def __init__(self): # Initialize the move_group API moveit_commander.roscpp_initialize(sys.argv) # Initialize the ROS node rospy.init_node('get_joint_states', anonymous=True) # Initialize the MoveIt! commander for the right arm right_arm = MoveGroupCommander('tx90_arm') # Get the end-effector link end_effector_link = right_arm.get_end_effector_link() # Joints are stored in the order they appear in the kinematic chain joint_names = right_arm.get_active_joints() # Display the joint names rospy.loginfo("Joint names:\n" + str(joint_names)) # Get the current joint angles joint_values = right_arm.get_current_joint_values() # Display the joint values rospy.loginfo("Joint values:\n" + str(joint_values) + "\n") # # Get the end-effector pose ee_pose = right_arm.get_current_pose(end_effector_link) # Display the end-effector pose rospy.loginfo("End effector pose:\n" + str(ee_pose)) 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('get_joint_states', anonymous=True) # Initialize the MoveIt! commander for the right arm arm = MoveGroupCommander('right_arm') # Get the end-effector link end_effector_link = arm.get_end_effector_link() rospy.loginfo("End effector: %s" % end_effector_link) planning_frame = arm.get_planning_frame() # Joints are stored in the order they appear in the kinematic chain joint_names = arm.get_active_joints() joint_names = [ 'right_arm_shoulder_rotate_joint', 'right_arm_shoulder_lift_joint', 'right_arm_elbow_rotate_joint', 'right_arm_elbow_bend_joint', 'right_arm_wrist_bend_joint', 'right_arm_wrist_rotate_joint' ] # Display the joint names #rospy.loginfo("Joint names:\n" + str(joint_names) + "\n") # Get the current joint angles joint_values = arm.get_current_joint_values() # Display the joint values rospy.loginfo("Joint values:\n" + str(joint_values) + "\n") # Get the end-effector pose ee_pose = arm.get_current_pose(end_effector_link) orientation = ee_pose.pose.orientation ox = orientation.x oy = orientation.y oz = orientation.z ow = orientation.w euler_pose = euler_from_quaternion([ow, ox, oy, oz]) #euler_pose = euler_from_quaternion([0.0, 0.0, 0.0, 1.0]) # Display the end-effector pose rospy.loginfo("End effector pose:\n" + str(ee_pose)) rospy.loginfo("RPY?:\n" + str(euler_pose)) moveit_commander.roscpp_shutdown() moveit_commander.os._exit(0)
class CalibrationMovements: def __init__(self, move_group_name, max_velocity_scaling, max_acceleration_scaling, angle_delta, translation_delta, move_group_namespace='/'): # self.client = HandeyeClient() # TODO: move around marker when eye_on_hand, automatically take samples via trigger topic if not move_group_namespace.endswith('/'): move_group_namespace = move_group_namespace + '/' if move_group_namespace != '/': self.mgc = MoveGroupCommander( move_group_name, robot_description=move_group_namespace + 'robot_description', ns=move_group_namespace) else: self.mgc = MoveGroupCommander(move_group_name) self.mgc.set_planner_id("RRTConnectkConfigDefault" ) # TODO: this is only needed for the UR5 self.mgc.set_max_velocity_scaling_factor(max_velocity_scaling) self.mgc.set_max_acceleration_scaling_factor(max_acceleration_scaling) self.start_pose = self.mgc.get_current_pose() self.joint_limits = [math.radians(90)] * 5 + [math.radians(180)] + [ math.radians(350) ] # TODO: make param self.target_poses = [] self.current_pose_index = None self.current_plan = None self.fallback_joint_limits = [math.radians(90)] * 4 + [ math.radians(90) ] + [math.radians(180)] + [math.radians(350)] if len(self.mgc.get_active_joints()) == 6: self.fallback_joint_limits = self.fallback_joint_limits[1:] self.angle_delta = angle_delta self.translation_delta = translation_delta def set_and_check_starting_position(self): # sets the starting position to the current robot cartesian EE position and checks movement in all directions # TODO: make repeatable # - save the home position and each target position as joint position # - plan to each target position and back, save plan if not crazy # - return true if can plan to each target position without going crazy self.start_pose = self.mgc.get_current_pose() self.target_poses = self._compute_poses_around_state( self.start_pose, self.angle_delta, self.translation_delta) self.current_pose_index = -1 ret = self._check_target_poses(self.joint_limits) if ret: rospy.loginfo("Set current pose as home") return True else: rospy.logerr("Can't calibrate from this position!") self.start_pose = None self.target_poses = None return False def select_target_pose(self, i): number_of_target_poses = len(self.target_poses) if 0 <= i < number_of_target_poses: rospy.loginfo("Selected pose {} for next movement".format(i)) self.current_pose_index = i return True else: rospy.logerr( "Index {} is out of bounds: there are {} target poses".format( i, number_of_target_poses)) return False def plan_to_start_pose(self): # TODO: use joint position http://docs.ros.org/melodic/api/moveit_tutorials/html/doc/move_group_python_interface/move_group_python_interface_tutorial.html#planning-to-a-joint-goal rospy.loginfo("Planning to home pose") return self._plan_to_pose(self.start_pose) def plan_to_current_target_pose(self): # TODO: use joint position http://docs.ros.org/melodic/api/moveit_tutorials/html/doc/move_group_python_interface/move_group_python_interface_tutorial.html#planning-to-a-joint-goal i = self.current_pose_index rospy.loginfo("Planning to target pose {}".format(i)) return self._plan_to_pose(self.target_poses[i]) def execute_plan(self): if self.plan is None: rospy.logerr("No plan found!") return False if CalibrationMovements._is_crazy_plan(self.plan, self.fallback_joint_limits): rospy.logerr("Crazy plan found, not executing!") return False self.mgc.execute(self.plan) return True def _plan_to_pose(self, pose): self.mgc.set_start_state_to_current_state() self.mgc.set_pose_target(pose) ret = self.mgc.plan() if type(ret) is tuple: # noetic success, plan, planning_time, error_code = ret else: # melodic plan = ret if CalibrationMovements._is_crazy_plan(plan, self.fallback_joint_limits): rospy.logwarn("Planning failed") self.plan = None return False else: rospy.loginfo("Planning successful") self.plan = plan return True def _check_target_poses(self, joint_limits): if len(self.fallback_joint_limits) == 6: joint_limits = joint_limits[1:] for fp in self.target_poses: self.mgc.set_pose_target(fp) ret = self.mgc.plan() if type(ret) is tuple: # noetic success, plan, planning_time, error_code = ret else: # melodic plan = ret if len(plan.joint_trajectory.points ) == 0 or CalibrationMovements._is_crazy_plan( plan, joint_limits): return False return True @staticmethod def _compute_poses_around_state(start_pose, angle_delta, translation_delta): basis = np.eye(3) pos_deltas = [ quaternion_from_euler(*rot_axis * angle_delta) for rot_axis in basis ] neg_deltas = [ quaternion_from_euler(*rot_axis * (-angle_delta)) for rot_axis in basis ] quaternion_deltas = list( chain.from_iterable(zip(pos_deltas, neg_deltas))) # interleave final_rots = [] for qd in quaternion_deltas: final_rots.append(list(qd)) # TODO: accept a list of delta values pos_deltas = [ quaternion_from_euler(*rot_axis * angle_delta / 2) for rot_axis in basis ] neg_deltas = [ quaternion_from_euler(*rot_axis * (-angle_delta / 2)) for rot_axis in basis ] quaternion_deltas = list( chain.from_iterable(zip(pos_deltas, neg_deltas))) # interleave for qd in quaternion_deltas: final_rots.append(list(qd)) final_poses = [] for rot in final_rots: fp = deepcopy(start_pose) ori = fp.pose.orientation combined_rot = quaternion_multiply([ori.x, ori.y, ori.z, ori.w], rot) fp.pose.orientation = Quaternion(*combined_rot) final_poses.append(fp) fp = deepcopy(start_pose) fp.pose.position.x += translation_delta / 2 final_poses.append(fp) fp = deepcopy(start_pose) fp.pose.position.x -= translation_delta / 2 final_poses.append(fp) fp = deepcopy(start_pose) fp.pose.position.y += translation_delta final_poses.append(fp) fp = deepcopy(start_pose) fp.pose.position.y -= translation_delta final_poses.append(fp) fp = deepcopy(start_pose) fp.pose.position.z += translation_delta / 3 final_poses.append(fp) return final_poses @staticmethod def _rot_per_joint(plan, degrees=False): np_traj = np.array([p.positions for p in plan.joint_trajectory.points]) if len(np_traj) == 0: raise ValueError np_traj_max_per_joint = np_traj.max(axis=0) np_traj_min_per_joint = np_traj.min(axis=0) ret = abs(np_traj_max_per_joint - np_traj_min_per_joint) if degrees: ret = [math.degrees(j) for j in ret] return ret @staticmethod def _is_crazy_plan(plan, max_rotation_per_joint): abs_rot_per_joint = CalibrationMovements._rot_per_joint(plan) if (abs_rot_per_joint > max_rotation_per_joint).any(): return True else: return False
class CalibrationMovements: def __init__(self, move_group_name, max_velocity_scaling=0.5, max_acceleration_scaling=0.5): #self.client = HandeyeClient() # TODO: move around marker when eye_on_hand, automatically take samples via trigger topic self.mgc = MoveGroupCommander(move_group_name) self.mgc.set_planner_id("RRTConnectkConfigDefault") self.mgc.set_max_velocity_scaling_factor(max_velocity_scaling) self.mgc.set_max_acceleration_scaling_factor(max_acceleration_scaling) self.start_pose = self.mgc.get_current_pose() self.poses = [] self.current_pose_index = -1 self.fallback_joint_limits = [math.radians(90)] * 4 + [ math.radians(90) ] + [math.radians(180)] + [math.radians(350)] if len(self.mgc.get_active_joints()) == 6: self.fallback_joint_limits = self.fallback_joint_limits[1:] def compute_poses_around_current_state(self, angle_delta, translation_delta): self.start_pose = self.mgc.get_current_pose() basis = np.eye(3) pos_deltas = [ quaternion_from_euler(*rot_axis * angle_delta) for rot_axis in basis ] neg_deltas = [ quaternion_from_euler(*rot_axis * (-angle_delta)) for rot_axis in basis ] quaternion_deltas = list( chain.from_iterable(izip(pos_deltas, neg_deltas))) # interleave final_rots = [] for qd in quaternion_deltas: final_rots.append(list(qd)) # TODO: clean up pos_deltas = [ quaternion_from_euler(*rot_axis * angle_delta / 2) for rot_axis in basis ] neg_deltas = [ quaternion_from_euler(*rot_axis * (-angle_delta / 2)) for rot_axis in basis ] quaternion_deltas = list( chain.from_iterable(izip(pos_deltas, neg_deltas))) # interleave for qd in quaternion_deltas: final_rots.append(list(qd)) final_poses = [] for rot in final_rots: fp = deepcopy(self.start_pose) ori = fp.pose.orientation combined_rot = quaternion_multiply([ori.x, ori.y, ori.z, ori.w], rot) fp.pose.orientation = Quaternion(*combined_rot) final_poses.append(fp) fp = deepcopy(self.start_pose) fp.pose.position.x += translation_delta / 2 final_poses.append(fp) fp = deepcopy(self.start_pose) fp.pose.position.x -= translation_delta / 2 final_poses.append(fp) fp = deepcopy(self.start_pose) fp.pose.position.y += translation_delta final_poses.append(fp) fp = deepcopy(self.start_pose) fp.pose.position.y -= translation_delta final_poses.append(fp) fp = deepcopy(self.start_pose) fp.pose.position.z += translation_delta / 3 final_poses.append(fp) self.poses = final_poses self.current_pose_index = -1 def check_poses(self, joint_limits): if len(self.fallback_joint_limits) == 6: joint_limits = joint_limits[1:] for fp in self.poses: self.mgc.set_pose_target(fp) plan = self.mgc.plan() if len(plan.joint_trajectory.points ) == 0 or CalibrationMovements.is_crazy_plan( plan, joint_limits): return False return True def plan_to_start_pose(self): return self.plan_to_pose(self.start_pose) def plan_to_pose(self, pose): self.mgc.set_start_state_to_current_state() self.mgc.set_pose_target(pose) plan = self.mgc.plan() return plan def execute_plan(self, plan): if CalibrationMovements.is_crazy_plan(plan, self.fallback_joint_limits): raise RuntimeError("got crazy plan!") self.mgc.execute(plan) @staticmethod def rot_per_joint(plan, degrees=False): np_traj = np.array([p.positions for p in plan.joint_trajectory.points]) if len(np_traj) == 0: raise ValueError np_traj_max_per_joint = np_traj.max(axis=0) np_traj_min_per_joint = np_traj.min(axis=0) ret = abs(np_traj_max_per_joint - np_traj_min_per_joint) if degrees: ret = [math.degrees(j) for j in ret] return ret @staticmethod def is_crazy_plan(plan, max_rotation_per_joint): abs_rot_per_joint = CalibrationMovements.rot_per_joint(plan) if (abs_rot_per_joint > max_rotation_per_joint).any(): return True else: return False
raw_input("please input") # [00000000] print right_arm.get_joint_value_target() print both_arms.get_joint_value_target() # no this functions # print right_arm.get_named_targets() print right_arm.get_remembered_joint_values() print both_arms.get_remembered_joint_values() print right_arm.get_path_constraints() print both_arms.get_path_constraints() print right_arm.get_active_joints() print both_arms.get_active_joints() print right_arm.get_current_joint_values() print right_arm.get_current_pose() print right_arm.get_current_rpy() print both_arms.get_current_joint_values() print both_arms.get_current_pose() print both_arms.get_current_rpy() right_arm.clear_pose_targets() left_current_pose = both_arms.get_current_pose(end_effector_link='left_gripper').pose right_current_pose = both_arms.get_current_pose(end_effector_link='right_gripper').pose print left_current_pose
class TestMoveit(unittest.TestCase): _MOVEGROUP_MAIN = 'manipulator' _KINEMATICSOLVER_SAFE = 'RRTConnectkConfigDefault' @classmethod def setUpClass(self): rospy.init_node('test_moveit_vs060') self.robot = RobotCommander() self._mvgroup = MoveGroupCommander(self._MOVEGROUP_MAIN) # Temporary workaround of planner's issue similar to https://github.com/tork-a/rtmros_nextage/issues/170 self._mvgroup.set_planner_id(self._KINEMATICSOLVER_SAFE) self._movegroups = sorted(['manipulator', 'manipulator_flange']) self._joints_movegroup_main = sorted( ['j1', 'j2', 'j3', 'j4', 'j5', 'flange']) @classmethod def tearDownClass(self): True # TODO impl something meaningful def _set_sample_pose(self): ''' @return: Pose() with some values populated in. ''' pose_target = Pose() pose_target.orientation.x = 0.00 pose_target.orientation.y = 0.00 pose_target.orientation.z = -0.20 pose_target.orientation.w = 0.98 pose_target.position.x = 0.18 pose_target.position.y = 0.18 pose_target.position.z = 0.94 return pose_target def _plan(self): ''' Run `clear_pose_targets` at the beginning. @rtype: RobotTrajectory http://docs.ros.org/api/moveit_msgs/html/msg/RobotTrajectory.html ''' self._mvgroup.clear_pose_targets() pose_target = self._set_sample_pose() self._mvgroup.set_pose_target(pose_target) plan = self._mvgroup.plan() rospy.loginfo(' plan: '.format(plan)) return plan def test_list_movegroups(self): '''Check if the defined move groups are loaded.''' self.assertEqual(self._movegroups, sorted(self.robot.get_group_names())) def test_list_activejoints(self): '''Check if the defined joints in a move group are loaded.''' self.assertEqual(self._joints_movegroup_main, sorted(self._mvgroup.get_active_joints())) def test_plan(self): '''Evaluate plan (RobotTrajectory)''' plan = self._plan() # TODO Better way to check the plan is valid. # Currently the following checks if the number of waypoints is not zero, # which (hopefully) indicates that a path is computed. self.assertNotEqual(0, plan.joint_trajectory.points) def test_planandexecute(self): ''' Evaluate Plan and Execute works. Currently no value checking is done (, which is better to be implemented) ''' self._plan() # TODO Better way to check the plan is valid. # The following checks if plan execution was successful or not. self.assertTrue(self._mvgroup.go()) def test_set_pose_target(self): ''' Check for simple planning, originally testd in moved from denso_vs060_moveit_demo_test.py ''' self._plan() p = [0.1, -0.35, 0.4] pose = PoseStamped( header=rospy.Header(stamp=rospy.Time.now(), frame_id='/BASE'), pose=Pose(position=Point(*p), orientation=Quaternion( *quaternion_from_euler(1.57, 0, 1.57, 'sxyz')))) self._mvgroup.set_pose_target(pose) self.assertTrue(self._mvgroup.go() or self._mvgroup.go()) def test_planning_scene(self): ''' Check if publish_simple_scene.py is working ''' rospy.wait_for_service('/get_planning_scene', timeout=20) get_planning_scene = rospy.ServiceProxy("/get_planning_scene", GetPlanningScene) collision_objects = [] # wait for 10 sec time_start = rospy.Time.now() while not collision_objects and (rospy.Time.now() - time_start).to_sec() < 10.0: world = get_planning_scene( PlanningSceneComponents(components=PlanningSceneComponents. WORLD_OBJECT_NAMES)).scene.world collision_objects = world.collision_objects rospy.loginfo("collision_objects = " + str(world.collision_objects)) rospy.sleep(1) self.assertTrue(world.collision_objects != [], world)
class SrRobotCommander(object): """ Base class for hand and arm commanders. """ def __init__(self, name): """ Initialize MoveGroupCommander object. @param name - name of the MoveIt group. """ self._name = name self._move_group_commander = MoveGroupCommander(name) self._robot_commander = RobotCommander() self._robot_name = self._robot_commander._r.get_robot_name() self.refresh_named_targets() self._warehouse_name_get_srv = rospy.ServiceProxy("get_robot_state", GetState) self._planning_scene = PlanningSceneInterface() self._joint_states_lock = threading.Lock() self._joint_states_listener = \ rospy.Subscriber("joint_states", JointState, self._joint_states_callback, queue_size=1) self._joints_position = {} self._joints_velocity = {} self._joints_effort = {} self._joints_state = None self._clients = {} self.__plan = None self._controllers = {} rospy.wait_for_service('compute_ik') self._compute_ik = rospy.ServiceProxy('compute_ik', GetPositionIK) self._forward_k = rospy.ServiceProxy('compute_fk', GetPositionFK) controller_list_param = rospy.get_param("/move_group/controller_list") # create dictionary with name of controllers and corresponding joints self._controllers = {item["name"]: item["joints"] for item in controller_list_param} self._set_up_action_client(self._controllers) self.tf_buffer = tf2_ros.Buffer() self.listener = tf2_ros.TransformListener(self.tf_buffer) threading.Thread(None, rospy.spin) def _is_trajectory_valid(self, trajectory, required_keys): if type(trajectory) != list: rospy.logerr("Trajectory is not a list of waypoints") return False no_error = True for k in required_keys: if "|" in k: optional = k.split("|") if len(set(optional).intersection(set(trajectory[0].keys()))) == 0: rospy.logerr("Trajectory is missing both of {} keys".format(optional)) no_error = False else: if k not in list(trajectory[0].keys()): rospy.logerr("Trajectory waypoint missing {}".format(k)) no_error = False return no_error def set_planner_id(self, planner_id): """ Sets the planner_id used for all future planning requests. @param planner_id - The string for the planner id, set to None to clear. """ self._move_group_commander.set_planner_id(planner_id) def set_num_planning_attempts(self, num_planning_attempts): self._move_group_commander.set_num_planning_attempts(num_planning_attempts) def set_planning_time(self, seconds): """ Specifies the amount of time to be used for motion planning. Some planning algorithms might require more time than others to compute a valid solution. """ self._move_group_commander.set_planning_time(seconds) def get_end_effector_pose_from_named_state(self, name): state = self._warehouse_name_get_srv(name, self._robot_name).state return self.get_end_effector_pose_from_state(state) def get_end_effector_pose_from_state(self, state): header = Header() fk_link_names = [self._move_group_commander.get_end_effector_link()] header.frame_id = self._move_group_commander.get_pose_reference_frame() response = self._forward_k(header, fk_link_names, state) return response.pose_stamped[0] def get_planning_frame(self): """ @return - returns the name of the frame wrt which the motion planning is computed. """ return self._move_group_commander.get_planning_frame() def set_pose_reference_frame(self, reference_frame): """ Set the reference frame to assume for poses of end-effectors. @param reference_frame - name of the frame. """ self._move_group_commander.set_pose_reference_frame(reference_frame) def get_group_name(self): return self._name def refresh_named_targets(self): self._srdf_names = self.__get_srdf_names() self._warehouse_names = self.__get_warehouse_names() def set_max_velocity_scaling_factor(self, value): """ Set a scaling factor for optionally reducing the maximum joint velocity. @param value - Allowed values are in (0,1]. """ self._move_group_commander.set_max_velocity_scaling_factor(value) def set_max_acceleration_scaling_factor(self, value): """ Set a scaling factor for optionally reducing the maximum joint accelaration. @param value - Allowed values are in (0,1]. """ self._move_group_commander.set_max_acceleration_scaling_factor(value) def allow_looking(self, value): """ Enable/disable looking around for motion planning. @param value - boolean. """ self._move_group_commander.allow_looking(value) def allow_replanning(self, value): """ Enable/disable replanning in case new obstacles are detected while executing a plan. @param value - boolean. """ self._move_group_commander.allow_replanning(value) def execute(self): """ Executes the last plan made. @return - Success of execution. """ is_executed = False if self.check_plan_is_valid(): is_executed = self._move_group_commander.execute(self.__plan) self.__plan = None else: rospy.logwarn("No plans were made, not executing anything.") if not is_executed: rospy.logerr("Execution failed.") else: rospy.loginfo("Execution succeeded.") return is_executed def execute_plan(self, plan): """ Executes a given plan. @param plan - RobotTrajectory msg that contains the trajectory to the set goal state. @return - Success of execution. """ is_executed = False if self.check_given_plan_is_valid(plan): is_executed = self._move_group_commander.execute(plan) self.__plan = None else: rospy.logwarn("Plan is not valid, not executing anything.") if not is_executed: rospy.logerr("Execution failed.") else: rospy.loginfo("Execution succeeded.") return is_executed def move_to_joint_value_target(self, joint_states, wait=True, angle_degrees=False): """ Set target of the robot's links and moves to it. @param joint_states - dictionary with joint name and value. It can contain only joints values of which need to be changed. @param wait - should method wait for movement end or not. @param angle_degrees - are joint_states in degrees or not. """ joint_states_cpy = copy.deepcopy(joint_states) if angle_degrees: joint_states_cpy.update((joint, radians(i)) for joint, i in joint_states_cpy.items()) self._move_group_commander.set_start_state_to_current_state() self._move_group_commander.set_joint_value_target(joint_states_cpy) self._move_group_commander.go(wait=wait) def set_start_state_to_current_state(self): return self._move_group_commander.set_start_state_to_current_state() def plan_to_joint_value_target(self, joint_states, angle_degrees=False, custom_start_state=None): """ Set target of the robot's links and plans. @param joint_states - dictionary with joint name and value. It can contain only joints values of which need to be changed. @param angle_degrees - are joint_states in degrees or not. @param custom_start_state - specify a start state different than the current state This is a blocking method. @return - motion plan (RobotTrajectory msg) that contains the trajectory to the set goal state. """ joint_states_cpy = copy.deepcopy(joint_states) if angle_degrees: joint_states_cpy.update((joint, radians(i)) for joint, i in joint_states_cpy.items()) if custom_start_state is None: self._move_group_commander.set_start_state_to_current_state() else: self._move_group_commander.set_start_state(custom_start_state) self._move_group_commander.set_joint_value_target(joint_states_cpy) self.__plan = self._move_group_commander.plan()[CONST_TUPLE_TRAJECTORY_INDEX] return self.__plan def check_plan_is_valid(self): """ Checks if current plan contains a valid trajectory """ return (self.__plan is not None and len(self.__plan.joint_trajectory.points) > 0) def check_given_plan_is_valid(self, plan): """ Checks if given plan contains a valid trajectory """ return (plan is not None and len(plan.joint_trajectory.points) > 0) def evaluate_given_plan(self, plan): """ Returns given plan quality calculated by a weighted sum of angles traveled by each of the joints, giving higher weights to the joints closer to the base of the robot, thus penalizing them as smallmovements of these joints will result in bigger movements of the end effector. Formula: PQ = sum_(i=0)^(n-1){w_i * abs(x_i - x_(i0)}, where: n - number of robot's joints, w - weight specified for each joint, x - joint's goal position, x_0 - joint's initial position. The lower the value, the better the plan. """ if plan is None: return None num_of_joints = len(plan.joint_trajectory.points[0].positions) weights = numpy.array(sorted(range(1, num_of_joints + 1), reverse=True)) plan_array = numpy.empty(shape=(len(plan.joint_trajectory.points), num_of_joints)) for i, point in enumerate(plan.joint_trajectory.points): plan_array[i] = point.positions deltas = abs(numpy.diff(plan_array, axis=0)) sum_deltas = numpy.sum(deltas, axis=0) sum_deltas_weighted = sum_deltas * weights plan_quality = float(numpy.sum(sum_deltas_weighted)) return plan_quality def evaluate_plan(self): return self.evaluate_given_plan(self.__plan) def evaluate_plan_quality(self, plan_quality, good_threshold=20, medium_threshold=50): if plan_quality > medium_threshold: rospy.logwarn("Low plan quality! Value: {}".format(plan_quality)) return 'poor' elif (plan_quality > good_threshold and plan_quality < medium_threshold): rospy.loginfo("Medium plan quality. Value: {}".format(plan_quality)) return 'medium' elif plan_quality < good_threshold: rospy.loginfo("Good plan quality. Value: {}".format(plan_quality)) return 'good' def get_robot_name(self): return self._robot_name def named_target_in_srdf(self, name): return name in self._srdf_names def set_named_target(self, name): """ Set a joint configuration by name. @param name - name of the target which must correspond to a name defined, either in the srdf or in the mongo warehouse database. @return - bool to confirm that the target has been correctly set. """ if name in self._srdf_names: self._move_group_commander.set_named_target(name) elif (name in self._warehouse_names): response = self._warehouse_name_get_srv(name, self._robot_name) active_names = self._move_group_commander._g.get_active_joints() joints = response.state.joint_state.name positions = response.state.joint_state.position js = {} for n, this_name in enumerate(joints): if this_name in active_names: js[this_name] = positions[n] try: self._move_group_commander.set_joint_value_target(js) except Exception as e: rospy.loginfo(e) else: rospy.logerr("Unknown named state '%s'..." % name) return False return True def get_named_target_joint_values(self, name): """ Get the joint angles for targets specified by name. @param name - @param name - name of the target which must correspond to a name defined, either in the srdf or in the mongo warehouse database. @return - joint values of the named target. """ output = dict() if (name in self._srdf_names): output = self._move_group_commander._g.get_named_target_values(str(name)) elif (name in self._warehouse_names): js = self._warehouse_name_get_srv( name, self._robot_name).state.joint_state for x, n in enumerate(js.name): if n in self._move_group_commander._g.get_joints(): output[n] = js.position[x] else: rospy.logerr("No target named %s" % name) return None return output def get_end_effector_link(self): return self._move_group_commander.get_end_effector_link() def get_current_pose(self, reference_frame=None): """ Get the current pose of the end effector. @param reference_frame - The desired reference frame in which end effector pose should be returned. If none is passed, it will use the planning frame as reference. @return - geometry_msgs.msg.Pose() - current pose of the end effector. """ if reference_frame is not None: try: trans = self.tf_buffer.lookup_transform(reference_frame, self._move_group_commander.get_end_effector_link(), rospy.Time(0), rospy.Duration(5.0)) current_pose = geometry_msgs.msg.Pose() current_pose.position.x = trans.transform.translation.x current_pose.position.y = trans.transform.translation.y current_pose.position.z = trans.transform.translation.z current_pose.orientation.x = trans.transform.rotation.x current_pose.orientation.y = trans.transform.rotation.y current_pose.orientation.z = trans.transform.rotation.z current_pose.orientation.w = trans.transform.rotation.w return current_pose except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException): rospy.logwarn("Couldn't get the pose from " + self._move_group_commander.get_end_effector_link() + " in " + reference_frame + " reference frame") return None else: return self._move_group_commander.get_current_pose().pose def get_current_state(self): """ Get the current joint state of the group being used. @return - a dictionary with the joint names as keys and current joint values. """ joint_names = self._move_group_commander._g.get_active_joints() joint_values = self._move_group_commander._g.get_current_joint_values() return dict(zip(joint_names, joint_values)) def get_current_state_bounded(self): """ Get the current joint state of the group being used, enforcing that they are within each joint limits. @return - a dictionary with the joint names as keys and current joint values. """ current = self._move_group_commander._g.get_current_state_bounded() names = self._move_group_commander._g.get_active_joints() output = {n: current[n] for n in names if n in current} return output def get_robot_state_bounded(self): return self._move_group_commander._g.get_current_state_bounded() def move_to_named_target(self, name, wait=True): """ Set target of the robot's links and moves to it @param name - name of the target pose defined in SRDF @param wait - should method wait for movement end or not """ self._move_group_commander.set_start_state_to_current_state() if self.set_named_target(name): self._move_group_commander.go(wait=wait) def plan_to_named_target(self, name, custom_start_state=None): """ Set target of the robot's links and plans This is a blocking method. @param name - name of the target pose defined in SRDF. @param custom_start_state - specify a start state different than the current state. @return - a motion plan (RobotTrajectory msg) that contains the trajectory to the named target. """ if custom_start_state is None: self._move_group_commander.set_start_state_to_current_state() else: self._move_group_commander.set_start_state(custom_start_state) if self.set_named_target(name): self.__plan = self._move_group_commander.plan()[CONST_TUPLE_TRAJECTORY_INDEX] else: rospy.logwarn("Could not find named target, plan not generated") return False return True def __get_warehouse_names(self): try: list_srv = rospy.ServiceProxy("list_robot_states", ListStates) return list_srv("", self._robot_name).states except rospy.ServiceException as exc: rospy.logwarn("Couldn't access warehouse: " + str(exc)) return list() def _reset_plan(self): self.__plan = None def _set_plan(self, plan): self.__plan = plan def __get_srdf_names(self): return self._move_group_commander._g.get_named_targets() def get_named_targets(self): """ Get the complete list of named targets, from SRDF as well as warehouse poses if available. @return - list of strings containing names of targets. """ return self._srdf_names + self._warehouse_names def get_joints_position(self): """ Returns joints position. @return - dictionary with joints positions. """ with self._joint_states_lock: return self._joints_position def get_joints_velocity(self): """ Returns joints velocities @return - dictionary with joints velocities. """ with self._joint_states_lock: return self._joints_velocity def _get_joints_effort(self): """ Returns joints effort. @return - dictionary with joints efforts. """ with self._joint_states_lock: return self._joints_effort def get_joints_state(self): """ Returns joints state @return - JointState message """ with self._joint_states_lock: return self._joints_state def run_joint_trajectory(self, joint_trajectory): """ Moves robot through all joint states with specified timeouts. @param joint_trajectory - JointTrajectory class object. Represents trajectory of the joints which would be executed. @return - Success of execution. """ plan = RobotTrajectory() plan.joint_trajectory = joint_trajectory return self._move_group_commander.execute(plan) def make_named_trajectory(self, trajectory): """ Makes joint value trajectory from specified by named poses (either from SRDF or from warehouse). @param trajectory - list of waypoints, each waypoint is a dict with the following elements (n.b either name or joint_angles is required) - name -> the name of the way point - joint_angles -> a dict of joint names and angles - interpolate_time -> time to move from last wp OPTIONAL: - pause_time -> time to wait at this wp - degrees -> set to true if joint_angles is specified in degrees. Assumed false if absent. """ if not self._is_trajectory_valid(trajectory, ["name|joint_angles", "interpolate_time"]): return current = self.get_current_state_bounded() joint_trajectory = JointTrajectory() joint_names = list(current.keys()) joint_trajectory.joint_names = joint_names start = JointTrajectoryPoint() start.positions = list(current.values()) start.time_from_start = rospy.Duration.from_sec(0.001) joint_trajectory.points.append(start) time_from_start = 0.0 for wp in trajectory: joint_positions = None if 'name' in wp.keys(): joint_positions = self.get_named_target_joint_values(wp['name']) elif 'joint_angles' in wp.keys(): joint_positions = copy.deepcopy(wp['joint_angles']) if 'degrees' in wp.keys() and wp['degrees']: for joint, angle in joint_positions.items(): joint_positions[joint] = radians(angle) if joint_positions is None: rospy.logerr("Invalid waypoint. Must contain valid name for named target or dict of joint angles.") return None new_positions = {} for n in joint_names: new_positions[n] = joint_positions[n] if n in joint_positions else current[n] trajectory_point = JointTrajectoryPoint() trajectory_point.positions = [new_positions[n] for n in joint_names] current = new_positions time_from_start += wp['interpolate_time'] trajectory_point.time_from_start = rospy.Duration.from_sec(time_from_start) joint_trajectory.points.append(trajectory_point) if 'pause_time' in wp and wp['pause_time'] > 0: extra = JointTrajectoryPoint() extra.positions = trajectory_point.positions time_from_start += wp['pause_time'] extra.time_from_start = rospy.Duration.from_sec(time_from_start) joint_trajectory.points.append(extra) return joint_trajectory def send_stop_trajectory_unsafe(self): """ Sends a trajectory of all active joints at their current position. This stops the robot. """ current = self.get_current_state_bounded() trajectory_point = JointTrajectoryPoint() trajectory_point.positions = list(current.values()) trajectory_point.time_from_start = rospy.Duration.from_sec(0.1) trajectory = JointTrajectory() trajectory.points.append(trajectory_point) trajectory.joint_names = list(current.keys()) self.run_joint_trajectory_unsafe(trajectory) def run_named_trajectory_unsafe(self, trajectory, wait=False): """ Moves robot through trajectory specified by named poses, either from SRDF or from warehouse. Runs trajectory directly via contoller. @param trajectory - list of waypoints, each waypoint is a dict with the following elements: - name -> the name of the way point - interpolate_time -> time to move from last wp OPTIONAL: - pause_time -> time to wait at this wp """ if self._is_trajectory_valid(trajectory, ['name|joint_angles', 'interpolate_time']): joint_trajectory = self.make_named_trajectory(trajectory) self.run_joint_trajectory_unsafe(joint_trajectory, wait) def run_named_trajectory(self, trajectory): """ Moves robot through trajectory specified by named poses, either from SRDF or from warehouse. Runs trajectory via moveit. @param trajectory - list of waypoints, each waypoint is a dict with the following elements: - name -> the name of the way point - interpolate_time -> time to move from last wp OPTIONAL: - pause_time -> time to wait at this wp """ if self._is_trajectory_valid(trajectory, ['name|joint_angles', 'interpolate_time']): joint_trajectory = self.make_named_trajectory(trajectory) self.run_joint_trajectory(joint_trajectory) def move_to_position_target(self, xyz, end_effector_link="", wait=True): """ Specify a target position for the end-effector and moves to it preserving the current orientation of the end-effector. @param xyz - new position of end-effector. @param end_effector_link - name of the end effector link. @param wait - should method wait for movement end or not. """ pose = self._move_group_commander.get_current_pose() pose.pose.position.x = xyz[0] pose.pose.position.y = xyz[1] pose.pose.position.z = xyz[2] self._move_group_commander.set_start_state_to_current_state() self._move_group_commander.set_pose_target(pose, end_effector_link) self._move_group_commander.go(wait=wait) def plan_to_position_target(self, xyz, end_effector_link="", custom_start_state=None): """ Specify a target position for the end-effector and plans preserving the current orientation of end-effector. This is a blocking method. @param xyz - new position of end-effector. @param end_effector_link - name of the end effector link. @param custom_start_state - specify a start state different than the current state. """ pose = self._move_group_commander.get_current_pose() pose.pose.position.x = xyz[0] pose.pose.position.y = xyz[1] pose.pose.position.z = xyz[2] if custom_start_state is None: self._move_group_commander.set_start_state_to_current_state() else: self._move_group_commander.set_start_state(custom_start_state) self._move_group_commander.set_pose_target(pose, end_effector_link) self.__plan = self._move_group_commander.plan()[CONST_TUPLE_TRAJECTORY_INDEX] return self.__plan def move_to_pose_target(self, pose, end_effector_link="", wait=True): """ Specify a target pose for the end-effector and moves to it @param pose - new pose of end-effector: a Pose message, a PoseStamped message or a list of 6 floats: [x, y, z, rot_x, rot_y, rot_z] or a list of 7 floats [x, y, z, qx, qy, qz, qw]. @param end_effector_link - name of the end effector link. @param wait - should method wait for movement end or not. """ self._move_group_commander.set_start_state_to_current_state() self._move_group_commander.set_pose_target(pose, end_effector_link) self._move_group_commander.go(wait=wait) def plan_to_pose_target(self, pose, end_effector_link="", alternative_method=False, custom_start_state=None): """ Specify a target pose for the end-effector and plans. This is a blocking method. @param pose - new pose of end-effector: a Pose message, a PoseStamped message or a list of 6 floats: [x, y, z, rot_x, rot_y, rot_z] or a list of 7 floats [x, y, z, qx, qy, qz, qw]. @param end_effector_link - name of the end effector link. @param alternative_method - use set_joint_value_target instead of set_pose_target. @param custom_start_state - specify a start state different than the current state. """ if custom_start_state is None: self._move_group_commander.set_start_state_to_current_state() else: self._move_group_commander.set_start_state(custom_start_state) if alternative_method: self._move_group_commander.set_joint_value_target(pose, end_effector_link) else: self._move_group_commander.set_pose_target(pose, end_effector_link) self.__plan = self._move_group_commander.plan()[CONST_TUPLE_TRAJECTORY_INDEX] return self.__plan def _joint_states_callback(self, joint_state): """ The callback function for the topic joint_states. It will store the received joint position, velocity and efforts information into dictionaries. @param joint_state - the message containing the joints data. """ with self._joint_states_lock: self._joints_state = joint_state self._joints_position = {n: p for n, p in zip(joint_state.name, joint_state.position)} self._joints_velocity = {n: v for n, v in zip(joint_state.name, joint_state.velocity)} self._joints_effort = {n: v for n, v in zip(joint_state.name, joint_state.effort)} def _set_up_action_client(self, controller_list): """ Sets up an action client to communicate with the trajectory controller. """ self._action_running = {} for controller_name in controller_list.keys(): self._action_running[controller_name] = False service_name = controller_name + "/follow_joint_trajectory" self._clients[controller_name] = SimpleActionClient(service_name, FollowJointTrajectoryAction) if self._clients[controller_name].wait_for_server(timeout=rospy.Duration(4)) is False: err_msg = 'Failed to connect to action server ({}) in 4 sec'.format(service_name) rospy.logwarn(err_msg) def move_to_joint_value_target_unsafe(self, joint_states, time=0.002, wait=True, angle_degrees=False): """ Set target of the robot's links and moves to it. @param joint_states - dictionary with joint name and value. It can contain only joints values of which need to be changed. @param time - time in s (counting from now) for the robot to reach the target (it needs to be greater than 0.0 for it not to be rejected by the trajectory controller). @param wait - should method wait for movement end or not. @param angle_degrees - are joint_states in degrees or not. """ # self._update_default_trajectory() # self._set_targets_to_default_trajectory(joint_states) goals = {} joint_states_cpy = copy.deepcopy(joint_states) if angle_degrees: joint_states_cpy.update((joint, radians(i)) for joint, i in joint_states_cpy.items()) for controller in self._controllers: controller_joints = self._controllers[controller] goal = FollowJointTrajectoryGoal() goal.trajectory.joint_names = [] point = JointTrajectoryPoint() point.positions = [] for x in joint_states_cpy.keys(): if x in controller_joints: goal.trajectory.joint_names.append(x) point.positions.append(joint_states_cpy[x]) point.time_from_start = rospy.Duration.from_sec(time) goal.trajectory.points = [point] goals[controller] = goal self._call_action(goals) if not wait: return for i in self._clients.keys(): if not self._clients[i].wait_for_result(): rospy.loginfo("Trajectory not completed") def action_is_running(self, controller=None): if controller is not None: return self._action_running[controller] for controller_running in self._action_running.values(): if controller_running: return True return False def _action_done_cb(self, controller, terminal_state, result): self._action_running[controller] = False def _call_action(self, goals): for client in self._clients: self._action_running[client] = True self._clients[client].send_goal( goals[client], lambda terminal_state, result: self._action_done_cb(client, terminal_state, result)) def run_joint_trajectory_unsafe(self, joint_trajectory, wait=True): """ Moves robot through all joint states with specified timeouts. @param joint_trajectory - JointTrajectory class object. Represents trajectory of the joints which would be executed. @param wait - should method wait for movement end or not. """ goals = {} for controller in self._controllers: controller_joints = self._controllers[controller] goal = FollowJointTrajectoryGoal() goal.trajectory = copy.deepcopy(joint_trajectory) indices_of_joints_in_this_controller = [] for i, joint in enumerate(joint_trajectory.joint_names): if joint in controller_joints: indices_of_joints_in_this_controller.append(i) goal.trajectory.joint_names = [ joint_trajectory.joint_names[i] for i in indices_of_joints_in_this_controller] for point in goal.trajectory.points: if point.positions: point.positions = [point.positions[i] for i in indices_of_joints_in_this_controller] if point.velocities: point.velocities = [point.velocities[i] for i in indices_of_joints_in_this_controller] if point.effort: point.effort = [point.effort[i] for i in indices_of_joints_in_this_controller] goals[controller] = goal self._call_action(goals) if not wait: return for i in self._clients.keys(): if not self._clients[i].wait_for_result(): rospy.loginfo("Trajectory not completed") def plan_to_waypoints_target(self, waypoints, reference_frame=None, eef_step=0.005, jump_threshold=0.0, custom_start_state=None): """ Specify a set of waypoints for the end-effector and plans. This is a blocking method. @param reference_frame - the reference frame in which the waypoints are given. @param waypoints - an array of poses of end-effector. @param eef_step - configurations are computed for every eef_step meters. @param jump_threshold - maximum distance in configuration space between consecutive points in the resulting path. @param custom_start_state - specify a start state different than the current state. @return - motion plan (RobotTrajectory msg) that contains the trajectory to the set wayapoints targets. """ if custom_start_state is None: self._move_group_commander.set_start_state_to_current_state() else: self._move_group_commander.set_start_state(custom_start_state) old_frame = self._move_group_commander.get_pose_reference_frame() if reference_frame is not None: self.set_pose_reference_frame(reference_frame) self.__plan, fraction = self._move_group_commander.compute_cartesian_path(waypoints, eef_step, jump_threshold) self.set_pose_reference_frame(old_frame) return self.__plan, fraction def set_teach_mode(self, teach): """ Activates/deactivates the teach mode for the robot. Activation: stops the the trajectory controllers for the robot, and sets it to teach mode. Deactivation: stops the teach mode and starts trajectory controllers for the robot. Currently this method blocks for a few seconds when called on a hand, while the hand parameters are reloaded. @param teach - bool to activate or deactivate teach mode """ if teach: mode = RobotTeachModeRequest.TEACH_MODE else: mode = RobotTeachModeRequest.TRAJECTORY_MODE self.change_teach_mode(mode, self._name) def move_to_trajectory_start(self, trajectory, wait=True): """ Make and execute a plan from the current state to the first state in an pre-existing trajectory. @param trajectory - moveit_msgs/JointTrajectory. @param wait - Bool to specify if movement should block untill finished. """ if len(trajectory.points) <= 0: rospy.logerr("Trajectory has no points in it, can't reverse...") return None first_point = trajectory.points[0] end_state = dict(zip(trajectory.joint_names, first_point.positions)) self.move_to_joint_value_target(end_state, wait=wait) @staticmethod def change_teach_mode(mode, robot): teach_mode_client = rospy.ServiceProxy('/teach_mode', RobotTeachMode) req = RobotTeachModeRequest() req.teach_mode = mode req.robot = robot try: resp = teach_mode_client(req) if resp.result == RobotTeachModeResponse.ERROR: rospy.logerr("Failed to change robot %s to mode %d", robot, mode) else: rospy.loginfo("Changed robot %s to mode %d Result = %d", robot, mode, resp.result) except rospy.ServiceException: rospy.logerr("Failed to call service teach_mode") def get_ik(self, target_pose, avoid_collisions=False, joint_states=None, ik_constraints=None): """ Computes the inverse kinematics for a given pose. It returns a JointState. @param target_pose - A given pose of type PoseStamped. @param avoid_collisions - Find an IK solution that avoids collisions. By default, this is false. @param joint_states - initial joint configuration of type JointState from which the IK solution is computed. If set to None, the current joint state is retrieved automatically. @param ik_constraints - Set constraints of type Constraints for computing the IK solution. """ service_request = PositionIKRequest() service_request.group_name = self._name service_request.ik_link_name = self._move_group_commander.get_end_effector_link() service_request.pose_stamped = target_pose service_request.timeout.secs = 1 service_request.avoid_collisions = avoid_collisions if ik_constraints is not None: service_request.constraints = ik_constraints if joint_states is None: service_request.robot_state.joint_state = self.get_joints_state() else: service_request.robot_state.joint_state = joint_states try: resp = self._compute_ik(ik_request=service_request) # Check if error_code.val is SUCCESS=1 if resp.error_code.val != 1: if resp.error_code.val == -10: rospy.logerr("Unreachable point: Start state in collision") elif resp.error_code.val == -12: rospy.logerr("Unreachable point: Goal state in collision") elif resp.error_code.val == -31: rospy.logerr("Unreachable point: No IK solution") else: rospy.logerr("Unreachable point (error: %s)" % resp.error_code) return else: return resp.solution.joint_state except rospy.ServiceException as e: rospy.logerr("Service call failed: %s" % e) def move_to_pose_value_target_unsafe(self, target_pose, avoid_collisions=False, time=0.002, wait=True, ik_constraints=None): """ Specify a target pose for the end-effector and moves to it. @param target_pose - new pose of end-effector: a Pose message, a PoseStamped message or a list of 6 floats: [x, y, z, rot_x, rot_y, rot_z] or a list of 7 floats [x, y, z, qx, qy, qz, qw]. @param avoid_collisions - Find an IK solution that avoids collisions. By default, this is false. @param time - time in s (counting from now) for the robot to reach the target (it needs to be greater than 0.0 for it not to be rejected by the trajectory controller). @param wait - should method wait for movement end or not. @param ik_constraints - Set constraints of type Constraints for computing the IK solution. """ joint_state = self.get_ik(target_pose, avoid_collisions, ik_constraints=ik_constraints) if joint_state is not None: active_joints = self._move_group_commander.get_active_joints() current_indices = [i for i, x in enumerate(joint_state.name) if any(thing in x for thing in active_joints)] current_names = [joint_state.name[i] for i in current_indices] current_positions = [joint_state.position[i] for i in current_indices] state_as_dict = dict(zip(current_names, current_positions)) self.move_to_joint_value_target_unsafe(state_as_dict, time=time, wait=wait)