def __init__(self, point_ids, locations, neighbors, landmark_ids,
landmark_positions, landmark_angles):
# listen for frame transformations
TfTransformer.__init__(self)
# store raw tag data, data in the odom frame, and data in the base frame
self.tags = {}
self.tags_base = {}
self.tags_odom = {}
# set up the transformer between the map and ekf
self._transform = self._transform = {
"map_pos": Point(0, 0, 0),
"map_angle": 0,
"odom_pos": Point(0, 0, 0),
"odom_angle": 0
}
self.floorplan = FloorPlan(point_ids, locations, neighbors,
landmark_ids, landmark_positions,
landmark_angles)
# smooth data by selectively sampling
self._prev_odom = [0, 0, 0, 0, 0, 0, 1]
# set up logger and csv logging
self._logger = Logger("Localization")
# subscribe to raw tag data
rospy.Subscriber('/ar_pose_marker',
AlvarMarkers,
self._tagCallback,
queue_size=1)
def __init__(self, jerky=False, walking_speed=1):
# listen for frame transformations
TfTransformer.__init__(self)
# initialize motion component of navigation
self._motion = Motion()
self._sensors = Sensors()
self._jerky = jerky
self._walking_speed = min(abs(walking_speed), 1)
self._logger = Logger("Navigation")
# set up obstacle avoidance
self._avoiding = False
self._obstacle = False
self._bumped = False
self._bumper = 0
# we're going to send the turtlebot to a point a quarter meter ahead of itself
self._avoid_goto = PointStamped()
self._avoid_goto.header.frame_id = "/base_footprint"
self._avoid_goto.point.x = self._AVOID_DIST
self._avoid_target = None
self._avoid_turn = None
# subscibe to the robot_pose_ekf odometry information
self.p = None
self.q = None
self.angle = 0
self._target_turn_delta = 0
rospy.Subscriber('/robot_pose_ekf/odom_combined',
PoseWithCovarianceStamped, self._ekfCallback)
# set up navigation to destination data
self._reached_goal = True
# set up the odometry reset publisher (publishing Empty messages here will reset odom)
reset_odom = rospy.Publisher('/mobile_base/commands/reset_odometry',
Empty,
queue_size=1)
# reset odometry (these messages take about a second to get through)
timer = time()
while time() - timer < 1 or self.p is None:
reset_odom.publish(Empty())
def __init__(self, pick_id=0, place_id=1):
self.pick_pose = [-999]*7
self.pick_data = False
self.place_pose = [-999]*7
self.place_data = False
self.subscriber = rospy.Subscriber('ar_pose_marker', AlvarMarkers, \
self.ar_callback)
self.ctrl = ArmController(event_detector=True)
self.tf_transformer = TfTransformer(self.ctrl.tf_listener)
self.joint_move_arm_to_side('r', blocking=False)
self.joint_move_arm_to_side('l')
self.default_frame = "base_link"
self.grasper = ArghGrasp()
class pick_and_place():
def __init__(self, pick_id=0, place_id=1):
self.pick_pose = [-999]*7
self.pick_data = False
self.place_pose = [-999]*7
self.place_data = False
self.subscriber = rospy.Subscriber('ar_pose_marker', AlvarMarkers, \
self.ar_callback)
self.ctrl = ArmController(event_detector=True)
self.tf_transformer = TfTransformer(self.ctrl.tf_listener)
self.joint_move_arm_to_side('r', blocking=False)
self.joint_move_arm_to_side('l')
self.default_frame = "base_link"
self.grasper = ArghGrasp()
"""
### experimental code
def pick_up(self, whicharm='l', top_grasp = False):
rospy.loginfo("pre pickup pose")
self.open_gripper(whicharm)
first = [1.042181865195266, 0.05674577918307219, 1.7141703410128142, -1.2368941648991192, 44.01523148337816, -1.3485333030083617, 58.22465995394929]
self.ctrl.joint_movearm(whicharm, first)
start = [0.6169387251649058, 0.13840014757000843, 0.7266251135486242, 0.7131394766246717, -0.7008370665851971, 0.008851073879117963, 0.013459252242671303]
end = [0.591262509439721, -0.19429620128938668, 0.748909628486445, 0.7368007601058577, -0.6756313110616471, -0.01694214819160356, -0.01897195391107014]
self.move_cartesian_step(whicharm, start)
self.move_cartesian_step(whicharm, end, blocking=False)
self.ctrl.gripper.start_gripper_event_detector(\
whicharm, blocking=True,timeout = 5)
self.ctrl.cart_freeze_arm(whicharm)
self.close_gripper(whicharm)
curr = self.ctrl.get_cartesian_pose()[whicharm]
curr[2] += 0.05
self.move_cartesian_step(whicharm,curr)
self.constrained_move_arm_to_side(whicharm)
return True
"""
def pick_up(self, whicharm='l'):
if self.pick_data:
self.open_gripper(whicharm)
if not self.grasper.pick_up(whicharm,5, self.pick_pose):
return False
# move arm to side
rospy.loginfo("moving arm to side")
self.constrained_move_arm_to_side(whicharm)
return self.ctrl.gripper.is_grasping()[whicharm]
else:
return False
def reset_ar(self):
self.pick_data = False
self.place_data = False
def is_close(self, desired = .664, threshold=.76):
x = self.place_pose[0]
if x > threshold:
return (False, x - desired)
else:
return (True, 0)
def place(self, whicharm="l", top_grasp = True, use_offset = True):
if self.place_data:
# get place offset from cooler
if use_offset:
trans, _ = self.tf_transformer.get_transform(\
'base_link', 'ar_marker_1')
if not trans:
return False
else:
print "not finding place pose"
trans = self.place_pose[:3]
curr_pose = self.ctrl.get_cartesian_pose()[whicharm]
rot = curr_pose[3:]
#_,rot = self.ctrl.get_cartesian_pose()[whicharm]
place_pose = trans + rot
over_pose, under_pose = list(place_pose), list(place_pose)
over_pose[2] += .2
under_pose[2] -= .2
self.reset_ar()
print "%s\n%s\n%s"%(place_pose, over_pose, under_pose)
rospy.loginfo("moving arm over place pose")
result = self.move_cartesian_step(whicharm,over_pose)
rospy.loginfo("waiting a second before placing")
rospy.sleep(1) # wait a second before placing
if result:
rospy.loginfo("guarded move arm to place pose")
result = self.guarded_cartesian_move(whicharm, under_pose)
if result:
rospy.loginfo("placing can")
self.open_gripper(whicharm)
rospy.loginfo("moving arm up over place pose")
self.move_cartesian_step(whicharm, over_pose)
else:
rospy.loginfo("failed doing guarded move")
else:
rospy.loginfo("failed moving arm over")
"""
rospy.loginfo("moving arm up over place pose")
tmp = False
for i in range (5):
if tmp:
break
tmp = self.move_cartesian_step(whicharm, over_pose)
if no`t tmp:
rospy.loginfo("having difficulty moving arm up "
"over place pose")
if not tmp:
raw_input("can't find over pose")
"""
self.joint_move_arm_to_side(whicharm)
rospy.loginfo("place result succes is: %s " % result)
return result
else:
rospy.loginfo("no place data")
return False
def ar_callback(self, data):
for markers in data.markers:
try:
px = markers.pose.pose.position.x
py = markers.pose.pose.position.y
pz = markers.pose.pose.position.z
ox = markers.pose.pose.orientation.x
oy = markers.pose.pose.orientation.y
oz = markers.pose.pose.orientation.z
ow = markers.pose.pose.orientation.w
if markers.id == 0: # pick
self.pick_pose = [px,py,pz,ox,oy,oz,ow]
self.pick_data = True
if markers.id == 1: # place
self.place_pose = [px, py, pz, ox, oy, oz, ow]
self.place_data = True
except:
pass
#open the gripper
def open_gripper(self, whicharm):
self.ctrl.open_gripper(whicharm)
#close the gripper
def close_gripper(self, whicharm):
self.ctrl.close_gripper(whicharm)
def constrained_move_arm_to_side(self, whicharm):
location={'l': [0.05, 0.65, .7], 'r': [0.05, -0.65, .7]}
poses = self.ctrl.get_cartesian_pose()
rot = poses[whicharm][3:]
side_pose = location[whicharm] + rot
result = self.move_cartesian_step(whicharm, side_pose, blocking=True)
if not result:
rospy.loginfo("cannot constrain joint moving to side")
self.joint_move_arm_to_side(whicharm)
def joint_move_arm_to_side(self, whicharm, blocking = 1):
self.arm_to_side_angles = \
{'r': [-2.02, 0.014, -1.73, -1.97, 10.91, -1.42, 14.17],
'l': [2.02, 0.014, 1.73, -1.97, -10.91, -1.42, 14.17]}
self.ctrl.joint_movearm(whicharm,self.arm_to_side_angles[whicharm],\
blocking=blocking)
def guarded_cartesian_move(self, whicharm, pose, frame="base_link",\
move_duration = 15):
start_pose = self.ctrl.get_cartesian_pose()[whicharm][:3]
self.move_cartesian_step(whicharm, pose, move_duration=7.0,\
frame_id=frame, blocking=False)
self.ctrl.gripper.start_gripper_event_detector(\
whicharm, blocking=True,timeout=move_duration)
self.ctrl.cancel_goal(whicharm)
# did arm even move?
curr_pose = self.ctrl.get_cartesian_pose()[whicharm][:3]
diff = np.linalg.norm(np.array(start_pose) - np.array(curr_pose))
not_at_start = diff > 0.1
return not_at_start
#move to a Cartesian pose goal
def move_cartesian_step(self, whicharm, pose, frame_id="base_link",\
move_duration=5.0, ik_timeout=5.0, blocking=True):
result = self.ctrl.cart_movearm(whicharm, pose, frame_id, \
move_duration, ik_timeout, blocking)
return result
