def execute_spin(self, rotation, max_velocity=None, acceleration=None, stop_function=None):
return util.unwind(
self.execute(
lambda start_yaw=self.current_yaw:(self.current_yaw-start_yaw-rotation)*self.stern_offset,
dict(stern=-np.pi/2*np.sign(rotation),
port=0.0,
starboard=0.0),
lambda v, sign=np.sign(rotation) : self.spin_publisher(v, sign),
max_velocity,
acceleration,
stop_function)/self.stern_offset)
def yaw_error(self):
"""
Compute difference between present orientation and
goal orientation.
"""
current_pose = util.get_current_robot_pose(self._tf,
self.odometry_frame)
raw_error = euler_from_orientation(self._goal_odom.pose.orientation)[-1] - \
euler_from_orientation(current_pose.pose.orientation)[-1]
return util.unwind(raw_error)
def execute_continuous_strafe(self, angle, max_velocity=None, acceleration=None, stop_function=None):
angle = util.unwind(angle)
self.strafe_angle = angle
#now calculate the angles of the wheel pods
if (-np.pi/2<=angle<=np.pi/2):
target_angle = angle
elif (np.pi/2 < angle):
target_angle = angle - np.pi
elif (angle < -np.pi/2):
target_angle = angle + np.pi
return self.execute(
lambda: np.inf ,
dict(stern=target_angle,
port=target_angle,
starboard=target_angle),
lambda v : self.strafe_publisher(v),
max_velocity,
acceleration,
stop_function)
def execute_strafe(self, angle, distance, max_velocity=None, acceleration=None, stop_function=None):
angle = util.unwind(angle)
self.strafe_angle = angle
#now calculate the angles of the wheel pods
if (-np.pi/2<=angle<=np.pi/2):
target_angle = angle
elif (np.pi/2 < angle):
target_angle = angle - np.pi
elif (angle < -np.pi/2):
target_angle = angle + np.pi
return self.execute(
lambda start_position=self.current_position: np.abs(distance-np.linalg.norm(start_position-self.current_position)),
dict(stern=target_angle,
port=target_angle,
starboard=target_angle),
lambda v : self.strafe_publisher(v),
max_velocity,
acceleration,
stop_function)
def run_compute_angle_action(self, goal):
image_sub = rospy.Subscriber('image', Image, self.image_callback, None, 1)
self.starting_yaw = util.get_current_robot_yaw(self.tf_listener, self.odom_frame)
#spin all the way around
self.turning = True
self.spin_goal.angle = 2*np.pi
if not self.execute_move_goal(self.spin_goal):
self.turning = False
return
self.turning = False
best_angle_index = np.argmax(self.min_lightness)
best_angle = self.img_angles[best_angle_index]
#return to best angle
self.spin_goal.angle = util.unwind(best_angle-self.starting_yaw)
if not self.execute_move_goal(self.spin_goal):
return
self.min_lightness = []
self.img_angles = []
image_sub.unregister()
#return the value of best angle in odometry_frame
self.action_server.set_succeeded(ComputeAngleResult(best_angle))
def get_hollow_star(self, spoke_count, spoke_length, offset, hub_radius, spin_step):
#This creates a list of dictionaries. The yaw entry is a useful piece of information
#for some of the state machine states. The other entry is the list of points that
#the robot should try to achieve along the spoke definied by the yaw
offset = np.radians(offset)
yaws = list(np.linspace(0 + offset, -2*np.pi + offset, spoke_count, endpoint=False))
spokes = []
for yaw in yaws:
yaw = util.unwind(yaw)
radius = hub_radius
points = deque([])
while radius < spoke_length:
header = std_msg.Header(0, rospy.Time(0), self.world_fixed_frame)
pos = geometry_msg.Point(radius*math.cos(yaw),
radius*math.sin(yaw), 0)
point = geometry_msg.PointStamped(header, pos)
radius += spin_step
if radius > spoke_length: radius = spoke_length
points.append(point)
spokes.append({'yaw':yaw,
'points':points})
return deque(spokes)
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'
def execute(self, userdata):
result = samplereturn_msg.GeneralExecutiveResult()
result.result_string = 'approach failed'
result.result_int = samplereturn_msg.NamedPoint.NONE
userdata.action_result = result
#default velocity for all moves is in simple_mover!
#initial approach pursuit done at pursuit_velocity
userdata.lighting_optimized = True
userdata.search_count = 0
userdata.grab_count = 0
rospy.loginfo("SAMPLE_PURSUIT input_point: %s" % (userdata.action_goal.input_point))
#store the filter_id on entry, this instance of pursuit will only try to pick up this hypothesis
userdata.latched_filter_id = userdata.action_goal.input_point.filter_id
userdata.filter_changed = False
point, pose = calculate_pursuit(self.tf_listener,
userdata.action_goal.input_point,
userdata.min_pursuit_distance,
userdata.odometry_frame)
try:
approach_point = geometry_msg.PointStamped(pose.header,
pose.pose.position)
yaw, distance = util.get_robot_strafe(self.tf_listener, approach_point)
robot_yaw = util.get_current_robot_yaw(self.tf_listener, userdata.odometry_frame)
except tf.Exception:
rospy.logwarn("PURSUE_SAMPLE failed to get base_link -> %s transform in 1.0 seconds", sample_frame)
return 'aborted'
rospy.loginfo("INITIAL_PURSUIT calculated with distance: {:f}, yaw: {:f} ".format(distance, yaw))
#this is the initial vfh goal pose
goal = samplereturn_msg.VFHMoveGoal(target_pose = pose,
move_velocity = userdata.pursuit_velocity,
spin_velocity = userdata.spin_velocity,
orient_at_target = True)
userdata.pursuit_goal = goal
#create return destination
current_pose = util.get_current_robot_pose(self.tf_listener,
userdata.odometry_frame)
current_pose.header.stamp = rospy.Time(0)
goal = samplereturn_msg.VFHMoveGoal(target_pose = current_pose,
move_velocity = userdata.pursuit_velocity,
spin_velocity = userdata.spin_velocity,
orient_at_target = False)
userdata.return_goal = goal
#if distance to sample approach point is small, use a simple move
if distance < userdata.simple_pursuit_threshold:
facing_yaw = euler_from_orientation(pose.pose.orientation)[-1]
dyaw = util.unwind(facing_yaw - robot_yaw)
userdata.approach_strafe = SimpleMoveGoal(type=SimpleMoveGoal.STRAFE,
angle = yaw,
distance = distance,
velocity = userdata.pursuit_velocity)
userdata.face_sample = SimpleMoveGoal(type=SimpleMoveGoal.SPIN,
angle = dyaw,
velocity = userdata.spin_velocity)
return 'simple'
#if further than threshold make a vfh move to approach point
else:
return 'goal'
