def __init__(self, route_idx = 0):
self.detection_id = -1
self.idx = 6
self.lr = tf.TransformListener()
self.br = tf.TransformBroadcaster()
self.apriltag_sub = rospy.Subscriber("/apriltags/detections", AprilTagDetections, self.apriltag_callback, queue_size = 1)
self.velcmd_pub = rospy.Publisher('/cmdvel',WheelCmdVel,queue_size=1)
wcv = WheelCmdVel()
wcv.desiredGripperPos = gripperOpen
self.velcmd_pub.publish(wcv)
self.idx6cnt= 0
self.stage9 = 0
self.thread = threading.Thread(target = self.navi_loop)
self.thread.start()
rospy.sleep(1)
def navi_loop(self):
generic_target_pose2d = [0.4, 0, np.pi]
#target_pose2d = [0.25, 0, np.pi]
rate = rospy.Rate(100) # 100hz
wcv = WheelCmdVel()
wcv.desiredGripperPos = gripperOpen
arrived = False
arrived_position = False
self.print_id = -1
while not rospy.is_shutdown() :
if self.idx >= 10:
break
# get robot pose
robot_pose3d = lookupTransform(self.lr, '/map', '/robot_base')
target_pose2d = generic_target_pose2d
#7 close gripper
if self.idx == 7:
rospy.sleep(10)
wcv.desiredGripperPos = gripperClose
self.velcmd_pub.publish(wcv)
self.idx = self.idx + 1
#8
elif self.idx == 8:
# retreat
print 'idx =', self.idx
wcv.desiredWV_R = -0.1
wcv.desiredWV_L = -0.1
self.velcmd_pub.publish(wcv)
rospy.sleep(5.5)
wcv.desiredWV_R = -0.3
wcv.desiredWV_L = -0.1
self.velcmd_pub.publish(wcv)
rospy.sleep(4.5)
wcv.desiredWV_R = 0.1
wcv.desiredWV_L = 0.15
self.velcmd_pub.publish(wcv)
rospy.sleep(1)
wcv.desiredWV_R = 0
wcv.desiredWV_L = 0
self.velcmd_pub.publish(wcv)
self.idx = self.idx + 1
elif self.idx == 9:
# go straight
wcv.desiredWV_R = 0.1
wcv.desiredWV_L = 0.1
self.velcmd_pub.publish(wcv)
self.idx = self.idx + 1
rospy.sleep(18)
wcv.desiredWV_R = 0
wcv.desiredWV_L = 0
self.velcmd_pub.publish(wcv)
rate.sleep()
def navi_loop(self):
generic_target_pose2d = [0.4, 0, np.pi]
#target_pose2d = [0.25, 0, np.pi]
rate = rospy.Rate(100) # 100hz
wcv = WheelCmdVel()
wcv.desiredGripperPos = gripperOpen
arrived = False
arrived_position = False
self.print_id = -1
while not rospy.is_shutdown():
if self.idx >= 10:
break
# get robot pose
robot_pose3d = lookupTransform(self.lr, '/map', '/robot_base')
target_pose2d = generic_target_pose2d
#7 close gripper
if self.idx == 7:
rospy.sleep(1)
wcv.desiredGripperPos = gripperClose
self.velcmd_pub.publish(wcv)
self.idx = self.idx + 1
#8
elif self.idx == 8:
# retreat
print 'idx =', self.idx
wcv.desiredWV_R = -0.1
wcv.desiredWV_L = -0.1
self.velcmd_pub.publish(wcv)
rospy.sleep(2)
wcv.desiredWV_R = -0.3
wcv.desiredWV_L = -0.1
self.velcmd_pub.publish(wcv)
rospy.sleep(2.5)
wcv.desiredWV_R = 0
wcv.desiredWV_L = 0.1
self.velcmd_pub.publish(wcv)
rospy.sleep(4)
wcv.desiredWV_R = 0
wcv.desiredWV_L = 0
self.velcmd_pub.publish(wcv)
self.idx = self.idx + 1
elif self.idx == 9:
# go straight
wcv.desiredWV_R = 0.1
wcv.desiredWV_L = 0.1
self.velcmd_pub.publish(wcv)
self.idx = self.idx + 1
rospy.sleep(18)
wcv.desiredWV_R = 0
wcv.desiredWV_L = 0
self.velcmd_pub.publish(wcv)
elif (self.idx == 5 and self.detection_id == 4):
if robot_pose3d is None:
print_id = 0
if print_id != self.print_id:
self.print_id = print_id
print '1. Tag not in view, Stop'
wcv.desiredWV_R = 0 # right, left
wcv.desiredWV_L = 0
self.velcmd_pub.publish(wcv)
rate.sleep()
continue
robot_position2d = robot_pose3d[0:2]
target_position2d = target_pose2d[0:2]
robot_yaw = tfm.euler_from_quaternion(robot_pose3d[3:7])[2]
robot_pose2d = robot_position2d + [robot_yaw]
# 2. navigation policy
# 2.1 if in the target, stop
# 2.2 else if close to target position, turn to the target orientation
# 2.3 else if in the correct heading, go straight to the target position,
# 2.4 else turn in the direction of the target position
pos_delta = np.array(target_position2d) - np.array(
robot_position2d)
robot_heading_vec = np.array(
[np.cos(robot_yaw), np.sin(robot_yaw)])
heading_err_cross = cross2d(
robot_heading_vec, pos_delta / np.linalg.norm(pos_delta))
# print 'robot_position2d', robot_position2d, 'target_position2d', target_position2d
# print 'pos_delta', pos_delta
# print 'robot_yaw', robot_yaw
# print 'norm delta', np.linalg.norm( pos_delta ), 'diffrad', diffrad(robot_yaw, target_pose2d[2])
# print 'heading_err_cross', heading_err_cross
if arrived or (np.linalg.norm(pos_delta) < 0.08 and np.fabs(
diffrad(robot_yaw, target_pose2d[2])) < 0.05):
print_id = 21
if print_id != self.print_id:
self.print_id = print_id
print 'Case 2.1 Stop'
wcv.desiredWV_R = 0
wcv.desiredWV_L = 0
arrived = True
elif np.linalg.norm(pos_delta) < 0.08:
arrived_position = True
if diffrad(robot_yaw, target_pose2d[2]) > 0:
print_id = 221
if print_id != self.print_id:
self.print_id = print_id
print 'Case 2.2.1 Turn right slowly'
wcv.desiredWV_R = -0.05
wcv.desiredWV_L = 0.05
else:
print_id = 222
if print_id != self.print_id:
self.print_id = print_id
print 'Case 2.2.2 Turn left slowly'
wcv.desiredWV_R = 0.05
wcv.desiredWV_L = -0.05
elif arrived_position or np.fabs(heading_err_cross) < 0.2:
print_id = 23
if print_id != self.print_id:
self.print_id = print_id
print 'Case 2.3 Straight forward'
wcv.desiredWV_R = 0.1
wcv.desiredWV_L = 0.1
else:
if heading_err_cross < 0:
print_id = 241
if print_id != self.print_id:
self.print_id = print_id
print 'Case 2.4.1 Turn right'
wcv.desiredWV_R = -0.05
wcv.desiredWV_L = 0.05
else:
print_id = 242
if print_id != self.print_id:
self.print_id = print_id
print 'Case 2.4.2 Turn left'
wcv.desiredWV_R = 0.05
wcv.desiredWV_L = -0.05
self.velcmd_pub.publish(wcv)
if arrived:
print 'old idx', self.idx, 'new idx', self.idx + 1
self.idx = self.idx + 1
arrived = False
arrived_position = False
rospy.sleep(3)
rate.sleep()
def navi_loop(self):
first_turn_point_id6_route0 = [0.95, 0.28, -3.00] # apriltag id = 6
first_turn_point_id6_route1 = [0.38, 0.09, 3.076] # apriltag id = 6
stop_first_turn_lo_route0 = [2.38, 0.84, -2.75] # apriltag id = 4
stop_first_turn_up_route0 = [2.30, 0.86, -3.03] # apriltag id = 4
stop_first_turn_lo_route1 = [2.14, -0.45, 2.95] # apriltag id = 4
stop_first_turn_up_route1 = [2.01, 0.34, 3.10] # apriltag id = 4
generic_target_pose2d = [0.4, 0, np.pi]
#target_pose2d = [0.25, 0, np.pi]
rate = rospy.Rate(100) # 100hz
wcv = WheelCmdVel()
wcv.desiredGripperPos = gripperOpen
arrived = False
arrived_position = False
self.print_id = -1
while not rospy.is_shutdown():
print 'self.idx', self.idx
if self.idx >= 11:
break
if self.idx <= 0: # haven't found obstacle
rospy.sleep(2)
continue
# 0. set target
target_pose2d = generic_target_pose2d
# 1. get robot pose
robot_pose3d = lookupTransform(self.lr, '/map', '/robot_base')
# idx == 1, start from initial position
if self.idx == 1:
if self.route_idx == 0:
self.idx = self.idx + 1
# go straight
wcv.desiredWV_R = 0.2
wcv.desiredWV_L = 0.2
self.velcmd_pub.publish(wcv)
rospy.sleep(1)
# stop
wcv.desiredWV_R = 0
wcv.desiredWV_L = 0
self.velcmd_pub.publish(wcv)
rospy.sleep(1)
# turn right a few degrees
wcv.desiredWV_R = 0.1
wcv.desiredWV_L = 0.2
self.velcmd_pub.publish(wcv)
rospy.sleep(5.5)
# stop
wcv.desiredWV_R = 0
wcv.desiredWV_L = 0
self.velcmd_pub.publish(wcv)
rospy.sleep(1)
# go straight
wcv.desiredWV_R = 0.5
wcv.desiredWV_L = 0.5
self.velcmd_pub.publish(wcv)
rospy.sleep(4)
# stop
wcv.desiredWV_R = 0
wcv.desiredWV_L = 0
self.velcmd_pub.publish(wcv)
rospy.sleep(1)
elif self.route_idx == 1:
self.idx = self.idx + 1
# go straight
wcv.desiredWV_R = 0.3
wcv.desiredWV_L = 0.3
self.velcmd_pub.publish(wcv)
rospy.sleep(4.5)
# stop
wcv.desiredWV_R = 0
wcv.desiredWV_L = 0
self.velcmd_pub.publish(wcv)
rospy.sleep(1)
# turn right a few degrees
wcv.desiredWV_R = -0.1
wcv.desiredWV_L = 0.1
self.velcmd_pub.publish(wcv)
rospy.sleep(3)
# stop
wcv.desiredWV_R = 0
wcv.desiredWV_L = 0
self.velcmd_pub.publish(wcv)
rospy.sleep(1)
# go straight
wcv.desiredWV_R = 0.5
wcv.desiredWV_L = 0.5
self.velcmd_pub.publish(wcv)
rospy.sleep(3) #was3
# stop
wcv.desiredWV_R = 0
wcv.desiredWV_L = 0
self.velcmd_pub.publish(wcv)
rospy.sleep(1)
elif self.idx == 2:
self.idx = self.idx + 1
# idx == 2 or 5, go to human or target
elif (self.idx == 5 and self.detection_id == 3) \
or (self.idx == 10 and self.detection_id == 4):
if robot_pose3d is None:
print_id = 0
if print_id != self.print_id:
self.print_id = print_id
print '1. Tag not in view, Stop'
wcv.desiredWV_R = 0 # right, left
wcv.desiredWV_L = 0
self.velcmd_pub.publish(wcv)
rate.sleep()
continue
robot_position2d = robot_pose3d[0:2]
target_position2d = target_pose2d[0:2]
robot_yaw = tfm.euler_from_quaternion(robot_pose3d[3:7])[2]
robot_pose2d = robot_position2d + [robot_yaw]
# 2. navigation policy
# 2.1 if in the target, stop
# 2.2 else if close to target position, turn to the target orientation
# 2.3 else if in the correct heading, go straight to the target position,
# 2.4 else turn in the direction of the target position
pos_delta = np.array(target_position2d) - np.array(
robot_position2d)
robot_heading_vec = np.array(
[np.cos(robot_yaw), np.sin(robot_yaw)])
heading_err_cross = cross2d(
robot_heading_vec, pos_delta / np.linalg.norm(pos_delta))
# print 'robot_position2d', robot_position2d, 'target_position2d', target_position2d
# print 'pos_delta', pos_delta
# print 'robot_yaw', robot_yaw
# print 'norm delta', np.linalg.norm( pos_delta ), 'diffrad', diffrad(robot_yaw, target_pose2d[2])
# print 'heading_err_cross', heading_err_cross
if arrived or (np.linalg.norm(pos_delta) < 0.08 and np.fabs(
diffrad(robot_yaw, target_pose2d[2])) < 0.05):
print_id = 21
if print_id != self.print_id:
self.print_id = print_id
print 'Case 2.1 Stop'
wcv.desiredWV_R = 0
wcv.desiredWV_L = 0
arrived = True
elif np.linalg.norm(pos_delta) < 0.08:
arrived_position = True
if diffrad(robot_yaw, target_pose2d[2]) > 0:
print_id = 221
if print_id != self.print_id:
self.print_id = print_id
print 'Case 2.2.1 Turn right slowly'
wcv.desiredWV_R = -0.05
wcv.desiredWV_L = 0.05
else:
print_id = 222
if print_id != self.print_id:
self.print_id = print_id
print 'Case 2.2.2 Turn left slowly'
wcv.desiredWV_R = 0.05
wcv.desiredWV_L = -0.05
elif arrived_position or np.fabs(heading_err_cross) < 0.2:
print_id = 23
if print_id != self.print_id:
self.print_id = print_id
print 'Case 2.3 Straight forward'
wcv.desiredWV_R = 0.1
wcv.desiredWV_L = 0.1
else:
if heading_err_cross < 0:
print_id = 241
if print_id != self.print_id:
self.print_id = print_id
print 'Case 2.4.1 Turn right'
wcv.desiredWV_R = -0.05
wcv.desiredWV_L = 0.05
else:
print_id = 242
if print_id != self.print_id:
self.print_id = print_id
print 'Case 2.4.2 Turn left'
wcv.desiredWV_R = 0.05
wcv.desiredWV_L = -0.05
self.velcmd_pub.publish(wcv)
if arrived:
print 'old idx', self.idx, 'new idx', self.idx + 1
self.idx = self.idx + 1
arrived = False
arrived_position = False
rospy.sleep(3)
# idx == 3, wait for human signal
# apriltag id == 12: left
# apriltag_id == 14: middle
# apriltag_id == 16: right
elif self.idx == 3:
if self.detection_id == 12:
self.bottle = 0
self.idx = self.idx + 1
elif self.detection_id == 14:
self.bottle = 1
self.idx = self.idx + 1
elif self.detection_id == 16:
self.bottle = 2
self.idx = self.idx + 1
# idx == 4, turn left and go to target
elif self.idx == 4:
if self.detection_id == 3:
print_id = 4002
if print_id != self.print_id:
self.print_id = print_id
print 'idx4 finished'
wcv.desiredWV_R = 0
wcv.desiredWV_L = 0
arrived = True
else:
print_id = 4001
if print_id != self.print_id:
self.print_id = print_id
print 'Turn left slowly'
wcv.desiredWV_R = 0.05
wcv.desiredWV_L = -0.05
self.velcmd_pub.publish(wcv)
if arrived:
self.idx = self.idx + 1
arrived = False
arrived_position = False
rospy.sleep(1)
# 6 go to bottle
elif self.idx == 6:
print 'idx =', self.idx
if self.bottle == 0: #left
wcv.desiredWV_R = -0.3
wcv.desiredWV_L = -0.1
self.velcmd_pub.publish(wcv)
rospy.sleep(2)
wcv.desiredWV_R = 0.3
wcv.desiredWV_L = 0
self.velcmd_pub.publish(wcv)
rospy.sleep(1.8)
'''
wcv.desiredWV_R = 0.05
wcv.desiredWV_L = 0
self.velcmd_pub.publish(wcv)
rospy.sleep(1)
'''
wcv.desiredWV_R = 0.1
wcv.desiredWV_L = 0.1
self.velcmd_pub.publish(wcv)
rospy.sleep(3.8)
wcv.desiredWV_R = 0
wcv.desiredWV_L = 0
self.velcmd_pub.publish(wcv)
self.idx = self.idx + 1
elif self.bottle == 1:
# middle
wcv.desiredWV_R = 0.05
wcv.desiredWV_L = 0
self.velcmd_pub.publish(wcv)
rospy.sleep(3)
wcv.desiredWV_R = 0.05
wcv.desiredWV_L = 0.05
self.velcmd_pub.publish(wcv)
self.idx = self.idx + 1
rospy.sleep(3.6)
wcv.desiredWV_R = 0
wcv.desiredWV_L = 0
self.velcmd_pub.publish(wcv)
elif self.bottle == 2: # right
wcv.desiredWV_R = 0.05
wcv.desiredWV_L = 0.05
self.velcmd_pub.publish(wcv)
self.idx = self.idx + 1
rospy.sleep(6)
wcv.desiredWV_R = 0
wcv.desiredWV_L = 0
self.velcmd_pub.publish(wcv)
# left
#7 close gripper
elif self.idx == 7:
wcv.desiredGripperPos = girpperClose
self.velcmd_pub.publish(wcv)
self.idx = self.idx + 1
rospy.sleep(2)
self.idx6cnt = 0
#8
elif self.idx == 8:
# retreat
print 'idx =', self.idx
if self.bottle == 0: #left
if self.route_idx == 0:
wcv.desiredWV_R = -0.3
wcv.desiredWV_L = 0
self.velcmd_pub.publish(wcv)
rospy.sleep(2)
self.idx = self.idx + 1
wcv.desiredWV_R = -0.1
wcv.desiredWV_L = -0.1
#self.velcmd_pub.publish(wcv)
rospy.sleep(2) # left
wcv.desiredWV_R = 0
wcv.desiredWV_L = 0
self.velcmd_pub.publish(wcv)
elif self.route_idx == 1:
wcv.desiredWV_R = -0.3
wcv.desiredWV_L = 0
self.velcmd_pub.publish(wcv)
rospy.sleep(2)
self.idx = self.idx + 1
wcv.desiredWV_R = -0.1
wcv.desiredWV_L = -0.1
#self.velcmd_pub.publish(wcv)
rospy.sleep(1) # left
wcv.desiredWV_R = 0
wcv.desiredWV_L = 0
self.velcmd_pub.publish(wcv)
elif self.bottle == 1: #middle
wcv.desiredWV_R = -0.3
wcv.desiredWV_L = -0.1
self.velcmd_pub.publish(wcv)
self.idx = self.idx + 1
rospy.sleep(5) #middle
wcv.desiredWV_R = 0
wcv.desiredWV_L = 0
self.velcmd_pub.publish(wcv)
elif self.bottle == 2: #right
wcv.desiredWV_R = -0.3
wcv.desiredWV_L = -0.1
self.velcmd_pub.publish(wcv)
self.idx = self.idx + 1
rospy.sleep(4)
wcv.desiredWV_R = 0
wcv.desiredWV_L = 0
self.velcmd_pub.publish(wcv)
elif self.idx == 9:
# turn right
print 'idx =', self.idx
if self.bottle == 0: #left
if self.route_idx == 0:
wcv.desiredWV_R = 0
wcv.desiredWV_L = 0.2
self.velcmd_pub.publish(wcv)
self.idx = self.idx + 1
rospy.sleep(3) # left
wcv.desiredWV_R = 0
wcv.desiredWV_L = 0
self.velcmd_pub.publish(wcv)
elif self.route_idx == 1:
wcv.desiredWV_R = 0
wcv.desiredWV_L = 0.2
self.velcmd_pub.publish(wcv)
rospy.sleep(3) # left
if self.detection_id != 4:
wcv.desiredWV_R = 0
wcv.desiredWV_L = 0.05
self.velcmd_pub.publish(wcv)
else:
self.idx = self.idx + 1
elif self.bottle == 1: #middle
wcv.desiredWV_R = 0
wcv.desiredWV_L = 0.2
self.velcmd_pub.publish(wcv)
self.idx = self.idx + 1
rospy.sleep(5.5) # middle
wcv.desiredWV_R = 0
wcv.desiredWV_L = 0
self.velcmd_pub.publish(wcv)
elif self.bottle == 2: #right
wcv.desiredWV_R = 0
wcv.desiredWV_L = 0.2
self.velcmd_pub.publish(wcv)
self.idx = self.idx + 1
rospy.sleep(5)
wcv.desiredWV_R = 0
wcv.desiredWV_L = 0
self.velcmd_pub.publish(wcv)
'''
elif self.idx == 10:
# go straight
print 'idx =', self.idx
wcv.desiredWV_R = 0.3
wcv.desiredWV_L = 0.3
self.velcmd_pub.publish(wcv)
self.idx = self.idx + 1
rospy.sleep(4.5)
wcv.desiredWV_R = 0
wcv.desiredWV_L = 0
self.velcmd_pub.publish(wcv)
'''
rate.sleep()