def __init__(self):
group = MoveGroupCommander("arm")
#group.set_orientation_tolerance([0.3,0.3,0,3])
p = PoseStamped()
p.header.frame_id = "/katana_base_link"
p.pose.position.x = 0.4287
#p.pose.position.y = -0.0847
p.pose.position.y = 0.0
p.pose.position.z = 0.4492
q = quaternion_from_euler(2, 0, 0)
p.pose.orientation.x = q[0]
p.pose.orientation.y = q[1]
p.pose.orientation.z = q[2]
p.pose.orientation.w = q[3]
print "Planning frame: ", group.get_planning_frame()
print "Pose reference frame: ", group.get_pose_reference_frame()
#group.set_pose_reference_frame("katana_base_link")
print "RPy target: 0,0,0"
#group.set_rpy_target([0, 0, 0],"katana_gripper_tool_frame")
#group.set_position_target([0.16,0,0.40], "katana_gripper_tool_frame")
group.set_pose_target(p, "katana_gripper_tool_frame")
group.go()
print "Current rpy: ", group.get_current_rpy(
"katana_gripper_tool_frame")
def __init__(self):
group = MoveGroupCommander("arm")
#group.set_orientation_tolerance([0.3,0.3,0,3])
p = PoseStamped()
p.header.frame_id = "/katana_base_link"
p.pose.position.x = 0.4287
#p.pose.position.y = -0.0847
p.pose.position.y = 0.0
p.pose.position.z = 0.4492
q = quaternion_from_euler(2, 0, 0)
p.pose.orientation.x = q[0]
p.pose.orientation.y = q[1]
p.pose.orientation.z = q[2]
p.pose.orientation.w = q[3]
print "Planning frame: " ,group.get_planning_frame()
print "Pose reference frame: ",group.get_pose_reference_frame()
#group.set_pose_reference_frame("katana_base_link")
print "RPy target: 0,0,0"
#group.set_rpy_target([0, 0, 0],"katana_gripper_tool_frame")
#group.set_position_target([0.16,0,0.40], "katana_gripper_tool_frame")
group.set_pose_target(p, "katana_gripper_tool_frame")
group.go()
print "Current rpy: " , group.get_current_rpy("katana_gripper_tool_frame")
class WarehousePlanner(object):
def __init__(self):
rospy.init_node('moveit_warehouse_planner', anonymous=True)
self.scene = PlanningSceneInterface()
self.robot = RobotCommander()
rospy.sleep(2)
group_id = rospy.get_param("~arm_group_name")
self.eef_step = rospy.get_param("~eef_step", 0.01)
self.jump_threshold = rospy.get_param("~jump_threshold", 1000)
self.group = MoveGroupCommander(group_id)
# self._add_ground()
self._robot_name = self.robot._r.get_robot_name()
self._robot_link = self.group.get_end_effector_link()
self._robot_frame = self.group.get_pose_reference_frame()
self._min_wp_fraction = rospy.get_param("~min_waypoint_fraction", 0.9)
rospy.sleep(4)
rospy.loginfo("Waiting for warehouse services...")
rospy.wait_for_service('moveit_warehouse_services/list_robot_states')
rospy.wait_for_service('moveit_warehouse_services/get_robot_state')
rospy.wait_for_service('moveit_warehouse_services/has_robot_state')
rospy.wait_for_service('/compute_fk')
self._list_states = rospy.ServiceProxy(
'moveit_warehouse_services/list_robot_states', ListStates)
self._get_state = rospy.ServiceProxy(
'moveit_warehouse_services/get_robot_state', GetState)
self._has_state = rospy.ServiceProxy(
'moveit_warehouse_services/has_robot_state', HasState)
self._forward_k = rospy.ServiceProxy('compute_fk', GetPositionFK)
rospy.loginfo("Service proxies connected")
self._tr_frm_list_srv = rospy.Service('plan_trajectory_from_list',
PlanTrajectoryFromList,
self._plan_from_list_cb)
self._tr_frm_prfx_srv = rospy.Service('plan_trajectory_from_prefix',
PlanTrajectoryFromPrefix,
self._plan_from_prefix_cb)
self._execute_tr_srv = rospy.Service('execute_planned_trajectory',
ExecutePlannedTrajectory,
self._execute_plan_cb)
self.__plan = None
def get_waypoint_names_by_prefix(self, prefix):
regex = "^" + str(prefix) + ".*"
waypoint_names = self._list_states(regex, self._robot_name).states
return waypoint_names
def get_pose_from_state(self, state):
header = Header()
fk_link_names = [self._robot_link]
header.frame_id = self._robot_frame
response = self._forward_k(header, fk_link_names, state)
return response.pose_stamped[0].pose
def get_cartesian_waypoints(self, waypoint_names):
waypoints = []
waypoints.append(self.group.get_current_pose().pose)
for name in waypoint_names:
if self._has_state(name, self._robot_name).exists:
robot_state = self._get_state(name, "").state
waypoints.append(self.get_pose_from_state(robot_state))
else:
rospy.logerr("Waypoint %s doesn't exist for robot %s.", name,
self._robot_name)
return waypoints
def _add_ground(self):
p = geometry_msgs.msg.PoseStamped()
p.header.frame_id = self.robot.get_planning_frame()
p.pose.position.x = 0
p.pose.position.y = 0
# offset such that the box is below the dome
p.pose.position.z = -0.11
p.pose.orientation.x = 0
p.pose.orientation.y = 0
p.pose.orientation.z = 0
p.pose.orientation.w = 1
self.scene.add_box("ground", p, (3, 3, 0.01))
rospy.sleep(1)
def plan_from_filter(self, prefix):
waypoint_names = self.get_waypoint_names_by_prefix(prefix)
waypoint_names.sort()
if 0 == len(waypoint_names):
rospy.logerr(
"No waypoints found for robot %s with prefix %s. " +
"Can't make trajectory :(", self._robot_name, str(prefix))
return False
rospy.loginfo(
"Creating trajectory with %d waypoints selected by " +
"prefix %s.", len(waypoint_names), str(prefix))
return self.plan_from_list(waypoint_names)
def plan_from_list(self, waypoint_names):
self.group.clear_pose_targets()
waypoints = self.get_cartesian_waypoints(waypoint_names)
if len(waypoints) != len(waypoint_names) + 1:
# +1 because current position is used as first waypiont.
rospy.logerr("Not all waypoints existed, not executing.")
return False
(plan,
fraction) = self.group.compute_cartesian_path(waypoints,
self.eef_step,
self.jump_threshold)
if fraction < self._min_wp_fraction:
rospy.logerr(
"Only managed to generate trajectory through" +
"%f of waypoints. Not executing", fraction)
return False
self.__plan = plan
return True
def _plan_from_list_cb(self, request):
# check all exist
self.__plan = None
rospy.loginfo("Creating trajectory from points given: %s",
",".join(request.waypoint_names))
return self.plan_from_list(request.waypoint_names)
def _plan_from_prefix_cb(self, request):
self.__plan = None
rospy.loginfo("Creating trajectory from points filtered by prefix %s",
request.prefix)
return self.plan_from_filter(request.prefix)
def _execute_plan_cb(self, request):
if self.__plan is None:
rospy.logerr("No plan stored!")
return False
rospy.loginfo("Executing stored plan")
response = self.group.execute(self.__plan)
self.__plan = None
return response
class PR2Greeter:
def __init__(self, debug=False, online = True, robot_frame="odom_combined"):
self._tf = TransformListener()
self._online = online
# self.snd_handle = SoundClient()
if self._online:
#self._interface = ROSpeexInterface()
#self._interface.init()
self._speech_client = SpeechSynthesisClient_NICT()
else:
self.snd_handle = SoundClient()
rospy.sleep(1)
self.say('Hello world!')
rospy.sleep(1)
self._debug = debug
self._robot_frame = robot_frame
self._point_sub = rospy.Subscriber('nearest_face', PointStamped, self.face_cb)
self._head_action_cl = actionlib.SimpleActionClient('/head_traj_controller/point_head_action', pr2_controllers_msgs.msg.PointHeadAction)
self._torso_action_cl = actionlib.SimpleActionClient('/torso_controller/position_joint_action', pr2_controllers_msgs.msg.SingleJointPositionAction)
self._left_arm = MoveGroupCommander("left_arm")
self._right_arm = MoveGroupCommander("right_arm")
print "r.f.: " + self._left_arm.get_pose_reference_frame()
self.face = None
# self.face_from = rospy.Time(0)
self.face_last_dist = 0
self.last_invited_at = rospy.Time(0)
self._person_prob_left = 0
self.l_home_pose = [0.283, 0.295, 0.537, -1.646, 0.468, -1.735]
self.l_wave_1 = [-0.1, 0.6, 1.15, -1.7, -0.97, -1.6]
self.l_wave_2 = [-0.1, 0.6, 1.15, 1.7, -0.97, 1.6]
self.r_home_pose = [0.124, -0.481, 0.439, -1.548, 0.36, -0.035]
self.r_advert = [0.521, -0.508, 0.845, -1.548, 0.36, -0.035]
self.no_face_random_delay = None
self._initialized = False
self._timer = rospy.Timer(rospy.Duration(1.0), self.timer)
self._move_buff = Queue.Queue()
self._head_buff = Queue.Queue()
self._move_thread = threading.Thread(target=self.movements)
self._move_thread.daemon = True
self._move_thread.start()
self._head_thread = threading.Thread(target=self.head)
self._head_thread.daemon = True
self._head_thread.start()
self.new_face = False
self.face_last_dist = 0.0
self.face_counter = 0
self.actions = [self.stretchingAction,
self.introduceAction,
self.waveHandAction,
self.lookAroundAction,
self.lookAroundAction,
self.lookAroundAction,
self.advertAction,
self.numberOfFacesAction]
self.goodbye_strings = ["Thanks for stopping by.",
"Enjoy the event.",
"See you later!",
"Have a nice day!"]
self.invite_strings = ["Hello. It's nice to see you.",
"Come here and take some flyer.",
"I hope you are enjoying the event."]
rospy.loginfo("Ready")
def say(self, text):
if self._online:
#self._interface.say(text, 'en', 'nict')
data = self._speech_client.request(text, 'en')
try:
tmp_file = open('output_tmp.dat', 'wb')
tmp_file.write(data)
tmp_file.close()
# play sound
subprocess.check_output(['ffplay', 'output_tmp.dat', '-autoexit', '-nodisp'], stderr=subprocess.STDOUT)
except IOError:
rospy.logerr('file io error.')
except OSError:
rospy.logerr('ffplay is not installed.')
except subprocess.CalledProcessError:
rospy.logerr('ffplay return error value.')
except:
rospy.logerr('unknown exception.')
else:
self.snd_handle.say(text)
def getRandomFromArray(self, arr):
idx = random.randint(0, len(arr) - 1)
return arr[idx]
def stretchingAction(self):
self.say("I'm bit tired. Let's do some stretching.")
self._torso_action_cl.wait_for_server()
goal = pr2_controllers_msgs.msg.SingleJointPositionGoal()
goal.position = 0.195
goal.max_velocity = 0.5
try:
self._torso_action_cl.send_goal(goal)
self._torso_action_cl.wait_for_result(rospy.Duration.from_sec(10.0))
except:
rospy.logerr("torso action error (up)")
# TODO move arms
self.say("I feel much better now!")
goal.position = 0.0
try:
self._torso_action_cl.send_goal(goal)
self._torso_action_cl.wait_for_result(rospy.Duration.from_sec(10.0))
except:
rospy.logerr("torso action error (down)")
def numberOfFacesAction(self):
string = "Today I already saw " + str(self.face_counter) + "face"
if self.face_counter != 1:
string = string + "s"
string = string + "."
self.say(string)
rospy.sleep(1)
def advertAction(self):
self.say("Hello. Here are some posters for you.")
self.go(self._right_arm, self.r_advert)
rospy.sleep(1)
def introduceAction(self):
self.say("Hello. I'm PR2 robot. Come here to check me.")
rospy.sleep(1)
def waveHandAction(self):
self.say("I'm here. Please come to see me.")
rand = random.randint(1, 3)
for _ in range(rand):
self.wave()
self.go(self._left_arm, self.l_home_pose)
rospy.loginfo("Waving")
rospy.sleep(1)
def lookAroundAction(self):
self.say("I'm looking for somebody. Please come closer.")
p = PointStamped()
p.header.stamp = rospy.Time.now()
p.header.frame_id = "/base_link"
p.point.x = 5.0
sign = random.choice([-1, 1])
p.point.y = sign * random.uniform(1.5, 0.5)
p.point.z = random.uniform(1.7, 0.2)
self._head_buff.put((copy.deepcopy(p), 0.1, True))
p.point.y = -1 * sign * random.uniform(1.5, 0.5)
p.point.z = random.uniform(1.7, 0.2)
self._head_buff.put((copy.deepcopy(p), 0.1, True))
p.point.y = sign * random.uniform(1.5, 0.5)
p.point.z = random.uniform(1.7, 0.2)
self._head_buff.put((copy.deepcopy(p), 0.1, True))
p.point.y = -1 * sign * random.uniform(1.5, 0.5)
p.point.z = random.uniform(1.7, 0.2)
self._head_buff.put((copy.deepcopy(p), 0.1, True))
rospy.loginfo("Looking around")
rospy.sleep(1)
def getPointDist(self, pt):
assert(self.face is not None)
# fist, get my position
p = PoseStamped()
p.header.frame_id = "base_link"
p.header.stamp = rospy.Time.now() - rospy.Duration(0.5)
p.pose.position.x = 0
p.pose.position.y = 0
p.pose.position.z = 0
p.pose.orientation.x = 0
p.pose.orientation.y = 0
p.pose.orientation.z = 0
p.pose.orientation.w = 1
try:
self._tf.waitForTransform(p.header.frame_id, self._robot_frame, p.header.stamp, rospy.Duration(2))
p = self._tf.transformPose(self._robot_frame, p)
except:
rospy.logerr("TF error!")
return None
return sqrt(pow(p.pose.position.x - pt.point.x, 2) + pow(p.pose.position.y - pt.point.y, 2) + pow(p.pose.position.z - pt.point.z, 2))
def getPoseStamped(self, group, c):
assert(len(c) == 6)
p = PoseStamped()
p.header.frame_id = "base_link"
p.header.stamp = rospy.Time.now() - rospy.Duration(0.5)
p.pose.position.x = c[0]
p.pose.position.y = c[1]
p.pose.position.z = c[2]
quat = tf.transformations.quaternion_from_euler(c[3], c[4], c[5])
p.pose.orientation.x = quat[0]
p.pose.orientation.y = quat[1]
p.pose.orientation.z = quat[2]
p.pose.orientation.w = quat[3]
try:
self._tf.waitForTransform(p.header.frame_id, group.get_pose_reference_frame(), p.header.stamp, rospy.Duration(2))
p = self._tf.transformPose(group.get_pose_reference_frame(), p)
except:
rospy.logerr("TF error!")
return None
return p
def go(self, group, where):
self._move_buff.put((group, where))
def wave(self):
self.go(self._left_arm, self.l_wave_1)
self.go(self._left_arm, self.l_wave_2)
self.go(self._left_arm, self.l_wave_1)
def head(self):
self._head_action_cl.wait_for_server()
while not rospy.is_shutdown():
(target, vel, imp) = self._head_buff.get()
# we don't need to block it here
self._head_buff.task_done()
if (not imp) and (not self._head_buff.empty()):
print "skipping head goal"
# head target can be skipped (follow only the latest one)
continue
# print "head point goal"
# print target
# point PR2's head there (http://wiki.ros.org/pr2_controllers/Tutorials/Moving%20the%20Head)
goal = pr2_controllers_msgs.msg.PointHeadGoal()
goal.target = target
# goal.min_duration = rospy.Duration(3.0)
goal.max_velocity = vel
# goal.pointing_frame = "high_def_frame"
goal.pointing_frame = "head_mount_kinect_rgb_link"
goal.pointing_axis.x = 1
goal.pointing_axis.y = 0
goal.pointing_axis.z = 0
try:
self._head_action_cl.send_goal(goal)
self._head_action_cl.wait_for_result(rospy.Duration.from_sec(5.0))
except:
rospy.logerr("head action error")
#self._head_buff.task_done()
def movements(self):
while not rospy.is_shutdown():
(group, where) = self._move_buff.get()
group.set_start_state_to_current_state()
p = self.getPoseStamped(group, where)
if p is None:
self._move_buff.task_done()
continue
group.set_pose_target(p)
group.set_goal_tolerance(0.1)
group.allow_replanning(True)
self._move_buff.task_done()
group.go(wait=True)
def timer(self, event):
if self._initialized is False:
rospy.loginfo("Moving arms to home positions")
self.init_head()
self.go(self._left_arm, self.l_home_pose)
self.go(self._right_arm, self.r_home_pose)
self._move_buff.join()
self.say("I'm ready for a great job.")
self._initialized = True
if self.face is None:
if (self.no_face_random_delay is None):
delay = random.uniform(30, 10)
self.no_face_random_delay = rospy.Time.now() + rospy.Duration(delay)
rospy.loginfo("Random delay: " + str(delay))
return
else:
if rospy.Time.now() < self.no_face_random_delay:
return
self.init_head()
self.go(self._left_arm, self.l_home_pose)
self.go(self._right_arm, self.r_home_pose)
rospy.loginfo("Starting selected action")
action = self.getRandomFromArray(self.actions)
action()
delay = random.uniform(30, 10)
self.no_face_random_delay = rospy.Time.now() + rospy.Duration(delay)
return
else:
self.no_face_random_delay = None
if self.new_face and (self.last_invited_at + rospy.Duration(10) < rospy.Time.now()):
self.last_invited_at = rospy.Time.now()
self.new_face = False
rospy.loginfo("new person")
self.face_counter = self.face_counter + 1
# cd = getPointDist(self.face)
# TODO decide action based on distance ?
self.go(self._left_arm, self.l_home_pose) # if a person is too close, dont move hand?
self.go(self._right_arm, self.r_advert)
string = self.getRandomFromArray(self.invite_strings)
self.say(string)
# TODO wait some min. time + say something
# after 20 seconds of no detected face, let's continue
if self.face.header.stamp + rospy.Duration(10) < rospy.Time.now():
rospy.loginfo("person left")
string = self.getRandomFromArray(self.goodbye_strings)
self.say(string)
self.init_head()
self.go(self._left_arm, self.l_home_pose)
self.go(self._right_arm, self.r_home_pose)
self.face = None
return
self._head_buff.put((copy.deepcopy(self.face), 0.4, False))
def init_head(self):
p = PointStamped()
p.header.stamp = rospy.Time.now()
p.header.frame_id = "/base_link"
p.point.x = 2.0
p.point.y = 0.0
p.point.z = 1.7
self._head_buff.put((p, 0.1, True))
def face_cb(self, point):
# transform point
try:
self._tf.waitForTransform(point.header.frame_id, self._robot_frame, point.header.stamp, rospy.Duration(2))
pt = self._tf.transformPoint(self._robot_frame, point)
except:
rospy.logerr("Transform error")
return
if self.face is not None:
cd = self.getPointDist(pt) # current distance
dd = fabs(self.face_last_dist - cd) # change in distance
if dd < 0.5:
self.face.header = pt.header
# filter x,y,z values a bit
self.face.point = pt.point
#self.face.point.x = (self.face.point.x + pt.point.x) / 2
#self.face.point.y = (self.face.point.y + pt.point.y) / 2
#self.face.point.z = (self.face.point.z + pt.point.z) / 2
else:
if self._person_prob_left < 2:
self._person_prob_left += 1
else:
self._person_prob_left = 0
print "new face ddist: " + str(dd)
self.new_face = True
self.face = pt
self.face_last_dist = cd
else:
self._person_prob_left = 0
self.new_face = True
self.face = pt
larmg = MoveGroupCommander("left_arm")
larm_init_pose = Pose()
larm_init_pose.position.x = 0.325
larm_init_pose.position.y = 0.182
larm_init_pose.position.z = 0.067
larm_init_pose.orientation.x = 0.0
larm_init_pose.orientation.y = -0.707
larm_init_pose.orientation.z = 0.0
larm_init_pose.orientation.w = 0.707
larmg.set_pose_target(larm_init_pose)
larmg.go()
# Right Arm
group = MoveGroupCommander("right_arm")
initial_reference_frame = group.get_pose_reference_frame()
rospy.loginfo(
"Initial Reference Frame: {}".format(initial_reference_frame))
initial_pose = group.get_current_pose()
rospy.loginfo("Initial Pose:\n{}".format(initial_pose))
# Relative Target Pose
target_pose = Pose()
target_pose.position.x = 0.4
target_pose.orientation.w = 1.0
# Relative Target with PoseStamped
rospy.loginfo("Using PoseStamped")
target_posestamped = PoseStamped()
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 set_planner_id(self, planner_id):
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):
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 self._move_group_commander.get_planning_frame()
def set_pose_reference_frame(self, reference_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):
self._move_group_commander.set_max_velocity_scaling_factor(value)
def set_max_acceleration_scaling_factor(self, value):
self._move_group_commander.set_max_acceleration_scaling_factor(value)
def allow_looking(self, value):
self._move_group_commander.allow_looking(value)
def allow_replanning(self, value):
self._move_group_commander.allow_replanning(value)
def execute(self):
"""
Executes the last plan made.
"""
if self.check_plan_is_valid():
self._move_group_commander.execute(self.__plan)
self.__plan = None
else:
rospy.logwarn("No plans were made, not executing anything.")
def execute_plan(self, plan):
if self.check_given_plan_is_valid(plan):
self._move_group_commander.execute(plan)
self.__plan = None
else:
rospy.logwarn("Plan is not valid, not executing anything.")
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 plan_to_joint_value_target(self, joint_states, angle_degrees=False):
"""
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
This is a blocking method.
"""
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.__plan = self._move_group_commander.plan()
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 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):
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]
self._move_group_commander.set_joint_value_target(js)
else:
rospy.logerr("Unknown named state '%s'..." % name)
return False
return True
def get_named_target_joint_values(self, name):
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):
"""
Set target of the robot's links and plans
This is a blocking method.
@param name - name of the target pose defined in SRDF
"""
self._move_group_commander.set_start_state_to_current_state()
if self.set_named_target(name):
self.__plan = self._move_group_commander.plan()
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.
"""
plan = RobotTrajectory()
plan.joint_trajectory = joint_trajectory
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
- pause_time -> time to wait at this wp
- degrees -> set to true if joint_angles is specified in degrees. Assumed false if absent.
"""
current = self.get_current_state_bounded()
joint_trajectory = JointTrajectory()
joint_names = current.keys()
joint_trajectory.joint_names = joint_names
start = JointTrajectoryPoint()
start.positions = 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.iteritems():
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 = current.values()
trajectory_point.time_from_start = rospy.Duration.from_sec(0.1)
trajectory = JointTrajectory()
trajectory.points.append(trajectory_point)
trajectory.joint_names = 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
- pause_time -> time to wait at this wp
"""
joint_trajectory = self.make_named_trajectory(trajectory)
if joint_trajectory is not None:
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
- pause_time -> time to wait at this wp
"""
joint_trajectory = self.make_named_trajectory(trajectory)
if joint_trajectory is not None:
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
@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
"""
self._move_group_commander.set_start_state_to_current_state()
self._move_group_commander.set_position_target(xyz, end_effector_link)
self._move_group_commander.go(wait=wait)
def plan_to_position_target(self, xyz, end_effector_link=""):
"""
Specify a target position for the end-effector and plans.
This is a blocking method.
@param xyz - new position of end-effector
@param end_effector_link - name of the end effector link
"""
self._move_group_commander.set_start_state_to_current_state()
self._move_group_commander.set_position_target(xyz, end_effector_link)
self.__plan = self._move_group_commander.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):
"""
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
"""
self._move_group_commander.set_start_state_to_current_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()
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):
"""
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
"""
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)
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):
"""
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
"""
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 = 0.5
service_request.avoid_collisions = avoid_collisions
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, e:
rospy.logerr("Service call failed: %s" % e)
class PR2Greeter:
def __init__(self,debug = False, robot_frame = "odom_combined"):
self._tf = TransformListener()
self.snd_handle = SoundClient()
rospy.sleep(1)
self.snd_handle.say('Hello world!')
rospy.sleep(1)
self._debug = debug
self._robot_frame = robot_frame
self._point_sub = rospy.Subscriber('nearest_face', PointStamped, self.face_cb)
self._head_action_cl = actionlib.SimpleActionClient('/head_traj_controller/point_head_action', pr2_controllers_msgs.msg.PointHeadAction)
self._left_arm = MoveGroupCommander("left_arm")
self._right_arm = MoveGroupCommander("right_arm")
print "r.f.: " + self._left_arm.get_pose_reference_frame()
self.face = None
self.face_from = rospy.Time(0)
self.face_last_dist = 0
self.l_home_pose = [0.283, 0.295, 0.537, -1.646, 0.468, -1.735]
self.l_wave_1 = [-0.1, 0.6, 1.15, -1.7, -0.97, -1.6]
self.l_wave_2 = [-0.1, 0.6, 1.15, 1.7, -0.97, 1.6]
self.r_home_pose = [0.124, -0.481, 0.439, -1.548, 0.36, -0.035]
self.r_advert = [0.521, -0.508, 0.845, -1.548, 0.36, -0.035]
self.no_face_random_delay = None
self._initialized = False
self._timer = rospy.Timer(rospy.Duration(1.0), self.timer)
self._move_buff = Queue.Queue()
self._head_buff = Queue.Queue()
self._move_thread = threading.Thread(target=self.movements)
self._move_thread.daemon = True
self._move_thread.start()
self._head_thread = threading.Thread(target=self.head)
self._head_thread.daemon = True
self._head_thread.start()
self.new_face = False
self.face_last_dist = 0.0
self.face_counter = 0
self.actions = [self.introduceAction, self.waveHandAction, self.lookAroundAction, self.lookAroundAction, self.lookAroundAction, self.advertAction, self.numberOfFacesAction]
self.goodbye_strings = ["Thanks for stopping by.","Enjoy the event.","See you!", "Have a nice day!"]
self.invite_strings = ["Hello. It's nice to see you.","Come here and take some flyer.", "I hope you are enjoying the event."]
rospy.loginfo("Ready")
def getRandomFromArray(self, arr):
idx = random.randint(0,len(arr)-1)
return arr[idx]
def numberOfFacesAction(self):
self.snd_handle.say("Today I already saw " + str(self.face_counter) + " faces.")
rospy.sleep(1)
def advertAction(self):
self.snd_handle.say("Hello. Here are some posters for you.")
rospy.sleep(1)
self.go(self._right_arm, self.r_advert)
def introduceAction(self):
self.snd_handle.say("Hello. I'm PR2 robot. Come here to check me.")
rospy.sleep(1)
def waveHandAction(self):
self.snd_handle.say("I'm here. Please come to see me.")
rospy.sleep(1)
rand = random.randint(1,3)
for _ in range(rand):
self.wave()
self.go(self._left_arm, self.l_home_pose)
rospy.loginfo("Waving")
def lookAroundAction(self):
self.snd_handle.say("I'm looking for somebody. Please come closer.")
rospy.sleep(1)
p = PointStamped()
p.header.stamp = rospy.Time.now()
p.header.frame_id = "/base_link"
p.point.x = 2.0
sign = random.choice([-1, 1])
p.point.y = sign*random.uniform(1.5, 0.5)
p.point.z = random.uniform(1.7, 0.2)
self._head_buff.put(copy.deepcopy(p))
p.point.y = -1*sign*random.uniform(1.5, 0.5)
p.point.z = random.uniform(1.7, 0.2)
self._head_buff.put(copy.deepcopy(p))
p.point.y = sign*random.uniform(1.5, 0.5)
p.point.z = random.uniform(1.7, 0.2)
self._head_buff.put(copy.deepcopy(p))
p.point.y = -1*sign*random.uniform(1.5, 0.5)
p.point.z = random.uniform(1.7, 0.2)
self._head_buff.put(copy.deepcopy(p))
rospy.loginfo("Looking around")
def getPointDist(self,pt):
assert(self.face is not None)
# fist, get my position
p = PoseStamped()
p.header.frame_id = "base_link"
p.header.stamp = rospy.Time.now() - rospy.Duration(0.5)
p.pose.position.x = 0
p.pose.position.y = 0
p.pose.position.z = 0
p.pose.orientation.x = 0
p.pose.orientation.y = 0
p.pose.orientation.z = 0
p.pose.orientation.w = 1
try:
self._tf.waitForTransform(p.header.frame_id, self._robot_frame, p.header.stamp, rospy.Duration(2))
p = self._tf.transformPose(self._robot_frame, p)
except:
rospy.logerr("TF error!")
return None
return sqrt(pow(p.pose.position.x - pt.point.x, 2) + pow(p.pose.position.y - pt.point.y, 2) + pow(p.pose.position.z - pt.point.z, 2))
def getPoseStamped(self, group, c):
assert(len(c)==6)
p = PoseStamped()
p.header.frame_id = "base_link"
p.header.stamp = rospy.Time.now() - rospy.Duration(0.5)
p.pose.position.x = c[0]
p.pose.position.y = c[1]
p.pose.position.z = c[2]
quat = tf.transformations.quaternion_from_euler(c[3], c[4], c[5])
p.pose.orientation.x = quat[0]
p.pose.orientation.y = quat[1]
p.pose.orientation.z = quat[2]
p.pose.orientation.w = quat[3]
try:
self._tf.waitForTransform(p.header.frame_id, group.get_pose_reference_frame(), p.header.stamp, rospy.Duration(2))
p = self._tf.transformPose(group.get_pose_reference_frame(), p)
except:
rospy.logerr("TF error!")
return None
return p
def go(self,group,where):
self._move_buff.put((group,where))
def wave(self):
self.go(self._left_arm, self.l_wave_1)
self.go(self._left_arm, self.l_wave_2)
self.go(self._left_arm, self.l_wave_1)
def head(self):
self._head_action_cl.wait_for_server()
while not rospy.is_shutdown():
target = self._head_buff.get()
#print "head point goal"
#print target
# point PR2's head there (http://wiki.ros.org/pr2_controllers/Tutorials/Moving%20the%20Head)
goal = pr2_controllers_msgs.msg.PointHeadGoal()
goal.target = target
goal.pointing_frame = "high_def_frame"
goal.pointing_axis.x = 1
goal.pointing_axis.y = 0
goal.pointing_axis.z = 0
self._head_action_cl.send_goal(goal)
self._head_action_cl.wait_for_result(rospy.Duration.from_sec(5.0))
self._head_buff.task_done()
def movements(self):
while not rospy.is_shutdown():
(group, where) = self._move_buff.get()
group.set_start_state_to_current_state()
p = self.getPoseStamped(group, where)
if p is None:
self._move_buff.task_done()
continue
group.set_pose_target(p)
self._move_buff.task_done()
group.go(wait = True)
def timer(self,event):
if self._initialized is False:
rospy.loginfo("Moving arms to home positions")
self.init_head()
self.go(self._left_arm, self.l_home_pose)
self.go(self._right_arm, self.r_home_pose)
self._move_buff.join()
self.snd_handle.say("I'm ready for a great job.")
self._initialized = True
if self.face is None:
if (self.no_face_random_delay is None):
delay = random.uniform(20, 5)
self.no_face_random_delay = rospy.Time.now() + rospy.Duration(delay)
rospy.loginfo("Random delay: " + str(delay))
return
else:
if rospy.Time.now() < self.no_face_random_delay:
return
self.init_head()
self.go(self._left_arm, self.l_home_pose)
self.go(self._right_arm, self.r_home_pose)
rospy.loginfo("Starting selected action")
action = self.getRandomFromArray(self.actions)
action()
delay = random.uniform(30, 5)
self.no_face_random_delay = rospy.Time.now() + rospy.Duration(delay)
return
else:
self.no_face_random_delay = None
if self.new_face:
self.face_counter = self.face_counter + 1
self.new_face = False
#cd = getPointDist(self.face)
# TODO decide action based on distance ?
self.go(self._left_arm, self.l_home_pose)
self.go(self._right_arm, self.r_advert)
string = self.getRandomFromArray(self.invite_strings)
self.snd_handle.say(string)
# TODO wait some min. time + say something
# after 20 seconds of no detected face, let's continue
if self.face.header.stamp + rospy.Duration(20) < rospy.Time.now():
string = self.getRandomFromArray(self.goodbye_strings)
self.snd_handle.say(string)
self.init_head()
self.go(self._left_arm, self.l_home_pose)
self.go(self._right_arm, self.r_home_pose)
self.face = None
return
self._head_buff.put(self.face)
def init_head(self):
p = PointStamped()
p.header.stamp = rospy.Time.now()
p.header.frame_id = "/base_link"
p.point.x = 2.0
p.point.y = 0.0
p.point.z = 1.7
self._head_buff.put(p)
def face_cb(self,point):
# transform point
try:
self._tf.waitForTransform(point.header.frame_id, self._robot_frame, point.header.stamp, rospy.Duration(2))
pt = self._tf.transformPoint(self._robot_frame, point)
except:
rospy.logerr("Transform error")
return
if self.face is not None:
cd = self.getPointDist(pt) # current distance
dd = fabs(self.face_last_dist - cd) # change in distance
if dd < 0.2:
self.face.header = pt.header
# filter x,y,z values a bit
self.face.point.x = (15*self.face.point.x + pt.point.x)/16
self.face.point.y = (15*self.face.point.y + pt.point.y)/16
self.face.point.z = (15*self.face.point.z + pt.point.z)/16
else:
self.new_face = True
self.face = pt
self.face_last_dist = cd
else:
self.new_face = True
self.face = pt
if self.face_from == rospy.Time(0):
#self.snd_handle.say('Hello. Come closer.')
rospy.loginfo("New face.")
self.face_from = self.face.header.stamp
if __name__=='__main__':
roscpp_initialize(sys.argv)
rospy.init_node('moveit_py_demo', anonymous=True)
scene = PlanningSceneInterface()
robot = RobotCommander()
group = MoveGroupCommander("arm")
print "============ Robot Groups:"
print robot.get_group_names()
print "============ Robot Links for arm:"
print robot.get_link_names("arm")
print "============ Robot Links for gripper:"
print robot.get_link_names("gripper")
print group.get_end_effector_link()
print group.get_pose_reference_frame()
print "============ Printing robot state"
#print robot.get_current_state()
print "============"
tl = tf.TransformListener()
rospy.sleep(1)
waypoints = []
# start with the current pose
waypoints.append(group.get_current_pose().pose)
print waypoints[0]
currentPose = PoseStamped()
currentPose.header.frame_id = group.get_pose_reference_frame()
currentPose.pose = waypoints[0]
import rospy
from moveit_commander import RobotCommander, PlanningSceneInterface, MoveGroupCommander, conversions
from geometry_msgs.msg import Pose, PoseStamped
from moveit_msgs.msg import RobotTrajectory, Grasp
if __name__ == '__main__':
rospy.init_node('moveit_py_demo', anonymous=True)
scene = PlanningSceneInterface()
robot = MoveGroupCommander("arm_1")
rospy.sleep(1)
currentrf = robot.get_pose_reference_frame()
robot.set_pose_reference_frame(currentrf)
newpose = robot.get_current_pose().pose
a = robot.get_current_pose().pose
newposerpy = robot.get_current_rpy()
newpose.position.x = newpose.position.x - delta_x
newpose.position.x = newpose.position.y - delta_y
newpose.position.x = newpose.position.z - delta_z
robot.set_pose_target(newpose)
planned = robot.plan()
robot.execute(planned)
rospy.sleep(2)
newpose = robot.get_current_pose().pose