def __init__(self, pose): self.check_collision = False # 初始化move_group的API moveit_commander.roscpp_initialize(sys.argv) # 初始化ROS节点 rospy.init_node('moveit_obstacles_demo') # 初始化场景对象 scene = PlanningSceneInterface() # 创建一个发布场景变化信息的发布者 self.scene_pub = rospy.Publisher('planning_scene', PlanningScene, queue_size=5) # 创建一个存储物体颜色的字典对象 self.colors = dict() # 等待场景准备就绪 rospy.sleep(1) # 初始化需要使用move group控制的机械臂中的arm group arm = MoveGroupCommander('arm') # 获取终端link的名称 end_effector_link = arm.get_end_effector_link() # 设置位置(单位:米)和姿态(单位:弧度)的允许误差 arm.set_goal_position_tolerance(0.01) arm.set_goal_orientation_tolerance(0.05) # 当运动规划失败后,允许重新规划 arm.allow_replanning(True) # 设置目标位置所使用的参考坐标系 reference_frame = 'base_link' arm.set_pose_reference_frame(reference_frame) # 设置每次运动规划的时间限制:5s arm.set_planning_time(5) # 将场景中的颜色设置发布 self.sendColors() rospy.sleep(5) joint_positions = pose arm.set_joint_value_target(joint_positions) # 控制机械臂完成运动 if arm.go(): pass else: self.check_collision = True rospy.sleep(1) # 关闭并退出moveit moveit_commander.roscpp_shutdown() moveit_commander.os._exit(0)
def __init__(self): # 初始化move_group的API moveit_commander.roscpp_initialize(sys.argv) # 初始化ROS节点 rospy.init_node('moveit_cartesian_demo', anonymous=True) # 是否需要使用笛卡尔空间的运动规划 cartesian = rospy.get_param('~cartesian', True) # 初始化需要使用move group控制的机械臂中的arm group arm = MoveGroupCommander('arm') # 设置位置(单位:米)和姿态(单位:弧度)的允许误差 # arm.set_goal_position_tolerance(0.00001) # arm.set_goal_orientation_tolerance(0.00001) arm.set_max_velocity_scaling_factor(0.5) arm.set_max_acceleration_scaling_factor(1.0) arm.set_planning_time(0.5) # 规划时间限制为2秒 arm.allow_replanning(True) # 当运动规划失败后,是否允许重新规划 # 设置目标位置所使用的参考坐标系 reference_frame = 'base_link' arm.set_pose_reference_frame(reference_frame) # 获取终端link的名称 eef_link = arm.get_end_effector_link() self.group = arm self.eef_link = eef_link self.reference_frame = reference_frame self.moveit_commander = moveit_commander self.listener = tf.TransformListener()
def callback(states): scene = PlanningSceneInterface() robot = RobotCommander() arm = MoveGroupCommander("manipulator") arm.set_planner_id("RRTConnectkConfigDefault") arm.set_num_planning_attempts(20) arm.allow_replanning(True) pose = copy.deepcopy(states.pose[-1]) temp = tf.transformations.euler_from_quaternion( (pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w)) quaternion = tf.transformations.quaternion_from_euler( math.pi, temp[1], temp[2]) pose.position.z += 0.22 pose.orientation.x = quaternion[0] pose.orientation.y = quaternion[1] pose.orientation.z = quaternion[2] pose.orientation.w = quaternion[3] print pose arm.set_pose_target(pose) move_plan = arm.plan() i = 0 while (not move_plan.joint_trajectory.joint_names): move_plan = arm.plan() i += 1 if (i == 5): break state = arm.execute(move_plan)
class TestMove(): def __init__(self): roscpp_initialize(sys.argv) rospy.init_node('kinect_ur3_move', anonymous=True) self.listener = tf.TransformListener() self.scene = PlanningSceneInterface() self.robot_cmd = RobotCommander() self.initialPose = PoseStamped() self.Pose_goal = PoseStamped() self.start_goal = PoseStamped() self.current_goal = PoseStamped() self.next_pose_goal = PoseStamped() self.waypoints = [] self.robot_arm = MoveGroupCommander(GROUP_NAME_ARM) self.robot_arm.allow_replanning(True) self.robot_arm.set_goal_position_tolerance(0.01) self.robot_arm.set_goal_orientation_tolerance(0.1) def printPose(self): self.start_goal = self.robot_arm.get_current_pose("ee_link") print("Start pose:%s",self.start_goal)
def __init__(self): # 初始化move_group的API moveit_commander.roscpp_initialize(sys.argv) # 初始化ROS节点 rospy.init_node('get_camera_pose_image_auto') # 初始化需要使用move group控制的机械臂中的arm group arm = MoveGroupCommander('arm') # 设置位置(单位:米)和姿态(单位:弧度)的允许误差 arm.set_goal_position_tolerance(0.001) arm.set_goal_orientation_tolerance(0.001) arm.set_max_velocity_scaling_factor(0.8) arm.set_max_acceleration_scaling_factor(0.5) arm.set_planning_time(0.5) # 规划时间限制为2秒 arm.allow_replanning(False) # 当运动规划失败后,是否允许重新规划 # 设置目标位置所使用的参考坐标系 reference_frame = 'base_link' arm.set_pose_reference_frame(reference_frame) # 获取终端link的名称 eef_link = arm.get_end_effector_link() # 开始图像接收 image_receiver = ImageReceiver() self.group = arm self.eef_link = eef_link self.reference_frame = reference_frame self.moveit_commander = moveit_commander self.listener = tf.TransformListener() self.save_cnt = 0 print "\n\n[INFO] Pose image saver started."
def __init__(self): # Initialize the move_group API moveit_commander.roscpp_initialize(sys.argv) rospy.init_node('start_pos') # Use the planning scene object to add or remove objects scene = PlanningSceneInterface() # Create a scene publisher to push changes to the scene self.scene_pub = rospy.Publisher('planning_scene', PlanningScene, queue_size=5) # Create a publisher for displaying gripper poses self.gripper_pose_pub = rospy.Publisher('gripper_pose', PoseStamped, queue_size=5) # Create a dictionary to hold object colors self.colors = dict() # Initialize the move group for the right arm right_arm = MoveGroupCommander(GROUP_NAME_ARM) # Initialize the move group for the right gripper right_gripper = MoveGroupCommander(GROUP_NAME_GRIPPER) # Get the name of the end-effector link end_effector_link = right_arm.get_end_effector_link() # Allow some leeway in position (meters) and orientation (radians) right_arm.set_goal_position_tolerance(0.05) right_arm.set_goal_orientation_tolerance(0.1) # Allow replanning to increase the odds of a solution right_arm.allow_replanning(True) # Set the right arm reference frame right_arm.set_pose_reference_frame(REFERENCE_FRAME) # Allow 10 seconds per planning attempt right_arm.set_planning_time(10) # Start the arm in the "resting" pose stored in the SRDF file right_arm.set_named_target('right_start') right_arm.go() # Open the gripper to the neutral position right_gripper.set_joint_value_target(GRIPPER_NEUTRAL) right_gripper.go() rospy.sleep(1) # Shut down MoveIt cleanly moveit_commander.roscpp_shutdown() # Exit the script moveit_commander.os._exit(0)
class TestMove(): def __init__(self): roscpp_initialize(sys.argv) rospy.init_node('ur3_move', anonymous=True) self.scene = PlanningSceneInterface() self.robot_cmd = RobotCommander() self.robot_arm = MoveGroupCommander(GROUP_NAME_ARM) #robot_gripper = MoveGroupCommander(GROUP_NAME_GRIPPER) self.robot_arm.set_goal_orientation_tolerance(0.005) self.robot_arm.set_planning_time(5) self.robot_arm.set_num_planning_attempts(5) self.pose_goal = Pose() rospy.sleep(2) # Allow replanning to increase the odds of a solution self.robot_arm.allow_replanning(True) def move_code(self): self.robot_arm.set_named_target("home") #go to goal state. self.robot_arm.go(wait=True) print("====== move plan go to home 1 ======") rospy.sleep(0.5) # print("====== move plan go to up ======") self.robot_arm.set_named_target("up") #go to goal state. self.robot_arm.go(wait=True) print("====== move plan go to up ======") rospy.sleep(0.5) self.robot_arm.set_named_target("home") #go to goal state. self.robot_arm.go(wait=True) print("====== move plan go to home 1 ======") rospy.sleep(0.5) # robot_arm.set_named_target("up") # robot_arm.go(wait=True) robot_state = self.robot_arm.get_current_pose() robot_angle = self.robot_arm.get_current_joint_values() print(robot_state) def move_TF(self): self.ee_TF_list = [-2.046, 1.121, 0.575, 0.453, 0.561, -0.435, 0.538] self.pose_goal.position.x = self.ee_TF_list[0] self.pose_goal.position.y = self.ee_TF_list[1] self.pose_goal.position.z = self.ee_TF_list[2] self.pose_goal.orientation.x = self.ee_TF_list[3] self.pose_goal.orientation.y = self.ee_TF_list[4] self.pose_goal.orientation.z = self.ee_TF_list[5] self.pose_goal.orientation.w = self.ee_TF_list[6] self.robot_arm.set_pose_target(self.pose_goal) self.robot_arm.go(True)
def __init__(self): # Initialize the move_group API moveit_commander.roscpp_initialize(sys.argv) # Initialize the ROS node rospy.init_node('moveit_ik', anonymous=True) robot = moveit_commander.RobotCommander() # Connect to the right_arm move group right_arm = MoveGroupCommander('right_arm') # Allow replanning to increase the odds of a solution right_arm.allow_replanning(True) # Allow some leeway in position(meters) and orientation (radians) # right_arm.set_goal_position_tolerance(0.01) # right_arm.set_goal_orientation_tolerance(0.1) # Get the name of the end-effector link # end_effector_link = right_arm.get_end_effector_link() # Get the current pose so we can add it as a waypoint # start_pose = right_arm.get_current_pose(end_effector_link).pose # Initialize the waypoints list waypoints = [] valid_pose = np.load("valid_pose.npy") for i in valid_pose: waypoints.append(i.pose) no_pros_data = np.load("dmp_euler_traj.npy") pose_list = [] for idx in no_pros_data: pose = Pose() pose.position.x = idx[0] pose.position.y = idx[1] pose.position.z = idx[2] pose.orientation.x = idx[3] pose.orientation.y = idx[4] pose.orientation.z = idx[5] pose.orientation.w = idx[6] pose_list.append(pose) # Set the internal state to the current state right_arm.set_start_state_to_current_state() (plan, fraction) = right_arm.compute_cartesian_path( pose_list, # waypoint poses 0.01, # eef_step 0.0 # jump_threshold ) # avoid_collisions print "fraction is %s" % fraction right_arm.execute(plan) # Shut down MoveIt cleanly moveit_commander.roscpp_shutdown() # Exit MoveIt moveit_commander.os._exit(0)
def __init__(self): # 初始化move_group的API moveit_commander.roscpp_initialize(sys.argv) # 初始化ROS节点 rospy.init_node('moveit_cartesian_demo', anonymous=True) # 初始化需要使用move group控制的机械臂中的arm group arm = MoveGroupCommander('arm') robot = moveit_commander.RobotCommander() # 当运动规划失败后,允许重新规划 arm.allow_replanning(False) # 设置目标位置所使用的参考坐标系 reference_frame = 'base_link' arm.set_pose_reference_frame(reference_frame) # 设置位置(单位:米)和姿态(单位:弧度)的允许误差 arm.set_goal_position_tolerance(0.001) arm.set_goal_orientation_tolerance(0.01) arm.set_max_velocity_scaling_factor(0.5) arm.set_max_acceleration_scaling_factor(0.5) arm.set_planning_time(0.08) # 规划时间限制为2秒 # arm.set_num_planning_attempts(1) # 规划1次 # 获取终端link的名称 eef_link = arm.get_end_effector_link() scene = moveit_commander.PlanningSceneInterface() scene_pub = rospy.Publisher('planning_scene', PlanningScene, queue_size=10) print "[INFO] Current pose:\n", arm.get_current_pose().pose self.scene = scene self.scene_pub = scene_pub self.colors = dict() self.group = arm self.robot = robot self.eef_link = eef_link self.reference_frame = reference_frame self.moveit_commander = moveit_commander self.broadcaster = tf.TransformBroadcaster() self.listener = tf.TransformListener() self.gripper_len = 0.095 # 手爪实际长度0.165m, 虚拟夹爪深度0.075m 0.16-0.065=0.095m self.approach_distance = 0.06 self.back_distance = 0.05 # sub and pub point cloud self.point_cloud = None self.update_cloud_flag = False rospy.Subscriber('/camera/depth/color/points', PointCloud2, self.callback_pointcloud) thread.start_new_thread(self.publish_pointcloud, ())
def __init__(self): # Initialize the move_group API moveit_commander.roscpp_initialize(sys.argv) rospy.init_node('moveit_speed_demo') # Initialize the move group for the right arm arm = MoveGroupCommander('manipulator') # Get the name of the end-effector link end_effector_link = arm.get_end_effector_link() # Allow replanning to increase the odds of a solution arm.allow_replanning(True) # Allow some leeway in position(meters) and orientation (radians) arm.set_goal_position_tolerance(0.001) arm.set_goal_orientation_tolerance(0.01) # Start the arm in the "home" pose stored in the SRDF file arm.set_named_target('home') arm.go() # 设置机械臂的目标位置,使用六轴的位置数据进行描述(单位:弧度) joint_positions = [0.391410, -0.676384, -0.376217, 0.0, 1.052834, 0.454125] arm.set_joint_value_target(joint_positions) # 控制机械臂完成运动 arm.go() # Start the arm in the "home" pose stored in the SRDF file arm.set_named_target('home') arm.go() # Get back the planned trajectory arm.set_joint_value_target(joint_positions) traj = arm.plan() # Scale the trajectory speed by a factor of 0.25 new_traj = scale_trajectory_speed(traj, 0.25) # Execute the new trajectory arm.execute(new_traj) rospy.sleep(1) arm.set_named_target('home') arm.go() # Exit MoveIt cleanly moveit_commander.roscpp_shutdown() # Exit the script moveit_commander.os._exit(0)
class TestMove(): def __init__(self): roscpp_initialize(sys.argv) rospy.init_node('ur3_move', anonymous=True) self.scene = PlanningSceneInterface() self.robot_cmd = RobotCommander() self.Pose_goal = Pose() self.robot_arm = MoveGroupCommander(GROUP_NAME_ARM) # robot_gripper = MoveGroupCommander(GROUP_NAME_GRIPPER) self.robot_arm.set_goal_orientation_tolerance(0.005) self.robot_arm.set_planning_time(5) self.robot_arm.set_num_planning_attempts(5) rospy.sleep(2) # Allow replanning to increase the odds of a solution self.robot_arm.allow_replanning(True) def move_code(self): # self.robot_arm.set_named_target("up") #go to goal state. # self.robot_arm.go() # print("====== move plan go to home 1 ======") # rospy.sleep(2) # print("====== move plan go to up ======") # self.robot_arm.set_named_target("zeros") #go to goal state. # self.robot_arm.go(wait=True) # print("====== move plan go to zeros ======") # rospy.sleep(1) # robot_arm.set_named_target("up") # robot_arm.go(wait=True) self.robot_arm.set_pose_target(self.Pose_goal) # go to goal state. self.robot_arm.go(True) print("====== move plan go to Pose_goal ======") #rospy.sleep(2) robot_state = self.robot_arm.get_current_pose(); robot_angle = self.robot_arm.get_current_joint_values(); print(robot_state) def callback(self, data): rospy.loginfo(rospy.get_caller_id() + "I heard %s", data) self.Pose_goal = data self.move_code() def listener(self): rospy.Subscriber("chatter", Pose, self.callback)
def arm_pose(): arm = MoveGroupCommander('arm') arm.allow_replanning(True) end_effector_link = arm.get_end_effector_link() arm.set_goal_position_tolerance(0.03) arm.set_goal_orientation_tolerance(0.025) arm.allow_replanning(True) reference_frame = 'base_footprint' arm.set_pose_reference_frame(reference_frame) arm.set_planning_time(5) curr_pose = arm.get_current_pose(end_effector_link).pose.position return curr_pose.x, curr_pose.y, curr_pose.z
def __init__(self): # 初始化move_group的API moveit_commander.roscpp_initialize(sys.argv) # 初始化ROS节点 rospy.init_node('moveit_cartesian_demo', anonymous=True) # 是否需要使用笛卡尔空间的运动规划 cartesian = rospy.get_param('~cartesian', True) # 初始化需要使用move group控制的机械臂中的arm group arm = MoveGroupCommander('arm') robot = moveit_commander.RobotCommander() # 当运动规划失败后,允许重新规划 arm.allow_replanning(False) # 设置目标位置所使用的参考坐标系 reference_frame = 'base_link' arm.set_pose_reference_frame(reference_frame) # 设置位置(单位:米)和姿态(单位:弧度)的允许误差 arm.set_goal_position_tolerance(0.0001) arm.set_goal_orientation_tolerance(0.0001) arm.set_max_velocity_scaling_factor(0.5) # 获取终端link的名称 eef_link = arm.get_end_effector_link() scene = moveit_commander.PlanningSceneInterface() print "[INFO] Current pose:", arm.get_current_pose(eef_link).pose # 控制机械臂运动到之前设置的姿态 # arm.set_named_target('pick_6') # arm.set_named_target('home') # arm.go() self.box_name = '' self.scene = scene self.group = arm self.robot = robot self.eef_link = eef_link self.reference_frame = reference_frame self.moveit_commander = moveit_commander self.move_distance = 0.1 self.back_distance = 0.15
class TestMove(): def __init__(self): roscpp_initialize(sys.argv) rospy.init_node('ur3_move', anonymous=True) self.scene = PlanningSceneInterface() self.robot_cmd = RobotCommander() self.robot_arm = MoveGroupCommander(GROUP_NAME_ARM) #robot_gripper = MoveGroupCommander(GROUP_NAME_GRIPPER) self.robot_arm.set_goal_orientation_tolerance(0.005) self.robot_arm.set_planning_time(5) self.robot_arm.set_num_planning_attempts(5) rospy.sleep(2) # Allow replanning to increase the odds of a solution self.robot_arm.allow_replanning(True) def move_code(self): self.robot_arm.set_named_target("home") #go to goal state. self.robot_arm.go(wait=True) print("====== move plan go to home 1 ======") rospy.sleep(0.5) robot_state = self.robot_arm.get_current_pose() robot_angle = self.robot_arm.get_current_joint_values() print(robot_state) # print("====== move plan go to up ======") self.robot_arm.set_named_target("up") #go to goal state. self.robot_arm.go(wait=True) print("====== move plan go to zero ======") rospy.sleep(0.5) robot_state = self.robot_arm.get_current_pose() robot_angle = self.robot_arm.get_current_joint_values() print(robot_state) self.robot_arm.set_named_target("home") #go to goal state. self.robot_arm.go(wait=True) print("====== move plan go to home2 ======") rospy.sleep(0.5) # robot_arm.set_named_target("up") # robot_arm.go(wait=True) robot_state = self.robot_arm.get_current_pose() robot_angle = self.robot_arm.get_current_joint_values() print(robot_state)
def __init__(self): # 初始化move_group的API moveit_commander.roscpp_initialize(sys.argv) # 初始化ROS节点 rospy.init_node('moveit_cartesian_demo', anonymous=True) # 是否需要使用笛卡尔空间的运动规划 cartesian = rospy.get_param('~cartesian', True) # 初始化需要使用move group控制的机械臂中的arm group arm = MoveGroupCommander('arm') # 当运动规划失败后,允许重新规划 arm.allow_replanning(False) # 设置目标位置所使用的参考坐标系 reference_frame = 'base_link' arm.set_pose_reference_frame(reference_frame) # 设置位置(单位:米)和姿态(单位:弧度)的允许误差 arm.set_goal_position_tolerance(0.001) arm.set_goal_orientation_tolerance(0.01) arm.set_max_velocity_scaling_factor(0.8) arm.set_max_acceleration_scaling_factor(0.5) arm.set_planning_time(1) # 规划时间限制为2秒 arm.set_num_planning_attempts(2) # 规划两次 # 获取终端link的名称 eef_link = arm.get_end_effector_link() scene = moveit_commander.PlanningSceneInterface() print arm.get_current_pose(eef_link).pose sub = rospy.Subscriber('/detect_grasps_yolo/juggle_rects', Float64MultiArray, self.callback) self.juggle_rects = Float64MultiArray() self.box_name = '' self.scene = scene self.group = arm self.eef_link = eef_link self.reference_frame = reference_frame self.moveit_commander = moveit_commander self.move_distance = 0.1 self.back_distance = 0.15
def __init__(self): # Initialize the move_group API moveit_commander.roscpp_initialize(sys.argv) rospy.init_node('moveit_demo') # Initialize the move group for the right arm right_arm = MoveGroupCommander('right_arm') # Get the name of the end-effector link end_effector_link = right_arm.get_end_effector_link() # Allow replanning to increase the odds of a solution right_arm.allow_replanning(True) # Allow some leeway in position(meters) and orientation (radians) right_arm.set_goal_position_tolerance(0.02) right_arm.set_goal_orientation_tolerance(0.1) # Start the arm in the "resting" pose stored in the SRDF file right_arm.set_named_target('rest') right_arm.go() # Move to the named "straight_forward" pose stored in the SRDF file right_arm.set_named_target('wave') right_arm.go() rospy.sleep(2) # Move back to the resting position at roughly 1/4 speed right_arm.set_named_target('rest') # Get back the planned trajectory traj = right_arm.plan() # Set the trajectory speed new_traj = create_tracking_trajectory(traj, 1.0) rospy.loginfo(new_traj) # Execute the new trajectory right_arm.execute(new_traj) rospy.sleep(1) # Exit MoveIt cleanly moveit_commander.roscpp_shutdown() # Exit the script moveit_commander.os._exit(0)
def talker_by13(): #init moveit_commander.roscpp_initialize(sys.argv) rospy.init_node('moveit_fk_demo') #cartesian = rospy.get_param('~cartesian', True) arm = MoveGroupCommander('manipulator') arm.set_pose_reference_frame('base_link') arm.allow_replanning(True) arm.set_goal_position_tolerance(0.001) arm.set_goal_orientation_tolerance(0.001) # arm.set_max_acceleration_scaling_factor(0.5) #arm.set_max_velocity_scaling_factor(0.5) end_effector_link = arm.get_end_effector_link() #arm.set_named_target('home') arm.set_named_target('up') arm.go() rospy.sleep(2) target_pose = PoseStamped() target_pose.header.frame_id = 'base_link' target_pose.header.stamp = rospy.Time.now() target_pose.pose.position.x = 0.86 target_pose.pose.position.y = 0.25 target_pose.pose.position.z = 0.02832 target_pose.pose.orientation.x = 0 target_pose.pose.orientation.y = 0 target_pose.pose.orientation.z = 0 target_pose.pose.orientation.w = 1 #next: find workspace arm.set_start_state_to_current_state() arm.set_pose_target(target_pose, end_effector_link) traj = arm.plan() arm.execute(traj) #arm.shift_pose_target(2,-0.05,end_effector_link) #arm.go() rospy.sleep(2) moveit_commander.roscpp_shutdown() moveit_commander.os._exit(0)
def __init__(self): moveit_commander.roscpp_initialize(sys.argv) rospy.init_node('cobra_test_cartesian', anonymous=True) arm = MoveGroupCommander(ARM_GROUP) arm.allow_replanning(True) rospy.sleep(2) pose = PoseStamped().pose # same orientation for all q = quaternion_from_euler(0.0, 0.0, 0.0) # roll, pitch, yaw pose.orientation = Quaternion(*q) i = 1 while i <= 10: waypoints = list() j = 1 while j <= 5: # random pose rand_pose = arm.get_random_pose(arm.get_end_effector_link()) pose.position.x = rand_pose.pose.position.x pose.position.y = rand_pose.pose.position.y pose.position.z = rand_pose.pose.position.z waypoints.append(copy.deepcopy(pose)) j += 1 (plan, fraction) = arm.compute_cartesian_path( waypoints, # waypoints to follow 0.01, # eef_step 0.0) # jump_threshold print "====== waypoints created =======" # print waypoints # ======= show cartesian path ====== # arm.go() rospy.sleep(10) i += 1 print "========= end =========" moveit_commander.roscpp_shutdown() moveit_commander.os._exit(0)
def __init__(self): # 初始化move_group的API moveit_commander.roscpp_initialize(sys.argv) # 初始化ROS节点 rospy.init_node('moveit_cartesian_demo', anonymous=True) # 初始化需要使用move group控制的机械臂中的arm group arm = MoveGroupCommander('arm') # 当运动规划失败后,允许重新规划 arm.allow_replanning(False) # 设置目标位置所使用的参考坐标系 reference_frame = 'base_link' arm.set_pose_reference_frame(reference_frame) # 设置位置(单位:米)和姿态(单位:弧度)的允许误差 arm.set_goal_position_tolerance(0.001) arm.set_goal_orientation_tolerance(0.01) arm.set_max_velocity_scaling_factor(0.4) arm.set_max_acceleration_scaling_factor(0.5) arm.set_planning_time(0.1) # 规划时间限制为2秒 # arm.set_num_planning_attempts(1) # 规划1次 # 获取终端link的名称 eef_link = arm.get_end_effector_link() scene = moveit_commander.PlanningSceneInterface() print "[INFO] Current pose:\n", arm.get_current_pose().pose self.box_name = '' self.scene = scene self.group = arm self.eef_link = eef_link self.reference_frame = reference_frame self.moveit_commander = moveit_commander self.broadcaster = tf.TransformBroadcaster() self.listener = tf.TransformListener() self.gripper_len = 0.082 # 手爪实际长度0.165m, 虚拟夹爪深度0.075m 0.16-0.075=0.085m self.approach_distance = 0.05 self.back_distance = 0.05
def __init__(self): moveit_commander.roscpp_initialize(sys.argv) rospy.init_node('moveit_test') arm = MoveGroupCommander('arm') end_effector_link = arm.get_end_effector_link() arm.allow_replanning(True) arm.set_planning_time(5) target_pose = PoseStamped() target_pose.header.frame_id = REFERENCE_FRAME target_init_orientation = Quaternion() target_init_orientation = quaternion_from_euler(0.0, 1.57, 0.0) self.setPose(target_pose, [0.5, 0.2, 0.5],list(target_init_orientation)) current_pose = arm.get_current_pose(end_effector_link) self.setPose(current_pose, [current_pose.pose.position.x, current_pose.pose.position.y, current_pose.pose.position.z], list(target_init_orientation)) arm.set_pose_target(current_pose) arm.go() rospy.sleep(2) constraints = Constraints() orientation_constraint = OrientationConstraint() constraints.name = 'gripper constraint' orientation_constraint.header = target_pose.header orientation_constraint.link_name = end_effector_link orientation_constraint.orientation.x = target_init_orientation[0] orientation_constraint.orientation.y = target_init_orientation[1] orientation_constraint.orientation.z = target_init_orientation[2] orientation_constraint.orientation.w = target_init_orientation[3] orientation_constraint.absolute_x_axis_tolerance = 0.03 orientation_constraint.absolute_y_axis_tolerance = 0.03 orientation_constraint.absolute_z_axis_tolerance = 3.14 orientation_constraint.weight = 1.0 constraints.orientation_constraints.append(orientation_constraint) arm.set_path_constraints(constraints) arm.set_pose_target(target_pose, end_effector_link) arm.go() rospy.sleep(1) moveit_commander.roscpp_shutdown() moveit_commander.os._exit(0)
def __init__(self): # Initialize the move_group API moveit_commander.roscpp_initialize(sys.argv) rospy.init_node('moveit_demo') # Initialize the move group for the right arm right_arm = MoveGroupCommander('right_arm') # Get the name of the end-effector link end_effector_link = right_arm.get_end_effector_link() # Allow replanning to increase the odds of a solution right_arm.allow_replanning(True) # Allow some leeway in position(meters) and orientation (radians) right_arm.set_goal_position_tolerance(0.02) right_arm.set_goal_orientation_tolerance(0.1) # Start the arm in the "resting" pose stored in the SRDF file right_arm.set_named_target('resting') right_arm.go() # Move to the named "straight_forward" pose stored in the SRDF file right_arm.set_named_target('straight_forward') right_arm.go() rospy.sleep(2) # Move back to the resting position at roughly 1/4 speed right_arm.set_named_target('resting') # Get back the planned trajectory traj = right_arm.plan() # Scale the trajectory speed by a factor of 0.25 new_traj = scale_trajectory_speed(traj, 0.25) # Execute the new trajectory right_arm.execute(new_traj) rospy.sleep(1) # Exit MoveIt cleanly moveit_commander.roscpp_shutdown() # Exit the script moveit_commander.os._exit(0)
def setUpClass(self): rospy.init_node('test_moveit') rospy.sleep(5) # intentinally wait for starting up hrpsys self.robot = RobotCommander() # TODO: Read groups from SRDF file ideally. for mg_attr in self._MOVEGROUP_ATTRS: mg = MoveGroupCommander(mg_attr[0]) # Temporary workaround of planner's issue similar to https://github.com/tork-a/rtmros_nextage/issues/170 mg.set_planner_id(self._KINEMATICSOLVER_SAFE) # Allow replanning to increase the odds of a solution mg.allow_replanning(True) # increase planning time mg.set_planning_time(30.0) # Append MoveGroup instance to the MoveGroup attribute list. mg_attr.append(mg)
def __init__(self): moveit_commander.roscpp_initialize(sys.argv) rospy.init_node('cobra_move_position', anonymous=True) arm = MoveGroupCommander(ARM_GROUP) arm.allow_replanning(True) arm.set_planning_time(10) arm.set_named_target(START_POSITION) arm.go() rospy.sleep(2) print "======== create new goal position ========" start_pose = PoseStamped() start_pose.header.frame_id = arm.get_planning_frame() # Test Position start_pose.pose.position.x = 0.2 # 20 cm start_pose.pose.position.y = -0.11 # -11 cm start_pose.pose.position.z = 0.6 # 60 cm q = quaternion_from_euler(0.0, 0.0, 0.0) start_pose.pose.orientation = Quaternion(*q) print start_pose print "====== move to position =======" # KDL # arm.set_joint_value_target(start_pose, True) # IK Fast arm.set_position_target([start_pose.pose.position.x, start_pose.pose.position.y, start_pose.pose.position.z], arm.get_end_effector_link()) arm.go() rospy.sleep(2) moveit_commander.roscpp_shutdown() moveit_commander.os._exit(0)
def __init__(self): # 初始化move_group的API moveit_commander.roscpp_initialize(sys.argv) # 初始化ROS节点 rospy.init_node('moveit_pick_and_place_demo') # 初始化需要使用move group控制的机械臂中的arm group arm = MoveGroupCommander(GROUP_NAME_ARM) self.arm = arm # 设置位置(单位:米)和姿态(单位:弧度)的允许误差 arm.set_goal_position_tolerance(0.01) arm.set_goal_orientation_tolerance(0.01) # 当运动规划失败后,允许重新规划 arm.allow_replanning(True) # 设置目标位置所使用的参考坐标系 arm.set_pose_reference_frame(REFERENCE_FRAME)
def __init__(self): moveit_commander.roscpp_initialize(sys.argv) rospy.init_node('cobra_test_position', anonymous=True) arm = MoveGroupCommander(ARM_GROUP) arm.allow_replanning(True) # max planning time arm.set_planning_time(10) # start pose arm.set_start_state_to_current_state() end_effector = arm.get_end_effector_link() rospy.sleep(1) print "======== create 100 new goal position ========" start_pose = PoseStamped() start_pose.header.frame_id = arm.get_planning_frame() i = 1 while i <= 1000: # random position start_pose = arm.get_random_pose(end_effector) q = quaternion_from_euler(0.0, 0.0, 0.0) start_pose.pose.orientation = Quaternion(*q) print "====== move to position", i, "=======" # KDL arm.set_joint_value_target(start_pose, True) # IK Fast # arm.set_position_target([start_pose.pose.position.x, start_pose.pose.position.y, # start_pose.pose.position.z], end_effector) i += 1 arm.go() rospy.sleep(2) moveit_commander.roscpp_shutdown() moveit_commander.os._exit(0)
def __init__(self): # Initialize the move_group API moveit_commander.roscpp_initialize(sys.argv) rospy.init_node('moveit_pick_and_place_demo') # Use the planning scene object to add or remove objects scene = PlanningSceneInterface() # Create a scene publisher to push changes to the scene self.scene_pub = rospy.Publisher('planning_scene', PlanningScene) # Create a publisher for displaying gripper poses self.gripper_pose_pub = rospy.Publisher('gripper_pose', PoseStamped) # Create a dictionary to hold object colors self.colors = dict() # Initialize the move group for the right arm arm = MoveGroupCommander(GROUP_NAME_ARM) # Initialize the move group for the right gripper gripper = MoveGroupCommander(GROUP_NAME_GRIPPER) # Get the name of the end-effector link end_effector_link = arm.get_end_effector_link() # Allow some leeway in position (meters) and orientation (radians) arm.set_goal_position_tolerance(0.05) arm.set_goal_orientation_tolerance(0.1) # Allow replanning to increase the odds of a solution arm.allow_replanning(True) # Set the right arm reference frame arm.set_pose_reference_frame(REFERENCE_FRAME) # Allow 5 seconds per planning attempt arm.set_planning_time(5)
def __init__(self): # 初始化move_group的API moveit_commander.roscpp_initialize(sys.argv) # 初始化ROS节点 rospy.init_node('moveit_cartesian_demo', anonymous=True) # 初始化需要使用move group控制的机械臂中的arm group arm = MoveGroupCommander('arm') robot = moveit_commander.RobotCommander() # 当运动规划失败后,允许重新规划 arm.allow_replanning(False) # 设置目标位置所使用的参考坐标系 reference_frame = 'base_link' arm.set_pose_reference_frame(reference_frame) # 设置位置(单位:米)和姿态(单位:弧度)的允许误差 arm.set_goal_position_tolerance(0.0001) arm.set_goal_orientation_tolerance(0.0001) arm.set_max_velocity_scaling_factor(1.0) arm.set_planning_time(0.05) # 规划时间限制 # 获取终端link的名称 eef_link = arm.get_end_effector_link() print "[INFO] Current pose:", arm.get_current_pose(eef_link).pose # 控制机械臂运动到之前设置的姿态 arm.set_named_target('work') arm.go() self.group = arm self.robot = robot self.eef_link = eef_link self.reference_frame = reference_frame self.moveit_commander = moveit_commander
def __init__(self): moveit_commander.roscpp_initialize(sys.argv) rospy.init_node('cobra_move_cartesian', anonymous=True) arm = MoveGroupCommander(ARM_GROUP) arm.allow_replanning(True) # arm.set_goal_position_tolerance(0.01) arm.set_named_target(START_POSITION) arm.go() rospy.sleep(2) waypoints = list() pose = PoseStamped().pose # start with the current pose waypoints.append(copy.deepcopy(arm.get_current_pose(arm.get_end_effector_link()).pose)) # same orientation for all q = quaternion_from_euler(0.0, 0.0, 0.0) # roll, pitch, yaw pose.orientation = Quaternion(*q) # first pose pose.position.x = 0.35 pose.position.y = 0.25 pose.position.z = 0.3 waypoints.append(copy.deepcopy(pose)) # second pose pose.position.x = 0.25 pose.position.y = -0.3 pose.position.z = 0.3 waypoints.append(copy.deepcopy(pose)) # third pose pose.position.x += 0.15 waypoints.append(copy.deepcopy(pose)) # fourth pose pose.position.y += 0.15 waypoints.append(copy.deepcopy(pose)) (plan, fraction) = arm.compute_cartesian_path( waypoints, # waypoints to follow 0.01, # eef_step 0.0) # jump_threshold print "====== waypoints created =======" # print waypoints # ======= show cartesian path ====== # arm.go() rospy.sleep(10) print "========= end =========" moveit_commander.roscpp_shutdown() moveit_commander.os._exit(0)
class ArmTracker: def __init__(self): rospy.init_node('arm_tracker') rospy.on_shutdown(self.shutdown) # Maximum distance of the target before the arm will lower self.max_target_dist = 1.2 # Arm length to center of gripper frame self.arm_length = 0.4 # Distance between the last target and the new target before we move the arm self.last_target_threshold = 0.01 # Distance between target and end-effector before we move the arm self.target_ee_threshold = 0.025 # Initialize the move group for the right arm self.right_arm = MoveGroupCommander(GROUP_NAME_ARM) # Initialize the move group for the right gripper right_gripper = MoveGroupCommander(GROUP_NAME_GRIPPER) # Set the reference frame for pose targets self.reference_frame = REFERENCE_FRAME # Keep track of the last target pose self.last_target_pose = PoseStamped() # Set the right arm reference frame accordingly self.right_arm.set_pose_reference_frame(self.reference_frame) # Allow replanning to increase the chances of a solution self.right_arm.allow_replanning(False) # Set a position tolerance in meters self.right_arm.set_goal_position_tolerance(0.05) # Set an orientation tolerance in radians self.right_arm.set_goal_orientation_tolerance(0.2) # What is the end effector link? self.ee_link = self.right_arm.get_end_effector_link() # Create the transform listener self.listener = tf.TransformListener() # Queue up some tf data... rospy.sleep(3) # Set the gripper target to closed position using a joint value target right_gripper.set_joint_value_target(GRIPPER_CLOSED) # Plan and execute the gripper motion right_gripper.go() rospy.sleep(1) # Subscribe to the target topic rospy.wait_for_message('/target_pose', PoseStamped) # Use queue_size=1 so we don't pile up outdated target messages self.target_subscriber = rospy.Subscriber('/target_pose', PoseStamped, self.update_target_pose, queue_size=1) rospy.loginfo("Ready for action!") while not rospy.is_shutdown(): try: target = self.target except: rospy.sleep(0.5) continue # Timestamp the target with the current time target.header.stamp = rospy.Time() # Get the target pose in the right_arm shoulder lift frame #target_arm = self.listener.transformPose('right_arm_shoulder_pan_link', target) target_arm = self.listener.transformPose('right_arm_base_link', target) # Convert the position values to a Python list p0 = [target_arm.pose.position.x, target_arm.pose.position.y, target_arm.pose.position.z] # Compute the distance between the target and the shoulder link dist_target_shoulder = euclidean(p0, [0, 0, 0]) # If the target is too far away, then lower the arm if dist_target_shoulder > self.max_target_dist: rospy.loginfo("Target is too far away") self.right_arm.set_named_target('resting') self.right_arm.go() rospy.sleep(1) continue # Transform the pose to the base reference frame target_base = self.listener.transformPose(self.reference_frame, target) # Compute the distance between the current target and the last target p1 = [target_base.pose.position.x, target_base.pose.position.y, target_base.pose.position.z] p2 = [self.last_target_pose.pose.position.x, self.last_target_pose.pose.position.y, self.last_target_pose.pose.position.z] dist_last_target = euclidean(p1, p2) # Move the arm only if we are far enough away from the previous target if dist_last_target < self.last_target_threshold: rospy.loginfo("Still close to last target") rospy.sleep(0.5) continue # Get the pose of the end effector in the base reference frame ee_pose = self.right_arm.get_current_pose(self.ee_link) # Convert the position values to a Python list p3 = [ee_pose.pose.position.x, ee_pose.pose.position.y, ee_pose.pose.position.z] # Compute the distance between the target and the end-effector dist_target = euclidean(p1, p3) # Only move the arm if we are far enough away from the target if dist_target < self.target_ee_threshold: rospy.loginfo("Already close enough to target") rospy.sleep(1) continue # We want the gripper somewhere on the line connecting the shoulder and the target. # Using a parametric form of the line, the parameter ranges from 0 to the # minimum of the arm length and the distance to the target. t_max = min(self.arm_length, dist_target_shoulder) # Bring it back 10% so we don't collide with the target t = 0.9 * t_max # Now compute the target positions from the parameter try: target_arm.pose.position.x *= (t / dist_target_shoulder) target_arm.pose.position.y *= (t / dist_target_shoulder) target_arm.pose.position.z *= (t / dist_target_shoulder) except: rospy.sleep(1) rospy.loginfo("Exception!") continue # Transform to the base_footprint frame target_ee = self.listener.transformPose(self.reference_frame, target_arm) # Set the target gripper orientation to be horizontal target_ee.pose.orientation.x = 0 target_ee.pose.orientation.y = 0 target_ee.pose.orientation.z = 0 target_ee.pose.orientation.w = 1 # Update the current start state self.right_arm.set_start_state_to_current_state() # Set the target pose for the end-effector self.right_arm.set_pose_target(target_ee, self.ee_link) # Plan and execute the trajectory success = self.right_arm.go() if success: # Store the current target as the last target self.last_target_pose = target # Pause a bit between motions to keep from locking up rospy.sleep(0.5) def update_target_pose(self, target): self.target = target def relax_all_servos(self): command = 'rosrun donaxi_dynamixels arbotix_relax_all_servos.py' args = shlex.split(command) subprocess.Popen(args) def shutdown(self): # Stop any further target messages from being processed self.target_subscriber.unregister() # Stop any current arm movement self.right_arm.stop() # Move to the resting position self.right_arm.set_named_target('resting') self.right_arm.go() # Relax the servos self.relax_all_servos() os._exit(0)
class Arm_Controller: def __init__(self): # Give the launch a chance to catch up # rospy.sleep(5) # Initialize the move_group API moveit_commander.roscpp_initialize(sys.argv) rospy.init_node('Arm_Controller') rospy.loginfo("Launched Arm Controller") # constants self.GROUP_NAME_ARM = 'arm' self.GRIPPER_FRAME = 'gripper_link' self.REFERENCE_FRAME = 'base_link' self.ARM_BASE_FRAME = 'arm_base_link' self.done = True self.test_pose_publisher = rospy.Publisher('/test_arm_pose', PoseStamped) rospy.Subscriber("/arm_target_pose", PoseStamped, self.move_arm_to_pose, queue_size=1) self.robot_name = "gatlin" move_arm_service = createService('gatlin/move/arm', MoveRobot, self.handle_move_arm) # We need a tf listener to convert poses into arm reference base self.tfl = tf.TransformListener() # Initialize the move group for the right arm self.arm = MoveGroupCommander(self.GROUP_NAME_ARM) self.gripper = Gripper() self.robot = moveit_commander.RobotCommander() # Allow replanning to increase the odds of a solution self.arm.allow_replanning(True) # Set the planner self.arm.set_planner_id("RRTConnectkConfigDefault") # Set the right arm reference frame self.arm.set_pose_reference_frame(self.REFERENCE_FRAME) # Give the scene a chance to catch up rospy.sleep(1) # Allow some leeway in position (meters) and orientation (radians) # USELESS; do not work on pick and place! Explained on this issue: # https://github.com/ros-planning/moveit_ros/issues/577 self.arm.set_goal_position_tolerance(0.005) self.arm.set_goal_orientation_tolerance(0.05) # Allow 2 seconds per planning attempt self.arm.set_planning_time(2.0) # Create a quaternion from the Euler angles #q = quaternion_from_euler(0, pitch, yaw) # horiz = Quaternion(-0.023604, 0.99942, 0.00049317, 0.024555) # deg45 = Quaternion(-0.022174, 0.9476, 0.0074215, 0.31861) down = Quaternion(-0.00035087, 0.73273, 0.00030411, 0.68052) # back_pos = Point(-0.03, 0.0313, 0.476) # init rest pose self.rest_pose = PoseStamped() self.rest_pose.header.frame_id = self.REFERENCE_FRAME self.rest_pose.pose.position = Point(-0.06, 0.00, 0.35) self.rest_pose.pose.orientation = Quaternion(0.0251355325061, 0.982948881414, -0.0046583987932, 0.182093384981) # init place_upper pose self.place_upper_pose = PoseStamped() self.place_upper_pose.header.frame_id = self.REFERENCE_FRAME self.place_upper_pose.pose.position = Point(0.24713, -0.0051618, 0.37998) self.place_upper_pose.pose.orientation = Quaternion(0.0030109, 0.1472, -0.020231, 0.9889) # init current pose self.current_pose = PoseStamped() self.current_pose.header.frame_id = self.REFERENCE_FRAME self.current_pose.pose.position = Point(0,0,0) self.current_pose.pose.orientation = down # Open the gripper rospy.loginfo("Set Gripper: open") self.gripper.set(1.0) # self.arm.set_pose_target(self.rest_pose) # self.arm.go() # rospy.sleep(1) # self.ar = ArbotixROS() # rate = rospy.Rate(30) # while not rospy.is_shutdown(): # # rospy.logerr(self.ar.getVoltage(4)) # # rospy.logerr(self.ar.getSpeed(5)) # rospy.logerr(self.ar.getPosition(1)) # rate.sleep() rospy.spin() def MoveToPoseWithIntermediate(self, ps, offsets) : success = False for offset in offsets: # interpose = getOffsetPose(hand_pose, offset) interpose = getOffsetPose(ps, offset) success = self.MoveToPose(interpose, "MoveToIntermediatePose") rospy.sleep(1) success = self.MoveToPose(ps, "MoveToPose") return success def MoveToPose(self, ps, name) : newpose = self.transform_pose(self.REFERENCE_FRAME, ps) down = Quaternion(-0.00035087, 0.73273, 0.00030411, 0.68052) newpose.pose.orientation = down if self.move_arm_to_pose(newpose) : rospy.loginfo("SUCCEEDED: %s" % name) return True else : rospy.logerr("FAILED %s" % name) return False def move_arm_to_pose(self, ps): arm_target_pose = deepcopy(ps) arm_target_pose.header.stamp = rospy.Time.now() self.test_pose_publisher.publish(arm_target_pose) self.arm.set_pose_target(arm_target_pose) success = self.arm.go() return success def handle_move_arm(self, req): success = True gripper = self.gripper if req.action == "OPEN_GRIPPER": rospy.loginfo("Beginning to open gripper") gripper.open(block=True) rospy.loginfo("Opened Gripper") elif req.action == "CLOSE_GRIPPER" : rospy.loginfo("Beginning to close Gripper") gripper.close(block=True) rospy.loginfo("Closed Gripper") elif req.action == "MOVE_TO_POSE_INTERMEDIATE" : rospy.loginfo("Trying to Move To Pose With Intermediate") offsets = [Vector3(0,0,.07)] success = self.MoveToPoseWithIntermediate(req.ps, offsets) elif req.action == "MOVE_TO_POSE" : rospy.loginfo("Trying to Move To Pose") success = self.MoveToPose(req.ps, "FAILED MoveToPose") elif req.action == "RESET_ARM" : rospy.loginfo("Trying to Move To Rest Pose") success = self.move_arm_to_pose(self.rest_pose) elif req.action == "PLACE_UPPER" : rospy.loginfo("Trying to Move To Place Upper Pose") success = self.move_arm_to_pose(self.place_upper_pose) # success = self.MoveToPose(self.rest_pose, "FAILED MoveToRestPose") # elif req.action == "MOVE_TO_POS" : # rospy.loginfo("Trying to Move To Pos") # new_pose = Pose() # if req.limb == 'left': # try: # self.initial_left # new_pose = deepcopy(self.initial_left) # except AttributeError: # new_pose = deepcopy(self.hand_pose_left) # self.initial_left = deepcopy(self.hand_pose_left) # elif req.limb == 'right': # try: # self.initial_right # new_pose = deepcopy(self.initial_right) # except AttributeError: # new_pose = deepcopy(self.hand_pose_right) # self.initial_right = deepcopy(self.hand_pose_right) # new_pose.position = deepcopy(req.pose.position) # # success = self.MoveToPose(req.limb, new_pose, "FAILED MoveToPose") # success = self.MoveToPoseWithIntermediate(req.limb, new_pose) # rospy.loginfo("Moved to pos: %r" % success) else : success = False rospy.logerr("invalid action") return MoveRobotResponse(success) def orientation_cb(self, data): if(data.x == -1.0 and data.y == -2.0): print "################################################" print "################### Orientation! #############" print "################################################" deg = data.z*15 rad = -deg * pi/180 + pi/2 print rad q = quaternion_from_euler(0,rad,0) self.current_pose.pose.orientation.x = q[0] self.current_pose.pose.orientation.y = q[1] self.current_pose.pose.orientation.z = q[2] self.current_pose.pose.orientation.w = q[3] else: return # transform the pose stamped to the new frame def transform_pose(self, new_frame, pose): if pose.header.frame_id == new_frame: return pose try: ps = deepcopy(pose) ps.header.stamp = rospy.Time(0) self.tfl.waitForTransform(ps.header.frame_id, new_frame, rospy.Time(0), rospy.Duration(4.0)) new_pose = self.tfl.transformPose(new_frame, ps) new_pose.header.stamp = deepcopy(pose.header.stamp) return new_pose except Exception as e: rospy.logerr(e) rospy.logerr("no transform") return None
def __init__(self): # Initialize the move_group API moveit_commander.roscpp_initialize(sys.argv) # Initialize the ROS node rospy.init_node('moveit_demo', anonymous=True) robot = RobotCommander() # Connect to the right_arm move group right_arm = MoveGroupCommander(GROUP_NAME_ARM) # Initialize the move group for the right gripper right_gripper = MoveGroupCommander(GROUP_NAME_GRIPPER) # Increase the planning time since contraint planning can take a while right_arm.set_planning_time(15) # Allow replanning to increase the odds of a solution right_arm.allow_replanning(True) # Set the right arm reference frame right_arm.set_pose_reference_frame(REFERENCE_FRAME) # Allow some leeway in position(meters) and orientation (radians) right_arm.set_goal_position_tolerance(0.05) right_arm.set_goal_orientation_tolerance(0.1) # Get the name of the end-effector link end_effector_link = right_arm.get_end_effector_link() # Start in the "resting" configuration stored in the SRDF file right_arm.set_named_target('resting') # Plan and execute a trajectory to the goal configuration right_arm.go() rospy.sleep(1) # Open the gripper right_gripper.set_joint_value_target(GRIPPER_NEUTRAL) right_gripper.go() rospy.sleep(1) # Set an initial target pose with the arm up and to the right target_pose = PoseStamped() target_pose.header.frame_id = REFERENCE_FRAME target_pose.pose.position.x = 0.237012590198 target_pose.pose.position.y = -0.0747191267505 target_pose.pose.position.z = 0.901578401949 target_pose.pose.orientation.w = 1.0 # Set the start state and target pose, then plan and execute right_arm.set_start_state(robot.get_current_state()) right_arm.set_pose_target(target_pose, end_effector_link) right_arm.go() rospy.sleep(2) # Close the gripper right_gripper.set_joint_value_target(GRIPPER_CLOSED) right_gripper.go() rospy.sleep(1) # Store the current pose start_pose = right_arm.get_current_pose(end_effector_link) # Create a contraints list and give it a name constraints = Constraints() constraints.name = "Keep gripper horizontal" # Create an orientation constraint for the right gripper orientation_constraint = OrientationConstraint() orientation_constraint.header = start_pose.header orientation_constraint.link_name = right_arm.get_end_effector_link() orientation_constraint.orientation.w = 1.0 orientation_constraint.absolute_x_axis_tolerance = 0.1 orientation_constraint.absolute_y_axis_tolerance = 0.1 orientation_constraint.absolute_z_axis_tolerance = 3.14 orientation_constraint.weight = 1.0 # Append the constraint to the list of contraints constraints.orientation_constraints.append(orientation_constraint) # Set the path constraints on the right_arm right_arm.set_path_constraints(constraints) # Set a target pose for the arm target_pose = PoseStamped() target_pose.header.frame_id = REFERENCE_FRAME target_pose.pose.position.x = 0.173187824708 target_pose.pose.position.y = -0.0159929871606 target_pose.pose.position.z = 0.692596608605 target_pose.pose.orientation.w = 1.0 # Set the start state and target pose, then plan and execute right_arm.set_start_state_to_current_state() right_arm.set_pose_target(target_pose, end_effector_link) right_arm.go() rospy.sleep(1) # Clear all path constraints right_arm.clear_path_constraints() # Open the gripper right_gripper.set_joint_value_target(GRIPPER_NEUTRAL) right_gripper.go() rospy.sleep(1) # Return to the "resting" configuration stored in the SRDF file right_arm.set_named_target('resting') # Plan and execute a trajectory to the goal configuration right_arm.go() rospy.sleep(1) # Shut down MoveIt cleanly moveit_commander.roscpp_shutdown() # Exit MoveIt moveit_commander.os._exit(0)
def __init__(self): # Initialize the move_group API moveit_commander.roscpp_initialize(sys.argv) rospy.init_node('moveit_demo') # Construct the initial scene object scene = PlanningSceneInterface() # Pause for the scene to get ready rospy.sleep(1) # Initialize the MoveIt! commander for the right arm right_arm = MoveGroupCommander('right_arm') # Initialize the MoveIt! commander for the gripper right_gripper = MoveGroupCommander('right_gripper') # Get the name of the end-effector link end_effector_link = right_arm.get_end_effector_link() # Allow some leeway in position (meters) and orientation (radians) right_arm.set_goal_position_tolerance(0.01) right_arm.set_goal_orientation_tolerance(0.05) # Allow replanning to increase the odds of a solution right_arm.allow_replanning(True) # Allow 5 seconds per planning attempt right_arm.set_planning_time(5) # Remove leftover objects from a previous run scene.remove_attached_object(end_effector_link, 'tool') scene.remove_world_object('table') scene.remove_world_object('box1') scene.remove_world_object('box2') scene.remove_world_object('target') # Set the height of the table off the ground table_ground = 0.75 # Set the length, width and height of the table table_size = [0.2, 0.7, 0.01] # Set the length, width and height of the object to attach tool_size = [0.3, 0.02, 0.02] # Create a pose for the tool relative to the end-effector p = PoseStamped() p.header.frame_id = end_effector_link scene.attach_mesh # Place the end of the object within the grasp of the gripper p.pose.position.x = tool_size[0] / 2.0 - 0.025 p.pose.position.y = 0.0 p.pose.position.z = 0.0 # Align the object with the gripper (straight out) p.pose.orientation.x = 0 p.pose.orientation.y = 0 p.pose.orientation.z = 0 p.pose.orientation.w = 1 # Attach the tool to the end-effector scene.attach_box(end_effector_link, 'tool', p, tool_size) # Add a floating table top table_pose = PoseStamped() table_pose.header.frame_id = 'base_footprint' table_pose.pose.position.x = 0.35 table_pose.pose.position.y = 0.0 table_pose.pose.position.z = table_ground + table_size[2] / 2.0 table_pose.pose.orientation.w = 1.0 scene.add_box('table', table_pose, table_size) # Update the current state right_arm.set_start_state_to_current_state() # Move the arm with the attached object to the 'straight_forward' position right_arm.set_named_target('straight_forward') right_arm.go() rospy.sleep(2) # Return the arm in the "resting" pose stored in the SRDF file right_arm.set_named_target('resting') right_arm.go() rospy.sleep(2) scene.remove_attached_object(end_effector_link, 'tool') moveit_commander.roscpp_shutdown() moveit_commander.os._exit(0)
def __init__(self): # 初始化move_group的API moveit_commander.roscpp_initialize(sys.argv) # 初始化ROS节点 rospy.init_node('TCP_Move', anonymous=True) # 是否需要使用笛卡尔空间的运动规划 cartesian = rospy.get_param('~cartesian', True) # 初始化需要使用move group控制的机械臂中的arm group arm = MoveGroupCommander('xarm6') # 当运动规划失败后,允许重新规划 arm.allow_replanning(True) # 设置目标位置所使用的参考坐标系 arm.set_pose_reference_frame('link_base') # 设置位置(单位:米)和姿态(单位:弧度)的允许误差 arm.set_goal_position_tolerance(0.001) arm.set_goal_orientation_tolerance(0.001) # 设置允许的最大速度和加速度 arm.set_max_acceleration_scaling_factor(0.1) arm.set_max_velocity_scaling_factor(0.1) # 获取终端link的名称 end_effector_link = arm.get_end_effector_link() # 控制机械臂先回到初始化位置 arm.set_named_target('home') arm.go() rospy.sleep(1) # 角度弧度转换 j1 = 90.0 / 180 * math.pi j2 = -18.6 / 180 * math.pi j3 = -28.1 / 180 * math.pi j4 = 1.0 / 180 * math.pi j5 = 47.6 / 180 * math.pi j6 = -0.9 / 180 * math.pi # 设置机械臂的目标位置,使用六轴的位置数据进行描述(单位:弧度) joint_positions = [j1, j2, j3, j4, j5, j6] arm.set_joint_value_target(joint_positions) arm.go() rospy.sleep(1) # 向下按压门把手 current_pose = arm.get_current_joint_values() current_pose[4] += (20.0 / 180.0) * math.pi arm.set_joint_value_target(current_pose) arm.go() rospy.sleep(1) #推开门 current_pose = arm.get_current_joint_values() current_pose[0] -= (42.0 / 180.0) * math.pi current_pose[1] += (2.0 / 180.0) * math.pi current_pose[2] -= (11.4 / 180.0) * math.pi arm.set_joint_value_target(current_pose) arm.go() rospy.sleep(1) # 控制机械臂先回到初始化位置 arm.set_named_target('home') arm.go() rospy.sleep(1) # 关闭并退出moveit moveit_commander.roscpp_shutdown() moveit_commander.os._exit(0)
def __init__(self): # 初始化move_group的API moveit_commander.roscpp_initialize(sys.argv) # 初始化ROS节点 rospy.init_node('moveit_cartesian_demo', anonymous=True) # 是否需要使用笛卡尔空间的运动规划 cartesian = rospy.get_param('~cartesian', True) # 初始化需要使用move group控制的机械臂中的arm group arm = MoveGroupCommander('manipulator') # 当运动规划失败后,允许重新规划 arm.allow_replanning(True) # 设置目标位置所使用的参考坐标系 arm.set_pose_reference_frame('base_link') # 设置位置(单位:米)和姿态(单位:弧度)的允许误差 arm.set_goal_position_tolerance(0.2) arm.set_goal_orientation_tolerance(0.1) # 设置允许的最大速度和加速度 arm.set_max_acceleration_scaling_factor(0.1) arm.set_max_velocity_scaling_factor(0.1) # 获取终端link的名称 end_effector_link = arm.get_end_effector_link() print(end_effector_link) # 控制机械臂先回到初始化位置 # 获取当前位姿数据最为机械臂运动的起始位姿 start_pose = arm.get_current_pose(end_effector_link).pose print(start_pose) # 初始化路点列表 waypoints = [] os.system("rosrun pick_test send_gripper.py --value 0.0") # 将初始位姿加入路点列表 # arm.set_named_target('test5') # arm.go() # rospy.sleep(1) ###### marker = rospy.Subscriber("/ar_pose_marker", AlvarMarkers, getCarrot) listener = tf.TransformListener() r = rospy.Rate(10) while not rospy.is_shutdown(): try: (trans, rot) = listener.lookupTransform('/base_link', '/ar_marker_4', rospy.Time(0)) break except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException): continue ###### # 设置路点数据,并加入路点列表 wpose = deepcopy(start_pose) print carrot wpose.position.z -= carrot.z waypoints.append(deepcopy(wpose)) # wpose.position.z -= carrot.z+0.1 # wpose.position.y += carrot.y # waypoints.append(deepcopy(wpose)) fraction = 0.0 #路径规划覆盖率 maxtries = 100 #最大尝试规划次数 attempts = 0 #已经尝试规划次数 # 设置机器臂当前的状态作为运动初始状态 arm.set_start_state_to_current_state() # 尝试规划一条笛卡尔空间下的路径,依次通过所有路点 while fraction < 1.0 and attempts < maxtries: (plan, fraction) = arm.compute_cartesian_path( waypoints, # waypoint poses,路点列表 0.01, # eef_step,终端步进值 0.0, # jump_threshold,跳跃阈值 True) # avoid_collisions,避障规划 # 尝试次数累加 attempts += 1 # 打印运动规划进程 if attempts % 10 == 0: rospy.loginfo("Still trying after " + str(attempts) + " attempts...") # 如果路径规划成功(覆盖率100%),则开始控制机械臂运动 if fraction == 1.0: rospy.loginfo("Path computed successfully. Moving the arm.") arm.execute(plan) rospy.loginfo("Path execution complete.") # 如果路径规划失败,则打印失败信息 else: rospy.loginfo("Path planning failed with only " + str(fraction) + " success after " + str(maxtries) + " attempts.") rospy.sleep(1) if fraction < 1.0: moveit_commander.roscpp_shutdown() moveit_commander.os._exit(0) # 控制机械臂先回到初始化位置 waypoints = [] test_pose = arm.get_current_pose(end_effector_link).pose wpose = deepcopy(test_pose) wpose.position.x -= carrot.x + 0.03 waypoints.append(deepcopy(wpose)) fraction = 0.0 #路径规划覆盖率 maxtries = 100 #最大尝试规划次数 attempts = 0 #已经尝试规划次数 # 设置机器臂当前的状态作为运动初始状态 arm.set_start_state_to_current_state() # 尝试规划一条笛卡尔空间下的路径,依次通过所有路点 while fraction < 1.0 and attempts < maxtries: (plan, fraction) = arm.compute_cartesian_path( waypoints, # waypoint poses,路点列表 0.02, # eef_step,终端步进值 0.0, # jump_threshold,跳跃阈值 True) # avoid_collisions,避障规划 # 尝试次数累加 attempts += 1 # 打印运动规划进程 if attempts % 10 == 0: rospy.loginfo("Still trying after " + str(attempts) + " attempts...") # 如果路径规划成功(覆盖率100%),则开始控制机械臂运动 if fraction == 1.0: rospy.loginfo("Path computed successfully. Moving the arm.") arm.execute(plan) rospy.loginfo("Path execution complete.") # 如果路径规划失败,则打印失败信息 else: rospy.loginfo("Path planning failed with only " + str(fraction) + " success after " + str(maxtries) + " attempts.") rospy.sleep(1) if fraction < 1.0: moveit_commander.roscpp_shutdown() moveit_commander.os._exit(0) ######## os.system("rosrun pick_test send_gripper.py --value 0.8") ######## waypoints = [] pick_pose = arm.get_current_pose(end_effector_link).pose wpose = deepcopy(pick_pose) wpose.position.z += 0.1 waypoints.append(deepcopy(wpose)) fraction = 0.0 #路径规划覆盖率 maxtries = 100 #最大尝试规划次数 attempts = 0 #已经尝试规划次数 # 设置机器臂当前的状态作为运动初始状态 arm.set_start_state_to_current_state() # 尝试规划一条笛卡尔空间下的路径,依次通过所有路点 while fraction < 1.0 and attempts < maxtries: (plan, fraction) = arm.compute_cartesian_path( waypoints, # waypoint poses,路点列表 0.02, # eef_step,终端步进值 0.0, # jump_threshold,跳跃阈值 True) # avoid_collisions,避障规划 # 尝试次数累加 attempts += 1 # 打印运动规划进程 if attempts % 10 == 0: rospy.loginfo("Still trying after " + str(attempts) + " attempts...") # 如果路径规划成功(覆盖率100%),则开始控制机械臂运动 if fraction == 1.0: rospy.loginfo("Path computed successfully. Moving the arm.") arm.execute(plan) rospy.loginfo("Path execution complete.") # 如果路径规划失败,则打印失败信息 else: rospy.loginfo("Path planning failed with only " + str(fraction) + " success after " + str(maxtries) + " attempts.") rospy.sleep(1) if fraction < 1.0: moveit_commander.roscpp_shutdown() moveit_commander.os._exit(0) # 关闭并退出moveit moveit_commander.roscpp_shutdown() moveit_commander.os._exit(0)
def __init__(self): # Initialize the move_group API moveit_commander.roscpp_initialize(sys.argv) rospy.init_node('moveit_demo') #Initialize robot robot = moveit_commander.RobotCommander() # Use the planning scene object to add or remove objects scene = PlanningSceneInterface() # Create a scene publisher to push changes to the scene self.scene_pub = rospy.Publisher('planning_scene', PlanningScene, queue_size=10) # Create a publisher for displaying gripper poses self.gripper_pose_pub = rospy.Publisher('gripper_pose', PoseStamped, queue_size=10) # Create a publisher for displaying object frames self.object_frames_pub = rospy.Publisher('object_frames', PoseStamped, queue_size=10) # Create a dictionary to hold object colors self.colors = dict() # Initialize the MoveIt! commander for the arm right_arm = MoveGroupCommander(GROUP_NAME_ARM) # Initialize the MoveIt! commander for the gripper right_gripper = MoveGroupCommander(GROUP_NAME_GRIPPER) # Get the name of the end-effector link eef = right_arm.get_end_effector_link() # Allow some leeway in position (meters) and orientation (radians) # right_arm.set_goal_position_tolerance(0.05) # right_arm.set_goal_orientation_tolerance(0.1) # Allow replanning to increase the odds of a solution right_arm.allow_replanning(True) # Set the right arm reference frame right_arm.set_pose_reference_frame(REFERENCE_FRAME) # Allow 5 seconds per planning attempt right_arm.set_planning_time(5) # Set a limit on the number of pick attempts before bailing max_pick_attempts = 5 # Set a limit on the number of place attempts max_place_attempts = 5 # Give the scene a chance to catch up rospy.sleep(2) # Prepare Gazebo Subscriber self.pwh = None self.pwh_copy = None self.idx_targ = None self.gazebo_subscriber = rospy.Subscriber("/gazebo/model_states", ModelStates, self.model_state_callback) # Prepare Gripper and open it self.ac = actionlib.SimpleActionClient('r_gripper_controller/gripper_action',pr2c.Pr2GripperCommandAction) self.ac.wait_for_server() g_open = pr2c.Pr2GripperCommandGoal(pr2c.Pr2GripperCommand(0.088, 100)) g_close = pr2c.Pr2GripperCommandGoal(pr2c.Pr2GripperCommand(0.0, 1)) self.ac.send_goal(g_open) rospy.sleep(2) # PREPARE THE SCENE while self.pwh is None: rospy.sleep(0.05) target_id = 'target' self.taid = self.pwh.name.index('wood_cube_5cm') table_id = 'table' self.tid = self.pwh.name.index('table') #obstacle1_id = 'obstacle1' #self.o1id = self.pwh.name.index('wood_block_10_2_1cm') # Remove leftover objects from a previous run scene.remove_world_object(target_id) scene.remove_world_object(table_id) #scene.remove_world_object(obstacle1_id) # Remove any attached objects from a previous session scene.remove_attached_object(GRIPPER_FRAME, target_id) # Set the target size [l, w, h] target_size = [0.05, 0.05, 0.05] table_size = [1.5, 0.8, 0.03] #obstacle1_size = [0.1, 0.025, 0.01] ## Set the target pose on the table target_pose = PoseStamped() target_pose.header.frame_id = REFERENCE_FRAME target_pose.pose = self.pwh.pose[self.taid] target_pose.pose.position.z += 0.025 # Add the target object to the scene scene.add_box(target_id, target_pose, target_size) table_pose = PoseStamped() table_pose.header.frame_id = REFERENCE_FRAME table_pose.pose = self.pwh.pose[self.tid] table_pose.pose.position.z += 1 scene.add_box(table_id, table_pose, table_size) #obstacle1_pose = PoseStamped() #obstacle1_pose.header.frame_id = REFERENCE_FRAME #obstacle1_pose.pose = self.pwh.pose[self.o1id] ## Add the target object to the scene #scene.add_box(obstacle1_id, obstacle1_pose, obstacle1_size) # Specify a pose to place the target after being picked up place_pose = PoseStamped() place_pose.header.frame_id = REFERENCE_FRAME place_pose.pose.position.x = 0.50 place_pose.pose.position.y = -0.30 place_pose.pose.orientation.w = 1.0 # Add the target object to the scene scene.add_box(target_id, target_pose, target_size) ### Make the target purple ### self.setColor(target_id, 0.6, 0, 1, 1.0) # Send the colors to the planning scene self.sendColors() #print target_pose self.object_frames_pub.publish(target_pose) rospy.sleep(2) # Initialize the grasp pose to the target pose grasp_pose = target_pose #grasp_pose.header.frame_id = 'gazebo_wolrd' # Shift the grasp pose by half the width of the target to center it # grasp_pose.pose.position.y -= target_size[1] / 2.0 # grasp_pose.pose.position.x = target_pose.pose.position.x / 2.0 # grasp_pose.pose.position.x = target_pose.pose.position.x -0.07 # grasp_pose.pose.position.z += 0.18 #Allowed touch object list # ato = [target_id, 'r_forearm_link'] # Generate a list of grasps grasps = self.make_grasps(grasp_pose, [target_id]) #### [target_id] # Publish the grasp poses so they can be viewed in RViz for grasp in grasps: # print grasp.grasp_pose self.gripper_pose_pub.publish(grasp.grasp_pose) rospy.sleep(0.2) # Track success/failure and number of attempts for pick operation success = False n_attempts = 0 #Allowed touch link list atl = ['r_forearm_link'] # Repeat until we succeed or run out of attempts while success == False and n_attempts < max_pick_attempts: success = right_arm.pick(target_id, grasps) n_attempts += 1 rospy.loginfo("Pick attempt: " + str(n_attempts)) rospy.sleep(0.2) if success: self.ac.send_goal(g_close) rospy.sleep(3) ## If the pick was successful, attempt the place operation #if success: #success = False #n_attempts = 0 ## Generate valid place poses #places = self.make_places(place_pose) ## Repeat until we succeed or run out of attempts #while success == False and n_attempts < max_place_attempts: #for place in places: #success = right_arm.place(target_id, place) #if success: #break #n_attempts += 1 #rospy.loginfo("Place attempt: " + str(n_attempts)) #rospy.sleep(0.2) #if not success: #rospy.loginfo("Place operation failed after " + str(n_attempts) + " attempts.") #else: #rospy.loginfo("Pick operation failed after " + str(n_attempts) + " attempts.") ## Return the arm to the "resting" pose stored in the SRDF file ##right_arm.set_named_target('resting') ##right_arm.go() ## Open the gripper to the neutral position #right_gripper.set_joint_value_target(GRIPPER_NEUTRAL) #right_gripper.go() #rospy.sleep(1) #rospy.spin() # Shut down MoveIt cleanly moveit_commander.roscpp_shutdown() # Exit the script moveit_commander.os._exit(0)
def __init__(self): # Initialize the move_group API moveit_commander.roscpp_initialize(sys.argv) rospy.init_node('moveit_demo') # Use the planning scene object to add or remove objects scene = PlanningSceneInterface() # Create a scene publisher to push changes to the scene self.scene_pub = rospy.Publisher('planning_scene', PlanningScene) # Create a publisher for displaying gripper poses self.gripper_pose_pub = rospy.Publisher('gripper_pose', PoseStamped) # Create a dictionary to hold object colors self.colors = dict() # Initialize the move group for the right arm right_arm = MoveGroupCommander(GROUP_NAME_ARM) # Initialize the move group for the right gripper right_gripper = MoveGroupCommander(GROUP_NAME_GRIPPER) # Get the name of the end-effector link end_effector_link = right_arm.get_end_effector_link() # Allow some leeway in position (meters) and orientation (radians) right_arm.set_goal_position_tolerance(0.05) right_arm.set_goal_orientation_tolerance(0.1) # Allow replanning to increase the odds of a solution right_arm.allow_replanning(True) # Set the right arm reference frame right_arm.set_pose_reference_frame(REFERENCE_FRAME) # Allow 10 seconds per planning attempt right_arm.set_planning_time(10) # Set a limit on the number of pick attempts before bailing max_pick_attempts = 10 # Set a limit on the number of place attempts max_place_attempts = 5 # Give the scene a chance to catch up rospy.sleep(2) # Give each of the scene objects a unique name table_id = 'table' box1_id = 'box1' box2_id = 'box2' target_id = 'target' tool_id = 'tool' # Remove leftover objects from a previous run scene.remove_world_object(table_id) scene.remove_world_object(box1_id) scene.remove_world_object(box2_id) scene.remove_world_object(target_id) scene.remove_world_object(tool_id) # Remove any attached objects from a previous session scene.remove_attached_object(GRIPPER_FRAME, target_id) # Give the scene a chance to catch up rospy.sleep(1) # Start the arm in the "resting" pose stored in the SRDF file right_arm.set_named_target('right_start') right_arm.go() # Open the gripper to the neutral position right_gripper.set_joint_value_target(GRIPPER_NEUTRAL) right_gripper.go() rospy.sleep(1) # Set the height of the table off the ground table_ground = 0.65 # Set the dimensions of the scene objects [l, w, h] table_size = [0.2, 0.7, 0.01] box1_size = [0.1, 0.05, 0.05] box2_size = [0.05, 0.05, 0.15] # Set the target size [l, w, h] target_size = [0.02, 0.01, 0.12] # Add a table top and two boxes to the scene table_pose = PoseStamped() table_pose.header.frame_id = REFERENCE_FRAME table_pose.pose.position.x = 0.55 table_pose.pose.position.y = 0.0 table_pose.pose.position.z = table_ground + table_size[2] / 2.0 table_pose.pose.orientation.w = 1.0 scene.add_box(table_id, table_pose, table_size) box1_pose = PoseStamped() box1_pose.header.frame_id = REFERENCE_FRAME box1_pose.pose.position.x = 0.55 box1_pose.pose.position.y = -0.1 box1_pose.pose.position.z = table_ground + table_size[2] + box1_size[2] / 2.0 box1_pose.pose.orientation.w = 1.0 scene.add_box(box1_id, box1_pose, box1_size) box2_pose = PoseStamped() box2_pose.header.frame_id = REFERENCE_FRAME box2_pose.pose.position.x = 0.54 box2_pose.pose.position.y = 0.13 box2_pose.pose.position.z = table_ground + table_size[2] + box2_size[2] / 2.0 box2_pose.pose.orientation.w = 1.0 scene.add_box(box2_id, box2_pose, box2_size) # Set the target pose in between the boxes and on the table target_pose = PoseStamped() target_pose.header.frame_id = REFERENCE_FRAME target_pose.pose.position.x = 0.60 target_pose.pose.position.y = 0.0 target_pose.pose.position.z = table_ground + table_size[2] + target_size[2] / 2.0 target_pose.pose.orientation.w = 1.0 # Add the target object to the scene scene.add_box(target_id, target_pose, target_size) # Make the table red and the boxes orange self.setColor(table_id, 0.8, 0, 0, 1.0) self.setColor(box1_id, 0.8, 0.4, 0, 1.0) self.setColor(box2_id, 0.8, 0.4, 0, 1.0) # Make the target yellow self.setColor(target_id, 0.9, 0.9, 0, 1.0) # Send the colors to the planning scene self.sendColors() # Set the support surface name to the table object right_arm.set_support_surface_name(table_id) # Specify a pose to place the target after being picked up place_pose = PoseStamped() place_pose.header.frame_id = REFERENCE_FRAME place_pose.pose.position.x = 0.50 place_pose.pose.position.y = -0.25 place_pose.pose.position.z = table_ground + table_size[2] + target_size[2] / 2.0 place_pose.pose.orientation.w = 1.0 # Initialize the grasp pose to the target pose grasp_pose = target_pose # Shift the grasp pose by half the width of the target to center it grasp_pose.pose.position.y -= target_size[1] / 2.0 # Generate a list of grasps grasps = self.make_grasps(grasp_pose, [target_id]) # Publish the grasp poses so they can be viewed in RViz for grasp in grasps: self.gripper_pose_pub.publish(grasp.grasp_pose) rospy.sleep(0.2) # Track success/failure and number of attempts for pick operation result = None n_attempts = 0 # Repeat until we succeed or run out of attempts while result != MoveItErrorCodes.SUCCESS and n_attempts < max_pick_attempts: n_attempts += 1 rospy.loginfo("Pick attempt: " + str(n_attempts)) result = right_arm.pick(target_id, grasps) rospy.sleep(0.2) # If the pick was successful, attempt the place operation if result == MoveItErrorCodes.SUCCESS: result = None n_attempts = 0 #_------------------------now we move to the other table__________------------------------------------------- #_------------------------now we move to the other table__________------------------------------------------- # Generate valid place poses places = self.make_places(place_pose) # Repeat until we succeed or run out of attempts while result != MoveItErrorCodes.SUCCESS and n_attempts < max_place_attempts: n_attempts += 1 rospy.loginfo("Place attempt: " + str(n_attempts)) for place in places: result = right_arm.place(target_id, place) if result == MoveItErrorCodes.SUCCESS: break rospy.sleep(0.2) if result != MoveItErrorCodes.SUCCESS: rospy.loginfo("Place operation failed after " + str(n_attempts) + " attempts.") else: rospy.loginfo("Pick operation failed after " + str(n_attempts) + " attempts.") # Return the arm to the "resting" pose stored in the SRDF file right_arm.set_named_target('right_start') right_arm.go() # Open the gripper to the neutral position right_gripper.set_joint_value_target(GRIPPER_NEUTRAL) right_gripper.go() rospy.sleep(1) # Shut down MoveIt cleanly moveit_commander.roscpp_shutdown() # Exit the script moveit_commander.os._exit(0)
def __init__(self): # Initialize the move_group API moveit_commander.roscpp_initialize(sys.argv) # Initialize the ROS node rospy.init_node('moveit_demo', anonymous=True) cartesian = rospy.get_param('~cartesian', True) # Connect to the right_arm move group right_arm = MoveGroupCommander('right_arm') # Allow replanning to increase the odds of a solution right_arm.allow_replanning(True) # Set the right arm reference frame right_arm.set_pose_reference_frame('base_footprint') # Allow some leeway in position(meters) and orientation (radians) right_arm.set_goal_position_tolerance(0.01) right_arm.set_goal_orientation_tolerance(0.1) # Get the name of the end-effector link end_effector_link = right_arm.get_end_effector_link() # Start in the "straight_forward" configuration stored in the SRDF file right_arm.set_named_target('straight_forward') # Plan and execute a trajectory to the goal configuration right_arm.go() # Get the current pose so we can add it as a waypoint start_pose = right_arm.get_current_pose(end_effector_link).pose # Initialize the waypoints list waypoints = [] # Set the first waypoint to be the starting pose if cartesian: # Append the pose to the waypoints list waypoints.append(start_pose) wpose = deepcopy(start_pose) # Set the next waypoint back 0.2 meters and right 0.2 meters wpose.position.x -= 0.2 wpose.position.y -= 0.2 if cartesian: # Append the pose to the waypoints list waypoints.append(deepcopy(wpose)) else: right_arm.set_pose_target(wpose) right_arm.go() rospy.sleep(1) # Set the next waypoint to the right 0.15 meters wpose.position.x += 0.05 wpose.position.y += 0.15 wpose.position.z -= 0.15 if cartesian: # Append the pose to the waypoints list waypoints.append(deepcopy(wpose)) else: right_arm.set_pose_target(wpose) right_arm.go() rospy.sleep(1) if cartesian: # Append the pose to the waypoints list waypoints.append(deepcopy(start_pose)) else: right_arm.set_pose_target(start_pose) right_arm.go() rospy.sleep(1) if cartesian: fraction = 0.0 maxtries = 100 attempts = 0 # Set the internal state to the current state right_arm.set_start_state_to_current_state() # Plan the Cartesian path connecting the waypoints while fraction < 1.0 and attempts < maxtries: (plan, fraction) = right_arm.compute_cartesian_path ( waypoints, # waypoint poses 0.01, # eef_step 0.0, # jump_threshold True) # avoid_collisions # Increment the number of attempts attempts += 1 # Print out a progress message if attempts % 10 == 0: rospy.loginfo("Still trying after " + str(attempts) + " attempts...") # If we have a complete plan, execute the trajectory if fraction == 1.0: rospy.loginfo("Path computed successfully. Moving the arm.") right_arm.execute(plan) rospy.loginfo("Path execution complete.") else: rospy.loginfo("Path planning failed with only " + str(fraction) + " success after " + str(maxtries) + " attempts.") # Move normally back to the 'resting' position right_arm.set_named_target('resting') right_arm.go() rospy.sleep(1) # Shut down MoveIt cleanly moveit_commander.roscpp_shutdown() # Exit MoveIt moveit_commander.os._exit(0)
def __init__(self): # Initialize the move_group API moveit_commander.roscpp_initialize(sys.argv) rospy.init_node('moveit_demo') # Construct the initial scene object scene = PlanningSceneInterface() # Create a scene publisher to push changes to the scene self.scene_pub = rospy.Publisher('planning_scene', PlanningScene) # Create a dictionary to hold object colors self.colors = dict() # Pause for the scene to get ready rospy.sleep(1) # Initialize the move group for the right arm right_arm = MoveGroupCommander('right_arm') # Initialize the move group for the left arm left_arm = MoveGroupCommander('left_arm') right_arm.set_planner_id("KPIECEkConfigDefault"); left_arm.set_planner_id("KPIECEkConfigDefault"); rospy.sleep(1) # Get the name of the end-effector link end_effector_link = right_arm.get_end_effector_link() # Allow some leeway in position (meters) and orientation (radians) right_arm.set_goal_position_tolerance(0.01) right_arm.set_goal_orientation_tolerance(0.05) # Allow replanning to increase the odds of a solution right_arm.allow_replanning(True) # Set the reference frame for pose targets reference_frame = 'base_footprint' # Set the right arm reference frame accordingly right_arm.set_pose_reference_frame(reference_frame) # Allow 5 seconds per planning attempt right_arm.set_planning_time(5) # Give each of the scene objects a unique name table_id = 'table' box1_id = 'box1' box2_id = 'box2' # Remove leftover objects from a previous run scene.remove_world_object(table_id) scene.remove_world_object(box1_id) scene.remove_world_object(box2_id) # Give the scene a chance to catch up rospy.sleep(1) # Start the arm in the "resting" pose stored in the SRDF file #left_arm.set_named_target('left_start') #left_arm.go() # Start the arm in the "resting" pose stored in the SRDF file right_arm.set_named_target('right_start') right_arm.go() rospy.sleep(2) # Set the height of the table off the ground table_ground = 0.75 # Set the length, width and height of the table and boxes table_size = [0.2, 0.7, 0.01] box1_size = [0.1, 0.05, 0.05] box2_size = [0.05, 0.05, 0.15] # Add a table top and two boxes to the scene table_pose = PoseStamped() table_pose.header.frame_id = reference_frame table_pose.pose.position.x = 0.56 table_pose.pose.position.y = 0.0 table_pose.pose.position.z = table_ground + table_size[2] / 2.0 table_pose.pose.orientation.w = 1.0 scene.add_box(table_id, table_pose, table_size) box1_pose = PoseStamped() box1_pose.header.frame_id = reference_frame box1_pose.pose.position.x = 0.51 box1_pose.pose.position.y = -0.1 box1_pose.pose.position.z = table_ground + table_size[2] + box1_size[2] / 2.0 box1_pose.pose.orientation.w = 1.0 scene.add_box(box1_id, box1_pose, box1_size) box2_pose = PoseStamped() box2_pose.header.frame_id = reference_frame box2_pose.pose.position.x = 0.49 box2_pose.pose.position.y = 0.15 box2_pose.pose.position.z = table_ground + table_size[2] + box2_size[2] / 2.0 box2_pose.pose.orientation.w = 1.0 scene.add_box(box2_id, box2_pose, box2_size) # Make the table red and the boxes orange self.setColor(table_id, 0.8, 0, 0, 1.0) self.setColor(box1_id, 0.8, 0.4, 0, 1.0) self.setColor(box2_id, 0.8, 0.4, 0, 1.0) # Send the colors to the planning scene self.sendColors() # Set the target pose in between the boxes and above the table target_pose = PoseStamped() target_pose.header.frame_id = reference_frame target_pose.pose.position.x = 0.4 target_pose.pose.position.y = 0.0 target_pose.pose.position.z = table_pose.pose.position.z + table_size[2] + 0.05 target_pose.pose.orientation.w = 1.0 # Set the target pose for the arm right_arm.set_pose_target(target_pose, end_effector_link) # Move the arm to the target pose (if possible) right_arm.go() # Pause for a moment... rospy.sleep(2) # Return the arm to the "resting" pose stored in the SRDF file right_arm.set_named_target('right_start') right_arm.go() # Exit MoveIt cleanly moveit_commander.roscpp_shutdown() # Exit the script moveit_commander.os._exit(0)
class Pick_Place: def __init__(self, planArm="left_arm"): # Initialize the move_group API #moveit_commander.roscpp_initialize(sys.argv) # Initialize the ROS node rospy.init_node('pick_place', anonymous=True) # Connect to the arm move group if planArm == "right_arm": self.arm = MoveGroupCommander('right_arm') self.hand = Gripper(1) else: self.arm = MoveGroupCommander('left_arm') self.hand = Gripper(0) rospy.sleep(1) self.hand.release() # Allow replanning to increase the odds of a solution self.arm.allow_replanning(True) # Allow some leeway in position(meters) and orientation (radians) #self.arm.set_goal_position_tolerance(0.001) #self.arm.set_goal_orientation_tolerance(0.01) def pick(self): self.graspFromSide() def graspFromSide(self): targetPose=Pose() targetPose.position.x = 0.96 targetPose.position.y = 0.10 targetPose.position.z = -0.0 targetPose.orientation.x = 0.044 targetPose.orientation.y = 0.702 targetPose.orientation.z = 0.045 targetPose.orientation.w = 0.708 # right side grasp # Position #x = 0.636 #y = 0.832 #z = 0.192 # Orientation #x = -0.382 #y = 0.922 #z = 0.021 #w= 0.049 #xyz 0.871 0.428 0.038 #orientation 0.119 0.698 -0.083 0.700 self.moveToTargetPose(targetPose) while self.hand.range.state() == 65535.0: targetPose.position.x += 0.05 self.moveToTargetPose(targetPose) while self.hand.range.state() > 70: targetPose.position.x += 0.02 self.moveToTargetPose(targetPose) self.hand.grasp() rospy.sleep(1) targetPose.position.x -= 0.05 targetPose.position.y -= 0.05 targetPose.position.z += 0.1 self.moveToTargetPose(targetPose) self.hand.release() rospy.sleep(1) def moveToTargetPose(self, targetPose): # move to the defined pose self.arm.set_start_state_to_current_state() self.arm.set_pose_target(targetPose) self.arm.go() rospy.sleep(0.5)
def __init__(self): # Initialize the move_group API moveit_commander.roscpp_initialize(sys.argv) # Initialize the ROS node rospy.init_node('moveit_constraints_demo', anonymous=True) robot = RobotCommander() # Connect to the arm move group arm = MoveGroupCommander(GROUP_NAME_ARM) # Initialize the move group for the right gripper gripper = MoveGroupCommander(GROUP_NAME_GRIPPER) # Increase the planning time since constraint planning can take a while arm.set_planning_time(5) # Allow replanning to increase the odds of a solution arm.allow_replanning(True) # Set the right arm reference frame arm.set_pose_reference_frame(REFERENCE_FRAME) # Allow some leeway in position(meters) and orientation (radians) arm.set_goal_position_tolerance(0.05) arm.set_goal_orientation_tolerance(0.1) # Get the name of the end-effector link end_effector_link = arm.get_end_effector_link() # Start in the "resting" configuration stored in the SRDF file arm.set_named_target('l_arm_init') # Plan and execute a trajectory to the goal configuration arm.go() rospy.sleep(1) # Open the gripper gripper.set_joint_value_target(GRIPPER_NEUTRAL) gripper.go() rospy.sleep(1) # Set an initial target pose with the arm up and to the right target_pose = PoseStamped() target_pose.header.frame_id = REFERENCE_FRAME target_pose.pose.position.x = 0.263803774718 target_pose.pose.position.y = 0.295405791959 target_pose.pose.position.z = 0.690438884208 q = quaternion_from_euler(0, 0, -1.57079633) target_pose.pose.orientation.x = q[0] target_pose.pose.orientation.y = q[1] target_pose.pose.orientation.z = q[2] target_pose.pose.orientation.w = q[3] # Set the start state and target pose, then plan and execute arm.set_start_state(robot.get_current_state()) arm.set_pose_target(target_pose, end_effector_link) arm.go() rospy.sleep(2) # Close the gripper gripper.set_joint_value_target(GRIPPER_CLOSED) gripper.go() rospy.sleep(1) # Store the current pose start_pose = arm.get_current_pose(end_effector_link) # Create a contraints list and give it a name constraints = Constraints() constraints.name = "Keep gripper horizontal" # Create an orientation constraint for the right gripper orientation_constraint = OrientationConstraint() orientation_constraint.header = start_pose.header orientation_constraint.link_name = arm.get_end_effector_link() orientation_constraint.orientation.w = 1.0 orientation_constraint.absolute_x_axis_tolerance = 0.1 orientation_constraint.absolute_y_axis_tolerance = 0.1 orientation_constraint.absolute_z_axis_tolerance = 0.1 orientation_constraint.weight = 1.0 # q = quaternion_from_euler(0, 0, -1.57079633) # orientation_constraint.orientation.x = q[0] # orientation_constraint.orientation.y = q[1] # orientation_constraint.orientation.z = q[2] # orientation_constraint.orientation.w = q[3] # Append the constraint to the list of contraints constraints.orientation_constraints.append(orientation_constraint) # Set the path constraints on the arm arm.set_path_constraints(constraints) # Set a target pose for the arm target_pose = PoseStamped() target_pose.header.frame_id = REFERENCE_FRAME target_pose.pose.position.x = 0.39000848183 target_pose.pose.position.y = 0.185900663329 target_pose.pose.position.z = 0.732752341378 target_pose.pose.orientation.w = 1 # Set the start state and target pose, then plan and execute arm.set_start_state_to_current_state() arm.set_pose_target(target_pose, end_effector_link) arm.go() rospy.sleep(1) # Clear all path constraints arm.clear_path_constraints() # Open the gripper gripper.set_joint_value_target(GRIPPER_NEUTRAL) gripper.go() rospy.sleep(1) # Return to the "resting" configuration stored in the SRDF file arm.set_named_target('l_arm_init') # Plan and execute a trajectory to the goal configuration arm.go() rospy.sleep(1) # Shut down MoveIt cleanly moveit_commander.roscpp_shutdown() # Exit MoveIt moveit_commander.os._exit(0)
def __init__(self): # Initialize the move_group API moveit_commander.roscpp_initialize(sys.argv) rospy.init_node('moveit_obstacles_demo') # Construct the initial scene object scene = PlanningSceneInterface() # Create a scene publisher to push changes to the scene self.scene_pub = rospy.Publisher('planning_scene', PlanningScene, queue_size=5) # Create a dictionary to hold object colors self.colors = dict() # Pause for the scene to get ready rospy.sleep(1) # Initialize the move group for the right arm arm = MoveGroupCommander(GROUP_NAME_ARM) # Get the name of the end-effector link end_effector_link = arm.get_end_effector_link() # Allow some leeway in position (meters) and orientation (radians) arm.set_goal_position_tolerance(0.01) arm.set_goal_orientation_tolerance(0.05) # Allow replanning to increase the odds of a solution arm.allow_replanning(True) # Set the right arm reference frame accordingly arm.set_pose_reference_frame(REFERENCE_FRAME) # Allow 5 seconds per planning attempt arm.set_planning_time(5) # Give each of the scene objects a unique name table_id = 'table' box1_id = 'box1' box2_id = 'box2' # Remove leftover objects from a previous run scene.remove_world_object(table_id) scene.remove_world_object(box1_id) scene.remove_world_object(box2_id) # Give the scene a chance to catch up rospy.sleep(1) # Start the arm in the "resting" pose stored in the SRDF file arm.set_named_target('l_arm_init') arm.go() rospy.sleep(2) # Set the height of the table off the ground table_ground = 0.65 # Set the length, width and height of the table and boxes table_size = [0.2, 0.7, 0.01] box1_size = [0.1, 0.05, 0.05] box2_size = [0.05, 0.05, 0.15] # Add a table top and two boxes to the scene table_pose = PoseStamped() table_pose.header.frame_id = REFERENCE_FRAME table_pose.pose.position.x = 0.35 table_pose.pose.position.y = 0.0 table_pose.pose.position.z = table_ground + table_size[2] / 2.0 table_pose.pose.orientation.w = 1.0 scene.add_box(table_id, table_pose, table_size) box1_pose = PoseStamped() box1_pose.header.frame_id = REFERENCE_FRAME box1_pose.pose.position.x = 0.3 box1_pose.pose.position.y = 0 box1_pose.pose.position.z = table_ground + table_size[2] + box1_size[2] / 2.0 box1_pose.pose.orientation.w = 1.0 scene.add_box(box1_id, box1_pose, box1_size) box2_pose = PoseStamped() box2_pose.header.frame_id = REFERENCE_FRAME box2_pose.pose.position.x = 0.3 box2_pose.pose.position.y = 0.25 box2_pose.pose.position.z = table_ground + table_size[2] + box2_size[2] / 2.0 box2_pose.pose.orientation.w = 1.0 scene.add_box(box2_id, box2_pose, box2_size) # Make the table red and the boxes orange self.setColor(table_id, 0.8, 0, 0, 1.0) self.setColor(box1_id, 0.8, 0.4, 0, 1.0) self.setColor(box2_id, 0.8, 0.4, 0, 1.0) # Send the colors to the planning scene self.sendColors() # Set the target pose in between the boxes and above the table target_pose = PoseStamped() target_pose.header.frame_id = REFERENCE_FRAME target_pose.pose.position.x = 0.22 target_pose.pose.position.y = 0.14 target_pose.pose.position.z = table_pose.pose.position.z + table_size[2] + 0.05 q = quaternion_from_euler(0, 0, -1.57079633) target_pose.pose.orientation.x = q[0] target_pose.pose.orientation.y = q[1] target_pose.pose.orientation.z = q[2] target_pose.pose.orientation.w = q[3] # Set the target pose for the arm arm.set_pose_target(target_pose, end_effector_link) # Move the arm to the target pose (if possible) arm.go() # Pause for a moment... rospy.sleep(2) # Return the arm to the "resting" pose stored in the SRDF file arm.set_named_target('l_arm_init') arm.go() # Exit MoveIt cleanly moveit_commander.roscpp_shutdown() # Exit the script moveit_commander.os._exit(0)
def __init__(self): # 初始化move_group的API moveit_commander.roscpp_initialize(sys.argv) # 初始化ROS节点 rospy.init_node('moveit_pick_and_place_demo') # 初始化场景对象 scene = PlanningSceneInterface() # 创建一个发布场景变化信息的发布者 self.scene_pub = rospy.Publisher('planning_scene', PlanningScene, queue_size=10) # 创建一个发布抓取姿态的发布者 self.gripper_pose_pub = rospy.Publisher('gripper_pose', PoseStamped, queue_size=10) # 创建一个存储物体颜色的字典对象 self.colors = dict() # 初始化需要使用move group控制的机械臂中的arm group arm = MoveGroupCommander(GROUP_NAME_ARM) # 初始化需要使用move group控制的机械臂中的gripper group gripper = MoveGroupCommander(GROUP_NAME_GRIPPER) # 获取终端link的名称 end_effector_link = arm.get_end_effector_link() # 设置位置(单位:米)和姿态(单位:弧度)的允许误差 arm.set_goal_position_tolerance(0.05) arm.set_goal_orientation_tolerance(0.1) # 当运动规划失败后,允许重新规划 arm.allow_replanning(True) # 设置目标位置所使用的参考坐标系 arm.set_pose_reference_frame(REFERENCE_FRAME) # 设置每次运动规划的时间限制:5s arm.set_planning_time(5) # 设置pick和place阶段的最大尝试次数 max_pick_attempts = 5 max_place_attempts = 5 rospy.sleep(2) # 设置场景物体的名称 table_id = 'table' box1_id = 'box1' box2_id = 'box2' target_id = 'target' # 移除场景中之前运行残留的物体 scene.remove_world_object(table_id) scene.remove_world_object(box1_id) scene.remove_world_object(box2_id) scene.remove_world_object(target_id) # 移除场景中之前与机器臂绑定的物体 scene.remove_attached_object(GRIPPER_FRAME, target_id) rospy.sleep(1) # 控制机械臂先回到初始化位置 arm.set_named_target('home') arm.go() # 控制夹爪张开 gripper.set_joint_value_target(GRIPPER_OPEN) gripper.go() rospy.sleep(1) # 设置桌面的高度 table_ground = 0.2 # 设置table、box1和box2的三维尺寸[长, 宽, 高] table_size = [0.2, 0.7, 0.01] box1_size = [0.1, 0.05, 0.05] box2_size = [0.05, 0.05, 0.15] # 将三个物体加入场景当中 table_pose = PoseStamped() table_pose.header.frame_id = REFERENCE_FRAME table_pose.pose.position.x = 0.35 table_pose.pose.position.y = 0.0 table_pose.pose.position.z = table_ground + table_size[2] / 2.0 table_pose.pose.orientation.w = 1.0 scene.add_box(table_id, table_pose, table_size) box1_pose = PoseStamped() box1_pose.header.frame_id = REFERENCE_FRAME box1_pose.pose.position.x = 0.31 box1_pose.pose.position.y = -0.1 box1_pose.pose.position.z = table_ground + table_size[ 2] + box1_size[2] / 2.0 box1_pose.pose.orientation.w = 1.0 scene.add_box(box1_id, box1_pose, box1_size) box2_pose = PoseStamped() box2_pose.header.frame_id = REFERENCE_FRAME box2_pose.pose.position.x = 0.29 box2_pose.pose.position.y = -0.4 box2_pose.pose.position.z = table_ground + table_size[ 2] + box2_size[2] / 2.0 box2_pose.pose.orientation.w = 1.0 scene.add_box(box2_id, box2_pose, box2_size) # 将桌子设置成红色,两个box设置成橙色 self.setColor(table_id, 0.8, 0, 0, 1.0) self.setColor(box1_id, 0.8, 0.4, 0, 1.0) self.setColor(box2_id, 0.8, 0.4, 0, 1.0) # 设置目标物体的尺寸 target_size = [0.04, 0.04, 0.05] # 设置目标物体的位置,位于桌面之上两个盒子之间 target_pose = PoseStamped() target_pose.header.frame_id = REFERENCE_FRAME target_pose.pose.position.x = 0.32 target_pose.pose.position.y = 0.0 target_pose.pose.position.z = table_ground + table_size[ 2] + target_size[2] / 2.0 target_pose.pose.orientation.w = 1.0 # 将抓取的目标物体加入场景中 scene.add_box(target_id, target_pose, target_size) # 将目标物体设置为黄色 self.setColor(target_id, 0.9, 0.9, 0, 1.0) # 将场景中的颜色设置发布 self.sendColors() # 设置支持的外观 arm.set_support_surface_name(table_id) # 设置一个place阶段需要放置物体的目标位置 place_pose = PoseStamped() place_pose.header.frame_id = REFERENCE_FRAME place_pose.pose.position.x = 0.32 place_pose.pose.position.y = -0.2 place_pose.pose.position.z = table_ground + table_size[ 2] + target_size[2] / 2.0 place_pose.pose.orientation.w = 1.0 # 将目标位置设置为机器人的抓取目标位置 grasp_pose = target_pose # 生成抓取姿态 grasps = self.make_grasps(grasp_pose, [target_id]) # 将抓取姿态发布,可以在rviz中显示 for grasp in grasps: self.gripper_pose_pub.publish(grasp.grasp_pose) rospy.sleep(0.2) # 追踪抓取成功与否,以及抓取的尝试次数 result = None n_attempts = 0 # 重复尝试抓取,直道成功或者超多最大尝试次数 while result != MoveItErrorCodes.SUCCESS and n_attempts < max_pick_attempts: n_attempts += 1 rospy.loginfo("Pick attempt: " + str(n_attempts)) result = arm.pick(target_id, grasps) rospy.sleep(0.2) # 如果pick成功,则进入place阶段 if result == MoveItErrorCodes.SUCCESS: result = None n_attempts = 0 # 生成放置姿态 places = self.make_places(place_pose) # 重复尝试放置,直道成功或者超多最大尝试次数 while result != MoveItErrorCodes.SUCCESS and n_attempts < max_place_attempts: n_attempts += 1 rospy.loginfo("Place attempt: " + str(n_attempts)) for place in places: result = arm.place(target_id, place) if result == MoveItErrorCodes.SUCCESS: break rospy.sleep(0.2) if result != MoveItErrorCodes.SUCCESS: rospy.loginfo("Place operation failed after " + str(n_attempts) + " attempts.") else: rospy.loginfo("Pick operation failed after " + str(n_attempts) + " attempts.") # 控制机械臂回到初始化位置 arm.set_named_target('home') arm.go() # 控制夹爪回到张开的状态 gripper.set_joint_value_target(GRIPPER_OPEN) gripper.go() rospy.sleep(1) # 关闭并退出moveit moveit_commander.roscpp_shutdown() moveit_commander.os._exit(0)
def __init__(self): # Initialize the move_group API moveit_commander.roscpp_initialize(sys.argv) # Initialize the ROS node rospy.init_node('moveit_demo', anonymous=True) cartesian = rospy.get_param('~cartesian', True) # Connect to the arm move group arm = MoveGroupCommander('arm') # Allow replanning to increase the odds of a solution arm.allow_replanning(True) # Set the right arm reference frame arm.set_pose_reference_frame('base_link') # Allow some leeway in position(meters) and orientation (radians) arm.set_goal_position_tolerance(0.01) arm.set_goal_orientation_tolerance(0.05) # Get the name of the end-effector link end_effector_link = arm.get_end_effector_link() # Set an initial position for the arm start_position = [0.0, 0.5, -0.0074579719079, -1.67822729461, -3.1415174069, -1.1, 3.1415174069] # Set the goal pose of the end effector to the stored pose arm.set_joint_value_target(start_position) # Plan and execute a trajectory to the goal configuration arm.go() # Get the current pose so we can add it as a waypoint start_pose = arm.get_current_pose(end_effector_link).pose # Initialize the waypoints list waypoints = [] # Set the first waypoint to be the starting pose if cartesian: # Append the pose to the waypoints list waypoints.append(start_pose) wpose = deepcopy(start_pose) # Move end effector to the right 0.3 meters wpose.position.y -= 0.3 if cartesian: # Append the pose to the waypoints list waypoints.append(deepcopy(wpose)) else: arm.set_pose_target(wpose) arm.go() rospy.sleep(1) # Move end effector up and back wpose.position.x -= 0.2 wpose.position.z += 0.3 if cartesian: # Append the pose to the waypoints list waypoints.append(deepcopy(wpose)) else: arm.set_pose_target(wpose) arm.go() rospy.sleep(1) if cartesian: # Append the pose to the waypoints list waypoints.append(deepcopy(start_pose)) else: arm.set_pose_target(start_pose) arm.go() rospy.sleep(1) if cartesian: fraction = 0.0 maxtries = 100 attempts = 0 # Set the internal state to the current state arm.set_start_state_to_current_state() # Plan the Cartesian path connecting the waypoints while fraction < 1.0 and attempts < maxtries: (plan, fraction) = arm.compute_cartesian_path ( waypoints, # waypoint poses 0.025, # eef_step 0.0, # jump_threshold True) # avoid_collisions # Increment the number of attempts attempts += 1 # Print out a progress message if attempts % 10 == 0: rospy.loginfo("Still trying after " + str(attempts) + " attempts...") # If we have a complete plan, execute the trajectory if fraction == 1.0: rospy.loginfo("Path computed successfully. Moving the arm.") arm.execute(plan) rospy.loginfo("Path execution complete.") else: rospy.loginfo("Path planning failed with only " + str(fraction) + " success after " + str(maxtries) + " attempts.") # Shut down MoveIt cleanly moveit_commander.roscpp_shutdown() # Exit MoveIt moveit_commander.os._exit(0)
class ArmTracker: def __init__(self): rospy.init_node('arm_tracker') rospy.on_shutdown(self.shutdown) # Maximum distance of the target before the arm will lower self.max_target_dist = 1.2 # Arm length to center of gripper frame self.arm_length = 0.4 # Distance between the last target and the new target before we move the arm self.last_target_threshold = 0.01 # Distance between target and end-effector before we move the arm self.target_ee_threshold = 0.025 # Initialize the move group for the left arm self.left_arm = MoveGroupCommander(GROUP_NAME_ARM) # Initialize the move group for the left gripper left_gripper = MoveGroupCommander(GROUP_NAME_GRIPPER) # Set the reference frame for pose targets self.reference_frame = REFERENCE_FRAME # Keep track of the last target pose self.last_target_pose = PoseStamped() # Set the left arm reference frame accordingly self.left_arm.set_pose_reference_frame(self.reference_frame) # Allow replanning to increase the chances of a solution self.left_arm.allow_replanning(False) # Set a position tolerance in meters self.left_arm.set_goal_position_tolerance(0.05) # Set an orientation tolerance in radians self.left_arm.set_goal_orientation_tolerance(0.2) # What is the end effector link? self.ee_link = self.left_arm.get_end_effector_link() # Create the transform listener self.listener = tf.TransformListener() # Queue up some tf data... rospy.sleep(3) # Set the gripper target to closed position using a joint value target left_gripper.set_joint_value_target(GRIPPER_CLOSED) # Plan and execute the gripper motion left_gripper.go() rospy.sleep(1) # Subscribe to the target topic rospy.wait_for_message('/target_pose', PoseStamped) # Use queue_size=1 so we don't pile up outdated target messages self.target_subscriber = rospy.Subscriber('/target_pose', PoseStamped, self.update_target_pose, queue_size=1) rospy.loginfo("Ready for action!") while not rospy.is_shutdown(): try: target = self.target except: rospy.sleep(0.5) continue # Timestamp the target with the current time target.header.stamp = rospy.Time() # Get the target pose in the left_arm shoulder lift frame #target_arm = self.listener.transformPose('left_arm_shoulder_pan_link', target) target_arm = self.listener.transformPose('left_rotate', target) # Convert the position values to a Python list p0 = [ target_arm.pose.position.x, target_arm.pose.position.y, target_arm.pose.position.z ] # Compute the distance between the target and the shoulder link dist_target_shoulder = euclidean(p0, [0, 0, 0]) # If the target is too far away, then lower the arm if dist_target_shoulder > self.max_target_dist: rospy.loginfo("Target is too far away") self.left_arm.set_named_target('l_start') self.left_arm.go() rospy.sleep(1) continue # Transform the pose to the base reference frame target_base = self.listener.transformPose(self.reference_frame, target) # Compute the distance between the current target and the last target p1 = [ target_base.pose.position.x, target_base.pose.position.y, target_base.pose.position.z ] p2 = [ self.last_target_pose.pose.position.x, self.last_target_pose.pose.position.y, self.last_target_pose.pose.position.z ] dist_last_target = euclidean(p1, p2) # Move the arm only if we are far enough away from the previous target if dist_last_target < self.last_target_threshold: rospy.loginfo("Still close to last target") rospy.sleep(0.5) continue # Get the pose of the end effector in the base reference frame ee_pose = self.left_arm.get_current_pose(self.ee_link) # Convert the position values to a Python list p3 = [ ee_pose.pose.position.x, ee_pose.pose.position.y, ee_pose.pose.position.z ] # Compute the distance between the target and the end-effector dist_target = euclidean(p1, p3) # Only move the arm if we are far enough away from the target if dist_target < self.target_ee_threshold: rospy.loginfo("Already close enough to target") rospy.sleep(1) continue # We want the gripper somewhere on the line connecting the shoulder and the target. # Using a parametric form of the line, the parameter ranges from 0 to the # minimum of the arm length and the distance to the target. t_max = min(self.arm_length, dist_target_shoulder) # Bring it back 10% so we don't collide with the target t = 0.9 * t_max # Now compute the target positions from the parameter try: target_arm.pose.position.x *= (t / dist_target_shoulder) target_arm.pose.position.y *= (t / dist_target_shoulder) target_arm.pose.position.z *= (t / dist_target_shoulder) except: rospy.sleep(1) rospy.loginfo("Exception!") continue # Transform to the base_footprint frame target_ee = self.listener.transformPose(self.reference_frame, target_arm) # Set the target gripper orientation to be horizontal target_ee.pose.orientation.x = 0 target_ee.pose.orientation.y = 0 target_ee.pose.orientation.z = 0 target_ee.pose.orientation.w = 1 # Update the current start state self.left_arm.set_start_state_to_current_state() # Set the target pose for the end-effector self.left_arm.set_pose_target(target_ee, self.ee_link) # Plan and execute the trajectory success = self.left_arm.go() if success: # Store the current target as the last target self.last_target_pose = target # Pause a bit between motions to keep from locking up rospy.sleep(0.5) def update_target_pose(self, target): self.target = target def relax_all_servos(self): command = 'rosrun rbx2_dynamixels arbotix_relax_all_servos.py' args = shlex.split(command) subprocess.Popen(args) def shutdown(self): # Stop any further target messages from being processed self.target_subscriber.unregister() # Stop any current arm movement self.left_arm.stop() # Move to the r_start position self.left_arm.set_named_target('r_start') self.left_arm.go() # Relax the servos self.relax_all_servos() os._exit(0)
def __init__(self): # Initialize the move_group API moveit_commander.roscpp_initialize(sys.argv) rospy.init_node('moveit_demo') # Use the planning scene object to add or remove objects scene = PlanningSceneInterface("base_link") # Create a scene publisher to push changes to the scene self.scene_pub = rospy.Publisher('planning_scene', PlanningScene) # Create a publisher for displaying gripper poses self.gripper_pose_pub = rospy.Publisher('gripper_pose', PoseStamped) # Create a dictionary to hold object colors self.colors = dict() # Initialize the move group for the right arm right_arm = MoveGroupCommander(GROUP_NAME_ARM) # Initialize the move group for the right gripper right_gripper = MoveGroupCommander(GROUP_NAME_GRIPPER) # Get the name of the end-effector link end_effector_link = right_arm.get_end_effector_link() # Allow some leeway in position (meters) and orientation (radians) right_arm.set_goal_position_tolerance(0.05) right_arm.set_goal_orientation_tolerance(0.1) # Allow replanning to increase the odds of a solution right_arm.allow_replanning(True) # Set the right arm reference frame right_arm.set_pose_reference_frame(REFERENCE_FRAME) # Allow 5 seconds per planning attempt right_arm.set_planning_time(15) # Set a limit on the number of pick attempts before bailing max_pick_attempts = 5 # Set a limit on the number of place attempts max_place_attempts = 3 # Give the scene a chance to catch up rospy.sleep(2) # Connect to the UBR-1 find_objects action server rospy.loginfo("Connecting to basic_grasping_perception/find_objects...") find_objects = actionlib.SimpleActionClient("basic_grasping_perception/find_objects", FindGraspableObjectsAction) find_objects.wait_for_server() rospy.loginfo("...connected") # Give the scene a chance to catch up rospy.sleep(1) # Start the arm in the "resting" pose stored in the SRDF file right_arm.set_named_target('resting') right_arm.go() # Open the gripper to the neutral position right_gripper.set_joint_value_target(GRIPPER_NEUTRAL) right_gripper.go() rospy.sleep(1) # Begin the main perception and pick-and-place loop while not rospy.is_shutdown(): # Initialize the grasping goal goal = FindGraspableObjectsGoal() # We don't use the UBR-1 grasp planner as it does not work with our gripper goal.plan_grasps = False # Send the goal request to the find_objects action server which will trigger # the perception pipeline find_objects.send_goal(goal) # Wait for a result find_objects.wait_for_result(rospy.Duration(5.0)) # The result will contain support surface(s) and objects(s) if any are detected find_result = find_objects.get_result() # Display the number of objects found rospy.loginfo("Found %d objects" % len(find_result.objects)) # Remove all previous objects from the planning scene for name in scene.getKnownCollisionObjects(): scene.removeCollisionObject(name, False) for name in scene.getKnownAttachedObjects(): scene.removeAttachedObject(name, False) scene.waitForSync() # Clear the virtual object colors scene._colors = dict() # Use the nearest object on the table as the target target_pose = PoseStamped() target_pose.header.frame_id = REFERENCE_FRAME target_size = None the_object = None the_object_dist = 1.0 count = -1 # Cycle through all detected objects and keep the nearest one for obj in find_result.objects: count += 1 scene.addSolidPrimitive("object%d"%count, obj.object.primitives[0], obj.object.primitive_poses[0], wait = False) # Choose the object nearest to the robot dx = obj.object.primitive_poses[0].position.x - args.x dy = obj.object.primitive_poses[0].position.y d = math.sqrt((dx * dx) + (dy * dy)) if d < the_object_dist: the_object_dist = d the_object = count # Get the size of the target target_size = obj.object.primitives[0].dimensions # Set the target pose target_pose.pose = obj.object.primitive_poses[0] # We want the gripper to be horizontal target_pose.pose.orientation.x = 0.0 target_pose.pose.orientation.y = 0.0 target_pose.pose.orientation.z = 0.0 target_pose.pose.orientation.w = 1.0 # Make sure we found at least one object before setting the target ID if the_object != None: target_id = "object%d"%the_object # Insert the support surface into the planning scene for obj in find_result.support_surfaces: # Extend surface to floor height = obj.primitive_poses[0].position.z obj.primitives[0].dimensions = [obj.primitives[0].dimensions[0], 2.0, # make table wider obj.primitives[0].dimensions[2] + height] obj.primitive_poses[0].position.z += -height/2.0 # Add to scene scene.addSolidPrimitive(obj.name, obj.primitives[0], obj.primitive_poses[0], wait = False) # Get the table dimensions table_size = obj.primitives[0].dimensions # If no objects detected, try again if the_object == None or target_size is None: rospy.logerr("Nothing to grasp! try again...") continue # Wait for the scene to sync scene.waitForSync() # Set colors of the table and the object we are grabbing scene.setColor(target_id, 223.0/256.0, 90.0/256.0, 12.0/256.0) # orange scene.setColor(find_result.objects[the_object].object.support_surface, 0.3, 0.3, 0.3, 0.7) # grey scene.sendColors() # Skip pick-and-place if we are just detecting objects if args.objects: if args.once: exit(0) else: continue # Get the support surface ID support_surface = find_result.objects[the_object].object.support_surface # Set the support surface name to the table object right_arm.set_support_surface_name(support_surface) # Specify a pose to place the target after being picked up place_pose = PoseStamped() place_pose.header.frame_id = REFERENCE_FRAME place_pose.pose.position.x = target_pose.pose.position.x place_pose.pose.position.y = 0.03 place_pose.pose.position.z = table_size[2] + target_size[2] / 2.0 + 0.015 place_pose.pose.orientation.w = 1.0 # Initialize the grasp pose to the target pose grasp_pose = target_pose # Shift the grasp pose half the size of the target to center it in the gripper try: grasp_pose.pose.position.x += target_size[0] / 2.0 grasp_pose.pose.position.y -= 0.01 grasp_pose.pose.position.z += target_size[2] / 2.0 except: rospy.loginfo("Invalid object size so skipping") continue # Generate a list of grasps grasps = self.make_grasps(grasp_pose, [target_id]) # Publish the grasp poses so they can be viewed in RViz for grasp in grasps: self.gripper_pose_pub.publish(grasp.grasp_pose) rospy.sleep(0.2) # Track success/failure and number of attempts for pick operation result = None n_attempts = 0 # Set the start state to the current state right_arm.set_start_state_to_current_state() # Repeat until we succeed or run out of attempts while result != MoveItErrorCodes.SUCCESS and n_attempts < max_pick_attempts: result = right_arm.pick(target_id, grasps) n_attempts += 1 rospy.loginfo("Pick attempt: " + str(n_attempts)) rospy.sleep(1.0) # If the pick was successful, attempt the place operation if result == MoveItErrorCodes.SUCCESS: result = None n_attempts = 0 # Generate valid place poses places = self.make_places(place_pose) # Set the start state to the current state #right_arm.set_start_state_to_current_state() # Repeat until we succeed or run out of attempts while result != MoveItErrorCodes.SUCCESS and n_attempts < max_place_attempts: for place in places: result = right_arm.place(target_id, place) if result == MoveItErrorCodes.SUCCESS: break n_attempts += 1 rospy.loginfo("Place attempt: " + str(n_attempts)) rospy.sleep(0.2) if result != MoveItErrorCodes.SUCCESS: rospy.loginfo("Place operation failed after " + str(n_attempts) + " attempts.") else: rospy.loginfo("Pick operation failed after " + str(n_attempts) + " attempts.") rospy.sleep(2) # Open the gripper to the neutral position right_gripper.set_joint_value_target(GRIPPER_NEUTRAL) right_gripper.go() rospy.sleep(2) # Return the arm to the "resting" pose stored in the SRDF file right_arm.set_named_target('resting') right_arm.go() rospy.sleep(2) # Give the servos a rest arbotix_relax_all_servos() rospy.sleep(2) if args.once: # Shut down MoveIt cleanly moveit_commander.roscpp_shutdown() # Exit the script moveit_commander.os._exit(0)