def get_config(self): """Get config data from ros param server.""" param_dict = { 'check_bumblebee': 'check_sensors/bumblebee', 'check_profiler': 'check_sensors/profiler', 'check_micron': 'check_sensors/micron' } cola2_ros_lib.getRosParams(self, param_dict, self.name)
def get_config(self): param_dict = { 'sample': '/hierarchical/record/sample', 'landmark_id': '/hierarchical/record/landmark_id', 'interval_time': '/hierarchical/record/interval_time', 'base_pose': '/arm_controller/base_pose', 'base_ori': '/arm_controller/base_ori' } cola2_ros_lib.getRosParams(self, param_dict)
def get_config(self): """ Read parameters from ROS Param Server.""" param_dict = { 'min_altitude': 'safe_depth_altitude/min_altitude', 'max_depth': 'safe_depth_altitude/max_depth', 'min_battery_charge': 'safety/min_battery_charge', 'min_battery_voltage': 'safety/min_battery_voltage', 'min_imu_update': 'safety/min_imu_update', 'min_depth_update': 'safety/min_depth_update', 'min_altitude_update': 'safety/min_altitude_update', 'min_gps_update': 'safety/min_gps_update', 'min_dvl_update': 'safety/min_dvl_update', 'min_nav_update': 'safety/min_nav_update', 'min_wifi_update': 'safety/min_wifi_update', 'working_area_north_origin': 'virtual_cage/north_origin', 'working_area_east_origin': 'virtual_cage/east_origin', 'working_area_north_length': 'virtual_cage/north_longitude', 'working_area_east_length': 'virtual_cage/east_longitude', 'timeout': 'safety/timeout', 'min_modem_update': 'safety/min_modem_update', 'min_dvl_good_data': 'safety/min_dvl_good_data', 'max_temperatures_ids': 'safety/max_temperatures_ids', 'max_temperatures_values': 'safety/max_temperatures_values' } cola2_ros_lib.getRosParams(self, param_dict, self.name) # Define min altitude and max depth try: client2 = dynamic_reconfigure.client.Client("safe_depth_altitude", timeout=10) client2.update_configuration({ "min_altitude": self.min_altitude, "max_depth": self.max_depth }) except rospy.exceptions.ROSException: rospy.logerr('%s, Error modifying safe_depth_altitude params.', self.name) # Define virtual cage limits try: client3 = dynamic_reconfigure.client.Client("virtual_cage", timeout=10) client3.update_configuration({ "north_origin": self.working_area_north_origin, "east_origin": self.working_area_east_origin, "north_longitude": self.working_area_north_length, "east_longitude": self.working_area_east_length, "enable": True }) except rospy.exceptions.ROSException: rospy.logerr('%s, Error modifying virtual_cage params.', self.name)
def get_config(self): """ Read parameters from ROS Param Server.""" param_dict = { 'north_origin': 'virtual_cage/north_origin', 'east_origin': 'virtual_cage/east_origin', 'north_longitude': 'virtual_cage/north_longitude', 'east_longitude': 'virtual_cage/east_longitude', 'enabled': 'virtual_cage/enabled' } cola2_ros_lib.getRosParams(self, param_dict, self.name)
def get_config(self): """Get configuration parameters from ROS param server.""" params = { 'altitude_mode': 'target_reacquisition/altitude_mode', 'track_length': 'target_reacquisition/track_length', 'number_of_views': 'target_reacquisition/number_of_views', 'track_speed': 'target_reacquisition/track_speed' } cola2_ros_lib.getRosParams(self, params, self.name) self.number_of_views = int(self.number_of_views)
def getConfig(self): param_dict = { 'filename': 'learning/record/complete/filename', 'numberSample': 'learning/record/complete/number_sample', 'landmark_id': 'learning/record/complete/landmark_id', 'goal_valve': 'learning/record/complete/goal_valve', 'base_pose': '/arm_controller/base_pose', 'base_ori': '/arm_controller/base_ori' } cola2_ros_lib.getRosParams(self, param_dict) self.file = open(self.filename + "_" + str(self.numberSample) + ".csv", 'w')
def get_config(self): """ Load the configuration from the yaml file using the library of cola2_ros_lib """ param_dict = { 'samples': '/hierarchical/analyzer/samples', 'valves': '/hierarchical/analyzer/valves', 'prefix_files': '/hierarchical/analyzer/prexi_files', 'time_min_subtask': '/hierarchical/analyzer/time_min_subtask', 'time_min_breakpoints': '/hierarchical/analyzer/time_min_breakpoints' } cola2_ros_lib.getRosParams(self, param_dict)
def getConfig(self): param_dict = { 'limit_distance_goal': 'work_area/distance_goal', 'limit_gamma': 'work_area/gamma', 'limit_alpha': 'work_area/alpha', 'limit_beta': 'work_area/beta', 'landmark_id': 'work_area/landmark_id', 'period': 'work_area/period', 'goal_valve': 'work_area/goal_valve', 'base_pose': '/arm_controller/base_pose', 'base_ori': '/arm_controller/base_ori', 'limit_enter_zone': 'work_area/limit_enter_zone', 'limit_wait_outsite': 'work_area/limit_wait_outsite', 'limit_outsite': 'work_area/limit_outsite' } cola2_ros_lib.getRosParams(self, param_dict)
def getconfig(self): """ This method load the configuration and initialize the publishers, subscribers and tf broadcaster and publishers """ param_dict = {'period': '/valve_tracker/period', 'num_valves': '/valve_tracker/number_of_valves', 'name_valve_pose_ee': '/valve_tracker/name_valve_pose_ee', 'name_valve_ori_ee': '/valve_tracker/name_valve_ori_ee', 'landmark_id': '/valve_tracker/landmark_id', 'valve_dist_centre': '/valve_tracker/valve_dist_centre', 'valve_dist_centre_ee': '/valve_tracker/valve_dist_centre_ee', 'valve_id': '/valve_tracker/valve_id', 'publisher_landmark': '/valve_tracker/publisher_landmark' } cola2_ros_lib.getRosParams(self, param_dict)
def get_config(self): """ Get config from param server """ param_dict = {'frame_id': 'recovery_actions/frame_id', 'emergency_surface_setpoints': 'recovery_actions/emergency_surface_setpoints', 'controlled_surface_depth': 'recovery_actions/controlled_surface_depth'} if not cola2_ros_lib.getRosParams(self, param_dict, self.name): self.bad_config_timer = rospy.Timer(rospy.Duration(0.4), self.bad_config_message)
def get_config(self): """Get config from ROS param server.""" param_dict = { 'max_depth': 'safe_depth_altitude/max_depth', 'min_altitude': 'safe_depth_altitude/min_altitude' } if not cola2_ros_lib.getRosParams(self, param_dict, self.name): self.bad_config_timer = rospy.Timer(rospy.Duration(0.4), self.bad_config_message)
def get_config(self): """ Reads configuration from ROSPARAM SERVER """ param_dict = { 'set_pose_depth': 'safety_set_pose/set_pose_depth', 'set_pose_axis': 'safety_set_pose/set_pose_axis', 'desired_pose': 'safety_set_pose/desired_pose' } if not cola2_ros_lib.getRosParams(self, param_dict, self.name): self.bad_config_timer = rospy.Timer(rospy.Duration(0.4), self.bad_config_message)
def getConfig(self): param_dict = {'nbData': 'learning/dmp/nbData', 'nbDataRepro': 'learning/dmp/nbDataRepro', 'nbDataExport': 'learning/dmp/nbDataExport', 'nbVar': 'learning/dmp/nbVar', 'nbStates': 'learning/dmp/nbStates', 'nbDataExport': 'learning/dmp/nbDataExport', 'dt': 'learning/dmp/dt', 'kPmin': 'learning/dmp/kPmin', 'kPmax': 'learning/dmp/kPmax', 'Automaticks': 'learning/dmp/AutomaticKs', 'kP': 'learning/dmp/kP', 'kV': 'learning/dmp/kV', 'alpha': 'learning/dmp/alpha', 'demonstration_file': 'learning/dmp/demonstration_file', 'demonstrations': 'learning/dmp/demonstrations', 'export_filename': 'learning/dmp/export_filename', } cola2_ros_lib.getRosParams(self, param_dict) self.kPmin_auv_x = np.asarray(self.kPmin) self.kPmax_auv_x = np.asarray(self.kPmax)
def get_config(self): """ Get config from param server """ param_dict = {'dvl_rotation': 'sim_dvl/dvl_rotation', 'dvl_type': 'sim_dvl/dvl_type', 'asymmetry': 'sim_dvl/asymmetry', 'mass': 'sim_dvl/mass', 'linear_damping': 'sim_dvl/linear_damping', 'quadratic_damping': 'sim_dvl/quadratic_damping', 'thruster_thrust': 'sim_dvl/thruster_thrust', 'bottom_depth': 'sim_dvl/bottom_depth'} if not cola2_ros_lib.getRosParams(self, param_dict, self.name): self.bad_config_timer = rospy.Timer(rospy.Duration(0.4), self.bad_config_message) self.dvl_rotation = PyKDL.Rotation.RPY(self.dvl_rotation[0] * math.pi / 180.0, self.dvl_rotation[1] * math.pi / 180.0, self.dvl_rotation[2] * math.pi / 180.0)
def get_config(self): ''' Load the file parameters. ''' param_dict = { 'rate': 'current_estimation/rate', 'time_analize': 'current_estimation/time_analize', 'regular_force': 'current_estimation/regular_force', 'stare_landmark_enabled': 'current_estimation/stare_landmark_enabled', 'stare_landmark_id': 'current_estimation/stare_landmark_id', 'stare_landmark_offset': 'current_estimation/stare_landmark_offset', 'stare_landmark_tolerance': 'current_estimation/stare_landmark_tolerance', 'stare_landmark_keep_pose': 'current_estimation/stare_landmark_keep_pose' } cola2_ros_lib.getRosParams(self, param_dict) rospy.loginfo('Time analize ' + str(self.time_analize))
def get_config(self): """ Get config from param server """ param_dict = { 'max_pos': 'teleoperation/max_pos', 'min_pos': 'teleoperation/min_pos', 'max_vel': 'teleoperation/max_vel', 'min_vel': 'teleoperation/min_vel', 'pose_controlled_axis': 'teleoperation/pose_controlled_axis', 'base_pose': 'teleoperation/base_pose', 'actualize_base_pose': 'teleoperation/actualize_base_pose', 'robot_name': '/navigator/robot_frame_id' } if not cola2_ros_lib.getRosParams(self, param_dict, self.name): rospy.logfatal("%s: shutdown due to invalid config parameters!", self.name) exit(0) # TODO: find a better way
def get_config(self): """ Get config from param server """ if rospy.has_param( "vehicle_name"): # This parameter is in dynamics yaml self.vehicle_name = rospy.get_param('vehicle_name') else: rospy.logfatal("%s: vehicle_name parameter not found", self.name) exit(0) # TODO: find a better way param_dict = { 'latitude': "dynamics/" + self.vehicle_name + "/ned_origin_latitude", 'longitude': "dynamics/" + self.vehicle_name + "/ned_origin_longitude", 'odom_topic_name': "dynamics/" + self.vehicle_name + "/odom_topic_name", 'altitude_range_topic_name': "dynamics/" + self.vehicle_name + "/altitude_range_topic_name", 'world_frame_id': "dynamics/" + self.vehicle_name + "/world_frame_id", # TODO: Shouldn't this be general for all nodes? 'dvl_type': "sim_nav_sensors/dvl_type", 'water_density': "sim_nav_sensors/water_density", 'imu_tf_array': "sim_nav_sensors/imu/tf", 'dvl_tf_array': "sim_nav_sensors/dvl/tf", 'gps_tf_array': "sim_nav_sensors/gps/tf", 'imu_period': "sim_nav_sensors/imu/period", 'dvl_period': "sim_nav_sensors/dvl/period", 'sea_bottom_depth': "sea_bottom_depth", 'gps_period': "sim_nav_sensors/gps/period", 'imu_orientation_covariance': "sim_nav_sensors/imu/orientation_covariance", 'dvl_velocity_covariance': "sim_nav_sensors/dvl/velocity_covariance", 'gps_position_covariance': "sim_nav_sensors/gps/position_covariance" } if not cola2_ros_lib.getRosParams(self, param_dict, self.name): rospy.logfatal("%s: shutdown due to invalid config parameters!", self.name) exit(0) # TODO: find a better way self.imu_tf = __compute_tf__(np.array(self.imu_tf_array) * -1.0) self.dvl_tf = __compute_tf__(np.array(self.dvl_tf_array) * -1.0)
'state_max': 'learning/auto/state_max', 'step_kp': 'learning/auto/step_kp', 'step_state': 'learning/auto/step_state' 'alpha': 'learning/auto/alpha', 'nbVar': 'learning/auto/nbVar', 'demonstration_file': 'learning/auto/demonstration_file', 'demonstrations': 'learning/auto/demonstrations', 'param_value': 'learning/auto/param_value', 'param_samples': 'learning/auto/param_samples', 'init_time': 'learning/auto/init_time', 'end_time': 'learning/auto/end_time', 'interval_time': 'learning/auto/interval_time', 'learning_export_file': 'learning/auto/learning_export_file', 'nbDataRepro': 'learning/reproductor/complete/nbDataRepro', } cola2_ros_lib.getRosParams(self, param_dict) def reproduce_trajectory(self): pass def compare_trajectory(self): pass def learn_and_reproduce(self, kp_min, kp_max, states): ''' The parameters are learned using the Dmp parameters and not exported ''' dof_list = [1,0,0,1,0,0,0,0,0,0] dmp_auv_x_yaw = LearningDmpGeneric(-99.0, -99.0, kp_min, kp_max, self.alpha, states, dof_list, nbData, self.demonstration_file,
def get_config(self): """ Get config from config file """ if rospy.has_param("vehicle_name"): self.vehicle_name = rospy.get_param('vehicle_name') else: rospy.logfatal("%s: vehicle_name parameter not found", self.name) exit(0) # TODO: find a better way param_dict = { 'thrusters': "dynamics/" + self.vehicle_name + "/number_of_thrusters", 'force_topic': "dynamics/" + self.vehicle_name + "/force_topic", 'use_force_topic': "dynamics/" + self.vehicle_name + "/use_force_topic", 'thrusters_topic': "dynamics/" + self.vehicle_name + "/thrusters_topic", 'thrusters_matrix': "dynamics/" + self.vehicle_name + "/thrusters_matrix", 'fins': "dynamics/" + self.vehicle_name + "/number_of_fins", 'fins_topic': "dynamics/" + self.vehicle_name + "/fins_topic", 'a_fins': "dynamics/" + self.vehicle_name + "/a_fins", 'k_cd_fins': "dynamics/" + self.vehicle_name + "/k_cd_fins", 'k_cl_fins': "dynamics/" + self.vehicle_name + "/k_cl_fins", 'period': "dynamics/" + self.vehicle_name + "/period", 'mass': "dynamics/" + self.vehicle_name + "/mass", 'buoyancy': "dynamics/" + self.vehicle_name + "/buoyancy", 'gravity_center': "dynamics/" + self.vehicle_name + "/gravity_center", 'g': "dynamics/" + self.vehicle_name + "/g", 'radius': "dynamics/" + self.vehicle_name + "/radius", 'max_thrusters_rpm': "dynamics/" + self.vehicle_name + "/max_thrusters_rpm", 'max_fins_angle': "dynamics/" + self.vehicle_name + "/max_fins_angle", 'ctf': "dynamics/" + self.vehicle_name + "/ctf", 'ctb': "dynamics/" + self.vehicle_name + "/ctb", 'dzv': "dynamics/" + self.vehicle_name + "/dzv", 'dv': "dynamics/" + self.vehicle_name + "/dv", 'dh': "dynamics/" + self.vehicle_name + "/dh", 'density': "dynamics/" + self.vehicle_name + "/density", 'tensor': "dynamics/" + self.vehicle_name + "/tensor", 'damping': "dynamics/" + self.vehicle_name + "/damping", 'quadratic_damping': "dynamics/" + self.vehicle_name + "/quadratic_damping", 'p_0': "dynamics/" + self.vehicle_name + "/initial_pose", 'v_0': "dynamics/" + self.vehicle_name + "/initial_velocity", 'odom_topic_name': "dynamics/" + self.vehicle_name + "/odom_topic_name", 'frame_id': "dynamics/" + self.vehicle_name + "/frame_id", 'world_frame_id': "dynamics/" + self.vehicle_name + "/world_frame_id", 'current_mean': "dynamics/current_mean", 'current_sigma': "dynamics/current_sigma", 'current_min': "dynamics/current_min", 'current_max': "dynamics/current_max", 'current_enabled': "dynamics/current_enabled", 'collisions_topic': "dynamics/" + self.vehicle_name + "/uwsim_contact_sensor", 'sea_bottom_depth': "sea_bottom_depth" } if not cola2_ros_lib.getRosParams(self, param_dict, self.name): rospy.logfatal("%s: shutdown due to invalid config parameters!", self.name) exit(0) # TODO: find a better way if len(self.collisions_topic) > 0: self.contact_sensor_available = True self.thrusters_matrix = np.array(self.thrusters_matrix).reshape( 6, self.thrusters)