def __init__(self, name):
self._arm_mover = ArmMover()
#self._tasks = Tasks()
self._arm_tasks = ArmTasks()
self._base = base.Base()
self._head = head.Head()
self._torso = torso.Torso()
self._tf = tf.TransformListener( True, rospy.Duration(100) )
self._tfBr = tf.TransformBroadcaster()
#################### MOVE TORSO TO MAX HEIGHT ####################
self._torso.up()
rospy.loginfo('[gtp] Torso lifted!')
#################### TUCK LEFT ARM #######################
#self._tasks.move_arms_to_side()
self._arm_tasks.move_arm_to_side('left_arm')
rospy.loginfo('[gtp] Left arm moved to the side!')
#action_name = 'tuck_arms'
#tuck_arms_action_server = tuck_arms_main.TuckArmsActionServer(action_name)
#tuck_arm_client = actionlib.SimpleActionClient(action_name, TuckArmsAction)
#rospy.logdebug('Waiting for tuckarm action server to start')
#tuck_arm_client.wait_for_server(rospy.Duration(10.0))
#rospy.logdebug('Tucking left arm...')
#goal = TuckArmsGoal()
#goal.tuck_left = True
#goal.tuck_right = False
#tuck_arm_client.send_goal_and_wait(goal, rospy.Duration(30.0), rospy.Duration(5.0))
#################### MOVE RIGHT ARM TO INITAL POSE #######################
#self._arm_tasks.move_arm_to_side('right_arm')
#rospy.loginfo('[gtp] Right arm moved to the side!')
self._init_arm_pose = PoseStamped()
self._init_arm_pose.pose.position.x = 0.282
self._init_arm_pose.pose.position.y = -0.485
self._init_arm_pose.pose.position.z = 0.303
self._init_arm_pose.pose.orientation.x = 0.030
self._init_arm_pose.pose.orientation.y = 0.342
self._init_arm_pose.pose.orientation.z = -0.057
self._init_arm_pose.pose.orientation.w = 0.937
self._init_arm_pose.header.frame_id = 'torso_lift_link'
for t in range(0,3):
handle = self._arm_mover.move_to_goal( 'right_arm', self._init_arm_pose,
collision_aware_goal=True, planner_timeout=10.,
bounds=(0.01, 0.01, 0.01, 0.1, 0.1, 0.1),
try_hard=False )
if handle.reached_goal():
break
if handle.reached_goal():
rospy.loginfo('[gtp] Right arm init pose reached!')
else:
rospy.logerr('[gtp] Moving right arm to init pose failed!')
rospy.logerr( handle.get_errors() )
#################### STRAIGHTEN HEAD #################
self._head.look_at_relative_point(0.8, 0.0, 0.5)
rospy.loginfo('[gtp] Head straightened!')
rospy.loginfo('[gtp] Attempting to reach initial pose...')
init_goal = self._get_init_goal()
success = self._go_to_pose( init_goal )
if success:
rospy.loginfo('[gtp] Initial pose successfully reached!')
else:
rospy.logwarn('[gtp] Initial pose was not reached :(')
## Initialize action server
self._action_name = name
self._as = actionlib.SimpleActionServer( self._action_name, first_pr2_exp.msg.GoToPoseAction, execute_cb=self.execute_cb, auto_start = False )
self._as.start()
rospy.loginfo('[gtp] Action Server Initialized!')
class BeAPoserAction(object):
#result msg
_result = first_pr2_exp.msg.GoToPoseResult()
def __init__(self, name):
self._arm_mover = ArmMover()
#self._tasks = Tasks()
self._arm_tasks = ArmTasks()
self._base = base.Base()
self._head = head.Head()
self._torso = torso.Torso()
self._tf = tf.TransformListener( True, rospy.Duration(100) )
self._tfBr = tf.TransformBroadcaster()
#################### MOVE TORSO TO MAX HEIGHT ####################
self._torso.up()
rospy.loginfo('[gtp] Torso lifted!')
#################### TUCK LEFT ARM #######################
#self._tasks.move_arms_to_side()
self._arm_tasks.move_arm_to_side('left_arm')
rospy.loginfo('[gtp] Left arm moved to the side!')
#action_name = 'tuck_arms'
#tuck_arms_action_server = tuck_arms_main.TuckArmsActionServer(action_name)
#tuck_arm_client = actionlib.SimpleActionClient(action_name, TuckArmsAction)
#rospy.logdebug('Waiting for tuckarm action server to start')
#tuck_arm_client.wait_for_server(rospy.Duration(10.0))
#rospy.logdebug('Tucking left arm...')
#goal = TuckArmsGoal()
#goal.tuck_left = True
#goal.tuck_right = False
#tuck_arm_client.send_goal_and_wait(goal, rospy.Duration(30.0), rospy.Duration(5.0))
#################### MOVE RIGHT ARM TO INITAL POSE #######################
#self._arm_tasks.move_arm_to_side('right_arm')
#rospy.loginfo('[gtp] Right arm moved to the side!')
self._init_arm_pose = PoseStamped()
self._init_arm_pose.pose.position.x = 0.282
self._init_arm_pose.pose.position.y = -0.485
self._init_arm_pose.pose.position.z = 0.303
self._init_arm_pose.pose.orientation.x = 0.030
self._init_arm_pose.pose.orientation.y = 0.342
self._init_arm_pose.pose.orientation.z = -0.057
self._init_arm_pose.pose.orientation.w = 0.937
self._init_arm_pose.header.frame_id = 'torso_lift_link'
for t in range(0,3):
handle = self._arm_mover.move_to_goal( 'right_arm', self._init_arm_pose,
collision_aware_goal=True, planner_timeout=10.,
bounds=(0.01, 0.01, 0.01, 0.1, 0.1, 0.1),
try_hard=False )
if handle.reached_goal():
break
if handle.reached_goal():
rospy.loginfo('[gtp] Right arm init pose reached!')
else:
rospy.logerr('[gtp] Moving right arm to init pose failed!')
rospy.logerr( handle.get_errors() )
#################### STRAIGHTEN HEAD #################
self._head.look_at_relative_point(0.8, 0.0, 0.5)
rospy.loginfo('[gtp] Head straightened!')
rospy.loginfo('[gtp] Attempting to reach initial pose...')
init_goal = self._get_init_goal()
success = self._go_to_pose( init_goal )
if success:
rospy.loginfo('[gtp] Initial pose successfully reached!')
else:
rospy.logwarn('[gtp] Initial pose was not reached :(')
## Initialize action server
self._action_name = name
self._as = actionlib.SimpleActionServer( self._action_name, first_pr2_exp.msg.GoToPoseAction, execute_cb=self.execute_cb, auto_start = False )
self._as.start()
rospy.loginfo('[gtp] Action Server Initialized!')
#
# _get_init_goal
#
def _get_init_goal(self):
#tabOrigin = numpy.array([0.98, 0.0, 0.55])
tabOrigin = numpy.array([1.475, 0.175, 0.85])
sensorStart = tabOrigin + numpy.array([-1.0, -0.0, 0.5])
offsets = numpy.array([0.0, -0.1, 0.1, -0.2, 0.2, -0.3, 0.3, -0.4, 0.4, -0.5, 0.5])
dirVec = tabOrigin - sensorStart
dirVec = dirVec / numpy.linalg.norm(dirVec)
yaw_pitch_roll = numpy.array([numpy.arctan2(dirVec[1], dirVec[0]),
-numpy.arctan2(dirVec[2], numpy.hypot(dirVec[0], dirVec[1])), 0.0 ])
# angle2quat
cyaw = numpy.cos(yaw_pitch_roll[0]/2)
cpitch = numpy.cos(yaw_pitch_roll[1]/2)
croll = numpy.cos(yaw_pitch_roll[2]/2)
syaw = numpy.sin(yaw_pitch_roll[0]/2)
spitch = numpy.sin(yaw_pitch_roll[1]/2)
sroll = numpy.sin(yaw_pitch_roll[2]/2)
sensorOrient = numpy.array([ cyaw*cpitch*sroll - syaw*spitch*croll,
cyaw*spitch*croll + syaw*cpitch*sroll,
syaw*cpitch*croll - cyaw*spitch*sroll,
cyaw*cpitch*croll + syaw*spitch*sroll ])
# end angle2quat
init_goal = first_pr2_exp.msg.GoToPoseGoal()
for i in range(len(offsets)):
init_goal.goal_pose_arr.append(PoseStamped())
init_goal.goal_pose_arr[i].pose.position.x = sensorStart[0] + offsets[i]*dirVec[0]
init_goal.goal_pose_arr[i].pose.position.y = sensorStart[1] + offsets[i]*dirVec[1]
init_goal.goal_pose_arr[i].pose.position.z = sensorStart[2] + offsets[i]*dirVec[2]
init_goal.goal_pose_arr[i].pose.orientation.x = sensorOrient[0]
init_goal.goal_pose_arr[i].pose.orientation.y = sensorOrient[1]
init_goal.goal_pose_arr[i].pose.orientation.z = sensorOrient[2]
init_goal.goal_pose_arr[i].pose.orientation.w = sensorOrient[3]
init_goal.goal_pose_arr[i].header.frame_id = "map"
init_goal.goal_pose_arr[i].header.stamp = rospy.Time.now()
return init_goal
#
# execute_cb
#
def execute_cb(self, goal):
rospy.loginfo('[gtp] Starting action execution!')
success = self._go_to_pose(goal)
if success:
rospy.loginfo('%s: Succeeded!' % (self._action_name) )
else:
rospy.loginfo('%s: Failed!' % (self._action_name) )
self._result.success = success
self._as.set_succeeded(self._result)
#
# _go_to_pose
#
def _go_to_pose(self, goal):
success = False
bnds = (0.02, 0.02, 0.02, 0.1, 0.1, 0.1)
num_arm_try = 3
# Compute the camera to wrist transform
while True:
try:
(o_t_w, o_q_w) = self._tf.lookupTransform('/arm_kinect_depth_optical_frame', '/r_wrist_roll_link', rospy.Time(0))
k_t_w = (o_t_w[2], -o_t_w[0], -o_t_w[1])
k_q_w = self._quatmult([-0.5, 0.5, -0.5, 0.5],o_q_w)
break
except:
rospy.logerr('[gtp] CANNOT LOOKUP camera to wrist transform')
#################################################################
########## Compute goal poses in /r_wrist_roll_link #############
wrist_pose_arr = []
for i in range(len(goal.goal_pose_arr)):
map_t_kinect = numpy.array([goal.goal_pose_arr[i].pose.position.x,
goal.goal_pose_arr[i].pose.position.y,
goal.goal_pose_arr[i].pose.position.z ])
map_R_kinect = self._quat2rot( goal.goal_pose_arr[i].pose.orientation.x,
goal.goal_pose_arr[i].pose.orientation.y,
goal.goal_pose_arr[i].pose.orientation.z,
goal.goal_pose_arr[i].pose.orientation.w )
map_t_wrist = numpy.dot(map_R_kinect, k_t_w) + map_t_kinect
map_q_wrist = self._quatmult([goal.goal_pose_arr[i].pose.orientation.x,
goal.goal_pose_arr[i].pose.orientation.y,
goal.goal_pose_arr[i].pose.orientation.z,
goal.goal_pose_arr[i].pose.orientation.w]
, k_q_w)
r_wrist_pose = goal.goal_pose_arr[i]
r_wrist_pose.pose.position.x = map_t_wrist[0]
r_wrist_pose.pose.position.y = map_t_wrist[1]
r_wrist_pose.pose.position.z = map_t_wrist[2]
r_wrist_pose.pose.orientation.x = map_q_wrist[0]
r_wrist_pose.pose.orientation.y = map_q_wrist[1]
r_wrist_pose.pose.orientation.z = map_q_wrist[2]
r_wrist_pose.pose.orientation.w = map_q_wrist[3]
r_wrist_pose.header.frame_id = 'map'
r_wrist_pose.header.stamp = rospy.Time.now()
wrist_pose_arr.append(r_wrist_pose)
rospy.loginfo('[gtp] Done determining the wrist poses')
#################################################################
## Try each of the poses with the arm first
needToMoveBase = True
for i in range(len(wrist_pose_arr)):
rospy.loginfo('[gtp] Trying pose %d of %d\n' % (i+1, len(wrist_pose_arr)) )
# Broadcast for visualization
self._broadcast_gpose( goal.goal_pose_arr[i] )
rospy.loginfo('[gtp] Move end-effector to map: (%f, %f, %f | %f, %f, %f, %f)' %
(wrist_pose_arr[i].pose.position.x,
wrist_pose_arr[i].pose.position.y,
wrist_pose_arr[i].pose.position.z,
wrist_pose_arr[i].pose.orientation.x,
wrist_pose_arr[i].pose.orientation.y,
wrist_pose_arr[i].pose.orientation.z,
wrist_pose_arr[i].pose.orientation.w) )
try:
for t in range(0,num_arm_try):
handle = self._arm_mover.move_to_goal( 'right_arm', wrist_pose_arr[i],
collision_aware_goal=True, planner_timeout=10.,
bounds=bnds, try_hard=False )
if handle.reached_goal():
break
if handle.reached_goal():
needToMoveBase = False
success = True
break
except:
rospy.loginfo('Arm mover exception for goal %d of %d\n' %
(i+1, len(wrist_pose_arr)) )
#################################################################
## If the goal was not reached, we need to move the base
if needToMoveBase:
rospy.loginfo('[gtp] Moving arm from current position failed, need to move base.')
# Raise arm first not to hit anything
for t in range(0,num_arm_try):
handle = self._arm_mover.move_to_goal('right_arm', self._init_arm_pose,
collision_aware_goal=True, planner_timeout=10.,
bounds=bnds, try_hard=False )
if handle.reached_goal():
break
for i in range(len(wrist_pose_arr)):
# Broadcast for visualization
self._broadcast_gpose( goal.goal_pose_arr[i] )
try:
self._base.move_manipulable_pose( wrist_pose_arr[i].pose.position.x,
wrist_pose_arr[i].pose.position.y,
wrist_pose_arr[i].pose.position.z,
'torso', False,
wrist_pose_arr[i].pose.orientation.x,
wrist_pose_arr[i].pose.orientation.y,
wrist_pose_arr[i].pose.orientation.z,
wrist_pose_arr[i].pose.orientation.w )
except:
rospy.logerr('EXCEPTION DUDE: Move base failed!!!!\n')
continue
# Base pose was reached try to move the arm now
rospy.loginfo('LALALBUBUBUB: DESIRED BASE POSE REACHED!');
try:
for t in range(0,num_arm_try):
handle = self._arm_mover.move_to_goal( 'right_arm', wrist_pose_arr[i],
collision_aware_goal=True, planner_timeout=10.,
bounds=bnds, try_hard=False )
if handle.reached_goal():
break
if handle.reached_goal():
success = True
break
except:
rospy.loginfo('Arm mover exception for goal %d of %d\n' %
(i+1, len(wrist_pose_arr)) )
return success
#
# Broadcasts a PoseStamped
#
def _broadcast_gpose(self, gpose):
self._tfBr.sendTransform( (gpose.pose.position.x,
gpose.pose.position.y,
gpose.pose.position.z),
(gpose.pose.orientation.x, gpose.pose.orientation.y,
gpose.pose.orientation.z, gpose.pose.orientation.w),
rospy.Time.now(),
"kinect_goal_pose", "/map" )
def _quat2rot(self, q0, q1, q2, q3):
R = numpy.array([[1.0-2.0*(q1*q1+q2*q2),
2.0*q0*q1-2.0*q3*q2,
2.0*q3*q1+2.0*q0*q2],
[2.0*q0*q1+2.0*q3*q2,
1.0-2.0*(q0*q0+q2*q2),
2.0*q1*q2-2.0*q3*q0],
[2.0*q0*q2-2.0*q3*q1,
2.0*q1*q2+2.0*q3*q0,
1.0-2.0*(q0*q0+q1*q1)]])
return R
def _quatmult(self, q1, q2):
x1, y1, z1, w1 = q1
x2, y2, z2, w2 = q2
x = w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2
y = w1 * y2 + y1 * w2 + z1 * x2 - x1 * z2
z = w1 * z2 + z1 * w2 + x1 * y2 - y1 * x2
w = w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2
return x, y, z, w