def __init__(self, robot):
self._velocity_speed = VELOCITY_BASE_SPEED
self._velocity_angular = VELOCITY_BASE_ANGULAR
self.height = 0.5
self.roll = 0.0
self.pitch = 0.0
self.yaw = 0.0
self._robot = robot
# Create clients -- do not use the for communication yet.
self._lease_client = robot.ensure_client(LeaseClient.default_service_name)
self._estop_client = robot.ensure_client(EstopClient.default_service_name)
self._estop_endpoint = EstopEndpoint(self._estop_client, 'wasd', 9.0)
self._power_client = robot.ensure_client(PowerClient.default_service_name)
self._robot_state_client = robot.ensure_client(RobotStateClient.default_service_name)
self._robot_command_client = robot.ensure_client(RobotCommandClient.default_service_name)
self._robot_metrics_task = AsyncMetrics(self._robot_state_client)
self._robot_state_task = AsyncRobotState(self._robot_state_client)
self._image_task = AsyncImageCapture(robot)
self._async_tasks = AsyncTasks(
[self._robot_metrics_task, self._robot_state_task, self._image_task])
self._lock = threading.Lock()
self._command_dictionary = {
ord('\t'): self._quit_program,
ord('T'): self._toggle_time_sync,
ord('\\'): self._toggle_estop,
ord('r'): self._self_right,
ord('P'): self._toggle_power,
ord('1'): self._sit,
ord('2'): self._stand,
ord('w'): self._move_forward,
ord('s'): self._move_backward,
ord('a'): self._strafe_left,
ord('d'): self._strafe_right,
ord('q'): self._turn_left,
ord('e'): self._turn_right,
ord('.'): self._speed_up,
ord(','): self._slow_down,
ord('>'): self._speed_up,
ord('<'): self._slow_down,
ord('z'): self._lean_left,
ord('c'): self._lean_right,
ord('f'): self._twist_left,
ord('h'): self._twist_right,
ord('t'): self._tilt_down,
ord('g'): self._tilt_up,
ord('3'): self._stand_lower,
ord('4'): self._stand_higher,
ord('I'): self._image_task.take_image,
ord('O'): self._image_task.toggle_video_mode,
}
self._locked_messages = ['', '', ''] # string: displayed message for user
self._estop_keepalive = None
self._exit_check = None
# Stuff that is set in start()
self._robot_id = None
self._lease = None
def __init__(self, robot):
self._robot = robot
# Create clients -- do not use the for communication yet.
self._lease_client = robot.ensure_client(
LeaseClient.default_service_name)
try:
self._estop_client = self._robot.ensure_client(
EstopClient.default_service_name)
self._estop_endpoint = EstopEndpoint(self._estop_client,
'GNClient', 9.0)
except:
# Not the estop.
self._estop_client = None
self._estop_endpoint = None
self._power_client = robot.ensure_client(
PowerClient.default_service_name)
self._robot_state_client = robot.ensure_client(
RobotStateClient.default_service_name)
self._robot_command_client = robot.ensure_client(
RobotCommandClient.default_service_name)
self._robot_state_task = AsyncRobotState(self._robot_state_client)
self._image_task = AsyncImageCapture(robot)
self._async_tasks = AsyncTasks(
[self._robot_state_task, self._image_task])
self._lock = threading.Lock()
self._command_dictionary = {
27: self._stop, # ESC key
ord('\t'): self._quit_program,
ord('T'): self._toggle_time_sync,
ord(' '): self._toggle_estop,
ord('r'): self._self_right,
ord('P'): self._toggle_power,
ord('v'): self._sit,
ord('b'): self._battery_change_pose,
ord('f'): self._stand,
ord('w'): self._move_forward,
ord('s'): self._move_backward,
ord('a'): self._strafe_left,
ord('d'): self._strafe_right,
ord('q'): self._turn_left,
ord('e'): self._turn_right,
ord('I'): self._image_task.take_image,
ord('O'): self._image_task.toggle_video_mode,
ord('u'): self._unstow,
ord('j'): self._stow,
ord('l'): self._toggle_lease
}
self._locked_messages = ['', '',
''] # string: displayed message for user
self._estop_keepalive = None
self._exit_check = None
# Stuff that is set in start()
self._robot_id = None
self._lease = None
self._lease_keepalive = None
def main(argv):
# The last argument should be the IP address of the robot. The app will use the directory to find
# the velodyne and start getting data from it.
parser = argparse.ArgumentParser()
bosdyn.client.util.add_common_arguments(parser)
options = parser.parse_args(argv)
sdk = bosdyn.client.create_standard_sdk('VelodyneClient')
robot = sdk.create_robot(options.hostname)
robot.authenticate(options.username, options.password)
robot.sync_with_directory()
_point_cloud_client = robot.ensure_client('velodyne-point-cloud')
_robot_state_client = robot.ensure_client(
RobotStateClient.default_service_name)
_point_cloud_task = AsyncPointCloud(_point_cloud_client)
_robot_state_task = AsyncRobotState(_robot_state_client)
_task_list = [_point_cloud_task, _robot_state_task]
_async_tasks = AsyncTasks(_task_list)
print('Connected.')
update_thread = threading.Thread(target=_update_thread,
args=[_async_tasks])
update_thread.daemon = True
update_thread.start()
# Wait for the first responses.
while any(task.proto is None for task in _task_list):
time.sleep(0.1)
fig = plt.figure()
body_tform_butt = SE3Pose(-0.5, 0, 0, Quat())
body_tform_head = SE3Pose(0.5, 0, 0, Quat())
# Plot the point cloud as an animation.
ax = fig.add_subplot(111, projection='3d')
aggregate_data = collections.deque(maxlen=5)
while True:
if _point_cloud_task.proto[0].point_cloud:
data = np.fromstring(_point_cloud_task.proto[0].point_cloud.data,
dtype=np.float32)
aggregate_data.append(data)
plot_data = np.concatenate(aggregate_data)
ax.clear()
ax.set_xlabel('X (m)')
ax.set_ylabel('Y (m)')
ax.set_zlabel('Z (m)')
# Draw robot position and orientation on plot
if _robot_state_task.proto:
odom_tform_body = get_odom_tform_body(
_robot_state_task.proto.kinematic_state.transforms_snapshot
).to_proto()
helper_se3 = SE3Pose.from_obj(odom_tform_body)
odom_tform_butt = helper_se3.mult(body_tform_butt)
odom_tform_head = helper_se3.mult(body_tform_head)
ax.plot([odom_tform_butt.x], [odom_tform_butt.y],
[odom_tform_butt.z],
'o',
color=SPOT_YELLOW,
markersize=7,
label='robot_butt')
ax.plot([odom_tform_head.x], [odom_tform_head.y],
[odom_tform_head.z],
'o',
color=SPOT_YELLOW,
markersize=7,
label='robot_head')
ax.text(odom_tform_butt.x,
odom_tform_butt.y,
odom_tform_butt.z,
'Spot Butt',
size=TEXT_SIZE,
zorder=1,
color='k')
ax.text(odom_tform_head.x,
odom_tform_head.y,
odom_tform_head.z,
'Spot Head',
size=TEXT_SIZE,
zorder=1,
color='k')
ax.plot([odom_tform_butt.x, odom_tform_head.x],
[odom_tform_butt.y, odom_tform_head.y],
zs=[odom_tform_butt.z, odom_tform_head.z],
linewidth=6,
color=SPOT_YELLOW)
# Plot point cloud data
ax.plot(plot_data[0::3], plot_data[1::3], plot_data[2::3], '.')
set_axes_equal(ax)
plt.draw()
plt.pause(0.016)
if window_closed(ax):
sys.exit(0)
def __init__(self, robot, download_filepath):
self._robot = robot
# Flag indicating whether mission is currently being recorded
self._recording = False
# Filepath for the location to put the downloaded graph and snapshots.
self._download_filepath = download_filepath
# List of visited waypoints in current mission
self._waypoint_path = []
# Current waypoint id
self._waypoint_id = 'NONE'
# Create clients -- do not use the for communication yet.
self._lease_client = robot.ensure_client(
LeaseClient.default_service_name)
try:
self._estop_client = self._robot.ensure_client(
EstopClient.default_service_name)
self._estop_endpoint = EstopEndpoint(self._estop_client,
'GNClient', 9.0)
except:
# Not the estop.
self._estop_client = None
self._estop_endpoint = None
self._power_client = robot.ensure_client(
PowerClient.default_service_name)
self._robot_state_client = robot.ensure_client(
RobotStateClient.default_service_name)
self._robot_command_client = robot.ensure_client(
RobotCommandClient.default_service_name)
self._world_object_client = robot.ensure_client(
WorldObjectClient.default_service_name)
# Setup the recording service client.
self._recording_client = self._robot.ensure_client(
GraphNavRecordingServiceClient.default_service_name)
# Setup the graph nav service client.
self._graph_nav_client = robot.ensure_client(
GraphNavClient.default_service_name)
self._robot_state_task = AsyncRobotState(self._robot_state_client)
self._async_tasks = AsyncTasks([self._robot_state_task])
self._lock = threading.Lock()
self._command_dictionary = {
ord('\t'): self._quit_program,
ord('T'): self._toggle_time_sync,
ord(' '): self._toggle_estop,
ord('r'): self._self_right,
ord('P'): self._toggle_power,
ord('v'): self._sit,
ord('f'): self._stand,
ord('w'): self._move_forward,
ord('s'): self._move_backward,
ord('a'): self._strafe_left,
ord('d'): self._strafe_right,
ord('q'): self._turn_left,
ord('e'): self._turn_right,
ord('m'): self._start_recording,
ord('l'): self._relocalize,
ord('g'): self._generate_mission,
}
self._locked_messages = ['', '',
''] # string: displayed message for user
self._estop_keepalive = None
self._exit_check = None
# Stuff that is set in start()
self._robot_id = None
self._lease = None
def __init__(self,
username,
password,
hostname,
logger,
rates={},
callbacks={}):
self._username = username
self._password = password
self._hostname = hostname
self._logger = logger
self._rates = rates
self._callbacks = callbacks
self._keep_alive = True
self._valid = True
self._mobility_params = RobotCommandBuilder.mobility_params()
self._is_standing = False
self._is_sitting = True
self._is_moving = False
self._last_stand_command = None
self._last_sit_command = None
self._last_motion_command = None
self._last_motion_command_time = None
self._front_image_requests = []
for source in front_image_sources:
self._front_image_requests.append(
build_image_request(
source, image_format=image_pb2.Image.Format.FORMAT_RAW))
self._side_image_requests = []
for source in side_image_sources:
self._side_image_requests.append(
build_image_request(
source, image_format=image_pb2.Image.Format.FORMAT_RAW))
self._rear_image_requests = []
for source in rear_image_sources:
self._rear_image_requests.append(
build_image_request(
source, image_format=image_pb2.Image.Format.FORMAT_RAW))
try:
self._sdk = create_standard_sdk('ros_spot')
except Exception as e:
self._logger.error("Error creating SDK object: %s", e)
self._valid = False
return
self._robot = self._sdk.create_robot(self._hostname)
try:
self._robot.authenticate(self._username, self._password)
self._robot.start_time_sync()
except RpcError as err:
self._logger.error("Failed to communicate with robot: %s", err)
self._valid = False
return
if self._robot:
# Clients
try:
self._robot_state_client = self._robot.ensure_client(
RobotStateClient.default_service_name)
self._robot_command_client = self._robot.ensure_client(
RobotCommandClient.default_service_name)
self._graph_nav_client = self._robot.ensure_client(
GraphNavClient.default_service_name)
self._power_client = self._robot.ensure_client(
PowerClient.default_service_name)
self._lease_client = self._robot.ensure_client(
LeaseClient.default_service_name)
self._lease_wallet = self._lease_client.lease_wallet
self._image_client = self._robot.ensure_client(
ImageClient.default_service_name)
self._estop_client = self._robot.ensure_client(
EstopClient.default_service_name)
except Exception as e:
self._logger.error("Unable to create client service: %s", e)
self._valid = False
return
# Store the most recent knowledge of the state of the robot based on rpc calls.
self._current_graph = None
self._current_edges = dict(
) #maps to_waypoint to list(from_waypoint)
self._current_waypoint_snapshots = dict(
) # maps id to waypoint snapshot
self._current_edge_snapshots = dict() # maps id to edge snapshot
self._current_annotation_name_to_wp_id = dict()
# Async Tasks
self._async_task_list = []
self._robot_state_task = AsyncRobotState(
self._robot_state_client, self._logger,
max(0.0, self._rates.get("robot_state", 0.0)),
self._callbacks.get("robot_state", lambda: None))
self._robot_metrics_task = AsyncMetrics(
self._robot_state_client, self._logger,
max(0.0, self._rates.get("metrics", 0.0)),
self._callbacks.get("metrics", lambda: None))
self._lease_task = AsyncLease(
self._lease_client, self._logger,
max(0.0, self._rates.get("lease", 0.0)),
self._callbacks.get("lease", lambda: None))
self._front_image_task = AsyncImageService(
self._image_client, self._logger,
max(0.0, self._rates.get("front_image", 0.0)),
self._callbacks.get("front_image", lambda: None),
self._front_image_requests)
self._side_image_task = AsyncImageService(
self._image_client, self._logger,
max(0.0, self._rates.get("side_image", 0.0)),
self._callbacks.get("side_image", lambda: None),
self._side_image_requests)
self._rear_image_task = AsyncImageService(
self._image_client, self._logger,
max(0.0, self._rates.get("rear_image", 0.0)),
self._callbacks.get("rear_image", lambda: None),
self._rear_image_requests)
self._idle_task = AsyncIdle(self._robot_command_client,
self._logger, 10.0, self)
self._estop_endpoint = None
self._async_tasks = AsyncTasks([
self._robot_state_task, self._robot_metrics_task,
self._lease_task, self._front_image_task,
self._side_image_task, self._rear_image_task, self._idle_task
])
self._robot_id = None
self._lease = None
def main(argv):
"""Command line interface.
Args:
argv: List of command-line arguments passed to the program.
"""
parser = argparse.ArgumentParser()
parser.add_argument(
"--model-path",
required=True,
help=
"Local file path to the Tensorflow model, example pre-trained models \
can be found at \
https://github.com/tensorflow/models/blob/master/research/object_detection/g3doc/detection_model_zoo.md"
)
parser.add_argument(
"--classes",
default='/classes.json',
type=str,
help="File containing json mapping of object class IDs to class names")
parser.add_argument(
"--number-tensorflow-processes",
default=1,
type=int,
help="Number of Tensorflow processes to run in parallel")
parser.add_argument(
"--detection-threshold",
default=0.7,
type=float,
help="Detection threshold to use for Tensorflow detections")
parser.add_argument(
"--sleep-between-capture",
default=1.0,
type=float,
help=
"Seconds to sleep between each image capture loop iteration, which captures "
+ "an image from all cameras")
parser.add_argument(
"--detection-class",
default=1,
type=int,
help="Detection classes to use in the" +
"Tensorflow model; Default is to use 1, which is a person in the Coco dataset"
)
parser.add_argument(
"--max-processing-delay",
default=7.0,
type=float,
help="Maximum allowed delay for processing an image; " +
"any image older than this value will be skipped")
bosdyn.client.util.add_common_arguments(parser)
options = parser.parse_args(argv)
try:
# Make sure the model path is a valid file
if not _check_model_path(options.model_path):
return False
# Check for classes json file, otherwise use the COCO class dictionary
_check_and_load_json_classes(options.classes)
global TENSORFLOW_PROCESS_BARRIER # pylint: disable=global-statement
TENSORFLOW_PROCESS_BARRIER = Barrier(
options.number_tensorflow_processes + 1)
# Start Tensorflow processes
start_tensorflow_processes(options.number_tensorflow_processes,
options.model_path, options.detection_class,
options.detection_threshold,
options.max_processing_delay)
# sleep to give the Tensorflow processes time to initialize
try:
TENSORFLOW_PROCESS_BARRIER.wait()
except BrokenBarrierError as exc:
print(
f'Error waiting for Tensorflow processes to initialize: {exc}')
return False
# Start the API related things
# Create robot object with a world object client
sdk = bosdyn.client.create_standard_sdk('SpotFollowClient')
robot = sdk.create_robot(options.hostname)
robot.authenticate(options.username, options.password)
#Time sync is necessary so that time-based filter requests can be converted
robot.time_sync.wait_for_sync()
# Verify the robot is not estopped and that an external application has registered and holds
# an estop endpoint.
verify_estop(robot)
# Create the sdk clients
robot_state_client = robot.ensure_client(
RobotStateClient.default_service_name)
robot_command_client = robot.ensure_client(
RobotCommandClient.default_service_name)
lease_client = robot.ensure_client(LeaseClient.default_service_name)
image_client = robot.ensure_client(ImageClient.default_service_name)
source_list = get_source_list(image_client)
image_task = AsyncImage(image_client, source_list)
robot_state_task = AsyncRobotState(robot_state_client)
task_list = [image_task, robot_state_task]
_async_tasks = AsyncTasks(task_list)
print('Detect and follow client connected.')
lease = lease_client.take()
lease_keep = LeaseKeepAlive(lease_client)
# Power on the robot and stand it up
resp = robot.power_on()
try:
blocking_stand(robot_command_client)
except CommandFailedError as exc:
print(
f'Error ({exc}) occurred while trying to stand. Check robot surroundings.'
)
return False
except CommandTimedOutError as exc:
print(f'Stand command timed out: {exc}')
return False
print('Robot powered on and standing.')
params_set = get_mobility_params()
# This thread starts the async tasks for image and robot state retrieval
update_thread = Thread(target=_update_thread, args=[_async_tasks])
update_thread.daemon = True
update_thread.start()
# Wait for the first responses.
while any(task.proto is None for task in task_list):
time.sleep(0.1)
# Start image capture process
image_capture_thread = Thread(target=capture_images,
args=(
image_task,
options.sleep_between_capture,
))
image_capture_thread.start()
while True:
# This comes from the tensorflow processes and limits the rate of this loop
entry = PROCESSED_BOXES_QUEUE.get()
# find the highest confidence bounding box
highest_conf_source = _find_highest_conf_source(entry)
if highest_conf_source is None:
# no boxes or scores found
continue
capture_to_use = entry[highest_conf_source]
raw_time = capture_to_use['raw_image_time']
time_gap = time.time() - raw_time
if time_gap > options.max_processing_delay:
continue # Skip image due to delay
# Find the transform to highest confidence object using the depth sensor
world_tform_object = get_object_position(
capture_to_use['world_tform_cam'],
capture_to_use['visual_image'], capture_to_use['depth_image'],
capture_to_use['boxes'][0],
ROTATION_ANGLES[capture_to_use['source']])
# get_object_position can fail if there is insufficient depth sensor information
if not world_tform_object:
continue
scores = capture_to_use['scores']
print(
f'Transform for object with confidence {scores[0]}: {world_tform_object}'
)
print(
f'Process latency: {time.time() - capture_to_use["system_cap_time"]}'
)
tag_cmd = get_go_to(world_tform_object, robot_state_task.proto,
params_set)
end_time = 15.0
if tag_cmd is not None:
robot_command_client.robot_command(lease=None,
command=tag_cmd,
end_time_secs=time.time() +
end_time)
return True
except Exception as exc: # pylint: disable=broad-except
LOGGER.error("Spot Tensorflow Detector threw an exception: %s", exc)
return False
def main(argv):
parser = argparse.ArgumentParser()
bosdyn.client.util.add_common_arguments(parser)
parser.add_argument('--protocol',
default='tcp',
type=str,
choices=['tcp', 'udp'],
help='IP Protocel to use, either tcp or udp.')
parser.add_argument('--server-port',
default=5201,
type=int,
help='Port number of iperf3 server')
parser.add_argument('--server-hostname',
default='127.0.0.1',
type=str,
help='IP address of ieprf3 server')
options = parser.parse_args(argv)
sdk = bosdyn.client.create_standard_sdk('CommsTestingClient',
[MissionClient])
robot = sdk.create_robot(options.hostname) #ROBOT_IP
robot.authenticate(options.username, options.password)
robot.sync_with_directory()
_robot_state_client = robot.ensure_client(
RobotStateClient.default_service_name)
_mission_client = robot.ensure_client(MissionClient.default_service_name)
_robot_state_task = AsyncRobotState(_robot_state_client)
_mission_state_task = AsyncMissionState(_mission_client)
_task_list = [_robot_state_task, _mission_state_task]
_async_tasks = AsyncTasks(_task_list)
print('Connected.')
update_thread = threading.Thread(target=_update_thread,
args=[_async_tasks])
update_thread.daemon = True
update_thread.start()
# Wait for the first responses.
while any(task.proto is None for task in _task_list):
time.sleep(0.1)
# list to hold all the data
data_list = []
curr_fname = ''
try:
while True:
if _mission_state_task.proto.status != mission_proto.State.STATUS_RUNNING:
# Write out data if it exists
if len(data_list) > 0:
print(
f'Finished a mission, data can be found in {curr_fname}'
)
data_list.clear()
print(_mission_state_task.proto)
time.sleep(1)
else:
if _robot_state_task.proto:
# This script currently uses odometry positioning, which is based on the robot's
# position at boot time. Runs across boots will not be easily comparable
odom_tform_body = get_odom_tform_body(
_robot_state_task.proto.kinematic_state.
transforms_snapshot).to_proto()
helper_se3 = SE3Pose.from_obj(odom_tform_body)
#check latency
ping_ret = check_ping(options.server_hostname)
ping = -1 if ping_ret is None else ping_ret['avg']
# Run iperf3 client
client = iperf3.Client()
client.duration = 1
client.server_hostname = options.server_hostname
client.protocol = options.protocol
client.port = options.server_port
result = client.run()
# update list of data points
if result.error:
print(result.error)
else:
data_entry = {
'loc_x': helper_se3.x,
'loc_y': helper_se3.y,
'loc_z': helper_se3.z,
'time': datetime.datetime.now(),
'latency(ms)': ping
}
if options.protocol == 'udp':
data_entry.update({
'send throughput(Mbps)': result.Mbps,
'recv throughput(Mbps)': -1,
'jitter(ms)': result.jitter_ms,
'lost(%)': result.lost_percent,
'retransmits': -1
})
elif options.protocol == 'tcp':
data_entry.update({
'send throughput(Mbps)': result.sent_Mbps,
'recv throughput(Mbps)': result.received_Mbps,
'jitter(ms)': -1,
'lost(%)': -1,
'retransmits': result.retransmits
})
data_list.append(data_entry)
print(data_list[-1])
# Create csv with header if it doesn't exist, then write latest row
keys = data_list[0].keys()
if curr_fname == '':
curr_fname = create_csv_filename(options.protocol)
with open(curr_fname, 'w') as output_file:
header_writer = csv.DictWriter(
output_file, keys)
header_writer.writeheader()
with open(curr_fname, 'a') as output_file:
dict_writer = csv.DictWriter(output_file, keys)
dict_writer.writerow(data_list[-1])
del client
except KeyboardInterrupt:
print("Caught KeyboardInterrupt, exiting")
return True
def __init__(self,
username,
password,
token,
hostname,
logger,
rates={},
callbacks={}):
self._username = username
self._password = password
self._token = token
self._hostname = hostname
self._logger = logger
self._rates = rates
self._callbacks = callbacks
self._keep_alive = True
self._valid = True
self._mobility_params = RobotCommandBuilder.mobility_params()
self._is_standing = False
self._is_sitting = True
self._is_moving = False
self._last_stand_command = None
self._last_sit_command = None
self._last_motion_command = None
self._last_motion_command_time = None
self._front_image_requests = []
for source in front_image_sources:
self._front_image_requests.append(
build_image_request(
source, image_format=image_pb2.Image.Format.FORMAT_RAW))
self._side_image_requests = []
for source in side_image_sources:
self._side_image_requests.append(
build_image_request(
source, image_format=image_pb2.Image.Format.FORMAT_RAW))
self._rear_image_requests = []
for source in rear_image_sources:
self._rear_image_requests.append(
build_image_request(
source, image_format=image_pb2.Image.Format.FORMAT_RAW))
try:
self._sdk = create_standard_sdk('ros_spot')
except Exception as e:
self._logger.error("Error creating SDK object: %s", e)
self._valid = False
return
try:
self._sdk.load_app_token(self._token)
except Exception as e:
self._logger.error("Error loading developer token: %s", e)
self._valid = False
return
self._robot = self._sdk.create_robot(self._hostname)
try:
self._robot.authenticate(self._username, self._password)
self._robot.start_time_sync()
except RpcError as err:
self._logger.error("Failed to communicate with robot: %s", err)
self._valid = False
return
if self._robot:
# Clients
try:
self._robot_state_client = self._robot.ensure_client(
RobotStateClient.default_service_name)
self._robot_command_client = self._robot.ensure_client(
RobotCommandClient.default_service_name)
self._power_client = self._robot.ensure_client(
PowerClient.default_service_name)
self._lease_client = self._robot.ensure_client(
LeaseClient.default_service_name)
self._image_client = self._robot.ensure_client(
ImageClient.default_service_name)
self._estop_client = self._robot.ensure_client(
EstopClient.default_service_name)
except Exception as e:
self._logger.error("Unable to create client service: %s", e)
self._valid = False
return
# Async Tasks
self._async_task_list = []
self._robot_state_task = AsyncRobotState(
self._robot_state_client, self._logger,
max(0.0, self._rates.get("robot_state", 0.0)),
self._callbacks.get("robot_state", lambda: None))
self._robot_metrics_task = AsyncMetrics(
self._robot_state_client, self._logger,
max(0.0, self._rates.get("metrics", 0.0)),
self._callbacks.get("metrics", lambda: None))
self._lease_task = AsyncLease(
self._lease_client, self._logger,
max(0.0, self._rates.get("lease", 0.0)),
self._callbacks.get("lease", lambda: None))
self._front_image_task = AsyncImageService(
self._image_client, self._logger,
max(0.0, self._rates.get("front_image", 0.0)),
self._callbacks.get("front_image", lambda: None),
self._front_image_requests)
self._side_image_task = AsyncImageService(
self._image_client, self._logger,
max(0.0, self._rates.get("side_image", 0.0)),
self._callbacks.get("side_image", lambda: None),
self._side_image_requests)
self._rear_image_task = AsyncImageService(
self._image_client, self._logger,
max(0.0, self._rates.get("rear_image", 0.0)),
self._callbacks.get("rear_image", lambda: None),
self._rear_image_requests)
self._idle_task = AsyncIdle(self._robot_command_client,
self._logger, 10.0, self)
self._estop_endpoint = EstopEndpoint(self._estop_client, 'ros',
9.0)
self._async_tasks = AsyncTasks([
self._robot_state_task, self._robot_metrics_task,
self._lease_task, self._front_image_task,
self._side_image_task, self._rear_image_task, self._idle_task
])
self._robot_id = None
self._lease = None