def getObjectsInSight():
rp=[0,0,0]
robotpose.getRobotPose(rp)
try:
log_to_terminal("Getting objects in sight for robot in position [%s, %s, %s]"%(float(rp[0]),float(rp[1]),normalize(degrees(rp[2]))))
answer = conversion_cells_from_coord_handle(float(rp[0]),float(rp[1]))
result = prolog_handle('allObjectsInRoom', ["%s"%answer.cell_x,"%s"%answer.cell_y, "L"])
itemList = result.ris[0].atoms[2]
itemList = itemList.replace("\'","").replace("[[","").replace("]]","").split("],[")
objectsList = []
objectsName = []
for i in itemList:
splitted_item = i.split(",")
euclid_coords = conversion_coord_from_cells_handle(int(splitted_item[1]),int(splitted_item[2]))
polar_coords = convert_from_map_euclidian_to_robot_angular(euclid_coords.real_x, euclid_coords.real_y,rp)
objectsList.append([splitted_item[0],polar_coords[0],polar_coords[1]])
objectsList = [item for item in objectsList if item[1] < SIGHT_FAR_THRESHOLD and item[1] > SIGHT_CLOSE_THRESHOLD and (abs(item[2]) < ANGULAR_THRESHOLD or abs(item[2]) > 360 - ANGULAR_THRESHOLD)]
objectsList = removeElementsWithSameName(objectsList)
for i in objectsList:
result = prolog_handle('objectType', [i[0],"X"])
objectsName.append(result.ris[0].atoms[1].replace("_"," "))
return objectsName
except:
return []
def do_getcloser(self):
rp = [0,0,0]
while (not robotpose.getRobotPose(rp)):
rospy.sleep(0.25)
I_err = 0
prev_err = 0
yaw = rp[2]
GTh = roundPI2(yaw)
cmd_vel = Twist()
status = 1 # go
while((not self._as.is_preempt_requested()) and status==1):
if (not robotpose.getRobotPose(rp)):
continue
X = rp[0]
Y = rp[1]
yaw = rp[2]
adist = norm180(degrees(GTh-yaw))
trans_vel = 0
midang=35
if (status==1):
if (self.person_dist>MIN_PERSON_DIST):
trans_vel = max(MIN_TRANS_VEL,MAX_TRANS_VEL*min(1.0,(self.person_dist-MIN_PERSON_DIST)/0.6))
elif (self.person_dist<0):
pass
else:
status = 2 # Finish
if (abs(adist)>midang):
cmd_vel.linear.x = 0.0
cmd_vel.angular.z = MAX_ANG_VEL
else:
cmd_vel.linear.x = trans_vel * (midang-abs(adist))/midang
cmd_vel.angular.z = MAX_ANG_VEL
if (cmd_vel.linear.x < ZERO_TRANS_VEL):
cmd_vel.linear.x = 0
if (abs(adist)>40 and abs(adist)<50):
I_err = 0
# PID controller
err = radians(adist)
P_err = err
I_err += err
D_err = err - prev_err
prev_err = err
Kp = 0.50
Ki = 0.000
Kd = 0.001
v = Kp * P_err + Ki * I_err + Kd * D_err
cmd_vel.angular.z *= v
self.pub_cmd.publish(cmd_vel)
rospy.sleep(0.10)
# end while
self.stop_getcloser()
def handle_evaluate_condition_command(req):
condition = req.condition
result = "False"
if condition.startswith("in{"):
argument = condition.replace("in{","")[:-1]
robot_pose = [0,0,0]
robotpose.getRobotPose(robot_pose)
converted_robot_pose = conversion_cells_from_coord_handle(robot_pose[0], robot_pose[1])
robot_current_room = prolog_handle('cellCoordIsPartOf', [str(int(converted_robot_pose.cell_x)), str(int(converted_robot_pose.cell_y)), 'X']).ris[0].atoms[2]
log_to_terminal("robot_current_room:%s ?== argument:%s"%(robot_current_room,argument))
if robot_current_room == argument:
result = "True"
elif condition.startswith("isPerceived{"):
argument = condition.replace("isPerceived{","")[:-1]
objectsInSight = getObjectsInSight()
log_to_terminal("argument:%s ?in list:%s"%(argument, objectsInSight))
if argument in objectsInSight:
result = "True"
else:
rospy.logwarn("Could not recognize the condition %s. Considering it as False"%condition)
event_pub.publish("ConditionVerified_%s"%result)
return result
def get_nearest_cell_in_room(atom):
robot_pose = [0,0,0]
robotpose.getRobotPose(robot_pose)
converted_robot_pose = conversion_cells_from_coord_handle(robot_pose[0], robot_pose[1])
query_results = prolog_handle ('get_cell_near_destination_room', [str(converted_robot_pose.cell_x), str(converted_robot_pose.cell_y), atom, 'X', 'Y']).ris[0]
coords = [query_results.atoms[3], query_results.atoms[4]]
return [coords[0],coords[1], 0]
def get_nearest_cell_in_room(atom):
robot_pose = [0, 0, 0]
robotpose.getRobotPose(robot_pose)
converted_robot_pose = conversion_cells_from_coord_handle(
robot_pose[0], robot_pose[1])
query_results = prolog_handle('get_cell_near_destination_room', [
str(converted_robot_pose.cell_x),
str(converted_robot_pose.cell_y), atom, 'X', 'Y'
]).ris[0]
coords = [query_results.atoms[3], query_results.atoms[4]]
return [coords[0], coords[1], 0]
def ground_request(frame, target):
prolog_handle = rospy.ServiceProxy('/prolog_interface/prolog_query',
prologSrv)
conversion_cells_from_coord_handle = rospy.ServiceProxy(
'/semantic_map_extraction/get_cell_by_coords', GetCellByCoords)
conversion_coord_from_cells_handle = rospy.ServiceProxy(
'/semantic_map_extraction/get_coords_by_cell', GetCoordsByCell)
robot_pose = [0, 0, 0]
robotpose.getRobotPose(robot_pose)
#converted_robot_pose = conversion_cells_from_coord_handle(robot_pose[0], robot_pose[1])
# grounding the commands with frame CLOSEST and target: OBJECT (e.g. bed)
if (frame == "CLOSEST"):
targetList = str(target).replace(" ", "").replace("\'", "")
print targetList
try:
target_atoms_list = prolog_handle(
'nearest_atom_in_list_from',
[targetList,
str(robot_pose[0]),
str(robot_pose[1]), "X"])
target_atoms_list = [target_atoms_list.ris[0].atoms[3]]
except:
target_atoms_list = []
# grounding other commands
else:
target_list = target.split(" ")
try:
listProlog = str(target_list).replace("\"", "").replace(
"\'", "").replace(" ", "")
print listProlog
query_results = prolog_handle('getAtom', [
listProlog, "V",
str("%.2f" % robot_pose[0]),
str("%.2f" % robot_pose[1])
]).ris
target_atoms_list = []
for result in query_results:
target_atoms_list.append(result.atoms[1])
except:
target_atoms_list = []
return list(set(target_atoms_list))
def is_robot_already_there(target_pose, target_category, target_id):
robot_pose = [0,0,0]
threshold = 0.5
robotpose.getRobotPose(robot_pose)
converted_robot_pose = conversion_cells_from_coord_handle(robot_pose[0], robot_pose[1])
is_robot_near = math.sqrt(math.pow(float(robot_pose[0]) - float(target_pose[0]), 2) + math.pow(float(robot_pose[1]) - float(target_pose[1]),2)) < threshold
robot_current_room = prolog_handle('cellCoordIsPartOf', [str(int(converted_robot_pose.cell_x)), str(int(converted_robot_pose.cell_y)), 'X']).ris[0].atoms[2]
is_robot_in_room = (target_id == robot_current_room)
if (target_category == "object" and is_robot_near) or (target_category == "room" and is_robot_in_room):
return True
else:
return False
def publish_dot():
rp=[0,0,0]
robotpose.getRobotPose(rp)
print "Robot pose: ",rp
obs = Obs()
obs.posx=rp[0] + 1.2*cos(rp[2])
obs.posy=rp[1] + 1.2*sin(rp[2])
obs.theta=rp[2]+3.14
print "Tagged object: ",obs.posx,obs.posy
obs.dimx=0.50
obs.dimy=0.50
obs.dimz=0.03
#obs.properties="objImagedata~rgb-20130731174135.png^raw-20130731174135.png^depth-20130731174135.png^laser-20130731174135.png"
pub_dot.publish(obs)
say('[BEEP]500|400\n')
def publish_dot():
rp = [0, 0, 0]
robotpose.getRobotPose(rp)
print "Robot pose: ", rp
obs = Obs()
obs.posx = rp[0] + 1.2 * cos(rp[2])
obs.posy = rp[1] + 1.2 * sin(rp[2])
obs.theta = rp[2] + 3.14
print "Tagged object: ", obs.posx, obs.posy
obs.dimx = 0.50
obs.dimy = 0.50
obs.dimz = 0.03
#obs.properties="objImagedata~rgb-20130731174135.png^raw-20130731174135.png^depth-20130731174135.png^laser-20130731174135.png"
pub_dot.publish(obs)
say('[BEEP]500|400\n')
def ground_request(frame, target):
prolog_handle = rospy.ServiceProxy("/prolog_interface/prolog_query", prologSrv)
conversion_cells_from_coord_handle = rospy.ServiceProxy(
"/semantic_map_extraction/get_cell_by_coords", GetCellByCoords
)
conversion_coord_from_cells_handle = rospy.ServiceProxy(
"/semantic_map_extraction/get_coords_by_cell", GetCoordsByCell
)
robot_pose = [0, 0, 0]
robotpose.getRobotPose(robot_pose)
# converted_robot_pose = conversion_cells_from_coord_handle(robot_pose[0], robot_pose[1])
# grounding the commands with frame CLOSEST and target: OBJECT (e.g. bed)
if frame == "CLOSEST":
targetList = str(target).replace(" ", "").replace("'", "")
print targetList
try:
target_atoms_list = prolog_handle(
"nearest_atom_in_list_from", [targetList, str(robot_pose[0]), str(robot_pose[1]), "X"]
)
target_atoms_list = [target_atoms_list.ris[0].atoms[3]]
except:
target_atoms_list = []
# grounding other commands
else:
target_list = target.split(" ")
try:
listProlog = str(target_list).replace('"', "").replace("'", "").replace(" ", "")
print listProlog
query_results = prolog_handle(
"getAtom", [listProlog, "V", str("%.2f" % robot_pose[0]), str("%.2f" % robot_pose[1])]
).ris
target_atoms_list = []
for result in query_results:
target_atoms_list.append(result.atoms[1])
except:
target_atoms_list = []
return list(set(target_atoms_list))
def is_robot_already_there(target_pose, target_category, target_id):
robot_pose = [0, 0, 0]
threshold = 0.5
robotpose.getRobotPose(robot_pose)
converted_robot_pose = conversion_cells_from_coord_handle(
robot_pose[0], robot_pose[1])
is_robot_near = math.sqrt(
math.pow(float(robot_pose[0]) - float(target_pose[0]), 2) +
math.pow(float(robot_pose[1]) - float(target_pose[1]), 2)) < threshold
robot_current_room = prolog_handle('cellCoordIsPartOf', [
str(int(converted_robot_pose.cell_x)),
str(int(converted_robot_pose.cell_y)), 'X'
]).ris[0].atoms[2]
is_robot_in_room = (target_id == robot_current_room)
if (target_category == "object"
and is_robot_near) or (target_category == "room"
and is_robot_in_room):
return True
else:
return False
# (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):
rospy.sleep(0.2)
print '*** exception here: ', sys.exc_info()[0]
continue
def initNode(NODE):
global pub_cmd
global sub_odom
global tfl
rospy.init_node(NODE + '_')
tfl = tf.TransformListener()
#rospy.sleep(1.0)
#pub_cmd = rospy.Publisher('/'+robotname+'/ps3joy_cmd_vel', Twist)
#sub_odom = rospy.Subscriber('/'+robotname+'/odom', Odometry, odom_callback)
rospy.sleep(1.0)
# MAIN
if __name__ == '__main__':
global robotname
initNode(NODE)
robot_name = rospy.get_param('/robotname', "robot_0")
V = [0, 0, 0]
#getRobotPose_tf(V)
#print "Direct tf get robot pose : ",V
robotpose.getRobotPose(V)
print "Service get robot pose : ", V
def do_followPerson(self):
# getting robot pose
rp = [0, 0, 0]
while (not robotpose.getRobotPose(rp)):
rospy.sleep(0.25)
I_err = 0
prev_err = 0
yaw = rp[2]
GTh = roundPI2(yaw)
cmd_vel = Twist()
status = 0 # waiting
while (not self._as.is_preempt_requested()):
if (not robotpose.getRobotPose(rp)):
continue
X = rp[0]
Y = rp[1]
yaw = rp[2]
adist = norm180(degrees(GTh - yaw))
trans_vel = 0
midang = 35
if (status == 0 and self.person_dist > 0
and self.person_dist < MIN_PERSON_DIST * 2.0):
print 'Person detected. Start Following...'
status = 1 # person detected
if (status == 1 and self.person_dist < 0):
print 'Person lost. Stop following...'
status = 0 # waiting
if (status == 1):
if (self.person_dist > MIN_PERSON_DIST):
trans_vel = max(
MIN_TRANS_VEL,
MAX_TRANS_VEL *
min(1.0, (self.person_dist - MIN_PERSON_DIST) / 0.6))
elif (abs(self.person_dist_y) > MIN_PERSON_DIST / 2):
status = 2 # Turning...
adist = norm180(degrees(GTh - yaw))
if (self.person_dist_y > 0):
GTh = GTh + pi / 2
else:
GTh = GTh - pi / 2
elif (status == 2 and abs(adist) < 23):
status = 1
if (abs(adist) > midang):
cmd_vel.linear.x = 0.0
cmd_vel.angular.z = MAX_ANG_VEL
else:
cmd_vel.linear.x = trans_vel * (midang - abs(adist)) / midang
cmd_vel.angular.z = MAX_ANG_VEL
if (cmd_vel.linear.x < ZERO_TRANS_VEL):
cmd_vel.linear.x = 0
if (abs(adist) > 40 and abs(adist) < 50):
I_err = 0
# PID controller
err = radians(adist)
P_err = err
I_err += err
D_err = err - prev_err
prev_err = err
Kp = 0.50
Ki = 0.000
Kd = 0.001
v = Kp * P_err + Ki * I_err + Kd * D_err
#print 'PID err = ',err,' -> PID value = ',v
cmd_vel.angular.z *= v
self.pub_cmd.publish(cmd_vel)
rospy.sleep(0.10)
# end while
self.stop_followperson()
def do_followPerson(self):
# getting robot pose
rp = [0, 0, 0]
while not robotpose.getRobotPose(rp):
rospy.sleep(0.25)
I_err = 0
prev_err = 0
yaw = rp[2]
GTh = roundPI2(yaw)
cmd_vel = Twist()
status = 0 # waiting
while not self._as.is_preempt_requested():
if not robotpose.getRobotPose(rp):
continue
X = rp[0]
Y = rp[1]
yaw = rp[2]
adist = norm180(degrees(GTh - yaw))
trans_vel = 0
midang = 35
if status == 0 and self.person_dist > 0 and self.person_dist < MIN_PERSON_DIST * 2.0:
print "Person detected. Start Following..."
status = 1 # person detected
if status == 1 and self.person_dist < 0:
print "Person lost. Stop following..."
status = 0 # waiting
if status == 1:
if self.person_dist > MIN_PERSON_DIST:
trans_vel = max(MIN_TRANS_VEL, MAX_TRANS_VEL * min(1.0, (self.person_dist - MIN_PERSON_DIST) / 0.6))
elif abs(self.person_dist_y) > MIN_PERSON_DIST / 2:
status = 2 # Turning...
adist = norm180(degrees(GTh - yaw))
if self.person_dist_y > 0:
GTh = GTh + pi / 2
else:
GTh = GTh - pi / 2
elif status == 2 and abs(adist) < 23:
status = 1
if abs(adist) > midang:
cmd_vel.linear.x = 0.0
cmd_vel.angular.z = MAX_ANG_VEL
else:
cmd_vel.linear.x = trans_vel * (midang - abs(adist)) / midang
cmd_vel.angular.z = MAX_ANG_VEL
if cmd_vel.linear.x < ZERO_TRANS_VEL:
cmd_vel.linear.x = 0
if abs(adist) > 40 and abs(adist) < 50:
I_err = 0
# PID controller
err = radians(adist)
P_err = err
I_err += err
D_err = err - prev_err
prev_err = err
Kp = 0.50
Ki = 0.000
Kd = 0.001
v = Kp * P_err + Ki * I_err + Kd * D_err
# print 'PID err = ',err,' -> PID value = ',v
cmd_vel.angular.z *= v
self.pub_cmd.publish(cmd_vel)
rospy.sleep(0.10)
# end while
self.stop_followperson()
# (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):
rospy.sleep(0.2)
print "*** exception here: ", sys.exc_info()[0]
continue
def initNode(NODE):
global pub_cmd
global sub_odom
global tfl
rospy.init_node(NODE + "_")
tfl = tf.TransformListener()
# rospy.sleep(1.0)
# pub_cmd = rospy.Publisher('/'+robotname+'/ps3joy_cmd_vel', Twist)
# sub_odom = rospy.Subscriber('/'+robotname+'/odom', Odometry, odom_callback)
rospy.sleep(1.0)
# MAIN
if __name__ == "__main__":
global robotname
initNode(NODE)
robot_name = rospy.get_param("/robotname", "robot_0")
V = [0, 0, 0]
# getRobotPose_tf(V)
# print "Direct tf get robot pose : ",V
robotpose.getRobotPose(V)
print "Service get robot pose : ", V