def localization_check(self, event):
saved_point_map = self.state_machine.userdata.move_point_map
#if the VFH server is active, and the beacon correction is large enough, change the goal
if saved_point_map is not None:
goal_point_odom = self.state_machine.userdata.move_goal.target_pose.pose.position
header = std_msg.Header(0, rospy.Time(0), self.world_fixed_frame)
#take the current planned point, and transform it back to map, and
#compare with the map position last time we planned/corrected
try:
self.tf_listener.waitForTransform(self.odometry_frame,
self.world_fixed_frame,
rospy.Time(0),
rospy.Duration(1.0))
saved_point_odom = self.tf_listener.transformPoint(self.odometry_frame, saved_point_map)
except tf.Exception:
rospy.logwarn("LEVEL_TWO beacon_update failed to transform target point")
correction_error = util.point_distance_2d(goal_point_odom,
saved_point_odom.point)
#rospy.loginfo("CORRECTION ERROR: {:f}".format(correction_error))
if (correction_error > self.replan_threshold):
self.announcer.say("Beacon correction.")
#update the VFH move goal
goal = deepcopy(self.state_machine.userdata.move_goal)
goal.target_pose.pose.position = saved_point_odom.point
self.state_machine.userdata.move_goal = goal
def execute(self, userdata):
#wait the settle time, then see if the sample is still there
#timeout for this is also settle time
rospy.sleep(userdata.settle_time)
userdata.target_sample = None
start_time = rospy.Time.now()
while not rospy.core.is_shutdown_requested():
rospy.sleep(0.1)
if userdata.target_sample is not None:
break #sample is still there, approach
if (rospy.Time.now() - start_time) > userdata.settle_time:
return 'point_lost' #sample disappeared, give up
try:
point = userdata.target_sample
self.tf_listener.waitForTransform('manipulator_arm',
point.header.frame_id,
point.header.stamp,
rospy.Duration(2.0))
point_in_base = self.tf_listener.transformPoint('manipulator_arm',
point).point
robot_origin = geometry_msg.Point(0,0,0)
yaw = util.pointing_yaw(robot_origin, point_in_base)
distance = util.point_distance_2d(robot_origin, point_in_base)
robot_yaw = util.get_current_robot_yaw(self.tf_listener, userdata.odometry_frame)
except tf.Exception, e:
rospy.logwarn("PURSUE_SAMPLE failed to get manipulator_arm -> %s transform in 1.0 seconds: %s", point.header.frame_id, e)
return 'aborted'
def execute(self, userdata):
#wait a sec for beacon pose to adjust the localization filter
saved_point_odom = None
#wait for a maximum of one minute, then mount anyway
timeout_time = rospy.Time.now() + rospy.Duration(60.0)
in_tolerance_count = 0
while not rospy.core.is_shutdown_requested():
rospy.sleep(3.0)
try:
platform_point_odom = self.tf_listener.transformPoint(userdata.odometry_frame,
userdata.platform_point)
except tf.Exception:
rospy.logwarn("LEVEL_TWO calculate_mount failed to transform platform point")
if saved_point_odom is None:
saved_point_odom = platform_point_odom
else:
correction_error = util.point_distance_2d(platform_point_odom.point,
saved_point_odom.point)
saved_point_odom = platform_point_odom
if correction_error < userdata.beacon_mount_tolerance:
in_tolerance_count += 1
else:
in_tolerance_count = 0
#if we get 3 in_tolerance corrections, mount
if in_tolerance_count > 2:
break
if rospy.Time.now() > timeout_time:
self.announcer.say("Beacon correction did not converge.")
break
else:
self.announcer.say("Correction. {:.3f}".format(correction_error))
yaw, distance = util.get_robot_strafe(self.tf_listener,
userdata.platform_point)
userdata.simple_move = SimpleMoveGoal(type=SimpleMoveGoal.STRAFE,
angle = yaw,
distance = distance,
velocity = 0.5)
self.announcer.say("Initiate ing mount move.")
return 'move'
def calculate_pursuit(_tf, pursuit_point, min_pursuit_distance, odometry_frame):
try:
current_pose = util.get_current_robot_pose(_tf, odometry_frame)
_tf.waitForTransform(odometry_frame,
pursuit_point.header.frame_id,
pursuit_point.header.stamp,
rospy.Duration(1.0))
point_in_frame = _tf.transformPoint(odometry_frame, pursuit_point)
pointing_quat = util.pointing_quaternion_2d(current_pose.pose.position, point_in_frame.point)
distance_to_point = util.point_distance_2d(current_pose.pose.position, point_in_frame.point)
pursuit_pose = util.pose_translate_by_quat(current_pose,
(distance_to_point - min_pursuit_distance),
pointing_quat)
#recalculate the quaternion pointing from goal point to sample point
pointing_quat = util.pointing_quaternion_2d(pursuit_pose.pose.position, point_in_frame.point)
pursuit_pose.pose.orientation = pointing_quat
pursuit_pose.header.stamp = rospy.Time(0)
#rospy.loginfo("CALCULATE PURSUIT: pursuit_point: {!s}, point_in_frame: {!s}, pursuit_pose: {!s}".format(pursuit_point, point_in_frame, pursuit_pose))
return point_in_frame, pursuit_pose
except tf.Exception, e:
rospy.logwarn("PURSUE_SAMPLE failed to transform pursuit point %s->%s: %s",
pursuit_point.header.frame_id, odometry_frame, e)
def execute(self, userdata):
userdata.stop_on_sample = False
userdata.detected_sample = None
rospy.sleep(userdata.servo_params['settle_time'])
if self.try_count > userdata.servo_params['try_limit']:
self.announcer.say("Servo exceeded try limit")
rospy.loginfo("SERVO STRAFE failed to hit tolerance before try_limit: %s" % (userdata.servo_params['try_limit']))
self.try_count = 0
#deploy gripper anyway, we still see sample, but it is not positioned well
userdata.latched_sample = userdata.detected_sample
return 'complete'
if userdata.detected_sample is None:
self.announcer.say("Servo lost sample.")
self.try_count = 0
return 'point_lost'
else:
detected_sample = userdata.detected_sample
sample_time = detected_sample.header.stamp
sample_frame = detected_sample.header.frame_id
while not rospy.core.is_shutdown_requested():
try:
self.tf_listener.waitForTransform('manipulator_arm',
sample_frame, sample_time, rospy.Duration(1.0))
point_in_manipulator = self.tf_listener.transformPoint('manipulator_arm',
detected_sample).point
break
except tf.Exception, exc:
rospy.logwarn("SERVO CONTROLLER failed to get manipulator_arm -> {!s} transform. Exception: {!s}".format(sample_frame, exc))
self.try_count = 0
return 'aborted'
#rospy.loginfo("SERVO correction %s: " % (userdata.manipulator_correction))
rospy.loginfo("SERVO point in manipulator before correction %s: " %(point_in_manipulator))
point_in_manipulator.x += userdata.manipulator_correction['x']
point_in_manipulator.y += userdata.manipulator_correction['y']
#rospy.loginfo("SERVO point in manipulator after correction %s: " %(point_in_manipulator))
origin = geometry_msg.Point(0,0,0)
distance = util.point_distance_2d(origin, point_in_manipulator)
if distance < userdata.servo_params['final_tolerance']:
self.try_count = 0
userdata.latched_sample = userdata.detected_sample
self.announcer.say("Servo complete at %.1f millimeters." % (distance*1000))
return 'complete'
elif distance < userdata.servo_params['initial_tolerance']:
velocity = userdata.servo_params['final_velocity']
accel = userdata.servo_params['final_accel']
else:
velocity = userdata.servo_params['initial_velocity']
accel = userdata.servo_params['initial_accel']
yaw = util.pointing_yaw(origin, point_in_manipulator)
userdata.simple_move = SimpleMoveGoal(type=SimpleMoveGoal.STRAFE,
angle = yaw,
distance = distance,
velocity = velocity,
acceleration = accel)
#rospy.loginfo("SERVO simple_move: %s" % (userdata.simple_move))
self.announcer.say("Servo ing, distance, %.1f centimeters" % (distance*100))
rospy.loginfo("DETECTED SAMPLE IN manipulator_arm frame (corrected): %s" % (point_in_manipulator))
self.try_count += 1
return 'move'
def execute(self, userdata):
if self.preempt_requested():
self.service_preempt()
return 'preempted'
#ignore samples after this (applies to mount moves)
#clear previous move_point_map
userdata.stop_on_sample = False
userdata.move_point_map = None
map_header = std_msg.Header(0, rospy.Time(0), userdata.world_fixed_frame)
#get our position in map
current_pose = util.get_current_robot_pose(self.tf_listener,
userdata.world_fixed_frame)
#this is possibly a highly inaccurate number. If we get to the approach point,
#and don't see the beacon, the map is probably messed up
distance_to_approach_point = util.point_distance_2d(current_pose.pose.position,
userdata.beacon_approach_pose.pose.position)
#if we have been ignoring beacon detections prior to this,
#we should clear them here, and wait for a fresh detection
if not userdata.stop_on_beacon:
userdata.beacon_point = None
rospy.sleep(4.0)
if userdata.beacon_point is None: #beacon not in view
#first hope, we can spin slowly and see the beacon
if not self.tried_spin:
self.announcer.say("Beacon not in view. Rotate ing")
userdata.simple_move = SimpleMoveGoal(type=SimpleMoveGoal.SPIN,
angle = math.pi*2,
velocity = userdata.spin_velocity)
userdata.stop_on_beacon = True
self.tried_spin = True
return 'spin'
#already tried a spin, drive towards beacon_approach_point, stopping on detection
elif distance_to_approach_point > 5.0:
#we think we're far from approach_point, so try to go there
self.announcer.say("Beacon not in view. Search ing")
userdata.move_point_map = geometry_msg.PointStamped(map_header,
userdata.beacon_approach_pose.pose.position)
goal = samplereturn_msg.VFHMoveGoal(target_pose = userdata.beacon_approach_pose,
move_velocity = userdata.move_velocity,
spin_velocity = userdata.spin_velocity)
userdata.move_goal = goal
userdata.stop_on_beacon = True
self.tried_spin = False
return 'move'
else:
#gotta add some heroic shit here
#we think we're near the beacon, but we don't see it
#right now, that is just to move 30 m on other side of the beacon that we don't know about
self.announcer.say("Close to approach point in map. Beacon not in view. Search ing")
search_pose = deepcopy(userdata.beacon_approach_pose)
#invert the approach_point, and try again
search_pose.pose.position.x *= -1
#save point
userdata.move_point_map = geometry_msg.PointStamped(map_header,
search_pose.pose.position)
goal = samplereturn_msg.VFHMoveGoal(target_pose = userdata.search_pose,
move_velocity = userdata.move_velocity,
spin_velocity = userdata.spin_velocity)
userdata.move_goal = goal
userdata.stop_on_beacon = True
self.tried_spin = False
return 'move'
else: #beacon is in view
#need to add some stuff here to get to other side of beacon if viewing back
current_yaw = util.get_current_robot_yaw(self.tf_listener,
userdata.world_fixed_frame)
yaw_to_platform = util.pointing_yaw(current_pose.pose.position,
userdata.platform_point.point)
yaw_error = util.unwind(yaw_to_platform - current_yaw)
userdata.stop_on_beacon = False
self.tried_spin = False
#on the back side
if current_pose.pose.position.x < 0:
front_pose = deepcopy(userdata.beacon_approach_pose)
#try not to drive through the platform
front_pose.pose.position.y = 5.0 * np.sign(current_pose.pose.position.y)
goal = samplereturn_msg.VFHMoveGoal(target_pose = front_pose,
move_velocity = userdata.move_velocity,
spin_velocity = userdata.spin_velocity)
userdata.move_goal = goal
self.announcer.say("Back of beacon in view. Move ing to front")
return 'move'
elif distance_to_approach_point > 2.0:
#on correct side of beacon, but far from approach point
goal = samplereturn_msg.VFHMoveGoal(target_pose = userdata.beacon_approach_pose,
move_velocity = userdata.move_velocity,
spin_velocity = userdata.spin_velocity,
orient_at_target = True)
userdata.move_goal = goal
self.announcer.say("Beacon in view. Move ing to approach point")
return 'move'
elif np.abs(yaw_error) > .2:
#this means beacon is in view and we are within 1 meter of approach point
#but not pointed so well at beacon
self.announcer.say("At approach point. Rotate ing to beacon")
userdata.simple_move = SimpleMoveGoal(type=SimpleMoveGoal.SPIN,
angle = yaw_error,
velocity = userdata.spin_velocity)
return 'spin'
else:
self.announcer.say("Initiate ing platform mount")
userdata.stop_on_beacon = False
return 'mount'
return 'aborted'
def execute(self, userdata):
#set the move manager key for the move mux
userdata.active_manager = userdata.manager_dict[self.label]
userdata.report_sample = False
userdata.report_beacon = True
self.beacon_enable.publish(True)
if self.preempt_requested():
self.service_preempt()
return 'preempted'
#get our position in map
current_pose = util.get_current_robot_pose(self.tf_listener,
userdata.platform_frame)
#hopeful distance to approach point
distance_to_approach_point = util.point_distance_2d(current_pose.pose.position,
userdata.beacon_approach_pose.pose.position)
#if we have been ignoring beacon detections prior to this,
#we should clear them here, and wait for a fresh detection
if not userdata.stop_on_detection:
self.announcer.say("Wait ing for beacon.")
userdata.beacon_point = None
start_time = rospy.Time.now()
while not rospy.core.is_shutdown_requested():
rospy.sleep(0.5)
if (userdata.beacon_point is not None) \
or ((rospy.Time.now() - start_time) > userdata.beacon_observation_delay):
break
if userdata.beacon_point is None: #beacon not in view
#first hope, we can spin slowly and see the beacon
if not self.tried_spin:
self.announcer.say("Beacon not in view. Rotate ing")
userdata.simple_move = SimpleMoveGoal(type=SimpleMoveGoal.SPIN,
angle = np.pi*2,
velocity = userdata.spin_velocity)
userdata.stop_on_detection = True
self.tried_spin = True
return 'spin'
#already tried a spin, drive towards beacon_approach_point, stopping on detection
elif distance_to_approach_point > 5.0:
#we think we're far from approach_point, so try to go there
self.announcer.say("Beacon not in view. Moving to approach point.")
userdata.stop_on_detection = True
self.tried_spin = False
userdata.move_target = userdata.beacon_approach_pose
return 'move'
else:
#we think we're looking at the beacon, but we don't see it, this is probably real bad
self.announcer.say("Close to approach point in map. Beacon not in view. Search ing")
search_pose = deepcopy(current_pose)
#try a random position nearby-ish, ignore facing
search_pose.pose.position.x += random.randrange(-30, 30, 10)
search_pose.pose.position.y += random.randrange(-30, 30, 10)
userdata.stop_on_detection = True
self.tried_spin = False
userdata.move_target = geometry_msg.PointStamped(search_pose.header,
search_pose.pose.position)
return 'move'
else: #beacon is in view
current_yaw = util.get_current_robot_yaw(self.tf_listener,
userdata.platform_frame)
yaw_to_platform = util.pointing_yaw(current_pose.pose.position,
userdata.platform_point.point)
yaw_error = util.unwind(yaw_to_platform - current_yaw)
userdata.stop_on_detection = False
self.tried_spin = False
#on the back side
if current_pose.pose.position.x < 0:
#try not to drive through the platform
self.announcer.say("Back of beacon in view. Move ing to front")
front_pose = deepcopy(userdata.beacon_approach_pose)
front_pose.pose.position.y = 5.0 * np.sign(current_pose.pose.position.y)
pointing_quat = util.pointing_quaternion_2d(front_pose.pose.position,
userdata.platform_point.point)
front_pose.pose.orientation = pointing_quat
userdata.move_target = front_pose
return 'move'
elif distance_to_approach_point > 2.0:
#on correct side of beacon, but far from approach point
self.announcer.say("Beacon in view. Move ing to approach point")
userdata.move_target = userdata.beacon_approach_pose
return 'move'
elif np.abs(yaw_error) > .2:
#this means beacon is in view and we are within 1 meter of approach point
#but not pointed so well at beacon
self.announcer.say("At approach point. Rotate ing to beacon")
userdata.simple_move = SimpleMoveGoal(type=SimpleMoveGoal.SPIN,
angle = yaw_error,
velocity = userdata.spin_velocity)
return 'spin'
else:
self.announcer.say("Measure ing beacon position.")
userdata.stop_on_detection = False
return 'mount'
return 'aborted'
