def get_kb_update(instances, d):
kua = KnowledgeUpdateServiceArrayRequest()
n = len(instances)
assert (n == len(d) and n == len(d[0]))
for i in xrange(n):
for j in xrange(n):
ki = KnowledgeItem()
ki.knowledge_type = ki.FUNCTION
ki.attribute_name = 'distance'
kv = KeyValue()
kv.key = 'a'
kv.value = instances[i]
ki.values.append(kv)
kv = KeyValue()
kv.key = 'b'
kv.value = instances[j]
ki.values.append(kv)
ki.function_value = d[i][j]
kua.update_type += np.array(kua.ADD_KNOWLEDGE).tostring()
kua.knowledge.append(ki)
return kua
def load_fact_message(self, attribute, uploaded_instance, item, domain):
fact_msg = KnowledgeItem()
fact_msg.knowledge_type = KnowledgeItem.FACT
fact_msg.instance_type = ""
fact_msg.instance_name = ""
fact_msg.attribute_name = attribute
fact_msg.function_value = 0.0
output_value = KeyValue()
output_value.key = (self._predicate_param_label_list[fact_msg.attribute_name])[
0
]
output_value.value = uploaded_instance
fact_msg.values.append(output_value)
# write to knowledge base
## For insert domain, the attribute container needs to be added as a fact, without second term
if ("in" == attribute) or ("on" == attribute):
output_value = KeyValue()
output_value.key = (
self._predicate_param_label_list[fact_msg.attribute_name]
)[1]
output_value.value = self.msg_to_instance_name(item, domain)
fact_msg.values.append(output_value)
##Robocup hack for finals
## Removing instance of objects to be picked form rotation table CB02
if "CB02" == output_value.value or "CB01" == output_value.value:
print "Rotating table knowledge base not updateing for object", uploaded_instance
self.object_to_delete_goals.append(uploaded_instance)
return
if "SH01" == output_value.value or "SH02" == output_value.value:
print "Removing object tot pick from shelf ,", uploaded_instance
self.object_to_delete_goals.append(uploaded_instance)
return
# print (fact_msg)
self.write_to_knowledge_base(
fact_msg, self.knowledge_update_service["ADD_KNOWLEDGE"]
)
def fill_order(self, order, attribute, first, second, count=-1):
#In transportationtask sometimes the destination is not there in inventory
#Needs to add fact about the inventory
if 'destination' == second:
name = self.load_instance_message(KnowledgeItem.INSTANCE, 'destination', order)
fact_msg = KnowledgeItem()
fact_msg.knowledge_type = KnowledgeItem.FACT
fact_msg.instance_type = ''
fact_msg.instance_name = ''
fact_msg.attribute_name = attribute
fact_msg.function_value = 0.0
output_value = KeyValue()
output_value.key = (self._predicate_param_label_list[fact_msg.attribute_name])[0]
output_value.value = self.msg_to_instance_name(order, first, count)
fact_msg.values.append(output_value)
output_value = KeyValue()
output_value.key = (self._predicate_param_label_list[fact_msg.attribute_name])[1]
#in order the container or location doesnt have the count
output_value.value = self.msg_to_instance_name(order, second )
fact_msg.values.append(output_value)
self.write_to_knowledge_base(fact_msg, self.knowledge_update_service['ADD_GOAL'] )
def clearAllMarkers(self):
edges = MarkerArray()
marker = Marker()
marker.header.stamp = rospy.Time.now()
marker.header.frame_id = "map"
marker.ns = "waypoint_edges"
marker.id = 0
marker.action = Marker.DELETEALL
edges.markers.append(marker)
self.edge_line_publisher.publish(edges)
# clear databases
for node, data in self.waypoint_graph.nodes_iter(data=True):
self.message_store.delete(data["id"])
self.knowledge_service(
update_type=self.knowledge_service.request_class.
REMOVE_KNOWLEDGE,
knowledge=[
KnowledgeItem(knowledge_type=KnowledgeItem.INSTANCE,
instance_type="waypoint",
instance_name=node)
])
def load_initial_state_new_assumptions(self):
self.clear_knowledge_client.call()
for instance in self.initial_instances.instances:
knowledge = KnowledgeItem()
knowledge.knowledge_type = KnowledgeItem.INSTANCE
knowledge.instance_type = "object"
knowledge.instance_name = instance
self.update_knowledge_client(
KnowledgeUpdateServiceRequest.ADD_KNOWLEDGE, knowledge)
for goal in self.initial_goal.attributes:
self.update_knowledge_client(
KnowledgeUpdateServiceRequest.ADD_GOAL, goal)
for fact in self.initial_facts.attributes:
self.update_knowledge_client(
KnowledgeUpdateServiceRequest.ADD_KNOWLEDGE, fact)
rospy.loginfo(
"Initial state loaded successfuly. Now loading assumptions:")
for i in range(0, len(self.current_assumptions)):
self.update_assumption(i, self.current_assumptions[i])
def distance(msg, params):
distance = float('inf')
ret_value = []
# create KB update client
rospy.wait_for_service('/strategic/rosplan_knowledge_base/update_array')
rospy.wait_for_service(
'/tactical_execution/rosplan_knowledge_base/update_array')
rospy.wait_for_service(
'/strategic/rosplan_interface_strategic_control/add_mission_goal')
update_kb = rospy.ServiceProxy(
'/strategic/rosplan_knowledge_base/update_array',
KnowledgeUpdateServiceArray)
update_kb_tactical = rospy.ServiceProxy(
'/tactical_execution/rosplan_knowledge_base/update_array',
KnowledgeUpdateServiceArray)
update_strategic_goals = rospy.ServiceProxy(
'/strategic/rosplan_interface_strategic_control/add_mission_goal',
KnowledgeUpdateServiceArray)
# add new ground_wp to the KB
ground_wps = rospy.get_param("/ground_wp")
try:
pos = [float(msg.data[0]), float(msg.data[1]), 0.0, 0.0]
for wp in ground_wps:
# check if wp is the new one
if close_point(pos, ground_wps[wp], 0.01):
# upload new wp to KB
kus = KnowledgeUpdateServiceArrayRequest()
kus.update_type += np.array(kus.ADD_KNOWLEDGE).tostring()
ki = KnowledgeItem()
ki.instance_type = "ground"
ki.instance_name = wp
ki.knowledge_type = ki.INSTANCE
kus.knowledge.append(ki)
res = update_kb(kus)
res = update_kb_tactical(kus)
# Oberve added waypoint (if not original)
if len(wp) >= 10 and int(wp[9:]) > 4:
kus = KnowledgeUpdateServiceArrayRequest()
kus.update_type += np.array(kus.ADD_GOAL).tostring()
ki = KnowledgeItem()
ki.knowledge_type = ki.FACT
ki.attribute_name = 'observed'
kv = KeyValue()
kv.key = 'wp'
kv.value = wp
ki.values.append(kv)
kus.knowledge.append(ki)
try:
res = update_strategic_goals(kus)
except:
print "Something Happened"
# add new wp to the prm
prm_nodes = rospy.get_param("/prm/wp")
prm_edges = rospy.get_param("/prm/edge")
rospy.set_param("/prm/wp/" + wp, ground_wps[wp])
prm_nodes[wp] = ground_wps[wp]
prm_edges[wp] = {}
for node in prm_nodes:
if node == wp:
continue
d = sqrt((ground_wps[wp][0] - prm_nodes[node][0]) *
(ground_wps[wp][0] - prm_nodes[node][0]) +
(ground_wps[wp][1] - prm_nodes[node][1]) *
(ground_wps[wp][1] - prm_nodes[node][1]) +
(ground_wps[wp][2] - prm_nodes[node][2]) *
(ground_wps[wp][2] - prm_nodes[node][2]))
if d <= 4:
rospy.set_param("/prm/edge/" + wp + "/" + node, d)
rospy.set_param("/prm/edge/" + node + "/" + wp, d)
prm_edges[wp][node] = d
prm_edges[node][wp] = d
# add new distances for each other wp
kus = KnowledgeUpdateServiceArrayRequest()
for other_wp in ground_wps:
if other_wp == wp:
continue
# don't check frame_id
if not type(ground_wps[other_wp]) is list:
continue
# run dijkstra
distance = dijkstra(wp, other_wp, prm_nodes, prm_edges)
if distance > 0:
# upload distances to KB
ki = KnowledgeItem()
ki.knowledge_type = ki.FUNCTION
ki.attribute_name = "distance"
kv = KeyValue()
kv.key = 'wp1'
kv.value = other_wp
ki.values.append(kv)
kv = KeyValue()
kv.key = 'wp2'
kv.value = wp
ki.values.append(kv)
ki.function_value = distance
kus.update_type += np.array(
kus.ADD_KNOWLEDGE).tostring()
kus.knowledge.append(ki)
ki = KnowledgeItem()
ki.knowledge_type = ki.FUNCTION
ki.attribute_name = "distance"
kv = KeyValue()
kv.key = 'wp1'
kv.value = wp
ki.values.append(kv)
kv = KeyValue()
kv.key = 'wp2'
kv.value = other_wp
ki.values.append(kv)
ki.function_value = distance
kus.update_type += np.array(
kus.ADD_KNOWLEDGE).tostring()
kus.knowledge.append(ki)
res = update_kb(kus)
res = update_kb_tactical(kus)
# add new visibility between sky and ground
sky_wps = rospy.get_param("/sky_wp")
added_visibility = False
kus = KnowledgeUpdateServiceArrayRequest()
for sky_wp in sky_wps:
if check_visibility(ground_wps[wp], sky_wps[sky_wp]):
ki = KnowledgeItem()
ki.knowledge_type = ki.FACT
ki.attribute_name = "can_observe"
kv = KeyValue()
kv.key = 'wp1'
kv.value = sky_wp
ki.values.append(kv)
kv = KeyValue()
kv.key = 'wp2'
kv.value = wp
ki.values.append(kv)
kus.update_type += np.array(
kus.ADD_KNOWLEDGE).tostring()
kus.knowledge.append(ki)
added_visibility = True
if added_visibility:
res = update_kb(kus)
res = update_kb_tactical(kus)
# create new sky_wp if no visibility was created
if not added_visibility:
new_sky_wp_name = "sky_above_" + wp
# upload new wp to KB
kus = KnowledgeUpdateServiceArrayRequest()
kus.update_type += np.array(kus.ADD_KNOWLEDGE).tostring()
ki = KnowledgeItem()
ki.instance_type = "sky"
ki.instance_name = new_sky_wp_name
ki.knowledge_type = ki.INSTANCE
kus.knowledge.append(ki)
res = update_kb(kus)
res = update_kb_tactical(kus)
# create new sky_wp and add to param server
new_sky_wp = list(ground_wps[wp])
new_sky_wp[2] = new_sky_wp[2] + 8
rospy.set_param("/sky_wp" + new_sky_wp_name, new_sky_wp)
# add visibility of other ground wps for the new sky wp
kus = KnowledgeUpdateServiceArrayRequest()
for gwp in ground_wps:
if check_visibility(ground_wps[gwp], new_sky_wp):
ki = KnowledgeItem()
ki.knowledge_type = ki.FACT
ki.attribute_name = "can_observe"
kv = KeyValue()
kv.key = 'wp1'
kv.value = new_sky_wp_name
ki.values.append(kv)
kv = KeyValue()
kv.key = 'wp2'
kv.value = wp
ki.values.append(kv)
kus.update_type += np.array(
kus.ADD_KNOWLEDGE).tostring()
kus.knowledge.append(ki)
if len(kus.knowledge) > 0:
res = update_kb(kus)
res = update_kb_tactical(kus)
break
except rospy.ServiceException, e:
rospy.logerr(
"KCL (%s) Failed to update knowledge base: %s" % rospy.get_name(),
e.message)
def load_inventory_to_knowledge_base(self):
if (None == self._inventory_message):
return
#Creating the message
instance_msg = KnowledgeItem()
for item in self._inventory_message.items:
#Attribute on which the fact is written
attribute = None
object_instance_list = []
#################################
## Uploading INSTANCE of Objects
#################################
#check if the instance_id is present
if (0 != item.object.instance_id.data):
#uploading the instance of object
text = self.object_type[item.object.type.data]
if (text == 'CONTAINER_BOX_BLUE' or text == 'CONTAINER_BOX_RED'):
print ("NOT ADDING CONTAINERS")
continue
else:
name = self.load_instance_message('object', item )
object_instance_list.append(name)
else:
#if not then
#check quantity and loop on quantity
if (0 != item.quantity.data):
for count in range(item.quantity.data):
#uploading the instance of object
name = self.load_instance_message('object', item, count)
object_instance_list.append(name)
else:
rospy.loginfo("Instance ID not provided as well as quantity ")
#uploading the instance of object without ID and quantity
text = self.object_type[item.object.type.data]
if (text == 'CONTAINER_BOX_BLUE' or text == 'CONTAINER_BOX_RED'):
continue
else:
name = self.load_instance_message('object', item)
object_instance_list.append(name)
self.event_out.publish("e_failure")
#Flag for identifying if location or container
instance_type_identifyer = None
#################################
## Uploading INSTANCE of locations
#################################
#check if location exist
if (0 != item.location.type.data):
name = self.load_instance_message('location', item)
#fill fact "Object" ON "location"
attribute = 'on'
instance_type_identifyer = 'location'
#################################
## Uploading INSTANCE of CONTAINER
#################################
## Removing uploading instances of container doing only while task loading
## Causing counting problem in both inventory loading and task loading
## since counting is done in both and in task we sometimes dont load task for all the containers
## there are situations in which the container numbering differs from inventory and task loading
'''
elif (0 != item.container.type.data):
name = self.load_instance_message('container', item)
#upload fact "Object" IN "container"
attribute = 'in'
instance_type_identifyer = 'container'
'''
#################################
## Uploading FACTS
#################################
if (attribute):
for uploaded_instance in object_instance_list:
self.load_fact_message(attribute, uploaded_instance, item, instance_type_identifyer)
attribute = None
#Resetting the flag when the inventory contained some data
rospy.loginfo('Received inventory data updated knowledge base')
self.start_inventory_flag = False
# Triggering the completion of the inventory update
self.inventory_update_complete_flag = True
#clearning inventory message
self._inventory_message = None
self.event_out.publish("e_done")
def load_order_to_knowledge_base(self):
rospy.loginfo("Loading task info to knowledge base")
# Creating the message
instance_msg = KnowledgeItem()
for task in self._tasks.tasks:
####################################################################
# Transportation task
####################################################################
if atwork_ros_msgs.msg.Task.TRANSPORTATION == task.type.data:
# The task is transportation
# find the object, its destination
if 0 != task.transportation_task.container.type_id.data:
# container is available
# some order contain container in order but not in inventory, so need to add fact explicitly
name = self.load_instance_message(
"destination", task.transportation_task
)
container_name = self.load_instance_message(
"container", task.transportation_task
)
if container_name:
# same the knowledge about the initial location of the container is missin, adding it
self.load_fact_message(
"on",
container_name,
task.transportation_task,
"destination",
)
self.load_fact_message(
"container",
container_name,
task.transportation_task,
"destination",
)
self.load_fact_message(
"heavy",
container_name,
task.transportation_task,
"destination",
)
object_name = self.fill_order(
task.transportation_task,
"in",
"object",
"container",
container_name=container_name,
)
if object_name:
self.load_fact_message(
"insertable",
object_name,
task.transportation_task,
"destination",
)
elif 0 != task.transportation_task.destination.instance_id.data:
# if (0 != task.transportation_task.destination.instance_id.data): //Add when 'in' domain is not present
# In transportationtask sometimes the destination is not there in inventory
# Needs to add fact about the inventory
name = self.load_instance_message(
"destination", task.transportation_task
)
# container not available but destination available
insertable_object_name = self.fill_order(
task.transportation_task, "on", "object", "destination"
)
## IF PP01 then we need to load some facts
if 5 == task.transportation_task.destination.type.data:
self.load_fact_message(
"on", "PP01_CAVITY", task.transportation_task, "destination"
)
self.load_fact_message(
"container",
"PP01_CAVITY",
task.transportation_task,
"destination",
)
self.load_fact_message(
"heavy",
"PP01_CAVITY",
task.transportation_task,
"destination",
)
if insertable_object_name:
self.load_fact_message(
"insertable",
insertable_object_name,
task.transportation_task,
"destination",
)
self.load_instance_message_PP01("object")
else:
# both container and destination not available
rospy.logerr("No Goal set")
if (0 != task.transportation_task.container.type_id.data) and (
0 != task.transportation_task.destination.instance_id.data
):
##Both container and destination available
###ERL2016 the containers need not moved so we dont need to add goal for the containers
###Add the below line when the container needs to be transported
# self.fill_order(task.transportation_task, 'on', 'container', 'destination' )
###The Fact about the initial location of the container is missing
pass
rospy.loginfo("Task info upload completed")
def generate_knowledge_base(self):
# Remove earlier entries from knowledge database
self.clear_knowledge()
empty_waypoints = []
valid_occupants = self.objects['drone'] + self.objects['turtlebot']
for loc in self.objects['waypoint'] + self.objects['airwaypoint']:
valid = False
if loc in self.at:
for o in self.at[loc]:
valid = True if (o in valid_occupants) else valid
if not valid:
empty_waypoints.append(loc)
# Set up waypoint distances
for wp1 in self.objects['waypoint']:
for wp2 in self.objects['waypoint']:
kitem = KnowledgeItem()
kitem.knowledge_type = KnowledgeItem.FUNCTION
kitem.attribute_name = "move-duration"
kitem.values = [KeyValue('from', wp1), KeyValue('to', wp2)]
kitem.function_value = self.waypoint_distance(wp1,wp2)
self.update_knowledge(update_type=KnowledgeUpdateServiceEnum.ADD_KNOWLEDGE, knowledge=kitem)
for wp1 in self.objects['airwaypoint']:
for wp2 in self.objects['airwaypoint']:
kitem = KnowledgeItem()
kitem.knowledge_type = KnowledgeItem.FUNCTION
kitem.attribute_name = "move-duration"
kitem.values = [KeyValue('from', wp1), KeyValue('to', wp2)]
kitem.function_value = self.waypoint_distance(wp1,wp2)
self.update_knowledge(update_type=KnowledgeUpdateServiceEnum.ADD_KNOWLEDGE, knowledge=kitem)
# Set empty for agents and waypoints
for obj in self.objects['drone'] + self.objects['turtlebot'] + empty_waypoints:
kitem = KnowledgeItem()
kitem.knowledge_type = KnowledgeItem.FACT
kitem.values = [KeyValue('aw_object', obj)]
kitem.attribute_name = 'empty'
self.update_knowledge(update_type=KnowledgeUpdateServiceEnum.ADD_KNOWLEDGE, knowledge=kitem)
# Add agents
for key, items in self.objects.iteritems():
for item in items:
kitem = KnowledgeItem()
kitem.knowledge_type = KnowledgeItem.INSTANCE
kitem.instance_type = key
kitem.instance_name = item
self.update_knowledge(update_type=KnowledgeUpdateServiceEnum.ADD_KNOWLEDGE, knowledge=kitem)
# Add locations for agents and boxes
for key, values in self.at.iteritems():
for value in values:
kitem = KnowledgeItem()
kitem.knowledge_type = KnowledgeItem.FACT
kitem.values = [KeyValue('object', value), KeyValue('waypoint', key)]
kitem.attribute_name = 'at'
self.update_knowledge(update_type=KnowledgeUpdateServiceEnum.ADD_KNOWLEDGE, knowledge=kitem)
# Add state airborne to drones at air waypoints
for air_wp in self.objects['airwaypoint']:
for drone in self.objects['drone']:
if drone in self.at[air_wp]:
kitem = KnowledgeItem()
kitem.knowledge_type = KnowledgeItem.FACT
kitem.values = [KeyValue('drone', drone)]
kitem.attribute_name = 'airborne'
self.update_knowledge(update_type=KnowledgeUpdateServiceEnum.ADD_KNOWLEDGE, knowledge=kitem)
# Set relation between air and ground waypoints
for air, ground in zip(self.objects['airwaypoint'], self.objects['waypoint']):
kitem = KnowledgeItem()
kitem.knowledge_type = KnowledgeItem.FACT
kitem.values = [KeyValue('airwaypoint', air), KeyValue('waypoint', ground)]
kitem.attribute_name = 'over'
self.update_knowledge(update_type=KnowledgeUpdateServiceEnum.ADD_KNOWLEDGE, knowledge=kitem)
# Set rescued persons
for person in self.rescued:
kitem = KnowledgeItem()
kitem.knowledge_type = KnowledgeItem.FACT
kitem.values = [KeyValue('person', person)]
kitem.attribute_name = 'handled'
self.update_knowledge(update_type=KnowledgeUpdateServiceEnum.ADD_KNOWLEDGE, knowledge=kitem)
# Set goals, each person should be handled
for person in self.objects['person']:
kitem = KnowledgeItem()
kitem.knowledge_type = KnowledgeItem.FACT
kitem.values = [KeyValue('person', person)]
kitem.attribute_name = 'handled'
self.update_knowledge(update_type=KnowledgeUpdateServiceEnum.ADD_GOAL, knowledge=kitem)
def load_inventory_to_knowledge_base(self):
if (None == self._inventory_message):
return
#Creating the message
instance_msg = KnowledgeItem()
for item in self._inventory_message.items:
#Attribute on which the fact is written
attribute = None
object_instance_list = []
#################################
## Uploading INSTANCE of Objects
#################################
#check if the instance_id is present
if (0 != item.object.instance_id.data):
#uploading the instance of object
name = self.load_instance_message(KnowledgeItem.INSTANCE, 'object', item )
object_instance_list.append(name)
else:
#if not then
#check quantity and loop on quantity
if (0 != item.quantity.data):
for count in range(item.quantity.data):
#uploading the instance of object
name = self.load_instance_message(KnowledgeItem.INSTANCE, 'object', item, count)
object_instance_list.append(name)
else:
rospy.loginfo("Instance ID not provided as well as quantity ")
#uploading the instance of object without ID and quantity
name = self.load_instance_message(KnowledgeItem.INSTANCE, 'object', item)
object_instance_list.append(name)
self.event_out.publish("e_failure")
#Flag for identifying if location or container
instance_type_identifyer = None
#################################
## Uploading INSTANCE of locations
#################################
#check if location exist
if (0 != item.location.type.data):
name = self.load_instance_message(KnowledgeItem.INSTANCE, 'location', item)
#fill fact "Object" ON "location"
attribute = 'on'
instance_type_identifyer = 'location'
#################################
## Uploading INSTANCE of CONTAINER
#################################
elif (0 != item.container.type.data):
name = self.load_instance_message(KnowledgeItem.INSTANCE, 'container', item)
#upload fact "Object" IN "container"
attribute = 'in'
instance_type_identifyer = 'container'
#################################
## Uploading FACTS
#################################
if (attribute):
for uploaded_instance in object_instance_list:
fact_msg = KnowledgeItem()
fact_msg.knowledge_type = KnowledgeItem.FACT
fact_msg.instance_type = ''
fact_msg.instance_name = ''
fact_msg.attribute_name = attribute
fact_msg.function_value = 0.0
output_value = KeyValue()
output_value.key = (self._predicate_param_label_list[fact_msg.attribute_name])[0]
output_value.value = uploaded_instance
fact_msg.values.append(output_value)
output_value = KeyValue()
output_value.key = (self._predicate_param_label_list[fact_msg.attribute_name])[1]
output_value.value = self.msg_to_instance_name(item, \
instance_type_identifyer)
fact_msg.values.append(output_value)
self.write_to_knowledge_base(fact_msg, self.knowledge_update_service['ADD_KNOWLEDGE'])
attribute = None
#Resetting the flag when the inventory contained some data
rospy.loginfo('Received inventory data updated knowledge base')
self.start_inventory_flag = False
# Triggering the completion of the inventory update
self.inventory_update_complete_flag = True
#clearning inventory message
self._inventory_message = None
self.event_out.publish("e_done")
def insertMarker(self, position, name=None, frame_id="map"):
if name is None:
name = "wp{0}".format(self.next_waypoint_id)
self.next_waypoint_id += 1
# update rosplan knowledge base and insert waypoint if successful
if self.knowledge_service(
update_type=self.knowledge_service.request_class.ADD_KNOWLEDGE,
knowledge=[
KnowledgeItem(knowledge_type=KnowledgeItem.INSTANCE,
instance_type="waypoint",
instance_name=name)
]):
int_marker = InteractiveMarker()
int_marker.header.frame_id = frame_id
int_marker.pose.position = position
int_marker.scale = 0.5
int_marker.name = name
int_marker.description = "Waypoint: {0}".format(name)
# markers a moveable in the plane
control = InteractiveMarkerControl()
control.orientation.w = 1
control.orientation.x = 0
control.orientation.y = 1
control.orientation.z = 0
control.interaction_mode = InteractiveMarkerControl.MOVE_PLANE
menu_handler = MenuHandler()
menu_handler.insert("Connect/Disconnect",
callback=self.processFeedback)
menu_handler.insert("Clear", callback=self.processFeedback)
menu_handler.insert("Remove", callback=self.processFeedback)
# make a box which also moves in the plane
control.markers.append(self._makeMarker(int_marker))
control.always_visible = True
int_marker.controls.append(control)
# we want to use our special callback function
self.server.insert(int_marker, self.processFeedback)
menu_handler.apply(self.server, int_marker.name)
# set different callback for POSE_UPDATE feedback
self.server.setCallback(int_marker.name, self.moveFeedback,
InteractiveMarkerFeedback.POSE_UPDATE)
self.server.applyChanges()
# push to scene database
pstamped = PoseStamped()
pstamped.header.frame_id = frame_id
pstamped.pose = self.server.get(int_marker.name).pose
pstamped.pose.orientation.w = 1.0 # otherwise movebase will reject the quaternion
id = self.message_store.insert_named(int_marker.name, pstamped)
# insert into graph
self.waypoint_graph.add_node(int_marker.name, {"id": id})
else:
rospy.logerr(
"(Interactive_Waypoint_Server) Failed to insert waypoint {0}. Knowledge database service call returned error."
.format(name))
def make_srv_req_to_KB(
knowledge_type_is_instance=True,
instance_type="",
instance_name="",
attribute_name="",
values=[],
update_type_is_knowledge=True,
):
"""
make a service call to ``rosplan_knowledge_base`` (mongodb)
:param knowledge_type_is_instance: type of knowledge
:type knowledge_type_is_instance: bool
:param instance_type: type of instance
:type instance_type: str
:param instance_name: name of instance
:type instance_name: str
:param attribute_name: name of attribute
:type attribute_name: str
:param values: values for attribute
:type value: list (tuple (str, str))
:param update_type_is_knowledge: type of update to be performed
:type update_type_is_knowledge: bool
:return: success
:rtype: bool
example 1:
**upload instance**: youbot has one ``dynamixel`` ``gripper``.
.. code-block:: bash
rosservice call /rosplan_knowledge_base/update "update_type: 0
knowledge:
knowledge_type: 0
instance_type: 'gripper'
instance_name: 'dynamixel'
attribute_name: ''
values: {}
function_value: 0.0";
To perform the following using this function
.. code-block:: python
ProblemUploader.make_srv_req_to_KB(knowledge_type_is_instance=True,
instance_type='gripper',
instance_name='dynamixel')
example 2:
**upload fact**: object ``o4`` is on location ``S3``
.. code-block:: bash
rosservice call /rosplan_knowledge_base/update "update_type: 0
knowledge:
knowledge_type: 1
instance_type: ''
instance_name: ''
attribute_name: 'on'
values:
- {key: 'o', value: 'o4'}
- {key: 'l', value: 'S3'}
function_value: 0.0";
To perform the following using this function
.. code-block:: python
ProblemUploader.make_srv_req_to_KB(knowledge_type_is_instance=False,
attribute_name='on',
values=[('o', 'o4'),
('l', 'S3')])
"""
msg = KnowledgeItem()
if knowledge_type_is_instance:
msg.knowledge_type = KnowledgeItem.INSTANCE
msg.instance_type = instance_type
msg.instance_name = instance_name.upper()
else:
msg.knowledge_type = KnowledgeItem.FACT
msg.attribute_name = attribute_name
msg.values = [KeyValue(i[0], i[1].upper()) for i in values]
update_kb_topic = "/rosplan_knowledge_base/update"
rospy.loginfo("Waiting for " + update_kb_topic)
rospy.wait_for_service(update_kb_topic)
try:
update_kb = rospy.ServiceProxy(update_kb_topic,
KnowledgeUpdateService)
if update_type_is_knowledge:
response = update_kb(Req.ADD_KNOWLEDGE, msg)
else:
response = update_kb(Req.ADD_GOAL, msg)
except rospy.ServiceException as e:
rospy.logerr("Service call failed: %s" % e)
if response.success:
rospy.loginfo("KB updated successfully.")
return True
else:
rospy.logerror("KB update failed.")
return False
def load_inventory_to_knowledge_base(self):
if (None == self._inventory_message):
return
#Creating the message
instance_msg = KnowledgeItem()
for item in self._inventory_message.items:
#Attribute on which the fact is written
attribute = None
object_instance_list = []
#################################
## Uploading INSTANCE of Objects
#################################
#check if the instance_id is present
if (0 != item.object.instance_id.data):
#uploading the instance of object
name = self.load_instance_message('object', item )
object_instance_list.append(name)
else:
#if not then
#check quantity and loop on quantity
if (0 != item.quantity.data):
for count in range(item.quantity.data):
#uploading the instance of object
name = self.load_instance_message('object', item, count)
object_instance_list.append(name)
else:
rospy.loginfo("Instance ID not provided as well as quantity ")
#uploading the instance of object without ID and quantity
name = self.load_instance_message('object', item)
object_instance_list.append(name)
self.event_out.publish("e_failure")
#Flag for identifying if location or container
instance_type_identifyer = None
#################################
## Uploading INSTANCE of locations
#################################
#check if location exist
if (0 != item.location.type.data):
name = self.load_instance_message('location', item)
#fill fact "Object" ON "location"
attribute = 'on'
instance_type_identifyer = 'location'
#################################
## Uploading INSTANCE of CONTAINER
#################################
elif (0 != item.container.type.data):
name = self.load_instance_message('container', item)
#upload fact "Object" IN "container"
attribute = 'in'
instance_type_identifyer = 'container'
#################################
## Uploading FACTS
#################################
if (attribute):
for uploaded_instance in object_instance_list:
self.load_fact_message(attribute, uploaded_instance, item, instance_type_identifyer)
attribute = None
#Resetting the flag when the inventory contained some data
rospy.loginfo('Received inventory data updated knowledge base')
self.start_inventory_flag = False
# Triggering the completion of the inventory update
self.inventory_update_complete_flag = True
#clearning inventory message
self._inventory_message = None
self.event_out.publish("e_done")
#!/usr/bin/python2
import rospy
from rosplan_knowledge_msgs.srv import KnowledgeUpdateService
from rosplan_knowledge_msgs.msg import KnowledgeItem
from diagnostic_msgs.msg import KeyValue
if __name__ == "__main__":
rospy.init_node("init_ceres_rosplan")
rospy.loginfo("(Init_Ceres_Rosplan) Waiting for knowledge update service")
rospy.wait_for_service("kcl_rosplan/update_knowledge_base")
rospy.loginfo(
"(Init_Ceres_Rosplan) Initializing robot 'ceres' to waypoint 'wp0'")
update_service = rospy.ServiceProxy("kcl_rosplan/update_knowledge_base",
KnowledgeUpdateService)
update_service(
update_type=KnowledgeUpdateService._request_class.ADD_KNOWLEDGE,
knowledge=KnowledgeItem(knowledge_type=KnowledgeItem.INSTANCE,
instance_type='robot',
instance_name='ceres'))
update_service(
update_type=KnowledgeUpdateService._request_class.ADD_KNOWLEDGE,
knowledge=KnowledgeItem(knowledge_type=KnowledgeItem.FACT,
attribute_name='robot_at',
values=[
KeyValue(key='v', value='ceres'),
KeyValue(key='wp', value='wp0')
]))
def _generate_predicate(type_name, **kwargs):
new_type_name, is_negative = _is_predicate_negative(type_name)
return KnowledgeItem(KB_ITEM_FACT, "", "", new_type_name,
dict_to_keyval(kwargs), 0.0, is_negative)
def rosplan_update_knowledge(self,
knowledge_type,
instance_type,
instance_name,
attribute_name,
values,
function_value=0.0,
update_type='ADD_KNOWLEDGE'):
'''
This generic function receives knowledge parameters and does a service call
to rosplan knowledge base (mongodb)
rosplan_update_knowledge() = rosplan service call add knowledge
Example 1:
# upload instance : youbot has one dynamixel gripper (dynamixel - gripper)
rosservice call /kcl_rosplan/update_knowledge_base "update_type: 0 # ADD_KNOWLEDGE = 0
knowledge:
knowledge_type: 0 # INSTANCE = 0
instance_type: 'gripper'
instance_name: 'dynamixel'
attribute_name: ''
values:
-{}
function_value: 0.0";
# (on o4 S3)
example 2: object4 (o4) is on location S3
# upload fact :
rosservice call /kcl_rosplan/update_knowledge_base "update_type: 0 # ADD_KNOWLEDGE = 0
knowledge:
knowledge_type: 1 # FACT = 1
instance_type: ''
instance_name: ''
attribute_name: 'on'
values:
- {key: 'o', value: 'o4'}
- {key: 'l', value: 'S3'}
function_value: 0.0";
'''
msg = KnowledgeItem()
if knowledge_type == 0:
# instance
msg.knowledge_type = KnowledgeItem.INSTANCE # INSTANCE (rosplan_knowledge_msgs/msg/KnowledgeItem.msg)
msg.instance_type = instance_type
msg.instance_name = instance_name
msg.attribute_name = ''
elif knowledge_type == 1:
# fact
msg.knowledge_type = KnowledgeItem.FACT # FACT (rosplan_knowledge_msgs/msg/KnowledgeItem.msg)
msg.instance_type = ''
msg.instance_name = ''
msg.attribute_name = attribute_name
for each in values:
msg.values.append(KeyValue(each[0], each[1]))
else:
rospy.logerr(
'error: no information will be uploaded, Knowledge type should be INSTANCE = 0, or FACT = 1'
)
return False
msg.function_value = function_value
rospy.logdebug('======msg=========')
rospy.logdebug(msg)
rospy.logdebug('================')
rospy.loginfo(
'Waiting for /kcl_rosplan/update_knowledge_base to become available...'
)
rospy.wait_for_service('/kcl_rosplan/update_knowledge_base')
try:
update_kb = rospy.ServiceProxy(
'/kcl_rosplan/update_knowledge_base', KnowledgeUpdateService)
# get response
if update_type == 'ADD_KNOWLEDGE':
response = update_kb(
KnowledgeUpdateServiceRequest.ADD_KNOWLEDGE, msg)
elif update_type == 'ADD_GOAL':
response = update_kb(KnowledgeUpdateServiceRequest.ADD_GOAL,
msg)
elif update_type == 'REMOVE_KNOWLEDGE':
response = update_kb(
KnowledgeUpdateServiceRequest.REMOVE_KNOWLEDGE, msg)
elif update_type == 'REMOVE_GOAL':
response = update_kb(KnowledgeUpdateServiceRequest.REMOVE_GOAL,
msg)
else:
rospy.logerr(
'Error : Unknown update_type, admisible values are ADD_KNOWLEDGE, ADD_GOAL, REMOVE_KNOWLEDGE and REMOVE_GOAL'
)
rospy.logwarn('Knowledge base not updated...!')
except rospy.ServiceException, e:
rospy.logerr('Service call failed: %s' % e)
return False
except rospy.ServiceException, e:
rospy.logerr("KCL (%s) Failed to update knowledge base: %s" % rospy.get_name(), e.message)
skip_check = True
# load and check KB for waypoints
waypoints = []
if rospy.has_param(waypoint_namespace):
waypoints = rospy.get_param(waypoint_namespace)
if len(params[0]) != len(waypoints):
del params[0][:]
# waypoints not properly loaded yet, add to KB
rospy.loginfo("KCL: (%s) Waypoints not loaded into KB yet, skipping visibility check" % rospy.get_name())
try:
kus = KnowledgeUpdateServiceArrayRequest()
for wp in waypoints:
ki = KnowledgeItem()
ki.instance_type = "waypoint"
ki.instance_name = wp
ki.knowledge_type = ki.INSTANCE
kus.update_type += np.array(kus.ADD_KNOWLEDGE).tostring()
kus.knowledge.append(ki)
params[0].append(wp)
res = update_kb(kus)
except rospy.ServiceException, e:
rospy.logerr("KCL (%s) Failed to update knowledge base: %s" % rospy.get_name(), e.message)
skip_check = True
if skip_check:
return ret_value
attributes = get_kb_attribute("doughnut_visible_from")