def __init__(self):
self.json_file = rospy.get_param('~json', None)
self.is_apc2016 = rospy.get_param('~is_apc2016', True)
self.gripper = rospy.get_param('~gripper', 'gripper2016')
self.max_weight = rospy.get_param('~max_weight', -1)
if self.json_file is None:
rospy.logerr('must set json file path to ~json')
return
data = json.load(open(self.json_file))
self.work_order = {}
work_order_list = []
for order in data['work_order']:
bin_ = order['bin'].split('_')[1].lower()
self.work_order[bin_] = order['item']
work_order_list.append({'bin': bin_, 'item': order['item']})
rospy.set_param('~work_order', work_order_list)
self.object_data = None
if self.is_apc2016:
self.object_data = jsk_apc2016_common.get_object_data()
self.bin_contents = jsk_apc2016_common.get_bin_contents(param='~bin_contents')
self.msg = self.get_work_order_msg()
self.pub_left = rospy.Publisher(
'~left_hand', WorkOrderArray, queue_size=1)
self.pub_right = rospy.Publisher(
'~right_hand', WorkOrderArray, queue_size=1)
rospy.Service('~update_target', UpdateTarget, self._update_target_cb)
self.updated = False
rospy.Timer(rospy.Duration(rospy.get_param('~duration', 1)), self._timer_cb)
def bin_info_publlish(self, event):
json = rospy.get_param('~json', None)
# update bin_info_arr only when rosparam: json is changd
if self.json_file != json:
if not os.path.isfile(json) or json[-4:] != 'json':
rospy.logwarn('wrong json file name')
return
self.json_file = json
# get bbox from rosparam
self.from_shelf_param('upper')
self.from_shelf_param('lower')
# get contents of bin from json
self.bin_contents_dict = jsk_apc2016_common.get_bin_contents(
self.json_file)
self.targets_dict = jsk_apc2016_common.get_work_order(
self.json_file)
# create bin_msg
self.create_bin_info_arr()
self.bin_info_arr.header.stamp = rospy.Time.now()
self.pub_bin_info_arr.publish(self.bin_info_arr)
def sort_work_order(self, event):
bin_contents = jsk_apc2016_common.get_bin_contents(self.output_json_file)
msg = {}
target_object = {}
target_object['left'] = rospy.get_param('/left_hand/target_object')
target_object['right'] = rospy.get_param('/right_hand/target_object')
for arm in ['left', 'right']:
if arm == 'left':
sorted_bin_list = [x for x in 'abdegj']
else:
sorted_bin_list = [x for x in 'cfhikl']
msg[arm] = WorkOrderArray()
if target_object[arm] in self.black_list:
order = WorkOrder(bin="tote", object=target_object[arm])
msg[arm].array.append(order)
else:
if target_object[arm] in self.volume_first:
sorted_bin_list = sorted(
sorted_bin_list,
key=lambda bin_: self.bin_point_dict[bin_],
reverse=True
)
sorted_bin_list = self.sort_by_volume(
sorted_bin_list,
bin_contents,
target_object[arm]
)
else:
sorted_bin_list = self.sort_by_volume(
sorted_bin_list,
bin_contents,
target_object[arm]
)
sorted_bin_list = sorted(
sorted_bin_list,
key=lambda bin_: self.bin_point_dict[bin_],
reverse=True
)
for bin_ in sorted_bin_list:
order = WorkOrder(bin=bin_, object=target_object[arm])
msg[arm].array.append(order)
self.pub[arm].publish(msg[arm])
def __init__(self):
self.bbox_dict = {}
self.bin_contents_dict = {}
self.targets_dict = {}
self.cam_direction_dict = {}
self.json_file = None
pub_bin_info_arr = rospy.Publisher('~bin_array', BinInfoArray, queue_size=1)
pub_bbox_arr = rospy.Publisher('~bbox_array', BoundingBoxArray, queue_size=1)
rate = rospy.Rate(rospy.get_param('rate', 1))
while not rospy.is_shutdown():
json = rospy.get_param('~json', None)
# update bin_info_arr only when rosparam: json is changd
if self.json_file != json:
if not os.path.isfile(json) or json[-4:] != 'json':
rospy.logwarn('wrong json file name')
rate.sleep()
continue
self.json_file = json
# get bbox from rosparam
self.from_shelf_param('upper')
self.from_shelf_param('lower')
# create bounding box array
self.bbox_array = self.get_bounding_box_array(self.bbox_dict)
# get contents of bin from json
self.bin_contents_dict = jsk_apc2016_common.get_bin_contents(self.json_file)
self.targets_dict = jsk_apc2016_common.get_work_order(self.json_file)
# create bin_msg
self.create_bin_info_arr()
self.bbox_array.header.stamp = rospy.Time.now()
self.bin_info_arr.header.stamp = rospy.Time.now()
pub_bbox_arr.publish(self.bbox_array)
pub_bin_info_arr.publish(self.bin_info_arr)
rate.sleep()
def __init__(self):
rp = rospkg.RosPack()
self.json_file = rospy.get_param('~json', None)
self.create_output_json = rospy.get_param('~create_output_json', True)
if self.create_output_json:
self.output_json_file = osp.join(
rp.get_path('jsk_2016_01_baxter_apc'),
'output',
'output_' + osp.basename(self.json_file)
)
else:
self.output_json_file = self.json_file
self.black_list = rospy.get_param('~black_list', [])
self.volume_first = rospy.get_param('~volume_first', [])
self.limit_volume = rospy.get_param('~limit_volume', 3000)
if self.json_file is None:
rospy.logerr('must set json file path to ~json')
return
if self.output_json_file is None:
rospy.logerr('must set output json file path to ~output_json')
return
self.pub = {}
self.pub['left'] = rospy.Publisher(
'~left_hand',
WorkOrderArray,
queue_size=1
)
self.pub['right'] = rospy.Publisher(
'~right_hand',
WorkOrderArray,
queue_size=1
)
self.object_data = jsk_apc2016_common.get_object_data()
initial_bin_contents = jsk_apc2016_common.get_bin_contents(
self.json_file
)
self.bin_point_dict = {
k: self._get_point(v) for k, v in initial_bin_contents.items()
}
def __init__(self):
self.json_file = rospy.get_param('~json', None)
self.is_apc2016 = rospy.get_param('~is_apc2016', True)
self.gripper = rospy.get_param('~gripper', 'gripper2016')
self.max_weight = rospy.get_param('~max_weight', -1)
if self.json_file is None:
rospy.logerr('must set json file path to ~json')
return
data = json.load(open(self.json_file))
self.work_order = {}
work_order_list = []
for order in data['work_order']:
bin_ = order['bin'].split('_')[1].lower()
self.work_order[bin_] = order['item']
work_order_list.append({'bin': bin_, 'item': order['item']})
rospy.set_param('~work_order', work_order_list)
self.object_data = None
if self.is_apc2016:
self.object_data = jsk_apc2016_common.get_object_data()
self.bin_contents = jsk_apc2016_common.get_bin_contents(
param='~bin_contents')
self.msg = self.get_work_order_msg()
self.pub_left = rospy.Publisher('~left_hand',
WorkOrderArray,
queue_size=1)
self.pub_right = rospy.Publisher('~right_hand',
WorkOrderArray,
queue_size=1)
rospy.Service('~update_target', UpdateTarget, self._update_target_cb)
self.updated = False
rospy.Timer(rospy.Duration(rospy.get_param('~duration', 1)),
self._timer_cb)
def __init__(self):
super(self.__class__, self).__init__()
json_file = rospy.get_param('~json')
self.bin_contents = jsk_apc2016_common.get_bin_contents(json_file)
self.pub = self.advertise('~output', ObjectRecognition, queue_size=1)
def __init__(self):
super(self.__class__, self).__init__()
json_file = rospy.get_param('~json')
self.bin_contents = jsk_apc2016_common.get_bin_contents(json_file)
self.pub = self.advertise('~output', ObjectRecognition, queue_size=1)