def shooter_desc_cb():
traj = PoseEditor.from_PoseTwistStamped_topic('/trajectory')
desc = TargetDesc()
desc.type = TargetDesc.TYPE_OBJECT
desc.object_filename = roslib.packages.resource_file('auvsi_robosub', 'models', '2013/shooter.obj')
desc.prior_distribution.pose.orientation = Quaternion(*traj.turn_left_deg(180).orientation)
desc.disallow_yawing = True
desc.min_dist = BOARD_DIST-1
desc.max_dist = BOARD_DIST+3
return [desc]
def shooter_desc_cb():
traj = PoseEditor.from_PoseTwistStamped_topic('/trajectory')
desc = TargetDesc()
desc.type = TargetDesc.TYPE_OBJECT
desc.object_filename = roslib.packages.resource_file(
'auvsi_robosub', 'models', '2013/shooter.obj')
desc.prior_distribution.pose.orientation = Quaternion(
*traj.turn_left_deg(180).orientation)
desc.disallow_yawing = True
desc.min_dist = BOARD_DIST - 1
desc.max_dist = BOARD_DIST + 3
return [desc]
def hexagon_desc_cb(size, color):
traj = PoseEditor.from_PoseTwistStamped_topic('/trajectory')
desc = TargetDesc()
desc.type = TargetDesc.TYPE_OBJECT
desc.object_filename = roslib.packages.resource_file('auvsi_robosub', 'models', '2013/shooter_%sin_%s_hexagon.obj' % (7 if size == 'small' else 12, color))
desc.prior_distribution.pose.orientation = Quaternion(*traj.turn_left_deg(180).orientation)
cov = numpy.zeros((6, 6))
a = numpy.array([traj.forward_vector]).T * 100
cov[3:, 3:] += a.dot(a.T)
desc.prior_distribution.covariance = cov.flatten()
desc.min_dist = HEXAGON_DIST*.9
desc.max_dist = HEXAGON_DIST/.9
desc.allow_rolling = True
desc.disallow_yawing = True
return [desc]
def hexagon_desc_cb(size, color):
traj = PoseEditor.from_PoseTwistStamped_topic('/trajectory')
desc = TargetDesc()
desc.type = TargetDesc.TYPE_OBJECT
desc.object_filename = roslib.packages.resource_file(
'auvsi_robosub', 'models', '2013/shooter_%sin_%s_hexagon.obj' %
(7 if size == 'small' else 12, color))
desc.prior_distribution.pose.orientation = Quaternion(
*traj.turn_left_deg(180).orientation)
cov = numpy.zeros((6, 6))
a = numpy.array([traj.forward_vector]).T * 100
cov[3:, 3:] += a.dot(a.T)
desc.prior_distribution.covariance = cov.flatten()
desc.min_dist = HEXAGON_DIST * .9
desc.max_dist = HEXAGON_DIST / .9
desc.allow_rolling = True
desc.disallow_yawing = True
return [desc]
def make_manipulation(shared):
traj = PoseEditor.from_PoseTwistStamped_topic('/trajectory')
manipulation_desc = TargetDesc()
manipulation_desc.type = TargetDesc.TYPE_OBJECT
manipulation_desc.object_filename = roslib.packages.resource_file(
'auvsi_robosub', 'models', '2013/manipulation.obj')
manipulation_desc.prior_distribution.pose.orientation = Quaternion(
*traj.turn_left_deg(180).orientation)
manipulation_desc.disallow_yawing = True
manipulation_desc.min_dist = BOARD_DIST - 1
manipulation_desc.max_dist = BOARD_DIST + 3
wheel = TargetDesc()
wheel.type = TargetDesc.TYPE_OBJECT
wheel.object_filename = roslib.packages.resource_file(
'auvsi_robosub', 'models', '2013/manipulation_wheel.obj')
wheel.prior_distribution.pose.orientation = Quaternion(
*traj.turn_left_deg(180).orientation)
cov = numpy.zeros((6, 6))
a = numpy.array([traj.forward_vector]).T * 100
cov[3:, 3:] += a.dot(a.T)
wheel.prior_distribution.covariance = cov.flatten()
wheel.min_dist = WHEEL_DIST * .9
wheel.max_dist = WHEEL_DIST / .9
wheel.allow_rolling = True
wheel.disallow_yawing = True
# Create a SMACH state machine
sm = smach.Sequence(['succeeded', 'timeout', 'failed', 'preempted'],
'succeeded')
# Open the container
with sm:
smach.Sequence.add(
'DEPTH',
common_states.WaypointState(shared, lambda cur: cur.depth(1.5)))
smach.Sequence.add(
'APPROACH',
common_states.VelocityState(shared, numpy.array([.2, 0, 0])))
smach.Sequence.add(
'WAIT_MANIPULATION',
object_finder_states.WaitForObjectsState(
shared, 'find_forward', lambda: [manipulation_desc], .95))
smach.Sequence.add(
'STOP', common_states.VelocityState(shared, numpy.array([0, 0,
0])))
smach.Sequence.add('SLEEP', common_states.SleepState(5))
smach.Sequence.add(
'APPROACH_MANIPULATION',
object_finder_states.ApproachObjectState(shared, 'find_forward',
'forward_camera',
BOARD_DIST))
smach.Sequence.add(
'OPEN_LOOP_FORWARD',
common_states.WaypointState(
shared,
lambda cur: cur.forward(BOARD_DIST - WHEEL_DIST).left(.5)))
smach.Sequence.add(
'WAIT_WHEEL',
object_finder_states.WaitForObjectsState(shared, 'find_forward',
lambda: [wheel], .99))
smach.Sequence.add('WAIT_WHEEL_MORE', common_states.SleepState(5))
smach.Sequence.add(
'APPROACH_WHEEL',
object_finder_states.ApproachObjectState(shared, 'find_forward',
'forward_camera',
WHEEL_DIST))
smach.Sequence.add('EXTEND',
subjugator_states.GasPoweredStickState(True))
smach.Sequence.add('OPEN_LOOP_FORWARD2',
common_states.WaypointState(shared,
lambda cur: cur.forward(WHEEL_DIST-TURN_DIST)\
.relative([0, .06, .06])))
smach.Sequence.add(
'TURN',
common_states.WaypointSeriesState(shared, [
lambda cur: cur.down(.2), lambda cur: cur.right(.2),
lambda cur: cur.up(.2), lambda cur: cur.left(.2),
lambda cur: cur.down(.2), lambda cur: cur.right(.2)
]))
smach.Sequence.add('RETRACT',
subjugator_states.GasPoweredStickState(False))
smach.Sequence.add(
'BACKUP',
common_states.WaypointState(shared, lambda cur: cur.backward(1)))
return sm
def make_manipulation(shared):
traj = PoseEditor.from_PoseTwistStamped_topic('/trajectory')
manipulation_desc = TargetDesc()
manipulation_desc.type = TargetDesc.TYPE_OBJECT
manipulation_desc.object_filename = roslib.packages.resource_file('auvsi_robosub', 'models', '2013/manipulation.obj')
manipulation_desc.prior_distribution.pose.orientation = Quaternion(*traj.turn_left_deg(180).orientation)
manipulation_desc.disallow_yawing = True
manipulation_desc.min_dist = BOARD_DIST-1
manipulation_desc.max_dist = BOARD_DIST+3
wheel = TargetDesc()
wheel.type = TargetDesc.TYPE_OBJECT
wheel.object_filename = roslib.packages.resource_file('auvsi_robosub', 'models', '2013/manipulation_wheel.obj')
wheel.prior_distribution.pose.orientation = Quaternion(*traj.turn_left_deg(180).orientation)
cov = numpy.zeros((6, 6))
a = numpy.array([traj.forward_vector]).T * 100
cov[3:, 3:] += a.dot(a.T)
wheel.prior_distribution.covariance = cov.flatten()
wheel.min_dist = WHEEL_DIST*.9
wheel.max_dist = WHEEL_DIST/.9
wheel.allow_rolling = True
wheel.disallow_yawing = True
# Create a SMACH state machine
sm = smach.Sequence(['succeeded', 'timeout', 'failed', 'preempted'], 'succeeded')
# Open the container
with sm:
smach.Sequence.add('DEPTH',
common_states.WaypointState(shared, lambda cur: cur.depth(1.5)))
smach.Sequence.add('APPROACH',
common_states.VelocityState(shared, numpy.array([.2, 0, 0])))
smach.Sequence.add('WAIT_MANIPULATION',
object_finder_states.WaitForObjectsState(shared, 'find_forward',
lambda: [manipulation_desc], .95))
smach.Sequence.add('STOP',
common_states.VelocityState(shared, numpy.array([0, 0, 0])))
smach.Sequence.add('SLEEP',
common_states.SleepState(5))
smach.Sequence.add('APPROACH_MANIPULATION',
object_finder_states.ApproachObjectState(shared,
'find_forward', 'forward_camera',
BOARD_DIST))
smach.Sequence.add('OPEN_LOOP_FORWARD',
common_states.WaypointState(shared,
lambda cur: cur.forward(BOARD_DIST-WHEEL_DIST).left(.5)))
smach.Sequence.add('WAIT_WHEEL',
object_finder_states.WaitForObjectsState(shared, 'find_forward',
lambda: [wheel], .99))
smach.Sequence.add('WAIT_WHEEL_MORE',
common_states.SleepState(5))
smach.Sequence.add('APPROACH_WHEEL',
object_finder_states.ApproachObjectState(shared, 'find_forward',
'forward_camera', WHEEL_DIST))
smach.Sequence.add('EXTEND',
subjugator_states.GasPoweredStickState(True))
smach.Sequence.add('OPEN_LOOP_FORWARD2',
common_states.WaypointState(shared,
lambda cur: cur.forward(WHEEL_DIST-TURN_DIST)\
.relative([0, .06, .06])))
smach.Sequence.add('TURN',
common_states.WaypointSeriesState(shared, [
lambda cur: cur.down(.2),
lambda cur: cur.right(.2),
lambda cur: cur.up(.2),
lambda cur: cur.left(.2),
lambda cur: cur.down(.2),
lambda cur: cur.right(.2)]))
smach.Sequence.add('RETRACT',
subjugator_states.GasPoweredStickState(False))
smach.Sequence.add('BACKUP',
common_states.WaypointState(shared, lambda cur: cur.backward(1)))
return sm
from auvsi_robosub import constants
from uf_smach import common_states, object_finder_states, legacy_vision_states, missions
from object_finder.msg import TargetDesc
import numpy
import smach
SEARCH_WIDTH = 4 # How far to strafe
SEARCH_ADVANCE = 1.5 # How far to move forward after strafing
buoy_desc = TargetDesc()
buoy_desc.type = TargetDesc.TYPE_SPHERE
buoy_desc.sphere_radius = 4*.0254 # 4 in
buoy_desc.prior_distribution.pose.orientation.w = 1
buoy_desc.min_dist = 2
buoy_desc.max_dist = 6
def make_buoy(shared):
buoy_sm = smach.Sequence(['succeeded', 'failed', 'preempted'], 'succeeded')
with buoy_sm:
smach.Sequence.add('DEPTH',
common_states.WaypointState(shared, lambda cur: cur.depth(2.5)))
smach.Sequence.add('APPROACH',
common_states.VelocityState(shared, numpy.array([.2, 0, 0])))
smach.Sequence.add('WAIT_BUOYS',
object_finder_states.WaitForObjectsState(shared, 'find_forward',
lambda: [buoy_desc], .90),
transitions={'timeout': 'failed'})
smach.Sequence.add('APPROACH_BUOY',
object_finder_states.ApproachObjectState(shared,
'find_forward',
from auvsi_robosub import constants
from uf_smach import common_states, object_finder_states, legacy_vision_states, missions
from object_finder.msg import TargetDesc
import numpy
import smach
SEARCH_WIDTH = 4 # How far to strafe
SEARCH_ADVANCE = 1.5 # How far to move forward after strafing
buoy_desc = TargetDesc()
buoy_desc.type = TargetDesc.TYPE_SPHERE
buoy_desc.sphere_radius = 4 * .0254 # 4 in
buoy_desc.prior_distribution.pose.orientation.w = 1
buoy_desc.min_dist = 2
buoy_desc.max_dist = 6
def make_buoy(shared):
buoy_sm = smach.Sequence(['succeeded', 'failed', 'preempted'], 'succeeded')
with buoy_sm:
smach.Sequence.add(
'DEPTH',
common_states.WaypointState(shared, lambda cur: cur.depth(2.5)))
smach.Sequence.add(
'APPROACH',
common_states.VelocityState(shared, numpy.array([.2, 0, 0])))
smach.Sequence.add('WAIT_BUOYS',
object_finder_states.WaitForObjectsState(
shared, 'find_forward', lambda: [buoy_desc],
.90),