose.pose.position,
userdata.platform_point.point)
yaw_error = util.unwind(yaw_to_platform - current_yaw)
userdata.stop_on_beacon = False
self.tried_spin = False
#on the back side
if current_pose.pose.position.x < 0:
front_pose = deepcopy(userdata.beacon_approach_pose)
#try not to drive through the platform
front_pose.pose.position.y = 5.0 * np.sign(current_pose.pose.position.y)
goal = samplereturn_msg.VFHMoveGoal(target_pose = front_pose,
move_velocity = userdata.move_velocity,
spin_velocity = userdata.spin_velocity)
userdata.move_goal = goal
self.announcer.say("Back of beacon in view. Move ing to front")
return 'move'
elif distance_to_approach_point > 2.0:
#on correct side of beacon, but far from approach point
goal = samplereturn_msg.VFHMoveGoal(target_pose = userdata.beacon_approach_pose,
move_velocity = userdata.move_velocity,
spin_velocity = userdata.spin_velocity,
orient_at_target = True)
userdata.move_goal = goal
self.announcer.say("Beacon in view. Move ing to approach point")
return 'move'
elif np.abs(yaw_error) > .2:
#this means beacon is in view and we are within 1 meter of approach point
#but not pointed so well at beacon
self.announcer.say("At approach point. Rotate ing to beacon")
userdata.simple_move = SimpleMoveGoal(type=SimpleMoveGoal.SPIN,
angle = yaw_error,
velocity = userdata.spin_velocity)
return 'spin'
else:
self.announcer.say("Initiate ing platform mount")
userdata.stop_on_beacon = False
return 'mount'
return 'aborted'
def execute(self, userdata):
#set the move manager key for the move mux
userdata.active_manager = userdata.manager_dict[self.label]
userdata.report_sample = False
userdata.report_beacon = True
self.beacon_enable.publish(True)
if self.preempt_requested():
self.service_preempt()
return 'preempted'
#get our position in map
current_pose = util.get_current_robot_pose(self.tf_listener,
userdata.platform_frame)
#hopeful distance to approach point
distance_to_approach_point = util.point_distance_2d(current_pose.pose.position,
userdata.beacon_approach_pose.pose.position)
#if we have been ignoring beacon detections prior to this,
#we should clear them here, and wait for a fresh detection
if not userdata.stop_on_detection:
self.announcer.say("Wait ing for beacon.")
userdata.beacon_point = None
start_time = rospy.Time.now()
while not rospy.core.is_shutdown_requested():
rospy.sleep(0.5)
if (userdata.beacon_point is not None) \
or ((rospy.Time.now() - start_time) > userdata.beacon_observation_delay):
break
if userdata.beacon_point is None: #beacon not in view
#first hope, we can spin slowly and see the beacon
if not self.tried_spin:
self.announcer.say("Beacon not in view. Rotate ing")
userdata.simple_move = SimpleMoveGoal(type=SimpleMoveGoal.SPIN,
angle = np.pi*2,
velocity = userdata.spin_velocity)
userdata.stop_on_detection = True
self.tried_spin = True
return 'spin'
#already tried a spin, drive towards beacon_approach_point, stopping on detection
elif distance_to_approach_point > 5.0:
#we think we're far from approach_point, so try to go there
self.announcer.say("Beacon not in view. Moving to approach point.")
userdata.stop_on_detection = True
self.tried_spin = False
userdata.move_target = userdata.beacon_approach_pose
return 'move'
else:
#we think we're looking at the beacon, but we don't see it, this is probably real bad
self.announcer.say("Close to approach point in map. Beacon not in view. Search ing")
search_pose = deepcopy(current_pose)
#try a random position nearby-ish, ignore facing
search_pose.pose.position.x += random.randrange(-30, 30, 10)
search_pose.pose.position.y += random.randrange(-30, 30, 10)
userdata.stop_on_detection = True
self.tried_spin = False
userdata.move_target = geometry_msg.PointStamped(search_pose.header,
search_pose.pose.position)
return 'move'
else: #beacon is in view
current_yaw = util.get_current_robot_yaw(self.tf_listener,
userdata.platform_frame)
yaw_to_platform = util.pointing_yaw(current_pose.pose.position,
userdata.platform_point.point)
yaw_error = util.unwind(yaw_to_platform - current_yaw)
userdata.stop_on_detection = False
self.tried_spin = False
#on the back side
if current_pose.pose.position.x < 0:
#try not to drive through the platform
self.announcer.say("Back of beacon in view. Move ing to front")
front_pose = deepcopy(userdata.beacon_approach_pose)
front_pose.pose.position.y = 5.0 * np.sign(current_pose.pose.position.y)
pointing_quat = util.pointing_quaternion_2d(front_pose.pose.position,
userdata.platform_point.point)
front_pose.pose.orientation = pointing_quat
userdata.move_target = front_pose
return 'move'
elif distance_to_approach_point > 2.0:
#on correct side of beacon, but far from approach point
self.announcer.say("Beacon in view. Move ing to approach point")
userdata.move_target = userdata.beacon_approach_pose
return 'move'
elif np.abs(yaw_error) > .2:
#this means beacon is in view and we are within 1 meter of approach point
#but not pointed so well at beacon
self.announcer.say("At approach point. Rotate ing to beacon")
userdata.simple_move = SimpleMoveGoal(type=SimpleMoveGoal.SPIN,
angle = yaw_error,
velocity = userdata.spin_velocity)
return 'spin'
else:
self.announcer.say("Measure ing beacon position.")
userdata.stop_on_detection = False
return 'mount'
return 'aborted'
