diff --git a/.gitattributes b/.gitattributes index 1ef325f1b111266a6b26e0196871bd78baa8c2f3..946061703b055f4908c5cbb3c6c66a35ca3751bd 100644 --- a/.gitattributes +++ b/.gitattributes @@ -57,3 +57,15 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text # Video files - compressed *.mp4 filter=lfs diff=lfs merge=lfs -text *.webm filter=lfs diff=lfs merge=lfs -text +data/mir_command_tools/mir_teleop/ros/doc/youbot_joypad_description.pdf filter=lfs diff=lfs merge=lfs -text +data/mir_command_tools/mir_teleop/ros/doc/youbot_joypad_description.vsd filter=lfs diff=lfs merge=lfs -text +data/mir_common/mir_description/meshes/grippers/dynamixel/d435_center/dynamixel_motor_mount.stl filter=lfs diff=lfs merge=lfs -text +data/mir_common/mir_description/meshes/grippers/dynamixel/v3/dynamixel_intel_camera_combined.stl filter=lfs diff=lfs merge=lfs -text +data/mir_common/mir_description/meshes/sensor_mounts/d435.dae filter=lfs diff=lfs merge=lfs -text +data/mir_perception/mir_cavity_detector/tools/code/feature_extraction_from_dataset filter=lfs diff=lfs merge=lfs -text +data/mir_perception/mir_object_recognition/common/config/dgcnn_asus/model.ckpt.data-00000-of-00001 filter=lfs diff=lfs merge=lfs -text +data/mir_perception/mir_object_recognition/common/config/dgcnn_asus/model.ckpt.meta filter=lfs diff=lfs merge=lfs -text +data/mir_perception/mir_object_recognition/common/config/squeezeDet/atwork_sydney/model.ckpt.data-00000-of-00001 filter=lfs diff=lfs merge=lfs -text +data/mir_perception/mir_object_recognition/common/config/squeezeDet/atwork_sydney/model.ckpt.meta filter=lfs diff=lfs merge=lfs -text +data/mir_perception/mir_object_recognition/common/config/squeezeDet/stable/model.ckpt.data-00000-of-00001 filter=lfs diff=lfs merge=lfs -text +data/mir_perception/mir_object_recognition/common/config/squeezeDet/stable/model.ckpt.meta filter=lfs diff=lfs merge=lfs -text diff --git a/data/.clang-format b/data/.clang-format new file mode 100644 index 0000000000000000000000000000000000000000..609ac5d203a7efd38ba381a1c4e62e81e233d61e --- /dev/null +++ b/data/.clang-format @@ -0,0 +1,90 @@ +--- +Language: Cpp +# BasedOnStyle: Google +AccessModifierOffset: -1 +AlignAfterOpenBracket: Align +AlignConsecutiveAssignments: false +AlignConsecutiveDeclarations: false +AlignEscapedNewlinesLeft: true +AlignOperands: true +AlignTrailingComments: true +AllowAllParametersOfDeclarationOnNextLine: true +AllowShortBlocksOnASingleLine: false +AllowShortCaseLabelsOnASingleLine: false +AllowShortFunctionsOnASingleLine: All +AllowShortIfStatementsOnASingleLine: true +AllowShortLoopsOnASingleLine: true +AlwaysBreakAfterDefinitionReturnType: None +AlwaysBreakAfterReturnType: None +AlwaysBreakBeforeMultilineStrings: true +AlwaysBreakTemplateDeclarations: true +BinPackArguments: true +BinPackParameters: true +BraceWrapping: + AfterClass: false + AfterControlStatement: false + AfterEnum: false + AfterFunction: false + AfterNamespace: false + AfterObjCDeclaration: false + AfterStruct: false + AfterUnion: false + BeforeCatch: false + BeforeElse: false + IndentBraces: false +BreakBeforeBinaryOperators: None +BreakBeforeBraces: Linux +BreakBeforeTernaryOperators: true +BreakConstructorInitializersBeforeComma: false +ColumnLimit: 100 +CommentPragmas: '^ IWYU pragma:' +ConstructorInitializerAllOnOneLineOrOnePerLine: true +ConstructorInitializerIndentWidth: 4 +ContinuationIndentWidth: 4 +Cpp11BracedListStyle: true +DerivePointerAlignment: true +DisableFormat: false +ExperimentalAutoDetectBinPacking: false +ForEachMacros: [ foreach, Q_FOREACH, BOOST_FOREACH ] +IncludeCategories: + - Regex: '^<.*\.h>' + Priority: 1 + - Regex: '^<.*' + Priority: 2 + - Regex: '.*' + Priority: 3 +IndentCaseLabels: true +IndentWidth: 2 +IndentWrappedFunctionNames: false +KeepEmptyLinesAtTheStartOfBlocks: false +MacroBlockBegin: '' +MacroBlockEnd: '' +MaxEmptyLinesToKeep: 1 +NamespaceIndentation: None +ObjCBlockIndentWidth: 2 +ObjCSpaceAfterProperty: false +ObjCSpaceBeforeProtocolList: false +PenaltyBreakBeforeFirstCallParameter: 1 +PenaltyBreakComment: 300 +PenaltyBreakFirstLessLess: 120 +PenaltyBreakString: 1000 +PenaltyExcessCharacter: 1000000 +PenaltyReturnTypeOnItsOwnLine: 200 +PointerAlignment: Left +ReflowComments: true +SortIncludes: true +SpaceAfterCStyleCast: false +SpaceBeforeAssignmentOperators: true +SpaceBeforeParens: ControlStatements +SpaceInEmptyParentheses: false +SpacesBeforeTrailingComments: 2 +SpacesInAngles: false +SpacesInContainerLiterals: true +SpacesInCStyleCastParentheses: false +SpacesInParentheses: false +SpacesInSquareBrackets: false +Standard: Auto +TabWidth: 8 +UseTab: Never +... + diff --git a/data/.isort.cfg b/data/.isort.cfg new file mode 100644 index 0000000000000000000000000000000000000000..62c45c2d00e271e3f83c35f41855f690628cd43e --- /dev/null +++ b/data/.isort.cfg @@ -0,0 +1,7 @@ +[settings] +known_third_party = PIL,actionlib,actionlib_msgs,arm_navigation_msgs,at_work_robot_example_ros,atwork_ros_msgs,brics_actuator,catkin_pkg,diagnostic_msgs,dynamic_reconfigure,geometry_msgs,mas_perception_msgs,mcr_common_converters_ros,mcr_manipulation_measurers_ros,mcr_manipulation_msgs,mcr_manipulation_pose_selector_ros,mcr_perception_msgs,mcr_perception_states,mcr_pose_generation_ros,mcr_states,mercury_planner,mir_actions,mir_controller_msgs,mir_knowledge,mir_knowledge_ros,mir_navigation_msgs,mir_planning_msgs,mir_planning_visualisation,mir_pregrasp_planning,mir_pregrasp_planning_ros,mir_states,mir_states_common,mir_world_generation,move_base_msgs,moveit_commander,moveit_msgs,nav_msgs,numpy,pandas,param_server_utils,roslib,rospkg,rosplan_dispatch_msgs,rosplan_knowledge_msgs,rospy,rostest,rosunit,sensor_msgs,shape_msgs,simple_script_server,smach,smach_ros,std_msgs,std_srvs,tf,visualization_msgs,yaml,zmq +multi_line_output=3 +include_trailing_comma=True +force_grid_wrap=0 +use_parentheses=True +line_length=88 diff --git a/data/.pre-commit-config.yaml b/data/.pre-commit-config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5c791ba2974e6c70d799da839fa0cdd6f13628c6 --- /dev/null +++ b/data/.pre-commit-config.yaml @@ -0,0 +1,53 @@ +# See https://pre-commit.com for more information +# See https://pre-commit.com/hooks.html for more hooks +repos: + - repo: https://github.com/asottile/seed-isort-config + rev: v1.9.3 + hooks: + - id: seed-isort-config + + - repo: https://github.com/pre-commit/mirrors-isort + rev: v4.3.21 + hooks: + - id: isort + + - repo: https://github.com/ambv/black + rev: stable + hooks: + - id: black + language_version: python3.7 # Black requires python3.6 or above to run + + - repo: https://github.com/pycqa/pylint + rev: pylint-2.4.4 + hooks: + - id: pylint + entry: pylint --verbose --jobs 4 + language_version: python3.7 + + - repo: https://github.com/pocc/pre-commit-hooks + rev: python + hooks: + - id: clang-format + language_version: python3.7 + + - repo: https://github.com/bmorcos/pre-commit-hooks-cpp + rev: master + hooks: + - id: cpplint + - id: cppcheck + + + - repo: https://github.com/pre-commit/pre-commit-hooks + rev: v2.5.0 + hooks: + - id: trailing-whitespace + - id: check-json + - id: check-yaml + - id: check-toml + - id: check-xml + - id: check-merge-conflict + - id: mixed-line-ending + - id: name-tests-test + args: ['--django'] + - id: no-commit-to-branch + args: [-b, kinetic, -b, melodic] \ No newline at end of file diff --git a/data/.pylintrc b/data/.pylintrc new file mode 100644 index 0000000000000000000000000000000000000000..4e74cd354a06cf0f9b5de585bf18f10cbebac9f0 --- /dev/null +++ b/data/.pylintrc @@ -0,0 +1,553 @@ +[MASTER] + +# A comma-separated list of package or module names from where C extensions may +# be loaded. Extensions are loading into the active Python interpreter and may +# run arbitrary code +extension-pkg-whitelist= + +# Add files or directories to the blacklist. They should be base names, not +# paths. +ignore=CVS + +# Add files or directories matching the regex patterns to the blacklist. The +# regex matches against base names, not paths. +ignore-patterns= + +# Python code to execute, usually for sys.path manipulation such as +# pygtk.require(). +#init-hook= + +# Use multiple processes to speed up Pylint. +jobs=1 + +# List of plugins (as comma separated values of python modules names) to load, +# usually to register additional checkers. +load-plugins= + +# Pickle collected data for later comparisons. +persistent=yes + +# Specify a configuration file. +#rcfile= + +# When enabled, pylint would attempt to guess common misconfiguration and emit +# user-friendly hints instead of false-positive error messages +suggestion-mode=yes + +# Allow loading of arbitrary C extensions. Extensions are imported into the +# active Python interpreter and may run arbitrary code. +unsafe-load-any-extension=no + + +[MESSAGES CONTROL] + +# Only show warnings with the listed confidence levels. Leave empty to show +# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED +confidence= + +# Disable the message, report, category or checker with the given id(s). You +# can either give multiple identifiers separated by comma (,) or put this +# option multiple times (only on the command line, not in the configuration +# file where it should appear only once).You can also use "--disable=all" to +# disable everything first and then reenable specific checks. For example, if +# you want to run only the similarities checker, you can use "--disable=all +# --enable=similarities". If you want to run only the classes checker, but have +# no Warning level messages displayed, use"--disable=all --enable=classes +# --disable=W" +disable=print-statement, + parameter-unpacking, + unpacking-in-except, + old-raise-syntax, + backtick, + long-suffix, + old-ne-operator, + old-octal-literal, + import-star-module-level, + non-ascii-bytes-literal, + invalid-unicode-literal, + raw-checker-failed, + bad-inline-option, + locally-disabled, + locally-enabled, + file-ignored, + suppressed-message, + useless-suppression, + deprecated-pragma, + apply-builtin, + basestring-builtin, + buffer-builtin, + cmp-builtin, + coerce-builtin, + execfile-builtin, + file-builtin, + long-builtin, + raw_input-builtin, + reduce-builtin, + standarderror-builtin, + unicode-builtin, + xrange-builtin, + coerce-method, + delslice-method, + getslice-method, + setslice-method, + no-absolute-import, + old-division, + dict-iter-method, + dict-view-method, + next-method-called, + metaclass-assignment, + indexing-exception, + raising-string, + reload-builtin, + oct-method, + hex-method, + nonzero-method, + cmp-method, + input-builtin, + round-builtin, + intern-builtin, + unichr-builtin, + map-builtin-not-iterating, + zip-builtin-not-iterating, + range-builtin-not-iterating, + filter-builtin-not-iterating, + using-cmp-argument, + eq-without-hash, + div-method, + idiv-method, + rdiv-method, + exception-message-attribute, + invalid-str-codec, + sys-max-int, + bad-python3-import, + deprecated-string-function, + deprecated-str-translate-call, + deprecated-itertools-function, + deprecated-types-field, + next-method-defined, + dict-items-not-iterating, + dict-keys-not-iterating, + dict-values-not-iterating, + deprecated-operator-function, + deprecated-urllib-function, + xreadlines-attribute, + deprecated-sys-function, + exception-escape, + comprehension-escape, + R0205, # Python 2.7 classes require object + E0401, # Rospkg cant be imported in python 3.7 + C0330, # Black code formatter takes care of this + W0703 # To be removed later after specifying exceptions + +# Enable the message, report, category or checker with the given id(s). You can +# either give multiple identifier separated by comma (,) or put this option +# multiple time (only on the command line, not in the configuration file where +# it should appear only once). See also the "--disable" option for examples. +enable=c-extension-no-member + + +[REPORTS] + +# Python expression which should return a note less than 10 (10 is the highest +# note). You have access to the variables errors warning, statement which +# respectively contain the number of errors / warnings messages and the total +# number of statements analyzed. This is used by the global evaluation report +# (RP0004). +evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10) + +# Template used to display messages. This is a python new-style format string +# used to format the message information. See doc for all details +#msg-template= + +# Set the output format. Available formats are text, parseable, colorized, json +# and msvs (visual studio).You can also give a reporter class, eg +# mypackage.mymodule.MyReporterClass. +output-format=text + +# Tells whether to display a full report or only the messages +reports=no + +# Activate the evaluation score. +score=yes + + +[REFACTORING] + +# Maximum number of nested blocks for function / method body +max-nested-blocks=5 + +# Complete name of functions that never returns. When checking for +# inconsistent-return-statements if a never returning function is called then +# it will be considered as an explicit return statement and no message will be +# printed. +never-returning-functions=optparse.Values,sys.exit + + +[BASIC] + +# Naming style matching correct argument names +argument-naming-style=snake_case + +# Regular expression matching correct argument names. Overrides argument- +# naming-style +#argument-rgx= + +# Naming style matching correct attribute names +attr-naming-style=snake_case + +# Regular expression matching correct attribute names. Overrides attr-naming- +# style +#attr-rgx= + +# Bad variable names which should always be refused, separated by a comma +bad-names=foo, + bar, + baz, + toto, + tutu, + tata + +# Naming style matching correct class attribute names +class-attribute-naming-style=any + +# Regular expression matching correct class attribute names. Overrides class- +# attribute-naming-style +#class-attribute-rgx= + +# Naming style matching correct class names +class-naming-style=PascalCase + +# Regular expression matching correct class names. Overrides class-naming-style +#class-rgx= + +# Naming style matching correct constant names +const-naming-style=UPPER_CASE + +# Regular expression matching correct constant names. Overrides const-naming- +# style +#const-rgx= + +# Minimum line length for functions/classes that require docstrings, shorter +# ones are exempt. +docstring-min-length=-1 + +# Naming style matching correct function names +function-naming-style=snake_case + +# Regular expression matching correct function names. Overrides function- +# naming-style +#function-rgx= + +# Good variable names which should always be accepted, separated by a comma +good-names=i, + j, + k, + ex, + Run, + _ + +# Include a hint for the correct naming format with invalid-name +include-naming-hint=no + +# Naming style matching correct inline iteration names +inlinevar-naming-style=any + +# Regular expression matching correct inline iteration names. Overrides +# inlinevar-naming-style +#inlinevar-rgx= + +# Naming style matching correct method names +method-naming-style=snake_case + +# Regular expression matching correct method names. Overrides method-naming- +# style +#method-rgx= + +# Naming style matching correct module names +module-naming-style=snake_case + +# Regular expression matching correct module names. Overrides module-naming- +# style +#module-rgx= + +# Colon-delimited sets of names that determine each other's naming style when +# the name regexes allow several styles. +name-group= + +# Regular expression which should only match function or class names that do +# not require a docstring. +no-docstring-rgx=^_ + +# List of decorators that produce properties, such as abc.abstractproperty. Add +# to this list to register other decorators that produce valid properties. +property-classes=abc.abstractproperty + +# Naming style matching correct variable names +variable-naming-style=snake_case + +# Regular expression matching correct variable names. Overrides variable- +# naming-style +#variable-rgx= + + +[SPELLING] + +# Limits count of emitted suggestions for spelling mistakes +max-spelling-suggestions=4 + +# Spelling dictionary name. Available dictionaries: none. To make it working +# install python-enchant package. +spelling-dict= + +# List of comma separated words that should not be checked. +spelling-ignore-words= + +# A path to a file that contains private dictionary; one word per line. +spelling-private-dict-file= + +# Tells whether to store unknown words to indicated private dictionary in +# --spelling-private-dict-file option instead of raising a message. +spelling-store-unknown-words=no + + +[FORMAT] + +# Expected format of line ending, e.g. empty (any line ending), LF or CRLF. +expected-line-ending-format= + +# Regexp for a line that is allowed to be longer than the limit. +ignore-long-lines=^\s*(# )??$ + +# Number of spaces of indent required inside a hanging or continued line. +indent-after-paren=4 + +# String used as indentation unit. This is usually " " (4 spaces) or "\t" (1 +# tab). +indent-string=' ' + +# Maximum number of characters on a single line. +max-line-length=100 + +# Maximum number of lines in a module +max-module-lines=1000 + +# List of optional constructs for which whitespace checking is disabled. `dict- +# separator` is used to allow tabulation in dicts, etc.: {1 : 1,\n222: 2}. +# `trailing-comma` allows a space between comma and closing bracket: (a, ). +# `empty-line` allows space-only lines. +no-space-check=trailing-comma, + dict-separator + +# Allow the body of a class to be on the same line as the declaration if body +# contains single statement. +single-line-class-stmt=no + +# Allow the body of an if to be on the same line as the test if there is no +# else. +single-line-if-stmt=no + + +[TYPECHECK] + +# List of decorators that produce context managers, such as +# contextlib.contextmanager. Add to this list to register other decorators that +# produce valid context managers. +contextmanager-decorators=contextlib.contextmanager + +# List of members which are set dynamically and missed by pylint inference +# system, and so shouldn't trigger E1101 when accessed. Python regular +# expressions are accepted. +generated-members= + +# Tells whether missing members accessed in mixin class should be ignored. A +# mixin class is detected if its name ends with "mixin" (case insensitive). +ignore-mixin-members=yes + +# This flag controls whether pylint should warn about no-member and similar +# checks whenever an opaque object is returned when inferring. The inference +# can return multiple potential results while evaluating a Python object, but +# some branches might not be evaluated, which results in partial inference. In +# that case, it might be useful to still emit no-member and other checks for +# the rest of the inferred objects. +ignore-on-opaque-inference=yes + +# List of class names for which member attributes should not be checked (useful +# for classes with dynamically set attributes). This supports the use of +# qualified names. +ignored-classes=optparse.Values,thread._local,_thread._local + +# List of module names for which member attributes should not be checked +# (useful for modules/projects where namespaces are manipulated during runtime +# and thus existing member attributes cannot be deduced by static analysis. It +# supports qualified module names, as well as Unix pattern matching. +ignored-modules= + +# Show a hint with possible names when a member name was not found. The aspect +# of finding the hint is based on edit distance. +missing-member-hint=yes + +# The minimum edit distance a name should have in order to be considered a +# similar match for a missing member name. +missing-member-hint-distance=1 + +# The total number of similar names that should be taken in consideration when +# showing a hint for a missing member. +missing-member-max-choices=1 + + +[VARIABLES] + +# List of additional names supposed to be defined in builtins. Remember that +# you should avoid to define new builtins when possible. +additional-builtins= + +# Tells whether unused global variables should be treated as a violation. +allow-global-unused-variables=yes + +# List of strings which can identify a callback function by name. A callback +# name must start or end with one of those strings. +callbacks=cb_, + _cb + +# A regular expression matching the name of dummy variables (i.e. expectedly +# not used). +dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_ + +# Argument names that match this expression will be ignored. Default to name +# with leading underscore +ignored-argument-names=_.*|^ignored_|^unused_ + +# Tells whether we should check for unused import in __init__ files. +init-import=no + +# List of qualified module names which can have objects that can redefine +# builtins. +redefining-builtins-modules=six.moves,past.builtins,future.builtins,io,builtins + + +[LOGGING] + +# Logging modules to check that the string format arguments are in logging +# function parameter format +logging-modules=logging + + +[MISCELLANEOUS] + +# List of note tags to take in consideration, separated by a comma. +notes=FIXME, + XXX, + TODO + + +[SIMILARITIES] + +# Ignore comments when computing similarities. +ignore-comments=yes + +# Ignore docstrings when computing similarities. +ignore-docstrings=yes + +# Ignore imports when computing similarities. +ignore-imports=no + +# Minimum lines number of a similarity. +min-similarity-lines=4 + + +[IMPORTS] + +# Allow wildcard imports from modules that define __all__. +allow-wildcard-with-all=no + +# Analyse import fallback blocks. This can be used to support both Python 2 and +# 3 compatible code, which means that the block might have code that exists +# only in one or another interpreter, leading to false positives when analysed. +analyse-fallback-blocks=no + +# Deprecated modules which should not be used, separated by a comma +deprecated-modules=regsub, + TERMIOS, + Bastion, + rexec + +# Create a graph of external dependencies in the given file (report RP0402 must +# not be disabled) +ext-import-graph= + +# Create a graph of every (i.e. internal and external) dependencies in the +# given file (report RP0402 must not be disabled) +import-graph= + +# Create a graph of internal dependencies in the given file (report RP0402 must +# not be disabled) +int-import-graph= + +# Force import order to recognize a module as part of the standard +# compatibility libraries. +known-standard-library= + +# Force import order to recognize a module as part of a third party library. +known-third-party=enchant + + +[CLASSES] + +# List of method names used to declare (i.e. assign) instance attributes. +defining-attr-methods=__init__, + __new__, + setUp + +# List of member names, which should be excluded from the protected access +# warning. +exclude-protected=_asdict, + _fields, + _replace, + _source, + _make + +# List of valid names for the first argument in a class method. +valid-classmethod-first-arg=cls + +# List of valid names for the first argument in a metaclass class method. +valid-metaclass-classmethod-first-arg=mcs + + +[DESIGN] + +# Maximum number of arguments for function / method +max-args=5 + +# Maximum number of attributes for a class (see R0902). +max-attributes=7 + +# Maximum number of boolean expressions in a if statement +max-bool-expr=5 + +# Maximum number of branch for function / method body +max-branches=12 + +# Maximum number of locals for function / method body +max-locals=15 + +# Maximum number of parents for a class (see R0901). +max-parents=7 + +# Maximum number of public methods for a class (see R0904). +max-public-methods=20 + +# Maximum number of return / yield for function / method body +max-returns=6 + +# Maximum number of statements in function / method body +max-statements=50 + +# Minimum number of public methods for a class (see R0903). +min-public-methods=2 + + +[EXCEPTIONS] + +# Exceptions that will emit a warning when being caught. Defaults to +# "Exception" +overgeneral-exceptions=Exception diff --git a/data/.readthedocs.yaml b/data/.readthedocs.yaml new file mode 100644 index 0000000000000000000000000000000000000000..775fa55285714523dc1641314ce3194e717866d7 --- /dev/null +++ b/data/.readthedocs.yaml @@ -0,0 +1,35 @@ +# Read the Docs configuration file for Sphinx projects +# See https://docs.readthedocs.io/en/stable/config-file/v2.html for details + +# Required +version: 2 + +# Set the OS, Python version and other tools you might need +build: + os: ubuntu-22.04 + tools: + python: "3.11" + # You can also specify other tool versions: + # nodejs: "20" + # rust: "1.70" + # golang: "1.20" + +# Build documentation in the "docs/" directory with Sphinx +sphinx: + configuration: docs/source/conf.py + # You can configure Sphinx to use a different builder, for instance use the dirhtml builder for simpler URLs + # builder: "dirhtml" + # Fail on all warnings to avoid broken references + # fail_on_warning: true + +# Optionally build your docs in additional formats such as PDF and ePub +formats: + - pdf + - epub + +# Optional but recommended, declare the Python requirements required +# to build your documentation +# See https://docs.readthedocs.io/en/stable/guides/reproducible-builds.html +python: + install: + - requirements: docs/requirements.txt diff --git a/data/Doxyfile b/data/Doxyfile new file mode 100644 index 0000000000000000000000000000000000000000..5a84d381683c338476a274aa785f38962cc7ecca --- /dev/null +++ b/data/Doxyfile @@ -0,0 +1,1783 @@ +# Doxyfile 1.7.6.1 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project. +# +# All text after a hash (#) is considered a comment and will be ignored. +# The format is: +# TAG = value [value, ...] +# For lists items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (" "). + +# --------------------------------------------------------------------------- +# Project related configuration options +# --------------------------------------------------------------------------- + +# This tag specifies the encoding used for all characters in the config file +# that follow. The default is UTF-8 which is also the encoding used for all +# text before the first occurrence of this tag. Doxygen uses libiconv (or the +# iconv built into libc) for the transcoding. See +# http://www.gnu.org/software/libiconv for the list of possible encodings. + +DOXYFILE_ENCODING = UTF - 8 + +# The PROJECT_NAME tag is a single word (or sequence of words) that should +# identify the project. Note that if you do not use Doxywizard you need +# to put quotes around the project name if it contains spaces. + +PROJECT_NAME = "mas_industrial_robotics" + +# The PROJECT_NUMBER tag can be used to enter a project or revision number. +# This could be handy for archiving the generated documentation or +# if some version control system is used. + +PROJECT_NUMBER = + +# Using the PROJECT_BRIEF tag one can provide an optional one line description +# for a project that appears at the top of each page and should give viewer +# a quick idea about the purpose of the project. Keep the description short. + +PROJECT_BRIEF = + +# With the PROJECT_LOGO tag one can specify an logo or icon that is +# included in the documentation. The maximum height of the logo should not +# exceed 55 pixels and the maximum width should not exceed 200 pixels. +# Doxygen will copy the logo to the output directory. + +PROJECT_LOGO = + +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) +# base path where the generated documentation will be put. +# If a relative path is entered, it will be relative to the location +# where doxygen was started. If left blank the current directory will be used. + +OUTPUT_DIRECTORY = + +# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create +# 4096 sub-directories (in 2 levels) under the output directory of each output +# format and will distribute the generated files over these directories. +# Enabling this option can be useful when feeding doxygen a huge amount of +# source files, where putting all generated files in the same directory would +# otherwise cause performance problems for the file system. + +CREATE_SUBDIRS = NO + +# The OUTPUT_LANGUAGE tag is used to specify the language in which all +# documentation generated by doxygen is written. Doxygen will use this +# information to generate all constant output in the proper language. +# The default language is English, other supported languages are: +# Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional, +# Croatian, Czech, Danish, Dutch, Esperanto, Farsi, Finnish, French, German, +# Greek, Hungarian, Italian, Japanese, Japanese-en (Japanese with English +# messages), Korean, Korean-en, Lithuanian, Norwegian, Macedonian, Persian, +# Polish, Portuguese, Romanian, Russian, Serbian, Serbian-Cyrillic, Slovak, +# Slovene, Spanish, Swedish, Ukrainian, and Vietnamese. + +OUTPUT_LANGUAGE = English + +# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will +# include brief member descriptions after the members that are listed in +# the file and class documentation (similar to JavaDoc). +# Set to NO to disable this. + +BRIEF_MEMBER_DESC = YES + +# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend +# the brief description of a member or function before the detailed description. +# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the +# brief descriptions will be completely suppressed. + +REPEAT_BRIEF = YES + +# This tag implements a quasi-intelligent brief description abbreviator +# that is used to form the text in various listings. Each string +# in this list, if found as the leading text of the brief description, will be +# stripped from the text and the result after processing the whole list, is +# used as the annotated text. Otherwise, the brief description is used as-is. +# If left blank, the following values are used ("$name" is automatically +# replaced with the name of the entity): "The $name class" "The $name widget" +# "The $name file" "is" "provides" "specifies" "contains" +# "represents" "a" "an" "the" + +ABBREVIATE_BRIEF = + +# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then +# Doxygen will generate a detailed section even if there is only a brief +# description. + +ALWAYS_DETAILED_SEC = NO + +# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all +# inherited members of a class in the documentation of that class as if those +# members were ordinary class members. Constructors, destructors and assignment +# operators of the base classes will not be shown. + +INLINE_INHERITED_MEMB = NO + +# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full +# path before files name in the file list and in the header files. If set +# to NO the shortest path that makes the file name unique will be used. + +FULL_PATH_NAMES = YES + +# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag +# can be used to strip a user-defined part of the path. Stripping is +# only done if one of the specified strings matches the left-hand part of +# the path. The tag can be used to show relative paths in the file list. +# If left blank the directory from which doxygen is run is used as the +# path to strip. + +STRIP_FROM_PATH = + +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of +# the path mentioned in the documentation of a class, which tells +# the reader which header file to include in order to use a class. +# If left blank only the name of the header file containing the class +# definition is used. Otherwise one should specify the include paths that +# are normally passed to the compiler using the -I flag. + +STRIP_FROM_INC_PATH = + +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter +# (but less readable) file names. This can be useful if your file system +# doesn't support long names like on DOS, Mac, or CD-ROM. + +SHORT_NAMES = NO + +# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen +# will interpret the first line (until the first dot) of a JavaDoc-style +# comment as the brief description. If set to NO, the JavaDoc +# comments will behave just like regular Qt-style comments +# (thus requiring an explicit @brief command for a brief description.) + +JAVADOC_AUTOBRIEF = NO + +# If the QT_AUTOBRIEF tag is set to YES then Doxygen will +# interpret the first line (until the first dot) of a Qt-style +# comment as the brief description. If set to NO, the comments +# will behave just like regular Qt-style comments (thus requiring +# an explicit \brief command for a brief description.) + +QT_AUTOBRIEF = NO + +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen +# treat a multi-line C++ special comment block (i.e. a block of //! or /// +# comments) as a brief description. This used to be the default behaviour. +# The new default is to treat a multi-line C++ comment block as a detailed +# description. Set this tag to YES if you prefer the old behaviour instead. + +MULTILINE_CPP_IS_BRIEF = NO + +# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented +# member inherits the documentation from any documented member that it +# re-implements. + +INHERIT_DOCS = YES + +# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce +# a new page for each member. If set to NO, the documentation of a member will +# be part of the file/class/namespace that contains it. + +SEPARATE_MEMBER_PAGES = NO + +# The TAB_SIZE tag can be used to set the number of spaces in a tab. +# Doxygen uses this value to replace tabs by spaces in code fragments. + +TAB_SIZE = 8 + +# This tag can be used to specify a number of aliases that acts +# as commands in the documentation. An alias has the form "name=value". +# For example adding "sideeffect=\par Side Effects:\n" will allow you to +# put the command \sideeffect (or @sideeffect) in the documentation, which +# will result in a user-defined paragraph with heading "Side Effects:". +# You can put \n's in the value part of an alias to insert newlines. + +ALIASES = + +# This tag can be used to specify a number of word-keyword mappings (TCL only). +# A mapping has the form "name=value". For example adding +# "class=itcl::class" will allow you to use the command class in the +# itcl::class meaning. + +TCL_SUBST = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C +# sources only. Doxygen will then generate output that is more tailored for C. +# For instance, some of the names that are used will be different. The list +# of all members will be omitted, etc. + +OPTIMIZE_OUTPUT_FOR_C = NO + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java +# sources only. Doxygen will then generate output that is more tailored for +# Java. For instance, namespaces will be presented as packages, qualified +# scopes will look different, etc. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran +# sources only. Doxygen will then generate output that is more tailored for +# Fortran. + +OPTIMIZE_FOR_FORTRAN = NO + +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL +# sources. Doxygen will then generate output that is tailored for +# VHDL. + +OPTIMIZE_OUTPUT_VHDL = NO + +# Doxygen selects the parser to use depending on the extension of the files it +# parses. With this tag you can assign which parser to use for a given extension. +# Doxygen has a built-in mapping, but you can override or extend it using this +# tag. The format is ext=language, where ext is a file extension, and language +# is one of the parsers supported by doxygen: IDL, Java, Javascript, CSharp, C, +# C++, D, PHP, Objective-C, Python, Fortran, VHDL, C, C++. For instance to make +# doxygen treat .inc files as Fortran files (default is PHP), and .f files as C +# (default is Fortran), use: inc=Fortran f=C. Note that for custom extensions +# you also need to set FILE_PATTERNS otherwise the files are not read by +# doxygen. + +EXTENSION_MAPPING = + +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want +# to include (a tag file for) the STL sources as input, then you should +# set this tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); v.s. +# func(std::string) {}). This also makes the inheritance and collaboration +# diagrams that involve STL classes more complete and accurate. + +BUILTIN_STL_SUPPORT = NO + +# If you use Microsoft's C++/CLI language, you should set this option to YES to +# enable parsing support. + +CPP_CLI_SUPPORT = NO + +# Set the SIP_SUPPORT tag to YES if your project consists of sip sources only. +# Doxygen will parse them like normal C++ but will assume all classes use public +# instead of private inheritance when no explicit protection keyword is +# present. + +SIP_SUPPORT = NO + +# For Microsoft's IDL there are propget and propput attributes to indicate getter +# and setter methods for a property. Setting this option to YES (the default) +# will make doxygen replace the get and set methods by a property in the +# documentation. This will only work if the methods are indeed getting or +# setting a simple type. If this is not the case, or you want to show the +# methods anyway, you should set this option to NO. + +IDL_PROPERTY_SUPPORT = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES, then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. + +DISTRIBUTE_GROUP_DOC = NO + +# Set the SUBGROUPING tag to YES (the default) to allow class member groups of +# the same type (for instance a group of public functions) to be put as a +# subgroup of that type (e.g. under the Public Functions section). Set it to +# NO to prevent subgrouping. Alternatively, this can be done per class using +# the \nosubgrouping command. + +SUBGROUPING = YES + +# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and +# unions are shown inside the group in which they are included (e.g. using +# @ingroup) instead of on a separate page (for HTML and Man pages) or +# section (for LaTeX and RTF). + +INLINE_GROUPED_CLASSES = NO + +# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and +# unions with only public data fields will be shown inline in the documentation +# of the scope in which they are defined (i.e. file, namespace, or group +# documentation), provided this scope is documented. If set to NO (the default), +# structs, classes, and unions are shown on a separate page (for HTML and Man +# pages) or section (for LaTeX and RTF). + +INLINE_SIMPLE_STRUCTS = NO + +# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum +# is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically +# be useful for C code in case the coding convention dictates that all compound +# types are typedef'ed and only the typedef is referenced, never the tag name. + +TYPEDEF_HIDES_STRUCT = NO + +# The SYMBOL_CACHE_SIZE determines the size of the internal cache use to +# determine which symbols to keep in memory and which to flush to disk. +# When the cache is full, less often used symbols will be written to disk. +# For small to medium size projects (<1000 input files) the default value is +# probably good enough. For larger projects a too small cache size can cause +# doxygen to be busy swapping symbols to and from disk most of the time +# causing a significant performance penalty. +# If the system has enough physical memory increasing the cache will improve the +# performance by keeping more symbols in memory. Note that the value works on +# a logarithmic scale so increasing the size by one will roughly double the +# memory usage. The cache size is given by this formula: +# 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0, +# corresponding to a cache size of 2^16 = 65536 symbols. + +SYMBOL_CACHE_SIZE = 0 + +# Similar to the SYMBOL_CACHE_SIZE the size of the symbol lookup cache can be +# set using LOOKUP_CACHE_SIZE. This cache is used to resolve symbols given +# their name and scope. Since this can be an expensive process and often the +# same symbol appear multiple times in the code, doxygen keeps a cache of +# pre-resolved symbols. If the cache is too small doxygen will become slower. +# If the cache is too large, memory is wasted. The cache size is given by this +# formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range is 0..9, the default is 0, +# corresponding to a cache size of 2^16 = 65536 symbols. + +LOOKUP_CACHE_SIZE = 0 + +# --------------------------------------------------------------------------- +# Build related configuration options +# --------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in +# documentation are documented, even if no documentation was available. +# Private class members and static file members will be hidden unless +# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES + +EXTRACT_ALL = YES + +# If the EXTRACT_PRIVATE tag is set to YES all private members of a class +# will be included in the documentation. + +EXTRACT_PRIVATE = NO + +# If the EXTRACT_STATIC tag is set to YES all static members of a file +# will be included in the documentation. + +EXTRACT_STATIC = YES + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) +# defined locally in source files will be included in the documentation. +# If set to NO only classes defined in header files are included. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. When set to YES local +# methods, which are defined in the implementation section but not in +# the interface are included in the documentation. +# If set to NO (the default) only methods in the interface are included. + +EXTRACT_LOCAL_METHODS = NO + +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base +# name of the file that contains the anonymous namespace. By default +# anonymous namespaces are hidden. + +EXTRACT_ANON_NSPACES = NO + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all +# undocumented members of documented classes, files or namespaces. +# If set to NO (the default) these members will be included in the +# various overviews, but no documentation section is generated. +# This option has no effect if EXTRACT_ALL is enabled. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. +# If set to NO (the default) these classes will be included in the various +# overviews. This option has no effect if EXTRACT_ALL is enabled. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all +# friend (class|struct|union) declarations. +# If set to NO (the default) these declarations will be included in the +# documentation. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any +# documentation blocks found inside the body of a function. +# If set to NO (the default) these blocks will be appended to the +# function's detailed documentation block. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation +# that is typed after a \internal command is included. If the tag is set +# to NO (the default) then the documentation will be excluded. +# Set it to YES to include the internal documentation. + +INTERNAL_DOCS = NO + +# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate +# file names in lower-case letters. If set to YES upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows +# and Mac users are advised to set this option to NO. + +CASE_SENSE_NAMES = YES + +# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen +# will show members with their full class and namespace scopes in the +# documentation. If set to YES the scope will be hidden. + +HIDE_SCOPE_NAMES = NO + +# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen +# will put a list of the files that are included by a file in the documentation +# of that file. + +SHOW_INCLUDE_FILES = YES + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen +# will list include files with double quotes in the documentation +# rather than with sharp brackets. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] +# is inserted in the documentation for inline members. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen +# will sort the (detailed) documentation of file and class members +# alphabetically by member name. If set to NO the members will appear in +# declaration order. + +SORT_MEMBER_DOCS = YES + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the +# brief documentation of file, namespace and class members alphabetically +# by member name. If set to NO (the default) the members will appear in +# declaration order. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen +# will sort the (brief and detailed) documentation of class members so that +# constructors and destructors are listed first. If set to NO (the default) +# the constructors will appear in the respective orders defined by +# SORT_MEMBER_DOCS and SORT_BRIEF_DOCS. +# This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO +# and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the +# hierarchy of group names into alphabetical order. If set to NO (the default) +# the group names will appear in their defined order. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be +# sorted by fully-qualified names, including namespaces. If set to +# NO (the default), the class list will be sorted only by class name, +# not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the +# alphabetical list. + +SORT_BY_SCOPE_NAME = NO + +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to +# do proper type resolution of all parameters of a function it will reject a +# match between the prototype and the implementation of a member function even +# if there is only one candidate or it is obvious which candidate to choose +# by doing a simple string match. By disabling STRICT_PROTO_MATCHING doxygen +# will still accept a match between prototype and implementation in such cases. + +STRICT_PROTO_MATCHING = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or +# disable (NO) the todo list. This list is created by putting \todo +# commands in the documentation. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or +# disable (NO) the test list. This list is created by putting \test +# commands in the documentation. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or +# disable (NO) the bug list. This list is created by putting \bug +# commands in the documentation. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or +# disable (NO) the deprecated list. This list is created by putting +# \deprecated commands in the documentation. + +GENERATE_DEPRECATEDLIST = YES + +# The ENABLED_SECTIONS tag can be used to enable conditional +# documentation sections, marked by \if sectionname ... \endif. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines +# the initial value of a variable or macro consists of for it to appear in +# the documentation. If the initializer consists of more lines than specified +# here it will be hidden. Use a value of 0 to hide initializers completely. +# The appearance of the initializer of individual variables and macros in the +# documentation can be controlled using \showinitializer or \hideinitializer +# command in the documentation regardless of this setting. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated +# at the bottom of the documentation of classes and structs. If set to YES the +# list will mention the files that were used to generate the documentation. + +SHOW_USED_FILES = YES + +# If the sources in your project are distributed over multiple directories +# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy +# in the documentation. The default is NO. + +SHOW_DIRECTORIES = YES + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. +# This will remove the Files entry from the Quick Index and from the +# Folder Tree View (if specified). The default is YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the +# Namespaces page. +# This will remove the Namespaces entry from the Quick Index +# and from the Folder Tree View (if specified). The default is YES. + +SHOW_NAMESPACES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command , where is the value of +# the FILE_VERSION_FILTER tag, and is the name of an input file +# provided by doxygen. Whatever the program writes to standard output +# is used as the file version. See the manual for examples. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. The create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. +# You can optionally specify a file name after the option, if omitted +# DoxygenLayout.xml will be used as the name of the layout file. + +LAYOUT_FILE = + +# The CITE_BIB_FILES tag can be used to specify one or more bib files +# containing the references data. This must be a list of .bib files. The +# .bib extension is automatically appended if omitted. Using this command +# requires the bibtex tool to be installed. See also +# http://en.wikipedia.org/wiki/BibTeX for more info. For LaTeX the style +# of the bibliography can be controlled using LATEX_BIB_STYLE. To use this +# feature you need bibtex and perl available in the search path. + +CITE_BIB_FILES = + +# --------------------------------------------------------------------------- +# configuration options related to warning and progress messages +# --------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated +# by doxygen. Possible values are YES and NO. If left blank NO is used. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated by doxygen. Possible values are YES and NO. If left blank +# NO is used. + +WARNINGS = YES + +# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings +# for undocumented members. If EXTRACT_ALL is set to YES then this flag will +# automatically be disabled. + +WARN_IF_UNDOCUMENTED = YES + +# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some +# parameters in a documented function, or documenting parameters that +# don't exist or using markup commands wrongly. + +WARN_IF_DOC_ERROR = YES + +# The WARN_NO_PARAMDOC option can be enabled to get warnings for +# functions that are documented, but have no documentation for their parameters +# or return value. If set to NO (the default) doxygen will only warn about +# wrong or incomplete parameter documentation, but not about the absence of +# documentation. + +WARN_NO_PARAMDOC = NO + +# The WARN_FORMAT tag determines the format of the warning messages that +# doxygen can produce. The string should contain the $file, $line, and $text +# tags, which will be replaced by the file and line number from which the +# warning originated and the warning text. Optionally the format may contain +# $version, which will be replaced by the version of the file (if it could +# be obtained via FILE_VERSION_FILTER) + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning +# and error messages should be written. If left blank the output is written +# to stderr. + +WARN_LOGFILE = + +# --------------------------------------------------------------------------- +# configuration options related to the input files +# --------------------------------------------------------------------------- + +# The INPUT tag can be used to specify the files and/or directories that contain +# documented source files. You may enter file names like "myfile.cpp" or +# directories like "/usr/src/myproject". Separate the files or directories +# with spaces. + +INPUT = + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is +# also the default input encoding. Doxygen uses libiconv (or the iconv built +# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for +# the list of possible encodings. + +INPUT_ENCODING = UTF - 8 + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank the following patterns are tested: +# *.c *.cc *.cxx *.cpp *.c++ *.d *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh +# *.hxx *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.dox *.py +# *.f90 *.f *.for *.vhd *.vhdl + +FILE_PATTERNS = + +# The RECURSIVE tag can be used to turn specify whether or not subdirectories +# should be searched for input files as well. Possible values are YES and NO. +# If left blank NO is used. + +RECURSIVE = YES + +# The EXCLUDE tag can be used to specify files and/or directories that should be +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. +# Note that relative paths are relative to the directory from which doxygen is +# run. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded +# from the input. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. Note that the wildcards are matched +# against the file with absolute path, so to exclude all test directories +# for example use the pattern */test/* + +EXCLUDE_PATTERNS = + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# AClass::ANamespace, ANamespace::*Test + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or +# directories that contain example code fragments that are included (see +# the \include command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank all files are included. + +EXAMPLE_PATTERNS = + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude +# commands irrespective of the value of the RECURSIVE tag. +# Possible values are YES and NO. If left blank NO is used. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or +# directories that contain image that are included in the documentation (see +# the \image command). + +IMAGE_PATH = + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command , where +# is the value of the INPUT_FILTER tag, and is the name of an +# input file. Doxygen will then use the output that the filter program writes +# to standard output. +# If FILTER_PATTERNS is specified, this tag will be +# ignored. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. +# Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. +# The filters are a list of the form: +# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further +# info on how filters are used. If FILTER_PATTERNS is empty or if +# non of the patterns match the file name, INPUT_FILTER is applied. + +FILTER_PATTERNS = *.py = doxypy + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will be used to filter the input files when producing source +# files to browse (i.e. when SOURCE_BROWSER is set to YES). + +FILTER_SOURCE_FILES = NO + +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) +# and it is also possible to disable source filtering for a specific pattern +# using *.ext= (so without naming a filter). This option only has effect when +# FILTER_SOURCE_FILES is enabled. + +FILTER_SOURCE_PATTERNS = + +# --------------------------------------------------------------------------- +# configuration options related to source browsing +# --------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will +# be generated. Documented entities will be cross-referenced with these sources. +# Note: To get rid of all source code in the generated output, make sure also +# VERBATIM_HEADERS is set to NO. + +SOURCE_BROWSER = YES + +# Setting the INLINE_SOURCES tag to YES will include the body +# of functions and classes directly in the documentation. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct +# doxygen to hide any special comment blocks from generated source code +# fragments. Normal C and C++ comments will always remain visible. + +STRIP_CODE_COMMENTS = NO + +# If the REFERENCED_BY_RELATION tag is set to YES +# then for each documented function all documented +# functions referencing it will be listed. + +REFERENCED_BY_RELATION = NO + +# If the REFERENCES_RELATION tag is set to YES +# then for each documented function all documented entities +# called/used by that function will be listed. + +REFERENCES_RELATION = NO + +# If the REFERENCES_LINK_SOURCE tag is set to YES (the default) +# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from +# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will +# link to the source code. +# Otherwise they will link to the documentation. + +REFERENCES_LINK_SOURCE = YES + +# If the USE_HTAGS tag is set to YES then the references to source code +# will point to the HTML generated by the htags(1) tool instead of doxygen +# built-in source browser. The htags tool is part of GNU's global source +# tagging system (see http://www.gnu.org/software/global/global.html). You +# will need version 4.8.6 or higher. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen +# will generate a verbatim copy of the header file for each class for +# which an include is specified. Set to NO to disable this. + +VERBATIM_HEADERS = YES + +# --------------------------------------------------------------------------- +# configuration options related to the alphabetical class index +# --------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index +# of all compounds will be generated. Enable this if the project +# contains a lot of classes, structs, unions or interfaces. + +ALPHABETICAL_INDEX = YES + +# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then +# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns +# in which this list will be split (can be a number in the range [1..20]) + +COLS_IN_ALPHA_INDEX = 5 + +# In case all classes in a project start with a common prefix, all +# classes will be put under the same header in the alphabetical index. +# The IGNORE_PREFIX tag can be used to specify one or more prefixes that +# should be ignored while generating the index headers. + +IGNORE_PREFIX = + +# --------------------------------------------------------------------------- +# configuration options related to the HTML output +# --------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES (the default) Doxygen will +# generate HTML output. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `html' will be used as the default path. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for +# each generated HTML page (for example: .htm,.php,.asp). If it is left blank +# doxygen will generate files with .html extension. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a personal HTML header for +# each generated HTML page. If it is left blank doxygen will generate a +# standard header. Note that when using a custom header you are responsible +# for the proper inclusion of any scripts and style sheets that doxygen +# needs, which is dependent on the configuration options used. +# It is advised to generate a default header using "doxygen -w html +# header.html footer.html stylesheet.css YourConfigFile" and then modify +# that header. Note that the header is subject to change so you typically +# have to redo this when upgrading to a newer version of doxygen or when +# changing the value of configuration settings such as GENERATE_TREEVIEW! + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a personal HTML footer for +# each generated HTML page. If it is left blank doxygen will generate a +# standard footer. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading +# style sheet that is used by each HTML page. It can be used to +# fine-tune the look of the HTML output. If the tag is left blank doxygen +# will generate a default style sheet. Note that doxygen will try to copy +# the style sheet file to the HTML output directory, so don't put your own +# style sheet in the HTML output directory as well, or it will be erased! + +HTML_STYLESHEET = + +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the HTML output directory. Note +# that these files will be copied to the base HTML output directory. Use the +# $relpath$ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that +# the files will be copied as-is; there are no commands or markers available. + +HTML_EXTRA_FILES = + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. +# Doxygen will adjust the colors in the style sheet and background images +# according to this color. Hue is specified as an angle on a colorwheel, +# see http://en.wikipedia.org/wiki/Hue for more information. +# For instance the value 0 represents red, 60 is yellow, 120 is green, +# 180 is cyan, 240 is blue, 300 purple, and 360 is red again. +# The allowed range is 0 to 359. + +HTML_COLORSTYLE_HUE = 220 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of +# the colors in the HTML output. For a value of 0 the output will use +# grayscales only. A value of 255 will produce the most vivid colors. + +HTML_COLORSTYLE_SAT = 100 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to +# the luminance component of the colors in the HTML output. Values below +# 100 gradually make the output lighter, whereas values above 100 make +# the output darker. The value divided by 100 is the actual gamma applied, +# so 80 represents a gamma of 0.8, The value 220 represents a gamma of 2.2, +# and 100 does not change the gamma. + +HTML_COLORSTYLE_GAMMA = 80 + +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting +# this to NO can help when comparing the output of multiple runs. + +HTML_TIMESTAMP = YES + +# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes, +# files or namespaces will be aligned in HTML using tables. If set to +# NO a bullet list will be used. + +HTML_ALIGN_MEMBERS = YES + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. For this to work a browser that supports +# JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox +# Netscape 6.0+, Internet explorer 5.0+, Konqueror, or Safari). + +HTML_DYNAMIC_SECTIONS = NO + +# If the GENERATE_DOCSET tag is set to YES, additional index files +# will be generated that can be used as input for Apple's Xcode 3 +# integrated development environment, introduced with OSX 10.5 (Leopard). +# To create a documentation set, doxygen will generate a Makefile in the +# HTML output directory. Running make will produce the docset in that +# directory and running "make install" will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find +# it at startup. +# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html +# for more information. + +GENERATE_DOCSET = NO + +# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the +# feed. A documentation feed provides an umbrella under which multiple +# documentation sets from a single provider (such as a company or product suite) +# can be grouped. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that +# should uniquely identify the documentation set bundle. This should be a +# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen +# will append .docset to the name. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# When GENERATE_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style +# string, e.g. com.mycompany.MyDocSet.documentation. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The GENERATE_PUBLISHER_NAME tag identifies the documentation publisher. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES, additional index files +# will be generated that can be used as input for tools like the +# Microsoft HTML help workshop to generate a compiled HTML help file (.chm) +# of the generated HTML documentation. + +GENERATE_HTMLHELP = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can +# be used to specify the file name of the resulting .chm file. You +# can add a path in front of the file if the result should not be +# written to the html output directory. + +CHM_FILE = + +# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can +# be used to specify the location (absolute path including file name) of +# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run +# the HTML help compiler on the generated index.hhp. + +HHC_LOCATION = + +# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag +# controls if a separate .chi index file is generated (YES) or that +# it should be included in the master .chm file (NO). + +GENERATE_CHI = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING +# is used to encode HtmlHelp index (hhk), content (hhc) and project file +# content. + +CHM_INDEX_ENCODING = + +# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag +# controls whether a binary table of contents is generated (YES) or a +# normal table of contents (NO) in the .chm file. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members +# to the contents of the HTML help documentation and to the tree view. + +TOC_EXPAND = NO + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated +# that can be used as input for Qt's qhelpgenerator to generate a +# Qt Compressed Help (.qch) of the generated HTML documentation. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can +# be used to specify the file name of the resulting .qch file. +# The path specified is relative to the HTML output folder. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating +# Qt Help Project output. For more information please see +# http://doc.trolltech.com/qthelpproject.html#namespace + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating +# Qt Help Project output. For more information please see +# http://doc.trolltech.com/qthelpproject.html#virtual-folders + +QHP_VIRTUAL_FOLDER = doc + +# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to +# add. For more information please see +# http://doc.trolltech.com/qthelpproject.html#custom-filters + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see +# +# Qt Help Project / Custom Filters. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's +# filter section matches. +# +# Qt Help Project / Filter Attributes. + +QHP_SECT_FILTER_ATTRS = + +# If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can +# be used to specify the location of Qt's qhelpgenerator. +# If non-empty doxygen will try to run qhelpgenerator on the generated +# .qhp file. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files +# will be generated, which together with the HTML files, form an Eclipse help +# plugin. To install this plugin and make it available under the help contents +# menu in Eclipse, the contents of the directory containing the HTML and XML +# files needs to be copied into the plugins directory of eclipse. The name of +# the directory within the plugins directory should be the same as +# the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before +# the help appears. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have +# this name. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# The DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) +# at top of each HTML page. The value NO (the default) enables the index and +# the value YES disables it. Since the tabs have the same information as the +# navigation tree you can set this option to NO if you already set +# GENERATE_TREEVIEW to YES. + +DISABLE_INDEX = NO + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. +# If the tag value is set to YES, a side panel will be generated +# containing a tree-like index structure (just like the one that +# is generated for HTML Help). For this to work a browser that supports +# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser). +# Windows users are probably better off using the HTML help feature. +# Since the tree basically has the same information as the tab index you +# could consider to set DISABLE_INDEX to NO when enabling this option. + +GENERATE_TREEVIEW = NO + +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values +# (range [0,1..20]) that doxygen will group on one line in the generated HTML +# documentation. Note that a value of 0 will completely suppress the enum +# values from appearing in the overview section. + +ENUM_VALUES_PER_LINE = 4 + +# By enabling USE_INLINE_TREES, doxygen will generate the Groups, Directories, +# and Class Hierarchy pages using a tree view instead of an ordered list. + +USE_INLINE_TREES = NO + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be +# used to set the initial width (in pixels) of the frame in which the tree +# is shown. + +TREEVIEW_WIDTH = 250 + +# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open +# links to external symbols imported via tag files in a separate window. + +EXT_LINKS_IN_WINDOW = NO + +# Use this tag to change the font size of Latex formulas included +# as images in the HTML documentation. The default is 10. Note that +# when you change the font size after a successful doxygen run you need +# to manually remove any form_*.png images from the HTML output directory +# to force them to be regenerated. + +FORMULA_FONTSIZE = 10 + +# Use the FORMULA_TRANPARENT tag to determine whether or not the images +# generated for formulas are transparent PNGs. Transparent PNGs are +# not supported properly for IE 6.0, but are supported on all modern browsers. +# Note that when changing this option you need to delete any form_*.png files +# in the HTML output before the changes have effect. + +FORMULA_TRANSPARENT = YES + +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax +# (see http://www.mathjax.org) which uses client side Javascript for the +# rendering instead of using prerendered bitmaps. Use this if you do not +# have LaTeX installed or if you want to formulas look prettier in the HTML +# output. When enabled you also need to install MathJax separately and +# configure the path to it using the MATHJAX_RELPATH option. + +USE_MATHJAX = NO + +# When MathJax is enabled you need to specify the location relative to the +# HTML output directory using the MATHJAX_RELPATH option. The destination +# directory should contain the MathJax.js script. For instance, if the mathjax +# directory is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to the +# mathjax.org site, so you can quickly see the result without installing +# MathJax, but it is strongly recommended to install a local copy of MathJax +# before deployment. + +MATHJAX_RELPATH = http: // www.mathjax.org / mathjax + +# The MATHJAX_EXTENSIONS tag can be used to specify one or MathJax extension +# names that should be enabled during MathJax rendering. + +MATHJAX_EXTENSIONS = + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box +# for the HTML output. The underlying search engine uses javascript +# and DHTML and should work on any modern browser. Note that when using +# HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets +# (GENERATE_DOCSET) there is already a search function so this one should +# typically be disabled. For large projects the javascript based search engine +# can be slow, then enabling SERVER_BASED_SEARCH may provide a better solution. + +SEARCHENGINE = YES + +# When the SERVER_BASED_SEARCH tag is enabled the search engine will be +# implemented using a PHP enabled web server instead of at the web client +# using Javascript. Doxygen will generate the search PHP script and index +# file to put on the web server. The advantage of the server +# based approach is that it scales better to large projects and allows +# full text search. The disadvantages are that it is more difficult to setup +# and does not have live searching capabilities. + +SERVER_BASED_SEARCH = NO + +# --------------------------------------------------------------------------- +# configuration options related to the LaTeX output +# --------------------------------------------------------------------------- + +# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will +# generate Latex output. + +GENERATE_LATEX = YES + +# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `latex' will be used as the default path. + +LATEX_OUTPUT = latex + +# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be +# invoked. If left blank `latex' will be used as the default command name. +# Note that when enabling USE_PDFLATEX this option is only used for +# generating bitmaps for formulas in the HTML output, but not in the +# Makefile that is written to the output directory. + +LATEX_CMD_NAME = latex + +# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to +# generate index for LaTeX. If left blank `makeindex' will be used as the +# default command name. + +MAKEINDEX_CMD_NAME = makeindex + +# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact +# LaTeX documents. This may be useful for small projects and may help to +# save some trees in general. + +COMPACT_LATEX = NO + +# The PAPER_TYPE tag can be used to set the paper type that is used +# by the printer. Possible values are: a4, letter, legal and +# executive. If left blank a4wide will be used. + +PAPER_TYPE = a4 + +# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX +# packages that should be included in the LaTeX output. + +EXTRA_PACKAGES = amsmath + +# The LATEX_HEADER tag can be used to specify a personal LaTeX header for +# the generated latex document. The header should contain everything until +# the first chapter. If it is left blank doxygen will generate a +# standard header. Notice: only use this tag if you know what you are doing! + +LATEX_HEADER = + +# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for +# the generated latex document. The footer should contain everything after +# the last chapter. If it is left blank doxygen will generate a +# standard footer. Notice: only use this tag if you know what you are doing! + +LATEX_FOOTER = + +# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated +# is prepared for conversion to pdf (using ps2pdf). The pdf file will +# contain links (just like the HTML output) instead of page references +# This makes the output suitable for online browsing using a pdf viewer. + +PDF_HYPERLINKS = YES + +# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of +# plain latex in the generated Makefile. Set this option to YES to get a +# higher quality PDF documentation. + +USE_PDFLATEX = YES + +# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. +# command to the generated LaTeX files. This will instruct LaTeX to keep +# running if errors occur, instead of asking the user for help. +# This option is also used when generating formulas in HTML. + +LATEX_BATCHMODE = NO + +# If LATEX_HIDE_INDICES is set to YES then doxygen will not +# include the index chapters (such as File Index, Compound Index, etc.) +# in the output. + +LATEX_HIDE_INDICES = NO + +# If LATEX_SOURCE_CODE is set to YES then doxygen will include +# source code with syntax highlighting in the LaTeX output. +# Note that which sources are shown also depends on other settings +# such as SOURCE_BROWSER. + +LATEX_SOURCE_CODE = NO + +# The LATEX_BIB_STYLE tag can be used to specify the style to use for the +# bibliography, e.g. plainnat, or ieeetr. The default style is "plain". See +# http://en.wikipedia.org/wiki/BibTeX for more info. + +LATEX_BIB_STYLE = plain + +# --------------------------------------------------------------------------- +# configuration options related to the RTF output +# --------------------------------------------------------------------------- + +# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output +# The RTF output is optimized for Word 97 and may not look very pretty with +# other RTF readers or editors. + +GENERATE_RTF = NO + +# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `rtf' will be used as the default path. + +RTF_OUTPUT = rtf + +# If the COMPACT_RTF tag is set to YES Doxygen generates more compact +# RTF documents. This may be useful for small projects and may help to +# save some trees in general. + +COMPACT_RTF = NO + +# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated +# will contain hyperlink fields. The RTF file will +# contain links (just like the HTML output) instead of page references. +# This makes the output suitable for online browsing using WORD or other +# programs which support those fields. +# Note: wordpad (write) and others do not support links. + +RTF_HYPERLINKS = NO + +# Load style sheet definitions from file. Syntax is similar to doxygen's +# config file, i.e. a series of assignments. You only have to provide +# replacements, missing definitions are set to their default value. + +RTF_STYLESHEET_FILE = + +# Set optional variables used in the generation of an rtf document. +# Syntax is similar to doxygen's config file. + +RTF_EXTENSIONS_FILE = + +# --------------------------------------------------------------------------- +# configuration options related to the man page output +# --------------------------------------------------------------------------- + +# If the GENERATE_MAN tag is set to YES (the default) Doxygen will +# generate man pages + +GENERATE_MAN = NO + +# The MAN_OUTPUT tag is used to specify where the man pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `man' will be used as the default path. + +MAN_OUTPUT = man + +# The MAN_EXTENSION tag determines the extension that is added to +# the generated man pages (default is the subroutine's section .3) + +MAN_EXTENSION = .3 + +# If the MAN_LINKS tag is set to YES and Doxygen generates man output, +# then it will generate one additional man file for each entity +# documented in the real man page(s). These additional files +# only source the real man page, but without them the man command +# would be unable to find the correct page. The default is NO. + +MAN_LINKS = NO + +# --------------------------------------------------------------------------- +# configuration options related to the XML output +# --------------------------------------------------------------------------- + +# If the GENERATE_XML tag is set to YES Doxygen will +# generate an XML file that captures the structure of +# the code including all documentation. + +GENERATE_XML = NO + +# The XML_OUTPUT tag is used to specify where the XML pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `xml' will be used as the default path. + +XML_OUTPUT = xml + +# The XML_SCHEMA tag can be used to specify an XML schema, +# which can be used by a validating XML parser to check the +# syntax of the XML files. + +XML_SCHEMA = + +# The XML_DTD tag can be used to specify an XML DTD, +# which can be used by a validating XML parser to check the +# syntax of the XML files. + +XML_DTD = + +# If the XML_PROGRAMLISTING tag is set to YES Doxygen will +# dump the program listings (including syntax highlighting +# and cross-referencing information) to the XML output. Note that +# enabling this will significantly increase the size of the XML output. + +XML_PROGRAMLISTING = YES + +# --------------------------------------------------------------------------- +# configuration options for the AutoGen Definitions output +# --------------------------------------------------------------------------- + +# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will +# generate an AutoGen Definitions (see autogen.sf.net) file +# that captures the structure of the code including all +# documentation. Note that this feature is still experimental +# and incomplete at the moment. + +GENERATE_AUTOGEN_DEF = NO + +# --------------------------------------------------------------------------- +# configuration options related to the Perl module output +# --------------------------------------------------------------------------- + +# If the GENERATE_PERLMOD tag is set to YES Doxygen will +# generate a Perl module file that captures the structure of +# the code including all documentation. Note that this +# feature is still experimental and incomplete at the +# moment. + +GENERATE_PERLMOD = NO + +# If the PERLMOD_LATEX tag is set to YES Doxygen will generate +# the necessary Makefile rules, Perl scripts and LaTeX code to be able +# to generate PDF and DVI output from the Perl module output. + +PERLMOD_LATEX = NO + +# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be +# nicely formatted so it can be parsed by a human reader. +# This is useful +# if you want to understand what is going on. +# On the other hand, if this +# tag is set to NO the size of the Perl module output will be much smaller +# and Perl will parse it just the same. + +PERLMOD_PRETTY = YES + +# The names of the make variables in the generated doxyrules.make file +# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. +# This is useful so different doxyrules.make files included by the same +# Makefile don't overwrite each other's variables. + +PERLMOD_MAKEVAR_PREFIX = + +# --------------------------------------------------------------------------- +# Configuration options related to the preprocessor +# --------------------------------------------------------------------------- + +# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will +# evaluate all C-preprocessor directives found in the sources and include +# files. + +ENABLE_PREPROCESSING = YES + +# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro +# names in the source code. If set to NO (the default) only conditional +# compilation will be performed. Macro expansion can be done in a controlled +# way by setting EXPAND_ONLY_PREDEF to YES. + +MACRO_EXPANSION = NO + +# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES +# then the macro expansion is limited to the macros specified with the +# PREDEFINED and EXPAND_AS_DEFINED tags. + +EXPAND_ONLY_PREDEF = NO + +# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files +# pointed to by INCLUDE_PATH will be searched when a #include is found. + +SEARCH_INCLUDES = YES + +# The INCLUDE_PATH tag can be used to specify one or more directories that +# contain include files that are not input files but should be processed by +# the preprocessor. + +INCLUDE_PATH = + +# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard +# patterns (like *.h and *.hpp) to filter out the header-files in the +# directories. If left blank, the patterns specified with FILE_PATTERNS will +# be used. + +INCLUDE_FILE_PATTERNS = + +# The PREDEFINED tag can be used to specify one or more macro names that +# are defined before the preprocessor is started (similar to the -D option of +# gcc). The argument of the tag is a list of macros of the form: name +# or name=definition (no spaces). If the definition and the = are +# omitted =1 is assumed. To prevent a macro definition from being +# undefined via #undef or recursively expanded use the := operator +# instead of the = operator. + +PREDEFINED = + +# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then +# this tag can be used to specify a list of macro names that should be expanded. +# The macro definition that is found in the sources will be used. +# Use the PREDEFINED tag if you want to use a different macro definition that +# overrules the definition found in the source code. + +EXPAND_AS_DEFINED = + +# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then +# doxygen's preprocessor will remove all references to function-like macros +# that are alone on a line, have an all uppercase name, and do not end with a +# semicolon, because these will confuse the parser if not removed. + +SKIP_FUNCTION_MACROS = YES + +# --------------------------------------------------------------------------- +# Configuration::additions related to external references +# --------------------------------------------------------------------------- + +# The TAGFILES option can be used to specify one or more tagfiles. +# Optionally an initial location of the external documentation +# can be added for each tagfile. The format of a tag file without +# this location is as follows: +# +# TAGFILES = file1 file2 ... +# Adding location for the tag files is done as follows: +# +# TAGFILES = file1=loc1 "file2 = loc2" ... +# where "loc1" and "loc2" can be relative or absolute paths or +# URLs. If a location is present for each tag, the installdox tool +# does not have to be run to correct the links. +# Note that each tag file must have a unique name +# (where the name does NOT include the path) +# If a tag file is not located in the directory in which doxygen +# is run, you must also specify the path to the tagfile here. + +TAGFILES = + +# When a file name is specified after GENERATE_TAGFILE, doxygen will create +# a tag file that is based on the input files it reads. + +GENERATE_TAGFILE = + +# If the ALLEXTERNALS tag is set to YES all external classes will be listed +# in the class index. If set to NO only the inherited external classes +# will be listed. + +ALLEXTERNALS = NO + +# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed +# in the modules index. If set to NO, only the current project's groups will +# be listed. + +EXTERNAL_GROUPS = YES + +# The PERL_PATH should be the absolute path and name of the perl script +# interpreter (i.e. the result of `which perl'). + +PERL_PATH = /usr / bin / perl + +# --------------------------------------------------------------------------- +# Configuration options related to the dot tool +# --------------------------------------------------------------------------- + +# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will +# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base +# or super classes. Setting the tag to NO turns the diagrams off. Note that +# this option also works with HAVE_DOT disabled, but it is recommended to +# install and use dot, since it yields more powerful graphs. + +CLASS_DIAGRAMS = YES + +# You can define message sequence charts within doxygen comments using the \msc +# command. Doxygen will then run the mscgen tool (see +# http://www.mcternan.me.uk/mscgen/) to produce the chart and insert it in the +# documentation. The MSCGEN_PATH tag allows you to specify the directory where +# the mscgen tool resides. If left empty the tool is assumed to be found in the +# default search path. + +MSCGEN_PATH = + +# If set to YES, the inheritance and collaboration graphs will hide +# inheritance and usage relations if the target is undocumented +# or is not a class. + +HIDE_UNDOC_RELATIONS = NO + +# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is +# available from the path. This tool is part of Graphviz, a graph visualization +# toolkit from AT&T and Lucent Bell Labs. The other options in this section +# have no effect if this option is set to NO (the default) + +HAVE_DOT = YES + +# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is +# allowed to run in parallel. When set to 0 (the default) doxygen will +# base this on the number of processors available in the system. You can set it +# explicitly to a value larger than 0 to get control over the balance +# between CPU load and processing speed. + +DOT_NUM_THREADS = 0 + +# By default doxygen will use the Helvetica font for all dot files that +# doxygen generates. When you want a differently looking font you can specify +# the font name using DOT_FONTNAME. You need to make sure dot is able to find +# the font, which can be done by putting it in a standard location or by setting +# the DOTFONTPATH environment variable or by setting DOT_FONTPATH to the +# directory containing the font. + +DOT_FONTNAME = Helvetica + +# The DOT_FONTSIZE tag can be used to set the size of the font of dot graphs. +# The default size is 10pt. + +DOT_FONTSIZE = 10 + +# By default doxygen will tell dot to use the Helvetica font. +# If you specify a different font using DOT_FONTNAME you can use DOT_FONTPATH to +# set the path where dot can find it. + +DOT_FONTPATH = + +# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for each documented class showing the direct and +# indirect inheritance relations. Setting this tag to YES will force the +# CLASS_DIAGRAMS tag to NO. + +CLASS_GRAPH = YES + +# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for each documented class showing the direct and +# indirect implementation dependencies (inheritance, containment, and +# class references variables) of the class with other documented classes. + +COLLABORATION_GRAPH = YES + +# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for groups, showing the direct groups dependencies + +GROUP_GRAPHS = YES + +# If the UML_LOOK tag is set to YES doxygen will generate inheritance and +# collaboration diagrams in a style similar to the OMG's Unified Modeling +# Language. + +UML_LOOK = YES + +# If set to YES, the inheritance and collaboration graphs will show the +# relations between templates and their instances. + +TEMPLATE_RELATIONS = NO + +# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT +# tags are set to YES then doxygen will generate a graph for each documented +# file showing the direct and indirect include dependencies of the file with +# other documented files. + +INCLUDE_GRAPH = YES + +# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and +# HAVE_DOT tags are set to YES then doxygen will generate a graph for each +# documented header file showing the documented files that directly or +# indirectly include this file. + +INCLUDED_BY_GRAPH = YES + +# If the CALL_GRAPH and HAVE_DOT options are set to YES then +# doxygen will generate a call dependency graph for every global function +# or class method. Note that enabling this option will significantly increase +# the time of a run. So in most cases it will be better to enable call graphs +# for selected functions only using the \callgraph command. + +CALL_GRAPH = NO + +# If the CALLER_GRAPH and HAVE_DOT tags are set to YES then +# doxygen will generate a caller dependency graph for every global function +# or class method. Note that enabling this option will significantly increase +# the time of a run. So in most cases it will be better to enable caller +# graphs for selected functions only using the \callergraph command. + +CALLER_GRAPH = NO + +# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen +# will generate a graphical hierarchy of all classes instead of a textual one. + +GRAPHICAL_HIERARCHY = YES + +# If the DIRECTORY_GRAPH, SHOW_DIRECTORIES and HAVE_DOT tags are set to YES +# then doxygen will show the dependencies a directory has on other directories +# in a graphical way. The dependency relations are determined by the #include +# relations between the files in the directories. + +DIRECTORY_GRAPH = YES + +# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images +# generated by dot. Possible values are svg, png, jpg, or gif. +# If left blank png will be used. If you choose svg you need to set +# HTML_FILE_EXTENSION to xhtml in order to make the SVG files +# visible in IE 9+ (other browsers do not have this requirement). + +DOT_IMAGE_FORMAT = png + +# If DOT_IMAGE_FORMAT is set to svg, then this option can be set to YES to +# enable generation of interactive SVG images that allow zooming and panning. +# Note that this requires a modern browser other than Internet Explorer. +# Tested and working are Firefox, Chrome, Safari, and Opera. For IE 9+ you +# need to set HTML_FILE_EXTENSION to xhtml in order to make the SVG files +# visible. Older versions of IE do not have SVG support. + +INTERACTIVE_SVG = NO + +# The tag DOT_PATH can be used to specify the path where the dot tool can be +# found. If left blank, it is assumed the dot tool can be found in the path. + +DOT_PATH = + +# The DOTFILE_DIRS tag can be used to specify one or more directories that +# contain dot files that are included in the documentation (see the +# \dotfile command). + +DOTFILE_DIRS = + +# The MSCFILE_DIRS tag can be used to specify one or more directories that +# contain msc files that are included in the documentation (see the +# \mscfile command). + +MSCFILE_DIRS = + +# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of +# nodes that will be shown in the graph. If the number of nodes in a graph +# becomes larger than this value, doxygen will truncate the graph, which is +# visualized by representing a node as a red box. Note that doxygen if the +# number of direct children of the root node in a graph is already larger than +# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note +# that the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH. + +DOT_GRAPH_MAX_NODES = 50 + +# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the +# graphs generated by dot. A depth value of 3 means that only nodes reachable +# from the root by following a path via at most 3 edges will be shown. Nodes +# that lay further from the root node will be omitted. Note that setting this +# option to 1 or 2 may greatly reduce the computation time needed for large +# code bases. Also note that the size of a graph can be further restricted by +# DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction. + +MAX_DOT_GRAPH_DEPTH = 0 + +# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent +# background. This is disabled by default, because dot on Windows does not +# seem to support this out of the box. Warning: Depending on the platform used, +# enabling this option may lead to badly anti-aliased labels on the edges of +# a graph (i.e. they become hard to read). + +DOT_TRANSPARENT = NO + +# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output +# files in one run (i.e. multiple -o and -T options on the command line). This +# makes dot run faster, but since only newer versions of dot (>1.8.10) +# support this, this feature is disabled by default. + +DOT_MULTI_TARGETS = YES + +# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will +# generate a legend page explaining the meaning of the various boxes and +# arrows in the dot generated graphs. + +GENERATE_LEGEND = YES + +# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will +# remove the intermediate dot files that are used to generate +# the various graphs. + +DOT_CLEANUP = YES diff --git a/data/camera_calibration_config.rviz b/data/camera_calibration_config.rviz new file mode 100644 index 0000000000000000000000000000000000000000..22d705c597dbfe7eacb3c823cbf20524826e176b --- /dev/null +++ b/data/camera_calibration_config.rviz @@ -0,0 +1,1621 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /TF1/Frames1 + - /btt1/Perception1/perception_markers1/Namespaces1 + - /btt1/New_Perception1/rgb_labels1/Namespaces1 + - /btt1/Navigation1/nav goals1/Namespaces1 + - /btt1/direct_base_ctrl1/base_link_as_pose1 + Splitter Ratio: 0.5240506529808044 + Tree Height: 797 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 0 + SyncSource: raw_color_pcl + - Class: rviz/Tool Properties + Expanded: ~ + Name: Tool Properties + Splitter Ratio: 0.5 + - Class: rviz/Selection + Name: Selection +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.4000000059604645 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 0.5 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + arm_cam3d_camera_color_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + arm_cam3d_camera_color_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + arm_cam3d_camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + arm_cam3d_camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + arm_cam3d_camera_left_ir_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + arm_cam3d_camera_left_ir_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + arm_cam3d_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_cam3d_camera_right_ir_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + arm_cam3d_camera_right_ir_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + arm_link_0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_link_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_link_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_link_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_link_5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_ground_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_laser_front_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_laser_rear_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + caster_link_bl: + Alpha: 1 + Show Axes: false + Show Trail: false + caster_link_br: + Alpha: 1 + Show Axes: false + Show Trail: false + caster_link_fl: + Alpha: 1 + Show Axes: false + Show Trail: false + caster_link_fr: + Alpha: 1 + Show Axes: false + Show Trail: false + fixed_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + full_platform_arm_root_link: + Alpha: 1 + Show Axes: false + Show Trail: false + full_platform_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_bracket_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_bracket_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_finger_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_finger_mount_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_finger_mount_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_finger_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_motor_left_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_motor_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + gripper_motor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_motor_right_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_motor_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + gripper_static_grasp_link: + Alpha: 1 + Show Axes: false + Show Trail: false + tower_cam3d_camera_color_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + tower_cam3d_camera_color_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + tower_cam3d_camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + tower_cam3d_camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + tower_cam3d_camera_left_ir_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + tower_cam3d_camera_left_ir_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + tower_cam3d_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tower_cam3d_camera_right_ir_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + tower_cam3d_camera_right_ir_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + wheel_link_bl: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_link_br: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_link_fl: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_link_fr: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: false + Marker Alpha: 1 + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: false + - Class: rviz/Group + Displays: + - Class: rviz/Group + Displays: + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: raw_color_pcl + Position Transformer: XYZ + Queue Size: 10 + Selectable: false + Size (Pixels): 1 + Size (m): 0.019999999552965164 + Style: Points + Topic: /tower_cam3d/depth_registered/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: tabletop_clusters + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: /mcr_perception/scene_segmentation/tabletop_clusters + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz/Marker + Enabled: false + Marker Topic: /mcr_perception/scene_segmentation/bounding_boxes + Name: perception_markers + Namespaces: + {} + Queue Size: 100 + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: passthrough_x + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /mcr_perception/passthrough_x/output + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz/MarkerArray + Enabled: false + Marker Topic: /mcr_perception/scene_segmentation/labels + Name: pcl_labels + Namespaces: + {} + Queue Size: 100 + Value: false + - Alpha: 0.30000001192092896 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 170; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: tabletop_accum + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Spheres + Topic: /mcr_perception/scene_segmentation_node/tabletop_clusters + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Class: rviz/Polygon + Color: 25; 255; 0 + Enabled: false + Name: Polygon + Queue Size: 10 + Topic: /mcr_perception/convex_hull/output_polygon + Unreliable: false + Value: false + - Class: rviz/Image + Enabled: true + Image Topic: /arm_cam3d/rgb/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: "" + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: barrier_scan + Position Transformer: "" + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /barrier_tape/scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: cloud_accumulator + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Boxes + Topic: /mcr_perception/scene_segmentation/output + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Arrow Length: 0.10000000149011612 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: false + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: DetectedCavities + Queue Size: 10 + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Arrow (Flat) + Topic: /mcr_perception/cavity_finder/output/pose + Unreliable: false + Value: false + - Class: rviz/Image + Enabled: true + Image Topic: /mcr_perception/cavity_finder/output/rgb_debug_image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: cavity_debug + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Alpha: 1 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: false + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: detectedobjects + Queue Size: 10 + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Arrow (Flat) + Topic: /mcr_perception/multimodal_object_identification/output/pose + Unreliable: false + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: mm_pointcloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: /mcr_perception/multimodal_object_identification/output/pointclouds_combined + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: mm_platform + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /mcr_perception/multimodal_object_identification/output/platform_pointcloud + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz/Image + Enabled: true + Image Topic: /mcr_perception/multimodal_object_identification/output/rgb_debug_image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: mm_rgb_debug + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + Enabled: true + Name: Perception + - Class: rviz/Group + Displays: + - Class: rviz/Image + Enabled: true + Image Topic: /tower_cam3d/rgb/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: raw_image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /mir_perception/multimodal_object_recognition/recognizer/rgb/output/debug_image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: yolo_debug + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: raw_pointcloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: /tower_cam3d/depth_registered/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: rgb_tabletop_clusters + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: /mir_perception/multimodal_object_recognition/tabletop_cluster_rgb + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: rgb_debug_pointcloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: /mir_perception/multimodal_object_recognition/output/debug_cloud_plane + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: pcl_tabletop_clusters + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: /mir_perception/multimodal_object_recognition/tabletop_cluster_pcl + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: false + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: rgb_PoseArray + Queue Size: 10 + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Arrow (Flat) + Topic: /mir_perception/multimodal_object_recognition/output/rgb_object_pose_array + Unreliable: false + Value: false + - Alpha: 1 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz/PoseArray + Color: 255; 255; 255 + Enabled: false + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: pcl_PoseArray + Queue Size: 10 + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Arrow (Flat) + Topic: /mir_perception/multimodal_object_recognition/output/pcl_object_pose_array + Unreliable: false + Value: false + - Class: rviz/MarkerArray + Enabled: false + Marker Topic: /mir_perception/multimodal_object_recognition/pcl_labels + Name: pcl_labels + Namespaces: + {} + Queue Size: 100 + Value: false + - Class: rviz/MarkerArray + Enabled: false + Marker Topic: /mir_perception/multimodal_object_recognition/rgb_labels + Name: rgb_labels + Namespaces: + {} + Queue Size: 100 + Value: false + - Class: rviz/Marker + Enabled: false + Marker Topic: /mir_perception/multimodal_object_recognition/bounding_boxes + Name: bounding_boxes_pcl + Namespaces: + {} + Queue Size: 100 + Value: false + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 0; 170; 0 + Enabled: false + Head Length: 0.05000000074505806 + Head Radius: 0.07999999821186066 + Name: pose_selector + Queue Size: 10 + Shaft Length: 0.4000000059604645 + Shaft Radius: 0.008999999612569809 + Shape: Arrow + Topic: /mcr_perception/object_selector/output/object_pose + Unreliable: false + Value: false + - Alpha: 1 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: false + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: rgb_object_poseArray + Queue Size: 10 + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Arrow (Flat) + Topic: /mir_perception/multimodal_object_recognition/output/rgb_object_pose_array + Unreliable: false + Value: false + Enabled: false + Name: New_Perception + - Class: rviz/Group + Displays: + - Alpha: 1 + Class: rviz/Polygon + Color: 255; 85; 0 + Enabled: false + Name: robot_footprint + Queue Size: 10 + Topic: /move_base/local_costmap/footprint + Unreliable: false + Value: false + - Alpha: 0.8999999761581421 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 0; 85; 255 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: scan_front + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 5 + Size (m): 0.009999999776482582 + Style: Points + Topic: /scan_front + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 0.8999999761581421 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 0; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: scan_rear + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 5 + Size (m): 0.009999999776482582 + Style: Points + Topic: /scan_rear + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 0.5 + Class: rviz/Map + Color Scheme: map + Draw Behind: true + Enabled: true + Name: map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: false + Name: local_costmap + Topic: /move_base/local_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: false + - Alpha: 0.20000000298023224 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: false + Name: global_costmap + Topic: /move_base/global_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: false + - Alpha: 1 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: true + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: global_plan_wo + Queue Size: 10 + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Arrow (Flat) + Topic: /move_base/GlobalPlannerWithOrientations/plan + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 170; 0; 127 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: global_plan_as_path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /move_base/GlobalPlannerWithOrientations/path_plan + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: dwa_global_plan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /move_base/DWAPlannerROS/global_plan + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 85; 85; 127 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: local_plan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /move_base/DWAPlannerROS/local_plan + Unreliable: false + Value: true + - Alpha: 1 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: true + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: amcl particles + Queue Size: 10 + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Arrow (Flat) + Topic: /particlecloud + Unreliable: false + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /visualization_marker_array + Name: nav goals + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/Group + Displays: + - Class: rviz/Marker + Enabled: true + Marker Topic: /move_base/force_field_recovery/force_field_vector + Name: ff_vector + Namespaces: + {} + Queue Size: 100 + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 85; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: obstacle_cloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Spheres + Topic: /move_base/force_field_recovery/obstacle_cloud + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /move_base/force_field_recovery/obstacle_neighborhood + Name: obst_neighbourhood + Namespaces: + {} + Queue Size: 100 + Value: true + Enabled: false + Name: force_field + Enabled: false + Name: Navigation + - Class: rviz/Group + Displays: + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 85; 170; 0 + Enabled: true + Head Length: 0.10000000149011612 + Head Radius: 0.029999999329447746 + Name: random object pose + Queue Size: 10 + Shaft Length: 0.10000000149011612 + Shaft Radius: 0.009999999776482582 + Shape: Arrow + Topic: /mcr_perception/random_object_selector/output/object_pose + Unreliable: false + Value: true + - Alpha: 0.8999999761581421 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 170; 85; 255 + Enabled: true + Head Length: 0.10000000149011612 + Head Radius: 0.10000000149011612 + Name: modified pose + Queue Size: 10 + Shaft Length: 0.5 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /move_base_relative/random_obj_selector_transformer_republisher/output/transformed_pose + Unreliable: false + Value: true + Enabled: false + Name: move_relative + - Class: rviz/Group + Displays: + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 0; 85; 0 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: base_link_as_pose + Queue Size: 10 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /mcr_navigation/direct_base_controller/pose_converter/converted_pose + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 85; 85; 255 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: goal_pose + Queue Size: 10 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /pose_transformer/transformed_pose + Unreliable: false + Value: true + Enabled: false + Name: direct_base_ctrl + - Class: rviz/Group + Displays: + - Alpha: 0.8999999761581421 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 0; 255; 0 + Enabled: false + Head Length: 0.10000000149011612 + Head Radius: 0.029999999329447746 + Name: winner_pose + Queue Size: 10 + Shaft Length: 0.10000000149011612 + Shaft Radius: 0.009999999776482582 + Shape: Arrow + Topic: /pregrasp_planner_pipeline/grasp_planner/pose_out + Unreliable: false + Value: false + - Alpha: 1 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: false + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: generated_poses + Queue Size: 10 + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Arrow (Flat) + Topic: /pregrasp_planner_pipeline/pose_generator/poses_list + Unreliable: false + Value: false + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: pose_in_pregrasp_planner + Queue Size: 10 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /mir_pregrasp_planner_pipeline/pose_in + Unreliable: false + Value: true + Enabled: false + Name: pregrasp_planner + - Class: rviz/Group + Displays: + - Class: rviz/Image + Enabled: true + Image Topic: /mcr_perception/barrier_tape_detection/debug_image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: debug_image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /mcr_perception/barrier_tape_detection/output/yellow_barrier_tape_pointcloud + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: "" + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: LaserScan + Position Transformer: "" + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /barrier_tape/scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: false + Name: barrier_tape + - Class: rviz/Group + Displays: + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: line_tracing_3d + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /mcr_perception/line_contour_detector/output/pointclouds_filtered + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /mcr_perception/line_contour_detector/output/debug_image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: line_tracing_rgb + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: line_path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /mir_manipulation/mir_trajectory_executor/line_tracing_path + Unreliable: false + Value: true + Enabled: false + Name: line_tracing + - Class: rviz/Group + Displays: + - Alpha: 1 + Axes Length: 0.10000000149011612 + Axes Radius: 0.009999999776482582 + Class: rviz/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: grasp_pose + Queue Size: 10 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Axes + Topic: /mir_pregrasp_planner_pipeline/pose_out + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 0.20000000298023224 + Axes Radius: 0.009999999776482582 + Class: rviz/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: object_pose + Queue Size: 10 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Axes + Topic: /mcr_perception/object_selector/output/object_pose + Unreliable: false + Value: true + - Alpha: 0.10000000149011612 + Axes Length: 0.10000000149011612 + Axes Radius: 0.009999999776482582 + Class: rviz/Pose + Color: 255; 0; 255 + Enabled: true + Head Length: 0.10000000149011612 + Head Radius: 0.009999999776482582 + Name: base_goal_pose + Queue Size: 10 + Shaft Length: 0.10000000149011612 + Shaft Radius: 0.009999999776482582 + Shape: Axes + Topic: /wbc_base_motion_calculator_pipeline/pose_transformer/transformed_pose + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 0; 0; 0 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: base_start_pose + Queue Size: 10 + Shaft Length: 0.10000000149011612 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /base_motion_calculator/pose_out_1 + Unreliable: false + Value: true + - Alpha: 1 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: false + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: PoseArray + Queue Size: 10 + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Arrow (Flat) + Topic: /pregrasp_planner_pipeline/pose_generator/poses_list + Unreliable: false + Value: false + Enabled: false + Name: WBC + Enabled: false + Name: btt + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 0; 255; 0 + Enabled: true + Head Length: 0.10000000149011612 + Head Radius: 0.05000000074505806 + Name: camera_calibration_obj_pose + Queue Size: 10 + Shaft Length: 0.30000001192092896 + Shaft Radius: 0.009999999776482582 + Shape: Arrow + Topic: /mcr_perception/object_selector/output/object_pose + Unreliable: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: raw_color_pcl + Position Transformer: XYZ + Queue Size: 10 + Selectable: false + Size (Pixels): 1 + Size (m): 0.019999999552965164 + Style: Points + Topic: /tower_cam3d/depth_registered/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 2.597813129425049 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: 0.2907962501049042 + Y: -0.21175114810466766 + Z: -0.0001220703125 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.07979757338762283 + Target Frame: + Yaw: 1.5549991130828857 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1043 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1920 + X: 1920 + Y: 0 + cavity_debug: + collapsed: false + debug_image: + collapsed: false + line_tracing_rgb: + collapsed: false + mm_rgb_debug: + collapsed: false + raw_image: + collapsed: false + yolo_debug: + collapsed: false diff --git a/data/docker-compose.yml b/data/docker-compose.yml new file mode 100644 index 0000000000000000000000000000000000000000..8291ff1d173294c4c5934c75ba9d3fecf8844795 --- /dev/null +++ b/data/docker-compose.yml @@ -0,0 +1,9 @@ +version: '2' +services: + mas_industrial_robotics: + build: + dockerfile: images/mas_industrial_robotics/Dockerfile + context: . + args: + ROS_DISTRO: ${ROS_DISTRO} + image: ghcr.io/b-it-bots/mas_industrial_robotics/industrial-${ROS_DISTRO}:${IMAGE_TAG} diff --git a/data/docs/Makefile b/data/docs/Makefile new file mode 100644 index 0000000000000000000000000000000000000000..d0c3cbf1020d5c292abdedf27627c6abe25e2293 --- /dev/null +++ b/data/docs/Makefile @@ -0,0 +1,20 @@ +# Minimal makefile for Sphinx documentation +# + +# You can set these variables from the command line, and also +# from the environment for the first two. +SPHINXOPTS ?= +SPHINXBUILD ?= sphinx-build +SOURCEDIR = source +BUILDDIR = build + +# Put it first so that "make" without argument is like "make help". +help: + @$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O) + +.PHONY: help Makefile + +# Catch-all target: route all unknown targets to Sphinx using the new +# "make mode" option. $(O) is meant as a shortcut for $(SPHINXOPTS). +%: Makefile + @$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O) diff --git a/data/docs/make.bat b/data/docs/make.bat new file mode 100644 index 0000000000000000000000000000000000000000..6247f7e231716482115f34084ac61030743e0715 --- /dev/null +++ b/data/docs/make.bat @@ -0,0 +1,35 @@ +@ECHO OFF + +pushd %~dp0 + +REM Command file for Sphinx documentation + +if "%SPHINXBUILD%" == "" ( + set SPHINXBUILD=sphinx-build +) +set SOURCEDIR=source +set BUILDDIR=build + +if "%1" == "" goto help + +%SPHINXBUILD% >NUL 2>NUL +if errorlevel 9009 ( + echo. + echo.The 'sphinx-build' command was not found. Make sure you have Sphinx + echo.installed, then set the SPHINXBUILD environment variable to point + echo.to the full path of the 'sphinx-build' executable. Alternatively you + echo.may add the Sphinx directory to PATH. + echo. + echo.If you don't have Sphinx installed, grab it from + echo.http://sphinx-doc.org/ + exit /b 1 +) + +%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O% +goto end + +:help +%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O% + +:end +popd diff --git a/data/docs/requirements.txt b/data/docs/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..53fc1f32e3faa0ddcc4f1ece472886796a3811a7 --- /dev/null +++ b/data/docs/requirements.txt @@ -0,0 +1,2 @@ +sphinx==7.1.2 +sphinx-rtd-theme==1.3.0rc1 diff --git a/data/docs/source/conf.py b/data/docs/source/conf.py new file mode 100644 index 0000000000000000000000000000000000000000..9b77d49d4451c92a675534c409122c0e1f0324f9 --- /dev/null +++ b/data/docs/source/conf.py @@ -0,0 +1,73 @@ +# Configuration file for the Sphinx documentation builder. +# +# This file only contains a selection of the most common options. For a full +# list see the documentation: +# https://www.sphinx-doc.org/en/master/usage/configuration.html + +# -- Path setup -------------------------------------------------------------- + +# If extensions (or modules to document with autodoc) are in another directory, +# add these directories to sys.path here. If the directory is relative to the +# documentation root, use os.path.abspath to make it absolute, like shown here. +# +import os +import subprocess + +# sys.path.insert(0, os.path.abspath('.')) + +current_file_dir = os.path.dirname(os.path.realpath(__file__)) + + +def get_git_short_hash(): + rc = subprocess.check_output(["git", "rev-parse", "--short", "HEAD"]) + rc = rc.decode("utf-8").strip() + return rc + + +# -- Project information ----------------------------------------------------- +project = "MAS Industrial Robotics" +copyright = "2022, www.b-it-bots.de" +author = "www.b-it-bots.de" + +# The full version, including alpha/beta/rc tags +# current_hash = get_git_short_hash() +current_hash = "Noetic" +version = "latest ({})".format(current_hash) +release = version + + +# -- General configuration --------------------------------------------------- +# Add any Sphinx extension module names here, as strings. They can be +# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom +# ones. +extensions = ["sphinx.ext.autodoc"] + +# Add any paths that contain templates here, relative to this directory. +templates_path = ["_templates"] + +# List of patterns, relative to source directory, that match files and +# directories to ignore when looking for source files. +# This pattern also affects html_static_path and html_extra_path. +exclude_patterns = [] + + +# -- Options for HTML output ------------------------------------------------- +# The theme to use for HTML and HTML Help pages. See the documentation for +# a list of builtin themes. +# +html_theme = "sphinx_rtd_theme" +theme_path = os.path.join( + current_file_dir, "..", "..", "third_party", "sphinx_rtd_theme" +) +html_theme_path = [ + theme_path, +] + +# Add any paths that contain custom static files (such as style sheets) here, +# relative to this directory. They are copied after the builtin static files, +# so a file named "default.css" will overwrite the builtin "default.css". +html_static_path = [] + +# Master document should be index.rst instead of contents.rst +# https://github.com/readthedocs/readthedocs.org/issues/2569#issuecomment-485117471 +master_doc = "index" diff --git a/data/docs/source/contributing/coding_style.rst b/data/docs/source/contributing/coding_style.rst new file mode 100644 index 0000000000000000000000000000000000000000..a2e927a355f17361f402cb28501b44b881fc94d7 --- /dev/null +++ b/data/docs/source/contributing/coding_style.rst @@ -0,0 +1,219 @@ +.. _coding_style: + +Coding guidelines +================= + +.. note:: + + Make sure that your text editor is properly configured to use **spaces** instead of tabs. + All C/C++ code should be written and formatted according to the **Google style guide** (with an exception to column limit + and breaking braces. + See `.clang-format `_ for more details). + All Python code should adhere to the **PEP-8 style guide**. + +.. _style-label: + +Coding style +------------ + +C/C++ +^^^^^ + +* Linting + + `cpplint `_ is used to lint C++ code according to the + `Google style guide `_. + cpplint can be installed using pip (in a python 3.7 environment) + + .. code-block:: bash + + pip install cpplint + + Run cpplint on a file/directory as follows + + .. code-block:: bash + + cpplint + + +* Code formatting + + `Clang format `_ is used to format C/C++ code. + Install clang format as follows. + + .. code-block:: bash + + sudo apt-get install clang-format + + All configurations are present in .clang-format file and its is mandatory to use this file to format + the code in this repository. + Please note that it is necessary to run clang-format from the repository's root folder so that it + uses the repository's .clang-format file. To run clang-format on a single C++ file, use + + .. code-block:: bash + + clang-format -i + + To run clang-format on files inside a directory recursively, use + + .. code-block:: bash + + find . -regex '.*\.\(cpp\|hpp\|cu\|c\|h\)' -exec clang-format -i {} \; + +* Static code analysis + + `Cppcheck `_ is used for static code analysis in order to detect + bugs and undefined behaviors due to bad coding constructs. Install cppcheck using + + .. code-block:: bash + + sudo apt-get install cppcheck + + To run cppcheck on a file or directory, run + + .. code-block:: bash + + cppcheck + + + +Python +^^^^^^ + +* Linting + + Python code should follow the `PEP-8 `_ style guide. + Installing linters in your python environment ensures compliance with the PEP-8 style guide. + The precommit hooks for this repository uses pylint in a **python 3.7 environment** and can lint + python 2 code. Pylint can + be easily installed using pip. + + .. code-block:: bash + + pip install pylint + + In order to analyze file/s for linting errors, manually run pylint using the following command. + + .. code-block:: bash + + pylint + +* Sorting imports + + `isort `_ organizes and sorts imports in python files. + Install isort using pip. + + .. code-block:: bash + + pip install isort + + To run isort on a python file use + + .. code-block:: bash + + isort + +* Code formatter + + `Black `_ is used to format python + code. Please ensure that your code is formatted using black before committing your changes. + Black can be installed using pip (again in a **python 3.7 environment**). + + .. code-block:: bash + + pip install black + + To format existing python code using black, run the following + + .. code-block:: bash + + black + + +.. note:: + + `Pre-commit `_ hooks has been added to this repository. + Please note that you will not be able to locally commit your changes to git until all the + checks in the .pre-commit-config.yaml pass. Some serious violations of the standard coding + guidelines will result in errors while running git commit and have to be manually fixed. + **Users will not be able to commit their code, until these errors are fixed.** + Please ensure that **git commit** or **pre-commit hooks** (and not the code itself) is run in a **python 3.7 environment** + as configured in .pre-commit-config.yaml. + +.. warning:: + + Alternatively, one could also verify if the pre-commit hooks pass before actually committing + the code to git. To do so please run the following command after making necessary changes to + your code. + + .. code-block:: bash + + pre-commit run --all-files + + This is however currently discouraged because there are several linting errors in the whole + repository yet to be fixed and one doesn't want to end up fixing thousands of errors when + just trying to add their contribution. + + +Editors for software development +-------------------------------- + +* Visual Studio Code +* Vim +* Pycharm + +Install the necessary python, C++ and ROS plugins after installing a desired editor. +Other editors which support ROS are listed `here `_. + +Configuring editors +^^^^^^^^^^^^^^^^^^^ + +It is important to configure your editor settings so that linters, code formatters and +code checkers check for errors (and solve them if possible) automatically upon saving +your changes in a file. +Below is an illustration of the settings configurations that need to modified in Visual Studio Code to avoid +manually performing the checks described in :ref:`style-label`. Similar configurations can be done in +other editors too. + +The settings can be configured through the Settings option in File menu or in +settings.json. + +* Python linting + By default pylint is enabled in Visual Studio Code, however pylint has to be installed + using pip in your chosen python interpreter path. Please do not enable other linters as + this could create a conflict while running pre-commit hooks. Please checkout the + `VS Code website `_ for more information. + +* Python code formatting + Since pre-commit hooks uses black to format python code, this can be very conveniently + added to your editor so that the file is auto-formatted by black upon saving. Add the following + to your settings.json to enable black code formatting. + + .. code-block:: bash + + "python.formatting.blackArgs": [ + "--line-length=79" + ], + "python.formatting.provider": "black", + "[python]": { + "editor.codeActionsOnSave": { + "source.organizeImports": true + } + }, + +* C++ linting + Install the cpplint extension to VS Code to enable the cpplinter. This then highlights the linting + errors in the C++ code with squiggly lines. + +* C++ code formatting + Clang-format is used to format C++ code. This can be configured in settings.json + after installing the official Microsoft C/C++ extension. Add the following lines to your + settings.json file so that the configurations from .clang-format in the repository are + used by VS Code to format the C++ files. + + .. code-block:: bash + + "C_Cpp.clang_format_style": "file", + "C_Cpp.formatting": "clangFormat" + + diff --git a/data/docs/source/contributing/index.rst b/data/docs/source/contributing/index.rst new file mode 100644 index 0000000000000000000000000000000000000000..c6c93075c8603f3e0d611dec0f1dc8a5878fef6d --- /dev/null +++ b/data/docs/source/contributing/index.rst @@ -0,0 +1,10 @@ +.. _contributing: + +Contributing +############ + +.. toctree:: + + ros + coding_style + toolkit \ No newline at end of file diff --git a/data/docs/source/contributing/ros.rst b/data/docs/source/contributing/ros.rst new file mode 100644 index 0000000000000000000000000000000000000000..54bd428682a722dbfc71a5373016f85f506f15f8 --- /dev/null +++ b/data/docs/source/contributing/ros.rst @@ -0,0 +1,187 @@ +.. _contributing_ros: + +Robot Operating System (ROS) +============================= + +ROS packages naming and structure +---------------------------------- + +Creating a new package +^^^^^^^^^^^^^^^^^^^^^^^ + +* Naming + + In order to create a new ROS package for one of the repositories some rules need to be considered: + + 1. The package name has always the following format: + + .. code-block:: bash + + prefix_my_package_name + + 2. Use the right prefix for every repository: + + a. mas_domestic_robotics: *mdr_* + b. mas_industrial_robotics: *mir_* + c. mas_common_robotics: *mcr_* + + 3. Use lowercase. + 4. Separate words in the package name by underscores (_). + + Examples for creating packages according to the above described rules are as follows: + + .. code-block:: bash + + catkin create_pkg mdr_grasp_planning + catkin create_pkg mir_whole_body_control + catkin create_pkg mcr_object_detection + +* Folder structure + + Every ROS package within our repositories has to strictly match the following structure: + + .. code-block:: bash + + . + ├── common + │ ├── config + │ ├── include + │ │ └── + │ ├── src + │ │ └── + │ ├── test + │ └── tools + ├── ros + │ ├── config + │ ├── include + │ │ └── + │ ├── launch + │ │ └── .launch + │ ├── rviz + │ │ └── .rviz + │ ├── scripts + │ │ └── + │ ├── src + │ │ └── _node + │ ├── test + │ └── tools + ├── CMakeLists.txt + ├── package.xml + ├── setup.py + └── README.md + + In short: + * ROS-independent code goes into the `common` folder + * the `ros` folder contains a ROS-wrapper for the functionality you are adding + +Meta-packages +^^^^^^^^^^^^^^ + +If the package you are creating is meant to contain other packages inside of it, it needs to have instead the following structure: + +.. code-block:: bash + + ./ + └── + ├── CMakeLists.txt + ├── package.xml + └── README.md + +.. note:: + + It is **extremely** important to maintain your *package.xml* up to date with its dependencies. + Not doing so results in the need of specialized tools or manual inspection of launch files and + source code to discover your package dependencies. + +Messages, services and actions +------------------------------- + +Creating a new message, service or action. +If your package defines its own messages, services or actions you should add them to the corresponding meta-package: + +.. code-block:: bash + + ./_msgs + ├── action + │ ├── MyAction.action + ├── msg + │ ├── MyMessage.msg + ├── srv + │ └── MyService.srv + ├── CMakeLists.txt + ├── package.xml + └── README.md + +.. note:: + + The *srv* file name should start with verb i.e. *RecognizeImage.srv* + +Depending on the repository you are working on, the meta-package is related to the domain, e.g. *mdr_planning_msgs* or *mdr_navigation_actions* + +Linting +-------- + +Running **roslint** with catkin +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Before merging into the main repository *roslint* is ran on all merge requests. +Unless all errors are resolved the merge request will be rejected. To test if your changes would pass the *roslint* test locally: + +* Add the following lines to your `CMakelists.txt`: + + .. code-block:: bash + + find_package(catkin REQUIRED COMPONENTS roslint ...) + + roslint_python() # pep8 linting + roslint_cpp() # ROS wrapper of Google's cpplint + + Your *package.xm* should include *roslint* as a build dependency: + + .. code-block:: bash + + roslint + +* Build target roslint: + + * with `catkin_make`: + + .. code-block:: bash + + catkin_make roslint_ + + * with `catkin_tools`: + + .. code-block:: bash + + catkin build --no-deps --make-args roslint_ + +* If build fail copy and execute the gray line that looks something like the following to see more detailed errors: + + .. code-block:: bash + + cd + catkin build --get-env | catkin env -si /usr/bin/make roslint --jobserver-fds=6,7 -j; cd - + + +Running **catkin_lint** +^^^^^^^^^^^^^^^^^^^^^^^^^ + +You should also make sure that the *catkin_lint* tests pass; +running it from the root of your catkin workspace you can run: + +.. code-block:: bash + + catkin_lint --strict --ignore CRITICAL_VAR_APPEND,LINK_DIRECTORY src/mas_domestic_robotics + + +See Also: + +* `roslint `_ +* `catkin_lint `_ + +Proposed linters: + +* `C++ `_ +* `Python `_ +* `ROS `_ diff --git a/data/docs/source/contributing/toolkit.rst b/data/docs/source/contributing/toolkit.rst new file mode 100644 index 0000000000000000000000000000000000000000..aa91ecd66844ee4a84a75846da9d668d40dbefa2 --- /dev/null +++ b/data/docs/source/contributing/toolkit.rst @@ -0,0 +1,4 @@ +.. _toolkit: + +Toolkit +======== \ No newline at end of file diff --git a/data/docs/source/docker.rst b/data/docs/source/docker.rst new file mode 100644 index 0000000000000000000000000000000000000000..dfc2a363902cc55aae6ed5643cdea1996abb7b1e --- /dev/null +++ b/data/docs/source/docker.rst @@ -0,0 +1,130 @@ +.. _docker: + +Docker +###### + +The latest versions of docker-engine and docker-compose have to be installed +before getting started. Please have a look at `docker's official website `_ +for more insights into the working and usage of docker images and docker containers. + +It is highly recommended that you use docker containers to build and run your +nodes rather than directly installing ROS and working with the MAS industrial software on your PC. + +.. _using_mir_docker_images: + +Using Our Images +================ + +Our docker images are available `here `_. +The images provide a proper development environment -with ros pre-installed and without +any missing dependencies- for the MAS industrial software. Additionally, the images +also contain src packages which are prebuilt. + +Directory structure in the image: + + .. code-block:: bash + + /home/robocup//catkin_ws + ├── build + ├── devel + ├── logs + ├── src + ├── mas_industrial_robotics + ├── mas_perception_msgs + ├── mas_navigation + ├── ... + +Where `ros_distro` corresponds to the ros distribution i.e. `kinetic, melodic`. + +The main github branch of the each ros distro should always reflect `latest` +tag in the github registry, for example `kinetic` branch reflects +`mas_industrial_robotics/industrial-kinetic:latest`, while the `devel` branch +always reflects `devel` tag, for example `kinetic` branch reflects `mas_industrial_robotics/industrial-kinetic:devel` + +* **Start the container** + + To start the container, `docker-compose `_ + is required, with which it is easier to define the environment and volumes from + the host PC to the container. + + .. code-block:: bash + + docker-compose -f start-container.yaml up industrial_ + + If there is no local image, docker will automatically pull from MIR github + container registry. + + The images can also be pulled manually without docker-compose. + + .. code-block:: bash + + #kinetic image + docker pull ghcr.io/b-it-bots/mas_industrial_robotics/industrial-kinetic:latest + + #melodic image + docker pull ghcr.io/b-it-bots/mas_industrial_robotics/industrial-melodic:latest + +* **Log in to the container** + + .. code-block:: bash + + docker exec -it mas_industrial_robotics_industrial_kinetic_1 /bin/bash + +.. tip:: + + The container is set up to use `host` network, and therefore when you run + roscore or ros packages in either host or container, and both will have access + to ros communication infrastructure such as topics and services. + + +.. _mounting_volumes: + +Mounting Local Volumes +====================== + +Since the codes in the image are not persistent, which means they will be +removed when the images are rebuilt, it is recommended to mount your local disk +containing the repository to the container. + +To mount your local disk to the container, you need to modify `start-container.yaml` +under `mas_industrial_robotics` repository. The following example shows how you +can mount your `rviz` configuration and `mas_industrial_robotics` repository which +is mounted to `/home/robocup//catkin_ws/src/external` in the container. + + .. code-block:: yaml + + # under volume add your local disk + volumes: + - $HOME/.rviz:/home/robocup/.rviz + - $HOME/catkin_ws/mas_industrial_robotics:/home/robocup//catkin_ws/src/external/mas_industrial_robotics + +Since there are now two `mas_industrial_robotics` repositories, you have to do +the followings to make the build successful: + + * Remove or `CATKIN_IGNORE` the repository that comes with the image under `src/mas_industrial_robotics`. + * `catkin clean` to remove the prebuilt packages from the image + * Rebuild the package e.g. `catkin build mir_object_recognition` + +Now, you can make changes locally in your PC using your favourite IDE, and build +the package inside the container. + +.. note:: + + This was only tested with Linux. + + +.. _creating_own_image: + +Creating Your Own Image +======================= + +You can create your own image by using b-it-bots image as base: + +.. code-block:: bash + + FROM ghcr.io/b-it-bots/mas_industrial_robotics/industrial-melodic:latest + + USER robocup + + # add your modification e.g. install tensorflow + RUN pip install tensorflow diff --git a/data/docs/source/getting_started.rst b/data/docs/source/getting_started.rst new file mode 100644 index 0000000000000000000000000000000000000000..62a59cd6d3ef709ec2002884b11841cdc756ce12 --- /dev/null +++ b/data/docs/source/getting_started.rst @@ -0,0 +1,205 @@ +.. _getting_started: + +Getting started +############### + +.. _install_ubuntu: + +Install Ubuntu +============== + +The repository and its related components have been tested under the following Ubuntu distributions: + +- ROS Kinetic: Ubuntu 16.04 +- ROS Melodic: Ubuntu 18.04 +- ROS Noetic: Ubuntu 20.04 + +If you do not have a Ubuntu distribution on your computer you can download it `here `_. + +.. _git_version_control: + +Git - Version Control +===================== + +* Install Git Software + + Install the Git core components and some additional GUI's for the version control: + + .. code-block:: bash + + sudo apt-get install git-core gitg gitk + +* Set Up Git + + Now it's time to configure your settings. To do this you need to open a new Terminal. First you need to tell git your name, so that it can properly label the commits you make: + + .. code-block:: bash + + git config --global user.name "Your Name Here" + + Git also saves your email address into the commits you make. + + .. code-block:: bash + + git config --global user.email "your-email@youremail.com" + + +* GIT Tutorial + If you have never worked with git before, we recommend to go through the + `basic git tutorial `_. + +.. _getting_started_docker: + +Docker (Recommended) +==================== + +To be able to use our software independent of the operating system and/or ROS +distribution, it is recommended to use docker. You can follow +:ref:`this tutorial ` to use docker. + +.. _robot_operating_system: + +ROS - Robot Operating System +============================ + +* Install ROS + + The repository has been tested successfully with the following ROS distributions. + Use the link behind a ROS distribution to get to the particular + `ROS Kinetic installation instructions `_. + + .. note:: + Do not forget to update your .bashrc! + +* ROS Tutorials + + If you have never worked with ROS before, we recommend to go through + `the beginner tutorials provided by ROS `_. + + In order to understand at least the different core components of ROS, you have to start from tutorial 1 ("Installing and Configuring Your ROS Environment") till tutorial 7 ("Understanding ROS Services and Parameters"). + +.. _setup_catkin_workspace: + +Setup catkin workspace +========================= + +* Create a catkin workspace + + .. code-block:: bash + + source /opt/ros/noetic/setup.bash + mkdir -p ~/noetic/src; cd ~/noetic/src + catkin_init_workspace + catkin build + +* Clone and compile the MAS industrial robotics software + + First of all you have to clone the repository. + + .. code-block:: bash + + cd ~/noetic/src; + git clone git@github.com:b-it-bots/mas_industrial_robotics.git + + Then go on with installing further external dependencies: + + .. code-block:: bash + + cd ~/noetic/src/mas_industrial_robotics + ./repository.debs + source ~/noetic/devel/setup.bash + + The last command should be added to the ~/.bashrc file so that they do not need to be executed everytime you open a new terminal. + + And finally compile the repository: + + .. code-block:: bash + + cd ~/noetic + catkin build + + If no errors appear everything is ready to use. Great job! + +* Setting the Environment Variables + + * ROBOT variable + + With the ROBOT variable you can choose which hardware configuration should be loaded when starting the robot. The following line will add the variable to your .bashrc: + + .. code-block:: bash + + echo "export ROBOT=youbot-brsu-1" >> ~/.bashrc + source ~/.bashrc + + * ROBOT_ENV Variable + + The ROBOT_ENV variable can be used to switch between different environments. The following line will add the variable to your .bashrc: + + * Real robot + + .. code-block:: bash + + echo "export ROBOT_ENV=brsu-c025" >> ~/.bashrc + source ~/.bashrc + + * Simulation + + .. code-block:: bash + + echo "export ROBOT_ENV=brsu-c025-sim" >> ~/.bashrc + source ~/.bashrc + +.. _bringup_robot: + +Bring up the robot and its basic components +=========================================== + +* In Simulation + + .. code-block:: bash + + roslaunch mir_bringup_sim robot.launch + + In a new terminal you can open the Gazebo GUI to see the environment and the robot + + .. code-block:: bash + + rosrun gazebo_ros gzclient + +* At the Real Robot + + .. code-block:: bash + + roslaunch mir_bringup robot.launch + + +* Test the base + + .. code-block:: bash + + roslaunch mir_teleop teleop_keyboard.launch + + +* Visualize the robot state and sensor data + + .. code-block:: bash + + rosrun rviz rviz + + +* Build a map for base navigation + + .. code-block:: bash + + roslaunch mir_2dslam 2dslam.launch + + +* Use autonomous navigation + + * Omni-directional navigation + + .. code-block:: bash + + roslaunch mir_2dnav 2dnav.launch nav_mode:=dwa + +Click on the menu bar "File -> Open Config", navigate to "~/noetic/src/mas_industrial_robotics" and select the "youbot.rviz" file. diff --git a/data/docs/source/images/youbot_annotated.png b/data/docs/source/images/youbot_annotated.png new file mode 100644 index 0000000000000000000000000000000000000000..097420dd5fde5b7903b896024bb07d279258d807 --- /dev/null +++ b/data/docs/source/images/youbot_annotated.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:439de6728f4ad048c68956abf059be3847c9f9a9a0cb74972ec1586fa021b713 +size 618771 diff --git a/data/docs/source/index.rst b/data/docs/source/index.rst new file mode 100644 index 0000000000000000000000000000000000000000..7abd60aff6115127fd9a812c206728881c14258c --- /dev/null +++ b/data/docs/source/index.rst @@ -0,0 +1,42 @@ +.. MAS Industrial Robotics documentation master file, created by + sphinx-quickstart on Mon Dec 2 09:12:52 2019. + You can adapt this file completely to your liking, but it should at least + contain the root `toctree` directive. + +MAS Industrial Robotics +======================= + +.. toctree:: + :maxdepth: 2 + + introduction + getting_started + contributing/index.rst + +.. toctree:: + :maxdepth: 2 + :caption: Tutorial + + docker + mir_perception/index.rst + mir_manipulation/index.rst + mir_navigation/index.rst + mir_planning/index.rst + mir_simulation/index.rst + infrastructure + +.. toctree:: + :maxdepth: 2 + :caption: Task + + tasks/bmt/bmt_demo.rst + +.. toctree:: + :maxdepth: 2 + :caption: Documentation + + mir_perception/docstring/index.rst + mir_manipulation/docstring/index.rst + mir_navigation/docstring/index.rst + mir_planning/docstring/index.rst + mir_simulation/docstring/index.rst diff --git a/data/docs/source/infrastructure.rst b/data/docs/source/infrastructure.rst new file mode 100644 index 0000000000000000000000000000000000000000..18032ecb7772a3ee506f61e12b40c8276aaedb87 --- /dev/null +++ b/data/docs/source/infrastructure.rst @@ -0,0 +1,73 @@ +.. _infrastructure: + +Infrastructure +############## + + +C025 Hub Server +=============== + +You can use our workstation in C025 lab if you need computing facilities such as +GPU, but the available resouces are limited with 24 cores of CPU, 40GB RAM, and 2x +Nvidia 3090 with 24 GB GPU memory each. However, if you need more resources, please request +access to `the university HPC cluster `_. + +We also provide a JupyterHub server on the workstation so that you do not have to +setup the environment. + +Hub Server +---------- + +The address of the JupyterHub server is `https://10.20.118.78:32025 `_ and +LDAP is used for the login. + +Multiple environments can be provided and is described in `here `_. +You can choose the one that meets your needs or PR to the aforementioned repository +if you need to update the libraries. We can, of course, provide more environment +options as per request. + +`Deep Learning env with Tensorflow and Pytorch` is default environment and contains +several deep learning libraries defined in `gpu-notebook `_. +The GPUs are accessible by all authorized users and there is no individual GPU resouce +allocation. + +Access +------ + +In order to get access to the hub, we need to add your LDAP username. + +.. hint:: + + Admins can add new users by going to admin page `https://10.20.118.78:32025/hub/admin `_. + +* Within the university network: + + You can access the hub directly from the university network. + +* Remote access + + * University VPN + + Follow `this instruction `_ to setup VPN + in your local machine. Once you are connected to the university VPN, you can + open the Hub address. + + * SSH tunnel + + If you do not want to use VPN, you can port forward from your FB02 account to + C025 workstation + + .. code-block:: bash + + # replace account2s with your FBUID + ssh -L 32025:10.20.118.78:32025 account2s@home.inf.h-brs.de + + Then, open browser and go to `https://localhost:32025 `_. + +.. note:: + + SSH access to the workstation is only possible with ssh key, so if you need it, + please send us your ssh key. + +University Cluster +================== diff --git a/data/docs/source/introduction.rst b/data/docs/source/introduction.rst new file mode 100644 index 0000000000000000000000000000000000000000..7d43bb22a11a116fdde7470b6a633cf5e227415d --- /dev/null +++ b/data/docs/source/introduction.rst @@ -0,0 +1,5 @@ +.. _introduction: + +About +######## + diff --git a/data/docs/source/mir_manipulation/docstring/index.rst b/data/docs/source/mir_manipulation/docstring/index.rst new file mode 100644 index 0000000000000000000000000000000000000000..76e292a1098c00b6d7a9a3aac1cee5844b26983d --- /dev/null +++ b/data/docs/source/mir_manipulation/docstring/index.rst @@ -0,0 +1,10 @@ +.. _mir_manipulation_docs: + +Manipulation Documentation +########################## + +.. toctree:: + :maxdepth: 1 + + mir_moveit_scene_ros.rst + mir_pregrasp_planning_ros.rst diff --git a/data/docs/source/mir_manipulation/docstring/mir_moveit_scene_ros.rst b/data/docs/source/mir_manipulation/docstring/mir_moveit_scene_ros.rst new file mode 100644 index 0000000000000000000000000000000000000000..764977fcbd469e4fc36b15a97b410127ef5de6c8 --- /dev/null +++ b/data/docs/source/mir_manipulation/docstring/mir_moveit_scene_ros.rst @@ -0,0 +1,20 @@ +.. _mir_moveit_scene_ros_docs: + +mir\_moveit\_scene\_ros +======================= + +mir\_moveit\_scene\_ros.attach\_grasped\_object module +------------------------------------------------------ + +.. automodule:: mir_moveit_scene_ros.attach_grasped_object + :members: + :undoc-members: + :show-inheritance: + +mir\_moveit\_scene\_ros.restrict\_arm\_workspace module +------------------------------------------------------- + +.. automodule:: mir_moveit_scene_ros.restrict_arm_workspace + :members: + :undoc-members: + :show-inheritance: diff --git a/data/docs/source/mir_manipulation/docstring/mir_pregrasp_planning_ros.rst b/data/docs/source/mir_manipulation/docstring/mir_pregrasp_planning_ros.rst new file mode 100644 index 0000000000000000000000000000000000000000..96062bfc8582213e57ee3ea336739335c8dc33b4 --- /dev/null +++ b/data/docs/source/mir_manipulation/docstring/mir_pregrasp_planning_ros.rst @@ -0,0 +1,28 @@ +.. _mir_pregrasp_planning_ros_docs: + +mir\_pregrasp\_planning\_ros +============================ + +mir\_pregrasp\_planning\_ros.pose\_mock\_up\_gui module +------------------------------------------------------- + +.. automodule:: mir_pregrasp_planning_ros.pose_mock_up_gui + :members: + :undoc-members: + :show-inheritance: + +mir\_pregrasp\_planning\_ros.pregrasp\_planner\_node module +----------------------------------------------------------- + +.. automodule:: mir_pregrasp_planning_ros.pregrasp_planner_node + :members: + :undoc-members: + :show-inheritance: + +mir\_pregrasp\_planning\_ros.simple\_pregrasp\_planner\_utils module +-------------------------------------------------------------------- + +.. automodule:: mir_pregrasp_planning_ros.simple_pregrasp_planner_utils + :members: + :undoc-members: + :show-inheritance: diff --git a/data/docs/source/mir_manipulation/index.rst b/data/docs/source/mir_manipulation/index.rst new file mode 100644 index 0000000000000000000000000000000000000000..8507fe05b765809f5f7f7bb948996dd0dc03c9f7 --- /dev/null +++ b/data/docs/source/mir_manipulation/index.rst @@ -0,0 +1,6 @@ +.. _mir_manipulation: + +Manipulation +############## + +MAS industrial robotics - manipulation tutorial diff --git a/data/docs/source/mir_navigation/docstring/index.rst b/data/docs/source/mir_navigation/docstring/index.rst new file mode 100644 index 0000000000000000000000000000000000000000..e00867d5b742a8830f7b54654be072a5ea766ec8 --- /dev/null +++ b/data/docs/source/mir_navigation/docstring/index.rst @@ -0,0 +1,10 @@ +.. _mir_navigation_docs: + +Navigation Documentation +######################## + +.. toctree:: + :maxdepth: 1 + + mir_move_base_ros + diff --git a/data/docs/source/mir_navigation/docstring/mir_move_base_ros.rst b/data/docs/source/mir_navigation/docstring/mir_move_base_ros.rst new file mode 100644 index 0000000000000000000000000000000000000000..1074fbc9f91c0237715d70f317dc548cc3eb1c11 --- /dev/null +++ b/data/docs/source/mir_navigation/docstring/mir_move_base_ros.rst @@ -0,0 +1,12 @@ +.. _mir_move_base_ros_docs: + +mir\_move\_base\_ros +==================== + +mir\_move\_base\_ros.move\_base module +-------------------------------------- + +.. automodule:: mir_move_base_ros.move_base + :members: + :undoc-members: + :show-inheritance: diff --git a/data/docs/source/mir_navigation/index.rst b/data/docs/source/mir_navigation/index.rst new file mode 100644 index 0000000000000000000000000000000000000000..24c4dceeb95246a0e7ec97f89e8470efdf9c10b5 --- /dev/null +++ b/data/docs/source/mir_navigation/index.rst @@ -0,0 +1,217 @@ +.. _mir_navigation: + +Navigation +############# + +On workstation or your PC +========================== + +* To shh the youbot (in all terminals): + + .. code-block:: bash + + yb4 + + .. note:: + + alias yb4=ssh -X robocup@youbot-brsu-4-pc2 + +* Export the youbot ssh alias + + .. code-block:: bash + + export_yb4 + + .. note:: + + alias export_yb4=export ROS_MASTER_URI=http://youbot-brsu-4-pc2:11311 + +* Run rviz + + .. code-block:: bash + + rosrun rviz rviz + + Set the global frame to `base_link` + +.. _2d_slam: + +2D SLAM +======== + +* Run roscore + + .. code-block:: bash + + roscore + +* Launch the robot + + .. code-block:: bash + + roslaunch mir_bringup robot.launch + +* Run 2D SLAM + + .. code-block:: bash + + roslaunch mir_2dslam 2dslam.launch + + .. note:: + + The map is built using the front laser's only + +* Run the map saver + + Go to the map configuration directory + + .. code-block:: bash + + roscd mcr_default_env_config + + By using `ls` you can see several folders corresponding to existing environments. + You can either use an existing map or create a new one: + + .. code-block:: bash + + mkdir [map_name] + cd [map_name] + + And then run: + + .. code-block:: bash + + rosrun map_server map_saver + + This will create two files: a `map.pgm` and `map.yml`. + + Finally, to use the map that you just created you need to check which map will be loaded by the navigation stack: + + .. code-block:: bash + + echo $ROBOT_ENV + + If you need to change it: + + .. code-block:: bash + + export ROBOT_ENV=[map_name] + + .. note:: + + Usually the `.rosc` script is used to set the environment, among other variables. + +.. _2d_navigation: + +2D Navigation +================ + +* Bringup the robot + + First export the environment to be used: + + .. code-block:: bash + + export ROBOT_ENV=brsu-C025 + + Launch the robot: + + .. code-block:: bash + + roslaunch mir_bringup robot.launch + +* Launch the navigation node + + .. code-block:: bash + + roslaunch mir_2dnav 2dnav.launch + +* Launch the planning bringup + + .. code-block:: bash + + roslaunch mir_planning_bringup robot.launch + +* Create navigation goals and orientations + + First you need to create the files where goals will be saved: + + .. code-block:: bash + + touch navigation_goals.yaml + touch orientation_goals.yaml + +* Localize the robot + + In rviz: + + 1. Select the 2D pose estimate + 2. Click the position near the robot + 3. Move with joystick + 4. Launch navigation tools in yb2 + +* Save the navigation and orientation goals + + .. code-block:: bash + + roscd mcr_default_env_config + cd brsu-C025 + rosrun mcr_navigation_tools save_base_map_poses_to_file + +* Test navigation goal using move_base + +.. code-block:: bash + + rosrun mir_move_base_safe move_base_safe_server.py + rosrun mir_move_base_safe move_base_safe_client_test.py [dest] + +* Navigation test using refbox + +.. code-block:: bash + + roslaunch mir_basic_navigation_test refbox_parser.py + +.. _Direct_robot_control: + +Direct base controller +====================== + +The direct base controller is used to perform relative motions of the robot with respect to a reference frame. It has an optional feature to stop the motions when obstacles are detected with the laser scanners. + +* Bringup the robot + +.. code-block:: bash + + roslaunch mir_bringup robot.launch + +* Launch the direct base controller + +.. code-block:: bash + + roslaunch mir_direct_base_controller direct_base_controller.launch + + +* Launch the pose mockup GUI on your PC: +.. code-block:: bash + + export ROS_MASTER_URI=http://:11311 + roslaunch mir_direct_base_controller pose_mock_up_gui.launch + +A GUI pop up window will appear. +Set the relative pose accordingly in the window (e.g. 0.1 in X to move forward 10 cm). + +* Run rviz on your PC: + + .. code-block:: bash + + export ROS_MASTER_URI=http://:11311 + rviz + + Set the 'Fixed Frame' to `odom` + Add a 'Pose' display and set the topic to '/mcr_navigation/direct_base_controller/input_pose' + + +* Publish an `e_start` event to the direct base controller node +.. code-block:: bash + + rostopic pub /mcr_navigation/direct_base_controller/coordinator/event_in std_msgs/String "data: 'e_start'" diff --git a/data/docs/source/mir_perception/barrier_tape.rst b/data/docs/source/mir_perception/barrier_tape.rst new file mode 100644 index 0000000000000000000000000000000000000000..60bc3def25e399e85b833d17058abe9ad0bea9ba --- /dev/null +++ b/data/docs/source/mir_perception/barrier_tape.rst @@ -0,0 +1,4 @@ +.. _barrier_tape: + +Barrier tape detection +====================== \ No newline at end of file diff --git a/data/docs/source/mir_perception/camera.rst b/data/docs/source/mir_perception/camera.rst new file mode 100644 index 0000000000000000000000000000000000000000..6422ff5bb258564634c79dffb26efd54fe929697 --- /dev/null +++ b/data/docs/source/mir_perception/camera.rst @@ -0,0 +1,207 @@ +.. _camera: + +Camera +======= + +Tower-mount camera calibration +----------------------- + +On workstation or your PC + +1. To shh the youbot (in all terminals): + + .. code-block:: bash + + yb2 + + .. note:: + + alias yb2=ssh -X robocup@youbot-brsu-2-pc2 + +2. Export the youbot ssh alias + + .. code-block:: bash + + export_yb2 + + .. note:: + + alias export_yb2=export ROS_MASTER_URI=http://youbot-brsu-2-pc2:11311 + +On robot + +3. Launch the robot + + .. code-block:: bash + + roslaunch mir_bringup robot.launch + +4. Launch Nav2d (to visualize the robot in Rviz) + + .. code-block:: bash + + roslaunch mir_2dnav 2dnav.launch + +4. Run calibration + + .. code-block:: bash + + roslaunch mir_calibrate_pick calibrate_pick.launch + + A small gui window to adjust the pose of the end-effector in terms of XYZRPY will appear. + +5. Place a small round object on the ground (at approx. 25 cm from the center of the front wheel) + +On workstation or your PC + +6. Run rviz + + .. code-block:: bash + + rosrun rviz rviz + +7. Load the camera_calibration_config.rviz config and set the global frame to `base_link` + + Ensure to enable `raw_color_pcl` and `camera_calibration_obj_pose`. You can see an arrow pointing away from the robot. + +8. Adjust the values in the pose mockup gui, so that the beginning of the arrow matches the center of the round object. + + .. note:: + + Make sure the object is not too far away from the robot and the Z value is slightly above the object. + + + .. figure:: images/camera_calib_side.png + :align: center + + Camera calibration example side view + + + .. figure:: images/camera_calib_top.png + :align: center + + Camera calibration example top view + +On robot + +9. Test the calibration in another terminal + + .. code-block:: bash + + rosrun mir_calibrate_pick calibrate_pick_client_test.py + + The robot will move towards the gripper and move the end-effector of the arm close the object based on the given offset. + +10. If the final end-effector position is not properly aligned to the desired goal position, in the robot navigate to the robot urdf configuration and edit the `robot.urdf.xacro` + + .. code-block:: bash + + /ros/noetic/robocup/src/mas_industrial_robotics/mir_robots/mir_hardware_config/youbot-brsu-2/urdf/robot.urdf.xacro + + .. code-block:: bash + + + + + + Adjust the values of xyz and rpy to account for the offset according to the values set in step 8 and repeat from step 8. + +11. If the final end-effector position is properly aligned to the desired goal position, the camera calibration is complete. + +12. Terminate all operations and relaunch the robot to continue. + + +.. _realsense2_camera: + +RealSense2 camera +------------------ + +How to use the RealSense2 camera + +1. Installation + + Go to the intel-ros github page. Clone the realsense repository in your catkin workspace inside src: + + .. code-block:: bash + + git clone git@github.com:intel-ros/realsense.git + +2. Camera Output + + Run the following to get access to the camera: + + .. code-block:: bash + + roslaunch realsense2_camera rs_rgbd.launch + + Open rviz to visualize the camera output. + +3. Configure camera output (OPTIONAL) + + Run the following to open the rviz configuration window: + + .. code-block:: bash + + rosrun rqt_reconfigure rqt_reconfigure + + You can also try to change the "octree_resolution" value: + + .. code-block:: bash + + cd *catkin workspace*/src/mas_perception/mcr_scene_segmentation/ros/config + +4. Setup Base Frame + + Run the following: + + .. code-block:: bash + + rosrun tf static_transform_publisher x y z roll pitch yaw base_link camera_link 100 + + where x, y, z are the distances and roll, pitch, yaw are the rotations from the base_link to the camera_link. + + To visualize your frames in rzviz, add the TF feature in the rviz menu. + +5. Save Point Clouds + + If it's your first time saving point clouds, you need to choose where you want to save them and enable data collection: + + .. code-block:: bash + + cd *catkin workspace*/src/mas_perception/mcr_scene_segmentation/ros/launch + + Change the value of "dataset_collection" from "false" to "true". Change value of "logdir" from "/temp/ + to the path in your computer where you want to save the files. + + Run the following to get access to the point clouds given by the camera: + + .. code-block:: bash + + roslaunch mcr_scene_segmentation scene_segmentation.launch input_pointcloud_topic:=/camera/depth_registered/points + + Publish the message 'e-start': + + .. code-block:: bash + + rostopic pub /mcr_perception/scene_segmentation/event_in std_msgs/String "data: 'e_start'" + + Publish the message 'e-add-cloud-start': + + .. code-block:: bash + + rostopic pub /mcr_perception/scene_segmentation/event_in std_msgs/String "data: 'e_add_cloud_start'" + + This last one will save the current point cloud of the observed object in your system. + + .. warning:: + + Sometimes the camera won't save the point cloud (don't worry, not your fault). + Just try a different position for the object until it works. + +6. Visualize Point Cloud + + Run the following in the folder where you saved the point clouds: + + .. code-block:: bash + + pcl_viewer *.pcd file you want to open* diff --git a/data/docs/source/mir_perception/cavity_detection.rst b/data/docs/source/mir_perception/cavity_detection.rst new file mode 100644 index 0000000000000000000000000000000000000000..30403bac6d9ce02c2566643f46d694e36de325ff --- /dev/null +++ b/data/docs/source/mir_perception/cavity_detection.rst @@ -0,0 +1,4 @@ +.. _cavity_detection: + +Cavity detection +================ \ No newline at end of file diff --git a/data/docs/source/mir_perception/dataset.rst b/data/docs/source/mir_perception/dataset.rst new file mode 100644 index 0000000000000000000000000000000000000000..2948050ac6079f751b7179071db210d9fad70895 --- /dev/null +++ b/data/docs/source/mir_perception/dataset.rst @@ -0,0 +1,124 @@ +.. _dataset: + +Dataset +======== + +.. _dataset_collection: + +Dataset collection +---------------------- + +.. _3d_dataset_collection: + +3D dataset collection +^^^^^^^^^^^^^^^^^^^^^^ + +Objects are placed on a rotating table such that it can capture the objects from +different angle. However, this can be done manually on a normal table and change +the object orientation manually. + +.. note:: + + This only works with a single object. + +Setup: + + 1. Using external camera + + * Launch the camera + + Go to :ref:`realsense2_camera` for more information about the camera. + + * Apply static transform from camera_frame to base_link as explained in :ref:`realsense2_camera` + + Make sure the pointcloud of the plane is parallel to the gorund on rviz by transforming/rotating it. + + .. note:: + + Passthrough filter will not work if it's not parallel to the ground + + * Launch multimodal object recognition + + .. code-block:: bash + + roslaunch mir_object_recognition multimodal_object_recognition.launch debug_mode:=true + + .. note:: + + To enable dataset collection, it requires to be in *debug_mode*. You can also + point to a specifi logdir to save the data e.g. logdir:=/home/robocup/cloud_dataset. + + * Start collectiong dataset + + .. code-block:: bash + + rostopic pub /mir_perception/multimodal_object_recognition/event_in std_msgs/String e_start + + + 2. Using robot arm camera + + * Bringup the robot + + * Start `multimodal_object_recognition` and continue with the next steps as described previously. + + .. note:: + + The segemented point clouds are saved in the `logdir`. + +.. _2d_dataset_collection: + +2D dataset collection +^^^^^^^^^^^^^^^^^^^^^^ + +Images can be collected using the robot camera or external camera. +They can also be collected using `easy augment too `_ +which use Intel Realsense D435 camera to capture the image and automatically +annotate them for 2D object detection. + + +.. _dataset_preprocessing: + +Dataset preprocessing +----------------------- + +Before training training the model, the data should be preprocessed, and this +includes but not limited to *removing bad data*, *normalization*, and converting +it to the required format such as *h5* for point clouds and *VOC* or *KITTI* for +images. + +.. _3d_dataset_preprocessing: + +3D dataset preprocessing +^^^^^^^^^^^^^^^^^^^^^^^^ + +An example of the data directory structure: + +.. code-block:: bash + + b-it-bots_atwork_dataset + ├── train + │   ├── AXIS + | ├── axis_0001.pcd + | ├── ... + │   ├── ... + ├── test + │   ├── AXIS + | ├── axis_0001.pcd + | ├── ... + │   ├── ... + +The dataset preprocessing can be found in `this notebook +`_. + +It will generate `pgz` files containing a dictionary of objects consisting of `x y z r g b` and label. + + +.. _2d_dataset_preprocessing: + +2D dataset preprocessing +^^^^^^^^^^^^^^^^^^^^^^^^^^ + +* Create semantic labels using `labelme `_. +* Convert the semantic labels using `labelme2voc `_. +* If KITTI dataset is required, convert VOC dataset to KITTI using + `vod-converter `_ diff --git a/data/docs/source/mir_perception/docstring/index.rst b/data/docs/source/mir_perception/docstring/index.rst new file mode 100644 index 0000000000000000000000000000000000000000..fdd9d5b0b17fac210082102898696afa3ee77969 --- /dev/null +++ b/data/docs/source/mir_perception/docstring/index.rst @@ -0,0 +1,7 @@ +.. _mir_perception_docs: + +Perception Documentation +######################## + +.. toctree:: + :maxdepth: 1 diff --git a/data/docs/source/mir_perception/images/camera_calib_side.png b/data/docs/source/mir_perception/images/camera_calib_side.png new file mode 100644 index 0000000000000000000000000000000000000000..c4a078a474ef7e0c2f8e905f9904c6a9a50b5939 --- /dev/null +++ b/data/docs/source/mir_perception/images/camera_calib_side.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dbcb7b01de507d1e749004031695644654f861744c34bacc9135aea3998fffe4 +size 946239 diff --git a/data/docs/source/mir_perception/images/camera_calib_top.png b/data/docs/source/mir_perception/images/camera_calib_top.png new file mode 100644 index 0000000000000000000000000000000000000000..84f94f05e12b2099c0fe8393913f3e4d63452bf2 --- /dev/null +++ b/data/docs/source/mir_perception/images/camera_calib_top.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ae9f24e0c0ef96ea13b2702a699a8f77590efdbffb2c8acfdc2ea38a47c9c76 +size 1403684 diff --git a/data/docs/source/mir_perception/images/perception_architecture.png b/data/docs/source/mir_perception/images/perception_architecture.png new file mode 100644 index 0000000000000000000000000000000000000000..de144020653c4eed3f32aa857860db28ca2fb365 --- /dev/null +++ b/data/docs/source/mir_perception/images/perception_architecture.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3585b88f3d1c9582f468efa7114bd8641945b3621586ac9d93707ee6fcbe5f35 +size 621603 diff --git a/data/docs/source/mir_perception/index.rst b/data/docs/source/mir_perception/index.rst new file mode 100644 index 0000000000000000000000000000000000000000..c304f5bfbb8ff6442afac4596b9723d06e2f6a51 --- /dev/null +++ b/data/docs/source/mir_perception/index.rst @@ -0,0 +1,21 @@ +.. _mir_perception: + +Perception +########## + +Robot perception architecture + +.. figure:: images/perception_architecture.png + :align: center + + Robot perception architecture + +.. toctree:: + + camera + dataset + training + object_segmentation + object_recognition + barrier_tape + cavity_detection diff --git a/data/docs/source/mir_perception/object_recognition.rst b/data/docs/source/mir_perception/object_recognition.rst new file mode 100644 index 0000000000000000000000000000000000000000..290cba7567413c8d53ecf5d4a6dc8907c57c43a0 --- /dev/null +++ b/data/docs/source/mir_perception/object_recognition.rst @@ -0,0 +1,106 @@ +.. _object_recognition: + +Object recognition +================== + +Our object recognition comes from two different modalities, namely 3D based object recognition and +2D object detection and recognition. + +.. _3d_object_recognition_model: + +3D object recognition models +---------------------------- + +`Our 3D object recognition node `_ +uses segmented point clouds described in :ref:`3d_object_segmentation` as the input +to the models. These segemented point clouds are published from +`mir_object_recognition node `_. + +The tutorial for training the model is described in :ref:`training`. + +We use two models for the 3D object recognition, namely: + +* Random forest with Radial density distribution and 3D modified Fisher vector + (3DmFV) as features as described in `our paper `_. +* `Dynamic Graph CNN `_: an end-to-end point + cloud classification. However, in addition to points, we also incorporate colors as inputs. + +You can change the classifier in the launch file + +.. literalinclude:: ../../../mir_perception/mir_object_recognition/ros/launch/pc_object_recognition.launch + :language: xml + :lineno-start: 0 + :linenos: + +Where: + +* `model`: whether it is CNN based (`cnn_based`) or traditional ML estimators (`feature_based`) +* `model_id`: the actual name of the model, available model ids: + + * `cnn_based`: `dgcnn` + * `feature_based`: `fvrdd` +* `dataset`: the dataset name where the model was trained on + +.. _2d_object_recognition_model: + +2D object recognition models +---------------------------- + +We use `squeezeDet `_ for out 2D object detection model. +This is lightweight, one-shot object detection and classification. +The model can be changed in the `rgb_object_recognition.launch` + +.. literalinclude:: ../../../mir_perception/mir_object_recognition/ros/launch/rgb_object_recognition.launch + :language: xml + :lineno-start: 0 + :linenos: + +Where: + +* `classifier`: the model used to detect and classify objects +* `dataset`: the dataset used to train the model + +.. _mutlimodal_object_recognition: + +Multimodal object recognition +----------------------------- + +`multimodal_object_recognition_node `_ +coordinates the whole perception pipeline as described in the following items: + +* Subscribes to rgb and point cloud topics +* Transforms point cloud to the target fram +* Finds 3D object clusters from the point cloud using `mir_object_segementation` +* Sends the 3D clusters to point cloud object recognizer (`pc_object_recognizer_node`) +* Sends the image to rgb object detection and recognition node (`rgb_object_recognized_node`) +* Waits until it gets results from both classifiers or if the timeout is reached +* Posts processing of the recognized objects + + * Applies filters for the objects +* Sends object_list to object_list_merger + +**Trigger multimodal_object_recognition** + + .. code-block:: bash + + rostopic pub /mir_perception/multimodal_object_recognition/event_in std_msgs/String e_start + +**Outputs** + + .. code-block:: bash + + /mcr_perception/object_detector/object_list + /mir_perception/multimodal_object_recognition/output/workspace_height + +**Visualization outputs** + + .. code-block:: bash + + /mir_perception/multimodal_object_recognition/output/bounding_boxes + /mir_perception/multimodal_object_recognition/output/debug_cloud_plane + /mir_perception/multimodal_object_recognition/output/pc_labels + /mir_perception/multimodal_object_recognition/output/pc_object_pose_array + /mir_perception/multimodal_object_recognition/output/rgb_labels + /mir_perception/multimodal_object_recognition/output/rgb_object_pose_array + /mir_perception/multimodal_object_recognition/output/tabletop_cluster_pc + /mir_perception/multimodal_object_recognition/output/tabletop_cluster_rgb \ No newline at end of file diff --git a/data/docs/source/mir_perception/object_segmentation.rst b/data/docs/source/mir_perception/object_segmentation.rst new file mode 100644 index 0000000000000000000000000000000000000000..0b015d44ff8d7818a94e5aec4365ee5e2bc10496 --- /dev/null +++ b/data/docs/source/mir_perception/object_segmentation.rst @@ -0,0 +1,143 @@ +.. _object_segmentation: + +Object Segmentation +=================== + +.. _3d_object_segmentation: + +3D object segmentation +------------------------- + +Our scene segmentation works with the assumption that the table has to be parallel +to the ground as we use +`SampleConsensusModelPerpendicularPlane `_ +from PCL library. We keep points which are perpendicular to `z` axis. + +There are two packages you can launch in order to segment table top point clouds: + +*mir_object_segmentation* package +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +`mir_object_segmentation `_ +package can be used to accumulate clouds from different views (if necessary), +register them, and then segment the objects above the table. + +**Usage** + +* Find plane height + + To find the object height, you have to send the following messages to `event_in` + topic: + + .. code-block:: bash + + rostopic pub /mir_perception/scene_segmentation/event_in std_msgs/String e_start + rostopic pub /mir_perception/scene_segmentation/event_in std_msgs/String e_add_cloud_start + rostopic pub /mir_perception/scene_segmentation/event_in std_msgs/String e_find_plane + + The plane height will be published to `workspace_height` topic: + + .. code-block:: bash + + /mir_perception/scene_segmentation/output/workspace_height + + +* Segment objects from one view point + + .. code-block:: bash + + rostopic pub /mir_perception/scene_segmentation/event_in std_msgs/String e_start + rostopic pub /mir_perception/scene_segmentation/event_in std_msgs/String e_add_cloud_start + rostopic pub /mir_perception/scene_segmentation/event_in std_msgs/String e_segment + rostopic pub /mir_perception/scene_segmentation/event_in std_msgs/String e_stop + +* Segment objects from one view point + + You can segment table top objects from multiple viewpoints. You can do this by + manually moving the camera position to a new view point, and then register + the cloud with the existing ones. + + .. code-block:: bash + + # accumulate point cloud from the 1st view point + rostopic pub /mir_perception/scene_segmentation/event_in std_msgs/String e_start + rostopic pub /mir_perception/scene_segmentation/event_in std_msgs/String e_add_cloud_start + rostopic pub /mir_perception/scene_segmentation/event_in std_msgs/String e_add_cloud_stop + + # accumulate point cloud from the 2nd view point + rostopic pub /mir_perception/scene_segmentation/event_in std_msgs/String e_add_cloud_start + rostopic pub /mir_perception/scene_segmentation/event_in std_msgs/String e_add_cloud_stop + + # segment accumulated cloud and stop segmentation + rostopic pub /mir_perception/scene_segmentation/event_in std_msgs/String e_segment + rostopic pub /mir_perception/scene_segmentation/event_in std_msgs/String e_stop + + +.. hint:: Published msgs from mir_object_segmentation + + * Object list + + .. code-block:: bash + + /mir_perception/scene_segmentation/output/object_list + + * Bounding Boxes (for visualization in Rviz) + + .. code-block:: bash + + /mir_perception/scene_segmentation/output/bounding_boxes + + * Object labels (for visualization in Rviz) + + .. code-block:: bash + + /mir_perception/scene_segmentation/output/labels + + * Debug pointcloud (shows filtered input to plane segmentation) + + .. code-block:: bash + + /mir_perception/scene_segmentation/output/debug_cloud + + * Object clusters: segmented point clouds + + .. code-block:: bash + + /mir_perception/scene_segmentation/output/tabletop_clusters + + * Workspace height: + + .. code-block:: bash + + /mir_perception/scene_segmentation/output/workspace_height + + +*mir_object_recognition* package +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +`mir_object_recognition` uses the same `scene_segmentation` method +as in `mir_object_segmentation`, but it does not accumulate point clouds. It only +takes one view and then segment table top objects. + +**Usage** + +* Segment objects + + .. code-block:: bash + + rostopic pub /mir_perception/multimodal_object_recognition/event_in std_msgs/String e_start + +**Published messages** + + .. code-block:: bash + + /mcr_perception/object_detector/object_list + /mir_perception/multimodal_object_recognition/output/bounding_boxes + /mir_perception/multimodal_object_recognition/output/debug_cloud_plane + /mir_perception/multimodal_object_recognition/output/pc_labels + /mir_perception/multimodal_object_recognition/output/pc_object_pose_array + /mir_perception/multimodal_object_recognition/output/rgb_labels + /mir_perception/multimodal_object_recognition/output/rgb_object_pose_array + /mir_perception/multimodal_object_recognition/output/tabletop_cluster_pc + /mir_perception/multimodal_object_recognition/output/tabletop_cluster_rgb + /mir_perception/multimodal_object_recognition/output/workspace_height diff --git a/data/docs/source/mir_perception/training.rst b/data/docs/source/mir_perception/training.rst new file mode 100644 index 0000000000000000000000000000000000000000..94d072b8898215d7da5577b24cd34ae9839d29e4 --- /dev/null +++ b/data/docs/source/mir_perception/training.rst @@ -0,0 +1,47 @@ +.. _training: + +Training models +=============== + +.. _training_pointcloud_classification: + +Traning point cloud classification +---------------------------------- + +Collect point cloud dataset as describe in :ref:`3d_dataset_collection`, and +preprocess them as explained in :ref:`3d_dataset_preprocessing`. + +To train the models, you need to clone `this repo `_, and +install the requirements to train the model. + +Training deep learning model +^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + + The supported models are available under `config/config.yaml`. + + .. code-block:: bash + + #python trainer.py --model --train + #an example for training DGCNN with color (DGCNNC) + + python trainer.py --model DGCNNC --train + + +Adding new model +^^^^^^^^^^^^^^^^ + +ToDo + + +.. _training_2d_object_detection: + +Training 2D object detection +---------------------------- + +ToDo + +.. note:: + + You can train the model on `H-BRS Scientific Computing Cluster `_, + provided that you have access to it. The tutorial on how to submit job and train + your model on the cluster can be found `here `_. \ No newline at end of file diff --git a/data/docs/source/mir_planning/actions/insert_cavity.rst b/data/docs/source/mir_planning/actions/insert_cavity.rst new file mode 100644 index 0000000000000000000000000000000000000000..acba09676aabc38c3fac40df0f1fea46693055ae --- /dev/null +++ b/data/docs/source/mir_planning/actions/insert_cavity.rst @@ -0,0 +1,15 @@ +.. _mir_insert_cavity: + +Insert cavity +============= + +Insert an object into a cavity on a precision placement workstation after picking +it from robot's back platform. + + +Goal parameter description +-------------------------- + +- ``peg``: name of object which needs to be inserted (e.g. ``M30``, ``F20_20_B``) +- ``platform``: name of robot's back platform (e.g. ``PLATFORM_MIDDLE``, ``PLATFORM_LEFT``) +- ``hole``: name of container on workstation (e.g. ``PP01``, ``PP02``) diff --git a/data/docs/source/mir_planning/actions/insert_object.rst b/data/docs/source/mir_planning/actions/insert_object.rst new file mode 100644 index 0000000000000000000000000000000000000000..935931290eb4868e294489c09f49d7962c6588d3 --- /dev/null +++ b/data/docs/source/mir_planning/actions/insert_object.rst @@ -0,0 +1,12 @@ +.. _mir_insert_object: + +Insert object +============= + +Insert an object into a container on a workstation after picking it from robot's back platform. + +Goal parameter description +-------------------------- + +- ``platform``: name of robot's back platform (e.g. ``PLATFORM_MIDDLE``, ``PLATFORM_LEFT``) +- ``hole``: name of container on workstation (e.g. ``CONTAINER_BOX_BLUE``) diff --git a/data/docs/source/mir_planning/actions/move_base_safe.rst b/data/docs/source/mir_planning/actions/move_base_safe.rst new file mode 100644 index 0000000000000000000000000000000000000000..c3415ccc156f088481613e628b5c78ec22f6168e --- /dev/null +++ b/data/docs/source/mir_planning/actions/move_base_safe.rst @@ -0,0 +1,17 @@ +.. _mir_move_base_safe: + +Move base safe +============== + +Move robot base from a known/mapped location to another known/mapped location while +looking for barrier tape. + + +Goal parameter description +-------------------------- + +- ``destination_location``: name of known/mapped location (e.g. ``WS01``, ``SH02``, ``PP01``) +- ``dont_be_safe``: bool determining if barrier tape detection should be used or + not (e.g. ``true``, ``false``) +- ``arm_safe_position``: joint configuration name for arm while the base is in + motion. This is used for barrier tape detection. (e.g. ``barrier_tape``, ``folded``) diff --git a/data/docs/source/mir_planning/actions/perceive_cavity.rst b/data/docs/source/mir_planning/actions/perceive_cavity.rst new file mode 100644 index 0000000000000000000000000000000000000000..976c6a00dbf248551893dd8f52d4bcc6370f1a5c --- /dev/null +++ b/data/docs/source/mir_planning/actions/perceive_cavity.rst @@ -0,0 +1,11 @@ +.. _mir_perceive_cavity: + +Perceive cavity +=============== + +Perceive a precision placement workstation and detect and classify cavities in it. + +Goal parameter description +-------------------------- + +- ``location``: name of known/mapped location (e.g. ``PP01``, ``PP02``) diff --git a/data/docs/source/mir_planning/actions/perceive_location.rst b/data/docs/source/mir_planning/actions/perceive_location.rst new file mode 100644 index 0000000000000000000000000000000000000000..d8065d2ccf0a82ac56fc3174017b9935bb945ce5 --- /dev/null +++ b/data/docs/source/mir_planning/actions/perceive_location.rst @@ -0,0 +1,11 @@ +.. _mir_perceive_location: + +Perceive location +================= + +Perceive a workstation and detect and classify objects on it. + +Goal parameter description +-------------------------- + +- ``location``: name of known/mapped location (e.g. ``WS01``, ``SH02``, ``PP01``) diff --git a/data/docs/source/mir_planning/actions/perceive_mock.rst b/data/docs/source/mir_planning/actions/perceive_mock.rst new file mode 100644 index 0000000000000000000000000000000000000000..f2c6d84924966e42859048ecaf3e5ff83675c056 --- /dev/null +++ b/data/docs/source/mir_planning/actions/perceive_mock.rst @@ -0,0 +1,23 @@ +.. _mir_perceive_aruco: + +Perceive mock +============= + +Perceive an aruco cube on a workstation + +Related to: ``mir_perceive_aruco_cube`` + +Goal parameter description +-------------------------- + +- ``location``: name of known/mapped location (e.g. ``WS01``, ``SH02``, ``PP01``) + +Usage +----- + +Make sure :ref:`mir_planning_bringup`'s launch file is already launched. + + .. code-block:: bash + + roslaunch mir_perceive_mock perceive_aruco_server.launch + rosrun mir_perceive_mock perceive_aruco_client_test diff --git a/data/docs/source/mir_planning/actions/pick_object.rst b/data/docs/source/mir_planning/actions/pick_object.rst new file mode 100644 index 0000000000000000000000000000000000000000..eeec2a4ebbd89a4193a816b76488aae8385add44 --- /dev/null +++ b/data/docs/source/mir_planning/actions/pick_object.rst @@ -0,0 +1,12 @@ +.. _mir_pick_object: + +Pick object +=========== + +Pick an object from a workstation at a known/mapped location + +Goal parameter description +-------------------------- + +- ``location``: name of known/mapped location (e.g. ``WS01``, ``SH02``) +- ``object``: name of object to be picked (e.g. ``M20``, ``S40_40_G``) diff --git a/data/docs/source/mir_planning/actions/place_object.rst b/data/docs/source/mir_planning/actions/place_object.rst new file mode 100644 index 0000000000000000000000000000000000000000..4ddd9074096388686db8286a1a5633b1f38a5a8a --- /dev/null +++ b/data/docs/source/mir_planning/actions/place_object.rst @@ -0,0 +1,11 @@ +.. _mir_place_object: + +Place object +============ + +Place object in gripper on a workstation at a known/mapped location + +Goal parameter description +-------------------------- + +- ``location``: name of known/mapped location (e.g. ``WS01``, ``SH02``) diff --git a/data/docs/source/mir_planning/actions/stage_object.rst b/data/docs/source/mir_planning/actions/stage_object.rst new file mode 100644 index 0000000000000000000000000000000000000000..9c67ec4648a766e3e2ab30ffae2e3ad4d856acbb --- /dev/null +++ b/data/docs/source/mir_planning/actions/stage_object.rst @@ -0,0 +1,11 @@ +.. _mir_stage_object: + +Stage object +============ + +Put the object in gripper on robot's back platform. + +Goal parameter description +-------------------------- + +- ``platform``: name of robot's back platform (e.g. ``PLATFORM_MIDDLE``, ``PLATFORM_LEFT``) diff --git a/data/docs/source/mir_planning/actions/unstage_object.rst b/data/docs/source/mir_planning/actions/unstage_object.rst new file mode 100644 index 0000000000000000000000000000000000000000..64afed687263729e1ae3d9f99af25f3e568fa82a --- /dev/null +++ b/data/docs/source/mir_planning/actions/unstage_object.rst @@ -0,0 +1,11 @@ +.. _mir_unstage_object: + +Unstage object +============== + +Pick an object from robot's back platform. + +Goal parameter description +-------------------------- + +- ``platform``: name of robot's back platform (e.g. ``PLATFORM_MIDDLE``, ``PLATFORM_LEFT``) diff --git a/data/docs/source/mir_planning/docstring/index.rst b/data/docs/source/mir_planning/docstring/index.rst new file mode 100644 index 0000000000000000000000000000000000000000..58076efdb49e29511df6cdbd16e7bac347d26abd --- /dev/null +++ b/data/docs/source/mir_planning/docstring/index.rst @@ -0,0 +1,17 @@ +.. _mir_planning_docs: + +Planning Documentation +###################### + +.. toctree:: + :maxdepth: 1 + + mir_actions + mir_knowledge_base_analyzer + mir_knowledge_ros + mir_manipulate_drawer + mir_planning_visualisation + mir_task_planning + planner_wrapper + mir_states + mir_refbox_parser_ros diff --git a/data/docs/source/mir_planning/docstring/mir_actions.rst b/data/docs/source/mir_planning/docstring/mir_actions.rst new file mode 100644 index 0000000000000000000000000000000000000000..f96ce442f80ac2d63ea7dacd9cdff4d15ffac0b5 --- /dev/null +++ b/data/docs/source/mir_planning/docstring/mir_actions.rst @@ -0,0 +1,12 @@ +.. _mir_actions_docs: + +mir\_actions +============ + +mir\_actions.utils module +------------------------- + +.. automodule:: mir_actions.utils + :members: + :undoc-members: + :show-inheritance: diff --git a/data/docs/source/mir_planning/docstring/mir_knowledge_base_analyzer.rst b/data/docs/source/mir_planning/docstring/mir_knowledge_base_analyzer.rst new file mode 100644 index 0000000000000000000000000000000000000000..a53726fe69ee02aa070b489d46c8c9fdd19b7760 --- /dev/null +++ b/data/docs/source/mir_planning/docstring/mir_knowledge_base_analyzer.rst @@ -0,0 +1,12 @@ +.. _mir_knowledge_base_analyzer_docs: + +mir\_knowledge\_base\_analyzer +============================== + +mir\_knowledge\_base\_analyzer\_ros.knowledge\_base\_analyzer module +-------------------------------------------------------------------- + +.. automodule:: mir_knowledge_base_analyzer_ros.knowledge_base_analyzer + :members: + :undoc-members: + :show-inheritance: diff --git a/data/docs/source/mir_planning/docstring/mir_knowledge_ros.rst b/data/docs/source/mir_planning/docstring/mir_knowledge_ros.rst new file mode 100644 index 0000000000000000000000000000000000000000..8bb04c705a2143adbe976435b494bcc2a85e7236 --- /dev/null +++ b/data/docs/source/mir_planning/docstring/mir_knowledge_ros.rst @@ -0,0 +1,12 @@ +.. _mir_knowledge_ros_docs: + +mir\_knowledge\_ros +=================== + +mir\_knowledge\_ros.problem\_uploader module +-------------------------------------------- + +.. automodule:: mir_knowledge_ros.problem_uploader + :members: + :undoc-members: + :show-inheritance: diff --git a/data/docs/source/mir_planning/docstring/mir_manipulate_drawer.rst b/data/docs/source/mir_planning/docstring/mir_manipulate_drawer.rst new file mode 100644 index 0000000000000000000000000000000000000000..3dcae4cbfb93ca18d52cbcb1d8eee405d1e12d66 --- /dev/null +++ b/data/docs/source/mir_planning/docstring/mir_manipulate_drawer.rst @@ -0,0 +1,9 @@ +.. _mir_manipulate_drawer_docs: + +mir\_manipulate\_drawer +======================= + +.. autoclass:: mir_manipulate_drawer.manipulate_drawer_utils.ManipulateDrawerUtils + :members: + :undoc-members: + :show-inheritance: diff --git a/data/docs/source/mir_planning/docstring/mir_planning_visualisation.rst b/data/docs/source/mir_planning/docstring/mir_planning_visualisation.rst new file mode 100644 index 0000000000000000000000000000000000000000..e4ede0c190e0f77f84933c501eac8d492f02cf4a --- /dev/null +++ b/data/docs/source/mir_planning/docstring/mir_planning_visualisation.rst @@ -0,0 +1,28 @@ +.. _mir_planning_visualisation_docs: + +mir\_planning\_visualisation +============================ + +mir\_planning\_visualisation.kb\_visualiser module +-------------------------------------------------- + +.. automodule:: mir_planning_visualisation.kb_visualiser + :members: + :undoc-members: + :show-inheritance: + +mir\_planning\_visualisation.plan\_visualiser module +---------------------------------------------------- + +.. automodule:: mir_planning_visualisation.plan_visualiser + :members: + :undoc-members: + :show-inheritance: + +mir\_planning\_visualisation.utils module +----------------------------------------- + +.. automodule:: mir_planning_visualisation.utils + :members: + :undoc-members: + :show-inheritance: diff --git a/data/docs/source/mir_planning/docstring/mir_refbox_parser_ros.rst b/data/docs/source/mir_planning/docstring/mir_refbox_parser_ros.rst new file mode 100644 index 0000000000000000000000000000000000000000..b4327e074e6cc6f4bf018c81043528205aba5535 --- /dev/null +++ b/data/docs/source/mir_planning/docstring/mir_refbox_parser_ros.rst @@ -0,0 +1,12 @@ +.. _mir_refbox_parser_ros_docs: + +mir\_refbox\_parser\_ros +======================== + +mir\_refbox\_parser\_ros.refbox\_parser module +---------------------------------------------- + +.. automodule:: mir_refbox_parser_ros.refbox_parser + :members: + :undoc-members: + :show-inheritance: diff --git a/data/docs/source/mir_planning/docstring/mir_states.rst b/data/docs/source/mir_planning/docstring/mir_states.rst new file mode 100644 index 0000000000000000000000000000000000000000..4178313f264213cd350fe01e99fdf009dfbbbd37 --- /dev/null +++ b/data/docs/source/mir_planning/docstring/mir_states.rst @@ -0,0 +1,52 @@ +.. _mir_states_docs: + +mir\_states +=========== + +common.action\_states module +---------------------------- + +.. automodule:: mir_states.common.action_states + :members: + :undoc-members: + :show-inheritance: + +common.basic\_states module +--------------------------- + +.. automodule:: mir_states.common.basic_states + :members: + :undoc-members: + :show-inheritance: + +common.manipulation\_states module +---------------------------------- + +.. automodule:: mir_states.common.manipulation_states + :members: + :undoc-members: + :show-inheritance: + +common.navigation\_states module +-------------------------------- + +.. automodule:: mir_states.common.navigation_states + :members: + :undoc-members: + :show-inheritance: + +common.perception\_mockup\_util module +-------------------------------------- + +.. automodule:: mir_states.common.perception_mockup_util + :members: + :undoc-members: + :show-inheritance: + +common.perception\_states module +-------------------------------- + +.. automodule:: mir_states.common.perception_states + :members: + :undoc-members: + :show-inheritance: diff --git a/data/docs/source/mir_planning/docstring/mir_task_planning.rst b/data/docs/source/mir_planning/docstring/mir_task_planning.rst new file mode 100644 index 0000000000000000000000000000000000000000..dfe2cc6a70ce3b91c12cea2e091816e089d2ffd9 --- /dev/null +++ b/data/docs/source/mir_planning/docstring/mir_task_planning.rst @@ -0,0 +1,12 @@ +.. _mir_task_planning_docs: + +mir\_task\_planning +=================== + +mir\_task\_planning.utils module +-------------------------------- + +.. automodule:: mir_task_planning.utils + :members: + :undoc-members: + :show-inheritance: diff --git a/data/docs/source/mir_planning/docstring/planner_wrapper.rst b/data/docs/source/mir_planning/docstring/planner_wrapper.rst new file mode 100644 index 0000000000000000000000000000000000000000..448e0ab08a0f46e69c6766824956d6a8c3a6ad29 --- /dev/null +++ b/data/docs/source/mir_planning/docstring/planner_wrapper.rst @@ -0,0 +1,9 @@ +.. _mir_planner_wrapper_docs: + +planner\_wrapper +================ + +.. autoclass:: planner_wrapper.planner_wrapper.PlannerWrapper + :members: + :undoc-members: + :show-inheritance: diff --git a/data/docs/source/mir_planning/index.rst b/data/docs/source/mir_planning/index.rst new file mode 100644 index 0000000000000000000000000000000000000000..531e17e7510705027f4ab21d777e8c55c9ae6fba --- /dev/null +++ b/data/docs/source/mir_planning/index.rst @@ -0,0 +1,24 @@ +.. _mir_planning: + +Planning +######## + +MAS industrial robotics - task planning tutorial + +.. toctree:: + :maxdepth: 1 + + refbox_parser + planning_bringup + planning_core + task_planning + planner_executor + pddl_problem_generator + knowledge_base_analyzer + mir_knowledge + mir_actions + planning_visualisation + +.. image:: ../../../mir_planning/mir_planning_visualisation/docs/kb_and_plan_vis.gif + +See :ref:`mir_planning_visualisation` for further info on the gif. diff --git a/data/docs/source/mir_planning/knowledge_base_analyzer.rst b/data/docs/source/mir_planning/knowledge_base_analyzer.rst new file mode 100644 index 0000000000000000000000000000000000000000..4e1de5dc3122f92d64349893348d1f922f636815 --- /dev/null +++ b/data/docs/source/mir_planning/knowledge_base_analyzer.rst @@ -0,0 +1,22 @@ +.. _mir_knowledge_base_analyzer: + +Knowledge base analyzer +======================= + +#. query the knowledge base and tells you if there is pending goals +#. query the knowledge base and informs if there is new knowledge + +Usage +----- + +Get objects for a particular location:: + + rostopic pub /mir_knowledge_base_analyzer/knowledge_base_queries/query_param std_msgs/String "WS02" + rostopic pub /mir_knowledge_base_analyzer/knowledge_base_queries/query std_msgs/String "get_objects_at_location" + rostopic echo /mir_knowledge_base_analyzer/knowledge_base_queries/objects_at_location + + +Get current location of robot:: + + rostopic pub /mir_knowledge_base_analyzer/knowledge_base_queries/query std_msgs/String "get_robot_location" + rostopic echo /mir_knowledge_base_analyzer/knowledge_base_queries/robot_location diff --git a/data/docs/source/mir_planning/mir_actions.rst b/data/docs/source/mir_planning/mir_actions.rst new file mode 100644 index 0000000000000000000000000000000000000000..aef481fe0471815acc544a7ab57052485896b7a8 --- /dev/null +++ b/data/docs/source/mir_planning/mir_actions.rst @@ -0,0 +1,62 @@ +.. _mir_actions: + +Actions +======= + +A bunch of action servers for performing basic robocup actions. + +The robocup @work domain is partitioned into 6 basic actions + +- move base +- pick +- perceive +- place +- stage +- unstage + +Each action is implemented as SMACH state machines which are wrapped with +``ActionServer``. An ``ActionClient`` needs to send request using +``GenericExecuteGoal``. + +This request message contains a single dictionary kind of +message called ``parameters`` of type ``diagnostic_msgs/KeyValue[]``. + +.. literalinclude:: ../../../mir_planning/mir_planning_msgs/ros/action/GenericExecute.action + +Each server needs different information from this request message. Please see +the following files for detailed info: + +.. toctree:: + :maxdepth: 1 + + actions/move_base_safe.rst + actions/perceive_location.rst + actions/perceive_cavity.rst + actions/perceive_mock.rst + actions/pick_object.rst + actions/place_object.rst + actions/stage_object.rst + actions/unstage_object.rst + actions/insert_object.rst + actions/insert_cavity.rst + +Additionally, :ref:`mir_planner_executor` also sends ``next_action`` as one of the +parameter. This can be used by action servers to have parallel execution of arm +while the base is in motion to save som time. At the moment, only +:ref:`mir_move_base_safe` is using this information. + +This package also contains ``Utils.py`` which contains utility functions for +action servers. + +Usage +----- + +.. code-block:: bash + + roscore + roslaunch mir_actions run_action_servers.launch + +To execute an action, call the corresponding action client with appropriate +arguments. For example, move base safe:: + + rosrun mir_move_base_safe move_base_safe_client_test.py WS01 diff --git a/data/docs/source/mir_planning/mir_knowledge.rst b/data/docs/source/mir_planning/mir_knowledge.rst new file mode 100644 index 0000000000000000000000000000000000000000..56cf09b1ee8eb0de9fec52689022a1b10705254c --- /dev/null +++ b/data/docs/source/mir_planning/mir_knowledge.rst @@ -0,0 +1,6 @@ +.. _mir_knowledge: + +MIR Knowledge +============= + +Stores semantic knowledge about the industrial domain. diff --git a/data/docs/source/mir_planning/pddl_problem_generator.rst b/data/docs/source/mir_planning/pddl_problem_generator.rst new file mode 100644 index 0000000000000000000000000000000000000000..cd462c8b13c426d3cc3ecee5027969365abe6afb --- /dev/null +++ b/data/docs/source/mir_planning/pddl_problem_generator.rst @@ -0,0 +1,6 @@ +.. _mir_pddl_problem_generator: + +PDDL problem generator +====================== + +Generates automatically PDDL problem definition from knowledge base snapshot. diff --git a/data/docs/source/mir_planning/planner_executor.rst b/data/docs/source/mir_planning/planner_executor.rst new file mode 100644 index 0000000000000000000000000000000000000000..ed5db06adaa0d09efcc5a304cd547d7fef5631bf --- /dev/null +++ b/data/docs/source/mir_planning/planner_executor.rst @@ -0,0 +1,80 @@ +.. _mir_planner_executor: + +Planner executor +================ + +``planner_executor`` is the main executable which is executed when ``planner_executor.launch`` is launched. +It creates a bunch of ``BaseExecutorAction`` objects. +When a execute plan goal is received, it call individual action's ``execute`` +function. + +Most of the time, this ``execute`` function will change the names of the +parameters obtained from planner to something that makes sense. After that, it +will call ``run`` function which + + - creates a goal of the action server + - sends this goal to action server + - wait for the server to respond within certain time duration + - if the server responds with success, it will return ``true`` otherwise ``false`` + +Some actions are ``Combined``, which means, it has most of the things in common +at planning and execution level but has different server (for example, +*perceive location* and *perceive cavity*). This will have a check on one of +the parameters. Based on this check either one of the server will be called as +described above. + + +Usage +----- + +Normal use +^^^^^^^^^^ + +.. code-block:: bash + + roslaunch mir_planner_executor planner_executor.launch + + +Testing +^^^^^^^ + +.. code-block:: bash + + roslaunch mir_planner_executor planner_executor.launch + roslaunch mir_planner_executor planner_executor_test.launch + + +OOP Structure +------------- + +.. code-block:: html + + BaseExecutorAction + | + '- ExecutorAction + | | + | '- MoveAction + | | + | '- PickAction + | | + | '- PlaceAction + | | + | '- StageAction + | | + | '- UnstageAction + | | + | '- BasePerceiveAction + | | | + | | '- PerceiveAction + | | | + | | '- PerceiveCavityAction + | | + | '- BaseInsertAction + | | + | '- InsertAction + | | + | '- InsertCavityAction + | + '- CombinedPerceiveAction + | + '- CombinedInsertAction diff --git a/data/docs/source/mir_planning/planning_bringup.rst b/data/docs/source/mir_planning/planning_bringup.rst new file mode 100644 index 0000000000000000000000000000000000000000..c650beffda5a1010f6692c00b64f579f22ddf974 --- /dev/null +++ b/data/docs/source/mir_planning/planning_bringup.rst @@ -0,0 +1,7 @@ +.. _mir_planning_bringup: + +Planning bringup +================ + +Contains launch file which brings up all the necessary modules for robocup @work +competition. diff --git a/data/docs/source/mir_planning/planning_core.rst b/data/docs/source/mir_planning/planning_core.rst new file mode 100644 index 0000000000000000000000000000000000000000..7b20e48e15697d70f649a4f812d762fcc6101164 --- /dev/null +++ b/data/docs/source/mir_planning/planning_core.rst @@ -0,0 +1,36 @@ +.. _mir_planning_core: + +Planning core +============= + +Handles plan generation, execution, monitoring and replanning (if needed) + + +Dependencies +------------ + +- ``mir_planning_msgs`` +- ``mir_states`` +- ``mir_pddl_problem_generator`` (:ref:`mir_pddl_problem_generator`) +- ``mir_task_planning`` (:ref:`mir_task_planning_pkg`) +- ``mir_planner_executor`` (:ref:`mir_planner_executor`) +- Optionally (with real robot) ``mir_actions`` (:ref:`mir_actions`) + + +Usage +----- + +This is not a standalone package (but it acts like a coordinator) and thus it +should not be executed without its dependencies. + +To test with mockup action servers without a robot + +.. code-block:: bash + + roscore + roslaunch mir_planning_core task_planning_components.launch + rosrun mir_task_executor task_executor_mockup + roslaunch mir_task_planning upload_problem.launch + roslaunch mir_planning_core task_planning_sm.launch + + diff --git a/data/docs/source/mir_planning/planning_visualisation.rst b/data/docs/source/mir_planning/planning_visualisation.rst new file mode 100644 index 0000000000000000000000000000000000000000..aba3f600899f7326adeb7734e2b7b5ffad625b13 --- /dev/null +++ b/data/docs/source/mir_planning/planning_visualisation.rst @@ -0,0 +1,46 @@ +.. _mir_planning_visualisation: + +Planning Visualisation +====================== + +Visualise the planning related knowledge in RViz. + +**Knowledge base and plan visualised** + +.. image:: ../../../mir_planning/mir_planning_visualisation/docs/kb_plus_plan_vis_labelled.png + +1. ``move_base`` actions according to current plan +2. Unfinished goals (object that needs to be placed) [Green] +3. Objects that need to be picked according to current plan [Blue] +4. Normal objects that need not be interacted with +5. Objects stored on robot's platform + +**Knowledge base visualised without plan with fake objects** + +.. image:: ../../../mir_planning/mir_planning_visualisation/docs/kb_fake_obj.png + +Configuration +------------- + +Configuration file for generating a marker from a 3D model is defined as follows + +.. literalinclude:: ../../../mir_planning/mir_planning_visualisation/ros/config/model_to_marker.yaml + :language: yaml + :lines: 4-17 + +The marker should be created at the bottom center of the given position. (See +:meth:`mir_planning_visualisation.utils.Utils.get_marker_from_obj_name_and_pos` for more info) + + + +Test +---- + +.. code-block:: bash + + roscore + roslaunch mir_planning_core task_planning_components.launch + roslaunch mir_task_planning upload_problem.launch + rosrun mir_planner_executor planner_executor_mockup + roslaunch mir_planning_visualisation test_planning_visualiser.launch + roslaunch mir_planning_core task_planning_sm.launch diff --git a/data/docs/source/mir_planning/refbox_parser.rst b/data/docs/source/mir_planning/refbox_parser.rst new file mode 100644 index 0000000000000000000000000000000000000000..3723714e407dfa5c03a061dde5b121e0ee804707 --- /dev/null +++ b/data/docs/source/mir_planning/refbox_parser.rst @@ -0,0 +1,73 @@ +.. _mir_refbox_parser: + +Refbox parser +============= + +This node contains components to store the world model of the environment and \ +the goal of the tasks in the knowledge base of the robot. +World model is defined as the locations and properties of different moveable +objects(eg: robot, box etc) in the environment. +The world model node has to subscribe to the incoming data stream which informs +of the current state of the world.(Eg : Refree box) +It then has to store this value in the any format which can be utilized for +other components. + +.. image:: ../../../mir_planning/mir_refbox_parser/ros/doc/node.png + +Requirements +------------ + +.. code-block:: bash + + sudo apt-get install flex ros-indigo-mongodb-store ros-indigo-tf2-bullet freeglut3-dev + +- `Rosplan `_ + + The following folders are not required they can be avoided by ``$> touch CATKIN_IGNORE`` + inside the respective directories + - rosplan_demos + - rosplan_interface_mapping + - rosplan_interface_movebase + + +Usage +----- + +#. Launch the component (example): + + .. code-block:: bash + + roslaunch mir_refbox_parser refbox_parser.launch + +Testing +------- + +#. We need the Knowledge base service running to test the loading of knowledge + base + + .. code-block:: bash + + roslaunch mir_pddl_problem_generator rosplan_knowledge_base_example.launch + + + Before running the test the file has to be copied to the + ``mir_pddl_problem_generator/ros/test/example_domain`` folder. + +#. For testing navigation we need the navigation action server + + .. code-block:: bash + + roslaunch mir_move_base_safe move_base.launch + + +Input(s) +^^^^^^^^ + + * ``event_in``: trigger to start the node. + * ``refbox``: the ros topic string format on which the BTT, BNT, BPT, BMT, CBT messages is being published + +Output(s) +^^^^^^^^^ + * ``e_status``: Returns if the data storage ws successful + + diff --git a/data/docs/source/mir_planning/task_planning.rst b/data/docs/source/mir_planning/task_planning.rst new file mode 100644 index 0000000000000000000000000000000000000000..ff4496b7f218c7bac765ba4ab95feaba9990ee0e --- /dev/null +++ b/data/docs/source/mir_planning/task_planning.rst @@ -0,0 +1,100 @@ +.. _mir_task_planning_pkg: + +Task planning +============= + +`mir_task_planning `_ +generates task plan using classical planner. + +This module provides + +- ros independent wrapping for planners (currently ``mercury`` + and ``lama``) in ``/common/planner_wrapper/``. + + Based on the ``planner`` requested, this module executes a shell command as + mentioned in config file (see :ref:`task_planning_config`). This generates a + bunch of files in ``/tmp/plan/`` directory. The wrapper parses the most optimal + plan file and returns as a list of string. Remaining files are deleted for a + fresh start for next request. + +- ros wrapper on top of the previously mentioned module is available in + ``/ros`` folder. The ros wrapper is implemented as an ``ActionServer``. + + Upon request from an ``ActionClient`` containing ``domain_file``, ``problem_file``, + ``planner`` and ``mode``, the server tries to plan with those provided configuration + and returns a ``CompletePlan``. + + - ``domain_file`` - file path of domain file (it should be a ``.pddl`` file) + - ``problem_file`` - file path of problem file (it should be a ``.pddl`` file) + - ``planner`` - name of planner to use (``lama`` or ``mercury``) + - ``mode`` - ``PlanGoal.NORMAL`` or ``PlanGoal.FAST`` (fast mode implies that first + plan found will be returned. No further optimisation will be performed by the + planner. + + .. note:: + + This should only be use when a small number of goals are + provided as it will produce a very bad and non optimal plan. + + +Requirements +------------ +- `mercury_planner `_ +- `lama_planner `_ + + .. note:: + + ``g++-multilib`` is needed to install these packages. + +Usage +----- + +- Without ROS + + .. code-block:: bash + + python planner_wrapper.py + +- With ROS + + .. code-block:: bash + + roscore + roslaunch mir_task_planning task_planner.launch + roslaunch mir_task_planning task_planner_client_test.launch + + +.. _task_planning_config: + +Configuration +------------- + +.. literalinclude:: ../../../mir_planning/mir_task_planning/ros/config/planner_commands.yaml + :language: yaml + :emphasize-lines: 5, 9 + +Additional files +---------------- + +- ``ros/launch/upload_problem.launch`` and ``ros/test/upload_problem`` can be used + for testing whole planning pipeline without Refbox. This launch file will act + as *refbox*, *refbox client* and *refbox parser*. It reads a ``.pddl`` problem file + and uploads instances and facts to *knowledge base*. To test the whole + planning pipeline without refbox, following things need to be executed + + .. code-block:: bash + + roscore + roslaunch mir_planning_core task_planning_components.launch + rosrun mir_task_executor task_executor_mockup + roslaunch mir_task_planning upload_problem.launch + roslaunch mir_planning_core task_planning_sm.launch + +- ``common/pddl`` contains robocup's domain file and a bunch of problem files for + testing. + + .. note:: + + This folder is needed by default if + ``common/planner_wrapper/planner_wrapper.py`` is running standalone. + diff --git a/data/docs/source/mir_simulation/docstring/index.rst b/data/docs/source/mir_simulation/docstring/index.rst new file mode 100644 index 0000000000000000000000000000000000000000..d52f956691cbf756add935662b4069f5a0238ccc --- /dev/null +++ b/data/docs/source/mir_simulation/docstring/index.rst @@ -0,0 +1,9 @@ +.. _mir_simulation_docs: + +Simulation Documentation +######################## + +.. toctree:: + :maxdepth: 1 + + mir_world_generation diff --git a/data/docs/source/mir_simulation/docstring/mir_world_generation.rst b/data/docs/source/mir_simulation/docstring/mir_world_generation.rst new file mode 100644 index 0000000000000000000000000000000000000000..05ca88db2f4903f3e08ef159471dd86d021e2e93 --- /dev/null +++ b/data/docs/source/mir_simulation/docstring/mir_world_generation.rst @@ -0,0 +1,28 @@ +.. _mir_world_generation_docs: + +mir\_world\_generation +====================== + +mir\_world\_generation.grid\_based\_generator module +---------------------------------------------------- + +.. automodule:: mir_world_generation.grid_based_generator + :members: + :undoc-members: + :show-inheritance: + +mir\_world\_generation.node module +---------------------------------- + +.. automodule:: mir_world_generation.node + :members: + :undoc-members: + :show-inheritance: + +mir\_world\_generation.utils module +----------------------------------- + +.. automodule:: mir_world_generation.utils + :members: + :undoc-members: + :show-inheritance: diff --git a/data/docs/source/mir_simulation/index.rst b/data/docs/source/mir_simulation/index.rst new file mode 100644 index 0000000000000000000000000000000000000000..bc9ca6f46ab98e5f8b959f206d874c6affaa69df --- /dev/null +++ b/data/docs/source/mir_simulation/index.rst @@ -0,0 +1,9 @@ +.. _mir_simulation: + +Simulation +########### + +.. toctree:: + + mapping_and_navigation + world_generation diff --git a/data/docs/source/mir_simulation/mapping_and_navigation.rst b/data/docs/source/mir_simulation/mapping_and_navigation.rst new file mode 100644 index 0000000000000000000000000000000000000000..7b7365ec02544784d7e6f5f23cc689c52bbd7c0f --- /dev/null +++ b/data/docs/source/mir_simulation/mapping_and_navigation.rst @@ -0,0 +1,236 @@ +.. _mapping_and_navigaiton: + +Mapping and Navigation for Simulation +===================================== + + +Mapping +------- + +Run simulation related nodes + +* Run roscore + + .. code-block:: bash + + roscore + +* Launch the robot (In another terminal) + + .. code-block:: bash + + roslaunch mir_bringup_sim robot.launch + +* Run gazebo simulator (In another terminal) + + .. code-block:: bash + + rosrun gazebo_ros gzclient + +* Run rviz (In another terminal) + + .. code-block:: bash + + rosrun rviz rviz + + .. note:: + + To setup the RViz, please go to the bottom of this page. + +Generate map +------------ + +* Run 2D SLAM (In another terminal) + + .. code-block:: bash + + roslaunch mir_2dslam 2dslam.launch + + + Now there should be robot in an empty map in RViz. + +* Move the robot around the map. (In another terminal) + + .. code-block:: bash + + roslaunch mir_teleop teleop_keyboard.launch + + WSAD keys set the robot in motion and "Space bar" stops that motion. + + As you move the robot around, you should be able to see walls appearing in the map + in RViz and all the other area will be free. After you have mapped the whole environment, + you can save the map in config map directory. + +* Move to map config directory (In another terminal) + + .. code-block:: bash + + roscd mcr_default_env_config + +* Then make a directory and move inside that newly created directory + + .. code-block:: bash + + mkdir test_map + cd test_map + +* Now you can save the map that you just created + + .. code-block:: bash + + rosrun map_server map_saver + + This will ideally create 2 files namely *map.pgm* and *map.yml*. + Now you can exit out of *mir_2dslam* execution. You can also exit from *mir_teleop, gazebo, mir_bringup_sim* + +Making the map usable +---------------------- + +In order to use this map in future to navigate, follow the following steps: + +* Add files where the goals will be saved \(in the same directory where the map files have been saved\) + + .. code-block:: bash + + touch navigation_goals.yaml + touch orientation_goals.yaml + +* Make a copy of the existing launch file. + + .. code-block:: bash + + cd ~/catkin_ws/src/mas_common_robotics/mcr_environments/mcr_gazebo_worlds/ros/launch + cp brsu-c025-sim.launch test_map.launch + + .. note:: + + Inside *test_map.launch*, edit the argument of **robot_env** (line 10). + Replace *brsu-c025-sim* with *test_map*. Save this file. + +* Make a copy of xacro file. + + .. code-block:: bash + + cd ~/catkin_ws/src/mas_common_robotics/mcr_environments/mcr_gazebo_worlds/common/worlds/ + cp brsu-c025-sim.urdf.xacro test_map.urdf.xacro + +.. note:: + + Now your newly created map should be ready for use. + +Navigation +----------- + +* Run the commands from "Run simulation related nodes" as mentioned above to bring the robot up. + +* Launch the navigation node + + .. code-block:: bash + + roslaunch mir_2dnav 2dnav.launch + +* Open RViz + + Add *PoseArray* in RViz and change its topic to */particlecloud*. + Now you will be able to see red arrows around the robot. These arrow show the pose of the robot. + +* You now need to localize the robot to get its correct pose. Move the robot around the map. (In another terminal) + + .. code-block:: bash + + roslaunch mir_teleop teleop_keyboard.launch + + Rotate the robot in its place using QE keys. + You will notice the red arrows converging around the robot. Once the the robot is reasonably localised, + you can navigate the robot around in 2 ways: + + 1. GUI (RViz) + + Click on the `2D Nav Goal` and select a goal on the map. + + 2. Terminal based (ROS Action Server Client) + + For Action server client, the robot first needs name of position for source and + destination places (It cannot use `x, y, theta` values) + + To name the poses, you have to execute *save_base_map_poses_to_file* + + .. code-block:: bash + + roscd mcr_default_env_config + cd test_map + rosrun mcr_navigation_tools save_base_map_poses_to_file + + This program is terminal based interactive program. The program will ask you to name the position. + 1. You can now navigate the robot to your desired position (using GUI of RViz or *mir_teleop*). + 2. Once your robot is at the desired position, you can enter a name and press enter. + + .. note:: + + Note : The name of the location should be ALL CAPS. + For example, CORNER_1, MAIN_DOOR, etc. If the name contains any lower case character, + the server will not work) You will see pose of the robot inside square brackets in + the next line and prompted for another name. + + 3. Repeat step 1 and 2 to add multiple names to different locations inside the map. + 4. To close this interactive program, press *Ctrl + z*. (Note : *Ctrl + c* won't work.) Then kill this process. + + .. code-block:: bash + + ps + + take a note of the `pid` of python process. + + .. code-block:: bash + + kill -9 + + Now stop *mir_2dnav* and start it again. + + Launch move base launch file (In another terminal) + + .. code-block:: bash + + roslaunch mir_move_base_safe move_base.launch + + Run the server file. (In another terminal) + + .. code-block:: bash + + rosrun mir_move_base_safe move_base_safe_server.py + + You can test everything by running client test file. (In another terminal) + + .. code-block:: bash + + rosrun mir_move_base_safe move_base_safe_client_test.py SOURCE_NAME DESTINATION_NAME + + For example, if you want to move the robot from MAIN_DOOR to CORNER_1, then + + .. code-block:: bash + + rosrun mir_move_base_safe move_base_safe_client_test.py MAIN_DOOR CORNER_1 + + .. note:: + + The source location is irrelevant for the client test file. + Your robot can be anywhere and the program will still work correctly. + Just give some valid location name as a place holder.) + The client will print **success : True**, if it was able to successfully navigate to the destination position. + +RViz setup +----------- + + +* Add *Map, RobotModel, LaserScan* using the "Add" button in bottom left corner of "Display" section of RViz. + +* In *Map*, change the topic to */map* + +* In *LaserScan*, change the topic to */scan_front*. Add another *LaserScan* and change its topic to */scan_rear*. + +* In global option, change the *Fixed Frame* to *map*. + +.. note:: + + You can also add another *PoseArray* and change its topic to */move_base/GlobalPlannerWithOrientation* + to visualise the plan created by the *mir_2Dnav* node. diff --git a/data/docs/source/mir_simulation/world_generation.rst b/data/docs/source/mir_simulation/world_generation.rst new file mode 100644 index 0000000000000000000000000000000000000000..17506eaf5162d6238d82c97a713f0534849c34b9 --- /dev/null +++ b/data/docs/source/mir_simulation/world_generation.rst @@ -0,0 +1,45 @@ +.. _mir_world_generation: + +World Generation +================ + +Procedurally generates at work arena for gazebo simulation. + +Generates + +- ``.xacro`` file containing world model for gazebo simulator +- ``map.pgm`` and ``map.yaml`` files for occupancy grid for ros navigation +- ``navigation_goals.yaml`` file for industrial robotics :ref:`mir_move_base_safe` action + +Change the parameters for generation in ``common/config/config.yaml`` file. (see :ref:`world_generation_config`) + +Usage +----- + +Generate all necessary files using ``grid_based_generator.py`` + +.. code-block:: bash + + roscd mir_world_generation/common/mir_world_generation + python grid_based_generator.py + +Visualise all the generated files using example ``.launch`` file + +.. code-block:: bash + + roslaunch mir_world_generation sim.launch + +.. _world_generation_config: + +Configuration +------------- + +.. literalinclude:: ../../../mir_simulation/mir_world_generation/common/config/config.yaml + :language: yaml + + +Examples +-------- + +.. image:: ../../../mir_simulation/mir_world_generation/docs/map_plus_gazebo_3x4.png +.. image:: ../../../mir_simulation/mir_world_generation/docs/map_plus_gazebo_4x4.png diff --git a/data/docs/source/tasks/bmt/bmt_demo.rst b/data/docs/source/tasks/bmt/bmt_demo.rst new file mode 100644 index 0000000000000000000000000000000000000000..b6df722fb7ac24895064a147ba7380aec4d21f20 --- /dev/null +++ b/data/docs/source/tasks/bmt/bmt_demo.rst @@ -0,0 +1,185 @@ + +.. code-block:: bash + + Authors: Gokul Krishna Chenchani, Kevin Patel, Shubham Shinde, Vivek Mannava + Date: 15-Feb-2023 + + +.. _BMT_setup: +BMT (Basic Manipulation Task) setup +====================== + +.. _required_environments: +Required Environment and setup for YOUBOT +---------------------- + + +* Arena should be mapped (Tutorial for mapping the arena can be found `here `_). +* Objects are to be placed on the workstation. +* Planning PDDL file is to be prepared. +* A demo ppdl file can be found at ``mas_industrial_robotics/mir_planning/mir_knowledge/common/pddl/general_domain/mini_BMT_demo.pddl``. + + * This ppdl assumes that objects S40_40_B, INSULATION_TAPE are placed on WS03. + * The objects are to be picked from WS03 and placed on WS01. + * The robot being used is youbot (yb2). + +.. _steps_for_BMT: +Steps to follow for BMT setup +---------------------- + +.. note:: + + * Every alias starting with ``t`` will open a shared terminal (tmux). + * To detatch from the tmux terminal, press ``crtl+a`` and then ``d`` key. + + + +* Switch on the youbot and make sure you are connected to WiFi network ``b-it-bots`` on your computer. + +1. Open new terminal (terminal 1) and connect to youbot using below command. + +.. code-block:: bash + + ssh robocup@192.168.1.114 #this ip is for yb2 + +* Once your password and fingerprint has been verified, then a connection will be established and you can continue with the following steps. + +2. In the terminal (terminal 1) run ``troscore`` command – this will open shared terminal. + +.. code-block:: bash + + troscore + + or + + tmux new -A -s roscore + + +3. Now in the same terminal session (terminal 1) run ``roscore`` command. + +.. code-block:: bash + + roscore + + +4. Now open a different terminal (terminal 2) and connect to youbot and then run ``tbringup`` command. + +.. code-block:: bash + + tbringup + + or + + tmux new -A -s bringup + +5. Once ``tbringup`` is done then in the same terminal session (terminal 2) run ``bringup`` command. + +.. code-block:: bash + + bringup + + or + + roslaunch mir_bringup robot.launch + +* Now wait for robot to get initialised - you will see that the arm of the robot is moved into a preconfigured position if it is not in it already and gripper connection is also verified. + +6. After initializing is done, open a different terminal (terminal 3) and connect to youbot and then run ``tplanning_bringup`` command. + +.. code-block:: bash + + tplanning_bringup + + or + + tmux new -A -s planning_bringup + +7. Now in this terminal session (terminal 3) run ``planning_bringup`` command. + +.. code-block:: bash + + planning_bringup + + or + + roslaunch mir_planning_bringup robot.launch + +8. Now open new terminal (terminal 4) and connect to youbot and then run ``t2dnav`` command. + +.. code-block:: bash + + t2dnav + + or + + tmux new -A -s 2dnav + +9. Now in this session (terminal 4) run ``nav2d`` command. + +.. code-block:: bash + + nav2d + + or + + roslaunch mir_2dnav 2dnav.launch + +* Then place the youbot at the starting position of the arena using joystick. + +10. Now Open a new terminal (terminal 5) on local system and run below export command. + +.. code-block:: bash + + export ROS_MASTER_URI=http://192.168.1.114:11311 #this ip is for yb2 + +11. Now in this same terminal (terminal 5) run ``rviz`` command. + +.. code-block:: bash + + rviz + +* Then in the RVIZ window open the config file named ``youbot.rviz`` (located in ``mas_industrial_robotics`` ROS package). +* Set the Fixed Frame in Global Options to ``map``. +* Once the file is loaded then localize the youbot using ``2d pose esitimate`` as show in the image below + +.. figure:: ../images/rviz_config_1_1.png + :align: center + +* Then place the green arrow at location where youbot is actually present in the arena, and rotate the robot till the amcl particles (the tiny red arrows) consolidate. This means the robot is now localized. + +12. After the localization is done then open a new terminal (terminal 6) and connect to youbot and then run ``tskynet`` command. + +.. code-block:: bash + + tskynet + + or + + tmux new -A -s skynet + +13. Now in the same terminal session (terminal 6) run ``skynet`` command. + +.. code-block:: bash + + + skynet + + or + + roslaunch mir_planning_core task_planning_sm.launch + +14. Now open a new terminal (terminal 7) and connect to youbot and then run ``nightwatch`` command. + +.. code-block:: bash + + nightwatch + + or + + cd .ros; watch cat ~/.ros/task_plan.plan + +* The robot will now execute the actions as required by the ppdl file. + +* Once all the tasks completed then kill every node in the terminals one after the other in reverse order. + + diff --git a/data/docs/source/tasks/images/rviz_config_1_1.png b/data/docs/source/tasks/images/rviz_config_1_1.png new file mode 100644 index 0000000000000000000000000000000000000000..587f3976f1fd06cc2a115ff6426c875c0147277d --- /dev/null +++ b/data/docs/source/tasks/images/rviz_config_1_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68f06158076546ba96a35428d3682c7b98d826013b2303172f8e88c6d08a60a3 +size 42644 diff --git a/data/images/mas_industrial_robotics/Dockerfile b/data/images/mas_industrial_robotics/Dockerfile new file mode 100644 index 0000000000000000000000000000000000000000..ad87f3b6a1e2c78be813ea5f4b4b188e2ff09665 --- /dev/null +++ b/data/images/mas_industrial_robotics/Dockerfile @@ -0,0 +1,72 @@ +ARG ROS_DISTRO + +FROM osrf/ros:$ROS_DISTRO-desktop-full + +ENV IS_CI=1 + +USER root + +RUN apt-get update -y -qq \ + && apt upgrade -y -qq \ + && apt-get install -y -qq \ + apt-utils \ + cmake \ + gdb \ + less \ + checkinstall \ + software-properties-common \ + curl \ + figlet \ + wget \ + nmap \ + unzip \ + gcc-multilib \ + g++-multilib \ + git + +#update ROS GPG key: https://discourse.ros.org/t/ros-gpg-key-expiration-incident/20669 +RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - + +RUN apt-get update --fix-missing + +# Some QT-Apps/Gazebo don't show controls without this +ENV QT_X11_NO_MITSHM 1 + +# create robocup user +ARG UNAME=robocup +ARG WS_DIR=/home/$UNAME/$ROS_DISTRO/catkin_ws +ARG UID=1000 +ARG GID=1000 +RUN groupadd -g $GID -o $UNAME +RUN useradd -m -s /bin/bash -N -u $UID $UNAME && \ + adduser $UNAME sudo && \ + echo "$UNAME ALL=(ALL:ALL) NOPASSWD:ALL" | sudo tee /etc/sudoers.d/$UNAME && \ + mkdir -p $WS_DIR &&\ + chown $UNAME:$GID -R $WS_DIR + +WORKDIR $WS_DIR +USER $UNAME +COPY images/mas_industrial_robotics/bashrc /home/$UNAME/.bashrc +COPY images/mas_industrial_robotics/bash_profile /home/$UNAME/.bash_profile + +WORKDIR $WS_DIR/src/mas_industrial_robotics +COPY . $WS_DIR/src/mas_industrial_robotics + +USER root +RUN chown $UNAME:$GID -R /home/$UNAME + +USER $UNAME +# Set Environment variables +ENV ROBOT=youbot-brsu-4 +ENV ROBOT_ENV=brsu-c025 + +RUN ./setup.sh --ros_install base --ros_distro $ROS_DISTRO --ws_dir $WS_DIR --docker 1 + +#remove cache +USER root +RUN rm -rf /var/lib/apt/lists/* + +USER $UNAME +COPY images/mas_industrial_robotics/entrypoint.sh /usr/sbin/entrypoint.sh +RUN sudo chmod +x /usr/sbin/entrypoint.sh +ENTRYPOINT /usr/sbin/entrypoint.sh diff --git a/data/images/mas_industrial_robotics/bash_profile b/data/images/mas_industrial_robotics/bash_profile new file mode 100644 index 0000000000000000000000000000000000000000..5545f007ea9b8fac553903c9e6ecfab3cf67807d --- /dev/null +++ b/data/images/mas_industrial_robotics/bash_profile @@ -0,0 +1,5 @@ +# +# ~/.bash_profile +# + +[[ -f ~/.bashrc ]] && . ~/.bashrc diff --git a/data/images/mas_industrial_robotics/bashrc b/data/images/mas_industrial_robotics/bashrc new file mode 100644 index 0000000000000000000000000000000000000000..d36035081d823ebce7e4896d96b2f57d4359951d --- /dev/null +++ b/data/images/mas_industrial_robotics/bashrc @@ -0,0 +1,34 @@ +# +# ~/.bashrc +# borrowed from https://github.com/pierrekilly/docker-ros-box/blob/master/docker/bashrc + +# If not running interactively, don't do anything +[[ $- != *i* ]] && return + +alias ls='ls --color=auto' +export QT_X11_NO_MITSHM=1 + +function returncode +{ + returncode=$? + if [ $returncode != 0 ]; then + echo "[$returncode]" + else + echo "" + fi +} + +if [[ ${EUID} == 0 ]] +then + PS1='\[\033[0;31m\]$(returncode)\[\033[01;31m\]\u\[\033[00m\]@\[\033[01;33m\]\h\[\033[01;34m\] ${PWD} \$\[\033[00m\] ' +else + PS1='\[\033[0;31m\]$(returncode)\[\033[01;32m\]\u\[\033[00m\]@\[\033[01;33m\]\h\[\033[01;34m\] ${PWD} \$\[\033[00m\] ' +fi + +export BUILDDIR=/tmp +export MAKEFLAGS="-j$(nproc) $MAKEFLAGS" +export LD_LIBRARY_PATH="/usr/lib:$LD_LIBRARY_PATH" +source $HOME/$ROS_DISTRO/catkin_ws/devel/setup.bash + +#ALIAS b-it-bots +alias bringup_sim='roslaunch mir_bringup_sim robot.launch' diff --git a/data/images/mas_industrial_robotics/entrypoint.sh b/data/images/mas_industrial_robotics/entrypoint.sh new file mode 100644 index 0000000000000000000000000000000000000000..eb5a44be2840ccec49f1b9f7c8f78a94ea855699 --- /dev/null +++ b/data/images/mas_industrial_robotics/entrypoint.sh @@ -0,0 +1,10 @@ +#!/bin/bash + +# Add the user to video group for HW acceleration (only Intel cards supported) +sudo usermod -aG video robocup + +# Load the default ROS entrypoint +source "/opt/ros/$ROS_DISTRO/setup.bash" +source $HOME/$ROS_DISTRO/catkin_ws/devel/setup.bash + +bash diff --git a/data/images/mas_industrial_robotics/melodic-perception-requirements.txt b/data/images/mas_industrial_robotics/melodic-perception-requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..8a2bdec447cf2f72d027b827b66b59dbb78d18be --- /dev/null +++ b/data/images/mas_industrial_robotics/melodic-perception-requirements.txt @@ -0,0 +1,11 @@ +enum34==1.1.10 +numpy==1.22.0 +markdown==2.6.11 +mock==3.0.5 +tensorflow==2.7.2 +setuptools==41.0.0 +h5py==2.9.0 +scipy==1.2.3 +scikit-learn==0.20.1 +easydict==1.9 +joblib==1.2.0 diff --git a/data/images/mas_industrial_robotics/noetic-perception-requirements.txt b/data/images/mas_industrial_robotics/noetic-perception-requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..6e3e95b15e0d9115e9352a04fe458ad9f30b9b16 --- /dev/null +++ b/data/images/mas_industrial_robotics/noetic-perception-requirements.txt @@ -0,0 +1,10 @@ +enum34==1.1.10 +numpy==1.22.0 +markdown==2.6.11 +mock==3.0.5 +setuptools==41.0.0 +h5py==2.9.0 +scipy +scikit-learn +easydict +joblib diff --git a/data/mas_industrial_robotics/CMakeLists.txt b/data/mas_industrial_robotics/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..5a307d96c82fa683e40933c0dc2339089b0cd3fc --- /dev/null +++ b/data/mas_industrial_robotics/CMakeLists.txt @@ -0,0 +1,4 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mas_industrial_robotics) +find_package(catkin REQUIRED) +catkin_metapackage() diff --git a/data/mas_industrial_robotics/package.xml b/data/mas_industrial_robotics/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..754a593f80ecc47c5cf278f0b68c3e569dadebf6 --- /dev/null +++ b/data/mas_industrial_robotics/package.xml @@ -0,0 +1,19 @@ + + + mas_industrial_robotics + 0.0.1 + ROS metapackages for industrial robots. + GPLv3 + + Frederik Hegger + Frederik Hegger + Matthias Füller + Sven Schneider + + + catkin + + + + + diff --git a/data/mir_command_tools/mir_command_tools/CMakeLists.txt b/data/mir_command_tools/mir_command_tools/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..5fe344c193f6540f5c698dfadfee4cd621197bf9 --- /dev/null +++ b/data/mir_command_tools/mir_command_tools/CMakeLists.txt @@ -0,0 +1,4 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_command_tools) +find_package(catkin REQUIRED) +catkin_metapackage() \ No newline at end of file diff --git a/data/mir_command_tools/mir_command_tools/package.xml b/data/mir_command_tools/mir_command_tools/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..34b443df4faf9306726c362fdecbe75991269703 --- /dev/null +++ b/data/mir_command_tools/mir_command_tools/package.xml @@ -0,0 +1,22 @@ + + + mir_command_tools + 0.0.1 + Command tools for making the robot move with other devices i.e. a joypad + + GPLv3 + + Frederik Hegger + + Frederik Hegger + Sven Schneider + Matthias Füller + Rhama Dwiputra + Nico Hochgeschwender + + catkin + + + + + diff --git a/data/mir_command_tools/mir_teleop/CMakeLists.txt b/data/mir_command_tools/mir_teleop/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..bf630f28b54038575a0752e4d534501427105aa1 --- /dev/null +++ b/data/mir_command_tools/mir_teleop/CMakeLists.txt @@ -0,0 +1,81 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_teleop) + +find_package(catkin REQUIRED + COMPONENTS + dynamic_reconfigure + brics_actuator + geometry_msgs + joy + moveit_msgs + roscpp + sensor_msgs + std_srvs + mcr_manipulation_msgs + roslint +) + +find_package(Boost REQUIRED) + +generate_dynamic_reconfigure_options( + ros/config/TeleopJoypad.cfg +) + +catkin_package( + CATKIN_DEPENDS + brics_actuator + geometry_msgs + joy + mcr_teleop + mir_default_robot_config + mir_hardware_config + moveit_msgs + sensor_msgs + std_srvs + mcr_manipulation_msgs +) + +include_directories( + ${catkin_INCLUDE_DIRS} + ros/include +) + +add_executable(teleop_joypad_node + ros/src/teleop_joypad_node.cpp + ros/src/teleop_joypad.cpp +) +add_dependencies(teleop_joypad_node + ${catkin_EXPORTED_TARGETS} + ${PROJECT_NAME}_gencfg +) +target_link_libraries(teleop_joypad_node + ${catkin_LIBRARIES} +) + + +### TESTS +roslint_cpp() + +if(CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + + roslaunch_add_file_check(ros/launch robot:=youbot-brsu-1) +endif() + + +### INSTALLS +install(TARGETS teleop_joypad_node + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) +install(DIRECTORY ros/launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ros/launch +) +install(DIRECTORY ros/config/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ros/config +) +install(PROGRAMS + ros/config/TeleopJoypad.cfg + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ros/config +) diff --git a/data/mir_command_tools/mir_teleop/package.xml b/data/mir_command_tools/mir_teleop/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..67b9e49a15dc732136a35498071bceeefff46923 --- /dev/null +++ b/data/mir_command_tools/mir_teleop/package.xml @@ -0,0 +1,40 @@ + + + mir_teleop + 0.0.1 + teleoperation via joypad and keyboard + + Frederik Hegger + Matthias Füller + + GPLv3 + + Frederik Hegger + + catkin + + brics_actuator + dynamic_reconfigure + geometry_msgs + joy + moveit_msgs + roscpp + sensor_msgs + std_srvs + mcr_manipulation_msgs + roslint + + brics_actuator + geometry_msgs + joy + mcr_teleop + mir_default_robot_config + mir_hardware_config + moveit_msgs + sensor_msgs + std_srvs + mcr_manipulation_msgs + + roslaunch + + diff --git a/data/mir_command_tools/mir_teleop/ros/config/TeleopJoypad.cfg b/data/mir_command_tools/mir_teleop/ros/config/TeleopJoypad.cfg new file mode 100644 index 0000000000000000000000000000000000000000..f84e7547f21381ecec9663c20cfab15975afc036 --- /dev/null +++ b/data/mir_command_tools/mir_teleop/ros/config/TeleopJoypad.cfg @@ -0,0 +1,10 @@ +#!/usr/bin/env python +PACKAGE = "mir_teleop" + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +gen.add("arm_cartesian_reference_link", str_t, 0, "Reference link which will be used by the arm Cartesian controller", "/base_link") + +exit(gen.generate(PACKAGE, "mir_teleop", "TeleopJoypad")) diff --git a/data/mir_command_tools/mir_teleop/ros/config/logitech.yaml b/data/mir_command_tools/mir_teleop/ros/config/logitech.yaml new file mode 100644 index 0000000000000000000000000000000000000000..24b4de732259faa06e561cc34cf953edb02bb5ef --- /dev/null +++ b/data/mir_command_tools/mir_teleop/ros/config/logitech.yaml @@ -0,0 +1,7 @@ +joypad: + buttons: + name: [deadman, run, base_motors_on_off, arm_motors_on_off, reconnect_left, reconnect_right, arm_motor_1_2, arm_motor_3_4, arm_motor_5, arm_cart_ctrl, gripper, print_arm_joint_states] + index: [5, 7, 8, 9, 10, 11, 0, 1, 2, 4, 3, 6] + axes: + name: [base_linear_x, base_linear_y, base_angular_z, arm_linear_x, arm_linear_y, arm_linear_z, arm_angular_x, arm_angular_y, arm_angular_z, arm_joint_axes_1, arm_joint_axes_2] + index: [1, 0, 2, 1, 0, 3, 2, 5, 4, 4, 5] diff --git a/data/mir_command_tools/mir_teleop/ros/config/saitek.yaml b/data/mir_command_tools/mir_teleop/ros/config/saitek.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d0632e896d767643050edd68d2f13d3c0e35289c --- /dev/null +++ b/data/mir_command_tools/mir_teleop/ros/config/saitek.yaml @@ -0,0 +1,7 @@ +joypad: + buttons: + name: [deadman, run, base_motors_on_off, arm_motors_on_off, arm_motor_1_2, arm_motor_3_4, arm_motor_5, arm_cart_ctrl, gripper, print_arm_joint_states] + index: [5, 7, 9, 8, 0, 1, 2, 4, 3, 6] + axes: + name: [base_linear_x, base_linear_y, base_angular_z, arm_linear_x, arm_linear_y, arm_linear_z, arm_angular_x, arm_angular_y, arm_angular_z, arm_joint_axes_1, arm_joint_axes_2] + index: [1, 0, 3, 1, 0, 2, 3, 4, 5, 5, 4] diff --git a/data/mir_command_tools/mir_teleop/ros/doc/youbot_joypad_description.pdf b/data/mir_command_tools/mir_teleop/ros/doc/youbot_joypad_description.pdf new file mode 100644 index 0000000000000000000000000000000000000000..7121c5b650a346da75b99d7626dda9fb9aaf8710 --- /dev/null +++ b/data/mir_command_tools/mir_teleop/ros/doc/youbot_joypad_description.pdf @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d10869a2a159f441ae0ca8e486a6536aecf773c4ee0d64316d0c63d56de9cb4 +size 327646 diff --git a/data/mir_command_tools/mir_teleop/ros/doc/youbot_joypad_description.vsd b/data/mir_command_tools/mir_teleop/ros/doc/youbot_joypad_description.vsd new file mode 100644 index 0000000000000000000000000000000000000000..dd825133bdc8811bb7f59df5ee77006812024b74 --- /dev/null +++ b/data/mir_command_tools/mir_teleop/ros/doc/youbot_joypad_description.vsd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4ca74149467440c4d71b94baa92cb16d5119f0f820c5638db65632191b13658d +size 1969664 diff --git a/data/mir_command_tools/mir_teleop/ros/include/mir_teleop/teleop_joypad.h b/data/mir_command_tools/mir_teleop/ros/include/mir_teleop/teleop_joypad.h new file mode 100644 index 0000000000000000000000000000000000000000..2e1d3f656a0d472f9a7f3fe9e25e74defc61863a --- /dev/null +++ b/data/mir_command_tools/mir_teleop/ros/include/mir_teleop/teleop_joypad.h @@ -0,0 +1,148 @@ +/* + * Copyright [2012] + * + * teleop_joypad.h + * + * Created on: May 27, 2012 + * Author: Frederik Hegger + */ + +#ifndef MIR_TELEOP_TELEOP_JOYPAD_H_ +#define MIR_TELEOP_TELEOP_JOYPAD_H_ + +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include "mir_teleop/TeleopJoypadConfig.h" + +#define MAX_JOYPAD 1.0 + +class TeleOpJoypad +{ + public: + explicit TeleOpJoypad(ros::NodeHandle &nh); + + private: + bool getJoypadConfigParameter(); + void getBaseParameter(); + bool getArmParameter(); + bool moveGripper(int gripper_command); + bool switchMotorsOnOff(std::string component_name, std::string state); + bool reconnect(); + + void cbJoypad(const sensor_msgs::Joy::ConstPtr &command); + void cbJointStates(const sensor_msgs::JointState::ConstPtr &state_msg); + void cbDynamicReconfigure(mir_teleop::TeleopJoypadConfig &config, uint32_t level); + void setAllArmJointVel(double motor_vel); + void setSingleArmJointVel(double motor_vel, std::string joint_name); + void checkArmJointLimits(); + void printArmJointStates(); + + ros::NodeHandle *nh_; + + dynamic_reconfigure::Server dyn_recfg_server; + dynamic_reconfigure::Server::CallbackType dyn_recfg_cb; + + mir_teleop::TeleopJoypadConfig teleop_config_; + + sensor_msgs::JointState current_joint_states_; + bool is_in_soft_joint_limits_; + double soft_joint_limit_threshold_; + double arm_max_vel_; + std::vector arm_joint_names_; + std::vector arm_joint_limits_; + brics_actuator::JointVelocities arm_vel_; + bool is_joint_space_ctrl_active_; + + geometry_msgs::TwistStamped arm_cart_vel_; + double arm_cart_factor_; + + double speed_factor_; + + bool button_deadman_pressed_prev_; + bool button_print_arm_states_prev_; + + bool button_gripper_pressed_prev_; + bool button_gripper_active_; + + bool button_arm_motors_on_off_pressed_prev_; + bool button_arm_motors_active_; + + bool button_base_motors_on_off_pressed_prev_; + bool button_base_motors_active_; + + bool button_reconnect_left_pressed_prev_; + bool button_reconnect_right_pressed_prev_; + + bool button_arm_cart_pressed_prev_; + + bool button_arm_joint_1_2_pressed_prev_; + bool button_arm_joint_3_4_pressed_prev_; + bool button_arm_joint_5_pressed_prev_; + + bool is_one_arm_joint_button_pressed_; + + geometry_msgs::Twist base_cart_vel_; + geometry_msgs::Twist base_cart_zero_vel_; + geometry_msgs::Twist base_cart_factor_; + + geometry_msgs::TwistStamped arm_cart_zero_vel_; + + // Subscriber + ros::Subscriber sub_joypad_; + ros::Subscriber sub_joint_states_; + + // Publisher + ros::Publisher pub_base_cart_vel_; + ros::Publisher pub_arm_joint_vel_; + ros::Publisher pub_arm_cart_vel_; + ros::Publisher pub_gripper_command_; + + // Service clients + ros::ServiceClient srv_arm_motors_on_; + ros::ServiceClient srv_arm_motors_off_; + ros::ServiceClient srv_base_motors_on_; + ros::ServiceClient srv_base_motors_off_; + ros::ServiceClient srv_reconnect; + + int button_index_deadman_; + int button_index_run_; + int button_index_arm_motors_on_off_; + int button_index_base_motors_on_off_; + int button_index_reconnect_left_; + int button_index_reconnect_right_; + int button_index_print_arm_joint_states_; + int button_index_arm_joint_1_2_; + int button_index_arm_joint_3_4_; + int button_index_arm_joint_5_; + int button_index_gripper_; + int button_index_arm_cart_; + + int axes_index_base_linear_x_; + int axes_index_base_linear_y_; + int axes_index_base_angular_z_; + int axes_index_arm_linear_x_; + int axes_index_arm_linear_y_; + int axes_index_arm_linear_z_; + int axes_index_arm_angular_x_; + int axes_index_arm_angular_y_; + int axes_index_arm_angular_z_; + int axes_index_arm_joint_axes_1_; + int axes_index_arm_joint_axes_2_; +}; + +#endif // MIR_TELEOP_TELEOP_JOYPAD_H_ diff --git a/data/mir_command_tools/mir_teleop/ros/launch/teleop_joypad.launch b/data/mir_command_tools/mir_teleop/ros/launch/teleop_joypad.launch new file mode 100644 index 0000000000000000000000000000000000000000..3d28fc227be7b1fe05b95e0889f350001586512a --- /dev/null +++ b/data/mir_command_tools/mir_teleop/ros/launch/teleop_joypad.launch @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_command_tools/mir_teleop/ros/launch/teleop_keyboard.launch b/data/mir_command_tools/mir_teleop/ros/launch/teleop_keyboard.launch new file mode 100644 index 0000000000000000000000000000000000000000..fe67b93029f650e330725f4b30453a1320ba3f01 --- /dev/null +++ b/data/mir_command_tools/mir_teleop/ros/launch/teleop_keyboard.launch @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/data/mir_command_tools/mir_teleop/ros/src/teleop_joypad.cpp b/data/mir_command_tools/mir_teleop/ros/src/teleop_joypad.cpp new file mode 100644 index 0000000000000000000000000000000000000000..76bc76afc21361fc6f9ac638b5e300252ca35c51 --- /dev/null +++ b/data/mir_command_tools/mir_teleop/ros/src/teleop_joypad.cpp @@ -0,0 +1,487 @@ +/* + * Copyright [2011] + * + * teleop_joypad.cpp + * + * Created on: May 27, 2012 + * Author: Frederik Hegger + */ + +#include +#include + +TeleOpJoypad::TeleOpJoypad(ros::NodeHandle &nh) +{ + nh_ = &nh; + + is_in_soft_joint_limits_ = false; + button_deadman_pressed_prev_ = false; + button_print_arm_states_prev_ = false; + button_gripper_active_ = false; + button_arm_motors_active_ = false; + button_base_motors_active_ = false; + button_arm_cart_pressed_prev_ = false; + button_arm_joint_1_2_pressed_prev_ = false; + button_arm_joint_3_4_pressed_prev_ = false; + button_arm_joint_5_pressed_prev_ = false; + is_one_arm_joint_button_pressed_ = false; + + dyn_recfg_cb = boost::bind(&TeleOpJoypad::cbDynamicReconfigure, this, _1, _2); + dyn_recfg_server.setCallback(dyn_recfg_cb); + + if (!this->getJoypadConfigParameter()) { + ROS_ERROR("could not get joypad parameters."); + exit(0); + } + + this->getBaseParameter(); + + if (this->getArmParameter()) { + ROS_INFO("Arm joint limit parameters available. Joint space control: ACTIVE"); + + sub_joint_states_ = nh_->subscribe("/joint_states", 1, + &TeleOpJoypad::cbJointStates, this); + pub_arm_joint_vel_ = nh_->advertise( + "/arm_1/arm_controller/velocity_command", 1); + } else + ROS_ERROR( + "No arm joint limit parameters available. Joint space control: " + "DEACTIVATED."); + + sub_joypad_ = nh_->subscribe("/joy", 1, &TeleOpJoypad::cbJoypad, this); + pub_base_cart_vel_ = nh_->advertise("cmd_vel", 1); + pub_arm_cart_vel_ = nh_->advertise( + "/arm_1/arm_controller/cartesian_velocity_command", 1); + pub_gripper_command_ = + nh_->advertise("gripper_command", 1); + + srv_base_motors_on_ = nh_->serviceClient("/base/switchOnMotors"); + srv_base_motors_off_ = nh_->serviceClient("/base/switchOffMotors"); + srv_arm_motors_on_ = nh_->serviceClient("/arm_1/switchOnMotors"); + srv_arm_motors_off_ = nh_->serviceClient("/arm_1/switchOffMotors"); + srv_reconnect = nh_->serviceClient("/reconnect"); +} + +bool TeleOpJoypad::getJoypadConfigParameter() +{ + XmlRpc::XmlRpcValue name_list, index_list; + std::string types[] = {"buttons", "axes"}; + + for (int i = 0; i < 2; ++i) // TBD + { + if (!nh_->getParam("joypad/" + types[i] + "/name", name_list) || + !nh_->getParam("joypad/" + types[i] + "/index", index_list)) { + return false; + } + + ROS_ASSERT(name_list.getType() == XmlRpc::XmlRpcValue::TypeArray); + ROS_ASSERT(index_list.getType() == XmlRpc::XmlRpcValue::TypeArray); + ROS_ASSERT(name_list.size() == index_list.size()); + + for (int j = 0; j < name_list.size(); ++j) { + if (i == 0) { + if (name_list[j] == "deadman") + button_index_deadman_ = index_list[j]; + else if (name_list[j] == "run") + button_index_run_ = index_list[j]; + else if (name_list[j] == "base_motors_on_off") + button_index_base_motors_on_off_ = index_list[j]; + else if (name_list[j] == "arm_motors_on_off") + button_index_arm_motors_on_off_ = index_list[j]; + else if (name_list[j] == "reconnect_left") + button_index_reconnect_left_ = index_list[j]; + else if (name_list[j] == "reconnect_right") + button_index_reconnect_right_ = index_list[j]; + else if (name_list[j] == "arm_motor_1_2") + button_index_arm_joint_1_2_ = index_list[j]; + else if (name_list[j] == "arm_motor_3_4") + button_index_arm_joint_3_4_ = index_list[j]; + else if (name_list[j] == "arm_motor_5") + button_index_arm_joint_5_ = index_list[j]; + else if (name_list[j] == "gripper") + button_index_gripper_ = index_list[j]; + else if (name_list[j] == "arm_cart_ctrl") + button_index_arm_cart_ = index_list[j]; + else if (name_list[j] == "print_arm_joint_states") + button_index_print_arm_joint_states_ = index_list[j]; + else + ROS_WARN_STREAM("button name <<" << name_list[j] << ">> in yaml but not used in node"); + } + + else if (i == 1) { + if (name_list[j] == "base_linear_x") + axes_index_base_linear_x_ = index_list[j]; + else if (name_list[j] == "base_linear_y") + axes_index_base_linear_y_ = index_list[j]; + else if (name_list[j] == "base_angular_z") + axes_index_base_angular_z_ = index_list[j]; + else if (name_list[j] == "arm_linear_x") + axes_index_arm_linear_x_ = index_list[j]; + else if (name_list[j] == "arm_linear_y") + axes_index_arm_linear_y_ = index_list[j]; + else if (name_list[j] == "arm_linear_z") + axes_index_arm_linear_z_ = index_list[j]; + else if (name_list[j] == "arm_angular_x") + axes_index_arm_angular_x_ = index_list[j]; + else if (name_list[j] == "arm_angular_y") + axes_index_arm_angular_y_ = index_list[j]; + else if (name_list[j] == "arm_angular_z") + axes_index_arm_angular_z_ = index_list[j]; + else if (name_list[j] == "arm_joint_axes_1") + axes_index_arm_joint_axes_1_ = index_list[j]; + else if (name_list[j] == "arm_joint_axes_2") + axes_index_arm_joint_axes_2_ = index_list[j]; + else + ROS_WARN_STREAM("axes name <<" << name_list[j] << ">> in yaml but not used in node"); + } + } + } + + return true; +} + +void TeleOpJoypad::getBaseParameter() +{ + double param = 0; + ros::param::param("~base_max_linear_x_vel", param, 0.3); + base_cart_factor_.linear.x = param / MAX_JOYPAD; + ros::param::param("~base_max_linear_y_vel", param, 0.3); + base_cart_factor_.linear.y = param / MAX_JOYPAD; + ros::param::param("~base_max_angular_vel", param, 0.5); + base_cart_factor_.angular.z = param / MAX_JOYPAD; +} + +bool TeleOpJoypad::getArmParameter() +{ + is_joint_space_ctrl_active_ = false; + + double param = 0; + ros::param::param("~arm_max_vel", param, 0.2); + arm_max_vel_ = param / MAX_JOYPAD; + ros::param::param("~soft_joint_limit_threshold", soft_joint_limit_threshold_, 0.05); + + // read joint names + XmlRpc::XmlRpcValue param_list; + if (nh_->getParam("/arm_1/arm_controller/joints", param_list)) { + ROS_ASSERT(param_list.getType() == XmlRpc::XmlRpcValue::TypeArray); + + for (int32_t i = 0; i < param_list.size(); ++i) { + ROS_ASSERT(param_list[i].getType() == XmlRpc::XmlRpcValue::TypeString); + arm_joint_names_.push_back(static_cast(param_list[i])); + } + + // read joint limits + for (unsigned int i = 0; i < arm_joint_names_.size(); ++i) { + moveit_msgs::JointLimits limit; + limit.joint_name = arm_joint_names_[i]; + nh_->getParam("/arm_1/arm_controller/limits/" + arm_joint_names_[i] + "/min", + limit.min_position); + nh_->getParam("/arm_1/arm_controller/limits/" + arm_joint_names_[i] + "/max", + limit.max_position); + arm_joint_limits_.push_back(limit); + } + + arm_vel_.velocities.clear(); + for (unsigned int i = 0; i < arm_joint_names_.size(); ++i) { + brics_actuator::JointValue joint_value; + + joint_value.timeStamp = ros::Time::now(); + joint_value.joint_uri = arm_joint_names_[i]; + joint_value.unit = "s^-1 rad"; + joint_value.value = 0.0; + + arm_vel_.velocities.push_back(joint_value); + } + + is_joint_space_ctrl_active_ = true; + } + + arm_cart_factor_ = 0.1; + + return is_joint_space_ctrl_active_; +} + +bool TeleOpJoypad::moveGripper(int gripper_command) +{ + mcr_manipulation_msgs::GripperCommand command_msgs; + + command_msgs.command = gripper_command; + + pub_gripper_command_.publish(command_msgs); + + return true; +} + +void TeleOpJoypad::cbDynamicReconfigure(mir_teleop::TeleopJoypadConfig &config, uint32_t level) +{ + teleop_config_ = config; + arm_cart_zero_vel_.header.frame_id = teleop_config_.arm_cartesian_reference_link; +} + +void TeleOpJoypad::cbJointStates(const sensor_msgs::JointState::ConstPtr &state_msg) +{ + current_joint_states_ = *state_msg; +} + +bool TeleOpJoypad::switchMotorsOnOff(std::string component_name, std::string state) +{ + std_srvs::Empty empty; + ros::ServiceClient *srv_client; + + if (component_name == "arm" && state == "ON") + srv_client = &srv_arm_motors_on_; + else if (component_name == "arm" && state == "OFF") + srv_client = &srv_arm_motors_off_; + else if (component_name == "base" && state == "ON") + srv_client = &srv_base_motors_on_; + else if (component_name == "base" && state == "OFF") + srv_client = &srv_base_motors_off_; + else { + ROS_ERROR_STREAM("component <<" << component_name << ">> or state <<" << state + << ">> not known."); + return false; + } + + if (srv_client->call(empty)) { + ROS_INFO_STREAM("Turned " << state << " " << component_name << " motors"); + return true; + } else { + ROS_ERROR_STREAM("Could not turn " << state << " " << component_name << " motors"); + return false; + } + + return true; +} + +bool TeleOpJoypad::reconnect() +{ + std_srvs::Empty empty; + + if (srv_reconnect.call(empty)) { + ROS_INFO_STREAM("Call to serivce: " << srv_reconnect.getService() << " successful."); + return true; + } + ROS_ERROR_STREAM("Could not call service: " << srv_reconnect.getService() << "."); + return false; +} + +void TeleOpJoypad::setSingleArmJointVel(double motor_vel, std::string joint_name) +{ + for (unsigned int i = 0; i < arm_vel_.velocities.size(); ++i) { + if (arm_vel_.velocities[i].joint_uri == joint_name) { + arm_vel_.velocities[i].timeStamp = ros::Time::now(); + arm_vel_.velocities[i].value = motor_vel; + } + } +} + +void TeleOpJoypad::setAllArmJointVel(double motor_vel) +{ + for (unsigned int i = 0; i < arm_joint_names_.size(); ++i) + setSingleArmJointVel(motor_vel, arm_joint_names_[i]); +} + +void TeleOpJoypad::printArmJointStates() +{ + std::string joint_name_list = ""; + + std::cout << "["; + + for (unsigned int i = 0; i < arm_joint_limits_.size(); i++) { + for (unsigned int j = 0; j < current_joint_states_.name.size(); ++j) { + if (current_joint_states_.name[j] == arm_joint_limits_[i].joint_name) { + std::cout << current_joint_states_.position[j]; + joint_name_list += current_joint_states_.name[j]; + + if (i < (arm_joint_limits_.size() - 1)) { + std::cout << ", "; + joint_name_list += ", "; + } + } + } + } + std::cout << "] \t # current arm joint values (" << joint_name_list << ")" << std::endl; +} + +void TeleOpJoypad::checkArmJointLimits() +{ + for (unsigned int i = 0; i < arm_joint_limits_.size(); i++) { + for (unsigned int j = 0; j < current_joint_states_.name.size(); ++j) { + if (current_joint_states_.name[j] == arm_joint_limits_[i].joint_name) { + if (((current_joint_states_.position[j] < + (arm_joint_limits_[i].min_position + soft_joint_limit_threshold_)) && + (arm_vel_.velocities[j].value < 0)) || + ((current_joint_states_.position[j] > + (arm_joint_limits_[i].max_position - soft_joint_limit_threshold_)) && + (arm_vel_.velocities[j].value > 0))) { + arm_vel_.velocities[i].value = 0.0; + } + } + } + } +} + +void TeleOpJoypad::cbJoypad(const sensor_msgs::Joy::ConstPtr &command) +{ + is_one_arm_joint_button_pressed_ = + static_cast(command->buttons[button_index_arm_joint_1_2_]) || + static_cast(command->buttons[button_index_arm_joint_3_4_]) || + static_cast(command->buttons[button_index_arm_joint_5_]); + + if (static_cast(command->buttons[button_index_deadman_])) { + speed_factor_ = !static_cast(command->buttons[button_index_run_]) ? 0.5 : 1.0; + + // gripper control + if (!button_gripper_pressed_prev_ && + static_cast(command->buttons[button_index_gripper_])) { + button_gripper_active_ = !button_gripper_active_; + if (button_gripper_active_) { + ROS_INFO("open gripper"); + this->moveGripper(mcr_manipulation_msgs::GripperCommand::OPEN); + } else { + ROS_INFO("close gripper"); + this->moveGripper(mcr_manipulation_msgs::GripperCommand::CLOSE); + } + } + + // arm/base services + if (!button_arm_motors_on_off_pressed_prev_ && + static_cast(command->buttons[button_index_arm_motors_on_off_])) { + button_arm_motors_active_ = !button_arm_motors_active_; + if (button_arm_motors_active_) { + ROS_INFO("turn arm motors OFF"); + this->switchMotorsOnOff("arm", "OFF"); + } else { + ROS_INFO("turn arm motors ON"); + this->switchMotorsOnOff("arm", "ON"); + } + } + + if (!button_base_motors_on_off_pressed_prev_ && + static_cast(command->buttons[button_index_base_motors_on_off_])) { + button_base_motors_active_ = !button_base_motors_active_; + if (button_base_motors_active_) { + ROS_INFO("turn base motors OFF"); + this->switchMotorsOnOff("base", "OFF"); + } else { + ROS_INFO("turn base motors ON"); + this->switchMotorsOnOff("base", "ON"); + } + } + + // arm cartesian control mode OR base cartesian control mode + if (static_cast(command->buttons[button_index_arm_cart_])) { + arm_cart_vel_.header.frame_id = teleop_config_.arm_cartesian_reference_link; + arm_cart_vel_.twist.linear.x = + command->axes[axes_index_arm_linear_x_] * arm_cart_factor_ * speed_factor_; + arm_cart_vel_.twist.linear.y = + command->axes[axes_index_arm_linear_y_] * arm_cart_factor_ * speed_factor_; + arm_cart_vel_.twist.linear.z = + command->axes[axes_index_arm_linear_z_] * arm_cart_factor_ * speed_factor_; + + arm_cart_vel_.twist.angular.x = + command->axes[axes_index_arm_angular_x_] * arm_cart_factor_ * speed_factor_; + arm_cart_vel_.twist.angular.y = + command->axes[axes_index_arm_angular_y_] * arm_cart_factor_ * speed_factor_; + arm_cart_vel_.twist.angular.z = + command->axes[axes_index_arm_angular_z_] * arm_cart_factor_ * speed_factor_; + } else { + base_cart_vel_.linear.x = + command->axes[axes_index_base_linear_x_] * base_cart_factor_.linear.x * speed_factor_; + base_cart_vel_.linear.y = + command->axes[axes_index_base_linear_y_] * base_cart_factor_.linear.y * speed_factor_; + base_cart_vel_.angular.z = + command->axes[axes_index_base_angular_z_] * base_cart_factor_.angular.z * speed_factor_; + + if (fabs(base_cart_vel_.linear.x) < 0.01) base_cart_vel_.linear.x = 0.0; + if (fabs(base_cart_vel_.linear.y) < 0.01) base_cart_vel_.linear.y = 0.0; + if (fabs(base_cart_vel_.angular.z) < 0.01) base_cart_vel_.angular.z = 0.0; + } + + // arm joint space control mode + if (is_joint_space_ctrl_active_) { + if (button_arm_joint_1_2_pressed_prev_ && + !static_cast(command->buttons[button_index_arm_joint_1_2_])) { + this->setSingleArmJointVel(0.0, arm_joint_names_[0]); + this->setSingleArmJointVel(0.0, arm_joint_names_[1]); + pub_arm_joint_vel_.publish(arm_vel_); + } + if (button_arm_joint_3_4_pressed_prev_ && + !static_cast(command->buttons[button_index_arm_joint_3_4_])) { + this->setSingleArmJointVel(0.0, arm_joint_names_[2]); + this->setSingleArmJointVel(0.0, arm_joint_names_[3]); + pub_arm_joint_vel_.publish(arm_vel_); + } + if (button_arm_joint_5_pressed_prev_ && + !static_cast(command->buttons[button_index_arm_joint_5_])) { + this->setSingleArmJointVel(0.0, arm_joint_names_[4]); + pub_arm_joint_vel_.publish(arm_vel_); + } + + if (static_cast(command->buttons[button_index_arm_joint_1_2_])) { + arm_vel_.velocities[0].value = + command->axes[axes_index_arm_joint_axes_1_] * arm_max_vel_ * speed_factor_ * (-1.0); + arm_vel_.velocities[1].value = + command->axes[axes_index_arm_joint_axes_2_] * arm_max_vel_ * speed_factor_; + } else if (static_cast(command->buttons[button_index_arm_joint_3_4_])) { + arm_vel_.velocities[2].value = + command->axes[axes_index_arm_joint_axes_1_] * arm_max_vel_ * speed_factor_; + arm_vel_.velocities[3].value = + command->axes[axes_index_arm_joint_axes_2_] * arm_max_vel_ * speed_factor_; + } else if (static_cast(command->buttons[button_index_arm_joint_5_])) + arm_vel_.velocities[4].value = + command->axes[axes_index_arm_joint_axes_1_] * arm_max_vel_ * speed_factor_ * (-1.0); + } + + if (button_arm_cart_pressed_prev_ && + !static_cast(command->buttons[button_index_arm_cart_])) + pub_arm_cart_vel_.publish(arm_cart_zero_vel_); + else if (static_cast(command->buttons[button_index_arm_cart_])) + pub_arm_cart_vel_.publish(arm_cart_vel_); + else if (!static_cast(command->buttons[button_index_arm_cart_])) + pub_base_cart_vel_.publish(base_cart_vel_); + + if (is_joint_space_ctrl_active_ && is_one_arm_joint_button_pressed_) { + this->checkArmJointLimits(); + pub_arm_joint_vel_.publish(arm_vel_); + } + + if (static_cast(command->buttons[button_index_reconnect_left_]) && + static_cast(command->buttons[button_index_reconnect_right_])) { + this->reconnect(); + } + } + + else { + if (button_deadman_pressed_prev_) { + if (is_joint_space_ctrl_active_) { + this->setAllArmJointVel(0.0); + pub_arm_joint_vel_.publish(arm_vel_); + } + + pub_base_cart_vel_.publish(base_cart_zero_vel_); + pub_arm_cart_vel_.publish(arm_cart_zero_vel_); + } + } + + // check if arm is in joint mode (not cc mode) + if (!button_print_arm_states_prev_ && + static_cast(command->buttons[button_index_print_arm_joint_states_])) + this->printArmJointStates(); + + // remember buttons states + button_deadman_pressed_prev_ = static_cast(command->buttons[button_index_deadman_]); + button_gripper_pressed_prev_ = static_cast(command->buttons[button_index_gripper_]); + button_arm_motors_on_off_pressed_prev_ = + static_cast(command->buttons[button_index_arm_motors_on_off_]); + button_base_motors_on_off_pressed_prev_ = + static_cast(command->buttons[button_index_base_motors_on_off_]); + button_print_arm_states_prev_ = + static_cast(command->buttons[button_index_print_arm_joint_states_]); + button_arm_cart_pressed_prev_ = static_cast(command->buttons[button_index_arm_cart_]); + button_arm_joint_1_2_pressed_prev_ = + static_cast(command->buttons[button_index_arm_joint_1_2_]); + button_arm_joint_3_4_pressed_prev_ = + static_cast(command->buttons[button_index_arm_joint_3_4_]); + button_arm_joint_5_pressed_prev_ = static_cast(command->buttons[button_index_arm_joint_5_]); +} diff --git a/data/mir_command_tools/mir_teleop/ros/src/teleop_joypad_node.cpp b/data/mir_command_tools/mir_teleop/ros/src/teleop_joypad_node.cpp new file mode 100644 index 0000000000000000000000000000000000000000..6506f6fcd3dd9ddc28c9ef2edba932090d81f1aa --- /dev/null +++ b/data/mir_command_tools/mir_teleop/ros/src/teleop_joypad_node.cpp @@ -0,0 +1,24 @@ +/* + * Copyright [2011] + * + * teleop_joypad_node.cpp + * + * Created on: Dec 15, 2011 + * Author: Frederik Hegger + */ + +#include "mir_teleop/teleop_joypad.h" + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "teleop_joypad"); + ros::NodeHandle nh("~"); + + TeleOpJoypad *teleop = new TeleOpJoypad(nh); + + ros::Rate loop_rate(50); + + ros::spin(); + + delete teleop; +} diff --git a/data/mir_command_tools/mir_twist_mux/CMakeLists.txt b/data/mir_command_tools/mir_twist_mux/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..e38fe77e6a58552ee82a707de29d18652e156d5e --- /dev/null +++ b/data/mir_command_tools/mir_twist_mux/CMakeLists.txt @@ -0,0 +1,19 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_twist_mux) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY ros/launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ros/launch +) +install(DIRECTORY ros/config/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ros/config +) + +### TESTS +if(CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + roslaunch_add_file_check(ros/launch) +endif() diff --git a/data/mir_command_tools/mir_twist_mux/package.xml b/data/mir_command_tools/mir_twist_mux/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..8ef03e2f275c274c34be7d05bfe9c85dfd384201 --- /dev/null +++ b/data/mir_command_tools/mir_twist_mux/package.xml @@ -0,0 +1,21 @@ + + + mir_twist_mux + 0.0.1 + + Launch and configure a Twist multiplexer, which multiplex several velocity commands (topics) and + allows to priorize or disable them (locks). twist_mux is part of ros-teleop. + + + Alexander Moriarty + Alexander Moriarty + + GPLv3 + + catkin + + twist_mux + + roslaunch + + diff --git a/data/mir_command_tools/mir_twist_mux/ros/config/locks.yaml b/data/mir_command_tools/mir_twist_mux/ros/config/locks.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47cd46bba1a1a167f984c4efa8836eb0a82aacd1 --- /dev/null +++ b/data/mir_command_tools/mir_twist_mux/ros/config/locks.yaml @@ -0,0 +1,20 @@ +# Locks to stop the twist inputs. +# For each lock: +# - topic : input topic that provides the lock; it must be of type std_msgs::Bool?!!! +# - timeout : == 0.0 -> not used +# > 0.0 -> the lock is supposed to published at a certain frequency in order +# to detect that the publisher is alive; the timeout in seconds allows +# to detect that, and if the publisher dies we will enable the lock +# - priority: priority in the range [0, 255], so all the topics with priority lower than it +# will be stopped/disabled + +locks: +- + name : foo_lock #unused + topic : foo_priority #unused + timeout : 0.0 #unused + priority: 1 #unused +# +# Currently these are not used, but leaving them empty or no having them +# causes twist_mux to not launch +# diff --git a/data/mir_command_tools/mir_twist_mux/ros/config/topics.yaml b/data/mir_command_tools/mir_twist_mux/ros/config/topics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..341f2a9b40529c21e986a5e193d775a1d56a809e --- /dev/null +++ b/data/mir_command_tools/mir_twist_mux/ros/config/topics.yaml @@ -0,0 +1,23 @@ +# Input topics handled/muxed. +# For each topic: +# - name : name identifier to select the topic +# - topic : input topic of geometry_msgs::Twist type +# - timeout : timeout in seconds to start discarding old messages, and use 0.0 speed instead +# - priority: priority in the range [0, 255]; the higher the more priority over other topics + +topics: +- + name : priority_high + topic : cmd_vel_prio_high + timeout : 0.5 + priority: 200 +- + name : priority_medium + topic : cmd_vel_prio_medium + timeout : 0.5 + priority: 150 +- + name : priority_low + topic : cmd_vel_prio_low + timeout : 0.5 + priority: 100 diff --git a/data/mir_command_tools/mir_twist_mux/ros/launch/twist_mux.launch b/data/mir_command_tools/mir_twist_mux/ros/launch/twist_mux.launch new file mode 100644 index 0000000000000000000000000000000000000000..616dbbfe0c3574d70f0d8d56e0ab16a397790d00 --- /dev/null +++ b/data/mir_command_tools/mir_twist_mux/ros/launch/twist_mux.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/data/mir_common/mir_common/CMakeLists.txt b/data/mir_common/mir_common/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..f35d43bfcd6ac87a7856313498f775575e3f569a --- /dev/null +++ b/data/mir_common/mir_common/CMakeLists.txt @@ -0,0 +1,4 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_common) +find_package(catkin REQUIRED) +catkin_metapackage() \ No newline at end of file diff --git a/data/mir_common/mir_common/package.xml b/data/mir_common/mir_common/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..b9368d97c7f81367c8002ab2d2c07f69d07444c9 --- /dev/null +++ b/data/mir_common/mir_common/package.xml @@ -0,0 +1,22 @@ + + + mir_common + 0.0.1 + common descriptions + + GPLv3 + + Frederik Hegger + + Frederik Hegger + Sven Schneider + Matthias Füller + Rhama Dwiputra + Nico Hochgeschwender + + catkin + + + + + diff --git a/data/mir_common/mir_description/CMakeLists.txt b/data/mir_common/mir_description/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..4e648958fd1e266e3be257a72efad6cbdb466417 --- /dev/null +++ b/data/mir_common/mir_description/CMakeLists.txt @@ -0,0 +1,12 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_description) +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY meshes/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes/ +) +install(DIRECTORY urdf/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf/ +) \ No newline at end of file diff --git a/data/mir_common/mir_description/meshes/grippers/dynamixel/d435_center/dynamixel_motor_mount.dae b/data/mir_common/mir_description/meshes/grippers/dynamixel/d435_center/dynamixel_motor_mount.dae new file mode 100644 index 0000000000000000000000000000000000000000..b7fe23dd2f0b48b0be2d79d388e4f752975a0b27 --- /dev/null +++ b/data/mir_common/mir_description/meshes/grippers/dynamixel/d435_center/dynamixel_motor_mount.dae @@ -0,0 +1,61 @@ + + + + + Blender User + Blender 2.76.0 commit date:2015-11-03, commit time:10:56, hash:f337fea + + 2016-02-20T20:29:06 + 2016-02-20T20:29:06 + + Z_UP + + + + + + + -46 -18 19 -46 18 19 -46.5 -18 18.5 -46.5 18 18.5 -46.5 13 -14 -46.5 -18 -18.5 -46.5 -13 -14 -46.5 18 -18.5 -46.5 13 14 -46.5 -13 14 -28.71994 18 -10.95167 -13 18 -19 -29.75 18 -11 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1.1 4.07787 0.72257 1.1 4.07787 0.72257 1.5 4.02743 0.672125 1.1 4.02743 0.672125 1.1 4.02743 0.672125 1.5 3.97032 0.629373 1.1 3.97032 0.629373 1.1 3.97032 0.629373 1.5 3.90771 0.595184 1.1 3.90771 0.595184 1.1 3.90771 0.595184 1.5 3.84087 0.570253 1.1 3.84087 0.570253 1.5 3.77116 0.555089 1.5 3.7 0.55 1.1 3.7 0.55 1.1 2.1 0.55 1.5 2.1 0.55 1.1 2.02884 0.555089 1.1 2.02884 0.555089 1.5 2.1 0.55 1.5 2.02884 0.555089 1.5 1.95913 0.570253 1.1 2.02884 0.555089 1.5 2.02884 0.555089 1.5 1.95913 0.570253 1.1 1.95913 0.570253 1.1 2.02884 0.555089 1.5 1.95913 0.570253 1.5 1.89229 0.595184 1.1 1.95913 0.570253 1.1 1.95913 0.570253 1.5 1.89229 0.595184 1.1 1.89229 0.595184 1.1 1.89229 0.595184 1.5 1.89229 0.595184 1.5 1.82968 0.629373 1.1 1.82968 0.629373 1.5 1.82968 0.629373 1.5 1.77257 0.672125 1.1 1.77257 0.672125 1.5 1.77257 0.672125 1.5 1.72213 0.72257 1.1 1.72213 0.72257 1.5 1.72213 0.72257 1.5 1.67937 0.77968 1.1 1.67937 0.77968 1.5 1.67937 0.77968 1.5 1.64518 0.842292 1.1 1.64518 0.842292 1.5 1.64518 0.842292 1.5 1.62025 0.909134 1.1 1.62025 0.909134 1.5 1.62025 0.909134 1.5 1.60509 0.978843 1.1 1.60509 0.978843 1.5 1.60509 0.978843 1.5 1.6 1.05 1.1 1.6 1.05 1.1 1.60509 0.978843 1.5 1.6 1.05 1.1 1.89229 0.595184 1.5 1.82968 0.629373 1.1 1.82968 0.629373 1.1 1.82968 0.629373 1.5 1.77257 0.672125 1.1 1.77257 0.672125 1.1 1.77257 0.672125 1.5 1.72213 0.72257 1.1 1.72213 0.72257 1.1 1.72213 0.72257 1.5 1.67937 0.77968 1.1 1.67937 0.77968 1.1 1.67937 0.77968 1.5 1.64518 0.842292 1.1 1.64518 0.842292 1.1 1.64518 0.842292 1.5 1.62025 0.909134 1.1 1.62025 0.909134 1.1 1.62025 0.909134 1.5 1.60509 0.978843 1.1 1.60509 0.978843 1.1 2.85 3.45 1.5 2.85 3.45 1.1 1.95 3.45 1.1 1.95 3.45 1.5 2.85 3.45 1.5 1.95 3.45 1.6 2.85 3.55 1.5 2.85 3.45 1.6 2.85 2.9 1.6 2.85 2.9 1.5 2.85 3.45 1.5 2.85 3 1.5 2.85 3 1.5 2.85 3.45 1.1 2.85 3.45 1.1 2.85 3 1.5 2.85 3 1.1 2.85 3.45 1.1 1.95 3 1.5 1.95 3 1.1 2.85 3 1.1 2.85 3 1.5 1.95 3 1.5 2.85 3 1.57 1.95 3.52 1.57 1.95 2.93 1.5 1.95 3.45 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3.3081 2.05362 1.85 3.3081 2.05362 1.85 3.35428 1.99195 1.6 3.35428 1.99195 1.85 3.35428 1.99195 1.85 3.3912 1.92432 1.6 3.3912 1.92432 1.85 3.3912 1.92432 1.85 3.41813 1.85214 1.6 3.41813 1.85214 1.85 3.41813 1.85214 1.85 3.4345 1.77685 1.6 3.4345 1.77685 1.85 3.4345 1.77685 1.85 3.44 1.7 1.6 3.44 1.7 1.85 3.44 1.7 1.85 3.4345 1.62315 1.6 3.4345 1.62315 1.85 3.4345 1.62315 1.85 3.41813 1.54786 1.6 3.41813 1.54786 1.85 3.41813 1.54786 1.85 3.3912 1.47568 1.6 3.3912 1.47568 1.85 3.3912 1.47568 1.85 3.35428 1.40805 1.6 3.35428 1.40805 1.85 3.35428 1.40805 1.85 3.3081 1.34638 1.6 3.3081 1.34638 1.85 3.3081 1.34638 1.85 3.25362 1.2919 1.6 3.25362 1.2919 1.85 3.25362 1.2919 1.85 3.19195 1.24572 1.6 3.19195 1.24572 1.85 3.19195 1.24572 1.85 3.12432 1.2088 1.6 3.12432 1.2088 1.85 3.12432 1.2088 1.85 3.05214 1.18187 1.6 3.05214 1.18187 1.85 3.05214 1.18187 1.85 2.97685 1.1655 1.6 2.97685 1.1655 1.85 2.97685 1.1655 1.85 2.9 1.16 1.6 2.9 1.16 1.85 2.9 1.16 1.85 2.82315 1.1655 1.6 2.82315 1.1655 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0.585016 1.57071 2.02984 0.584547 1.57071 1.96126 0.600202 1.55 1.88887 0.611586 1.57071 1.96126 0.600202 1.57071 1.89577 0.625904 1.55 1.82589 0.64795 1.57071 1.89577 0.625904 1.57071 1.83484 0.661081 1.55 1.76903 0.693295 1.57071 1.83484 0.661081 1.57071 1.77984 0.704945 1.55 1.71956 0.746608 1.57071 1.77984 0.704945 1.57071 1.73198 0.756517 1.55 1.67859 0.806699 1.57071 1.73198 0.756517 1.57071 1.69235 0.814645 1.55 1.64703 0.872224 1.57071 1.69235 0.814645 1.57071 1.66183 0.87803 1.55 1.6256 0.941721 1.57071 1.66183 0.87803 1.57071 1.64109 0.945257 1.55 1.61476 1.01364 1.57071 1.64109 0.945257 1.57071 1.63061 1.01482 1.55 1.6134 1.05 1.57071 1.63061 1.01482 1.57071 1.62929 1.05 1.55 1.6134 1.05 1.55 1.61476 1.01364 1.57071 1.63061 1.01482 1.57071 2.1 0.579289 1.5866 2.1 0.6 1.57071 2.02984 0.584547 1.57071 2.02984 0.584547 1.5866 2.1 0.6 1.5866 2.03293 0.605026 1.57071 1.96126 0.600202 1.5866 2.03293 0.605026 1.5866 1.96736 0.619992 1.57071 1.89577 0.625904 1.5866 1.96736 0.619992 1.5866 1.90475 0.644564 1.57071 1.83484 0.661081 1.5866 1.90475 0.644564 1.5866 1.84651 0.678193 1.57071 1.77984 0.704945 1.5866 1.84651 0.678193 1.5866 1.79392 0.720127 1.57071 1.73198 0.756517 1.5866 1.79392 0.720127 1.5866 1.74818 0.76943 1.57071 1.69235 0.814645 1.5866 1.74818 0.76943 1.5866 1.71029 0.825 1.57071 1.66183 0.87803 1.5866 1.71029 0.825 1.5866 1.68111 0.885597 1.57071 1.64109 0.945257 1.5866 1.68111 0.885597 1.5866 1.66128 0.949866 1.57071 1.63061 1.01482 1.5866 1.66128 0.949866 1.5866 1.65126 1.01637 1.57071 1.62929 1.05 1.5866 1.65126 1.01637 1.5866 1.65 1.05 1.57071 1.62929 1.05 1.57071 1.63061 1.01482 1.5866 1.65126 1.01637 1.5866 2.1 0.6 1.59659 2.1 0.624118 1.5866 2.03293 0.605026 1.5866 2.03293 0.605026 1.59659 2.1 0.624118 1.59659 2.03653 0.628875 1.5866 1.96736 0.619992 1.59659 2.03653 0.628875 1.59659 1.97447 0.643039 1.5866 1.90475 0.644564 1.59659 1.97447 0.643039 1.59659 1.91522 0.666294 1.5866 1.84651 0.678193 1.59659 1.91522 0.666294 1.59659 1.86009 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45.323 94.7807 104.927 45.323 94.5337 104.708 45.323 94.5337 104.708 40.323 94.3263 104.451 45.323 94.1639 104.163 45.323 94.0512 103.853 45.323 93.9911 103.528 45.323 93.9852 103.198 45.323 94.0338 102.871 40.323 94.0338 102.871 45.323 94.1355 102.557 45.323 94.2876 102.263 45.323 94.4858 101.999 40.323 94.4858 101.999 45.323 94.7248 101.771 45.323 94.7248 101.771 40.323 94.9981 101.586 40.323 94.9981 101.586 45.323 95.2982 101.448 45.323 95.617 101.361 45.323 82.2686 78.7137 62.323 82.3204 78.7141 62.323 82.4889 78.7343 62.323 82.4889 78.7343 57.323 82.6514 78.7826 62.323 82.6514 78.7826 57.323 82.9407 78.9574 62.323 83.0591 79.0789 62.323 83.1552 79.2186 62.323 83.1552 79.2186 57.323 83.2264 79.3726 57.323 83.2704 79.5364 62.323 83.2862 79.7053 57.323 83.2732 79.8744 62.323 83.2318 80.0389 57.323 83.2318 80.0389 62.323 83.1633 80.194 57.323 83.0694 80.3353 62.323 82.9531 80.4587 62.323 82.8176 80.5607 57.323 82.6667 80.6383 57.323 82.505 80.6893 62.323 82.1674 80.7064 62.323 82.0013 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83.0591 79.0789 57.323 82.9407 78.9574 57.323 83.5024 78.1258 57.323 82.8035 78.8577 57.323 82.921 77.8169 57.323 82.6002 77.7383 57.323 82.3204 78.7141 57.323 82.2708 77.7136 57.323 80.9356 78.0687 62.323 81.6222 77.827 57.323 83.7681 81.0566 62.323 83.969 80.7944 57.323 84.124 80.5027 62.323 84.2288 80.1895 62.323 84.2806 79.8632 62.323 84.2806 79.8632 57.323 84.2781 79.5329 62.323 83.9521 78.6067 62.323 83.7472 78.3476 62.323 83.9521 78.6067 57.323 83.7472 78.3476 57.323 83.2245 77.9473 62.323 83.2245 77.9473 57.323 82.921 77.8169 62.323 82.6002 77.7383 62.323 81.9418 77.7434 62.323 84.0519 90.7536 57.323 87.2665 93.8626 62.323 87.2665 93.8626 57.323 87.5679 93.7276 62.323 87.5679 93.7276 57.323 87.8431 93.5448 62.323 87.8431 93.5448 57.323 88.2852 93.057 62.323 88.0843 93.3192 57.323 88.2852 93.057 57.323 88.4402 92.7653 57.323 88.545 92.452 62.323 88.545 92.452 57.323 88.5968 92.1258 62.323 88.5968 92.1258 57.323 88.5943 91.7955 62.323 88.5943 91.7955 57.323 88.5374 91.4701 57.323 88.4277 91.1585 62.323 88.4277 91.1585 57.323 88.2682 90.8693 62.323 88.2682 90.8693 57.323 88.0634 90.6102 62.323 88.0634 90.6102 57.323 87.8186 90.3883 57.323 87.5407 90.2098 57.323 87.2372 90.0795 57.323 87.2372 90.0795 62.323 86.9163 90.0009 62.323 86.9163 90.0009 57.323 86.258 90.006 62.323 86.587 89.9762 57.323 86.258 90.006 57.323 85.9384 90.0895 57.323 85.9695 94.3192 62.323 90.2546 102.352 57.323 91.8841 105.99 57.323 92.1592 105.807 57.323 92.4005 105.582 57.323 92.6014 105.32 57.323 92.7563 105.028 57.323 92.8612 104.715 57.323 92.9105 104.058 62.323 92.913 104.388 57.323 92.9105 104.058 57.323 92.8536 103.733 62.323 92.8536 103.733 57.323 92.7439 103.421 57.323 92.7439 103.421 62.323 92.5844 103.132 62.323 92.5844 103.132 57.323 92.3795 102.873 57.323 92.1348 102.651 57.323 91.8569 102.472 57.323 91.5534 102.342 57.323 91.2325 102.263 57.323 90.9031 102.239 57.323 90.5742 102.269 62.323 90.5742 102.269 57.323 91.5827 106.125 62.323 91.5827 106.125 57.323 90.2857 106.582 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91.1585 40.323 88.4277 91.1585 45.323 88.5374 91.4701 40.323 88.5374 91.4701 45.323 88.5943 91.7955 45.323 88.5943 91.7955 40.323 88.5968 92.1258 45.323 88.545 92.452 45.323 88.545 92.452 40.323 88.4402 92.7653 45.323 88.2852 93.057 40.323 88.2852 93.057 45.323 88.0843 93.3192 45.323 87.8431 93.5448 45.323 87.5679 93.7276 40.323 87.5679 93.7276 45.323 82.2686 78.7137 45.323 81.9058 78.7887 45.323 81.6194 78.9683 45.323 81.6194 78.9683 40.323 81.5031 79.0917 40.323 81.5031 79.0917 45.323 81.4092 79.233 40.323 81.3407 79.3882 45.323 81.3407 79.3882 40.323 81.2993 79.5527 45.323 81.2863 79.7218 40.323 81.3021 79.8906 40.323 81.4173 80.2084 40.323 81.5134 80.3481 40.323 81.5134 80.3481 45.323 81.6318 80.4696 45.323 82.0836 80.6928 40.323 82.0836 80.6928 45.323 82.4214 80.7043 40.323 82.587 80.6672 40.323 82.587 80.6672 45.323 82.7438 80.6027 40.323 82.8875 80.5126 40.323 82.8875 80.5126 45.323 83.0139 80.3995 40.323 83.2008 80.1179 45.323 83.256 79.9575 45.323 83.2833 79.7901 40.323 83.2833 79.7901 45.323 83.2519 79.4536 40.323 83.2519 79.4536 45.323 83.1101 79.1467 45.323 83.0025 79.0156 40.323 82.8742 78.9046 40.323 82.7291 78.8169 40.323 82.7291 78.8169 45.323 82.5712 78.755 40.323 81.2863 79.7218 45.323 82.2356 78.7148 45.323 81.9418 77.7434 45.323 82.0675 78.7377 45.323 81.4092 79.233 45.323 81.3021 79.8906 45.323 81.3462 80.0544 45.323 81.4173 80.2084 45.323 81.769 80.5693 45.323 81.9211 80.6444 45.323 81.0637 82.2641 45.323 79.7357 78.491 45.323 81.7549 78.8663 45.323 82.2521 80.7129 45.323 82.4214 80.7043 45.323 82.9503 81.6001 45.323 82.7438 80.6027 45.323 83.2517 81.465 45.323 83.969 80.7944 45.323 83.0139 80.3995 45.323 83.1193 80.2666 45.323 84.2781 79.5329 45.323 83.2819 79.6205 45.323 84.1115 78.896 45.323 83.194 79.2941 45.323 83.0025 79.0156 45.323 83.7472 78.3476 45.323 82.8742 78.9046 45.323 83.5024 78.1258 45.323 83.2245 77.9473 45.323 82.5712 78.755 45.323 82.4051 78.7206 45.323 81.6222 77.827 40.323 81.6222 77.827 45.323 81.9418 77.7434 40.323 82.2708 77.7136 40.323 82.2708 77.7136 45.323 82.6002 77.7383 40.323 82.6002 77.7383 45.323 82.921 77.8169 45.323 83.9521 78.6067 45.323 83.9521 78.6067 40.323 84.1115 78.896 40.323 84.2212 79.2076 45.323 84.2781 79.5329 40.323 84.2806 79.8632 45.323 84.2806 79.8632 40.323 84.2288 80.1895 45.323 84.2288 80.1895 40.323 84.124 80.5027 40.323 84.124 80.5027 45.323 83.7681 81.0566 40.323 83.7681 81.0566 45.323 83.5269 81.2822 45.323 83.5269 81.2822 40.323 80.9356 78.0687 40.323 77.9194 66.4522 45.323 77.9524 66.4511 45.323 77.9194 66.4522 40.323 77.5896 66.5262 45.323 77.5896 66.5262 40.323 77.4388 66.6038 40.323 77.3032 66.7058 40.323 77.1869 66.8292 40.323 77.3032 66.7058 45.323 77.1869 66.8292 45.323 77.093 66.9705 45.323 76.9701 67.4592 45.323 76.9701 67.4592 40.323 77.1011 67.9458 40.323 77.1011 67.9458 45.323 77.1972 68.0856 45.323 77.4528 68.3068 45.323 77.6049 68.3819 45.323 77.7674 68.4302 45.323 77.9359 68.4504 40.323 77.9359 68.4504 45.323 78.2708 68.4047 45.323 78.2708 68.4047 40.323 78.4276 68.3401 40.323 78.4276 68.3401 45.323 78.5713 68.25 45.323 78.6977 68.1369 40.323 78.8032 68.0041 40.323 78.8032 68.0041 45.323 78.8847 67.8553 40.323 78.9398 67.6949 40.323 78.9398 67.6949 45.323 78.9657 67.3579 40.323 78.9657 67.3579 45.323 78.8779 67.0316 40.323 78.8779 67.0316 45.323 78.7939 66.8842 45.323 78.558 66.6421 45.323 78.255 66.4924 40.323 78.0889 66.458 40.323 76.9859 67.6281 45.323 77.6256 65.4808 45.323 77.03 67.7919 45.323 77.3156 68.207 45.323 77.0245 67.1256 45.323 76.9831 67.2901 45.323 76.7475 70.0015 45.323 77.7513 66.4752 45.323 77.306 65.5644 45.323 77.4388 66.6038 45.323 78.1053 68.4418 45.323 78.6977 68.1369 45.323 78.8847 67.8553 45.323 79.9126 67.9269 45.323 78.9671 67.5275 45.323 78.9357 67.191 45.323 79.7953 66.6334 45.323 79.431 66.085 45.323 78.6863 66.7531 45.323 79.1862 65.8632 45.323 78.4129 66.5543 45.323 78.255 66.4924 45.323 78.284 65.4757 45.323 77.9546 65.451 45.323 78.0889 66.458 45.323 78.6341 69.3375 45.323 77.306 65.5644 40.323 77.9546 65.451 40.323 78.6048 65.5544 45.323 78.6048 65.5544 40.323 78.9083 65.6847 40.323 78.9083 65.6847 45.323 79.6359 66.3441 45.323 79.905 66.945 45.323 79.9619 67.2704 45.323 79.9619 67.2704 40.323 79.9645 67.6007 40.323 79.9645 67.6007 45.323 79.9126 67.9269 40.323 79.8078 68.2401 40.323 79.8078 68.2401 45.323 79.6528 68.5318 40.323 79.6528 68.5318 45.323 79.452 68.7941 40.323 79.452 68.7941 45.323 79.2107 69.0197 45.323 78.9355 69.2025 45.323 78.6341 69.3375 40.323 78.8183 54.5835 40.323 84.4141 53.5764 40.323 87.9669 52.937 40.323 84.4141 53.5764 62.323 90.01 52.5693 62.323 92.0532 52.2016 40.323 95.5599 51.5705 40.323 92.0532 52.2016 62.323 95.5599 51.5705 62.323 77.9524 66.4511 62.323 77.9524 66.4511 57.323 77.8349 66.4601 62.323 78.0043 66.4515 57.323 78.1727 66.4717 62.323 78.1727 66.4717 57.323 78.6245 66.6949 62.323 78.6245 66.6949 57.323 78.7429 66.8163 57.323 78.839 66.9561 57.323 78.839 66.9561 62.323 78.9542 67.2738 62.323 78.97 67.4427 62.323 78.957 67.6118 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57.323 77.6694 66.4972 57.323 77.306 65.5644 57.323 78.9542 67.2738 57.323 78.9102 67.1101 57.323 79.6359 66.3441 57.323 78.4873 66.5951 57.323 79.1862 65.8632 57.323 78.3353 66.52 57.323 78.6048 65.5544 57.323 77.306 65.5644 62.323 78.9355 69.2025 62.323 78.6341 69.3375 57.323 78.9355 69.2025 57.323 79.452 68.7941 62.323 79.6528 68.5318 57.323 79.8078 68.2401 57.323 79.9126 67.9269 62.323 79.9645 67.6007 62.323 79.9126 67.9269 57.323 79.9645 67.6007 57.323 79.9619 67.2704 57.323 79.905 66.945 57.323 79.7953 66.6334 57.323 79.431 66.085 62.323 79.431 66.085 57.323 79.1862 65.8632 62.323 78.9083 65.6847 62.323 78.9083 65.6847 57.323 78.284 65.4757 57.323 77.9546 65.451 57.323 77.6256 65.4808 57.323 77.6256 65.4808 62.323 71.7673 55.8524 62.323 90.9789 110.434 62.323 73.7035 61.3533 62.323 98.4842 131.757 62.323 88.368 103.016 57.323 89.6961 106.789 57.323 82.4504 86.2037 40.323 85.3799 94.5267 57.323 86.6627 98.1711 62.323 82.3465 85.9086 62.323 81.0637 82.2641 62.323 79.7357 78.491 40.323 85.3799 94.5267 45.323 89.6961 106.789 45.323 78.1342 73.9411 62.323 76.7475 70.0015 62.323 75.4195 66.2284 45.323 88.368 103.016 45.323 86.6627 98.1711 40.323 84.0519 90.7536 45.323 86.7666 98.4662 62.323 79.7357 78.491 57.323 71.7673 55.8524 40.323 95.9456 101.328 57.323 95.617 101.361 62.323 95.617 101.361 57.323 95.2982 101.448 57.323 95.2982 101.448 62.323 94.9981 101.586 62.323 94.9981 101.586 57.323 94.7248 101.771 62.323 94.7248 101.771 57.323 94.4858 101.999 62.323 94.4858 101.999 57.323 94.2876 102.263 57.323 94.1355 102.557 57.323 94.0338 102.871 57.323 94.0338 102.871 62.323 93.9852 103.198 57.323 93.9852 103.198 62.323 93.9911 103.528 57.323 93.9911 103.528 62.323 94.0512 103.853 62.323 94.0512 103.853 57.323 94.1639 104.163 57.323 94.3263 104.451 62.323 94.3263 104.451 57.323 94.5337 104.708 57.323 94.7807 104.927 57.323 94.7807 104.927 62.323 95.0604 105.103 62.323 95.3652 105.23 62.323 95.0604 105.103 57.323 95.3652 105.23 57.323 95.6868 105.306 62.323 95.6868 105.306 57.323 96.0164 105.327 62.323 96.0164 105.327 57.323 95.9456 101.328 62.323 95.7853 89.3302 57.323 95.7334 89.3298 57.323 95.7334 89.3298 62.323 95.7853 89.3302 62.323 95.9537 89.3504 62.323 96.1163 89.3987 57.323 96.2683 89.4738 62.323 96.4055 89.5735 62.323 96.2683 89.4738 57.323 96.5239 89.695 62.323 96.62 89.8347 57.323 96.6912 89.9887 62.323 96.751 90.3214 57.323 96.738 90.4905 57.323 96.738 90.4905 62.323 96.6967 90.655 57.323 96.6281 90.8101 57.323 96.5343 90.9514 62.323 96.5343 90.9514 57.323 96.4179 91.0748 57.323 96.1316 91.2544 62.323 95.9698 91.3054 62.323 95.9698 91.3054 57.323 95.8018 91.3283 62.323 95.6322 91.3225 62.323 95.6322 91.3225 57.323 95.4661 91.2882 57.323 95.3082 91.2262 62.323 95.0348 91.0275 62.323 95.0348 91.0275 57.323 94.9272 90.8964 57.323 94.7554 90.4226 62.323 94.754 90.253 62.323 94.754 90.253 57.323 94.7813 90.0856 57.323 94.918 89.7765 57.323 95.2935 89.4404 57.323 95.4504 89.3759 62.323 95.4504 89.3759 57.323 95.6159 89.3388 57.323 96.1316 91.2544 57.323 96.6912 89.9887 57.323 96.7353 90.1525 57.323 96.2824 91.1768 57.323 97.7154 88.2946 57.323 96.4055 89.5735 57.323 96.5239 89.695 57.323 95.9537 89.3504 57.323 95.7157 88.3299 57.323 95.8018 91.3283 57.323 95.3082 91.2262 57.323 94.5507 91.9294 57.323 94.3038 91.71 57.323 95.1631 91.1385 57.323 93.934 91.1653 57.323 94.8433 90.749 57.323 94.7854 90.5896 57.323 94.7554 90.4226 57.323 93.7553 90.1997 57.323 93.8039 89.873 57.323 94.0576 89.2655 57.323 94.8365 89.9252 57.323 94.2559 89.0013 57.323 95.0234 89.6437 57.323 95.1498 89.5305 57.323 95.0683 88.4498 57.323 95.7157 88.3299 62.323 95.387 88.363 57.323 95.0683 88.4498 62.323 94.7682 88.5878 62.323 94.7682 88.5878 57.323 94.4949 88.7733 62.323 94.4949 88.7733 57.323 94.0576 89.2655 62.323 93.9056 89.5587 57.323 93.8039 89.873 62.323 93.7611 90.53 57.323 93.8213 90.8548 62.323 93.8213 90.8548 57.323 93.934 91.1653 62.323 94.0963 91.453 62.323 94.0963 91.453 57.323 94.3038 91.71 62.323 94.5507 91.9294 62.323 94.8304 92.1051 57.323 94.8304 92.1051 62.323 95.031 92.1889 62.323 95.1352 92.2324 57.323 95.4568 92.3079 57.323 95.7864 92.3293 62.323 95.7864 92.3293 57.323 95.5553 76.3322 57.323 95.5034 76.3318 62.323 95.7237 76.3524 62.323 95.7237 76.3524 57.323 96.0384 76.4758 62.323 96.1756 76.5756 62.323 96.294 76.697 62.323 96.294 76.697 57.323 96.3901 76.8368 62.323 96.5081 77.4925 62.323 96.4667 77.657 62.323 96.3043 77.9534 57.323 96.188 78.0768 57.323 96.0525 78.1788 62.323 95.9016 78.2564 62.323 95.7399 78.3074 62.323 95.7399 78.3074 57.323 95.5718 78.3304 62.323 95.4023 78.3246 62.323 95.5718 78.3304 57.323 95.4023 78.3246 57.323 95.0783 78.2283 62.323 95.0783 78.2283 57.323 94.9332 78.1405 62.323 94.8049 78.0295 62.323 94.6973 77.8984 62.323 94.6973 77.8984 57.323 94.5555 77.5916 57.323 94.5255 77.4247 62.323 94.5241 77.2551 62.323 94.5255 77.4247 57.323 94.5514 77.0877 57.323 94.6065 76.9273 62.323 94.688 76.7785 62.323 94.7935 76.6457 62.323 94.9199 76.5326 62.323 95.2204 76.3779 57.323 95.2204 76.3779 62.323 95.3859 76.3408 57.323 96.3981 77.8121 57.323 95.9016 78.2564 57.323 97.5562 79.296 57.323 97.4855 75.2966 57.323 96.4667 77.657 57.323 96.5081 77.4925 57.323 96.3901 76.8368 57.323 96.4612 76.9907 57.323 96.5053 77.1545 57.323 96.5211 77.3234 57.323 96.0525 78.1788 57.323 96.0384 76.4758 57.323 96.1756 76.5756 57.323 95.8863 76.4007 57.323 95.5565 79.3313 57.323 94.9053 79.2345 57.323 95.2362 78.2902 57.323 94.6005 79.1072 57.323 94.3208 78.9314 57.323 94.9332 78.1405 57.323 94.0739 78.712 57.323 94.8049 78.0295 57.323 94.6133 77.751 57.323 93.5913 77.8568 57.323 94.5241 77.2551 57.323 93.574 76.875 57.323 93.8277 76.2675 57.323 94.6065 76.9273 57.323 94.688 76.7785 57.323 94.026 76.0033 57.323 94.7935 76.6457 57.323 94.265 75.7753 57.323 94.9199 76.5326 57.323 95.0636 76.4425 57.323 95.1571 75.3651 57.323 95.5034 76.3318 57.323 96.9313 79.307 62.323 95.5565 79.3313 62.323 95.1571 75.3651 62.323 94.8384 75.4518 62.323 94.8384 75.4518 57.323 94.5383 75.5898 57.323 93.8277 76.2675 62.323 93.6757 76.5608 62.323 93.574 76.875 62.323 93.6757 76.5608 57.323 93.5254 77.2018 57.323 93.5312 77.532 62.323 93.5312 77.532 57.323 93.7041 78.1673 57.323 93.8664 78.455 57.323 94.0739 78.712 62.323 94.3208 78.9314 62.323 95.2269 79.3099 57.323 95.4858 75.332 57.323 95.2558 62.334 57.323 97.2555 62.2986 57.323 95.2558 62.334 62.323 94.9272 62.3671 57.323 94.6085 62.4538 57.323 94.3084 62.5918 57.323 94.0351 62.7774 57.323 93.796 63.0054 57.323 93.5978 63.2696 62.323 93.5978 63.2696 57.323 93.4457 63.5628 57.323 93.344 63.8771 62.323 93.344 63.8771 57.323 93.2954 64.2038 57.323 93.3013 64.5341 57.323 93.3614 64.8589 57.323 93.4742 65.1693 57.323 93.6365 65.457 62.323 93.6365 65.457 57.323 93.8439 65.7141 57.323 94.0909 65.9334 62.323 94.0909 65.9334 57.323 94.3706 66.1092 62.323 94.3706 66.1092 57.323 94.6754 66.2365 57.323 94.997 66.3119 57.323 95.3266 66.3334 62.323 95.3266 66.3334 57.323 97.1641 57.1312 40.323 97.9453 101.293 62.323 97.2555 62.2986 45.323 97.3263 66.298 57.323 97.4001 70.4738 62.323 97.4001 70.4738 40.323 97.8545 96.157 62.323 97.1641 57.1312 62.323 97.2299 60.8496 62.323 97.3263 66.298 45.323 97.6301 83.4718 62.323 98.2385 117.869 62.323 97.7861 92.2939 57.323 97.9453 101.293 57.323 97.4855 75.2966 40.323 98.0161 105.292 45.323 98.0161 105.292 57.323 97.9453 101.293 45.323 97.7861 92.2939 45.323 72.077 45.0026 62.323 72.077 45.0026 40.323 71.3058 45.6184 62.323 70.6209 46.9212 62.323 70.7761 46.451 40.323 70.6209 46.9212 40.323 70.5452 47.4105 62.323 70.551 47.9056 40.323 70.6382 48.393 40.323 70.8043 48.8594 62.323 71.0449 49.2922 40.323 71.3534 49.6794 62.323 71.7214 50.0107 40.323 72.1389 50.2769 62.323 72.5944 50.4709 40.323 73.5695 50.6228 62.323 86.1672 48.3557 62.323 87.0281 47.8733 40.323 87.0281 47.8733 62.323 87.6859 47.1376 40.323 87.6859 47.1376 62.323 88.0694 46.2283 62.323 88.0694 46.2283 40.323 88.1441 45.7388 62.323 88.1371 45.2437 62.323 88.0489 44.7565 40.323 88.0489 44.7565 62.323 87.6402 43.8583 40.323 86.5441 42.8759 40.323 86.5441 42.8759 62.323 86.1243 42.6983 40.323 85.6065 42.5677 62.323 85.1126 42.5332 62.323 85.1126 42.5332 40.323 93.8726 118.655 40.323 86.7666 98.4662 40.323 82.3465 85.9086 40.323 97.9595 51.2121 40.323 97.061 51.3003 40.323 89.3143 48.7037 40.323 91.3575 48.336 40.323 94.8643 47.7049 40.323 87.2712 49.0714 40.323 90.01 52.5693 40.323 84.6197 42.5804 40.323 86.1672 48.3557 40.323 86.3266 49.2414 40.323 86.6176 48.1501 40.323 86.0881 42.683 40.323 85.6065 42.5677 40.323 73.7035 61.3533 40.323 72.8063 61.5148 40.323 73.729 51.5086 40.323 70.1859 52.1463 40.323 82.5037 42.9612 40.323 78.951 43.6006 40.323 80.8614 54.2158 40.323 76.9079 43.9683 40.323 76.7751 54.9512 40.323 70.5452 47.4105 40.323 74.8647 44.336 40.323 72.5279 44.7981 40.323 71.6659 45.2786 40.323 71.3058 45.6184 40.323 71.0065 46.0128 40.323 71.3534 49.6794 40.323 72.1389 50.2769 40.323 73.5695 50.6228 40.323 73.0757 50.5872 40.323 70.8043 48.8594 40.323 77.4528 68.3068 40.323 77.6049 68.3819 40.323 76.9859 67.6281 40.323 76.7475 70.0015 40.323 77.3156 68.207 40.323 77.1972 68.0856 40.323 77.03 67.7919 40.323 76.9831 67.2901 40.323 77.0245 67.1256 40.323 77.093 66.9705 40.323 75.4195 66.2284 40.323 77.7674 68.4302 40.323 78.9357 67.191 40.323 79.2932 68.9426 40.323 78.9671 67.5275 40.323 79.2107 69.0197 40.323 78.5713 68.25 40.323 78.9355 69.2025 40.323 78.1053 68.4418 40.323 78.6863 66.7531 40.323 78.69 65.5909 40.323 78.7939 66.8842 40.323 77.6256 65.4808 40.323 77.7513 66.4752 40.323 77.9524 66.4511 40.323 78.284 65.4757 40.323 78.4129 66.5543 40.323 78.558 66.6421 40.323 79.431 66.085 40.323 79.1862 65.8632 40.323 79.6359 66.3441 40.323 79.7953 66.6334 40.323 79.905 66.945 40.323 81.0637 82.2641 40.323 78.1342 73.9411 40.323 77.2369 74.1026 40.323 81.769 80.5693 40.323 81.9211 80.6444 40.323 81.6318 80.4696 40.323 83.1101 79.1467 40.323 82.9503 81.6001 40.323 82.2521 80.7129 40.323 81.7549 78.8663 40.323 81.9058 78.7887 40.323 82.0675 78.7377 40.323 82.2356 78.7148 40.323 82.2686 78.7137 40.323 82.4051 78.7206 40.323 82.921 77.8169 40.323 83.6093 81.2051 40.323 83.256 79.9575 40.323 83.2008 80.1179 40.323 81.3462 80.0544 40.323 81.6533 82.0566 40.323 81.2993 79.5527 40.323 83.194 79.2941 40.323 83.0062 77.8535 40.323 83.2819 79.6205 40.323 83.1193 80.2666 40.323 83.2517 81.465 40.323 83.5024 78.1258 40.323 83.2245 77.9473 40.323 84.2212 79.2076 40.323 83.7472 78.3476 40.323 83.969 80.7944 40.323 84.0519 90.7536 40.323 82.4012 86.2125 40.323 83.3448 91.4554 40.323 85.3799 94.5267 40.323 87.1904 91.1672 40.323 85.7335 92.471 40.323 86.5682 92.9755 40.323 86.7376 92.9669 40.323 86.2373 92.907 40.323 85.9695 94.3192 40.323 85.6025 91.9843 40.323 87.3187 91.2782 40.323 87.4263 91.4093 40.323 87.5102 91.5567 40.323 87.5722 92.2201 40.323 85.6569 91.6507 40.323 85.8193 91.3543 40.323 87.9255 93.4677 40.323 87.3301 92.662 40.323 87.8431 93.5448 40.323 87.2037 92.7752 40.323 85.2518 90.3312 40.323 85.9384 90.0895 40.323 86.2219 91.0513 40.323 86.3837 91.0003 40.323 86.5518 90.9774 40.323 86.587 89.9762 40.323 86.5848 90.9762 40.323 86.9163 90.0009 40.323 87.2372 90.0795 40.323 86.7213 90.9832 40.323 87.3223 90.1161 40.323 86.8874 91.0175 40.323 87.0453 91.0795 40.323 88.0843 93.3192 40.323 88.4402 92.7653 40.323 87.8186 90.3883 40.323 88.5968 92.1258 40.323 85.8693 98.6277 40.323 86.7174 98.4751 40.323 90.8844 105.238 40.323 90.1458 104.873 40.323 90.716 105.218 40.323 90.2857 106.582 40.323 90.5534 105.17 40.323 90.0497 104.734 40.323 89.9785 104.58 40.323 89.9344 104.416 40.323 89.568 102.594 40.323 90.2518 103.493 40.323 90.2546 102.352 40.323 90.3873 103.391 40.323 90.5742 102.269 40.323 90.9031 102.239 40.323 90.6999 103.263 40.323 91.2325 102.263 40.323 92.1348 102.651 40.323 91.6349 103.541 40.323 91.7425 103.672 40.323 92.7439 103.421 40.323 91.8264 103.819 40.323 92.8536 103.733 40.323 91.8843 103.979 40.323 92.913 104.388 40.323 92.7563 105.028 40.323 92.4005 105.582 40.323 91.6463 104.925 40.323 92.1592 105.807 40.323 91.8841 105.99 40.323 91.5199 105.038 40.323 91.2193 105.192 40.323 90.9789 110.434 40.323 89.6961 106.789 40.323 88.368 103.016 40.323 92.9753 118.816 40.323 98.4842 131.757 40.323 98.2385 117.869 40.323 99.1358 117.708 40.323 98.0844 109.155 40.323 96.9508 103.572 40.323 96.8956 103.732 40.323 96.4238 102.431 40.323 96.6734 101.315 40.323 96.6972 102.63 40.323 96.8049 102.761 40.323 96.9781 103.404 40.323 96.4385 104.217 40.323 95.9633 102.328 40.323 95.3652 105.23 40.323 95.7784 104.307 40.323 95.0604 105.103 40.323 95.4637 104.183 40.323 95.3265 104.084 40.323 94.3263 104.451 40.323 95.2082 103.962 40.323 95.112 103.822 40.323 94.1639 104.163 40.323 95.9303 102.329 40.323 95.7623 102.352 40.323 95.617 101.361 40.323 95.2982 101.448 40.323 95.1978 102.706 40.323 94.2876 102.263 40.323 94.1355 102.557 40.323 94.9968 103.505 40.323 93.9852 103.198 40.323 93.9911 103.528 40.323 94.0512 103.853 40.323 97.3912 105.303 40.323 98.0161 105.292 40.323 97.9453 101.293 40.323 98.8527 101.704 40.323 97.86 96.4697 40.323 97.9092 96.4609 40.323 97.8545 96.157 40.323 98.7573 96.3083 40.323 96.6589 89.9102 40.323 96.2086 91.2188 40.323 95.0842 89.5844 40.323 95.031 92.1889 40.323 94.4278 88.8373 40.323 94.8055 90.0043 40.323 96.7208 90.5736 40.323 95.7864 92.3293 40.323 95.5485 91.3089 40.323 95.0966 91.0857 40.323 96.4673 89.6317 40.323 96.5749 89.7628 40.323 96.7467 90.2366 40.323 94.9782 90.9642 40.323 94.811 90.6705 40.323 94.7669 90.5067 40.323 96.4435 88.3171 40.323 95.0683 88.4498 40.323 95.3706 89.4048 40.323 95.5323 89.3538 40.323 95.7004 89.3309 40.323 95.7334 89.3298 40.323 94.8304 92.1051 40.323 94.2559 89.0013 40.323 93.8213 90.8548 40.323 93.7553 90.1997 40.323 93.934 91.1653 40.323 94.3038 91.71 40.323 98.5274 83.3103 40.323 96.2374 76.6338 40.323 96.4289 76.9122 40.323 96.5182 77.4082 40.323 96.4909 77.5756 40.323 94.7379 76.7099 40.323 94.1979 75.8393 40.323 94.265 75.7753 40.323 97.7861 92.2939 40.323 97.7154 88.2946 40.323 97.6301 83.4718 40.323 97.6245 83.159 40.323 97.6792 83.4629 40.323 97.5562 79.296 40.323 96.5168 77.2386 40.323 96.4357 77.736 40.323 96.3542 77.8848 40.323 96.9313 79.307 40.323 95.9787 78.2208 40.323 94.9053 79.2345 40.323 94.5212 77.3399 40.323 96.2136 75.3191 40.323 95.4858 75.332 40.323 94.8011 79.1909 40.323 94.581 77.6726 40.323 94.5383 75.5898 40.323 95.1571 75.3651 40.323 95.3024 76.3559 40.323 94.3208 78.9314 40.323 94.6005 79.1072 40.323 94.026 76.0033 40.323 93.5254 77.2018 40.323 93.8664 78.455 40.323 93.574 76.875 40.323 95.257 65.3331 40.323 95.0886 65.3129 40.323 94.5712 66.193 40.323 94.4222 64.8286 40.323 94.3511 64.6746 40.323 94.307 64.5108 40.323 94.3042 64.1728 40.323 94.4142 63.8532 40.323 95.5919 65.2874 40.323 94.0351 62.7774 40.323 94.6244 63.5885 40.323 96.261 64.5777 40.323 96.2058 64.7381 40.323 95.2558 62.334 40.323 97.2555 62.2986 40.323 96.1243 64.8868 40.323 96.0189 65.0196 40.323 95.8924 65.1327 40.323 94.9107 63.4089 40.323 94.9272 62.3671 40.323 95.2405 63.335 40.323 95.2735 63.3338 40.323 93.4457 63.5628 40.323 93.344 63.8771 40.323 93.2954 64.2038 40.323 93.3013 64.5341 40.323 93.3614 64.8589 40.323 93.4742 65.1693 40.323 94.0909 65.9334 40.323 98.0614 56.9697 40.323 97.2299 60.8496 40.323 97.3263 66.298 40.323 87.9153 46.6988 40.323 87.3875 47.5327 40.323 87.8817 44.2905 40.323 88.1441 45.7388 40.323 88.1371 45.2437 40.323 87.0516 47.851 40.323 87.3308 43.4717 40.323 86.9621 43.1412 40.323 97.2511 47.2754 40.323 97.9595 51.2121 62.323 98.2282 66.3964 40.323 98.2974 70.3123 40.323 98.6228 88.7058 40.323 98.8527 101.704 62.323 99.0826 114.702 40.323 99.4825 137.304 40.323 70.8944 56.083 40.323 81.5531 86.3651 40.323 81.5531 86.3651 62.323 83.3448 91.4554 62.323 87.661 103.718 40.323 91.9772 115.981 40.323 91.9772 115.981 62.323 92.9753 118.816 62.323 86.7174 98.4751 62.323 87.661 103.718 62.323 97.86 96.4697 62.323 97.9092 96.4609 62.323 94.4278 88.8373 62.323 98.2974 70.3123 62.323 95.5099 65.3095 62.323 97.2555 62.2986 62.323 96.064 63.6991 62.323 93.968 62.8414 62.323 94.3214 64.0897 62.323 97.3263 66.298 62.323 96.1682 64.8142 62.323 95.6564 63.4027 62.323 94.5712 66.193 62.323 94.4673 64.9005 62.323 94.575 65.0315 62.323 94.8484 65.2303 62.323 94.6754 66.2365 62.323 95.1724 65.3266 62.323 94.997 66.3119 62.323 95.3419 65.3324 62.323 95.3254 63.3343 62.323 94.9272 62.3671 62.323 95.2735 63.3338 62.323 94.6085 62.4538 62.323 95.156 63.3429 62.323 94.9905 63.38 62.323 94.3084 62.5918 62.323 94.0351 62.7774 62.323 94.69 63.5346 62.323 94.2955 64.4267 62.323 93.8439 65.7141 62.323 93.4742 65.1693 62.323 93.3614 64.8589 62.323 93.3013 64.5341 62.323 93.2954 64.2038 62.323 93.796 63.0054 62.323 93.4457 63.5628 62.323 97.5562 79.296 62.323 97.6245 83.159 62.323 96.2136 75.3191 62.323 94.9053 79.2345 62.323 95.2362 78.2902 62.323 95.2269 79.3099 62.323 96.4612 76.9907 62.323 94.1979 75.8393 62.323 94.5514 77.0877 62.323 96.188 78.0768 62.323 96.3043 77.9534 62.323 95.8863 76.4007 62.323 94.5555 77.5916 62.323 94.6133 77.751 62.323 96.3981 77.8121 62.323 96.5211 77.3234 62.323 96.5053 77.1545 62.323 97.4855 75.2966 62.323 95.5553 76.3322 62.323 95.4858 75.332 62.323 95.3859 76.3408 62.323 94.5383 75.5898 62.323 95.0636 76.4425 62.323 94.265 75.7753 62.323 94.026 76.0033 62.323 94.6005 79.1072 62.323 93.5254 77.2018 62.323 93.8664 78.455 62.323 93.7041 78.1673 62.323 93.5913 77.8568 62.323 94.8011 79.1909 62.323 97.7861 92.2939 62.323 98.7573 96.3083 62.323 98.5274 83.3103 62.323 97.6792 83.4629 62.323 98.6228 88.7058 62.323 94.918 89.7765 62.323 94.8365 89.9252 62.323 94.7854 90.5896 62.323 94.8433 90.749 62.323 95.4568 92.3079 62.323 95.4661 91.2882 62.323 95.1352 92.2324 62.323 95.1631 91.1385 62.323 97.1612 92.305 62.323 96.6281 90.8101 62.323 96.6967 90.655 62.323 96.1163 89.3987 62.323 96.4435 88.3171 62.323 94.7813 90.0856 62.323 96.2824 91.1768 62.323 96.751 90.3214 62.323 96.62 89.8347 62.323 95.387 88.363 62.323 95.6159 89.3388 62.323 95.2935 89.4404 62.323 95.1498 89.5305 62.323 95.0234 89.6437 62.323 94.9272 90.8964 62.323 96.4179 91.0748 62.323 97.7154 88.2946 62.323 96.7353 90.1525 62.323 93.7553 90.1997 62.323 93.7611 90.53 62.323 93.9056 89.5587 62.323 94.2559 89.0013 62.323 96.858 103.808 62.323 96.9266 103.653 62.323 96.981 103.319 62.323 96.85 102.833 62.323 97.3912 105.303 62.323 96.7538 102.693 62.323 96.4983 102.472 62.323 96.6734 101.315 62.323 96.3462 102.397 62.323 96.1836 102.348 62.323 95.5234 102.438 62.323 95.3797 102.529 62.323 94.2876 102.263 62.323 94.1355 102.557 62.323 94.1639 104.163 62.323 95.0732 103.747 62.323 94.5337 104.708 62.323 95.1571 103.894 62.323 95.2648 104.025 62.323 95.393 104.136 62.323 95.5382 104.224 62.323 95.6961 104.286 62.323 99.1358 117.708 62.323 99.0826 114.702 62.323 98.0844 109.155 62.323 98.0161 105.292 62.323 96.9211 102.987 62.323 99.4825 137.304 62.323 93.8726 118.655 62.323 91.9186 104.23 62.323 90.2546 102.352 62.323 89.568 102.594 62.323 90.3174 103.44 62.323 90.191 103.553 62.323 90.0855 103.686 62.323 90.004 103.834 62.323 89.9216 104.162 62.323 90.3306 105.048 62.323 90.4758 105.135 62.323 90.6337 105.197 62.323 90.7998 105.232 62.323 89.953 104.499 62.323 91.9028 104.062 62.323 91.8587 103.898 62.323 92.3795 102.873 62.323 92.1348 102.651 62.323 91.8569 102.472 62.323 91.5534 102.342 62.323 91.1212 103.259 62.323 91.2325 102.263 62.323 90.9031 102.239 62.323 90.9528 103.239 62.323 92.913 104.388 62.323 92.8612 104.715 62.323 92.7563 105.028 62.323 91.8642 104.564 62.323 92.6014 105.32 62.323 91.7018 104.86 62.323 91.5855 104.984 62.323 92.4005 105.582 62.323 92.1592 105.807 62.323 91.8841 105.99 62.323 90.9693 105.237 62.323 89.6961 106.789 62.323 88.368 103.016 62.323 85.8693 98.6277 62.323 87.3223 90.1161 62.323 86.587 89.9762 62.323 85.9384 90.0895 62.323 85.6878 91.5717 62.323 85.6327 91.7321 62.323 87.5866 91.799 62.323 87.5425 91.6352 62.323 87.4714 91.4812 62.323 85.8862 92.674 62.323 86.0145 92.785 62.323 86.1596 92.8727 62.323 86.3175 92.9346 62.323 85.6054 91.8995 62.323 85.6068 92.0691 62.323 85.2518 90.3312 62.323 85.7786 92.5429 62.323 86.6531 92.9748 62.323 86.9829 92.9009 62.323 87.5407 90.2098 62.323 87.8186 90.3883 62.323 87.9255 93.4677 62.323 88.0843 93.3192 62.323 88.4402 92.7653 62.323 88.5374 91.4701 62.323 81.8434 80.6101 62.323 82.0013 80.6721 62.323 82.3369 80.7122 62.323 82.9503 81.6001 62.323 81.2892 79.6369 62.323 81.2906 79.8065 62.323 82.8035 78.8577 62.323 81.4532 79.1604 62.323 81.3785 80.1329 62.323 83.2264 79.3726 62.323 85.3799 94.5267 62.323 84.0519 90.7536 62.323 82.4504 86.2037 62.323 82.4012 86.2125 62.323 79.7357 78.491 62.323 81.6533 82.0566 62.323 81.57 80.4114 62.323 81.6983 80.5224 62.323 82.6667 80.6383 62.323 82.8176 80.5607 62.323 83.2517 81.465 62.323 83.5269 81.2822 62.323 82.2708 77.7136 62.323 82.1511 78.7227 62.323 81.6222 77.827 62.323 83.1633 80.194 62.323 83.2862 79.7053 62.323 83.0062 77.8535 62.323 83.6093 81.2051 62.323 83.5024 78.1258 62.323 84.1115 78.896 62.323 83.969 80.7944 62.323 84.2212 79.2076 62.323 72.8063 61.5148 62.323 77.2369 74.1026 62.323 77.3688 66.6519 62.323 77.2424 66.765 62.323 79.2932 68.9426 62.323 77.1462 68.0177 62.323 77.2538 68.1488 62.323 77.3821 68.2598 62.323 78.9102 67.1101 62.323 78.284 65.4757 62.323 78.6048 65.5544 62.323 78.3353 66.52 62.323 78.69 65.5909 62.323 77.0003 67.207 62.323 78.7429 66.8163 62.323 78.4873 66.5951 62.323 77.9546 65.451 62.323 78.0043 66.4515 62.323 76.9744 67.544 62.323 75.4195 66.2284 62.323 77.0044 67.7109 62.323 78.6341 69.3375 62.323 79.2107 69.0197 62.323 78.5014 68.2981 62.323 78.6369 68.1962 62.323 78.7533 68.0727 62.323 78.8471 67.9314 62.323 79.6359 66.3441 62.323 79.7953 66.6334 62.323 79.6528 68.5318 62.323 79.9619 67.2704 62.323 79.905 66.945 62.323 79.8078 68.2401 62.323 70.1859 52.1463 62.323 70.8944 56.083 62.323 74.8647 44.336 62.323 73.0757 50.5872 62.323 72.5944 50.4709 62.323 71.7214 50.0107 62.323 73.0063 44.6704 62.323 71.0449 49.2922 62.323 70.6382 48.393 62.323 70.7761 46.451 62.323 71.6659 45.2786 62.323 71.0065 46.0128 62.323 70.551 47.9056 62.323 72.5279 44.7981 62.323 73.729 51.5086 62.323 76.7751 54.9512 62.323 76.9079 43.9683 62.323 78.8183 54.5835 62.323 78.951 43.6006 62.323 80.8614 54.2158 62.323 82.5037 42.9612 62.323 86.3266 49.2414 62.323 86.0881 42.683 62.323 84.6197 42.5804 62.323 87.2712 49.0714 62.323 87.9669 52.937 62.323 89.3143 48.7037 62.323 91.3575 48.336 62.323 94.8643 47.7049 62.323 97.2511 47.2754 62.323 98.2282 66.3964 62.323 98.0614 56.9697 62.323 97.061 51.3003 62.323 86.1243 42.6983 62.323 87.3875 47.5327 62.323 87.0516 47.851 62.323 86.6176 48.1501 62.323 87.9153 46.6988 62.323 87.8817 44.2905 62.323 86.9621 43.1412 62.323 87.3308 43.4717 62.323 87.6402 43.8583 62.323 63.7671 37.889 51.323 63.8909 37.5732 51.323 63.9597 37.241 51.323 63.9713 36.902 51.323 63.9254 36.5659 51.323 63.8234 36.2423 51.323 63.6682 35.9407 51.323 63.4643 35.6696 51.323 60.6454 29.6219 51.323 62.6246 35.1121 51.323 62.9348 35.2493 51.323 63.2174 35.4369 51.323 63.3696 38.4358 51.323 63.5916 38.1793 51.323 62.2956 35.0294 51.323 61.9574 35.0034 51.323 59.4486 29.9412 51.323 61.6196 35.035 51.323 61.292 35.1231 51.323 58.3207 30.4532 51.323 60.9841 35.2654 51.323 60.7046 35.4577 51.323 60.4617 35.6944 51.323 55.0678 34.0782 51.323 60.2622 35.9688 51.323 60.112 36.2729 51.323 54.4922 36.4791 51.323 60.0153 36.5981 51.323 59.975 36.9349 51.323 54.7274 38.9368 51.323 59.9922 37.2737 51.323 60.0664 37.6047 51.323 55.1444 40.1031 51.323 55.7478 41.1849 51.323 60.1955 37.9184 51.323 60.3757 38.2058 51.323 56.521 42.1527 51.323 60.6019 38.4586 51.323 58.4884 43.6442 51.323 60.8676 38.6695 51.323 61.1651 38.8325 51.323 60.8336 44.4161 51.323 61.4859 38.9429 51.323 62.0692 44.5027 51.323 61.8207 38.9975 51.323 62.1599 38.9947 51.323 63.3023 44.3847 51.323 62.4938 38.9346 51.323 66.7469 43.7648 51.323 62.8127 38.8189 51.323 63.1074 38.6511 51.323 85.3355 42.4954 40.323 86.3623 42.654 62.323 86.8421 42.8579 62.323 86.8421 42.8579 40.323 87.2817 43.1381 40.323 87.2817 43.1381 62.323 87.669 43.487 62.323 87.669 43.487 40.323 87.9935 43.8949 62.323 88.2463 44.3508 40.323 88.5112 45.3555 62.323 88.516 45.8768 40.323 88.2698 46.8862 62.323 88.0255 47.3466 62.323 88.2698 46.8862 40.323 88.0255 47.3466 40.323 87.7085 47.7605 62.323 87.3277 48.1165 62.323 87.7085 47.7605 40.323 87.3277 48.1165 40.323 86.4175 48.6175 40.323 86.5485 49.3457 62.323 86.5485 49.3457 40.323 73.1028 50.8867 40.323 72.5952 50.7679 62.323 71.6729 50.2896 62.323 70.9563 49.5373 40.323 70.7006 49.083 40.323 70.7006 49.083 62.323 70.4214 47.5588 62.323 70.4994 47.0433 40.323 70.6613 46.5478 62.323 71.217 45.6699 62.323 71.217 45.6699 40.323 71.5956 45.3116 62.323 71.5956 45.3116 40.323 72.0281 45.0206 40.323 72.5027 44.8049 62.323 70.9563 49.5373 62.323 71.2834 49.9432 62.323 72.1142 50.567 62.323 73.1028 50.8867 62.323 73.623 50.9201 62.323 86.4175 48.6175 62.323 86.8934 48.4048 62.323 123.948 42.615 62.323 88.4348 46.3917 62.323 70.9027 46.0858 62.323 66.7469 43.7648 62.323 70.4994 47.0433 62.323 72.0281 45.0206 62.323 70.4295 48.08 62.323 70.5234 48.5927 62.323 88.516 45.8768 62.323 122.354 33.7573 62.323 88.4205 44.8422 62.323 88.2463 44.3508 62.323 85.8555 42.5321 62.323 85.3355 42.4954 62.323 84.8166 42.545 62.323 73.1442 42.6135 51.323 68.3411 52.6225 40.323 68.3411 52.6225 62.323 73.7541 51.6483 62.323 70.9027 46.0858 40.323 88.4205 44.8422 40.323 73.7541 51.6483 40.323 73.623 50.9201 40.323 72.5027 44.8049 40.323 86.3623 42.654 40.323 122.354 33.7573 40.323 123.948 42.615 40.323 88.5112 45.3555 40.323 71.6729 50.2896 40.323 71.2834 49.9432 40.323 87.9935 43.8949 40.323 88.4348 46.3917 40.323 86.8934 48.4048 40.323 72.5952 50.7679 40.323 72.1142 50.567 40.323 70.6613 46.5478 40.323 73.0063 44.6704 40.323 66.7469 43.7648 40.323 84.8166 42.545 40.323 85.8555 42.5321 40.323 70.5234 48.5927 40.323 70.4295 48.08 40.323 70.4214 47.5588 40.323 83.2754 34.6368 48.823 83.0534 34.8933 48.823 105.249 28.957 48.823 105.261 28.618 48.823 105.329 28.2858 48.823 109.228 28.5853 48.823 109.245 28.924 48.823 109.205 29.2609 48.823 109.108 29.586 48.823 108.958 29.8902 48.823 106.596 30.7468 48.823 122.354 33.7573 48.823 82.4964 35.2765 48.823 82.0119 35.4292 48.823 79.946 32.4263 48.823 106.286 30.6097 48.823 106.003 30.422 48.823 108.618 27.4004 48.823 108.845 27.6532 48.823 109.025 27.9405 48.823 109.154 28.2542 48.823 107.4 26.8615 48.823 107.735 26.9161 48.823 119.697 18.9945 48.823 108.055 27.0265 48.823 108.353 27.1894 48.823 108.759 30.1646 48.823 108.516 30.4013 48.823 108.236 30.5936 48.823 107.928 30.7358 48.823 107.601 30.824 48.823 83.148 32.1272 48.823 80.5514 35.1271 48.823 80.2857 34.9161 48.823 63.9727 37.0717 48.823 81.5045 35.455 48.823 63.9324 37.4086 48.823 63.8357 37.7337 48.823 63.6855 38.0379 48.823 63.486 38.3122 48.823 60.6454 29.6219 48.823 80.6679 31.7229 48.823 105.756 30.1893 48.823 105.552 29.9183 48.823 105.397 29.6166 48.823 106.925 30.8296 48.823 107.263 30.8556 48.823 82.3083 31.5697 48.823 82.6186 31.7068 48.823 83.6434 33.6985 48.823 83.5747 34.0307 48.823 62.4618 35.0638 48.823 63.2431 38.549 48.823 66.7469 43.7648 48.823 105.295 29.2931 48.823 105.453 27.97 48.823 105.629 27.6797 48.823 105.851 27.4232 48.823 83.5072 32.6999 48.823 83.6092 33.0234 48.823 83.6551 33.3595 48.823 62.9636 38.7413 48.823 62.6557 38.8835 48.823 62.3281 38.9717 48.823 63.3023 44.3847 48.823 62.0692 44.5027 48.823 61.9903 39.0033 48.823 61.6521 38.9773 48.823 61.3232 38.8945 48.823 59.629 44.1273 48.823 58.4884 43.6442 48.823 61.0129 38.7573 48.823 60.7303 38.5697 48.823 56.521 42.1527 48.823 55.7478 41.1849 48.823 60.4835 38.337 48.823 55.1444 40.1031 48.823 60.2795 38.066 48.823 60.1243 37.7643 48.823 60.0223 37.4408 48.823 54.7274 38.9368 48.823 59.9764 37.1047 48.823 54.4922 36.4791 48.823 59.988 36.7657 48.823 60.0568 36.4335 48.823 54.6805 35.2548 48.823 55.0678 34.0782 48.823 60.1806 36.1177 48.823 55.6435 32.9814 48.823 60.3561 35.8274 48.823 56.3918 31.9943 48.823 60.5781 35.5709 48.823 60.8403 35.3556 48.823 61.1351 35.1877 48.823 61.454 35.0721 48.823 61.7878 35.012 48.823 62.127 35.0092 48.823 62.7826 35.1741 48.823 79.6991 33.0556 48.823 106.113 27.2079 48.823 106.408 27.04 48.823 106.727 26.9244 48.823 107.06 26.8643 48.823 63.572 35.8008 48.823 63.3458 35.548 48.823 79.6588 33.3925 48.823 63.0801 35.3371 48.823 63.7522 36.0882 48.823 79.676 33.7312 48.823 63.8813 36.4019 48.823 63.9555 36.7329 48.823 79.8793 34.376 48.823 82.1775 35.3921 48.823 82.4964 35.2765 53.823 82.7912 35.1086 48.823 82.7912 35.1086 53.823 83.4508 34.3465 48.823 83.4508 34.3465 53.823 83.5747 34.0307 53.823 83.6434 33.6985 53.823 83.6092 33.0234 53.823 83.5072 32.6999 53.823 83.352 32.3982 48.823 82.9012 31.8945 48.823 82.6186 31.7068 53.823 82.3083 31.5697 53.823 81.9794 31.4869 48.823 81.6411 31.4609 48.823 81.3034 31.4925 48.823 80.9758 31.5807 48.823 80.9758 31.5807 53.823 80.3884 31.9152 48.823 80.3884 31.9152 53.823 80.1454 32.1519 48.823 79.7958 32.7305 48.823 79.946 32.4263 53.823 79.6588 33.3925 53.823 79.676 33.7312 53.823 79.7502 34.0623 48.823 79.7502 34.0623 53.823 80.0595 34.6633 48.823 80.8489 35.29 48.823 81.1696 35.4004 48.823 80.8489 35.29 53.823 81.1696 35.4004 53.823 81.5045 35.455 53.823 81.8437 35.4522 48.823 81.8437 35.4522 53.823 82.1775 35.3921 53.823 109.04 29.7413 53.823 108.941 27.793 53.823 83.0534 34.8933 53.823 82.9012 31.8945 53.823 105.977 27.31 53.823 105.734 27.5467 53.823 81.9794 31.4869 53.823 70.4873 27.8507 53.823 81.6411 31.4609 53.823 81.3034 31.4925 53.823 109.164 29.4255 53.823 109.232 29.0933 53.823 122.354 33.7573 53.823 109.244 28.7543 53.823 119.697 18.9945 53.823 109.198 28.4182 53.823 109.096 28.0947 53.823 108.737 27.522 53.823 108.49 27.2893 53.823 108.207 27.1016 53.823 107.23 26.8557 53.823 106.892 26.8873 53.823 106.565 26.9754 53.823 106.257 27.1177 53.823 105.535 27.8211 53.823 80.6679 31.7229 53.823 80.1454 32.1519 53.823 108.38 30.5034 53.823 107.897 26.9645 53.823 107.568 26.8817 53.823 83.2754 34.6368 53.823 108.642 30.2881 53.823 108.864 30.0316 53.823 79.7958 32.7305 53.823 79.6991 33.0556 53.823 80.5514 35.1271 53.823 106.14 30.5218 53.823 106.438 30.6848 53.823 106.759 30.7952 53.823 107.093 30.8498 53.823 107.433 30.847 53.823 107.766 30.7869 53.823 108.085 30.6712 53.823 79.8793 34.376 53.823 80.0595 34.6633 53.823 80.2857 34.9161 53.823 105.248 28.7872 53.823 105.288 28.4504 53.823 83.6551 33.3595 53.823 105.385 28.1253 53.823 83.352 32.3982 53.823 83.148 32.1272 53.823 105.265 29.126 53.823 105.339 29.457 53.823 105.468 29.7707 53.823 105.648 30.0581 53.823 105.875 30.3109 53.823 70.4873 27.8507 51.323 73.1442 42.6135 53.823 59.4486 29.9412 48.823 58.3207 30.4532 48.823 57.2924 31.1438 51.323 57.2924 31.1438 48.823 56.3918 31.9943 51.323 55.6435 32.9814 51.323 54.6805 35.2548 51.323 54.508 37.7177 48.823 54.508 37.7177 51.323 57.4429 42.98 51.323 57.4429 42.98 48.823 59.629 44.1273 51.323 60.8336 44.4161 48.823 60.4835 35.6696 51.323 60.7303 35.4369 51.323 60.0223 36.5659 51.323 53.4604 27.8507 51.323 60.1243 36.2423 51.323 60.2795 35.9407 51.323 61.3232 35.1121 51.323 61.0129 35.2493 51.323 60.1806 37.889 51.323 60.0568 37.5732 51.323 59.988 37.241 51.323 59.9764 36.902 51.323 61.6521 35.0294 51.323 61.9903 35.0034 51.323 64.4991 29.9412 51.323 62.3281 35.035 51.323 62.6557 35.1231 51.323 62.9636 35.2654 51.323 65.627 30.4532 51.323 67.5559 31.9943 51.323 63.2431 35.4577 51.323 68.3043 32.9814 51.323 63.486 35.6944 51.323 63.6855 35.9688 51.323 68.8799 34.0782 51.323 63.8357 36.2729 51.323 63.9324 36.5981 51.323 63.9727 36.9349 51.323 69.4398 37.7177 51.323 63.9555 37.2737 51.323 69.2204 38.9368 51.323 63.8813 37.6047 51.323 63.7522 37.9184 51.323 68.8033 40.1031 51.323 68.1999 41.1849 51.323 63.572 38.2058 51.323 63.3458 38.4586 51.323 63.0801 38.6695 51.323 65.4593 43.6442 51.323 62.7826 38.8325 51.323 64.3187 44.1273 51.323 62.4618 38.9429 51.323 62.127 38.9975 51.323 61.8785 44.5027 51.323 61.7878 38.9947 51.323 61.454 38.9346 51.323 60.6454 44.3847 51.323 61.1351 38.8189 51.323 60.8403 38.6511 51.323 60.5781 38.4358 51.323 60.3561 38.1793 51.323 39.1311 42.545 62.323 38.6122 42.4954 40.323 38.0922 42.5321 40.323 37.5854 42.654 40.323 37.1056 42.8579 40.323 37.1056 42.8579 62.323 36.666 43.1381 62.323 36.2787 43.487 40.323 35.7014 44.3508 40.323 35.5273 44.8422 62.323 35.4365 45.3555 40.323 35.4365 45.3555 62.323 35.4317 45.8768 62.323 35.4317 45.8768 40.323 35.5129 46.3917 40.323 35.6779 46.8862 40.323 35.9223 47.3466 40.323 36.2392 47.7605 62.323 36.2392 47.7605 40.323 36.62 48.1165 40.323 37.0543 48.4048 40.323 37.5302 48.6175 40.323 37.3992 49.3457 40.323 37.3992 49.3457 62.323 50.3247 50.9201 40.323 50.3247 50.9201 62.323 50.8449 50.8867 40.323 51.3525 50.7679 40.323 51.3525 50.7679 62.323 51.8335 50.567 62.323 52.6644 49.9432 62.323 52.9914 49.5373 40.323 53.2471 49.083 62.323 53.4243 48.5927 40.323 53.4243 48.5927 62.323 53.5182 48.08 40.323 53.5182 48.08 62.323 53.5263 47.5588 62.323 53.5263 47.5588 40.323 53.4483 47.0433 62.323 53.2864 46.5478 40.323 53.2864 46.5478 62.323 53.045 46.0858 40.323 53.045 46.0858 62.323 52.7307 45.6699 62.323 52.7307 45.6699 40.323 52.3521 45.3116 40.323 51.445 44.8049 62.323 53.4483 47.0433 40.323 51.9196 45.0206 40.323 52.2748 50.2896 40.323 51.8335 50.567 40.323 50.1936 51.6483 40.323 35.9542 43.8949 40.323 1.59411 33.7573 40.323 53.2471 49.083 40.323 55.6067 52.6225 40.323 52.6644 49.9432 40.323 35.5273 44.8422 40.323 36.666 43.1381 40.323 39.1311 42.545 40.323 57.2008 43.7648 40.323 50.9414 44.6704 40.323 51.445 44.8049 40.323 57.2008 43.7648 51.323 38.0922 42.5321 62.323 37.5854 42.654 62.323 35.5129 46.3917 62.323 35.6779 46.8862 62.323 35.9223 47.3466 62.323 50.1936 51.6483 62.323 52.2748 50.2896 62.323 52.9914 49.5373 62.323 57.2008 43.7648 62.323 36.2787 43.487 62.323 0 42.615 62.323 36.62 48.1165 62.323 37.0543 48.4048 62.323 37.5302 48.6175 62.323 55.6067 52.6225 62.323 50.8449 50.8867 62.323 52.3521 45.3116 62.323 51.9196 45.0206 62.323 35.9542 43.8949 62.323 35.7014 44.3508 62.323 38.6122 42.4954 62.323 1.59411 33.7573 62.323 0 42.615 40.323 18.6183 28.2858 53.823 63.3023 29.6219 53.823 18.687 28.618 53.823 41.6394 31.5697 53.823 42.6443 31.4925 53.823 42.3066 31.4609 53.823 18.6986 28.957 53.823 18.4944 27.97 53.823 18.3189 27.6797 53.823 18.0969 27.4232 53.823 66.6553 31.1438 53.823 44.1519 32.7305 53.823 40.4405 32.6999 53.823 40.3385 33.0234 53.823 15.3293 27.4004 53.823 15.103 27.6532 53.823 40.2927 33.3595 53.823 40.3043 33.6985 53.823 18.6527 29.2931 53.823 18.5507 29.6166 53.823 18.3955 29.9183 53.823 63.1074 35.3556 53.823 62.8127 35.1877 53.823 62.4938 35.0721 53.823 44.0017 32.4263 53.823 17.8348 27.2079 53.823 17.54 27.04 53.823 17.2211 26.9244 53.823 16.8872 26.8643 53.823 16.548 26.8615 53.823 4.25097 18.9945 53.823 16.2132 26.9161 53.823 15.8924 27.0265 53.823 15.5949 27.1894 53.823 14.9895 29.8902 53.823 44.2889 33.3925 53.823 62.1599 35.012 53.823 61.8207 35.0092 53.823 61.4859 35.0638 53.823 61.1651 35.1741 53.823 60.8676 35.3371 53.823 44.2717 33.7312 53.823 60.6019 35.548 53.823 43.662 34.9161 53.823 14.9228 27.9405 53.823 14.7937 28.2542 53.823 14.7195 28.5853 53.823 14.7023 28.924 53.823 1.59411 33.7573 53.823 40.4969 34.3465 53.823 43.8882 34.6633 53.823 60.4617 38.3122 53.823 60.7046 38.549 53.823 60.9841 38.7413 53.823 17.6621 30.6097 53.823 17.9447 30.422 53.823 18.1916 30.1893 53.823 61.292 38.8835 53.823 61.6196 38.9717 53.823 63.1142 44.4161 53.823 61.9574 39.0033 53.823 64.3187 44.1273 53.823 62.2956 38.9773 53.823 62.6246 38.8945 53.823 66.5048 42.98 53.823 62.9348 38.7573 53.823 63.2174 38.5697 53.823 63.4643 38.337 53.823 68.1999 41.1849 53.823 63.6682 38.066 53.823 63.8234 37.7643 53.823 69.4398 37.7177 53.823 63.9254 37.4408 53.823 69.4555 36.4791 53.823 63.9713 37.1047 53.823 63.9597 36.7657 53.823 63.8909 36.4335 53.823 63.7671 36.1177 53.823 63.5916 35.8274 53.823 63.3696 35.5709 53.823 14.7427 29.2609 53.823 14.8393 29.586 53.823 15.189 30.1646 53.823 15.4319 30.4013 53.823 15.7114 30.5936 53.823 16.0194 30.7358 53.823 16.3469 30.824 53.823 16.6847 30.8556 53.823 17.0229 30.8296 53.823 17.3519 30.7468 53.823 42.4433 35.455 53.823 42.7781 35.4004 53.823 43.3963 35.1271 53.823 41.4513 35.2765 53.823 41.7702 35.3921 53.823 60.3757 35.8008 53.823 60.1955 36.0882 53.823 60.0664 36.4019 53.823 59.9922 36.7329 53.823 59.975 37.0717 53.823 60.0153 37.4086 53.823 42.104 35.4522 53.823 57.2008 43.7648 53.823 60.112 37.7337 53.823 60.2622 38.0379 53.823 41.7702 35.3921 48.823 41.1565 35.1086 53.823 40.8943 34.8933 53.823 40.6723 34.6368 53.823 40.4969 34.3465 48.823 40.373 34.0307 48.823 40.373 34.0307 53.823 40.3043 33.6985 48.823 40.2927 33.3595 48.823 40.5957 32.3982 53.823 40.7997 32.1272 53.823 41.0465 31.8945 53.823 41.0465 31.8945 48.823 41.3291 31.7068 53.823 41.6394 31.5697 48.823 41.9684 31.4869 53.823 42.9719 31.5807 53.823 43.2798 31.7229 53.823 42.9719 31.5807 48.823 43.5593 31.9152 48.823 43.5593 31.9152 53.823 43.8023 32.1519 53.823 44.0017 32.4263 48.823 44.1519 32.7305 48.823 44.2486 33.0556 53.823 44.2889 33.3925 48.823 44.1975 34.0623 53.823 44.1975 34.0623 48.823 44.0684 34.376 48.823 44.0684 34.376 53.823 43.8882 34.6633 48.823 43.662 34.9161 48.823 43.0988 35.29 53.823 42.7781 35.4004 48.823 42.4433 35.455 48.823 42.104 35.4522 48.823 41.9358 35.4292 53.823 14.7037 28.7543 48.823 14.7496 28.4182 48.823 14.8516 28.0947 48.823 15.0068 27.793 48.823 15.2108 27.522 48.823 18.0731 30.3109 48.823 17.8074 30.5218 48.823 17.5099 30.6848 48.823 14.908 29.7413 48.823 14.7841 29.4255 48.823 14.7154 29.0933 48.823 44.2486 33.0556 48.823 44.2717 33.7312 48.823 43.3963 35.1271 48.823 43.0988 35.29 48.823 16.1813 30.7869 48.823 15.8624 30.6712 48.823 15.5676 30.5034 48.823 15.3054 30.2881 48.823 15.0834 30.0316 48.823 15.4576 27.2893 48.823 15.7402 27.1016 48.823 16.0505 26.9645 48.823 16.3794 26.8817 48.823 53.4604 27.8507 48.823 43.2798 31.7229 48.823 40.8943 34.8933 48.823 40.6723 34.6368 48.823 1.59411 33.7573 48.823 16.5151 30.847 48.823 16.8544 30.8498 48.823 17.1892 30.7952 48.823 16.7177 26.8557 48.823 17.0554 26.8873 48.823 17.9704 27.31 48.823 18.2134 27.5467 48.823 18.4128 27.8211 48.823 41.3291 31.7068 48.823 18.7 28.7872 48.823 18.6597 28.4504 48.823 18.563 28.1253 48.823 43.8023 32.1519 48.823 42.6443 31.4925 48.823 42.3066 31.4609 48.823 4.25097 18.9945 48.823 41.9684 31.4869 48.823 17.383 26.9754 48.823 17.6909 27.1177 48.823 41.4513 35.2765 48.823 41.1565 35.1086 48.823 18.6086 29.457 48.823 18.4795 29.7707 48.823 18.2993 30.0581 48.823 40.3385 33.0234 48.823 18.6828 29.126 48.823 40.4405 32.6999 48.823 40.5957 32.3982 48.823 40.7997 32.1272 48.823 50.8035 42.6135 51.323 50.8035 42.6135 48.823 63.3023 29.6219 51.323 64.4991 29.9412 53.823 66.6553 31.1438 51.323 65.627 30.4532 53.823 67.5559 31.9943 53.823 68.3043 32.9814 53.823 68.8799 34.0782 53.823 69.2672 35.2548 51.323 69.4555 36.4791 51.323 69.2672 35.2548 53.823 69.2204 38.9368 53.823 68.8033 40.1031 53.823 67.4268 42.1527 51.323 67.4268 42.1527 53.823 66.5048 42.98 51.323 65.4593 43.6442 53.823 63.1142 44.4161 51.323 61.8785 44.5027 53.823 60.6454 44.3847 53.823 28.6223 63.3343 45.323 28.6742 63.3338 45.323 28.7917 63.3429 40.323 28.6223 63.3343 40.323 28.4539 63.3544 45.323 28.2913 63.4027 40.323 28.2913 63.4027 45.323 28.1392 63.4779 45.323 28.002 63.5776 45.323 27.8837 63.6991 45.323 27.8837 63.6991 40.323 27.7875 63.8388 40.323 27.7875 63.8388 45.323 27.7164 63.9928 40.323 27.7164 63.9928 45.323 27.6723 64.1566 40.323 27.6723 64.1566 45.323 27.6565 64.3254 45.323 27.6695 64.4946 45.323 27.7109 64.659 45.323 27.7109 64.659 40.323 27.7795 64.8142 40.323 27.7795 64.8142 45.323 27.8733 64.9555 45.323 27.9897 65.0789 45.323 28.1252 65.1809 45.323 28.276 65.2585 40.323 28.276 65.2585 45.323 28.6058 65.3324 40.323 28.4378 65.3095 45.323 28.6058 65.3324 45.323 28.7753 65.3266 40.323 28.7753 65.3266 45.323 28.9414 65.2922 45.323 28.9414 65.2922 40.323 29.0993 65.2303 45.323 29.2445 65.1426 40.323 29.3727 65.0315 40.323 29.2445 65.1426 45.323 29.3727 65.0315 45.323 29.4804 64.9005 45.323 29.5643 64.7531 45.323 29.5643 64.7531 40.323 29.6221 64.5936 40.323 29.6221 64.5936 45.323 29.6522 64.4267 45.323 29.6536 64.2571 45.323 29.6263 64.0897 40.323 29.6263 64.0897 45.323 29.5711 63.9293 45.323 29.5711 63.9293 40.323 29.4896 63.7806 45.323 29.4896 63.7806 40.323 29.3841 63.6477 40.323 29.3841 63.6477 45.323 29.2577 63.5346 40.323 29.2577 63.5346 45.323 29.1141 63.4445 40.323 28.9572 63.38 40.323 29.1141 63.4445 45.323 28.9572 63.38 45.323 28.7917 63.3429 45.323 37.363 90.9762 45.323 37.3111 90.9767 45.323 37.1427 90.9968 40.323 37.1427 90.9968 45.323 36.9801 91.0452 45.323 36.828 91.1203 40.323 36.6908 91.22 40.323 36.828 91.1203 45.323 36.6908 91.22 45.323 36.5724 91.3415 45.323 36.5724 91.3415 40.323 36.4763 91.4812 45.323 36.4052 91.6352 45.323 36.4052 91.6352 40.323 36.3611 91.799 45.323 36.3453 91.9678 40.323 36.3453 91.9678 45.323 36.3583 92.1369 40.323 36.3583 92.1369 45.323 36.3997 92.3014 40.323 36.3997 92.3014 45.323 36.4683 92.4566 45.323 36.5621 92.5979 40.323 36.5621 92.5979 45.323 36.6784 92.7213 40.323 36.6784 92.7213 45.323 36.814 92.8233 45.323 36.9648 92.9009 40.323 36.9648 92.9009 45.323 37.1265 92.9519 45.323 37.1265 92.9519 40.323 37.2946 92.9748 45.323 37.4641 92.969 45.323 37.4641 92.969 40.323 37.6302 92.9346 45.323 37.6302 92.9346 40.323 37.7881 92.8727 45.323 37.9333 92.785 45.323 38.0615 92.674 45.323 38.1691 92.5429 45.323 38.1691 92.5429 40.323 38.2531 92.3955 45.323 38.2531 92.3955 40.323 38.3109 92.236 40.323 38.3109 92.236 45.323 38.3409 92.0691 45.323 38.3423 91.8995 45.323 38.3151 91.7321 45.323 38.2599 91.5717 45.323 38.1784 91.423 40.323 38.0729 91.2901 40.323 38.1784 91.423 45.323 38.0729 91.2901 45.323 37.9465 91.177 45.323 37.8028 91.0869 45.323 37.646 91.0224 45.323 37.4805 90.9853 45.323 32.9949 103.239 45.323 33.1643 103.248 40.323 32.9949 103.239 40.323 32.8265 103.259 45.323 32.6639 103.308 45.323 32.5118 103.383 45.323 32.3746 103.483 40.323 32.3746 103.483 45.323 32.2563 103.604 45.323 32.2563 103.604 40.323 32.1601 103.744 45.323 32.089 103.898 45.323 32.0449 104.062 45.323 32.0291 104.23 40.323 32.0291 104.23 45.323 32.0421 104.4 40.323 32.0421 104.4 45.323 32.0835 104.564 40.323 32.0835 104.564 45.323 32.1521 104.719 45.323 32.2459 104.86 45.323 32.3622 104.984 45.323 32.4978 105.086 45.323 32.4978 105.086 40.323 32.8103 105.214 40.323 32.6486 105.163 45.323 32.8103 105.214 45.323 32.9784 105.237 45.323 33.1479 105.232 40.323 33.1479 105.232 45.323 33.314 105.197 40.323 33.314 105.197 45.323 33.4719 105.135 40.323 33.4719 105.135 45.323 33.6171 105.048 45.323 33.7453 104.937 45.323 33.8529 104.805 45.323 33.9369 104.658 45.323 33.9947 104.499 45.323 34.0247 104.332 40.323 34.0247 104.332 45.323 34.0261 104.162 45.323 33.9989 103.995 40.323 33.9989 103.995 45.323 33.9437 103.834 45.323 33.8622 103.686 40.323 33.8622 103.686 45.323 33.6303 103.44 40.323 33.7567 103.553 45.323 33.6303 103.44 45.323 33.4866 103.349 40.323 33.4866 103.349 45.323 33.3298 103.285 40.323 33.3298 103.285 45.323 33.1643 103.248 45.323 33.0468 103.239 45.323 27.9844 102.328 45.323 27.9325 102.328 45.323 27.9325 102.328 40.323 27.7641 102.348 45.323 27.6015 102.397 40.323 27.6015 102.397 45.323 27.4495 102.472 40.323 27.4495 102.472 45.323 27.3123 102.571 45.323 27.3123 102.571 40.323 27.1939 102.693 40.323 27.1939 102.693 45.323 27.0978 102.833 40.323 27.0978 102.833 45.323 27.0266 102.987 40.323 27.0266 102.987 45.323 26.9825 103.15 45.323 26.9825 103.15 40.323 26.9668 103.319 45.323 26.9797 103.488 45.323 27.0211 103.653 45.323 27.0897 103.808 40.323 27.0897 103.808 45.323 27.1835 103.949 45.323 27.2999 104.073 40.323 27.2999 104.073 45.323 27.4354 104.175 45.323 27.5862 104.252 45.323 27.748 104.303 45.323 27.916 104.326 40.323 28.0856 104.32 40.323 27.916 104.326 45.323 28.0856 104.32 45.323 28.2516 104.286 45.323 28.4095 104.224 45.323 28.5547 104.136 40.323 28.5547 104.136 45.323 28.6829 104.025 45.323 28.7906 103.894 40.323 28.7906 103.894 45.323 28.8745 103.747 40.323 28.8745 103.747 45.323 28.9323 103.588 45.323 28.9624 103.421 45.323 28.9638 103.251 40.323 28.9638 103.251 45.323 28.9365 103.084 45.323 28.7998 102.774 40.323 28.8813 102.923 45.323 28.7998 102.774 45.323 28.6944 102.642 45.323 28.568 102.529 45.323 28.4243 102.438 45.323 28.2674 102.374 45.323 28.1019 102.337 40.323 28.1019 102.337 45.323 28.7072 63.335 57.323 28.7072 63.335 62.323 28.8752 63.3579 57.323 28.8752 63.3579 62.323 29.037 63.4089 57.323 29.1878 63.4865 57.323 29.3233 63.5885 57.323 29.4397 63.7119 57.323 29.4397 63.7119 62.323 29.5335 63.8532 62.323 29.5335 63.8532 57.323 29.6021 64.0083 62.323 29.6021 64.0083 57.323 29.6435 64.1728 57.323 29.6435 64.1728 62.323 29.6565 64.3419 57.323 29.6407 64.5108 62.323 29.6407 64.5108 57.323 29.5966 64.6746 57.323 29.5255 64.8286 57.323 29.4293 64.9683 57.323 29.311 65.0898 62.323 29.311 65.0898 57.323 29.1738 65.1895 57.323 29.0217 65.2646 57.323 28.8591 65.3129 62.323 28.8591 65.3129 57.323 28.6907 65.3331 62.323 28.6907 65.3331 57.323 28.5213 65.3245 62.323 28.5213 65.3245 57.323 28.3558 65.2874 62.323 28.1989 65.2229 62.323 28.3558 65.2874 57.323 28.1989 65.2229 57.323 28.0553 65.1327 62.323 28.0553 65.1327 57.323 27.8234 64.8868 62.323 27.9289 65.0196 57.323 27.8234 64.8868 57.323 27.7419 64.7381 62.323 27.7419 64.7381 57.323 27.6867 64.5777 57.323 27.6594 64.4103 57.323 27.6608 64.2407 57.323 27.6909 64.0737 57.323 27.6909 64.0737 62.323 27.7487 63.9143 62.323 27.7487 63.9143 57.323 27.9403 63.6358 62.323 27.8326 63.7669 57.323 27.9403 63.6358 57.323 28.0685 63.5248 57.323 28.2137 63.4371 57.323 28.3716 63.3751 57.323 28.3716 63.3751 62.323 28.5377 63.3408 62.323 28.5377 63.3408 57.323 28.6742 63.3338 57.323 27.9844 102.328 62.323 28.0174 102.329 62.323 28.0174 102.329 57.323 28.1855 102.352 62.323 28.1855 102.352 57.323 28.3472 102.403 62.323 28.3472 102.403 57.323 28.498 102.48 57.323 28.6336 102.582 62.323 28.6336 102.582 57.323 28.7499 102.706 57.323 28.7499 102.706 62.323 28.8437 102.847 62.323 28.9123 103.002 62.323 28.8437 102.847 57.323 28.9123 103.002 57.323 28.9537 103.167 57.323 28.9537 103.167 62.323 28.9667 103.336 62.323 28.9667 103.336 57.323 28.9509 103.505 57.323 28.9068 103.668 57.323 28.8357 103.822 57.323 28.8357 103.822 62.323 28.7395 103.962 57.323 28.6212 104.084 62.323 28.6212 104.084 57.323 28.484 104.183 57.323 28.3319 104.259 57.323 28.1693 104.307 57.323 28.1693 104.307 62.323 28.0009 104.327 62.323 28.0009 104.327 57.323 27.8315 104.318 62.323 27.8315 104.318 57.323 27.666 104.281 57.323 27.5092 104.217 57.323 27.3655 104.127 62.323 27.3655 104.127 57.323 27.2391 104.014 62.323 27.1336 103.881 62.323 27.2391 104.014 57.323 27.1336 103.881 57.323 27.0521 103.732 57.323 27.0521 103.732 62.323 26.9969 103.572 62.323 26.9969 103.572 57.323 26.9697 103.404 57.323 26.9711 103.235 57.323 27.0011 103.068 57.323 27.0589 102.908 62.323 27.0589 102.908 57.323 27.1429 102.761 57.323 27.2505 102.63 62.323 27.3787 102.519 62.323 27.2505 102.63 57.323 27.3787 102.519 57.323 27.5239 102.431 57.323 27.6818 102.369 57.323 27.8479 102.335 57.323 27.9844 102.328 57.323 33.0468 103.239 57.323 33.0798 103.24 62.323 33.0798 103.24 57.323 33.2478 103.263 57.323 33.4096 103.314 57.323 33.4096 103.314 62.323 33.5604 103.391 57.323 33.6959 103.493 57.323 33.8123 103.617 62.323 33.8123 103.617 57.323 33.9061 103.758 62.323 33.9061 103.758 57.323 33.9747 103.913 57.323 33.9747 103.913 62.323 34.0161 104.078 57.323 34.029 104.247 62.323 34.029 104.247 57.323 34.0133 104.416 57.323 33.9692 104.58 57.323 33.898 104.734 57.323 33.8019 104.873 57.323 33.8019 104.873 62.323 33.6835 104.995 57.323 33.5463 105.094 57.323 33.3943 105.17 57.323 33.2317 105.218 57.323 33.0633 105.238 57.323 32.8939 105.229 62.323 32.8939 105.229 57.323 32.7284 105.192 62.323 32.7284 105.192 57.323 32.5715 105.128 57.323 32.4278 105.038 62.323 32.4278 105.038 57.323 32.3014 104.925 57.323 32.196 104.792 57.323 32.196 104.792 62.323 32.1145 104.643 62.323 32.1145 104.643 57.323 32.0593 104.483 57.323 32.032 104.315 57.323 32.032 104.315 62.323 32.0334 104.146 57.323 32.0635 103.979 57.323 32.1213 103.819 57.323 32.2052 103.672 62.323 32.2052 103.672 57.323 32.3129 103.541 57.323 32.4411 103.43 57.323 32.4411 103.43 62.323 32.7442 103.28 62.323 32.5863 103.342 57.323 32.7442 103.28 57.323 32.9102 103.246 57.323 32.9102 103.246 62.323 37.396 90.9774 57.323 37.363 90.9762 62.323 37.564 91.0003 62.323 37.564 91.0003 57.323 37.7258 91.0513 57.323 38.0121 91.2309 62.323 37.8766 91.1289 57.323 38.0121 91.2309 57.323 38.1285 91.3543 57.323 38.2223 91.4956 62.323 38.2223 91.4956 57.323 38.2909 91.6507 57.323 38.2909 91.6507 62.323 38.3322 91.8152 57.323 38.3295 92.1532 62.323 38.3452 91.9843 57.323 38.3295 92.1532 57.323 38.2854 92.317 57.323 38.2854 92.317 62.323 38.2142 92.471 57.323 38.1181 92.6107 57.323 37.9997 92.7322 62.323 37.9997 92.7322 57.323 37.8625 92.8319 62.323 37.8625 92.8319 57.323 37.7105 92.907 57.323 37.5479 92.9553 62.323 37.3795 92.9755 62.323 37.5479 92.9553 57.323 37.3795 92.9755 57.323 37.2101 92.9669 62.323 37.2101 92.9669 57.323 37.0446 92.9298 62.323 37.0446 92.9298 57.323 36.8877 92.8653 62.323 36.8877 92.8653 57.323 36.744 92.7752 62.323 36.744 92.7752 57.323 36.6176 92.662 57.323 36.6176 92.662 62.323 36.5122 92.5292 62.323 36.5122 92.5292 57.323 36.4307 92.3805 62.323 36.4307 92.3805 57.323 36.3755 92.2201 62.323 36.3482 92.0527 62.323 36.3755 92.2201 57.323 36.3482 92.0527 57.323 36.3496 91.8831 57.323 36.3797 91.7161 57.323 36.4375 91.5567 57.323 36.5214 91.4093 62.323 36.5214 91.4093 57.323 36.629 91.2782 57.323 36.7573 91.1672 57.323 36.7573 91.1672 62.323 36.9024 91.0795 57.323 36.9024 91.0795 62.323 37.0603 91.0175 57.323 37.2264 90.9832 57.323 37.2264 90.9832 62.323 37.363 90.9762 57.323 28.9507 66.3119 62.323 28.6211 66.3334 57.323 28.9507 66.3119 57.323 29.2723 66.2365 57.323 29.5771 66.1092 57.323 29.8568 65.9334 57.323 29.8568 65.9334 62.323 30.1038 65.7141 57.323 30.1038 65.7141 62.323 30.3112 65.457 57.323 30.4736 65.1693 57.323 30.4736 65.1693 62.323 30.5863 64.8589 57.323 30.6464 64.5341 57.323 30.6523 64.2038 62.323 30.6523 64.2038 57.323 30.6037 63.8771 57.323 30.502 63.5628 57.323 30.3499 63.2696 62.323 30.3499 63.2696 57.323 30.1517 63.0054 57.323 29.9126 62.7774 57.323 29.6394 62.5918 62.323 29.6394 62.5918 57.323 29.3393 62.4538 57.323 29.0205 62.3671 62.323 29.0205 62.3671 57.323 28.6919 62.334 57.323 28.4773 76.3329 57.323 28.6453 76.3559 57.323 28.9579 76.4845 62.323 29.0934 76.5864 57.323 29.2098 76.7099 62.323 29.3036 76.8512 62.323 29.2098 76.7099 57.323 29.3036 76.8512 57.323 29.3722 77.0063 57.323 29.4135 77.1708 62.323 29.4135 77.1708 57.323 29.4108 77.5088 62.323 29.4108 77.5088 57.323 29.3667 77.6726 57.323 29.3667 77.6726 62.323 29.1994 77.9663 62.323 29.081 78.0877 62.323 29.081 78.0877 57.323 28.9438 78.1875 62.323 28.9438 78.1875 57.323 28.4608 78.3311 57.323 27.969 78.2208 57.323 27.8253 78.1307 62.323 27.6989 78.0176 57.323 27.5935 77.8848 57.323 27.512 77.736 57.323 27.512 77.736 62.323 27.4568 77.5756 62.323 27.4295 77.4082 57.323 27.461 77.0717 57.323 27.461 77.0717 62.323 27.5188 76.9122 57.323 27.5188 76.9122 62.323 27.6027 76.7649 62.323 27.7103 76.6338 62.323 27.9837 76.435 62.323 28.3077 76.3387 62.323 28.3077 76.3387 57.323 27.8386 76.5228 57.323 27.9837 76.435 57.323 28.4619 75.332 57.323 28.1416 76.3731 57.323 28.2914 78.3225 57.323 28.1259 78.2854 57.323 27.8253 78.1307 57.323 28.4443 76.3318 57.323 28.8071 76.4069 57.323 29.1093 75.4518 57.323 28.9579 76.4845 57.323 30.272 76.5608 57.323 30.3738 76.875 57.323 30.4224 77.2018 57.323 29.4265 77.3399 57.323 30.2436 78.1673 57.323 28.6292 78.3109 57.323 29.0424 79.2345 57.323 28.7918 78.2626 57.323 29.3472 79.1072 57.323 29.1994 77.9663 57.323 29.8738 78.712 57.323 29.2955 77.8265 57.323 27.4568 77.5756 57.323 27.4309 77.2386 57.323 27.6027 76.7649 57.323 26.4623 75.2966 57.323 27.7103 76.6338 57.323 28.3912 79.3313 57.323 28.7208 79.3099 57.323 29.3472 79.1072 62.323 29.6269 78.9314 62.323 29.6269 78.9314 57.323 30.0813 78.455 57.323 30.3564 77.8568 57.323 30.4165 77.532 57.323 30.3738 76.875 62.323 30.12 76.2675 62.323 30.12 76.2675 57.323 29.9217 76.0033 57.323 29.9217 76.0033 62.323 29.6827 75.7753 57.323 29.4094 75.5898 62.323 29.1093 75.4518 62.323 29.4094 75.5898 57.323 28.7906 75.3651 62.323 28.7906 75.3651 57.323 28.2473 89.3309 57.323 28.2473 89.3309 62.323 28.4154 89.3538 57.323 28.728 89.4824 62.323 28.8635 89.5844 62.323 28.9798 89.7078 57.323 29.1422 90.0043 57.323 29.1836 90.1688 57.323 29.1836 90.1688 62.323 29.1966 90.3379 62.323 29.1966 90.3379 57.323 29.1367 90.6705 57.323 28.9695 90.9642 62.323 28.7139 91.1854 62.323 28.5618 91.2605 57.323 28.0615 91.3204 57.323 27.8959 91.2833 57.323 27.7391 91.2188 62.323 27.5954 91.1287 62.323 27.7391 91.2188 57.323 27.469 91.0156 57.323 27.3635 90.8827 57.323 27.3635 90.8827 62.323 27.2821 90.734 57.323 27.2821 90.734 62.323 27.2269 90.5736 57.323 27.2269 90.5736 62.323 27.1996 90.4062 62.323 27.201 90.2366 62.323 27.231 90.0697 62.323 27.2888 89.9102 62.323 27.3728 89.7628 57.323 27.3728 89.7628 62.323 27.6087 89.5207 62.323 27.6087 89.5207 57.323 27.7538 89.433 62.323 27.9117 89.3711 57.323 28.0778 89.3367 62.323 27.7538 89.433 57.323 26.1616 92.2939 57.323 28.2308 91.329 57.323 27.5954 91.1287 57.323 27.231 90.0697 57.323 27.2888 89.9102 57.323 28.0778 89.3367 57.323 28.2143 89.3298 57.323 28.232 88.3299 57.323 28.5771 89.4048 57.323 28.728 89.4824 57.323 29.4528 88.7733 57.323 29.6918 89.0013 57.323 28.8635 89.5844 57.323 29.0737 89.8491 57.323 30.1866 90.53 57.323 29.1808 90.5067 57.323 30.0137 91.1653 57.323 28.3993 91.3089 57.323 28.8125 92.2324 57.323 28.7139 91.1854 57.323 28.8511 91.0857 57.323 29.397 91.9294 57.323 28.9695 90.9642 57.323 29.0656 90.8245 57.323 27.1996 90.4062 57.323 27.201 90.2366 57.323 26.2323 88.2946 57.323 27.4804 89.6317 57.323 28.232 88.3299 62.323 28.4909 92.3079 57.323 28.4909 92.3079 62.323 28.8125 92.2324 62.323 28.9167 92.1889 62.323 29.1173 92.1051 62.323 29.1173 92.1051 57.323 29.397 91.9294 62.323 29.6439 91.71 57.323 29.8514 91.453 57.323 30.1265 90.8548 62.323 30.1265 90.8548 57.323 30.1924 90.1997 62.323 30.1924 90.1997 57.323 30.1438 89.873 62.323 30.1438 89.873 57.323 30.0421 89.5587 57.323 30.0421 89.5587 62.323 29.8901 89.2655 57.323 29.8901 89.2655 62.323 29.6918 89.0013 62.323 29.4528 88.7733 62.323 29.1795 88.5878 62.323 29.1795 88.5878 57.323 28.8794 88.4498 57.323 28.5607 88.363 62.323 28.5607 88.363 57.323 28.1613 92.3293 57.323 26.0024 101.293 57.323 28.0021 101.328 57.323 27.9313 105.327 57.323 27.9313 105.327 62.323 28.261 105.306 57.323 28.5826 105.23 62.323 28.5826 105.23 57.323 28.8874 105.103 57.323 29.167 104.927 62.323 29.167 104.927 57.323 29.414 104.708 57.323 29.6214 104.451 57.323 29.7838 104.163 57.323 29.8965 103.853 57.323 29.9567 103.528 57.323 29.9567 103.528 62.323 29.9625 103.198 62.323 29.9625 103.198 57.323 29.9139 102.871 57.323 29.8122 102.557 62.323 29.8122 102.557 57.323 29.6601 102.263 57.323 29.4619 101.999 57.323 29.2229 101.771 57.323 28.9496 101.586 57.323 28.9496 101.586 62.323 28.3307 101.361 62.323 28.6495 101.448 57.323 28.3307 101.361 57.323 41.6791 78.7137 45.323 41.7967 78.7227 40.323 41.6273 78.7141 40.323 41.2963 78.7826 40.323 41.1442 78.8577 40.323 41.1442 78.8577 45.323 40.8886 79.0789 40.323 40.7925 79.2186 40.323 40.7214 79.3726 40.323 40.7214 79.3726 45.323 40.6773 79.5364 40.323 40.6615 79.7053 40.323 40.6615 79.7053 45.323 40.6745 79.8744 40.323 40.7159 80.0389 40.323 40.7845 80.194 45.323 40.9946 80.4587 40.323 41.1301 80.5607 45.323 41.281 80.6383 45.323 41.4427 80.6893 45.323 41.7803 80.7064 40.323 41.7803 80.7064 45.323 41.9464 80.6721 45.323 41.9464 80.6721 40.323 42.1043 80.6101 40.323 42.1043 80.6101 45.323 42.2494 80.5224 45.323 42.2494 80.5224 40.323 42.4853 80.2803 45.323 42.4853 80.2803 40.323 42.6271 79.9735 45.323 42.6571 79.8065 40.323 42.6571 79.8065 45.323 42.5761 79.3092 40.323 42.5761 79.3092 45.323 42.4946 79.1604 45.323 42.3891 79.0276 40.323 42.2627 78.9145 40.323 41.9622 78.7598 40.323 42.119 78.8243 45.323 42.6312 79.4695 45.323 42.6585 79.6369 45.323 42.3255 77.827 45.323 42.3891 79.0276 45.323 42.2627 78.9145 45.323 42.884 82.2641 45.323 42.3777 80.4114 45.323 41.9622 78.7598 45.323 42.0059 77.7434 45.323 41.7967 78.7227 45.323 41.6769 77.7136 45.323 40.9946 80.4587 45.323 40.8783 80.3353 45.323 40.4208 81.2822 45.323 40.7159 80.0389 45.323 39.8237 80.5027 45.323 40.6745 79.8744 45.323 40.9974 81.6001 45.323 41.6108 80.7122 45.323 42.5693 80.1329 45.323 39.6696 79.5329 45.323 40.6773 79.5364 45.323 39.8362 78.896 45.323 39.9956 78.6067 45.323 40.7925 79.2186 45.323 40.8886 79.0789 45.323 40.2005 78.3476 45.323 40.4453 78.1258 45.323 41.007 78.9574 45.323 40.7232 77.9473 45.323 41.2963 78.7826 45.323 41.0267 77.8169 45.323 41.4589 78.7343 45.323 41.3476 77.7383 45.323 41.6273 78.7141 45.323 44.212 78.491 40.323 44.212 78.491 45.323 43.0121 78.0687 40.323 40.696 81.465 45.323 40.696 81.465 40.323 40.1796 81.0566 45.323 39.9787 80.7944 40.323 39.9787 80.7944 45.323 39.7189 80.1895 45.323 39.6671 79.8632 45.323 39.6696 79.5329 40.323 39.7265 79.2076 40.323 39.8362 78.896 40.323 39.7265 79.2076 45.323 39.9956 78.6067 40.323 40.4453 78.1258 40.323 40.9416 77.8535 40.323 41.0267 77.8169 40.323 42.0059 77.7434 40.323 42.3255 77.827 40.323 42.2944 82.0566 40.323 39.8958 90.7536 45.323 36.6812 93.8626 40.323 36.3798 93.7276 45.323 36.1047 93.5448 45.323 35.8634 93.3192 45.323 35.6625 93.057 40.323 35.6625 93.057 45.323 35.5076 92.7653 45.323 35.5076 92.7653 40.323 35.4027 92.452 40.323 35.4027 92.452 45.323 35.3509 92.1258 40.323 35.3509 92.1258 45.323 35.3534 91.7955 45.323 35.4103 91.4701 40.323 35.4103 91.4701 45.323 35.52 91.1585 45.323 35.6795 90.8693 45.323 35.8844 90.6102 40.323 35.8844 90.6102 45.323 36.1291 90.3883 40.323 36.1291 90.3883 45.323 36.407 90.2098 45.323 36.7105 90.0795 45.323 36.7105 90.0795 40.323 37.0314 90.0009 45.323 37.3608 89.9762 40.323 37.3608 89.9762 45.323 37.6897 90.006 45.323 37.6897 90.006 40.323 38.0093 90.0895 45.323 36.6812 93.8626 45.323 38.5678 94.5267 45.323 37.9782 94.3192 40.323 35.5797 103.016 40.323 32.3651 106.125 45.323 32.0636 105.99 45.323 31.5472 105.582 40.323 31.7885 105.807 45.323 31.3463 105.32 40.323 31.5472 105.582 45.323 31.3463 105.32 45.323 31.1914 105.028 40.323 31.1914 105.028 45.323 31.0865 104.715 40.323 31.0865 104.715 45.323 31.0347 104.388 45.323 31.0373 104.058 45.323 31.0941 103.733 40.323 31.0941 103.733 45.323 31.2038 103.421 45.323 31.3633 103.132 45.323 31.5682 102.873 40.323 31.5682 102.873 45.323 31.8129 102.651 40.323 31.8129 102.651 45.323 32.0908 102.472 45.323 32.3943 102.342 45.323 32.7152 102.263 40.323 32.7152 102.263 45.323 33.0446 102.239 45.323 33.3735 102.269 45.323 33.3735 102.269 40.323 33.6931 102.352 45.323 32.3651 106.125 57.323 33.6931 102.352 57.323 33.3735 102.269 62.323 33.3735 102.269 57.323 32.7152 102.263 62.323 33.0446 102.239 57.323 32.7152 102.263 57.323 32.3943 102.342 57.323 32.0908 102.472 62.323 31.8129 102.651 62.323 32.0908 102.472 57.323 31.8129 102.651 57.323 31.5682 102.873 57.323 31.5682 102.873 62.323 31.3633 103.132 57.323 31.2038 103.421 62.323 31.2038 103.421 57.323 31.0941 103.733 62.323 31.0941 103.733 57.323 31.0373 104.058 57.323 31.0347 104.388 62.323 31.0347 104.388 57.323 31.0865 104.715 57.323 31.1914 105.028 62.323 31.1914 105.028 57.323 31.3463 105.32 57.323 31.5472 105.582 62.323 31.5472 105.582 57.323 31.7885 105.807 62.323 31.7885 105.807 57.323 32.0636 105.99 57.323 32.3651 106.125 62.323 38.5678 94.5267 62.323 36.6812 93.8626 57.323 37.6897 90.006 57.323 37.6897 90.006 62.323 37.3608 89.9762 57.323 37.0314 90.0009 62.323 37.0314 90.0009 57.323 36.7105 90.0795 62.323 36.7105 90.0795 57.323 36.407 90.2098 57.323 36.1291 90.3883 62.323 36.1291 90.3883 57.323 35.8844 90.6102 57.323 35.6795 90.8693 62.323 35.52 91.1585 62.323 35.6795 90.8693 57.323 35.52 91.1585 57.323 35.4103 91.4701 62.323 35.4103 91.4701 57.323 35.3534 91.7955 62.323 35.3534 91.7955 57.323 35.3509 92.1258 57.323 35.3509 92.1258 62.323 35.4027 92.452 57.323 35.5076 92.7653 62.323 35.5076 92.7653 57.323 35.6625 93.057 62.323 35.6625 93.057 57.323 35.8634 93.3192 57.323 36.1047 93.5448 57.323 36.3798 93.7276 57.323 36.6812 93.8626 62.323 38.0093 90.0895 57.323 41.6791 78.7137 62.323 41.7121 78.7148 62.323 41.7121 78.7148 57.323 41.8802 78.7377 57.323 41.8802 78.7377 62.323 42.042 78.7887 62.323 42.1928 78.8663 62.323 42.3283 78.9683 62.323 42.4446 79.0917 62.323 42.4446 79.0917 57.323 42.5385 79.233 62.323 42.5385 79.233 57.323 42.6456 79.8906 62.323 42.6456 79.8906 57.323 42.6016 80.0544 57.323 42.5304 80.2084 57.323 42.4343 80.3481 62.323 42.4343 80.3481 57.323 42.3159 80.4696 62.323 42.1787 80.5693 62.323 42.1787 80.5693 57.323 42.0267 80.6444 57.323 42.0267 80.6444 62.323 41.8641 80.6928 57.323 41.5263 80.7043 62.323 41.3608 80.6672 62.323 41.5263 80.7043 57.323 41.3608 80.6672 57.323 41.2039 80.6027 57.323 41.2039 80.6027 62.323 41.0602 80.5126 62.323 40.9338 80.3995 57.323 40.9338 80.3995 62.323 40.8284 80.2666 62.323 40.7469 80.1179 62.323 40.6917 79.9575 62.323 40.6644 79.7901 62.323 40.6658 79.6205 62.323 40.6658 79.6205 57.323 40.7537 79.2941 62.323 40.7537 79.2941 57.323 40.9452 79.0156 62.323 41.0735 78.9046 62.323 41.2186 78.8169 62.323 41.2186 78.8169 57.323 41.3765 78.755 62.323 41.3765 78.755 57.323 41.5426 78.7206 57.323 41.5426 78.7206 62.323 41.6957 80.7129 57.323 42.6071 79.3882 57.323 44.212 78.491 57.323 42.3283 78.9683 57.323 42.6484 79.5527 57.323 42.6614 79.7218 57.323 42.884 82.2641 57.323 42.0059 77.7434 57.323 42.042 78.7887 57.323 42.1928 78.8663 57.323 42.3159 80.4696 57.323 40.4208 81.2822 57.323 41.0602 80.5126 57.323 40.1796 81.0566 57.323 39.9787 80.7944 57.323 40.8284 80.2666 57.323 39.8237 80.5027 57.323 40.7469 80.1179 57.323 40.6917 79.9575 57.323 40.6644 79.7901 57.323 40.6958 79.4536 57.323 40.8376 79.1467 57.323 40.9452 79.0156 57.323 40.4453 78.1258 57.323 41.0735 78.9046 57.323 41.0267 77.8169 57.323 41.6769 77.7136 57.323 41.6791 78.7137 57.323 40.9974 81.6001 57.323 40.9974 81.6001 62.323 41.3476 77.7383 57.323 41.3476 77.7383 62.323 41.0267 77.8169 62.323 40.9416 77.8535 62.323 40.7232 77.9473 57.323 40.2005 78.3476 62.323 40.2005 78.3476 57.323 39.9956 78.6067 62.323 39.9956 78.6067 57.323 39.8362 78.896 62.323 39.8362 78.896 57.323 39.7265 79.2076 62.323 39.7265 79.2076 57.323 39.6696 79.5329 57.323 39.6671 79.8632 57.323 39.6671 79.8632 62.323 39.7189 80.1895 62.323 39.7189 80.1895 57.323 39.9787 80.7944 62.323 40.1796 81.0566 62.323 40.696 81.465 62.323 40.696 81.465 57.323 42.3255 77.827 57.323 46.0283 66.4522 62.323 46.1964 66.4752 62.323 46.509 66.6038 62.323 46.7608 66.8292 62.323 46.8547 66.9705 57.323 46.8547 66.9705 62.323 46.9232 67.1256 62.323 46.9646 67.2901 57.323 46.9776 67.4592 62.323 46.9618 67.6281 62.323 46.8466 67.9458 57.323 46.7505 68.0856 62.323 46.4949 68.3068 57.323 46.4949 68.3068 62.323 46.3428 68.3819 62.323 46.3428 68.3819 57.323 46.1803 68.4302 62.323 46.1803 68.4302 57.323 46.0118 68.4504 62.323 46.0118 68.4504 57.323 45.8425 68.4418 57.323 45.677 68.4047 62.323 45.677 68.4047 57.323 45.5201 68.3401 62.323 45.5201 68.3401 57.323 45.25 68.1369 57.323 45.1446 68.0041 57.323 45.0079 67.6949 57.323 44.9806 67.5275 57.323 44.9806 67.5275 62.323 45.0699 67.0316 62.323 45.0699 67.0316 57.323 45.1538 66.8842 62.323 45.1538 66.8842 57.323 45.2614 66.7531 62.323 45.2614 66.7531 57.323 45.3897 66.6421 57.323 45.5348 66.5543 62.323 45.5348 66.5543 57.323 45.6927 66.4924 57.323 45.9953 66.4511 57.323 46.7505 68.0856 57.323 48.5282 66.2284 57.323 46.9232 67.1256 57.323 46.6321 68.207 57.323 46.509 66.6038 57.323 46.6445 66.7058 57.323 46.7608 66.8292 57.323 46.0283 66.4522 57.323 46.1964 66.4752 57.323 46.3581 66.5262 57.323 46.9776 67.4592 57.323 46.9618 67.6281 57.323 46.9177 67.7919 57.323 45.3136 69.3375 57.323 45.3764 68.25 57.323 44.4958 68.7941 57.323 44.2949 68.5318 57.323 45.0631 67.8553 57.323 44.0351 67.9269 57.323 44.982 67.3579 57.323 44.1524 66.6334 57.323 45.012 67.191 57.323 44.5167 66.085 57.323 44.7615 65.8632 57.323 45.0394 65.6847 57.323 45.3429 65.5544 57.323 45.8588 66.458 57.323 46.6417 65.5644 57.323 46.3221 65.4808 57.323 46.3221 65.4808 62.323 45.9931 65.451 57.323 45.6637 65.4757 57.323 44.7615 65.8632 62.323 44.3118 66.3441 57.323 44.3118 66.3441 62.323 44.0427 66.945 57.323 44.0427 66.945 62.323 43.9858 67.2704 57.323 43.9833 67.6007 57.323 44.0351 67.9269 62.323 44.1399 68.2401 62.323 44.1399 68.2401 57.323 44.737 69.0197 62.323 45.0122 69.2025 62.323 44.737 69.0197 57.323 45.0122 69.2025 57.323 46.6417 65.5644 62.323 47.1726 54.9512 62.323 45.1294 54.5835 40.323 43.0863 54.2158 62.323 39.5336 53.5764 62.323 33.9377 52.5693 62.323 28.3878 51.5705 40.323 45.9953 66.4511 40.323 45.775 66.4717 40.323 45.6125 66.52 40.323 45.6125 66.52 45.323 45.3232 66.6949 40.323 45.2048 66.8163 45.323 45.1087 66.9561 40.323 45.0376 67.1101 45.323 44.9935 67.2738 40.323 44.9777 67.4427 40.323 44.9777 67.4427 45.323 44.9907 67.6118 40.323 45.1006 67.9314 45.323 45.1006 67.9314 40.323 45.1945 68.0727 40.323 45.4463 68.2981 40.323 45.5972 68.3757 45.323 45.7589 68.4267 45.323 45.7589 68.4267 40.323 45.927 68.4497 45.323 45.927 68.4497 40.323 46.2626 68.4095 40.323 46.6939 68.1488 40.323 46.8855 67.8704 45.323 46.9433 67.7109 40.323 46.9433 67.7109 45.323 46.9733 67.544 45.323 46.9733 67.544 40.323 46.8922 67.0466 40.323 46.8107 66.8978 40.323 46.8107 66.8978 45.323 46.7053 66.765 40.323 46.4352 66.5618 45.323 46.4352 66.5618 40.323 46.2784 66.4972 45.323 46.2784 66.4972 40.323 48.5282 66.2284 45.323 46.9747 67.3744 45.323 46.7053 66.765 45.323 46.4205 68.3476 45.323 46.5656 68.2598 45.323 46.6939 68.1488 45.323 46.9474 67.207 45.323 46.8922 67.0466 45.323 46.5789 66.6519 45.323 45.4463 68.2981 45.323 45.3108 68.1962 45.323 45.1945 68.0727 45.323 44.2949 68.5318 45.323 45.0321 67.7763 45.323 44.9907 67.6118 45.323 45.3136 69.3375 45.323 46.0965 68.4439 45.323 46.2626 68.4095 45.323 46.8015 68.0177 45.323 44.1399 68.2401 45.323 43.9833 67.6007 45.323 43.9858 67.2704 45.323 44.9935 67.2738 45.323 44.0427 66.945 45.323 44.1524 66.6334 45.323 45.1087 66.9561 45.323 44.5167 66.085 45.323 45.3232 66.6949 45.323 44.7615 65.8632 45.323 45.4604 66.5951 45.323 45.0394 65.6847 45.323 45.775 66.4717 45.323 45.6637 65.4757 45.323 45.9435 66.4515 45.323 45.9953 66.4511 45.323 45.9931 65.451 45.323 46.1128 66.4601 45.323 46.6417 65.5644 45.323 45.0122 69.2025 45.323 44.737 69.0197 45.323 44.4958 68.7941 40.323 44.4958 68.7941 45.323 44.0351 67.9269 45.323 44.0427 66.945 40.323 44.1524 66.6334 40.323 44.3118 66.3441 40.323 44.5167 66.085 40.323 44.3118 66.3441 45.323 45.3429 65.5544 45.323 45.6637 65.4757 40.323 46.3221 65.4808 40.323 46.3221 65.4808 45.323 45.3136 69.3375 40.323 47.2002 70.0015 45.323 35.5797 103.016 45.323 48.5282 66.2284 40.323 50.2442 61.3533 40.323 37.285 98.1711 40.323 50.2442 61.3533 62.323 30.0751 118.655 62.323 30.0751 118.655 40.323 32.9688 110.434 62.323 41.4973 86.2037 40.323 35.5797 103.016 57.323 38.5678 94.5267 57.323 37.285 98.1711 62.323 32.9688 110.434 40.323 34.2516 106.789 45.323 39.8958 90.7536 57.323 39.8958 90.7536 62.323 52.1804 55.8524 62.323 34.2516 106.789 57.323 47.2002 70.0015 57.323 26.5566 105.303 40.323 27.9313 105.327 45.323 27.9313 105.327 40.323 28.0021 101.328 45.323 28.3307 101.361 45.323 28.3307 101.361 40.323 28.6495 101.448 45.323 28.6495 101.448 40.323 28.9496 101.586 45.323 29.2229 101.771 45.323 29.4619 101.999 45.323 29.6601 102.263 40.323 29.6601 102.263 45.323 29.8122 102.557 45.323 29.9139 102.871 40.323 29.9139 102.871 45.323 29.9625 103.198 45.323 29.9567 103.528 45.323 29.8965 103.853 45.323 29.7838 104.163 45.323 29.6214 104.451 45.323 29.414 104.708 45.323 29.167 104.927 45.323 29.167 104.927 40.323 28.5826 105.23 40.323 28.8874 105.103 45.323 28.5826 105.23 45.323 28.261 105.306 45.323 26.0024 101.293 45.323 28.1624 89.3302 40.323 27.8315 89.3987 40.323 27.6794 89.4738 40.323 27.5422 89.5735 40.323 27.5422 89.5735 45.323 27.4238 89.695 45.323 27.3277 89.8347 45.323 27.3277 89.8347 40.323 27.2565 89.9887 40.323 27.2125 90.1525 40.323 27.2125 90.1525 45.323 27.1967 90.3214 40.323 27.2097 90.4905 40.323 27.2097 90.4905 45.323 27.2511 90.655 40.323 27.3196 90.8101 45.323 27.4135 90.9514 45.323 27.5298 91.0748 45.323 27.8162 91.2544 40.323 27.9779 91.3054 45.323 28.146 91.3283 40.323 28.3155 91.3225 40.323 28.4816 91.2882 45.323 28.4816 91.2882 40.323 28.6395 91.2262 40.323 28.6395 91.2262 45.323 28.7846 91.1385 45.323 28.7846 91.1385 40.323 28.9129 91.0275 40.323 29.0205 90.8964 45.323 29.0205 90.8964 40.323 29.1044 90.749 45.323 29.1044 90.749 40.323 29.1623 90.5896 40.323 29.1937 90.253 40.323 29.1937 90.253 45.323 29.1112 89.9252 40.323 29.1112 89.9252 45.323 28.7979 89.5305 45.323 28.6542 89.4404 45.323 28.4973 89.3759 40.323 27.6794 89.4738 45.323 27.8315 89.3987 45.323 27.994 89.3504 45.323 27.6653 91.1768 45.323 27.8162 91.2544 45.323 28.1613 92.3293 45.323 28.4909 92.3079 45.323 28.146 91.3283 45.323 28.3155 91.3225 45.323 29.1173 92.1051 45.323 29.397 91.9294 45.323 28.9129 91.0275 45.323 29.8514 91.453 45.323 29.1623 90.5896 45.323 29.1923 90.4226 45.323 30.1924 90.1997 45.323 29.1664 90.0856 45.323 29.0297 89.7765 45.323 29.6918 89.0013 45.323 28.9243 89.6437 45.323 29.4528 88.7733 45.323 28.8794 88.4498 45.323 28.4973 89.3759 45.323 28.3318 89.3388 45.323 28.232 88.3299 45.323 28.2143 89.3298 45.323 28.1624 89.3302 45.323 27.1967 90.3214 45.323 26.1616 92.2939 45.323 27.2511 90.655 45.323 27.2565 89.9887 45.323 26.1616 92.2939 40.323 26.7865 92.305 40.323 28.1613 92.3293 40.323 28.5607 88.363 45.323 28.5607 88.363 40.323 29.1795 88.5878 40.323 29.1795 88.5878 45.323 29.4528 88.7733 40.323 29.8901 89.2655 45.323 30.0421 89.5587 45.323 30.1438 89.873 40.323 30.1438 89.873 45.323 30.1924 90.1997 40.323 30.1866 90.53 45.323 30.1866 90.53 40.323 30.1265 90.8548 45.323 30.0137 91.1653 40.323 30.0137 91.1653 45.323 29.8514 91.453 40.323 29.6439 91.71 45.323 28.8125 92.2324 40.323 28.4909 92.3079 40.323 28.8125 92.2324 45.323 28.4443 76.3318 45.323 28.4443 76.3318 40.323 28.224 76.3524 45.323 28.0614 76.4007 45.323 27.7721 76.5756 45.323 27.6537 76.697 40.323 27.5576 76.8368 45.323 27.5576 76.8368 40.323 27.4865 76.9907 45.323 27.4865 76.9907 40.323 27.4266 77.3234 45.323 27.4396 77.4925 40.323 27.4396 77.4925 45.323 27.481 77.657 45.323 27.5496 77.8121 40.323 27.6434 77.9534 40.323 28.0461 78.2564 40.323 28.0461 78.2564 45.323 28.2078 78.3074 40.323 28.2078 78.3074 45.323 28.3759 78.3304 40.323 28.5454 78.3246 45.323 28.7115 78.2902 45.323 28.7115 78.2902 40.323 29.1428 78.0295 45.323 29.1428 78.0295 40.323 29.2504 77.8984 40.323 29.3344 77.751 40.323 29.3922 77.5916 40.323 29.4236 77.2551 45.323 29.3964 77.0877 40.323 29.1542 76.6457 40.323 29.1542 76.6457 45.323 29.0278 76.5326 45.323 28.8841 76.4425 40.323 28.7273 76.3779 40.323 28.5618 76.3408 45.323 27.9093 76.4758 45.323 27.6537 76.697 45.323 26.4623 75.2966 45.323 28.3924 76.3322 45.323 27.7597 78.0768 45.323 27.8953 78.1788 45.323 28.3759 78.3304 45.323 29.0424 79.2345 45.323 29.3472 79.1072 45.323 28.8694 78.2283 45.323 29.0146 78.1405 45.323 29.8738 78.712 45.323 30.0813 78.455 45.323 29.2504 77.8984 45.323 30.2436 78.1673 45.323 29.3344 77.751 45.323 29.3922 77.5916 45.323 30.4165 77.532 45.323 29.4222 77.4247 45.323 30.272 76.5608 45.323 29.3964 77.0877 45.323 29.3412 76.9273 45.323 29.2597 76.7785 45.323 28.8841 76.4425 45.323 29.4094 75.5898 45.323 28.7906 75.3651 45.323 28.7273 76.3779 45.323 26.3915 79.296 45.323 27.5496 77.8121 45.323 27.6434 77.9534 45.323 27.4424 77.1545 45.323 28.3912 79.3313 40.323 29.1093 75.4518 45.323 29.6827 75.7753 45.323 29.9217 76.0033 45.323 30.12 76.2675 45.323 30.3738 76.875 40.323 30.3738 76.875 45.323 30.4224 77.2018 45.323 30.3564 77.8568 45.323 30.2436 78.1673 40.323 29.8738 78.712 40.323 29.6269 78.9314 45.323 28.7208 79.3099 45.323 28.3912 79.3313 45.323 28.4619 75.332 45.323 26.6922 62.2986 45.323 28.6919 62.334 45.323 29.0205 62.3671 45.323 29.0205 62.3671 40.323 29.3393 62.4538 40.323 29.3393 62.4538 45.323 29.6394 62.5918 45.323 29.6394 62.5918 40.323 29.9126 62.7774 40.323 29.9126 62.7774 45.323 30.1517 63.0054 45.323 30.1517 63.0054 40.323 30.3499 63.2696 45.323 30.502 63.5628 45.323 30.6037 63.8771 45.323 30.6037 63.8771 40.323 30.6523 64.2038 40.323 30.6523 64.2038 45.323 30.6464 64.5341 45.323 30.5863 64.8589 45.323 30.4736 65.1693 45.323 30.3112 65.457 40.323 30.3112 65.457 45.323 30.1038 65.7141 45.323 29.8568 65.9334 40.323 29.8568 65.9334 45.323 29.5771 66.1092 45.323 29.3765 66.193 40.323 29.2723 66.2365 45.323 28.9507 66.3119 45.323 28.6211 66.3334 45.323 26.6214 66.298 45.323 26.6214 66.298 40.323 26.7178 60.8496 40.323 25.9317 105.292 62.323 26.3232 83.159 40.323 26.3915 79.296 40.323 26.6214 66.298 57.323 26.2323 88.2946 45.323 26.3176 83.4718 40.323 26.7836 57.1312 40.323 26.5476 70.4738 40.323 26.6922 62.2986 62.323 26.6922 62.2986 57.323 26.4623 75.2966 62.323 26.3176 83.4718 62.323 26.0933 96.157 40.323 26.3915 79.296 57.323 25.7092 117.869 62.323 25.8633 109.155 62.323 25.9317 105.292 57.323 25.9317 105.292 45.323 26.0024 101.293 62.323 26.0877 96.4697 62.323 52.2818 45.2786 62.323 52.6419 45.6184 40.323 52.6419 45.6184 62.323 52.9412 46.0128 40.323 52.9412 46.0128 62.323 53.1716 46.451 40.323 53.1716 46.451 62.323 53.3268 46.9212 62.323 53.4025 47.4105 62.323 53.4025 47.4105 40.323 53.3967 47.9056 40.323 53.3095 48.393 62.323 53.3095 48.393 40.323 53.1434 48.8594 62.323 53.1434 48.8594 40.323 52.2263 50.0107 40.323 51.3533 50.4709 40.323 50.872 50.5872 40.323 51.3533 50.4709 62.323 50.872 50.5872 62.323 37.3301 48.1501 40.323 37.3301 48.1501 62.323 36.9196 47.8733 62.323 36.9196 47.8733 40.323 36.8961 47.851 62.323 36.5603 47.5327 40.323 36.5603 47.5327 62.323 36.2618 47.1376 62.323 36.0324 46.6988 40.323 36.0324 46.6988 62.323 35.8037 45.7388 40.323 36.3075 43.8583 62.323 36.3075 43.8583 40.323 36.6169 43.4717 40.323 36.6169 43.4717 62.323 36.9856 43.1412 40.323 37.4037 42.8759 62.323 37.8235 42.6983 62.323 37.8597 42.683 40.323 38.3412 42.5677 40.323 38.8351 42.5332 40.323 26.2685 83.4629 62.323 35.5797 103.016 62.323 37.1811 98.4662 62.323 37.2303 98.4751 62.323 41.4973 86.2037 62.323 44.212 78.491 62.323 25.9882 51.2121 62.323 26.8867 51.3003 62.323 26.6967 47.2754 62.323 28.3878 51.5705 62.323 34.6334 48.7037 62.323 31.8946 52.2016 62.323 32.5902 48.336 62.323 29.0835 47.7049 62.323 36.6765 49.0714 62.323 35.9808 52.937 62.323 37.8597 42.683 62.323 38.3412 42.5677 62.323 38.8351 42.5332 62.323 39.328 42.5804 62.323 45.1294 54.5835 62.323 47.0398 43.9683 62.323 44.9967 43.6006 62.323 41.444 42.9612 62.323 37.6211 49.2414 62.323 53.7618 52.1463 62.323 53.0533 56.083 62.323 50.2188 51.5086 62.323 50.9414 44.6704 62.323 52.9028 49.2922 62.323 51.8088 50.2769 62.323 51.4198 44.7981 62.323 51.8707 45.0026 62.323 53.3967 47.9056 62.323 52.5943 49.6794 62.323 52.2263 50.0107 62.323 49.083 44.336 62.323 50.3782 50.6228 62.323 45.8135 73.9411 62.323 51.1415 61.5148 62.323 45.012 67.191 62.323 44.982 67.3579 62.323 45.0079 67.6949 62.323 44.6546 68.9426 62.323 46.6445 66.7058 62.323 46.3581 66.5262 62.323 45.9931 65.451 62.323 45.9953 66.4511 62.323 45.6637 65.4757 62.323 45.8588 66.458 62.323 45.3429 65.5544 62.323 45.6927 66.4924 62.323 45.3897 66.6421 62.323 46.9646 67.2901 62.323 45.0631 67.8553 62.323 45.1446 68.0041 62.323 45.25 68.1369 62.323 45.3764 68.25 62.323 45.3136 69.3375 62.323 45.8425 68.4418 62.323 47.2002 70.0015 62.323 46.6321 68.207 62.323 46.8466 67.9458 62.323 48.5282 66.2284 62.323 46.9177 67.7919 62.323 44.2949 68.5318 62.323 43.9833 67.6007 62.323 43.9858 67.2704 62.323 44.4958 68.7941 62.323 44.5167 66.085 62.323 44.1524 66.6334 62.323 45.0394 65.6847 62.323 45.2577 65.5909 62.323 41.6012 85.9086 62.323 42.884 82.2641 62.323 40.8376 79.1467 62.323 41.8641 80.6928 62.323 42.6071 79.3882 62.323 40.4208 81.2822 62.323 41.6957 80.7129 62.323 42.2944 82.0566 62.323 42.5304 80.2084 62.323 42.3255 77.827 62.323 42.0059 77.7434 62.323 41.6769 77.7136 62.323 40.6958 79.4536 62.323 40.3384 81.2051 62.323 42.6016 80.0544 62.323 43.0121 78.0687 62.323 42.6614 79.7218 62.323 42.6484 79.5527 62.323 40.4453 78.1258 62.323 40.7232 77.9473 62.323 39.8237 80.5027 62.323 39.6696 79.5329 62.323 42.3946 86.3651 62.323 40.6029 91.4554 62.323 41.5465 86.2125 62.323 37.7105 92.907 62.323 36.0222 93.4677 62.323 36.1047 93.5448 62.323 36.3798 93.7276 62.323 36.6254 90.1161 62.323 36.629 91.2782 62.323 36.3496 91.8831 62.323 37.0603 91.0175 62.323 38.3322 91.8152 62.323 38.1285 91.3543 62.323 37.8766 91.1289 62.323 38.0093 90.0895 62.323 37.7258 91.0513 62.323 37.396 90.9774 62.323 37.3608 89.9762 62.323 37.9782 94.3192 62.323 38.1181 92.6107 62.323 38.2142 92.471 62.323 38.6959 90.3312 62.323 38.3452 91.9843 62.323 35.4027 92.452 62.323 36.4375 91.5567 62.323 36.3797 91.7161 62.323 36.407 90.2098 62.323 35.8844 90.6102 62.323 35.8634 93.3192 62.323 38.0784 98.6277 62.323 36.2867 103.718 62.323 33.6835 104.995 62.323 33.3943 105.17 62.323 33.5463 105.094 62.323 33.898 104.734 62.323 33.9692 104.58 62.323 33.6931 102.352 62.323 33.2478 103.263 62.323 33.0633 105.238 62.323 33.2317 105.218 62.323 34.0161 104.078 62.323 33.6959 103.493 62.323 34.3798 102.594 62.323 33.5604 103.391 62.323 33.0446 102.239 62.323 33.0468 103.239 62.323 32.3943 102.342 62.323 32.5863 103.342 62.323 31.3633 103.132 62.323 32.3129 103.541 62.323 32.1213 103.819 62.323 32.0635 103.979 62.323 31.0373 104.058 62.323 32.0334 104.146 62.323 31.0865 104.715 62.323 32.0593 104.483 62.323 31.3463 105.32 62.323 32.3014 104.925 62.323 32.0636 105.99 62.323 32.5715 105.128 62.323 31.9706 115.981 62.323 34.2516 106.789 62.323 33.6621 106.582 62.323 34.0133 104.416 62.323 24.4652 137.304 62.323 25.4635 131.757 62.323 24.8651 114.702 62.323 25.095 101.704 62.323 28.0021 101.328 62.323 27.8479 102.335 62.323 27.6818 102.369 62.323 27.5239 102.431 62.323 27.2743 101.315 62.323 27.1429 102.761 62.323 27.5092 104.217 62.323 27.666 104.281 62.323 28.261 105.306 62.323 28.3319 104.259 62.323 28.8874 105.103 62.323 28.484 104.183 62.323 29.414 104.708 62.323 28.7395 103.962 62.323 29.6214 104.451 62.323 29.7838 104.163 62.323 29.8965 103.853 62.323 28.9068 103.668 62.323 28.9509 103.505 62.323 29.9139 102.871 62.323 29.6601 102.263 62.323 29.4619 101.999 62.323 29.2229 101.771 62.323 28.6495 101.448 62.323 28.498 102.48 62.323 27.0011 103.068 62.323 26.5566 105.303 62.323 26.9711 103.235 62.323 26.9697 103.404 62.323 26.0386 96.4609 62.323 26.0933 96.157 62.323 28.2143 89.3298 62.323 26.7865 92.305 62.323 27.8959 91.2833 62.323 27.9117 89.3711 62.323 27.4804 89.6317 62.323 27.5042 88.3171 62.323 28.8511 91.0857 62.323 29.0656 90.8245 62.323 28.8794 88.4498 62.323 28.5771 89.4048 62.323 28.4154 89.3538 62.323 27.469 91.0156 62.323 28.0615 91.3204 62.323 28.1613 92.3293 62.323 28.2308 91.329 62.323 28.3993 91.3089 62.323 28.5618 91.2605 62.323 29.1422 90.0043 62.323 29.0737 89.8491 62.323 28.9798 89.7078 62.323 29.1367 90.6705 62.323 29.1808 90.5067 62.323 29.5199 88.8373 62.323 30.0137 91.1653 62.323 29.8514 91.453 62.323 30.1866 90.53 62.323 29.6439 91.71 62.323 28.1416 76.3731 62.323 27.7341 75.3191 62.323 28.4619 75.332 62.323 28.4443 76.3318 62.323 27.969 78.2208 62.323 28.1259 78.2854 62.323 27.8386 76.5228 62.323 28.2914 78.3225 62.323 28.4608 78.3311 62.323 28.3912 79.3313 62.323 28.7208 79.3099 62.323 28.6292 78.3109 62.323 29.0424 79.2345 62.323 28.7918 78.2626 62.323 27.0164 79.307 62.323 27.4295 77.4082 62.323 29.6827 75.7753 62.323 29.0934 76.5864 62.323 28.4773 76.3329 62.323 28.6453 76.3559 62.323 28.8071 76.4069 62.323 26.1616 92.2939 62.323 25.3249 88.7058 62.323 26.2323 88.2946 62.323 26.3232 83.159 62.323 26.3915 79.296 62.323 27.4309 77.2386 62.323 27.5935 77.8848 62.323 27.6989 78.0176 62.323 29.2955 77.8265 62.323 29.3722 77.0063 62.323 29.4265 77.3399 62.323 29.7498 75.8393 62.323 29.1466 79.1909 62.323 30.4224 77.2018 62.323 30.4165 77.532 62.323 30.3564 77.8568 62.323 30.2436 78.1673 62.323 30.0813 78.455 62.323 29.8738 78.712 62.323 30.272 76.5608 62.323 28.6919 62.334 62.323 25.6503 70.3123 62.323 26.5476 70.4738 62.323 28.2137 63.4371 62.323 28.6742 63.3338 62.323 29.6565 64.3419 62.323 28.0685 63.5248 62.323 27.8326 63.7669 62.323 26.6214 66.298 62.323 28.6211 66.3334 62.323 29.2723 66.2365 62.323 29.0217 65.2646 62.323 29.1738 65.1895 62.323 29.4293 64.9683 62.323 29.3765 66.193 62.323 29.5255 64.8286 62.323 29.5966 64.6746 62.323 29.9797 62.8414 62.323 29.3233 63.5885 62.323 29.037 63.4089 62.323 29.3393 62.4538 62.323 29.1878 63.4865 62.323 29.9126 62.7774 62.323 27.6594 64.4103 62.323 27.6867 64.5777 62.323 27.9289 65.0196 62.323 29.5771 66.1092 62.323 30.5863 64.8589 62.323 30.6464 64.5341 62.323 30.1517 63.0054 62.323 30.3112 65.457 62.323 30.502 63.5628 62.323 30.6037 63.8771 62.323 25.8863 56.9697 62.323 26.7836 57.1312 62.323 26.7178 60.8496 62.323 27.6608 64.2407 62.323 35.8783 46.2283 62.323 36.9856 43.1412 62.323 36.066 44.2905 62.323 35.8037 45.7388 62.323 35.8106 45.2437 62.323 35.8988 44.7565 62.323 26.6967 47.2754 40.323 24.8119 117.708 62.323 24.4652 137.304 40.323 25.095 101.704 40.323 25.1904 96.3083 62.323 25.1904 96.3083 40.323 25.4204 83.3103 62.323 25.7196 66.3964 62.323 51.1415 61.5148 40.323 46.7108 74.1026 62.323 42.3946 86.3651 40.323 40.6029 91.4554 40.323 31.9706 115.981 40.323 30.9724 118.816 62.323 53.0533 56.083 40.323 53.7618 52.1463 40.323 38.0784 98.6277 40.323 25.4635 131.757 40.323 24.8119 117.708 40.323 26.0024 101.293 40.323 26.0877 96.4697 40.323 25.7196 66.3964 40.323 28.9507 66.3119 40.323 29.6522 64.4267 40.323 29.2723 66.2365 40.323 29.0993 65.2303 40.323 27.9897 65.0789 40.323 27.8733 64.9555 40.323 29.9797 62.8414 40.323 29.6536 64.2571 40.323 28.002 63.5776 40.323 28.1392 63.4779 40.323 28.6919 62.334 40.323 29.4804 64.9005 40.323 28.6211 66.3334 40.323 28.4378 65.3095 40.323 28.1252 65.1809 40.323 26.6922 62.2986 40.323 28.4539 63.3544 40.323 28.6742 63.3338 40.323 29.5771 66.1092 40.323 30.1038 65.7141 40.323 30.4736 65.1693 40.323 30.5863 64.8589 40.323 30.3499 63.2696 40.323 30.6464 64.5341 40.323 30.502 63.5628 40.323 27.9093 76.4758 40.323 27.7341 75.3191 40.323 27.0164 79.307 40.323 27.8953 78.1788 40.323 27.4424 77.1545 40.323 29.2597 76.7785 40.323 29.0146 78.1405 40.323 29.0424 79.2345 40.323 28.8694 78.2283 40.323 28.7208 79.3099 40.323 28.5454 78.3246 40.323 27.7721 76.5756 40.323 29.3412 76.9273 40.323 29.4236 77.2551 40.323 29.4222 77.4247 40.323 29.1466 79.1909 40.323 27.7597 78.0768 40.323 28.0614 76.4007 40.323 28.224 76.3524 40.323 27.481 77.657 40.323 27.4266 77.3234 40.323 25.6503 70.3123 40.323 25.4204 83.3103 40.323 26.4623 75.2966 40.323 28.3924 76.3322 40.323 28.4619 75.332 40.323 28.7906 75.3651 40.323 28.5618 76.3408 40.323 29.1093 75.4518 40.323 29.4094 75.5898 40.323 29.6827 75.7753 40.323 29.0278 76.5326 40.323 29.7498 75.8393 40.323 29.3472 79.1072 40.323 29.9217 76.0033 40.323 29.6269 78.9314 40.323 30.272 76.5608 40.323 30.12 76.2675 40.323 30.3564 77.8568 40.323 30.4165 77.532 40.323 30.4224 77.2018 40.323 30.0813 78.455 40.323 27.5042 88.3171 40.323 26.2685 83.4629 40.323 25.3249 88.7058 40.323 26.2323 88.2946 40.323 28.9167 92.1889 40.323 27.9779 91.3054 40.323 27.6653 91.1768 40.323 27.5298 91.0748 40.323 29.1664 90.0856 40.323 27.4135 90.9514 40.323 27.3196 90.8101 40.323 27.4238 89.695 40.323 27.994 89.3504 40.323 28.232 88.3299 40.323 28.2143 89.3298 40.323 28.8794 88.4498 40.323 28.3318 89.3388 40.323 28.6542 89.4404 40.323 28.7979 89.5305 40.323 28.9243 89.6437 40.323 29.0297 89.7765 40.323 29.1923 90.4226 40.323 29.1173 92.1051 40.323 29.397 91.9294 40.323 29.6439 91.71 40.323 29.5199 88.8373 40.323 30.1265 90.8548 40.323 30.0421 89.5587 40.323 29.8901 89.2655 40.323 29.6918 89.0013 40.323 26.0386 96.4609 40.323 27.4354 104.175 40.323 27.1835 103.949 40.323 27.2743 101.315 40.323 27.0211 103.653 40.323 26.9797 103.488 40.323 26.9668 103.319 40.323 27.748 104.303 40.323 27.5862 104.252 40.323 27.7641 102.348 40.323 28.0021 101.328 40.323 27.9844 102.328 40.323 28.9496 101.586 40.323 28.2674 102.374 40.323 29.2229 101.771 40.323 28.4243 102.438 40.323 28.568 102.529 40.323 29.4619 101.999 40.323 28.6944 102.642 40.323 29.8122 102.557 40.323 28.8813 102.923 40.323 28.9365 103.084 40.323 29.9625 103.198 40.323 28.9624 103.421 40.323 29.9567 103.528 40.323 29.8965 103.853 40.323 28.9323 103.588 40.323 29.7838 104.163 40.323 29.6214 104.451 40.323 29.414 104.708 40.323 28.6829 104.025 40.323 28.8874 105.103 40.323 28.4095 104.224 40.323 28.2516 104.286 40.323 28.261 105.306 40.323 25.7092 117.869 40.323 24.8651 114.702 40.323 25.8633 109.155 40.323 25.9317 105.292 40.323 30.9724 118.816 40.323 34.2516 106.789 40.323 33.7453 104.937 40.323 32.9784 105.237 40.323 33.6931 102.352 40.323 33.6171 105.048 40.323 33.7567 103.553 40.323 34.3798 102.594 40.323 33.9437 103.834 40.323 34.0261 104.162 40.323 32.3651 106.125 40.323 32.6486 105.163 40.323 32.0636 105.99 40.323 32.3622 104.984 40.323 31.7885 105.807 40.323 32.2459 104.86 40.323 32.1521 104.719 40.323 33.0468 103.239 40.323 33.0446 102.239 40.323 33.9947 104.499 40.323 33.9369 104.658 40.323 33.8529 104.805 40.323 32.8265 103.259 40.323 32.6639 103.308 40.323 32.5118 103.383 40.323 32.3943 102.342 40.323 32.0908 102.472 40.323 32.1601 103.744 40.323 32.089 103.898 40.323 31.3633 103.132 40.323 31.2038 103.421 40.323 32.0449 104.062 40.323 31.0373 104.058 40.323 31.0347 104.388 40.323 39.8958 90.7536 40.323 33.6621 106.582 40.323 36.2867 103.718 40.323 37.1811 98.4662 40.323 37.2303 98.4751 40.323 36.0222 93.4677 40.323 38.0615 92.674 40.323 37.9333 92.785 40.323 37.7881 92.8727 40.323 37.2946 92.9748 40.323 36.4763 91.4812 40.323 36.6254 90.1161 40.323 36.3798 93.7276 40.323 36.814 92.8233 40.323 36.1047 93.5448 40.323 36.4683 92.4566 40.323 38.0093 90.0895 40.323 37.8028 91.0869 40.323 37.9465 91.177 40.323 36.9801 91.0452 40.323 37.0314 90.0009 40.323 38.6959 90.3312 40.323 38.2599 91.5717 40.323 38.3151 91.7321 40.323 38.3423 91.8995 40.323 38.3409 92.0691 40.323 37.3111 90.9767 40.323 37.363 90.9762 40.323 37.4805 90.9853 40.323 37.646 91.0224 40.323 36.407 90.2098 40.323 36.3611 91.799 40.323 35.6795 90.8693 40.323 35.3534 91.7955 40.323 35.52 91.1585 40.323 35.8634 93.3192 40.323 45.8135 73.9411 40.323 38.5678 94.5267 40.323 41.5465 86.2125 40.323 41.6012 85.9086 40.323 40.9974 81.6001 40.323 41.6108 80.7122 40.323 42.4946 79.1604 40.323 42.5693 80.1329 40.323 42.3777 80.4114 40.323 42.6312 79.4695 40.323 42.6585 79.6369 40.323 46.7108 74.1026 40.323 42.884 82.2641 40.323 42.6271 79.9735 40.323 40.7845 80.194 40.323 40.3384 81.2051 40.323 42.119 78.8243 40.323 41.4427 80.6893 40.323 41.281 80.6383 40.323 41.1301 80.5607 40.323 40.4208 81.2822 40.323 40.8783 80.3353 40.323 41.3476 77.7383 40.323 41.007 78.9574 40.323 41.4589 78.7343 40.323 41.6769 77.7136 40.323 41.6791 78.7137 40.323 40.7232 77.9473 40.323 40.1796 81.0566 40.323 40.2005 78.3476 40.323 39.8237 80.5027 40.323 39.6671 79.8632 40.323 39.7189 80.1895 40.323 44.737 69.0197 40.323 45.0376 67.1101 40.323 46.8855 67.8704 40.323 46.8015 68.0177 40.323 47.2002 70.0015 40.323 46.5656 68.2598 40.323 45.0122 69.2025 40.323 46.0965 68.4439 40.323 46.4205 68.3476 40.323 45.2048 66.8163 40.323 46.5789 66.6519 40.323 46.9474 67.207 40.323 46.9747 67.3744 40.323 45.5972 68.3757 40.323 45.3108 68.1962 40.323 44.6546 68.9426 40.323 45.0321 67.7763 40.323 45.2577 65.5909 40.323 45.4604 66.5951 40.323 45.3429 65.5544 40.323 45.9931 65.451 40.323 45.9435 66.4515 40.323 46.1128 66.4601 40.323 46.6417 65.5644 40.323 44.2949 68.5318 40.323 43.9858 67.2704 40.323 43.9833 67.6007 40.323 44.7615 65.8632 40.323 45.0394 65.6847 40.323 44.0351 67.9269 40.323 44.1399 68.2401 40.323 52.1804 55.8524 40.323 51.8707 45.0026 40.323 51.4198 44.7981 40.323 50.3782 50.6228 40.323 52.5943 49.6794 40.323 52.9028 49.2922 40.323 53.3268 46.9212 40.323 51.8088 50.2769 40.323 52.2818 45.2786 40.323 50.2188 51.5086 40.323 49.083 44.336 40.323 47.0398 43.9683 40.323 47.1726 54.9512 40.323 44.9967 43.6006 40.323 43.0863 54.2158 40.323 39.5336 53.5764 40.323 37.6211 49.2414 40.323 37.7806 48.3557 40.323 41.444 42.9612 40.323 39.328 42.5804 40.323 36.6765 49.0714 40.323 35.9808 52.937 40.323 34.6334 48.7037 40.323 33.9377 52.5693 40.323 32.5902 48.336 40.323 31.8946 52.2016 40.323 29.0835 47.7049 40.323 25.9882 51.2121 40.323 25.8863 56.9697 40.323 26.8867 51.3003 40.323 27.6695 64.4946 40.323 27.6565 64.3254 40.323 35.8783 46.2283 40.323 37.8235 42.6983 40.323 36.2618 47.1376 40.323 36.8961 47.851 40.323 35.8106 45.2437 40.323 37.4037 42.8759 40.323 35.8988 44.7565 40.323 36.066 44.2905 40.323 37.7806 48.3557 62.323 48.7845 10.1731 57.873 48.902 10.4913 57.873 48.9641 10.8248 57.873 48.9641 10.8248 53.923 48.9689 11.164 53.923 48.9163 11.4991 57.873 48.8078 11.8205 57.873 48.6466 12.119 57.873 48.8078 11.8205 53.923 48.6466 12.119 53.923 48.4372 12.3859 53.923 48.1858 12.6136 53.923 47.8994 12.7955 57.873 47.8994 12.7955 53.923 47.2559 13.0026 53.923 46.9173 13.0218 57.873 46.9173 13.0218 53.923 46.5802 12.9834 57.873 46.2545 12.8887 57.873 46.5802 12.9834 53.923 46.2545 12.8887 53.923 45.9494 12.7403 57.873 45.9494 12.7403 53.923 45.6739 12.5425 57.873 45.4357 12.3009 53.923 45.2418 12.0226 57.873 45.0977 11.7155 57.873 45.0076 11.3884 57.873 45.0076 11.3884 53.923 44.998 10.7125 57.873 45.0789 10.383 53.923 45.2142 10.072 57.873 45.6314 9.54007 53.923 45.6314 9.54007 57.873 45.9012 9.33452 53.923 46.202 9.17753 53.923 46.5249 9.07361 57.873 46.8607 9.02577 53.923 46.8607 9.02577 57.873 47.1998 9.03537 53.923 47.8489 9.22415 57.873 47.8489 9.22415 53.923 48.1403 9.3979 53.923 48.6149 9.87928 53.923 48.7059 10.0226 53.923 47.2559 13.0026 57.873 48.4372 12.3859 57.873 66.304 34.5033 57.873 62.3675 35.0424 57.873 45.4357 12.3009 57.873 62.0305 35.0041 57.873 61.6918 35.0233 57.873 61.3612 35.0995 57.873 48.9689 11.164 57.873 60.1399 36.2054 57.873 59.9789 36.8619 57.873 60.0315 36.5268 57.873 63.512 35.725 57.873 63.2738 35.4834 57.873 62.9983 35.2856 57.873 48.1858 12.6136 57.873 62.6932 35.1372 57.873 47.5865 12.9264 57.873 61.0483 35.2304 57.873 60.762 35.4123 57.873 60.5105 35.64 57.873 60.3012 35.9069 57.873 59.9837 37.2011 57.873 60.0457 37.5346 57.873 60.1632 37.8528 57.873 60.3329 38.1466 57.873 60.5497 38.4075 57.873 58.6901 40.7739 57.873 60.8075 38.628 57.873 61.0988 38.8017 57.873 60.8804 41.8823 57.873 61.6984 41.9957 57.873 61.4153 38.9238 57.873 61.7479 38.9905 57.873 62.087 39.0001 57.873 62.4228 38.9523 57.873 63.3344 41.8147 57.873 62.7458 38.8484 57.873 65.4603 40.5872 57.873 63.0465 38.6914 57.873 63.3163 38.4858 57.873 63.5476 38.2376 57.873 66.4351 39.261 57.873 63.7335 37.9539 57.873 63.8689 37.6429 57.873 66.9265 37.6901 57.873 63.9497 37.3134 57.873 66.972 36.8656 57.873 63.9737 36.975 57.873 63.9401 36.6375 57.873 66.8811 36.0448 57.873 63.85 36.3104 57.873 63.7059 36.0033 57.873 51.304 8.52257 57.873 48.7059 10.0226 57.873 48.6149 9.87928 57.873 48.398 9.61839 57.873 50.2576 7.25203 57.873 48.1403 9.3979 57.873 47.5324 9.10214 57.873 47.2493 6.03016 57.873 47.1998 9.03537 57.873 46.202 9.17753 57.873 44.1248 6.91368 57.873 45.9012 9.33452 57.873 42.945 8.06139 57.873 45.4002 9.78827 57.873 45.0789 10.383 57.873 42.2018 9.52999 57.873 42.0212 10.3358 57.873 41.9757 11.1603 57.873 44.9741 11.0509 57.873 66.6564 35.2501 53.923 66.6564 35.2501 57.873 66.8811 36.0448 53.923 66.972 36.8656 53.923 66.9265 37.6901 53.923 66.7459 38.4959 53.923 66.4351 39.261 53.923 66.7459 38.4959 57.873 66.0027 39.9645 53.923 66.0027 39.9645 57.873 65.4603 40.5872 53.923 64.8229 41.1122 53.923 64.8229 41.1122 57.873 64.1077 41.5251 57.873 64.1077 41.5251 53.923 63.3344 41.8147 53.923 62.5239 41.973 53.923 62.5239 41.973 57.873 61.6984 41.9957 53.923 60.8804 41.8823 53.923 60.0923 41.6358 53.923 60.0923 41.6358 57.873 59.3555 41.2629 53.923 59.3555 41.2629 57.873 58.6901 40.7739 53.923 58.1143 40.1819 53.923 58.1143 40.1819 57.873 64.7185 31.7572 48.823 64.7185 31.7572 53.923 66.304 34.5033 48.823 66.6564 35.2501 48.823 66.8811 36.0448 44.873 66.972 36.8656 44.873 66.8811 36.0448 48.823 66.972 36.8656 48.823 66.9265 37.6901 48.823 66.7459 38.4959 48.823 66.4351 39.261 48.823 66.0027 39.9645 48.823 66.0027 39.9645 44.873 65.4603 40.5872 48.823 64.8229 41.1122 44.873 64.8229 41.1122 48.823 64.1077 41.5251 48.823 63.3344 41.8147 48.823 62.5239 41.973 44.873 62.5239 41.973 48.823 61.6984 41.9957 48.823 60.8804 41.8823 48.823 60.0923 41.6358 44.873 60.0923 41.6358 48.823 58.6901 40.7739 44.873 59.3555 41.2629 48.823 58.6901 40.7739 48.823 58.1143 40.1819 44.873 58.1143 40.1819 48.823 57.6437 39.5033 48.823 62.2315 27.4496 53.923 66.304 34.5033 53.923 48.7059 10.0226 48.823 48.7845 10.1731 48.823 48.902 10.4913 48.823 48.902 10.4913 44.873 48.9641 10.8248 44.873 48.9689 11.164 44.873 48.8078 11.8205 48.823 48.6466 12.119 48.823 48.4372 12.3859 48.823 48.1858 12.6136 48.823 48.1858 12.6136 44.873 47.5865 12.9264 48.823 47.5865 12.9264 44.873 47.2559 13.0026 48.823 47.2559 13.0026 44.873 46.9173 13.0218 44.873 46.2545 12.8887 48.823 45.9494 12.7403 44.873 45.6739 12.5425 44.873 45.2418 12.0226 48.823 44.998 10.7125 48.823 44.9741 11.0509 44.873 45.0789 10.383 48.823 45.0789 10.383 44.873 45.4002 9.78827 48.823 45.2142 10.072 44.873 45.4002 9.78827 44.873 45.6314 9.54007 48.823 45.9012 9.33452 48.823 46.202 9.17753 48.823 46.5249 9.07361 48.823 46.5249 9.07361 44.873 46.8607 9.02577 48.823 46.8607 9.02577 44.873 47.1998 9.03537 44.873 47.1998 9.03537 48.823 47.5324 9.10214 48.823 47.5324 9.10214 44.873 47.8489 9.22415 48.823 48.398 9.61839 44.873 60.0977 37.6962 44.873 60.0076 37.3692 44.873 59.9741 37.0316 44.873 59.998 36.6933 44.873 60.0789 36.3638 44.873 60.2142 36.0527 44.873 62.1998 35.0161 44.873 62.5324 35.0829 44.873 62.8489 35.2049 44.873 63.1402 35.3787 44.873 63.398 35.5992 44.873 66.304 34.5033 44.873 63.6149 35.86 44.873 66.6564 35.2501 44.873 63.7845 36.1538 44.873 63.902 36.472 44.873 63.9641 36.8055 44.873 63.9689 37.1447 44.873 66.9265 37.6901 44.873 66.7459 38.4959 44.873 63.9163 37.4798 44.873 63.8078 37.8013 44.873 66.4351 39.261 44.873 63.6466 38.0997 44.873 65.4603 40.5872 44.873 63.4372 38.3666 44.873 63.1858 38.5943 44.873 62.8994 38.7763 44.873 64.1077 41.5251 44.873 63.3344 41.8147 44.873 62.5865 38.9072 44.873 62.2559 38.9833 44.873 61.9173 39.0025 44.873 61.6984 41.9957 44.873 60.8804 41.8823 44.873 61.5802 38.9642 44.873 61.2545 38.8695 44.873 59.3555 41.2629 44.873 60.9494 38.7211 44.873 60.6739 38.5232 44.873 60.4357 38.2817 44.873 60.2418 38.0033 44.873 48.9163 11.4991 44.873 48.8078 11.8205 44.873 48.6466 12.119 44.873 48.4372 12.3859 44.873 47.8994 12.7955 44.873 60.4002 35.769 44.873 61.5249 35.0544 44.873 61.8607 35.0065 44.873 51.304 8.52257 44.873 46.5802 12.9834 44.873 46.2545 12.8887 44.873 61.202 35.1583 44.873 48.7845 10.1731 44.873 60.9012 35.3153 44.873 60.6314 35.5208 44.873 45.4357 12.3009 44.873 45.2418 12.0226 44.873 42.2913 12.7758 44.873 45.0977 11.7155 44.873 45.0076 11.3884 44.873 44.998 10.7125 44.873 42.5126 8.7649 44.873 43.4874 7.43865 44.873 45.6314 9.54007 44.873 44.84 6.50078 44.873 45.9012 9.33452 44.873 46.202 9.17753 44.873 45.6133 6.21123 44.873 47.2493 6.03016 44.873 48.0673 6.14358 44.873 47.8489 9.22415 44.873 48.8554 6.39009 44.873 49.5922 6.76297 44.873 48.1403 9.3979 44.873 48.6149 9.87928 44.873 42.0666 11.9811 44.873 42.2913 12.7758 48.823 41.9757 11.1603 44.873 42.0212 10.3358 44.873 42.2018 9.52999 44.873 42.5126 8.7649 48.823 42.945 8.06139 44.873 43.4874 7.43865 48.823 44.1248 6.91368 44.873 44.1248 6.91368 48.823 44.84 6.50078 48.823 45.6133 6.21123 48.823 46.4238 6.05291 44.873 48.0673 6.14358 48.823 48.8554 6.39009 48.823 49.5922 6.76297 48.823 50.2576 7.25203 44.873 50.2576 7.25203 48.823 50.8334 7.84395 48.823 50.8334 7.84395 44.873 51.304 8.52257 48.823 48.9689 11.164 48.823 48.9641 10.8248 48.823 48.9163 11.4991 48.823 45.9494 12.7403 48.823 46.5802 12.9834 48.823 46.9173 13.0218 48.823 46.3959 20.0216 48.823 62.2315 27.4496 48.823 47.8994 12.7955 48.823 45.6739 12.5425 48.823 42.6437 13.5226 48.823 48.6149 9.87928 48.823 48.398 9.61839 48.823 48.1403 9.3979 48.823 47.2493 6.03016 48.823 46.4238 6.05291 48.823 42.945 8.06139 48.823 45.2142 10.072 48.823 42.2018 9.52999 48.823 42.0212 10.3358 48.823 41.9757 11.1603 48.823 42.0666 11.9811 48.823 44.9741 11.0509 48.823 45.0076 11.3884 48.823 45.0977 11.7155 48.823 45.4357 12.3009 48.823 57.6437 39.5033 44.873 42.6437 13.5226 44.873 57.6437 39.5033 53.923 48.4336 23.5509 53.923 48.4336 23.5509 48.823 46.3959 20.0216 53.923 57.6437 39.5033 57.873 42.6437 13.5226 57.873 42.6437 13.5226 53.923 42.2913 12.7758 53.923 42.2913 12.7758 57.873 42.0666 11.9811 57.873 42.0212 10.3358 53.923 42.5126 8.7649 57.873 42.5126 8.7649 53.923 42.945 8.06139 53.923 43.4874 7.43865 57.873 44.84 6.50078 57.873 45.6133 6.21123 57.873 45.6133 6.21123 53.923 46.4238 6.05291 57.873 47.2493 6.03016 53.923 48.0673 6.14358 57.873 48.8554 6.39009 57.873 50.2576 7.25203 53.923 49.5922 6.76297 57.873 50.8334 7.84395 53.923 50.8334 7.84395 57.873 45.6739 12.5425 53.923 48.9163 11.4991 53.923 48.902 10.4913 53.923 47.5865 12.9264 53.923 45.2418 12.0226 53.923 45.0977 11.7155 53.923 42.0666 11.9811 53.923 41.9757 11.1603 53.923 44.9741 11.0509 53.923 44.998 10.7125 53.923 42.2018 9.52999 53.923 45.2142 10.072 53.923 43.4874 7.43865 53.923 45.4002 9.78827 53.923 44.1248 6.91368 53.923 44.84 6.50078 53.923 46.5249 9.07361 53.923 46.4238 6.05291 53.923 48.0673 6.14358 53.923 48.8554 6.39009 53.923 47.5324 9.10214 53.923 49.5922 6.76297 53.923 48.398 9.61839 53.923 51.304 8.52257 53.923 48.7845 10.1731 53.923 33.6714 7.26837 40.823 20.0036 32.6098 40.823 15.8012 27.0696 40.823 36.3877 12.9347 40.823 18.5871 28.1898 40.823 37.0582 13.0208 40.823 18.6723 29.1941 40.823 38.022 12.7259 40.823 35.1512 11.8459 40.823 35.0383 11.526 40.823 19.3406 33.1022 40.823 18.6057 33.4787 40.823 17.4464 30.7116 40.823 17.8188 33.7291 40.823 17.122 30.8109 40.823 16.115 30.7678 40.823 14.5898 33.388 40.823 13.8726 32.9786 40.823 13.2325 32.4568 40.823 15.2569 30.2392 40.823 12.6871 31.8368 40.823 15.0439 29.9752 40.823 12.2512 31.1354 40.823 14.8785 29.679 40.823 14.7656 29.3591 40.823 14.7083 29.0247 40.823 14.7084 28.6855 40.823 12.3587 26.3771 40.823 14.8789 28.0314 40.823 12.8259 25.6962 40.823 15.0444 27.7353 40.823 15.2576 27.4714 40.823 15.5123 27.2473 40.823 35.3171 9.90219 40.823 35.0694 6.39948 40.823 35.785 9.41427 40.823 38.3105 6.20454 40.823 37.0592 9.02439 40.823 39.8025 6.8996 40.823 38.0229 9.31977 40.823 38.2956 9.52156 40.823 38.7201 10.0476 40.823 41.7384 9.50634 40.823 38.9452 10.6851 40.823 41.9726 11.1355 40.823 38.945 11.3611 40.823 41.665 12.7525 40.823 38.7196 11.9984 40.823 38.5296 12.2794 40.823 38.2948 12.5242 40.823 17.4474 27.0001 40.823 35.3166 12.1421 40.823 18.2576 27.5996 40.823 18.4475 27.8807 40.823 35.7842 12.6303 40.823 16.116 26.9432 40.823 16.4476 26.8718 40.823 16.7866 26.8575 40.823 17.123 26.9006 48.823 17.123 26.9006 40.823 17.4474 27.0001 48.823 17.7502 27.1528 40.823 18.0229 27.3546 40.823 18.6725 28.5181 48.823 18.7012 28.8561 48.823 18.6725 28.5181 40.823 18.7012 28.8561 40.823 18.5868 29.5224 48.823 18.5868 29.5224 40.823 18.447 29.8315 48.823 18.447 29.8315 40.823 18.2569 30.1125 40.823 18.2569 30.1125 48.823 18.0221 30.3573 40.823 17.7494 30.559 48.823 17.7494 30.559 40.823 17.4464 30.7116 48.823 17.122 30.8109 48.823 16.7856 30.8539 48.823 16.7856 30.8539 40.823 16.4466 30.8394 40.823 16.115 30.7678 48.823 15.8003 30.6413 48.823 15.5115 30.4633 48.823 15.8003 30.6413 40.823 15.5115 30.4633 40.823 15.0439 29.9752 48.823 14.7083 29.0247 48.823 14.7084 28.6855 48.823 14.7658 28.3512 40.823 15.2576 27.4714 48.823 16.7866 26.8575 48.823 16.4476 26.8718 48.823 24.6614 15.1942 48.823 16.116 26.9432 48.823 13.3988 25.1014 48.823 15.8012 27.0696 48.823 18.2576 27.5996 48.823 18.0229 27.3546 48.823 17.7502 27.1528 48.823 15.5123 27.2473 48.823 12.8259 25.6962 48.823 15.3802 27.354 48.823 15.0444 27.7353 48.823 14.8789 28.0314 48.823 11.7025 28.7427 48.823 14.7658 28.3512 48.823 11.752 29.567 48.823 14.7656 29.3591 48.823 14.8785 29.679 48.823 12.6871 31.8368 48.823 13.2325 32.4568 48.823 15.2569 30.2392 48.823 13.8726 32.9786 48.823 15.3645 33.6737 48.823 16.4466 30.8394 48.823 17.0014 33.8466 48.823 18.6057 33.4787 48.823 18.0221 30.3573 48.823 31.2662 22.7026 48.823 18.6723 29.1941 48.823 18.5871 28.1898 48.823 18.4475 27.8807 48.823 20.0036 32.6098 48.823 40.2763 14.7768 40.823 31.2662 22.7026 53.823 40.2763 14.7768 61.823 40.2763 14.7768 53.823 41.665 12.7525 53.823 41.8858 11.9568 53.823 41.8858 11.9568 61.823 41.9726 11.1355 61.823 41.9726 11.1355 53.823 41.923 10.3112 61.823 41.923 10.3112 53.823 41.7384 9.50634 53.823 41.4239 8.7428 53.823 40.4425 7.4214 61.823 40.4425 7.4214 53.823 39.8025 6.8996 53.823 39.0853 6.49025 61.823 37.4992 6.05024 61.823 37.4992 6.05024 53.823 36.6737 6.03159 53.823 35.8563 6.14907 61.823 34.3344 6.77601 61.823 13.3988 25.1014 40.823 27.6647 12.5522 53.823 35.7842 12.6303 53.823 34.2696 20.0606 53.823 37.7191 12.8785 53.823 37.0582 13.0208 53.823 34.9811 10.8524 53.823 35.0385 10.5181 53.823 33.6714 7.26837 53.823 35.3171 9.90219 53.823 34.3344 6.77601 53.823 35.785 9.41427 53.823 35.0694 6.39948 53.823 36.3887 9.11008 53.823 35.8563 6.14907 53.823 37.0592 9.02439 53.823 38.3105 6.20454 53.823 37.3957 9.06756 53.823 37.72 9.16698 53.823 39.0853 6.49025 53.823 38.0229 9.31977 53.823 40.9879 8.04144 53.823 38.5302 9.76652 53.823 38.8598 10.3568 53.823 38.945 11.3611 53.823 38.8594 11.6893 53.823 41.3163 13.5011 53.823 38.7196 11.9984 53.823 40.8492 14.182 53.823 38.5296 12.2794 53.823 38.2948 12.5242 53.823 35.6529 9.52089 53.823 35.5303 9.63832 61.823 35.5303 9.63832 53.823 35.1516 10.1983 53.823 35.3171 9.90219 61.823 35.0385 10.5181 61.823 34.9811 10.8524 61.823 34.981 11.1917 53.823 35.0383 11.526 53.823 35.0383 11.526 61.823 35.1512 11.8459 53.823 35.1512 11.8459 61.823 35.3166 12.1421 53.823 35.5296 12.4061 53.823 36.073 12.8082 61.823 36.073 12.8082 53.823 36.3877 12.9347 53.823 36.7193 13.0063 53.823 37.0582 13.0208 61.823 37.3947 12.9778 53.823 38.022 12.7259 53.823 38.2948 12.5242 61.823 38.5296 12.2794 61.823 38.7196 11.9984 61.823 38.9739 11.0231 53.823 38.945 11.3611 61.823 38.9452 10.6851 53.823 38.8598 10.3568 61.823 38.7201 10.0476 53.823 38.5302 9.76652 61.823 38.2956 9.52156 53.823 38.2956 9.52156 61.823 36.7203 9.0387 53.823 37.0592 9.02439 61.823 36.3887 9.11008 61.823 36.0739 9.23649 61.823 36.0739 9.23649 53.823 35.785 9.41427 61.823 34.981 11.1917 61.823 18.6725 28.5181 61.823 16.116 26.9432 61.823 15.8012 27.0696 61.823 12.8259 25.6962 61.823 15.0444 27.7353 61.823 12.01 27.1257 61.823 14.8789 28.0314 61.823 11.7892 27.9214 61.823 11.7025 28.7427 61.823 11.752 29.567 61.823 14.7083 29.0247 61.823 12.2512 31.1354 61.823 14.8785 29.679 61.823 12.6871 31.8368 61.823 13.2325 32.4568 61.823 15.5115 30.4633 61.823 15.3645 33.6737 61.823 16.115 30.7678 61.823 16.1758 33.828 61.823 17.8188 33.7291 61.823 16.7856 30.8539 61.823 17.4464 30.7116 61.823 19.3406 33.1022 61.823 17.7494 30.559 61.823 20.0036 32.6098 61.823 18.2569 30.1125 61.823 18.5868 29.5224 61.823 18.6723 29.1941 61.823 18.7012 28.8561 61.823 35.1516 10.1983 61.823 17.4474 27.0001 61.823 35.3166 12.1421 61.823 16.7866 26.8575 61.823 35.5296 12.4061 61.823 37.7191 12.8785 61.823 38.022 12.7259 61.823 40.8492 14.182 61.823 41.3163 13.5011 61.823 41.665 12.7525 61.823 38.8594 11.6893 61.823 38.9739 11.0231 61.823 41.7384 9.50634 61.823 38.9452 10.6851 61.823 41.4239 8.7428 61.823 38.7201 10.0476 61.823 40.9879 8.04144 61.823 39.8025 6.8996 61.823 38.0229 9.31977 61.823 37.72 9.16698 61.823 38.3105 6.20454 61.823 37.3957 9.06756 61.823 36.6737 6.03159 61.823 36.7203 9.0387 61.823 35.0694 6.39948 61.823 33.6714 7.26837 61.823 35.7842 12.6303 61.823 36.3877 12.9347 61.823 36.7193 13.0063 61.823 18.5871 28.1898 61.823 37.3947 12.9778 61.823 15.2569 30.2392 53.823 15.5115 30.4633 53.823 15.8003 30.6413 61.823 16.4466 30.8394 61.823 16.7856 30.8539 53.823 17.122 30.8109 61.823 17.122 30.8109 53.823 17.7494 30.559 53.823 18.0221 30.3573 53.823 18.0221 30.3573 61.823 18.2569 30.1125 53.823 18.447 29.8315 61.823 18.447 29.8315 53.823 18.7012 28.8561 53.823 18.6725 28.5181 53.823 18.5871 28.1898 53.823 18.4475 27.8807 61.823 18.2576 27.5996 53.823 18.2576 27.5996 61.823 18.0229 27.3546 61.823 17.7502 27.1528 61.823 17.4474 27.0001 53.823 17.123 26.9006 53.823 17.123 26.9006 61.823 16.4476 26.8718 61.823 16.116 26.9432 53.823 15.8012 27.0696 53.823 15.5123 27.2473 61.823 15.5123 27.2473 53.823 15.2576 27.4714 61.823 15.0444 27.7353 53.823 14.7658 28.3512 53.823 14.7658 28.3512 61.823 14.7084 28.6855 61.823 14.7656 29.3591 53.823 14.7656 29.3591 61.823 14.8785 29.679 53.823 15.0439 29.9752 61.823 15.2569 30.2392 61.823 16.7866 26.8575 53.823 16.4476 26.8718 53.823 18.4475 27.8807 53.823 18.6723 29.1941 53.823 18.5868 29.5224 53.823 17.7502 27.1528 53.823 18.0229 27.3546 53.823 12.6871 31.8368 53.823 12.2512 31.1354 53.823 15.0439 29.9752 53.823 11.9366 30.3719 53.823 14.7083 29.0247 53.823 11.7025 28.7427 53.823 11.7892 27.9214 53.823 14.7084 28.6855 53.823 14.8789 28.0314 53.823 12.3587 26.3771 53.823 15.2576 27.4714 53.823 13.3988 25.1014 53.823 20.0036 32.6098 53.823 18.6057 33.4787 53.823 17.4464 30.7116 53.823 17.0014 33.8466 53.823 16.4466 30.8394 53.823 16.1758 33.828 53.823 15.3645 33.6737 53.823 16.115 30.7678 53.823 13.8726 32.9786 53.823 15.8003 30.6413 53.823 13.2325 32.4568 53.823 15.1995 30.1766 53.823 24.6614 15.1942 53.823 13.3988 25.1014 61.823 12.3587 26.3771 61.823 12.8259 25.6962 53.823 12.01 27.1257 53.823 11.752 29.567 53.823 11.9366 30.3719 61.823 13.8726 32.9786 61.823 14.5898 33.388 53.823 14.5898 33.388 61.823 17.0014 33.8466 61.823 17.8188 33.7291 53.823 18.6057 33.4787 61.823 19.3406 33.1022 53.823 35.1516 10.1983 48.823 27.6647 12.5522 48.823 36.073 12.8082 48.823 34.2696 20.0606 48.823 36.3877 12.9347 48.823 37.0582 13.0208 48.823 37.3947 12.9778 48.823 34.9811 10.8524 48.823 35.1512 11.8459 48.823 41.3163 13.5011 48.823 38.7196 11.9984 48.823 38.8594 11.6893 48.823 41.9726 11.1355 48.823 38.945 11.3611 48.823 38.9452 10.6851 48.823 41.7384 9.50634 48.823 38.8598 10.3568 48.823 40.9879 8.04144 48.823 40.4425 7.4214 48.823 38.2956 9.52156 48.823 39.8025 6.8996 48.823 38.3105 6.20454 48.823 37.3957 9.06756 48.823 36.6737 6.03159 48.823 37.0592 9.02439 48.823 35.8563 6.14907 48.823 36.7203 9.0387 48.823 36.3887 9.11008 48.823 36.0739 9.23649 48.823 35.0694 6.39948 48.823 33.6714 7.26837 48.823 35.3171 9.90219 48.823 35.4722 12.3435 48.823 35.7842 12.6303 48.823 35.3166 12.1421 48.823 35.0383 11.526 48.823 34.981 11.1917 48.823 34.981 11.1917 40.823 34.9811 10.8524 40.823 35.0385 10.5181 40.823 35.0385 10.5181 48.823 35.1516 10.1983 40.823 35.5303 9.63832 48.823 35.5303 9.63832 40.823 35.785 9.41427 48.823 36.0739 9.23649 40.823 36.3887 9.11008 40.823 36.7203 9.0387 40.823 37.3957 9.06756 40.823 37.72 9.16698 48.823 37.72 9.16698 40.823 38.0229 9.31977 48.823 38.5302 9.76652 40.823 38.5302 9.76652 48.823 38.7201 10.0476 48.823 38.8598 10.3568 40.823 38.9739 11.0231 48.823 38.9739 11.0231 40.823 38.8594 11.6893 40.823 38.5296 12.2794 48.823 38.2948 12.5242 48.823 38.022 12.7259 48.823 37.7191 12.8785 48.823 37.7191 12.8785 40.823 37.3947 12.9778 40.823 36.7193 13.0063 48.823 36.7193 13.0063 40.823 36.073 12.8082 40.823 35.5296 12.4061 48.823 35.5296 12.4061 40.823 40.2763 14.7768 48.823 40.8492 14.182 48.823 40.8492 14.182 40.823 41.3163 13.5011 40.823 41.665 12.7525 48.823 41.8858 11.9568 48.823 41.8858 11.9568 40.823 41.923 10.3112 40.823 41.923 10.3112 48.823 41.4239 8.7428 40.823 41.4239 8.7428 48.823 40.9879 8.04144 40.823 40.4425 7.4214 40.823 39.0853 6.49025 40.823 39.0853 6.49025 48.823 37.4992 6.05024 48.823 37.4992 6.05024 40.823 36.6737 6.03159 40.823 35.8563 6.14907 40.823 34.3344 6.77601 48.823 34.3344 6.77601 40.823 12.3587 26.3771 48.823 12.01 27.1257 48.823 12.01 27.1257 40.823 11.7892 27.9214 48.823 11.7892 27.9214 40.823 11.7025 28.7427 40.823 11.9366 30.3719 48.823 11.752 29.567 40.823 11.9366 30.3719 40.823 12.2512 31.1354 48.823 14.5898 33.388 48.823 15.3645 33.6737 40.823 16.1758 33.828 40.823 16.1758 33.828 48.823 17.0014 33.8466 40.823 17.8188 33.7291 48.823 19.3406 33.1022 48.823 75.2418 10.0226 48.973 75.4357 9.74423 48.973 75.6739 9.50267 48.973 75.9494 9.30484 48.973 76.2545 9.15642 40.973 76.2545 9.15642 48.973 76.5802 9.06169 48.973 76.5802 9.06169 40.973 76.9173 9.02337 48.973 77.2559 9.04256 48.973 77.2559 9.04256 40.973 77.5865 9.11871 48.973 77.8994 9.24963 48.973 77.8994 9.24963 40.973 78.1858 9.43156 48.973 78.4372 9.65926 48.973 78.4372 9.65926 40.973 78.6466 9.92618 48.973 78.6466 9.92618 40.973 78.8078 10.2246 48.973 78.8078 10.2246 40.973 78.9163 10.546 40.973 78.9163 10.546 48.973 78.9688 10.8812 48.973 78.9641 11.2204 48.973 78.902 11.5539 48.973 78.902 11.5539 40.973 78.7845 11.8721 40.973 78.7845 11.8721 48.973 78.6149 12.1659 48.973 78.398 12.4267 48.973 78.1402 12.6472 48.973 78.398 12.4267 40.973 77.8489 12.821 48.973 77.8489 12.821 40.973 77.5324 12.943 48.973 77.5324 12.943 40.973 77.1998 13.0098 48.973 77.1998 13.0098 40.973 76.8607 13.0194 48.973 76.5249 12.9715 48.973 76.5249 12.9715 40.973 76.202 12.8676 40.973 76.202 12.8676 48.973 75.9012 12.7106 48.973 75.9012 12.7106 40.973 75.6314 12.5051 48.973 75.4002 12.2569 48.973 75.2142 11.9732 48.973 75.0789 11.6621 48.973 75.0789 11.6621 40.973 74.998 11.3326 48.973 74.9741 10.9943 40.973 74.9741 10.9943 48.973 75.0076 10.6567 48.973 75.0977 10.3297 48.973 75.0977 10.3297 40.973 81.304 13.5226 44.873 66.304 39.5033 44.873 66.304 39.5033 40.973 65.8334 40.1819 40.973 65.2576 40.7739 40.973 64.5922 41.2629 40.973 63.8554 41.6358 40.973 63.0673 41.8823 40.973 62.2493 41.9957 40.973 61.4238 41.973 40.973 61.4238 41.973 44.873 60.6133 41.8147 44.873 59.84 41.5251 40.973 59.1248 41.1122 40.973 59.1248 41.1122 44.873 57.945 39.9645 44.873 57.945 39.9645 40.973 57.2018 38.4959 40.973 57.5126 39.261 44.873 57.0212 37.6901 40.973 56.9758 36.8656 40.973 56.9758 36.8656 44.873 57.2913 35.2501 40.973 57.6437 34.5033 44.873 72.6437 8.52257 44.873 72.2835 9.29032 44.873 60.9494 35.2856 44.873 80.5343 14.533 44.873 72.0582 10.1079 44.873 62.2559 35.0233 44.873 63.1858 35.4123 44.873 62.8994 35.2304 44.873 72.0343 11.7977 44.873 72.2364 12.6214 44.873 72.5747 13.399 44.873 74.2923 15.2427 44.873 76.691 16.0146 44.873 63.9689 36.8619 44.873 63.8078 36.2054 44.873 60.2418 36.0033 44.873 57.2913 35.2501 44.873 60.0977 36.3104 44.873 57.0666 36.0448 44.873 60.0076 36.6375 44.873 57.0212 37.6901 44.873 59.9741 36.975 44.873 59.998 37.3134 44.873 57.2018 38.4959 44.873 60.0789 37.6429 44.873 60.4002 38.2376 44.873 58.4874 40.5872 44.873 59.84 41.5251 44.873 61.5249 38.9523 44.873 61.8607 39.0001 44.873 62.1998 38.9905 44.873 62.2493 41.9957 44.873 63.0673 41.8823 44.873 63.8554 41.6358 44.873 64.5922 41.2629 44.873 63.398 38.4075 44.873 65.2576 40.7739 44.873 65.8334 40.1819 44.873 63.7059 38.0033 44.873 63.6149 38.1466 44.873 63.1402 38.628 44.873 63.398 38.4075 40.973 63.1402 38.628 40.973 62.8489 38.8017 44.873 62.8489 38.8017 40.973 62.5324 38.9238 44.873 62.5324 38.9238 40.973 61.202 38.8484 44.873 60.9012 38.6914 44.873 61.202 38.8484 40.973 60.9012 38.6914 40.973 60.6314 38.4858 44.873 60.4002 38.2376 40.973 60.2142 37.9539 44.873 60.2142 37.9539 40.973 60.0076 36.6375 40.973 60.0977 36.3104 40.973 60.2418 36.0033 40.973 60.4357 35.725 44.873 60.4357 35.725 40.973 60.6739 35.4834 44.873 61.2545 35.1372 44.873 61.5802 35.0424 44.873 61.2545 35.1372 40.973 61.5802 35.0424 40.973 61.9173 35.0041 44.873 61.9173 35.0041 40.973 62.5865 35.0995 44.873 63.1858 35.4123 40.973 63.4372 35.64 40.973 63.4372 35.64 44.873 63.6466 35.9069 44.873 63.9163 36.5268 44.873 63.9641 37.2011 44.873 63.9641 37.2011 40.973 63.902 37.5346 44.873 63.7845 37.8528 40.973 63.7845 37.8528 44.873 63.6466 35.9069 40.973 63.8078 36.2054 40.973 63.9163 36.5268 40.973 63.9689 36.8619 40.973 63.902 37.5346 40.973 63.6149 38.1466 40.973 62.1998 38.9905 40.973 61.8607 39.0001 40.973 60.6133 41.8147 40.973 61.5249 38.9523 40.973 58.4874 40.5872 40.973 60.6314 38.4858 40.973 57.5126 39.261 40.973 60.0789 37.6429 40.973 59.998 37.3134 40.973 57.0666 36.0448 40.973 59.9741 36.975 40.973 60.6739 35.4834 40.973 57.6437 34.5033 40.973 60.9494 35.2856 40.973 76.8607 13.0194 40.973 62.8994 35.2304 40.973 62.5865 35.0995 40.973 75.6314 12.5051 40.973 75.4002 12.2569 40.973 75.2142 11.9732 40.973 62.2559 35.0233 40.973 74.998 11.3326 40.973 78.1402 12.6472 40.973 75.0076 10.6567 40.973 72.6437 8.52257 40.973 75.2418 10.0226 40.973 75.4357 9.74423 40.973 75.6739 9.50267 40.973 74.4128 6.72825 40.973 75.9494 9.30484 40.973 75.1754 6.3572 40.973 75.9897 6.12037 40.973 76.9173 9.02337 40.973 77.5865 9.11871 40.973 80.0036 7.04505 40.973 78.1858 9.43156 40.973 80.6322 7.6143 40.973 81.5587 9.02774 40.973 81.8299 9.83127 40.973 78.9688 10.8812 40.973 78.9641 11.2204 40.973 78.6149 12.1659 40.973 81.304 13.5226 40.973 73.1285 7.82673 40.973 80.5343 14.533 48.973 79.8898 15.0842 44.873 79.8898 15.0842 48.973 79.1615 15.5186 44.873 79.1615 15.5186 48.973 78.3702 15.8236 44.873 77.5387 15.9906 44.873 78.3702 15.8236 48.973 77.5387 15.9906 48.973 75.8514 15.8949 44.873 76.691 16.0146 48.973 75.8514 15.8949 48.973 75.0441 15.6352 48.973 75.0441 15.6352 44.873 74.2923 15.2427 48.973 73.6177 14.7288 44.873 73.6177 14.7288 48.973 73.0396 14.1083 48.973 73.0396 14.1083 44.873 72.5747 13.399 48.973 72.2364 12.6214 48.973 72.0343 11.7977 48.973 71.9743 10.9518 44.873 71.9743 10.9518 48.973 72.0582 10.1079 48.973 72.2835 9.29032 48.973 72.6437 8.52257 48.973 73.1285 7.82673 48.973 73.7239 7.22283 40.973 73.7239 7.22283 48.973 74.4128 6.72825 48.973 75.1754 6.3572 48.973 76.8324 6.02457 40.973 75.9897 6.12037 48.973 76.8324 6.02457 48.973 77.6791 6.07255 48.973 77.6791 6.07255 40.973 78.5055 6.26293 40.973 79.2878 6.59024 40.973 78.5055 6.26293 48.973 79.2878 6.59024 48.973 79.4739 6.69244 48.973 80.0036 7.04505 48.973 81.1556 8.28159 40.973 80.6322 7.6143 48.973 81.1556 8.28159 48.973 81.5587 9.02774 48.973 81.8299 9.83127 48.973 81.9613 10.6691 48.973 81.9613 10.6691 40.973 81.9493 11.5171 40.973 81.9493 11.5171 48.973 81.7942 12.3508 40.973 81.7942 12.3508 48.973 81.5004 13.1463 40.973 81.5004 13.1463 48.973 81.0764 13.8808 48.973 81.0764 13.8808 44.873 78.512 12.3009 61.773 78.7059 12.0226 53.773 78.85 11.7155 53.773 78.85 11.7155 61.773 78.9401 11.3884 53.773 78.9401 11.3884 61.773 78.9736 11.0509 53.773 78.9497 10.7125 53.773 78.8689 10.383 61.773 78.8689 10.383 53.773 78.7335 10.072 53.773 78.5476 9.78827 53.773 78.3163 9.54007 53.773 78.0465 9.33452 61.773 78.0465 9.33452 53.773 77.7458 9.17753 53.773 77.7458 9.17753 61.773 77.4228 9.07361 53.773 77.4228 9.07361 61.773 77.087 9.02577 53.773 76.7479 9.03537 53.773 76.4153 9.10214 53.773 76.0988 9.22415 53.773 75.8075 9.3979 53.773 75.5497 9.61839 53.773 75.5497 9.61839 61.773 75.3328 9.87928 53.773 75.1632 10.1731 53.773 75.0457 10.4913 53.773 75.0457 10.4913 61.773 74.9837 10.8248 53.773 74.9837 10.8248 61.773 74.9789 11.164 53.773 75.0314 11.4991 53.773 75.1399 11.8205 53.773 75.3012 12.119 53.773 75.3012 12.119 61.773 75.5105 12.3859 53.773 75.762 12.6136 53.773 76.0483 12.7955 53.773 76.3612 12.9264 53.773 76.0483 12.7955 61.773 76.6918 13.0026 53.773 76.6918 13.0026 61.773 77.0304 13.0218 53.773 77.0304 13.0218 61.773 77.3675 12.9834 61.773 77.3675 12.9834 53.773 77.6932 12.8887 53.773 77.9983 12.7403 53.773 77.9983 12.7403 61.773 78.2738 12.5425 61.773 78.2738 12.5425 53.773 78.512 12.3009 53.773 57.6437 34.5033 57.873 57.2913 35.2501 61.773 57.0666 36.0448 57.873 56.9758 36.8656 61.773 57.2018 38.4959 57.873 57.5126 39.261 61.773 57.945 39.9645 61.773 58.4874 40.5872 57.873 59.1248 41.1122 57.873 59.84 41.5251 57.873 59.84 41.5251 61.773 60.6133 41.8147 57.873 61.4238 41.973 57.873 62.2493 41.9957 57.873 63.0673 41.8823 57.873 63.8554 41.6358 57.873 63.8554 41.6358 61.773 65.2576 40.7739 61.773 65.8334 40.1819 61.773 66.304 39.5033 61.773 60.3329 35.86 57.873 72.4473 8.89879 57.873 62.087 35.0065 57.873 63.7335 36.0527 57.873 62.4228 35.0544 57.873 66.304 39.5033 57.873 63.7059 38.0033 57.873 65.8334 40.1819 57.873 65.2576 40.7739 57.873 63.2738 38.5232 57.873 64.5922 41.2629 57.873 62.9983 38.7211 57.873 62.6932 38.8695 57.873 61.6918 38.9833 57.873 60.5105 38.3666 57.873 57.945 39.9645 57.873 57.5126 39.261 57.873 60.1399 37.8013 57.873 60.0315 37.4798 57.873 57.0212 37.6901 57.873 56.9758 36.8656 57.873 57.2913 35.2501 57.873 60.2418 36.0033 57.873 63.9737 37.0316 57.873 80.8192 14.2184 57.873 80.2238 14.8223 57.873 77.958 15.9248 57.873 63.8689 36.3638 57.873 63.0465 35.3153 57.873 62.7458 35.1583 57.873 60.1632 36.1538 57.873 60.1632 36.1538 61.773 60.0457 36.472 57.873 59.9837 36.8055 57.873 60.0457 36.472 61.773 59.9789 37.1447 57.873 59.9789 37.1447 61.773 60.3012 38.0997 57.873 60.762 38.5943 57.873 61.0483 38.7763 57.873 60.762 38.5943 61.773 61.3612 38.9072 57.873 61.3612 38.9072 61.773 62.0305 39.0025 61.773 62.0305 39.0025 57.873 62.3675 38.9642 57.873 62.3675 38.9642 61.773 62.6932 38.8695 61.773 63.2738 38.5232 61.773 63.512 38.2817 57.873 63.7059 38.0033 61.773 63.85 37.6962 57.873 63.9401 37.3692 57.873 63.9401 37.3692 61.773 63.9497 36.6933 57.873 63.9497 36.6933 61.773 63.7335 36.0527 61.773 63.5476 35.769 57.873 63.3163 35.5208 57.873 62.7458 35.1583 61.773 61.7479 35.0161 57.873 61.4153 35.0829 57.873 61.7479 35.0161 61.773 61.4153 35.0829 61.773 61.0988 35.2049 57.873 60.8075 35.3787 57.873 60.8075 35.3787 61.773 60.5497 35.5992 57.873 60.3329 35.86 61.773 61.0988 35.2049 61.773 60.5497 35.5992 61.773 57.6437 34.5033 61.773 57.0666 36.0448 61.773 59.9837 36.8055 61.773 57.0212 37.6901 61.773 57.2018 38.4959 61.773 60.0315 37.4798 61.773 60.1399 37.8013 61.773 60.3012 38.0997 61.773 60.5105 38.3666 61.773 58.4874 40.5872 61.773 59.1248 41.1122 61.773 61.0483 38.7763 61.773 60.6133 41.8147 61.773 61.4238 41.973 61.773 62.2493 41.9957 61.773 61.6918 38.9833 61.773 63.0673 41.8823 61.773 64.5922 41.2629 61.773 62.9983 38.7211 61.773 63.512 38.2817 61.773 63.85 37.6962 61.773 75.1399 11.8205 61.773 63.8689 36.3638 61.773 72.6437 8.52257 61.773 74.9789 11.164 61.773 75.0314 11.4991 61.773 62.4228 35.0544 61.773 62.087 35.0065 61.773 75.5105 12.3859 61.773 63.9737 37.0316 61.773 77.6932 12.8887 61.773 81.304 13.5226 61.773 78.7059 12.0226 61.773 81.9734 11.0933 61.773 78.9736 11.0509 61.773 78.9497 10.7125 61.773 81.7113 9.42375 61.773 81.373 8.6461 61.773 78.7335 10.072 61.773 80.9081 7.93683 61.773 78.5476 9.78827 61.773 80.33 7.31633 61.773 79.6554 6.80244 61.773 78.3163 9.54007 61.773 78.9036 6.40997 61.773 77.2567 6.03057 61.773 77.087 9.02577 61.773 75.5775 6.22149 61.773 76.7479 9.03537 61.773 76.4153 9.10214 61.773 74.7862 6.52653 61.773 76.0988 9.22415 61.773 75.8075 9.3979 61.773 75.3328 9.87928 61.773 75.1632 10.1731 61.773 75.762 12.6136 61.773 63.0465 35.3153 61.773 63.3163 35.5208 61.773 63.5476 35.769 61.773 76.3612 12.9264 61.773 72.6437 8.52257 57.873 72.1535 9.69433 57.873 72.1535 9.69433 53.773 71.9984 10.5281 53.773 71.9984 10.5281 57.873 71.9864 11.3761 53.773 71.9864 11.3761 57.873 72.1179 12.2139 57.873 72.389 13.0174 57.873 72.1179 12.2139 53.773 72.389 13.0174 53.773 72.7921 13.7635 57.873 72.7921 13.7635 53.773 73.3155 14.4308 57.873 73.3155 14.4308 53.773 73.9441 15.0001 57.873 73.9441 15.0001 53.773 74.6599 15.4549 57.873 75.4422 15.7822 57.873 74.6599 15.4549 53.773 75.4422 15.7822 53.773 76.2687 15.9726 57.873 76.2687 15.9726 53.773 77.1153 16.0206 53.773 77.1153 16.0206 57.873 77.958 15.9248 53.773 78.7723 15.6879 57.873 78.7723 15.6879 53.773 79.5349 15.3169 53.773 79.5349 15.3169 57.873 80.2238 14.8223 53.773 80.8192 14.2184 53.773 81.304 13.5226 53.773 81.304 13.5226 57.873 81.6642 12.7548 53.773 81.6642 12.7548 61.773 81.8895 11.9372 61.773 81.8895 11.9372 53.773 81.9734 11.0933 53.773 81.9134 10.2474 61.773 81.9134 10.2474 53.773 81.7113 9.42375 53.773 81.373 8.6461 53.773 80.9081 7.93683 53.773 80.33 7.31633 53.773 79.6554 6.80244 53.773 79.4739 6.69244 53.773 78.9036 6.40997 53.773 78.0963 6.15019 61.773 78.0963 6.15019 53.773 77.2567 6.03057 53.773 76.409 6.05457 61.773 76.409 6.05457 53.773 75.5775 6.22149 53.773 74.7862 6.52653 53.773 74.0579 6.96091 61.773 74.0579 6.96091 53.773 73.4134 7.51214 61.773 72.8713 8.16435 61.773 73.4134 7.51214 53.773 72.8713 8.16435 53.773 72.4473 8.89879 53.773 105.424 29.6799 40.823 88.945 10.6841 40.823 105.802 27.4721 40.823 106.057 27.2479 40.823 88.8594 10.3558 40.823 106.347 30.6417 40.823 88.5296 9.76573 40.823 105.311 29.3601 40.823 110.549 25.1014 40.823 107.992 26.9997 40.823 104.607 33.1022 40.823 105.342 33.4787 40.823 106.946 33.8466 40.823 86.3887 12.935 40.823 86.7203 13.0064 40.823 103.944 32.6098 40.823 88.0229 12.7254 40.823 108.567 27.354 40.823 111.122 25.6962 40.823 111.589 26.3771 40.823 108.992 27.8798 40.823 109.132 28.1889 40.823 112.245 28.7427 40.823 109.247 28.8551 40.823 112.011 30.3719 40.823 109.132 29.5214 40.823 111.261 31.8368 40.823 108.993 29.8306 40.823 108.803 30.1117 40.823 110.075 32.9786 40.823 108.296 30.5584 40.823 107.993 30.7112 40.823 107.668 30.8106 40.823 107.772 33.828 40.823 106.993 30.8395 40.823 106.661 30.7681 40.823 105.803 30.2399 40.823 88.7201 11.9975 40.823 88.5302 12.2786 40.823 88.2956 12.5236 40.823 106.058 30.4639 40.823 86.0739 12.8086 40.823 85.5303 12.4068 40.823 85.3171 12.1429 40.823 82.2827 12.7525 40.823 82.0619 11.9568 40.823 85.0385 11.527 40.823 81.9751 11.1355 40.823 84.9811 11.1927 40.823 84.981 10.8535 40.823 85.0383 10.5191 40.823 82.2093 9.50634 40.823 85.1512 10.1992 40.823 85.3166 9.90304 40.823 85.7842 9.41487 40.823 86.073 9.23694 40.823 86.4485 6.05024 40.823 87.7191 9.1666 40.823 90.2763 7.26837 40.823 105.424 28.0323 40.823 105.589 27.7361 40.823 105.59 29.976 40.823 105.311 29.3601 48.823 105.254 29.0258 48.823 105.254 29.0258 40.823 105.254 28.6865 40.823 105.254 28.6865 48.823 105.311 28.3522 40.823 105.802 27.4721 48.823 106.66 26.9435 48.823 106.346 27.07 40.823 106.992 26.8719 48.823 106.66 26.9435 40.823 107.331 26.8574 48.823 106.992 26.8719 40.823 107.331 26.8574 40.823 107.667 26.9004 40.823 107.992 26.9997 48.823 108.295 27.1523 40.823 108.295 27.1523 48.823 108.802 27.5988 48.823 108.802 27.5988 40.823 108.992 27.8798 48.823 109.218 28.5171 48.823 109.218 28.5171 40.823 109.218 29.1931 40.823 109.132 29.5214 48.823 108.803 30.1117 48.823 108.568 30.3567 48.823 108.568 30.3567 40.823 107.668 30.8106 48.823 107.332 30.8538 48.823 107.332 30.8538 40.823 106.993 30.8395 48.823 107.667 26.9004 48.823 105.311 28.3522 48.823 106.346 27.07 48.823 106.057 27.2479 48.823 105.589 27.7361 48.823 105.424 28.0323 48.823 92.6815 22.7026 48.823 105.424 29.6799 48.823 105.59 29.976 48.823 105.803 30.2399 48.823 105.926 30.3573 48.823 106.058 30.4639 48.823 105.342 33.4787 48.823 106.347 30.6417 48.823 106.946 33.8466 48.823 106.661 30.7681 48.823 108.583 33.6737 48.823 107.993 30.7112 48.823 110.075 32.9786 48.823 108.296 30.5584 48.823 110.715 32.4568 48.823 111.697 31.1354 48.823 108.993 29.8306 48.823 112.196 29.567 48.823 109.218 29.1931 48.823 112.245 28.7427 48.823 109.247 28.8551 48.823 112.158 27.9214 48.823 111.938 27.1257 48.823 109.132 28.1889 48.823 111.589 26.3771 48.823 111.122 25.6962 48.823 108.567 27.354 48.823 90.2763 7.26837 53.823 110.549 25.1014 61.823 110.549 25.1014 48.823 96.283 12.5522 48.823 99.2864 15.1942 48.823 99.2864 15.1942 53.823 90.2763 7.26837 61.823 89.6133 6.77601 53.823 88.0914 6.14907 61.823 87.2741 6.03159 61.823 88.0914 6.14907 53.823 85.6372 6.20454 61.823 84.8624 6.49025 61.823 84.8624 6.49025 53.823 84.1452 6.8996 61.823 83.5052 7.4214 61.823 82.5238 8.7428 61.823 82.5238 8.7428 53.823 82.0247 10.3112 61.823 81.9751 11.1355 53.823 82.2827 12.7525 53.823 82.2827 12.7525 61.823 82.6314 13.5011 61.823 82.6314 13.5011 53.823 83.0986 14.182 61.823 103.944 32.6098 53.823 92.6815 22.7026 53.823 83.6714 14.7768 40.823 89.6782 20.0606 48.823 87.3957 12.9776 53.823 88.5302 12.2786 53.823 88.0229 12.7254 53.823 88.7196 10.0467 53.823 96.283 12.5522 53.823 88.9739 11.0221 53.823 87.0592 13.0207 53.823 89.6782 20.0606 53.823 85.6529 12.5242 53.823 83.6714 14.7768 53.823 83.0986 14.182 53.823 82.0619 11.9568 53.823 85.1516 11.8468 53.823 82.0247 10.3112 53.823 84.981 10.8535 53.823 82.2093 9.50634 53.823 85.0383 10.5191 53.823 82.9598 8.04144 53.823 83.5052 7.4214 53.823 84.1452 6.8996 53.823 85.7842 9.41487 53.823 85.6372 6.20454 53.823 86.4485 6.05024 53.823 86.7193 9.03883 53.823 87.2741 6.03159 53.823 88.8784 6.39948 53.823 85.785 12.6309 53.823 85.785 12.6309 61.823 86.0739 12.8086 53.823 86.3887 12.935 53.823 86.0739 12.8086 61.823 86.7203 13.0064 53.823 87.0592 13.0207 61.823 87.72 12.8782 53.823 88.2956 12.5236 53.823 88.2956 12.5236 61.823 88.7201 11.9975 53.823 88.8598 11.6884 61.823 88.8598 11.6884 53.823 88.9452 11.3601 53.823 88.9739 11.0221 61.823 88.945 10.6841 53.823 88.8594 10.3558 61.823 88.8594 10.3558 53.823 88.5296 9.76573 53.823 88.2948 9.52089 53.823 88.022 9.31924 53.823 88.022 9.31924 61.823 87.7191 9.1666 53.823 87.3947 9.06735 53.823 87.0582 9.02435 53.823 86.3877 9.11038 53.823 86.073 9.23694 53.823 85.5296 9.63905 53.823 85.5296 9.63905 61.823 85.3166 9.90304 53.823 85.1512 10.1992 53.823 85.1512 10.1992 61.823 85.0383 10.5191 61.823 84.981 10.8535 61.823 84.9811 11.1927 53.823 85.0385 11.527 61.823 85.0385 11.527 53.823 85.3171 12.1429 61.823 85.3171 12.1429 53.823 85.5303 12.4068 53.823 107.667 26.9004 61.823 88.7201 11.9975 61.823 106.346 27.07 61.823 105.254 29.0258 61.823 103.944 32.6098 61.823 105.424 28.0323 61.823 83.6714 14.7768 61.823 85.5303 12.4068 61.823 85.1516 11.8468 61.823 88.9452 11.3601 61.823 88.945 10.6841 61.823 88.7196 10.0467 61.823 88.5296 9.76573 61.823 88.2948 9.52089 61.823 89.6133 6.77601 61.823 87.7191 9.1666 61.823 88.8784 6.39948 61.823 87.3947 9.06735 61.823 87.0582 9.02435 61.823 86.4485 6.05024 61.823 86.7193 9.03883 61.823 86.3877 9.11038 61.823 86.073 9.23694 61.823 85.7842 9.41487 61.823 82.9598 8.04144 61.823 85.3166 9.90304 61.823 82.2093 9.50634 61.823 81.9751 11.1355 61.823 84.9811 11.1927 61.823 82.0619 11.9568 61.823 106.992 26.8719 61.823 105.803 30.2399 61.823 104.607 33.1022 61.823 105.342 33.4787 61.823 106.347 30.6417 61.823 106.129 33.7291 61.823 106.661 30.7681 61.823 106.993 30.8395 61.823 107.772 33.828 61.823 108.583 33.6737 61.823 109.358 33.388 61.823 110.075 32.9786 61.823 108.296 30.5584 61.823 108.568 30.3567 61.823 108.803 30.1117 61.823 112.011 30.3719 61.823 109.132 29.5214 61.823 112.196 29.567 61.823 109.218 29.1931 61.823 112.245 28.7427 61.823 109.218 28.5171 61.823 109.132 28.1889 61.823 111.122 25.6962 61.823 108.992 27.8798 61.823 108.802 27.5988 61.823 108.295 27.1523 61.823 86.3887 12.935 61.823 86.7203 13.0064 61.823 105.589 27.7361 61.823 87.3957 12.9776 61.823 87.72 12.8782 61.823 88.0229 12.7254 61.823 105.802 27.4721 61.823 88.5302 12.2786 61.823 108.993 29.8306 61.823 108.993 29.8306 53.823 109.132 29.5214 53.823 109.247 28.8551 61.823 109.247 28.8551 53.823 109.132 28.1889 53.823 108.992 27.8798 53.823 108.802 27.5988 53.823 108.567 27.354 61.823 108.295 27.1523 53.823 107.992 26.9997 61.823 107.331 26.8574 61.823 106.66 26.9435 53.823 106.66 26.9435 61.823 106.346 27.07 53.823 106.057 27.2479 53.823 106.057 27.2479 61.823 105.802 27.4721 53.823 105.424 28.0323 53.823 105.311 28.3522 53.823 105.311 28.3522 61.823 105.254 28.6865 53.823 105.254 28.6865 61.823 105.311 29.3601 53.823 105.424 29.6799 53.823 105.311 29.3601 61.823 105.424 29.6799 61.823 105.59 29.976 53.823 105.59 29.976 61.823 105.803 30.2399 53.823 106.058 30.4639 61.823 106.993 30.8395 53.823 107.332 30.8538 53.823 107.332 30.8538 61.823 107.668 30.8106 61.823 107.993 30.7112 53.823 107.993 30.7112 61.823 108.296 30.5584 53.823 108.748 30.1766 53.823 108.568 30.3567 53.823 110.075 32.9786 53.823 107.772 33.828 53.823 107.668 30.8106 53.823 106.946 33.8466 53.823 106.661 30.7681 53.823 105.342 33.4787 53.823 106.347 30.6417 53.823 106.058 30.4639 53.823 105.589 27.7361 53.823 106.992 26.8719 53.823 107.331 26.8574 53.823 107.667 26.9004 53.823 107.992 26.9997 53.823 110.549 25.1014 53.823 108.567 27.354 53.823 111.122 25.6962 53.823 111.938 27.1257 53.823 112.158 27.9214 53.823 109.218 28.5171 53.823 112.245 28.7427 53.823 112.196 29.567 53.823 109.218 29.1931 53.823 111.697 31.1354 53.823 108.803 30.1117 53.823 105.254 29.0258 53.823 104.607 33.1022 53.823 106.129 33.7291 53.823 106.946 33.8466 61.823 108.583 33.6737 53.823 109.358 33.388 53.823 110.715 32.4568 53.823 110.715 32.4568 61.823 111.261 31.8368 61.823 111.261 31.8368 53.823 111.697 31.1354 61.823 112.011 30.3719 53.823 112.158 27.9214 61.823 111.938 27.1257 61.823 111.589 26.3771 53.823 111.589 26.3771 61.823 88.0229 12.7254 48.823 88.8598 11.6884 48.823 90.2763 7.26837 48.823 83.0986 14.182 48.823 85.1516 11.8468 48.823 82.2827 12.7525 48.823 85.0385 11.527 48.823 82.0619 11.9568 48.823 84.9811 11.1927 48.823 84.981 10.8535 48.823 85.0383 10.5191 48.823 82.0247 10.3112 48.823 85.1512 10.1992 48.823 82.9598 8.04144 48.823 85.5296 9.63905 48.823 83.5052 7.4214 48.823 85.7842 9.41487 48.823 84.1452 6.8996 48.823 86.073 9.23694 48.823 84.8624 6.49025 48.823 86.3877 9.11038 48.823 86.7193 9.03883 48.823 87.0582 9.02435 48.823 88.0914 6.14907 48.823 89.6133 6.77601 48.823 88.2948 9.52089 48.823 83.6714 14.7768 48.823 86.7203 13.0064 48.823 88.2956 12.5236 48.823 88.4755 12.3435 48.823 88.5302 12.2786 48.823 88.7201 11.9975 48.823 87.72 12.8782 48.823 87.72 12.8782 40.823 87.3957 12.9776 48.823 87.0592 13.0207 48.823 87.3957 12.9776 40.823 87.0592 13.0207 40.823 86.3887 12.935 48.823 86.0739 12.8086 48.823 85.785 12.6309 48.823 85.785 12.6309 40.823 85.5303 12.4068 48.823 85.3171 12.1429 48.823 85.1516 11.8468 40.823 85.3166 9.90304 48.823 85.5296 9.63905 40.823 86.3877 9.11038 40.823 86.7193 9.03883 40.823 87.0582 9.02435 40.823 87.3947 9.06735 48.823 87.3947 9.06735 40.823 87.7191 9.1666 48.823 88.022 9.31924 48.823 88.022 9.31924 40.823 88.5296 9.76573 48.823 88.2948 9.52089 40.823 88.7196 10.0467 48.823 88.7196 10.0467 40.823 88.8594 10.3558 48.823 88.945 10.6841 48.823 88.9739 11.0221 48.823 88.9739 11.0221 40.823 88.9452 11.3601 40.823 88.9452 11.3601 48.823 88.8598 11.6884 40.823 89.6133 6.77601 40.823 88.8784 6.39948 48.823 88.8784 6.39948 40.823 88.0914 6.14907 40.823 87.2741 6.03159 40.823 87.2741 6.03159 48.823 86.4485 6.05024 48.823 85.6372 6.20454 48.823 85.6372 6.20454 40.823 84.8624 6.49025 40.823 84.1452 6.8996 40.823 83.5052 7.4214 40.823 82.9598 8.04144 40.823 82.5238 8.7428 48.823 82.5238 8.7428 40.823 82.2093 9.50634 48.823 81.9751 11.1355 48.823 82.0247 10.3112 40.823 82.6314 13.5011 40.823 82.6314 13.5011 48.823 83.0986 14.182 40.823 103.944 32.6098 48.823 104.607 33.1022 48.823 106.129 33.7291 48.823 106.129 33.7291 40.823 107.772 33.828 48.823 108.583 33.6737 40.823 109.358 33.388 48.823 109.358 33.388 40.823 110.715 32.4568 40.823 111.261 31.8368 48.823 111.697 31.1354 40.823 112.011 30.3719 48.823 112.196 29.567 40.823 112.158 27.9214 40.823 111.938 27.1257 40.823 91.9739 4 56.823 91.9739 2 45.823 91.9739 4 45.823 61.9739 2 45.823 91.9739 2 56.823 86.6359 12.9938 48.823 87.3119 12.9938 48.823 86.9739 13.0226 48.823 78.4752 12.3439 48.823 86.3076 12.9083 48.823 78.2303 12.5786 48.823 68.8862 11.6082 48.823 75.9985 12.7686 48.823 85.1181 11.7683 48.823 77.7977 9.20011 48.823 78.0938 9.36555 48.823 78.3577 9.57865 48.823 88.4752 12.3439 48.823 88.2303 12.5786 48.823 87.9492 12.7686 48.823 87.6401 12.9083 48.823 78.6769 12.0712 48.823 78.8296 11.7683 48.823 85.9985 12.7686 48.823 85.7174 12.5786 48.823 76.6358 12.9938 48.823 68.9577 11.2766 48.823 76.3076 12.9083 48.823 88.8296 11.7683 48.823 88.6769 12.0712 48.823 78.5819 9.8333 48.823 78.7597 10.1222 48.823 78.8862 10.4369 48.823 68.5818 12.2118 48.823 68.3577 12.4665 48.823 76.9739 13.0226 48.823 68.0938 12.6796 48.823 67.7977 12.845 48.823 78.9577 10.7685 48.823 85.2708 12.0712 48.823 78.9721 11.1074 48.823 78.929 11.4439 48.823 85.4725 12.3439 48.823 68.4752 9.70122 48.823 68.6769 9.97395 48.823 75.7174 12.5786 48.823 77.3119 12.9938 48.823 77.6401 12.9083 48.823 77.9492 12.7686 48.823 65.59 12.4665 48.823 75.4725 12.3439 48.823 67.6401 9.13681 48.823 88.0938 9.36555 48.823 91.9739 4.02257 48.823 88.3577 9.57865 48.823 88.5819 9.8333 48.823 61.9739 16.0226 48.823 85.188 10.1222 48.823 85.3659 9.8333 48.823 86.15 9.20011 48.823 86.4699 9.0871 48.823 86.8042 9.02977 48.823 87.1435 9.02977 48.823 87.4778 9.0871 48.823 87.7977 9.20011 48.823 88.7597 10.1222 48.823 88.8862 10.4369 48.823 91.9739 16.0226 48.823 88.9577 10.7685 48.823 88.9721 11.1074 48.823 88.929 11.4439 48.823 65.2708 9.97395 48.823 75.2708 12.0712 48.823 75.1181 11.7683 48.823 75.0187 11.4439 48.823 74.9757 11.1074 48.823 74.9901 10.7685 48.823 85.59 9.57865 48.823 85.8539 9.36555 48.823 64.9901 11.2766 48.823 75.8539 9.36555 48.823 76.1501 9.20011 48.823 76.4699 9.0871 48.823 76.8042 9.02977 48.823 75.0615 10.4369 48.823 75.188 10.1222 48.823 75.3659 9.8333 48.823 75.59 9.57865 48.823 85.0187 11.4439 48.823 84.9757 11.1074 48.823 84.9901 10.7685 48.823 77.1435 9.02977 48.823 77.4778 9.0871 48.823 85.0615 10.4369 48.823 68.7597 11.923 53.823 68.7597 11.923 48.823 68.0938 12.6796 53.823 67.7977 12.845 53.823 67.4778 12.958 48.823 67.1435 13.0154 48.823 66.9739 13.0226 48.823 66.8042 13.0154 48.823 66.4699 12.958 53.823 66.4699 12.958 48.823 66.1501 12.845 53.823 66.1501 12.845 48.823 65.8539 12.6796 53.823 65.8539 12.6796 48.823 65.59 12.4665 53.823 65.3659 12.2118 48.823 65.188 11.923 48.823 65.188 11.923 53.823 65.0615 11.6082 53.823 65.0615 11.6082 48.823 64.9757 10.9377 48.823 64.9757 10.9377 53.823 65.0187 10.6012 53.823 65.0187 10.6012 48.823 65.1181 10.2769 48.823 65.2708 9.97395 53.823 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+ + + + + + + + + + + + + + + diff --git a/data/mir_common/mir_description/meshes/misc/full_platform.dae b/data/mir_common/mir_description/meshes/misc/full_platform.dae new file mode 100644 index 0000000000000000000000000000000000000000..a97596872852dc2c9691022966e94d7bf9fbfba9 --- /dev/null +++ b/data/mir_common/mir_description/meshes/misc/full_platform.dae @@ -0,0 +1,406 @@ + + + + + Anonymous + Collada Exporter for Blender 2.6+, by Juan Linietsky (juan@codenix.com) + + 2018-11-06T19:40:07Z + 2018-11-06T19:40:07Z + + Z_UP + + + + + + 198.14797973632812 2.502500057220459 300.2998352050781 198.14797973632812 2.497499942779541 300.2998352050781 198.15211486816406 2.497499942779541 300.2996826171875 198.14797973632812 2.502500057220459 300.2998352050781 198.15211486816406 2.497499942779541 300.2996826171875 198.15211486816406 2.502500057220459 300.2996826171875 198.15211486816406 2.502500057220459 300.2996826171875 198.15211486816406 2.497499942779541 300.2996826171875 198.15621948242188 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140.9204 11.03956 0 140.9204 11.03956 10 140.8112 10 0 140.8112 10 10 140.9204 8.960442 0 140.9204 8.960442 10 141.2434 7.966317 0 141.2434 7.966317 10 141.7661 7.061074 0 141.7661 7.061074 10 142.4655 6.284276 0 142.4655 6.284276 10 143.3112 5.669873 0 143.3112 5.669873 10 144.2661 5.244718 0 144.2661 5.244718 10 145.2885 5.02739 0 145.2885 5.02739 10 146.3338 5.02739 0 146.3338 5.02739 10 147.3563 5.244718 0 147.3563 5.244718 10 148.3112 5.669873 0 148.3112 5.669873 10 149.1568 6.284276 0 149.1568 6.284276 10 149.8563 7.061074 0 149.8563 7.061074 10 150.3789 7.966317 0 150.3789 7.966317 10 150.7019 8.960442 0 150.7019 8.960442 10 150.8112 10 0 76.44771 6.388228 10 76.44771 6.388228 5 76.49882 6 10 76.29785 6.75 5 76.29785 6.75 10 76.05948 7.06066 5 76.05948 7.06066 0 75.74882 7.299038 0 76.29785 6.75 0 76.44771 6.388228 0 76.49882 6 5 76.49882 6 0 76.44771 5.611772 5 76.44771 5.611772 0 76.29785 5.25 5 76.29785 5.25 0 76.05948 4.93934 5 76.05948 4.93934 0 75.74882 4.700962 5 75.74882 4.700962 0 75.38705 4.551111 5 75.38705 4.551111 0 74.99882 4.5 5 74.99882 4.5 0 74.61059 4.551111 5 74.61059 4.551111 0 74.24882 4.700962 5 74.24882 4.700962 0 73.93816 4.93934 5 73.93816 4.93934 0 73.69978 5.25 5 73.69978 5.25 0 73.54993 5.611772 5 73.54993 5.611772 0 73.49882 6 5 73.49882 6 0 73.54993 6.388228 5 73.54993 6.388228 0 73.69978 6.75 5 73.69978 6.75 0 73.93816 7.06066 5 73.93816 7.06066 0 74.24882 7.299038 5 74.24882 7.299038 0 74.61059 7.448889 5 74.61059 7.448889 0 74.99882 7.5 5 74.99882 7.5 0 75.38705 7.448889 5 75.38705 7.448889 0 75.74882 7.299038 5 76.05948 7.06066 10 75.74882 7.299038 10 75.38705 7.448889 10 74.99882 7.5 10 74.61059 7.448889 10 74.24882 7.299038 10 73.93816 7.06066 10 73.69978 6.75 10 73.54993 6.388228 10 73.49882 6 10 73.54993 5.611772 10 73.69978 5.25 10 73.93816 4.93934 10 74.24882 4.700962 10 74.61059 4.551111 10 74.99882 4.5 10 75.38705 4.551111 10 75.74882 4.700962 10 76.05948 4.93934 10 76.29785 5.25 10 76.44771 5.611772 10 96.44771 31.38823 10 96.44771 31.38823 5 96.49882 31 10 96.29785 31.75 5 96.29785 31.75 10 96.05948 32.06066 5 96.05948 32.06066 0 95.74882 32.29904 0 96.29785 31.75 0 96.44771 31.38823 0 96.49882 31 5 96.49882 31 0 96.44771 30.61177 5 96.44771 30.61177 0 96.29785 30.25 5 96.29785 30.25 0 96.05948 29.93934 5 96.05948 29.93934 0 95.74882 29.70096 5 95.74882 29.70096 0 95.38705 29.55111 5 95.38705 29.55111 0 94.99882 29.5 5 94.99882 29.5 0 94.61059 29.55111 5 94.61059 29.55111 0 94.24882 29.70096 5 94.24882 29.70096 0 93.93816 29.93934 5 93.93816 29.93934 0 93.69978 30.25 5 93.69978 30.25 0 93.54993 30.61177 5 93.54993 30.61177 0 93.49882 31 5 93.49882 31 0 93.54993 31.38823 5 93.54993 31.38823 0 93.69978 31.75 5 93.69978 31.75 0 93.93816 32.06066 5 93.93816 32.06066 0 94.24882 32.29904 5 94.24882 32.29904 0 94.61059 32.44889 5 94.61059 32.44889 0 94.99882 32.5 5 94.99882 32.5 0 95.38705 32.44889 5 95.38705 32.44889 0 95.74882 32.29904 5 96.05948 32.06066 10 95.74882 32.29904 10 95.38705 32.44889 10 94.99882 32.5 10 94.61059 32.44889 10 94.24882 32.29904 10 93.93816 32.06066 10 93.69978 31.75 10 93.54993 31.38823 10 93.49882 31 10 93.54993 30.61177 10 93.69978 30.25 10 93.93816 29.93934 10 94.24882 29.70096 10 94.61059 29.55111 10 94.99882 29.5 10 95.38705 29.55111 10 95.74882 29.70096 10 96.05948 29.93934 10 96.29785 30.25 10 96.44771 30.61177 10 76.44771 31.38823 10 76.44771 31.38823 5 76.49882 31 10 76.29785 31.75 5 76.29785 31.75 10 76.05948 32.06066 5 76.05948 32.06066 0 75.74882 32.29904 0 76.29785 31.75 0 76.44771 31.38823 0 76.49882 31 5 76.49882 31 0 76.44771 30.61177 5 76.44771 30.61177 0 76.29785 30.25 5 76.29785 30.25 0 76.05948 29.93934 5 76.05948 29.93934 0 75.74882 29.70096 5 75.74882 29.70096 0 75.38705 29.55111 5 75.38705 29.55111 0 74.99882 29.5 5 74.99882 29.5 0 74.61059 29.55111 5 74.61059 29.55111 0 74.24882 29.70096 5 74.24882 29.70096 0 73.93816 29.93934 5 73.93816 29.93934 0 73.69978 30.25 5 73.69978 30.25 0 73.54993 30.61177 5 73.54993 30.61177 0 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+ + + + + + + + + + + + + + + diff --git a/data/mir_common/mir_description/meshes/misc/rear_platform_v2_base_convex_hull.dae b/data/mir_common/mir_description/meshes/misc/rear_platform_v2_base_convex_hull.dae new file mode 100644 index 0000000000000000000000000000000000000000..dce20384ce63722417f4f46062c83bdb598236a6 --- /dev/null +++ b/data/mir_common/mir_description/meshes/misc/rear_platform_v2_base_convex_hull.dae @@ -0,0 +1,56 @@ + + + + + VCGLab + VCGLib | MeshLab + + Mo. Feb 22 08:22:12 2016 + Mo. 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+ + + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + \ No newline at end of file diff --git a/data/mir_common/mir_description/meshes/sensor_mounts/asus_xtion_camera_mount.dae b/data/mir_common/mir_description/meshes/sensor_mounts/asus_xtion_camera_mount.dae new file mode 100644 index 0000000000000000000000000000000000000000..fc502096d74f2ccfdbe8f571ef3fda464a51d2d8 --- /dev/null +++ b/data/mir_common/mir_description/meshes/sensor_mounts/asus_xtion_camera_mount.dae @@ -0,0 +1,2255 @@ + + + + + Anonymous + Collada Exporter for Blender 2.6+, by Juan Linietsky (juan@codenix.com) + + 2018-06-04T16:56:14Z + 2018-06-04T16:56:14Z + + Z_UP + + + + + + 38.138099670410156 -22.69700050354004 -3.6105000972747803 37.76810073852539 -24.795400619506836 -6.697659969329834 37.80540084838867 -24.583599090576172 -7.5 37.70589828491211 -25.148099899291992 -3.720989942550659 37.81769943237305 -24.51420021057129 -3.624109983444214 37.75669860839844 -24.859899520874023 -3.3925299644470215 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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 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+ + + + + + + + + + + diff --git a/data/mir_common/mir_description/urdf/sensor_mounts/intel_f200_camera_mount.urdf.xacro b/data/mir_common/mir_description/urdf/sensor_mounts/intel_f200_camera_mount.urdf.xacro new file mode 100644 index 0000000000000000000000000000000000000000..83d7989253e4ccea9debd79a0eda3d15bab5d1be --- /dev/null +++ b/data/mir_common/mir_description/urdf/sensor_mounts/intel_f200_camera_mount.urdf.xacro @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_common/mir_description/urdf/sensors/asus_xtion_camera.urdf.xacro b/data/mir_common/mir_description/urdf/sensors/asus_xtion_camera.urdf.xacro new file mode 100644 index 0000000000000000000000000000000000000000..a0505f765ab379c88e5912d3d8c3345989dd81f1 --- /dev/null +++ b/data/mir_common/mir_description/urdf/sensors/asus_xtion_camera.urdf.xacro @@ -0,0 +1,86 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_controllers/mir_controller_msgs/CMakeLists.txt b/data/mir_controllers/mir_controller_msgs/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..19d4ce9fcce3eed0f43e47a2ad9bc9c8db200812 --- /dev/null +++ b/data/mir_controllers/mir_controller_msgs/CMakeLists.txt @@ -0,0 +1,30 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_controller_msgs) + +find_package(catkin REQUIRED + COMPONENTS + message_generation + roscpp + std_msgs +) + +add_message_files( + FILES + VisualServoingState.msg +) + +add_service_files( + FILES + StartVisualServoing.srv +) + +generate_messages( + DEPENDENCIES + std_msgs +) + +catkin_package( + CATKIN_DEPENDS + message_runtime + std_msgs +) diff --git a/data/mir_controllers/mir_controller_msgs/msg/VisualServoingState.msg b/data/mir_controllers/mir_controller_msgs/msg/VisualServoingState.msg new file mode 100644 index 0000000000000000000000000000000000000000..f4130db9c48acfa1c196fd54158d2c564d052536 --- /dev/null +++ b/data/mir_controllers/mir_controller_msgs/msg/VisualServoingState.msg @@ -0,0 +1,6 @@ +byte SUCCESS=0 +byte FAILED=-1 +byte TIMEOUT=-2 +byte LOST_OBJ=-3 + +byte error_code diff --git a/data/mir_controllers/mir_controller_msgs/package.xml b/data/mir_controllers/mir_controller_msgs/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..6a546121c62ff5346903a690f5e71a1d8c97b624 --- /dev/null +++ b/data/mir_controllers/mir_controller_msgs/package.xml @@ -0,0 +1,21 @@ + + + mir_controller_msgs + 0.0.1 + controller messages and services + + Frederik Hegger + + GPLv3 + + Frederik Hegger + + catkin + + message_generation + roscpp + std_msgs + + message_runtime + std_msgs + diff --git a/data/mir_controllers/mir_controller_msgs/srv/StartVisualServoing.srv b/data/mir_controllers/mir_controller_msgs/srv/StartVisualServoing.srv new file mode 100644 index 0000000000000000000000000000000000000000..6fd6f47a0e30823a19958feda5b79881e5a18972 --- /dev/null +++ b/data/mir_controllers/mir_controller_msgs/srv/StartVisualServoing.srv @@ -0,0 +1,2 @@ +--- +mir_controller_msgs/VisualServoingState return_value diff --git a/data/mir_controllers/mir_controllers/CMakeLists.txt b/data/mir_controllers/mir_controllers/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..3da252acea6e90f6f441c833431ed3efccb5c23c --- /dev/null +++ b/data/mir_controllers/mir_controllers/CMakeLists.txt @@ -0,0 +1,4 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_controllers) +find_package(catkin REQUIRED) +catkin_metapackage() diff --git a/data/mir_controllers/mir_controllers/package.xml b/data/mir_controllers/mir_controllers/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..c6735933bab44eafc24b05e18a08d86d3a0e3766 --- /dev/null +++ b/data/mir_controllers/mir_controllers/package.xml @@ -0,0 +1,22 @@ + + + mir_controllers + 0.0.1 + any kind of controller related packages + + GPLv3 + + Frederik Hegger + + Frederik Hegger + Sven Schneider + Matthias Füller + Rhama Dwiputra + Nico Hochgeschwender + + catkin + + + + + diff --git a/data/mir_controllers/mir_visual_servoing/CMakeLists.txt b/data/mir_controllers/mir_visual_servoing/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..8e1cc3abac1310abcfa7215f0e47a9bd51addb50 --- /dev/null +++ b/data/mir_controllers/mir_visual_servoing/CMakeLists.txt @@ -0,0 +1,31 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_visual_servoing) + +find_package(catkin REQUIRED) + +catkin_package( + CATKIN_DEPENDS + mcr_image_filter +# mcr_blob_detection +# mcr_blob_tracking +# mcr_image_cartesian_mapper + rostopic + mcr_manipulation_measurers + mcr_twist_limiter + mcr_geometric_relation_monitors + mcr_twist_demultiplexer + mcr_twist_controller +) + +### TESTS +if(CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + + roslaunch_add_file_check(ros/launch) +endif() + + +### INSTALLS +install(DIRECTORY ros/launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ros/launch +) diff --git a/data/mir_controllers/mir_visual_servoing/package.xml b/data/mir_controllers/mir_visual_servoing/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..ee4309f373e5e3dfc5b6aa8c7caea01390a56ba3 --- /dev/null +++ b/data/mir_controllers/mir_visual_servoing/package.xml @@ -0,0 +1,29 @@ + + + mir_visual_servoing + 0.1.0 + visual servoing based on (biggest) blob detection + + Ashok Meenakshi Sundaram + Matthew Roscoe + + GPLv3 + + Matthew Roscoe + + catkin + + mcr_image_filter + + + + rostopic + mcr_manipulation_measurers + mcr_twist_limiter + mcr_geometric_relation_monitors + mcr_twist_demultiplexer + mcr_twist_controller + + roslaunch + + diff --git a/data/mir_controllers/mir_visual_servoing/ros/launch/visual_servoing_pipeline.launch b/data/mir_controllers/mir_visual_servoing/ros/launch/visual_servoing_pipeline.launch new file mode 100644 index 0000000000000000000000000000000000000000..97f700c53335721a811cb23b16c57b75f76733bc --- /dev/null +++ b/data/mir_controllers/mir_visual_servoing/ros/launch/visual_servoing_pipeline.launch @@ -0,0 +1,124 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_arm_cartesian_control/CMakeLists.txt b/data/mir_manipulation/mir_arm_cartesian_control/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..89a4ada99d8cb45bf73aeabd67c9464d94361d28 --- /dev/null +++ b/data/mir_manipulation/mir_arm_cartesian_control/CMakeLists.txt @@ -0,0 +1,21 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_arm_cartesian_control) +find_package(catkin REQUIRED) + +catkin_package( + CATKIN_DEPENDS + mcr_arm_cartesian_control +) + +### TESTS +if(CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + + roslaunch_add_file_check(ros/launch) +endif() + +### INSTALLS +install( + DIRECTORY ros/launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ros/launch +) diff --git a/data/mir_manipulation/mir_arm_cartesian_control/package.xml b/data/mir_manipulation/mir_arm_cartesian_control/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..f97c073655a9b369e8b216f81b978b8786b33b63 --- /dev/null +++ b/data/mir_manipulation/mir_arm_cartesian_control/package.xml @@ -0,0 +1,19 @@ + + + mir_arm_cartesian_control + 0.0.1 + launch file for the youbot arm cartesian control + + Frederik Hegger + + GPLv3 + + Frederik Hegger + + catkin + + mcr_arm_cartesian_control + + roslaunch + + diff --git a/data/mir_manipulation/mir_arm_cartesian_control/ros/launch/arm_cartesian_control_youbot.launch b/data/mir_manipulation/mir_arm_cartesian_control/ros/launch/arm_cartesian_control_youbot.launch new file mode 100644 index 0000000000000000000000000000000000000000..4c585734754c35a87f0d8ec121fd3da637416d0c --- /dev/null +++ b/data/mir_manipulation/mir_arm_cartesian_control/ros/launch/arm_cartesian_control_youbot.launch @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/data/mir_manipulation/mir_arm_motions/CMakeLists.txt b/data/mir_manipulation/mir_arm_motions/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..2b1a0268ba28a0ce763cb85300e328c962231514 --- /dev/null +++ b/data/mir_manipulation/mir_arm_motions/CMakeLists.txt @@ -0,0 +1,16 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_arm_motions) + +find_package(catkin REQUIRED) + +catkin_package() + +###TESTS +if(CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + roslaunch_add_file_check(ros/launch) +endif() + +install(DIRECTORY ros/launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ros/launch +) diff --git a/data/mir_manipulation/mir_arm_motions/package.xml b/data/mir_manipulation/mir_arm_motions/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..b60adda8174d7ead602ee2086e597b5a5bb95d34 --- /dev/null +++ b/data/mir_manipulation/mir_arm_motions/package.xml @@ -0,0 +1,32 @@ + + + mir_arm_motions + 0.1.0 + + + Provides launcher for mcr_arm_motions package + to use planned motion component for arm motion execution. + + + Shehzad Ahmed + Shehzad Ahmed + + GPLv3 + + catkin + + dmp + mcr_arm_motions + mcr_common_converters + mcr_geometric_relation_monitors + mcr_guarded_approach_pose + mcr_manipulation_measurers + mcr_pose_generator + mir_pregrasp_planning + mcr_trajectory_generation + mcr_twist_controller + mcr_twist_limiter + + roslaunch + + diff --git a/data/mir_manipulation/mir_arm_motions/ros/docs/linear_motions_with_cartesian_controller.graphml b/data/mir_manipulation/mir_arm_motions/ros/docs/linear_motions_with_cartesian_controller.graphml new file mode 100644 index 0000000000000000000000000000000000000000..12903021ae6eb396bc95d6f1fb921af4c3a3ab33 --- /dev/null +++ b/data/mir_manipulation/mir_arm_motions/ros/docs/linear_motions_with_cartesian_controller.graphml @@ -0,0 +1,1167 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + Linear motions with Cartesian controller + + + + + + + + + + + + + + + + + + + + + + + + + + Folder 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Transform to +pose converter + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Component-wise +pose error +calculator + + + + + + + + + + + + + + + + + + + + Guarded approach - distance constrained + + + + + + + + + + Folder 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Cartesian 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b/data/mir_manipulation/mir_arm_motions/ros/launch/debug.launch new file mode 100644 index 0000000000000000000000000000000000000000..e8fd598350764731f878cc48a607d6a48a9a8619 --- /dev/null +++ b/data/mir_manipulation/mir_arm_motions/ros/launch/debug.launch @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_arm_motions/ros/launch/linear_motions_with_cartesian_controller_example.launch b/data/mir_manipulation/mir_arm_motions/ros/launch/linear_motions_with_cartesian_controller_example.launch new file mode 100644 index 0000000000000000000000000000000000000000..e3ca6d0d953147fe53401b17f1ec70d133ab55c9 --- /dev/null +++ b/data/mir_manipulation/mir_arm_motions/ros/launch/linear_motions_with_cartesian_controller_example.launch @@ -0,0 +1,143 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - 'linear_z' + + + + + + + + + diff --git a/data/mir_manipulation/mir_arm_motions/ros/launch/linear_motions_with_cartesian_controller_gripper_tip_link.launch b/data/mir_manipulation/mir_arm_motions/ros/launch/linear_motions_with_cartesian_controller_gripper_tip_link.launch new file mode 100644 index 0000000000000000000000000000000000000000..b58186c1c81330ac8be54dec3496cc87d1e08de7 --- /dev/null +++ b/data/mir_manipulation/mir_arm_motions/ros/launch/linear_motions_with_cartesian_controller_gripper_tip_link.launch @@ -0,0 +1,141 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - 'linear_z' + + + + + + + + + diff --git a/data/mir_manipulation/mir_arm_motions/ros/launch/linear_motions_with_interpolation_example.launch b/data/mir_manipulation/mir_arm_motions/ros/launch/linear_motions_with_interpolation_example.launch new file mode 100644 index 0000000000000000000000000000000000000000..3f0d680dd7bf13b072ef41336159db31dd950da3 --- /dev/null +++ b/data/mir_manipulation/mir_arm_motions/ros/launch/linear_motions_with_interpolation_example.launch @@ -0,0 +1,97 @@ + + + + + + + + + + + + + + + + + - 'arm_joint_1' + - 'arm_joint_2' + - 'arm_joint_3' + - 'arm_joint_4' + - 'arm_joint_5' + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_arm_motions/ros/launch/move_down.launch b/data/mir_manipulation/mir_arm_motions/ros/launch/move_down.launch new file mode 100644 index 0000000000000000000000000000000000000000..26c88c99d9b36360408f78a43270e9d8a49a01ea --- /dev/null +++ b/data/mir_manipulation/mir_arm_motions/ros/launch/move_down.launch @@ -0,0 +1,150 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + $(arg linear_offset) + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - 'arm_joint_1' + - 'arm_joint_2' + - 'arm_joint_3' + - 'arm_joint_4' + - 'arm_joint_5' + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_arm_motions/ros/launch/move_up.launch b/data/mir_manipulation/mir_arm_motions/ros/launch/move_up.launch new file mode 100644 index 0000000000000000000000000000000000000000..0b5140d0cef21bd005b747d469b76c552caacd41 --- /dev/null +++ b/data/mir_manipulation/mir_arm_motions/ros/launch/move_up.launch @@ -0,0 +1,150 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + $(arg linear_offset) + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - 'arm_joint_1' + - 'arm_joint_2' + - 'arm_joint_3' + - 'arm_joint_4' + - 'arm_joint_5' + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_arm_motions/ros/launch/planned_motion.launch b/data/mir_manipulation/mir_arm_motions/ros/launch/planned_motion.launch new file mode 100644 index 0000000000000000000000000000000000000000..8298307a9f6b471f0005763472498c3b870bf5ed --- /dev/null +++ b/data/mir_manipulation/mir_arm_motions/ros/launch/planned_motion.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_arm_motions/ros/launch/poses_to_move_backward.launch b/data/mir_manipulation/mir_arm_motions/ros/launch/poses_to_move_backward.launch new file mode 100644 index 0000000000000000000000000000000000000000..c4c83caf322c3b1bcffcf32c41472a3124073a02 --- /dev/null +++ b/data/mir_manipulation/mir_arm_motions/ros/launch/poses_to_move_backward.launch @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + $(arg linear_offset) + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_arm_motions/ros/launch/poses_to_move_down.launch b/data/mir_manipulation/mir_arm_motions/ros/launch/poses_to_move_down.launch new file mode 100644 index 0000000000000000000000000000000000000000..8a39c830914fe37ae00196c4ed4e6f43c89c9c99 --- /dev/null +++ b/data/mir_manipulation/mir_arm_motions/ros/launch/poses_to_move_down.launch @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + $(arg linear_offset) + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_arm_motions/ros/launch/poses_to_move_forward.launch b/data/mir_manipulation/mir_arm_motions/ros/launch/poses_to_move_forward.launch new file mode 100644 index 0000000000000000000000000000000000000000..e182185960bae19bb513d2222a6008a4d79c2c3f --- /dev/null +++ b/data/mir_manipulation/mir_arm_motions/ros/launch/poses_to_move_forward.launch @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + $(arg linear_offset) + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_arm_motions/ros/launch/poses_to_move_up.launch b/data/mir_manipulation/mir_arm_motions/ros/launch/poses_to_move_up.launch new file mode 100644 index 0000000000000000000000000000000000000000..9b4fcb2f4dd8e1591ac616117699a746c7423dfc --- /dev/null +++ b/data/mir_manipulation/mir_arm_motions/ros/launch/poses_to_move_up.launch @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + $(arg linear_offset) + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_arm_motions/ros/launch/poses_to_move_wrtbase.launch b/data/mir_manipulation/mir_arm_motions/ros/launch/poses_to_move_wrtbase.launch new file mode 100644 index 0000000000000000000000000000000000000000..93bda857e3c0ef666de774fa1b47ba68cd13a63b --- /dev/null +++ b/data/mir_manipulation/mir_arm_motions/ros/launch/poses_to_move_wrtbase.launch @@ -0,0 +1,51 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_arm_motions/ros/launch/poses_to_move_wrtgripper.launch b/data/mir_manipulation/mir_arm_motions/ros/launch/poses_to_move_wrtgripper.launch new file mode 100644 index 0000000000000000000000000000000000000000..0b8922745d4bf0cbf29e1b8b89c4a9fa7ebc059e --- /dev/null +++ b/data/mir_manipulation/mir_arm_motions/ros/launch/poses_to_move_wrtgripper.launch @@ -0,0 +1,53 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_arm_relative_motion_control/CMakeLists.txt b/data/mir_manipulation/mir_arm_relative_motion_control/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..445f95ba476c33941084b9cb3141d285c540a582 --- /dev/null +++ b/data/mir_manipulation/mir_arm_relative_motion_control/CMakeLists.txt @@ -0,0 +1,33 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_arm_relative_motion_control) +find_package(catkin REQUIRED) + +catkin_package( + CATKIN_DEPENDS + rospy + moveit_commander + moveit_msgs + geometry_msgs + std_msgs + tf + actionlib +) + + +### TESTS +if(CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + + roslaunch_add_file_check(ros/launch) +endif() + + +### INSTALLS +install(PROGRAMS + ros/scripts/arm_relative_motion_controller + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY ros/launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ros/launch +) diff --git a/data/mir_manipulation/mir_arm_relative_motion_control/package.xml b/data/mir_manipulation/mir_arm_relative_motion_control/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..d317e58723e8355a03d26d61f76bf5abf7a7ec88 --- /dev/null +++ b/data/mir_manipulation/mir_arm_relative_motion_control/package.xml @@ -0,0 +1,24 @@ + + + mir_arm_relative_motion_control + 0.0.1 + + Relative motion control interface for a manipulator + + + Shehzad Ahmed + BSD + + catkin + + rospy + moveit_commander + moveit_msgs + geometry_msgs + std_msgs + tf + actionlib + + roslaunch + + diff --git a/data/mir_manipulation/mir_arm_relative_motion_control/ros/launch/arm_relative_motion_controller.launch b/data/mir_manipulation/mir_arm_relative_motion_control/ros/launch/arm_relative_motion_controller.launch new file mode 100644 index 0000000000000000000000000000000000000000..836fe7086c688469776d86ecd372ded8ec0540cc --- /dev/null +++ b/data/mir_manipulation/mir_arm_relative_motion_control/ros/launch/arm_relative_motion_controller.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_arm_relative_motion_control/ros/scripts/arm_relative_motion_controller b/data/mir_manipulation/mir_arm_relative_motion_control/ros/scripts/arm_relative_motion_controller new file mode 100644 index 0000000000000000000000000000000000000000..4a1098f83d7153b078f508aef2384a87c7e29189 --- /dev/null +++ b/data/mir_manipulation/mir_arm_relative_motion_control/ros/scripts/arm_relative_motion_controller @@ -0,0 +1,212 @@ +#!/usr/bin/env python +import sys + +import actionlib +import geometry_msgs.msg +import moveit_commander +import moveit_msgs.msg +import numpy +import rospy +import std_msgs.msg +import tf + +""" +Usage: +Publish on the topics 'event_in' message string 'e_start' to +start relative motion at pregrasp arm configuration. +This component will compute downward movement of the arm in the pregrasp state +Limitation of the component: +It works only if the arm is leaned in front or on the back side of the youbot +""" +event_in = ["e_start"] +event_out = ["e_success", "e_failure"] + + +class ArmRelativeMotionControl: + def __init__(self): + + self.update_parameters() + self.init_moveit() + + rospy.Subscriber("~event_in", std_msgs.msg.String, self.event_in_cb) + self.pub = rospy.Publisher("~event_out", std_msgs.msg.String) + + def update_parameters(self): + self.target_frame = rospy.get_param("~target_frame", "base_link") + self.reference_frame = rospy.get_param("~reference_frame", "arm_link_5") + self.relative_distance_x = rospy.get_param("~relative_distance_x", 0.0) + self.relative_distance_y = rospy.get_param("~relative_distance_y", 0.0) + self.relative_distance_z = rospy.get_param("~relative_distance_z", 0.0) + + def init_moveit(self): + """ + Instantiate a RobotCommander object + Instantiate a PlanningSceneInterface object + Instantiate a MoveGroupCommander object + create this DisplayTrajectory publisher which is used below + to publish trajectories for RVIZ to visualize. + """ + client = actionlib.SimpleActionClient( + "/move_group", moveit_msgs.msg.MoveGroupAction + ) + rospy.loginfo("Wait for MoveIt! to come up ...",) + client.wait_for_server() + rospy.loginfo("... MoveIt! is up") + + self.group = moveit_commander.MoveGroupCommander("arm_1") + + self.display_trajectory_publisher = rospy.Publisher( + "/move_group/display_planned_path", moveit_msgs.msg.DisplayTrajectory + ) + + self.group.set_pose_reference_frame(self.target_frame) + self.group.set_goal_position_tolerance(0.0003) + self.group.set_goal_orientation_tolerance(0.1) + self.group.set_goal_joint_tolerance(0.003) + + def event_in_cb(self, msg): + if msg.data == event_in[0]: + self.pregrasp_relative_motion_cb() + + def event_out_publish(self, data): + self.pub.publish(data) + + def pregrasp_relative_motion_cb(self): + """ + Gets current end-effector pose. + Extracts z-component from the pose to estimate distance from the platform surface + Computes desired wrist(arm_link_5) pose. + Plan and execute desired relative motion using current and desired wrist pose. + """ + self.update_parameters() + self.group.set_end_effector_link(self.reference_frame) + + tool_tip_wrt_base = geometry_msgs.msg.Pose() + tool_tip_wrt_base = self.group.get_current_pose().pose + + desired_wrist_wrt_base = self.compute_desired_wrist_pose(tool_tip_wrt_base) + self.plan_execute_relative_motion( + self.group.get_current_pose().pose, desired_wrist_wrt_base.pose + ) + + def plan_execute_relative_motion(self, current_pose, goal_pose): + """ + Creates a list from start and goal poses + Calls moveit compute cartesian path method to plan cartesian motions + Passed Arguments: waypoints of trajectory + Returned Result: + plan and fraction(percentage of total trajectory is planned) + Sending last joint configuration from cartesian plan to moveit to plan in joint space + """ + waypoints = [] + waypoints.append(current_pose) + waypoints.append(goal_pose) + + (plan, fraction) = self.group.compute_cartesian_path(waypoints, 0.01, 0.0) + planned_trajectory_length = len(plan.joint_trajectory.points) + + rospy.loginfo("Moveit Cartesian path planner output") + rospy.loginfo("Planning Fraction result: %f", fraction) + rospy.loginfo("Length of the planned trajectory: %d", planned_trajectory_length) + + if fraction == 1.0: + """ + Bug: Plan returned by compute_cartesian_path contains melformed trajectory i.e. + it does not contain time information for trajectory points. Therefore, the + the trajectory needs to be time parameterized. + Temporary FIX: + we selected last joint configuration from the plan and planned again in + joint space. + """ + joint_values = list( + plan.joint_trajectory.points[planned_trajectory_length - 1].positions + ) + self.move_arm_in_joint_space(joint_values) + self.event_out_publish("e_success") + else: + self.event_out_publish("e_failure") + + def compute_desired_wrist_pose(self, current_tooltip_pose): + """ + desired_tip_relative_motion: Desired relative motion + """ + quat = [ + current_tooltip_pose.orientation.x, + current_tooltip_pose.orientation.y, + current_tooltip_pose.orientation.z, + current_tooltip_pose.orientation.w, + ] + pose = [ + [current_tooltip_pose.position.x], + [current_tooltip_pose.position.y], + [current_tooltip_pose.position.z], + ] + + tool_tip_wrt_base = tf.transformations.quaternion_matrix(quat) + tool_tip_wrt_base[0:3, 3:4] = numpy.matrix(pose) + + desired_tip_relative_motion = numpy.matrix( + [ + [1.0, 0.0, 0.0, self.relative_distance_x], + [0.0, 1.0, 0.0, self.relative_distance_y], + [0.0, 0.0, 1.0, self.relative_distance_z], + [0.0, 0.0, 0.0, 1.0], + ] + ) + + wrist_wrt_base = tool_tip_wrt_base * desired_tip_relative_motion + desired_wrist_wrt_base = self.matrix_to_pose(self.target_frame, wrist_wrt_base) + return desired_wrist_wrt_base + + def move_arm_in_joint_space(self, target_joint_angles): + + self.group.clear_pose_targets() + self.group.set_joint_value_target(target_joint_angles) + error_code = self.group.go(wait=True) + if error_code == moveit_msgs.msg.MoveItErrorCodes.SUCCESS: + return "succeeded" + else: + rospy.logerr("Arm movement failed with error code: %d", error_code) + return "failed" + + def matrix_to_pose(self, frame, matrix): + """ + :param frame: Name of the reference frame in which the pose is + specified. + :type frame: String + + :param matrix: The 4x4 transformation matrix. + :type matrix: numpy.matrix + + :return: The pose interpretable by ROS. + :rtype: geometry_msgs.msg.PoseStamepd + """ + pose = geometry_msgs.msg.PoseStamped() + + pose.header.frame_id = frame + pose.header.stamp = rospy.Time.now() + + pose.pose.position.x = matrix[0, 3] + pose.pose.position.y = matrix[1, 3] + pose.pose.position.z = matrix[2, 3] + + quat = tf.transformations.quaternion_from_matrix(matrix) + pose.pose.orientation.x = quat[0] + pose.pose.orientation.y = quat[1] + pose.pose.orientation.z = quat[2] + pose.pose.orientation.w = quat[3] + + return pose + + +if __name__ == "__main__": + + rospy.init_node("arm_relative_motion_controller") + + loop_rate = rospy.Rate(10) + try: + ArmRelativeMotionControl() + while not rospy.is_shutdown(): + loop_rate.sleep() + except rospy.ROSInterruptException: + pass diff --git a/data/mir_manipulation/mir_grasp_monitors/CMakeLists.txt b/data/mir_manipulation/mir_grasp_monitors/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..33874461e4e87d4cfd8363cdaf35b04a0aaf146e --- /dev/null +++ b/data/mir_manipulation/mir_grasp_monitors/CMakeLists.txt @@ -0,0 +1,63 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_grasp_monitors) + +find_package(catkin REQUIRED + COMPONENTS + dynamixel_msgs + roscpp + std_msgs +) + +catkin_package( + CATKIN_DEPENDS + dynamixel_msgs + mir_manipulation_msgs + rospy + sensor_msgs + std_msgs +) + +include_directories( + ros/include + ${catkin_INCLUDE_DIRS} +) + +### EXECUTABLES ### +add_executable(dynamixel_gripper_grasp_monitor_node + ros/src/dynamixel_gripper_grasp_monitor_node.cpp +) +add_dependencies(dynamixel_gripper_grasp_monitor_node ${catkin_EXPORTED_TARGETS}) +target_link_libraries(dynamixel_gripper_grasp_monitor_node + ${catkin_LIBRARIES} +) + + +### TESTS +if(CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + + roslaunch_add_file_check(ros/launch) +endif() + + +### INSTALL ### +install( + TARGETS + dynamixel_gripper_grasp_monitor_node + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install( + PROGRAMS + ros/scripts/youbot_gripper_grasp_monitor_node + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY ros/include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" +) + +install(DIRECTORY ros/launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ros/launch +) diff --git a/data/mir_manipulation/mir_grasp_monitors/avr/Makefile b/data/mir_manipulation/mir_grasp_monitors/avr/Makefile new file mode 100644 index 0000000000000000000000000000000000000000..07f116470a11499f3fc03803b4ce4ddab3746e7f --- /dev/null +++ b/data/mir_manipulation/mir_grasp_monitors/avr/Makefile @@ -0,0 +1,224 @@ +# AVR-GCC Makefile template, derived from the WinAVR template (which +# is public domain), believed to be neutral to any flavor of "make" +# (GNU make, BSD make, SysV make) + +# $Id: makefile_template.unix 30 2008-04-28 20:45:16Z arcanum $ + + +MCU = atmega328p +FORMAT = ihex +TARGET = main +SRC = src/$(TARGET).c +ASRC = +OPT = s + +# Name of this Makefile (used for "make depend"). +MAKEFILE = Makefile + +# Debugging format. +# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2. +# AVR (extended) COFF requires stabs, plus an avr-objcopy run. +DEBUG = stabs + +# Compiler flag to set the C Standard level. +# c89 - "ANSI" C +# gnu89 - c89 plus GCC extensions +# c99 - ISO C99 standard (not yet fully implemented) +# gnu99 - c99 plus GCC extensions +CSTANDARD = -std=gnu99 + +# Place -D or -U options here +CDEFS = + +# Place -I options here +CINCS = + + +CDEBUG = -g$(DEBUG) +CWARN = -Wall -Wstrict-prototypes +CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums +#CEXTRA = -Wa,-adhlns=$(<:.c=.lst) +CFLAGS = $(CDEBUG) $(CDEFS) $(CINCS) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA) + + +#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs + + +#Additional libraries. + +# Minimalistic printf version +PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min + +# Floating point printf version (requires MATH_LIB = -lm below) +PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt + +PRINTF_LIB = + +# Minimalistic scanf version +SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min + +# Floating point + %[ scanf version (requires MATH_LIB = -lm below) +SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt + +SCANF_LIB = + +MATH_LIB = -lm + +# External memory options + +# 64 KB of external RAM, starting after internal RAM (ATmega128!), +# used for variables (.data/.bss) and heap (malloc()). +#EXTMEMOPTS = -Wl,--section-start,.data=0x801100,--defsym=__heap_end=0x80ffff + +# 64 KB of external RAM, starting after internal RAM (ATmega128!), +# only used for heap (malloc()). +#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff + +EXTMEMOPTS = + +#LDMAP = $(LDFLAGS) -Wl,-Map=$(TARGET).map,--cref +LDFLAGS = $(EXTMEMOPTS) $(LDMAP) $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB) + + +# Programming support using avrdude. Settings and variables. + +AVRDUDE_PROGRAMMER = arduino +AVRDUDE_PROGRAMMER_BAUDRATE = 57600 +AVRDUDE_PORT = /dev/youbot/gripper_monitor + +AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex +#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep + + +# Uncomment the following if you want avrdude's erase cycle counter. +# Note that this counter needs to be initialized first using -Yn, +# see avrdude manual. +#AVRDUDE_ERASE_COUNTER = -y + +# Uncomment the following if you do /not/ wish a verification to be +# performed after programming the device. +#AVRDUDE_NO_VERIFY = -V + +# Increase verbosity level. Please use this when submitting bug +# reports about avrdude. See +# to submit bug reports. +#AVRDUDE_VERBOSE = -v -v + +AVRDUDE_BASIC = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) -b $(AVRDUDE_PROGRAMMER_BAUDRATE) +AVRDUDE_FLAGS = $(AVRDUDE_BASIC) $(AVRDUDE_NO_VERIFY) $(AVRDUDE_VERBOSE) $(AVRDUDE_ERASE_COUNTER) + + +CC = avr-gcc +OBJCOPY = avr-objcopy +OBJDUMP = avr-objdump +SIZE = avr-size +NM = avr-nm +AVRDUDE = avrdude +REMOVE = rm -f +MV = mv -f + +# Define all object files. +OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) + +# Define all listing files. +LST = $(ASRC:.S=.lst) $(SRC:.c=.lst) + +# Combine all necessary flags and optional flags. +# Add target processor to flags. +ALL_CFLAGS = -mmcu=$(MCU) -Iinclude $(CFLAGS) +ALL_ASFLAGS = -mmcu=$(MCU) -Iinclude -x assembler-with-cpp $(ASFLAGS) + + +# Default target. +all: build + +build: elf hex eep + +elf: $(TARGET).elf +hex: $(TARGET).hex +eep: $(TARGET).eep +lss: $(TARGET).lss +sym: $(TARGET).sym + + +# Program the device. +program: $(TARGET).hex $(TARGET).eep + $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) + + + + +# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. +COFFCONVERT=$(OBJCOPY) --debugging \ +--change-section-address .data-0x800000 \ +--change-section-address .bss-0x800000 \ +--change-section-address .noinit-0x800000 \ +--change-section-address .eeprom-0x810000 + + +coff: $(TARGET).elf + $(COFFCONVERT) -O coff-avr $(TARGET).elf $(TARGET).cof + + +extcoff: $(TARGET).elf + $(COFFCONVERT) -O coff-ext-avr $(TARGET).elf $(TARGET).cof + + +.SUFFIXES: .elf .hex .eep .lss .sym + +.elf.hex: + $(OBJCOPY) -O $(FORMAT) -R .eeprom -R .fuse -R .lock $< $@ + +.elf.eep: + -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ + --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ + +# Create extended listing file from ELF output file. +.elf.lss: + $(OBJDUMP) -h -S $< > $@ + +# Create a symbol table from ELF output file. +.elf.sym: + $(NM) -n $< > $@ + + + +# Link: create ELF output file from object files. +$(TARGET).elf: $(OBJ) + $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) + + +# Compile: create object files from C source files. +.c.o: + $(CC) -c $(ALL_CFLAGS) $< -o $@ + + +# Compile: create assembler files from C source files. +.c.s: + $(CC) -S $(ALL_CFLAGS) $< -o $@ + + +# Assemble: create object files from assembler source files. +.S.o: + $(CC) -c $(ALL_ASFLAGS) $< -o $@ + + + +# Target: clean project. +clean: + $(REMOVE) $(TARGET).hex $(TARGET).eep $(TARGET).cof $(TARGET).elf \ + $(TARGET).map $(TARGET).sym $(TARGET).lss \ + $(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) + +depend: + if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \ + then \ + sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \ + $(MAKEFILE).$$$$ && \ + $(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \ + fi + echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \ + >> $(MAKEFILE); \ + $(CC) -M -mmcu=$(MCU) $(CDEFS) $(CINCS) $(SRC) $(ASRC) >> $(MAKEFILE) + +.PHONY: all build elf hex eep lss sym program coff extcoff clean depend diff --git a/data/mir_manipulation/mir_grasp_monitors/avr/doc/README.txt b/data/mir_manipulation/mir_grasp_monitors/avr/doc/README.txt new file mode 100644 index 0000000000000000000000000000000000000000..19ee3bba2af3daf3190c292017cd9462de20c187 --- /dev/null +++ b/data/mir_manipulation/mir_grasp_monitors/avr/doc/README.txt @@ -0,0 +1,7 @@ +USB Strings have to be changed before an Arduino can be used as a grasp monitor. + +1. Connect Arduino +2. Open FT Prog +3. DEVICES -> Scan and Parse +4. Change USB String Descriptors according to screen.png +5. Write to device diff --git a/data/mir_manipulation/mir_grasp_monitors/avr/doc/screen.png b/data/mir_manipulation/mir_grasp_monitors/avr/doc/screen.png new file mode 100644 index 0000000000000000000000000000000000000000..4eb3ad7342ba6bbc0025450131c772170570fa6d --- /dev/null +++ b/data/mir_manipulation/mir_grasp_monitors/avr/doc/screen.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60649f0ded3fd7323da36049952666e2680d8fcf9a2a1703524d0c69b76ac999 +size 41390 diff --git a/data/mir_manipulation/mir_grasp_monitors/avr/include/adc.h b/data/mir_manipulation/mir_grasp_monitors/avr/include/adc.h new file mode 100644 index 0000000000000000000000000000000000000000..642a6119c7ddf1a82f4eed448ce24ba099c6e4f1 --- /dev/null +++ b/data/mir_manipulation/mir_grasp_monitors/avr/include/adc.h @@ -0,0 +1,10 @@ +#ifndef ADC_H +#define ADC_H + +void adc_init(void); +void adc_start(void); +char adc_running(void); +uint8_t adc_value(void); +void adc_select(uint8_t pin); +uint8_t adc_read(uint8_t pin); +#endif diff --git a/data/mir_manipulation/mir_grasp_monitors/avr/include/misc.h b/data/mir_manipulation/mir_grasp_monitors/avr/include/misc.h new file mode 100644 index 0000000000000000000000000000000000000000..520e376d87ac920557a908e8722f40516851cec7 --- /dev/null +++ b/data/mir_manipulation/mir_grasp_monitors/avr/include/misc.h @@ -0,0 +1,18 @@ +#ifndef MISC_H +#define MISC_H + +#define TOGBIT(var, num) ((var) ^= (_BV(num))) +#define GETBIT(var, num) (((var) & (_BV(num))) >> (num)) +#define SETBIT0(var, num) ((var) &= ~(_BV(num))) +#define SETBIT1(var, num) ((var) |= (_BV(num))) + +#define SETBIT(var, num, val) \ + { \ + if (val) { \ + SETBIT1(var, num); \ + } else { \ + SETBIT0(var, num); \ + } \ + } + +#endif diff --git a/data/mir_manipulation/mir_grasp_monitors/avr/include/timer.h b/data/mir_manipulation/mir_grasp_monitors/avr/include/timer.h new file mode 100644 index 0000000000000000000000000000000000000000..c8b7871feaa934bb76b6ee407f85d7888c993f39 --- /dev/null +++ b/data/mir_manipulation/mir_grasp_monitors/avr/include/timer.h @@ -0,0 +1,6 @@ +#ifndef TIMER_H +#define TIMER_H + +void timer_init(void); + +#endif diff --git a/data/mir_manipulation/mir_grasp_monitors/avr/include/uart.h b/data/mir_manipulation/mir_grasp_monitors/avr/include/uart.h new file mode 100644 index 0000000000000000000000000000000000000000..b343dc114184a19391158543a0b314c3304b169e --- /dev/null +++ b/data/mir_manipulation/mir_grasp_monitors/avr/include/uart.h @@ -0,0 +1,10 @@ +#ifndef UART_H +#define UART_H + +#include + +void uart_init(void); +void uart_write(char c); +void uart_write_hex(char b); + +#endif diff --git a/data/mir_manipulation/mir_grasp_monitors/avr/src/adc.c b/data/mir_manipulation/mir_grasp_monitors/avr/src/adc.c new file mode 100644 index 0000000000000000000000000000000000000000..e558f88633d6de4e116b13b436a55c44c4946eeb --- /dev/null +++ b/data/mir_manipulation/mir_grasp_monitors/avr/src/adc.c @@ -0,0 +1,36 @@ +#include "adc.h" +#include +#include "misc.h" + +// initialize the adc +void adc_init(void) +{ + // left adjust data in register + SETBIT1(ADMUX, ADLAR); + // AVcc as reference + SETBIT0(ADMUX, REFS1); + SETBIT1(ADMUX, REFS0); + // set adc prescaler to 64 + SETBIT1(ADCSRA, ADPS2); + SETBIT1(ADCSRA, ADPS1); + SETBIT0(ADCSRA, ADPS0); + // enable adc + SETBIT1(ADCSRA, ADEN); +} + +// set adc pin +void adc_select(uint8_t pin) { ADMUX = (ADMUX & 0xF0) | (pin & 0x0F); } +// start adc conversion +void adc_start(void) { SETBIT1(ADCSRA, ADSC); } +// is conversion running +char adc_running(void) { return GETBIT(ADCSRA, ADSC); } +// read adc value +uint8_t adc_value(void) { return ADCH; } +uint8_t adc_read(uint8_t pin) +{ + adc_select(pin); + adc_start(); + while (adc_running()) { + } + return adc_value(); +} diff --git a/data/mir_manipulation/mir_grasp_monitors/avr/src/main.c b/data/mir_manipulation/mir_grasp_monitors/avr/src/main.c new file mode 100644 index 0000000000000000000000000000000000000000..722ca350ece6a3083769963ec8a0b5c0b5b1b95c --- /dev/null +++ b/data/mir_manipulation/mir_grasp_monitors/avr/src/main.c @@ -0,0 +1,48 @@ +#ifndef F_CPU +#define F_CPU 16000000 +#endif + +#define BAUD 9600 + +#include +#include +#include "adc.c" +#include "misc.h" +#include "timer.c" +#include "uart.c" + +// #define UART_DEBUG + +int main(void) +{ + // Onboard LED Pin as output + SETBIT1(DDRB, DDB5); + + uart_init(); + timer_init(); + adc_init(); + + // Interrupt enable + sei(); + + while (1) { + } +} + +// 16MHz / 1024 / 256 ca 60 Hz +ISR(TIMER0_OVF_vect) +{ + // read both adc values and send them via uart + uint8_t adc0 = adc_read(3); + uint8_t adc1 = adc_read(4); +#ifdef UART_DEBUG + uart_write_hex(adc0); + uart_write(' '); + uart_write_hex(adc1); + uart_write('\r'); + uart_write('\n'); +#else + uart_write(adc0); + uart_write(adc1); +#endif +} diff --git a/data/mir_manipulation/mir_grasp_monitors/avr/src/timer.c b/data/mir_manipulation/mir_grasp_monitors/avr/src/timer.c new file mode 100644 index 0000000000000000000000000000000000000000..ba16bb295dba3035a164f104363a7f27d01f9e08 --- /dev/null +++ b/data/mir_manipulation/mir_grasp_monitors/avr/src/timer.c @@ -0,0 +1,11 @@ +#include "misc.h" + +void timer_init(void) +{ + // set timer prescaler to 256 + SETBIT1(TCCR0B, CS02); + SETBIT0(TCCR0B, CS01); + SETBIT1(TCCR0B, CS00); + // enable overflow interrupt + SETBIT1(TIMSK0, TOIE0); +} diff --git a/data/mir_manipulation/mir_grasp_monitors/avr/src/uart.c b/data/mir_manipulation/mir_grasp_monitors/avr/src/uart.c new file mode 100644 index 0000000000000000000000000000000000000000..6f5a808855378940e18c8c7eaa6f4b6b27a0fab2 --- /dev/null +++ b/data/mir_manipulation/mir_grasp_monitors/avr/src/uart.c @@ -0,0 +1,43 @@ +#include "uart.h" +#include +#include "misc.h" + +void uart_init(void) +{ + // set baud rate + UBRR0H = UBRRH_VALUE; + UBRR0L = UBRRL_VALUE; + + // enable transmitter + SETBIT1(UCSR0B, TXEN0); + + // 8 bit mode + SETBIT0(UCSR0B, UCSZ02); + SETBIT1(UCSR0C, UCSZ01); + SETBIT1(UCSR0C, UCSZ00); +} + +void uart_write(char c) +{ + // wait for previous transmission to be finished + loop_until_bit_is_set(UCSR0A, UDRE0); + UDR0 = c; +} + +static char to_hex(char b) +{ + b = 0x0F & b; + if (b > 9) { + return b + 0x37; + } else { + return b + 0x30; + } +} + +void uart_write_hex(char b) +{ + uart_write('0'); + uart_write('x'); + uart_write(to_hex(b >> 4)); + uart_write(to_hex(0x0F & b)); +} diff --git a/data/mir_manipulation/mir_grasp_monitors/package.xml b/data/mir_manipulation/mir_grasp_monitors/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..a31e71ce44ab80d849a107252b1a907654223c18 --- /dev/null +++ b/data/mir_manipulation/mir_grasp_monitors/package.xml @@ -0,0 +1,34 @@ + + + mir_grasp_monitors + 0.1.0 + a monitor to check whether an object has been grasped or not + + Frederik Hegger + Alexander Moriarty + + Frederik Hegger + Alexander Moriarty + + GPLv3 + catkin + + dynamixel_msgs + roscpp + std_msgs + + + + dynamixel_msgs + mir_manipulation_msgs + rospy + sensor_msgs + std_msgs + + + + roslaunch + + diff --git a/data/mir_manipulation/mir_grasp_monitors/ros/config/dynamixel_gripper_grasp_monitor.yaml b/data/mir_manipulation/mir_grasp_monitors/ros/config/dynamixel_gripper_grasp_monitor.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f3a2872e0a1e0ea8b5ea4e2b85d83c4f1ca9a039 --- /dev/null +++ b/data/mir_manipulation/mir_grasp_monitors/ros/config/dynamixel_gripper_grasp_monitor.yaml @@ -0,0 +1,4 @@ +# If position error (goal and current motor pos difference) +# is bigger than error_threshold an object is grasped +position_error_threshold: 0.07 +load_threshold: 0.16 diff --git a/data/mir_manipulation/mir_grasp_monitors/ros/include/mir_grasp_monitors/dynamixel_gripper_grasp_monitor_node.h b/data/mir_manipulation/mir_grasp_monitors/ros/include/mir_grasp_monitors/dynamixel_gripper_grasp_monitor_node.h new file mode 100644 index 0000000000000000000000000000000000000000..1a8d3914a755b17c154d8b04195eef3dea576e0d --- /dev/null +++ b/data/mir_manipulation/mir_grasp_monitors/ros/include/mir_grasp_monitors/dynamixel_gripper_grasp_monitor_node.h @@ -0,0 +1,58 @@ +/* + * dynamixel_gripper_grasp_monitor_node.h + * + * Created on: Jul 11, 2015 + * Author: Frederik Hegger + */ + +#ifndef DYNAMIXEL_GRIPPER_GRASP_MONITOR_NODE_H_ +#define DYNAMIXEL_GRIPPER_GRASP_MONITOR_NODE_H_ + +#include +#include +#include + +class DynamixelGripperGraspMonitorNode +{ + public: + DynamixelGripperGraspMonitorNode(); + ~DynamixelGripperGraspMonitorNode(); + + void update(); + + private: + enum States { INIT, IDLE, RUN }; + + std::map object_threshold_map; + + void jointStatesCallback(const dynamixel_msgs::JointState::Ptr &msg); + void eventCallback(const std_msgs::String::ConstPtr &msg); + void objectNameCallback(const std_msgs::String::ConstPtr &msg); + + void checkForNewEvent(); + void init_state(); + void idle_state(); + void run_state(); + bool isObjectGrasped(); + void addThreshold(std::string str, float f); + ros::Publisher pub_event_; + ros::Subscriber sub_event_; + ros::Subscriber sub_dynamixel_motor_states_; + ros::Subscriber sub_object_name_; + + dynamixel_msgs::JointState::Ptr joint_states_; + bool joint_states_received_; + + std_msgs::String event_in_; + bool event_in_received_; + std::string object_name_; + + States current_state_; + + ros::Rate loop_rate_init_state_; + + double load_threshold_; + double position_error_threshold_; +}; + +#endif /* DYNAMIXEL_GRIPPER_GRASP_MONITOR_NODE_H_ */ diff --git a/data/mir_manipulation/mir_grasp_monitors/ros/launch/dynamixel_gripper_grasp_monitor.launch b/data/mir_manipulation/mir_grasp_monitors/ros/launch/dynamixel_gripper_grasp_monitor.launch new file mode 100644 index 0000000000000000000000000000000000000000..881ee90fd7ee71941077bdfae1c0b97445e7b9e5 --- /dev/null +++ b/data/mir_manipulation/mir_grasp_monitors/ros/launch/dynamixel_gripper_grasp_monitor.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/data/mir_manipulation/mir_grasp_monitors/ros/launch/youbot_gripper_grasp_monitor.launch b/data/mir_manipulation/mir_grasp_monitors/ros/launch/youbot_gripper_grasp_monitor.launch new file mode 100644 index 0000000000000000000000000000000000000000..a4ee240734c5543e7d6f64badee2cc87a033d7bf --- /dev/null +++ b/data/mir_manipulation/mir_grasp_monitors/ros/launch/youbot_gripper_grasp_monitor.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/data/mir_manipulation/mir_grasp_monitors/ros/scripts/youbot_dynamixel_gripper_grasp_monitor_node b/data/mir_manipulation/mir_grasp_monitors/ros/scripts/youbot_dynamixel_gripper_grasp_monitor_node new file mode 100644 index 0000000000000000000000000000000000000000..c0fa14217b2d0642b1a32185f19fc9ae258f7d07 --- /dev/null +++ b/data/mir_manipulation/mir_grasp_monitors/ros/scripts/youbot_dynamixel_gripper_grasp_monitor_node @@ -0,0 +1,67 @@ +#!/usr/bin/env python + +import rospy +import sensor_msgs.msg + +import mir_manipulation_msgs.srv + + +class YoubotGripperGraspMonitor: + def __init__(self): + self.received_state = False + + # read joint names + if not rospy.has_param("joints"): + rospy.logerr("No gripper joints given.") + exit(0) + else: + self.joint_names = sorted(rospy.get_param("joints")) + rospy.loginfo("gripper joints: %s", self.joint_names) + + self.current_joint_configuration = [0 for i in range(len(self.joint_names))] + self.unit = "m" + + # subscriptions + rospy.Subscriber( + "joint_states", sensor_msgs.msg.JointState, self.joint_states_callback + ) + + # service server + self.srv_gripper_closed = rospy.Service( + "is_gripper_closed", + mir_manipulation_msgs.srv.IsGripperClosed, + self.is_gripper_closed, + ) + + def joint_states_callback(self, msg): + for k in range(len(self.joint_names)): + for i in range(len(msg.name)): + if msg.name[i] == self.joint_names[k]: + self.current_joint_configuration[k] = msg.position[i] + + self.received_state = True + + return True + + def wait_for_new_joint_states(self): + self.received_state = False + + while self.received_state == False: + rospy.sleep(0.01) + + return + + def is_gripper_closed(self, req): + self.wait_for_new_joint_states() + + for gripper_joint_value in self.current_joint_configuration: + if gripper_joint_value > 0.003: + return False + return True + + +if __name__ == "__main__": + rospy.init_node("grasp_monitor") + gripper_srv = YoubotGripperGraspMonitor() + + rospy.spin() diff --git a/data/mir_manipulation/mir_grasp_monitors/ros/scripts/youbot_gripper_grasp_monitor_node b/data/mir_manipulation/mir_grasp_monitors/ros/scripts/youbot_gripper_grasp_monitor_node new file mode 100644 index 0000000000000000000000000000000000000000..c0fa14217b2d0642b1a32185f19fc9ae258f7d07 --- /dev/null +++ b/data/mir_manipulation/mir_grasp_monitors/ros/scripts/youbot_gripper_grasp_monitor_node @@ -0,0 +1,67 @@ +#!/usr/bin/env python + +import rospy +import sensor_msgs.msg + +import mir_manipulation_msgs.srv + + +class YoubotGripperGraspMonitor: + def __init__(self): + self.received_state = False + + # read joint names + if not rospy.has_param("joints"): + rospy.logerr("No gripper joints given.") + exit(0) + else: + self.joint_names = sorted(rospy.get_param("joints")) + rospy.loginfo("gripper joints: %s", self.joint_names) + + self.current_joint_configuration = [0 for i in range(len(self.joint_names))] + self.unit = "m" + + # subscriptions + rospy.Subscriber( + "joint_states", sensor_msgs.msg.JointState, self.joint_states_callback + ) + + # service server + self.srv_gripper_closed = rospy.Service( + "is_gripper_closed", + mir_manipulation_msgs.srv.IsGripperClosed, + self.is_gripper_closed, + ) + + def joint_states_callback(self, msg): + for k in range(len(self.joint_names)): + for i in range(len(msg.name)): + if msg.name[i] == self.joint_names[k]: + self.current_joint_configuration[k] = msg.position[i] + + self.received_state = True + + return True + + def wait_for_new_joint_states(self): + self.received_state = False + + while self.received_state == False: + rospy.sleep(0.01) + + return + + def is_gripper_closed(self, req): + self.wait_for_new_joint_states() + + for gripper_joint_value in self.current_joint_configuration: + if gripper_joint_value > 0.003: + return False + return True + + +if __name__ == "__main__": + rospy.init_node("grasp_monitor") + gripper_srv = YoubotGripperGraspMonitor() + + rospy.spin() diff --git a/data/mir_manipulation/mir_grasp_monitors/ros/src/dynamixel_gripper_grasp_monitor_node.cpp b/data/mir_manipulation/mir_grasp_monitors/ros/src/dynamixel_gripper_grasp_monitor_node.cpp new file mode 100644 index 0000000000000000000000000000000000000000..0ffe5ea8423934a379f6cfda94906cc8d0cfb315 --- /dev/null +++ b/data/mir_manipulation/mir_grasp_monitors/ros/src/dynamixel_gripper_grasp_monitor_node.cpp @@ -0,0 +1,169 @@ +/* + * dynamixel_gripper_grasp_monitor_node.cpp + * + * Created on: Jul 11, 2015 + * Author: Frederik Hegger + */ + +#include + +DynamixelGripperGraspMonitorNode::DynamixelGripperGraspMonitorNode() + : joint_states_received_(false), + event_in_received_(false), + current_state_(INIT), + loop_rate_init_state_(ros::Rate(100.0)) +{ + ros::NodeHandle nh("~"); + nh.param("position_error_threshold", position_error_threshold_, 0.1); + nh.param("load_threshold", load_threshold_, 0.15); + pub_event_ = nh.advertise("event_out", 1); + sub_event_ = nh.subscribe("event_in", 10, &DynamixelGripperGraspMonitorNode::eventCallback, this); + sub_dynamixel_motor_states_ = nh.subscribe( + "dynamixel_motor_states", 10, &DynamixelGripperGraspMonitorNode::jointStatesCallback, this); + sub_object_name_ = + nh.subscribe("object_name", 10, &DynamixelGripperGraspMonitorNode::objectNameCallback, this); + + // addThreshold("bearing", position_error_threshold_ ); + // addThreshold("distance_tube", position_error_threshold_); + addThreshold("bearing_box", position_error_threshold_); + addThreshold("motor", position_error_threshold_); + addThreshold("s40_40_g", position_error_threshold_); + addThreshold("s40_40_b", position_error_threshold_); + // addThreshold("m30", position_error_threshold_); + // addThreshold("m20", position_error_threshold_); + // addThreshold("r20", position_error_threshold_); +} + +DynamixelGripperGraspMonitorNode::~DynamixelGripperGraspMonitorNode() +{ + pub_event_.shutdown(); + sub_event_.shutdown(); + sub_dynamixel_motor_states_.shutdown(); +} + +void DynamixelGripperGraspMonitorNode::addThreshold(std::string str, float f) +{ + object_threshold_map[str] = f; + for (int i = 0; i < 100; i++) { + std::ostringstream stringStream1; + stringStream1 << str << "-" << std::setfill('0') << std::setw(2) << i; + std::string id1 = stringStream1.str(); + object_threshold_map[id1] = f; + std::ostringstream stringStream2; + stringStream2 << str << "_" << std::setfill('0') << std::setw(2) << i; + std::string id2 = stringStream2.str(); + object_threshold_map[id2] = f; + } +} + +void DynamixelGripperGraspMonitorNode::jointStatesCallback( + const dynamixel_msgs::JointState::Ptr &msg) +{ + joint_states_ = msg; + joint_states_received_ = true; +} + +void DynamixelGripperGraspMonitorNode::eventCallback(const std_msgs::String::ConstPtr &msg) +{ + event_in_ = *msg; + event_in_received_ = true; +} + +void DynamixelGripperGraspMonitorNode::objectNameCallback(const std_msgs::String::ConstPtr &msg) +{ + object_name_ = msg->data; + std::transform(object_name_.begin(), object_name_.end(), object_name_.begin(), tolower); + ROS_DEBUG("object_name: %s", object_name_.c_str()); +} + +void DynamixelGripperGraspMonitorNode::update() +{ + checkForNewEvent(); + + switch (current_state_) { + case INIT: + init_state(); + break; + case IDLE: + idle_state(); + break; + case RUN: + run_state(); + break; + } +} + +void DynamixelGripperGraspMonitorNode::checkForNewEvent() +{ + if (!event_in_received_) return; + + ROS_INFO_STREAM("Received event: " << event_in_.data); + + if (event_in_.data == "e_trigger") + current_state_ = IDLE; + else + ROS_ERROR_STREAM("Event not supported: " << event_in_.data); + + event_in_received_ = false; +} + +void DynamixelGripperGraspMonitorNode::init_state() { loop_rate_init_state_.sleep(); } +void DynamixelGripperGraspMonitorNode::idle_state() +{ + // wait for incoming data + if (joint_states_received_) current_state_ = RUN; + + joint_states_received_ = false; +} + +void DynamixelGripperGraspMonitorNode::run_state() +{ + std_msgs::String event_out; + + if (isObjectGrasped()) + event_out.data = "e_object_grasped"; + else + event_out.data = "e_object_not_grasped"; + + pub_event_.publish(event_out); + + current_state_ = INIT; +} + +bool DynamixelGripperGraspMonitorNode::isObjectGrasped() +{ + if (object_threshold_map.find(object_name_) == object_threshold_map.end()) { + return true; + } + + ROS_INFO("[GRASP_MONITOR] Position Error Values: %f, Position Threshold: %f", + std::abs(joint_states_->error), object_threshold_map[object_name_]); + ROS_INFO("[GRASP_MONITOR] Load Values: %f, Load Threshold: %f", std::abs(joint_states_->load), + load_threshold_); + + if ((std::abs(joint_states_->error) >= object_threshold_map[object_name_]) and + (std::abs(joint_states_->load) >= load_threshold_)) { + return true; + } + return false; +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "grasp_monitor"); + ros::NodeHandle nh("~"); + + DynamixelGripperGraspMonitorNode grasp_monitor; + + ros::Rate loop_rate(100); + + while (ros::ok()) { + ros::spinOnce(); + + grasp_monitor.update(); + + loop_rate.sleep(); + } + + return 0; +} diff --git a/data/mir_manipulation/mir_gripper_controller/CMakeLists.txt b/data/mir_manipulation/mir_gripper_controller/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..56725d598ac2c37fb86bd92568648609425b5922 --- /dev/null +++ b/data/mir_manipulation/mir_gripper_controller/CMakeLists.txt @@ -0,0 +1,47 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_gripper_controller) + +find_package(catkin REQUIRED + COMPONENTS + actionlib + mcr_manipulation_msgs + roscpp + roslint + std_msgs +) + +catkin_package( + CATKIN_DEPENDS + mcr_manipulation_msgs + rospy +) + +include_directories( + ros/include + ${catkin_INCLUDE_DIRS} +) + +### TESTS +roslint_cpp() + +if(CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + + roslaunch_add_file_check(ros/launch) +endif() + + +### INSTALL ### +install(PROGRAMS + ros/scripts/teensy_gripper_controller_ros + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY ros/launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ros/launch +) + +install(DIRECTORY ros/include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" +) diff --git a/data/mir_manipulation/mir_gripper_controller/package.xml b/data/mir_manipulation/mir_gripper_controller/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..b4ecd1533cc2d31724d4d3788ebaafe86e31bc01 --- /dev/null +++ b/data/mir_manipulation/mir_gripper_controller/package.xml @@ -0,0 +1,33 @@ + + + mir_gripper_controller + 0.1.0 + controller for different the grippers + + Matthias Füller + + Matthias Füller + Frederik Hegger + + GPLv3 + catkin + + actionlib + control_msgs + dynamixel_controllers + dynamixel_msgs + roscpp + roslint + sensor_msgs + std_msgs + mcr_manipulation_msgs + + dynamixel_controllers + mcr_manipulation_msgs + rospy + sensor_msgs + brics_actuator + + roslaunch + + diff --git a/data/mir_manipulation/mir_gripper_controller/ros/launch/dynamixel_gripper.launch b/data/mir_manipulation/mir_gripper_controller/ros/launch/dynamixel_gripper.launch new file mode 100644 index 0000000000000000000000000000000000000000..a51863feacd8a0ad6bc2dc084ce4a9fe76426fad --- /dev/null +++ b/data/mir_manipulation/mir_gripper_controller/ros/launch/dynamixel_gripper.launch @@ -0,0 +1,11 @@ + + + + + + + + + + + \ No newline at end of file diff --git a/data/mir_manipulation/mir_gripper_controller/ros/scripts/dynamixel_gripper_controller_ros b/data/mir_manipulation/mir_gripper_controller/ros/scripts/dynamixel_gripper_controller_ros new file mode 100644 index 0000000000000000000000000000000000000000..519addbe11684b42e240a64e55be43042b279de0 --- /dev/null +++ b/data/mir_manipulation/mir_gripper_controller/ros/scripts/dynamixel_gripper_controller_ros @@ -0,0 +1,120 @@ +#!/usr/bin/env python + +import rospy +from std_msgs.msg import String +from sensor_msgs.msg import JointState +from mcr_manipulation_msgs.msg import GripperCommand +import serial_interface +import math +import json + + +class GripperController: + """ROS wrapper for receiving commands for the gripper and forwarding them to the OpenRB-150 board. + """ + + component_name = 'gripper_controller' + + def __init__(self): + rospy.init_node(self.component_name, anonymous=True) + try: + self.serial_msg = serial_interface.SerialInterface(9600, 1, "239A") + self.serial_msg.open_port() + rospy.loginfo("Dynamixel gripper has been intialized successfully") + self.gripper_command_topic = rospy.get_param('~gripper_command_topic', '/arm_1/gripper_command') + self.cmd_listener = rospy.Subscriber(self.gripper_command_topic, GripperCommand, self.callback) + + self.gripper_feedback_topic = rospy.get_param('~gripper_feedback_topic', '/arm_1/gripper_feedback') + self.feedback_publisher = rospy.Publisher(self.gripper_feedback_topic, String, queue_size=1, latch=True) + + # Joint states publisher + self.join_state_pub = rospy.Publisher('joint_state', JointState, queue_size=1) + + # Perform gripper close open at initialization + rospy.loginfo("Closing and opening the gripper at initialization.") + self.serial_msg.send({'command': 1.0}) + rospy.sleep(1) + self.serial_msg.send({'command': 0.0}) + + except rospy.ROSInterruptException as ex: + rospy.logerr(ex) + + + def callback(self, data): + """Callback for receiving gripper command + + Keyword arguments: + @param data -- command from the gripper + """ + command = float(data.command) + json_command = { + "command": 0.0, + } + + if command > 1.0: + command = 1.0 + elif command < -1.5: + command = 0.0 + + if command == 1.0: + rospy.logdebug('Closing the gripper.') + json_command['command'] = 1.0 + + elif command == 0.0: + rospy.logdebug('Opening the gripper.') + json_command['command'] = 0.0 + elif command > 0.0 and command < 1.0: + rospy.logdebug('Moving the gripper to a specific position.') + json_command['command'] = command + elif command < 0.0 and command > -1.5: + rospy.logdebug('Opening the gripper above and beyond.') + json_command['command'] = command + + self.serial_msg.send(json_command) + + def handle_msg(self): + """Function for receiving feedback from serial and publishing to ros + + Assuming feedback is in the below json format: + { + "state": [GRIPPER_OPENING, GRIPPER_INTER, GRIPPER_CLOSING, OBJECT_GRASPED, OBJECT_SLIPPED, GRIPPER_CLOSED, GRIPPER_OPEN], + "right_gripper_pos": 0 to 360 degrees, + "left_gripper_pos": 0 to 360 degrees, + "parsing_error": 0, + "last_command": [-1.5 to 1.0], + # other fields can be added here + } + """ + + msgs = self.serial_msg.receive() + if msgs is not None: + for msg in msgs: + self.feedback_publisher.publish(json.dumps(msg)) + + # convert gripper positions from degrees to radians + gripper_right_motor_position = math.radians(msg['right_gripper_pos']) + gripper_left_motor_position = math.radians(msg['left_gripper_pos']) + + # Publish joint states + joint_state = JointState() + joint_state.header.stamp = rospy.Time.now() + joint_state.name = ['gripper_motor_right_joint', 'gripper_motor_left_joint'] + joint_state.position = [gripper_right_motor_position, gripper_left_motor_position] + joint_state.velocity = [0.0, 0.0] + joint_state.effort = [0.0, 0.0] + self.join_state_pub.publish(joint_state) + + rospy.sleep(0.1) + +if __name__ == '__main__': + + try: + gripper_controller = GripperController() + rate = rospy.Rate(10) + + while not rospy.is_shutdown(): + gripper_controller.handle_msg() + rate.sleep() + + except rospy.ROSInterruptException as ex: + rospy.logerr(ex) \ No newline at end of file diff --git a/data/mir_manipulation/mir_gripper_controller/ros/scripts/serial_interface.py b/data/mir_manipulation/mir_gripper_controller/ros/scripts/serial_interface.py new file mode 100644 index 0000000000000000000000000000000000000000..272addfa2989a1e02d257966799900072db8c489 --- /dev/null +++ b/data/mir_manipulation/mir_gripper_controller/ros/scripts/serial_interface.py @@ -0,0 +1,81 @@ +""" +This module contains a component that communicates with +the particular arduino board and sends the message framework via +serial port with specified baudrate, timeout and board pid. +""" +import serial +import json +import rospy + +class SerialInterface: + + def __init__(self, baud, timeout, pid): + """This module contains a component that communicates with the particular Teensy board and sends the message via + serial port with specified baudrate, timeout and pid of the microcontroller board. + + Keyword arguments: + @param baud -- baudrate of the microcontroller + @param timeout -- timeout after which communication with the microcontroller is stopped + @param pid -- pid of the microcontroller, which is fixed to 239A. + """ + self.baud = baud + self.timeout = timeout + self.pid = pid + self.port = '/dev/youbot/gripper' + """ + + + """ + def open_port(self): + """Function for detecting the microcontroller board and initializing the serial module from pyserial + """ + try: + self.board = serial.Serial(self.port, self.baud, timeout=self.timeout) + except Exception as a: + rospy.logerr(a) + rospy.logerr('Please check the port {}'.format(self.port)) + + def send(self, message): + """ + Function for sending the string message framework to the microcontroller. + + Keyword arguments: + @param message -- message to send to the microcontroller + """ + self.board.flushInput() + message_str = json.dumps(message) + message_str = message_str + self.board.write(bytes(message_str.encode())) + + def receive(self): + """ + Function for receiving the string message from the microcontroller. + + Return: + Message from the microcontroller in the json format. + """ + msg_str = self.board.readline() + + msg_str = msg_str.decode().strip() + + + if len(msg_str) < 5 or not '{' in msg_str: + return None + + if '}{' not in msg_str: + return [json.loads(msg_str)] + + msgs = msg_str.split("}{") + + for i in range(len(msgs)): + if '{' not in msgs[i]: + msgs[i] = '{' + msgs[i] + if '}' not in msgs[i]: + msgs[i] = msgs[i] + '}' + + msgs_json = [] + + for msg in msgs: + msgs_json.append(json.loads(msg)) + + return msgs_json diff --git a/data/mir_manipulation/mir_manipulation/CMakeLists.txt b/data/mir_manipulation/mir_manipulation/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..d1edd16f260e303448272347b2c86c64f7d4f4b1 --- /dev/null +++ b/data/mir_manipulation/mir_manipulation/CMakeLists.txt @@ -0,0 +1,4 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_manipulation) +find_package(catkin REQUIRED) +catkin_metapackage() \ No newline at end of file diff --git a/data/mir_manipulation/mir_manipulation/package.xml b/data/mir_manipulation/mir_manipulation/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..d8dda3a910ec20fa18f311f002ed18256400245a --- /dev/null +++ b/data/mir_manipulation/mir_manipulation/package.xml @@ -0,0 +1,22 @@ + + + mir_manipulation + 0.0.1 + manipulation related packages + + GPLv3 + + Frederik Hegger + + Frederik Hegger + Sven Schneider + Matthias Füller + Rhama Dwiputra + Nico Hochgeschwender + + catkin + + + + + diff --git a/data/mir_manipulation/mir_manipulation_monitors/CMakeLists.txt b/data/mir_manipulation/mir_manipulation_monitors/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..e20547370303cb36b5da723ad1a51dc73d6a762b --- /dev/null +++ b/data/mir_manipulation/mir_manipulation_monitors/CMakeLists.txt @@ -0,0 +1,16 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_manipulation_monitors) + +find_package(catkin REQUIRED) + +catkin_package() + +###TESTS +if(CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + roslaunch_add_file_check(ros/launch) +endif() + +install(DIRECTORY ros/launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ros/launch +) diff --git a/data/mir_manipulation/mir_manipulation_monitors/package.xml b/data/mir_manipulation/mir_manipulation_monitors/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..5d38beaf942b59e8ae545f74e500ba92088e491f --- /dev/null +++ b/data/mir_manipulation/mir_manipulation_monitors/package.xml @@ -0,0 +1,22 @@ + + + mir_manipulation_monitors + 0.1.0 + + + Launcher for mcr_manipulation_monitors package to use joint position + monitor component. + + + Shehzad Ahmed + Shehzad Ahmed + + GPLv3 + + catkin + + mcr_manipulation_monitors + + roslaunch + + diff --git a/data/mir_manipulation/mir_manipulation_monitors/ros/launch/joint_position_monitors.launch b/data/mir_manipulation/mir_manipulation_monitors/ros/launch/joint_position_monitors.launch new file mode 100644 index 0000000000000000000000000000000000000000..270b296bfcb888419a3dca1cd9acc3d5c1abf54f --- /dev/null +++ b/data/mir_manipulation/mir_manipulation_monitors/ros/launch/joint_position_monitors.launch @@ -0,0 +1,23 @@ + + + + + + + - 'arm_joint_1' + - 'arm_joint_2' + - 'arm_joint_3' + - 'arm_joint_4' + - 'arm_joint_5' + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_manipulation_msgs/CMakeLists.txt b/data/mir_manipulation/mir_manipulation_msgs/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..84bac13ba2c571967dbaa46a7b187603b4af32b1 --- /dev/null +++ b/data/mir_manipulation/mir_manipulation_msgs/CMakeLists.txt @@ -0,0 +1,31 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_manipulation_msgs) + +find_package(catkin REQUIRED + COMPONENTS + message_generation + roscpp + rospy + std_msgs +) + +add_message_files( + FILES + GripperCommand.msg +) + +add_service_files( + FILES + IsGripperClosed.srv +) + +generate_messages( + DEPENDENCIES + std_msgs +) + +catkin_package( + CATKIN_DEPENDS + message_runtime + std_msgs +) diff --git a/data/mir_manipulation/mir_manipulation_msgs/msg/GripperCommand.msg b/data/mir_manipulation/mir_manipulation_msgs/msg/GripperCommand.msg new file mode 100644 index 0000000000000000000000000000000000000000..0bdfdd6e6dd76b9222ff5d992be4fc4707765b82 --- /dev/null +++ b/data/mir_manipulation/mir_manipulation_msgs/msg/GripperCommand.msg @@ -0,0 +1,4 @@ +float32 command + +float32 OPEN = 0.0 +float32 CLOSE = 1.0 diff --git a/data/mir_manipulation/mir_manipulation_msgs/package.xml b/data/mir_manipulation/mir_manipulation_msgs/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..7fd5c7a397738762a21951714c057a0988ed77ed --- /dev/null +++ b/data/mir_manipulation/mir_manipulation_msgs/package.xml @@ -0,0 +1,22 @@ + + + mir_manipulation_msgs + 0.0.1 + manipulation related messages, services and actions + + Frederik Hegger + + GPLv3 + + Frederik Hegger + + catkin + + message_generation + roscpp + rospy + std_msgs + + message_runtime + std_msgs + diff --git a/data/mir_manipulation/mir_manipulation_msgs/srv/IsGripperClosed.srv b/data/mir_manipulation/mir_manipulation_msgs/srv/IsGripperClosed.srv new file mode 100644 index 0000000000000000000000000000000000000000..5c6043c53b819978195fabb7ea1e8e223488e038 --- /dev/null +++ b/data/mir_manipulation/mir_manipulation_msgs/srv/IsGripperClosed.srv @@ -0,0 +1,2 @@ +--- +string is_closed \ No newline at end of file diff --git a/data/mir_manipulation/mir_moveit_client/CMakeLists.txt b/data/mir_manipulation/mir_moveit_client/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..0025f49b8e27058a40258b523b395b9c0cfb6264 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_client/CMakeLists.txt @@ -0,0 +1,24 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_moveit_client) + +find_package(catkin REQUIRED + COMPONENTS + rospy + roslint +) + +catkin_package( + CATKIN_DEPENDS + rospy + mcr_moveit_client +) + +### TESTS +roslint_add_test() + +if(CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + find_package(rostest REQUIRED) + + roslaunch_add_file_check(ros/launch) +endif() diff --git a/data/mir_manipulation/mir_moveit_client/package.xml b/data/mir_manipulation/mir_moveit_client/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..8c59c99cf7f4fd2bdd64e50de5ac929637c24afa --- /dev/null +++ b/data/mir_manipulation/mir_moveit_client/package.xml @@ -0,0 +1,24 @@ + + + mir_moveit_client + 0.1.0 + + This package that provides launcher of moveit client node for + youbot arm and gripper. + + GPLv3 + + Shehzad Ahmed + Shehzad Ahmed + + catkin + + rospy + roslint + + rospy + mcr_moveit_client + + roslaunch + rostest + diff --git a/data/mir_manipulation/mir_moveit_client/ros/config/arm_params.yaml b/data/mir_manipulation/mir_moveit_client/ros/config/arm_params.yaml new file mode 100644 index 0000000000000000000000000000000000000000..deaca59d6835b319a44a663eb840dc459788a61d --- /dev/null +++ b/data/mir_manipulation/mir_moveit_client/ros/config/arm_params.yaml @@ -0,0 +1,7 @@ +loop_rate : 10.0 +move_group : move_group +arm : arm_1 +end_effector_frame : gripper_static_grasp_link +goal_position_tolerance : 0.01 +goal_orientation_tolerance : 0.01 +goal_joint_tolerance : 0.005 diff --git a/data/mir_manipulation/mir_moveit_client/ros/config/gripper_params.yaml b/data/mir_manipulation/mir_moveit_client/ros/config/gripper_params.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1eb23a4a28f12cfe87a6418edf6c0c25798daeef --- /dev/null +++ b/data/mir_manipulation/mir_moveit_client/ros/config/gripper_params.yaml @@ -0,0 +1,6 @@ +loop_rate : 10.0 +move_group : move_group +arm : arm_1_gripper +goal_position_tolerance : 0.0001 +goal_orientation_tolerance : 0.0001 +goal_joint_tolerance : 0.0001 diff --git a/data/mir_manipulation/mir_moveit_client/ros/launch/moveit_client.launch b/data/mir_manipulation/mir_moveit_client/ros/launch/moveit_client.launch new file mode 100644 index 0000000000000000000000000000000000000000..5f89f18bbc0a0081d91c63cae42a4aaa8513b92d --- /dev/null +++ b/data/mir_manipulation/mir_moveit_client/ros/launch/moveit_client.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/data/mir_manipulation/mir_moveit_scene/CMakeLists.txt b/data/mir_manipulation/mir_moveit_scene/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..b84f1b9ee847867b5336ffd45caa389341c61eed --- /dev/null +++ b/data/mir_manipulation/mir_moveit_scene/CMakeLists.txt @@ -0,0 +1,36 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_moveit_scene) + +find_package(catkin REQUIRED + COMPONENTS + rospy +) + +catkin_python_setup() + +catkin_package( + CATKIN_DEPENDS + geometry_msgs + mas_perception_msgs + moveit_msgs + rospy + shape_msgs + std_msgs +) + + +### TESTS +if(CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + + roslaunch_add_file_check(ros/launch) +endif() + + +### INSTALLS +install(PROGRAMS + ros/scripts/arm_workspace_restricter_node + ros/scripts/grasped_object_attacher_node + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + diff --git a/data/mir_manipulation/mir_moveit_scene/package.xml b/data/mir_manipulation/mir_moveit_scene/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..2b0ddc215a6dd2a27741610ddd63d9f307fbc535 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_scene/package.xml @@ -0,0 +1,31 @@ + + + mir_moveit_scene + 0.1.0 + + Interacting with the arm motion planning scene. + + The planning scene represents obstacles which the arm could collide with + obstacles can be part of the planning scene which should be avoided, + or they can be attached to the arm and the planner will avoid collisions between + the arm with attached object and other collision objects in the scene. + + GPLv3 + + Alex Moriarty + Alex Moriarty + + catkin + + rospy + + rospy + std_msgs + mas_perception_msgs + moveit_msgs + geometry_msgs + shape_msgs + + roslaunch + + diff --git a/data/mir_manipulation/mir_moveit_scene/ros/launch/arm_workspace_restricter.launch b/data/mir_manipulation/mir_moveit_scene/ros/launch/arm_workspace_restricter.launch new file mode 100644 index 0000000000000000000000000000000000000000..b2b90198a3d6674345121e9ed071b29d81ceed58 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_scene/ros/launch/arm_workspace_restricter.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_scene/ros/launch/grasped_object_attacher.launch b/data/mir_manipulation/mir_moveit_scene/ros/launch/grasped_object_attacher.launch new file mode 100644 index 0000000000000000000000000000000000000000..8800f8d6def9c02d451f579faa9af3f69661cfd5 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_scene/ros/launch/grasped_object_attacher.launch @@ -0,0 +1,11 @@ + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_scene/ros/scripts/arm_workspace_restricter_node b/data/mir_manipulation/mir_moveit_scene/ros/scripts/arm_workspace_restricter_node new file mode 100644 index 0000000000000000000000000000000000000000..f5ea48e65d59128f40383a4624e29b486a5d3677 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_scene/ros/scripts/arm_workspace_restricter_node @@ -0,0 +1,6 @@ +#!/usr/bin/env python + +import mir_moveit_scene_ros.restrict_arm_workspace + +if __name__ == "__main__": + mir_moveit_scene_ros.restrict_arm_workspace.main() diff --git a/data/mir_manipulation/mir_moveit_scene/ros/scripts/grasped_object_attacher_node b/data/mir_manipulation/mir_moveit_scene/ros/scripts/grasped_object_attacher_node new file mode 100644 index 0000000000000000000000000000000000000000..d4533d083f197c8b017b6d663b1e1337b1940531 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_scene/ros/scripts/grasped_object_attacher_node @@ -0,0 +1,6 @@ +#!/usr/bin/env python + +import mir_moveit_scene_ros.attach_grasped_object + +if __name__ == "__main__": + mir_moveit_scene_ros.attach_grasped_object.main() diff --git a/data/mir_manipulation/mir_moveit_scene/ros/src/mir_moveit_scene_ros/__init__.py b/data/mir_manipulation/mir_moveit_scene/ros/src/mir_moveit_scene_ros/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/data/mir_manipulation/mir_moveit_scene/ros/src/mir_moveit_scene_ros/attach_grasped_object.py b/data/mir_manipulation/mir_moveit_scene/ros/src/mir_moveit_scene_ros/attach_grasped_object.py new file mode 100644 index 0000000000000000000000000000000000000000..a8b9ee060827c2de112c998544f03a340d7a6287 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_scene/ros/src/mir_moveit_scene_ros/attach_grasped_object.py @@ -0,0 +1,266 @@ +#!/usr/bin/env python +# -*- encoding: utf-8 -*- +""" +Adds an attached object to the gripper in the planning scene. + +The node receives a list of objects and the name of an object to select +from this list. The first object in the list with the matching name is taken. +A box with the dimensions defined in the selected object is attached +to the gripper. + +The box is attached to the gripper at attachment_frame_id with the orientation in +the gripper as if: +1) the object was first sitting on a surface and the gripper is ready to grasp\ + the object. +2) the surface which the object is sitting on has the same orientation as the\ + fixed_frame_id at the time of receiving e_start. + +event_in expects "e_start" and "e_stop", +start attaches the object, stop detaches the object. +""" + +__author__ = "moriarty" + +import geometry_msgs.msg +import mas_perception_msgs.msg +import moveit_msgs.msg +import rospy +import shape_msgs.msg +import std_msgs.msg +import tf + + +class GraspedObjectAttacher(object): + """ + """ + + def __init__(self): + # params + self.event_in = None + self.object_list = None + self.object_name = None + self.is_attached = False # Set in attach_box, detach_box + self.attached_object_name = None # set in attach_box, detach_box + self.listener = tf.TransformListener() + + # node cycle rate (in seconds) + self.cycle_time = rospy.get_param("~cycle_time", 0.1) + self.attachment_frame_id = rospy.get_param("~attachment_frame_id", "grasp_link") + self.fixed_frame_id = rospy.get_param("~fixed_frame_id", "base_link") + + # publishers + self.planning_scene_diff_publisher = rospy.Publisher( + "/planning_scene", moveit_msgs.msg.PlanningScene, latch=True + ) + + # subscriber + rospy.Subscriber("~event_in", std_msgs.msg.String, self.event_in_cb) + rospy.Subscriber( + "~object_list", mas_perception_msgs.msg.ObjectList, self.object_list_cb + ) + rospy.Subscriber("~object_name", std_msgs.msg.String, self.object_name_cb) + + def event_in_cb(self, msg): + """ + Obtains an event for the GraspedObjectAttacher. + + :param msg: TODO + :type msg: std_msgs.msg.String + + supported events: "e_start", "e_stop" + """ + self.event_in = msg.data + rospy.logdebug("recieved event in: {0}".format(self.event_in)) + + def object_list_cb(self, msg): + """ + Obtains a list of objects on the workspace + + """ + self.object_list = msg + rospy.logdebug("recieved object list") + + def object_name_cb(self, msg): + """ + Obtains the name of the object to be attached + + """ + self.object_name = msg.data + rospy.logdebug("got object name: {0}".format(self.object_name)) + + def start(self): + """ + Starts the Grasped Object Attacher. + + """ + rospy.loginfo("Ready to start...") + state = "INIT" + + while not rospy.is_shutdown(): + + if state == "INIT": + state = self.init_state() + elif state == "IDLE": + state = self.idle_state() + elif state == "RUNNING": + state = self.running_state() + + rospy.logdebug("State: {0}".format(state)) + rospy.sleep(self.cycle_time) + + def init_state(self): + """ + Executes the INIT state of the state machine. + + :return: The updated state. + :rtype: str + + This state waits for moveit to be up. + """ + if self.planning_scene_diff_publisher.get_num_connections() < 1: + return "INIT" + elif not self.object_name: + return "INIT" + elif not self.object_list: + return "INIT" + else: + return "IDLE" + + def idle_state(self): + """ + Executes the IDLE state of the state machine. + + :return: The updated state. + :rtype: str + + """ + if self.event_in == "e_start": + return "RUNNING" + elif self.event_in == "e_stop": + self.object_name = None + self.object_list = None + self.event_in = None + return "INIT" + else: + return "IDLE" + + def running_state(self): + """ + Executes the RUNNING state of the state machine. + + :return: The updated state. + :rtype: str + + """ + if self.event_in == "e_stop": + self.object_name = None + self.object_list = None + self.event_in = None + self.detach_object() + return "INIT" + else: + if not self.is_attached: + self.attach_object() + return "RUNNING" + + def attach_object(self): + """ + """ + tf_time = self.listener.getLatestCommonTime( + self.attachment_frame_id, self.fixed_frame_id + ) + trans, rot = self.listener.lookupTransform( + self.fixed_frame_id, self.attachment_frame_id, tf_time + ) + pitch = tf.transformations.euler_from_quaternion(rot)[1] + + # Look up object_name from list + # PLEASE NOTE: the order y,x,z instead of x,y,z. This is because the current + # implementation of perception pipeline sets the values in this order. + for obj in self.object_list.objects: + if obj.name == self.object_name: + self.attach_box( + self.object_name, + obj.dimensions.vector.y, + obj.dimensions.vector.x, + obj.dimensions.vector.z, + pitch, + ) + break + else: + rospy.logwarn("Object to attach was not in object list") + + def detach_object(self): + """" + """ + self.detach_box(self.attached_object_name) + + def attach_box(self, name, dimension_x, dimension_y, dimension_z, pitch): + """ + attaches a box to the robot at the attachment frame + """ + rospy.loginfo("Attaching object to planning scene robot") + self.attached_object_name = "attached_" + name + + box_object = moveit_msgs.msg.AttachedCollisionObject() + box_object.link_name = self.attachment_frame_id + box_object.object.header.frame_id = self.attachment_frame_id + box_object.object.id = self.attached_object_name + box_pose = geometry_msgs.msg.Pose() + quat = tf.transformations.quaternion_from_euler(0, pitch, 0) + box_pose.orientation.w = quat[0] + box_pose.orientation.x = quat[1] + box_pose.orientation.y = quat[2] + box_pose.orientation.z = quat[3] + box_shape = shape_msgs.msg.SolidPrimitive() + box_shape.type = box_shape.BOX + box_shape.dimensions.append(dimension_x) + box_shape.dimensions.append(dimension_y) + box_shape.dimensions.append(dimension_z) + box_object.object.primitives.append(box_shape) + box_object.object.primitive_poses.append(box_pose) + box_object.object.operation = box_object.object.ADD + + planning_scene = moveit_msgs.msg.PlanningScene() + planning_scene.robot_state.attached_collision_objects.append(box_object) + planning_scene.is_diff = True + self.planning_scene_diff_publisher.publish(planning_scene) + + self.is_attached = True + + def detach_box(self, name): + """ + detaches "name" from robot + """ + rospy.loginfo("detaching object from planning scene robot") + + box_object = moveit_msgs.msg.AttachedCollisionObject() + box_object.link_name = self.attachment_frame_id + box_object.object.header.frame_id = self.attachment_frame_id + box_object.object.id = name + box_object.object.operation = box_object.object.REMOVE + + planning_scene = moveit_msgs.msg.PlanningScene() + planning_scene.robot_state.attached_collision_objects.append(box_object) + planning_scene.is_diff = True + self.planning_scene_diff_publisher.publish(planning_scene) + + self.is_attached = False + self.attached_object_name = None + + +def main(): + """ + Listens to event_in, object_list, object_name + + Requires object_list and object_name before recieving "e_start" on event_in. + e_start: Attaches first object_name from object_list to attachment_frame_id. + e_stop: Detaches attached object. + """ + rospy.init_node("grasped_object_attacher", anonymous=True) + object_attacher = GraspedObjectAttacher() + object_attacher.start() + + +if __name__ == "__main__": + main() diff --git a/data/mir_manipulation/mir_moveit_scene/ros/src/mir_moveit_scene_ros/restrict_arm_workspace.py b/data/mir_manipulation/mir_moveit_scene/ros/src/mir_moveit_scene_ros/restrict_arm_workspace.py new file mode 100644 index 0000000000000000000000000000000000000000..89e5a090bd95113a6783d73bb9c61c65cfd8aa56 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_scene/ros/src/mir_moveit_scene_ros/restrict_arm_workspace.py @@ -0,0 +1,230 @@ +#!/usr/bin/env python +# -*- encoding: utf-8 -*- +""" +Add boxes to planning scene to represent the workspace walls. +//TODO this should be replaced in the future with the octomap +Currently planning with octomap is too slow. +""" + +__author__ = "moriarty" + +import geometry_msgs.msg +import moveit_msgs.msg +import rospy +import shape_msgs.msg +import std_msgs.msg +import tf + + +class ArmWorkspaceRestricter(object): + """ + Class to restrict the arm in a given workspace + """ + + def __init__(self): + # params + self.event_in = None + self.is_restricted = False + + # node cycle rate (in seconds) + self.cycle_time = rospy.get_param("~cycle_time", 0.1) + # frame which walls and workspace are added wrt + self.wall_frame_id = rospy.get_param("~wall_frame_id", "/base_link") + # wall height wrt wall_frame_id (m) + self.wall_height = rospy.get_param("~wall_height", 0.35) + # distance from wall_frame_id to side walls (m) + self.wall_distance = rospy.get_param("~wall_distance", 0.35) + # distance to platform from base wall_frame_id (m) + self.platform_distance = rospy.get_param("~platform_distance", 0.6) + # height of platform with respect to wall_frame_id (m) + self.platform_height = rospy.get_param("~platform_height", 0.05) + + # publishers + self.planning_scene_diff_publisher = rospy.Publisher( + "~planning_scene", moveit_msgs.msg.PlanningScene + ) + + # subscriber + rospy.Subscriber("~event_in", std_msgs.msg.String, self.event_in_cb) + + def event_in_cb(self, msg): + """ + Obtains an event for the ArmWorkspaceRestricter. + + supported events: "e_start", "e_stop" + """ + self.event_in = msg.data + + def start(self): + """ + Starts the Workspace Restricter. + + """ + rospy.loginfo("Ready to start...") + state = "INIT" + + while not rospy.is_shutdown(): + + if state == "INIT": + state = self.init_state() + elif state == "IDLE": + state = self.idle_state() + elif state == "RUNNING": + state = self.running_state() + + rospy.logdebug("State: {0}".format(state)) + rospy.sleep(self.cycle_time) + + def init_state(self): + """ + Executes the INIT state of the state machine. + + :return: The updated state. + :rtype: str + + This state waits for moveit to be up. + """ + if self.planning_scene_diff_publisher.get_num_connections() < 1: + return "INIT" + else: + return "IDLE" + + def idle_state(self): + """ + Executes the IDLE state of the state machine. + + :return: The updated state. + :rtype: str + + """ + if self.event_in == "e_start": + return "RUNNING" + elif self.event_in == "e_stop": + return "INIT" + else: + return "IDLE" + + def running_state(self): + """ + Executes the RUNNING state of the state machine. + + :return: The updated state. + :rtype: str + + """ + if self.event_in == "e_stop": + self.remove_walls() + return "INIT" + else: + if not self.is_restricted: + self.add_walls() + return "RUNNING" + + def add_walls(self): + """ + Function to add walls. + """ + self.add_box( + "restricter_left_wall", + 0.25, + self.wall_distance, + self.wall_height / 2.0, + 1.0, + 0.04, + self.wall_height, + ) + self.add_box( + "restricter_right_wall", + 0.25, + -self.wall_distance, + self.wall_height / 2.0, + 1.0, + 0.04, + self.wall_height, + ) + self.add_box( + "restricter_platform", + self.platform_distance, + 0.0, + 0.0, + 0.5, + self.wall_distance * 2.0, + self.platform_height / 2.0, + ) + self.is_restricted = True + + def remove_walls(self): + """ + Function to remove the walls + """ + self.remove_box("restricter_left_wall") + self.remove_box("restricter_right_wall") + self.is_restricted = False + + def add_box(self, name, position_x, position_y, position_z, + dimension_x, dimension_y, dimension_z, yaw=0): + """ + Adds two boxes to represent the walls + """ + rospy.loginfo("Adding walls to moveit scene") + + box_object = moveit_msgs.msg.CollisionObject() + box_object.header.frame_id = self.wall_frame_id + box_object.id = name + box_pose = geometry_msgs.msg.Pose() + quat = tf.transformations.quaternion_from_euler(yaw, 0, 0) + box_pose.orientation.w = quat[0] + box_pose.orientation.x = quat[1] + box_pose.orientation.y = quat[2] + box_pose.orientation.z = quat[3] + box_pose.position.x = position_x + box_pose.position.y = position_y + box_pose.position.z = position_z + box_shape = shape_msgs.msg.SolidPrimitive() + box_shape.type = box_shape.BOX + box_shape.dimensions.append(dimension_x) + box_shape.dimensions.append(dimension_y) + box_shape.dimensions.append(dimension_z) + box_object.primitives.append(box_shape) + box_object.primitive_poses.append(box_pose) + box_object.operation = box_object.ADD + + planning_scene = moveit_msgs.msg.PlanningScene() + planning_scene.world.collision_objects.append(box_object) + planning_scene.is_diff = True + + self.planning_scene_diff_publisher.publish(planning_scene) + + def remove_box(self, name): + """ + removes name from planning_scene + """ + rospy.loginfo("removing wall from moveit scene") + + box_object = moveit_msgs.msg.CollisionObject() + box_object.header.frame_id = self.wall_frame_id + box_object.id = name + + box_object.operation = box_object.REMOVE + + planning_scene = moveit_msgs.msg.PlanningScene() + planning_scene.world.collision_objects.append(box_object) + planning_scene.is_diff = True + + self.planning_scene_diff_publisher.publish(planning_scene) + + +def main(): + """ + Listens to event_in. + When recieves "e_start", and walls haven't been added, + they are added to planning scene. + When recieves "e_stop" removes the walls which were added. + """ + rospy.init_node("arm_workspace_restricter", anonymous=True) + workspace_restricter = ArmWorkspaceRestricter() + workspace_restricter.start() + + +if __name__ == "__main__": + main() diff --git a/data/mir_manipulation/mir_moveit_scene/setup.py b/data/mir_manipulation/mir_moveit_scene/setup.py new file mode 100644 index 0000000000000000000000000000000000000000..5d926bdf81eed84618742a6da1799263dadc43f3 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_scene/setup.py @@ -0,0 +1,14 @@ +#!/usr/bin/env python +""" +//TODO +""" +from distutils.core import setup + +from catkin_pkg.python_setup import generate_distutils_setup + +DIST_UTILS_OBJ = generate_distutils_setup( + packages=["mir_moveit_scene_ros"], + package_dir={"mir_moveit_scene_ros": "ros/src/mir_moveit_scene_ros"}, +) + +setup(**DIST_UTILS_OBJ) diff --git a/data/mir_manipulation/mir_moveit_youbot/CMakeLists.txt b/data/mir_manipulation/mir_moveit_youbot/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..9217ecb1da278a7fc519983eba6ae94ebf4c6b48 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot/CMakeLists.txt @@ -0,0 +1,39 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_moveit_youbot) + +find_package(catkin REQUIRED) + +catkin_package( + CATKIN_DEPENDS + mir_moveit_youbot_brsu_1 + mir_moveit_youbot_brsu_2 + mir_moveit_youbot_brsu_3 + mir_moveit_youbot_brsu_4 +) + + +### TESTS +if(CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + + roslaunch_add_file_check(youbot-brsu-1) + roslaunch_add_file_check(youbot-brsu-2) + roslaunch_add_file_check(youbot-brsu-3) + roslaunch_add_file_check(youbot-brsu-4) +endif() + + + +### INSTALLS +install(DIRECTORY youbot-brsu-1 + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/youbot-brsu-1 +) +install(DIRECTORY youbot-brsu-2 + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/youbot-brsu-2 +) +install(DIRECTORY youbot-brsu-3 + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/youbot-brsu-3 +) +install(DIRECTORY youbot-brsu-4 + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/youbot-brsu-4 +) diff --git a/data/mir_manipulation/mir_moveit_youbot/package.xml b/data/mir_manipulation/mir_moveit_youbot/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..df3c27ee45c1c0184ed32fbf601b636392ad52ae --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot/package.xml @@ -0,0 +1,23 @@ + + + mir_moveit_youbot + 0.0.0 + Abstraction package for youBot specific moveit packages (namely the autogenerated ones) + + Frederik Hegger + + GPLv3 + + Frederik Hegger --> + + catkin + + mir_moveit_youbot_brsu_1 + mir_moveit_youbot_brsu_2 + mir_moveit_youbot_brsu_3 + mir_moveit_youbot_brsu_4 + mir_moveit_youbot_brsu_5 + + roslaunch + + diff --git a/data/mir_manipulation/mir_moveit_youbot/youbot-brsu-1/move_group.launch b/data/mir_manipulation/mir_moveit_youbot/youbot-brsu-1/move_group.launch new file mode 100644 index 0000000000000000000000000000000000000000..075933786290b593bb8a1ca50ef16b921ec0ed57 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot/youbot-brsu-1/move_group.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot/youbot-brsu-2/move_group.launch b/data/mir_manipulation/mir_moveit_youbot/youbot-brsu-2/move_group.launch new file mode 100644 index 0000000000000000000000000000000000000000..5ff2ce2f2371b01d4df4bf69c655d7ed5d2b02bc --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot/youbot-brsu-2/move_group.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot/youbot-brsu-3/move_group.launch b/data/mir_manipulation/mir_moveit_youbot/youbot-brsu-3/move_group.launch new file mode 100644 index 0000000000000000000000000000000000000000..de4759afd342d2888135e65da1bd2d6fcaad1a52 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot/youbot-brsu-3/move_group.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot/youbot-brsu-4/move_group.launch b/data/mir_manipulation/mir_moveit_youbot/youbot-brsu-4/move_group.launch new file mode 100644 index 0000000000000000000000000000000000000000..f180f8dad7ce7f05193230f358119fec5d2c3c16 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot/youbot-brsu-4/move_group.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot/youbot-brsu-5/move_group.launch b/data/mir_manipulation/mir_moveit_youbot/youbot-brsu-5/move_group.launch new file mode 100644 index 0000000000000000000000000000000000000000..d51859c413e4dde75795bb364045966f3e7b4a3d --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot/youbot-brsu-5/move_group.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot/youbot-brsu-arm/move_group.launch b/data/mir_manipulation/mir_moveit_youbot/youbot-brsu-arm/move_group.launch new file mode 100644 index 0000000000000000000000000000000000000000..6639bc79b7be2f8c018e3857a5eda2291e7d0fea --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot/youbot-brsu-arm/move_group.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_1/.setup_assistant b/data/mir_manipulation/mir_moveit_youbot_brsu_1/.setup_assistant new file mode 100644 index 0000000000000000000000000000000000000000..4dd582b2725489f129f7e8fcb5d46c5d579ea358 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_1/.setup_assistant @@ -0,0 +1,8 @@ +moveit_setup_assistant_config: + URDF: + package: mir_hardware_config + relative_path: youbot-brsu-1/urdf/robot.urdf.xacro + SRDF: + relative_path: config/youbot.srdf + CONFIG: + generated_timestamp: 1428681804 \ No newline at end of file diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_1/CMakeLists.txt b/data/mir_manipulation/mir_moveit_youbot_brsu_1/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..7b5dcf873f675c41faba8594ef21d6761f81ac0e --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_1/CMakeLists.txt @@ -0,0 +1,9 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_moveit_youbot_brsu_1) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_1/config/controllers.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_1/config/controllers.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6dd0ae27129b2d976a2d491e2790dd5a67eef669 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_1/config/controllers.yaml @@ -0,0 +1,18 @@ +controller_list: + - name: arm_1/arm_controller + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: true + joints: + - arm_joint_1 + - arm_joint_2 + - arm_joint_3 + - arm_joint_4 + - arm_joint_5 + - name: arm_1/gripper_controller + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: true + joints: + - gripper_finger_joint_l + - gripper_finger_joint_r diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_1/config/fake_controllers.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_1/config/fake_controllers.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c4d3d54145580fd926cbc61354d4d56e8c700074 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_1/config/fake_controllers.yaml @@ -0,0 +1,12 @@ +controller_list: + - name: fake_arm_1_controller + joints: + - arm_joint_1 + - arm_joint_2 + - arm_joint_3 + - arm_joint_4 + - arm_joint_5 + - name: fake_arm_1_gripper_controller + joints: + - gripper_finger_joint_l + - gripper_finger_joint_r \ No newline at end of file diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_1/config/interpolation_planning.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_1/config/interpolation_planning.yaml new file mode 100644 index 0000000000000000000000000000000000000000..83c0d0b806ac5f52891a33b0c15f2973063b7a08 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_1/config/interpolation_planning.yaml @@ -0,0 +1,11 @@ +planner_configs: + Interpolation: + type_1: Trapezoidal +arm_1: + planner_configs: + - Interpolation + planner_minimum_sample_time: 0.1 +arm_1_gripper: + planner_configs: + - Interpolation + planner_minimum_sample_time: 0.1 diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_1/config/joint_limits.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_1/config/joint_limits.yaml new file mode 100644 index 0000000000000000000000000000000000000000..33d72df06cfc1043052400005b3f583ccef524b0 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_1/config/joint_limits.yaml @@ -0,0 +1,36 @@ +joint_limits: + arm_joint_3: + has_velocity_limits: true + max_velocity: 1.57079632679 + has_acceleration_limits: true + max_acceleration: 1.571 + arm_joint_2: + has_velocity_limits: true + max_velocity: 1.57079632679 + has_acceleration_limits: true + max_acceleration: 1.571 + arm_joint_4: + has_velocity_limits: true + max_velocity: 1.57079632679 + has_acceleration_limits: true + max_acceleration: 1.571 + gripper_finger_joint_r: + has_velocity_limits: true + max_velocity: 0.1 + has_acceleration_limits: true + max_acceleration: 0.05 + arm_joint_5: + has_velocity_limits: true + max_velocity: 1.57079632679 + has_acceleration_limits: true + max_acceleration: 1.571 + arm_joint_1: + has_velocity_limits: true + max_velocity: 1.57079632679 + has_acceleration_limits: true + max_acceleration: 1.571 + gripper_finger_joint_l: + has_velocity_limits: true + max_velocity: 0.1 + has_acceleration_limits: true + max_acceleration: 0.05 diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_1/config/kinematics.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_1/config/kinematics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9818cf6329be3d577023b56a0dfc2929200ccb90 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_1/config/kinematics.yaml @@ -0,0 +1,5 @@ +arm_1: + kinematics_solver: youbot_arm_kinematics_moveit::KinematicsPlugin + kinematics_solver_search_resolution: 0.01 + kinematics_solver_timeout: 0.1 + kinematics_solver_attempts: 1 diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_1/config/ompl_planning.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_1/config/ompl_planning.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3feb174b52fbaf1a2616ebdc69298c6b2f5d35b --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_1/config/ompl_planning.yaml @@ -0,0 +1,53 @@ +planner_configs: + SBLkConfigDefault: + type: geometric::SBL + ESTkConfigDefault: + type: geometric::EST + LBKPIECEkConfigDefault: + type: geometric::LBKPIECE + BKPIECEkConfigDefault: + type: geometric::BKPIECE + KPIECEkConfigDefault: + type: geometric::KPIECE + RRTkConfigDefault: + type: geometric::RRT + RRTConnectkConfigDefault: + type: geometric::RRTConnect + RRTstarkConfigDefault: + type: geometric::RRTstar + TRRTkConfigDefault: + type: geometric::TRRT + PRMkConfigDefault: + type: geometric::PRM + PRMstarkConfigDefault: + type: geometric::PRMstar +arm_1: + planner_configs: + - SBLkConfigDefault + - ESTkConfigDefault + - LBKPIECEkConfigDefault + - BKPIECEkConfigDefault + - KPIECEkConfigDefault + - RRTkConfigDefault + - RRTConnectkConfigDefault + - RRTstarkConfigDefault + - TRRTkConfigDefault + - PRMkConfigDefault + - PRMstarkConfigDefault + projection_evaluator: joints(arm_joint_1,arm_joint_2) + longest_valid_segment_fraction: 0.05 +arm_1_gripper: + planner_configs: + - SBLkConfigDefault + - ESTkConfigDefault + - LBKPIECEkConfigDefault + - BKPIECEkConfigDefault + - KPIECEkConfigDefault + - RRTkConfigDefault + - RRTConnectkConfigDefault + - RRTstarkConfigDefault + - TRRTkConfigDefault + - PRMkConfigDefault + - PRMstarkConfigDefault + projection_evaluator: joints(gripper_finger_joint_l,gripper_finger_joint_r) + longest_valid_segment_fraction: 0.05 \ No newline at end of file diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_1/config/youbot.srdf b/data/mir_manipulation/mir_moveit_youbot_brsu_1/config/youbot.srdf new file mode 100644 index 0000000000000000000000000000000000000000..0c4287562735703ef8f759e1a46836e609088b9a --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_1/config/youbot.srdf @@ -0,0 +1,389 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/default_warehouse_db.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/default_warehouse_db.launch new file mode 100644 index 0000000000000000000000000000000000000000..721b3ab6fca6dc13f2c3e55c3b7308759fbcb816 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/default_warehouse_db.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/demo.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/demo.launch new file mode 100644 index 0000000000000000000000000000000000000000..74bca4691136324a822e5fd4045b3be6f7f89b56 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/demo.launch @@ -0,0 +1,43 @@ + + + + + + + + + + + + + + + + + + + + [/move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/fake_moveit_controller_manager.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/fake_moveit_controller_manager.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..900ca5e7f48f2e9d2fbcfa301a747e785232d7a1 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/fake_moveit_controller_manager.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/interpolation_planning_pipeline.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/interpolation_planning_pipeline.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..f9e8bce5ffd35c8693fdf2ace25a812058de1594 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/interpolation_planning_pipeline.launch.xml @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/move_group.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/move_group.launch new file mode 100644 index 0000000000000000000000000000000000000000..8feb0abb286884515e7b35ee6940c6929a172024 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/move_group.launch @@ -0,0 +1,69 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/moveit.rviz b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/moveit.rviz new file mode 100644 index 0000000000000000000000000000000000000000..b26610fbbf0d8f4fc078099802ca9707eba248c3 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/moveit.rviz @@ -0,0 +1,689 @@ +Panels: + - Class: rviz/Displays + Help Height: 84 + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + Splitter Ratio: 0.74256 + Tree Height: 664 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + MoveIt_Goal_Tolerance: 0 + MoveIt_Planning_Time: 5 + MoveIt_Use_Constraint_Aware_IK: true + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + Name: MotionPlanning + Planned Path: + Links: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Loop Animation: true + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trajectory Topic: /move_group/display_planned_path + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0 + Joint Violation Color: 255; 0; 255 + Planning Group: left_arm + Query Goal State: true + Query Start State: false + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: /move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Color: 50; 230; 50 + Scene Display Time: 0.2 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 0.5 + Show Scene Robot: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: /base_footprint + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 2.9965 + Focal Point: + X: 0.113567 + Y: 0.10592 + Z: 2.23518e-07 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.509797 + Target Frame: /base_footprint + Value: XYOrbit (rviz) + Yaw: 5.65995 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1337 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + Motion Planning: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1828 + X: 459 + Y: -243 diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/moveit_rviz.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/moveit_rviz.launch new file mode 100644 index 0000000000000000000000000000000000000000..1950e8f205cc52c3a43c91e8ec04e1a70b55a110 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/moveit_rviz.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/ompl_planning_pipeline.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/ompl_planning_pipeline.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..a6539d26cabbd84551453a4380c51e44b201b349 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/ompl_planning_pipeline.launch.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/planning_context.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/planning_context.launch new file mode 100644 index 0000000000000000000000000000000000000000..5f9e00cbeae0ec4bbc84346a0b279848062c1574 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/planning_context.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/planning_pipeline.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/planning_pipeline.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..28d16c7dd2a8f3581486c5bc4dccf69995321e22 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/run_benchmark_ompl.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/run_benchmark_ompl.launch new file mode 100644 index 0000000000000000000000000000000000000000..c35981d225a2d61880f1d5f038066dd8779d738f --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/run_benchmark_ompl.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/sensor_manager.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/sensor_manager.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..9082c6582909d9bdb7bbd32686239355e1b19264 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/sensor_manager.launch.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/setup_assistant.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/setup_assistant.launch new file mode 100644 index 0000000000000000000000000000000000000000..d241915f3242f159aa8427355d80d34fe11f8a83 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/setup_assistant.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/trajectory_execution.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/trajectory_execution.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..c4e466b92137eb70fd9a375bc7ab218e2803cdd5 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/trajectory_execution.launch.xml @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/warehouse.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/warehouse.launch new file mode 100644 index 0000000000000000000000000000000000000000..6be7e029729a88ee1160ef638bae0ce367dc3263 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/warehouse_settings.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/warehouse_settings.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..b3d12357774f63542b13b4fd4c9d38c94dcd66ea --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/warehouse_settings.launch.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/youbot_moveit_controller_manager.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/youbot_moveit_controller_manager.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..cb44ef2304b8c836ade8a89738330ee0b9b91a60 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/youbot_moveit_controller_manager.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/youbot_moveit_sensor_manager.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/youbot_moveit_sensor_manager.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..5d02698d7b05f6356110c54ddd75cfbc5ed7084b --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_1/launch/youbot_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_1/package.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_1/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..b1535326b2246a4beaa593b3cfa0b769ae0dfd62 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_1/package.xml @@ -0,0 +1,29 @@ + + + mir_moveit_youbot_brsu_1 + 0.2.0 + + An automatically generated package with all the configuration and launch files for using the youbot with the MoveIt Motion Planning Framework + + MoveIt Setup Assistant + MoveIt Setup Assistant + + BSD + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit_setup_assistant/issues + https://github.com/ros-planning/moveit_setup_assistant + + moveit_ros_move_group + moveit_planners_ompl + moveit_ros_visualization + joint_state_publisher + robot_state_publisher + xacro + mir_hardware_config + youbot_arm_kinematics_moveit + mcr_interpolation_planner_moveit + + catkin + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_2/.setup_assistant b/data/mir_manipulation/mir_moveit_youbot_brsu_2/.setup_assistant new file mode 100644 index 0000000000000000000000000000000000000000..f6851e8f078efd6e621c633bb0a3f7e7e3a03939 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_2/.setup_assistant @@ -0,0 +1,8 @@ +moveit_setup_assistant_config: + URDF: + package: mir_hardware_config + relative_path: youbot-brsu-2/urdf/robot.urdf.xacro + SRDF: + relative_path: config/youbot.srdf + CONFIG: + generated_timestamp: 1464875005 \ No newline at end of file diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_2/CMakeLists.txt b/data/mir_manipulation/mir_moveit_youbot_brsu_2/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..43dcfc0709ba98ff436ad4e64f0f3bcabcb72444 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_2/CMakeLists.txt @@ -0,0 +1,9 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_moveit_youbot_brsu_2) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_2/config/controllers.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_2/config/controllers.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8c2fbcb2385d2f67a8cc59293de728e8824465b0 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_2/config/controllers.yaml @@ -0,0 +1,11 @@ +controller_list: + - name: arm_1/arm_controller + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: true + joints: + - arm_joint_1 + - arm_joint_2 + - arm_joint_3 + - arm_joint_4 + - arm_joint_5 diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_2/config/fake_controllers.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_2/config/fake_controllers.yaml new file mode 100644 index 0000000000000000000000000000000000000000..da52872681e563da8ae8d4ac6593bdb59fa523e4 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_2/config/fake_controllers.yaml @@ -0,0 +1,12 @@ +controller_list: + - name: fake_arm_1_controller + joints: + - arm_joint_1 + - arm_joint_2 + - arm_joint_3 + - arm_joint_4 + - arm_joint_5 + - name: fake_arm_1_gripper_controller + joints: + - gripper_motor_left_joint + - gripper_motor_right_joint \ No newline at end of file diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_2/config/interpolation_planning.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_2/config/interpolation_planning.yaml new file mode 100644 index 0000000000000000000000000000000000000000..83c0d0b806ac5f52891a33b0c15f2973063b7a08 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_2/config/interpolation_planning.yaml @@ -0,0 +1,11 @@ +planner_configs: + Interpolation: + type_1: Trapezoidal +arm_1: + planner_configs: + - Interpolation + planner_minimum_sample_time: 0.1 +arm_1_gripper: + planner_configs: + - Interpolation + planner_minimum_sample_time: 0.1 diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_2/config/joint_limits.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_2/config/joint_limits.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4fab6e4d45fb15bcdc3ac39e732b8ecd350ed5e7 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_2/config/joint_limits.yaml @@ -0,0 +1,41 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + arm_joint_1: + has_velocity_limits: true + max_velocity: 1.5707 + has_acceleration_limits: true + max_acceleration: 1.5707 + arm_joint_2: + has_velocity_limits: true + max_velocity: 0.8 + has_acceleration_limits: true + max_acceleration: 0.8 # default 1.5707 + arm_joint_3: + has_velocity_limits: true + max_velocity: 1.0 + has_acceleration_limits: true + max_acceleration: 1.0 # default 1.5707 + arm_joint_4: + has_velocity_limits: true + max_velocity: 1.5707 + has_acceleration_limits: true + max_acceleration: 1.571 + arm_joint_5: + has_velocity_limits: true + max_velocity: 1.5707 + has_acceleration_limits: true + max_acceleration: 1.571 + gripper_motor_left_joint: + has_velocity_limits: true + max_velocity: 6.178465545 + has_acceleration_limits: true + max_acceleration: 1.5 + gripper_motor_right_joint: + has_velocity_limits: true + max_velocity: 6.178465545 + has_acceleration_limits: true + max_acceleration: 1.5 +default_velocity_scaling_factor: 0.7 +default_acceleration_scaling_factor: 0.7 diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_2/config/kinematics.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_2/config/kinematics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..03edd38b3fffd96142f45b0a4fb5f6ef8f52db65 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_2/config/kinematics.yaml @@ -0,0 +1,4 @@ +arm_1: + kinematics_solver: youbot_arm_kinematics_moveit::KinematicsPlugin + kinematics_solver_search_resolution: 0.01 + kinematics_solver_timeout: 0.1 diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_2/config/ompl_planning.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_2/config/ompl_planning.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ce84be78ac9eada5034c571ec0a862b570acac5 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_2/config/ompl_planning.yaml @@ -0,0 +1,84 @@ +planner_configs: + SBLkConfigDefault: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ESTkConfigDefault: + type: geometric::EST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LBKPIECEkConfigDefault: + type: geometric::LBKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + BKPIECEkConfigDefault: + type: geometric::BKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + KPIECEkConfigDefault: + type: geometric::KPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + RRTkConfigDefault: + type: geometric::RRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + RRTConnectkConfigDefault: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstarkConfigDefault: + type: geometric::RRTstar + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 + TRRTkConfigDefault: + type: geometric::TRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + max_states_failed: 10 # when to start increasing temp. default: 10 + temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 + min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 + init_temperature: 10e-6 # initial temperature. default: 10e-6 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() + PRMkConfigDefault: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstarkConfigDefault: + type: geometric::PRMstar +arm_1: + planner_configs: + - SBLkConfigDefault + - ESTkConfigDefault + - LBKPIECEkConfigDefault + - BKPIECEkConfigDefault + - KPIECEkConfigDefault + - RRTkConfigDefault + - RRTConnectkConfigDefault + - RRTstarkConfigDefault + - TRRTkConfigDefault + - PRMkConfigDefault + - PRMstarkConfigDefault + projection_evaluator: joints(arm_joint_1,arm_joint_2) + longest_valid_segment_fraction: 0.05 +arm_1_gripper: + planner_configs: + - SBLkConfigDefault + - ESTkConfigDefault + - LBKPIECEkConfigDefault + - BKPIECEkConfigDefault + - KPIECEkConfigDefault + - RRTkConfigDefault + - RRTConnectkConfigDefault + - RRTstarkConfigDefault + - TRRTkConfigDefault + - PRMkConfigDefault + - PRMstarkConfigDefault + projection_evaluator: joints(gripper_motor_left_joint,gripper_motor_right_joint) + longest_valid_segment_fraction: 0.05 \ No newline at end of file diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_2/config/youbot.srdf b/data/mir_manipulation/mir_moveit_youbot_brsu_2/config/youbot.srdf new file mode 100644 index 0000000000000000000000000000000000000000..0e371f1cd9c401c72084b38db576a32245b7981b --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_2/config/youbot.srdf @@ -0,0 +1,759 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/default_warehouse_db.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/default_warehouse_db.launch new file mode 100644 index 0000000000000000000000000000000000000000..d731915ba9ddb5e7b7d12295b43dc1514cd20624 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/demo.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/demo.launch new file mode 100644 index 0000000000000000000000000000000000000000..ff7689008ccfaedd52d8a0bc02cfb23de571942a --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/demo.launch @@ -0,0 +1,47 @@ + + + + + + + + + + + + + + + + + + + + + + [/move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/fake_moveit_controller_manager.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/fake_moveit_controller_manager.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..4c3daf6fe156cb77e44f31c1119474f68951c676 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/fake_moveit_controller_manager.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/interpolation_planning_pipeline.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/interpolation_planning_pipeline.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..8f4ce10bf4b5cf0fbf8c9bc0b8c817c94bb7adeb --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/interpolation_planning_pipeline.launch.xml @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/joystick_control.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/joystick_control.launch new file mode 100644 index 0000000000000000000000000000000000000000..9411f6e60e7b30594f6999ffc682112bc5b7dad1 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/joystick_control.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/move_group.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/move_group.launch new file mode 100644 index 0000000000000000000000000000000000000000..0e509216752d8163798cd8d5a0d2aac68af6c694 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/move_group.launch @@ -0,0 +1,71 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/moveit.rviz b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/moveit.rviz new file mode 100644 index 0000000000000000000000000000000000000000..11545f6ccd175535c37a16bd3648c85e6d754da8 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/moveit.rviz @@ -0,0 +1,689 @@ +Panels: + - Class: rviz/Displays + Help Height: 84 + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + Splitter Ratio: 0.74256 + Tree Height: 664 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + MoveIt_Goal_Tolerance: 0 + MoveIt_Planning_Time: 5 + MoveIt_Use_Constraint_Aware_IK: true + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + Name: MotionPlanning + Planned Path: + Links: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Loop Animation: true + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trajectory Topic: move_group/display_planned_path + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0 + Joint Violation Color: 255; 0; 255 + Planning Group: left_arm + Query Goal State: true + Query Start State: false + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Color: 50; 230; 50 + Scene Display Time: 0.2 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 0.5 + Show Scene Robot: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: /base_footprint + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 2.9965 + Focal Point: + X: 0.113567 + Y: 0.10592 + Z: 2.23518e-07 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.509797 + Target Frame: /base_footprint + Value: XYOrbit (rviz) + Yaw: 5.65995 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1337 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + Motion Planning: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1828 + X: 459 + Y: -243 diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/moveit_rviz.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/moveit_rviz.launch new file mode 100644 index 0000000000000000000000000000000000000000..68a284998d2902373622be01daba0ec7ae501233 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/moveit_rviz.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/ompl_planning_pipeline.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/ompl_planning_pipeline.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..95e14f5d715e9920e3b674dba1f1ba5d4ab63867 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/ompl_planning_pipeline.launch.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/planning_context.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/planning_context.launch new file mode 100644 index 0000000000000000000000000000000000000000..237e22fe87f242d7c5cbba29afb30c3b1b9cf5ff --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/planning_context.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/planning_pipeline.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/planning_pipeline.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..18f0adafcf2f179ec727c086a09cc7f7c0377e17 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/run_benchmark_ompl.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/run_benchmark_ompl.launch new file mode 100644 index 0000000000000000000000000000000000000000..682416af5ca9b8968e6843fcda93b2d292166003 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/run_benchmark_ompl.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/sensor_manager.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/sensor_manager.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..2a3a7ee0b99cdeaa66be88a41b31fd865c4846ff --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/sensor_manager.launch.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/setup_assistant.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/setup_assistant.launch new file mode 100644 index 0000000000000000000000000000000000000000..7b89e017525c955f12fc858af9e0025529000d1c --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/setup_assistant.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/trajectory_execution.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/trajectory_execution.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..8b7c5cab4a99917ef5c7b6995503303c8a691b85 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/trajectory_execution.launch.xml @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/warehouse.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/warehouse.launch new file mode 100644 index 0000000000000000000000000000000000000000..2351128a0bf6b8dfa0698cf0bd1b74301102d4b1 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/warehouse_settings.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/warehouse_settings.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..b3d12357774f63542b13b4fd4c9d38c94dcd66ea --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/warehouse_settings.launch.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/youbot_moveit_controller_manager.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/youbot_moveit_controller_manager.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..945f7b6b1c78f74c56fae6e67deae0534e733cd4 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/youbot_moveit_controller_manager.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/youbot_moveit_sensor_manager.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/youbot_moveit_sensor_manager.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..5d02698d7b05f6356110c54ddd75cfbc5ed7084b --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_2/launch/youbot_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_2/package.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_2/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..a3c83bfe46b684c5acc931a1e0d026e0cacc28bc --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_2/package.xml @@ -0,0 +1,28 @@ + + + mir_moveit_youbot_brsu_2 + 0.2.0 + + An automatically generated package with all the configuration and launch files for using the youbot with the MoveIt Motion Planning Framework + + MoveIt Setup Assistant + MoveIt Setup Assistant + + BSD + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit_setup_assistant/issues + https://github.com/ros-planning/moveit_setup_assistant + + moveit_ros_move_group + moveit_planners_ompl + moveit_ros_visualization + joint_state_publisher + robot_state_publisher + xacro + mir_hardware_config + + + catkin + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_3/.setup_assistant b/data/mir_manipulation/mir_moveit_youbot_brsu_3/.setup_assistant new file mode 100644 index 0000000000000000000000000000000000000000..ce2c93f43602e8f3c80626e3997f8791089de457 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_3/.setup_assistant @@ -0,0 +1,8 @@ +moveit_setup_assistant_config: + URDF: + package: mir_hardware_config + relative_path: youbot-brsu-3/urdf/robot.urdf.xacro + SRDF: + relative_path: config/youbot.srdf + CONFIG: + generated_timestamp: 1459416202 \ No newline at end of file diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_3/CMakeLists.txt b/data/mir_manipulation/mir_moveit_youbot_brsu_3/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..7f7812c7ff5c4089c3fb8406c2d684f41df1f68c --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_3/CMakeLists.txt @@ -0,0 +1,9 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_moveit_youbot_brsu_3) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_3/config/controllers.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_3/config/controllers.yaml new file mode 100644 index 0000000000000000000000000000000000000000..73bbce0dfdddcb9b939b2cf28b386f082f602fae --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_3/config/controllers.yaml @@ -0,0 +1,18 @@ +controller_list: + - name: arm_1/arm_controller + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: true + joints: + - arm_joint_1 + - arm_joint_2 + - arm_joint_3 + - arm_joint_4 + - arm_joint_5 + - name: arm_1/gripper_controller + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: true + joints: + - gripper_motor_left_joint + - gripper_motor_right_joint diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_3/config/fake_controllers.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_3/config/fake_controllers.yaml new file mode 100644 index 0000000000000000000000000000000000000000..da52872681e563da8ae8d4ac6593bdb59fa523e4 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_3/config/fake_controllers.yaml @@ -0,0 +1,12 @@ +controller_list: + - name: fake_arm_1_controller + joints: + - arm_joint_1 + - arm_joint_2 + - arm_joint_3 + - arm_joint_4 + - arm_joint_5 + - name: fake_arm_1_gripper_controller + joints: + - gripper_motor_left_joint + - gripper_motor_right_joint \ No newline at end of file diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_3/config/interpolation_planning.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_3/config/interpolation_planning.yaml new file mode 100644 index 0000000000000000000000000000000000000000..83c0d0b806ac5f52891a33b0c15f2973063b7a08 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_3/config/interpolation_planning.yaml @@ -0,0 +1,11 @@ +planner_configs: + Interpolation: + type_1: Trapezoidal +arm_1: + planner_configs: + - Interpolation + planner_minimum_sample_time: 0.1 +arm_1_gripper: + planner_configs: + - Interpolation + planner_minimum_sample_time: 0.1 diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_3/config/joint_limits.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_3/config/joint_limits.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ca2ec8979c38dfd6e19ee858feaaadb2480eba51 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_3/config/joint_limits.yaml @@ -0,0 +1,39 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + arm_joint_3: + has_velocity_limits: true + max_velocity: 1.57079632679 + has_acceleration_limits: true + max_acceleration: 1.571 + arm_joint_2: + has_velocity_limits: true + max_velocity: 1.57079632679 + has_acceleration_limits: true + max_acceleration: 1.571 + arm_joint_4: + has_velocity_limits: true + max_velocity: 1.57079632679 + has_acceleration_limits: true + max_acceleration: 1.571 + gripper_finger_joint_r: + has_velocity_limits: true + max_velocity: 0.1 + has_acceleration_limits: true + max_acceleration: 0.05 + arm_joint_5: + has_velocity_limits: true + max_velocity: 1.57079632679 + has_acceleration_limits: true + max_acceleration: 1.571 + arm_joint_1: + has_velocity_limits: true + max_velocity: 1.57079632679 + has_acceleration_limits: true + max_acceleration: 1.571 + gripper_finger_joint_l: + has_velocity_limits: true + max_velocity: 0.1 + has_acceleration_limits: true + max_acceleration: 0.05 diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_3/config/kinematics.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_3/config/kinematics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7ac1bcec0d533dfaa91f8fd8251e28cf98f971a3 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_3/config/kinematics.yaml @@ -0,0 +1,5 @@ +arm_1: + kinematics_solver: youbot_arm_kinematics_moveit::KinematicsPlugin + kinematics_solver_search_resolution: 0.01 + kinematics_solver_timeout: 0.1 + kinematics_solver_attempts: 1 \ No newline at end of file diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_3/config/ompl_planning.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_3/config/ompl_planning.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ce84be78ac9eada5034c571ec0a862b570acac5 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_3/config/ompl_planning.yaml @@ -0,0 +1,84 @@ +planner_configs: + SBLkConfigDefault: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ESTkConfigDefault: + type: geometric::EST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LBKPIECEkConfigDefault: + type: geometric::LBKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + BKPIECEkConfigDefault: + type: geometric::BKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + KPIECEkConfigDefault: + type: geometric::KPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + RRTkConfigDefault: + type: geometric::RRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + RRTConnectkConfigDefault: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstarkConfigDefault: + type: geometric::RRTstar + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 + TRRTkConfigDefault: + type: geometric::TRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + max_states_failed: 10 # when to start increasing temp. default: 10 + temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 + min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 + init_temperature: 10e-6 # initial temperature. default: 10e-6 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() + PRMkConfigDefault: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstarkConfigDefault: + type: geometric::PRMstar +arm_1: + planner_configs: + - SBLkConfigDefault + - ESTkConfigDefault + - LBKPIECEkConfigDefault + - BKPIECEkConfigDefault + - KPIECEkConfigDefault + - RRTkConfigDefault + - RRTConnectkConfigDefault + - RRTstarkConfigDefault + - TRRTkConfigDefault + - PRMkConfigDefault + - PRMstarkConfigDefault + projection_evaluator: joints(arm_joint_1,arm_joint_2) + longest_valid_segment_fraction: 0.05 +arm_1_gripper: + planner_configs: + - SBLkConfigDefault + - ESTkConfigDefault + - LBKPIECEkConfigDefault + - BKPIECEkConfigDefault + - KPIECEkConfigDefault + - RRTkConfigDefault + - RRTConnectkConfigDefault + - RRTstarkConfigDefault + - TRRTkConfigDefault + - PRMkConfigDefault + - PRMstarkConfigDefault + projection_evaluator: joints(gripper_motor_left_joint,gripper_motor_right_joint) + longest_valid_segment_fraction: 0.05 \ No newline at end of file diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_3/config/youbot.srdf b/data/mir_manipulation/mir_moveit_youbot_brsu_3/config/youbot.srdf new file mode 100644 index 0000000000000000000000000000000000000000..c16fe450a67b0fbb699fc0d5544aeeadcf60c88d --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_3/config/youbot.srdf @@ -0,0 +1,475 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/default_warehouse_db.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/default_warehouse_db.launch new file mode 100644 index 0000000000000000000000000000000000000000..8382ad467dff10f399977d80dd29ed9f61d7fa12 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/demo.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/demo.launch new file mode 100644 index 0000000000000000000000000000000000000000..123c00ea498ae3fa2d5dd54d786d21c69a9b900f --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/demo.launch @@ -0,0 +1,47 @@ + + + + + + + + + + + + + + + + + + + + + + [/move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/fake_moveit_controller_manager.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/fake_moveit_controller_manager.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..d1a4c1a29264c96d23759db36ebc1c24ecd17e53 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/fake_moveit_controller_manager.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/interpolation_planning_pipeline.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/interpolation_planning_pipeline.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..a0ceb86af255b001c33a0dfa96d9e2cff23a871d --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/interpolation_planning_pipeline.launch.xml @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/joystick_control.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/joystick_control.launch new file mode 100644 index 0000000000000000000000000000000000000000..9411f6e60e7b30594f6999ffc682112bc5b7dad1 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/joystick_control.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/move_group.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/move_group.launch new file mode 100644 index 0000000000000000000000000000000000000000..4c06be1d8486fe1720cb72f92a7d33014a017b72 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/move_group.launch @@ -0,0 +1,71 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/moveit.rviz b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/moveit.rviz new file mode 100644 index 0000000000000000000000000000000000000000..11545f6ccd175535c37a16bd3648c85e6d754da8 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/moveit.rviz @@ -0,0 +1,689 @@ +Panels: + - Class: rviz/Displays + Help Height: 84 + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + Splitter Ratio: 0.74256 + Tree Height: 664 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + MoveIt_Goal_Tolerance: 0 + MoveIt_Planning_Time: 5 + MoveIt_Use_Constraint_Aware_IK: true + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + Name: MotionPlanning + Planned Path: + Links: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Loop Animation: true + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trajectory Topic: move_group/display_planned_path + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0 + Joint Violation Color: 255; 0; 255 + Planning Group: left_arm + Query Goal State: true + Query Start State: false + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Color: 50; 230; 50 + Scene Display Time: 0.2 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 0.5 + Show Scene Robot: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: /base_footprint + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 2.9965 + Focal Point: + X: 0.113567 + Y: 0.10592 + Z: 2.23518e-07 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.509797 + Target Frame: /base_footprint + Value: XYOrbit (rviz) + Yaw: 5.65995 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1337 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + Motion Planning: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1828 + X: 459 + Y: -243 diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/moveit_rviz.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/moveit_rviz.launch new file mode 100644 index 0000000000000000000000000000000000000000..a9a21b20df46f17db6658ed66cf0d2578888e9fe --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/moveit_rviz.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/ompl_planning_pipeline.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/ompl_planning_pipeline.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..5cd09d01015675fb7ae2cf53e5eb5a4a8dc6887c --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/ompl_planning_pipeline.launch.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/planning_context.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/planning_context.launch new file mode 100644 index 0000000000000000000000000000000000000000..bfb05c64384530b258cc52c96e6bac0c0e2c1820 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/planning_context.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/planning_pipeline.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/planning_pipeline.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..9e3a0357b02a0347466ffdedef62abd5058b092a --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/run_benchmark_ompl.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/run_benchmark_ompl.launch new file mode 100644 index 0000000000000000000000000000000000000000..bd5671a1761431865a6ee9884f71d5a042a41949 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/run_benchmark_ompl.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/sensor_manager.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/sensor_manager.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..8c5dfcdc81623ae7caa122e1573167aedd589886 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/sensor_manager.launch.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/setup_assistant.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/setup_assistant.launch new file mode 100644 index 0000000000000000000000000000000000000000..173c9742f89e6702e8b64a8227857bf78426038e --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/setup_assistant.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/trajectory_execution.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/trajectory_execution.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..b5bd2481d8ae2cefbfb84ffc23fd348f394b3093 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/trajectory_execution.launch.xml @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/warehouse.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/warehouse.launch new file mode 100644 index 0000000000000000000000000000000000000000..54493d73a4d5b9c57421097838fffa07dee59136 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/warehouse_settings.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/warehouse_settings.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..b3d12357774f63542b13b4fd4c9d38c94dcd66ea --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/warehouse_settings.launch.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/youbot_moveit_controller_manager.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/youbot_moveit_controller_manager.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..277b0f5b7ae7d5ca0a795f31b3abe8250bcfff1a --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/youbot_moveit_controller_manager.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/youbot_moveit_sensor_manager.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/youbot_moveit_sensor_manager.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..5d02698d7b05f6356110c54ddd75cfbc5ed7084b --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_3/launch/youbot_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_3/package.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_3/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..57e49e99e3ce4f95a2424ec1e7569c26810301b4 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_3/package.xml @@ -0,0 +1,28 @@ + + + mir_moveit_youbot_brsu_3 + 0.2.0 + + An automatically generated package with all the configuration and launch files for using the youbot with the MoveIt Motion Planning Framework + + MoveIt Setup Assistant + MoveIt Setup Assistant + + BSD + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit_setup_assistant/issues + https://github.com/ros-planning/moveit_setup_assistant + + moveit_ros_move_group + moveit_planners_ompl + moveit_ros_visualization + joint_state_publisher + robot_state_publisher + xacro + mir_hardware_config + + + catkin + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_4/.setup_assistant b/data/mir_manipulation/mir_moveit_youbot_brsu_4/.setup_assistant new file mode 100644 index 0000000000000000000000000000000000000000..dced9a142a5dfd56583b13c4317876eb3d041502 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_4/.setup_assistant @@ -0,0 +1,8 @@ +moveit_setup_assistant_config: + URDF: + package: mir_hardware_config + relative_path: youbot-brsu-4/urdf/robot.urdf.xacro + SRDF: + relative_path: config/youbot.srdf + CONFIG: + generated_timestamp: 1464865937 \ No newline at end of file diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_4/CMakeLists.txt b/data/mir_manipulation/mir_moveit_youbot_brsu_4/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..29f8021f38cfb026be32aa2ae26223884f8f41e7 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_4/CMakeLists.txt @@ -0,0 +1,9 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_moveit_youbot_brsu_4) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_4/config/controllers.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_4/config/controllers.yaml new file mode 100644 index 0000000000000000000000000000000000000000..73bbce0dfdddcb9b939b2cf28b386f082f602fae --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_4/config/controllers.yaml @@ -0,0 +1,18 @@ +controller_list: + - name: arm_1/arm_controller + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: true + joints: + - arm_joint_1 + - arm_joint_2 + - arm_joint_3 + - arm_joint_4 + - arm_joint_5 + - name: arm_1/gripper_controller + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: true + joints: + - gripper_motor_left_joint + - gripper_motor_right_joint diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_4/config/fake_controllers.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_4/config/fake_controllers.yaml new file mode 100644 index 0000000000000000000000000000000000000000..da52872681e563da8ae8d4ac6593bdb59fa523e4 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_4/config/fake_controllers.yaml @@ -0,0 +1,12 @@ +controller_list: + - name: fake_arm_1_controller + joints: + - arm_joint_1 + - arm_joint_2 + - arm_joint_3 + - arm_joint_4 + - arm_joint_5 + - name: fake_arm_1_gripper_controller + joints: + - gripper_motor_left_joint + - gripper_motor_right_joint \ No newline at end of file diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_4/config/interpolation_planning.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_4/config/interpolation_planning.yaml new file mode 100644 index 0000000000000000000000000000000000000000..83c0d0b806ac5f52891a33b0c15f2973063b7a08 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_4/config/interpolation_planning.yaml @@ -0,0 +1,11 @@ +planner_configs: + Interpolation: + type_1: Trapezoidal +arm_1: + planner_configs: + - Interpolation + planner_minimum_sample_time: 0.1 +arm_1_gripper: + planner_configs: + - Interpolation + planner_minimum_sample_time: 0.1 diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_4/config/joint_limits.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_4/config/joint_limits.yaml new file mode 100644 index 0000000000000000000000000000000000000000..034f7e113b897ad4ad10d1c53dd89c1e26556349 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_4/config/joint_limits.yaml @@ -0,0 +1,41 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + arm_joint_1: + has_velocity_limits: true + max_velocity: 1.5707 + has_acceleration_limits: true + max_acceleration: 1.5707 + arm_joint_2: + has_velocity_limits: true + max_velocity: 0.8 + has_acceleration_limits: true + max_acceleration: 0.8 # default 1.5707 + arm_joint_3: + has_velocity_limits: true + max_velocity: 1.0 + has_acceleration_limits: true + max_acceleration: 1.0 # default 1.5707 + arm_joint_4: + has_velocity_limits: true + max_velocity: 1.5707 + has_acceleration_limits: true + max_acceleration: 1.571 + arm_joint_5: + has_velocity_limits: true + max_velocity: 1.5707 + has_acceleration_limits: true + max_acceleration: 1.571 + gripper_motor_left_joint: + has_velocity_limits: true + max_velocity: 6.178465545 + has_acceleration_limits: true + max_acceleration: 1.5 + gripper_motor_right_joint: + has_velocity_limits: true + max_velocity: 6.178465545 + has_acceleration_limits: true + max_acceleration: 1.5 +default_velocity_scaling_factor: 1.0 +default_acceleration_scaling_factor: 1.0 diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_4/config/joint_limits_fast.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_4/config/joint_limits_fast.yaml new file mode 100644 index 0000000000000000000000000000000000000000..09e059dce2bc703ce42d0126aeca6c1716f326fd --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_4/config/joint_limits_fast.yaml @@ -0,0 +1,41 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + arm_joint_1: + has_velocity_limits: true + max_velocity: 1.5707 + has_acceleration_limits: true + max_acceleration: 1.5707 + arm_joint_2: + has_velocity_limits: true + max_velocity: 1.3 + has_acceleration_limits: true + max_acceleration: 1.3 + arm_joint_3: + has_velocity_limits: true + max_velocity: 2.5 + has_acceleration_limits: true + max_acceleration: 2.0 + arm_joint_4: + has_velocity_limits: true + max_velocity: 4.0 + has_acceleration_limits: true + max_acceleration: 3.0 + arm_joint_5: + has_velocity_limits: true + max_velocity: 3 + has_acceleration_limits: true + max_acceleration: 2 + gripper_motor_left_joint: + has_velocity_limits: true + max_velocity: 6.178465545 + has_acceleration_limits: true + max_acceleration: 1.5 + gripper_motor_right_joint: + has_velocity_limits: true + max_velocity: 6.178465545 + has_acceleration_limits: true + max_acceleration: 1.5 +default_velocity_scaling_factor: 1.0 +default_acceleration_scaling_factor: 1.0 diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_4/config/kinematics.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_4/config/kinematics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..03edd38b3fffd96142f45b0a4fb5f6ef8f52db65 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_4/config/kinematics.yaml @@ -0,0 +1,4 @@ +arm_1: + kinematics_solver: youbot_arm_kinematics_moveit::KinematicsPlugin + kinematics_solver_search_resolution: 0.01 + kinematics_solver_timeout: 0.1 diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_4/config/ompl_planning.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_4/config/ompl_planning.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ce84be78ac9eada5034c571ec0a862b570acac5 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_4/config/ompl_planning.yaml @@ -0,0 +1,84 @@ +planner_configs: + SBLkConfigDefault: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ESTkConfigDefault: + type: geometric::EST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LBKPIECEkConfigDefault: + type: geometric::LBKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + BKPIECEkConfigDefault: + type: geometric::BKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + KPIECEkConfigDefault: + type: geometric::KPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + RRTkConfigDefault: + type: geometric::RRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + RRTConnectkConfigDefault: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstarkConfigDefault: + type: geometric::RRTstar + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 + TRRTkConfigDefault: + type: geometric::TRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + max_states_failed: 10 # when to start increasing temp. default: 10 + temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 + min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 + init_temperature: 10e-6 # initial temperature. default: 10e-6 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() + PRMkConfigDefault: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstarkConfigDefault: + type: geometric::PRMstar +arm_1: + planner_configs: + - SBLkConfigDefault + - ESTkConfigDefault + - LBKPIECEkConfigDefault + - BKPIECEkConfigDefault + - KPIECEkConfigDefault + - RRTkConfigDefault + - RRTConnectkConfigDefault + - RRTstarkConfigDefault + - TRRTkConfigDefault + - PRMkConfigDefault + - PRMstarkConfigDefault + projection_evaluator: joints(arm_joint_1,arm_joint_2) + longest_valid_segment_fraction: 0.05 +arm_1_gripper: + planner_configs: + - SBLkConfigDefault + - ESTkConfigDefault + - LBKPIECEkConfigDefault + - BKPIECEkConfigDefault + - KPIECEkConfigDefault + - RRTkConfigDefault + - RRTConnectkConfigDefault + - RRTstarkConfigDefault + - TRRTkConfigDefault + - PRMkConfigDefault + - PRMstarkConfigDefault + projection_evaluator: joints(gripper_motor_left_joint,gripper_motor_right_joint) + longest_valid_segment_fraction: 0.05 \ No newline at end of file diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_4/config/youbot.srdf b/data/mir_manipulation/mir_moveit_youbot_brsu_4/config/youbot.srdf new file mode 100644 index 0000000000000000000000000000000000000000..338fe0c345660bd3193eb85fd53be60adf3b4fbf --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_4/config/youbot.srdf @@ -0,0 +1,1065 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/default_warehouse_db.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/default_warehouse_db.launch new file mode 100644 index 0000000000000000000000000000000000000000..e8876fbe5dfa93445433fa235431d5cabe6cbfac --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/demo.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/demo.launch new file mode 100644 index 0000000000000000000000000000000000000000..09a66c21a3021b2077a36972ebf932805e7e1bc2 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/demo.launch @@ -0,0 +1,47 @@ + + + + + + + + + + + + + + + + + + + + + + [/move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/fake_moveit_controller_manager.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/fake_moveit_controller_manager.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..c2e3d97059767ecccf515c75c2db0513424974bc --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/fake_moveit_controller_manager.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/interpolation_planning_pipeline.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/interpolation_planning_pipeline.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..6b1fdc263607c835176ea0cbc9127d6f1a9ac49f --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/interpolation_planning_pipeline.launch.xml @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/joystick_control.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/joystick_control.launch new file mode 100644 index 0000000000000000000000000000000000000000..9411f6e60e7b30594f6999ffc682112bc5b7dad1 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/joystick_control.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/move_group.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/move_group.launch new file mode 100644 index 0000000000000000000000000000000000000000..73136f38382a12cbdfa63e8b893a23391dda4ab4 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/move_group.launch @@ -0,0 +1,71 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/moveit.rviz b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/moveit.rviz new file mode 100644 index 0000000000000000000000000000000000000000..11545f6ccd175535c37a16bd3648c85e6d754da8 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/moveit.rviz @@ -0,0 +1,689 @@ +Panels: + - Class: rviz/Displays + Help Height: 84 + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + Splitter Ratio: 0.74256 + Tree Height: 664 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + MoveIt_Goal_Tolerance: 0 + MoveIt_Planning_Time: 5 + MoveIt_Use_Constraint_Aware_IK: true + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + Name: MotionPlanning + Planned Path: + Links: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Loop Animation: true + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trajectory Topic: move_group/display_planned_path + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0 + Joint Violation Color: 255; 0; 255 + Planning Group: left_arm + Query Goal State: true + Query Start State: false + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Color: 50; 230; 50 + Scene Display Time: 0.2 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 0.5 + Show Scene Robot: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: /base_footprint + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 2.9965 + Focal Point: + X: 0.113567 + Y: 0.10592 + Z: 2.23518e-07 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.509797 + Target Frame: /base_footprint + Value: XYOrbit (rviz) + Yaw: 5.65995 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1337 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + Motion Planning: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1828 + X: 459 + Y: -243 diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/moveit_rviz.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/moveit_rviz.launch new file mode 100644 index 0000000000000000000000000000000000000000..06728ab207faee46013b4de2a840107b505edf3e --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/moveit_rviz.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/ompl_planning_pipeline.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/ompl_planning_pipeline.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..264e64759f55aa600f0442e5dc7e4f7a71e595c1 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/ompl_planning_pipeline.launch.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/pilz_planning_pipeline.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/pilz_planning_pipeline.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..a37042f1fc8a349aaa2065cae585c0d7c7b17cce --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/pilz_planning_pipeline.launch.xml @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/planning_context.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/planning_context.launch new file mode 100644 index 0000000000000000000000000000000000000000..a6004c38bdcd757dc34ef3acdcf1882c29de0321 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/planning_context.launch @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/planning_pipeline.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/planning_pipeline.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..c66bd4365e52a00cedb29aa6ca3d032b15d799e4 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/run_benchmark_ompl.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/run_benchmark_ompl.launch new file mode 100644 index 0000000000000000000000000000000000000000..0fb5221c799c512ee3c5d32022eccfe023ed8037 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/run_benchmark_ompl.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/sensor_manager.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/sensor_manager.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..ad2e48b8792c218f5d82a62e3465cf91b3116fa8 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/sensor_manager.launch.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/setup_assistant.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/setup_assistant.launch new file mode 100644 index 0000000000000000000000000000000000000000..f0d92ca0083aa80cfbbdbb9f7568daf4f9ac1138 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/setup_assistant.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/trajectory_execution.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/trajectory_execution.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..313214c92ea8f11c02dd08b34a303606a7f00b38 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/trajectory_execution.launch.xml @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/warehouse.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/warehouse.launch new file mode 100644 index 0000000000000000000000000000000000000000..2c324a4ad9cc6a9756998d5d88c6dc004a8d025c --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/warehouse_settings.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/warehouse_settings.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..b3d12357774f63542b13b4fd4c9d38c94dcd66ea --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/warehouse_settings.launch.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/youbot_moveit_controller_manager.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/youbot_moveit_controller_manager.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..a318bdcdce563ec0f5f2e785f6fb8d778e450113 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/youbot_moveit_controller_manager.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/youbot_moveit_sensor_manager.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/youbot_moveit_sensor_manager.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..5d02698d7b05f6356110c54ddd75cfbc5ed7084b --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_4/launch/youbot_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_4/package.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_4/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..a334a4540f7d30a3d84dcc74a760e0029e225f7f --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_4/package.xml @@ -0,0 +1,29 @@ + + + mir_moveit_youbot_brsu_4 + 0.2.0 + + An automatically generated package with all the configuration and launch files for using the youbot with the MoveIt Motion Planning Framework + + MoveIt Setup Assistant + MoveIt Setup Assistant + + BSD + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit_setup_assistant/issues + https://github.com/ros-planning/moveit_setup_assistant + + moveit_ros_move_group + moveit_planners_ompl + moveit_ros_visualization + joint_state_publisher + robot_state_publisher + xacro + mir_hardware_config + moveit_simple_controller_manager + + + catkin + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_5/.setup_assistant b/data/mir_manipulation/mir_moveit_youbot_brsu_5/.setup_assistant new file mode 100644 index 0000000000000000000000000000000000000000..e6ff5093748c1f49ae4915ebb7c3ec4a3d290a7a --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_5/.setup_assistant @@ -0,0 +1,8 @@ +moveit_setup_assistant_config: + URDF: + package: mir_hardware_config + relative_path: youbot-brsu-5/urdf/robot.urdf.xacro + SRDF: + relative_path: config/youbot.srdf + CONFIG: + generated_timestamp: 1459415597 \ No newline at end of file diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_5/CMakeLists.txt b/data/mir_manipulation/mir_moveit_youbot_brsu_5/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..f221178c3f713aa04702d36c4f446c21f728007f --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_5/CMakeLists.txt @@ -0,0 +1,9 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_moveit_youbot_brsu_5) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_5/config/controllers.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_5/config/controllers.yaml new file mode 100644 index 0000000000000000000000000000000000000000..73bbce0dfdddcb9b939b2cf28b386f082f602fae --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_5/config/controllers.yaml @@ -0,0 +1,18 @@ +controller_list: + - name: arm_1/arm_controller + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: true + joints: + - arm_joint_1 + - arm_joint_2 + - arm_joint_3 + - arm_joint_4 + - arm_joint_5 + - name: arm_1/gripper_controller + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: true + joints: + - gripper_motor_left_joint + - gripper_motor_right_joint diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_5/config/fake_controllers.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_5/config/fake_controllers.yaml new file mode 100644 index 0000000000000000000000000000000000000000..da52872681e563da8ae8d4ac6593bdb59fa523e4 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_5/config/fake_controllers.yaml @@ -0,0 +1,12 @@ +controller_list: + - name: fake_arm_1_controller + joints: + - arm_joint_1 + - arm_joint_2 + - arm_joint_3 + - arm_joint_4 + - arm_joint_5 + - name: fake_arm_1_gripper_controller + joints: + - gripper_motor_left_joint + - gripper_motor_right_joint \ No newline at end of file diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_5/config/interpolation_planning.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_5/config/interpolation_planning.yaml new file mode 100644 index 0000000000000000000000000000000000000000..83c0d0b806ac5f52891a33b0c15f2973063b7a08 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_5/config/interpolation_planning.yaml @@ -0,0 +1,11 @@ +planner_configs: + Interpolation: + type_1: Trapezoidal +arm_1: + planner_configs: + - Interpolation + planner_minimum_sample_time: 0.1 +arm_1_gripper: + planner_configs: + - Interpolation + planner_minimum_sample_time: 0.1 diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_5/config/joint_limits.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_5/config/joint_limits.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e4ab8aa6429ac7e75453174abe50ff4012998e16 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_5/config/joint_limits.yaml @@ -0,0 +1,39 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + arm_joint_3: + has_velocity_limits: true + max_velocity: 1.57079632679 + has_acceleration_limits: true + max_acceleration: 1.571 + arm_joint_2: + has_velocity_limits: true + max_velocity: 1.57079632679 + has_acceleration_limits: true + max_acceleration: 1.571 + arm_joint_4: + has_velocity_limits: true + max_velocity: 1.57079632679 + has_acceleration_limits: true + max_acceleration: 1.571 + gripper_motor_left_joint: + has_velocity_limits: true + max_velocity: 6.178465545 + has_acceleration_limits: true + max_acceleration: 1.5 + arm_joint_5: + has_velocity_limits: true + max_velocity: 1.57079632679 + has_acceleration_limits: true + max_acceleration: 1.571 + arm_joint_1: + has_velocity_limits: true + max_velocity: 1.57079632679 + has_acceleration_limits: true + max_acceleration: 1.571 + gripper_motor_right_joint: + has_velocity_limits: true + max_velocity: 6.178465545 + has_acceleration_limits: true + max_acceleration: 1.5 diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_5/config/kinematics.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_5/config/kinematics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7ac1bcec0d533dfaa91f8fd8251e28cf98f971a3 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_5/config/kinematics.yaml @@ -0,0 +1,5 @@ +arm_1: + kinematics_solver: youbot_arm_kinematics_moveit::KinematicsPlugin + kinematics_solver_search_resolution: 0.01 + kinematics_solver_timeout: 0.1 + kinematics_solver_attempts: 1 \ No newline at end of file diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_5/config/ompl_planning.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_5/config/ompl_planning.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ce84be78ac9eada5034c571ec0a862b570acac5 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_5/config/ompl_planning.yaml @@ -0,0 +1,84 @@ +planner_configs: + SBLkConfigDefault: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ESTkConfigDefault: + type: geometric::EST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LBKPIECEkConfigDefault: + type: geometric::LBKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + BKPIECEkConfigDefault: + type: geometric::BKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + KPIECEkConfigDefault: + type: geometric::KPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + RRTkConfigDefault: + type: geometric::RRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + RRTConnectkConfigDefault: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstarkConfigDefault: + type: geometric::RRTstar + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 + TRRTkConfigDefault: + type: geometric::TRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + max_states_failed: 10 # when to start increasing temp. default: 10 + temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 + min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 + init_temperature: 10e-6 # initial temperature. default: 10e-6 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() + PRMkConfigDefault: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstarkConfigDefault: + type: geometric::PRMstar +arm_1: + planner_configs: + - SBLkConfigDefault + - ESTkConfigDefault + - LBKPIECEkConfigDefault + - BKPIECEkConfigDefault + - KPIECEkConfigDefault + - RRTkConfigDefault + - RRTConnectkConfigDefault + - RRTstarkConfigDefault + - TRRTkConfigDefault + - PRMkConfigDefault + - PRMstarkConfigDefault + projection_evaluator: joints(arm_joint_1,arm_joint_2) + longest_valid_segment_fraction: 0.05 +arm_1_gripper: + planner_configs: + - SBLkConfigDefault + - ESTkConfigDefault + - LBKPIECEkConfigDefault + - BKPIECEkConfigDefault + - KPIECEkConfigDefault + - RRTkConfigDefault + - RRTConnectkConfigDefault + - RRTstarkConfigDefault + - TRRTkConfigDefault + - PRMkConfigDefault + - PRMstarkConfigDefault + projection_evaluator: joints(gripper_motor_left_joint,gripper_motor_right_joint) + longest_valid_segment_fraction: 0.05 \ No newline at end of file diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_5/config/youbot.srdf b/data/mir_manipulation/mir_moveit_youbot_brsu_5/config/youbot.srdf new file mode 100644 index 0000000000000000000000000000000000000000..89f72f04089ace9873d12b7db21dd4e285c0ca1c --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_5/config/youbot.srdf @@ -0,0 +1,475 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/default_warehouse_db.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/default_warehouse_db.launch new file mode 100644 index 0000000000000000000000000000000000000000..5944b086ab689e0c0de11d5229218b3f9a8d3c0d --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/demo.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/demo.launch new file mode 100644 index 0000000000000000000000000000000000000000..67458160a0d2c84d7c10c474a385df2b24a3f8a1 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/demo.launch @@ -0,0 +1,47 @@ + + + + + + + + + + + + + + + + + + + + + + [/move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/fake_moveit_controller_manager.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/fake_moveit_controller_manager.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..56c87c78336affe37c272087febca9a903d9291e --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/fake_moveit_controller_manager.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/interpolation_planning_pipeline.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/interpolation_planning_pipeline.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..99b5c7c691828de1bc18b1fb1c784872343fe37e --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/interpolation_planning_pipeline.launch.xml @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/joystick_control.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/joystick_control.launch new file mode 100644 index 0000000000000000000000000000000000000000..9411f6e60e7b30594f6999ffc682112bc5b7dad1 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/joystick_control.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/move_group.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/move_group.launch new file mode 100644 index 0000000000000000000000000000000000000000..f0409fd9ff708fc39cde2df3968ef02f506908fa --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/move_group.launch @@ -0,0 +1,71 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/moveit.rviz b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/moveit.rviz new file mode 100644 index 0000000000000000000000000000000000000000..11545f6ccd175535c37a16bd3648c85e6d754da8 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/moveit.rviz @@ -0,0 +1,689 @@ +Panels: + - Class: rviz/Displays + Help Height: 84 + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + Splitter Ratio: 0.74256 + Tree Height: 664 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + MoveIt_Goal_Tolerance: 0 + MoveIt_Planning_Time: 5 + MoveIt_Use_Constraint_Aware_IK: true + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + Name: MotionPlanning + Planned Path: + Links: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Loop Animation: true + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trajectory Topic: move_group/display_planned_path + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0 + Joint Violation Color: 255; 0; 255 + Planning Group: left_arm + Query Goal State: true + Query Start State: false + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Color: 50; 230; 50 + Scene Display Time: 0.2 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 0.5 + Show Scene Robot: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: /base_footprint + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 2.9965 + Focal Point: + X: 0.113567 + Y: 0.10592 + Z: 2.23518e-07 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.509797 + Target Frame: /base_footprint + Value: XYOrbit (rviz) + Yaw: 5.65995 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1337 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + Motion Planning: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1828 + X: 459 + Y: -243 diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/moveit_rviz.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/moveit_rviz.launch new file mode 100644 index 0000000000000000000000000000000000000000..9a82fc1b25bcee4ff9114550cd1eea303444581d --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/moveit_rviz.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/ompl_planning_pipeline.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/ompl_planning_pipeline.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..e1526349c302a625d543a72a8c1c7df508b06ffe --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/ompl_planning_pipeline.launch.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/planning_context.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/planning_context.launch new file mode 100644 index 0000000000000000000000000000000000000000..a7d05fb48de60aa02269862b8a7ef0c357deab12 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/planning_context.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/planning_pipeline.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/planning_pipeline.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..1a02bcdeaf3b7eb65af571a87a9993145c045187 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/run_benchmark_ompl.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/run_benchmark_ompl.launch new file mode 100644 index 0000000000000000000000000000000000000000..88676897b1fe1ad14ea0593236e2e5a048e1f977 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/run_benchmark_ompl.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/sensor_manager.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/sensor_manager.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..75729e4b74b4783dc5dc40f963fe998868a751b5 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/sensor_manager.launch.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/setup_assistant.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/setup_assistant.launch new file mode 100644 index 0000000000000000000000000000000000000000..a873ef05fdc58a3725cc9d9633d3efd3a29af5ba --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/setup_assistant.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/trajectory_execution.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/trajectory_execution.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..9958eb516a41b626494e99cc32fbc8628f39c39d --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/trajectory_execution.launch.xml @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/warehouse.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/warehouse.launch new file mode 100644 index 0000000000000000000000000000000000000000..f49b6773536eea53ca1950fdb185e069890033d2 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/warehouse_settings.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/warehouse_settings.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..b3d12357774f63542b13b4fd4c9d38c94dcd66ea --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/warehouse_settings.launch.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/youbot_moveit_controller_manager.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/youbot_moveit_controller_manager.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..0325c33b45fe518e72616d6a194796c58949cf84 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/youbot_moveit_controller_manager.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/youbot_moveit_sensor_manager.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/youbot_moveit_sensor_manager.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..5d02698d7b05f6356110c54ddd75cfbc5ed7084b --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_5/launch/youbot_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_5/package.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_5/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..cd4dd614f48e331c558e30781f98cc9338cb015f --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_5/package.xml @@ -0,0 +1,28 @@ + + + mir_moveit_youbot_brsu_5 + 0.2.0 + + An automatically generated package with all the configuration and launch files for using the youbot with the MoveIt Motion Planning Framework + + MoveIt Setup Assistant + MoveIt Setup Assistant + + BSD + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit_setup_assistant/issues + https://github.com/ros-planning/moveit_setup_assistant + + moveit_ros_move_group + moveit_planners_ompl + moveit_ros_visualization + joint_state_publisher + robot_state_publisher + xacro + mir_hardware_config + + + catkin + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_arm/.setup_assistant b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/.setup_assistant new file mode 100644 index 0000000000000000000000000000000000000000..ba686a53769f0c5969a910b0cc697b514fb30869 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/.setup_assistant @@ -0,0 +1,8 @@ +moveit_setup_assistant_config: + URDF: + package: mir_hardware_config + relative_path: youbot-brsu-arm/urdf/robot.urdf.xacro + SRDF: + relative_path: config/youbot.srdf + CONFIG: + generated_timestamp: 1428681804 diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_arm/CMakeLists.txt b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..7d35fc9de27943fe5b51572a14194bf1a5a8d3ca --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/CMakeLists.txt @@ -0,0 +1,9 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_moveit_youbot_brsu_arm) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_arm/config/controllers.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/config/controllers.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6dd0ae27129b2d976a2d491e2790dd5a67eef669 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/config/controllers.yaml @@ -0,0 +1,18 @@ +controller_list: + - name: arm_1/arm_controller + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: true + joints: + - arm_joint_1 + - arm_joint_2 + - arm_joint_3 + - arm_joint_4 + - arm_joint_5 + - name: arm_1/gripper_controller + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: true + joints: + - gripper_finger_joint_l + - gripper_finger_joint_r diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_arm/config/fake_controllers.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/config/fake_controllers.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c4d3d54145580fd926cbc61354d4d56e8c700074 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/config/fake_controllers.yaml @@ -0,0 +1,12 @@ +controller_list: + - name: fake_arm_1_controller + joints: + - arm_joint_1 + - arm_joint_2 + - arm_joint_3 + - arm_joint_4 + - arm_joint_5 + - name: fake_arm_1_gripper_controller + joints: + - gripper_finger_joint_l + - gripper_finger_joint_r \ No newline at end of file diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_arm/config/interpolation_planning.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/config/interpolation_planning.yaml new file mode 100644 index 0000000000000000000000000000000000000000..83c0d0b806ac5f52891a33b0c15f2973063b7a08 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/config/interpolation_planning.yaml @@ -0,0 +1,11 @@ +planner_configs: + Interpolation: + type_1: Trapezoidal +arm_1: + planner_configs: + - Interpolation + planner_minimum_sample_time: 0.1 +arm_1_gripper: + planner_configs: + - Interpolation + planner_minimum_sample_time: 0.1 diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_arm/config/joint_limits.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/config/joint_limits.yaml new file mode 100644 index 0000000000000000000000000000000000000000..33d72df06cfc1043052400005b3f583ccef524b0 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/config/joint_limits.yaml @@ -0,0 +1,36 @@ +joint_limits: + arm_joint_3: + has_velocity_limits: true + max_velocity: 1.57079632679 + has_acceleration_limits: true + max_acceleration: 1.571 + arm_joint_2: + has_velocity_limits: true + max_velocity: 1.57079632679 + has_acceleration_limits: true + max_acceleration: 1.571 + arm_joint_4: + has_velocity_limits: true + max_velocity: 1.57079632679 + has_acceleration_limits: true + max_acceleration: 1.571 + gripper_finger_joint_r: + has_velocity_limits: true + max_velocity: 0.1 + has_acceleration_limits: true + max_acceleration: 0.05 + arm_joint_5: + has_velocity_limits: true + max_velocity: 1.57079632679 + has_acceleration_limits: true + max_acceleration: 1.571 + arm_joint_1: + has_velocity_limits: true + max_velocity: 1.57079632679 + has_acceleration_limits: true + max_acceleration: 1.571 + gripper_finger_joint_l: + has_velocity_limits: true + max_velocity: 0.1 + has_acceleration_limits: true + max_acceleration: 0.05 diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_arm/config/kinematics.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/config/kinematics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9818cf6329be3d577023b56a0dfc2929200ccb90 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/config/kinematics.yaml @@ -0,0 +1,5 @@ +arm_1: + kinematics_solver: youbot_arm_kinematics_moveit::KinematicsPlugin + kinematics_solver_search_resolution: 0.01 + kinematics_solver_timeout: 0.1 + kinematics_solver_attempts: 1 diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_arm/config/ompl_planning.yaml b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/config/ompl_planning.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3feb174b52fbaf1a2616ebdc69298c6b2f5d35b --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/config/ompl_planning.yaml @@ -0,0 +1,53 @@ +planner_configs: + SBLkConfigDefault: + type: geometric::SBL + ESTkConfigDefault: + type: geometric::EST + LBKPIECEkConfigDefault: + type: geometric::LBKPIECE + BKPIECEkConfigDefault: + type: geometric::BKPIECE + KPIECEkConfigDefault: + type: geometric::KPIECE + RRTkConfigDefault: + type: geometric::RRT + RRTConnectkConfigDefault: + type: geometric::RRTConnect + RRTstarkConfigDefault: + type: geometric::RRTstar + TRRTkConfigDefault: + type: geometric::TRRT + PRMkConfigDefault: + type: geometric::PRM + PRMstarkConfigDefault: + type: geometric::PRMstar +arm_1: + planner_configs: + - SBLkConfigDefault + - ESTkConfigDefault + - LBKPIECEkConfigDefault + - BKPIECEkConfigDefault + - KPIECEkConfigDefault + - RRTkConfigDefault + - RRTConnectkConfigDefault + - RRTstarkConfigDefault + - TRRTkConfigDefault + - PRMkConfigDefault + - PRMstarkConfigDefault + projection_evaluator: joints(arm_joint_1,arm_joint_2) + longest_valid_segment_fraction: 0.05 +arm_1_gripper: + planner_configs: + - SBLkConfigDefault + - ESTkConfigDefault + - LBKPIECEkConfigDefault + - BKPIECEkConfigDefault + - KPIECEkConfigDefault + - RRTkConfigDefault + - RRTConnectkConfigDefault + - RRTstarkConfigDefault + - TRRTkConfigDefault + - PRMkConfigDefault + - PRMstarkConfigDefault + projection_evaluator: joints(gripper_finger_joint_l,gripper_finger_joint_r) + longest_valid_segment_fraction: 0.05 \ No newline at end of file diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_arm/config/youbot.srdf b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/config/youbot.srdf new file mode 100644 index 0000000000000000000000000000000000000000..36be308839931b32ef912a4098c2f934a8345a83 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/config/youbot.srdf @@ -0,0 +1,275 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_arm/launch/interpolation_planning_pipeline.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/launch/interpolation_planning_pipeline.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..87e165f18d7aaa8ff8c44a892dd8ed92439f0c0c --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/launch/interpolation_planning_pipeline.launch.xml @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_arm/launch/move_group.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/launch/move_group.launch new file mode 100644 index 0000000000000000000000000000000000000000..751125c14af5023c0cf5da01c1015260a3ebe451 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/launch/move_group.launch @@ -0,0 +1,70 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_arm/launch/ompl_planning_pipeline.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/launch/ompl_planning_pipeline.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..adeaadc8ca3c82715cc86f45a8264ac5a7c3e2a9 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/launch/ompl_planning_pipeline.launch.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_arm/launch/planning_context.launch b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/launch/planning_context.launch new file mode 100644 index 0000000000000000000000000000000000000000..a069d4409b058b7a8016cfa03fdba254459c3249 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/launch/planning_context.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_arm/launch/planning_pipeline.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/launch/planning_pipeline.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..33b8fa7a9c66dafab4c5cf1bc6440225177f1fa2 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/launch/planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_arm/launch/sensor_manager.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/launch/sensor_manager.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..ba074a59fabb7d12d9230197718ccc55d84291cc --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/launch/sensor_manager.launch.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_arm/launch/trajectory_execution.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/launch/trajectory_execution.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..ab7af1ba097b9355a23727f7e080aa4aa37d0246 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/launch/trajectory_execution.launch.xml @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_arm/launch/youbot_moveit_controller_manager.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/launch/youbot_moveit_controller_manager.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..059e51bff7a53b5245f79d36cbfcd7024b98282b --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/launch/youbot_moveit_controller_manager.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_arm/launch/youbot_moveit_sensor_manager.launch.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/launch/youbot_moveit_sensor_manager.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..5d02698d7b05f6356110c54ddd75cfbc5ed7084b --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/launch/youbot_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/data/mir_manipulation/mir_moveit_youbot_brsu_arm/package.xml b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..84708a861265c2fd5a62aee6fb40d5e8637c1639 --- /dev/null +++ b/data/mir_manipulation/mir_moveit_youbot_brsu_arm/package.xml @@ -0,0 +1,29 @@ + + + mir_moveit_youbot_brsu_arm + 0.2.0 + + A package with all the configuration and launch files for using the youbot arm with the MoveIt Motion Planning Framework + + MoveIt Setup Assistant + MoveIt Setup Assistant + + BSD + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit_setup_assistant/issues + https://github.com/ros-planning/moveit_setup_assistant + + moveit_ros_move_group + moveit_planners_ompl + moveit_ros_visualization + joint_state_publisher + robot_state_publisher + xacro + mir_hardware_config + youbot_arm_kinematics_moveit + mcr_interpolation_planner_moveit + + catkin + + diff --git a/data/mir_manipulation/mir_pregrasp_planning/CMakeLists.txt b/data/mir_manipulation/mir_pregrasp_planning/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..c72fbcac73722f7a8204a3fc7626c59e79b7a902 --- /dev/null +++ b/data/mir_manipulation/mir_pregrasp_planning/CMakeLists.txt @@ -0,0 +1,58 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_pregrasp_planning) + +find_package(catkin REQUIRED + COMPONENTS + rospy + roslint + dynamic_reconfigure +) + +include_directories( + ${catkin_INCLUDE_DIRS} +) + +catkin_python_setup() + +generate_dynamic_reconfigure_options( + ros/config/PregraspPlannerParams.cfg +) + +catkin_package( + CATKIN_DEPENDS + rospy + dynamic_reconfigure + mcr_pose_generation + mcr_manipulation_pose_selector + mcr_manipulation_monitors + mcr_arm_motions + mcr_topic_tools + std_msgs + geometry_msgs + visualization_msgs + mcr_manipulation_msgs + tf + mcr_manipulation_measurers + mcr_common_converters +) + +### TESTS +roslint_python( + ros/scripts/pose_mock_up_gui_node + ros/scripts/pregrasp_planner_node +) + +if(CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + find_package(rostest REQUIRED) + + roslaunch_add_file_check(ros/launch) + catkin_add_nosetests(ros/test/simple_pregrasp_planner_unittest.py) +endif() + +install(PROGRAMS + ros/scripts/pose_mock_up_gui_node + ros/scripts/pregrasp_planner_node + ros/config/PregraspPlannerParams.cfg + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) diff --git a/data/mir_manipulation/mir_pregrasp_planning/package.xml b/data/mir_manipulation/mir_pregrasp_planning/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..5d994ad9d56d6f40727c0570b1f0a66e04e1e533 --- /dev/null +++ b/data/mir_manipulation/mir_pregrasp_planning/package.xml @@ -0,0 +1,44 @@ + + + mir_pregrasp_planning + 0.1.0 + + This package contains components to compute a *pre-grasp* pose, based on a target pose, + for the end effector of a robot's manipulator. + + GPLv3 + + Abhishek Padalkdar + + Jose Sanchez + Debaraj Barua + Senthilkumar Sockalingam Kathiresan + Vladimir Krasin + Duy Khoi Tran + Abhishek Padalkdar + + catkin + + rospy + roslint + dynamic_reconfigure + + rospy + dynamic_reconfigure + mcr_pose_generation + mcr_manipulation_pose_selector + mcr_manipulation_monitors + mcr_arm_motions + mcr_topic_tools + std_msgs + geometry_msgs + visualization_msgs + mcr_manipulation_msgs + tf + mcr_manipulation_measurers + mcr_common_converters + mcr_event_gui + + roslaunch + rostest + diff --git a/data/mir_manipulation/mir_pregrasp_planning/ros/config/PregraspPlannerParams.cfg b/data/mir_manipulation/mir_pregrasp_planning/ros/config/PregraspPlannerParams.cfg new file mode 100644 index 0000000000000000000000000000000000000000..66e0841a9ca241e95d33cd5266779003d1476d30 --- /dev/null +++ b/data/mir_manipulation/mir_pregrasp_planning/ros/config/PregraspPlannerParams.cfg @@ -0,0 +1,55 @@ +#!/usr/bin/env python +PACKAGE = "mir_pregrasp_planning" +NODE = "pregrasp_planner" + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +gen.add("min_azimuth", double_t, 0, "Minimum Azimuth angle in degrees", 0.0, -180.0, 180.0) +gen.add("min_zenith", double_t, 0, "Minimum Zenith angle in degrees", 0.0, -180.0, 180.0) +gen.add("min_roll", double_t, 0, "Minimum Rolling angle in degrees", 0.0, -180.0, 180.0) +gen.add("max_azimuth", double_t, 0, "Maximum Azimuth angle in degrees", 0.0, -180.0, 180.0) +gen.add("max_zenith", double_t, 0, "Maximum Zenith angle in degrees", 0.0, -180.0, 180.0) +gen.add("max_roll", double_t, 0, "Maximum Rolling angle in degrees", 0.0, -180.0, 180.0) +gen.add("linear_step", double_t, 0, "The sampling step for linear variables (in meters)", 0.01, 0.0, 0.1) +gen.add("angular_step", double_t, 0, "The sampling step for angular variables (in degrees)", 0.0, -180.0, 180.0) +gen.add("min_distance_to_object", double_t, 0, "Closest distance the gripper should be to the object (in meters)", 0.0, 0.0, 0.1) +gen.add("max_distance_to_object", double_t, 0, "Farthest distance the gripper should be to the object (in meters)", 0.0, 0.0, 0.1) +gen.add("max_samples", int_t, 0, "Number of samples", 50, 0, 200) +gen.add("max_height", double_t, 0, "Maximum height", 0.0, 0.0, 0.01) +gen.add("min_height", double_t, 0, "Minimum height", 0.0, 0.0, 0.01) +gen.add("height_tolerance", double_t, 0, "Tolerance to decide whether an object should be re-oriented - Height", 0.04, 0, 0.04) +gen.add("angular_tolerance", double_t, 0, "Angular tolerance (in degrees) to check if an object is standing up (in degrees)", 2.0, -180.0, 180.0) +gen.add("target_frame", str_t, 0, "Target frame for transform", "base_link") +gen.add("reference_axis", str_t, 0, "Rotation axis of the pose to be modified (e.g. x, y, z)", "z") +gen.add("rotation_offset", double_t, 0, "Rotation offset to add to the reference_axis of the pose (in degrees)", 0.0, -180.0, 180.0) +gen.add("linear_offset_x", double_t, 0, "Linear offset for the X axis", 0.0, -0.1, 0.1) +gen.add("linear_offset_y", double_t, 0, "Linear offset for the Y axis", 0.0, -0.1, 0.1) +gen.add("linear_offset_z", double_t, 0, "Linear offset for the Z axis", 0.0, -0.1, 0.1) +gen.add("joint_1_offset", double_t, 0, "Offset for joint 1 to create pre-pregrasp pose", 0.0, -1.0, 1.0) +gen.add("joint_2_offset", double_t, 0, "Offset for joint 2 to create pre-pregrasp pose", 0.0, -1.0, 1.0) +gen.add("joint_3_offset", double_t, 0, "Offset for joint 3 to create pre-pregrasp pose", 0.0, -1.0, 1.0) +gen.add("joint_4_offset", double_t, 0, "Offset for joint 4 to create pre-pregrasp pose", 0.0, -1.0, 1.0) +gen.add("joint_5_offset", double_t, 0, "Offset for joint 5 to create pre-pregrasp pose", 0.0, -1.0, 1.0) +gen.add("joint_1_offset_side_grasp", double_t, 0, "Offset for joint 1 to create pre-pregrasp pose for side grasp", 0.0, -1.0, 1.0) +gen.add("joint_2_offset_side_grasp", double_t, 0, "Offset for joint 2 to create pre-pregrasp pose for side grasp", 0.0, -1.0, 1.0) +gen.add("joint_3_offset_side_grasp", double_t, 0, "Offset for joint 3 to create pre-pregrasp pose for side grasp", 0.0, -1.0, 1.0) +gen.add("joint_4_offset_side_grasp", double_t, 0, "Offset for joint 4 to create pre-pregrasp pose for side grasp", 0.0, -1.0, 1.0) +gen.add("joint_5_offset_side_grasp", double_t, 0, "Offset for joint 5 to create pre-pregrasp pose for side grasp", 0.0, -1.0, 1.0) +gen.add("rotation_range_max", double_t, 0, "Range of rotation allowed [rotation_range_max - rotation_range_min] (in degrees)", 270.0, 0.0, 360.0) +gen.add("rotation_range_min", double_t, 0, "Range of rotation allowed [rotation_range_max - rotation_range_min] (in degrees)", 90.0, 0.0, 360.0) + +ik_group = gen.add_group("IK Solver") +ik_group.add("generate_pregrasp_waypoint", bool_t, 0, "Whether a pre-pregrasp joint configuration should be generated", True) +ik_group.add("default_ik_flag", bool_t, 0, "Whether the default IK should be used or not", True) +ik_group.add("orientation_independent_ik_flag", bool_t, 0, "Whether orientation should be ignored or not while calculating IK", False) +ik_group.add("adaptive_ik_flag", bool_t, 0, "Try both default IK and orientation independent IK", False) + +side_grasp = gen.add_group("Side Grasp") +#add side grasp x and y offsets +side_grasp.add("side_grasp_offset_x", double_t, 0, "Offset for the X axis for side grasp", 0.1, -0.1, -0.01) +side_grasp.add("side_grasp_offset_y", double_t, 0, "Offset for the Y axis for side grasp", 0.1, -0.1, 0.02) + + +exit(gen.generate(PACKAGE, NODE, "PregraspPlannerParams")) diff --git a/data/mir_manipulation/mir_pregrasp_planning/ros/config/default_pregrasp_params.yaml b/data/mir_manipulation/mir_pregrasp_planning/ros/config/default_pregrasp_params.yaml new file mode 100644 index 0000000000000000000000000000000000000000..731d71aa05c36903db2613a2f3854610cc5dbc0d --- /dev/null +++ b/data/mir_manipulation/mir_pregrasp_planning/ros/config/default_pregrasp_params.yaml @@ -0,0 +1,43 @@ +min_azimuth: 0.0 +max_azimuth: 0.0 +min_zenith: -5.0 +max_zenith: 5.0 +min_roll: -30.0 +max_roll: 30.0 +linear_step: 0.01 +angular_step: 0.05 +min_distance_to_object: 0.00 +max_distance_to_object: 0.00 +max_samples: 50 +max_height: 0.0 +min_height: 0.0 +height_tolerance: 0.24 +angular_tolerance: 10.0 +target_frame: base_link +reference_axis: z +rotation_offset: 0.0 +linear_offset_x: 0.0 +linear_offset_y: 0.0 +linear_offset_z: 0.0 +generate_pregrasp_waypoint: True +default_ik_flag: False +orientation_independent_ik_flag: False +adaptive_ik_flag: True +joint_1_offset: 0.0 +joint_2_offset: -0.6 +joint_3_offset: 0.3 +joint_4_offset: 0.0 +joint_5_offset: 0.0 +joint_1_offset_side_grasp: 0.0 +joint_2_offset_side_grasp: 0.0 +joint_3_offset_side_grasp: 0.453 +joint_4_offset_side_grasp: -0.367 +joint_5_offset_side_grasp: 0.0 +rotation_range_min: 270.0 +rotation_range_max: 90.0 +loop_rate: 10.0 +move_group: move_group +arm: arm_1 +gripper_config_matrix: youbot_dynamixel_gripper +side_grasp_offset_x: -0.01 +side_grasp_offset_y: 0.02 \ No newline at end of file diff --git a/data/mir_manipulation/mir_pregrasp_planning/ros/config/gripper_configuration_matrix.yaml b/data/mir_manipulation/mir_pregrasp_planning/ros/config/gripper_configuration_matrix.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a5df290a78071070eb414ed8a228ff7e8f7e4e2e --- /dev/null +++ b/data/mir_manipulation/mir_pregrasp_planning/ros/config/gripper_configuration_matrix.yaml @@ -0,0 +1,9 @@ +# between the arm_joint_5 (e.g. end-effector in MoveIt!) +# and the gripper_tip_link +# The offset in the Z axis is to account the distance +# between the arm_joint_5 (e.g. end-effector in MoveIt!) +# and the gripper_tip_link +youbot_dynamixel_gripper: [[-1.0, 0.0, 0.0, 0.0], + [ 0.0, 1.0, 0.0, 0.0], + [ 0.0, 0.0, -1.0, 0.11], + [ 0.0, 0.0, 0.0, 1.0]] diff --git a/data/mir_manipulation/mir_pregrasp_planning/ros/config/topics.yaml b/data/mir_manipulation/mir_pregrasp_planning/ros/config/topics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3a427f39f2a212b9c5d5bbf830dc3b65e26635e5 --- /dev/null +++ b/data/mir_manipulation/mir_pregrasp_planning/ros/config/topics.yaml @@ -0,0 +1,12 @@ +1.pregrasp_planner: + event_in_topic: /pregrasp_planner_node/event_in + event_in_strings: [e_start, e_stop] + event_out_topic: /pregrasp_planner_node/event_out +2.planned_arm_motion: + event_in_topic: /move_arm_planned_motion/event_in + event_in_strings: [e_start, e_stop] + event_out_topic: /move_arm_planned_motion/event_out +3.waypoint_arm_motion: + event_in_topic: /waypoint_trajectory_generation/event_in + event_in_strings: [e_start, e_stop] + event_out_topic: /waypoint_trajectory_generation/event_out diff --git a/data/mir_manipulation/mir_pregrasp_planning/ros/launch/event_gui.launch b/data/mir_manipulation/mir_pregrasp_planning/ros/launch/event_gui.launch new file mode 100644 index 0000000000000000000000000000000000000000..3c9ed05e70e20daa0346be5b5ca4dd365a0ee3fe --- /dev/null +++ b/data/mir_manipulation/mir_pregrasp_planning/ros/launch/event_gui.launch @@ -0,0 +1,9 @@ + + + + + + + + diff --git a/data/mir_manipulation/mir_pregrasp_planning/ros/launch/pose_mock_up_gui.launch b/data/mir_manipulation/mir_pregrasp_planning/ros/launch/pose_mock_up_gui.launch new file mode 100644 index 0000000000000000000000000000000000000000..9223fb9b9704326ae02937dd41c7dbb45894633d --- /dev/null +++ b/data/mir_manipulation/mir_pregrasp_planning/ros/launch/pose_mock_up_gui.launch @@ -0,0 +1,14 @@ + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_pregrasp_planning/ros/launch/pregrasp_planner.launch b/data/mir_manipulation/mir_pregrasp_planning/ros/launch/pregrasp_planner.launch new file mode 100644 index 0000000000000000000000000000000000000000..664c80eb2421f3f8c09dc7323a72a1ce2dabfec4 --- /dev/null +++ b/data/mir_manipulation/mir_pregrasp_planning/ros/launch/pregrasp_planner.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_pregrasp_planning/ros/launch/pregrasp_planner_and_motion.launch b/data/mir_manipulation/mir_pregrasp_planning/ros/launch/pregrasp_planner_and_motion.launch new file mode 100644 index 0000000000000000000000000000000000000000..cab1db01c0e1aedea0c0f71adc40883d0376fdf7 --- /dev/null +++ b/data/mir_manipulation/mir_pregrasp_planning/ros/launch/pregrasp_planner_and_motion.launch @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + - 'arm_joint_1' + - 'arm_joint_2' + - 'arm_joint_3' + - 'arm_joint_4' + - 'arm_joint_5' + + + + + + + diff --git a/data/mir_manipulation/mir_pregrasp_planning/ros/launch/test_orientation_independent_ik.launch b/data/mir_manipulation/mir_pregrasp_planning/ros/launch/test_orientation_independent_ik.launch new file mode 100644 index 0000000000000000000000000000000000000000..19a2584a9f983e300eab992f1891ad31574a0e6b --- /dev/null +++ b/data/mir_manipulation/mir_pregrasp_planning/ros/launch/test_orientation_independent_ik.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + diff --git a/data/mir_manipulation/mir_pregrasp_planning/ros/scripts/pose_mock_up_gui_node b/data/mir_manipulation/mir_pregrasp_planning/ros/scripts/pose_mock_up_gui_node new file mode 100644 index 0000000000000000000000000000000000000000..b1d4eb7ca96c43be308285db56ace74d88d9898f --- /dev/null +++ b/data/mir_manipulation/mir_pregrasp_planning/ros/scripts/pose_mock_up_gui_node @@ -0,0 +1,6 @@ +#!/usr/bin/env python + +import mir_pregrasp_planning_ros.pose_mock_up_gui + +if __name__ == "__main__": + mir_pregrasp_planning_ros.pose_mock_up_gui.main() diff --git a/data/mir_manipulation/mir_pregrasp_planning/ros/scripts/pregrasp_planner_node b/data/mir_manipulation/mir_pregrasp_planning/ros/scripts/pregrasp_planner_node new file mode 100644 index 0000000000000000000000000000000000000000..6e8f682ff869cb9ccfa5107f74fb7336b445f0e6 --- /dev/null +++ b/data/mir_manipulation/mir_pregrasp_planning/ros/scripts/pregrasp_planner_node @@ -0,0 +1,6 @@ +#!/usr/bin/env python + +import mir_pregrasp_planning_ros.pregrasp_planner_node + +if __name__ == "__main__": + mir_pregrasp_planning_ros.pregrasp_planner_node.main() diff --git a/data/mir_manipulation/mir_pregrasp_planning/ros/src/mir_pregrasp_planning_ros/__init__.py b/data/mir_manipulation/mir_pregrasp_planning/ros/src/mir_pregrasp_planning_ros/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/data/mir_manipulation/mir_pregrasp_planning/ros/src/mir_pregrasp_planning_ros/kinematics.py b/data/mir_manipulation/mir_pregrasp_planning/ros/src/mir_pregrasp_planning_ros/kinematics.py new file mode 100644 index 0000000000000000000000000000000000000000..c6af9e6a07cd769cc98f05b59350d2cea65aef6c --- /dev/null +++ b/data/mir_manipulation/mir_pregrasp_planning/ros/src/mir_pregrasp_planning_ros/kinematics.py @@ -0,0 +1,282 @@ +import math +import PyKDL as kdl + +from urdf_parser_py.urdf import URDF +from kdl_parser_py.urdf import treeFromParam +from geometry_msgs.msg import Pose, Quaternion + +class Kinematics(object): + + """Kinematics class for youbot arm using kdl library + + Note: Input pose for inverse_kinematics has to be in `root` frame""" + + def __init__(self, tip='gripper_static_grasp_link'): + self.root = 'arm_link_0' + self.tip = tip + self.lower_limit, self.upper_limit = self._get_joint_limits() + self.chain = self._get_chain() + self.ee_to_arm_dist = None + + num_of_segments = self.chain.getNrOfSegments() + if num_of_segments == 6 and self.chain.getSegment(5).getName() == self.tip: + self.ee_to_arm_dist = self.chain.getSegment(5).getFrameToTip().p.z() + else: + rospy.logerr('Given tip not found in chain. Using default (arm_link_0)') + self.tip = 'arm_link_5' + self.chain = self._get_chain() + self.ee_to_arm_dist = 0.0 + + self.num_of_joints = self.chain.getNrOfJoints() + self.fk_solver = kdl.ChainFkSolverPos_recursive(self.chain) + + def forward_kinematics(self, joint_angles=[]): + """ + Returns a Pose where the tip would be if given joint angles are applied. + + :joint_angles: list of float + :return: geometry_msgs.Pose + + """ + if len(joint_angles) != self.num_of_joints: + return None + joint_arr = kdl.JntArray(self.num_of_joints) + for i, joint_angle in enumerate(joint_angles): + joint_arr[i] = joint_angle + ee_frame = kdl.Frame() + self.fk_solver.JntToCart(joint_arr, ee_frame) + ee_pose = Kinematics.get_pose_from_frame(ee_frame) + return ee_pose + + def inverse_kinematics(self, pose, initial_angles=None): + """ + Returns joint angles required for the tip to be at the given pose + NOTE: pose has to be in arm_link_0 frame + + :pose: geometry_msgs.Pose + :initial_angles: list + :return: list of float + + """ + if initial_angles is None: + initial_angles = [0.0] * self.num_of_joints + + solutions = [] + for offset_joint_1 in [True, False]: + for offset_joint_3 in [True, False]: + solution = self._analytical_ik(pose, offset_joint_1, offset_joint_3) + if self._is_solution_within_limits(solution): + solutions.append(solution) + + if len(solutions) == 0: + return None + # return the solution nearest to intial angles + differences = [sum([sol - init for sol, init in zip(solution, initial_angles)]) for solution in solutions] + return solutions[differences.index(min(differences))] + + def _analytical_ik(self, pose, offset_joint_1=True, offset_joint_3=True): + """ + Adapted to python from + https://github.com/mas-group/youbot-manipulation/blob/indigo/youbot_arm_kinematics/common/src/inverse_kinematics.cpp#L64 + """ + g0 = Kinematics.get_frame_from_pose(pose) + # Parameters from youBot URDF file + l0x = 0.024 + l0z = 0.096 + l1x = 0.033 + l1z = 0.019 + l2 = 0.155 + l3 = 0.135 + + # Distance from arm_link_4 to arm_link_5 + d = 0.13 + self.ee_to_arm_dist + + j1 = 0.0 + j2 = 0.0 + j3 = 0.0 + j4 = 0.0 + j5 = 0.0 + + # Transform from frame 0 to frame 1 + frame0_to_frame1 = kdl.Frame(kdl.Rotation.Identity(), kdl.Vector(-l0x, 0, -l0z)) + g1 = frame0_to_frame1 * g0 + + # First joint + j1 = math.atan2(g1.p.y(), g1.p.x()) + if offset_joint_1: + j1 += math.pi if j1 < 0.0 else -math.pi + + # Fifth joint, determines the roll of the gripper (= wrist angle) + s1 = math.sin(j1) + c1 = math.cos(j1) + r11 = g1.M[0, 0] + r12 = g1.M[0, 1] + r21 = g1.M[1, 0] + r22 = g1.M[1, 1] + j5 = math.atan2(r21 * c1 - r11 * s1, r22 * c1 - r12 * s1) + + # Transform from frame 1 to frame 2 + frame1_to_frame2 = kdl.Frame(kdl.Rotation.RPY(0, 0, -j1), kdl.Vector(-l1x, 0, -l1z)) + g2 = frame1_to_frame2 * g1 + + # Project the frame into the plane of the arm + g2_proj = self._project_goal_orientation_into_arm_subspace(g2) + + # Set all values in the frame that are close to zero to exactly zero + for i in range(3): + for j in range(3): + if abs(g2_proj.M[i, j]) < 0.000001: + g2_proj.M[i, j] = 0 + + # The sum of joint angles two to four determines the overall "pitch" of the + # end effector + r13 = g2_proj.M[0, 2] + r33 = g2_proj.M[2, 2] + j234 = math.atan2(r13, r33) + + p2 = g2_proj.p + + # In the arm's subplane, offset from the end-effector to the fourth joint + p2.x(p2.x() - d * math.sin(j234)) + p2.z(p2.z() - d * math.cos(j234)) + + # Check if the goal position can be reached at all + if (l2 + l3) < math.sqrt((p2.x() * p2.x()) + (p2.z() * p2.z())): + return None + + # Third joint + l_sqr = (p2.x() * p2.x()) + (p2.z() * p2.z()) + l2_sqr = l2 * l2 + l3_sqr = l3 * l3 + j3_cos = (l_sqr - l2_sqr - l3_sqr) / (2.0 * l2 * l3) + + if j3_cos > 0.9999999: + j3 = 0.0 + elif j3_cos < -0.9999999: + j3 = math.pi + else: + j3 = math.atan2(math.sqrt(1.0 - (j3_cos * j3_cos)), j3_cos) + + if offset_joint_3: + j3 *= -1 + + # Second joint + t1 = math.atan2(p2.z(), p2.x()) + t2 = math.atan2(l3 * math.sin(j3), l2 + l3 * math.cos(j3)) + j2 = (math.pi/2) - t1 - t2 + + # Fourth joint, determines the pitch of the gripper + j4 = j234 - j2 - j3 + + # This IK assumes that the arm points upwards, so we need to consider + # the offsets to the real home position + offset1 = math.radians( 169.0) + offset2 = math.radians( 65.0) + offset3 = math.radians(-146.0) + offset4 = math.radians( 102.5) + offset5 = math.radians( 167.5) + + solution = [0.0]*5 + solution[0] = offset1 - j1 + solution[1] = j2 + offset2 + solution[2] = j3 + offset3 + solution[3] = j4 + offset4 + solution[4] = offset5 - j5 + + # print("Configuration without offsets: ") + # print(j1, j2, j3, j4, j5) + # print("Configuration with offsets: ") + # print([round(i, 2) for i in solution]) + # print() + return solution + + def _get_joint_limits(self): + robot = URDF.from_parameter_server() + chain = robot.get_chain(self.root, self.tip, links=False, fixed=False) + joints = [] + for joint_name in chain: + for joint in robot.joints: + if joint.name == joint_name: + joints.append(joint) + break + num_of_joints = len(joints) + lower_limit = [0.0]*num_of_joints + upper_limit = [0.0]*num_of_joints + for i, joint in enumerate(joints): + lower_limit[i] = joint.limit.lower + upper_limit[i] = joint.limit.upper + return lower_limit, upper_limit + + def _get_chain(self): + success, tree = treeFromParam('/robot_description') + if not success: + return + chain = tree.getChain(self.root, self.tip) + return chain + + def _project_goal_orientation_into_arm_subspace(self, goal): + y_t_hat = goal.M.UnitY() # y vector of the rotation matrix + z_t_hat = goal.M.UnitZ() # z vector of the rotation matrix + + # m_hat is the normal of the "arm plane" + m_hat = kdl.Vector(0, -1, 0) + + # k_hat is the vector about which rotation of the goal frame is performed + k_hat = m_hat * z_t_hat # cross product + + # z_t_hat_tick is the new pointing direction of the arm + z_t_hat_tick = k_hat * m_hat # cross product + + # the amount of rotation + cos_theta = kdl.dot(z_t_hat, z_t_hat_tick) + # first cross product then dot product + sin_theta = kdl.dot(z_t_hat * z_t_hat_tick, k_hat) + + # use Rodrigues' rotation formula to perform the rotation + y_t_hat_tick = (cos_theta * y_t_hat) \ + + (sin_theta * (k_hat * y_t_hat)) \ + + (1 - cos_theta) * (kdl.dot(k_hat, y_t_hat)) * k_hat + # k_hat * y_t_hat is cross product + x_t_hat_tick = y_t_hat_tick * z_t_hat_tick # cross product + + rot = kdl.Rotation(x_t_hat_tick, y_t_hat_tick, z_t_hat_tick) + + # the frame uses the old position but has the new, projected orientation + return kdl.Frame(rot, goal.p); + + def _is_solution_within_limits(self, solution): + if solution is None or len(solution) != 5: + return False + for i in range(5): + if solution[i] < self.lower_limit[i] or solution[i] > self.upper_limit[i]: + return False + return True + + @staticmethod + def get_pose_from_frame(frame): + """Convert kdl frame obj to geometry_msgs Pose obj + + :frame: PyKDL.Frame + :returns: geometry_msgs.Pose + + """ + pose = Pose() + pose.position.x = frame.p.x() + pose.position.y = frame.p.y() + pose.position.z = frame.p.z() + pose.orientation = Quaternion(*frame.M.GetQuaternion()) + return pose + + @staticmethod + def get_frame_from_pose(pose): + """Convert geometry_msgs Pose obj to kdl frame obj + + :pose: geometry_msgs.Pose + :returns: PyKDL.Frame + + """ + rot = kdl.Rotation.Quaternion(pose.orientation.x, pose.orientation.y, + pose.orientation.z, pose.orientation.w) + pos = kdl.Vector(pose.position.x, pose.position.y, pose.position.z) + frame = kdl.Frame(rot, pos) + return frame diff --git a/data/mir_manipulation/mir_pregrasp_planning/ros/src/mir_pregrasp_planning_ros/orientation_independent_ik.py b/data/mir_manipulation/mir_pregrasp_planning/ros/src/mir_pregrasp_planning_ros/orientation_independent_ik.py new file mode 100644 index 0000000000000000000000000000000000000000..6f3b149527d5e0a30bb21503f35cbb42db1f5e35 --- /dev/null +++ b/data/mir_manipulation/mir_pregrasp_planning/ros/src/mir_pregrasp_planning_ros/orientation_independent_ik.py @@ -0,0 +1,257 @@ +from __future__ import print_function +import tf +import numpy as np +import rospy + +from brics_actuator.msg import JointPositions, JointValue +from geometry_msgs.msg import PoseStamped, PoseArray, Pose, Quaternion +from mcr_manipulation_measurers_ros.pose_transformer import PoseTransformer +from mir_pregrasp_planning_ros.kinematics import Kinematics + +class OrientationIndependentIK(object): + + def __init__(self, debug=False): + self.debug = debug + self._base_link_frame = 'base_link' + self.kinematics = Kinematics(tip='gripper_static_grasp_link') + + self._pose_transformer = PoseTransformer() + self._tf_listener = tf.TransformListener() + self._arm_base_frame = 'arm_link_0' + + self._base_link_to_arm_base_offset = None + self._initialise_base_to_arm_offset() + + if self.debug: + self._pose_array_pub = rospy.Publisher('~pose_samples', PoseArray, queue_size=1) + self._pose_out_pub = rospy.Publisher('~pose_out', PoseStamped, queue_size=1) + rospy.sleep(0.5) + rospy.logdebug('[orientation_independent_ik] Initialised') + + def get_joint_msg_from_point(self, x, y, z, frame_id): + """ + Calculates the joint angles for the arm's end effector to reach a point. + The orientation is sampled around the given point to find an IK solution. + + :x: float + :y: float + :z: float + :frame_id: str + :returns: brics_actuator.JointPositions or None + + """ + reachable_pose, joint_msg = self.get_reachable_pose_and_joint_msg_from_point(x, y, z, frame_id) + return joint_msg + + def get_reachable_pose_and_joint_msg_from_point(self, x, y, z, frame_id): + """ + Calculates the joint angles for the arm's end effector to reach a point. + The orientation is sampled around the given point to find an IK solution. + The sampling is done in stages to reduce computational time. The stages are + based on existing knowledge about the placement of the arm on robot base + and where the arm can and cannot reach. + + :x: float + :y: float + :z: float + :frame_id: str + :returns: (geometry_msgs.msg.PoseStamped, brics_actuator.JointPositions) or None + + """ + # check is_picking_from_shelf from parameter server + self.is_picking_from_shelf = rospy.get_param("/pick_from_shelf_server/pick_statemachine_says_shelf", False) + rospy.loginfo(f"[orientation_independent_ik] shelf picking is set to: {self.is_picking_from_shelf}") + if self.is_picking_from_shelf=='True': + pitch_ranges = [(-20.0, -15.0)] # limiting the pitch range to avoid collisions with shelf and table + else: + pitch_ranges = [(0.0, 0.0), (-30.0, 0.0), (-60.0, -30.0), (-90.0, -60.0), (0.0, 10.0)] + return self._get_reachable_pose_and_joint_msg_from_point_and_pitch_ranges( + x, y, z, frame_id, pitch_ranges) + + def get_joint_msg_from_point_and_pitch(self, x, y, z, pitch, pitch_tolerance, frame_id): + """ + Calculates the joint angles for the arm's end effector to reach a point + with given pitch angle (plus or minus some given tolerance) + The orientation is sampled around the given point to find an IK solution. + The sampling is done in stages to reduce computational time. + + pitch is zero when the gripper fingers are facing down. + pitch is -90 degrees when gripper fingers are facing forward + + Note: pitch and pitch_tolerance are considered in degrees + + :x: float + :y: float + :z: float + :pitch: float + :pitch_tolerance: float + :frame_id: str + :returns: brics_actuator.JointPositions or None + + """ + tolerance = abs(pitch_tolerance) + pitch_ranges = [(pitch, pitch), (pitch-tolerance, pitch), (pitch, pitch+tolerance)] + reachable_pose, joint_msg = self._get_reachable_pose_and_joint_msg_from_point_and_pitch_ranges( + x, y, z, frame_id, pitch_ranges) + return joint_msg + + def _get_reachable_pose_and_joint_msg_from_point_and_pitch_ranges( + self, x, y, z, frame_id, pitch_ranges): + """ + Iteratively generate samples for each pitch_range and first the first + pose that has an ik solution + + :x: float + :y: float + :z: float + :frame_id: str + :pitch_ranges: list[tuple(float, float)] + :returns: brics_actuator.JointPositions or None + """ + self._initialise_base_to_arm_offset() + if self._base_link_to_arm_base_offset is None: + rospy.logerr('Could not get translation from ' + str(self._base_link_frame) + ' to ' + str(self._arm_base_frame)) + return None + + input_pose = PoseStamped() + input_pose.header.frame_id = frame_id + input_pose.header.stamp = rospy.Time.now() + input_pose.pose.position.x = x + input_pose.pose.position.y = y + input_pose.pose.position.z = z + input_pose.pose.orientation.w = 1.0 + transformed_input_pose = self._pose_transformer.get_transformed_pose(input_pose, + self._base_link_frame) + if transformed_input_pose is None: + rospy.logerr("Unable to transform pose to {0}".format(self._base_link_frame)) + return None + + input_pose = transformed_input_pose + + delta_x = input_pose.pose.position.x - self._base_link_to_arm_base_offset[0] + delta_y = input_pose.pose.position.y - self._base_link_to_arm_base_offset[1] + yaw_rad = np.arctan2(delta_y, delta_x) + yaw = np.degrees(yaw_rad) + + found_solution = False + for pitch_range in pitch_ranges: + pose_samples = self._generate_samples(input_pose, + pitch_min=pitch_range[0], + pitch_max=pitch_range[1], + pitch_offset=180.0, + pitch_samples=5, + yaw_min=yaw, + yaw_max=yaw, + yaw_offset=0.0, + yaw_samples=1) + + if self.debug: + self._pose_array_pub.publish(pose_samples) + print(pitch_range) + reachable_pose, joint_angles = self._get_reachable_pose_and_configuration(pose_samples) + if reachable_pose is not None: + found_solution = True + rospy.logdebug('Found solution') + rospy.logdebug('Pitch range: ' + str(pitch_range)) + rospy.logdebug('Yaw : ' + str(yaw)) + if self.debug: + self._pose_out_pub.publish(reachable_pose) + return (reachable_pose, OrientationIndependentIK.get_joint_pos_msg_from_joint_angles(joint_angles)) + return None + + def _get_reachable_pose_and_configuration(self, pose_samples): + """ + Out of all the pose samples, return the first reachable pose and its ik + solution. + + :pose_samples: geometry_msgs.msg.PoseArray + :returns: tuple(geometry_msgs.msg.PoseStamped, list(float)) + + """ + for pose in pose_samples.poses: + # transform pose to arm base frame (since ik only works with that) + pose_stamped = PoseStamped(pose=pose, header=pose_samples.header) + trans_pose = self._pose_transformer.get_transformed_pose(pose_stamped, + self._arm_base_frame) + if trans_pose is None: + rospy.logerr("Unable to transform pose to {0}".format(self._arm_base_frame)) + + solution = self.kinematics.inverse_kinematics(trans_pose.pose) + if solution is not None: + reachable_pose = PoseStamped(pose=pose, header=pose_samples.header) + return reachable_pose, solution + return None, None + + def _generate_samples(self, input_pose, + roll_min=0.0, roll_max=0.0, roll_samples=1, roll_offset=0.0, + pitch_min=0.0, pitch_max=0.0, pitch_samples=1, pitch_offset=0.0, + yaw_min=0.0, yaw_max=0.0, yaw_samples=1, yaw_offset=0.0): + """ + Generate samples around input pose within given limits. The amount of samples + generated can be calculated by (`roll_samples` * `pitch_samples * `yaw_samples`) + + Note: All min, max and offset values are in degrees + + :input_pose: geometry_msgs/PoseStamped + :roll_min: float + :roll_max: float + :roll_samples: int + :roll_offset: float + :pitch_min: float + :pitch_max: float + :pitch_samples: int + :pitch_offset: float + :yaw_min: float + :yaw_max: float + :yaw_samples: int + :yaw_offset: float + :returns: geometry_msgs/PoseArray + + """ + roll_samples = list(np.linspace(roll_min, roll_max, roll_samples)) + pitch_samples = list(np.linspace(pitch_min, pitch_max, pitch_samples)) + yaw_samples = list(np.linspace(yaw_min, yaw_max, yaw_samples)) + + pose_samples = PoseArray() + pose_samples.header = input_pose.header + for roll in roll_samples: + for pitch in pitch_samples: + for yaw in yaw_samples: + pose = Pose() + pose.position = input_pose.pose.position + roll_rad = np.radians(roll + roll_offset) + pitch_rad = np.radians(pitch + pitch_offset) + yaw_rad = np.radians(yaw + yaw_offset) + pose.orientation = Quaternion(*tf.transformations.quaternion_from_euler(roll_rad, pitch_rad, yaw_rad)) + pose_samples.poses.append(pose) + return pose_samples + + def _initialise_base_to_arm_offset(self): + num_of_tries = 0 + while self._base_link_to_arm_base_offset is None and num_of_tries < 3: + num_of_tries += 1 + try: + trans, _ = self._tf_listener.lookupTransform(self._base_link_frame, + self._arm_base_frame, + rospy.Time(0)) + self._base_link_to_arm_base_offset = (trans[0], trans[1]) + except Exception as e: + rospy.sleep(1.0) + + @staticmethod + def get_joint_pos_msg_from_joint_angles(joint_angles): + """ + Converts a list of joint angles to a JointPositions message + + :joint_angles: list(float) + :returns: brics_actuator.JointPositions + + """ + joint_position_msg = JointPositions() + for i, joint_angle in enumerate(joint_angles): + joint_value_msg = JointValue() + joint_value_msg.joint_uri = 'arm_joint_' + str(i+1) + joint_value_msg.unit = 'rad' + joint_value_msg.value = joint_angle + joint_position_msg.positions.append(joint_value_msg) + return joint_position_msg diff --git a/data/mir_manipulation/mir_pregrasp_planning/ros/src/mir_pregrasp_planning_ros/pose_mock_up_gui.py b/data/mir_manipulation/mir_pregrasp_planning/ros/src/mir_pregrasp_planning_ros/pose_mock_up_gui.py new file mode 100644 index 0000000000000000000000000000000000000000..d18860f8c23fbcee16a77c20eb4cdf74cfb5de30 --- /dev/null +++ b/data/mir_manipulation/mir_pregrasp_planning/ros/src/mir_pregrasp_planning_ros/pose_mock_up_gui.py @@ -0,0 +1,259 @@ +#!/usr/bin/env python +""" +This module contains a component that publishes an artificial object pose. + +""" +# -*- encoding: utf-8 -*- + +import math +import threading +import tkinter as Tkinter + +import geometry_msgs.msg +import rospy +import tf +import visualization_msgs.msg + +LINEAR_RESOLUTION = 0.005 # in meters +MAX_POSITION_X = 0.9 # in meters +MIN_POSITION_X = -0.9 # in meters +MAX_POSITION_Y = 0.3 # in meters +MIN_POSITION_Y = -0.3 # in meters +MAX_POSITION_Z = -0.3 # in meters +MIN_POSITION_Z = 0.6 # in meters +ANGULAR_RESOLUTION = 1 # in degrees +MIN_ORIENTATION = 0 # in degrees +MAX_ORIENTATION = 359 # in degrees + +TRANSPARENCY = 0.5 + +POSE_MARKER = visualization_msgs.msg.Marker() +POSE = geometry_msgs.msg.PoseStamped() + +global ROLL_VALUE +ROLL_VALUE = 0.0 +global PITCH_VALUE +PITCH_VALUE = 0.0 +global YAW_VALUE +YAW_VALUE = 0.0 + +global LOCK +LOCK = threading.Lock() + + +def create_window(): + """ + Creates a GUI window to publish a pose. + + """ + master = Tkinter.Tk() + + # pose's position + linear_scale_x = Tkinter.Scale( + master, + command=position_x, + from_=MIN_POSITION_X, + to=MAX_POSITION_X, + resolution=LINEAR_RESOLUTION, + label="Position X", + ) + linear_scale_x.grid(row=0, column=0) + + linear_scale_y = Tkinter.Scale( + master, + command=position_y, + from_=MIN_POSITION_Y, + to=MAX_POSITION_Y, + resolution=LINEAR_RESOLUTION, + label="Position Y", + ) + linear_scale_y.grid(row=0, column=1) + + linear_scale_z = Tkinter.Scale( + master, + command=position_z, + from_=MIN_POSITION_Z, + to=MAX_POSITION_Z, + resolution=LINEAR_RESOLUTION, + label="Position Z", + ) + linear_scale_z.grid(row=0, column=2) + + # pose's orientation + roll = Tkinter.Scale( + master, + command=orientation_roll, + from_=MIN_ORIENTATION, + to=MAX_ORIENTATION, + resolution=ANGULAR_RESOLUTION, + label="Roll", + ) + roll.grid(row=1, column=0) + + pitch = Tkinter.Scale( + master, + command=orientation_pitch, + from_=MIN_ORIENTATION, + to=MAX_ORIENTATION, + resolution=ANGULAR_RESOLUTION, + label="Pitch", + ) + pitch.grid(row=1, column=1) + + yaw = Tkinter.Scale( + master, + command=orientation_yaw, + from_=MIN_ORIENTATION, + to=MAX_ORIENTATION, + resolution=ANGULAR_RESOLUTION, + label="Yaw", + ) + yaw.grid(row=1, column=2) + + master.title("Pose mock-up") + master.mainloop() + rospy.signal_shutdown("GUI closed") + + +def position_x(slider): + """ + Sets slider as the target's position in the X axis. + + """ + global LOCK + LOCK.acquire() + POSE.pose.position.x = float(slider) + POSE_MARKER.pose.position.x = float(slider) + LOCK.release() + + +def position_y(slider): + """ + Sets slider as the target's position in the Y axis. + + """ + global LOCK + LOCK.acquire() + POSE.pose.position.y = float(slider) + POSE_MARKER.pose.position.y = float(slider) + LOCK.release() + + +def position_z(slider): + """ + Sets slider as the target's position in the Z axis. + + """ + global LOCK + LOCK.acquire() + POSE.pose.position.z = float(slider) + POSE_MARKER.pose.position.z = float(slider) + LOCK.release() + + +def orientation_roll(slider): + """ + Sets slider as the target's orientation about the X axis. + + """ + global LOCK + LOCK.acquire() + global ROLL_VALUE + ROLL_VALUE = math.radians(float(slider)) + LOCK.release() + + +def orientation_pitch(slider): + """ + Sets slider as the target's orientation about the Y axis. + + """ + global LOCK + LOCK.acquire() + global PITCH_VALUE + PITCH_VALUE = math.radians(float(slider)) + LOCK.release() + + +def orientation_yaw(slider): + """ + Sets slider as the target's orientation about the Z axis. + + """ + global LOCK + LOCK.acquire() + global YAW_VALUE + YAW_VALUE = math.radians(float(slider)) + LOCK.release() + + +def publish_pose(): + """ + Publishes the target pose. + + """ + # node cycle rate (in hz) + loop_rate = rospy.Rate(rospy.get_param("~loop_rate", 10)) + + # the transparency of the object to be visualized + reference_frame = rospy.get_param("~reference_frame", "base_link") + + # the transparency of the object to be visualized + transparency = rospy.get_param("~transparency", 0.5) + + # publishers + pub_pose = rospy.Publisher( + "~mock_up_pose", geometry_msgs.msg.PoseStamped, queue_size=1 + ) + pub_pose_marker = rospy.Publisher( + "~mock_up_pose_marker", visualization_msgs.msg.Marker, queue_size=1 + ) + + POSE.header.stamp = rospy.Time.now() + POSE.header.frame_id = reference_frame + + POSE_MARKER.header.stamp = rospy.Time.now() + POSE_MARKER.header.frame_id = reference_frame + + # create a rectangular prism for visualization + POSE_MARKER.type = 1 + POSE_MARKER.scale.x = 0.05 # in centimeters + POSE_MARKER.scale.y = 0.02 # in centimeters + POSE_MARKER.scale.z = 0.01 # in centimeters + POSE_MARKER.color.r = 0.0 + POSE_MARKER.color.g = 0.0 + POSE_MARKER.color.b = 1.0 + POSE_MARKER.color.a = transparency + + while not rospy.is_shutdown(): + quaternion = tf.transformations.quaternion_from_euler( + ROLL_VALUE, PITCH_VALUE, YAW_VALUE + ) + POSE.pose.orientation.x = quaternion[0] + POSE.pose.orientation.y = quaternion[1] + POSE.pose.orientation.z = quaternion[2] + POSE.pose.orientation.w = quaternion[3] + + POSE.header.stamp = rospy.Time.now() + + POSE_MARKER.pose.orientation.x = quaternion[0] + POSE_MARKER.pose.orientation.y = quaternion[1] + POSE_MARKER.pose.orientation.z = quaternion[2] + POSE_MARKER.pose.orientation.w = quaternion[3] + + pub_pose.publish(POSE) + pub_pose_marker.publish(POSE_MARKER) + loop_rate.sleep() + + +def main(): + rospy.init_node("target_pose_mock_up") + + import _thread as thread + + try: + thread.start_new_thread(create_window, tuple()) + + publish_pose() + except rospy.ROSInterruptException: + pass diff --git a/data/mir_manipulation/mir_pregrasp_planning/ros/src/mir_pregrasp_planning_ros/pregrasp_planner_node.py b/data/mir_manipulation/mir_pregrasp_planning/ros/src/mir_pregrasp_planning_ros/pregrasp_planner_node.py new file mode 100644 index 0000000000000000000000000000000000000000..18adcf0566f9002fcdc4b08bef8fa23f02815cf4 --- /dev/null +++ b/data/mir_manipulation/mir_pregrasp_planning/ros/src/mir_pregrasp_planning_ros/pregrasp_planner_node.py @@ -0,0 +1,488 @@ +#!/usr/bin/env python +""" +This component takes an object's pose (target pose) and depending on different +constraints (e.g. the object is standing or laying horizontally, object's height +is short, etc.), it computes a set of poses, within a threshold, to reach the +target pose with a manipulator's end effector. From this set of poses, this component +selects a valid pose (i.e. one that reaches the target pose) and it computes the +joint configuration to reach that valid pose. + +It uses the following nodes: + * (mir_pregrasp_planning) `simple_pregrasp_planner`. + * (mcr_pose_generation) `pose_generator`. + * (mcr_manipulation_pose_selector) `reachability_pose_selector`. + +The component serves as a configurator/coordinator, i.e. it sets the required +parameters for all the components and starts/stops them accordingly. + +**Assumptions:** + * The target pose is within the reach of the robot's manipulator. + +**Input(s):** + * `target_pose`: The pose where the manipulator's end effector is required to be. + +**Output(s):** + * `selected_pose`: The pose of the manipulator's last joint so that the end\ + effector reaches the `target_pose`. + * `configuration_out`: The joint position values for the manipulator to reach\ + the `selected_pose`. + +**Relevant parameter(s):** + * `simple_grasp_planner` + * `height_threshold`: Tolerance to decide whether an object should be re-oriented, + based on its height (in meters). + * `rotation_offset`: Rotation offset to add to the reference_axis of the pose + (in degrees). + * `rotation_range`: Range of rotation allowed as a two-element list, e.g.: + [rotation_range[0] - rotation_range[1]] (in degrees). + * `pose_generator` + * `gripper_matrix`: A 4x4 matrix that defines the pose of the end effector relative + to the pose of the manipulator's last joint, i.e. this should be modified for + different grippers. + +""" +# -*- encoding: utf-8 -*- + +import math + +import brics_actuator.msg +import copy +import geometry_msgs.msg +import mcr_common_converters_ros.joint_configuration_shifter +import mcr_manipulation_measurers_ros.pose_transformer +import mcr_manipulation_msgs.msg +import mcr_manipulation_pose_selector_ros.reachability_pose_selector +import mcr_pose_generation_ros.pose_generator +import mir_pregrasp_planning.cfg.PregraspPlannerParamsConfig as PregraspPlannerParamsConfig +import mir_pregrasp_planning_ros.simple_pregrasp_planner_utils as pregrasp_planner_utils +from mir_pregrasp_planning_ros.orientation_independent_ik import OrientationIndependentIK +import rospy +import std_msgs.msg +from dynamic_reconfigure.server import Server + + +class PregraspPlannerPipeline(object): + """ + Components that compute a joint configuration based on a target pose + and a set of given constraints. + + """ + + def __init__(self): + self.event = None + self.pose_in = None + + # node cycle rate (in hz) + self.loop_rate = rospy.Rate(rospy.get_param("~loop_rate", 10.0)) + # pose transformer + self.target_frame = None + + # simple pregrasp planner params + # Tolerance to decide whether an object should be re-oriented, + # based on its height (in meters). + self.height_tolerance = None + + # Rotation axis of the pose to be modified (e.g. x, y, z). + self.reference_axis = None + # Rotation offset to add to the reference_axis of the pose (in degrees). + self.rotation_offset = None + # Range of rotation allowed [rotation_range[0] - rotation_range[1]] (in degrees). + self.rotation_range = None + + # Closest distance the gripper should be to the object (in meters). + self.min_distance_to_object = None + # Farthest distance the gripper should be to the object (in meters). + self.max_distance_to_object = None + + # Angular tolerance to check if an object is standing up (in degrees). + self.angular_tolerance = None + + # reachability pose selector params + # linear offset for the X, Y and Z axis. + self.linear_offset = None + # whether a pre-pregrasp pose should be created + self.generate_pregrasp_waypoint = None + # joint offset for creating pre-pregrasp pose + self.joint_offset = None + + # pose generator + self.gripper = rospy.get_param("~gripper_config_matrix", None) + assert self.gripper is not None, "Gripper config matrix must be specified." + # Configuration matrix of the gripper to be used (a real 4x4 matrix) + self.gripper_config_matrix = rospy.get_param("~" + self.gripper) + + # the sampling step for linear variables (in meters) + self.linear_step = None + # the sampling step for angular variables (in radians) + self.angular_step = None + # the maximum amount of samples to be generated + self.max_samples = None + + self.pose_transformer = ( + mcr_manipulation_measurers_ros.pose_transformer.PoseTransformer() + ) + self.pose_generator = mcr_pose_generation_ros.pose_generator.PoseGenerator() + self.reachability_pose_selector = ( + mcr_manipulation_pose_selector_ros.reachability_pose_selector.PoseSelector() + ) + self.joint_config_shifter = mcr_common_converters_ros.joint_configuration_shifter.JointConfigurationShifter( + None + ) + + self.pose_generator.set_gripper_config_matrix(self.gripper_config_matrix) + + self.orientation_independent_ik = OrientationIndependentIK(debug=False) + + # subscribers + rospy.Subscriber("~event_in", std_msgs.msg.String, self.event_in_cb) + rospy.Subscriber("~pose_in", geometry_msgs.msg.PoseStamped, self.pose_cb) + + # publishers + self.event_out = rospy.Publisher( + "~event_out", std_msgs.msg.String, queue_size=1 + ) + self.grasp_type = rospy.Publisher( + "~grasp_type", std_msgs.msg.String, queue_size=1 + ) + self.event_out = rospy.Publisher( + "~event_out", std_msgs.msg.String, queue_size=1 + ) + self.pose_samples_pub = rospy.Publisher( + "~pose_samples", geometry_msgs.msg.PoseArray, queue_size=1 + ) + self.selected_pose = rospy.Publisher( + "~selected_pose", geometry_msgs.msg.PoseStamped, queue_size=1 + ) + self.joint_configuration = rospy.Publisher( + "~joint_configuration", brics_actuator.msg.JointPositions, queue_size=1 + ) + + self.joint_waypoint_list_pub = rospy.Publisher( + "~waypoint_list", + mcr_manipulation_msgs.msg.JointSpaceWayPointsList, + queue_size=1, + ) + + # Dynamic reconguration server for PregraspPlannerParams + dynamic_reconfig_srv = Server( + PregraspPlannerParamsConfig, self.dynamic_reconfig_cb + ) + + def dynamic_reconfig_cb(self, config, level): + """ + Dynamic reconfiguration callback function + """ + self.pose_generator.set_min_azimuth(math.radians(config.min_azimuth)) + self.pose_generator.set_max_azimuth(math.radians(config.max_azimuth)) + self.pose_generator.set_min_zenith(math.radians(config.min_zenith)) + self.pose_generator.set_max_zenith(math.radians(config.max_zenith)) + self.pose_generator.set_min_roll(math.radians(config.min_roll)) + self.pose_generator.set_max_roll(math.radians(config.max_roll)) + self.pose_generator.set_linear_step(config.linear_step) + self.pose_generator.set_angular_step(math.radians(config.angular_step)) + self.pose_generator.set_min_distance_to_object(config.min_distance_to_object) + self.pose_generator.set_max_distance_to_object(config.max_distance_to_object) + self.pose_generator.set_max_samples(config.max_samples) + self.pose_generator.set_min_height(config.min_height) + self.pose_generator.set_max_height(config.max_height) + + self.height_tolerance = config.height_tolerance + self.target_frame = config.target_frame + self.reference_axis = config.reference_axis + self.rotation_offset = config.rotation_offset + self.angular_tolerance = config.angular_tolerance + self.linear_offset = [ + config.linear_offset_x, + config.linear_offset_y, + config.linear_offset_z, + ] + + self.generate_pregrasp_waypoint = config.generate_pregrasp_waypoint + self.default_ik_flag = config.default_ik_flag + self.orientation_independent_ik_flag = config.orientation_independent_ik_flag + self.adaptive_ik_flag = config.adaptive_ik_flag + + self.side_grasp_offset_x = config.side_grasp_offset_x + self.side_grasp_offset_y = config.side_grasp_offset_y + + self.joint_offset = [ + config.joint_1_offset, + config.joint_2_offset, + config.joint_3_offset, + config.joint_4_offset, + config.joint_5_offset, + ] + self.joint_offset_side_grasp = [ + config.joint_1_offset_side_grasp, + config.joint_2_offset_side_grasp, + config.joint_3_offset_side_grasp, + config.joint_4_offset_side_grasp, + config.joint_5_offset_side_grasp, + ] + self.rotation_range = [config.rotation_range_min, config.rotation_range_max] + return config + + def event_in_cb(self, msg): + """ + Obtains an event for the component. + """ + self.event = msg.data + + def pose_cb(self, msg): + """ + Obtains input pose + """ + self.pose_in = msg + + def start(self): + """ + Starts the component. + + """ + rospy.loginfo("Ready to start...") + state = "INIT" + + while not rospy.is_shutdown(): + + if state == "INIT": + state = self.init_state() + elif state == "IDLE": + state = self.idle_state() + elif state == "RUNNING": + state = self.running_state() + + rospy.logdebug("State: {0}".format(state)) + self.loop_rate.sleep() + + def init_state(self): + """ + Executes the INIT state of the state machine. + + :return: The updated state. + :rtype: str + + """ + if self.event == "e_start": + return "IDLE" + else: + return "INIT" + + def idle_state(self): + """ + Executes the IDLE state of the state machine. + + :return: The updated state. + :rtype: str + + """ + if self.event == "e_stop": + self.reset_component_data() + self.event_out.publish("e_stopped") + return "INIT" + elif self.pose_in: + return "RUNNING" + else: + return "IDLE" + + def default_ik_routine(self, pose_samples, modified_pose, grasp_type): + rospy.loginfo('[Pregrasp Planning] Tying to find solution for default pick config.') + + ( + reachable_pose, + brics_joint_config, + joint_config, + ) = self.reachability_pose_selector.get_reachable_pose_and_configuration( + pose_samples, self.linear_offset, modified_pose + ) + + if reachable_pose: + rospy.loginfo('[Pregrasp Planning] Found solution') + self.selected_pose.publish(reachable_pose) + self.joint_configuration.publish(brics_joint_config) + + joint_waypoints = mcr_manipulation_msgs.msg.JointSpaceWayPointsList() + # if we want to reach a pre-pregrasp pose (specified by joint offsets) + # before reaching the final pose, generate a waypoint list + if abs(max(self.joint_offset, key=abs)) > 0 and self.generate_pregrasp_waypoint: + if grasp_type == "side_grasp": + pregrasp_waypoint = self.joint_config_shifter.shift_joint_configuration( + joint_config, self.joint_offset_side_grasp + ) + elif grasp_type == "top_grasp": + pregrasp_waypoint = self.joint_config_shifter.shift_joint_configuration( + joint_config, self.joint_offset + ) + pregrasp_msg = std_msgs.msg.Float64MultiArray() + pregrasp_msg.data = pregrasp_waypoint + joint_waypoints.list_of_joint_values_lists.append(pregrasp_msg) + + grasp_msg = std_msgs.msg.Float64MultiArray() + grasp_msg.data = joint_config + + joint_waypoints.list_of_joint_values_lists.append(grasp_msg) + self.joint_waypoint_list_pub.publish(joint_waypoints) + + rospy.loginfo('[Pregrasp Planning] Found solution using default pick config.') + return True + else: + rospy.logerr("[Pregrasp Planning] Could not find IK solution for default pick config.") + return False + + def orientation_independent_ik_routine(self, transformed_pose, grasp_type): + rospy.loginfo("[Pregrasp Planning] Tryinng orientation independent planning.") + input_pose = geometry_msgs.msg.PoseStamped() + input_pose.header = transformed_pose.header + input_pose.pose.position = transformed_pose.pose.position + if grasp_type == "side_grasp": + input_pose.pose.position.x += self.side_grasp_offset_x + solution = self.orientation_independent_ik.get_reachable_pose_and_joint_msg_from_point( + input_pose.pose.position.x, input_pose.pose.position.y, + input_pose.pose.position.z, input_pose.header.frame_id) + + if solution is None: + rospy.logerr('[Pregrasp Planning] Failed to find solution for orientation independent pick config.') + return False + + reachable_pose, joint_msg = solution + rospy.loginfo('[Pregrasp Planning] Found solution') + self.selected_pose.publish(reachable_pose) + self.joint_configuration.publish(joint_msg) + + joint_waypoints = mcr_manipulation_msgs.msg.JointSpaceWayPointsList() + joint_config = [p.value for p in joint_msg.positions] + if grasp_type == "side_grasp" and self.generate_pregrasp_waypoint: + pregrasp_input_pose = copy.deepcopy(input_pose) + pregrasp_input_pose.pose.position.x -= 0.05 + pregrasp_solution = self.orientation_independent_ik.get_reachable_pose_and_joint_msg_from_point( + pregrasp_input_pose.pose.position.x, + pregrasp_input_pose.pose.position.y, + pregrasp_input_pose.pose.position.z, + pregrasp_input_pose.header.frame_id) + + if pregrasp_solution is None: + rospy.logerr("[Pregrasp Planning] Could not find IK solution for\ + orientation independent planning for pregrasp pose.") + return False + + pregrasp_reachable_pose, pregrasp_joint_msg = pregrasp_solution + rospy.loginfo('[Pregrasp Planning] Found solution') + pregrasp_msg = std_msgs.msg.Float64MultiArray() + pregrasp_joint_config = [p.value for p in pregrasp_joint_msg.positions] + pregrasp_msg.data = pregrasp_joint_config + joint_waypoints.list_of_joint_values_lists.append(pregrasp_msg) + + if len(joint_config) == 5: + grasp_msg = std_msgs.msg.Float64MultiArray() + grasp_msg.data = joint_config + joint_waypoints.list_of_joint_values_lists.append(grasp_msg) + self.joint_waypoint_list_pub.publish(joint_waypoints) + + rospy.loginfo('[Pregrasp Planning] Found solution using orientation independent pick config.') + return True + + def running_state(self): + """ + Executes the RUNNING state of the state machine. + + :return: The updated state. + :rtype: str + + """ + + if self.event == "e_stop": + status = "e_stopped" + self.event_out.publish(status) + self.reset_component_data() + return "INIT" + + # 1. transform pose to target frame + # 2. check if pose is for laying or standing object and modify accordingly + # 3. generate pose samples around pose + # 4. find a reachable pose from the generated samples (also get joint config for reachable pose) + # 5. if joint waypoint list is required publish list of waypoints + + transformed_pose = self.pose_transformer.get_transformed_pose( + self.pose_in, self.target_frame + ) + if not transformed_pose: + rospy.logerr("Unable to transform pose to {0}".format(self.target_frame)) + status = "e_failure" + self.event_out.publish(status) + self.reset_component_data() + return "INIT" + + modified_pose, object_is_upwards = pregrasp_planner_utils.modify_pose( + transformed_pose, + self.height_tolerance, + angular_tolerance=self.angular_tolerance, + ) + if not object_is_upwards: + rotated_pose = pregrasp_planner_utils.modify_pose_rotation( + modified_pose, + offset=self.rotation_offset, + reference_axis=self.reference_axis, + rotation_range=self.rotation_range, + ) + modified_pose = rotated_pose + grasp_type = "top_grasp" + else: + grasp_type = "side_grasp" + + if grasp_type == "side_grasp": + + # Adding offset for side grasp to compensate for error in side grasp pose + modified_pose.pose.position.x += self.side_grasp_offset_x + modified_pose.pose.position.y += self.side_grasp_offset_y + + self.grasp_type.publish(grasp_type) + pose_samples = self.pose_generator.calculate_poses_list(modified_pose) + self.pose_samples_pub.publish(pose_samples) + + # if default ik is true, try default ik routine + if self.default_ik_flag and not self.adaptive_ik_flag: + if self.default_ik_routine(pose_samples, modified_pose, grasp_type): + status = "succeeded" + self.event_out.publish(status) + self.reset_component_data() + return "INIT" + else: + status = "e_failure" + self.event_out.publish(status) + self.reset_component_data() + return "INIT" + + # if orientation independent IK failed and adaptive IK is set to true, try again with orientation independent IK + if self.orientation_independent_ik_flag and not self.adaptive_ik_flag: + if self.orientation_independent_ik_routine(transformed_pose, grasp_type): + self.event_out.publish("e_success") + self.reset_component_data() + return 'INIT' + else: + self.event_out.publish("e_failure") + self.reset_component_data() + return 'INIT' + + # if adaptive IK is set to true, try both default and orientation independent IK routines + if self.adaptive_ik_flag: + if self.default_ik_routine(pose_samples, modified_pose, grasp_type): + self.event_out.publish("e_success") + self.reset_component_data() + return "INIT" + elif self.orientation_independent_ik_routine(transformed_pose, grasp_type): + self.event_out.publish("e_success") + self.reset_component_data() + return 'INIT' + else: + self.event_out.publish("e_failure") + self.reset_component_data() + return 'INIT' + + def reset_component_data(self): + self.pose_in = None + self.event = None + + +def main(): + rospy.init_node("pregrasp_planner_pipeline", anonymous=True) + pregrasp_planner_pipeline = PregraspPlannerPipeline() + pregrasp_planner_pipeline.start() diff --git a/data/mir_manipulation/mir_pregrasp_planning/ros/src/mir_pregrasp_planning_ros/simple_pregrasp_planner_utils.py b/data/mir_manipulation/mir_pregrasp_planning/ros/src/mir_pregrasp_planning_ros/simple_pregrasp_planner_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..9b12d9c3f147b0b718c42a47e025bc6732c178fe --- /dev/null +++ b/data/mir_manipulation/mir_pregrasp_planning/ros/src/mir_pregrasp_planning_ros/simple_pregrasp_planner_utils.py @@ -0,0 +1,238 @@ +#!/usr/bin/env python +""" +This module contains functions used by the simple_pregrasp_planner node. + +""" +# -*- encoding: utf-8 -*- + +import copy +import math + +import numpy +import tf.transformations as transformations +from geometry_msgs.msg import Quaternion + + +def modify_pose(pose_in, height_threshold, standing_angle=270.0, angular_tolerance=2.0): + """ + Computes a modified pose (of an object) only if the object is + standing (vertically) on a surface, based on the following criteria: + + - If the object's height is below the height_threshold, then a modified\ + pose is computed consisting of a rotation of 90 degrees of pose_in\ + (e.g. the new pose will have the object laying horizontally). + - If the object's height is not below the height_threshold, then the\ + orientation is preserved (i.e. still standing), but the rotation\ + will be set to zero degrees around the X axis (assuming the X axis\ + is pointing upwards, see module description of 'simple_grasp_planner'). + + It also returns whether the object is standing. + + :param pose_in: The pose to be modified if a set of criteria are met. + :type pose_in: geometry_msgs.msg.PoseStamped + + :param height_threshold: If the object is standing and its height + does not exceed this threshold, a rotated pose is then returned. + :type height_threshold: float + + :param standing_angle: The angle (in degrees) used to check if + the pose has its X axis pointing upwards. + :type standing_angle: float + + :param angular_tolerance: The tolerance (in degrees) used to check if + the pose has its X axis pointing upwards. + :type angular_tolerance: float + + :return: The modified pose and whether the object is standing. + :rtype: brics_actuator.msg.PoseStamped, bool + + """ + standing = False + pose_out = copy.deepcopy(pose_in) + + # Checking if the orientation is 'standing': + # if the pose's X axis of the pose is pointing upwards, + # then it has a rotation of 'standing_angle' degrees around the Y axis + roll, pitch, yaw = transformations.euler_from_quaternion( + [ + pose_in.pose.orientation.x, + pose_in.pose.orientation.y, + pose_in.pose.orientation.z, + pose_in.pose.orientation.w, + ] + ) + + # to have the range of angles from 0-360 + decision_angle = math.degrees(pitch) % 360.0 + + if ( + (standing_angle - angular_tolerance) + <= decision_angle + <= (standing_angle + angular_tolerance) + ): + standing = True + # in case the object is upside down + if ( + (standing_angle - angular_tolerance) + <= (decision_angle + 180) + <= (standing_angle + angular_tolerance) + ): + standing = True + + if standing: + if pose_in.pose.position.z < height_threshold: + # The object is re-oriented to be laying horizontally, + # but maintaining its rotation + new_orientation = transformations.quaternion_from_euler( + roll, pitch - (math.pi / 2), yaw + ) + pose_out.pose.orientation.x = new_orientation[0] + pose_out.pose.orientation.y = new_orientation[1] + pose_out.pose.orientation.z = new_orientation[2] + pose_out.pose.orientation.w = new_orientation[3] + standing = False + else: + # Retain standing orientation, but with no rotation around the X axis + pose_out.pose.orientation.x = 0.0 + pose_out.pose.orientation.y = math.cos(math.pi / 4) + pose_out.pose.orientation.z = 0.0 + pose_out.pose.orientation.w = -math.cos(math.pi / 4) + else: # flatten the pose so that it is parallel to the ground + new_orientation = transformations.quaternion_from_euler(0.0, 0.0, yaw) + pose_out.pose.orientation = Quaternion(*new_orientation) + + return pose_out, standing + + +def modify_pose_rotation(pose, offset=0.0, reference_axis="z", rotation_range=None): + """ + Modifies the orientation of a pose, for a single rotation axis (reference_axis), + by adding an offset and limiting the rotation to be within certain range. If no + rotation_range is specified, the pose is not modified (except for the specified + offset). + + :param pose: The pose to be modified. + :type pose: geometry_msgs.msg.PoseStamped + + :param offset: Rotation offset to add to the reference_axis of the pose (in degrees). + :type offset: float + + :param reference_axis: The rotation axis of the pose to be modified (e.g. x, y, z). + :type reference_axis: str + + :param rotation_range: If specified, the rotation will be limited until the + rotation_range value (in degrees). For instance, if rotation_range is set + to [0, 180], where 0 is the minimum and 180 degrees is the maximum, the + rotation will remain in half circle (e.g. this parameter can be helpful + for symmetric objects, since there a 180 degree rotation makes no difference). + :type rotation_range: list + + :return: The modified pose. + :rtype: geometry_msgs.msg.PoseStamped + + """ + pose_out = copy.deepcopy(pose) + orientation_in = ( + pose_out.pose.orientation.x, + pose_out.pose.orientation.y, + pose_out.pose.orientation.z, + pose_out.pose.orientation.w, + ) + + angles_in = transformations.euler_from_quaternion(orientation_in) + # Add 360 degrees to the negative angles, since the range of + # euler_from_quaternion is -PI to PI (-180 to 180 degrees) + angles_in = [(math.pi * 2) + angle if angle < 0.0 else angle for angle in angles_in] + + euler_angles = { + "x": angles_in[0], + "y": angles_in[1], + "z": angles_in[2], + } + + # Ensure the offset is not more than 360 degrees + offset %= 360 + target_angle = euler_angles[reference_axis] + math.radians(offset) + + if rotation_range is not None: + target_angle = restrict_angle_to_range( + target_angle, math.radians(offset), list(numpy.radians(rotation_range)) + ) + + euler_angles[reference_axis] = target_angle + angles_out = [euler_angles["x"], euler_angles["y"], euler_angles["z"]] + + orientation_out = transformations.quaternion_from_euler( + angles_out[0], angles_out[1], angles_out[2] + ) + + pose_out.pose.orientation.x = orientation_out[0] + pose_out.pose.orientation.y = orientation_out[1] + pose_out.pose.orientation.z = orientation_out[2] + pose_out.pose.orientation.w = orientation_out[3] + + return pose_out + + +def restrict_angle_to_range(angle, offset, rotation_range): + """ + Restricts the value of an angle to be within the a range of a + circle (with the offset added to this range). + The rotation range might be specified with its first value (e.g. minimum) + greater than the second value (e.g. maximum) to cover a range within the + circle that passes through zero. + + :param angle: The angle to restrict (in radians). + :type angle: float + + :param offset: Rotation offset to add to the angle (in radians). + :type offset: float + + :param rotation_range: The range in which the angle is allowed to be (in radians). + The first value represents the minimum and the second value the maximum. + Note that the first value is allowed to be greater than the second. + :type rotation_range: list + + :return: The angle restricted to a range within a circle (in radians). + :rtype: float + + :Examples: + + >>> angle = math.radians(60) + >>> offset = math.radians(0) + >>> rotation_range = list(numpy.radians([0, 180])) + >>> restrict_angle_to_range(angle, offset, rotation_range) + 1.0472 # 60 degrees + + >>> angle = math.radians(60) + >>> offset = math.radians(0) + >>> rotation_range = list(numpy.radians([90, 270])) + >>> restrict_angle_to_range(angle, offset, rotation_range) + 4.1888 # 240 degrees + + >>> angle = math.radians(60) + >>> offset = math.radians(100) + >>> rotation_range = list(numpy.radians([0, 180])) + >>> restrict_angle_to_range(angle, offset, rotation_range) + 4.1888 # 160 degrees + + >>> angle = math.radians(100) + >>> offset = math.radians(0) + >>> # note that the first value is greater than the second value + >>> rotation_range = list(numpy.radians([270, 90])) + >>> restrict_angle_to_range(angle, offset, rotation_range) + 4.8869 # 280 degrees + + """ + inverted_range = (rotation_range[0] % math.radians(360)) > ( + rotation_range[1] % math.radians(360) + ) + if inverted_range: + if (offset + rotation_range[1]) < angle < (offset + rotation_range[0]): + angle += math.radians(180.0) + else: + if not (offset + rotation_range[0] <= angle <= (offset + rotation_range[1])): + angle += math.radians(180.0) + + # Ensure the angle will not be greater than 360 degrees + return angle % math.radians(360) diff --git a/data/mir_manipulation/mir_pregrasp_planning/ros/test/kinematics_unittest.py b/data/mir_manipulation/mir_pregrasp_planning/ros/test/kinematics_unittest.py new file mode 100644 index 0000000000000000000000000000000000000000..264b47ea95a2a25e5d15adc8fbb402aeb975907d --- /dev/null +++ b/data/mir_manipulation/mir_pregrasp_planning/ros/test/kinematics_unittest.py @@ -0,0 +1,74 @@ +#!/usr/bin/env python + +import random +import unittest +from mir_pregrasp_planning_ros.kinematics import Kinematics + +PKG = 'mir_pregrasp_planning' + +class TestKinematics(unittest.TestCase): + """ + Tests functions used in the simple_pregrasp_planner_utils.py module. + + """ + + @classmethod + def setUpClass(cls): + """ + :returns: TODO + + """ + cls.kinematics = Kinematics() + cls.angle_threshold = 0.05 + cls.pose_linear_threshold = 0.01 + cls.pose_quaternion_threshold = 0.01 + + def test_fk_ik_look_at_workspace_from_near_left(self): + # look at workspace from near left + expected_solution = [ 1.4703, 0.4803, -0.6987, 3.0959, 0.6047] + fk_pose = self.kinematics.forward_kinematics(expected_solution) + + # print(fk_pose) + ik_solution = self.kinematics.inverse_kinematics(fk_pose) + self.assertIsNotNone(ik_solution) + self.assertTrue(self._is_joint_values_equivalent(ik_solution, expected_solution)) + + def test_fk_ik_fk_random_joint_pos_100_times(self): + successes = 0 + for i in range(100): + expected_solution = [0.0]*5 + for i in range(5): + r = random.random() + expected_solution[i] = self.kinematics.lower_limit[i] \ + + r * (self.kinematics.upper_limit[i] \ + - self.kinematics.lower_limit[i]) + fk_pose = self.kinematics.forward_kinematics(expected_solution) + + # print(fk_pose) + ik_solution = self.kinematics.inverse_kinematics(fk_pose) + if ik_solution is not None: + fk_pose_ik_solution = self.kinematics.forward_kinematics(ik_solution) + try: + self._assert_pose_equivalent(fk_pose, fk_pose_ik_solution) + successes += 1 + except Exception as e: + pass + + self.assertGreaterEqual(successes, 80) + + def _is_joint_values_equivalent(self, joint_values_1, joint_values_2): + equality = [abs(joint_values_1[i] - joint_values_2[i]) < self.angle_threshold for i in range(5)] + return False not in equality + + def _assert_pose_equivalent(self, pose_1, pose_2): + self.assertLessEqual(abs(pose_1.position.x - pose_2.position.x), self.pose_linear_threshold) + self.assertLessEqual(abs(pose_1.position.y - pose_2.position.y), self.pose_linear_threshold) + self.assertLessEqual(abs(pose_1.position.z - pose_2.position.z), self.pose_linear_threshold) + self.assertLessEqual(abs(pose_1.orientation.x - pose_2.orientation.x), self.pose_quaternion_threshold) + self.assertLessEqual(abs(pose_1.orientation.y - pose_2.orientation.y), self.pose_quaternion_threshold) + self.assertLessEqual(abs(pose_1.orientation.z - pose_2.orientation.z), self.pose_quaternion_threshold) + self.assertLessEqual(abs(pose_1.orientation.w - pose_2.orientation.w), self.pose_quaternion_threshold) + + +if __name__ == '__main__': + unittest.main() diff --git a/data/mir_manipulation/mir_pregrasp_planning/ros/test/simple_pregrasp_planner_unittest.py b/data/mir_manipulation/mir_pregrasp_planning/ros/test/simple_pregrasp_planner_unittest.py new file mode 100644 index 0000000000000000000000000000000000000000..5a72b9095ada25b7ddf5a9ddc4b99bbd01d7fc5c --- /dev/null +++ b/data/mir_manipulation/mir_pregrasp_planning/ros/test/simple_pregrasp_planner_unittest.py @@ -0,0 +1,933 @@ +#!/usr/bin/env python +""" +Test unit for the functions in the simple_pregrasp_planner_utils.py module. + +""" + +import copy +import math +import unittest + +import geometry_msgs.msg +import mir_pregrasp_planning_ros.simple_pregrasp_planner_utils as pregrasp_planner_utils +import numpy +import numpy.testing +import rosunit + +PKG = "mir_pregrasp_planning" + + +class TestSimplePregraspPlanner(unittest.TestCase): + """ + Tests functions used in the simple_pregrasp_planner_utils.py module. + + """ + + def test_modify_pose_no_changes(self): + """ + Tests that the 'modify_pose' function returns the same pose, since + the object is not standing. + + """ + height_threshold = 1.0 + + pose_in = geometry_msgs.msg.PoseStamped() + # the height (position in Z) will be compared against the height threshold + pose_in.pose.position.x = 0.4 + pose_in.pose.position.y = 0.0 + pose_in.pose.position.z = 0.2 + + # laying orientation + pose_in.pose.orientation.x = 0.0 + pose_in.pose.orientation.y = 0.0 + pose_in.pose.orientation.z = 0.0 + pose_in.pose.orientation.w = 1.0 + + expected_pose = copy.deepcopy(pose_in) + + result, standing = pregrasp_planner_utils.modify_pose(pose_in, height_threshold) + + self.assertEqual(result, expected_pose) + self.assertEqual(standing, False) + + def test_modify_pose_short_object(self): + """ + Tests that the 'modify_pose' function returns a modified version of the pose, + since the object's height does not exceed the height_threshold. Namely, + the modified version should have a 90 degree rotation around the Y axis + with respect to the pose. + + """ + height_threshold = 0.15 + + pose_in = geometry_msgs.msg.PoseStamped() + # the height (position in Z) will be compared against the height threshold + pose_in.pose.position.x = 0.2 + pose_in.pose.position.y = 0.0 + pose_in.pose.position.z = 0.125 + # standing orientation + pose_in.pose.orientation.x = 0.0 + pose_in.pose.orientation.y = -math.sqrt(2) / 2 + pose_in.pose.orientation.z = 0.0 + pose_in.pose.orientation.w = math.sqrt(2) / 2 + + result, standing = pregrasp_planner_utils.modify_pose(pose_in, height_threshold) + + expected_pose = copy.deepcopy(pose_in) + expected_pose.pose.orientation.x = 0.0 + expected_pose.pose.orientation.y = -1.0 + expected_pose.pose.orientation.z = 0.0 + expected_pose.pose.orientation.w = 0.0 + + self.assertEqual(standing, False) + self.assertAlmostEqual( + result.pose.orientation.x, expected_pose.pose.orientation.x, places=4 + ) + self.assertAlmostEqual( + result.pose.orientation.y, expected_pose.pose.orientation.y, places=4 + ) + self.assertAlmostEqual( + result.pose.orientation.z, expected_pose.pose.orientation.z, places=4 + ) + self.assertAlmostEqual( + result.pose.orientation.w, expected_pose.pose.orientation.w, places=4 + ) + + # standing orientation + 45 degree rotation around the X axis + pose_in.pose.orientation.x = 0.2706 + pose_in.pose.orientation.y = -0.65328 + pose_in.pose.orientation.z = 0.2706 + pose_in.pose.orientation.w = 0.65328 + + result, standing = pregrasp_planner_utils.modify_pose(pose_in, height_threshold) + + # laying horizontally + 45 degree rotation around the X axis + expected_pose.pose.orientation.x = 0.0 + expected_pose.pose.orientation.y = -0.9238795 + expected_pose.pose.orientation.z = 0.3826834 + expected_pose.pose.orientation.w = 0.0 + + self.assertEqual(standing, False) + self.assertAlmostEqual( + result.pose.orientation.x, expected_pose.pose.orientation.x, places=4 + ) + self.assertAlmostEqual( + result.pose.orientation.y, expected_pose.pose.orientation.y, places=4 + ) + self.assertAlmostEqual( + result.pose.orientation.z, expected_pose.pose.orientation.z, places=4 + ) + self.assertAlmostEqual( + result.pose.orientation.w, expected_pose.pose.orientation.w, places=4 + ) + + # standing orientation + 90 degree rotation around the X axis + pose_in.pose.orientation.x = 0.5 + pose_in.pose.orientation.y = -0.5 + pose_in.pose.orientation.z = 0.5 + pose_in.pose.orientation.w = 0.5 + + result, standing = pregrasp_planner_utils.modify_pose(pose_in, height_threshold) + + # laying horizontally + 90 degree rotation around the X axis + expected_pose.pose.orientation.x = 0.0 + expected_pose.pose.orientation.y = -math.sqrt(2) / 2 + expected_pose.pose.orientation.z = math.sqrt(2) / 2 + expected_pose.pose.orientation.w = 0.0 + + self.assertEqual(standing, False) + self.assertAlmostEqual( + result.pose.orientation.x, expected_pose.pose.orientation.x, places=4 + ) + self.assertAlmostEqual( + result.pose.orientation.y, expected_pose.pose.orientation.y, places=4 + ) + self.assertAlmostEqual( + result.pose.orientation.z, expected_pose.pose.orientation.z, places=4 + ) + self.assertAlmostEqual( + result.pose.orientation.w, expected_pose.pose.orientation.w, places=4 + ) + + # standing orientation + 180 degree rotation around the X axis + pose_in.pose.orientation.x = math.sqrt(2) / 2 + pose_in.pose.orientation.y = 0.0 + pose_in.pose.orientation.z = math.sqrt(2) / 2 + pose_in.pose.orientation.w = 0.0 + + result, standing = pregrasp_planner_utils.modify_pose(pose_in, height_threshold) + + # laying horizontally + 180 degree rotation around the X axis + expected_pose.pose.orientation.x = 0.0 + expected_pose.pose.orientation.y = 0.0 + expected_pose.pose.orientation.z = -1.0 + expected_pose.pose.orientation.w = 0.0 + + self.assertEqual(standing, False) + self.assertAlmostEqual( + result.pose.orientation.x, expected_pose.pose.orientation.x, places=4 + ) + self.assertAlmostEqual( + result.pose.orientation.y, expected_pose.pose.orientation.y, places=4 + ) + self.assertAlmostEqual( + result.pose.orientation.z, expected_pose.pose.orientation.z, places=4 + ) + self.assertAlmostEqual( + result.pose.orientation.w, expected_pose.pose.orientation.w, places=4 + ) + + def test_modify_pose_tall_object(self): + """ + Tests that the 'modify_pose' function returns a modified version of the pose, + given an object that is standing and its height not exceed the + height_threshold. Namely, the modified version should retain the orientation + (i.e. standing), but with no rotation around the axis pointing upwards + (X axis is assumed in this case). + + """ + height_threshold = 0.15 + + pose_in = geometry_msgs.msg.PoseStamped() + # the height (position in Z) will be compared against the height threshold + pose_in.pose.position.x = 0.2 + pose_in.pose.position.y = 0.0 + pose_in.pose.position.z = 0.16 + # standing orientation + pose_in.pose.orientation.x = 0.0 + pose_in.pose.orientation.y = math.sqrt(2) / 2 + pose_in.pose.orientation.z = 0.0 + pose_in.pose.orientation.w = -math.sqrt(2) / 2 + + result, standing = pregrasp_planner_utils.modify_pose(pose_in, height_threshold) + + expected_pose = copy.deepcopy(pose_in) + # standing orientation + 0 degree rotation around the X axis + expected_pose.pose.orientation.x = 0.0 + expected_pose.pose.orientation.y = math.sqrt(2) / 2 + expected_pose.pose.orientation.z = 0.0 + expected_pose.pose.orientation.w = -math.sqrt(2) / 2 + + self.assertEqual(result, expected_pose) + self.assertEqual(standing, True) + + # standing orientation + 45 degree rotation around the X axis + pose_in.pose.orientation.x = -0.2706 + pose_in.pose.orientation.y = 0.65328 + pose_in.pose.orientation.z = -0.2706 + pose_in.pose.orientation.w = -0.65328 + + result, standing = pregrasp_planner_utils.modify_pose(pose_in, height_threshold) + + # expected_pose: standing orientation + 0 degree rotation around the X axis + self.assertEqual(result, expected_pose) + self.assertEqual(standing, True) + + # standing orientation + 90 degree rotation around the X axis + pose_in.pose.orientation.x = -0.5 + pose_in.pose.orientation.y = 0.5 + pose_in.pose.orientation.z = -0.5 + pose_in.pose.orientation.w = -0.5 + + result, standing = pregrasp_planner_utils.modify_pose(pose_in, height_threshold) + + # expected_pose: standing orientation + 0 degree rotation around the X axis + self.assertEqual(result, expected_pose) + self.assertEqual(standing, True) + + # standing orientation + 180 degree rotation around the X axis + pose_in.pose.orientation.x = -math.sqrt(2) / 2 + pose_in.pose.orientation.y = 0.0 + pose_in.pose.orientation.z = -math.sqrt(2) / 2 + pose_in.pose.orientation.w = -0.0 + + result, standing = pregrasp_planner_utils.modify_pose(pose_in, height_threshold) + + # expected_pose: standing orientation + 0 degree rotation around the X axis + self.assertEqual(result, expected_pose) + self.assertEqual(standing, True) + + def test_modify_pose_rotation_no_changes(self): + """ + Tests that the 'modify_pose_rotation' function returns the same pose. + + """ + # test angles: different rotations around the Z axis + zero_degrees = geometry_msgs.msg.PoseStamped() + zero_degrees.pose.orientation.x = 0.0 + zero_degrees.pose.orientation.y = 0.0 + zero_degrees.pose.orientation.z = 0.0 + zero_degrees.pose.orientation.w = 1.0 + + ninety_degrees = geometry_msgs.msg.PoseStamped() + ninety_degrees.pose.orientation.x = 0.0 + ninety_degrees.pose.orientation.y = 0.0 + ninety_degrees.pose.orientation.z = math.cos(math.pi / 4) + ninety_degrees.pose.orientation.w = math.cos(math.pi / 4) + + one_eighty_degrees = geometry_msgs.msg.PoseStamped() + one_eighty_degrees.pose.orientation.x = 0.0 + one_eighty_degrees.pose.orientation.y = 0.0 + one_eighty_degrees.pose.orientation.z = 1.0 + one_eighty_degrees.pose.orientation.w = 0.0 + + two_seventy_degrees = geometry_msgs.msg.PoseStamped() + two_seventy_degrees.pose.orientation.x = 0.0 + two_seventy_degrees.pose.orientation.y = 0.0 + two_seventy_degrees.pose.orientation.z = math.cos(math.pi / 4) + two_seventy_degrees.pose.orientation.w = -math.cos(math.pi / 4) + + actual_zero = pregrasp_planner_utils.modify_pose_rotation(zero_degrees) + actual_ninety = pregrasp_planner_utils.modify_pose_rotation(ninety_degrees) + actual_one_eighty = pregrasp_planner_utils.modify_pose_rotation( + one_eighty_degrees + ) + actual_two_seventy = pregrasp_planner_utils.modify_pose_rotation( + two_seventy_degrees + ) + + self.assertAlmostEqual( + actual_zero.pose.orientation.x, zero_degrees.pose.orientation.x, places=5 + ) + self.assertAlmostEqual( + actual_zero.pose.orientation.y, zero_degrees.pose.orientation.y, places=5 + ) + self.assertAlmostEqual( + actual_zero.pose.orientation.z, zero_degrees.pose.orientation.z, places=5 + ) + self.assertAlmostEqual( + actual_zero.pose.orientation.w, zero_degrees.pose.orientation.w, places=5 + ) + + self.assertAlmostEqual( + actual_ninety.pose.orientation.x, + ninety_degrees.pose.orientation.x, + places=5, + ) + self.assertAlmostEqual( + actual_ninety.pose.orientation.y, + ninety_degrees.pose.orientation.y, + places=5, + ) + self.assertAlmostEqual( + actual_ninety.pose.orientation.z, + ninety_degrees.pose.orientation.z, + places=5, + ) + self.assertAlmostEqual( + actual_ninety.pose.orientation.w, + ninety_degrees.pose.orientation.w, + places=5, + ) + + self.assertAlmostEqual( + actual_one_eighty.pose.orientation.x, + one_eighty_degrees.pose.orientation.x, + places=5, + ) + self.assertAlmostEqual( + actual_one_eighty.pose.orientation.y, + one_eighty_degrees.pose.orientation.y, + places=5, + ) + self.assertAlmostEqual( + actual_one_eighty.pose.orientation.z, + one_eighty_degrees.pose.orientation.z, + places=5, + ) + self.assertAlmostEqual( + actual_one_eighty.pose.orientation.w, + one_eighty_degrees.pose.orientation.w, + places=5, + ) + + self.assertAlmostEqual( + actual_two_seventy.pose.orientation.x, + two_seventy_degrees.pose.orientation.x, + places=5, + ) + self.assertAlmostEqual( + actual_two_seventy.pose.orientation.y, + two_seventy_degrees.pose.orientation.y, + places=5, + ) + self.assertAlmostEqual( + actual_two_seventy.pose.orientation.z, + two_seventy_degrees.pose.orientation.z, + places=5, + ) + self.assertAlmostEqual( + actual_two_seventy.pose.orientation.w, + two_seventy_degrees.pose.orientation.w, + places=5, + ) + + def test_modify_pose_rotation_add_offset(self): + """ + Tests that the 'modify_pose_rotation' function returns the same pose, + but with a rotation offset around the Z axis. + + """ + # test angles: different rotations around the Z axis + zero_degrees = geometry_msgs.msg.PoseStamped() + zero_degrees.pose.orientation.x = 0.0 + zero_degrees.pose.orientation.y = 0.0 + zero_degrees.pose.orientation.z = 0.0 + zero_degrees.pose.orientation.w = 1.0 + + ninety_degrees = geometry_msgs.msg.PoseStamped() + ninety_degrees.pose.orientation.x = 0.0 + ninety_degrees.pose.orientation.y = 0.0 + ninety_degrees.pose.orientation.z = math.cos(math.pi / 4) + ninety_degrees.pose.orientation.w = math.cos(math.pi / 4) + + one_eighty_degrees = geometry_msgs.msg.PoseStamped() + one_eighty_degrees.pose.orientation.x = 0.0 + one_eighty_degrees.pose.orientation.y = 0.0 + one_eighty_degrees.pose.orientation.z = 1.0 + one_eighty_degrees.pose.orientation.w = 0.0 + + two_seventy_degrees = geometry_msgs.msg.PoseStamped() + two_seventy_degrees.pose.orientation.x = 0.0 + two_seventy_degrees.pose.orientation.y = 0.0 + two_seventy_degrees.pose.orientation.z = math.cos(math.pi / 4) + two_seventy_degrees.pose.orientation.w = -math.cos(math.pi / 4) + + actual_zero = pregrasp_planner_utils.modify_pose_rotation( + zero_degrees, offset=0.0 + ) + actual_ninety = pregrasp_planner_utils.modify_pose_rotation( + zero_degrees, offset=90 + ) + actual_one_eighty = pregrasp_planner_utils.modify_pose_rotation( + zero_degrees, offset=180 + ) + actual_two_seventy = pregrasp_planner_utils.modify_pose_rotation( + zero_degrees, offset=270 + ) + + self.assertAlmostEqual( + actual_zero.pose.orientation.x, zero_degrees.pose.orientation.x, places=5 + ) + self.assertAlmostEqual( + actual_zero.pose.orientation.y, zero_degrees.pose.orientation.y, places=5 + ) + self.assertAlmostEqual( + actual_zero.pose.orientation.z, zero_degrees.pose.orientation.z, places=5 + ) + self.assertAlmostEqual( + actual_zero.pose.orientation.w, zero_degrees.pose.orientation.w, places=5 + ) + + self.assertAlmostEqual( + actual_ninety.pose.orientation.x, + ninety_degrees.pose.orientation.x, + places=5, + ) + self.assertAlmostEqual( + actual_ninety.pose.orientation.y, + ninety_degrees.pose.orientation.y, + places=5, + ) + self.assertAlmostEqual( + actual_ninety.pose.orientation.z, + ninety_degrees.pose.orientation.z, + places=5, + ) + self.assertAlmostEqual( + actual_ninety.pose.orientation.w, + ninety_degrees.pose.orientation.w, + places=5, + ) + + self.assertAlmostEqual( + actual_one_eighty.pose.orientation.x, + one_eighty_degrees.pose.orientation.x, + places=5, + ) + self.assertAlmostEqual( + actual_one_eighty.pose.orientation.y, + one_eighty_degrees.pose.orientation.y, + places=5, + ) + self.assertAlmostEqual( + actual_one_eighty.pose.orientation.z, + one_eighty_degrees.pose.orientation.z, + places=5, + ) + self.assertAlmostEqual( + actual_one_eighty.pose.orientation.w, + one_eighty_degrees.pose.orientation.w, + places=5, + ) + + self.assertAlmostEqual( + actual_two_seventy.pose.orientation.x, + two_seventy_degrees.pose.orientation.x, + places=5, + ) + self.assertAlmostEqual( + actual_two_seventy.pose.orientation.y, + two_seventy_degrees.pose.orientation.y, + places=5, + ) + self.assertAlmostEqual( + actual_two_seventy.pose.orientation.z, + two_seventy_degrees.pose.orientation.z, + places=5, + ) + self.assertAlmostEqual( + actual_two_seventy.pose.orientation.w, + two_seventy_degrees.pose.orientation.w, + places=5, + ) + + def test_modify_pose_rotation_limited_range(self): + """ + Tests that the 'modify_pose_rotation' function returns the same pose, + but with a rotation limited to only 180 degrees around the Z axis. + + """ + # test angles: different rotations around the Z axis + zero_degrees = geometry_msgs.msg.PoseStamped() + zero_degrees.pose.orientation.x = 0.0 + zero_degrees.pose.orientation.y = 0.0 + zero_degrees.pose.orientation.z = 0.0 + zero_degrees.pose.orientation.w = 1.0 + + ninety_degrees = geometry_msgs.msg.PoseStamped() + ninety_degrees.pose.orientation.x = 0.0 + ninety_degrees.pose.orientation.y = 0.0 + ninety_degrees.pose.orientation.z = math.cos(math.pi / 4) + ninety_degrees.pose.orientation.w = math.cos(math.pi / 4) + + one_eighty_degrees = geometry_msgs.msg.PoseStamped() + one_eighty_degrees.pose.orientation.x = 0.0 + one_eighty_degrees.pose.orientation.y = 0.0 + one_eighty_degrees.pose.orientation.z = 1.0 + one_eighty_degrees.pose.orientation.w = 0.0 + + two_seventy_degrees = geometry_msgs.msg.PoseStamped() + two_seventy_degrees.pose.orientation.x = 0.0 + two_seventy_degrees.pose.orientation.y = 0.0 + two_seventy_degrees.pose.orientation.z = math.cos(math.pi / 4) + two_seventy_degrees.pose.orientation.w = -math.cos(math.pi / 4) + + actual_zero = pregrasp_planner_utils.modify_pose_rotation( + zero_degrees, rotation_range=[0, 180] + ) + actual_ninety = pregrasp_planner_utils.modify_pose_rotation( + ninety_degrees, rotation_range=[0, 180] + ) + actual_one_eighty = pregrasp_planner_utils.modify_pose_rotation( + one_eighty_degrees, rotation_range=[0, 180] + ) + actual_two_seventy = pregrasp_planner_utils.modify_pose_rotation( + two_seventy_degrees, rotation_range=[0, 180] + ) + + self.assertAlmostEqual( + actual_zero.pose.orientation.x, zero_degrees.pose.orientation.x, places=5 + ) + self.assertAlmostEqual( + actual_zero.pose.orientation.y, zero_degrees.pose.orientation.y, places=5 + ) + self.assertAlmostEqual( + actual_zero.pose.orientation.z, zero_degrees.pose.orientation.z, places=5 + ) + self.assertAlmostEqual( + actual_zero.pose.orientation.w, zero_degrees.pose.orientation.w, places=5 + ) + + self.assertAlmostEqual( + actual_ninety.pose.orientation.x, + ninety_degrees.pose.orientation.x, + places=5, + ) + self.assertAlmostEqual( + actual_ninety.pose.orientation.y, + ninety_degrees.pose.orientation.y, + places=5, + ) + self.assertAlmostEqual( + actual_ninety.pose.orientation.z, + ninety_degrees.pose.orientation.z, + places=5, + ) + self.assertAlmostEqual( + actual_ninety.pose.orientation.w, + ninety_degrees.pose.orientation.w, + places=5, + ) + + self.assertAlmostEqual( + actual_one_eighty.pose.orientation.x, + one_eighty_degrees.pose.orientation.x, + places=5, + ) + self.assertAlmostEqual( + actual_one_eighty.pose.orientation.y, + one_eighty_degrees.pose.orientation.y, + places=5, + ) + self.assertAlmostEqual( + actual_one_eighty.pose.orientation.z, + one_eighty_degrees.pose.orientation.z, + places=5, + ) + self.assertAlmostEqual( + actual_one_eighty.pose.orientation.w, + one_eighty_degrees.pose.orientation.w, + places=5, + ) + + self.assertAlmostEqual( + actual_two_seventy.pose.orientation.x, + ninety_degrees.pose.orientation.x, + places=5, + ) + self.assertAlmostEqual( + actual_two_seventy.pose.orientation.y, + ninety_degrees.pose.orientation.y, + places=5, + ) + self.assertAlmostEqual( + actual_two_seventy.pose.orientation.z, + ninety_degrees.pose.orientation.z, + places=5, + ) + self.assertAlmostEqual( + actual_two_seventy.pose.orientation.w, + ninety_degrees.pose.orientation.w, + places=5, + ) + + def test_modify_pose_rotation_complete(self): + """ + Tests that the 'modify_pose_rotation' function returns the same pose, + but with a rotation offset and a limited rotation. + + """ + # test angles: different rotations around the Z axis + zero_degrees = geometry_msgs.msg.PoseStamped() + zero_degrees.pose.orientation.x = 0.0 + zero_degrees.pose.orientation.y = 0.0 + zero_degrees.pose.orientation.z = 0.0 + zero_degrees.pose.orientation.w = 1.0 + + ninety_degrees = geometry_msgs.msg.PoseStamped() + ninety_degrees.pose.orientation.x = 0.0 + ninety_degrees.pose.orientation.y = 0.0 + ninety_degrees.pose.orientation.z = math.cos(math.pi / 4) + ninety_degrees.pose.orientation.w = math.cos(math.pi / 4) + + one_eighty_degrees = geometry_msgs.msg.PoseStamped() + one_eighty_degrees.pose.orientation.x = 0.0 + one_eighty_degrees.pose.orientation.y = 0.0 + one_eighty_degrees.pose.orientation.z = 1.0 + one_eighty_degrees.pose.orientation.w = 0.0 + + two_seventy_degrees = geometry_msgs.msg.PoseStamped() + two_seventy_degrees.pose.orientation.x = 0.0 + two_seventy_degrees.pose.orientation.y = 0.0 + two_seventy_degrees.pose.orientation.z = math.cos(math.pi / 4) + two_seventy_degrees.pose.orientation.w = -math.cos(math.pi / 4) + + actual_zero = pregrasp_planner_utils.modify_pose_rotation( + zero_degrees, offset=90, rotation_range=[0, 180] + ) + actual_ninety = pregrasp_planner_utils.modify_pose_rotation( + ninety_degrees, offset=90, rotation_range=[0, 180] + ) + actual_one_eighty = pregrasp_planner_utils.modify_pose_rotation( + one_eighty_degrees, offset=90, rotation_range=[0, 180] + ) + actual_two_seventy = pregrasp_planner_utils.modify_pose_rotation( + two_seventy_degrees, offset=90, rotation_range=[0, 180] + ) + + self.assertAlmostEqual( + actual_zero.pose.orientation.x, ninety_degrees.pose.orientation.x, places=5 + ) + self.assertAlmostEqual( + actual_zero.pose.orientation.y, ninety_degrees.pose.orientation.y, places=5 + ) + self.assertAlmostEqual( + actual_zero.pose.orientation.z, ninety_degrees.pose.orientation.z, places=5 + ) + self.assertAlmostEqual( + actual_zero.pose.orientation.w, ninety_degrees.pose.orientation.w, places=5 + ) + + self.assertAlmostEqual( + actual_ninety.pose.orientation.x, + one_eighty_degrees.pose.orientation.x, + places=5, + ) + self.assertAlmostEqual( + actual_ninety.pose.orientation.y, + one_eighty_degrees.pose.orientation.y, + places=5, + ) + self.assertAlmostEqual( + actual_ninety.pose.orientation.z, + one_eighty_degrees.pose.orientation.z, + places=5, + ) + self.assertAlmostEqual( + actual_ninety.pose.orientation.w, + one_eighty_degrees.pose.orientation.w, + places=5, + ) + + self.assertAlmostEqual( + actual_one_eighty.pose.orientation.x, + two_seventy_degrees.pose.orientation.x, + places=5, + ) + self.assertAlmostEqual( + actual_one_eighty.pose.orientation.y, + two_seventy_degrees.pose.orientation.y, + places=5, + ) + self.assertAlmostEqual( + actual_one_eighty.pose.orientation.z, + two_seventy_degrees.pose.orientation.z, + places=5, + ) + self.assertAlmostEqual( + actual_one_eighty.pose.orientation.w, + two_seventy_degrees.pose.orientation.w, + places=5, + ) + + self.assertAlmostEqual( + actual_two_seventy.pose.orientation.x, + one_eighty_degrees.pose.orientation.x, + places=5, + ) + self.assertAlmostEqual( + actual_two_seventy.pose.orientation.y, + one_eighty_degrees.pose.orientation.y, + places=5, + ) + self.assertAlmostEqual( + actual_two_seventy.pose.orientation.z, + one_eighty_degrees.pose.orientation.z, + places=5, + ) + self.assertAlmostEqual( + actual_two_seventy.pose.orientation.w, + one_eighty_degrees.pose.orientation.w, + places=5, + ) + + def test_modify_pose_rotation_random_angles(self): + """ + Tests that the 'modify_pose_rotation' function returns the same pose, + but with a rotation offset and a limited rotation for a series of random + angles. + + """ + # test angles: different rotations around the Z axis + # 35 degrees + angle_1 = geometry_msgs.msg.PoseStamped() + angle_1.pose.orientation.x = 0.0 + angle_1.pose.orientation.y = 0.0 + angle_1.pose.orientation.z = 0.30071 + angle_1.pose.orientation.w = 0.95372 + + # 120 degrees + angle_2 = geometry_msgs.msg.PoseStamped() + angle_2.pose.orientation.x = 0.0 + angle_2.pose.orientation.y = 0.0 + angle_2.pose.orientation.z = math.cos(math.pi / 6) + angle_2.pose.orientation.w = 0.5 + + # 250 degrees + angle_3 = geometry_msgs.msg.PoseStamped() + angle_3.pose.orientation.x = 0.0 + angle_3.pose.orientation.y = 0.0 + angle_3.pose.orientation.z = 0.81915 + angle_3.pose.orientation.w = -0.57358 + + # 320 degrees + angle_4 = geometry_msgs.msg.PoseStamped() + angle_4.pose.orientation.x = 0.0 + angle_4.pose.orientation.y = 0.0 + angle_4.pose.orientation.z = 0.34202 + angle_4.pose.orientation.w = -0.93969 + + actual_first = pregrasp_planner_utils.modify_pose_rotation( + angle_1, offset=170, rotation_range=[0, 180] + ) + actual_second = pregrasp_planner_utils.modify_pose_rotation( + angle_2, offset=170, rotation_range=[0, 180] + ) + actual_third = pregrasp_planner_utils.modify_pose_rotation( + angle_3, offset=170, rotation_range=[0, 180] + ) + actual_fourth = pregrasp_planner_utils.modify_pose_rotation( + angle_4, offset=170, rotation_range=[0, 180] + ) + + # for these test angles: [35.0, 120.0, 250.0, 320.0], + # the desired angles should be: [205.0, 290.0, 240.0, 310.0] + # 205 degrees + desired_1 = geometry_msgs.msg.PoseStamped() + desired_1.pose.orientation.x = 0.0 + desired_1.pose.orientation.y = 0.0 + desired_1.pose.orientation.z = 0.9763 + desired_1.pose.orientation.w = -0.21644 + + # 290 degrees + desired_2 = geometry_msgs.msg.PoseStamped() + desired_2.pose.orientation.x = 0.0 + desired_2.pose.orientation.y = 0.0 + desired_2.pose.orientation.z = 0.57358 + desired_2.pose.orientation.w = -0.81915 + + # 240 degrees + desired_3 = geometry_msgs.msg.PoseStamped() + desired_3.pose.orientation.x = 0.0 + desired_3.pose.orientation.y = 0.0 + desired_3.pose.orientation.z = math.cos(math.pi / 6.0) + desired_3.pose.orientation.w = -0.5 + + # 310 degrees + desired_4 = geometry_msgs.msg.PoseStamped() + desired_4.pose.orientation.x = 0.0 + desired_4.pose.orientation.y = 0.0 + desired_4.pose.orientation.z = 0.42262 + desired_4.pose.orientation.w = -0.90631 + + self.assertAlmostEqual( + actual_first.pose.orientation.x, desired_1.pose.orientation.x, places=5 + ) + self.assertAlmostEqual( + actual_first.pose.orientation.y, desired_1.pose.orientation.y, places=5 + ) + self.assertAlmostEqual( + actual_first.pose.orientation.z, desired_1.pose.orientation.z, places=5 + ) + self.assertAlmostEqual( + actual_first.pose.orientation.w, desired_1.pose.orientation.w, places=5 + ) + + self.assertAlmostEqual( + actual_second.pose.orientation.x, desired_2.pose.orientation.x, places=5 + ) + self.assertAlmostEqual( + actual_second.pose.orientation.y, desired_2.pose.orientation.y, places=5 + ) + self.assertAlmostEqual( + actual_second.pose.orientation.z, desired_2.pose.orientation.z, places=5 + ) + self.assertAlmostEqual( + actual_second.pose.orientation.w, desired_2.pose.orientation.w, places=5 + ) + + self.assertAlmostEqual( + actual_third.pose.orientation.x, desired_3.pose.orientation.x, places=5 + ) + self.assertAlmostEqual( + actual_third.pose.orientation.y, desired_3.pose.orientation.y, places=5 + ) + self.assertAlmostEqual( + actual_third.pose.orientation.z, desired_3.pose.orientation.z, places=5 + ) + self.assertAlmostEqual( + actual_third.pose.orientation.w, desired_3.pose.orientation.w, places=5 + ) + + self.assertAlmostEqual( + actual_fourth.pose.orientation.x, desired_4.pose.orientation.x, places=5 + ) + self.assertAlmostEqual( + actual_fourth.pose.orientation.y, desired_4.pose.orientation.y, places=5 + ) + self.assertAlmostEqual( + actual_fourth.pose.orientation.z, desired_4.pose.orientation.z, places=5 + ) + self.assertAlmostEqual( + actual_fourth.pose.orientation.w, desired_4.pose.orientation.w, places=5 + ) + + def test_restrict_angle_to_range_no_changes(self): + """ + Tests that the 'restrict_angle_to_range' function returns the same angle, since + there is no offset and rotation_range is set from 0-360 degrees. + + """ + offset = math.radians(0.0) + rotation_range = numpy.radians([0.0, 360.0]) + test_angles = numpy.radians([0, 30, 45, 90, 100, 150, 180, 270, 300, 360]) + desired = numpy.radians([0, 30, 45, 90, 100, 150, 180, 270, 300, 0]) + actual = [ + pregrasp_planner_utils.restrict_angle_to_range( + angle, offset, rotation_range + ) + for angle in test_angles + ] + numpy.testing.assert_almost_equal(actual, desired) + + def test_restrict_angle_to_range_offset(self): + """ + Tests that the 'restrict_angle_to_range' function returns the only angles + between the specified range plus an offset. It also restricts the value + to be within 360 degrees. + + """ + offset = math.radians(100.0) + rotation_range = numpy.radians([0.0, 360.0]) + test_angles = numpy.radians([0, 30, 45, 90, 100, 150, 180, 270, 300, 360]) + desired = numpy.radians([180, 210, 225, 270, 100, 150, 180, 270, 300, 0]) + actual = [ + pregrasp_planner_utils.restrict_angle_to_range( + angle, offset, rotation_range + ) + for angle in test_angles + ] + numpy.testing.assert_almost_equal(actual, desired) + + def test_restrict_angle_to_range_rotation_easy_range(self): + """ + Tests that the 'restrict_angle_to_range' function returns the only angles + between the specified range. It also restricts the value + to be within 360 degrees. + + """ + offset = math.radians(0.0) + rotation_range = numpy.radians([0.0, 180.0]) + test_angles = numpy.radians([0, 30, 45, 90, 100, 150, 180, 270, 300, 360]) + desired = numpy.radians([0, 30, 45, 90, 100, 150, 180, 90, 120, 180]) + actual = [ + pregrasp_planner_utils.restrict_angle_to_range( + angle, offset, rotation_range + ) + for angle in test_angles + ] + numpy.testing.assert_almost_equal(actual, desired) + + def test_restrict_angle_to_range_rotation_inverted_range(self): + """ + Tests that the 'restrict_angle_to_range' function returns the only angles + between an 'inverted' range (i.e. the first value of the range is greater + than the second). It also restricts the value to be within 360 degrees. + + """ + offset = math.radians(0.0) + rotation_range = numpy.radians([270.0, 90.0]) + test_angles = numpy.radians([0, 30, 45, 90, 100, 150, 180, 270, 300, 360]) + desired = numpy.radians([0, 30, 45, 90, 280, 330, 0, 270, 300, 0]) + actual = [ + pregrasp_planner_utils.restrict_angle_to_range( + angle, offset, rotation_range + ) + for angle in test_angles + ] + numpy.testing.assert_almost_equal(actual, desired) + + +if __name__ == "__main__": + rosunit.unitrun(PKG, "test_simple_pregrasp_planner", TestSimplePregraspPlanner) diff --git a/data/mir_manipulation/mir_pregrasp_planning/ros/test/test_orientation_independent_ik b/data/mir_manipulation/mir_pregrasp_planning/ros/test/test_orientation_independent_ik new file mode 100644 index 0000000000000000000000000000000000000000..5069bdf2d140f0ddc4ffab0b1a9fe07e1d450e53 --- /dev/null +++ b/data/mir_manipulation/mir_pregrasp_planning/ros/test/test_orientation_independent_ik @@ -0,0 +1,59 @@ +#!/usr/bin/env python + +from __future__ import print_function + +import tf +import rospy + +from brics_actuator.msg import JointPositions +from std_msgs.msg import String +from geometry_msgs.msg import PoseStamped, Pose, Quaternion + +from mir_pregrasp_planning_ros.orientation_independent_ik import OrientationIndependentIK + +MOVEIT_CONF_PUB = None +MOVEIT_TRIGGER_PUB = None + +def send_arm_to_joint(joint_msg): + rospy.loginfo('Found solution') + rospy.loginfo(joint_msg) + + rospy.loginfo('Sending arm to point') + MOVEIT_CONF_PUB.publish(joint_msg) + rospy.sleep(1.0) + + MOVEIT_TRIGGER_PUB.publish(String(data='e_start')) + rospy.sleep(1.0) + rospy.loginfo('Test successful') + +def main(): + global MOVEIT_CONF_PUB, MOVEIT_TRIGGER_PUB + MOVEIT_CONF_PUB = rospy.Publisher('/arm_moveit_client/target_configuration', + JointPositions, queue_size=1) + MOVEIT_TRIGGER_PUB = rospy.Publisher('/arm_moveit_client/event_in', + String, queue_size=1) + ik_solver = OrientationIndependentIK(debug=True) + rospy.sleep(0.5) + rospy.loginfo('Initialised') + + goal = (0.65, 0.1, 0.1, 'base_link') + print('Goal:', goal) + joint_msg = ik_solver.get_joint_msg_from_point(*goal) + if joint_msg is None: + rospy.logerr('Test failed. Could not find IK solution') + return + send_arm_to_joint(joint_msg) + rospy.sleep(5.0) + + goal = (0.65, 0.1, 0.1, -60.0, 10.0, 'base_link') + print('Goal:', goal) + joint_msg = ik_solver.get_joint_msg_from_point_and_pitch(*goal) + if joint_msg is None: + rospy.logerr('Test failed. Could not find IK solution') + return + send_arm_to_joint(joint_msg) + + +if __name__ == '__main__': + rospy.init_node('test_node') + main() diff --git a/data/mir_manipulation/mir_pregrasp_planning/setup.py b/data/mir_manipulation/mir_pregrasp_planning/setup.py new file mode 100644 index 0000000000000000000000000000000000000000..707b68c09d913daf36b10cf032ab0cccb1ca6909 --- /dev/null +++ b/data/mir_manipulation/mir_pregrasp_planning/setup.py @@ -0,0 +1,14 @@ +#!/usr/bin/env python +""" +//TODO +""" +from distutils.core import setup + +from catkin_pkg.python_setup import generate_distutils_setup + +DIST_UTILS_OBJ = generate_distutils_setup( + packages=["mir_pregrasp_planning_ros"], + package_dir={"mir_pregrasp_planning_ros": "ros/src/mir_pregrasp_planning_ros"}, +) + +setup(**DIST_UTILS_OBJ) diff --git a/data/mir_manipulation/mir_trajectory_time_parameterizer/CMakeLists.txt b/data/mir_manipulation/mir_trajectory_time_parameterizer/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..a5ba14e05cdc9bf9b0b125b550ec737ecb4bb424 --- /dev/null +++ b/data/mir_manipulation/mir_trajectory_time_parameterizer/CMakeLists.txt @@ -0,0 +1,19 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_trajectory_time_parameterizer) + +find_package(catkin REQUIRED) + +catkin_package( + CATKIN_DEPENDS + mcr_trajectory_time_parameterizer +) + +###TESTS +if(CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + roslaunch_add_file_check(ros/launch) +endif() + +install(DIRECTORY ros/launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ros/launch +) diff --git a/data/mir_manipulation/mir_trajectory_time_parameterizer/package.xml b/data/mir_manipulation/mir_trajectory_time_parameterizer/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..04e60af3a34dc218790fb25fe5e2f8a219ca1cc3 --- /dev/null +++ b/data/mir_manipulation/mir_trajectory_time_parameterizer/package.xml @@ -0,0 +1,21 @@ + + + mir_trajectory_time_parameterizer + + 0.1.0 + + + This package provides launching and configuration to + use mcr_trajectory_time_parameterizer package. + + + Shehzad Ahmed + + GPLv3 + + catkin + + mcr_trajectory_time_parameterizer + + roslaunch + diff --git a/data/mir_manipulation/mir_trajectory_time_parameterizer/ros/launch/trajectory_time_parameterizer.launch b/data/mir_manipulation/mir_trajectory_time_parameterizer/ros/launch/trajectory_time_parameterizer.launch new file mode 100644 index 0000000000000000000000000000000000000000..a239185092c4369220eeeee70ee770aebb9be102 --- /dev/null +++ b/data/mir_manipulation/mir_trajectory_time_parameterizer/ros/launch/trajectory_time_parameterizer.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + diff --git a/data/mir_navigation/mir_2dexplore/CMakeLists.txt b/data/mir_navigation/mir_2dexplore/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..dc30c9ca6ff703183b10aca01bc5693c929e1f2a --- /dev/null +++ b/data/mir_navigation/mir_2dexplore/CMakeLists.txt @@ -0,0 +1,13 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_2dexplore) + +find_package(catkin REQUIRED) + +catkin_package( + CATKIN_DEPENDS + gmapping + cob_scan_unifier + move_base + explore_lite + exploration_server +) diff --git a/data/mir_navigation/mir_2dexplore/package.xml b/data/mir_navigation/mir_2dexplore/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..45535895c7b4774438d7924670985d4e5beb5fc1 --- /dev/null +++ b/data/mir_navigation/mir_2dexplore/package.xml @@ -0,0 +1,23 @@ + + + mir_2dexplore + 0.0.1 + Exploring and map building + + Dharmin B. + + GPLv3 + + Dharmin B. + + catkin + + gmapping + cob_scan_unifier + move_base + explore_lite + exploration_server + + roslaunch + + diff --git a/data/mir_navigation/mir_2dexplore/ros/config/costmap_common.yaml b/data/mir_navigation/mir_2dexplore/ros/config/costmap_common.yaml new file mode 100644 index 0000000000000000000000000000000000000000..578c4d767da9b9d024831bdb4c530b95b2c4aa4a --- /dev/null +++ b/data/mir_navigation/mir_2dexplore/ros/config/costmap_common.yaml @@ -0,0 +1,38 @@ +robot_base_frame: base_link + +update_frequency: 3.0 +publish_frequency: 3.0 + +transform_tolerance: 0.5 +obstacle_range: 4.5 +raytrace_range: 5.0 + +static: + map_topic: /map + subscribe_to_updates: true + +obstacle_layer: + observation_sources: laser_scanner_front laser_scanner_rear + laser_scanner_front: + sensor_frame: base_laser_front_link + data_type: LaserScan + topic: /scan_front + expected_update_rate: 1.2 + observation_persistence: 0.0 + marking: true + clearing: true + min_obstacle_height: -0.10 + max_obstacle_height: 2.0 + laser_scanner_rear: + sensor_frame: base_laser_rear_link + data_type: LaserScan + topic: /scan_rear + expected_update_rate: 1.2 + observation_persistence: 0.0 + marking: true + clearing: true + min_obstacle_height: -0.10 + max_obstacle_height: 2.0 + +inflation: + inflation_radius: 0.3 diff --git a/data/mir_navigation/mir_2dexplore/ros/config/costmap_exploration.yaml b/data/mir_navigation/mir_2dexplore/ros/config/costmap_exploration.yaml new file mode 100644 index 0000000000000000000000000000000000000000..250c556e2b067c5ccc205607b42d015c9715907d --- /dev/null +++ b/data/mir_navigation/mir_2dexplore/ros/config/costmap_exploration.yaml @@ -0,0 +1,16 @@ +track_unknown_space: true +global_frame: map +rolling_window: false + +plugins: +- {name: external, type: "costmap_2d::StaticLayer"} +- {name: explore_boundary, type: "exploration_server::BoundedExploreLayer"} +#Can disable sensor layer if gmapping is fast enough to update scans +- {name: obstacles_laser, type: "costmap_2d::ObstacleLayer"} +- {name: inflation, type: "costmap_2d::InflationLayer"} + +explore_boundary: + resize_to_boundary: false + frontier_travel_point: middle + #set to false for gmapping, true if re-exploring a known area + explore_clear_space: false diff --git a/data/mir_navigation/mir_2dexplore/ros/launch/explore_lite.launch b/data/mir_navigation/mir_2dexplore/ros/launch/explore_lite.launch new file mode 100644 index 0000000000000000000000000000000000000000..d0b0556a7b739984eb5da1432594d833811e1b97 --- /dev/null +++ b/data/mir_navigation/mir_2dexplore/ros/launch/explore_lite.launch @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_navigation/mir_2dexplore/ros/launch/frontier_exploration.launch b/data/mir_navigation/mir_2dexplore/ros/launch/frontier_exploration.launch new file mode 100644 index 0000000000000000000000000000000000000000..3074e6012eded0283e6e3e5ace567f9afc453da9 --- /dev/null +++ b/data/mir_navigation/mir_2dexplore/ros/launch/frontier_exploration.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_navigation/mir_2dexplore/ros/launch/slam_with_move_base.launch b/data/mir_navigation/mir_2dexplore/ros/launch/slam_with_move_base.launch new file mode 100644 index 0000000000000000000000000000000000000000..2640c995ed4c522f88b2859c037268d4bbe6ea24 --- /dev/null +++ b/data/mir_navigation/mir_2dexplore/ros/launch/slam_with_move_base.launch @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_navigation/mir_2dnav/CMakeLists.txt b/data/mir_navigation/mir_2dnav/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..ba8ac05592b9ba0d78ac0bb07080932abd1b3306 --- /dev/null +++ b/data/mir_navigation/mir_2dnav/CMakeLists.txt @@ -0,0 +1,27 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_2dnav) + +find_package(catkin REQUIRED) + +catkin_package() + +### TESTS +if(CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + + roslaunch_add_file_check(ros/launch "robot:=youbot-brsu-1 robot_env:=brsu-c025") +endif() + +### INSTALLS +install(DIRECTORY ros/launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ros/launch +) + +install(DIRECTORY ros/config + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ros/config +) + +install(PROGRAMS + ros/mockup/move_base_node_mockup + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) diff --git a/data/mir_navigation/mir_2dnav/package.xml b/data/mir_navigation/mir_2dnav/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..8a17f07d9953102cf95ea69daa47f10feb030702 --- /dev/null +++ b/data/mir_navigation/mir_2dnav/package.xml @@ -0,0 +1,30 @@ + + + mir_2dnav + 0.0.1 + 2d base navigation + + Oscar Lima Carrion + Praveen Ramanajum + + GPLv3 + + Praveen Ramanajum + + catkin + + actionlib + amcl + map_server + mcr_default_env_config + mcr_navigation_tools + move_base + move_base_msgs + rospy + std_srvs + topic_tools + dwa_local_planner + + roslaunch + + diff --git a/data/mir_navigation/mir_2dnav/ros/config/.local_costmap_params.yaml.swp b/data/mir_navigation/mir_2dnav/ros/config/.local_costmap_params.yaml.swp new file mode 100644 index 0000000000000000000000000000000000000000..77830fff21fc5554592f8cdecacd305150cbc52a Binary files /dev/null and b/data/mir_navigation/mir_2dnav/ros/config/.local_costmap_params.yaml.swp differ diff --git a/data/mir_navigation/mir_2dnav/ros/config/dwa/costmap_common_params.yaml b/data/mir_navigation/mir_2dnav/ros/config/dwa/costmap_common_params.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cb576673da63e4f3043635cde07061e689880de2 --- /dev/null +++ b/data/mir_navigation/mir_2dnav/ros/config/dwa/costmap_common_params.yaml @@ -0,0 +1,50 @@ +map_type: costmap # default: "voxel" +#transform_tolerance: 0.2 # default: 0.2 +obstacle_range: 2.5 # default: 2.5 +raytrace_range: 3.0 # default: 3.0 +# +observation_sources: laser_scanner_front laser_scanner_rear laser_scanner_barrier_front laser_scanner_barrier_rear +# +laser_scanner_front: + sensor_frame: base_laser_front_link + data_type: LaserScan + topic: /scan_front + expected_update_rate: 1.2 + observation_persistence: 0.0 + marking: true + clearing: true + min_obstacle_height: -0.10 + max_obstacle_height: 2.0 + +laser_scanner_rear: + sensor_frame: base_laser_rear_link + data_type: LaserScan + topic: /scan_rear + expected_update_rate: 1.2 + observation_persistence: 0.0 + marking: true + clearing: true + min_obstacle_height: -0.10 + max_obstacle_height: 2.0 + +laser_scanner_barrier_front: + sensor_frame: base_laser_front_link + data_type: LaserScan + topic: /barrier_tape/scan_front + observation_persistence: 10.0 + marking: true + clearing: true + min_obstacle_height: -0.5 + max_obstacle_height: 2.0 + inf_is_valid: true + +laser_scanner_barrier_rear: + sensor_frame: base_laser_rear_link + data_type: LaserScan + topic: /barrier_tape/scan_rear + observation_persistence: 10.0 + marking: true + clearing: true + min_obstacle_height: -0.5 + max_obstacle_height: 2.0 + inf_is_valid: true diff --git a/data/mir_navigation/mir_2dnav/ros/config/dwa/dwa_local_planner_params.yaml b/data/mir_navigation/mir_2dnav/ros/config/dwa/dwa_local_planner_params.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5e301043059685f6ac865c7dfcef705eaac64706 --- /dev/null +++ b/data/mir_navigation/mir_2dnav/ros/config/dwa/dwa_local_planner_params.yaml @@ -0,0 +1,51 @@ +#-------------SPEED---------------------------- + +max_vel_trans: 0.4 #default : 0.55, fast params: 1.0 +min_vel_trans: 0.1 #default : 0.1 + +max_vel_x: 0.4 #default : 0.55, fast params: 1.0 +min_vel_x: -0.4 #default : 0.0, fast params: -1.0 + +max_vel_y: 0.1 #default : 0.1 +min_vel_y: -0.1 #default : -0.1 + +max_vel_theta: 0.75 #default : 1.0, fast params: 1.5 +min_vel_theta: 0.2 #default : 0.4 + +acc_lim_x: 1.5 #default : 2.5 +acc_lim_y: 1.5 #default : 2.5 +acc_lim_theta: 1.5 #default : 3.2, fast params: 3.2 +acc_lim_trans: 0.1 #default : 0.1, fast params: 1.5 + +#---------------------------------------------- + +sim_time: 0.8 #default : 0.8 , fast params: 1.7 +sim_granularity: 0.025 #default : 0.025 + +goal_distance_bias: 19.0 #default : 24.0, fast params: 14.0 +path_distance_bias: 33.0 #default : 32.0, fast params: 35.0 + +occdist_scale: 0.01 #default : 0.01 + +stop_time_buffer: 0.2 #default : 0.2 +oscillation_reset_dist: 0.05 #default : 0.05 + +forward_point_distance: 0.325 #default : 0.325, fast params: 0.25 + +scaling_speed: 0.25 #default : 0.25, fast params: 0.35 +max_scaling_factor: 0.2 #default : 0.2, fast params: 0.1 + +vx_samples: 6 #default : 3 +vy_samples: 3 #default : 10 +vtheta_samples: 15 #default : 20 + +sim_period: 0.2 #default : not found + +xy_goal_tolerance: 0.2 #default : 0.10, fast params: 0.075 +yaw_goal_tolerance: 0.1 #default : 0.05 +latch_xy_goal_tolerance: true #default : false, fast params: true + +theta_stopped_vel: 0.01 #default : not found +trans_stopped_vel: 0.01 #default : not found + +penalize_negative_x: false #default : true diff --git a/data/mir_navigation/mir_2dnav/ros/config/dwa/fast/dwa_local_planner_params.yaml b/data/mir_navigation/mir_2dnav/ros/config/dwa/fast/dwa_local_planner_params.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9efe198c052d2858994616ef5b6bf874a59323e6 --- /dev/null +++ b/data/mir_navigation/mir_2dnav/ros/config/dwa/fast/dwa_local_planner_params.yaml @@ -0,0 +1,51 @@ +#-------------SPEED---------------------------- + +max_vel_trans: 1.0 #default : 0.55 +min_vel_trans: 0.1 #default : 0.1 + +max_vel_x: 1.0 #default : 0.55 +min_vel_x: -1.0 #default : 0.0 + +max_vel_y: 0.1 #default : 0.1 +min_vel_y: -0.1 #default : -0.1 + +max_vel_theta: 1.5 #default : 1.0 +min_vel_theta: 0.2 #default : 0.4 + +acc_lim_x: 1.5 #default : 2.5 +acc_lim_y: 1.5 #default : 2.5 +acc_lim_theta: 3.2 #default : 3.2 +acc_lim_trans: 1.5 #default : 0.1 + +#---------------------------------------------- + +sim_time: 1.7 #default : 0.8 +sim_granularity: 0.025 #default : 0.025 + +goal_distance_bias: 14.0 #default : 24.0 +path_distance_bias: 35.0 #default : 32.0 + +occdist_scale: 0.01 #default : 0.01 + +stop_time_buffer: 0.2 #default : 0.2 +oscillation_reset_dist: 0.05 #default : 0.05 + +forward_point_distance: 0.25 #default : 0.325 + +scaling_speed: 0.35 #default : 0.25 +max_scaling_factor: 0.2 #default : 0.2 + +vx_samples: 6 #default : 3 +vy_samples: 3 #default : 10 +vtheta_samples: 15 #default : 20 + +sim_period: 0.2 #default : not found + +xy_goal_tolerance: 0.075 #default : 0.10 +yaw_goal_tolerance: 0.1 #default : 0.05 +latch_xy_goal_tolerance: true #default : false + +theta_stopped_vel: 0.01 #default : not found +trans_stopped_vel: 0.01 #default : not found + +penalize_negative_x: false #default : true diff --git a/data/mir_navigation/mir_2dnav/ros/config/dwa/fast/move_base_params.yaml b/data/mir_navigation/mir_2dnav/ros/config/dwa/fast/move_base_params.yaml new file mode 100644 index 0000000000000000000000000000000000000000..31f65cded30fffeca94fd3962787b682a0f1835e --- /dev/null +++ b/data/mir_navigation/mir_2dnav/ros/config/dwa/fast/move_base_params.yaml @@ -0,0 +1,27 @@ +recovery_behavior_enabled: true #default : true +controller_frequency: 10.0 #default : 20.0 +controller_patience: 5.0 #default : 15.0 +planner_patience: 2.0 #default : 5.0 +planner_frequency: 0.2 #default : 0.0 +clearing_radius: 0.6 #default : not found +clearing_rotation_allowed: false #default : true +oscillation_distance: 2.0 #default : 0.5 +shutdown_costmaps: false #default : false +recovery_behaviors: + - name: 'force_field_recovery' + type: 'force_field_recovery/ForceFieldRecovery' + - name: 'clear_costmap_recovery' + type: 'clear_costmap_recovery/ClearCostmapRecovery' +base_global_planner: mcr_global_planner/GlobalPlannerWithOrientations +GlobalPlannerWithOrientations: + use_grid_path: False + use_dijkstra: True + allow_unknown: False + default_tolerance: 0.0 #previous value: 0.2 + visualize_potential: True + use_quadratic: True + old_navfn_behavior: False + # Only for global planner with orientations: + min_pose_distance: 0.05 # Minimum distance between poses + max_omni_poses: 20 # Maximum omni poses to drive (2 times start and end, so max. poses in omni will be 40) + diff --git a/data/mir_navigation/mir_2dnav/ros/config/dwa/global_costmap_params.yaml b/data/mir_navigation/mir_2dnav/ros/config/dwa/global_costmap_params.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6c180d56850945539371d63cdf706aa6e1f8ea08 --- /dev/null +++ b/data/mir_navigation/mir_2dnav/ros/config/dwa/global_costmap_params.yaml @@ -0,0 +1,8 @@ +global_costmap: + global_frame: map #default : odom + inflation_radius: 0.46 #default : 0.55 + robot_base_frame: base_footprint #default : "base_link" + update_frequency: 0.3 #default : 5.0 + publish_frequency: 0.3 #default : 0.0 + static_map: true #default : true + footprint_padding: 0.01 #default : 0.01 diff --git a/data/mir_navigation/mir_2dnav/ros/config/dwa/local_costmap_params.yaml b/data/mir_navigation/mir_2dnav/ros/config/dwa/local_costmap_params.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3380d1d85bf8c08360460a83ad802ac37b860568 --- /dev/null +++ b/data/mir_navigation/mir_2dnav/ros/config/dwa/local_costmap_params.yaml @@ -0,0 +1,12 @@ +local_costmap: + global_frame: map #default : "/map" + inflation_radius: 0.46 #default: 0.55 + robot_base_frame: base_footprint #default : "base_link" + update_frequency: 2.0 #default : 5.0 + publish_frequency: 2.0 #default : 0.0 + static_map: false #default : true + rolling_window: true #default : false + width: 2.5 #default : 10 + height: 2.5 #default : 10 + resolution: 0.02 #default : 0.05 + footprint_padding: 0.02 #default : 0.01 diff --git a/data/mir_navigation/mir_2dnav/ros/config/dwa/medium/dwa_local_planner_params.yaml b/data/mir_navigation/mir_2dnav/ros/config/dwa/medium/dwa_local_planner_params.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9d71ed971c6d21fbddefc522e9a9f151e911210a --- /dev/null +++ b/data/mir_navigation/mir_2dnav/ros/config/dwa/medium/dwa_local_planner_params.yaml @@ -0,0 +1,51 @@ +#-------------SPEED---------------------------- + +max_vel_trans: 0.8 #default : 0.55 +min_vel_trans: 0.1 #default : 0.1 + +max_vel_x: 0.5 #default : 0.55 +min_vel_x: -0.5 #default : 0.0 + +max_vel_y: 0.1 #default : 0.1 +min_vel_y: -0.1 #default : -0.1 + +max_vel_theta: 0.75 #default : 1.0 +min_vel_theta: 0.2 #default : 0.4 + +acc_lim_x: 1.0 #default : 2.5 +acc_lim_y: 1.0 #default : 2.5 +acc_lim_theta: 1.0 #default : 3.2 +acc_lim_trans: 0.5 #default : 0.1 + +#---------------------------------------------- + +sim_time: 1.7 #default : 0.8 +sim_granularity: 0.025 #default : 0.025 + +goal_distance_bias: 14.0 #default : 24.0 +path_distance_bias: 35.0 #default : 32.0 + +occdist_scale: 0.01 #default : 0.01 + +stop_time_buffer: 0.2 #default : 0.2 +oscillation_reset_dist: 0.05 #default : 0.05 + +forward_point_distance: 0.25 #default : 0.325 + +scaling_speed: 0.35 #default : 0.25 +max_scaling_factor: 0.2 #default : 0.2 + +vx_samples: 6 #default : 3 +vy_samples: 3 #default : 10 +vtheta_samples: 15 #default : 20 + +sim_period: 0.2 #default : not found + +xy_goal_tolerance: 0.2 #default : 0.10 +yaw_goal_tolerance: 0.1 #default : 0.05 +latch_xy_goal_tolerance: true #default : false + +theta_stopped_vel: 0.01 #default : not found +trans_stopped_vel: 0.01 #default : not found + +penalize_negative_x: false #default : true diff --git a/data/mir_navigation/mir_2dnav/ros/config/dwa/medium/move_base_params.yaml b/data/mir_navigation/mir_2dnav/ros/config/dwa/medium/move_base_params.yaml new file mode 100644 index 0000000000000000000000000000000000000000..31f65cded30fffeca94fd3962787b682a0f1835e --- /dev/null +++ b/data/mir_navigation/mir_2dnav/ros/config/dwa/medium/move_base_params.yaml @@ -0,0 +1,27 @@ +recovery_behavior_enabled: true #default : true +controller_frequency: 10.0 #default : 20.0 +controller_patience: 5.0 #default : 15.0 +planner_patience: 2.0 #default : 5.0 +planner_frequency: 0.2 #default : 0.0 +clearing_radius: 0.6 #default : not found +clearing_rotation_allowed: false #default : true +oscillation_distance: 2.0 #default : 0.5 +shutdown_costmaps: false #default : false +recovery_behaviors: + - name: 'force_field_recovery' + type: 'force_field_recovery/ForceFieldRecovery' + - name: 'clear_costmap_recovery' + type: 'clear_costmap_recovery/ClearCostmapRecovery' +base_global_planner: mcr_global_planner/GlobalPlannerWithOrientations +GlobalPlannerWithOrientations: + use_grid_path: False + use_dijkstra: True + allow_unknown: False + default_tolerance: 0.0 #previous value: 0.2 + visualize_potential: True + use_quadratic: True + old_navfn_behavior: False + # Only for global planner with orientations: + min_pose_distance: 0.05 # Minimum distance between poses + max_omni_poses: 20 # Maximum omni poses to drive (2 times start and end, so max. poses in omni will be 40) + diff --git a/data/mir_navigation/mir_2dnav/ros/config/dwa/medium_forward_only/dwa_local_planner_params.yaml b/data/mir_navigation/mir_2dnav/ros/config/dwa/medium_forward_only/dwa_local_planner_params.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f6ecb05e68f66066539bc8b6d42629f833718b14 --- /dev/null +++ b/data/mir_navigation/mir_2dnav/ros/config/dwa/medium_forward_only/dwa_local_planner_params.yaml @@ -0,0 +1,51 @@ +#-------------SPEED---------------------------- + +max_vel_trans: 0.8 #default : 0.55 +min_vel_trans: 0.1 #default : 0.1 + +max_vel_x: 0.7 #default : 0.55 +min_vel_x: -0.07 #default : 0.0 + +max_vel_y: 0.1 #default : 0.1 +min_vel_y: -0.1 #default : -0.1 + +max_vel_theta: 0.75 #default : 1.0 +min_vel_theta: 0.2 #default : 0.4 + +acc_lim_x: 1.5 #default : 2.5 +acc_lim_y: 1.5 #default : 2.5 +acc_lim_theta: 1.5 #default : 3.2 +acc_lim_trans: 0.5 #default : 0.1 + +#---------------------------------------------- + +sim_time: 1.7 #default : 0.8 +sim_granularity: 0.025 #default : 0.025 + +goal_distance_bias: 14.0 #default : 24.0 +path_distance_bias: 35.0 #default : 32.0 + +occdist_scale: 0.01 #default : 0.01 + +stop_time_buffer: 0.2 #default : 0.2 +oscillation_reset_dist: 0.05 #default : 0.05 + +forward_point_distance: 0.25 #default : 0.325 + +scaling_speed: 0.35 #default : 0.25 +max_scaling_factor: 0.2 #default : 0.2 + +vx_samples: 6 #default : 3 +vy_samples: 3 #default : 10 +vtheta_samples: 15 #default : 20 + +sim_period: 0.2 #default : not found + +xy_goal_tolerance: 0.2 #default : 0.10 +yaw_goal_tolerance: 0.1 #default : 0.05 +latch_xy_goal_tolerance: true #default : false + +theta_stopped_vel: 0.01 #default : not found +trans_stopped_vel: 0.01 #default : not found + +penalize_negative_x: false #default : true diff --git a/data/mir_navigation/mir_2dnav/ros/config/dwa/medium_forward_only/move_base_params.yaml b/data/mir_navigation/mir_2dnav/ros/config/dwa/medium_forward_only/move_base_params.yaml new file mode 100644 index 0000000000000000000000000000000000000000..31f65cded30fffeca94fd3962787b682a0f1835e --- /dev/null +++ b/data/mir_navigation/mir_2dnav/ros/config/dwa/medium_forward_only/move_base_params.yaml @@ -0,0 +1,27 @@ +recovery_behavior_enabled: true #default : true +controller_frequency: 10.0 #default : 20.0 +controller_patience: 5.0 #default : 15.0 +planner_patience: 2.0 #default : 5.0 +planner_frequency: 0.2 #default : 0.0 +clearing_radius: 0.6 #default : not found +clearing_rotation_allowed: false #default : true +oscillation_distance: 2.0 #default : 0.5 +shutdown_costmaps: false #default : false +recovery_behaviors: + - name: 'force_field_recovery' + type: 'force_field_recovery/ForceFieldRecovery' + - name: 'clear_costmap_recovery' + type: 'clear_costmap_recovery/ClearCostmapRecovery' +base_global_planner: mcr_global_planner/GlobalPlannerWithOrientations +GlobalPlannerWithOrientations: + use_grid_path: False + use_dijkstra: True + allow_unknown: False + default_tolerance: 0.0 #previous value: 0.2 + visualize_potential: True + use_quadratic: True + old_navfn_behavior: False + # Only for global planner with orientations: + min_pose_distance: 0.05 # Minimum distance between poses + max_omni_poses: 20 # Maximum omni poses to drive (2 times start and end, so max. poses in omni will be 40) + diff --git a/data/mir_navigation/mir_2dnav/ros/config/dwa/move_base_params.yaml b/data/mir_navigation/mir_2dnav/ros/config/dwa/move_base_params.yaml new file mode 100644 index 0000000000000000000000000000000000000000..977f5ce9e72731a905063c49391f904f59ceca2c --- /dev/null +++ b/data/mir_navigation/mir_2dnav/ros/config/dwa/move_base_params.yaml @@ -0,0 +1,27 @@ +recovery_behavior_enabled: true #default : true +controller_frequency: 10.0 #default : 20.0 +controller_patience: 2.0 #default : 15.0, fast params: 5.0 +planner_patience: 2.0 #default : 5.0 +planner_frequency: 0.2 #default : 0.0 +clearing_radius: 0.6 #default : not found +clearing_rotation_allowed: false #default : true +oscillation_distance: 2.0 #default : 0.5 +shutdown_costmaps: false #default : false +recovery_behaviors: + - name: 'force_field_recovery' + type: 'force_field_recovery/ForceFieldRecovery' + - name: 'clear_costmap_recovery' + type: 'clear_costmap_recovery/ClearCostmapRecovery' +base_global_planner: mcr_global_planner/GlobalPlannerWithOrientations +GlobalPlannerWithOrientations: + use_grid_path: False + use_dijkstra: True + allow_unknown: False + default_tolerance: 0.0 #previous value: 0.2 + visualize_potential: True + use_quadratic: True + old_navfn_behavior: False + # Only for global planner with orientations: + min_pose_distance: 0.05 # Minimum distance between poses + max_omni_poses: 20 # Maximum omni poses to drive (2 times start and end, so max. poses in omni will be 40) + diff --git a/data/mir_navigation/mir_2dnav/ros/config/dwa/slow/dwa_local_planner_params.yaml b/data/mir_navigation/mir_2dnav/ros/config/dwa/slow/dwa_local_planner_params.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5e301043059685f6ac865c7dfcef705eaac64706 --- /dev/null +++ b/data/mir_navigation/mir_2dnav/ros/config/dwa/slow/dwa_local_planner_params.yaml @@ -0,0 +1,51 @@ +#-------------SPEED---------------------------- + +max_vel_trans: 0.4 #default : 0.55, fast params: 1.0 +min_vel_trans: 0.1 #default : 0.1 + +max_vel_x: 0.4 #default : 0.55, fast params: 1.0 +min_vel_x: -0.4 #default : 0.0, fast params: -1.0 + +max_vel_y: 0.1 #default : 0.1 +min_vel_y: -0.1 #default : -0.1 + +max_vel_theta: 0.75 #default : 1.0, fast params: 1.5 +min_vel_theta: 0.2 #default : 0.4 + +acc_lim_x: 1.5 #default : 2.5 +acc_lim_y: 1.5 #default : 2.5 +acc_lim_theta: 1.5 #default : 3.2, fast params: 3.2 +acc_lim_trans: 0.1 #default : 0.1, fast params: 1.5 + +#---------------------------------------------- + +sim_time: 0.8 #default : 0.8 , fast params: 1.7 +sim_granularity: 0.025 #default : 0.025 + +goal_distance_bias: 19.0 #default : 24.0, fast params: 14.0 +path_distance_bias: 33.0 #default : 32.0, fast params: 35.0 + +occdist_scale: 0.01 #default : 0.01 + +stop_time_buffer: 0.2 #default : 0.2 +oscillation_reset_dist: 0.05 #default : 0.05 + +forward_point_distance: 0.325 #default : 0.325, fast params: 0.25 + +scaling_speed: 0.25 #default : 0.25, fast params: 0.35 +max_scaling_factor: 0.2 #default : 0.2, fast params: 0.1 + +vx_samples: 6 #default : 3 +vy_samples: 3 #default : 10 +vtheta_samples: 15 #default : 20 + +sim_period: 0.2 #default : not found + +xy_goal_tolerance: 0.2 #default : 0.10, fast params: 0.075 +yaw_goal_tolerance: 0.1 #default : 0.05 +latch_xy_goal_tolerance: true #default : false, fast params: true + +theta_stopped_vel: 0.01 #default : not found +trans_stopped_vel: 0.01 #default : not found + +penalize_negative_x: false #default : true diff --git a/data/mir_navigation/mir_2dnav/ros/config/dwa/slow/move_base_params.yaml b/data/mir_navigation/mir_2dnav/ros/config/dwa/slow/move_base_params.yaml new file mode 100644 index 0000000000000000000000000000000000000000..977f5ce9e72731a905063c49391f904f59ceca2c --- /dev/null +++ b/data/mir_navigation/mir_2dnav/ros/config/dwa/slow/move_base_params.yaml @@ -0,0 +1,27 @@ +recovery_behavior_enabled: true #default : true +controller_frequency: 10.0 #default : 20.0 +controller_patience: 2.0 #default : 15.0, fast params: 5.0 +planner_patience: 2.0 #default : 5.0 +planner_frequency: 0.2 #default : 0.0 +clearing_radius: 0.6 #default : not found +clearing_rotation_allowed: false #default : true +oscillation_distance: 2.0 #default : 0.5 +shutdown_costmaps: false #default : false +recovery_behaviors: + - name: 'force_field_recovery' + type: 'force_field_recovery/ForceFieldRecovery' + - name: 'clear_costmap_recovery' + type: 'clear_costmap_recovery/ClearCostmapRecovery' +base_global_planner: mcr_global_planner/GlobalPlannerWithOrientations +GlobalPlannerWithOrientations: + use_grid_path: False + use_dijkstra: True + allow_unknown: False + default_tolerance: 0.0 #previous value: 0.2 + visualize_potential: True + use_quadratic: True + old_navfn_behavior: False + # Only for global planner with orientations: + min_pose_distance: 0.05 # Minimum distance between poses + max_omni_poses: 20 # Maximum omni poses to drive (2 times start and end, so max. poses in omni will be 40) + diff --git a/data/mir_navigation/mir_2dnav/ros/config/dwa/slow_forward_only/dwa_local_planner_params.yaml b/data/mir_navigation/mir_2dnav/ros/config/dwa/slow_forward_only/dwa_local_planner_params.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7cd12ceeb906dc41b30375fb7ab507a2f2ce2123 --- /dev/null +++ b/data/mir_navigation/mir_2dnav/ros/config/dwa/slow_forward_only/dwa_local_planner_params.yaml @@ -0,0 +1,51 @@ +#-------------SPEED---------------------------- + +max_vel_trans: 0.4 #default : 0.55, fast params: 1.0 +min_vel_trans: 0.1 #default : 0.1 + +max_vel_x: 0.4 #default : 0.55, fast params: 1.0 +min_vel_x: -0.05 #default : 0.0, fast params: -1.0 + +max_vel_y: 0.1 #default : 0.1 +min_vel_y: -0.1 #default : -0.1 + +max_vel_theta: 0.75 #default : 1.0, fast params: 1.5 +min_vel_theta: 0.2 #default : 0.4 + +acc_lim_x: 1.5 #default : 2.5 +acc_lim_y: 1.5 #default : 2.5 +acc_lim_theta: 1.5 #default : 3.2, fast params: 3.2 +acc_lim_trans: 0.1 #default : 0.1, fast params: 1.5 + +#---------------------------------------------- + +sim_time: 0.8 #default : 0.8 , fast params: 1.7 +sim_granularity: 0.025 #default : 0.025 + +goal_distance_bias: 19.0 #default : 24.0, fast params: 14.0 +path_distance_bias: 33.0 #default : 32.0, fast params: 35.0 + +occdist_scale: 0.01 #default : 0.01 + +stop_time_buffer: 0.2 #default : 0.2 +oscillation_reset_dist: 0.05 #default : 0.05 + +forward_point_distance: 0.325 #default : 0.325, fast params: 0.25 + +scaling_speed: 0.25 #default : 0.25, fast params: 0.35 +max_scaling_factor: 0.2 #default : 0.2, fast params: 0.1 + +vx_samples: 6 #default : 3 +vy_samples: 3 #default : 10 +vtheta_samples: 15 #default : 20 + +sim_period: 0.2 #default : not found + +xy_goal_tolerance: 0.2 #default : 0.10, fast params: 0.075 +yaw_goal_tolerance: 0.1 #default : 0.05 +latch_xy_goal_tolerance: true #default : false, fast params: true + +theta_stopped_vel: 0.01 #default : not found +trans_stopped_vel: 0.01 #default : not found + +penalize_negative_x: false #default : true diff --git a/data/mir_navigation/mir_2dnav/ros/config/dwa/slow_forward_only/move_base_params.yaml b/data/mir_navigation/mir_2dnav/ros/config/dwa/slow_forward_only/move_base_params.yaml new file mode 100644 index 0000000000000000000000000000000000000000..977f5ce9e72731a905063c49391f904f59ceca2c --- /dev/null +++ b/data/mir_navigation/mir_2dnav/ros/config/dwa/slow_forward_only/move_base_params.yaml @@ -0,0 +1,27 @@ +recovery_behavior_enabled: true #default : true +controller_frequency: 10.0 #default : 20.0 +controller_patience: 2.0 #default : 15.0, fast params: 5.0 +planner_patience: 2.0 #default : 5.0 +planner_frequency: 0.2 #default : 0.0 +clearing_radius: 0.6 #default : not found +clearing_rotation_allowed: false #default : true +oscillation_distance: 2.0 #default : 0.5 +shutdown_costmaps: false #default : false +recovery_behaviors: + - name: 'force_field_recovery' + type: 'force_field_recovery/ForceFieldRecovery' + - name: 'clear_costmap_recovery' + type: 'clear_costmap_recovery/ClearCostmapRecovery' +base_global_planner: mcr_global_planner/GlobalPlannerWithOrientations +GlobalPlannerWithOrientations: + use_grid_path: False + use_dijkstra: True + allow_unknown: False + default_tolerance: 0.0 #previous value: 0.2 + visualize_potential: True + use_quadratic: True + old_navfn_behavior: False + # Only for global planner with orientations: + min_pose_distance: 0.05 # Minimum distance between poses + max_omni_poses: 20 # Maximum omni poses to drive (2 times start and end, so max. poses in omni will be 40) + diff --git a/data/mir_navigation/mir_2dnav/ros/config/eband/base_local_planner_params.yaml b/data/mir_navigation/mir_2dnav/ros/config/eband/base_local_planner_params.yaml new file mode 100644 index 0000000000000000000000000000000000000000..10f5313913be3b0f07945043109e34b926845425 --- /dev/null +++ b/data/mir_navigation/mir_2dnav/ros/config/eband/base_local_planner_params.yaml @@ -0,0 +1,14 @@ +controller_frequency: 10 + +TrajectoryPlannerROS: + max_vel_x: 0.6 + min_vel_x: -0.6 + max_rot_vel: 0.75 + max_vel_theta: 0.75 #! + min_in_place_rotational_vel: 0.01 #! + + acc_lim_theta: 1.0 + acc_lim_x: 1.0 + acc_lim_y: 1.0 + + holonomic_robot: true #! diff --git a/data/mir_navigation/mir_2dnav/ros/config/eband/costmap_common_params.yaml b/data/mir_navigation/mir_2dnav/ros/config/eband/costmap_common_params.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b7b56b5bbf0b616703a788acd507e5dedad172b9 --- /dev/null +++ b/data/mir_navigation/mir_2dnav/ros/config/eband/costmap_common_params.yaml @@ -0,0 +1,8 @@ +transform_tolerance: 0.4 +obstacle_range: 2.5 +raytrace_range: 3.0 +inflation_radius: 0.5 + +observation_sources: laser_scanner_front laser_scanner_rear +laser_scanner_front: {sensor_frame: base_laser_front_link, data_type: LaserScan, topic: /scan_front, expected_update_rate: 1.2, observation_persistence: 0.0, marking: true, clearing: true, min_obstacle_height: -0.10, max_obstacle_height: 2.0} +laser_scanner_rear: {sensor_frame: base_laser_rear_link, data_type: LaserScan, topic: /scan_rear, expected_update_rate: 1.2, observation_persistence: 0.0, marking: true, clearing: true, min_obstacle_height: -0.10, max_obstacle_height: 2.0} diff --git a/data/mir_navigation/mir_2dnav/ros/config/eband/global_costmap_params.yaml b/data/mir_navigation/mir_2dnav/ros/config/eband/global_costmap_params.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4303817ef80bffc470742c1ea1935250564c4e58 --- /dev/null +++ b/data/mir_navigation/mir_2dnav/ros/config/eband/global_costmap_params.yaml @@ -0,0 +1,6 @@ +global_costmap: + global_frame: map + robot_base_frame: base_footprint + update_frequency: 0.33 + publish_frequency: 3.0 + static_map: true diff --git a/data/mir_navigation/mir_2dnav/ros/config/eband/local_costmap_params.yaml b/data/mir_navigation/mir_2dnav/ros/config/eband/local_costmap_params.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fe79b1f148170b4b7b0c1140aba586e33927f334 --- /dev/null +++ b/data/mir_navigation/mir_2dnav/ros/config/eband/local_costmap_params.yaml @@ -0,0 +1,12 @@ +local_costmap: + global_frame: map + robot_base_frame: base_footprint + update_frequency: 2.0 + publish_frequency: 1.0 + static_map: false + rolling_window: true + width: 2.5 + height: 2.5 + resolution: 0.01 + origin_x: 0.0 + origin_y: 0.0 diff --git a/data/mir_navigation/mir_2dnav/ros/config/eband/local_planner_eband.yaml b/data/mir_navigation/mir_2dnav/ros/config/eband/local_planner_eband.yaml new file mode 100644 index 0000000000000000000000000000000000000000..df1676eaa6f57f146d90d8d93fa0c77bca0cbd1f --- /dev/null +++ b/data/mir_navigation/mir_2dnav/ros/config/eband/local_planner_eband.yaml @@ -0,0 +1,25 @@ +max_vel_lin: 0.74 +max_vel_th: 0.5 + +min_vel_lin: 0.1 +min_vel_th: 0.0 + +min_in_place_vel_th: 0.0 +in_place_trans_vel: 0.0 + +xy_goal_tolerance: 0.08 +yaw_goal_tolerance: 0.1 +tolerance_timeout: 0.5 + +k_prop: 4.0 +k_damp: 3.5 + +Ctrl_Rate: 15.0 + +max_acceleration: 0.3 +virtual_mass: 0.75 + +max_translational_acceleration: 0.3 +max_rotational_acceleration: 1.5 + +rotation_correction_threshold: 2.0 \ No newline at end of file diff --git a/data/mir_navigation/mir_2dnav/ros/config/recovery_behaviors/clear_costmap_parameters.yaml b/data/mir_navigation/mir_2dnav/ros/config/recovery_behaviors/clear_costmap_parameters.yaml new file mode 100644 index 0000000000000000000000000000000000000000..edee3bc010f663ea6cc83b08e9b07b108a147db8 --- /dev/null +++ b/data/mir_navigation/mir_2dnav/ros/config/recovery_behaviors/clear_costmap_parameters.yaml @@ -0,0 +1,4 @@ +reset_distance: 0.6 +layer_names: + - "obstacle_layer" + #- "further_layers" \ No newline at end of file diff --git a/data/mir_navigation/mir_2dnav/ros/config/recovery_behaviors/force_field_parameters.yaml b/data/mir_navigation/mir_2dnav/ros/config/recovery_behaviors/force_field_parameters.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bc54d22280f2d86c1931f5b5f5a4fe2ad4b24ac8 --- /dev/null +++ b/data/mir_navigation/mir_2dnav/ros/config/recovery_behaviors/force_field_parameters.yaml @@ -0,0 +1,7 @@ +velocity_scale_factor: 0.3 +obstacle_neighborhood: 0.4 +max_velocity: 0.1 +timeout: 5.0 +update_frequency : 10.0 +allowed_oscillations: 0 +oscillation_angular_tolerance: 1.4 # 80 degree diff --git a/data/mir_navigation/mir_2dnav/ros/config/trajectory/base_local_planner_params.yaml b/data/mir_navigation/mir_2dnav/ros/config/trajectory/base_local_planner_params.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c27bb5be497411bb73e654f4c9e11895a23d60f3 --- /dev/null +++ b/data/mir_navigation/mir_2dnav/ros/config/trajectory/base_local_planner_params.yaml @@ -0,0 +1,38 @@ +# Robot Configuration Parameters +acc_lim_x: 0.7 +acc_lim_y: 0.7 +acc_lim_theta: 0.9 + +max_vel_x: 0.3 +min_vel_x: 0.05 + +max_vel_theta: 0.7 +min_vel_theta: 0.1 + +min_in_place_vel_theta: 0.5 + +escape_vel: -0.1 +holonomic_robot: true + +# Goal Tolerance Parameters +xy_goal_tolerance: 0.1 +yaw_goal_tolerance: 1.0 + +# Forward Simulation Parameters +sim_time: 1.7 +sim_granularity: 0.025 +vx_samples: 20 +vtheta_samples: 20 + +# Trajectory Scoring Parameters +meter_scoring: true +goal_distance_bias: 0.8 +path_distance_bias: 1.5 +occdist_scale: 0.01 +heading_lookahead: 0.325 +dwa: true + +# Oscillation Prevention Parameters +oscillation_reset_dist: 0.01 + + diff --git a/data/mir_navigation/mir_2dnav/ros/config/trajectory/costmap_common_params.yaml b/data/mir_navigation/mir_2dnav/ros/config/trajectory/costmap_common_params.yaml new file mode 100644 index 0000000000000000000000000000000000000000..376eb76e94826099ea68dbe90f99c26b1b4ce241 --- /dev/null +++ b/data/mir_navigation/mir_2dnav/ros/config/trajectory/costmap_common_params.yaml @@ -0,0 +1,10 @@ +map_type: costmap +#transform_tolerance: 2.0 +obstacle_range: 2.5 +raytrace_range: 3.0 + +inflation_radius: 0.36 +observation_sources: laser_scanner_front + +laser_scanner_front: {sensor_frame: base_laser_front_link, data_type: LaserScan, topic: /scan_front, expected_update_rate: 0.2, observation_persistence: 0.0, marking: true, clearing: true, min_obstacle_height: -0.10, max_obstacle_height: 2.0} + diff --git a/data/mir_navigation/mir_2dnav/ros/config/trajectory/global_costmap_params.yaml b/data/mir_navigation/mir_2dnav/ros/config/trajectory/global_costmap_params.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e2bc4816d63418865a1ab764cde6246c81a41261 --- /dev/null +++ b/data/mir_navigation/mir_2dnav/ros/config/trajectory/global_costmap_params.yaml @@ -0,0 +1,7 @@ +global_costmap: + global_frame: map + robot_base_frame: base_footprint + update_frequency: 5.0 + publish_frequency: 0.0 + static_map: true + inflation_radius: 0.36 diff --git a/data/mir_navigation/mir_2dnav/ros/config/trajectory/local_costmap_params.yaml b/data/mir_navigation/mir_2dnav/ros/config/trajectory/local_costmap_params.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1f274d684af1b6cfdf2ec8de9d52762c7ae03427 --- /dev/null +++ b/data/mir_navigation/mir_2dnav/ros/config/trajectory/local_costmap_params.yaml @@ -0,0 +1,11 @@ +local_costmap: + global_frame: /odom + robot_base_frame: base_footprint + update_frequency: 5.0 + publish_frequency: 0.0 + static_map: false + rolling_window: true + width: 6.0 + height: 6.0 + resolution: 0.02 + inflation_radius: 0.1 diff --git a/data/mir_navigation/mir_2dnav/ros/config/trajectory/move_base_params.yaml b/data/mir_navigation/mir_2dnav/ros/config/trajectory/move_base_params.yaml new file mode 100644 index 0000000000000000000000000000000000000000..684ebe92121bc0cac852439c4e8fc356b836c015 --- /dev/null +++ b/data/mir_navigation/mir_2dnav/ros/config/trajectory/move_base_params.yaml @@ -0,0 +1,8 @@ +controller_frequency: 10.0 +planner_frequency: 1.0 +controller_patience: 15.0 +clearing_radius: 0.25 +footprint_padding: 0.03 +clearing_rotation_allowed: false +oscillation_distance: 2.0 +shutdown_costmaps: true diff --git a/data/mir_navigation/mir_2dnav/ros/launch/2dnav.launch b/data/mir_navigation/mir_2dnav/ros/launch/2dnav.launch new file mode 100644 index 0000000000000000000000000000000000000000..f5108b4ba38b873b53970a606268b73096c263f9 --- /dev/null +++ b/data/mir_navigation/mir_2dnav/ros/launch/2dnav.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/data/mir_navigation/mir_2dnav/ros/launch/2dnav_dwa.launch b/data/mir_navigation/mir_2dnav/ros/launch/2dnav_dwa.launch new file mode 100644 index 0000000000000000000000000000000000000000..a656c20e8a47c64661b0e3d944a373ee6340d1a0 --- /dev/null +++ b/data/mir_navigation/mir_2dnav/ros/launch/2dnav_dwa.launch @@ -0,0 +1,37 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_navigation/mir_2dnav/ros/launch/2dnav_eband.launch b/data/mir_navigation/mir_2dnav/ros/launch/2dnav_eband.launch new file mode 100644 index 0000000000000000000000000000000000000000..7697728356eec2baf5f678273946be2bea6d39dd --- /dev/null +++ b/data/mir_navigation/mir_2dnav/ros/launch/2dnav_eband.launch @@ -0,0 +1,43 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_navigation/mir_2dnav/ros/launch/2dnav_mockup.launch b/data/mir_navigation/mir_2dnav/ros/launch/2dnav_mockup.launch new file mode 100644 index 0000000000000000000000000000000000000000..010588b389e21c7535651a8e40cdbe9ecd097c3a --- /dev/null +++ b/data/mir_navigation/mir_2dnav/ros/launch/2dnav_mockup.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/data/mir_navigation/mir_2dnav/ros/launch/2dnav_trajectory.launch b/data/mir_navigation/mir_2dnav/ros/launch/2dnav_trajectory.launch new file mode 100644 index 0000000000000000000000000000000000000000..b855df15c72b2d69848cc4d5daae6a834d13b3ac --- /dev/null +++ b/data/mir_navigation/mir_2dnav/ros/launch/2dnav_trajectory.launch @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_navigation/mir_2dnav/ros/launch/amcl.launch b/data/mir_navigation/mir_2dnav/ros/launch/amcl.launch new file mode 100644 index 0000000000000000000000000000000000000000..528e9a80315ceed19e69898265c79846cd4f06f7 --- /dev/null +++ b/data/mir_navigation/mir_2dnav/ros/launch/amcl.launch @@ -0,0 +1,52 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_navigation/mir_2dnav/ros/launch/nav_common.launch b/data/mir_navigation/mir_2dnav/ros/launch/nav_common.launch new file mode 100644 index 0000000000000000000000000000000000000000..13a66146351ea24faaaa271d4700b606aa6d1c5f --- /dev/null +++ b/data/mir_navigation/mir_2dnav/ros/launch/nav_common.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_navigation/mir_2dnav/ros/mockup/move_base_node_mockup b/data/mir_navigation/mir_2dnav/ros/mockup/move_base_node_mockup new file mode 100644 index 0000000000000000000000000000000000000000..8e2a3ad94352b411d1315c51d5dedc464965687c --- /dev/null +++ b/data/mir_navigation/mir_2dnav/ros/mockup/move_base_node_mockup @@ -0,0 +1,32 @@ +#!/usr/bin/python + +import actionlib +import roslib +import rospy +from move_base_msgs.msg import MoveBaseAction +from std_srvs.srv import * + + +class MoveBaseMockup(object): + def __init__(self): + self._as = actionlib.SimpleActionServer( + "move_base", MoveBaseAction, execute_cb=self.execute_cb, auto_start=False + ) + self._as.start() + s = rospy.Service("/move_base/clear_costmaps", Empty, self.clear_costmap_cb) + + def execute_cb(self, goal): + rospy.sleep(1) + self._as.set_succeeded() + + def clear_costmap_cb(self, req): + rospy.loginfo("clear costmaps") + rospy.sleep(1) + return EmptyResponse() + + +if __name__ == "__main__": + rospy.init_node("mir_move_base_mockup") + MoveBaseMockup() + rospy.loginfo("move_base MOCKUP started...") + rospy.spin() diff --git a/data/mir_navigation/mir_2dslam/CMakeLists.txt b/data/mir_navigation/mir_2dslam/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..0c68e1c1b8b60057a004ea5793fdba1533e0f9c9 --- /dev/null +++ b/data/mir_navigation/mir_2dslam/CMakeLists.txt @@ -0,0 +1,22 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_2dslam) + +find_package(catkin REQUIRED) + +catkin_package( + CATKIN_DEPENDS + gmapping + cob_scan_unifier +) + +### TESTS +if(CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + + roslaunch_add_file_check(ros/launch) +endif() + +### INSTALLS +install(DIRECTORY ros/launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ros/launch +) diff --git a/data/mir_navigation/mir_2dslam/package.xml b/data/mir_navigation/mir_2dslam/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..472c3fa61148bf306531826768a1a526e2a6243c --- /dev/null +++ b/data/mir_navigation/mir_2dslam/package.xml @@ -0,0 +1,22 @@ + + + mir_2dslam + 0.0.1 + map building with SLAM (e.g. gmapping) + + Oscar Lima Carrion + Frederik Hegger + Praveen Ramanujam + + GPLv3 + + Frederik Hegger + + catkin + + gmapping + cob_scan_unifier + + roslaunch + + diff --git a/data/mir_navigation/mir_2dslam/ros/config/costmap_common.yaml b/data/mir_navigation/mir_2dslam/ros/config/costmap_common.yaml new file mode 100644 index 0000000000000000000000000000000000000000..578c4d767da9b9d024831bdb4c530b95b2c4aa4a --- /dev/null +++ b/data/mir_navigation/mir_2dslam/ros/config/costmap_common.yaml @@ -0,0 +1,38 @@ +robot_base_frame: base_link + +update_frequency: 3.0 +publish_frequency: 3.0 + +transform_tolerance: 0.5 +obstacle_range: 4.5 +raytrace_range: 5.0 + +static: + map_topic: /map + subscribe_to_updates: true + +obstacle_layer: + observation_sources: laser_scanner_front laser_scanner_rear + laser_scanner_front: + sensor_frame: base_laser_front_link + data_type: LaserScan + topic: /scan_front + expected_update_rate: 1.2 + observation_persistence: 0.0 + marking: true + clearing: true + min_obstacle_height: -0.10 + max_obstacle_height: 2.0 + laser_scanner_rear: + sensor_frame: base_laser_rear_link + data_type: LaserScan + topic: /scan_rear + expected_update_rate: 1.2 + observation_persistence: 0.0 + marking: true + clearing: true + min_obstacle_height: -0.10 + max_obstacle_height: 2.0 + +inflation: + inflation_radius: 0.3 diff --git a/data/mir_navigation/mir_2dslam/ros/config/costmap_exploration.yaml b/data/mir_navigation/mir_2dslam/ros/config/costmap_exploration.yaml new file mode 100644 index 0000000000000000000000000000000000000000..250c556e2b067c5ccc205607b42d015c9715907d --- /dev/null +++ b/data/mir_navigation/mir_2dslam/ros/config/costmap_exploration.yaml @@ -0,0 +1,16 @@ +track_unknown_space: true +global_frame: map +rolling_window: false + +plugins: +- {name: external, type: "costmap_2d::StaticLayer"} +- {name: explore_boundary, type: "exploration_server::BoundedExploreLayer"} +#Can disable sensor layer if gmapping is fast enough to update scans +- {name: obstacles_laser, type: "costmap_2d::ObstacleLayer"} +- {name: inflation, type: "costmap_2d::InflationLayer"} + +explore_boundary: + resize_to_boundary: false + frontier_travel_point: middle + #set to false for gmapping, true if re-exploring a known area + explore_clear_space: false diff --git a/data/mir_navigation/mir_2dslam/ros/launch/2dslam.launch b/data/mir_navigation/mir_2dslam/ros/launch/2dslam.launch new file mode 100644 index 0000000000000000000000000000000000000000..a1c5d40cc52eddeeb71f5915656c469769734c4f --- /dev/null +++ b/data/mir_navigation/mir_2dslam/ros/launch/2dslam.launch @@ -0,0 +1,53 @@ + + + + + + ["/scan_front","/scan_rear"] + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_navigation/mir_2dslam/ros/launch/explore_lite.launch b/data/mir_navigation/mir_2dslam/ros/launch/explore_lite.launch new file mode 100644 index 0000000000000000000000000000000000000000..de8cd215e5ac1072a5a4dfc75ed4db2fb9704fcc --- /dev/null +++ b/data/mir_navigation/mir_2dslam/ros/launch/explore_lite.launch @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_navigation/mir_2dslam/ros/launch/frontier_exploration.launch b/data/mir_navigation/mir_2dslam/ros/launch/frontier_exploration.launch new file mode 100644 index 0000000000000000000000000000000000000000..96beec67494df2e86d7bc8e63ea93c6718540034 --- /dev/null +++ b/data/mir_navigation/mir_2dslam/ros/launch/frontier_exploration.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_navigation/mir_2dslam/ros/launch/slam_with_move_base.launch b/data/mir_navigation/mir_2dslam/ros/launch/slam_with_move_base.launch new file mode 100644 index 0000000000000000000000000000000000000000..582399134c1a963ba5867327db24436a3b4b189c --- /dev/null +++ b/data/mir_navigation/mir_2dslam/ros/launch/slam_with_move_base.launch @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_navigation/mir_base_placement/CMakeLists.txt b/data/mir_navigation/mir_base_placement/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..eedae9c9bb644bb790546cdf31f775ba136f2386 --- /dev/null +++ b/data/mir_navigation/mir_base_placement/CMakeLists.txt @@ -0,0 +1,72 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_base_placement) + +find_package(catkin REQUIRED + COMPONENTS + actionlib + geometry_msgs + mas_perception_msgs + mir_navigation_msgs + roscpp + sensor_msgs +) + +catkin_package( + CATKIN_DEPENDS + geometry_msgs + mas_perception_msgs + mir_navigation_msgs + sensor_msgs +) + +include_directories( + ${catkin_INCLUDE_DIRS} +) + + +### EXECUTABLES +add_executable(base_placement_node + ros/src/base_placement_node.cpp +) +add_dependencies(base_placement_node + ${catkin_EXPORTED_TARGETS} +) +target_link_libraries(base_placement_node + ${catkin_LIBRARIES} +) + +add_executable(basescan_orientation_test + ros/tools/basescan_orientation_test.cpp +) +add_dependencies(basescan_orientation_test + ${catkin_EXPORTED_TARGETS} +) +target_link_libraries(basescan_orientation_test + ${catkin_LIBRARIES} +) + + +### TESTS +if(CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + + roslaunch_add_file_check(ros/launch) +endif() + + +### INSTALLS +install( + TARGETS + base_placement_node + basescan_orientation_test + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(PROGRAMS + ros/mockup/base_placement_node_mockup + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY ros/launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ros/launch/ +) diff --git a/data/mir_navigation/mir_base_placement/package.xml b/data/mir_navigation/mir_base_placement/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..55a9a13753dde7c7d37681d73613b72d73025ecf --- /dev/null +++ b/data/mir_navigation/mir_base_placement/package.xml @@ -0,0 +1,32 @@ + + + mir_base_placement + 0.0.1 + orient the base w.r.t. to the coefficients of the linear regression + + Arka Mallick + Santosh George Thoduka + Matthias Füller + + GPLv3 + + Matthias Füller + + catkin + + actionlib + geometry_msgs + mas_perception_msgs + mir_navigation_msgs + roscpp + sensor_msgs + + geometry_msgs + mas_perception_msgs + mcr_linear_regression + mir_navigation_msgs + sensor_msgs + + roslaunch + + diff --git a/data/mir_navigation/mir_base_placement/ros/launch/base_placement.launch b/data/mir_navigation/mir_base_placement/ros/launch/base_placement.launch new file mode 100644 index 0000000000000000000000000000000000000000..b583b69b42e0821c899ca1fa86670117f9d7436d --- /dev/null +++ b/data/mir_navigation/mir_base_placement/ros/launch/base_placement.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_navigation/mir_base_placement/ros/launch/base_placement_mockup.launch b/data/mir_navigation/mir_base_placement/ros/launch/base_placement_mockup.launch new file mode 100644 index 0000000000000000000000000000000000000000..15f85c267b3f5fe40fce3dcec55bc5831394e149 --- /dev/null +++ b/data/mir_navigation/mir_base_placement/ros/launch/base_placement_mockup.launch @@ -0,0 +1,7 @@ + + + + + + + diff --git a/data/mir_navigation/mir_base_placement/ros/mockup/base_placement_node_mockup b/data/mir_navigation/mir_base_placement/ros/mockup/base_placement_node_mockup new file mode 100644 index 0000000000000000000000000000000000000000..08c48e41821a9aba2dabe2962eeef2ba1f89b29f --- /dev/null +++ b/data/mir_navigation/mir_base_placement/ros/mockup/base_placement_node_mockup @@ -0,0 +1,27 @@ +#!/usr/bin/python + +import actionlib +import roslib +import rospy +from mir_navigation_msgs.msg import OrientToBaseAction + + +class BasePlacementMockup(object): + def __init__(self): + self._as = actionlib.SimpleActionServer( + "~adjust_to_workspace", + OrientToBaseAction, + execute_cb=self.execute_cb, + auto_start=False, + ) + self._as.start() + + def execute_cb(self, goal): + self._as.set_succeeded() + + +if __name__ == "__main__": + rospy.init_node("mir_base_placement_mockup") + BasePlacementMockup() + rospy.loginfo("Base plamcenemt MOCKUP started...") + rospy.spin() diff --git a/data/mir_navigation/mir_base_placement/ros/src/base_placement_node.cpp b/data/mir_navigation/mir_base_placement/ros/src/base_placement_node.cpp new file mode 100644 index 0000000000000000000000000000000000000000..11b652d2ac82547f585b2f98ad114e7883734592 --- /dev/null +++ b/data/mir_navigation/mir_base_placement/ros/src/base_placement_node.cpp @@ -0,0 +1,256 @@ +#include + +#include +#include +#include +#include + +#include +#include + +//#include "mir_base_placement/laser_scan_linear_regression.h" + +using namespace mas_perception_msgs; +using namespace mir_navigation_msgs; + +class OrientToLaserReadingAction +{ + protected: + ros::NodeHandle nh_; + actionlib::SimpleActionServer as_; + std::string action_name_; + + std::string service_name; + std::string cmd_vel_topic; + + float target_distance = 0.0; + float max_linear_velocity = 0.0; + float max_angular_velocity = 0.0; + + double error_angle_int = 0.0; + double error_lin_int = 0.0; + + double error_angle_d = 0.0; + double error_lin_d = 0.0; + + double last_error_lin = 0.0; + double last_error_angular = 0.0; + + double error_tolerance = 0.0; + + ros::Publisher cmd_pub; + ros::ServiceClient client; + + public: + OrientToLaserReadingAction(ros::NodeHandle nh, std::string name, std::string cmd_vel_topic, + std::string linreg_service_name) + : as_(nh, name, boost::bind(&OrientToLaserReadingAction::executeActionCB, this, _1), false) + { + this->action_name_ = name; + this->service_name = linreg_service_name; + this->cmd_vel_topic = cmd_vel_topic; + + nh_ = nh; + + target_distance = 0.05; + + ros::param::param("~max_linear_velocity", max_linear_velocity, 0.075); + ros::param::param("~max_angular_velocity", max_angular_velocity, 0.1); + + ROS_DEBUG("Register publisher"); + + cmd_pub = nh_.advertise(cmd_vel_topic, 1000); + + ROS_DEBUG("Create service client"); + + client = nh_.serviceClient(service_name); + + as_.start(); + } + + geometry_msgs::Twist calculateVelocityCommand(double center, double a, double b, bool &oriented, + int &iterator) + { + geometry_msgs::Twist cmd; + + double lin_p; + ros::param::param("~lin_p", lin_p, 0.8); + double lin_i; + ros::param::param("~lin_i", lin_i, 0.0); + double lin_d; + ros::param::param("~lin_d", lin_d, 0.0); + + double ang_p; + ros::param::param("~ang_p", ang_p, 0.5); + double ang_i; + ros::param::param("~ang_i", ang_i, 0.0); + double ang_d; + ros::param::param("~ang_d", ang_d, 0.0); + + double error_angle = -b; + double error_lin = (a - target_distance); + + // angular velocity calculation + error_angle_int += error_angle; + error_angle_int = std::min(std::max(error_angle_int, -0.1), 0.1); + error_angle_d = error_angle - last_error_angular; + last_error_angular = error_angle; + + cmd.angular.z = (-1) * (error_angle * ang_p + error_angle_int * ang_i + error_angle_d * ang_d); + + // linear velocity calculation + error_lin_int += error_lin; + error_lin_int = std::min(std::max(error_lin_int, -0.1), 0.1); + error_lin_d = error_lin - last_error_lin; + last_error_lin = error_lin; + + double calculated_velocity = error_lin * lin_p + error_lin_int * lin_i + error_lin_d * lin_d; + std::string laser_axis; + ros::param::param("~laser_axis", laser_axis, "+x"); + if (laser_axis == "+x") { + cmd.linear.x = calculated_velocity; + } else if (laser_axis == "-x") { + cmd.linear.x = -calculated_velocity; + } else if (laser_axis == "+y") { + cmd.linear.y = calculated_velocity; + } else if (laser_axis == "-y") { + cmd.linear.y = -calculated_velocity; + } + + /* + std::cout << "=======================" << std::endl; + + std::cout << "error_angle: " << error_angle << std::endl; + std::cout << "error_lin: " << error_lin << std::endl; + + std::cout << "b: " << b << std::endl; + std::cout << "center: " << fabs(center) << std::endl; + std::cout << "a: " << a << std::endl; + + std::cout << "a_p: " << error_angle * ang_p << std::endl; + std::cout << "a_i: " << error_angle_int * ang_i << std::endl; + std::cout << "a_d: " << error_angle_d * ang_d << std::endl; + */ + + if (cmd.linear.x > max_linear_velocity) + cmd.linear.x = max_linear_velocity; + else if (cmd.linear.x < -max_linear_velocity) + cmd.linear.x = -max_linear_velocity; + + if (cmd.linear.y > max_linear_velocity) + cmd.linear.y = max_linear_velocity; + else if (cmd.linear.y < -max_linear_velocity) + cmd.linear.y = -max_linear_velocity; + + if (cmd.angular.z > max_angular_velocity) + cmd.angular.z = max_angular_velocity; + else if (cmd.angular.z < -max_angular_velocity) + cmd.angular.z = -max_angular_velocity; + + return cmd; + } + + void executeActionCB(const OrientToBaseGoalConstPtr &goal) + { + BaseScanLinearRegression srv; + + srv.request.filter_minAngle = -M_PI_4; + srv.request.filter_maxAngle = M_PI_4; + srv.request.filter_minDistance = 0.02; + srv.request.filter_maxDistance = 0.6; + + target_distance = goal->distance; + + ros::Duration max_time(30.0); + ros::Time stamp = ros::Time::now(); + OrientToBaseResult result; + bool oriented = false; + int iterator = 0; + + error_angle_int = 0.0; + error_lin_int = 0.0; + error_angle_d = 0.0; + error_lin_d = 0.0; + last_error_angular = 0.0; + last_error_lin = 0.0; + + double translation_error_tolerance = 0.0; + double angular_error_tolerance = 0.0; + ros::param::param("~translation_error_tolerance", translation_error_tolerance, 0.04); + ros::param::param("~angular_error_tolerance", angular_error_tolerance, 0.04); + + while (true) { + ROS_DEBUG("Call service Client"); + + if (client.call(srv)) { + ROS_DEBUG("Called service LaserScanLinearRegressionService"); + // std::cout << "result: " << srv.response.center << ", " << + // srv.response.a << ", " << srv.response.b << std::endl; + + geometry_msgs::Twist cmd = calculateVelocityCommand(srv.response.center, srv.response.a, + srv.response.b, oriented, iterator); + cmd_pub.publish(cmd); + + // std::cout << "cmd x:" << cmd.linear.x << ", y: " << cmd.linear.y << + // ", z: " << cmd.angular.z << std::endl; + + double translation_error = fabs(srv.response.a - target_distance); + double angular_error = fabs(srv.response.b); + // std::cout << "current error: " << error << std::endl; + + if ((translation_error < translation_error_tolerance) and + (angular_error < angular_error_tolerance)) { + ROS_DEBUG("Point reached"); + result.succeed = true; + as_.setSucceeded(result); + geometry_msgs::Twist zero_vel; + cmd_pub.publish(zero_vel); + break; + } + + if (stamp + max_time < ros::Time::now()) { + result.succeed = false; + as_.setAborted(result); + geometry_msgs::Twist zero_vel; + cmd_pub.publish(zero_vel); + break; + } + + } else { + ROS_ERROR("Failed to call service LaserScanLinearRegressionService"); + + if (stamp + max_time < ros::Time::now()) { + result.succeed = false; + as_.setAborted(result); + break; + } + } + } + } +}; + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "base_placement"); + ros::NodeHandle n("~"); + + std::string cmd_vel_name = "/cmd_vel"; + + n.getParam("cmd_vel_topic", cmd_vel_name); + ROS_DEBUG("Publishing on cmd_vel_topic: %s", cmd_vel_name.c_str()); + + std::string service_name = "linear_regression_service-NOT-SET"; + n.getParam("linear_regression_service", service_name); + ROS_DEBUG("Using linear_regression_service: %s", service_name.c_str()); + + OrientToLaserReadingAction orientAction(n, "adjust_to_workspace", cmd_vel_name, service_name); + + ROS_DEBUG("Action Service is ready"); + + ros::Rate loop_rate(15); + while (ros::ok()) { + ros::spinOnce(); + loop_rate.sleep(); + } + return 0; +} diff --git a/data/mir_navigation/mir_base_placement/ros/tools/basescan_orientation_test.cpp b/data/mir_navigation/mir_base_placement/ros/tools/basescan_orientation_test.cpp new file mode 100644 index 0000000000000000000000000000000000000000..c76a900e306a643c22b90f8c796f3b7c3261fe87 --- /dev/null +++ b/data/mir_navigation/mir_base_placement/ros/tools/basescan_orientation_test.cpp @@ -0,0 +1,44 @@ +#include +#include +#include + +#include + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "base_orientation_Test"); + + actionlib::SimpleActionClient ac( + "/mir_navigation/base_placement/adjust_to_workspace", true); + + ROS_INFO("Waiting for action server to start."); + // wait for the action server to start + ac.waitForServer(); // will wait for infinite time + + ROS_INFO("Action server started, sending goal."); + + mir_navigation_msgs::OrientToBaseActionGoal goal; + + if (argc > 1) { + goal.goal.distance = atof(argv[1]); + } else + goal.goal.distance = 0.07; + + ac.sendGoal(goal.goal); + + // wait for the action to return + bool finished_before_timeout = ac.waitForResult(ros::Duration()); + + while (!finished_before_timeout) { + finished_before_timeout = ac.waitForResult(ros::Duration()); + } + + if (finished_before_timeout) { + actionlib::SimpleClientGoalState state = ac.getState(); + ROS_INFO("Action finished: %s", state.toString().c_str()); + } else + ROS_INFO("Action did not finish before the time out."); + + // exit + return 0; +} diff --git a/data/mir_navigation/mir_closed_loop_pick_base_controller/CMakeLists.txt b/data/mir_navigation/mir_closed_loop_pick_base_controller/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..68d253aa805e0f2e75b7fc8ef2d28dc37ccc0fac --- /dev/null +++ b/data/mir_navigation/mir_closed_loop_pick_base_controller/CMakeLists.txt @@ -0,0 +1,14 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_closed_loop_pick_base_controller) + +find_package(catkin REQUIRED COMPONENTS + sensor_msgs + std_msgs +) + +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES my_pcl_tutorial +# CATKIN_DEPENDS pcl_conversions pcl_ros roscpp sensor_msgs +# DEPENDS system_lib +) diff --git a/data/mir_navigation/mir_closed_loop_pick_base_controller/package.xml b/data/mir_navigation/mir_closed_loop_pick_base_controller/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..22fe362e94cbd1ff2e5fce3c8e93b86871a275fe --- /dev/null +++ b/data/mir_navigation/mir_closed_loop_pick_base_controller/package.xml @@ -0,0 +1,23 @@ + + + mir_closed_loop_pick_base_controller + 0.0.1 + The package to move base to grasp an object with closed loop. + + + Dharmin B. + Dharmin B. + + GPLv3 + + catkin + sensor_msgs + sensor_msgs + sensor_msgs + + + + + + + diff --git a/data/mir_navigation/mir_closed_loop_pick_base_controller/ros/launch/clp_base_controller.launch b/data/mir_navigation/mir_closed_loop_pick_base_controller/ros/launch/clp_base_controller.launch new file mode 100644 index 0000000000000000000000000000000000000000..e4f2820b341c60fa2bcfa3011145212974b1237b --- /dev/null +++ b/data/mir_navigation/mir_closed_loop_pick_base_controller/ros/launch/clp_base_controller.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_navigation/mir_closed_loop_pick_base_controller/ros/scripts/closed_loop_pick_base_controller b/data/mir_navigation/mir_closed_loop_pick_base_controller/ros/scripts/closed_loop_pick_base_controller new file mode 100644 index 0000000000000000000000000000000000000000..b58729acf15deaf6b0763dad116850e135e5b954 --- /dev/null +++ b/data/mir_navigation/mir_closed_loop_pick_base_controller/ros/scripts/closed_loop_pick_base_controller @@ -0,0 +1,158 @@ +#! /usr/bin/env python + +from __future__ import print_function + +import mcr_manipulation_measurers_ros.pose_transformer +import rospy +from geometry_msgs.msg import PoseStamped, Twist +from std_msgs.msg import Float32MultiArray, String + + +class ClosedLoopPickBaseController(object): + """ Convert from cluster (from segmentation node) to images for varied purposes. + """ + + def __init__(self): + self._obj_pose_sub = rospy.Subscriber( + "~input_pose", PoseStamped, self.obj_pose_cb + ) + self._event_in_sub = rospy.Subscriber("~event_in", String, self.event_in_cb) + self._initial_obj_pose_sub = rospy.Subscriber( + "~initial_obj_pose", PoseStamped, self.initial_obj_pose_cb + ) + self._laser_distances_sub = rospy.Subscriber( + "~laser_distances", Float32MultiArray, self.laser_distances_cb + ) + + self._cmd_vel_pub = rospy.Publisher("~cmd_vel", Twist, queue_size=1) + self._event_out_pub = rospy.Publisher("~event_out", String, queue_size=1) + self._closest_obj_event_in_pub = rospy.Publisher( + "~closest_obj_event_in", String, queue_size=1 + ) + self._debug_pose_pub = rospy.Publisher("~debug_pose", PoseStamped, queue_size=1) + + self._camera_link = rospy.get_param("~camera_link") + self.pose_transformer = ( + mcr_manipulation_measurers_ros.pose_transformer.PoseTransformer() + ) + self._target_frame = "base_link_static" + self._target_pose = None + self._moving = False + self._initial_target_pose = None + self._front_laser_distance_threshold = rospy.get_param( + "front_laser_distance_threshold", 0.1 + ) + self.front_laser_distance = 1.0 + + # controller parameters + self._stopping_threshold = 0.1 + self.p_x = 0.2 + self.p_y = -1.0 + self.c_x = 0.02 + self.c_y = 50.0 + self.max_vel = 0.1 + self.min_vel = -0.1 + + def obj_pose_cb(self, msg): + obj_position = msg.pose.position + # if not (obj_position.x == obj_position.y == obj_position.z == 0.0 or self._get_distance(msg) > 0.3): + # self._target_pose = self.pose_transformer.get_transformed_pose(msg, self._target_frame) + # rospy.loginfo(self._target_pose) + if self._target_pose is not None: + self._debug_pose_pub.publish(self._target_pose) + if self._moving and self._target_pose is not None: + transformed_pose = self.pose_transformer.get_transformed_pose( + self._target_pose, self._camera_link + ) + dist_z = transformed_pose.pose.position.z + dist_y = transformed_pose.pose.position.y + print(self.front_laser_distance) + if ( + dist_z < self._stopping_threshold + or self.front_laser_distance < self._front_laser_distance_threshold + ): + self._moving = False + self._target_pose = None + self._publish_zero_vel() + self._event_out_pub.publish(String(data="e_done")) + self._closest_obj_event_in_pub.publish(String(data="e_stop")) + return + vel_x = ((dist_z * self.p_x) + self.c_x) / (1.0 + (abs(dist_y) * self.c_y)) + vel_y = dist_y * self.p_y + vel_x = max(self.min_vel, min(vel_x, self.max_vel)) + vel_y = max(self.min_vel, min(vel_y, self.max_vel)) + # print(vel_x, vel_y) + self._cmd_vel_pub.publish(self._get_twist(x=vel_x, y=vel_y)) + else: + # print("pub zero") + self._publish_zero_vel() + + def event_in_cb(self, msg): + if msg.data == "e_start": + self._moving = True + self._closest_obj_event_in_pub.publish(String(data="e_start")) + self._target_pose = self._initial_target_pose + elif msg.data == "e_stop": + self._moving = False + self._target_pose = None + self._initial_target_pose = None + self._closest_obj_event_in_pub.publish(String(data="e_stop")) + self._publish_zero_vel() # for safety + + def initial_obj_pose_cb(self, msg): + print("got initial target pose") + self._initial_target_pose = msg + + def laser_distances_cb(self, msg): + try: + self.front_laser_distance = msg.data[0] + except: + self.front_laser_distance = self._front_laser_distance_threshold + + def _get_twist(self, x=0.0, y=0.0, theta=0.0): + """Return twist ros message object. + + :x: float + :y: float + :theta: float + :returns: geometry_msgs.msg.Twist + + """ + msg = Twist() + msg.linear.x = x + msg.linear.y = y + msg.angular.z = theta + return msg + + def _publish_zero_vel(self): + # rospy.loginfo("Zero vel") + self._cmd_vel_pub.publish(self._get_twist()) + + def _get_distance(self, new_pose): + """Compute cartesian distance given new object pose + + :new_position: geometry_msgs.PoseStamped + :returns: float + + """ + if self._target_pose is None: + return 0.0 + new_pose_in_target_frame = self.pose_transformer.get_transformed_pose( + new_pose, self._target_frame + ) + delta_x = ( + new_pose_in_target_frame.pose.position.x - self._target_pose.pose.position.x + ) + delta_y = ( + new_pose_in_target_frame.pose.position.y - self._target_pose.pose.position.y + ) + return (delta_x ** 2 + delta_y ** 2) ** 0.5 + + +if __name__ == "__main__": + rospy.init_node("closed_loop_pick_base_controller") + CLPBC = ClosedLoopPickBaseController() + + rospy.spin() + print("Exiting...") + CLPBC._publish_zero_vel() diff --git a/data/mir_navigation/mir_direct_base_controller/CMakeLists.txt b/data/mir_navigation/mir_direct_base_controller/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..074d8dddb3cff53a4be81c97087c23d872801e34 --- /dev/null +++ b/data/mir_navigation/mir_direct_base_controller/CMakeLists.txt @@ -0,0 +1,19 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_direct_base_controller) + +find_package(catkin REQUIRED +) + + +catkin_package() + +install(DIRECTORY ros/launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ros/launch +) + +if(CATKIN_ENABLE_TESTING) + find_package(rostest REQUIRED) + find_package(roslaunch REQUIRED) + + roslaunch_add_file_check(ros/launch) +endif() diff --git a/data/mir_navigation/mir_direct_base_controller/package.xml b/data/mir_navigation/mir_direct_base_controller/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..d8f14a5a053d3762cf31204ba6fa9296ae534dc3 --- /dev/null +++ b/data/mir_navigation/mir_direct_base_controller/package.xml @@ -0,0 +1,35 @@ + + + mir_direct_base_controller + 0.1.0 + + This package provides launch files for running the direct base controller on the youbot + + + Shehzad Ahmed + + Santosh Thoduka + + GPLv3 + + catkin + + rospy + geometry_msgs + std_msgs + topic_tools + mcr_monitoring_msgs + mcr_geometric_relation_monitors + mcr_common_converters + mcr_twist_controller + mcr_twist_limiter + mcr_twist_synchronizer + mcr_manipulation_measurers + mir_pregrasp_planning + mcr_event_gui + mcr_direct_base_controller + + roslaunch + rostest + + diff --git a/data/mir_navigation/mir_direct_base_controller/ros/config/topics.yaml b/data/mir_navigation/mir_direct_base_controller/ros/config/topics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..59a4883dd82273432c5981e4558fe5f0b42edb3b --- /dev/null +++ b/data/mir_navigation/mir_direct_base_controller/ros/config/topics.yaml @@ -0,0 +1,4 @@ +1.direct_base_controller: + event_in_topic: /mcr_navigation/direct_base_controller/coordinator/event_in + event_in_strings: [e_start, e_stop] + event_out_topic: /mcr_navigation/direct_base_controller/coordinator/event_out diff --git a/data/mir_navigation/mir_direct_base_controller/ros/launch/direct_base_controller.launch b/data/mir_navigation/mir_direct_base_controller/ros/launch/direct_base_controller.launch new file mode 100644 index 0000000000000000000000000000000000000000..d4fb7116a2674cb8fd873ef757acf54b9e68a5a6 --- /dev/null +++ b/data/mir_navigation/mir_direct_base_controller/ros/launch/direct_base_controller.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/data/mir_navigation/mir_direct_base_controller/ros/launch/event_gui.launch b/data/mir_navigation/mir_direct_base_controller/ros/launch/event_gui.launch new file mode 100644 index 0000000000000000000000000000000000000000..c9233976c9e7d84ed78da49976dbd1a00529fbc4 --- /dev/null +++ b/data/mir_navigation/mir_direct_base_controller/ros/launch/event_gui.launch @@ -0,0 +1,9 @@ + + + + + + + + diff --git a/data/mir_navigation/mir_direct_base_controller/ros/launch/pose_mock_up_gui.launch b/data/mir_navigation/mir_direct_base_controller/ros/launch/pose_mock_up_gui.launch new file mode 100644 index 0000000000000000000000000000000000000000..62c6e5c5aae2ecad6b5ac760197354bb36a113b8 --- /dev/null +++ b/data/mir_navigation/mir_direct_base_controller/ros/launch/pose_mock_up_gui.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + diff --git a/data/mir_navigation/mir_move_base/CMakeLists.txt b/data/mir_navigation/mir_move_base/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..8a51bf2e14b06b806a4690d66d25895a630f7eb5 --- /dev/null +++ b/data/mir_navigation/mir_move_base/CMakeLists.txt @@ -0,0 +1,36 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_move_base) + +find_package(catkin REQUIRED + COMPONENTS + rospy + roslint +) + +catkin_python_setup() + +catkin_package( + CATKIN_DEPENDS + rospy + std_msgs + geometry_msgs + move_base_msgs + actionlib +) + +install(PROGRAMS +# ros/scripts/simple_grasp_planner_node + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +### TESTS +roslint_python() + +if(CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + find_package(rostest REQUIRED) + + roslaunch_add_file_check(ros/launch) +# add_rostest(ros/launch/simple_pregrasp_planner.test) +# catkin_add_nosetests(ros/test/simple_pregrasp_planner_unittest.py) +endif() diff --git a/data/mir_navigation/mir_move_base/package.xml b/data/mir_navigation/mir_move_base/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..01f660cd426f4611d776eddd1e2735e296db32f0 --- /dev/null +++ b/data/mir_navigation/mir_move_base/package.xml @@ -0,0 +1,26 @@ + + + mir_move_base + 0.1.0 + + This package moves the base of a robot to a target pose. + + GPLv3 + + Jose Sanchez + Jose Sanchez + + catkin + + rospy + roslint + + rospy + std_msgs + geometry_msgs + move_base_msgs + actionlib + + roslaunch + rostest + diff --git a/data/mir_navigation/mir_move_base/ros/doc/move_base.graphml b/data/mir_navigation/mir_move_base/ros/doc/move_base.graphml new file mode 100644 index 0000000000000000000000000000000000000000..1e7d6fcfd63c1eaaa6e11e36ecfdc545d5ea0caa --- /dev/null +++ b/data/mir_navigation/mir_move_base/ros/doc/move_base.graphml @@ -0,0 +1,209 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Move +base + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + pose_in +(geometry_msgs/ +PoseStamped) + + + + + + + + + + + + + + + + + + e_start +e_stop + + + + + + + + + + + + + + + + + + + e_success +e_failure + + + + + + + + + + + + + + + + + + goal +(move_base_msgs/ + MoveBaseGoal) + + + + + + + + + + + + + + + + + + + move_base_action_name + + + + + + + + + + + + + + + + diff --git a/data/mir_navigation/mir_move_base/ros/doc/move_base.png b/data/mir_navigation/mir_move_base/ros/doc/move_base.png new file mode 100644 index 0000000000000000000000000000000000000000..61e08c25e8d3e28fecdb24cf9b14a563c91efd87 --- /dev/null +++ b/data/mir_navigation/mir_move_base/ros/doc/move_base.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:acb3362a37d172170898079ceac541b2f280e31e9c6d2ff1285143c1794d6682 +size 8261 diff --git a/data/mir_navigation/mir_move_base/ros/launch/move_base.test b/data/mir_navigation/mir_move_base/ros/launch/move_base.test new file mode 100644 index 0000000000000000000000000000000000000000..c653327a4105191925caa03c20297b3461efc8cb --- /dev/null +++ b/data/mir_navigation/mir_move_base/ros/launch/move_base.test @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_navigation/mir_move_base/ros/launch/move_base_example.launch b/data/mir_navigation/mir_move_base/ros/launch/move_base_example.launch new file mode 100644 index 0000000000000000000000000000000000000000..45a081baca1a17fdb9708e05d70609191ba8fed7 --- /dev/null +++ b/data/mir_navigation/mir_move_base/ros/launch/move_base_example.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/data/mir_navigation/mir_move_base/ros/scripts/move_base_node b/data/mir_navigation/mir_move_base/ros/scripts/move_base_node new file mode 100644 index 0000000000000000000000000000000000000000..9db5ecf7109304baf0f3f6c9811cdd9188b875f2 --- /dev/null +++ b/data/mir_navigation/mir_move_base/ros/scripts/move_base_node @@ -0,0 +1,6 @@ +#!/usr/bin/env python + +import mir_move_base_ros.move_base + +if __name__ == "__main__": + mir_move_base_ros.move_base.main() diff --git a/data/mir_navigation/mir_move_base/ros/src/mir_move_base_ros/__init__.py b/data/mir_navigation/mir_move_base/ros/src/mir_move_base_ros/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/data/mir_navigation/mir_move_base/ros/src/mir_move_base_ros/move_base.py b/data/mir_navigation/mir_move_base/ros/src/mir_move_base_ros/move_base.py new file mode 100644 index 0000000000000000000000000000000000000000..2842b3c2dbb93e9756b43ff96475b31d3da1b85e --- /dev/null +++ b/data/mir_navigation/mir_move_base/ros/src/mir_move_base_ros/move_base.py @@ -0,0 +1,231 @@ +#!/usr/bin/env python +""" +This component moves the base of a robot to a target pose and provides +feedback of its result, i.e. 'e_success' if the pose was reached or 'e_failure' +otherwise. The component also preempts the motion towards the target +pose if an 'e_stop' message is received. + +**Assumptions:** + * The target pose is reachable. + +**Input(s):** + * `pose_in`: The target pose to which the robot's base should be moved. + +**Output(s):** + * `goal`: The navigation goal for the robot's base. + +""" +# -*- encoding: utf-8 -*- + +import actionlib +import actionlib_msgs.msg +import geometry_msgs.msg +import move_base_msgs.msg +import rospy +import std_msgs.msg +import numpy as np + + +class MoveBase(object): + """ + Moves the base of a robot to a target pose + + """ + + def __init__(self): + # Params + self.event = None + self.pose_in = None + self.client_result = None + self.path_plan = None + + # Action name to move the robot's base + self.move_base_action_name = rospy.get_param("~move_base_action_name", None) + assert ( + self.move_base_action_name is not None + ), "Action name for 'move_base' must be specified." + + # Node cycle rate (in hz). + self.loop_rate = rospy.Rate(rospy.get_param("~loop_rate", 10)) + + # Publishers + self.event_out = rospy.Publisher( + "~event_out", std_msgs.msg.String, queue_size=1 + ) + self.remaining_dist_pub = rospy.Publisher( + "~remaining_distance", std_msgs.msg.Float32, queue_size=1) + + # Subscribers + rospy.Subscriber("~event_in", std_msgs.msg.String, self.event_in_cb) + rospy.Subscriber("~pose_in", geometry_msgs.msg.PoseStamped, self.pose_in_cb) + rospy.Subscriber("~path_plan", geometry_msgs.msg.PoseArray, self.path_plan_cb) + + # Actions + self.move_base_action = actionlib.SimpleActionClient( + self.move_base_action_name, move_base_msgs.msg.MoveBaseAction + ) + rospy.loginfo("Waiting for '{0}' server".format(self.move_base_action_name)) + self.move_base_action.wait_for_server() + rospy.loginfo("Found server '{0}'".format(self.move_base_action_name)) + + def event_in_cb(self, msg): + """ + Obtains an event for the component. + + """ + self.event = msg.data + + def pose_in_cb(self, msg): + """ + Obtains the target pose. + + """ + self.pose_in = msg + + def client_result_cb(self, state, result): + """ + Obtains the final status of the client. + + """ + self.client_result = state + + def client_feedback_cb(self, feedback): + """ + Obtains the feedback from move base and publishes + remaining distance in the path + """ + if not self.path_plan: + return + + def get_dist(p1, p2): + return np.sqrt((p1.x - p2.x)**2 + (p1.y - p2.y)**2) + + path_poses = np.array([[p.position.x, p.position.y] for p in self.path_plan.poses]) + base_pose = np.array([feedback.base_position.pose.position.x, feedback.base_position.pose.position.y]) + dist = np.sum((path_poses - base_pose) ** 2, axis=1) + # find point in the path to which the base is closest + closest_pose_idx = np.argmin(dist) + # distance to closest point (this makes the distance estimation inaccurate because + # the base may have already crossed the point) + distance_remaining = dist[closest_pose_idx] + # distance of remaining points in the path + for idx in range(closest_pose_idx, len(self.path_plan.poses)-1): + distance_remaining += get_dist(self.path_plan.poses[idx].position, self.path_plan.poses[idx+1].position) + self.remaining_dist_pub.publish(distance_remaining) + + def path_plan_cb(self, msg): + """ + Receive global path plan from move base + """ + self.path_plan = msg + + def start(self): + """ + Starts the component. + + """ + rospy.loginfo("Ready to start...") + state = "INIT" + + while not rospy.is_shutdown(): + + if state == "INIT": + state = self.init_state() + elif state == "IDLE": + state = self.idle_state() + elif state == "CONFIGURING": + state = self.configuring_state() + elif state == "RUNNING": + state = self.running_state() + + rospy.logdebug("State: {0}".format(state)) + self.loop_rate.sleep() + + def init_state(self): + """ + Executes the INIT state of the state machine. + + :return: The updated state. + :rtype: str + + """ + if self.event == "e_start": + return "IDLE" + else: + return "INIT" + + def idle_state(self): + """ + Executes the IDLE state of the state machine. + + :return: The updated state. + :rtype: str + + """ + if self.event == "e_stop": + self.reset_component_data() + self.event_out.publish("e_stopped") + return "INIT" + elif self.pose_in: + return "CONFIGURING" + else: + return "IDLE" + + def configuring_state(self): + """ + Executes the CONFIGURING state of the state machine. + + :return: The updated state. + :rtype: str + + """ + goal = move_base_msgs.msg.MoveBaseGoal() + goal.target_pose = self.pose_in + + self.move_base_action.send_goal(goal, done_cb=self.client_result_cb, feedback_cb=self.client_feedback_cb) + + return "RUNNING" + + def running_state(self): + """ + Executes the RUNNING state of the state machine. + + :return: The updated state. + :rtype: str + + """ + if self.event == "e_stop": + self.move_base_action.cancel_goal() + self.reset_component_data() + self.event_out.publish("e_stopped") + return "INIT" + else: + if self.client_result == actionlib_msgs.msg.GoalStatus.SUCCEEDED: + self.event_out.publish("e_success") + self.reset_component_data() + return "INIT" + elif ( + self.client_result == actionlib_msgs.msg.GoalStatus.ABORTED + or self.client_result == actionlib_msgs.msg.GoalStatus.REJECTED + ): + self.event_out.publish("e_failure") + self.reset_component_data() + return "INIT" + else: + return "RUNNING" + + def reset_component_data(self): + """ + Clears the data of the component. + + """ + self.event = None + self.pose_in = None + self.client_result = None + self.path_plan = None + + +def main(): + rospy.init_node("move_base", anonymous=True) + move_base = MoveBase() + move_base.start() diff --git a/data/mir_navigation/mir_move_base/ros/test/move_base_test.py b/data/mir_navigation/mir_move_base/ros/test/move_base_test.py new file mode 100644 index 0000000000000000000000000000000000000000..783aa0f056e2d344b184d66564545d4e29932f5c --- /dev/null +++ b/data/mir_navigation/mir_move_base/ros/test/move_base_test.py @@ -0,0 +1,75 @@ +#!/usr/bin/env python +""" +Integration test for the 'move_base' node. + +""" + +import unittest + +import geometry_msgs.msg +import rospy +import rostest +import std_msgs.msg + +PKG = "mir_move_base" + + +class TestMoveBase(unittest.TestCase): + def setUp(self): + """ + Sets up the test fixture before exercising it. + + """ + # Params + self.result = None + self.wait_for_result = None + + # Publishers + self.event_out = rospy.Publisher("~event_out", std_msgs.msg.String, latch=True) + self.pose_in = rospy.Publisher("~pose_in", geometry_msgs.msg.PoseStamped) + + # Subscribers + self.component_output = rospy.Subscriber( + "~component_output", std_msgs.msg.String, self.component_output_cb + ) + + def tearDown(self): + """ + Deconstructs the test fixture after testing it. + + """ + self.event_out.unregister() + self.pose_in.unregister() + self.component_output.unregister() + + def test_base_placement_planner(self): + """ + Verifies that the node returns a goal based on the target pose. + + """ + pose_in = geometry_msgs.msg.PoseStamped() + pose_in.header.stamp = rospy.Time.now() + pose_in.header.frame_id = "/map" + + pose_in.pose.position.x = 1.0 + pose_in.pose.position.y = 0.0 + pose_in.pose.orientation.w = 1.0 + + while not self.wait_for_result: + self.event_out.publish("e_start") + self.pose_in.publish(pose_in) + + self.assertIn(self.result.data, ["e_success", "e_failure"]) + + def component_output_cb(self, msg): + """ + Obtains the output of the component. + + """ + self.result = msg + self.wait_for_result = True + + +if __name__ == "__main__": + rospy.init_node("move_base_test") + rostest.rosrun(PKG, "move_base_test", TestMoveBase) diff --git a/data/mir_navigation/mir_move_base/setup.py b/data/mir_navigation/mir_move_base/setup.py new file mode 100644 index 0000000000000000000000000000000000000000..a8858033909029388a7db494a2cccc76563c0ddd --- /dev/null +++ b/data/mir_navigation/mir_move_base/setup.py @@ -0,0 +1,12 @@ +#!/usr/bin/env python + +from distutils.core import setup + +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages=["mir_move_base_ros"], + package_dir={"mir_move_base_ros": "ros/src/mir_move_base_ros"}, +) + +setup(**d) diff --git a/data/mir_navigation/mir_navigation/CMakeLists.txt b/data/mir_navigation/mir_navigation/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..99539a8b79e6d25df713a784203ef38968f1f2a0 --- /dev/null +++ b/data/mir_navigation/mir_navigation/CMakeLists.txt @@ -0,0 +1,4 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_navigation) +find_package(catkin REQUIRED) +catkin_metapackage() diff --git a/data/mir_navigation/mir_navigation/package.xml b/data/mir_navigation/mir_navigation/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..aad0a3a2b88dc4b6ef3367ffd48237893e6c7870 --- /dev/null +++ b/data/mir_navigation/mir_navigation/package.xml @@ -0,0 +1,21 @@ + + + mir_navigation + 0.0.1 + base navigation related components + GPLv3 + + Frederik Hegger + + Frederik Hegger + Sven Schneider + Matthias Füller + Rhama Dwiputra + Nico Hochgeschwender + + catkin + + + + + diff --git a/data/mir_navigation/mir_navigation_msgs/CMakeLists.txt b/data/mir_navigation/mir_navigation_msgs/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..03a94a3bb2ceee3fdee630746a22d178776e98d9 --- /dev/null +++ b/data/mir_navigation/mir_navigation_msgs/CMakeLists.txt @@ -0,0 +1,27 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_navigation_msgs) + +find_package(catkin REQUIRED + COMPONENTS + actionlib_msgs + message_generation + std_msgs +) + +add_action_files( + DIRECTORY action + FILES OrientToBase.action +) + +generate_messages( + DEPENDENCIES + actionlib_msgs + std_msgs +) + +catkin_package( + CATKIN_DEPENDS + actionlib_msgs + message_runtime + std_msgs +) diff --git a/data/mir_navigation/mir_navigation_msgs/action/OrientToBase.action b/data/mir_navigation/mir_navigation_msgs/action/OrientToBase.action new file mode 100644 index 0000000000000000000000000000000000000000..dcab56ee535465831cb940dd115aee88857a262e --- /dev/null +++ b/data/mir_navigation/mir_navigation_msgs/action/OrientToBase.action @@ -0,0 +1,8 @@ +#goal definition +float32 distance +--- +#result definition +bool succeed +--- +#feedback +int32 result \ No newline at end of file diff --git a/data/mir_navigation/mir_navigation_msgs/package.xml b/data/mir_navigation/mir_navigation_msgs/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..7b0f79a417eb04b8021e81c94853ff207e6ddd7b --- /dev/null +++ b/data/mir_navigation/mir_navigation_msgs/package.xml @@ -0,0 +1,23 @@ + + + mir_navigation_msgs + 0.0.0 + navigation related action, messages and services + + Frederik Hegger + + GPLv3 + + Frederik Hegger + + catkin + + actionlib_msgs + message_generation + std_msgs + + actionlib_msgs + message_runtime + std_msgs + + diff --git a/data/mir_navigation/mir_workspace_alignment/CMakeLists.txt b/data/mir_navigation/mir_workspace_alignment/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..5d66c010d7456532dc8d60ac8bdac8aaf263d4c3 --- /dev/null +++ b/data/mir_navigation/mir_workspace_alignment/CMakeLists.txt @@ -0,0 +1,22 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_workspace_alignment) + +find_package(catkin REQUIRED + COMPONENTS + geometry_msgs + roscpp + rospy + std_msgs + tf +) + +catkin_package( + CATKIN_DEPENDS + geometry_msgs + std_msgs +) + +include_directories( + ros/include + ${catkin_INCLUDE_DIRS} +) diff --git a/data/mir_navigation/mir_workspace_alignment/package.xml b/data/mir_navigation/mir_workspace_alignment/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..9a6bb2bcbc4617a91102957ccfc3ac8a046369e0 --- /dev/null +++ b/data/mir_navigation/mir_workspace_alignment/package.xml @@ -0,0 +1,27 @@ + + + mir_workspace_alignment + 0.1.0 + + This component tries to detect a workspace in front of the robot and tries to + align the robot perpendicular to the workspace. + + + Dharmin + + GPLv3 + + Dharmin + catkin + + geometry_msgs + roscpp + rospy + std_msgs + tf + + rospy + geometry_msgs + std_msgs + + diff --git a/data/mir_navigation/mir_workspace_alignment/ros/launch/workspace_alignment.launch b/data/mir_navigation/mir_workspace_alignment/ros/launch/workspace_alignment.launch new file mode 100644 index 0000000000000000000000000000000000000000..aea050fce99c88f1fbb7dbfda6626e7bca200856 --- /dev/null +++ b/data/mir_navigation/mir_workspace_alignment/ros/launch/workspace_alignment.launch @@ -0,0 +1,45 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_navigation/mir_workspace_alignment/ros/scripts/workspace_aligner b/data/mir_navigation/mir_workspace_alignment/ros/scripts/workspace_aligner new file mode 100644 index 0000000000000000000000000000000000000000..6b6ca2a707b3bcf65b0f18335bd289898c6004c2 --- /dev/null +++ b/data/mir_navigation/mir_workspace_alignment/ros/scripts/workspace_aligner @@ -0,0 +1,322 @@ +#! /usr/bin/env python +from __future__ import print_function + +import math + +import rospy +import tf +from geometry_msgs.msg import ( + PoseStamped, + PoseWithCovarianceStamped, + Quaternion, + Vector3, +) +from std_msgs.msg import ColorRGBA, String +from visualization_msgs.msg import Marker, MarkerArray + +from laser_line_extraction.msg import LineSegment, LineSegmentList + +NODE = "mir_workspace_aligner" + + +class WorkspaceAligner: + + """Read line segments from line segment extractor and find a workspace in front. + Then try to align perpendicular to the workspace. + + Assumption: The robot is close to the workspace and the robot is looking in + the general direction of the workspace. This module is only meant to align the + robot slightly to the workspace. The move_base package should be used for actually + travelling to the workspace.""" + + def __init__(self): + # ROS params + self._num_of_msgs = rospy.get_param("~num_of_msgs", 100) + + self._angle_threshold = rospy.get_param("~angle_threshold", 60) + self._distance_threshold = rospy.get_param("~distance_threshold", 0.3) + self._pose_angle_threshold = rospy.get_param("~pose_angle_threshold", 0.1) + self._pose_distance_threshold = rospy.get_param("~pose_distance_threshold", 0.1) + self._workspace_length = rospy.get_param("~workspace_length", 0.8) + self._workspace_length_error_threshold = rospy.get_param( + "~workspace_length_error_threshold", 0.1 + ) + self._workspace_safety_distance = rospy.get_param( + "~workspace_safety_distance", 0.2 + ) + + self._target_frame = rospy.get_param("~target_frame", "map") + self._common_time_lookup_threshold = rospy.get_param( + "~common_time_lookup_threshold", 5.0 + ) + self._line_segment_msg_wait_threshold = rospy.get_param( + "~line_segment_msg_wait_threshold", 15.0 + ) + workspace_pose_param_name = rospy.get_param( + "~poses_of_workspaces", "/script_server/base" + ) + self._workspace_poses = rospy.get_param(workspace_pose_param_name, None) + if not self._workspace_poses: + rospy.logerr("No workspace_pose found. Please check ws pose param topic") + print(self._workspace_poses) + + # Class variables + self._line_segment_msgs = [] + self._counter = self._num_of_msgs + self._transformer = tf.TransformListener() + + # Subscribers + rospy.Subscriber("~line_segments", LineSegmentList, self._line_segment_cb) + rospy.Subscriber("~event_in", String, self._event_in_cb) + + # Publishers + self._event_out_pub = rospy.Publisher("~event_out", String, queue_size=1) + self._dbc_event_in_pub = rospy.Publisher("~dbc_event_in", String, queue_size=1) + self.pose_publisher = rospy.Publisher( + "~destination_pose", PoseStamped, queue_size=1 + ) + rospy.loginfo("Initialised %s", NODE) + + def _event_in_cb(self, msg): + """Callback function for event in topic. Subscribes a number of messages + from line extractor and generates a PoseStamped object. + + :msg: std_msgs/String + :returns: None + + """ + rospy.loginfo(msg) + if msg.data == "e_trigger": + success = self._calculate_aligned_pose() + if success: + self._event_out_pub.publish(String(data="Completed")) + else: + self._event_out_pub.publish(String(data="Failed")) + self._running = False + + def _line_segment_cb(self, msg): + """Callback function for line segment list message (published from line + extractor) + + :msg: laser_line_extraction/LineSegmentList + :returns: None + + """ + if self._counter < self._num_of_msgs: + self._line_segment_msgs.append(msg) + self._counter += 1 + if self._counter % 10 == 0 and self._counter > 0: + rospy.loginfo(self._counter) + + def _calculate_aligned_pose(self): + """Calculate aligned pose of the workspace in front of the robot if possible. + :returns: bool (success) + + """ + common_time = self._get_common_time( + source_frame="base_link", target_frame="map" + ) + position, quat = self._transformer.lookupTransform( + "map", "base_link", common_time + ) + current_ws_name = None + for ws_name in self._workspace_poses: + linear_distance = self._get_distance( + position[:2], self._workspace_poses[ws_name][:2] + ) + current_angle = tf.transformations.euler_from_quaternion(quat)[2] + angular_distance = abs(current_angle - self._workspace_poses[ws_name][2]) + if ( + linear_distance < self._pose_distance_threshold + and angular_distance < self._pose_angle_threshold + ): + current_ws_name = ws_name + break + if not current_ws_name: + rospy.logwarn("Invalid workspace to align") + return False + rospy.loginfo("Aligning with %s", current_ws_name) + + self._counter = 0 + start_time = rospy.Time.now().to_time() + while ( + self._counter < self._num_of_msgs + and start_time + self._line_segment_msg_wait_threshold + > rospy.Time.now().to_time() + ): + rospy.sleep(0.1) + if self._counter < self._num_of_msgs: + return False + + workspace_line_segment = self._get_avg_line_segment() + + # convert line segment to PoseStamped + if workspace_line_segment: + workspace_pose = PoseStamped() + quat = tf.transformations.quaternion_from_euler( + 0, 0, workspace_line_segment.angle + ) + workspace_pose.pose.orientation = Quaternion(*quat) + + # take midpoint of line segment + workspace_pose.pose.position.x = ( + workspace_line_segment.start[0] + workspace_line_segment.end[0] + ) / 2 + workspace_pose.pose.position.y = ( + workspace_line_segment.start[1] + workspace_line_segment.end[1] + ) / 2 + + workspace_pose.header.stamp = self._get_common_time( + target_frame=self._target_frame + ) + workspace_pose.header.frame_id = "base_laser_front_link" + + # substract distance from workspace pose (assuming laser in + # center of the robot) + position, quat = self._transformer.lookupTransform( + "base_link", "base_laser_front_link", rospy.Time() + ) + total_distance = self._workspace_safety_distance + position[0] + workspace_pose.pose.position.x -= total_distance * math.cos( + workspace_line_segment.angle + ) + workspace_pose.pose.position.y -= total_distance * math.sin( + workspace_line_segment.angle + ) + + try: + temp = self._transformer.transformPose( + self._target_frame, workspace_pose + ) + # rospy.loginfo(temp) + self.pose_publisher.publish(temp) + self._dbc_event_in_pub.publish(String(data="e_start")) + rospy.loginfo("Sent aligned pose to DBC") + return True + except Exception as e: + rospy.logerr(str(e)) + return False + else: + return False + + def _filter_line_segments(self, line_segments): + """filter out the line segments which are not + - in the center of the FOV of the laser sensors. + - near the robot + All line segments that are not in center or are far away will be discarded. + + :line_segments: list of laser_line_extraction/LineSegment + :returns: list of laser_line_extraction/LineSegment + + """ + filtered_line_segments = [] + for line_segment in line_segments: + if ( + abs(math.degrees(line_segment.angle)) < self._angle_threshold + and line_segment.radius < self._distance_threshold + ): + filtered_line_segments.append(line_segment) + return filtered_line_segments + + def _get_workspace_line_segment(self, line_segments): + """Return a single line segment as a result of list of line segments which + fits the workspace specifications. + + :line_segments: list of laser_line_extraction/LineSegment + :returns: laser_line_extraction/LineSegment or None + + """ + workspace_line_segment = None + if len(line_segments) == 2: + dist_1_2 = self._get_distance(line_segments[0].start, line_segments[1].end) + dist_2_1 = self._get_distance(line_segments[1].start, line_segments[0].end) + workspace_line_segment = LineSegment() + if dist_1_2 > dist_2_1: + workspace_line_segment.start = line_segments[0].start + workspace_line_segment.end = line_segments[1].end + else: + workspace_line_segment.start = line_segments[1].start + workspace_line_segment.end = line_segments[0].end + workspace_line_segment.angle = ( + line_segments[0].angle + line_segments[1].angle + ) / 2 + elif len(line_segments) == 1: + workspace_line_segment = line_segments[0] + + if workspace_line_segment: + # filter based on length of line segment + length = self._get_distance( + workspace_line_segment.start, workspace_line_segment.end + ) + if ( + abs(length - self._workspace_length) + < self._workspace_length_error_threshold + ): + return workspace_line_segment + return None + + def _get_avg_line_segment(self): + """Return avg line segment obj from the list of line segment messages + :returns: laser_line_extraction/LineSegment + + """ + workspace_line_segment = None + start_x, start_y, end_x, end_y, angle = 0, 0, 0, 0, 0 + for msg in self._line_segment_msgs: + filtered_line_segments = self._filter_line_segments(msg.line_segments) + workspace_line_segment = self._get_workspace_line_segment( + filtered_line_segments + ) + if workspace_line_segment: + start_x += workspace_line_segment.start[0] + start_y += workspace_line_segment.start[1] + end_x += workspace_line_segment.end[0] + end_y += workspace_line_segment.end[1] + angle += workspace_line_segment.angle + self._line_segment_msgs = [] + # create an avg line segment if non zero total values + if start_x != 0 and start_y != 0: + workspace_line_segment = LineSegment() + workspace_line_segment.start = [ + start_x / self._num_of_msgs, + start_y / self._num_of_msgs, + ] + workspace_line_segment.end = [ + end_x / self._num_of_msgs, + end_y / self._num_of_msgs, + ] + workspace_line_segment.angle = angle / self._num_of_msgs + return workspace_line_segment + + def _get_common_time( + self, source_frame="base_laser_front_link", target_frame="map" + ): + """Try to get common time between laser and target frame. + :returns: rospy.Time + + """ + start_time = rospy.Time.now().to_time() + common_time = rospy.Time.now() + got_common_time = False + while ( + not got_common_time + and start_time + self._common_time_lookup_threshold + > rospy.Time.now().to_time() + ): + try: + common_time = self._transformer.getLatestCommonTime( + source_frame, target_frame + ) + got_common_time = True + except Exception as e: + pass + return common_time + + def _get_distance(self, p1, p2): + return ((p1[0] - p2[0]) ** 2 + (p1[1] - p2[1]) ** 2) ** 0.5 + + +if __name__ == "__main__": + rospy.init_node(NODE) + workspace_aligner = WorkspaceAligner() + rospy.spin() diff --git a/data/mir_perception/mir_barrier_tape_detection/CMakeLists.txt b/data/mir_perception/mir_barrier_tape_detection/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..7dce861090a6eefb22b1274f8a20782d769e0f7d --- /dev/null +++ b/data/mir_perception/mir_barrier_tape_detection/CMakeLists.txt @@ -0,0 +1,111 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_barrier_tape_detection) + +find_package(catkin REQUIRED + COMPONENTS + dynamic_reconfigure + image_transport + roscpp + sensor_msgs + cv_bridge + pcl_ros + message_filters + geometry_msgs + tf +) + +find_package(OpenCV REQUIRED) +find_package(PCL 1.10 REQUIRED) + +set (CMAKE_CXX_STANDARD 14) +set (CMAKE_BUILD_TYPE Release) + +generate_dynamic_reconfigure_options( + ros/config/BarrierTapeDetection.cfg +) + +catkin_package( + INCLUDE_DIRS + ros/include + common/include + LIBRARIES + barrier_tape_detection + CATKIN_DEPENDS + dynamic_reconfigure + image_transport + roscpp + sensor_msgs + cv_bridge + DEPENDS + OpenCV +) + +include_directories( + ros/include + common/include + ${catkin_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} + ${PCL_INCLUDE_DIRS} +) + +add_library(barrier_tape_detection + common/src/barrier_tape_detection.cpp +) + +add_dependencies(barrier_tape_detection + ${catkin_EXPORTED_TARGETS} +) + +target_link_libraries(barrier_tape_detection + ${OpenCV_LIBRARIES} + ${PCL_LIBRARIES} +) + +add_executable(barrier_tape_detection_node + ros/src/barrier_tape_detection_ros.cpp +) + +add_dependencies(barrier_tape_detection_node + ${catkin_EXPORTED_TARGETS} + ${PROJECT_NAME}_gencfg +) + +target_link_libraries(barrier_tape_detection_node + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ${PCL_LIBRARIES} + barrier_tape_detection +) + +install( + TARGETS + barrier_tape_detection + barrier_tape_detection_node + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY ros/include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" +) + +install(DIRECTORY common/include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" +) + +install(DIRECTORY ros/launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ros/launch +) + +install(DIRECTORY ros/config + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ros/config +) + +### TESTS +if(CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + roslaunch_add_file_check(ros/launch) +endif() diff --git a/data/mir_perception/mir_barrier_tape_detection/common/include/mir_barrier_tape_detection/.barrier_tape_detection.h.swp b/data/mir_perception/mir_barrier_tape_detection/common/include/mir_barrier_tape_detection/.barrier_tape_detection.h.swp new file mode 100644 index 0000000000000000000000000000000000000000..bd5d84f0f259938caac7e80529dfad839cf4bb0e Binary files /dev/null and b/data/mir_perception/mir_barrier_tape_detection/common/include/mir_barrier_tape_detection/.barrier_tape_detection.h.swp differ diff --git a/data/mir_perception/mir_barrier_tape_detection/common/include/mir_barrier_tape_detection/barrier_tape_detection.h b/data/mir_perception/mir_barrier_tape_detection/common/include/mir_barrier_tape_detection/barrier_tape_detection.h new file mode 100644 index 0000000000000000000000000000000000000000..524aecd2b5088265952c4d754794f0c0eb629269 --- /dev/null +++ b/data/mir_perception/mir_barrier_tape_detection/common/include/mir_barrier_tape_detection/barrier_tape_detection.h @@ -0,0 +1,51 @@ +#ifndef BARRIERTAPEDETECTION_H_ +#define BARRIERTAPEDETECTION_H_ + +#include +#include + +class BarrierTapeDetection +{ + public: + BarrierTapeDetection(); + virtual ~BarrierTapeDetection(); + /** + * Convert to HSV, filter based on color_thresh_min and color_thresh_max, blur + */ + void preprocessImage(const cv::Mat &input_img, cv::Mat &output_img); + /** + * Canny edge detection, contour detection, filter contours within certain + * area range + */ + bool detectBarrierTape(const cv::Mat &input_img, cv::Mat &output_img, + std::vector>> &barrier_tape_pts); + /** + * Set thresholds for min and max HSV values and min area of contours + */ + void updateDynamicVariables(bool debug_mode, double min_area, int color_thresh_min_h, + int color_thresh_min_s, int color_thresh_min_v, + int color_thresh_max_h, int color_thresh_max_s, + int color_thresh_max_v); + + private: + /** + * Lower range of H, S and V values for barrier tape + */ + cv::Scalar color_thresh_min_; + /** + * Upper range for H, S and V values for barrier tape + */ + cv::Scalar color_thresh_max_; + + /** + * If in debug mode, draw contours on output image + */ + bool is_debug_mode_; + /** + * minimum area of detected contours which are considered + * to be part of the barrier tape + */ + double min_area_; +}; + +#endif /* BARRIERTAPEDETECTION_H_ */ diff --git a/data/mir_perception/mir_barrier_tape_detection/common/src/barrier_tape_detection.cpp b/data/mir_perception/mir_barrier_tape_detection/common/src/barrier_tape_detection.cpp new file mode 100644 index 0000000000000000000000000000000000000000..7daeca632fe03b5e3dbe9c253711e995b0c61cb3 --- /dev/null +++ b/data/mir_perception/mir_barrier_tape_detection/common/src/barrier_tape_detection.cpp @@ -0,0 +1,84 @@ +#include + +BarrierTapeDetection::BarrierTapeDetection() {} +BarrierTapeDetection::~BarrierTapeDetection() {} +void BarrierTapeDetection::preprocessImage(const cv::Mat &input_img, cv::Mat &output_img) +{ + cv::Mat hsv_img; + cv::Mat filtered_img; + + cv::cvtColor(input_img, hsv_img, cv::COLOR_BGR2HSV); + cv::inRange(hsv_img, color_thresh_min_, color_thresh_max_, filtered_img); + cv::GaussianBlur(filtered_img, output_img, cv::Size(7, 7), 0, 0); +} + +bool BarrierTapeDetection::detectBarrierTape( + const cv::Mat &input_img, cv::Mat &output_img, + std::vector>> &barrier_tape_pts) +{ + cv::Mat preprocessed_img; + cv::Mat edge_img; + cv::RotatedRect box; + std::vector> contours; + int count = 0; + bool has_detected_barrier_tape = false; + + preprocessImage(input_img, preprocessed_img); + + if (is_debug_mode_) { + output_img = cv::Mat::zeros(preprocessed_img.size(), preprocessed_img.type()); + } + + cv::Canny(preprocessed_img, edge_img, 50, 100); + cv::findContours(edge_img, contours, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_SIMPLE); + + for (int i = 0; i < contours.size(); i++) { + std::vector barrier_tape_box_center; + std::vector> barrier_tape_box_pts; + + box = minAreaRect(cv::Mat(contours[i])); + + if ((box.size.height * box.size.width) < min_area_) { + continue; + } + + barrier_tape_box_center.push_back(box.center.x); + barrier_tape_box_center.push_back(box.center.y); + barrier_tape_box_pts.push_back(barrier_tape_box_center); + // std::cout << "box center: " << box.center.x << ", " << box.center.y << + // std::endl; + + for (int j = 0; j < contours[i].size(); j++) { + std::vector contour_pt; + contour_pt.push_back(contours[i][j].x); + contour_pt.push_back(contours[i][j].y); + barrier_tape_box_pts.push_back(contour_pt); + } + barrier_tape_pts.push_back(barrier_tape_box_pts); + + if (is_debug_mode_) { + cv::drawContours(output_img, contours, i, cv::Scalar(255, 255, 255), 2); + } + + count++; + } + if (count > 0) { + has_detected_barrier_tape = true; + } + return has_detected_barrier_tape; +} + +void BarrierTapeDetection::updateDynamicVariables(bool debug_mode, double min_area, + int color_thresh_min_h, int color_thresh_min_s, + int color_thresh_min_v, int color_thresh_max_h, + int color_thresh_max_s, int color_thresh_max_v) +{ + is_debug_mode_ = debug_mode; + min_area_ = min_area; + // convert the given HSV threshold from the standard (360, 100, 100) range to + // the (180, 255, 255) opencv range + color_thresh_min_ = + cv::Scalar(color_thresh_min_h * 0.5, color_thresh_min_s * 2.55, color_thresh_min_v * 2.55); + color_thresh_max_ = + cv::Scalar(color_thresh_max_h * 0.5, color_thresh_max_s * 2.55, color_thresh_max_v * 2.55); +} diff --git a/data/mir_perception/mir_barrier_tape_detection/package.xml b/data/mir_perception/mir_barrier_tape_detection/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..d54ff1d86143087eaead7da62c283f0eeaf5d74e --- /dev/null +++ b/data/mir_perception/mir_barrier_tape_detection/package.xml @@ -0,0 +1,33 @@ + + + mir_barrier_tape_detection + 0.1.0 + Detects barrier tapes in the arena + + Senga Ndimubanzi Boris + + GPLv3 + + Senga Ndimubanzi Boris + + catkin + + dynamic_reconfigure + image_transport + roscpp + sensor_msgs + cv_bridge + pcl_ros + libpcl-all-dev + message_filters + geometry_msgs + tf + + dynamic_reconfigure + image_transport + roscpp + sensor_msgs + cv_bridge + pointcloud_to_laserscan + roslaunch + diff --git a/data/mir_perception/mir_barrier_tape_detection/ros/config/BarrierTapeDetection.cfg b/data/mir_perception/mir_barrier_tape_detection/ros/config/BarrierTapeDetection.cfg new file mode 100644 index 0000000000000000000000000000000000000000..8ebe021d4d3e792c4bdb17462156206a3a69512e --- /dev/null +++ b/data/mir_perception/mir_barrier_tape_detection/ros/config/BarrierTapeDetection.cfg @@ -0,0 +1,16 @@ +#!/usr/bin/env python3 + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +gen.add("min_area", double_t, 0, "Minimum area to consider contour as potential barrier tape", 100, 0, 5000) +gen.add("color_thresh_min_h", int_t, 0, "Minimum color threshold H", 40, 0,360) +gen.add("color_thresh_min_s", int_t, 0, "Minimum color threshold S", 50, 0,100) +gen.add("color_thresh_min_v", int_t, 0, "Minimum color threshold V", 90, 0,100) +gen.add("color_thresh_max_h", int_t, 0, "Maximum color threshold H", 70, 0,360) +gen.add("color_thresh_max_s", int_t, 0, "Maximum color threshold S", 100, 0,100) +gen.add("color_thresh_max_v", int_t, 0, "Maximum color threshold V", 100, 0,100) +gen.add("is_debug_mode", bool_t, 0, "Run in debugging mode", True) + +exit( gen.generate("mir_barrier_tape_detection", "barrier_tape_detection_ros", "BarrierTape" ) ) diff --git a/data/mir_perception/mir_barrier_tape_detection/ros/config/barrier_tape_detection.yaml b/data/mir_perception/mir_barrier_tape_detection/ros/config/barrier_tape_detection.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a6d4cd4ee42736dbe3e585a67f22c9a376846a6d --- /dev/null +++ b/data/mir_perception/mir_barrier_tape_detection/ros/config/barrier_tape_detection.yaml @@ -0,0 +1,19 @@ +mir_perception/front_camera/barrier_tape_detection: + min_area: 10 + color_thresh_min_h: 40 + color_thresh_min_s: 50 + color_thresh_min_v: 70 + color_thresh_max_h: 70 + color_thresh_max_s: 100 + color_thresh_max_v: 100 + is_debug_mode: True + +mir_perception/back_camera/barrier_tape_detection: + min_area: 10 + color_thresh_min_h: 30 + color_thresh_min_s: 50 + color_thresh_min_v: 28 + color_thresh_max_h: 70 + color_thresh_max_s: 100 + color_thresh_max_v: 100 + is_debug_mode: True diff --git a/data/mir_perception/mir_barrier_tape_detection/ros/include/mir_barrier_tape_detection/barrier_tape_detection_ros.h b/data/mir_perception/mir_barrier_tape_detection/ros/include/mir_barrier_tape_detection/barrier_tape_detection_ros.h new file mode 100644 index 0000000000000000000000000000000000000000..5f445c22e89ac22d7d4f4ee8972832f2b1c93215 --- /dev/null +++ b/data/mir_perception/mir_barrier_tape_detection/ros/include/mir_barrier_tape_detection/barrier_tape_detection_ros.h @@ -0,0 +1,101 @@ +#ifndef BARRIERTAPEDETECTIONROS_H_ +#define BARRIERTAPEDETECTIONROS_H_ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#include +#include + +typedef message_filters::sync_policies::ApproximateTime + ImageSyncPolicy; + +class BarrierTapeDetectionRos +{ + public: + BarrierTapeDetectionRos(ros::NodeHandle &nh); + virtual ~BarrierTapeDetectionRos(); + void dynamicReconfigCallback(mir_barrier_tape_detection::BarrierTapeConfig &config, + uint32_t level); + void eventCallback(const std_msgs::String &event_command); + /** + * Get 3D pointcloud and RGB image at the same time + */ + void synchronizedCallback(const sensor_msgs::PointCloud2::ConstPtr &pointcloud_msg, + const sensor_msgs::Image::ConstPtr &rgb_image_msg); + void states(); + void initState(); + void idleState(); + void runState(); + void detectBarrierTape(); + /** + * Converts the input pointcloud message into a 3 channel cv::Mat object + * where each channel holds the x, y and z coordinate of each pixel (i.e. the + * pixel + * corresponding to that point in the pointcloud. + * Points which are NaN and the Z-coordinate is < 0.01 are discarded + * + * This output cv::Mat is later used to map pixels in the RGB image to 3D + * positions + */ + void convertPointCloudToXYZImage(cv::Mat &output_xyz_image); + + private: + enum States { INIT, IDLE, RUNNING }; + + private: + dynamic_reconfigure::Server + dynamic_reconfigure_server_; + ros::Time start_time_; + ros::NodeHandle node_handler_; + ros::Publisher event_pub_; + ros::Publisher pub_yellow_barrier_tape_cloud_; + ros::Subscriber event_sub_; + ros::Subscriber pointcloud_sub_; + + message_filters::Subscriber sub_pointcloud_; + message_filters::Subscriber sub_rgb_image_; + sensor_msgs::PointCloud2::ConstPtr pointcloud_msg_; + sensor_msgs::Image::ConstPtr rgb_image_msg_; + boost::shared_ptr> sync_input_; + + image_transport::ImageTransport image_transporter_; + image_transport::Publisher image_pub_; + + tf::TransformListener *transform_listener_; + geometry_msgs::PoseArray pose_array_; + geometry_msgs::PoseArray pose_array_dubug_; + ros::Publisher pub_yellow_barrier_tape_pose_array_; + + std_msgs::String event_in_msg_; + std_msgs::String event_out_msg_; + + BarrierTapeDetection btd_; + States current_state_; + cv::Mat debug_image_; + + pcl::PointCloud::Ptr barrier_tape_cloud_; + + bool is_debug_mode_; + bool has_image_data_; + std::string target_frame_; + int num_of_retrial_; + int num_pixels_to_extrapolate_; +}; + +#endif /* BARRIERTAPEDETECTIONROS_H_ */ diff --git a/data/mir_perception/mir_barrier_tape_detection/ros/launch/barrier_tape_detection.launch b/data/mir_perception/mir_barrier_tape_detection/ros/launch/barrier_tape_detection.launch new file mode 100644 index 0000000000000000000000000000000000000000..f8b0d97a183c63c4628bbee7620f64b5fcfc07d8 --- /dev/null +++ b/data/mir_perception/mir_barrier_tape_detection/ros/launch/barrier_tape_detection.launch @@ -0,0 +1,86 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + target_frame: base_laser_front_link # Leave disabled to output scan in pointcloud frame + transform_tolerance: 0.01 + min_height: -1.0 + max_height: 5.0 + + angle_min: -1.5708 # -M_PI/2 + angle_max: 1.5708 # M_PI/2 + angle_increment: 0.0087 # M_PI/360.0 + scan_time: 0.03333 + range_min: 0.001 + range_max: 5.0 + use_inf: false + + # Concurrency level, affects number of pointclouds queued for processing, thread number governed by nodelet manager + # 0 : Detect number of cores + # 1 : Single threaded + # 2->inf : Parallelism level + concurrency_level: 1 + + + + + + + + + + + + + + + + + + + + + + target_frame: base_laser_rear_link # Leave disabled to output scan in pointcloud frame + transform_tolerance: 0.01 + min_height: -1.0 + max_height: 5.0 + + angle_min: -1.5708 # -M_PI/2 + angle_max: 1.5708 # M_PI/2 + angle_increment: 0.0087 # M_PI/360.0 + scan_time: 0.03333 + range_min: 0.001 + range_max: 5.0 + use_inf: false + + # Concurrency level, affects number of pointclouds queued for processing, thread number governed by nodelet manager + # 0 : Detect number of cores + # 1 : Single threaded + # 2->inf : Parallelism level + concurrency_level: 1 + + + + diff --git a/data/mir_perception/mir_barrier_tape_detection/ros/src/barrier_tape_detection_ros.cpp b/data/mir_perception/mir_barrier_tape_detection/ros/src/barrier_tape_detection_ros.cpp new file mode 100644 index 0000000000000000000000000000000000000000..c20d44d536593500d940df104a08b9ab8ff8c983 --- /dev/null +++ b/data/mir_perception/mir_barrier_tape_detection/ros/src/barrier_tape_detection_ros.cpp @@ -0,0 +1,263 @@ +#include + +BarrierTapeDetectionRos::BarrierTapeDetectionRos(ros::NodeHandle &nh) + : node_handler_(nh), image_transporter_(nh) +{ + transform_listener_ = new tf::TransformListener(); + + nh.param("target_frame", target_frame_, "/base_link"); + nh.param("num_of_retrial", num_of_retrial_, 30); + nh.param("num_pixels_to_extrapolate", num_pixels_to_extrapolate_, 30); + dynamic_reconfigure_server_.setCallback( + boost::bind(&BarrierTapeDetectionRos::dynamicReconfigCallback, this, _1, _2)); + + event_pub_ = node_handler_.advertise("event_out", 1); + pub_yellow_barrier_tape_cloud_ = + nh.advertise>("output/yellow_barrier_tape_pointcloud", 1); + pub_yellow_barrier_tape_pose_array_ = + nh.advertise("output/yellow_barrier_tape_pose_array", 1); + image_pub_ = image_transporter_.advertise("debug_image", 1); + + event_sub_ = + node_handler_.subscribe("event_in", 1, &BarrierTapeDetectionRos::eventCallback, this); + sub_pointcloud_.subscribe(node_handler_, "input_pointcloud", 1); + sub_rgb_image_.subscribe(node_handler_, "input_rgb_image", 1); + + sub_pointcloud_.unsubscribe(); + sub_rgb_image_.unsubscribe(); + + sync_input_ = boost::make_shared>(10); + sync_input_->connectInput(sub_pointcloud_, sub_rgb_image_); + sync_input_->registerCallback( + boost::bind(&BarrierTapeDetectionRos::synchronizedCallback, this, _1, _2)); + + current_state_ = INIT; + has_image_data_ = false; + + barrier_tape_cloud_ = boost::make_shared>(); +} + +BarrierTapeDetectionRos::~BarrierTapeDetectionRos() +{ + image_pub_.shutdown(); + pub_yellow_barrier_tape_pose_array_.shutdown(); + event_pub_.shutdown(); + event_sub_.shutdown(); +} + +void BarrierTapeDetectionRos::dynamicReconfigCallback( + mir_barrier_tape_detection::BarrierTapeConfig &config, uint32_t level) +{ + is_debug_mode_ = config.is_debug_mode; + btd_.updateDynamicVariables(is_debug_mode_, config.min_area, config.color_thresh_min_h, + config.color_thresh_min_s, config.color_thresh_min_v, + config.color_thresh_max_h, config.color_thresh_max_s, + config.color_thresh_max_v); +} + +void BarrierTapeDetectionRos::synchronizedCallback( + const sensor_msgs::PointCloud2::ConstPtr &pointcloud_msg, + const sensor_msgs::Image::ConstPtr &rgb_image_msg) +{ + pointcloud_msg_ = pointcloud_msg; + rgb_image_msg_ = rgb_image_msg; + has_image_data_ = true; +} + +void BarrierTapeDetectionRos::eventCallback(const std_msgs::String &event_msg) +{ + event_in_msg_ = event_msg; +} + +void BarrierTapeDetectionRos::states() +{ + switch (current_state_) { + case INIT: + initState(); + break; + case IDLE: + idleState(); + break; + case RUNNING: + runState(); + break; + default: + initState(); + } +} + +void BarrierTapeDetectionRos::initState() +{ + if (event_in_msg_.data == "e_start") { + current_state_ = IDLE; + event_in_msg_.data = ""; + sub_pointcloud_.subscribe(); + sub_rgb_image_.subscribe(); + } else { + current_state_ = INIT; + } +} + +void BarrierTapeDetectionRos::idleState() +{ + if (event_in_msg_.data == "e_stop") { + current_state_ = INIT; + event_in_msg_.data = ""; + sub_pointcloud_.unsubscribe(); + sub_rgb_image_.unsubscribe(); + } else if (has_image_data_) { + current_state_ = RUNNING; + has_image_data_ = false; + } else { + current_state_ = IDLE; + } +} + +void BarrierTapeDetectionRos::runState() +{ + if (event_in_msg_.data == "e_reset") { + barrier_tape_cloud_->points.clear(); + event_in_msg_.data = ""; + } + detectBarrierTape(); + current_state_ = IDLE; + + if (is_debug_mode_) { + cv_bridge::CvImage debug_image_msg; + debug_image_msg.encoding = sensor_msgs::image_encodings::MONO8; + debug_image_msg.image = debug_image_; + image_pub_.publish(debug_image_msg.toImageMsg()); + + pub_yellow_barrier_tape_pose_array_.publish(pose_array_); + } +} + +void BarrierTapeDetectionRos::detectBarrierTape() +{ + cv_bridge::CvImagePtr cv_img_tmp1 = + cv_bridge::toCvCopy(rgb_image_msg_, sensor_msgs::image_encodings::BGR8); + cv::Mat rgb_image_frame = cv_img_tmp1->image; + + barrier_tape_cloud_->header.frame_id = target_frame_; + pcl_conversions::toPCL(pointcloud_msg_->header.stamp, barrier_tape_cloud_->header.stamp); + + std::vector>> barrier_tape_img_coordinates; + int pixel_y; + int pixel_x; + + if (is_debug_mode_) { + pose_array_.poses.clear(); + pose_array_.header = pointcloud_msg_->header; + pose_array_.header.frame_id = target_frame_; + } + + cv::Mat rgb_depth_image_frame; + convertPointCloudToXYZImage(rgb_depth_image_frame); + + if (btd_.detectBarrierTape(rgb_image_frame, debug_image_, barrier_tape_img_coordinates)) { + for (int i = 0; i < barrier_tape_img_coordinates.size(); i++) { + for (int j = 0; j < barrier_tape_img_coordinates[i].size(); j++) { + pixel_y = barrier_tape_img_coordinates[i][j][1]; + pixel_x = barrier_tape_img_coordinates[i][j][0]; + + cv::Vec3f point = rgb_depth_image_frame.at(pixel_y, pixel_x); + + if (point.val[0] == 0 && point.val[1] == 0 && point.val[2] == 0) { + continue; + } + + else { + geometry_msgs::PoseStamped pose_stamped; + pose_stamped.pose.position.x = point.val[0]; + pose_stamped.pose.position.y = point.val[1]; + pose_stamped.pose.position.z = point.val[2]; + pose_stamped.pose.orientation.w = 0; + pose_stamped.pose.orientation.x = 0; + pose_stamped.pose.orientation.y = 0; + pose_stamped.pose.orientation.z = 1; + pose_stamped.header = pointcloud_msg_->header; + + geometry_msgs::PoseStamped transformed_pose; + try { + transform_listener_->waitForTransform(target_frame_, pose_stamped.header.frame_id, + pose_stamped.header.stamp, ros::Duration(0.1)); + transform_listener_->transformPose(target_frame_, pose_stamped, transformed_pose); + pose_array_.poses.push_back(transformed_pose.pose); + + // Ignore points which are > 0 since we are only interested in + // barrier tapes + // on the floor + if (transformed_pose.pose.position.z > 0.00) { + ROS_DEBUG("transformed pose is greater than zero"); + continue; + } + + } catch (tf::TransformException e) { + ROS_WARN("%s", e.what()); + } + + pcl::PointXYZ pt; + pt.x = transformed_pose.pose.position.x; + pt.y = transformed_pose.pose.position.y; + pt.z = transformed_pose.pose.position.z; + + barrier_tape_cloud_->points.push_back(pt); + break; + } + } + } + } + barrier_tape_cloud_->width = barrier_tape_cloud_->points.size(); + barrier_tape_cloud_->height = 1; + + pub_yellow_barrier_tape_cloud_.publish(barrier_tape_cloud_); +} + +void BarrierTapeDetectionRos::convertPointCloudToXYZImage(cv::Mat &output_xyz_image) +{ + pcl::PCLPointCloud2::Ptr pcl_input_cloud(new pcl::PCLPointCloud2); + + pcl_conversions::toPCL(*pointcloud_msg_, *pcl_input_cloud); + + pcl::PointCloud::Ptr xyz_input_cloud(new pcl::PointCloud); + pcl::fromPCLPointCloud2(*pcl_input_cloud, *xyz_input_cloud); + + pcl::PointCloud::iterator b1; + + int index = 0; + float *xyz_frame_buffer = new float[pointcloud_msg_->width * pointcloud_msg_->height * 3]; + cv::Mat xyz_frame(pointcloud_msg_->height, pointcloud_msg_->width, CV_32FC3, xyz_frame_buffer); + xyz_frame = cv::Scalar::all(0.0f); + for (b1 = xyz_input_cloud->points.begin(); b1 < xyz_input_cloud->points.end(); b1++) { + pcl::PointXYZ pcl_point = *b1; + if ((!pcl_isnan(pcl_point.x)) && (!pcl_isnan(pcl_point.y)) && + (!pcl_isnan(pcl_point.z) && (pcl_point.z > 0.01))) { + xyz_frame_buffer[index * 3] = b1->x; + xyz_frame_buffer[index * 3 + 1] = b1->y; + xyz_frame_buffer[index * 3 + 2] = b1->z; + } + index++; + } + xyz_frame.copyTo(output_xyz_image); + delete[] xyz_frame_buffer; +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "barrier_tape_detection"); + ros::NodeHandle nh("~"); + ROS_INFO("Barrier Tape Detection Node Initialised"); + BarrierTapeDetectionRos btd(nh); + + int loop_rate = 30; + nh.param("loop_rate", loop_rate, 30); + ros::Rate rate(loop_rate); + + while (ros::ok()) { + ros::spinOnce(); + btd.states(); + rate.sleep(); + } + + return 0; +} diff --git a/data/mir_perception/mir_cavity_detector/CMakeLists.txt b/data/mir_perception/mir_cavity_detector/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..fcfb4ff14525e2927f756d40569d1cec279b2391 --- /dev/null +++ b/data/mir_perception/mir_cavity_detector/CMakeLists.txt @@ -0,0 +1,78 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_cavity_detector) +set (CMAKE_BUILD_TYPE Debug) +find_package(catkin REQUIRED + COMPONENTS + roscpp + sensor_msgs + std_msgs + dynamic_reconfigure + cv_bridge + image_transport + mas_perception_msgs + tf +) +catkin_python_setup() +generate_dynamic_reconfigure_options( + ros/config/CavityFinder.cfg +) + +find_package(OpenCV REQUIRED) +find_package(PCL 1.7 REQUIRED) + +catkin_package() + + +include_directories( + ros/include + common/include + ${catkin_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} + ${PCL_INCLUDE_DIRS} +) + + + +### EXECUTABLES ############################################### +add_executable(cavity_finder + ros/src/cavity_finder_node.cpp + ros/src/cavity_finder_ros.cpp + common/src/cavity_finder.cpp +) + +add_dependencies(cavity_finder + ${catkin_EXPORTED_TARGETS} + ${PROJECT_NAME}_gencfg +) + +target_link_libraries(cavity_finder + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ${PCL_LIBRARIES} +) + +### TESTS +if(CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + roslaunch_add_file_check(ros/launch) +endif() + +### INSTALLS +install(TARGETS cavity_finder + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY ros/include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" +) + +install(DIRECTORY common/include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" +) + +install(DIRECTORY ros/launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ros/launch +) + diff --git a/data/mir_perception/mir_cavity_detector/common/include/mir_cavity_detector/cavity_finder.h b/data/mir_perception/mir_cavity_detector/common/include/mir_cavity_detector/cavity_finder.h new file mode 100644 index 0000000000000000000000000000000000000000..32f86dc648a7c7ecfa7bf13295e1f4871abaf822 --- /dev/null +++ b/data/mir_perception/mir_cavity_detector/common/include/mir_cavity_detector/cavity_finder.h @@ -0,0 +1,172 @@ +#ifndef CONTOUR_FINDER_H_ +#define CONTOUR_FINDER_H_ + +#include +#include +#include + +/** + * Finds 2D cavities after applying edge detection + * Finds corresponding 3D cavity using the given pointcloud + */ +class CavityFinder +{ +public: + /** + * Constructor + */ + CavityFinder(); + /** + * Destructor + */ + virtual ~CavityFinder(); + /** + * Finds 2D cavities in the image using edge detection. Displays the edges in the debug image + * + * @param image + * image in which to find the cavities + * @param debug_image + * the found edges are displayed in this image + * @return found cavities + */ + + + /** + * + * + * + * + * / + * + * */ + + + std::vector > find2DCavities(const cv::Mat &image, + cv::Mat &debug_image, + std::vector ¢roids); + + + /** + * Recognize 2D cavities in the image. Displays the name in the debug image + * + * @param image + * image in which to find the cavities + * @param debug_image + * the recognized cavity are displayed in this image + * @param cavities + * the detected cavities for recognition + * @return found cavitiesName + */ + std::vector recognize2DCavities(const cv::Mat &image, + cv::Mat &debug_image, + std::vector &cropped_cavities, + const std::vector ¢roids); + /** + * Finds 3D cavities corresponding to the given 2D cavities in the input cloud + * + * @param cavities + * input 2D cavities + * @param input_cloud + * input pointcloud + * @return found 3D cavities + */ + std::vector get3DCavities(const std::vector > &cavities, pcl::PCLPointCloud2::Ptr input_cloud); + + /** + * Given a rectangle with 2 points converts to set of points on the + * boundary + * + * @param rect + * input Rectanle + * @return vector points on the perimeter + */ + std::vector pointsOnRectangle(cv::Rect rect); + + /** + * Set threshold1 for Canny edge detector + * See http://docs.opencv.org/modules/imgproc/doc/feature_detection.html#canny + * + * @param canny_threshold + * Threshold 1 for canny edge detection + */ + void setCannyThreshold(double canny_threshold); + + /** + * Set multiplier to calculate threshold2 for Canny edge detector + * threshold2 = canny_multiplier * canny_threshold_ + * See http://docs.opencv.org/modules/imgproc/doc/feature_detection.html#canny + * + * @param canny_multiplier + * Multiplier used to calculate threshold 2 for canny edge detection + */ + void setCannyMultiplier(double canny_multiplier); + + /** + * Set threshold1 for Binary threshold filter + * See http://docs.opencv.org/2.4/doc/tutorials/imgproc/threshold/threshold.html + * @param binary_threshold + * Threshold for binary filter + */ + void setBinaryThreshold(double binary_threshold); + + /** + * Epsilon for approxpoly and for finer poly + * http://docs.opencv.org/2.4/modules/imgproc/doc/structural_analysis_and_shape_descriptors.html + * @param epsilon + * Epsilon for the approximation the polygon curve + */ + void setEpsilonApproxPoly(double epsilon_approx_poly); + void setEpsilonFinerPoly(double epsilon_finer_poly); + + + /** + * min and max area size filter for cavities in Depth_RGB image + * @param min_area + * min area to filter cavities in Depth_RGB image + */ + void setMinArea(double min_area_depth_image); + void setMaxArea(double max_area_depth_image); +private: + /** + * Copy constructor. + */ + CavityFinder(const CavityFinder &other); + + /** + * Copy assignment operator. + */ + CavityFinder &operator=(CavityFinder other); + + + cv::RNG rng; +private: + /** + * Threshold for canny edge detector + */ + double canny_threshold_; + /** + * Multiplier for canny edge detector + */ + double canny_multiplier_; + /** + * Threshold for binary thershold filter + */ + double binary_threshold_; + /** + * Multiplier for approx polynomial fit + */ + double approx_poly_epsilon_; + /** + * Multiplier for finer approx polynomial fit + */ + double approx_poly_epsilon_finer_; + /** + * Min area for filtering cavities in DepthRGB image + */ + double min_area_depth_image_; + /** + * Max area for filtering cavities in DepthRGB image + */ + double max_area_depth_image_; +}; +#endif diff --git a/data/mir_perception/mir_cavity_detector/common/src/cavity_finder.cpp b/data/mir_perception/mir_cavity_detector/common/src/cavity_finder.cpp new file mode 100644 index 0000000000000000000000000000000000000000..e289cf9d08c39d522829d96a16b9edc94c339d97 --- /dev/null +++ b/data/mir_perception/mir_cavity_detector/common/src/cavity_finder.cpp @@ -0,0 +1,495 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#define PI 3.14159265 + +#include + +CavityFinder::CavityFinder() : rng(12345),canny_threshold_(220), canny_multiplier_(3), + binary_threshold_(62),approx_poly_epsilon_(0.017),approx_poly_epsilon_finer_(0.009) +{ +} + +CavityFinder::~CavityFinder() +{ +} + +std::vector CavityFinder::pointsOnRectangle(cv::Rect rect) +{ + std::vector rect_points; + int num_of_points = 10; + double delta_width = rect.size().width / num_of_points; + double delta_height = rect.size().height / num_of_points; + + for (int i=0; i CavityFinder::recognize2DCavities(const cv::Mat &image, + cv::Mat &debug_image, + std::vector &cropped_cavities, + const std::vector ¢roids) + +{ +{ + + //Recognized name of the cavities + std::vector cavities_name(centroids.size()); + //ROI + std::vector crop_box(centroids.size()); + + /// Approximate cavities to polygons + get bounding rects and circles + std::vector > final_cavities( centroids.size() ); + std::vector > cavities_poly( centroids.size() ); + std::vector boundRect( centroids.size() ); + std::vector center( centroids.size() ); + std::vectorradius( centroids.size() ); + + /// Find the rotated rectangles and ellipses for each cavity + std::vector minRect( centroids.size() ); + + /// Converting to match the intel camera point cloud size + cv::Mat small_image = cv::Mat::zeros( cv::Size(640, 480), CV_8UC3 ); + cv::Mat gray_image; + resize(image, small_image, small_image.size(), 0, 0 ); + cv::cvtColor(small_image, gray_image, CV_BGR2GRAY); + cv::blur(gray_image, gray_image, cv::Size(3, 3)); + small_image.copyTo(debug_image); + + cv::Size crop_size(120, 120); + //After trials found that there is a shift of (20,10) between the rgbimage + //and depth_rgb image + //Shifting center to compensate this shift + //Also shifting to the top left of the bounding box to be drawn + //cv::Point2f shift(20.0f-(crop_size.width/2), 10.0f-(crop_size.height/2)); + cv::Point2f shift(-(crop_size.width/2), -(crop_size.height/2)); + + + cv::Rect img_rect = cv::Rect(cv::Point(0,0), gray_image.size()); + cv::Mat contour_image = cv::Mat::zeros( cv::Size(640, 480), CV_8UC3 ); + // Finding the cavities in each region + for( int i = 0; i< centroids.size(); i++ ) + { + //Finding the ROI + crop_box[i] = cv::Rect(centroids[i]+shift, crop_size); + cv::Mat threshold_output; + /// Detect edges using Threshold OTSU thereshold + //cv::threshold( gray_image, threshold_output, binary_threshold_, 255, cv::THRESH_BINARY ); + cv::threshold( gray_image, threshold_output, 0, 255, cv::THRESH_BINARY | cv::THRESH_OTSU ); + // finding crop image + cv::Rect rect_intersection = img_rect & crop_box[i]; + cv::Mat cropped_image = threshold_output(rect_intersection); + + std::vector > cavities_in_crop; + std::vector hierarchy; + + //Subtracting from white, to avoid boundary detection + cropped_image = 255 - cropped_image; + /// Find contours + // cv::findContours( contour_image, cavities_in_crop, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, cv::Point(0, 0) ); + + + cv::findContours( cropped_image, cavities_in_crop, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, cv::Point(0, 0) ); + // cv::imshow("cavities cropped ", cropped_image); + // cv::waitKey(0); + //Finding the maximum cavity size in the corped image and storing it + double max_area = 0.0; int max_index = 0; + if (cavities_in_crop.size() == 0) + { + //As the inf in depth_rgb image is converted to black + //many boundary cavities are detected filtering those out + continue; + } + if (cavities_in_crop.size() > 1) + { + for( int j = 0; j < cavities_in_crop.size(); j++ ) + { + if(std::fabs(cv::contourArea(cavities_in_crop[j])) > max_area) + { + max_area = std::fabs(cv::contourArea(cavities_in_crop[j])); + max_index = j; + } + } + final_cavities[i] = cavities_in_crop[max_index]; + } else + { + final_cavities[i] = cavities_in_crop[0]; + } + + cv::approxPolyDP( cv::Mat(final_cavities[i]), cavities_poly[i], + cv::arcLength(cv::Mat(final_cavities[i]), true)*approx_poly_epsilon_ , true ); + + boundRect[i] = cv::boundingRect( cv::Mat(cavities_poly[i]) ); + minEnclosingCircle( (cv::Mat)cavities_poly[i], center[i], radius[i] ); + minRect[i] = cv::minAreaRect( cv::Mat(cavities_poly[i]) ); + } + + + std::cout<<"[cavity_recognizer] Centroids received : "<<(int)centroids.size() < finer_polynomial; + cv::approxPolyDP( cv::Mat(final_cavities[i]),finer_polynomial , + cv::arcLength(cv::Mat(final_cavities[i]), true)*approx_poly_epsilon_finer_ , true ); + double area = std::fabs(cv::contourArea(final_cavities[i])); + + + cv::RotatedRect minRect; + minRect = cv::minAreaRect(cv::Mat(final_cavities[i])); + double aspect_ratio; + if(minRect.size.width > minRect.size.height) + { + aspect_ratio = minRect.size.width / minRect.size.height; + } + else + { + aspect_ratio = minRect.size.height / minRect.size.width; + } + + //Hu moments + cv::Moments mom = cv::moments(final_cavities[i]); + double hu[7]; + cv::HuMoments(mom, hu); + + /* + radius <= 32.8673 + | aspect_ratio <= 1.125 + | | radius <= 23.4876: M20 (13.0) + | | radius > 23.4876: M30 (10.0) + | aspect_ratio > 1.125: R20 (18.0) + radius > 32.8673 + | aspect_ratio <= 2.27122: S40_40 (20.0) + | aspect_ratio > 2.27122 + | | radius <= 55.0689: F20_20 (13.0) + | | radius > 55.0689: M20_100 (10.0) + 21 < radius < 62 + 1 < aspect_ratio < 4 + + */ + + if ( (10 < radius[i]) and (radius[i] <= 32.8673)) { + if ((0 < aspect_ratio) and (aspect_ratio <= 1.3)) { + if (radius[i] <= 18.4876) { + cavities_name[i] = "M20"; + } else { + cavities_name[i] = "M30"; + } + } else if ((4 > aspect_ratio) and (aspect_ratio > 1.125)) { + cavities_name[i] = "R20"; + } else { + cavities_name[i] = "DECOY_aspect"; + } + } else if((62 > radius[i]) and (radius[i] > 32.8673)) { + if ((0.0 < aspect_ratio) and (aspect_ratio <= 2.7122)) { + cavities_name[i] = "S40_40"; + } else if ((5 > aspect_ratio) and (aspect_ratio > 2.7122)) { + if (radius[i] <= 47.5) { + cavities_name[i] = "F20_20"; + } else { + cavities_name[i] = "M20_100"; + } + } else { + cavities_name[i] = "DECOY_2"; + } + + } else { + cavities_name[i] = "DECOY_radius"; + } + + // std::cout<<" aspect_ratio: "<(), 0, centroids[i]+shift ); + + std::string label;//string which will contain the result + std::stringstream convert; // stringstream used for the conversion + convert <<"V: "<< cavities_poly[i].size();//add the value of Number to the characters in the stream + convert < > CavityFinder::find2DCavities(const cv::Mat &image, + cv::Mat &debug_image, + std::vector ¢roids) +{ + /// Converting to match the intel camera point cloud size + cv::Mat small_image = cv::Mat::zeros( cv::Size(640, 480), CV_8UC3 ); + cv::Mat gray_image; + resize(image, small_image, small_image.size(), 0, 0 ); + + //Croping image to select ROIv + cv:: Rect roi_without_arm; + roi_without_arm.x = 0; + roi_without_arm.y = 0; + roi_without_arm.width = 640; + roi_without_arm.height = 400; + small_image = small_image(roi_without_arm); + cv::cvtColor(small_image, gray_image, CV_BGR2GRAY); + + cv::blur(gray_image, gray_image, cv::Size(3, 3)); + + ////////////////////////////////DEbug images start + unsigned long int sec= time(NULL); + std::string filename;//string which will contain the result + std::stringstream convert; // stringstream used for the conversion + convert <<"/tmp/depth_rgb_"<< sec<<".jpg";//add the value of Number to the characters in the stream + filename = convert.str();//set Result to the content of the stream + cv::imwrite(filename, small_image); + ////////////////////////////////DEbug images end + cv::Mat canny_output; + cv::Mat threshold_output; + + std::vector > cavities; + std::vector > filtered_cavities; + + std::vector hierarchy; + + /// Detect edges using Threshold + cv::threshold( gray_image, threshold_output, binary_threshold_, 255, cv::THRESH_BINARY ); + + // Dilate edges so that the cavities are expanded slightly + int dilation_size = 10; + cv::Mat element = cv::getStructuringElement(cv::MORPH_RECT, + cv::Size(2 * dilation_size + 1, 2 * dilation_size + 1), + cv::Point(dilation_size, dilation_size)); + + cv::erode(threshold_output, threshold_output, element); + cv::dilate(threshold_output, threshold_output, element); + + /// Find contours + cv::findContours( threshold_output, cavities, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, cv::Point(0, 0) ); + + + /* + // Canny edge detection + cv::Canny(gray_image, canny_output, canny_threshold_, canny_threshold_ * canny_multiplier_, 3); + canny_output.copyTo(debug_image); + + */ + + //Filtering cavities based on area + //This works for detecting cavity since our cavities lie in specific range + for (int i = 0; i < cavities.size(); i++) + { + double area = std::fabs(cv::contourArea(cavities[i])); + //Filter on the area of the cavity from data collection + if (area < min_area_depth_image_ || area > max_area_depth_image_) + continue; + + std::vector approx_cavity; + cv::approxPolyDP( cv::Mat(cavities[i]), approx_cavity, + cv::arcLength(cv::Mat(cavities[i]), true)*approx_poly_epsilon_ , true ); + //Minimum cavities with 4 sides to be considered + if (approx_cavity.size() < 4) + continue; + + filtered_cavities.push_back(cavities[i]); + } + + + /// Approximate cavities to polygons + get bounding rects and circles + std::vector > cavities_poly( filtered_cavities.size() ); + std::vector boundRect( filtered_cavities.size() ); + std::vector center( filtered_cavities.size() ); + std::vectorradius( filtered_cavities.size() ); + + // filter the cavities so we keep only those in the bottom half of the image + for (int i = 0; i < filtered_cavities.size(); i++) + { + cv::approxPolyDP( cv::Mat(filtered_cavities[i]), cavities_poly[i], + cv::arcLength(cv::Mat(filtered_cavities[i]), true)*approx_poly_epsilon_ , true ); + + boundRect[i] = cv::boundingRect( cv::Mat(cavities_poly[i]) ); + //Increasing teh Bounded rectangel size by 30% + cv::Size deltaSize( boundRect[i].width * 0.3f, boundRect[i].height * 0.3f ); // 0.1f = 10/100 + cv::Point offset( deltaSize.width/2, deltaSize.height/2); + boundRect[i] += deltaSize; + boundRect[i] -= offset; + + //Finding minimum enclosing circle + minEnclosingCircle( (cv::Mat)cavities_poly[i], center[i], radius[i] ); + //Returnging the center of the cavities + centroids.push_back(center[i]); + } + + + + + //Converting bounding rectto points + std::vector > bounding_rect_points( filtered_cavities.size() ); + + /// Draw polygonal cavity + bonding rects + circles + small_image.copyTo(debug_image); + for( int i = 0; i< filtered_cavities.size(); i++ ) + { + bounding_rect_points[i] = pointsOnRectangle(boundRect[i]); + cv::Scalar color = cv::Scalar( rng.uniform(0, 255), rng.uniform(0,255), rng.uniform(0,255) ); + cv::rectangle( debug_image, boundRect[i].tl(), boundRect[i].br(), color, 2, 8, 0 ); + cv::drawContours( debug_image, bounding_rect_points, i, color, 1, 8, std::vector(), 0, cv::Point() ); + } + + return bounding_rect_points; +} + +std::vector CavityFinder::get3DCavities(const std::vector > &cavities, pcl::PCLPointCloud2::Ptr input_cloud) +{ + pcl::PointCloud::Ptr xyz_input_cloud(new pcl::PointCloud); + pcl::fromPCLPointCloud2(*input_cloud, *xyz_input_cloud); + + // loop through points in the 2D cavity and find their 3D positions in the given pointcloud + std::vector pcl_cavities; + + for (size_t i = 0; i < cavities.size(); i++) + { + pcl::PCLPointCloud2::Ptr pcl_cavity(new pcl::PCLPointCloud2); + pcl::PointCloud::Ptr xyz_cavity(new pcl::PointCloud); + + for (size_t j = 0; j < cavities[i].size(); j++) + { + pcl::PointXYZ pcl_point; + try { + pcl_point = xyz_input_cloud->at(cavities[i][j].x, cavities[i][j].y); + } catch (...) { + std::cout << "is empty"; + std::cout << xyz_input_cloud->points.empty() << std::endl; + std::cout << "x : " << cavities[i][j].x << "y : " << cavities[i][j].y << std::endl; + std::cout << "#########################" << std::endl; + std::cout << "ERROR :i : " << i << "j : " << j << std::endl; + std::cout << "#########################" << std::endl; + } + if ((!std::isnan(pcl_point.x)) && (!std::isnan(pcl_point.y)) && (!std::isnan(pcl_point.z) && (pcl_point.z >0.01))) + { + xyz_cavity->points.push_back(pcl_point); + } + + } + + // remove outliers in the pointcloud. this ensures the points are roughly on the same plane + xyz_cavity->header = xyz_input_cloud->header; + + if (xyz_cavity->points.size() > 0) + { + pcl::StatisticalOutlierRemoval sor; + sor.setInputCloud(xyz_cavity); + sor.setMeanK(50); + sor.setStddevMulThresh(3.0); + sor.filter(*xyz_cavity); + } + pcl::toPCLPointCloud2(*xyz_cavity, *pcl_cavity); + pcl_cavities.push_back(pcl_cavity); + } + + return pcl_cavities; +} + +void CavityFinder::setCannyThreshold(double canny_threshold) +{ + canny_threshold_ = canny_threshold; +} + +void CavityFinder::setCannyMultiplier(double canny_multiplier) +{ + canny_multiplier_ = canny_multiplier; +} + +void CavityFinder::setBinaryThreshold(double binary_threshold) +{ + binary_threshold_ = binary_threshold; +} + + +void CavityFinder::setEpsilonApproxPoly(double epsilon_approx_poly) +{ + approx_poly_epsilon_ = epsilon_approx_poly; +} + +void CavityFinder::setEpsilonFinerPoly(double epsilon_finer_poly) +{ + approx_poly_epsilon_finer_ = epsilon_finer_poly; +} + +void CavityFinder::setMinArea(double min_area_depth_image) +{ + min_area_depth_image_ = min_area_depth_image; +} + +void CavityFinder::setMaxArea(double max_area_depth_image) +{ + max_area_depth_image_ = max_area_depth_image; +} diff --git a/data/mir_perception/mir_cavity_detector/common/src/mir_cavity_detector/__init__.py b/data/mir_perception/mir_cavity_detector/common/src/mir_cavity_detector/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/data/mir_perception/mir_cavity_detector/common/src/mir_cavity_detector/mobileNet_classification.py b/data/mir_perception/mir_cavity_detector/common/src/mir_cavity_detector/mobileNet_classification.py new file mode 100644 index 0000000000000000000000000000000000000000..e588dc76f01b5f16050fad2604d12f436073f093 --- /dev/null +++ b/data/mir_perception/mir_cavity_detector/common/src/mir_cavity_detector/mobileNet_classification.py @@ -0,0 +1,78 @@ +import tensorflow as tf +import numpy as np + + +class mobileNet: + + def __init__(self, model_path): + + self.graph = self.load_graph(model_path) + self.input_layer = "Placeholder" + self.output_layer = "final_result" + self.dict = {0:"F20_20", 1:"M20", 2:"M20_100", 3:"M30", 4:"R20", 5:"S40_40"} + + def predict_one_label(self, image): + + # graph = self.load_graph(model_path) + preprocessed_image = self.preprocess_image(image) + + input_name = "import/" + self.input_layer + output_name = "import/" + self.output_layer + input_operation = self.graph.get_operation_by_name(input_name) + output_operation = self.graph.get_operation_by_name(output_name) + + with tf.Session(graph=self.graph) as sess: + results = sess.run(output_operation.outputs[0],{ + input_operation.outputs[0]: preprocessed_image + }) + + results = np.squeeze(results) + highest_probability_index = np.argmax(results) + top_k = results.argsort()[-5:][::-1] + # labels = load_labels(label_file) + # print ("predicted label ", self.dict[highest_probability_index]) + + # for i in top_k: + # print(self.dict[i], results[i]) + + + return self.dict[highest_probability_index] + + + def load_graph(self, path): + + + graph = tf.Graph() + graph_def = tf.GraphDef() + + with open(path, "rb") as f: + graph_def.ParseFromString(f.read()) + with graph.as_default(): + tf.import_graph_def(graph_def) + + return graph + + + + def preprocess_image(self, image): + + + input_width=96 + input_height=96 + input_mean=0 + input_std=255 + # read the img from file + # img_file = tf.read_file(image_path) + + # img_decoded = tf.image.decode_image(image, channels=3) + + float_caster = tf.cast(image, tf.float32) + dims_expander = tf.expand_dims(float_caster, 0) + # resize may be necessary for real time images + resized = tf.image.resize_bilinear(dims_expander, [input_width, input_height]) + normalized = tf.divide(tf.subtract(resized, [input_mean]), [input_std]) + + sess = tf.Session() + result = sess.run(normalized) + + return result \ No newline at end of file diff --git a/data/mir_perception/mir_cavity_detector/package.xml b/data/mir_perception/mir_cavity_detector/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..0df8323d056b856feedae4648ae282a846ef4254 --- /dev/null +++ b/data/mir_perception/mir_cavity_detector/package.xml @@ -0,0 +1,32 @@ + + + mir_cavity_detector + 0.1.0 + + Node to find 2D cavities in an image and convert to 3D cavities. + Node to match 3D cavities with a template. + + + Deebul Nair + + Deebul Nair + Santosh Thoduka + Bipin Kumar + + GPLv3 + + catkin + + sensor_msgs + std_msgs + mas_perception_msgs + cv_bridge + dynamic_reconfigure + image_transport + roscpp + libpcl-all-dev + + roslaunch + rostest + + diff --git a/data/mir_perception/mir_cavity_detector/ros/config/CavityFinder.cfg b/data/mir_perception/mir_cavity_detector/ros/config/CavityFinder.cfg new file mode 100644 index 0000000000000000000000000000000000000000..63bcfe44c3388211c3e0e66842a9dc52d48c60ca --- /dev/null +++ b/data/mir_perception/mir_cavity_detector/ros/config/CavityFinder.cfg @@ -0,0 +1,16 @@ +#!/usr/bin/env python3 + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() +# Name Type Level Description Default Min Max +gen.add("canny_threshold", double_t, 0, "Canny Edge Detection Threshold", 220, 0, 255) +gen.add("canny_multiplier", double_t, 0, "Canny Edge Detection Multiplier", 3, 1, 5) +gen.add("binary_threshold", double_t, 0, "Binary threshold ", 62, 0, 100) +gen.add("epsilon_approx_poly", double_t, 0, "epsilon approx poly", 0.03, 0.001, 1) +gen.add("epsilon_finer_poly", double_t, 0, "epsilon finer poly", 0.012, 0.001, 1) +gen.add("offset_in_z", double_t, 0, "pose offset in Z", 0.055, 0.01, 0.2) +gen.add("min_area_depth_image", double_t, 0, "min area to filter out cavities in depth image", 450, 400, 2000) +gen.add("max_area_depth_image", double_t, 0, "max area to filter out cavities in depth image", 12000, 10000, 20000) + +exit(gen.generate("mir_cavity_detector", "cavity_finder", "CavityFinder")) diff --git a/data/mir_perception/mir_cavity_detector/ros/include/mir_cavity_detector/cavity_finder_ros.h b/data/mir_perception/mir_cavity_detector/ros/include/mir_cavity_detector/cavity_finder_ros.h new file mode 100644 index 0000000000000000000000000000000000000000..af5fb58eb55ba31aeefc1be84bd18eaf6338829d --- /dev/null +++ b/data/mir_perception/mir_cavity_detector/ros/include/mir_cavity_detector/cavity_finder_ros.h @@ -0,0 +1,244 @@ +#ifndef CONTOUR_FINDER_ROS_H_ +#define CONTOUR_FINDER_ROS_H_ + +#include +#include + +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +/** + * ROS interface for cavity finder + * Subscribes to: + * -pointcloud: pointcloud in which to find cavities + * + * Publishes: + * -cavity pointclouds: array of cavities as pointclouds + * -debug rgb image: debug image showing detected edges in the 2D rgb image + * -debug depth image: debug image showing detected edges in the 2D depth image + */ +class CavityFinderROS +{ +public: + /** + * Constructor + */ + CavityFinderROS(); + /** + * Destructor + */ + virtual ~CavityFinderROS(); + /** + * If pointcloud message has been received, the findCavities function is called. + * This function can be called once or periodically. + */ + void update(); + + +private: + /** + * Copy constructor. + */ + CavityFinderROS(const CavityFinderROS &other); + + /** + * Copy assignment operator. + */ + CavityFinderROS &operator=(CavityFinderROS other); + + /** + * Callback for pointcloud. Saves the pointcloud message. + * + * @param msg + * sensor_msgs::PointCloud2 message + */ + void pointcloudCallback(const sensor_msgs::PointCloud2::Ptr &msg); + + /** + * Callback for rgb image + * + * @param msg + * sensor_msgs::Image message + */ + void imageCallback(const sensor_msgs::ImageConstPtr &msg); + + void dummyImageCallback(const sensor_msgs::ImageConstPtr &msg); + /** + * Callback for cavities list + * + * @param msg + * sensor_msgs::ObjectList message + */ + void cavitiesCallback(const mas_perception_msgs::ObjectList &msg); + + /** + * Callback for event_in topic. Starts subscription to pointcloud if event_in is "e_trigger" + */ + void eventInCallback(const std_msgs::String &msg); + + /** + * Callback for dynamic reconfigure server to set canny threshold and multiplier + */ + void dynamicReconfigCallback(mir_cavity_detector::CavityFinderConfig &config, uint32_t level); + + /** + * Finds 2D cavities and the corresponding 3D cavities and publishes the array of 3D cavities as pointclouds + */ + void findCavities(); + + + + /** + * estimate pose of 3d cavities + */ + geometry_msgs::PoseArray estimatePose(std::vector &pcl_cavities); + /** + * Publish cavity message + */ + void publish_cavity_msg(geometry_msgs::PoseArray& pose_array, std::vector& cavities_name); +private: + /** + * Object of CavityFinder + */ + CavityFinder cavity_finder_; + + ros::Publisher pub_cropped_cavities_; + + /** + * Node handle + */ + ros::NodeHandle nh_; + + /** + * Image transport handle + */ + image_transport::ImageTransport it_; + /** + * Subscriber for input pointcloud + */ + ros::Subscriber sub_pointcloud_; + + /** + * Subscriber for input image + */ + image_transport::Subscriber sub_image_; + image_transport::Subscriber tmp_sub_image_; + /** + * Subscriber for event_in topic + */ + ros::Subscriber sub_event_in_; + /** + * Subscribe cavities name + */ + ros::Subscriber sub_cavities_name; + /** + * Publisher for event_out topic + */ + ros::Publisher pub_event_out_; + + /** + * Publisher for 3D cavities list + */ + ros::Publisher pub_cavity_pointclouds_; + + /** + * Publisher for 3D cavities as a single pointcloud + */ + ros::Publisher pub_cavity_pointclouds_combined_; + + /** + * Publisher for pose of 3D cavities + */ + ros::Publisher pub_pose_; + /** + * Publisher for cavity message + */ + ros::Publisher pub_cavity_ ; + /** + * Publisher for debug image showing edges + */ + image_transport::Publisher pub_rgb_debug_image_; + /** + * Publisher for debug image showing edges + */ + image_transport::Publisher pub_depth_debug_image_; + /** + * Used to store pointcloud message received in callback + */ + sensor_msgs::PointCloud2::Ptr pointcloud_msg_; + + /** + * Used to store rgb image message received in callback + */ + sensor_msgs::ImageConstPtr rgb_image_; + /** + * Dynamic reconfigure server + */ + dynamic_reconfigure::Server dynamic_reconfigure_server_; + + /** + * Flag indicating whether pointcloud has been received + */ + bool pointcloud_msg_received_; + /** + * Flag indicating whether has been received + */ + bool img_msg_received_; + + /** + * int indicating cavities received + */ + int cavity_msg_received_count_; + /** + * Flag indicating whether has been received + */ + double offset_in_z_; + + /** + * Hack Bug in Realsnese camera + * https://mas.b-it-center.de/gitgate/mas-group/realsense_camera/issues/2 + * Need to receive the cloud image twice + */ + int pointcloud_msg_received_count_; + int img_msg_received_count_ ; + + /** + * Flag indicating whether debug image should be published + */ + bool publish_debug_image_; + /** + * Stores the target frame to which transformation has to be made + */ + std::string target_frame_; + + /** + * Stores the source frame from which the transformation has to be made + */ + std::string source_frame_; + + /** + * vector to store cavities name + */ + // std::vector cavities_names_; + mas_perception_msgs::ObjectList cavity_list_; + /** + * Object to TransformLister class handle frame transformations + */ + tf::TransformListener listener_; + + /** + * filter 2d cavities based on 3d cavities + */ + void filterCavities(std::vector > &cavities, std::vector &pcl_cavities, std::vector ¢roids); +}; + +#endif diff --git a/data/mir_perception/mir_cavity_detector/ros/launch/cavity_classifier.launch b/data/mir_perception/mir_cavity_detector/ros/launch/cavity_classifier.launch new file mode 100644 index 0000000000000000000000000000000000000000..78f868090616d43da28404fe341daf4faa6e864a --- /dev/null +++ b/data/mir_perception/mir_cavity_detector/ros/launch/cavity_classifier.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/data/mir_perception/mir_cavity_detector/ros/launch/cavity_detector.launch b/data/mir_perception/mir_cavity_detector/ros/launch/cavity_detector.launch new file mode 100644 index 0000000000000000000000000000000000000000..5bdc5becac879d70f9d26973265ec67ea12cb780 --- /dev/null +++ b/data/mir_perception/mir_cavity_detector/ros/launch/cavity_detector.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/data/mir_perception/mir_cavity_detector/ros/launch/detector_selector_cavity.launch b/data/mir_perception/mir_cavity_detector/ros/launch/detector_selector_cavity.launch new file mode 100644 index 0000000000000000000000000000000000000000..125c3295db3703135d6628d26ea76133bbfcb425 --- /dev/null +++ b/data/mir_perception/mir_cavity_detector/ros/launch/detector_selector_cavity.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_perception/mir_cavity_detector/ros/src/cavity_classifier_node.py b/data/mir_perception/mir_cavity_detector/ros/src/cavity_classifier_node.py new file mode 100644 index 0000000000000000000000000000000000000000..f86382415bb852fec2015521aae9c9b2cee00371 --- /dev/null +++ b/data/mir_perception/mir_cavity_detector/ros/src/cavity_classifier_node.py @@ -0,0 +1,135 @@ +#!/usr/bin/env python3 +from __future__ import print_function +from datetime import datetime +from mir_cavity_detector.mobileNet_classification import mobileNet +import colorsys +import struct +from sensor_msgs.msg import Image, RegionOfInterest +from mas_perception_msgs.msg import ImageList, ObjectList, Object +import time +import numpy as np +import pickle +from cv_bridge import CvBridge, CvBridgeError +import cv2 +import rospy +import roslib +import sys +import os + +PACKAGE = "mir_cavity_detector" +NODE = "cavity_classifier" + + +class CavityRecognizer(): + + def __init__(self, model_dir, model_name, debug_mode=False): + + self.cvbridge = CvBridge() + self.debug = debug_mode + self.pub_result = rospy.Publisher( + "/mir_perception/cavity_finder/output/cavities_list", ObjectList, queue_size=1) + self.sub_img = rospy.Subscriber( + "/mir_perception/cavity_finder/output/cropped_cavities", ImageList, self.image_recognition_cb) + self.pub_debug = rospy.Publisher( + "/mir_perception/cavity_finder/output/classifier_debug_image", Image, queue_size=1) + self.model_name = model_name + self.model_path = model_dir + self.model = mobileNet(model_dir + model_name) + + rospy.loginfo("RGB Recognizer is ready using [%s]", self.model_name) + + def image_recognition_cb(self, img_msg): + + if img_msg.images: + result_list = ObjectList() + cavities_labels = [] + rospy.loginfo("[{}] images received: {} ".format( + len(img_msg.images), self.model_name)) + now = datetime.now() + concat_images = np.zeros((96, 96)) + font = cv2.FONT_HERSHEY_SIMPLEX + count = 0 + + for img in img_msg.images: + + print("count ", count) + + try: + result = Object() + time = now.strftime("%H:%M:%S") + cv_image = self.cvbridge.imgmsg_to_cv2(img, "bgr8") + label = self.model.predict_one_label(cv_image) + cv2.imwrite("/tmp/mobileNet_"+str(label) + + str(time)+".jpg", cv_image) + cv2.putText(cv_image, str(label), (0, 20), font, + 1, (200, 255, 155), 2, cv2.LINE_AA) + ''' + if count == 0: + cv2.resize(cv_image, (96,96)) + concat_images = cv_image + else: + cv2.resize(cv_image, (96,96)) + concat_images = np.hstack((concat_images, cv_image)) + ''' + # self.publish_debug_image(cv_image) + + count += 1 + print("predicted label ", label) + # cavities_labels.append(label) + result.name = label + cavities_labels.append(result) + # Publish result_list + #print ("cavities_labels ", cavities_labels) + + except CvBridgeError as e: + print("inside except cv bridge") + print(e) + return + + cv2.imwrite("/tmp/classifier_image.jpg", concat_images) + # self.publish_debug_img(concat_images) + # self.pub_classifier_debug_image.publish(concat_images) + result_list.objects = cavities_labels + self.pub_result.publish(result_list) + + def publish_debug_img(self, debug_img): + #debug_img = np.array(debug_img, dtype=np.uint8) + debug_img = self.cvbridge.cv2_to_imgmsg(debug_img, "bgr8") + self.pub_debug.publish(debug_img) + + +if __name__ == '__main__': + rospy.init_node(NODE) + rospy.loginfo('Started Cavity Classification Node') + + path = "trained_model/" + dataset_dir = os.path.join(roslib.packages.get_pkg_dir(PACKAGE), path) + + while not rospy.is_shutdown(): + object_recognizer = CavityRecognizer( + model_dir=dataset_dir, model_name="output_graph.pb", debug_mode=True) + rospy.sleep(0.025) + rospy.spin() + + +# #!/usr/bin/env python + +# import rospy +# from std_msgs.msg import String + +# def talker(): + +# pub = rospy.Publisher('chatter', String, queue_size=10) +# rospy.init_node('talker', anonymous=True) +# rate = rospy.Rate(10) # 10hz +# while not rospy.is_shutdown(): +# hello_str = "hello world %s" % rospy.get_time() +# rospy.loginfo(hello_str) +# pub.publish(hello_str) +# rate.sleep() + +# if __name__ == '__main__': +# try: +# talker() +# except rospy.ROSInterruptException: +# pass diff --git a/data/mir_perception/mir_cavity_detector/ros/src/cavity_finder_node.cpp b/data/mir_perception/mir_cavity_detector/ros/src/cavity_finder_node.cpp new file mode 100644 index 0000000000000000000000000000000000000000..c9a84a1d51601055c2c765736e8343e4a11f6392 --- /dev/null +++ b/data/mir_perception/mir_cavity_detector/ros/src/cavity_finder_node.cpp @@ -0,0 +1,26 @@ +#include +#include + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "cavity_finder"); + ros::NodeHandle nh("~"); + + int frame_rate = 30; // in Hz + CavityFinderROS cavity_finder_ros_; + + nh.param("frame_rate", frame_rate, 30); + ROS_INFO("[cavity_finder] node started"); + + ros::Rate loop_rate(frame_rate); + + while (ros::ok()) + { + cavity_finder_ros_.update(); + + loop_rate.sleep(); + ros::spinOnce(); + } + + return 0; +} diff --git a/data/mir_perception/mir_cavity_detector/ros/src/cavity_finder_ros.cpp b/data/mir_perception/mir_cavity_detector/ros/src/cavity_finder_ros.cpp new file mode 100644 index 0000000000000000000000000000000000000000..52ceeb18ca07a6b4cc7e9f03c0bc374ecd37a37b --- /dev/null +++ b/data/mir_perception/mir_cavity_detector/ros/src/cavity_finder_ros.cpp @@ -0,0 +1,444 @@ +#include + +#include +#include +#include +#include + +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +CavityFinderROS::CavityFinderROS() : nh_("~"), it_(nh_),pointcloud_msg_received_(false), publish_debug_image_(true), + img_msg_received_(false), cavity_msg_received_count_(0), img_msg_received_count_(0),pointcloud_msg_received_count_(0), + offset_in_z_(0.055) +{ + dynamic_reconfigure_server_.setCallback(boost::bind(&CavityFinderROS::dynamicReconfigCallback, this, _1, _2)); + pub_cavity_pointclouds_ = nh_.advertise("output/pointclouds", 1); + pub_cavity_pointclouds_combined_ = nh_.advertise("output/pointclouds_combined", 1); + pub_rgb_debug_image_ = it_.advertise("output/rgb_debug_image", 1); + pub_depth_debug_image_ = it_.advertise("output/depth_debug_image", 1); + pub_pose_ = nh_.advertise("output/pose", 1); + pub_cavity_ = nh_.advertise("output/cavity", 10); + pub_cropped_cavities_ = nh_.advertise("output/cropped_cavities", 10); + + sub_cavities_name = nh_.subscribe("output/cavities_list", 10, &CavityFinderROS::cavitiesCallback, this); + + sub_event_in_ = nh_.subscribe("input/event_in", 1, &CavityFinderROS::eventInCallback, this); + pub_event_out_ = nh_.advertise("output/event_out", 1 ); + + nh_.param("target_frame", target_frame_, "base_link"); + nh_.param("source_frame", source_frame_, "arm_cam4d_rgb_optical_frame"); +} + +CavityFinderROS::~CavityFinderROS() +{ +} + +void CavityFinderROS::update() +{ + //if (pointcloud_msg_received_ && img_msg_received_) + if (pointcloud_msg_received_count_ > 1 && img_msg_received_count_ > 1 ) + { + pointcloud_msg_received_ = false; + img_msg_received_ = false; + pointcloud_msg_received_count_ = 0; + img_msg_received_count_ = 0; + sub_pointcloud_.shutdown(); + sub_image_.shutdown(); + tmp_sub_image_.shutdown(); + findCavities(); + /* sub_cavities_name.shutdown(); */ + } +} + +void CavityFinderROS::pointcloudCallback(const sensor_msgs::PointCloud2::Ptr &msg) +{ + if (! pointcloud_msg_received_ ) + { + ROS_INFO("[cavity_finder_ros] Received pointcloud message"); + pointcloud_msg_ = msg; + //pointcloud_msg_received_ = true; + pointcloud_msg_received_count_ += 1; + //sub_pointcloud_.shutdown(); + } +} + +void CavityFinderROS::imageCallback(const sensor_msgs::ImageConstPtr &msg) +{ + if (! img_msg_received_) + { + ROS_INFO("[cavity_finder_ros] Received rgb image "); + rgb_image_ = msg; + //img_msg_received_ = true; + img_msg_received_count_ += 1; + //sub_image_.shutdown(); + } +} + + +void CavityFinderROS::cavitiesCallback(const mas_perception_msgs::ObjectList &msg) +{ + + ROS_INFO("Received cavities name callback "); + if (cavity_msg_received_count_ < 1) + { + cavity_list_ = msg; + cavity_msg_received_count_ += 1; + } + +} + +void CavityFinderROS::eventInCallback(const std_msgs::String &msg) +{ + if (msg.data == "e_trigger") + { + cavity_list_.objects.clear(); + cavity_msg_received_count_ = 0; + sub_pointcloud_ = nh_.subscribe("input/pointcloud", 1, &CavityFinderROS::pointcloudCallback, this); + /* sub_cavities_name = nh_.subscribe("output/cavities_list", 10, &CavityFinderROS::cavitiesCallback, this); */ + sub_image_ = it_.subscribe("image", 1, &CavityFinderROS::imageCallback, this); + ROS_INFO("Subscribed to pointcloud and RGB image"); + } +} + +void CavityFinderROS::dynamicReconfigCallback(mir_cavity_detector::CavityFinderConfig &config, uint32_t level) +{ + cavity_finder_.setCannyThreshold(config.canny_threshold); + cavity_finder_.setCannyMultiplier(config.canny_multiplier); + cavity_finder_.setBinaryThreshold(config.binary_threshold); + cavity_finder_.setEpsilonApproxPoly(config.epsilon_approx_poly); + cavity_finder_.setEpsilonFinerPoly(config.epsilon_finer_poly); + cavity_finder_.setMinArea(config.min_area_depth_image); + cavity_finder_.setMaxArea(config.max_area_depth_image); + offset_in_z_ = config.offset_in_z; +} + +void CavityFinderROS::findCavities() +{ + //Output message to publish on event_out + std_msgs::String output_msg; + + pcl::PCLPointCloud2::Ptr pcl_input_cloud(new pcl::PCLPointCloud2); + + // Convert to PCL data type + pcl_conversions::toPCL(*pointcloud_msg_, *pcl_input_cloud); + + pcl::PCLImage pcl_image; + pcl::toPCLPointCloud2(*pcl_input_cloud, pcl_image); + + sensor_msgs::ImagePtr image_msg = boost::make_shared(); + pcl_conversions::moveFromPCL(pcl_image, *image_msg); + cv_bridge::CvImagePtr cv_image = cv_bridge::toCvCopy(image_msg, sensor_msgs::image_encodings::BGR8); + + // Detect Bounding rect and the cavities + cv::Mat depth_debug_image; + std::vector centroids; + + std::vector > cavities = cavity_finder_.find2DCavities(cv_image->image, + depth_debug_image, + centroids); + ROS_INFO("[cavity_finder_ros] Found %i cavities", (int)cavities.size()); + if (cavities.size() == 0) + { + ROS_ERROR("[cavity_finder_ros] No %i cavities found", (int)cavities.size()); + output_msg.data = std::string("e_failed"); + pub_event_out_.publish(output_msg); + return; + } + + std::vector pcl_cavities = cavity_finder_.get3DCavities(cavities, pcl_input_cloud); + + ROS_INFO("[cavity_finder_ros] Found %i pcl cavities", (int)pcl_cavities.size()); + + filterCavities(cavities, pcl_cavities, centroids); + + ROS_INFO_STREAM("cavities " << (int)cavities.size() << "; pcl cavities" << (int)pcl_cavities.size()); + + mas_perception_msgs::PointCloud2List ros_cavities; + + for (size_t i = 0; i < pcl_cavities.size(); i++) + { + sensor_msgs::PointCloud2 ros_pointcloud; + ros_pointcloud.header = pointcloud_msg_->header; + // Convert to ROS data type + pcl_conversions::fromPCL(*(pcl_cavities[i]), ros_pointcloud); + ros_cavities.pointclouds.push_back(ros_pointcloud); + } + + // Publish the cavities + pub_cavity_pointclouds_.publish(ros_cavities); + + // Publish pose of cavity + geometry_msgs::PoseArray pose_array = estimatePose(pcl_cavities); + + //Recognize the 2d Cavities + cv_bridge::CvImagePtr cv_rgb_image = cv_bridge::toCvCopy(rgb_image_, sensor_msgs::image_encodings::BGR8); + cv::Mat rgb_debug_image; + mas_perception_msgs::ImageList image_list; + std::vector cropped_cavities; + std::vector cavities_name_cv = cavity_finder_.recognize2DCavities(cv_rgb_image->image, + rgb_debug_image, + cropped_cavities, + centroids); + + + // store cropped cavities in image list and publish it + image_list.images.resize(centroids.size()); + + cv_bridge::CvImage img_bridge; + sensor_msgs::Image img_msg; // >> message to be sent + + std_msgs::Header header; // empty header + header.seq = 1; // user defined counter + header.stamp = ros::Time::now(); // time + + for( int i = 0; i< centroids.size(); i++ ) + { + img_bridge = cv_bridge::CvImage(header, sensor_msgs::image_encodings::RGB8, cropped_cavities[i]); + img_bridge.toImageMsg(img_msg); // from cv_bridge to sensor_msgs::Image + image_list.images[i] = img_msg; + } + + // ROS_INFO("publishing images "); + pub_cropped_cavities_.publish(image_list); + + // get name of cavities from topic + std::vector cavities_name; + // ROS_INFO_STREAM("cavity_msg value " << cavity_msg_received_count_); + int frame_rate = 30; + ros::Rate loop_rate(frame_rate); + + while (cavity_msg_received_count_ == 0){ + + loop_rate.sleep(); + ros::spinOnce(); + + } + + if (cavity_msg_received_count_ > 0) + { + + // ROS_INFO_STREAM("cavity_list_.objects[i].name) " << cavity_list_.objects[0].name); + // ROS_INFO_STREAM("cavity_msg_received_count_ true "); + for (int i = 0; i < cavity_list_.objects.size(); i++) + { + ROS_INFO_STREAM("predicted cavities" << cavity_list_.objects[i].name); + cavities_name.push_back(cavity_list_.objects[i].name); + } + + // ROS_INFO_STREAM("cavities name " << cavities_name_sam.size()); + // ROS_INFO_STREAM("cavities name " << cavities_name_sam); + } + + bool cavity_alt_approach = false; + + ROS_INFO("cavities name subscribed"); + ROS_INFO_STREAM("pose array " << pose_array.poses.size() << " cavities name " << cavities_name.size()); + //std::cout<<"cavities name " << cavities_name; + publish_cavity_msg(pose_array, cavities_name); + if (publish_debug_image_) + { + cv_bridge::CvImage debug_image_msg; + debug_image_msg.encoding = sensor_msgs::image_encodings::RGB8; + debug_image_msg.image = depth_debug_image; + pub_depth_debug_image_.publish(debug_image_msg.toImageMsg()); + + debug_image_msg.encoding = sensor_msgs::image_encodings::RGB8; + debug_image_msg.image = rgb_debug_image; + pub_rgb_debug_image_.publish(debug_image_msg.toImageMsg()); + + pcl::PointCloud::Ptr cavities_combined(new pcl::PointCloud); + for (size_t i = 0; i < pcl_cavities.size(); i++) + { + pcl::PointCloud::Ptr xyz_cavity(new pcl::PointCloud); + pcl::fromPCLPointCloud2(*(pcl_cavities[i]), *xyz_cavity); + if (i == 0) + { + *cavities_combined = *xyz_cavity; + } + else + { + *(cavities_combined) += *xyz_cavity; + } + } + + sensor_msgs::PointCloud2 ros_pointcloud; + pcl::PCLPointCloud2::Ptr pcl_cavity(new pcl::PCLPointCloud2); + pcl::toPCLPointCloud2(*cavities_combined, *pcl_cavity); + pcl_conversions::fromPCL(*pcl_cavity, ros_pointcloud); + ros_pointcloud.header = pointcloud_msg_->header; + pub_cavity_pointclouds_combined_.publish(pcl_cavity); + } + + + output_msg.data = std::string("e_done"); + pub_event_out_.publish(output_msg); + return; +} + + +// Based on code by Nicola Fioraio here: +// http://www.pcl-users.org/Finding-oriented-bounding-box-of-a-cloud-td4024616.html +geometry_msgs::PoseArray CavityFinderROS::estimatePose(std::vector &pcl_cavities) +{ + geometry_msgs::PoseArray pose_array; + + for (size_t i = 0; i < pcl_cavities.size(); i++) + { + //pcl::PCLPointCloud2::Ptr pcl_input_cloud(new pcl::PCLPointCloud2); + + //pcl_conversions::toPCL(*pointcloud_msg_, *pcl_input_cloud); + + pcl::PointCloud::Ptr xyz_input_cloud(new pcl::PointCloud); + pcl::fromPCLPointCloud2(*(pcl_cavities[i]), *xyz_input_cloud); + + Eigen::Vector4f centroid; + pcl::compute3DCentroid(*xyz_input_cloud, centroid); + + Eigen::Matrix3f covariance; + pcl::computeCovarianceMatrixNormalized(*xyz_input_cloud, centroid, covariance); + + Eigen::SelfAdjointEigenSolver eigen_solver(covariance, Eigen::ComputeEigenvectors); + Eigen::Matrix3f eigen_vectors = eigen_solver.eigenvectors(); + + // swap largest and second largest eigenvector so that y-axis aligns with largest eigenvector and z with the second largest + eigen_vectors.col(0).swap(eigen_vectors.col(2)); + eigen_vectors.col(1) = eigen_vectors.col(2).cross(eigen_vectors.col(0)); + + Eigen::Matrix4f eigen_vector_transform(Eigen::Matrix4f::Identity()); + eigen_vector_transform.block<3, 3>(0, 0) = eigen_vectors.transpose(); + eigen_vector_transform.block<3, 1>(0, 3) = -(eigen_vector_transform.block<3, 3>(0, 0) * centroid.head<3>()); + + // transform cloud to eigenvector space + pcl::PointCloud transformed_cloud; + pcl::transformPointCloud(*xyz_input_cloud, transformed_cloud, eigen_vector_transform); + + // find mean diagonal + pcl::PointXYZ min_point, max_point; + pcl::getMinMax3D(transformed_cloud, min_point, max_point); + Eigen::Vector3f mean_diag = (max_point.getVector3fMap() + min_point.getVector3fMap()) / 2.0; + + // orientation and position of bounding box of cloud + Eigen::Quaternionf orientation(eigen_vectors); + Eigen::Vector3f position = eigen_vectors * mean_diag + centroid.head<3>(); + + geometry_msgs::PoseStamped pose_stamped; + pose_stamped.pose.position.x = position(0); + pose_stamped.pose.position.y = position(1); + pose_stamped.pose.position.z = position(2) + 0.002; + pose_stamped.pose.orientation.w = orientation.w(); + pose_stamped.pose.orientation.x = orientation.x(); + pose_stamped.pose.orientation.y = orientation.y(); + pose_stamped.pose.orientation.z = orientation.z(); + pose_stamped.header = pointcloud_msg_->header; + //std::cout<<"frame id "< 5.49) && (yaw < 0.785)) || ((yaw > 2.35) && (yaw < 3.92))) + yaw = 0; + else if (((yaw > 0.785) && (yaw < 2.35)) || ((yaw > 3.92) && (yaw < 5.49))) + yaw = 1.57; + + pose_in_baselink_stamped.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(0, 0, yaw); + pose_in_baselink_stamped.pose.position.z += offset_in_z_; + + pose_array.header = pose_in_baselink_stamped.header; + + //std::cout<<"baselink stampled frame id"<& cavities_name) + +{ + // ROS_INFO("Inside publish cavitiy msg "); + if (pose_array.poses.size() != cavities_name.size()) + { + ROS_ERROR_STREAM("Error in sizes of pose array " << pose_array.poses.size() << " and cavities name " << cavities_name.size()); + return; + } + + for (int i = 0; i< cavities_name.size(); i++) + { + + mas_perception_msgs::Cavity cavity; + + cavity.pose.header = pose_array.header; + cavity.pose.pose = pose_array.poses[i]; + //ROS_INFO_STREAM("pose fream id in for loop " < > &cavities, std::vector &pcl_cavities, std::vector ¢roids) +{ + std::vector >::iterator cavities_it; + std::vector::iterator pcl_cavities_it; + std::vector::iterator centroids_it; + for (cavities_it = cavities.begin(), + pcl_cavities_it = pcl_cavities.begin(), + centroids_it = centroids.begin(); + cavities_it != cavities.end(), + pcl_cavities_it != pcl_cavities.end(), + centroids_it != centroids.end();) + { + if ((*pcl_cavities_it)->data.empty()) + { + cavities_it = cavities.erase(cavities_it); + pcl_cavities_it = pcl_cavities.erase(pcl_cavities_it); + centroids_it = centroids.erase(centroids_it); + } + else + { + ++cavities_it; + ++pcl_cavities_it; + ++centroids_it; + } + } +} diff --git a/data/mir_perception/mir_cavity_detector/ros/src/wiggle_motion.py b/data/mir_perception/mir_cavity_detector/ros/src/wiggle_motion.py new file mode 100644 index 0000000000000000000000000000000000000000..22904637aa9a5313586e097ca975767f36fda8f2 --- /dev/null +++ b/data/mir_perception/mir_cavity_detector/ros/src/wiggle_motion.py @@ -0,0 +1,215 @@ +import numpy as np +import tf +import rospy +# import time +import std_msgs +from geometry_msgs.msg import PointStamped, TwistStamped, PoseArray, PoseStamped, Point, Pose +from nav_msgs.msg import Path +from mir_trajectory_executor import mir_trajectory_velocity_generator +#import matplotlib.pyplot as plt + +class mir_trajectory_executor_ros: + + def __init__(self): + + ''' + INITIALIZERS + ''' + self.velocity_generator = mir_trajectory_veloctiy_generator(rospy.get_param('~max_cartesian_velocity')) + self.tf_listener = tf.TransformListener() + self.waypoints = PointStamped() + self.event = None + self.path = None + self.start_end = None + + ''' + PARAMETERS + ''' + self.max_velocity = rospy.get_param('~max_velocity') + self.feedforward_gain = rospy.get_param('~feedforward_gain') + self.feedback_gain = rospy.get_param('~feedback_gain') + self.x_offset = 0.005 + self.number_of_sampling_points = 30 + self.goal_tolerance = 0.001 + self.cluster_tolerance = 0.002 + self.touch_down_tolerance = 0.001 + self.touch_down_distance = 0.021 + self.loop_rate = rospy.Rate(rospy.get_param('~loop_rate', 10)) # Node cycle rate (in hz) + + ''' + PUBLISHERS + ''' + self.velocity_pub = rospy.Publisher('~cartesian_velocity_command', TwistStamped, queue_size=1) + self.cluster_pub = rospy.Publisher('~line_tracing_path', Path, queue_size=1) + self.event_pub = rospy.Publisher("~event_out", std_msgs.msg.String, queue_size=1) + + ''' + SUBSCRIBERS + ''' + rospy.Subscriber('~cartetian_trajectory_waypoints', PoseArray, self.waypoint_sub_cb) + rospy.Subscriber("~event_in", std_msgs.msg.String, self.event_in_cb) + + ''' + CALLBACK FUNCTIONS + ''' + + def event_in_cb(self, msg): + """ + Starts a planned motion based on the specified arm position. + """ + rospy.loginfo("event_in recieved") + self.event = msg.data + + ''' + STATE MACHINE + ''' + def start(self): + """ + Starts the component. + """ + rospy.loginfo("Ready to start now...") + state = 'INIT' + + while not rospy.is_shutdown(): + + if state == 'INIT': + state = self.init_state() + elif state == 'IDLE': + state = self.idle_state() + elif state == 'RUNNING': + state = self.running_state() + + rospy.logdebug("State: {0}".format(state)) + self.loop_rate.sleep() + + def init_state(self): + """ + Executes the INIT state of the state machine. + + :return: The updated state. + :rtype: str + + """ + if self.event == 'e_start': + return 'IDLE' + elif self.event == 'e_stop': + self.reset_component_data() + self.event_pub.publish('e_stopped') + return 'INIT' + else: + return 'INIT' + + def idle_state(self): + """ + Executes the IDLE state of the state machine. + + :return: The updated state. + :rtype: str + + """ + + if self.event == 'e_stop': + self.reset_component_data() + self.event_pub.publish('e_stopped') + return 'INIT' + elif self.path.any != None: + return 'RUNNING' + elif self.path == None and self.event == 'e_start': + rospy.loginfo('Path not recieved') + self.event_pub.publish('e_failure') + self.event = None + return 'IDLE' + + def running_state(self): + """ + Executes the RUNNING state of the state machine. + + :return: The updated state. + :rtype: str + + """ + if self.event == 'e_stop': + self.reset_component_data() + self.event_pub.publish('e_stopped') + return 'INIT' + else: + self.execute() + self.event_pub.publish('e_success') + self.reset_component_data() + return 'INIT' + + ''' + USER-DEFINED FUNCTIONS + ''' + def reset_component_data(self): + """ + Clears the data of the component. + """ + self.event = None + self.path = None + self.points = None + + def extract_current_pose(self): + while True and not rospy.is_shutdown(): + try: + (trans,rot) = self.tf_listener.lookupTransform('/base_link', '/arm_link_5', rospy.Time(0)) + return trans,rot + except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException): + continue + + def trace_curve(self): + + rospy.loginfo("Line tracing started") + self.trajectory_controller() + self.path = None + + def trajectory_controller(target): + + trans,rot = self.extract_current_pose() + current_pos = np.array([trans[0], trans[1], 0.0]) + + distance = np.linalg.norm(target - current_pos) + print "final pos is ", path[:,-1] + + while distance > self.goal_tolerance and self.event != 'e_stop': + + + vel_x = self.feedback_gain * (target[0] - current_pos[0]) + vel_y = self.feedback_gain * (target[1] - current_pos[1]) + vel_z = 0.0 # vel_z should be zero + + message = TwistStamped() + message.header.seq = count + message.header.frame_id = "/base_link" + message.twist.linear.x = vel_x + message.twist.linear.y = vel_y + message.twist.linear.z = vel_z + self.velocity_pub.publish(message) + + trans,rot = self.get_current_pose() + current_pos = np.array([trans[0], trans[1], 0.0]) + distance = np.linalg.norm(path[:,-1] - current_pos) + previous_index = current_index + count += 1 + + + message = TwistStamped() + message.header.seq = count + message.header.frame_id = "/base_link" + message.twist.linear.x = 0.0 + message.twist.linear.y = 0.0 + message.twist.linear.z = 0.0 + self.velocity_pub.publish(message) + + + def execute(self): + + + self.trace_curve() + rospy.loginfo("Curve traced") + +def main(): + + rospy.init_node('mir_trajectory_executor') + obj = mir_trajectory_executor_ros() + obj.start() diff --git a/data/mir_perception/mir_cavity_detector/setup.py b/data/mir_perception/mir_cavity_detector/setup.py new file mode 100644 index 0000000000000000000000000000000000000000..9819fd586a49ba3a0ece7e4d52e016aa36908465 --- /dev/null +++ b/data/mir_perception/mir_cavity_detector/setup.py @@ -0,0 +1,11 @@ +# ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD + +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages=['mir_cavity_detector'], + package_dir={'mir_cavity_detector': 'common/src/mir_cavity_detector'} + ) + +setup(**d) \ No newline at end of file diff --git a/data/mir_perception/mir_cavity_detector/tools/code/CMakeLists.txt b/data/mir_perception/mir_cavity_detector/tools/code/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..a85888de3f9296bb9132199b76fa2e79dce8c0b6 --- /dev/null +++ b/data/mir_perception/mir_cavity_detector/tools/code/CMakeLists.txt @@ -0,0 +1,5 @@ +cmake_minimum_required(VERSION 2.8) +project( DisplayImage ) +find_package( OpenCV REQUIRED ) +add_executable( feature_extraction_from_dataset feature_extraction_from_dataset.cpp ) +target_link_libraries( feature_extraction_from_dataset ${OpenCV_LIBS} ) diff --git a/data/mir_perception/mir_cavity_detector/tools/code/cavityFeatures.csv b/data/mir_perception/mir_cavity_detector/tools/code/cavityFeatures.csv new file mode 100644 index 0000000000000000000000000000000000000000..cd92bc993ea6f086e8f4118c728064b97f63da0d --- /dev/null +++ b/data/mir_perception/mir_cavity_detector/tools/code/cavityFeatures.csv @@ -0,0 +1,115 @@ +Object_name,Contour1,contour2,contour3,radius,area,aspect_ratio,isConvex,hu0,hu1,hu2,hu3 +M20_100,4,10,4,51.7261,2111.5,3.16129,1,0.395278,0.124962,0.000621713,0.000160202 +M20_100,4,10,4,50.2198,2014.5,3.06452,1,0.385222,0.117444,0.000336391,4.70176e-05 +M20_100,4,10,4,54.9025,2352.5,3.09091,1,0.415402,0.140655,0.000798037,0.000254285 +M20_100,4,12,4,50.1696,1872,3.21817,1,0.419069,0.144337,0.000523195,0.000134524 +M20_100,4,9,4,47.2454,1833.5,3.09617,1,0.396899,0.126496,0.000334919,5.6088e-05 +M20_100,4,10,4,49.3296,2022.5,2.98935,1,0.381959,0.11544,0.000273239,4.32256e-05 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a/data/mir_perception/mir_cavity_detector/tools/code/feature_extraction_from_dataset b/data/mir_perception/mir_cavity_detector/tools/code/feature_extraction_from_dataset new file mode 100644 index 0000000000000000000000000000000000000000..6ea2a664e2c401d7571c7f9aba6148e433843dfb --- /dev/null +++ b/data/mir_perception/mir_cavity_detector/tools/code/feature_extraction_from_dataset @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fec765e8b530dcb7ccf1e99dea13b21de456f1117e9ccd2d5a877d5df16b240d +size 139202 diff --git a/data/mir_perception/mir_cavity_detector/tools/code/feature_extraction_from_dataset.cpp b/data/mir_perception/mir_cavity_detector/tools/code/feature_extraction_from_dataset.cpp new file mode 100644 index 0000000000000000000000000000000000000000..b60cc9f0d41dd9fd9841642566d227c0a98344dc --- /dev/null +++ b/data/mir_perception/mir_cavity_detector/tools/code/feature_extraction_from_dataset.cpp @@ -0,0 +1,223 @@ +#include +#include +#include "opencv2/imgproc/imgproc.hpp" +#include "opencv2/highgui/highgui.hpp" +#include +#include + +using namespace std; +using namespace cv; + +RNG rng(12345); +void extract_features(string image_path, ofstream &output, string image_name); +int main() +{ + string dirName = "/home/deebuls/ros/indigo/src/unmerged_packages_for_testing/perception/mir_cavity_detector/tools/dataset_new/"; + DIR *dir; + dir = opendir(dirName.c_str()); + string obj_name; + string image_name; + struct dirent *ent; + ofstream OutputFileName ; + OutputFileName.open("cavityFeatures_m20_100.csv"); //Opening file to print info to + OutputFileName << "Object_name,Contour1,contour2,contour3,radius,area,aspect_ratio,isConvex,hu0,hu1,hu2,hu3" << endl; //Headings for file + if (dir != NULL) { + while ((ent = readdir (dir)) != NULL) { + obj_name= ent->d_name; + //I found some . and .. files here so I reject them. + if(obj_name.compare(".")!= 0 && obj_name.compare("..")!= 0) + { + struct dirent *image_ptr; + string object_path; + object_path.append(dirName); + object_path.append(obj_name); + DIR *obj_dir; + obj_dir = opendir(object_path.c_str()); + while ((image_ptr = readdir (obj_dir)) != NULL) { + + image_name= image_ptr->d_name; + if(image_name.compare(".")!= 0 && image_name.compare("..")!= 0) + { + string image_path; + image_path.append(dirName); + image_path.append(obj_name); + image_path.append("/"); + image_path.append(image_name); + OutputFileName << obj_name <<","; + extract_features(image_path, OutputFileName, image_name); + //Mat image= imread(image_path); + //imshow(obj_name,image); + //waitKey(0); + } + } + closedir (obj_dir); + } + } + closedir (dir); + OutputFileName.close(); +} else { + cout<<"not present"< > contours; + vector > raw_contours; + vector hierarchy; + + /// Detect edges using Threshold + threshold( src_gray, threshold_output, 0, 255, THRESH_BINARY | THRESH_OTSU ); + + // you can change parameters to your result + //erode(threshold_output,threshold_output, Mat(), Point(-1,-1),5); + // you can change parameters to your result + //erode(threshold_output,threshold_output, Mat(), Point(-1,-1),5); + + threshold_output = 255 - threshold_output; //Subtracting from white, so that contour detection doesnot selects the boundary + if (! threshold_output.data) + { + cout<<"Read Failed" << endl; + return; + } + /// Find contours + findContours( threshold_output, raw_contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, Point(0, 0) ); + double max_area = 0.0; int max_index = 0; + if (raw_contours.size() > 1) + { + for( int i = 0; i < raw_contours.size(); i++ ) + { + if(std::fabs(cv::contourArea(raw_contours[i])) > max_area) + { + max_area = std::fabs(cv::contourArea(raw_contours[i])); + max_index = i; + } + } + contours.push_back(raw_contours[max_index]); + } else + { + contours.push_back(raw_contours[0]); + } + + /// Approximate contours to polygons + get bounding rects and circles + vector > contours_poly( contours.size() ); + vector > contours_poly_2( contours.size() ); + vector > contours_poly_3( contours.size() ); + vector boundRect( contours.size() ); + vectorcenter( contours.size() ); + vectorradius( contours.size() ); + /// Find the rotated rectangles and ellipses for each contour + vector minRect( contours.size() ); + vector minEllipse( contours.size() ); + + for( int i = 0; i < contours.size(); i++ ) + { + cout<<"Epsilon : "< minRect[i].size.height) + { + aspect_ratio = minRect[i].size.width / minRect[i].size.height; + } + else + { + aspect_ratio = minRect[i].size.height / minRect[i].size.width; + } + output << aspect_ratio << ","; + output << (int)cv::isContourConvex(contours_poly[i]) << ","; + cv::Moments mom = cv::moments(contours[0]); + double hu[7]; + cv::HuMoments(mom, hu); + output << hu[0] << "," < minRect[i].size.height) + aspect_ratio = minRect[i].size.width / minRect[i].size.height; + else + aspect_ratio = minRect[i].size.height / minRect[i].size.width; + string Result;//string which will contain the result + stringstream convert; // stringstream used for the conversion + convert <<"V:"; + convert << vtc ;//add the value of Number to the characters in the stream + convert << ",A:" ; + convert << std::fabs(cv::contourArea(contours[i])); + convert << ",R"; + convert << aspect_ratio; + Result = convert.str();//set Result to the content of the stream + if (4 == contours_poly[i].size()) + cout<<"Aspect Ratio : "<(), 0, Point() ); + // rotated rectangle + Point2f rect_points[4]; minRect[i].points( rect_points ); + for( int j = 0; j < 4; j++ ) + line( drawing, rect_points[j], rect_points[(j+1)%4], color, 2, 8 ); + + //circle( drawing, center[i], (int)radius[i], color, 2, 8, 0 ); + // ellipse + //ellipse( drawing, minEllipse[i], color, 1, 8 ); + //if (std::fabs(cv::contourArea(contours[i])) < 1000 + // || std::fabs(cv::contourArea(contours[i])) > 50000) + // continue; + putText( drawing, Result, center[i], 2, 0.5, color ); + putText( drawing, image_name, Point(10,10), 1, 0.5, color ); + } + + /// Show in a window + /// Create Window + namedWindow( "Contours", CV_WINDOW_NORMAL ); + resizeWindow( "Contours", 800, 600 ); + imshow( "Contours", drawing ); + waitKey(0); + return; +} diff --git a/data/mir_perception/mir_cavity_detector/tools/dataset/F20_20/crop_img_DECOY1521222125.jpg b/data/mir_perception/mir_cavity_detector/tools/dataset/F20_20/crop_img_DECOY1521222125.jpg new file mode 100644 index 0000000000000000000000000000000000000000..fd51c84633083f56365cd94d733fe6e827e7e949 --- /dev/null +++ b/data/mir_perception/mir_cavity_detector/tools/dataset/F20_20/crop_img_DECOY1521222125.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c680014ef03a054bd15f9908b073f488dffe362d34d1d7d3f10345db12c9825 +size 3762 diff --git a/data/mir_perception/mir_cavity_detector/tools/dataset/F20_20/crop_img_M301521222018.jpg b/data/mir_perception/mir_cavity_detector/tools/dataset/F20_20/crop_img_M301521222018.jpg new file mode 100644 index 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+1,6 @@ +f20 20 +m20 +m20 100 +m30 +r20 +s40 40 diff --git a/data/mir_perception/mir_empty_space_detection/CMakeLists.txt b/data/mir_perception/mir_empty_space_detection/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..c1ce04f07b1db2a35f6e60f10c7458c77459d0b7 --- /dev/null +++ b/data/mir_perception/mir_empty_space_detection/CMakeLists.txt @@ -0,0 +1,41 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_empty_space_detection) + +set(CMAKE_CXX_STANDARD 14) + +find_package(catkin REQUIRED + COMPONENTS + roscpp + pcl_conversions + pcl_ros + sensor_msgs + std_msgs + mir_object_segmentation + mir_perception_utils +) + +generate_dynamic_reconfigure_options( + ros/config/EmptySpaceDetection.cfg +) + +add_compile_options( + -O3 +) + +catkin_package() + +include_directories( + ros/include + ${catkin_INCLUDE_DIRS} +) + +add_executable(empty_space_detector + ros/src/empty_space_detector.cpp +) + +add_dependencies(empty_space_detector + ${PROJECT_NAME}_gencfg +) +target_link_libraries(empty_space_detector + ${catkin_LIBRARIES} +) diff --git a/data/mir_perception/mir_empty_space_detection/docs/debug.png b/data/mir_perception/mir_empty_space_detection/docs/debug.png new file mode 100644 index 0000000000000000000000000000000000000000..c8e035cc853d29b28e038bb60aaebb58d96ca9af --- /dev/null +++ b/data/mir_perception/mir_empty_space_detection/docs/debug.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d26d0dbc45f1d215a0ef815b49671c579669248dc57632bc150e88882d96902f +size 221444 diff --git a/data/mir_perception/mir_empty_space_detection/docs/scenario.png b/data/mir_perception/mir_empty_space_detection/docs/scenario.png new file mode 100644 index 0000000000000000000000000000000000000000..8aca7b1ac92b8381040a90b66515e3fee1673438 --- /dev/null +++ b/data/mir_perception/mir_empty_space_detection/docs/scenario.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b725df6d1cf784a486adbc48c8890d594c5ade6e682f922dabc361ccd8098b41 +size 248017 diff --git a/data/mir_perception/mir_empty_space_detection/package.xml b/data/mir_perception/mir_empty_space_detection/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..8e9605fb520ed84a54a7cd35e559271abce182f5 --- /dev/null +++ b/data/mir_perception/mir_empty_space_detection/package.xml @@ -0,0 +1,18 @@ + + + mir_empty_space_detection + 1.0.0 + + Detect empty space on a workstation using pointcloud library. + + + GPLv3 + + Dharmin B. + Dharmin B. + + catkin + mir_object_segmentation + mir_perception_utils + + diff --git a/data/mir_perception/mir_empty_space_detection/ros/config/EmptySpaceDetection.cfg b/data/mir_perception/mir_empty_space_detection/ros/config/EmptySpaceDetection.cfg new file mode 100644 index 0000000000000000000000000000000000000000..538b0369105522ab83f6c43e079ebb444ba2d21b --- /dev/null +++ b/data/mir_perception/mir_empty_space_detection/ros/config/EmptySpaceDetection.cfg @@ -0,0 +1,32 @@ +#! /usr/bin/env python + +PACKAGE='mir_empty_space_detection' + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() +pc_object_segmentation = gen.add_group("Pointcloud object segmentation") +# def add (self, name, paramtype, level, description, default = None, min = None, max = None, edit_method = ""): + +pc_object_segmentation.add("enable_debug_pc", bool_t, 0, "Enable debug pointcloud publisher", False) + +pc_os_passthrough = pc_object_segmentation.add_group("Passthrough filter") +pc_os_passthrough.add ("enable_passthrough_filter", bool_t, 0, "Enable passthrough filter", False) +pc_os_passthrough.add ("passthrough_filter_field_name", str_t, 0, "The field name used for filtering", "x") +pc_os_passthrough.add ("passthrough_filter_limit_min", double_t, 0, "The minimum allowed field value a point will be considered from", 0.4, -10.0, 10.0) +pc_os_passthrough.add ("passthrough_filter_limit_max", double_t, 0, "The maximum allowed field value a point will be considered from", 0.7, -10.0, 10.0) + +pc_os_cropbox = pc_object_segmentation.add_group("Cropbox filter") +pc_os_cropbox.add ("enable_cropbox_filter", bool_t, 0, "Enable cropbox filter", True) +pc_os_cropbox.add ("cropbox_filter_min_x", double_t, 0, "The minimum allowed x value a point will be considered from", 0.45, -10.0, 10.0) +pc_os_cropbox.add ("cropbox_filter_max_x", double_t, 0, "The maximum allowed x value a point will be considered from", 0.8, -10.0, 10.0) +pc_os_cropbox.add ("cropbox_filter_min_y", double_t, 0, "The minimum allowed y value a point will be considered from", -0.4, -10.0, 10.0) +pc_os_cropbox.add ("cropbox_filter_max_y", double_t, 0, "The maximum allowed y value a point will be considered from", 0.4, -10.0, 10.0) +pc_os_cropbox.add ("cropbox_filter_min_z", double_t, 0, "The minimum allowed z value a point will be considered from", 0.0, -10.0, 10.0) +pc_os_cropbox.add ("cropbox_filter_max_z", double_t, 0, "The maximum allowed z value a point will be considered from", 0.6, -10.0, 10.0) + +pc_os_empty_space_detection = pc_object_segmentation.add_group("Empty space detection") +pc_os_empty_space_detection.add ("object_height_above_workspace", double_t, 0, "object_height_above_workspace (to the gripper frame)", 0.03, -10.0, 10.0) +pc_os_empty_space_detection.add ("empty_space_radius", double_t, 0, "empty_space_radius", 0.045 , 0.0, 1.0) +pc_os_empty_space_detection.add ("num_of_empty_spaces_required", double_t, 0, "the number of max empty spaces", 4 , 1, 50) +exit (gen.generate (PACKAGE, "mir_empty_space_detection", "EmptySpaceDetection")) \ No newline at end of file diff --git a/data/mir_perception/mir_empty_space_detection/ros/config/params.yaml b/data/mir_perception/mir_empty_space_detection/ros/config/params.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f6eebc16b407d52cd31c5e2d386b0b2ec1b62566 --- /dev/null +++ b/data/mir_perception/mir_empty_space_detection/ros/config/params.yaml @@ -0,0 +1,46 @@ +# reasonable parameters to find planes of @Work workspaces +voxel_leaf_size: 0.01 +voxel_filter_field_name: z +voxel_filter_limit_min: -0.15 +voxel_filter_limit_max: 0.3 +enable_passthrough_filter: False +passthrough_filter_field_name: x +passthrough_filter_limit_min: 0.45 # all the min distance starts from the baselink +passthrough_filter_limit_max: 0.7 +enable_cropbox_filter: True +cropbox_filter_min_x: 0.45 +cropbox_filter_max_x: 0.55 +cropbox_filter_min_y: -0.25 +cropbox_filter_max_y: 0.25 +cropbox_filter_min_z: -0.1 +cropbox_filter_max_z: 0.6 +normal_radius_search: 0.03 +use_omp: true +num_cores: 8 +sac_max_iterations: 1000 +sac_distance_threshold: 0.01 +sac_optimize_coefficients: true +sac_x_axis: 0.0 +sac_y_axis: 0.0 +sac_z_axis: 1.0 +sac_eps_angle: 0.09 +sac_normal_distance_weight: 0.05 +prism_min_height: 0.01 +prism_max_height: 0.10 +outlier_radius_search: 0.03 +outlier_min_neighbors: 20 +cluster_tolerance: 0.02 +cluster_min_size: 25 +cluster_max_size: 20000 +cluster_min_height: 0.011 +cluster_max_height: 0.09 +cluster_max_length: 0.25 +cluster_min_distance_to_polygon: 0.04 +octree_resolution: 0.01 +object_height_above_workspace: 0.0 +# parameters for finding empty spaces on a plane +empty_space_point_count_percentage_threshold: 0.8 +empty_space_radius: 0.065 +num_of_empty_spaces_required: 2 +trial_duration: 3.0 +enable_debug_pc: false diff --git a/data/mir_perception/mir_empty_space_detection/ros/include/mir_empty_space_detection/empty_space_detector.h b/data/mir_perception/mir_empty_space_detection/ros/include/mir_empty_space_detection/empty_space_detector.h new file mode 100644 index 0000000000000000000000000000000000000000..6d7e1e92a2f085f784b152b6388743fd4a675799 --- /dev/null +++ b/data/mir_perception/mir_empty_space_detection/ros/include/mir_empty_space_detection/empty_space_detector.h @@ -0,0 +1,69 @@ +#ifndef EMPTY_SPACE_DETECTOR_H +#define EMPTY_SPACE_DETECTOR_H + +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include +#include +#include + +namespace mpu = mir_perception_utils; + +class EmptySpaceDetector +{ + public: + EmptySpaceDetector(); + virtual ~EmptySpaceDetector(); + + private: + ros::NodeHandle nh_; + ros::Subscriber pc_sub_; + ros::Subscriber event_in_sub_; + ros::Publisher pc_pub_; + ros::Publisher pose_array_pub_; + ros::Publisher event_out_pub_; + + dynamic_reconfigure::Server server_; + + std::string output_frame_; + bool enable_debug_pc_pub_; + bool add_to_octree_; + float empty_space_radius_; + float expected_num_of_points_; + float empty_space_pnt_cnt_perc_thresh_; + bool find_empty_spaces_; + /* int retry_attempts_; */ + /* int num_of_retries_; */ + boost::shared_ptr tf_listener_; + + typedef std::shared_ptr SceneSegmentationSPtr; + SceneSegmentationSPtr scene_segmentation_; + CloudAccumulation::UPtr cloud_accumulation_; + + pcl::KdTreeFLANN kdtree_; + pcl::ExtractIndices extract_indices_; + + void pcCallback(const sensor_msgs::PointCloud2::ConstPtr &msg); + void eventInCallback(const std_msgs::String::ConstPtr &msg); + void loadParams(); + bool findEmptySpaces(); + bool findPlane(PointCloud::Ptr plane); + void findEmptySpacesOnPlane(const PointCloud::Ptr &plane, + geometry_msgs::PoseArray &empty_space_poses); + + /** \brief Dynamic reconfigure callback + * */ + void configCallback(mir_empty_space_detection::EmptySpaceDetectionConfig &config, uint32_t level); +}; +#endif diff --git a/data/mir_perception/mir_empty_space_detection/ros/launch/empty_space_detector.launch b/data/mir_perception/mir_empty_space_detection/ros/launch/empty_space_detector.launch new file mode 100644 index 0000000000000000000000000000000000000000..8232ec8515c4a99264a751536d5253bed4e9235f --- /dev/null +++ b/data/mir_perception/mir_empty_space_detection/ros/launch/empty_space_detector.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/data/mir_perception/mir_empty_space_detection/ros/src/empty_space_detector.cpp b/data/mir_perception/mir_empty_space_detection/ros/src/empty_space_detector.cpp new file mode 100644 index 0000000000000000000000000000000000000000..50390a37822d7c7d450668dc6a53a19b8fb56ace --- /dev/null +++ b/data/mir_perception/mir_empty_space_detection/ros/src/empty_space_detector.cpp @@ -0,0 +1,263 @@ +#include +#include +#include +#include +#include + +EmptySpaceDetector::EmptySpaceDetector() : nh_("~") +{ + + nh_.param("output_frame", output_frame_, "base_link"); + nh_.param("enable_debug_pc", enable_debug_pc_pub_, false); + float octree_resolution; + nh_.param("octree_resolution", octree_resolution, 0.0025); + add_to_octree_ = false; + + pose_array_pub_ = nh_.advertise("empty_spaces", 1); + event_out_pub_ = nh_.advertise("event_out", 1); + + pc_sub_ = nh_.subscribe("input_point_cloud", 1, &EmptySpaceDetector::pcCallback, this); + event_in_sub_ = nh_.subscribe("event_in", 1, &EmptySpaceDetector::eventInCallback, this); + tf_listener_.reset(new tf::TransformListener); + + if (enable_debug_pc_pub_) { + pc_pub_ = nh_.advertise("output_point_cloud", 1); + } + + cloud_accumulation_ = CloudAccumulation::UPtr(new CloudAccumulation(octree_resolution)); + scene_segmentation_ = SceneSegmentationSPtr(new SceneSegmentation()); + loadParams(); + dynamic_reconfigure::Server::CallbackType f = + boost::bind(&EmptySpaceDetector::configCallback, this, _1, _2); + server_.setCallback(f); + + ROS_INFO("Initialised"); +} + +EmptySpaceDetector::~EmptySpaceDetector() {} +void EmptySpaceDetector::loadParams() +{ + + float voxel_leaf_size, voxel_filter_limit_min, voxel_filter_limit_max; + std::string voxel_filter_field_name; + nh_.param("voxel_leaf_size", voxel_leaf_size, 1.0); + nh_.param("voxel_filter_field_name", voxel_filter_field_name, "z"); + nh_.param("voxel_filter_limit_min", voxel_filter_limit_min, -0.15); + nh_.param("voxel_filter_limit_max", voxel_filter_limit_max, 0.3); + scene_segmentation_->setVoxelGridParams(voxel_leaf_size, voxel_filter_field_name, + voxel_filter_limit_min, voxel_filter_limit_max); + + float normal_radius_search; + bool use_omp; + int num_cores; + nh_.param("normal_radius_search", normal_radius_search, 0.03); + nh_.param("use_omp", use_omp, false); + scene_segmentation_->setNormalParams(normal_radius_search, use_omp, num_cores); + + int sac_max_iterations; + float sac_distance_threshold, sac_x_axis, sac_y_axis, sac_z_axis, sac_eps_angle; + float sac_normal_distance_weight; + bool sac_optimize_coefficients; + nh_.param("sac_max_iterations", sac_max_iterations, 1000); + nh_.param("sac_distance_threshold", sac_distance_threshold, 0.01); + nh_.param("sac_optimize_coefficients", sac_optimize_coefficients, true); + nh_.param("sac_x_axis", sac_x_axis, 0.0); + nh_.param("sac_y_axis", sac_y_axis, 0.0); + nh_.param("sac_z_axis", sac_z_axis, 1.0); + Eigen::Vector3f axis(sac_x_axis, sac_y_axis, sac_z_axis); + nh_.param("sac_eps_angle", sac_eps_angle, 0.09); + nh_.param("sac_normal_distance_weight", sac_normal_distance_weight, 0.05); + scene_segmentation_->setSACParams(sac_max_iterations, sac_distance_threshold, + sac_optimize_coefficients, axis, sac_eps_angle, + sac_normal_distance_weight); + + float object_height_above_workspace_; + int num_of_empty_spaces_required; + nh_.param("object_height_above_workspace", object_height_above_workspace_, 0.01); + nh_.param("empty_space_point_count_percentage_threshold", empty_space_pnt_cnt_perc_thresh_, + 0.8); + //add no of empty space locations as a parameter + nh_.param("num_of_empty_spaces_required", num_of_empty_spaces_required, 3); + + nh_.param("empty_space_radius", empty_space_radius_, 0.05); + expected_num_of_points_ = + (empty_space_radius_ * empty_space_radius_ * M_PI) / (voxel_leaf_size * voxel_leaf_size); +} + +void EmptySpaceDetector::eventInCallback(const std_msgs::String::ConstPtr &msg) +{ + std_msgs::String event_out; + if (msg->data == "e_add_cloud") { + add_to_octree_ = true; + return; + } else if (msg->data == "e_add_cloud_stop") { + add_to_octree_ = false; + event_out.data = "e_add_cloud_stopped"; + } else if (msg->data == "e_trigger") { + bool success = findEmptySpaces(); + if (success) { + event_out.data = "e_success"; + cloud_accumulation_->reset(); //resetting the octree + } else { + event_out.data = "e_failure"; + add_to_octree_ = true; + } + //event_out.data = (success) ? "e_success" : "e_failure"; + } else { + return; + } + event_out_pub_.publish(event_out); +} + +void EmptySpaceDetector::pcCallback(const sensor_msgs::PointCloud2::ConstPtr &msg) +{ + if (add_to_octree_) { + sensor_msgs::PointCloud2 msg_transformed; + if (!mpu::pointcloud::transformPointCloudMsg(tf_listener_, output_frame_, *msg, + msg_transformed)) + return; + + PointCloud::Ptr input_pc(new PointCloud); + pcl::fromROSMsg(msg_transformed, *input_pc); + + cloud_accumulation_->addCloud(input_pc); + + add_to_octree_ = false; + + std_msgs::String event_out; + event_out.data = "e_added_cloud"; + event_out_pub_.publish(event_out); + } +} + +bool EmptySpaceDetector::findEmptySpaces() +{ + PointCloud::Ptr plane(new PointCloud); + bool plane_found = this->findPlane(plane); + if (!plane_found) { + + return false; + } + + geometry_msgs::PoseArray empty_space_poses; + this->findEmptySpacesOnPlane(plane, empty_space_poses); + ROS_DEBUG_STREAM(empty_space_poses); + if (empty_space_poses.poses.size() == 0) { + return false; + } + + pose_array_pub_.publish(empty_space_poses); + + return true; +} + +void EmptySpaceDetector::findEmptySpacesOnPlane(const PointCloud::Ptr &plane, + geometry_msgs::PoseArray &empty_space_poses) +{ + srand(time(NULL)); + int num_of_empty_spaces_required; + nh_.param("num_of_empty_spaces_required", num_of_empty_spaces_required, 3); + + float trial_duration_sec; + nh_.param("trial_duration", trial_duration_sec, 3.0); + ros::Duration trial_duration(trial_duration_sec); + ros::Time start_time = ros::Time::now(); + + empty_space_poses.header.frame_id = output_frame_; + empty_space_poses.header.stamp = ros::Time::now(); + int attempts = 0; + + while (ros::Time::now() - start_time < trial_duration) { + attempts++; + ROS_DEBUG_STREAM("Attempt: " << attempts); + PointCloud::Ptr new_plane(new PointCloud); + pcl::copyPointCloud(*plane, *new_plane); + pcl::PointIndices::Ptr empty_space(new pcl::PointIndices()); + + std::vector samples; + for (int i = 0; i < num_of_empty_spaces_required; ++i) { + int random_index = rand() % new_plane->width; + samples.push_back(new_plane->points[random_index]); + } + + bool success = true; + for (PointT p : samples) { + std::vector ids; + std::vector sq_distances; + kdtree_.setInputCloud(new_plane); + if (kdtree_.radiusSearch(p, empty_space_radius_, ids, sq_distances) > 0) { + if (((float)ids.size() / expected_num_of_points_) > empty_space_pnt_cnt_perc_thresh_) { + empty_space->indices = ids; + extract_indices_.setInputCloud(new_plane); + extract_indices_.setIndices(empty_space); + extract_indices_.setNegative(true); + extract_indices_.filter(*new_plane); + } else { + success = false; + break; + } + } + } + if (success) { + ROS_INFO_STREAM("Found solution at attempt: " << attempts); + for (PointT p : samples) { + geometry_msgs::Pose pose; + pose.position.x = p.x; + pose.position.y = p.y; + pose.position.z = p.z; + pose.orientation.w = 1.0; + empty_space_poses.poses.push_back(pose); + } + break; + } + } +} + +bool EmptySpaceDetector::findPlane(PointCloud::Ptr plane) +{ + PointCloud::Ptr cloud_in(new PointCloud); + PointCloud::Ptr debug(new PointCloud); + cloud_accumulation_->getAccumulatedCloud(*cloud_in); + + PointCloud::Ptr hull(new PointCloud); + pcl::ModelCoefficients::Ptr model_coefficients(new pcl::ModelCoefficients); + double workspace_height; + + debug = scene_segmentation_->findPlane(cloud_in, hull, plane, model_coefficients, workspace_height); + + if (enable_debug_pc_pub_) { + /* publish debug pointcloud */ + sensor_msgs::PointCloud2 output; + pcl::toROSMsg(*debug, output); + output.header.frame_id = output_frame_; + output.header.stamp = ros::Time::now(); + pc_pub_.publish(output); + ROS_INFO("Publishing debug pointcloud"); + } + + bool success = plane->points.size() > 0; + + return success; +} + +void EmptySpaceDetector::configCallback(mir_empty_space_detection::EmptySpaceDetectionConfig &config, uint32_t level) +{ + scene_segmentation_->setPassthroughParams(config.enable_passthrough_filter, + config.passthrough_filter_field_name, + config.passthrough_filter_limit_min, + config.passthrough_filter_limit_max); + scene_segmentation_->setCropBoxParams(config.enable_cropbox_filter, config.cropbox_filter_min_x, config.cropbox_filter_max_x, + config.cropbox_filter_min_y, config.cropbox_filter_max_y, config.cropbox_filter_min_z, config.cropbox_filter_max_z); +} + +int main(int argc, char *argv[]) +{ + ros::init(argc, argv, "empty_space_detector"); + EmptySpaceDetector es_detector; + ros::Rate loop_rate(30.0); + while (ros::ok()) { + ros::spinOnce(); + loop_rate.sleep(); + } + return 0; +} diff --git a/data/mir_perception/mir_handle_detection/CMakeLists.txt b/data/mir_perception/mir_handle_detection/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..f1ce097a36267184296ee3493ea9a711c293902d --- /dev/null +++ b/data/mir_perception/mir_handle_detection/CMakeLists.txt @@ -0,0 +1,30 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_handle_detection) + +set(CMAKE_CXX_STANDARD 14) +add_compile_options( + -O3 +) + +find_package(catkin REQUIRED + COMPONENTS + roscpp + pcl_conversions + pcl_ros + sensor_msgs + std_msgs +) + +catkin_package() + +include_directories( + ros/include + ${catkin_INCLUDE_DIRS} +) + +add_executable(drawer_handle_perceiver + ros/src/drawer_handle_perceiver.cpp +) +target_link_libraries(drawer_handle_perceiver + ${catkin_LIBRARIES} +) diff --git a/data/mir_perception/mir_handle_detection/docs/input.png b/data/mir_perception/mir_handle_detection/docs/input.png new file mode 100644 index 0000000000000000000000000000000000000000..0ce06e38e14cff43fd1705acb6ca403276f20599 --- /dev/null +++ b/data/mir_perception/mir_handle_detection/docs/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e453883a0592c348ba2173416a3f129cae3bc04357ea721ac3edd447b80e00ba +size 92008 diff --git a/data/mir_perception/mir_handle_detection/docs/output.png b/data/mir_perception/mir_handle_detection/docs/output.png new file mode 100644 index 0000000000000000000000000000000000000000..5a908bb83ae1e07af3a358e8095608bee82f992f --- /dev/null +++ b/data/mir_perception/mir_handle_detection/docs/output.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e376279384aea89c45a30415109ae9aee7a0aef33d606ec15560b9a53f37ac2 +size 317949 diff --git a/data/mir_perception/mir_handle_detection/package.xml b/data/mir_perception/mir_handle_detection/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..c5231c49a4c8b2da2597fbcebcf90a2902297b01 --- /dev/null +++ b/data/mir_perception/mir_handle_detection/package.xml @@ -0,0 +1,16 @@ + + + mir_handle_detection + 1.0.0 + + Detect handle of a drawer using pointcloud library. + + + GPLv3 + + Dharmin B. + Dharmin B. + + catkin + + diff --git a/data/mir_perception/mir_handle_detection/ros/config/params.yaml b/data/mir_perception/mir_handle_detection/ros/config/params.yaml new file mode 100644 index 0000000000000000000000000000000000000000..19a0e06d0c9c373723a2d0cda274194d07db6418 --- /dev/null +++ b/data/mir_perception/mir_handle_detection/ros/config/params.yaml @@ -0,0 +1,28 @@ +# params for drawer handle perceiver +output_frame: 'base_link_static' + +# publish a debug pointcloud or not +enable_debug_pc_pub: true + +# for pass through filter +z_threshold_min: -0.05 +z_threshold_max: 0.1 +y_threshold_min: -0.1 +y_threshold_max: 0.1 + +# for voxel grid filter +leaf_size_x: 0.01 +leaf_size_y: 0.01 +leaf_size_z: 0.01 + +# SAC segmentation +seg_dist_threshold: 0.005 + +# for polygon prism extractions +polygon_prism_height_min: 0.005 +polygon_prism_height_max: 0.1 + +# for euclidean cluster extraction +cluster_tolerance: 0.02 +min_cluster_size: 50 +max_cluster_size: 10000 diff --git a/data/mir_perception/mir_handle_detection/ros/include/mir_handle_detection/drawer_handle_perceiver.h b/data/mir_perception/mir_handle_detection/ros/include/mir_handle_detection/drawer_handle_perceiver.h new file mode 100644 index 0000000000000000000000000000000000000000..330a428f146b1aefe1478d6c10400a81c2a86740 --- /dev/null +++ b/data/mir_perception/mir_handle_detection/ros/include/mir_handle_detection/drawer_handle_perceiver.h @@ -0,0 +1,71 @@ +#ifndef DRAWER_HANDLE_PERCEIVER_H +#define DRAWER_HANDLE_PERCEIVER_H + +#include + +#include +#include +#include + +#include + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +typedef pcl::PointCloud PCloudT; +class DrawerHandlePerceiver +{ + public: + DrawerHandlePerceiver(); + virtual ~DrawerHandlePerceiver(); + + private: + ros::NodeHandle nh; + ros::Subscriber pc_sub; + ros::Subscriber event_in_sub; + ros::Publisher pc_pub; + ros::Publisher pose_pub; + ros::Publisher event_out_pub; + + std::string output_frame; + bool enable_debug_pc_pub; + bool is_running; + int retry_attempts_; + int num_of_retries_; + tf::TransformListener tf_listener; + + pcl::PassThrough passthrough_filter_y; + pcl::PassThrough passthrough_filter_z; + pcl::VoxelGrid voxel_grid_filter; + pcl::SACSegmentation seg; + pcl::ProjectInliers project_inliers; + pcl::ConvexHull convex_hull; + pcl::ExtractPolygonalPrismData extract_polygonal_prism; + pcl::ExtractIndices extract_indices; + pcl::EuclideanClusterExtraction euclidean_cluster_extraction; + + void checkFailure(); + void pcCallback(const sensor_msgs::PointCloud2::ConstPtr &msg); + void eventInCallback(const std_msgs::String::ConstPtr &msg); + bool transformPC(const sensor_msgs::PointCloud2::ConstPtr &msg, + sensor_msgs::PointCloud2 &msg_transformed); + void passthroughFilterPC(const PCloudT::Ptr &input, PCloudT::Ptr output); + void extractPlaneOutlier(const PCloudT::Ptr &input, PCloudT::Ptr dense_input, PCloudT::Ptr output, + geometry_msgs::PoseStamped &pose_stamped); + bool getClosestCluster(const PCloudT::Ptr &input, Eigen::Vector4f &closest_centroid); +}; +#endif diff --git a/data/mir_perception/mir_handle_detection/ros/launch/drawer_handle_perceiver.launch b/data/mir_perception/mir_handle_detection/ros/launch/drawer_handle_perceiver.launch new file mode 100644 index 0000000000000000000000000000000000000000..01c69f2ce804f403b11fb3d60a4b3e3b8d74e7a8 --- /dev/null +++ b/data/mir_perception/mir_handle_detection/ros/launch/drawer_handle_perceiver.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/data/mir_perception/mir_handle_detection/ros/src/drawer_handle_perceiver.cpp b/data/mir_perception/mir_handle_detection/ros/src/drawer_handle_perceiver.cpp new file mode 100644 index 0000000000000000000000000000000000000000..25ee129807b44a435c0b8cec98e65313a64844f1 --- /dev/null +++ b/data/mir_perception/mir_handle_detection/ros/src/drawer_handle_perceiver.cpp @@ -0,0 +1,271 @@ +#include + +DrawerHandlePerceiver::DrawerHandlePerceiver() : nh("~") +{ + nh.param("output_frame", this->output_frame, "base_link_static"); + nh.param("enable_debug_pc_pub", this->enable_debug_pc_pub, true); + nh.param("num_of_retries", this->num_of_retries_, 3); + this->retry_attempts_ = 0; + + this->pc_sub = nh.subscribe("input_point_cloud", 1, &DrawerHandlePerceiver::pcCallback, this); + this->pose_pub = nh.advertise("output_pose", 1); + this->event_in_sub = nh.subscribe("event_in", 1, &DrawerHandlePerceiver::eventInCallback, this); + this->event_out_pub = nh.advertise("event_out", 1); + + if (this->enable_debug_pc_pub) { + this->pc_pub = nh.advertise("output_point_cloud", 1); + } + + float z_threshold_max, z_threshold_min; + nh.param("z_threshold_min", z_threshold_min, -0.1); + nh.param("z_threshold_max", z_threshold_max, 0.3); + this->passthrough_filter_z.setFilterFieldName("z"); + this->passthrough_filter_z.setFilterLimits(z_threshold_min, z_threshold_max); + + float y_threshold_max, y_threshold_min; + nh.param("y_threshold_min", y_threshold_min, -0.1); + nh.param("y_threshold_max", y_threshold_max, 0.1); + this->passthrough_filter_y.setFilterFieldName("y"); + this->passthrough_filter_y.setFilterLimits(y_threshold_min, y_threshold_max); + + float leaf_size_x, leaf_size_y, leaf_size_z; + nh.param("leaf_size_x", leaf_size_x, 0.01); + nh.param("leaf_size_y", leaf_size_y, 0.01); + nh.param("leaf_size_z", leaf_size_z, 0.01); + this->voxel_grid_filter.setLeafSize(leaf_size_x, leaf_size_y, leaf_size_z); + + float seg_dist_threshold, seg_axis_x, seg_axis_y, seg_axis_z; + nh.param("seg_dist_threshold", seg_dist_threshold, 0.01); + nh.param("seg_axis_x", seg_axis_x, 1.0); + nh.param("seg_axis_y", seg_axis_y, 0.0); + nh.param("seg_axis_z", seg_axis_z, 0.0); + this->seg.setOptimizeCoefficients(true); + this->seg.setModelType(pcl::SACMODEL_PERPENDICULAR_PLANE); + Eigen::Vector3f axis(seg_axis_x, seg_axis_y, seg_axis_z); + this->seg.setAxis(axis); + this->seg.setMethodType(pcl::SAC_RANSAC); + this->seg.setDistanceThreshold(seg_dist_threshold); + + this->project_inliers.setModelType(pcl::SACMODEL_NORMAL_PARALLEL_PLANE); + this->project_inliers.setCopyAllData(false); + + float polygon_prism_height_min, polygon_prism_height_max; + nh.param("polygon_prism_height_min", polygon_prism_height_min, 0.01); + nh.param("polygon_prism_height_max", polygon_prism_height_max, 0.1); + this->extract_polygonal_prism.setHeightLimits(polygon_prism_height_min, polygon_prism_height_max); + + this->extract_indices.setNegative(false); + + float cluster_tolerance; + int min_cluster_size, max_cluster_size; + nh.param("cluster_tolerance", cluster_tolerance, 0.02); + nh.param("min_cluster_size", min_cluster_size, 50); + nh.param("max_cluster_size", max_cluster_size, 10000); + this->euclidean_cluster_extraction.setClusterTolerance(cluster_tolerance); + this->euclidean_cluster_extraction.setMinClusterSize(min_cluster_size); + this->euclidean_cluster_extraction.setMaxClusterSize(max_cluster_size); + + this->is_running = false; +} + +DrawerHandlePerceiver::~DrawerHandlePerceiver() {} +void DrawerHandlePerceiver::eventInCallback(const std_msgs::String::ConstPtr &msg) +{ + if (msg->data == "e_start") { + ROS_INFO_STREAM("starting listening"); + this->is_running = true; + } else if (msg->data == "e_stop") { + ROS_INFO_STREAM("stopping listening"); + this->is_running = false; + } +} + +void DrawerHandlePerceiver::checkFailure() +{ + if (this->retry_attempts_ > this->num_of_retries_) { + std_msgs::String event_out_msg; + event_out_msg.data = "e_failure"; + this->event_out_pub.publish(event_out_msg); + this->is_running = false; + this->retry_attempts_ = 0; + } else + this->retry_attempts_ += 1; +} + +void DrawerHandlePerceiver::pcCallback(const sensor_msgs::PointCloud2::ConstPtr &msg) +{ + if (!this->is_running) { + return; + } + + sensor_msgs::PointCloud2 msg_transformed; + bool success = this->transformPC(msg, msg_transformed); + if (!success) { + ROS_ERROR("[drawer_handle_perceiver] Could not transform pointcloud."); + this->checkFailure(); + return; + } + + PCloudT::Ptr pc_input(new PCloudT); + pcl::fromROSMsg(msg_transformed, *pc_input); + + PCloudT::Ptr pc_passthrough_filtered(new PCloudT); + this->passthroughFilterPC(pc_input, pc_passthrough_filtered); + + PCloudT::Ptr pc_filtered(new PCloudT); + this->voxel_grid_filter.setInputCloud(pc_passthrough_filtered); + this->voxel_grid_filter.filter(*pc_filtered); + + PCloudT::Ptr pc_segmented(new PCloudT); + geometry_msgs::PoseStamped pose_stamped; + this->extractPlaneOutlier(pc_filtered, pc_passthrough_filtered, pc_segmented, pose_stamped); + + Eigen::Vector4f closest_centroid(0.0, 0.0, 0.0, 0.0); + bool cluster_success = this->getClosestCluster(pc_segmented, closest_centroid); + if (!cluster_success) { + ROS_ERROR("[drawer_handle_perceiver] Could not find any cluster."); + this->checkFailure(); + return; + } + + pose_stamped.pose.position.x = closest_centroid[0]; + pose_stamped.pose.position.y = closest_centroid[1]; + pose_stamped.pose.position.z = closest_centroid[2]; + pose_stamped.header.frame_id = this->output_frame; + pose_stamped.header.stamp = ros::Time::now(); + pose_pub.publish(pose_stamped); + + std_msgs::String event_out_msg; + event_out_msg.data = "e_done"; + this->event_out_pub.publish(event_out_msg); + ROS_INFO("[drawer_handle_perceiver] SUCCESSFUL"); + + this->is_running = false; + this->retry_attempts_ = 0; + + if (this->enable_debug_pc_pub) { + /* publish debug pointcloud */ + sensor_msgs::PointCloud2 output; + pcl::toROSMsg(*pc_segmented, output); + output.header.frame_id = this->output_frame; + output.header.stamp = ros::Time::now(); + this->pc_pub.publish(output); + ROS_INFO("Publishing debug pointcloud"); + } +} + +bool DrawerHandlePerceiver::transformPC(const sensor_msgs::PointCloud2::ConstPtr &msg, + sensor_msgs::PointCloud2 &msg_transformed) +{ + msg_transformed.header.frame_id = this->output_frame; + try { + ros::Time common_time; + this->tf_listener.getLatestCommonTime(this->output_frame, msg->header.frame_id, common_time, + NULL); + tf::StampedTransform transform; + this->tf_listener.waitForTransform(this->output_frame, msg->header.frame_id, common_time, + ros::Duration(1.0)); + this->tf_listener.lookupTransform(this->output_frame, msg->header.frame_id, common_time, + transform); + pcl_ros::transformPointCloud(this->output_frame, transform, *msg, msg_transformed); + return true; + } catch (tf::TransformException &ex) { + ROS_WARN("PCL transform error: %s", ex.what()); + ros::Duration(1.0).sleep(); + return false; + } +} + +void DrawerHandlePerceiver::passthroughFilterPC(const PCloudT::Ptr &input, PCloudT::Ptr output) +{ + PCloudT::Ptr pc_intermediate(new PCloudT); + this->passthrough_filter_z.setInputCloud(input); + this->passthrough_filter_z.filter(*pc_intermediate); + this->passthrough_filter_y.setInputCloud(pc_intermediate); + this->passthrough_filter_y.filter(*output); +} + +void DrawerHandlePerceiver::extractPlaneOutlier(const PCloudT::Ptr &input, PCloudT::Ptr dense_input, + PCloudT::Ptr output, + geometry_msgs::PoseStamped &pose_stamped) +{ + pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients); + pcl::PointIndices::Ptr inliers(new pcl::PointIndices); + this->seg.setInputCloud(input); + this->seg.segment(*inliers, *coefficients); + + // Project plane model inliers to plane + PCloudT::Ptr pc_plane(new PCloudT); + this->project_inliers.setInputCloud(input); + this->project_inliers.setModelCoefficients(coefficients); + this->project_inliers.setIndices(inliers); + this->project_inliers.filter(*pc_plane); + + Eigen::Matrix normVector = Eigen::Matrix( + coefficients->values[0], coefficients->values[1], coefficients->values[2]); + Eigen::Quaternionf normQuat = + Eigen::Quaternionf::FromTwoVectors(normVector, Eigen::Vector3f::UnitX()); + + pose_stamped.pose.orientation.x = normQuat.x(); + pose_stamped.pose.orientation.y = normQuat.y(); + pose_stamped.pose.orientation.z = normQuat.z(); + pose_stamped.pose.orientation.w = normQuat.w(); + + // Compute plane convex hull + PCloudT::Ptr pc_hull(new PCloudT); + this->convex_hull.setInputCloud(pc_plane); + this->convex_hull.reconstruct(*pc_hull); + + // Extract points inside polygonal prism of plane convex hull + pcl::PointIndices::Ptr segmented_cloud_inliers(new pcl::PointIndices); + this->extract_polygonal_prism.setInputPlanarHull(pc_hull); + this->extract_polygonal_prism.setInputCloud(dense_input); + this->extract_polygonal_prism.segment(*segmented_cloud_inliers); + + // Extract the outliers + this->extract_indices.setInputCloud(dense_input); + this->extract_indices.setIndices(segmented_cloud_inliers); + this->extract_indices.filter(*output); +} + +bool DrawerHandlePerceiver::getClosestCluster(const PCloudT::Ptr &input, + Eigen::Vector4f &closest_centroid) +{ + pcl::search::KdTree::Ptr tree(new pcl::search::KdTree); + + std::vector clusters_indices; + this->euclidean_cluster_extraction.setSearchMethod(tree); + this->euclidean_cluster_extraction.setInputCloud(input); + this->euclidean_cluster_extraction.extract(clusters_indices); + + if (clusters_indices.size() == 0) { + return false; + } + + float closest_dist = 100.0; + Eigen::Vector4f zero_point(0.0, 0.0, 0.0, 0.0); + for (size_t i = 0; i < clusters_indices.size(); i++) { + const pcl::PointIndices &cluster_indices = clusters_indices[i]; + Eigen::Vector4f centroid; + pcl::compute3DCentroid(*input, cluster_indices, centroid); + float dist = pcl::L2_Norm(centroid, zero_point, 3); + if (dist < closest_dist) { + closest_dist = dist; + closest_centroid = centroid; + } + } + + return true; +} + +int main(int argc, char *argv[]) +{ + ros::init(argc, argv, "drawer_handle_perceiver"); + DrawerHandlePerceiver dhperceiver; + ros::Rate loop_rate(10.0); + while (ros::ok()) { + loop_rate.sleep(); + ros::spinOnce(); + } + return 0; +} diff --git a/data/mir_perception/mir_object_recognition/CMakeLists.txt b/data/mir_perception/mir_object_recognition/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..32a6aebe1c6cfd164841b8aed6c80401a90b0211 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/CMakeLists.txt @@ -0,0 +1,96 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_object_recognition) + +set(CMAKE_CXX_STANDARD 14) +add_compile_options( + -O3 +) + +find_package(catkin REQUIRED COMPONENTS + cv_bridge + dynamic_reconfigure + mas_perception_msgs + pcl_ros + roscpp + rospy + roslint + tf + visualization_msgs + geometry_msgs + mir_object_segmentation + mir_perception_utils +) +catkin_python_setup() +find_package(PCL 1.10 REQUIRED) +find_package(VTK REQUIRED) +find_package(OpenCV REQUIRED) + +generate_dynamic_reconfigure_options( + ros/config/SceneSegmentation.cfg +) + +catkin_package( + INCLUDE_DIRS + ros/include + LIBRARIES + mir_object_segmentation + ${PROJECT_NAME} + CATKIN_DEPENDS + mas_perception_msgs + visualization_msgs +) + +include_directories( + ros/include + common/include + ${catkin_INCLUDE_DIRS} + ${PCL_INCLUDE_DIRS} + ${VTK_INCLUDE_DIRS} +) + +add_definitions(-fpermissive) + +### LIBRARIES #################################################### +add_library(${PROJECT_NAME} + ros/src/multimodal_object_recognition_utils.cpp +) + +add_dependencies(${PROJECT_NAME} + ${catkin_EXPORTED_TARGETS} +) +target_link_libraries(${PROJECT_NAME} + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} +) + +### EXECUTABLES ############################################### +add_executable(multimodal_object_recognition + ros/src/multimodal_object_recognition_node.cpp +) +add_dependencies(multimodal_object_recognition + ${catkin_EXPORTED_TARGETS} + ${PROJECT_NAME}_gencfg +) +target_link_libraries(multimodal_object_recognition + ${catkin_LIBRARIES} + ${PROJECT_NAME} +) + +roslint_cpp() + +### INSTALLS +install(PROGRAMS + ros/scripts/pc_object_recognizer_node + ros/scripts/rgb_object_recognizer_node + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY common/config/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/common/config +) +install(DIRECTORY ros/launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ros/launch +) +install(DIRECTORY ros/scripts/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ros/scripts +) diff --git a/data/mir_perception/mir_object_recognition/common/config/asus-nagoya/classifier.pkl b/data/mir_perception/mir_object_recognition/common/config/asus-nagoya/classifier.pkl new file mode 100644 index 0000000000000000000000000000000000000000..6ba6fd005b5a1fde92e43af846da488638972b72 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/common/config/asus-nagoya/classifier.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d11bffcc3ed385555b4ffd09c5f9aca17120f5b9e0b0447826fe43b1cf0137c +size 84017 diff --git a/data/mir_perception/mir_object_recognition/common/config/asus-nagoya/label_encoder.pkl b/data/mir_perception/mir_object_recognition/common/config/asus-nagoya/label_encoder.pkl new file mode 100644 index 0000000000000000000000000000000000000000..9d18b6823c2e37b94c8b665f72053359656dbc26 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/common/config/asus-nagoya/label_encoder.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5a91b60c77997820acb162aa05f5338b6870d432d739622d543c4d94b11efa6 +size 991 diff --git a/data/mir_perception/mir_object_recognition/common/config/dgcnn_asus/freeze_graph.py b/data/mir_perception/mir_object_recognition/common/config/dgcnn_asus/freeze_graph.py new file mode 100644 index 0000000000000000000000000000000000000000..4c320bfe00e08b317b4593835b9e7e061d1e4dc1 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/common/config/dgcnn_asus/freeze_graph.py @@ -0,0 +1,492 @@ +# Copyright 2015 The TensorFlow Authors. All Rights Reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# ============================================================================== +r"""Converts checkpoint variables into Const ops in a standalone GraphDef file. + +This script is designed to take a GraphDef proto, a SaverDef proto, and a set of +variable values stored in a checkpoint file, and output a GraphDef with all of +the variable ops converted into const ops containing the values of the +variables. + +It's useful to do this when we need to load a single file in C++, especially in +environments like mobile or embedded where we may not have access to the +RestoreTensor ops and file loading calls that they rely on. + +An example of command-line usage is: +bazel build tensorflow/python/tools:freeze_graph && \ +bazel-bin/tensorflow/python/tools/freeze_graph \ +--input_graph=some_graph_def.pb \ +--input_checkpoint=model.ckpt-8361242 \ +--output_graph=/tmp/frozen_graph.pb --output_node_names=softmax + +You can also look at freeze_graph_test.py for an example of how to use it. + +""" +from __future__ import absolute_import +from __future__ import division +from __future__ import print_function + +import argparse +import re +import sys + +from google.protobuf import text_format + +from tensorflow.core.framework import graph_pb2 +from tensorflow.core.protobuf import saver_pb2 +from tensorflow.core.protobuf.meta_graph_pb2 import MetaGraphDef +from tensorflow.python.client import session +from tensorflow.python.framework import graph_util +from tensorflow.python.framework import importer +from tensorflow.python.platform import app +from tensorflow.python.platform import gfile +from tensorflow.python.saved_model import loader +from tensorflow.python.saved_model import tag_constants +from tensorflow.python.tools import saved_model_utils +#from tensorflow.python.training import checkpoint_management +#from tensorflow.python.training import py_checkpoint_reader +from tensorflow.python.training import saver as saver_lib + + +def _has_no_variables(sess): + """Determines if the graph has any variables. + + Args: + sess: TensorFlow Session. + + Returns: + Bool. + """ + for op in sess.graph.get_operations(): + if op.type.startswith("Variable") or op.type.endswith("VariableOp"): + return False + return True + + +def freeze_graph_with_def_protos(input_graph_def, + input_saver_def, + input_checkpoint, + output_node_names, + restore_op_name, + filename_tensor_name, + output_graph, + clear_devices, + initializer_nodes, + variable_names_whitelist="", + variable_names_blacklist="", + input_meta_graph_def=None, + input_saved_model_dir=None, + saved_model_tags=None, + checkpoint_version=saver_pb2.SaverDef.V2): + """Converts all variables in a graph and checkpoint into constants. + + Args: + input_graph_def: A `GraphDef`. + input_saver_def: A `SaverDef` (optional). + input_checkpoint: The prefix of a V1 or V2 checkpoint, with V2 taking + priority. Typically the result of `Saver.save()` or that of + `tf.train.latest_checkpoint()`, regardless of sharded/non-sharded or + V1/V2. + output_node_names: The name(s) of the output nodes, comma separated. + restore_op_name: Unused. + filename_tensor_name: Unused. + output_graph: String where to write the frozen `GraphDef`. + clear_devices: A Bool whether to remove device specifications. + initializer_nodes: Comma separated string of initializer nodes to run before + freezing. + variable_names_whitelist: The set of variable names to convert (optional, by + default, all variables are converted). + variable_names_blacklist: The set of variable names to omit converting + to constants (optional). + input_meta_graph_def: A `MetaGraphDef` (optional), + input_saved_model_dir: Path to the dir with TensorFlow 'SavedModel' file + and variables (optional). + saved_model_tags: Group of comma separated tag(s) of the MetaGraphDef to + load, in string format (optional). + checkpoint_version: Tensorflow variable file format (saver_pb2.SaverDef.V1 + or saver_pb2.SaverDef.V2) + + Returns: + Location of the output_graph_def. + """ + del restore_op_name, filename_tensor_name # Unused by updated loading code. + + # 'input_checkpoint' may be a prefix if we're using Saver V2 format + if (not input_saved_model_dir and + not checkpoint_management.checkpoint_exists(input_checkpoint)): + raise ValueError("Input checkpoint '" + input_checkpoint + + "' doesn't exist!") + + if not output_node_names: + raise ValueError( + "You need to supply the name of a node to --output_node_names.") + + # Remove all the explicit device specifications for this node. This helps to + # make the graph more portable. + if clear_devices: + if input_meta_graph_def: + for node in input_meta_graph_def.graph_def.node: + node.device = "" + elif input_graph_def: + for node in input_graph_def.node: + node.device = "" + + if input_graph_def: + _ = importer.import_graph_def(input_graph_def, name="") + with session.Session() as sess: + if input_saver_def: + saver = saver_lib.Saver( + saver_def=input_saver_def, write_version=checkpoint_version) + saver.restore(sess, input_checkpoint) + elif input_meta_graph_def: + restorer = saver_lib.import_meta_graph( + input_meta_graph_def, clear_devices=True) + restorer.restore(sess, input_checkpoint) + if initializer_nodes: + sess.run(initializer_nodes.replace(" ", "").split(",")) + elif input_saved_model_dir: + if saved_model_tags is None: + saved_model_tags = [] + loader.load(sess, saved_model_tags, input_saved_model_dir) + else: + var_list = {} + reader = py_checkpoint_reader.NewCheckpointReader(input_checkpoint) + var_to_shape_map = reader.get_variable_to_shape_map() + + # List of all partition variables. Because the condition is heuristic + # based, the list could include false positives. + all_partition_variable_names = [ + tensor.name.split(":")[0] + for op in sess.graph.get_operations() + for tensor in op.values() + if re.search(r"/part_\d+/", tensor.name) + ] + has_partition_var = False + + for key in var_to_shape_map: + try: + tensor = sess.graph.get_tensor_by_name(key + ":0") + if any(key in name for name in all_partition_variable_names): + has_partition_var = True + except KeyError: + # This tensor doesn't exist in the graph (for example it's + # 'global_step' or a similar housekeeping element) so skip it. + continue + var_list[key] = tensor + + try: + saver = saver_lib.Saver( + var_list=var_list, write_version=checkpoint_version) + except TypeError as e: + # `var_list` is required to be a map of variable names to Variable + # tensors. Partition variables are Identity tensors that cannot be + # handled by Saver. + if has_partition_var: + raise ValueError( + "Models containing partition variables cannot be converted " + "from checkpoint files. Please pass in a SavedModel using " + "the flag --input_saved_model_dir.") + # Models that have been frozen previously do not contain Variables. + elif _has_no_variables(sess): + raise ValueError( + "No variables were found in this model. It is likely the model " + "was frozen previously. You cannot freeze a graph twice.") + return 0 + else: + raise e + + saver.restore(sess, input_checkpoint) + if initializer_nodes: + sess.run(initializer_nodes.replace(" ", "").split(",")) + + variable_names_whitelist = ( + variable_names_whitelist.replace(" ", "").split(",") + if variable_names_whitelist else None) + variable_names_blacklist = ( + variable_names_blacklist.replace(" ", "").split(",") + if variable_names_blacklist else None) + + if input_meta_graph_def: + output_graph_def = graph_util.convert_variables_to_constants( + sess, + input_meta_graph_def.graph_def, + output_node_names.replace(" ", "").split(","), + variable_names_whitelist=variable_names_whitelist, + variable_names_blacklist=variable_names_blacklist) + else: + output_graph_def = graph_util.convert_variables_to_constants( + sess, + input_graph_def, + output_node_names.replace(" ", "").split(","), + variable_names_whitelist=variable_names_whitelist, + variable_names_blacklist=variable_names_blacklist) + + # Write GraphDef to file if output path has been given. + if output_graph: + with gfile.GFile(output_graph, "wb") as f: + f.write(output_graph_def.SerializeToString()) + + return output_graph_def + + +def _parse_input_graph_proto(input_graph, input_binary): + """Parses input tensorflow graph into GraphDef proto.""" + if not gfile.Exists(input_graph): + raise IOError("Input graph file '" + input_graph + "' does not exist!") + input_graph_def = graph_pb2.GraphDef() + mode = "rb" if input_binary else "r" + with gfile.GFile(input_graph, mode) as f: + if input_binary: + input_graph_def.ParseFromString(f.read()) + else: + text_format.Merge(f.read(), input_graph_def) + return input_graph_def + + +def _parse_input_meta_graph_proto(input_graph, input_binary): + """Parses input tensorflow graph into MetaGraphDef proto.""" + if not gfile.Exists(input_graph): + raise IOError("Input meta graph file '" + input_graph + "' does not exist!") + input_meta_graph_def = MetaGraphDef() + mode = "rb" if input_binary else "r" + with gfile.GFile(input_graph, mode) as f: + if input_binary: + input_meta_graph_def.ParseFromString(f.read()) + else: + text_format.Merge(f.read(), input_meta_graph_def) + print("Loaded meta graph file '" + input_graph) + return input_meta_graph_def + + +def _parse_input_saver_proto(input_saver, input_binary): + """Parses input tensorflow Saver into SaverDef proto.""" + if not gfile.Exists(input_saver): + raise IOError("Input saver file '" + input_saver + "' does not exist!") + mode = "rb" if input_binary else "r" + with gfile.GFile(input_saver, mode) as f: + saver_def = saver_pb2.SaverDef() + if input_binary: + saver_def.ParseFromString(f.read()) + else: + text_format.Merge(f.read(), saver_def) + return saver_def + + +def freeze_graph(input_graph, + input_saver, + input_binary, + input_checkpoint, + output_node_names, + restore_op_name, + filename_tensor_name, + output_graph, + clear_devices, + initializer_nodes, + variable_names_whitelist="", + variable_names_blacklist="", + input_meta_graph=None, + input_saved_model_dir=None, + saved_model_tags=tag_constants.SERVING, + checkpoint_version=saver_pb2.SaverDef.V2): + """Converts all variables in a graph and checkpoint into constants. + + Args: + input_graph: A `GraphDef` file to load. + input_saver: A TensorFlow Saver file. + input_binary: A Bool. True means input_graph is .pb, False indicates .pbtxt. + input_checkpoint: The prefix of a V1 or V2 checkpoint, with V2 taking + priority. Typically the result of `Saver.save()` or that of + `tf.train.latest_checkpoint()`, regardless of sharded/non-sharded or + V1/V2. + output_node_names: The name(s) of the output nodes, comma separated. + restore_op_name: Unused. + filename_tensor_name: Unused. + output_graph: String where to write the frozen `GraphDef`. + clear_devices: A Bool whether to remove device specifications. + initializer_nodes: Comma separated list of initializer nodes to run before + freezing. + variable_names_whitelist: The set of variable names to convert (optional, by + default, all variables are converted), + variable_names_blacklist: The set of variable names to omit converting + to constants (optional). + input_meta_graph: A `MetaGraphDef` file to load (optional). + input_saved_model_dir: Path to the dir with TensorFlow 'SavedModel' file and + variables (optional). + saved_model_tags: Group of comma separated tag(s) of the MetaGraphDef to + load, in string format. + checkpoint_version: Tensorflow variable file format (saver_pb2.SaverDef.V1 + or saver_pb2.SaverDef.V2). + Returns: + String that is the location of frozen GraphDef. + """ + input_graph_def = None + if input_saved_model_dir: + input_graph_def = saved_model_utils.get_meta_graph_def( + input_saved_model_dir, saved_model_tags).graph_def + elif input_graph: + input_graph_def = _parse_input_graph_proto(input_graph, input_binary) + input_meta_graph_def = None + if input_meta_graph: + input_meta_graph_def = _parse_input_meta_graph_proto( + input_meta_graph, input_binary) + input_saver_def = None + if input_saver: + input_saver_def = _parse_input_saver_proto(input_saver, input_binary) + return freeze_graph_with_def_protos( + input_graph_def, + input_saver_def, + input_checkpoint, + output_node_names, + restore_op_name, + filename_tensor_name, + output_graph, + clear_devices, + initializer_nodes, + variable_names_whitelist, + variable_names_blacklist, + input_meta_graph_def, + input_saved_model_dir, + [tag for tag in saved_model_tags.replace(" ", "").split(",") if tag], + checkpoint_version=checkpoint_version) + + +def main(unused_args, flags): + if flags.checkpoint_version == 1: + checkpoint_version = saver_pb2.SaverDef.V1 + elif flags.checkpoint_version == 2: + checkpoint_version = saver_pb2.SaverDef.V2 + else: + raise ValueError("Invalid checkpoint version (must be '1' or '2'): %d" % + flags.checkpoint_version) + freeze_graph(flags.input_graph, flags.input_saver, flags.input_binary, + flags.input_checkpoint, flags.output_node_names, + flags.restore_op_name, flags.filename_tensor_name, + flags.output_graph, flags.clear_devices, flags.initializer_nodes, + flags.variable_names_whitelist, flags.variable_names_blacklist, + flags.input_meta_graph, flags.input_saved_model_dir, + flags.saved_model_tags, checkpoint_version) + + +def run_main(): + """Main function of freeze_graph.""" + parser = argparse.ArgumentParser() + parser.register("type", "bool", lambda v: v.lower() == "true") + parser.add_argument( + "--input_graph", + type=str, + default="", + help="TensorFlow \'GraphDef\' file to load.") + parser.add_argument( + "--input_saver", + type=str, + default="", + help="TensorFlow saver file to load.") + parser.add_argument( + "--input_checkpoint", + type=str, + default="", + help="TensorFlow variables file to load.") + parser.add_argument( + "--checkpoint_version", + type=int, + default=2, + help="Tensorflow variable file format") + parser.add_argument( + "--output_graph", + type=str, + default="", + help="Output \'GraphDef\' file name.") + parser.add_argument( + "--input_binary", + nargs="?", + const=True, + type="bool", + default=False, + help="Whether the input files are in binary format.") + parser.add_argument( + "--output_node_names", + type=str, + default="", + help="The name of the output nodes, comma separated.") + parser.add_argument( + "--restore_op_name", + type=str, + default="save/restore_all", + help="""\ + The name of the master restore operator. Deprecated, unused by updated \ + loading code. + """) + parser.add_argument( + "--filename_tensor_name", + type=str, + default="save/Const:0", + help="""\ + The name of the tensor holding the save path. Deprecated, unused by \ + updated loading code. + """) + parser.add_argument( + "--clear_devices", + nargs="?", + const=True, + type="bool", + default=True, + help="Whether to remove device specifications.") + parser.add_argument( + "--initializer_nodes", + type=str, + default="", + help="Comma separated list of initializer nodes to run before freezing.") + parser.add_argument( + "--variable_names_whitelist", + type=str, + default="", + help="""\ + Comma separated list of variables to convert to constants. If specified, \ + only those variables will be converted to constants.\ + """) + parser.add_argument( + "--variable_names_blacklist", + type=str, + default="", + help="""\ + Comma separated list of variables to skip converting to constants.\ + """) + parser.add_argument( + "--input_meta_graph", + type=str, + default="", + help="TensorFlow \'MetaGraphDef\' file to load.") + parser.add_argument( + "--input_saved_model_dir", + type=str, + default="", + help="Path to the dir with TensorFlow \'SavedModel\' file and variables.") + parser.add_argument( + "--saved_model_tags", + type=str, + default="serve", + help="""\ + Group of tag(s) of the MetaGraphDef to load, in string format,\ + separated by \',\'. For tag-set contains multiple tags, all tags \ + must be passed in.\ + """) + flags, unparsed = parser.parse_known_args() + + my_main = lambda unused_args: main(unused_args, flags) + app.run(main=my_main, argv=[sys.argv[0]] + unparsed) + + +if __name__ == "__main__": + run_main() + diff --git a/data/mir_perception/mir_object_recognition/common/config/dgcnn_asus/model.ckpt.data-00000-of-00001 b/data/mir_perception/mir_object_recognition/common/config/dgcnn_asus/model.ckpt.data-00000-of-00001 new file mode 100644 index 0000000000000000000000000000000000000000..e99db6c20414d766a834a81871a2ec23e7a60386 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/common/config/dgcnn_asus/model.ckpt.data-00000-of-00001 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:604e301fbcec4e919dbe955fce561f23715ea6a19ced82d0658b04c5ab52dfaa +size 12338120 diff --git a/data/mir_perception/mir_object_recognition/common/config/dgcnn_asus/model.ckpt.index 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0000000000000000000000000000000000000000..c515a621776d31a2fe77593453bf7f08b69ea182 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/common/config/ssdLiteMobilenet/atwork_magdeburg/atwork_label_map.json @@ -0,0 +1,74 @@ +[ +{ + "id": 1, + "name": "axis" +}, +{ + "id": 2, + "name": "bearing" +}, +{ + "id": 3, + "name": "bearing_box_ax01" +}, +{ + "id": 4, + "name": "bearing_box_ax16" +}, +{ + "id": 5, + "name": "container_box_blue" +}, +{ + "id": 6, + "name": "container_box_red" +}, +{ + "id": 7, + "name": "distance_tube" +}, +{ + "id": 8, + "name": "em_01" +}, +{ + "id": 9, + "name": "em_02" +}, +{ + "id": 10, + "name": "f20_20_B" +}, +{ + "id": 11, + "name": "f20_20_G" +}, +{ + "id": 12, + "name": "m20" +}, +{ + "id": 13, + "name": "m20_100" +}, +{ + "id": 14, + "name": "m30" +}, +{ + "id": 15, + "name": "motor" +}, +{ + "id": 16, + "name": "r20" +}, +{ + "id": 17, + "name": "s40_40_B" +}, +{ + "id": 18, + "name": "s40_40_G" +} +] diff --git a/data/mir_perception/mir_object_recognition/common/config/ssdLiteMobilenet/atwork_magdeburg/frozen_inference_graph.pb b/data/mir_perception/mir_object_recognition/common/config/ssdLiteMobilenet/atwork_magdeburg/frozen_inference_graph.pb new file mode 100644 index 0000000000000000000000000000000000000000..60ef7946364d4da95f77cd2129a777a8b6afb019 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/common/config/ssdLiteMobilenet/atwork_magdeburg/frozen_inference_graph.pb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b6011a53aeb3dda32f1482fcd466654e7738f790e877b95a7d9b74823cc0a6b +size 14163437 diff --git a/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/__init__.py b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/cnn_based_classifiers.py b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/cnn_based_classifiers.py new file mode 100644 index 0000000000000000000000000000000000000000..2a17505b265fce35d2f32bf228ad4823d2657f6a --- /dev/null +++ b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/cnn_based_classifiers.py @@ -0,0 +1,26 @@ +from abc import ABCMeta, abstractmethod + +class CNNBasedClassifiers(object): + """ + Abstraction class for CNN based classifiers + """ + + __metaclass__ = ABCMeta + + def __init__(self, **kwargs): + self.checkpoint_path = kwargs.get("checkpoint_path", None) + self.num_classes = kwargs.get("num_classes", None) + self.num_points = kwargs.get("num_points", None) + self.cloud_dim = kwargs.get("cloud_dim", None) + + @abstractmethod + def classify(self, pointcloud): + """ + A classify method to be implemented + + :param pointcloud: The input pointcloud + :type: numpy.array + + :return: Predicted label and probability + """ + pass \ No newline at end of file diff --git a/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/dgcnn_classifier.py b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/dgcnn_classifier.py new file mode 100644 index 0000000000000000000000000000000000000000..dd1dca57cb582a209cd63c2daf78be77092dd1b1 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/dgcnn_classifier.py @@ -0,0 +1,72 @@ +from pc_object_recognition.cnn_based_classifiers import CNNBasedClassifiers +import torch +import torch.nn as nn + +from pc_object_recognition.models.dgcnn import DGCNN +from pc_object_recognition.utils.data import infer_data +import torch.nn.functional as nnf +from torch.utils.data import DataLoader +class DGCNNClassifier(CNNBasedClassifiers): + """ + Point cloud classifier using Dynamic graph CNN (DGCNN) + """ + def __init__(self, **kwargs): + super(DGCNNClassifier, self).__init__(**kwargs) + + # extract argumen from key word arg + self.num_classes = kwargs.get("num_classes", None) + self.num_points = kwargs.get("num_points", None) + self.cloud_dim = kwargs.get("cloud_dim", None) + + self.test_batch_size = 1 # only support batch size 1 for inferencing + # self.cuda = kwargs.get("cuda", False) + self.model_path = kwargs.get("model_path", None) + self.args = { + "emb_dims": 1024, + "dropout": 0.5, + "k": 20 + } # contains the arguments that are passed for the DGCNN model + + # pytorch session + + def classify(self, pointcloud, center=True, rotate=True, pad=True): + """ + Classify point cloud + + :param pointcloud: The input pointcloud (BxNxD), D can be XYZ or XYZRGB + :type name: numpy.array + :param center: If true, pointcloud will be centered + :type name: Bool + :param rotate: If true, pointcloud will be rotated to their principal axes + :type name: Bool + :param pad: If true, pointcloud will be padded + :type name: Bool + + :return: Predicted label and probablity + """ + pointcloud_dataloader = DataLoader(infer_data(num_points=self.num_points, pcl_path=pointcloud), + batch_size=self.test_batch_size, shuffle=True, drop_last=False) + device = torch.device("cuda" if torch.cuda.is_available() else "cpu") + model = DGCNN(self.args).to(device) + model = nn.DataParallel(model) + model.load_state_dict(torch.load( + self.model_path, map_location=torch.device("cuda" if torch.cuda.is_available() else "cpu"))) + model = model.eval() + break_flag = False + for pcl, label in pointcloud_dataloader: + if break_flag == False: + print("inferencing .....") + break_flag = True + data = pcl.to(device) + data = data.permute(0, 2, 1) + logits = model(data) + prob = nnf.softmax(logits, dim=1) # convert logits to probabilities + top_p, top_class = prob.topk(1, dim=1) + if top_p.item() > 0.3: # set probability threshold to 0.6 # if probability is greater than 0.6, then return the predicted class + print(f'Probability - {round(top_p.item(),2)} Class - {top_class[0].item()}') + return top_class.item(), top_p.item() + else: + print("No object found") + return None, None + else: + break diff --git a/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/dgcnn_classifier_v0.py b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/dgcnn_classifier_v0.py new file mode 100644 index 0000000000000000000000000000000000000000..8c7d958e2e41a7d562849797a972922ba5af5de8 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/dgcnn_classifier_v0.py @@ -0,0 +1,84 @@ +import os +import pickle +import numpy as np +import tensorflow as tf + +import common.src.pc_object_recognition.models.dgcnn_v0 as dgcnn_v0 +import pc_object_recognition.utils.pc_utils as pc_utils +from pc_object_recognition.cnn_based_classifiers import CNNBasedClassifiers + +class DGCNNClassifier(CNNBasedClassifiers): + """ + Point cloud classifier using Dynamic graph CNN (DGCNN) + + """ + + def __init__(self, **kwargs): + super(DGCNNClassifier, self).__init__(**kwargs) + + # extract argumen from key word arg + checkpoint_path = kwargs.get("checkpoint_path", None) + self.num_classes = kwargs.get("num_classes", None) + self.num_points = kwargs.get("num_points", None) + self.cloud_dim = kwargs.get("cloud_dim", None) + + with tf.Graph().as_default(): + pointcloud_pl = tf.placeholder(tf.float32, [1, self.num_points, self.cloud_dim]) + is_training_pl = tf.placeholder(tf.bool) + + _, end_points = dgcnn_v0.get_model(pointcloud_pl, num_classes=self.num_classes, + is_training=is_training_pl) + + probabilities = end_points['Probabilities'] + predictions = tf.argmax(probabilities, 1) + + self.ops = {'pointcloud': pointcloud_pl, + 'is_training': is_training_pl, + 'probabilities': probabilities, + 'predictions': predictions} + + saver = tf.train.Saver() + + config = tf.ConfigProto() + config.allow_soft_placement = True + self.sess = tf.Session(config=config) + saver.restore(self.sess, checkpoint_path) + + def classify(self, pointcloud, center=True, rotate=True, pad=True): + """ + Classify point cloud + + :param pointcloud: The input pointcloud (BxNxD), D can be XYZ or XYZRGB + :type name: numpy.array + :param center: If true, pointcloud will be centered + :type name: Bool + :param rotate: If true, pointcloud will be rotated to their principal axes + :type name: Bool + :param pad: If true, pointcloud will be padded + :type name: Bool + + :return: Predicted label and probablity + """ + + if center: + pointcloud = pc_utils.center_pointcloud(pointcloud) + + if rotate: + pointcloud = pc_utils.rotate_pointcloud(pointcloud) + + if pad: + pointcloud = pointcloud.tolist() + while (len(pointcloud) < self.num_points): + pointcloud.append([0,0,0,0,0,0]) + + pointcloud = pc_utils.scale_to_unit_sphere(np.asarray(pointcloud), normalize=False) + pointcloud = np.expand_dims(pointcloud, 0) + + feed_dict = {self.ops['pointcloud']: pointcloud, + self.ops['is_training']: False} + + pred_label, probs = self.sess.run([self.ops['predictions'], self.ops['probabilities']], + feed_dict=feed_dict) + probs = probs[0][pred_label][0] + + return pred_label[0], probs \ No newline at end of file diff --git a/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/dgcnn_classifier_v1.py b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/dgcnn_classifier_v1.py new file mode 100644 index 0000000000000000000000000000000000000000..8c7d958e2e41a7d562849797a972922ba5af5de8 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/dgcnn_classifier_v1.py @@ -0,0 +1,84 @@ +import os +import pickle +import numpy as np +import tensorflow as tf + +import common.src.pc_object_recognition.models.dgcnn_v0 as dgcnn_v0 +import pc_object_recognition.utils.pc_utils as pc_utils +from pc_object_recognition.cnn_based_classifiers import CNNBasedClassifiers + +class DGCNNClassifier(CNNBasedClassifiers): + """ + Point cloud classifier using Dynamic graph CNN (DGCNN) + + """ + + def __init__(self, **kwargs): + super(DGCNNClassifier, self).__init__(**kwargs) + + # extract argumen from key word arg + checkpoint_path = kwargs.get("checkpoint_path", None) + self.num_classes = kwargs.get("num_classes", None) + self.num_points = kwargs.get("num_points", None) + self.cloud_dim = kwargs.get("cloud_dim", None) + + with tf.Graph().as_default(): + pointcloud_pl = tf.placeholder(tf.float32, [1, self.num_points, self.cloud_dim]) + is_training_pl = tf.placeholder(tf.bool) + + _, end_points = dgcnn_v0.get_model(pointcloud_pl, num_classes=self.num_classes, + is_training=is_training_pl) + + probabilities = end_points['Probabilities'] + predictions = tf.argmax(probabilities, 1) + + self.ops = {'pointcloud': pointcloud_pl, + 'is_training': is_training_pl, + 'probabilities': probabilities, + 'predictions': predictions} + + saver = tf.train.Saver() + + config = tf.ConfigProto() + config.allow_soft_placement = True + self.sess = tf.Session(config=config) + saver.restore(self.sess, checkpoint_path) + + def classify(self, pointcloud, center=True, rotate=True, pad=True): + """ + Classify point cloud + + :param pointcloud: The input pointcloud (BxNxD), D can be XYZ or XYZRGB + :type name: numpy.array + :param center: If true, pointcloud will be centered + :type name: Bool + :param rotate: If true, pointcloud will be rotated to their principal axes + :type name: Bool + :param pad: If true, pointcloud will be padded + :type name: Bool + + :return: Predicted label and probablity + """ + + if center: + pointcloud = pc_utils.center_pointcloud(pointcloud) + + if rotate: + pointcloud = pc_utils.rotate_pointcloud(pointcloud) + + if pad: + pointcloud = pointcloud.tolist() + while (len(pointcloud) < self.num_points): + pointcloud.append([0,0,0,0,0,0]) + + pointcloud = pc_utils.scale_to_unit_sphere(np.asarray(pointcloud), normalize=False) + pointcloud = np.expand_dims(pointcloud, 0) + + feed_dict = {self.ops['pointcloud']: pointcloud, + self.ops['is_training']: False} + + pred_label, probs = self.sess.run([self.ops['predictions'], self.ops['probabilities']], + feed_dict=feed_dict) + probs = probs[0][pred_label][0] + + return pred_label[0], probs \ No newline at end of file diff --git a/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/feature_based_classifiers.py b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/feature_based_classifiers.py new file mode 100644 index 0000000000000000000000000000000000000000..638d9558dca09889b40ffe4830c83dd8bcf9b9fb --- /dev/null +++ b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/feature_based_classifiers.py @@ -0,0 +1,39 @@ +#!/usr/bin/env python3 + +import pickle +import numpy as np + + +class FeatureBasedClassifiers(): + """ + Defines an SVM classifier with the mean and standard deviation of + the features, and a label encoder + + """ + + def __init__(self, classifier_name, label_encoder_name): + self.load_classifier(classifier_name, label_encoder_name) + print('\033[92m'+"Feature based 3D object classifier model is loaded") + + def save(self, classifier_name, label_encoder_name): + with open(classifier_name, 'wb') as f: + pickle.dump(self.classifier, f, protocol=2) + with open(label_encoder_name, 'wb') as f: + pickle.dump([self.label_encoder, self.mean, + self.std], f, protocol=2) + + def classify(self, feature_vector, normalize=True): + if normalize: + feature_vector -= np.array(self.mean) + feature_vector /= self.std + + probabilities = self.classifier.predict_proba(feature_vector)[0] + max_index = np.argmax(probabilities) + cls = [self.classifier.classes_[max_index]] + return self.label_encoder.inverse_transform(cls), probabilities[max_index] + + def load_classifier(self, classifier_name, label_encoder_name): + with open(classifier_name, 'rb') as f: + self.classifier = pickle.load(f) + with open(label_encoder_name, 'rb') as f: + self.label_encoder, self.mean, self.std = pickle.load(f) diff --git a/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/models/__init__.py b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/models/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/models/dgcnn.py b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/models/dgcnn.py new file mode 100644 index 0000000000000000000000000000000000000000..39b12cc0776b4e19a850074a7d965c8891b5e1e0 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/models/dgcnn.py @@ -0,0 +1,164 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- +""" +@Author: Yue Wang +@Contact: yuewangx@mit.edu +@File: model.py +@Time: 2018/10/13 6:35 PM +""" + +import torch +import torch.nn as nn +import torch.nn.functional as F + + +def knn(x, k): + inner = -2*torch.matmul(x.transpose(2, 1), x) + xx = torch.sum(x**2, dim=1, keepdim=True) + pairwise_distance = -xx - inner - xx.transpose(2, 1) + + # (batch_size, num_points, k) + idx = pairwise_distance.topk(k=k, dim=-1)[1] + return idx + + +def get_graph_feature(x, k=20, idx=None, flag_cat=True): + batch_size = x.size(0) + num_points = x.size(2) + x = x.view(batch_size, -1, num_points) + if idx is None: + idx = knn(x, k=k) # (batch_size, num_points, k) + device = torch.device("cuda" if torch.cuda.is_available() else "cpu") + + idx_base = torch.arange( + 0, batch_size, device=device).view(-1, 1, 1)*num_points + + idx = idx + idx_base + + idx = idx.view(-1) + + _, num_dims, _ = x.size() + + # (batch_size, num_points, num_dims) -> (batch_size*num_points, num_dims) # batch_size * num_points * k + range(0, batch_size*num_points) + x = x.transpose(2, 1).contiguous() + + feature = x.view(batch_size*num_points, -1)[idx, :] + feature = feature.view(batch_size, num_points, k, num_dims) + x = x.view(batch_size, num_points, 1, num_dims).repeat(1, 1, k, 1) + + if flag_cat: + feature = torch.cat((feature-x, x-feature), + dim=3).permute(0, 3, 1, 2).contiguous() + else: + feature = (feature - x).permute(0, 3, 1, 2).contiguous() + + # Converting FloafTensor to DoubleTensor + feature = feature.type(torch.FloatTensor) + return feature + + +class PointNet(nn.Module): + def __init__(self, args, output_channels=40): + super(PointNet, self).__init__() + self.args = args + self.conv1 = nn.Conv1d(3, 64, kernel_size=1, bias=False) + self.conv2 = nn.Conv1d(64, 64, kernel_size=1, bias=False) + self.conv3 = nn.Conv1d(64, 64, kernel_size=1, bias=False) + self.conv4 = nn.Conv1d(64, 128, kernel_size=1, bias=False) + self.conv5 = nn.Conv1d(128, self.emb_dims, kernel_size=1, bias=False) + self.bn1 = nn.BatchNorm1d(64) + self.bn2 = nn.BatchNorm1d(64) + self.bn3 = nn.BatchNorm1d(64) + self.bn4 = nn.BatchNorm1d(128) + self.bn5 = nn.BatchNorm1d(self.emb_dims) + self.linear1 = nn.Linear(self.emb_dims, 512, bias=False) + self.bn6 = nn.BatchNorm1d(512) + self.dp1 = nn.Dropout() + self.linear2 = nn.Linear(512, output_channels) + + def forward(self, x): + x = F.relu(self.bn1(self.conv1(x))) + x = F.relu(self.bn2(self.conv2(x))) + x = F.relu(self.bn3(self.conv3(x))) + x = F.relu(self.bn4(self.conv4(x))) + x = F.relu(self.bn5(self.conv5(x))) + x = F.adaptive_max_pool1d(x, 1).squeeze() + x = F.relu(self.bn6(self.linear1(x))) + x = self.dp1(x) + x = self.linear2(x) + return x + + +class DGCNN(nn.Module): + def __init__(self, args, output_channels=40): + super(DGCNN, self).__init__() + self.args = args + self.k = args['k'] + self.emb_dims = args['emb_dims'] + self.dropout = args['dropout'] + + # 64 is the number of channels in the output of the first convolutional layer + self.bn1 = nn.BatchNorm2d(64) + self.bn2 = nn.BatchNorm2d(64) + self.bn3 = nn.BatchNorm2d(128) + self.bn4 = nn.BatchNorm2d(256) + self.bn5 = nn.BatchNorm1d(self.emb_dims) + + self.conv1 = nn.Sequential(nn.Conv2d(6, 64, kernel_size=1, bias=False), + self.bn1, + nn.LeakyReLU(negative_slope=0.2)) + self.conv2 = nn.Sequential(nn.Conv2d(64*2, 64, kernel_size=1, bias=False), + self.bn2, + nn.LeakyReLU(negative_slope=0.2)) + self.conv3 = nn.Sequential(nn.Conv2d(64*2, 128, kernel_size=1, bias=False), + self.bn3, + nn.LeakyReLU(negative_slope=0.2)) + self.conv4 = nn.Sequential(nn.Conv2d(128*2, 256, kernel_size=1, bias=False), + self.bn4, + nn.LeakyReLU(negative_slope=0.2)) + self.conv5 = nn.Sequential(nn.Conv1d(512, self.emb_dims, kernel_size=1, bias=False), + self.bn5, + nn.LeakyReLU(negative_slope=0.2)) + self.linear1 = nn.Linear(self.emb_dims*2, 512, bias=False) + self.bn6 = nn.BatchNorm1d(512) + self.dp1 = nn.Dropout(p=self.dropout) + self.linear2 = nn.Linear(512, 256) + self.bn7 = nn.BatchNorm1d(256) + self.dp2 = nn.Dropout(p=self.dropout) + self.linear3 = nn.Linear(256, output_channels) + + def forward(self, x): + + batch_size = x.size(0) + flag_cat = False + x = get_graph_feature(x, k=self.k, flag_cat=flag_cat) + + x = self.conv1(x) + x1 = x.max(dim=-1, keepdim=False)[0] + + x = get_graph_feature(x1, k=self.k) + x = self.conv2(x) + x2 = x.max(dim=-1, keepdim=False)[0] + + x = get_graph_feature(x2, k=self.k) + x = self.conv3(x) + x3 = x.max(dim=-1, keepdim=False)[0] + + x = get_graph_feature(x3, k=self.k) + x = self.conv4(x) + x4 = x.max(dim=-1, keepdim=False)[0] + + x = torch.cat((x1, x2, x3, x4), dim=1) + + x = self.conv5(x) + x1 = F.adaptive_max_pool1d(x, 1).view(batch_size, -1) + x2 = F.adaptive_avg_pool1d(x, 1).view(batch_size, -1) + x = torch.cat((x1, x2), 1) + + x = F.leaky_relu(self.bn6(self.linear1(x)), negative_slope=0.2) + x = self.dp1(x) + x = F.leaky_relu(self.bn7(self.linear2(x)), negative_slope=0.2) + x = self.dp2(x) + x = self.linear3(x) + + return x diff --git a/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/models/dgcnn_v0.py b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/models/dgcnn_v0.py new file mode 100644 index 0000000000000000000000000000000000000000..0b4f0cd9d7fffdaaca0097880a6b2c9af194cfbb --- /dev/null +++ b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/models/dgcnn_v0.py @@ -0,0 +1,208 @@ +import os +import sys +import math + +import tensorflow as tf +import numpy as np + +import pc_object_recognition.utils.tf_util as tf_util +from transform_nets import input_transform_net + +def get_model(pointcloud, num_classes, is_training, base=False): + """ + Classification model DGCNN, input is BxNx3, output Bxnum_classes + + :param pointcloud: The input pointcloud (BxNxD), D can be XYZ or XYZRGB + :type name: Array + :param num_classes: The number of classes + :type name: Int + :param is_training: Training mode or not + :type name: Bool + :param base: If true, return DGCNN backbone + :type name: Bool + + :return: Logits and endpoints + """ + batch_size = pointcloud.get_shape()[0].value + end_points = {} + k = 20 + + adj_matrix = tf_util.pairwise_distance(pointcloud) + nn_idx = tf_util.knn(adj_matrix, k=k) + edge_feature = tf_util.get_edge_feature(pointcloud, nn_idx=nn_idx, k=k) + + net = tf_util.conv2d(edge_feature, 64, [1,1], + padding='VALID', stride=[1,1], + bn=True, is_training=is_training, + scope='dgcnn1', bn_decay=None) + net = tf.reduce_max(net, axis=-2, keep_dims=True) + net1 = net + end_points['dgcnn1'] = net1 + + adj_matrix = tf_util.pairwise_distance(net) + nn_idx = tf_util.knn(adj_matrix, k=k) + edge_feature = tf_util.get_edge_feature(net, nn_idx=nn_idx, k=k) + + net = tf_util.conv2d(edge_feature, 64, [1,1], + padding='VALID', stride=[1,1], + bn=True, is_training=is_training, + scope='dgcnn2', bn_decay=None) + net = tf.reduce_max(net, axis=-2, keep_dims=True) + net2 = net + end_points['dgcnn2'] = net2 + + adj_matrix = tf_util.pairwise_distance(net) + nn_idx = tf_util.knn(adj_matrix, k=k) + edge_feature = tf_util.get_edge_feature(net, nn_idx=nn_idx, k=k) + + net = tf_util.conv2d(edge_feature, 64, [1,1], + padding='VALID', stride=[1,1], + bn=True, is_training=is_training, + scope='dgcnn3', bn_decay=None) + net = tf.reduce_max(net, axis=-2, keep_dims=True) + net3 = net + end_points['dgcnn3'] = net3 + + adj_matrix = tf_util.pairwise_distance(net) + nn_idx = tf_util.knn(adj_matrix, k=k) + edge_feature = tf_util.get_edge_feature(net, nn_idx=nn_idx, k=k) + + net = tf_util.conv2d(edge_feature, 128, [1,1], + padding='VALID', stride=[1,1], + bn=True, is_training=is_training, + scope='dgcnn4', bn_decay=None) + net = tf.reduce_max(net, axis=-2, keep_dims=True) + net4 = net + end_points['dgcnn4'] = net4 + + net = tf_util.conv2d(tf.concat([net1, net2, net3, net4], axis=-1), 1024, [1, 1], + padding='VALID', stride=[1,1], + bn=True, is_training=is_training, + scope='agg', bn_decay=None) + + net = tf.reduce_max(net, axis=1, keep_dims=True) + + if base: + end_points['DGCNN_PreFC'] = net + return end_points + + # MLP on global point cloud vector + net = tf.reshape(net, [batch_size, -1]) + net = tf_util.fully_connected(net, 512, bn=True, is_training=is_training, + scope='fc1', bn_decay=None) + net = tf_util.dropout(net, keep_prob=0.5, is_training=is_training, scope='dp1') + + net = tf_util.fully_connected(net, 256, bn=True, is_training=is_training, + scope='fc2', bn_decay=None) + net = tf_util.dropout(net, keep_prob=0.5, is_training=is_training,scope='dp2') + + net = tf_util.fully_connected(net, num_classes, activation_fn=None, scope='fc3') + + end_points['Logits'] = net + end_points['Probabilities'] = tf.nn.softmax(net, name='Probabilities') + + return net, end_points + +def get_model_with_tfnet(pointcloud, num_classes, is_training, base=False): + """ + Classification model DGCNN with tfnet, input is BxNx3, output Bxnum_classes + :param pointcloud: The input pointcloud + :type name: Array + :param num_classes: The number of classes + :type name: Int + :param is_training: True indicating training mode + :type name: Bool + :param base: If true, return DGCNN backbone + :type name: Bool + + :return: Logits and endpoints + """ + batch_size = pointcloud.get_shape()[0].value + pc_dim = pointcloud.get_shape()[2].value + end_points = {} + k = 20 + + adj_matrix = tf_util.pairwise_distance(pointcloud) + nn_idx = tf_util.knn(adj_matrix, k=k) + edge_feature = tf_util.get_edge_feature(pointcloud, nn_idx=nn_idx, k=k) + + with tf.variable_scope('transform_net1') as sc: + transform = input_transform_net(edge_feature, is_training, K=pc_dim) + end_points['transform'] = transform + + pointcloud_transformed = tf.matmul(pointcloud, transform) + adj_matrix = tf_util.pairwise_distance(pointcloud_transformed) + nn_idx = tf_util.knn(adj_matrix, k=k) + edge_feature = tf_util.get_edge_feature(pointcloud_transformed, nn_idx=nn_idx, k=k) + + net = tf_util.conv2d(edge_feature, 64, [1,1], + padding='VALID', stride=[1,1], + bn=True, is_training=is_training, + scope='dgcnn1', bn_decay=None) + net = tf.reduce_max(net, axis=-2, keep_dims=True) + net1 = net + end_points['dgcnn1'] = net1 + + adj_matrix = tf_util.pairwise_distance(net) + nn_idx = tf_util.knn(adj_matrix, k=k) + edge_feature = tf_util.get_edge_feature(net, nn_idx=nn_idx, k=k) + + net = tf_util.conv2d(edge_feature, 64, [1,1], + padding='VALID', stride=[1,1], + bn=True, is_training=is_training, + scope='dgcnn2', bn_decay=None) + net = tf.reduce_max(net, axis=-2, keep_dims=True) + net2 = net + end_points['dgcnn2'] = net2 + + adj_matrix = tf_util.pairwise_distance(net) + nn_idx = tf_util.knn(adj_matrix, k=k) + edge_feature = tf_util.get_edge_feature(net, nn_idx=nn_idx, k=k) + + net = tf_util.conv2d(edge_feature, 64, [1,1], + padding='VALID', stride=[1,1], + bn=True, is_training=is_training, + scope='dgcnn3', bn_decay=None) + net = tf.reduce_max(net, axis=-2, keep_dims=True) + net3 = net + end_points['dgcnn3'] = net3 + + adj_matrix = tf_util.pairwise_distance(net) + nn_idx = tf_util.knn(adj_matrix, k=k) + edge_feature = tf_util.get_edge_feature(net, nn_idx=nn_idx, k=k) + + net = tf_util.conv2d(edge_feature, 128, [1,1], + padding='VALID', stride=[1,1], + bn=True, is_training=is_training, + scope='dgcnn4', bn_decay=None) + net = tf.reduce_max(net, axis=-2, keep_dims=True) + net4 = net + end_points['dgcnn4'] = net4 + + net = tf_util.conv2d(tf.concat([net1, net2, net3, net4], axis=-1), 1024, [1, 1], + padding='VALID', stride=[1,1], + bn=True, is_training=is_training, + scope='agg', bn_decay=None) + + net = tf.reduce_max(net, axis=1, keep_dims=True) + + if base: + end_points['DGCNN_PreFC'] = net + return end_points + + # MLP on global point cloud vector + net = tf.reshape(net, [batch_size, -1]) + net = tf_util.fully_connected(net, 512, bn=True, is_training=is_training, + scope='fc1', bn_decay=None) + net = tf_util.dropout(net, keep_prob=0.5, is_training=is_training, scope='dp1') + + net = tf_util.fully_connected(net, 256, bn=True, is_training=is_training, + scope='fc2', bn_decay=None) + net = tf_util.dropout(net, keep_prob=0.5, is_training=is_training,scope='dp2') + + net = tf_util.fully_connected(net, num_classes, activation_fn=None, scope='fc3') + + end_points['Logits'] = net + end_points['Probabilities'] = tf.nn.softmax(net, name='Probabilities') + + return net, end_points \ No newline at end of file diff --git a/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/models/dgcnn_v1.py b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/models/dgcnn_v1.py new file mode 100644 index 0000000000000000000000000000000000000000..eb6d1f8d62fbd4d6b5f7aff2ca35357fe6bc183c --- /dev/null +++ b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/models/dgcnn_v1.py @@ -0,0 +1,104 @@ +import os +import sys +import math + +import tensorflow as tf +import numpy as np + +import pc_object_recognition.utils.tf_util as tf_util +from pc_object_recognition.models.transform_nets import input_transform_net + +def get_model(pointcloud, num_classes, is_training, base=False): + """ + Classification model DGCNN, input is BxNx3, output Bxnum_classes + + :param pointcloud: The input pointcloud (BxNxD), D can be XYZ or XYZRGB + :type name: Array + :param num_classes: The number of classes + :type name: Int + :param is_training: Training mode or not + :type name: Bool + :param base: If true, return DGCNN backbone + :type name: Bool + + :return: Logits and endpoints + """ + batch_size = pointcloud.get_shape()[0].value + end_points = {} + k = 20 + + adj_matrix = tf_util.pairwise_distance(pointcloud) + nn_idx = tf_util.knn(adj_matrix, k=k) + edge_feature = tf_util.get_edge_feature(pointcloud, nn_idx=nn_idx, k=k) + + net = tf_util.conv2d(edge_feature, 64, [1,1], + padding='VALID', stride=[1,1], + bn=True, is_training=is_training, + scope='dgcnn1', bn_decay=None) + net = tf.reduce_max(net, axis=-2, keep_dims=True) + net1 = net + end_points['dgcnn1'] = net1 + + adj_matrix = tf_util.pairwise_distance(net) + nn_idx = tf_util.knn(adj_matrix, k=k) + edge_feature = tf_util.get_edge_feature(net, nn_idx=nn_idx, k=k) + + net = tf_util.conv2d(edge_feature, 64, [1,1], + padding='VALID', stride=[1,1], + bn=True, is_training=is_training, + scope='dgcnn2', bn_decay=None) + net = tf.reduce_max(net, axis=-2, keep_dims=True) + net2 = net + end_points['dgcnn2'] = net2 + + adj_matrix = tf_util.pairwise_distance(net) + nn_idx = tf_util.knn(adj_matrix, k=k) + edge_feature = tf_util.get_edge_feature(net, nn_idx=nn_idx, k=k) + + net = tf_util.conv2d(edge_feature, 64, [1,1], + padding='VALID', stride=[1,1], + bn=True, is_training=is_training, + scope='dgcnn3', bn_decay=None) + net = tf.reduce_max(net, axis=-2, keep_dims=True) + net3 = net + end_points['dgcnn3'] = net3 + + adj_matrix = tf_util.pairwise_distance(net) + nn_idx = tf_util.knn(adj_matrix, k=k) + edge_feature = tf_util.get_edge_feature(net, nn_idx=nn_idx, k=k) + + net = tf_util.conv2d(edge_feature, 128, [1,1], + padding='VALID', stride=[1,1], + bn=True, is_training=is_training, + scope='dgcnn4', bn_decay=None) + net = tf.reduce_max(net, axis=-2, keep_dims=True) + net4 = net + end_points['dgcnn4'] = net4 + + net = tf_util.conv2d(tf.concat([net1, net2, net3, net4], axis=-1), 1024, [1, 1], + padding='VALID', stride=[1,1], + bn=True, is_training=is_training, + scope='agg', bn_decay=None) + + net = tf.reduce_max(net, axis=1, keep_dims=True) + + if base: + end_points['DGCNN_PreFC'] = net + return end_points + + # MLP on global point cloud vector + net = tf.reshape(net, [batch_size, -1]) + net = tf_util.fully_connected(net, 512, bn=True, is_training=is_training, + scope='fc1', bn_decay=None) + net = tf_util.dropout(net, keep_prob=0.5, is_training=is_training, scope='dp1') + + net = tf_util.fully_connected(net, 256, bn=True, is_training=is_training, + scope='fc2', bn_decay=None) + net = tf_util.dropout(net, keep_prob=0.5, is_training=is_training,scope='dp2') + + net = tf_util.fully_connected(net, num_classes, activation_fn=None, scope='fc3') + + end_points['Logits'] = net + end_points['Probabilities'] = tf.nn.softmax(net, name='Probabilities') + + return net, end_points diff --git a/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/models/report.txt b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/models/report.txt new file mode 100644 index 0000000000000000000000000000000000000000..8f3044a2016b76d2f0d44ac6862c9e495f9926b0 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/models/report.txt @@ -0,0 +1,26 @@ +TensorFlow 2.0 Upgrade Script +----------------------------- +Converted 1 files +Detected 0 issues that require attention +-------------------------------------------------------------------------------- +================================================================================ +Detailed log follows: + +================================================================================ +-------------------------------------------------------------------------------- +Processing file 'dgcnn.py' + outputting to 'dgcnn_v2.py' +-------------------------------------------------------------------------------- + +38:10: INFO: Added keywords to args of function 'tf.reduce_max' +38:10: INFO: Renamed keyword argument for tf.reduce_max from keep_dims to keepdims +50:10: INFO: Added keywords to args of function 'tf.reduce_max' +50:10: INFO: Renamed keyword argument for tf.reduce_max from keep_dims to keepdims +62:10: INFO: Added keywords to args of function 'tf.reduce_max' +62:10: INFO: Renamed keyword argument for tf.reduce_max from keep_dims to keepdims +74:10: INFO: Added keywords to args of function 'tf.reduce_max' +74:10: INFO: Renamed keyword argument for tf.reduce_max from keep_dims to keepdims +83:10: INFO: Added keywords to args of function 'tf.reduce_max' +83:10: INFO: Renamed keyword argument for tf.reduce_max from keep_dims to keepdims +-------------------------------------------------------------------------------- + diff --git a/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/models/transform_nets.py b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/models/transform_nets.py new file mode 100644 index 0000000000000000000000000000000000000000..8813793b20b5c9d9e1890d8196af4172bb222592 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/models/transform_nets.py @@ -0,0 +1,63 @@ +import tensorflow as tf +import numpy as np +import sys +import os + +import pc_object_recognition.utils.tf_util as dgcnn_util + +def input_transform_net(edge_feature, is_training, K=3, is_dist=False): + """ + :param pointcloud: Edge feature input (BxNxkxD), k=num of neighbors, D=cloud dimension + :type name: Array + :param is_training: True indicating training mode + :type name: Bool + :param K: Number of cloud dimension + :type name: Int + :param is_dist: True indicating distributed training scheme + + Return: + Transformation matrix of size 3xK + """ + batch_size = edge_feature.get_shape()[0].value + num_point = edge_feature.get_shape()[1].value + + # input_image = tf.expand_dims(point_cloud, -1) + net = dgcnn_util.conv2d(edge_feature, 64, [1,1], + padding='VALID', stride=[1,1], + bn=True, is_training=is_training, + scope='tconv1', bn_decay=None, is_dist=is_dist) + net = dgcnn_util.conv2d(net, 128, [1,1], + padding='VALID', stride=[1,1], + bn=True, is_training=is_training, + scope='tconv2', bn_decay=None, is_dist=is_dist) + + net = tf.reduce_max(net, axis=-2, keep_dims=True) + + net = dgcnn_util.conv2d(net, 1024, [1,1], + padding='VALID', stride=[1,1], + bn=True, is_training=is_training, + scope='tconv3', bn_decay=None, is_dist=is_dist) + net = dgcnn_util.max_pool2d(net, [num_point,1], + padding='VALID', scope='tmaxpool') + + net = tf.reshape(net, [batch_size, -1]) + net = dgcnn_util.fully_connected(net, 512, bn=True, is_training=is_training, + scope='tfc1', bn_decay=None,is_dist=is_dist) + net = dgcnn_util.fully_connected(net, 256, bn=True, is_training=is_training, + scope='tfc2', bn_decay=None,is_dist=is_dist) + + with tf.variable_scope('transform_XYZ') as sc: + with tf.device('/cpu:0'): + weights = tf.get_variable('weights', [256, K*K], + initializer=tf.constant_initializer(0.0), + dtype=tf.float32) + biases = tf.get_variable('biases', [K*K], + initializer=tf.constant_initializer(0.0), + dtype=tf.float32) + + biases += tf.constant(np.eye(K).flatten(), dtype=tf.float32) + transform = tf.matmul(net, weights) + transform = tf.nn.bias_add(transform, biases) + + transform = tf.reshape(transform, [batch_size, K, K]) + return transform \ No newline at end of file diff --git a/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/report.txt b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/report.txt new file mode 100644 index 0000000000000000000000000000000000000000..f09000991b86f7aaab9eae3139f9d46990779b68 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/report.txt @@ -0,0 +1,22 @@ +TensorFlow 2.0 Upgrade Script +----------------------------- +Converted 1 files +Detected 0 issues that require attention +-------------------------------------------------------------------------------- +================================================================================ +Detailed log follows: + +================================================================================ +-------------------------------------------------------------------------------- +Processing file 'dgcnn_classifier.py' + outputting to 'dgcnn_classifier_v2.py' +-------------------------------------------------------------------------------- + +26:28: INFO: Renamed 'tf.placeholder' to 'tf.compat.v1.placeholder' +27:29: INFO: Renamed 'tf.placeholder' to 'tf.compat.v1.placeholder' +33:26: INFO: Added keywords to args of function 'tf.argmax' +40:20: INFO: Renamed 'tf.train.Saver' to 'tf.compat.v1.train.Saver' +42:21: INFO: Renamed 'tf.ConfigProto' to 'tf.compat.v1.ConfigProto' +44:24: INFO: Renamed 'tf.Session' to 'tf.compat.v1.Session' +-------------------------------------------------------------------------------- + diff --git a/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/setup.py b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/setup.py new file mode 100644 index 0000000000000000000000000000000000000000..b7699843b34871b3de89639649b69ecff89fcc2b --- /dev/null +++ b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/setup.py @@ -0,0 +1,11 @@ +# ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD + +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages=['rgb_object_recognition','pc_classifier'], + package_dir={'rgb_object_recognition': 'common/src/rgb_object_recognition', 'pcl_models': 'common/src/pc_models'} + ) + +setup(**d) diff --git a/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/utils/__init__.py b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/utils/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/utils/data.py b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/utils/data.py new file mode 100644 index 0000000000000000000000000000000000000000..8eebf7157de858d8444820963ff9833a1bf0dc87 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/utils/data.py @@ -0,0 +1,20 @@ +from torch.utils.data import Dataset +# import pc_utils.extract_pcd as extract_pcd +from pc_object_recognition.utils.pc_utils import extract_pcd +import numpy as np + + +class infer_data(Dataset): # dataloader for inference + + def __init__(self, num_points, pcl_path, transform=None): + + self.pcl_path = pcl_path + self.num_points = num_points + self.data = extract_pcd(self.pcl_path, num_points=self.num_points) + + def __len__(self): + return self.data.shape[0] + + def __getitem__(self, x): + label = np.array([0]) + return self.data, label diff --git a/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/utils/features.py b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/utils/features.py new file mode 100644 index 0000000000000000000000000000000000000000..daec9510e3a857c0c85ddb48c3a101f6a41acd2e --- /dev/null +++ b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/utils/features.py @@ -0,0 +1,555 @@ +import numpy as np +from pc_object_recognition.utils.pc_utils import scale_to_unit_sphere, center_and_rotate_pointcloud + + +class FVRDDFeatureExtraction(): + """ + PointCloud feature extraction. Available methods are fisher vector and \ + radial density distribution. + + :param method: feature extraction method to use + :type method: string + """ + + def __init__(self, method="fvrdd"): + if method == "fvrdd": + self.method = self.calculate_fvrdd_features + elif method == "rdd": + self.method = self.calculate_mean_circle_features + + def get_method(self): + """ + Get feature extraction method + + :return method: a funtion to extract the feature + :type use_rdd: function + """ + return self.method + + def set_fv_params(self, gmm_grid, use_rdd): + """ + Set fisher vector (3DmFV) params + + :param gmm_grid: The gmm grid (e.g. [2,2,2]) + :type gmm_grid: numpy.array + :param use_rdd: whether to combine fv with rdd + :type use_rdd: bool + """ + self.gmm = gmm_grid + self.use_rdd = use_rdd + + def set_rdd_params(self, color=True): + """ + Set radial density distribution feature param + + :param color: The input pointcloud + :type color: numpy.array + """ + self.use_color = color + + def calculate_centre_of_gravity_offset(self, pointcloud): + """ + Returns difference between centre of gravity of the pointcloud + in the x-axis and the origin + + :param pointcloud: The input pointcloud + :type pointcloud: numpy.array + + :return: The centre of gravity offset + :rtype: float + + """ + + # The centre of gravity (CoG) of the pointcloud is assumed to be at 0,0,0 (after normalization) + # The difference between the CoG and the geometric centre of the object ((max+min)/2) on the + # x-axis gives the offset + max_x = np.max(pointcloud[:, 0]) + min_x = np.min(pointcloud[:, 0]) + + return (max_x + min_x) / 2.0 + + def calculate_mean_colour(self, pointcloud): + """ + Returns mean H, S and V components of colour + + :param pointcloud: The input pointcloud + :type pointcloud: numpy.array + + :return: mean H, S and V components of colour + :rtype: numpy.array + + """ + # fourth column of the array is colour represented as a 32bit float + mean_h = np.mean(pointcloud[:, 3]) + mean_s = np.mean(pointcloud[:, 4]) + mean_v = np.mean(pointcloud[:, 5]) + + return np.array([mean_h, mean_s, mean_v]) + + def calculate_median_colour(self, pointcloud): + """ + Returns median H, S and V components of colour + + :param pointcloud: the input pointcloud + :type pointcloud: numpy.array + + :return: median H, S and V components colour + :rtype: numpy.array + + """ + # fourth column of the array is colour represented as a 32bit float + median_h = np.median(pointcloud[:, 3]) + median_s = np.median(pointcloud[:, 4]) + median_v = np.median(pointcloud[:, 5]) + + return np.array([median_h, median_s, median_v]) + + def calculate_bounding_box(self, pointcloud): + """ + Returns length of pointcloud in x, y and z axes + + :param pointcloud: the input pointcloud + :type pointcloud: numpy.array + + :return: lengths of pointcloud in x, y and z axes + :rtype: numpy.array + + """ + pc = pointcloud[:, 0:3] + max_point = np.max(pc, axis=0) + min_point = np.min(pc, axis=0) + + return max_point - min_point + + def fit_circle(self, pointcloud, dim1, dim2): + """ + Calculates mean circle, inlier and outlier error and radial density + of pointcloud on the plane defined by the axes dim1 and dim2 + A visual representation of the radial density feature can be seen in common/doc/ + + :param pointcloud: the input pointcloud + :type pointcloud: numpy.array + + :param dim1: index of first axis defining the plane + :type dim1: int + + :param dim2: index of second axis defining the plane + :type dim2: int + + :return radius: radius of mean circle + :rtype radius: float + + :return inlier_error: inlier error (circle fit error of points lying inside the mean circle) + :rtype inlier_error: float + + :return outerr: outlier error (circle fit error of points lying outside the mean circle) + :rtype outerr: float + + :return radial_density: mean normalized radial density for the pointcloud + :rtype: radial_density: float + + """ + # Only get axes which are defined by dim1 and dim2 + pointcloud = np.vstack([pointcloud[:, dim1], pointcloud[:, dim2]]).T + + # Number of sections the circumference of the circle is split into + # Determined experimentally with the objective of getting a "reasonable" number of + # points per bin + number_of_bins = 33 + + histogram = np.zeros([number_of_bins]) + + # Find the angle on a circle centred at the origin that the points are located at + projected_angles = np.arctan2(pointcloud[:, 0], pointcloud[:, 1]) + + # move range of angles from (-pi/2,pi/2) to (0, pi) + negative_angles = np.where(projected_angles < 0) + projected_angles[negative_angles] += 2 * np.pi + + # convert angle to bin number + bin_numbers = np.round((number_of_bins-1) * + projected_angles / (2 * np.pi)) + + # populate the histogram + for bin_number in bin_numbers: + histogram[int(bin_number)] += 1 + + # if there are points in any of the bins calculate radial density + # otherwise return 0 for all features (radius, errors, radial density) + if np.max(histogram) > 0: + radial_density = np.sum( + histogram / np.max(histogram)) / number_of_bins + else: + return 0, 0, 0, 0 + + # radius of mean circle - mean distance of all points from the origin + distance_to_origin = np.sqrt( + np.sum(np.multiply(pointcloud[:, 0:2], pointcloud[:, 0:2]), axis=1)) + radius = np.mean(distance_to_origin) + + diff = distance_to_origin - radius + inlier_errors = diff[np.where(diff < 0)] + outlier_errors = diff[np.where(diff >= 0)] + + # mean squared error + inlier_error = np.mean(np.multiply(inlier_errors, inlier_errors)) + outlier_error = np.mean(np.multiply(outlier_errors, outlier_errors)) + + return radius, inlier_error, outlier_error, radial_density + + def calculate_slices_description(self, pointcloud, number_of_slices): + """ + Calculates mean circle radius, inlier and outlier error and radial density + for slices of the pointcloud taken along the x-axis (first principal axis) + + :param pointcloud: the input pointcloud + :type pointcloud: numpy.array + + :param number_of_slices: number of slices to be created along x-axis + :type number_of_slices: int + + :return: array of features mentioned above for each slice + :rtype: numpy.array + + """ + pointcloud_xyz = pointcloud[:, 0:3] + min_x = np.min(pointcloud_xyz[:, 0]) + max_x = np.max(pointcloud_xyz[:, 0]) + + length_of_x_axis = max_x - min_x + step = length_of_x_axis / number_of_slices + + # slices are bounded by left and right edge + # start from minimum x (left edge) + left_edge = min_x + right_edge = left_edge + step + + slice_size = pointcloud_xyz.shape[0] + slices = np.zeros( + [number_of_slices, slice_size, pointcloud_xyz.shape[1]]) + + for k in range(number_of_slices): + # define the points in the slice as all points between left and right edge + # "multiply" is used to combine two conditions + slice = pointcloud_xyz[np.where( + np.multiply(pointcloud_xyz[:, 0] >= left_edge, + pointcloud_xyz[:, 0] < right_edge))] + if slice.shape[0] < 1: + continue + slices[k, 0:slice.shape[0], :] = slice + #print ("slice shape: {}, k: {}, slices shape: {}".format(slice.shape, k, slices.shape)) + # calculate features for the slice + radius, inlier_error, outlier_error, radial_density = self.fit_circle( + slice, 1, 2) + slices[k, slice.shape[0], :] = np.array( + [radius, outlier_error/inlier_error, radial_density]) + + # move to the next slice + left_edge += step + right_edge += step + + return slices + + def calculate_mean_circle_features(self, pointcloud, enable_color=False): + """ + Calculates features for the input pointcloud + Features are: + bounding box + centre of gravity offset + mean colour + median colour + X-Y plane features + mean circle + ratio of outlier to inlier error + radial density + X axis slice features + mean circle + ratio of outlier to inlier error + radial density + + A visual representation of some of these features can be seen in common/doc/ + + :param pointcloud: the input pointcloud + :type pointcloud: numpy.array + + :param enable_colour: flag to specify if colour is specified and is to be used as a feature + :type enable_colour: boolean + + :return: feature vector with the features mentioned above + :rtype: numpy.array + + """ + pointcloud = center_and_rotate_pointcloud(pointcloud) + + # BBox feature: 3 + xyz = self.calculate_bounding_box(pointcloud) + + # CoG: 1 + centre_of_gravity_offset = self.calculate_centre_of_gravity_offset( + pointcloud) + + features = np.array([]) + features = np.append(features, xyz) + features = np.append(features, centre_of_gravity_offset) + + if self.use_color: + colour_mean = self.calculate_mean_colour(pointcloud) + colour_median = self.calculate_median_colour(pointcloud) + features = np.append(features, colour_mean) + features = np.append(features, colour_median) + + # Fit circle for whole points + # plane radius: 1, plane radial density: 1, plane_error_rate: 1 + plane_radius, plane_inlier_error, plane_outlier_error, plane_radial_density = fit_circle( + pointcloud, 0, 1) + plane_error_rate = plane_outlier_error / plane_inlier_error + features = np.append(features, plane_radius) + features = np.append(features, plane_error_rate) + features = np.append(features, plane_radial_density) + + slices = self.calculate_slices_description(pointcloud, 8) + for k in range(slices.shape[0]): + slice = slices[k, :, :] + slice = slice[np.where(np.sum(np.abs(slice), axis=1) > 0)] + if slice.shape[0] < 1: + features = np.append(features, np.zeros([3])) + else: + features = np.append(features, slice[-1, :]) + + return features + + def calculate_slice_features(self, pointcloud, number_of_slices): + """ + Calculates slice features from different plane XY, XZ and YZ + + :param pointcloud: the input pointcloud + :type pointcloud: numpy.array + :param number_of_slices: number of slices + :type number_of_slices: int + + :return: slice features + :rtype: numpy.array + + """ + axis_features = [] + pointcloud_xyz = pointcloud[:, 0:3] + #print (pointcloud.shape) + for i in range(3): + min_x = np.min(pointcloud_xyz[:, i]) + max_x = np.max(pointcloud_xyz[:, i]) + + length_of_x_axis = max_x - min_x + step = length_of_x_axis / number_of_slices + + # slices are bounded by left and right edge + # start from minimum x (left edge) + left_edge = min_x + right_edge = left_edge + step + + slice_size = pointcloud_xyz.shape[0] + + slices = np.zeros( + [number_of_slices, slice_size, pointcloud_xyz.shape[1]]) + + if i == 0: + dim1 = 0 + dim2 = 1 + elif i == 1: + dim1 = 0 + dim2 = 2 + elif i == 2: + dim1 = 1 + dim2 = 2 + + for k in range(number_of_slices): + # define the points in the slice as all points between left and right edge + # "multiply" is used to combine two conditions + slice = pointcloud_xyz[np.where( + np.multiply(pointcloud_xyz[:, i] >= left_edge, + pointcloud_xyz[:, i] < right_edge))] + if slice.shape[0] < 1: + continue + slices[k, 0:slice.shape[0], :] = slice + # calculate features for the slice + radius, inlier_error, outlier_error, radial_density = self.fit_circle( + slice, dim1, dim2) + slices[k, slice.shape[0], :] = np.array( + [radius, outlier_error/inlier_error, radial_density]) + # move to the next slice + left_edge += step + right_edge += step + + axis_features.append(slices) + + return axis_features + + # Compute Fisher Vector + def calculate_fvrdd_features(self, pointcloud): + """ + Calculates fisher vector and multi axes radial density distribution features + + :param pointcloud: the input pointcloud + :type pointcloud: numpy.array + + :return: combined feature vector + :rtype: numpy.array + + """ + pointcloud = center_and_rotate_pointcloud(pointcloud) + + features = [] + slice_features = self.calculate_slice_features(pointcloud, 8) + slice_features = np.asarray(slice_features) + for slices in slice_features: + s_feature = [] + for k in range(slices.shape[0]): + slice = slices[k, :, :] + slice = slice[np.where(np.sum(np.abs(slice), axis=1) > 0)] + if slice.shape[0] < 1: + s_feature.append(np.zeros([3])) + else: + s_feature.append(slice[-1, :]) + s_feature = np.asarray(s_feature).flatten() + features.extend(s_feature) + + # Also compute additional radial density distribution feature feature + # such as color, BBox, outlier error + if self.use_rdd: + plane_radius, plane_inlier_error, plane_outlier_error, plane_radial_density = self.fit_circle( + pointcloud, 0, 1) + plane_error_rate = np.divide( + plane_outlier_error, plane_inlier_error) + features.append(plane_radius) + features.append(plane_error_rate) + features.append(plane_radial_density) + + bbox = self.calculate_bounding_box(pointcloud) + centre_of_gravity_offset = self.calculate_centre_of_gravity_offset( + pointcloud) + + # Bounding box does improve classifier + features.append(bbox[0]) + features.append(bbox[1]) + features.append(bbox[2]) + features.append(centre_of_gravity_offset) + + # Add color feature + colour_mean = self.calculate_mean_colour(pointcloud) + colour_median = self.calculate_median_colour(pointcloud) + features.append(colour_mean[0]) + features.append(colour_mean[1]) + features.append(colour_mean[2]) + features.append(colour_median[0]) + features.append(colour_median[1]) + features.append(colour_median[2]) + + rdd_features = np.asarray(features).flatten() + + # Use color feature + pcl_color = pointcloud[:, 3:6] + pcl_color = center_and_rotate_pointcloud(pcl_color) + pcl_color = scale_to_unit_sphere(pcl_color) + pcl_color = np.expand_dims(pcl_color, 0) + fv_color = self.get_3DmFV( + pcl_color, self.gmm.weights_, self.gmm.means_, np.sqrt(self.gmm.covariances_)) + + # Point feature + pointcloud = pointcloud[:, 0:3] + pointcloud = center_and_rotate_pointcloud(pointcloud) + pointcloud = scale_to_unit_sphere(pointcloud) + pointcloud = np.expand_dims(pointcloud, 0) + fv = self.get_3DmFV(pointcloud, self.gmm.weights_, + self.gmm.means_, np.sqrt(self.gmm.covariances_)) + fv = np.concatenate([fv_color, fv]) + fv = fv.flatten() + + fvrdd_features = np.hstack((rdd_features, fv)) + + return fvrdd_features + + def l2_normalize(self, v, dim=1): + """ + Normalize a vector along a dimension + + :param v: a vector or matrix to normalize + :param dim: the dimension along which to normalize + :return: normalized v along dim + """ + norm = np.linalg.norm(v, axis=dim) + if norm.all() == 0: + return v + return v / norm + + def get_3DmFV(self, points, w, mu, sigma, normalize=True): + """ + Compute the 3D modified fisher vectors given the gmm model parameters (w,mu,sigma) and a set of points + + :param points: B X N x 3 tensor of XYZ points + :param w: B X n_gaussians tensor of gaussian weights + :param mu: B X n_gaussians X 3 tensor of gaussian cetnters + :param sigma: B X n_gaussians X 3 tensor of stddev of diagonal covariance + :return: fv: B X 20*n_gaussians tensor of the fisher vector + """ + n_batches = points.shape[0] + n_points = points.shape[1] + n_gaussians = mu.shape[0] + D = mu.shape[1] + + # Expand dimension for batch compatibility + batch_sig = np.tile(np.expand_dims(sigma, 0), [n_points, 1, 1]) + batch_sig = np.tile(np.expand_dims(batch_sig, 0), [n_batches, 1, 1, 1]) + batch_mu = np.tile(np.expand_dims(mu, 0), [n_points, 1, 1]) + batch_mu = np.tile(np.expand_dims(batch_mu, 0), [n_batches, 1, 1, 1]) + batch_w = np.tile(np.expand_dims(np.expand_dims(w, 0), 0), [ + n_batches, n_points, 1]) + batch_points = np.tile(np.expand_dims( + points, -2), [1, 1, n_gaussians, 1]) + # Compute derivatives + w_per_batch_per_d = np.tile(np.expand_dims(np.expand_dims(w, 0), -1), + [n_batches, 1, 3*D]) + # Define multivariate noraml distributions + # Compute probability per point + p_per_point = (1.0 / (np.power(2.0 * np.pi, D / 2.0) * np.power(batch_sig[:, :, :, 0], D))) * np.exp( + -0.5 * np.sum(np.square((batch_points - batch_mu) / batch_sig), axis=3)) + + w_p = p_per_point + Q = w_p # enforcing the assumption that the sum is 1 + Q_per_d = np.tile(np.expand_dims(Q, -1), [1, 1, 1, D]) + + d_pi_all = np.expand_dims((Q - batch_w) / (np.sqrt(batch_w)), -1) + d_pi = np.concatenate( + [np.max(d_pi_all, axis=1), np.sum(d_pi_all, axis=1)], axis=2) + + d_mu_all = Q_per_d * (batch_points - batch_mu) / batch_sig + d_mu = (1 / (np.sqrt(w_per_batch_per_d))) * np.concatenate([np.max(d_mu_all, axis=1), + np.min(d_mu_all, axis=1), np.sum(d_mu_all, axis=1)], axis=2) + + d_sig_all = Q_per_d * \ + (np.square((batch_points - batch_mu) / batch_sig) - 1) + d_sigma = (1 / (np.sqrt(2 * w_per_batch_per_d))) * np.concatenate([np.max(d_sig_all, axis=1), + np.min(d_sig_all, axis=1), np.sum(d_sig_all, axis=1)], axis=2) + + # number of points normaliation + d_pi = d_pi / n_points + d_mu = d_mu / n_points + d_sigma = d_sigma / n_points + + if normalize: + # Power normaliation + alpha = 0.5 + d_pi = np.sign(d_pi) * np.power(np.abs(d_pi), alpha) + d_mu = np.sign(d_mu) * np.power(np.abs(d_mu), alpha) + d_sigma = np.sign(d_sigma) * np.power(np.abs(d_sigma), alpha) + + # L2 normaliation + d_pi = np.array([self.l2_normalize(d_pi[i, :, :], dim=0) + for i in range(n_batches)]) + d_mu = np.array([self.l2_normalize(d_mu[i, :, :], dim=0) + for i in range(n_batches)]) + d_sigma = np.array( + [self.l2_normalize(d_sigma[i, :, :], dim=0) for i in range(n_batches)]) + + fv = np.concatenate([d_pi, d_mu, d_sigma], axis=2) + fv = np.transpose(fv, axes=[0, 2, 1]) + + return fv diff --git a/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/utils/namespace.py b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/utils/namespace.py new file mode 100644 index 0000000000000000000000000000000000000000..62e9f5a9db72a4a8373dfa98860b1226e4d19af7 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/utils/namespace.py @@ -0,0 +1,7 @@ +class Dgcnn_Namespace: + def __init__(self, **kwargs): + + emb_dims = 1024 + dropout = 0.5 + k = 20 + self.__dict__.update(emb_dims=emb_dims, dropout=dropout,k=k, **kwargs) \ No newline at end of file diff --git a/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/utils/pc_utils.py b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/utils/pc_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..901296816cd9e52f33b1ea99198c0b6e32daff56 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/utils/pc_utils.py @@ -0,0 +1,192 @@ +import struct +import numpy as np +from sklearn.mixture import GaussianMixture +from sklearn.mixture._gaussian_mixture import _compute_precision_cholesky +from sklearn.preprocessing import normalize +from sklearn.decomposition import PCA + +# copied from python-pcl + + +def float_to_rgb(p_rgb): + """ + Get rgb color from float rgb + + :param p_rgb: 24 bit packed rgb + :type: numpy.array + + :return: The rgb color + :rtype: numpy.array + """ + # rgb = *reinterpret_cast(&p.rgb) + rgb_bytes = struct.pack('f', p_rgb) + rgb = struct.unpack('I', rgb_bytes)[0] + r = (rgb >> 16) & 0x0000ff + g = (rgb >> 8) & 0x0000ff + b = (rgb) & 0x0000ff + + return (r/255.0), (g/255.0), (b/255.0) + + +def scale_to_unit_sphere(pointcloud, normalize=True): + """ + Scale point cloud to unit sphere + + :param pointcloud: The input pointcloud + :type: numpy.array + :param normalize: True if pointcloud needs to be normalized + :type: bool + + :return: The rotated pointcloud + :rtype: numpy.array + """ + if normalize: + centroid = np.mean(pointcloud, axis=0) + pointcloud = pointcloud - centroid + + scale = np.max(np.sqrt(np.sum(pointcloud**2, axis=1))) + if scale > 0.0: + pointcloud = pointcloud / scale + + return pointcloud + + +def pca_compress(pointcloud, n_components=3): + """ + Find principal axes of the pointcloud + + :param pointcloud: The input pointcloud + :type pointcloud: numpy.array + + :return: PCA object fit to the given pointcloud + :rtype: sklearn.decomposition.PCA + + """ + pca = PCA(n_components) + pca.fit(pointcloud) + + return pca + + +def rotate_pointcloud(normalized_pointcloud): + """ + Find first three principal components and rotate pointcloud so the first principal + component is aligned along the x-axis, 2nd principal component along y-axis and the + third along the z-axis + + :param pointcloud: The input pointcloud + :type pointcloud: numpy.array + + :return: The rotated pointcloud + :rtype: numpy.array + + """ + pointcloud_xyz = normalized_pointcloud[:, 0:3] + principal_components = pca_compress(pointcloud_xyz).components_ + squared_length_principal_components = np.multiply( + principal_components, principal_components) + length_principal_components = np.sqrt( + np.sum(squared_length_principal_components, axis=1)) + + # Calculate rotation matrix + R = principal_components + R[0, :] = R[0, :] / length_principal_components[0] + R[1, :] = R[1, :] / length_principal_components[1] + R[2, :] = R[2, :] / length_principal_components[2] + + pointcloud_xyz = R.dot(pointcloud_xyz.T).T + + # if colour is part of the pointcloud + if normalized_pointcloud.shape[1] > 3: + return np.hstack([pointcloud_xyz, normalized_pointcloud[:, 3:]]) + else: + return pointcloud_xyz + + +def center_pointcloud(pointcloud): + """ + Center pointcloud + :param pointcloud: The input pointcloud + :type pointcloud: numpy.array + + :return: The rotated pointcloud + :rtype: numpy.array + """ + pointcloud_xyz = pointcloud[:, 0:3] + number_of_points = pointcloud_xyz.shape[0] + centre = np.sum(pointcloud, axis=0) / number_of_points + pointcloud_xyz[:, 0] -= centre[0] + pointcloud_xyz[:, 1] -= centre[1] + pointcloud_xyz[:, 2] -= centre[2] + + # if colour is part of the pointcloud + if pointcloud.shape[1] > 3: + return np.hstack([pointcloud_xyz, pointcloud[:, 3:]]) + else: + return pointcloud_xyz + + +def center_and_rotate_pointcloud(pointcloud): + """ + Transforms pointcloud so it is centered at (0,0,0) and + its first three principal components are aligned along the x,y and z axes + + :param pointcloud: The input pointcloud + :type pointcloud: numpy.array + + :return: The centered and rotated pointcloud + :rtype: numpy.array + + """ + pointcloud = center_pointcloud(pointcloud) + rotated_cloud = rotate_pointcloud(pointcloud[:, 0:3]) + + if pointcloud.shape[1] > 3: + return np.hstack([rotated_cloud, pointcloud[:, 3:]]) + else: + return rotated_cloud + + +def get_3d_grid_gmm(subdivisions=[5, 5, 5], variance=0.04): + """ + Compute the weight, mean and covariance of a gmm placed on a 3D grid + :param subdivisions: 2 element list of number of subdivisions of the 3D space in each axes to form the grid + :param variance: scalar for spherical gmm.p + :return gmm: gmm: instance of sklearn GaussianMixture (GMM) object Gauassian mixture model + """ + # n_gaussians = reduce(lambda x, y: x*y,subdivisions) + n_gaussians = np.prod(np.array(subdivisions)) + step = [1.0/(subdivisions[0]), 1.0 / + (subdivisions[1]), 1.0/(subdivisions[2])] + + means = np.mgrid[step[0]-1: 1.0-step[0]: complex(0, subdivisions[0]), + step[1]-1: 1.0-step[1]: complex(0, subdivisions[1]), + step[2]-1: 1.0-step[2]: complex(0, subdivisions[2])] + means = np.reshape(means, [3, -1]).T + covariances = variance*np.ones_like(means) + weights = (1.0/n_gaussians)*np.ones(n_gaussians) + gmm = GaussianMixture(n_components=n_gaussians, covariance_type='diag') + gmm.weights_ = weights + gmm.covariances_ = covariances + gmm.means_ = means + gmm.precisions_cholesky_ = _compute_precision_cholesky(covariances, 'diag') + return gmm + + +def extract_pcd(pointcloud, + num_points=2048, + color=True, + downsample_cloud=True, + pad_cloud=True, + normalize_cloud=True + ): + + xyzrgb = pointcloud + + # pad cloud until its size == num_points + if pad_cloud: + while xyzrgb.shape[0] < num_points: + rand_idx = np.random.randint(xyzrgb.shape[0]) + xyzrgb = np.vstack([xyzrgb, xyzrgb[rand_idx]]) + + return xyzrgb diff --git a/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/utils/report.txt b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/utils/report.txt new file mode 100644 index 0000000000000000000000000000000000000000..7d7bf6cb0354f94e29f50d24edb5c7b67ba1e21e --- /dev/null +++ b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/utils/report.txt @@ -0,0 +1,93 @@ +TensorFlow 2.0 Upgrade Script +----------------------------- +Converted 1 files +Detected 1 issues that require attention +-------------------------------------------------------------------------------- +-------------------------------------------------------------------------------- +File: tf_util.py +-------------------------------------------------------------------------------- +tf_util.py:24:10: WARNING: tf.get_variable requires manual check. tf.get_variable returns ResourceVariables by default in 2.0, which have well-defined semantics and are stricter about shapes. You can disable this behavior by passing use_resource=False, or by calling tf.compat.v1.disable_resource_variables(). +================================================================================ +Detailed log follows: + +================================================================================ +-------------------------------------------------------------------------------- +Processing file 'tf_util.py' + outputting to 'tf_util_v2.py' +-------------------------------------------------------------------------------- + +24:10: WARNING: tf.get_variable requires manual check. tf.get_variable returns ResourceVariables by default in 2.0, which have well-defined semantics and are stricter about shapes. You can disable this behavior by passing use_resource=False, or by calling tf.compat.v1.disable_resource_variables(). +24:10: INFO: Renamed 'tf.get_variable' to 'tf.compat.v1.get_variable' +45:18: INFO: Changing tf.contrib.layers xavier initializer to a tf.compat.v1.keras.initializers.VarianceScaling and converting arguments. + +47:18: INFO: tf.truncated_normal_initializer requires manual check. Initializers no longer have the dtype argument in the constructor or partition_info argument in the __call__ method. +The calls have been converted to compat.v1 for safety (even though they may already have been correct). +47:18: INFO: Renamed 'tf.truncated_normal_initializer' to 'tf.compat.v1.truncated_normal_initializer' +51:4: INFO: Renamed 'tf.add_to_collection' to 'tf.compat.v1.add_to_collection' +88:7: INFO: Renamed 'tf.variable_scope' to 'tf.compat.v1.variable_scope' +97:14: INFO: Added keywords to args of function 'tf.nn.conv1d' +97:14: INFO: Renamed keyword argument for tf.nn.conv1d from value to input +101:30: INFO: tf.constant_initializer requires manual check. Initializers no longer have the dtype argument in the constructor or partition_info argument in the __call__ method. +The calls have been converted to compat.v1 for safety (even though they may already have been correct). +101:30: INFO: Renamed 'tf.constant_initializer' to 'tf.compat.v1.constant_initializer' +146:7: INFO: Renamed 'tf.variable_scope' to 'tf.compat.v1.variable_scope' +157:16: INFO: Added keywords to args of function 'tf.nn.conv2d' +157:16: INFO: Renamed keyword argument for tf.nn.conv2d from filter to filters +161:32: INFO: tf.constant_initializer requires manual check. Initializers no longer have the dtype argument in the constructor or partition_info argument in the __call__ method. +The calls have been converted to compat.v1 for safety (even though they may already have been correct). +161:32: INFO: Renamed 'tf.constant_initializer' to 'tf.compat.v1.constant_initializer' +208:7: INFO: Renamed 'tf.variable_scope' to 'tf.compat.v1.variable_scope' +240:32: INFO: tf.constant_initializer requires manual check. Initializers no longer have the dtype argument in the constructor or partition_info argument in the __call__ method. +The calls have been converted to compat.v1 for safety (even though they may already have been correct). +240:32: INFO: Renamed 'tf.constant_initializer' to 'tf.compat.v1.constant_initializer' +285:7: INFO: Renamed 'tf.variable_scope' to 'tf.compat.v1.variable_scope' +300:30: INFO: tf.constant_initializer requires manual check. Initializers no longer have the dtype argument in the constructor or partition_info argument in the __call__ method. +The calls have been converted to compat.v1 for safety (even though they may already have been correct). +300:30: INFO: Renamed 'tf.constant_initializer' to 'tf.compat.v1.constant_initializer' +331:7: INFO: Renamed 'tf.variable_scope' to 'tf.compat.v1.variable_scope' +340:29: INFO: tf.constant_initializer requires manual check. Initializers no longer have the dtype argument in the constructor or partition_info argument in the __call__ method. +The calls have been converted to compat.v1 for safety (even though they may already have been correct). +340:29: INFO: Renamed 'tf.constant_initializer' to 'tf.compat.v1.constant_initializer' +365:7: INFO: Renamed 'tf.variable_scope' to 'tf.compat.v1.variable_scope' +368:14: INFO: Added keywords to args of function 'tf.nn.max_pool' +368:14: INFO: Renamed keyword argument for tf.nn.max_pool from value to input +368:14: INFO: Renamed 'tf.nn.max_pool' to 'tf.nn.max_pool2d' +390:7: INFO: Renamed 'tf.variable_scope' to 'tf.compat.v1.variable_scope' +393:14: INFO: Added keywords to args of function 'tf.nn.avg_pool' +393:14: INFO: Renamed keyword argument for tf.nn.avg_pool from value to input +393:14: INFO: Renamed 'tf.nn.avg_pool' to 'tf.nn.avg_pool2d' +415:7: INFO: Renamed 'tf.variable_scope' to 'tf.compat.v1.variable_scope' +440:7: INFO: Renamed 'tf.variable_scope' to 'tf.compat.v1.variable_scope' +463:7: INFO: Renamed 'tf.variable_scope' to 'tf.compat.v1.variable_scope' +469:28: INFO: Added keywords to args of function 'tf.nn.moments' +473:19: INFO: Added keywords to args of function 'tf.cond' +483:16: INFO: Added keywords to args of function 'tf.cond' +501:7: INFO: Renamed 'tf.variable_scope' to 'tf.compat.v1.variable_scope' +503:64: INFO: tf.zeros_initializer requires manual check. Initializers no longer have the dtype argument in the constructor or partition_info argument in the __call__ method. +The calls have been converted to compat.v1 for safety (even though they may already have been correct). +503:64: INFO: Renamed 'tf.zeros_initializer' to 'tf.compat.v1.zeros_initializer' +504:66: INFO: tf.ones_initializer requires manual check. Initializers no longer have the dtype argument in the constructor or partition_info argument in the __call__ method. +The calls have been converted to compat.v1 for safety (even though they may already have been correct). +504:66: INFO: Renamed 'tf.ones_initializer' to 'tf.compat.v1.ones_initializer' +506:72: INFO: tf.zeros_initializer requires manual check. Initializers no longer have the dtype argument in the constructor or partition_info argument in the __call__ method. +The calls have been converted to compat.v1 for safety (even though they may already have been correct). +506:72: INFO: Renamed 'tf.zeros_initializer' to 'tf.compat.v1.zeros_initializer' +507:70: INFO: tf.ones_initializer requires manual check. Initializers no longer have the dtype argument in the constructor or partition_info argument in the __call__ method. +The calls have been converted to compat.v1 for safety (even though they may already have been correct). +507:70: INFO: Renamed 'tf.ones_initializer' to 'tf.compat.v1.ones_initializer' +510:30: INFO: Added keywords to args of function 'tf.nn.moments' +512:19: INFO: Renamed 'tf.assign' to 'tf.compat.v1.assign' +513:18: INFO: Renamed 'tf.assign' to 'tf.compat.v1.assign' +520:13: INFO: Added keywords to args of function 'tf.cond' +612:7: INFO: Renamed 'tf.variable_scope' to 'tf.compat.v1.variable_scope' +613:14: INFO: Added keywords to args of function 'tf.cond' +614:30: INFO: Changing keep_prob arg of tf.nn.dropout to rate, and recomputing value. + +632:26: INFO: Added keywords to args of function 'tf.transpose' +635:23: INFO: Added keywords to args of function 'tf.reduce_sum' +635:23: INFO: Renamed keyword argument for tf.reduce_sum from keep_dims to keepdims +636:32: INFO: Added keywords to args of function 'tf.transpose' +696:11: INFO: Renamed 'tf.ConfigProto' to 'tf.compat.v1.ConfigProto' +706:9: INFO: Renamed 'tf.Session' to 'tf.compat.v1.Session' +-------------------------------------------------------------------------------- + diff --git a/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/utils/tf_util.py b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/utils/tf_util.py new file mode 100644 index 0000000000000000000000000000000000000000..fa9a3e1223e77e76b4c9924eeb4742087de787c5 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/common/src/pc_object_recognition/utils/tf_util.py @@ -0,0 +1,707 @@ +""" Wrapper functions for TensorFlow layers. + +Author: Charles R. Qi +Date: November 2016 + +Upadated by Yue Wang and Yongbin Sun +Updated by Mohammad Wasil +""" +import os +import numpy as np +import tensorflow as tf + +def _variable_on_cpu(name, shape, initializer, use_fp16=False, trainable=True): + """Helper to create a Variable stored on CPU memory. + Args: + name: name of the variable + shape: list of ints + initializer: initializer for Variable + Returns: + Variable Tensor + """ + with tf.device('/cpu:0'): + dtype = tf.float16 if use_fp16 else tf.float32 + var = tf.get_variable(name, shape, initializer=initializer, dtype=dtype, trainable=trainable) + return var + +def _variable_with_weight_decay(name, shape, stddev, wd, use_xavier=True): + """Helper to create an initialized Variable with weight decay. + + Note that the Variable is initialized with a truncated normal distribution. + A weight decay is added only if one is specified. + + Args: + name: name of the variable + shape: list of ints + stddev: standard deviation of a truncated Gaussian + wd: add L2Loss weight decay multiplied by this float. If None, weight + decay is not added for this Variable. + use_xavier: bool, whether to use xavier initializer + + Returns: + Variable Tensor + """ + if use_xavier: + initializer = tf.contrib.layers.xavier_initializer() + else: + initializer = tf.truncated_normal_initializer(stddev=stddev) + var = _variable_on_cpu(name, shape, initializer) + if wd is not None: + weight_decay = tf.multiply(tf.nn.l2_loss(var), wd, name='weight_loss') + tf.add_to_collection('losses', weight_decay) + return var + +def conv1d(inputs, + num_output_channels, + kernel_size, + scope, + stride=1, + padding='SAME', + use_xavier=True, + stddev=1e-3, + weight_decay=0.0, + activation_fn=tf.nn.relu, + bn=False, + bn_decay=None, + is_training=None, + is_dist=False): + """ 1D convolution with non-linear operation. + + Args: + inputs: 3-D tensor variable BxLxC + num_output_channels: int + kernel_size: int + scope: string + stride: int + padding: 'SAME' or 'VALID' + use_xavier: bool, use xavier_initializer if true + stddev: float, stddev for truncated_normal init + weight_decay: float + activation_fn: function + bn: bool, whether to use batch norm + bn_decay: float or float tensor variable in [0,1] + is_training: bool Tensor variable + + Returns: + Variable tensor + """ + with tf.variable_scope(scope) as sc: + num_in_channels = inputs.get_shape()[-1].value + kernel_shape = [kernel_size, + num_in_channels, num_output_channels] + kernel = _variable_with_weight_decay('weights', + shape=kernel_shape, + use_xavier=use_xavier, + stddev=stddev, + wd=weight_decay) + outputs = tf.nn.conv1d(inputs, kernel, + stride=stride, + padding=padding) + biases = _variable_on_cpu('biases', [num_output_channels], + tf.constant_initializer(0.0)) + outputs = tf.nn.bias_add(outputs, biases) + + if bn: + outputs = batch_norm_for_conv1d(outputs, is_training, + bn_decay=bn_decay, scope='bn', is_dist=is_dist) + + if activation_fn is not None: + outputs = activation_fn(outputs) + return outputs + +def conv2d(inputs, + num_output_channels, + kernel_size, + scope, + stride=[1, 1], + padding='SAME', + use_xavier=True, + stddev=1e-3, + weight_decay=0.0, + activation_fn=tf.nn.relu, + bn=False, + bn_decay=None, + is_training=None, + is_dist=False): + """ 2D convolution with non-linear operation. + + Args: + inputs: 4-D tensor variable BxHxWxC + num_output_channels: int + kernel_size: a list of 2 ints + scope: string + stride: a list of 2 ints + padding: 'SAME' or 'VALID' + use_xavier: bool, use xavier_initializer if true + stddev: float, stddev for truncated_normal init + weight_decay: float + activation_fn: function + bn: bool, whether to use batch norm + bn_decay: float or float tensor variable in [0,1] + is_training: bool Tensor variable + + Returns: + Variable tensor + """ + with tf.variable_scope(scope) as sc: + kernel_h, kernel_w = kernel_size + num_in_channels = inputs.get_shape()[-1].value + kernel_shape = [kernel_h, kernel_w, + num_in_channels, num_output_channels] + kernel = _variable_with_weight_decay('weights', + shape=kernel_shape, + use_xavier=use_xavier, + stddev=stddev, + wd=weight_decay) + stride_h, stride_w = stride + outputs = tf.nn.conv2d(inputs, kernel, + [1, stride_h, stride_w, 1], + padding=padding) + biases = _variable_on_cpu('biases', [num_output_channels], + tf.constant_initializer(0.0)) + outputs = tf.nn.bias_add(outputs, biases) + + if bn: + outputs = batch_norm_for_conv2d(outputs, is_training, + bn_decay=bn_decay, scope='bn', is_dist=is_dist) + + if activation_fn is not None: + outputs = activation_fn(outputs) + return outputs + +def conv2d_transpose(inputs, + num_output_channels, + kernel_size, + scope, + stride=[1, 1], + padding='SAME', + use_xavier=True, + stddev=1e-3, + weight_decay=0.0, + activation_fn=tf.nn.relu, + bn=False, + bn_decay=None, + is_training=None, + is_dist=False): + """ 2D convolution transpose with non-linear operation. + + Args: + inputs: 4-D tensor variable BxHxWxC + num_output_channels: int + kernel_size: a list of 2 ints + scope: string + stride: a list of 2 ints + padding: 'SAME' or 'VALID' + use_xavier: bool, use xavier_initializer if true + stddev: float, stddev for truncated_normal init + weight_decay: float + activation_fn: function + bn: bool, whether to use batch norm + bn_decay: float or float tensor variable in [0,1] + is_training: bool Tensor variable + + Returns: + Variable tensor + + Note: conv2d(conv2d_transpose(a, num_out, ksize, stride), a.shape[-1], ksize, stride) == a + """ + with tf.variable_scope(scope) as sc: + kernel_h, kernel_w = kernel_size + num_in_channels = inputs.get_shape()[-1].value + kernel_shape = [kernel_h, kernel_w, + num_output_channels, num_in_channels] # reversed to conv2d + kernel = _variable_with_weight_decay('weights', + shape=kernel_shape, + use_xavier=use_xavier, + stddev=stddev, + wd=weight_decay) + stride_h, stride_w = stride + + # from slim.convolution2d_transpose + def get_deconv_dim(dim_size, stride_size, kernel_size, padding): + dim_size *= stride_size + + if padding == 'VALID' and dim_size is not None: + dim_size += max(kernel_size - stride_size, 0) + return dim_size + + # caculate output shape + batch_size = inputs.get_shape()[0].value + height = inputs.get_shape()[1].value + width = inputs.get_shape()[2].value + out_height = get_deconv_dim(height, stride_h, kernel_h, padding) + out_width = get_deconv_dim(width, stride_w, kernel_w, padding) + output_shape = [batch_size, out_height, out_width, num_output_channels] + + outputs = tf.nn.conv2d_transpose(inputs, kernel, output_shape, + [1, stride_h, stride_w, 1], + padding=padding) + biases = _variable_on_cpu('biases', [num_output_channels], + tf.constant_initializer(0.0)) + outputs = tf.nn.bias_add(outputs, biases) + + if bn: + outputs = batch_norm_for_conv2d(outputs, is_training, + bn_decay=bn_decay, scope='bn', is_dist=is_dist) + + if activation_fn is not None: + outputs = activation_fn(outputs) + return outputs + +def conv3d(inputs, + num_output_channels, + kernel_size, + scope, + stride=[1, 1, 1], + padding='SAME', + use_xavier=True, + stddev=1e-3, + weight_decay=0.0, + activation_fn=tf.nn.relu, + bn=False, + bn_decay=None, + is_training=None, + is_dist=False): + """ 3D convolution with non-linear operation. + + Args: + inputs: 5-D tensor variable BxDxHxWxC + num_output_channels: int + kernel_size: a list of 3 ints + scope: string + stride: a list of 3 ints + padding: 'SAME' or 'VALID' + use_xavier: bool, use xavier_initializer if true + stddev: float, stddev for truncated_normal init + weight_decay: float + activation_fn: function + bn: bool, whether to use batch norm + bn_decay: float or float tensor variable in [0,1] + is_training: bool Tensor variable + + Returns: + Variable tensor + """ + with tf.variable_scope(scope) as sc: + kernel_d, kernel_h, kernel_w = kernel_size + num_in_channels = inputs.get_shape()[-1].value + kernel_shape = [kernel_d, kernel_h, kernel_w, + num_in_channels, num_output_channels] + kernel = _variable_with_weight_decay('weights', + shape=kernel_shape, + use_xavier=use_xavier, + stddev=stddev, + wd=weight_decay) + stride_d, stride_h, stride_w = stride + outputs = tf.nn.conv3d(inputs, kernel, + [1, stride_d, stride_h, stride_w, 1], + padding=padding) + biases = _variable_on_cpu('biases', [num_output_channels], + tf.constant_initializer(0.0)) + outputs = tf.nn.bias_add(outputs, biases) + + if bn: + outputs = batch_norm_for_conv3d(outputs, is_training, + bn_decay=bn_decay, scope='bn', is_dist=is_dist) + + if activation_fn is not None: + outputs = activation_fn(outputs) + return outputs + +def fully_connected(inputs, + num_outputs, + scope, + use_xavier=True, + stddev=1e-3, + weight_decay=0.0, + activation_fn=tf.nn.relu, + bn=False, + bn_decay=None, + is_training=None, + is_dist=False): + """ Fully connected layer with non-linear operation. + + Args: + inputs: 2-D tensor BxN + num_outputs: int + + Returns: + Variable tensor of size B x num_outputs. + """ + with tf.variable_scope(scope) as sc: + num_input_units = inputs.get_shape()[-1].value + weights = _variable_with_weight_decay('weights', + shape=[num_input_units, num_outputs], + use_xavier=use_xavier, + stddev=stddev, + wd=weight_decay) + outputs = tf.matmul(inputs, weights) + biases = _variable_on_cpu('biases', [num_outputs], + tf.constant_initializer(0.0)) + outputs = tf.nn.bias_add(outputs, biases) + + if bn: + outputs = batch_norm_for_fc(outputs, is_training, bn_decay, 'bn', is_dist=is_dist) + + if activation_fn is not None: + outputs = activation_fn(outputs) + return outputs + +def max_pool2d(inputs, + kernel_size, + scope, + stride=[2, 2], + padding='VALID'): + """ 2D max pooling. + + Args: + inputs: 4-D tensor BxHxWxC + kernel_size: a list of 2 ints + stride: a list of 2 ints + + Returns: + Variable tensor + """ + with tf.variable_scope(scope) as sc: + kernel_h, kernel_w = kernel_size + stride_h, stride_w = stride + outputs = tf.nn.max_pool(inputs, + ksize=[1, kernel_h, kernel_w, 1], + strides=[1, stride_h, stride_w, 1], + padding=padding, + name=sc.name) + return outputs + +def avg_pool2d(inputs, + kernel_size, + scope, + stride=[2, 2], + padding='VALID'): + """ 2D avg pooling. + + Args: + inputs: 4-D tensor BxHxWxC + kernel_size: a list of 2 ints + stride: a list of 2 ints + + Returns: + Variable tensor + """ + with tf.variable_scope(scope) as sc: + kernel_h, kernel_w = kernel_size + stride_h, stride_w = stride + outputs = tf.nn.avg_pool(inputs, + ksize=[1, kernel_h, kernel_w, 1], + strides=[1, stride_h, stride_w, 1], + padding=padding, + name=sc.name) + return outputs + +def max_pool3d(inputs, + kernel_size, + scope, + stride=[2, 2, 2], + padding='VALID'): + """ 3D max pooling. + + Args: + inputs: 5-D tensor BxDxHxWxC + kernel_size: a list of 3 ints + stride: a list of 3 ints + + Returns: + Variable tensor + """ + with tf.variable_scope(scope) as sc: + kernel_d, kernel_h, kernel_w = kernel_size + stride_d, stride_h, stride_w = stride + outputs = tf.nn.max_pool3d(inputs, + ksize=[1, kernel_d, kernel_h, kernel_w, 1], + strides=[1, stride_d, stride_h, stride_w, 1], + padding=padding, + name=sc.name) + return outputs + +def avg_pool3d(inputs, + kernel_size, + scope, + stride=[2, 2, 2], + padding='VALID'): + """ 3D avg pooling. + + Args: + inputs: 5-D tensor BxDxHxWxC + kernel_size: a list of 3 ints + stride: a list of 3 ints + + Returns: + Variable tensor + """ + with tf.variable_scope(scope) as sc: + kernel_d, kernel_h, kernel_w = kernel_size + stride_d, stride_h, stride_w = stride + outputs = tf.nn.avg_pool3d(inputs, + ksize=[1, kernel_d, kernel_h, kernel_w, 1], + strides=[1, stride_d, stride_h, stride_w, 1], + padding=padding, + name=sc.name) + return outputs + +def batch_norm_template(inputs, is_training, scope, moments_dims, bn_decay): + """ Batch normalization on convolutional maps and beyond... + Ref.: http://stackoverflow.com/questions/33949786/how-could-i-use-batch-normalization-in-tensorflow + + Args: + inputs: Tensor, k-D input ... x C could be BC or BHWC or BDHWC + is_training: boolean tf.Varialbe, true indicates training phase + scope: string, variable scope + moments_dims: a list of ints, indicating dimensions for moments calculation + bn_decay: float or float tensor variable, controling moving average weight + Return: + normed: batch-normalized maps + """ + with tf.variable_scope(scope) as sc: + num_channels = inputs.get_shape()[-1].value + beta = tf.Variable(tf.constant(0.0, shape=[num_channels]), + name='beta', trainable=True) + gamma = tf.Variable(tf.constant(1.0, shape=[num_channels]), + name='gamma', trainable=True) + batch_mean, batch_var = tf.nn.moments(inputs, moments_dims, name='moments') + decay = bn_decay if bn_decay is not None else 0.9 + ema = tf.train.ExponentialMovingAverage(decay=decay) + # Operator that maintains moving averages of variables. + ema_apply_op = tf.cond(is_training, + lambda: ema.apply([batch_mean, batch_var]), + lambda: tf.no_op()) + + # Update moving average and return current batch's avg and var. + def mean_var_with_update(): + with tf.control_dependencies([ema_apply_op]): + return tf.identity(batch_mean), tf.identity(batch_var) + + # ema.average returns the Variable holding the average of var. + mean, var = tf.cond(is_training, + mean_var_with_update, + lambda: (ema.average(batch_mean), ema.average(batch_var))) + normed = tf.nn.batch_normalization(inputs, mean, var, beta, gamma, 1e-3) + return normed + + +def batch_norm_dist_template(inputs, is_training, scope, moments_dims, bn_decay): + """ The batch normalization for distributed training. + Args: + inputs: Tensor, k-D input ... x C could be BC or BHWC or BDHWC + is_training: boolean tf.Varialbe, true indicates training phase + scope: string, variable scope + moments_dims: a list of ints, indicating dimensions for moments calculation + bn_decay: float or float tensor variable, controling moving average weight + Return: + normed: batch-normalized maps + """ + with tf.variable_scope(scope) as sc: + num_channels = inputs.get_shape()[-1].value + beta = _variable_on_cpu('beta', [num_channels], initializer=tf.zeros_initializer()) + gamma = _variable_on_cpu('gamma', [num_channels], initializer=tf.ones_initializer()) + + pop_mean = _variable_on_cpu('pop_mean', [num_channels], initializer=tf.zeros_initializer(), trainable=False) + pop_var = _variable_on_cpu('pop_var', [num_channels], initializer=tf.ones_initializer(), trainable=False) + + def train_bn_op(): + batch_mean, batch_var = tf.nn.moments(inputs, moments_dims, name='moments') + decay = bn_decay if bn_decay is not None else 0.9 + train_mean = tf.assign(pop_mean, pop_mean * decay + batch_mean * (1 - decay)) + train_var = tf.assign(pop_var, pop_var * decay + batch_var * (1 - decay)) + with tf.control_dependencies([train_mean, train_var]): + return tf.nn.batch_normalization(inputs, batch_mean, batch_var, beta, gamma, 1e-3) + + def test_bn_op(): + return tf.nn.batch_normalization(inputs, pop_mean, pop_var, beta, gamma, 1e-3) + + normed = tf.cond(is_training, + train_bn_op, + test_bn_op) + return normed + + + +def batch_norm_for_fc(inputs, is_training, bn_decay, scope, is_dist=False): + """ Batch normalization on FC data. + + Args: + inputs: Tensor, 2D BxC input + is_training: boolean tf.Varialbe, true indicates training phase + bn_decay: float or float tensor variable, controling moving average weight + scope: string, variable scope + is_dist: true indicating distributed training scheme + Return: + normed: batch-normalized maps + """ + if is_dist: + return batch_norm_dist_template(inputs, is_training, scope, [0,], bn_decay) + else: + return batch_norm_template(inputs, is_training, scope, [0,], bn_decay) + +def batch_norm_for_conv1d(inputs, is_training, bn_decay, scope, is_dist=False): + """ Batch normalization on 1D convolutional maps. + + Args: + inputs: Tensor, 3D BLC input maps + is_training: boolean tf.Varialbe, true indicates training phase + bn_decay: float or float tensor variable, controling moving average weight + scope: string, variable scope + is_dist: true indicating distributed training scheme + Return: + normed: batch-normalized maps + """ + if is_dist: + return batch_norm_dist_template(inputs, is_training, scope, [0,1], bn_decay) + else: + return batch_norm_template(inputs, is_training, scope, [0,1], bn_decay) + +def batch_norm_for_conv2d(inputs, is_training, bn_decay, scope, is_dist=False): + """ Batch normalization on 2D convolutional maps. + + Args: + inputs: Tensor, 4D BHWC input maps + is_training: boolean tf.Varialbe, true indicates training phase + bn_decay: float or float tensor variable, controling moving average weight + scope: string, variable scope + is_dist: true indicating distributed training scheme + Return: + normed: batch-normalized maps + """ + if is_dist: + return batch_norm_dist_template(inputs, is_training, scope, [0,1,2], bn_decay) + else: + return batch_norm_template(inputs, is_training, scope, [0,1,2], bn_decay) + +def batch_norm_for_conv3d(inputs, is_training, bn_decay, scope, is_dist=False): + """ Batch normalization on 3D convolutional maps. + + Args: + inputs: Tensor, 5D BDHWC input maps + is_training: boolean tf.Varialbe, true indicates training phase + bn_decay: float or float tensor variable, controling moving average weight + scope: string, variable scope + is_dist: true indicating distributed training scheme + Return: + normed: batch-normalized maps + """ + if is_dist: + return batch_norm_dist_template(inputs, is_training, scope, [0,1,2,3], bn_decay) + else: + return batch_norm_template(inputs, is_training, scope, [0,1,2,3], bn_decay) + +def dropout(inputs, + is_training, + scope, + keep_prob=0.5, + noise_shape=None): + """ Dropout layer. + + Args: + inputs: tensor + is_training: boolean tf.Variable + scope: string + keep_prob: float in [0,1] + noise_shape: list of ints + + Returns: + tensor variable + """ + with tf.variable_scope(scope) as sc: + outputs = tf.cond(is_training, + lambda: tf.nn.dropout(inputs, keep_prob, noise_shape), + lambda: inputs) + return outputs + +def pairwise_distance(point_cloud): + """Compute pairwise distance of a point cloud. + + Args: + point_cloud: tensor (batch_size, num_points, num_dims) + + Returns: + pairwise distance: (batch_size, num_points, num_points) + """ + og_batch_size = point_cloud.get_shape().as_list()[0] + point_cloud = tf.squeeze(point_cloud) + if og_batch_size == 1: + point_cloud = tf.expand_dims(point_cloud, 0) + + point_cloud_transpose = tf.transpose(point_cloud, perm=[0, 2, 1]) + point_cloud_inner = tf.matmul(point_cloud, point_cloud_transpose) + point_cloud_inner = -2*point_cloud_inner + point_cloud_square = tf.reduce_sum(tf.square(point_cloud), axis=-1, keep_dims=True) + point_cloud_square_tranpose = tf.transpose(point_cloud_square, perm=[0, 2, 1]) + + return point_cloud_square + point_cloud_inner + point_cloud_square_tranpose + +def knn(adj_matrix, k=20): + """Get KNN based on the pairwise distance. + Args: + pairwise distance: (batch_size, num_points, num_points) + k: int + + Returns: + nearest neighbors: (batch_size, num_points, k) + """ + neg_adj = -adj_matrix + _, nn_idx = tf.nn.top_k(neg_adj, k=k) + return nn_idx + +def get_edge_feature(point_cloud, nn_idx, k=20): + """Construct edge feature for each point + Args: + point_cloud: (batch_size, num_points, 1, num_dims) + nn_idx: (batch_size, num_points, k) + k: int + + Returns: + edge features: (batch_size, num_points, k, num_dims) + """ + og_batch_size = point_cloud.get_shape().as_list()[0] + point_cloud = tf.squeeze(point_cloud) + if og_batch_size == 1: + point_cloud = tf.expand_dims(point_cloud, 0) + + point_cloud_central = point_cloud + + point_cloud_shape = point_cloud.get_shape() + batch_size = point_cloud_shape[0].value + num_points = point_cloud_shape[1].value + num_dims = point_cloud_shape[2].value + + idx_ = tf.range(batch_size) * num_points + idx_ = tf.reshape(idx_, [batch_size, 1, 1]) + + point_cloud_flat = tf.reshape(point_cloud, [-1, num_dims]) + point_cloud_neighbors = tf.gather(point_cloud_flat, nn_idx+idx_) + point_cloud_central = tf.expand_dims(point_cloud_central, axis=-2) + + point_cloud_central = tf.tile(point_cloud_central, [1, 1, k, 1]) + + edge_feature = tf.concat([point_cloud_central, point_cloud_neighbors-point_cloud_central], axis=-1) + return edge_feature + +def get_session(gpu_idx, limit_gpu=True): + ''' + Creates a session while limiting GPU usage + Input: + gpu_idx: Index of GPU to run the session on + limit_gpu: boolean if to limit the gpu usage or not + Output: + sess: a tensorflow session + ''' + config = tf.ConfigProto() + config.gpu_options.allow_growth = True + config.allow_soft_placement = True + config.log_device_placement = False + os.environ["CUDA_DEVICE_ORDER"] = "PCI_BUS_ID" + if limit_gpu: + gpu_idx = str(gpu_idx) + os.environ["CUDA_VISIBLE_DEVICES"] = gpu_idx + else: + os.environ["CUDA_VISIBLE_DEVICES"] = "0, 1, 2, 3" # Change according to your setup + sess = tf.Session(config=config) + return sess diff --git a/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/__init__.py b/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/config/__init__.py b/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/config/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..02db3e9aec3626abae4cb82b640a7aecd8523c79 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/config/__init__.py @@ -0,0 +1 @@ +from kitti_squeezeDet_config import kitti_squeezeDet_config diff --git a/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/config/config_required.py b/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/config/config_required.py new file mode 100644 index 0000000000000000000000000000000000000000..ebd796721d66e7847744ecb90cd628c4d02824ca --- /dev/null +++ b/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/config/config_required.py @@ -0,0 +1,146 @@ +# Author: Bichen Wu (bichen@berkeley.edu) 08/25/2016 + +"""Base Model configurations""" + +import os +import os.path as osp +import numpy as np +from easydict import EasyDict as edict + +def base_model_config(dataset='PASCAL_VOC'): + assert dataset.upper()=='PASCAL_VOC' or dataset.upper()=='KITTI', \ + 'Currently only support PASCAL_VOC or KITTI dataset' + + cfg = edict() + + # Dataset used to train/val/test model. Now support PASCAL_VOC or KITTI + cfg.DATASET = dataset.upper() + + if cfg.DATASET == 'PASCAL_VOC': + # object categories to classify + cfg.CLASS_NAMES = ('aeroplane', 'bicycle', 'bird', 'boat', 'bottle', 'bus', + 'car', 'cat', 'chair', 'cow', 'diningtable', 'dog', + 'horse', 'motorbike', 'person', 'pottedplant', 'sheep', + 'sofa', 'train', 'tvmonitor') + elif cfg.DATASET == 'KITTI': + cfg.CLASS_NAMES =('s40_40_G', 's40_40_B', 'r20','motor', + 'm30', 'm20_100', 'm20', 'f20_20_G', 'f20_20_B', + 'em_02', 'em_01', 'distance_tube', 'container_box_red', + 'container_box_blue', 'bearing_box_ax16', + 'bearing_box_ax01', 'bearing', 'axis') + + # number of categories to classify + cfg.CLASSES = len(cfg.CLASS_NAMES) + + # ROI pooling output width + cfg.GRID_POOL_WIDTH = 7 + + # ROI pooling output height + cfg.GRID_POOL_HEIGHT = 7 + + # parameter used in leaky ReLU + cfg.LEAKY_COEF = 0.1 + + # Probability to keep a node in dropout + cfg.KEEP_PROB = 0.5 + + # image width + cfg.IMAGE_WIDTH = 224 + + # image height + cfg.IMAGE_HEIGHT = 224 + + # anchor box, array of [cx, cy, w, h]. To be defined later + cfg.ANCHOR_BOX = [] + + # number of anchor boxes + cfg.ANCHORS = len(cfg.ANCHOR_BOX) + + # number of anchor boxes per grid + cfg.ANCHOR_PER_GRID = -1 + + # batch size + cfg.BATCH_SIZE = 20 + + # Only keep boxes with probability higher than this threshold + cfg.PROB_THRESH = 0.005 + + # Only plot boxes with probability higher than this threshold + cfg.PLOT_PROB_THRESH = 0.5 + + # Bounding boxes with IOU larger than this are going to be removed + cfg.NMS_THRESH = 0.4 + + # Pixel mean values (BGR order) as a (1, 1, 3) array. Below is the BGR mean + # of VGG16 + cfg.BGR_MEANS = np.array([[[103.939, 116.779, 123.68]]]) + + # loss coefficient for confidence regression + cfg.LOSS_COEF_CONF = 1.0 + + # loss coefficient for classification regression + cfg.LOSS_COEF_CLASS = 1.0 + + # loss coefficient for bounding box regression + cfg.LOSS_COEF_BBOX = 10.0 + + # reduce step size after this many steps + cfg.DECAY_STEPS = 10000 + + # multiply the learning rate by this factor + cfg.LR_DECAY_FACTOR = 0.1 + + # learning rate + cfg.LEARNING_RATE = 0.005 + + # momentum + cfg.MOMENTUM = 0.9 + + # weight decay + cfg.WEIGHT_DECAY = 0.0005 + + # wether to load pre-trained model + cfg.LOAD_PRETRAINED_MODEL = True + + # path to load the pre-trained model + cfg.PRETRAINED_MODEL_PATH = '' + + # print log to console in debug mode + cfg.DEBUG_MODE = False + + # a small value used to prevent numerical instability + cfg.EPSILON = 1e-16 + + # threshold for safe exponential operation + cfg.EXP_THRESH=1.0 + + # gradients with norm larger than this is going to be clipped. + cfg.MAX_GRAD_NORM = 10.0 + + # Whether to do data augmentation + cfg.DATA_AUGMENTATION = False + + # The range to randomly shift the image widht + cfg.DRIFT_X = 0 + + # The range to randomly shift the image height + cfg.DRIFT_Y = 0 + + # Whether to exclude images harder than hard-category. Only useful for KITTI + # dataset. + cfg.EXCLUDE_HARD_EXAMPLES = True + + # small value used in batch normalization to prevent dividing by 0. The + # default value here is the same with caffe's default value. + cfg.BATCH_NORM_EPSILON = 1e-5 + + # number of threads to fetch data + cfg.NUM_THREAD = 4 + + # capacity for FIFOQueue + cfg.QUEUE_CAPACITY = 100 + + # indicate if the model is in training mode + cfg.IS_TRAINING = False + + return cfg diff --git a/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/config/kitti_squeezeDet_config.py b/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/config/kitti_squeezeDet_config.py new file mode 100644 index 0000000000000000000000000000000000000000..c4e631ba2b97472a17329c8e97ddbbc06ec1e3e3 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/config/kitti_squeezeDet_config.py @@ -0,0 +1,108 @@ +# Author: Bichen Wu (bichen@berkeley.edu) 08/25/2016 + +"""Model configuration for pascal dataset""" +import os,sys + +BASE_DIR = os.path.dirname(os.path.abspath('__file__')) +sys.path.append(BASE_DIR) +sys.path.append(os.path.join(BASE_DIR, 'src/config/')) + +import numpy as np + +from config_required import base_model_config + +def kitti_squeezeDet_config(): + """Specify the parameters to tune below.""" + mc = base_model_config('KITTI') + + mc.IMAGE_WIDTH = 640 + mc.IMAGE_HEIGHT = 480 + mc.BATCH_SIZE = 8 + + mc.WEIGHT_DECAY = 0.0001 + mc.LEARNING_RATE = 0.01 + mc.DECAY_STEPS = 10000 + mc.MAX_GRAD_NORM = 1.0 + mc.MOMENTUM = 0.9 + mc.LR_DECAY_FACTOR = 0.5 + + mc.LOSS_COEF_BBOX = 5.0 + mc.LOSS_COEF_CONF_POS = 75.0 + mc.LOSS_COEF_CONF_NEG = 100.0 + mc.LOSS_COEF_CLASS = 1.0 + + # probability of output to keep + mc.PLOT_PROB_THRESH = 0.4 + mc.NMS_THRESH = 0.4 + mc.PROB_THRESH = 0.005 + mc.TOP_N_DETECTION = 64 + + mc.DATA_AUGMENTATION = False + mc.DRIFT_X = 150 + mc.DRIFT_Y = 100 + mc.EXCLUDE_HARD_EXAMPLES = False + + mc.ANCHOR_BOX = set_anchors(mc) + mc.ANCHORS = len(mc.ANCHOR_BOX) + mc.ANCHOR_PER_GRID = 9 + + return mc + +def set_anchors(mc): + H, W, B = 30, 40, 9 + + #detection with 9 anchors + #update: 21.06.2021 + + # used in bmt + #anchor_shapes = np.reshape( + # [np.array( + # [[92.02941071, 115.09681643], [200.65465954,229.89014957], + # [167.39743532, 113.50341595], [259.76506943, 119.82479679], + # [136.6747144, 170.01330096], [101.93293109, 251.32520022], + # [53.74847805, 51.47580068], [263.39513927, 336.70239122], + # [344.11060212, 199.75904517]])] * H * W, + # (H, W, B, 2) + #) + + anchor_shapes = np.reshape( + [np.array( + [[ 88.99409368, 42.66395702], + [192.3702808, 178.53317949], + [ 41.63787236, 38.45010246], + [ 98.34916593, 95.40313721], + [315.56379179, 244.77646964], + [157.59156338, 93.99741645], + [ 91.63670505, 170.70665342], + [223.24388109, 305.69230947], + [ 60.49908951, 76.76089189]] + )] * H * W, + (H, W, B, 2) + ) + + center_x = np.reshape( + np.transpose( + np.reshape( + np.array([np.arange(1, W+1)*float(mc.IMAGE_WIDTH)/(W+1)]*H*B), + (B, H, W) + ), + (1, 2, 0) + ), + (H, W, B, 1) + ) + center_y = np.reshape( + np.transpose( + np.reshape( + np.array([np.arange(1, H+1)*float(mc.IMAGE_HEIGHT)/(H+1)]*W*B), + (B, W, H) + ), + (2, 1, 0) + ), + (H, W, B, 1) + ) + anchors = np.reshape( + np.concatenate((center_x, center_y, anchor_shapes), axis=3), + (-1, 4) + ) + + return anchors diff --git a/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/data_for_detect.yaml b/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/data_for_detect.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95f4153e8d65839fddb813c30126399a8c572350 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/data_for_detect.yaml @@ -0,0 +1,7 @@ +train: dataset/train/images +val: dataset/valid/images + +nc: 20 +names: ['F20_20_B', 'R20', 'S40_40_B', 'S40_40_G', 'axis', 'bearing_box', 'bracket', 'brown_box', 'cup', + 'dishwasher_soap', 'eye_glasses', 'insulation_tape', 'motor', 'pringles', 'screw_driver', 'sponge', + 'spoon', 'tennis_ball', 'toothbrush', 'towel'] \ No newline at end of file diff --git a/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/image_classifier.py b/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/image_classifier.py new file mode 100644 index 0000000000000000000000000000000000000000..1acb590227024292ce322d4195737372bbae0ca6 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/image_classifier.py @@ -0,0 +1,23 @@ +from abc import ABCMeta, abstractmethod + +class ImageClassifier(object): + """ + Abstraction class for image classifiers + """ + + __metaclass__ = ABCMeta + + def __init__(self, **kwargs): + self.checkpoint_path = kwargs.get("checkpoint_path", None) + + @abstractmethod + def classify(self, image): + """ + A classify method to be implemented + + :param image: The input rgb image + :type name: numpy.array + + :return: bounding boxes, probabilities and classes + """ + pass \ No newline at end of file diff --git a/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/nets/__init__.py b/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/nets/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..edf56b3636ea22fb230ea9d040ff52da62ab00a1 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/nets/__init__.py @@ -0,0 +1,2 @@ +from nn_skeleton import ModelSkeleton +from squeezeDet import SqueezeDet \ No newline at end of file diff --git a/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/nets/nn_skeleton.py b/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/nets/nn_skeleton.py new file mode 100644 index 0000000000000000000000000000000000000000..27e415143a205bd49456774d417f613b768af9e0 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/nets/nn_skeleton.py @@ -0,0 +1,744 @@ + +# Author: Bichen Wu (bichen@berkeley.edu) 08/25/2016 + +"""Neural network model base class.""" + +from __future__ import absolute_import +from __future__ import division +from __future__ import print_function + +import os +import sys + +import rgb_object_recognition.utils.util as util +from easydict import EasyDict as edict +import numpy as np +import tensorflow as tf + +def _add_loss_summaries(total_loss): + """Add summaries for losses + Generates loss summaries for visualizing the performance of the network. + Args: + total_loss: Total loss from loss(). + """ + losses = tf.get_collection('losses') + + # Attach a scalar summary to all individual losses and the total loss; do the + # same for the averaged version of the losses. + for l in losses + [total_loss]: + tf.summary.scalar(l.op.name, l) + +def _variable_on_device(name, shape, initializer, trainable=True): + """Helper to create a Variable. + Args: + name: name of the variable + shape: list of ints + initializer: initializer for Variable + Returns: + Variable Tensor + """ + # TODO(bichen): fix the hard-coded data type below + dtype = tf.float32 + if not callable(initializer): + var = tf.get_variable(name, initializer=initializer, trainable=trainable) + else: + var = tf.get_variable( + name, shape, initializer=initializer, dtype=dtype, trainable=trainable) + return var + +def _variable_with_weight_decay(name, shape, wd, initializer, trainable=True): + """Helper to create an initialized Variable with weight decay. + Note that the Variable is initialized with a truncated normal distribution. + A weight decay is added only if one is specified. + Args: + name: name of the variable + shape: list of ints + wd: add L2Loss weight decay multiplied by this float. If None, weight + decay is not added for this Variable. + Returns: + Variable Tensor + """ + var = _variable_on_device(name, shape, initializer, trainable) + if wd is not None and trainable: + weight_decay = tf.multiply(tf.nn.l2_loss(var), wd, name='weight_loss') + tf.add_to_collection('losses', weight_decay) + return var + +class ModelSkeleton: + """Base class of NN detection models.""" + def __init__(self, mc): + self.mc = mc + # a scalar tensor in range (0, 1]. Usually set to 0.5 in training phase and + # 1.0 in evaluation phase + self.keep_prob = 0.5 if mc.IS_TRAINING else 1.0 + + # image batch input + self.ph_image_input = tf.placeholder( + tf.float32, [mc.BATCH_SIZE, mc.IMAGE_HEIGHT, mc.IMAGE_WIDTH, 3], + name='image_input' + ) + # A tensor where an element is 1 if the corresponding box is "responsible" + # for detection an object and 0 otherwise. + self.ph_input_mask = tf.placeholder( + tf.float32, [mc.BATCH_SIZE, mc.ANCHORS, 1], name='box_mask') + # Tensor used to represent bounding box deltas. + self.ph_box_delta_input = tf.placeholder( + tf.float32, [mc.BATCH_SIZE, mc.ANCHORS, 4], name='box_delta_input') + # Tensor used to represent bounding box coordinates. + self.ph_box_input = tf.placeholder( + tf.float32, [mc.BATCH_SIZE, mc.ANCHORS, 4], name='box_input') + # Tensor used to represent labels + self.ph_labels = tf.placeholder( + tf.float32, [mc.BATCH_SIZE, mc.ANCHORS, mc.CLASSES], name='labels') + + # IOU between predicted anchors with ground-truth boxes + self.ious = tf.Variable( + initial_value=np.zeros((mc.BATCH_SIZE, mc.ANCHORS)), trainable=False, + name='iou', dtype=tf.float32 + ) + + self.FIFOQueue = tf.FIFOQueue( + capacity=mc.QUEUE_CAPACITY, + dtypes=[tf.float32, tf.float32, tf.float32, + tf.float32, tf.float32], + shapes=[[mc.IMAGE_HEIGHT, mc.IMAGE_WIDTH, 3], + [mc.ANCHORS, 1], + [mc.ANCHORS, 4], + [mc.ANCHORS, 4], + [mc.ANCHORS, mc.CLASSES]], + ) + + self.enqueue_op = self.FIFOQueue.enqueue_many( + [self.ph_image_input, self.ph_input_mask, + self.ph_box_delta_input, self.ph_box_input, self.ph_labels] + ) + + self.image_input, self.input_mask, self.box_delta_input, \ + self.box_input, self.labels = tf.train.batch( + self.FIFOQueue.dequeue(), batch_size=mc.BATCH_SIZE, + capacity=mc.QUEUE_CAPACITY) + + # model parameters + self.model_params = [] + + # model size counter + self.model_size_counter = [] # array of tuple of layer name, parameter size + # flop counter + self.flop_counter = [] # array of tuple of layer name, flop number + # activation counter + self.activation_counter = [] # array of tuple of layer name, output activations + self.activation_counter.append(('input', mc.IMAGE_WIDTH*mc.IMAGE_HEIGHT*3)) + + + def _add_forward_graph(self): + """NN architecture specification.""" + raise NotImplementedError + + def _add_interpretation_graph(self): + """Interpret NN output.""" + mc = self.mc + + with tf.variable_scope('interpret_output') as scope: + preds = self.preds + + # probability + num_class_probs = mc.ANCHOR_PER_GRID*mc.CLASSES + self.pred_class_probs = tf.reshape( + tf.nn.softmax( + tf.reshape( + preds[:, :, :, :num_class_probs], + [-1, mc.CLASSES] + ) + ), + [mc.BATCH_SIZE, mc.ANCHORS, mc.CLASSES], + name='pred_class_probs' + ) + + # confidence + num_confidence_scores = mc.ANCHOR_PER_GRID+num_class_probs + self.pred_conf = tf.sigmoid( + tf.reshape( + preds[:, :, :, num_class_probs:num_confidence_scores], + [mc.BATCH_SIZE, mc.ANCHORS] + ), + name='pred_confidence_score' + ) + + # bbox_delta + self.pred_box_delta = tf.reshape( + preds[:, :, :, num_confidence_scores:], + [mc.BATCH_SIZE, mc.ANCHORS, 4], + name='bbox_delta' + ) + + # number of object. Used to normalize bbox and classification loss + self.num_objects = tf.reduce_sum(self.input_mask, name='num_objects') + + with tf.variable_scope('bbox') as scope: + with tf.variable_scope('stretching'): + delta_x, delta_y, delta_w, delta_h = tf.unstack( + self.pred_box_delta, axis=2) + + anchor_x = mc.ANCHOR_BOX[:, 0] + anchor_y = mc.ANCHOR_BOX[:, 1] + anchor_w = mc.ANCHOR_BOX[:, 2] + anchor_h = mc.ANCHOR_BOX[:, 3] + + box_center_x = tf.identity( + anchor_x + delta_x * anchor_w, name='bbox_cx') + box_center_y = tf.identity( + anchor_y + delta_y * anchor_h, name='bbox_cy') + box_width = tf.identity( + anchor_w * util.safe_exp(delta_w, mc.EXP_THRESH), + name='bbox_width') + box_height = tf.identity( + anchor_h * util.safe_exp(delta_h, mc.EXP_THRESH), + name='bbox_height') + + self._activation_summary(delta_x, 'delta_x') + self._activation_summary(delta_y, 'delta_y') + self._activation_summary(delta_w, 'delta_w') + self._activation_summary(delta_h, 'delta_h') + + self._activation_summary(box_center_x, 'bbox_cx') + self._activation_summary(box_center_y, 'bbox_cy') + self._activation_summary(box_width, 'bbox_width') + self._activation_summary(box_height, 'bbox_height') + + with tf.variable_scope('trimming'): + xmins, ymins, xmaxs, ymaxs = util.bbox_transform( + [box_center_x, box_center_y, box_width, box_height]) + + # The max x position is mc.IMAGE_WIDTH - 1 since we use zero-based + # pixels. Same for y. + xmins = tf.minimum( + tf.maximum(0.0, xmins), mc.IMAGE_WIDTH-1.0, name='bbox_xmin') + self._activation_summary(xmins, 'box_xmin') + + ymins = tf.minimum( + tf.maximum(0.0, ymins), mc.IMAGE_HEIGHT-1.0, name='bbox_ymin') + self._activation_summary(ymins, 'box_ymin') + + xmaxs = tf.maximum( + tf.minimum(mc.IMAGE_WIDTH-1.0, xmaxs), 0.0, name='bbox_xmax') + self._activation_summary(xmaxs, 'box_xmax') + + ymaxs = tf.maximum( + tf.minimum(mc.IMAGE_HEIGHT-1.0, ymaxs), 0.0, name='bbox_ymax') + self._activation_summary(ymaxs, 'box_ymax') + + self.det_boxes = tf.transpose( + tf.stack(util.bbox_transform_inv([xmins, ymins, xmaxs, ymaxs])), + (1, 2, 0), name='bbox' + ) + + with tf.variable_scope('IOU'): + def _tensor_iou(box1, box2): + with tf.variable_scope('intersection'): + xmin = tf.maximum(box1[0], box2[0], name='xmin') + ymin = tf.maximum(box1[1], box2[1], name='ymin') + xmax = tf.minimum(box1[2], box2[2], name='xmax') + ymax = tf.minimum(box1[3], box2[3], name='ymax') + + w = tf.maximum(0.0, xmax-xmin, name='inter_w') + h = tf.maximum(0.0, ymax-ymin, name='inter_h') + intersection = tf.multiply(w, h, name='intersection') + + with tf.variable_scope('union'): + w1 = tf.subtract(box1[2], box1[0], name='w1') + h1 = tf.subtract(box1[3], box1[1], name='h1') + w2 = tf.subtract(box2[2], box2[0], name='w2') + h2 = tf.subtract(box2[3], box2[1], name='h2') + + union = w1*h1 + w2*h2 - intersection + + return intersection/(union+mc.EPSILON) \ + * tf.reshape(self.input_mask, [mc.BATCH_SIZE, mc.ANCHORS]) + + self.ious = self.ious.assign( + _tensor_iou( + util.bbox_transform(tf.unstack(self.det_boxes, axis=2)), + util.bbox_transform(tf.unstack(self.box_input, axis=2)) + ) + ) + self._activation_summary(self.ious, 'conf_score') + + with tf.variable_scope('probability') as scope: + self._activation_summary(self.pred_class_probs, 'class_probs') + + probs = tf.multiply( + self.pred_class_probs, + tf.reshape(self.pred_conf, [mc.BATCH_SIZE, mc.ANCHORS, 1]), + name='final_class_prob' + ) + + self._activation_summary(probs, 'final_class_prob') + + self.det_probs = tf.reduce_max(probs, 2, name='score') + self.det_class = tf.argmax(probs, 2, name='class_idx') + + def _add_loss_graph(self): + """Define the loss operation.""" + mc = self.mc + + with tf.variable_scope('class_regression') as scope: + # cross-entropy: q * -log(p) + (1-q) * -log(1-p) + # add a small value into log to prevent blowing up + self.class_loss = tf.truediv( + tf.reduce_sum( + (self.labels*(-tf.log(self.pred_class_probs+mc.EPSILON)) + + (1-self.labels)*(-tf.log(1-self.pred_class_probs+mc.EPSILON))) + * self.input_mask * mc.LOSS_COEF_CLASS), + self.num_objects, + name='class_loss' + ) + tf.add_to_collection('losses', self.class_loss) + + with tf.variable_scope('confidence_score_regression') as scope: + input_mask = tf.reshape(self.input_mask, [mc.BATCH_SIZE, mc.ANCHORS]) + self.conf_loss = tf.reduce_mean( + tf.reduce_sum( + tf.square((self.ious - self.pred_conf)) + * (input_mask*mc.LOSS_COEF_CONF_POS/self.num_objects + +(1-input_mask)*mc.LOSS_COEF_CONF_NEG/(mc.ANCHORS-self.num_objects)), + reduction_indices=[1] + ), + name='confidence_loss' + ) + tf.add_to_collection('losses', self.conf_loss) + tf.summary.scalar('mean iou', tf.reduce_sum(self.ious)/self.num_objects) + + with tf.variable_scope('bounding_box_regression') as scope: + self.bbox_loss = tf.truediv( + tf.reduce_sum( + mc.LOSS_COEF_BBOX * tf.square( + self.input_mask*(self.pred_box_delta-self.box_delta_input))), + self.num_objects, + name='bbox_loss' + ) + tf.add_to_collection('losses', self.bbox_loss) + + # add above losses as well as weight decay losses to form the total loss + self.loss = tf.add_n(tf.get_collection('losses'), name='total_loss') + + def _add_train_graph(self): + """Define the training operation.""" + mc = self.mc + + self.global_step = tf.Variable(0, name='global_step', trainable=False) + lr = tf.train.exponential_decay(mc.LEARNING_RATE, + self.global_step, + mc.DECAY_STEPS, + mc.LR_DECAY_FACTOR, + staircase=True) + + tf.summary.scalar('learning_rate', lr) + + _add_loss_summaries(self.loss) + + opt = tf.train.MomentumOptimizer(learning_rate=lr, momentum=mc.MOMENTUM) + grads_vars = opt.compute_gradients(self.loss, tf.trainable_variables()) + + with tf.variable_scope('clip_gradient') as scope: + for i, (grad, var) in enumerate(grads_vars): + grads_vars[i] = (tf.clip_by_norm(grad, mc.MAX_GRAD_NORM), var) + + apply_gradient_op = opt.apply_gradients(grads_vars, global_step=self.global_step) + + for var in tf.trainable_variables(): + tf.summary.histogram(var.op.name, var) + + for grad, var in grads_vars: + if grad is not None: + tf.summary.histogram(var.op.name + '/gradients', grad) + + with tf.control_dependencies([apply_gradient_op]): + self.train_op = tf.no_op(name='train') + + def _add_viz_graph(self): + """Define the visualization operation.""" + mc = self.mc + self.image_to_show = tf.placeholder( + tf.float32, [None, mc.IMAGE_HEIGHT, mc.IMAGE_WIDTH, 3], + name='image_to_show' + ) + self.viz_op = tf.summary.image('sample_detection_results', + self.image_to_show, collections='image_summary', + max_outputs=mc.BATCH_SIZE) + + def _conv_bn_layer( + self, inputs, conv_param_name, bn_param_name, scale_param_name, filters, + size, stride, padding='SAME', freeze=False, relu=True, + conv_with_bias=False, stddev=0.001): + """ Convolution + BatchNorm + [relu] layer. Batch mean and var are treated + as constant. Weights have to be initialized from a pre-trained model or + restored from a checkpoint. + Args: + inputs: input tensor + conv_param_name: name of the convolution parameters + bn_param_name: name of the batch normalization parameters + scale_param_name: name of the scale parameters + filters: number of output filters. + size: kernel size. + stride: stride + padding: 'SAME' or 'VALID'. See tensorflow doc for detailed description. + freeze: if true, then do not train the parameters in this layer. + xavier: whether to use xavier weight initializer or not. + relu: whether to use relu or not. + conv_with_bias: whether or not add bias term to the convolution output. + stddev: standard deviation used for random weight initializer. + Returns: + A convolutional layer operation. + """ + mc = self.mc + + with tf.variable_scope(conv_param_name) as scope: + channels = inputs.get_shape()[3] + + if mc.LOAD_PRETRAINED_MODEL: + cw = self.caffemodel_weight + kernel_val = np.transpose(cw[conv_param_name][0], [2,3,1,0]) + if conv_with_bias: + bias_val = cw[conv_param_name][1] + mean_val = cw[bn_param_name][0] + var_val = cw[bn_param_name][1] + gamma_val = cw[scale_param_name][0] + beta_val = cw[scale_param_name][1] + else: + kernel_val = tf.truncated_normal_initializer( + stddev=stddev, dtype=tf.float32) + if conv_with_bias: + bias_val = tf.constant_initializer(0.0) + mean_val = tf.constant_initializer(0.0) + var_val = tf.constant_initializer(1.0) + gamma_val = tf.constant_initializer(1.0) + beta_val = tf.constant_initializer(0.0) + + # re-order the caffe kernel with shape [out, in, h, w] -> tf kernel with + # shape [h, w, in, out] + kernel = _variable_with_weight_decay( + 'kernels', shape=[size, size, int(channels), filters], + wd=mc.WEIGHT_DECAY, initializer=kernel_val, trainable=(not freeze)) + self.model_params += [kernel] + if conv_with_bias: + biases = _variable_on_device('biases', [filters], bias_val, + trainable=(not freeze)) + self.model_params += [biases] + gamma = _variable_on_device('gamma', [filters], gamma_val, + trainable=(not freeze)) + beta = _variable_on_device('beta', [filters], beta_val, + trainable=(not freeze)) + mean = _variable_on_device('mean', [filters], mean_val, trainable=False) + var = _variable_on_device('var', [filters], var_val, trainable=False) + self.model_params += [gamma, beta, mean, var] + + conv = tf.nn.conv2d( + inputs, kernel, [1, stride, stride, 1], padding=padding, + name='convolution') + if conv_with_bias: + conv = tf.nn.bias_add(conv, biases, name='bias_add') + + conv = tf.nn.batch_normalization( + conv, mean=mean, variance=var, offset=beta, scale=gamma, + variance_epsilon=mc.BATCH_NORM_EPSILON, name='batch_norm') + + self.model_size_counter.append( + (conv_param_name, (1+size*size*int(channels))*filters) + ) + out_shape = conv.get_shape().as_list() + num_flops = \ + (1+2*int(channels)*size*size)*filters*out_shape[1]*out_shape[2] + if relu: + num_flops += 2*filters*out_shape[1]*out_shape[2] + self.flop_counter.append((conv_param_name, num_flops)) + + self.activation_counter.append( + (conv_param_name, out_shape[1]*out_shape[2]*out_shape[3]) + ) + + if relu: + return tf.nn.relu(conv) + else: + return conv + + + def _conv_layer( + self, layer_name, inputs, filters, size, stride, padding='SAME', + freeze=False, xavier=False, relu=True, stddev=0.001): + """Convolutional layer operation constructor. + Args: + layer_name: layer name. + inputs: input tensor + filters: number of output filters. + size: kernel size. + stride: stride + padding: 'SAME' or 'VALID'. See tensorflow doc for detailed description. + freeze: if true, then do not train the parameters in this layer. + xavier: whether to use xavier weight initializer or not. + relu: whether to use relu or not. + stddev: standard deviation used for random weight initializer. + Returns: + A convolutional layer operation. + """ + + mc = self.mc + use_pretrained_param = False + if mc.LOAD_PRETRAINED_MODEL: + cw = self.caffemodel_weight + if layer_name in cw: + kernel_val = np.transpose(cw[layer_name][0], [2,3,1,0]) + bias_val = cw[layer_name][1] + # check the shape + if (kernel_val.shape == + (size, size, inputs.get_shape().as_list()[-1], filters)) \ + and (bias_val.shape == (filters, )): + use_pretrained_param = True + else: + print ('Shape of the pretrained parameter of {} does not match, ' + 'use randomly initialized parameter'.format(layer_name)) + else: + print ('Cannot find {} in the pretrained model. Use randomly initialized ' + 'parameters'.format(layer_name)) + + if mc.DEBUG_MODE: + print('Input tensor shape to {}: {}'.format(layer_name, inputs.get_shape())) + + with tf.variable_scope(layer_name) as scope: + channels = inputs.get_shape()[3] + + # re-order the caffe kernel with shape [out, in, h, w] -> tf kernel with + # shape [h, w, in, out] + if use_pretrained_param: + if mc.DEBUG_MODE: + print ('Using pretrained model for {}'.format(layer_name)) + kernel_init = tf.constant(kernel_val , dtype=tf.float32) + bias_init = tf.constant(bias_val, dtype=tf.float32) + elif xavier: + kernel_init = tf.contrib.layers.xavier_initializer_conv2d() + bias_init = tf.constant_initializer(0.0) + else: + kernel_init = tf.truncated_normal_initializer( + stddev=stddev, dtype=tf.float32) + bias_init = tf.constant_initializer(0.0) + + kernel = _variable_with_weight_decay( + 'kernels', shape=[size, size, int(channels), filters], + wd=mc.WEIGHT_DECAY, initializer=kernel_init, trainable=(not freeze)) + + biases = _variable_on_device('biases', [filters], bias_init, + trainable=(not freeze)) + self.model_params += [kernel, biases] + + conv = tf.nn.conv2d( + inputs, kernel, [1, stride, stride, 1], padding=padding, + name='convolution') + conv_bias = tf.nn.bias_add(conv, biases, name='bias_add') + + if relu: + out = tf.nn.relu(conv_bias, 'relu') + else: + out = conv_bias + + self.model_size_counter.append( + (layer_name, (1+size*size*int(channels))*filters) + ) + out_shape = out.get_shape().as_list() + num_flops = \ + (1+2*int(channels)*size*size)*filters*out_shape[1]*out_shape[2] + if relu: + num_flops += 2*filters*out_shape[1]*out_shape[2] + self.flop_counter.append((layer_name, num_flops)) + + self.activation_counter.append( + (layer_name, out_shape[1]*out_shape[2]*out_shape[3]) + ) + + return out + + def _pooling_layer( + self, layer_name, inputs, size, stride, padding='SAME'): + """Pooling layer operation constructor. + Args: + layer_name: layer name. + inputs: input tensor + size: kernel size. + stride: stride + padding: 'SAME' or 'VALID'. See tensorflow doc for detailed description. + Returns: + A pooling layer operation. + """ + + with tf.variable_scope(layer_name) as scope: + out = tf.nn.max_pool(inputs, + ksize=[1, size, size, 1], + strides=[1, stride, stride, 1], + padding=padding) + activation_size = np.prod(out.get_shape().as_list()[1:]) + self.activation_counter.append((layer_name, activation_size)) + return out + + + def _fc_layer( + self, layer_name, inputs, hiddens, flatten=False, relu=True, + xavier=False, stddev=0.001): + """Fully connected layer operation constructor. + Args: + layer_name: layer name. + inputs: input tensor + hiddens: number of (hidden) neurons in this layer. + flatten: if true, reshape the input 4D tensor of shape + (batch, height, weight, channel) into a 2D tensor with shape + (batch, -1). This is used when the input to the fully connected layer + is output of a convolutional layer. + relu: whether to use relu or not. + xavier: whether to use xavier weight initializer or not. + stddev: standard deviation used for random weight initializer. + Returns: + A fully connected layer operation. + """ + mc = self.mc + + use_pretrained_param = False + if mc.LOAD_PRETRAINED_MODEL: + cw = self.caffemodel_weight + if layer_name in cw: + use_pretrained_param = True + kernel_val = cw[layer_name][0] + bias_val = cw[layer_name][1] + + if mc.DEBUG_MODE: + print('Input tensor shape to {}: {}'.format(layer_name, inputs.get_shape())) + + with tf.variable_scope(layer_name) as scope: + input_shape = inputs.get_shape().as_list() + if flatten: + dim = input_shape[1]*input_shape[2]*input_shape[3] + inputs = tf.reshape(inputs, [-1, dim]) + if use_pretrained_param: + try: + # check the size before layout transform + assert kernel_val.shape == (hiddens, dim), \ + 'kernel shape error at {}'.format(layer_name) + kernel_val = np.reshape( + np.transpose( + np.reshape( + kernel_val, # O x (C*H*W) + (hiddens, input_shape[3], input_shape[1], input_shape[2]) + ), # O x C x H x W + (2, 3, 1, 0) + ), # H x W x C x O + (dim, -1) + ) # (H*W*C) x O + # check the size after layout transform + assert kernel_val.shape == (dim, hiddens), \ + 'kernel shape error at {}'.format(layer_name) + except: + # Do not use pretrained parameter if shape doesn't match + use_pretrained_param = False + print ('Shape of the pretrained parameter of {} does not match, ' + 'use randomly initialized parameter'.format(layer_name)) + else: + dim = input_shape[1] + if use_pretrained_param: + try: + kernel_val = np.transpose(kernel_val, (1,0)) + assert kernel_val.shape == (dim, hiddens), \ + 'kernel shape error at {}'.format(layer_name) + except: + use_pretrained_param = False + print ('Shape of the pretrained parameter of {} does not match, ' + 'use randomly initialized parameter'.format(layer_name)) + + if use_pretrained_param: + if mc.DEBUG_MODE: + print ('Using pretrained model for {}'.format(layer_name)) + kernel_init = tf.constant(kernel_val, dtype=tf.float32) + bias_init = tf.constant(bias_val, dtype=tf.float32) + elif xavier: + kernel_init = tf.contrib.layers.xavier_initializer() + bias_init = tf.constant_initializer(0.0) + else: + kernel_init = tf.truncated_normal_initializer( + stddev=stddev, dtype=tf.float32) + bias_init = tf.constant_initializer(0.0) + + weights = _variable_with_weight_decay( + 'weights', shape=[dim, hiddens], wd=mc.WEIGHT_DECAY, + initializer=kernel_init) + biases = _variable_on_device('biases', [hiddens], bias_init) + self.model_params += [weights, biases] + + outputs = tf.nn.bias_add(tf.matmul(inputs, weights), biases) + if relu: + outputs = tf.nn.relu(outputs, 'relu') + + # count layer stats + self.model_size_counter.append((layer_name, (dim+1)*hiddens)) + + num_flops = 2 * dim * hiddens + hiddens + if relu: + num_flops += 2*hiddens + self.flop_counter.append((layer_name, num_flops)) + + self.activation_counter.append((layer_name, hiddens)) + + return outputs + + def filter_prediction(self, boxes, probs, cls_idx): + """Filter bounding box predictions with probability threshold and + non-maximum supression. + Args: + boxes: array of [cx, cy, w, h]. + probs: array of probabilities + cls_idx: array of class indices + Returns: + final_boxes: array of filtered bounding boxes. + final_probs: array of filtered probabilities + final_cls_idx: array of filtered class indices + """ + mc = self.mc + + if mc.TOP_N_DETECTION < len(probs) and mc.TOP_N_DETECTION > 0: + order = probs.argsort()[:-mc.TOP_N_DETECTION-1:-1] + probs = probs[order] + boxes = boxes[order] + cls_idx = cls_idx[order] + else: + filtered_idx = np.nonzero(probs>mc.PROB_THRESH)[0] + probs = probs[filtered_idx] + boxes = boxes[filtered_idx] + cls_idx = cls_idx[filtered_idx] + + final_boxes = [] + final_probs = [] + final_cls_idx = [] + + for c in range(mc.CLASSES): + idx_per_class = [i for i in range(len(probs)) if cls_idx[i] == c] + keep = util.nms(boxes[idx_per_class], probs[idx_per_class], mc.NMS_THRESH) + for i in range(len(keep)): + if keep[i]: + final_boxes.append(boxes[idx_per_class[i]]) + final_probs.append(probs[idx_per_class[i]]) + final_cls_idx.append(c) + return final_boxes, final_probs, final_cls_idx + + def _activation_summary(self, x, layer_name): + """Helper to create summaries for activations. + Args: + x: layer output tensor + layer_name: name of the layer + Returns: + nothing + """ + with tf.variable_scope('activation_summary') as scope: + tf.summary.histogram( + 'activation_summary/'+layer_name, x) + tf.summary.scalar( + 'activation_summary/'+layer_name+'/sparsity', tf.nn.zero_fraction(x)) + tf.summary.scalar( + 'activation_summary/'+layer_name+'/average', tf.reduce_mean(x)) + tf.summary.scalar( + 'activation_summary/'+layer_name+'/max', tf.reduce_max(x)) + tf.summary.scalar( + 'activation_summary/'+layer_name+'/min', tf.reduce_min(x)) diff --git a/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/nets/squeezeDet.py b/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/nets/squeezeDet.py new file mode 100644 index 0000000000000000000000000000000000000000..7f49e87e3bf789c77cba7e472ef2dacb52e8d620 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/nets/squeezeDet.py @@ -0,0 +1,105 @@ +# Author: Bichen Wu (bichen@berkeley.edu) 08/25/2016 + +"""SqueezeDet model.""" + +from __future__ import absolute_import +from __future__ import division +from __future__ import print_function + +import os +import sys + +import rgb_object_recognition.utils.util as tf_util +from rgb_object_recognition.nets.nn_skeleton import ModelSkeleton +import joblib +from easydict import EasyDict as edict +import numpy as np +import tensorflow as tf + +class SqueezeDet(ModelSkeleton): + def __init__(self, mc): + with tf.device('/cpu:0'): + ModelSkeleton.__init__(self, mc) + + self._add_forward_graph() + self._add_interpretation_graph() + self._add_loss_graph() + self._add_train_graph() + self._add_viz_graph() + + def _add_forward_graph(self): + """NN architecture.""" + + mc = self.mc + if mc.LOAD_PRETRAINED_MODEL: + assert tf.gfile.Exists(mc.PRETRAINED_MODEL_PATH), \ + 'Cannot find pretrained model at the given path:' \ + ' {}'.format(mc.PRETRAINED_MODEL_PATH) + self.caffemodel_weight = joblib.load(mc.PRETRAINED_MODEL_PATH) + + conv1 = self._conv_layer( + 'conv1', self.image_input, filters=64, size=3, stride=2, + padding='SAME', freeze=True) + pool1 = self._pooling_layer( + 'pool1', conv1, size=3, stride=2, padding='SAME') + + fire2 = self._fire_layer( + 'fire2', pool1, s1x1=16, e1x1=64, e3x3=64, freeze=False) + fire3 = self._fire_layer( + 'fire3', fire2, s1x1=16, e1x1=64, e3x3=64, freeze=False) + pool3 = self._pooling_layer( + 'pool3', fire3, size=3, stride=2, padding='SAME') + + fire4 = self._fire_layer( + 'fire4', pool3, s1x1=32, e1x1=128, e3x3=128, freeze=False) + fire5 = self._fire_layer( + 'fire5', fire4, s1x1=32, e1x1=128, e3x3=128, freeze=False) + pool5 = self._pooling_layer( + 'pool5', fire5, size=3, stride=2, padding='SAME') + + fire6 = self._fire_layer( + 'fire6', pool5, s1x1=48, e1x1=192, e3x3=192, freeze=False) + fire7 = self._fire_layer( + 'fire7', fire6, s1x1=48, e1x1=192, e3x3=192, freeze=False) + fire8 = self._fire_layer( + 'fire8', fire7, s1x1=64, e1x1=256, e3x3=256, freeze=False) + fire9 = self._fire_layer( + 'fire9', fire8, s1x1=64, e1x1=256, e3x3=256, freeze=False) + + # Two extra fire modules that are not trained before + fire10 = self._fire_layer( + 'fire10', fire9, s1x1=96, e1x1=384, e3x3=384, freeze=False) + fire11 = self._fire_layer( + 'fire11', fire10, s1x1=96, e1x1=384, e3x3=384, freeze=False) + dropout11 = tf.nn.dropout(fire11, self.keep_prob, name='drop11') + + num_output = mc.ANCHOR_PER_GRID * (mc.CLASSES + 1 + 4) + self.preds = self._conv_layer( + 'conv12', dropout11, filters=num_output, size=3, stride=1, + padding='SAME', xavier=False, relu=False, stddev=0.0001) + + def _fire_layer(self, layer_name, inputs, s1x1, e1x1, e3x3, stddev=0.01, + freeze=False): + """Fire layer constructor. + Args: + layer_name: layer name + inputs: input tensor + s1x1: number of 1x1 filters in squeeze layer. + e1x1: number of 1x1 filters in expand layer. + e3x3: number of 3x3 filters in expand layer. + freeze: if true, do not train parameters in this layer. + Returns: + fire layer operation. + """ + + sq1x1 = self._conv_layer( + layer_name+'/squeeze1x1', inputs, filters=s1x1, size=1, stride=1, + padding='SAME', stddev=stddev, freeze=freeze) + ex1x1 = self._conv_layer( + layer_name+'/expand1x1', sq1x1, filters=e1x1, size=1, stride=1, + padding='SAME', stddev=stddev, freeze=freeze) + ex3x3 = self._conv_layer( + layer_name+'/expand3x3', sq1x1, filters=e3x3, size=3, stride=1, + padding='SAME', stddev=stddev, freeze=freeze) + + return tf.concat([ex1x1, ex3x3], 3, name=layer_name+'/concat') diff --git a/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/squeezedet_classifier.py b/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/squeezedet_classifier.py new file mode 100644 index 0000000000000000000000000000000000000000..13eeb1fea2b0d45675f435f359aa8a57a07ade4f --- /dev/null +++ b/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/squeezedet_classifier.py @@ -0,0 +1,91 @@ +from __future__ import absolute_import, division, print_function + +import glob +import os +import sys +import time + +import cv2 +import numpy as np +import tensorflow as tf +import yaml +from rgb_object_recognition.config import kitti_squeezeDet_config +from rgb_object_recognition.image_classifier import ImageClassifier +from rgb_object_recognition.nets import SqueezeDet + + +class SqueezeDetClassifier(ImageClassifier): + """ + SqueezeDet object detection and classification + """ + + def __init__(self, **kwargs): + super(SqueezeDetClassifier, self).__init__(**kwargs) + + self.squeezedet_config = kitti_squeezeDet_config() + self.squeezedet_config.BATCH_SIZE = 1 + self.squeezedet_config.LOAD_PRETRAINED_MODEL = False + + config = kwargs.get("config", None) + if config is not None: + self.squeezedet_config.IMAGE_WIDTH = int(config['image']['width']) + self.squeezedet_config.IMAGE_HEIGHT = int(config['image']['height']) + + checkpoint_path = kwargs.get("checkpoint_path", None) + + if checkpoint_path is not None: + checkpoint_path = os.path.join(checkpoint_path, 'model.ckpt') + self.model = SqueezeDet(self.squeezedet_config) + saver = tf.train.Saver(self.model.model_params) + tf_config = tf.ConfigProto() + tf_config.allow_soft_placement = True + self.sess = tf.Session(config=tf_config) + saver.restore(self.sess, checkpoint_path) + + print ('\033[92m'+"SqueezeDet model is loaded") + + def preprocess_image(self, image): + """ + Preprocess image: resize, subtract with bgr means. + + :param image: The input rgb image to be preprocessed + :type name: numpy.array + + :return: preprocessed image + + """ + image = image.astype(np.float32, copy=False) + image = cv2.resize(image, (self.squeezedet_config.IMAGE_WIDTH, + self.squeezedet_config.IMAGE_HEIGHT)) + image = image - self.squeezedet_config.BGR_MEANS + + return image + + def classify(self, image): + """ + Detect and classify image + + :param image: The input rgb image + :type name: numpy.array + + :return: bounding boxes, probabilities and classes + """ + + image = self.preprocess_image(image) + det_boxes, det_probs, det_class = self.sess.run( + [self.model.det_boxes, self.model.det_probs, self.model.det_class], + feed_dict={self.model.image_input:[image]} + ) + + boxes, probs, classes = self.model.filter_prediction(det_boxes[0], + det_probs[0], + det_class[0]) + + keep_idx = [idx for idx in range(len(probs)) \ + if probs[idx] > self.squeezedet_config.PLOT_PROB_THRESH] + + keep_boxes = [boxes[idx] for idx in keep_idx] + keep_probs = [probs[idx] for idx in keep_idx] + keep_classes = [classes[idx] for idx in keep_idx] + + return keep_boxes, keep_probs, keep_classes diff --git a/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/ssdlite_mobilenet.py b/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/ssdlite_mobilenet.py new file mode 100644 index 0000000000000000000000000000000000000000..855904ffe754b4399283e454e215a87ba7dda264 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/ssdlite_mobilenet.py @@ -0,0 +1,80 @@ +import numpy as np +import os +import six.moves.urllib as urllib +import sys +import tarfile +import tensorflow as tf +import time +import zipfile + +from rgb_object_recognition.utils import util + + +class SSDLiteMobilenet(): + def __init__(self, checkpoint_dir): + # Path to frozen detection graph. This is the actual model that is used for the object detection. + self.PATH_TO_FROZEN_GRAPH = os.path.join(checkpoint_dir, 'frozen_inference_graph.pb') + # List of the strings that is used to add correct label for each box. + PATH_TO_LABELS = os.path.join(checkpoint_dir, 'atwork_label_map.json') + + self.cat_idx = util.category_index_from_label_map(PATH_TO_LABELS) + + detection_graph = tf.Graph() + with detection_graph.as_default(): + od_graph_def = tf.GraphDef() + with tf.gfile.GFile(self.PATH_TO_FROZEN_GRAPH, 'rb') as fid: + serialized_graph = fid.read() + od_graph_def.ParseFromString(serialized_graph) + tf.import_graph_def(od_graph_def, name='') + + self.sess = tf.Session() + # Get handles to input and output tensors + ops = tf.get_default_graph().get_operations() + all_tensor_names = {output.name for op in ops for output in op.outputs} + self.tensor_dict = {} + for key in [ + 'num_detections', 'detection_boxes', 'detection_scores', + 'detection_classes' + ]: + tensor_name = key + ':0' + if tensor_name in all_tensor_names: + self.tensor_dict[key] = tf.get_default_graph().get_tensor_by_name( + tensor_name) + + self.image_tensor = tf.get_default_graph().get_tensor_by_name('image_tensor:0') + + print ('\033[92m'+"SSDLiteMobilenet model is loaded") + + + def infer_one_image(self, input_img): + self.image_width = input_img.shape[1] + self.image_height = input_img.shape[0] + # Expand dimensions since the model expects images to have shape: [1, None, None, 3] + image_np_expanded = np.expand_dims(input_img, axis=0) + # Run inference + output_dict = self.sess.run(self.tensor_dict, + feed_dict={self.image_tensor: image_np_expanded}) + + # all outputs are float32 numpy arrays, so convert types as appropriate + num_detections = int(output_dict['num_detections'][0]) + det_classes = output_dict[ + 'detection_classes'][0].astype(np.uint8) + boxes = output_dict['detection_boxes'][0] + scores = output_dict['detection_scores'][0] + + bboxes = [] + labels = [] + probs = [] + classes = [] + # Keep bboxes with scores higher that 0.5 + for i in filter(lambda id: scores[id] > 0.5, range(num_detections)): + bboxes.append(self.convert_normalized_coordinates(boxes[i])) + probs.append(scores[i]) + classes.append(det_classes[i]) + labels.append(self.cat_idx[det_classes[i]]['name']) + + return bboxes, probs, classes, labels + + def convert_normalized_coordinates(self, box): + return [box[0] * self.image_height, box[1] * self.image_width, + box[2] * self.image_height, box[3] * self.image_width] diff --git a/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/utils/__init__.py b/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/utils/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/utils/util.py b/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/utils/util.py new file mode 100644 index 0000000000000000000000000000000000000000..ff7a6e61b2fe98a05bb977d9fbfb7ef025975a43 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/utils/util.py @@ -0,0 +1,274 @@ +# Author: Bichen Wu (bichen@berkeley.edu) 08/25/2016 + +"""Utility functions.""" + +import numpy as np +import json +import time +import cv2 +import tensorflow as tf + +def iou(box1, box2): + """Compute the Intersection-Over-Union of two given boxes. + + Args: + box1: array of 4 elements [cx, cy, width, height]. + box2: same as above + Returns: + iou: a float number in range [0, 1]. iou of the two boxes. + """ + + lr = min(box1[0]+0.5*box1[2], box2[0]+0.5*box2[2]) - \ + max(box1[0]-0.5*box1[2], box2[0]-0.5*box2[2]) + if lr > 0: + tb = min(box1[1]+0.5*box1[3], box2[1]+0.5*box2[3]) - \ + max(box1[1]-0.5*box1[3], box2[1]-0.5*box2[3]) + if tb > 0: + intersection = tb*lr + union = box1[2]*box1[3]+box2[2]*box2[3]-intersection + + return intersection/union + + return 0 + +def batch_iou(boxes, box): + """Compute the Intersection-Over-Union of a batch of boxes with another + box. + + Args: + box1: 2D array of [cx, cy, width, height]. + box2: a single array of [cx, cy, width, height] + Returns: + ious: array of a float number in range [0, 1]. + """ + lr = np.maximum( + np.minimum(boxes[:,0]+0.5*boxes[:,2], box[0]+0.5*box[2]) - \ + np.maximum(boxes[:,0]-0.5*boxes[:,2], box[0]-0.5*box[2]), + 0 + ) + tb = np.maximum( + np.minimum(boxes[:,1]+0.5*boxes[:,3], box[1]+0.5*box[3]) - \ + np.maximum(boxes[:,1]-0.5*boxes[:,3], box[1]-0.5*box[3]), + 0 + ) + inter = lr*tb + union = boxes[:,2]*boxes[:,3] + box[2]*box[3] - inter + return inter/union + +def nms(boxes, probs, threshold): + """Non-Maximum supression. + Args: + boxes: array of [cx, cy, w, h] (center format) + probs: array of probabilities + threshold: two boxes are considered overlapping if their IOU is largher than + this threshold + form: 'center' or 'diagonal' + Returns: + keep: array of True or False. + """ + + order = probs.argsort()[::-1] + keep = [True]*len(order) + + for i in range(len(order)-1): + ovps = batch_iou(boxes[order[i+1:]], boxes[order[i]]) + for j, ov in enumerate(ovps): + if ov > threshold: + keep[order[j+i+1]] = False + return keep + +# TODO(bichen): this is not equivalent with full NMS. Need to improve it. +def recursive_nms(boxes, probs, threshold, form='center'): + """Recursive Non-Maximum supression. + Args: + boxes: array of [cx, cy, w, h] (center format) or [xmin, ymin, xmax, ymax] + probs: array of probabilities + threshold: two boxes are considered overlapping if their IOU is largher than + this threshold + form: 'center' or 'diagonal' + Returns: + keep: array of True or False. + """ + + assert form == 'center' or form == 'diagonal', \ + 'bounding box format not accepted: {}.'.format(form) + + if form == 'center': + # convert to diagonal format + boxes = np.array([bbox_transform(b) for b in boxes]) + + areas = (boxes[:, 2]-boxes[:, 0])*(boxes[:, 3]-boxes[:, 1]) + hidx = boxes[:, 0].argsort() + keep = [True]*len(hidx) + + def _nms(hidx): + order = probs[hidx].argsort()[::-1] + + for idx in range(len(order)): + if not keep[hidx[order[idx]]]: + continue + xx2 = boxes[hidx[order[idx]], 2] + for jdx in range(idx+1, len(order)): + if not keep[hidx[order[jdx]]]: + continue + xx1 = boxes[hidx[order[jdx]], 0] + if xx2 < xx1: + break + w = xx2 - xx1 + yy1 = max(boxes[hidx[order[idx]], 1], boxes[hidx[order[jdx]], 1]) + yy2 = min(boxes[hidx[order[idx]], 3], boxes[hidx[order[jdx]], 3]) + if yy2 <= yy1: + continue + h = yy2-yy1 + inter = w*h + iou = inter/(areas[hidx[order[idx]]]+areas[hidx[order[jdx]]]-inter) + if iou > threshold: + keep[hidx[order[jdx]]] = False + + def _recur(hidx): + if len(hidx) <= 20: + _nms(hidx) + else: + mid = len(hidx)/2 + _recur(hidx[:mid]) + _recur(hidx[mid:]) + _nms([idx for idx in hidx if keep[idx]]) + + _recur(hidx) + + return keep + +def sparse_to_dense(sp_indices, output_shape, values, default_value=0): + """Build a dense matrix from sparse representations. + + Args: + sp_indices: A [0-2]-D array that contains the index to place values. + shape: shape of the dense matrix. + values: A {0,1}-D array where values corresponds to the index in each row of + sp_indices. + default_value: values to set for indices not specified in sp_indices. + Return: + A dense numpy N-D array with shape output_shape. + """ + + assert len(sp_indices) == len(values), \ + 'Length of sp_indices is not equal to length of values' + + array = np.ones(output_shape) * default_value + for idx, value in zip(sp_indices, values): + array[tuple(idx)] = value + return array + +def bgr_to_rgb(ims): + """Convert a list of images from BGR format to RGB format.""" + out = [] + for im in ims: + out.append(im[:,:,::-1]) + return out + +def bbox_transform(bbox): + """convert a bbox of form [cx, cy, w, h] to [xmin, ymin, xmax, ymax]. Works + for numpy array or list of tensors. + """ + with tf.variable_scope('bbox_transform') as scope: + cx, cy, w, h = bbox + out_box = [[]]*4 + out_box[0] = cx-w/2 + out_box[1] = cy-h/2 + out_box[2] = cx+w/2 + out_box[3] = cy+h/2 + + return out_box + +def bbox_transform_inv(bbox): + """convert a bbox of form [xmin, ymin, xmax, ymax] to [cx, cy, w, h]. Works + for numpy array or list of tensors. + """ + with tf.variable_scope('bbox_transform_inv') as scope: + xmin, ymin, xmax, ymax = bbox + out_box = [[]]*4 + + width = xmax - xmin + 1.0 + height = ymax - ymin + 1.0 + out_box[0] = xmin + 0.5*width + out_box[1] = ymin + 0.5*height + out_box[2] = width + out_box[3] = height + + return out_box + +def _draw_box(im, box_list, label_list, color=(0,255,0), cdict=None, form='center'): + assert form == 'center' or form == 'diagonal', \ + 'bounding box format not accepted: {}.'.format(form) + for bbox, label in zip(box_list, label_list): + if form == 'center': + bbox = bbox_transform(bbox) + + xmin, ymin, xmax, ymax = [int(b) for b in bbox] + + l = label.split(':')[0] # text before "CLASS: (PROB)" + if cdict and l in cdict: + c = cdict[l] + else: + c = color + + # draw box + cv2.rectangle(im, (xmin, ymin), (xmax, ymax), c, 1) + # draw label + font = cv2.FONT_HERSHEY_SIMPLEX + cv2.putText(im, label, (xmin, ymax), font, 0.3, c, 1) + +def draw_box_on_img(img, final_boxes, final_probs, final_labels, cls2clr): + # Draw boxes + _draw_box( + img, final_boxes, + [label + ': (%.2f)'% prob \ + for label, prob in zip(final_labels, final_probs)], + cdict=cls2clr, + ) + +def category_index_from_label_map(label_map_file): + with open(label_map_file, 'r') as f: + # print(f.read()) + labels = json.load(f) + label_dict = {} + for label in labels: + id = label['id'] + label_dict[id] = label + + return label_dict + +class Timer(object): + def __init__(self): + self.total_time = 0.0 + self.calls = 0 + self.start_time = 0.0 + self.duration = 0.0 + self.average_time = 0.0 + + def tic(self): + self.start_time = time.time() + + def toc(self, average=True): + self.duration = time.time() - self.start_time + self.total_time += self.duration + self.calls += 1 + self.average_time = self.total_time/self.calls + if average: + return self.average_time + else: + return self.duration + +def safe_exp(w, thresh): + """Safe exponential function for tensors.""" + + slope = np.exp(thresh) + with tf.variable_scope('safe_exponential'): + lin_bool = w > thresh + lin_region = tf.to_float(lin_bool) + + lin_out = slope*(w - thresh + 1.) + exp_out = tf.exp(tf.where(lin_bool, tf.zeros_like(w), w)) + + out = lin_region*lin_out + (1.-lin_region)*exp_out + return out diff --git a/data/mir_perception/mir_object_recognition/package.xml b/data/mir_perception/mir_object_recognition/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..f78a0704a3ce19b698d450821e5655167efb472f --- /dev/null +++ b/data/mir_perception/mir_object_recognition/package.xml @@ -0,0 +1,48 @@ + + + mir_object_recognition + 0.0.0 + The mir_object_recognition package + + Mohammad Wasil + GPLv3 + Mohammad Wasil + + catkin + cv_bridge + geometry_msgs + roscpp + rospy + sensor_msgs + tf + dynamic_reconfigure + libpcl-all-dev + mas_perception_msgs + pcl_ros + visualization_msgs + roslint + mir_object_segmentation + mir_perception_utils + mir_rgb_object_recognition_models + mir_pointcloud_object_recognition_models + + cv_bridge + geometry_msgs + roscpp + rospy + sensor_msgs + tf + mir_object_segmentation + + cv_bridge + geometry_msgs + roscpp + rospy + sensor_msgs + tf + mas_perception_msgs + visualization_msgs + + roslaunch + + diff --git a/data/mir_perception/mir_object_recognition/ros/config/SceneSegmentation.cfg b/data/mir_perception/mir_object_recognition/ros/config/SceneSegmentation.cfg new file mode 100644 index 0000000000000000000000000000000000000000..8c71b5e6abe19b3039e7bd10493bffb514189ab1 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/ros/config/SceneSegmentation.cfg @@ -0,0 +1,87 @@ +#! /usr/bin/env python + +PACKAGE='mir_object_recognition' + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() +pc_object_segmentation = gen.add_group("Pointcloud object segmentation") +# def add (self, name, paramtype, level, description, default = None, min = None, max = None, edit_method = ""): +pc_os_voxel = pc_object_segmentation.add_group("Voxel filter") +pc_os_voxel.add ("voxel_leaf_size", double_t, 0, "The size of a leaf (on x,y,z) used for downsampling.", 0.009, 0, 1.0) +pc_os_voxel.add ("voxel_filter_field_name", str_t, 0, "The field name used for filtering", "z") +pc_os_voxel.add ("voxel_filter_limit_min", double_t, 0, "The minimum allowed field value a point will be considered from", -0.15, -10.0, 10.0) +pc_os_voxel.add ("voxel_filter_limit_max", double_t, 0, "The maximum allowed field value a point will be considered from", 0.25, -10.0, 10.0) + +pc_os_passthrough = pc_object_segmentation.add_group("Passthrough filter") +pc_os_passthrough.add ("enable_passthrough_filter", bool_t, 0, "Enable passthrough filter", False) +pc_os_passthrough.add ("passthrough_filter_field_name", str_t, 0, "The field name used for filtering", "x") +pc_os_passthrough.add ("passthrough_filter_limit_min", double_t, 0, "The minimum allowed field value a point will be considered from", 0.0, -10.0, 10.0) +pc_os_passthrough.add ("passthrough_filter_limit_max", double_t, 0, "The maximum allowed field value a point will be considered from", 0.8, -10.0, 10.0) + +pc_os_cropbox = pc_object_segmentation.add_group("Cropbox filter") +pc_os_cropbox.add ("enable_cropbox_filter", bool_t, 0, "Enable cropbox filter", False) +pc_os_cropbox.add ("cropbox_filter_min_x", double_t, 0, "The minimum allowed x value a point will be considered from", 0.0, -10.0, 10.0) +pc_os_cropbox.add ("cropbox_filter_max_x", double_t, 0, "The maximum allowed x value a point will be considered from", 0.8, -10.0, 10.0) +pc_os_cropbox.add ("cropbox_filter_min_y", double_t, 0, "The minimum allowed y value a point will be considered from", -0.4, -10.0, 10.0) +pc_os_cropbox.add ("cropbox_filter_max_y", double_t, 0, "The maximum allowed y value a point will be considered from", 0.4, -10.0, 10.0) +pc_os_cropbox.add ("cropbox_filter_min_z", double_t, 0, "The minimum allowed z value a point will be considered from", 0.0, -10.0, 10.0) +pc_os_cropbox.add ("cropbox_filter_max_z", double_t, 0, "The maximum allowed z value a point will be considered from", 0.6, -10.0, 10.0) + +pc_os_sac = pc_object_segmentation.add_group("SAC segmentation") +pc_os_sac.add ("normal_radius_search", double_t, 0, "Sphere radius for nearest neighbor search", 0.03, 0.0, 0.5) +pc_os_sac.add ("use_omp", bool_t, 0, "Use Open MP to estimate normal", False) +pc_os_sac.add ("num_cores", int_t, 0, "The number of cores to use for OMP normal estimation", 4, 1, 16) +pc_os_sac.add ("sac_max_iterations", int_t, 0, "The maximum number of iterations the algorithm will run for", 1000, 0, 100000) +pc_os_sac.add ("sac_distance_threshold", double_t, 0, "The distance to model threshold", 0.01, 0, 1.0) +pc_os_sac.add ("sac_optimize_coefficients", bool_t, 0, "Model coefficient refinement", True) +pc_os_sac.add ("sac_x_axis", double_t, 0, "The x axis to which the plane should be perpendicular, the eps angle > 0 to activate axis-angle constraint", 0.0, 0.0, 1.0) +pc_os_sac.add ("sac_y_axis", double_t, 0, "The y axis to which the plane should be perpendicular, the eps angle > 0 to activate axis-angle constraint", 0.0, 0.0, 1.0) +pc_os_sac.add ("sac_z_axis", double_t, 0, "The z axis to which the plane should be perpendicular, the eps angle > 0 to activate axis-angle constraint", 1.0, 0.0, 1.0) +pc_os_sac.add ("sac_eps_angle", double_t, 0, "The maximum allowed difference between the model normal and the given axis in radians.", 0.09, 0.0, 1.5707) +pc_os_sac.add ("sac_normal_distance_weight", double_t, 0, "The relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point normals and the plane normal.", 0.05, 0, 1.0) +pc_os_sac.add ("prism_min_height", double_t, 0, "The minimum height above the plane from which to construct the polygonal prism", 0.01, 0.0, 5.0) +pc_os_sac.add ("prism_max_height", double_t, 0, "The maximum height above the plane from which to construct the polygonal prism", 0.1, 0.0, 5.0) +pc_os_sac.add ("outlier_radius_search", double_t, 0, "Radius of the sphere that will determine which points are neighbors.", 0.03, 0.0, 10.0) +pc_os_sac.add ("outlier_min_neighbors", int_t, 0, "The number of neighbors that need to be present in order to be classified as an inlier.", 20, 0, 1000) + +pc_os_cluster = pc_object_segmentation.add_group("Object cluster") +pc_os_cluster.add ("cluster_tolerance", double_t, 0, "The spatial tolerance as a measure in the L2 Euclidean space", 0.02, 0.0, 2.0) +pc_os_cluster.add ("cluster_min_size", int_t, 0, "The minimum number of points that a cluster must contain in order to be accepted", 25, 0, 1000) +pc_os_cluster.add ("cluster_max_size", int_t, 0, "The maximum number of points that a cluster must contain in order to be accepted", 20000, 0, 2147483647) +pc_os_cluster.add ("cluster_min_height", double_t, 0, "The minimum height of the cluster above the given polygon", 0.011, 0, 5.0) +pc_os_cluster.add ("cluster_max_height", double_t, 0, "The maximum height of the cluster above the given polygon", 0.09, 0, 5.0) +pc_os_cluster.add ("cluster_max_length", double_t, 0, "The maximum length of the cluster", 0.25, 0, 5.0) +pc_os_cluster.add ("cluster_min_distance_to_polygon", double_t, 0, "The minimum height of the cluster above the given polygon", 0.04, 0, 5.0) +pc_os_cluster.add ("center_cluster", bool_t, 0, "Center cluster", True) +pc_os_cluster.add ("pad_cluster", bool_t, 0, "Pad cluster so that it has the same size", False) +pc_os_cluster.add ("padded_cluster_size", int_t, 0, "The size of the padded cluster", 2048, 128, 4096) + +object_pose = gen.add_group("Object pose") +object_pose.add ("use_fixed_heights", bool_t, 0, "Used fixed heights of objects by assuming platforms are 0, 5, 10 or 15 cm exactly", False) +object_pose.add ("height_of_floor", double_t, 0, "The height of floor (or 0cm platform) based on scene segmentation", -0.08, -1.0, 2.0) +object_pose.add ("object_height_above_workspace", double_t, 0, "The height of the object above the workspace", 0.03, -1.0, 2.0) +object_pose.add ("container_height", double_t, 0, "The height of the container pose", 0.0335, 0, 2.0) + +rgb_bbox_proposal = gen.add_group("RGB bbox proposal") +rgb_bbox_proposal.add ("rgb_roi_adjustment", double_t, 0, "RGB bounding box/ROI adjustment in pixel", 2, 0, 50) +rgb_bbox_proposal.add ("rgb_bbox_min_diag", double_t, 0, "Allowed RGB bounding box min diagonal", 21, 0, 500) +rgb_bbox_proposal.add ("rgb_bbox_max_diag", double_t, 0, "Allowed RGB bounding box max diagonal", 200, 0, 500) +rgb_bbox_proposal.add ("rgb_cluster_filter_limit_min", double_t, 0, "Passthrough filter min for the generated pc from rgb proposal", 0.009, -1, 1) +rgb_bbox_proposal.add ("rgb_cluster_filter_limit_max", double_t, 0, "Passthrough filter max for the generated pc from rgb proposal", 0.35, -1, 1) +rgb_bbox_proposal.add ("rgb_cluster_remove_outliers", bool_t, 1, "Remove cloud cluster generated from RGB ROI", True) + +roi = gen.add_group("Region of interest") +roi.add ("enable_roi", bool_t, 0, "Enable ROI filter", True) +roi.add ("roi_base_link_to_laser_distance", double_t, 0, "Base link to laser distance", 0.350, 0, 1) +roi.add ("roi_max_object_pose_x_to_base_link", double_t, 0, "Max object pose x distance to base link", 0.650, 0, 2) +roi.add ("roi_min_bbox_z", double_t, 0, "Min height of objects", 0.03, 0, 1) + +object_recognizer = gen.add_group("Object recognizer") +object_recognizer.add ("enable_rgb_recognizer", bool_t, 0, "Enable rgb object detection and recognition", True) +object_recognizer.add ("enable_pc_recognizer", bool_t, 0, "Enable pointcloud object detection and recognition", True) +object_recognizer.add ("obj_category", str_t, 0, "Object category name (eg. atwork, cavity, container)", "atwork") + +exit (gen.generate (PACKAGE, "mir_object_recognition", "SceneSegmentation")) + + diff --git a/data/mir_perception/mir_object_recognition/ros/config/objects.xml b/data/mir_perception/mir_object_recognition/ros/config/objects.xml new file mode 100644 index 0000000000000000000000000000000000000000..6b79d8e2fa7ea0a7afb85e7663f683108a3c84c1 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/ros/config/objects.xml @@ -0,0 +1,32 @@ + + S40_40_Gboxgray + S40_40_Bboxblack + R20cylinderblack + MOTORcylinderblack + M30sphereblack + M20_100cylinderblack + M20sphereblack + F20_20_Gboxgray + F20_20_Bboxblack + EM-02boxblack + EM-01boxorange + DISTANCE_TUBEspheregray + CONTAINER_BOX_BLUEboxblue + CONTAINER_BOX_REDboxred + BEARING_BOXboxgray + BEARINGspheregray + BEARING2spheregray + AXIScylindergray + ALLENKEYflatgray + WRENCHflatgray + DRILLflatgray + + BLUE_CONTAINERboxblue + RED_CONTAINERboxred + + M30_Hsphereblack + M20_Hsphereblack + S40_40_Vsphereblack + F20_20_Vsphereblack + + diff --git a/data/mir_perception/mir_object_recognition/ros/config/pc_classifier_config.yaml b/data/mir_perception/mir_object_recognition/ros/config/pc_classifier_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b75a4b8d15b67a3e898ce98a2b7570bad124f92b --- /dev/null +++ b/data/mir_perception/mir_object_recognition/ros/config/pc_classifier_config.yaml @@ -0,0 +1,27 @@ +model: + cnn_based: + dgcnn: + num_classes: 14 + num_points: 2048 + cloud_dim: 6 + feature_based: + fvrdd: + num_classes: 14 + num_points: None + cloud_dim: 3 +objects: + + 0 : 'AXIS' + 1 : 'BEARING_BOX' + 2 : 'BLUE_CONTAINER' + 3 : 'EM-01' + 4 : 'EM-02' + 5 : 'F20_20_B' + 6 : 'F20_20_G' + 7 : 'M20_100' + 8 : 'M30' + 9 : 'MOTOR' + 10 : 'R20' + 11 : 'RED_CONTAINER' + 12 : 'S40_40_B' + 13 : 'S40_40_G' \ No newline at end of file diff --git a/data/mir_perception/mir_object_recognition/ros/config/rgb_classifier_config.yaml b/data/mir_perception/mir_object_recognition/ros/config/rgb_classifier_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3beb6cf2649fe3be47196411dd6e7d6e136fc4a0 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/ros/config/rgb_classifier_config.yaml @@ -0,0 +1,45 @@ +model: + squeezeDet: + image: + width: 640 + height: 480 + bbox_prob_output_to_keep: 0.5 + SSDLiteMobileNet: +classes: + 0: 'S40_40_G' + 1: 'S40_40_B' + 2: 'R20' + 3: 'MOTOR' + 4: 'M30' + 5: 'M20_100' + 6: 'M20' + 7: 'F20_20_G' + 8: 'F20_20_B' + 9: 'EM-02' + 10: 'EM-01' + 11: 'DISTANCE_TUBE' + 12: 'CONTAINER_BOX_RED' + 13: 'CONTAINER_BOX_BLUE' + 14: 'BEARING_BOX' + 15: 'BEARING_BOX' + 16: 'BEARING' + 17: 'AXIS' +colors: + 0: (0, 0, 255) + 1: (0, 0, 255) + 2: (0, 0, 255) + 3: (0, 0, 255) + 4: (0, 0, 255) + 5: (0, 0, 255) + 6: (0, 0, 255) + 7: (255, 191, 0) + 8: (0, 0, 255) + 9: (0, 0, 255) + 10: (0, 0, 255) + 11: (0, 0, 255) + 12: (0, 0, 255) + 13: (0, 0, 255) + 14: (0, 0, 255) + 15: (0, 0, 255) + 16: (0, 0, 255) + 17: (0, 0, 255) diff --git a/data/mir_perception/mir_object_recognition/ros/config/scene_segmentation_constraints.yaml b/data/mir_perception/mir_object_recognition/ros/config/scene_segmentation_constraints.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dc36b553bea8eaa371fcd4b372c8267ffd592f0e --- /dev/null +++ b/data/mir_perception/mir_object_recognition/ros/config/scene_segmentation_constraints.yaml @@ -0,0 +1,60 @@ +# reasonable parameters to find planes of @Work workspaces +multimodal_object_recognition: + voxel_leaf_size: 0.009 + voxel_filter_field_name: z + voxel_filter_limit_min: -0.15 + voxel_filter_limit_max: 0.3 + enable_passthrough_filter: false + passthrough_filter_field_name: x + passthrough_filter_limit_min: 0.0 + passthrough_filter_limit_max: 0.8 + enable_cropbox_filter: true + cropbox_filter_min_x: 0.2 + cropbox_filter_max_x: 0.8 + cropbox_filter_min_y: -0.4 + cropbox_filter_max_y: 0.4 + cropbox_filter_min_z: -0.1 + cropbox_filter_max_z: 0.6 + normal_radius_search: 0.03 + use_omp: False + num_cores: 8 + sac_max_iterations: 1000 + sac_distance_threshold: 0.01 + sac_optimize_coefficients: true + sac_x_axis: 0.0 + sac_y_axis: 0.0 + sac_z_axis: 1.0 + sac_eps_angle: 0.09 + sac_normal_distance_weight: 0.05 + prism_min_height: 0.01 + prism_max_height: 0.1 + outlier_radius_search: 0.03 + outlier_min_neighbors: 20 + cluster_tolerance: 0.02 + cluster_min_size: 25 + cluster_max_size: 20000 + cluster_min_height: 0.011 + cluster_max_height: 0.09 + cluster_max_length: 0.25 + cluster_min_distance_to_polygon: 0.04 + center_cluster: False + pad_cluster: True + padded_cluster_size: 2048 + octree_resolution: 0.0025 + height_of_floor: -0.083 + use_fixed_heights: False + object_height_above_workspace: -0.008 + container_height: 0.07 + enable_rgb_recognizer: true + enable_pc_recognizer: false + obj_category: 'atwork' # atwork, cavity + rgb_roi_adjustment: 2 + rgb_bbox_min_diag: 21 + rgb_bbox_max_diag: 200 + rgb_cluster_filter_limit_min: 0.005 # for tower camera configuration (youbot 2) + rgb_cluster_filter_limit_max: 0.35 + rgb_cluster_remove_outliers: True + enable_roi: True + roi_base_link_to_laser_distance: 0.350 + roi_max_object_pose_x_to_base_link: 0.700 + roi_min_bbox_z: 0.03 diff --git a/data/mir_perception/mir_object_recognition/ros/include/mir_object_recognition/multimodal_object_recognition_node.h b/data/mir_perception/mir_object_recognition/ros/include/mir_object_recognition/multimodal_object_recognition_node.h new file mode 100644 index 0000000000000000000000000000000000000000..d7204b5fe0fb04f10cf64e76bc0e1932c55026d5 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/ros/include/mir_object_recognition/multimodal_object_recognition_node.h @@ -0,0 +1,254 @@ +/* + * Copyright 2019 Bonn-Rhein-Sieg University + * + * Author: Mohammad Wasil + * + */ +#ifndef MIR_OBJECT_RECOGNITION_MULTIMODAL_OBJECT_RECOGNITION_ROS_H +#define MIR_OBJECT_RECOGNITION_MULTIMODAL_OBJECT_RECOGNITION_ROS_H + +#include +#include +#include +#include +#include + +#include +#include +#include + +#include +#include +#include + +#include +#include +#include + +#include + +#include + +#include +#include +#include +#include +#include + +/** \brief This node subscribes to pointcloud and image_raw topics synchronously. + * Inputs: + * ~event_in: + * - e_start: - starts subscribing to pointcloud and image topics simultaneously, + * - segments pointcloud, recognize the table top clusters, estimate pose and workspace height + * - detects rgb object, find 3D ROI, estimate pose + * - adjusts object pose and publish them + * - e_stop: - stop subscribing to the input topics and clear accumulated pointcloud + * - e_data_collection - start dataset collection mode (save dir is defined in launch file). + * If enable, this node will not do any recognition. + * Outputs: + * ~event_out: + * - e_done: - done recognizing pointcloud and image, done pose estimation and done publishing object_list + * - e_stopped: - done unsubscribing, done clearing accumulated point clouds + * - e_data_collection - data collection mode started + * + * Topics output: rgb, pointcloud and multimodal object_lists, workspace_height. + * Topics output for visualization: pose array, bounding boxes and labels for both rgb and point cloud + * + * \author Mohammad Wasil +**/ + +namespace mpu = mir_perception_utils; +using mpu::visualization::BoundingBoxVisualizer; +using mpu::visualization::ClusteredPointCloudVisualizer; +using mpu::visualization::LabelVisualizer; +using mpu::visualization::Color; + +struct Object +{ + std::string name; + std::string shape; + std::string color; +}; + +typedef std::vector ObjectInfo; + +class MultimodalObjectRecognitionROS +{ + public: + /** \brief Constructor + * \param[in] NodeHandle */ + MultimodalObjectRecognitionROS(ros::NodeHandle nh); + + /** \brief Destructor */ + virtual ~MultimodalObjectRecognitionROS(); + /** \brief If pointcloud and image messages has been received, + * multimodal object recognition will be called. + * This function can be called once or periodically. + */ + void update(); + + private: + ros::NodeHandle nh_; + ros::Subscriber sub_event_in_; + ros::Publisher pub_event_out_; + ros::Subscriber sub_cloud_; + + boost::shared_ptr tf_listener_; + + dynamic_reconfigure::Server server_; + + // Publisher for clouds and images recognizer + ros::Publisher pub_cloud_to_recognizer_; + ros::Publisher pub_image_to_recognizer_; + // Subscriber for clouds and images recognizer + ros::Subscriber sub_recognized_image_list_; + ros::Subscriber sub_recognized_cloud_list_; + // Publisher object list + ros::Publisher pub_object_list_; + ros::Publisher pub_workspace_height_; + // Publisher pose array (debug_mode only) + ros::Publisher pub_pc_object_pose_array_; + ros::Publisher pub_rgb_object_pose_array_; + // Publisher debug + ros::Publisher pub_debug_cloud_plane_; + std::string horizontal_object_list[9]; + + // Synchronize callback for image and pointcloud + message_filters::Subscriber *image_sub_; + message_filters::Subscriber *cloud_sub_; + typedef message_filters::sync_policies::ApproximateTime msgSyncPolicy; + message_filters::Synchronizer *msg_sync_; + void synchronizeCallback(const sensor_msgs::ImageConstPtr &image, + const sensor_msgs::PointCloud2ConstPtr &cloud); + + // Recognize Clouds and Image callback + void recognizedImageCallback(const mas_perception_msgs::ObjectList &msg); + void recognizedCloudCallback(const mas_perception_msgs::ObjectList &msg); + + protected: + typedef std::shared_ptr SceneSegmentationROSSPtr; + SceneSegmentationROSSPtr scene_segmentation_ros_; + typedef std::shared_ptr MultimodalObjectRecognitionUtilsSPtr; + MultimodalObjectRecognitionUtilsSPtr mm_object_recognition_utils_; + + // Used to store pointcloud and image received from callback + sensor_msgs::PointCloud2ConstPtr pointcloud_msg_; + sensor_msgs::ImageConstPtr image_msg_; + PointCloud::Ptr cloud_; + + // Flags for pointcloud and image subscription + int pointcloud_msg_received_count_; + int image_msg_received_count_; + + // rgb_object_id used to differentiate 2D and 3D objects + int rgb_object_id_; + + // Flags for object recognition + bool received_recognized_image_list_flag_; + bool received_recognized_cloud_list_flag_; + + //Recognized image list + mas_perception_msgs::ObjectList recognized_image_list_; + mas_perception_msgs::ObjectList recognized_cloud_list_; + + // Enable recognizer + bool enable_rgb_recognizer_; + bool enable_pc_recognizer_ ; + std::string obj_category_; + + // Visualization + BoundingBoxVisualizer bounding_box_visualizer_pc_; + ClusteredPointCloudVisualizer cluster_visualizer_rgb_; + ClusteredPointCloudVisualizer cluster_visualizer_pc_; + ClusteredPointCloudVisualizer cluster_visualizer_filtered_rgb_; + LabelVisualizer label_visualizer_rgb_; + LabelVisualizer label_visualizer_pc_; + + // Parameters + bool debug_mode_; + std::string target_frame_id_; + std::string pointcloud_source_frame_id_; + std::set round_objects_; + std::set flat_objects_; + ObjectInfo object_info_; + std::string object_info_path_; + + // Dynamic parameter + double object_height_above_workspace_; + double height_of_floor_; + bool use_fixed_heights_; + double container_height_; + int rgb_roi_adjustment_; + int rgb_bbox_min_diag_; + int rgb_bbox_max_diag_; + double rgb_cluster_filter_limit_min_; + double rgb_cluster_filter_limit_max_; + bool enable_roi_; + double roi_base_link_to_laser_distance_; + double roi_max_object_pose_x_to_base_link_; + double roi_min_bbox_z_; + bool rgb_cluster_remove_outliers_; + + //cluster + bool center_cluster_; + bool pad_cluster_; + unsigned int padded_cluster_size_; + + // logdir for saving debug image + std::string logdir_; + bool data_collection_; + + private: + /** \brief Event in callback + * */ + void eventCallback(const std_msgs::String::ConstPtr &msg); + + /** \brief Dynamic reconfigure callback + * */ + void configCallback(mir_object_recognition::SceneSegmentationConfig &config, uint32_t level); + + /** \brief Transform pointcloud to the given frame id ("base_link" by default) + * \param[in] PointCloud2 input + */ + void preprocessPointCloud(const sensor_msgs::PointCloud2ConstPtr &cloud_msg); + + /** \brief Add cloud accumulation, segment accumulated pointcloud, find the plane, + * clusters table top objects, find object heights. + * \param[out] 3D object list with unknown label + * \param[out] Table top pointcloud clusters + **/ + void segmentPointCloud(mas_perception_msgs::ObjectList &object_list, + std::vector &clusters, + std::vector boxes); + + /** \brief Recognize 2D and 3D objects, estimate their pose, filter them, and publish the object_list*/ + void recognizeCloudAndImage(); + + /** \brief Adjust object pose, make it flat, adjust container, axis and bolt poses. + * \param[in] Object_list.pose, .name, + * + **/ + void adjustObjectPose(mas_perception_msgs::ObjectList &object_list); + + /** \brief Publish object_list to object_list merger + * \param[in] Object list to publish + **/ + void publishObjectList(mas_perception_msgs::ObjectList &object_list); + + /** \brief Publish debug info such as bbox, poses, labels for both 2D and 3D objects. + * \param[in] combined object list + * \param[in] 3D pointcloud cluster from 3D object segmentation + * \param[in] 3D pointcloud cluster from 2D bounding box proposal + **/ + void publishDebug(mas_perception_msgs::ObjectList &combined_object_list, + std::vector &clusters_3d, + std::vector &clusters_2d, + std::vector &filtered_clusters_2d); + + /** \brief Load qualitative object info + * \param[in] Path to the xml object file + * */ + void loadObjectInfo(const std::string &filename); +}; + +#endif // MIR_OBJECT_RECOGNITION_MULTIMODAL_OBJECT_RECOGNITION_ROS_H diff --git a/data/mir_perception/mir_object_recognition/ros/include/mir_object_recognition/multimodal_object_recognition_utils.h b/data/mir_perception/mir_object_recognition/ros/include/mir_object_recognition/multimodal_object_recognition_utils.h new file mode 100644 index 0000000000000000000000000000000000000000..db6ae757574a108629cce299f0dfd0accfb443cb --- /dev/null +++ b/data/mir_perception/mir_object_recognition/ros/include/mir_object_recognition/multimodal_object_recognition_utils.h @@ -0,0 +1,42 @@ +/* + * Copyright 2019 Bonn-Rhein-Sieg University + * + * Author: Mohammad Wasil + * + */ +#ifndef MIR_OBJECT_RECOGNITION_MULTIMODAL_OBJECT_RECOGNITION_UTILS_H +#define MIR_OBJECT_RECOGNITION_MULTIMODAL_OBJECT_RECOGNITION_UTILS_H + +#include + +#include +#include + +#include + +#include +#include + +class MultimodalObjectRecognitionUtils +{ + public: + /** Constructor + * */ + MultimodalObjectRecognitionUtils(); + virtual ~MultimodalObjectRecognitionUtils(); + + public: + /** \brief Make adjustment for AXIS and Bolt (M20_100) pose. Adjust it so that the pose + * is around to the center of mass (the tip). + * \param[in] object + * + */ + void adjustAxisBoltPose(mas_perception_msgs::Object &object); + + /** \brief Adjust container pose by finding the largest cluster to find the center + * \param[in] object.views[0].point_cloud + * \param[in] the height adjustment of the container, default 10cm + */ + void adjustContainerPose(mas_perception_msgs::Object &container_object, float container_height=0.1); +}; +#endif // MIR_OBJECT_RECOGNITION_MULTIMODAL_OBJECT_RECOGNITION_UTILS_H diff --git a/data/mir_perception/mir_object_recognition/ros/launch/multimodal_object_recognition.launch b/data/mir_perception/mir_object_recognition/ros/launch/multimodal_object_recognition.launch new file mode 100644 index 0000000000000000000000000000000000000000..d993bf297a9fa7179c969b12f2fa5ce412bd4428 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/ros/launch/multimodal_object_recognition.launch @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_perception/mir_object_recognition/ros/launch/pc_object_recognition.launch b/data/mir_perception/mir_object_recognition/ros/launch/pc_object_recognition.launch new file mode 100644 index 0000000000000000000000000000000000000000..79ca89bd359a2003568e686c7659bc3a6564c08d --- /dev/null +++ b/data/mir_perception/mir_object_recognition/ros/launch/pc_object_recognition.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_perception/mir_object_recognition/ros/launch/rgb_object_recognition.launch b/data/mir_perception/mir_object_recognition/ros/launch/rgb_object_recognition.launch new file mode 100644 index 0000000000000000000000000000000000000000..f87f006e61330276780821a82ab5aeec180299e3 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/ros/launch/rgb_object_recognition.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + - atwork + - cavity + + + + diff --git a/data/mir_perception/mir_object_recognition/ros/scripts/coworker_assembly_detection_node b/data/mir_perception/mir_object_recognition/ros/scripts/coworker_assembly_detection_node new file mode 100644 index 0000000000000000000000000000000000000000..a76c31b99f5e8df9744c00e1b9a9a35b8e4a5b12 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/ros/scripts/coworker_assembly_detection_node @@ -0,0 +1,338 @@ +#!/usr/bin/env python3 +import os +import random +import time +import cv2 +import numpy as np +import roslib +import rospy +import torch +import math +import csv +from geometry_msgs.msg import PoseStamped, Pose, Point, Quaternion +from cv_bridge import CvBridge, CvBridgeError +from std_msgs.msg import ColorRGBA, String +import message_filters +from mas_perception_msgs.msg import ImageList, Object, ObjectList, TimeStampedPose +from sensor_msgs.msg import Image, RegionOfInterest, PointCloud2, PointField +from sensor_msgs import point_cloud2 +from ultralytics import YOLO +import tf +from sklearn.decomposition import PCA +from geometry_msgs.msg import PoseStamped, Pose +from visualization_msgs.msg import Marker +from scipy.optimize import least_squares +from sklearn.mixture import GaussianMixture +import tf.transformations as tr +from scipy.spatial.transform import Rotation as R +import tf2_sensor_msgs +from tf2_sensor_msgs.tf2_sensor_msgs import do_transform_cloud +import tf2_ros +import tf2_py as tf2 +import ros_numpy +from scipy.optimize import least_squares +import pdb + +class CoworkerAssembly(): + def __init__(self, debug_mode=True): + + self.cvbridge = CvBridge() + self.debug = debug_mode + self.pub_debug = rospy.Publisher("/mir_perception/coworker_assembly/output/pick_object_debug", Image, queue_size=1) + self.pub_pose = rospy.Publisher("mcr_perception/object_selector/output/object_pose", PoseStamped, queue_size=1) + + self.tf_buffer = tf2_ros.Buffer(cache_time=rospy.Duration(12)) + self.tf_listener = tf.TransformListener() + self.tf2_listener = tf2_ros.TransformListener(self.tf_buffer) + + rospy.Subscriber("/mir_perception/coworker_assembly/event_in", String, self.event_in_cb) + self.event_out = rospy.Publisher("/mir_perception/coworker_assembly/event_out", String, queue_size=1) + + self.net = 'detection' + self.model_name = 'yolov8' + weights = os.path.join(roslib.packages.get_pkg_dir("mir_rgb_object_recognition_models"), + 'common', 'models', 'yolov8', 'robocup_2023_dataset', "coworker_assembly_model.pt") + self.weights = weights + self.confidence_threshold = 0.8 + self.iou_threshold = 0.45 + self.augment = False + + # Initialize + self.device = torch.device('cpu') + self.half = self.device.type != 'cpu' # half precision only supported on CUDA + + # Load model + if self.model_name == 'yolov8': + self.model = YOLO(weights) + + self.event = None + self.run_once = False + self.pose_sent = False + # self.event_in_cb("e_start") + + + def callback(self, img_msg, point_cloud_msg): + try: + self.run(img_msg, point_cloud_msg) + except Exception as e: + rospy.loginfo("[coworker_assembly_detection_node] killing callback") + + def event_in_cb(self, msg): + """ + Starts a planned motion based on the specified arm position. + + # """ + self.event = msg.data + if self.event.startswith("e_start") and not self.run_once: + # if True: + # Subscribe to image topic + self.sub_img = message_filters.Subscriber("/tower_cam3d_front/rgb/image_raw", Image) + + # subscribe to point cloud topic + self.sub_point_cloud = message_filters.Subscriber("/tower_cam3d_front/depth_registered/points", PointCloud2) + + # synchronize image and point cloud + self.ts = message_filters.ApproximateTimeSynchronizer([self.sub_img, self.sub_point_cloud], queue_size=10, slop=0.1) + self.ts.registerCallback(self.callback) + self.run_once = True + + if self.run_once and self.pose_sent: + self.sub_img.sub.unregister() + self.sub_point_cloud.sub.unregister() + rospy.loginfo("[coworker_assembly_detection_node] Unregistered image and pointcloud subscribers") + + def yolo_detect(self, cv_img): + if self.net == 'detection' and self.model_name == 'yolov8': + predictions = self.model.predict(source=cv_img, + conf=self.confidence_threshold, + iou=self.iou_threshold, + device=self.device, + verbose = False, + ) + # convert results to numpy array + predictions_np = predictions[0].boxes.numpy() + class_ids = predictions_np.cls + class_names = predictions[0].names + class_labels = [class_names[i] for i in class_ids] + class_scores = predictions_np.conf + class_bboxes = predictions_np.xyxy # x, y, w, h + + return class_bboxes, class_scores, class_labels + + def drawAxis(self, img, p_, q_, color, scale): + p = list(p_) + q = list(q_) + + ## [visualization1] + angle = math.atan2(p[1] - q[1], p[0] - q[0]) # angle in radians + hypotenuse = math.sqrt((p[1] - q[1]) * (p[1] - q[1]) + (p[0] - q[0]) * (p[0] - q[0])) + + # Here we lengthen the arrow by a factor of scale + q[0] = p[0] - scale * hypotenuse * math.cos(angle) + q[1] = p[1] - scale * hypotenuse * math.sin(angle) + cv2.line(img, (int(p[0]), int(p[1])), (int(q[0]), int(q[1])), color, 1, cv2.LINE_AA) + + # create the arrow hooks + p[0] = q[0] + 9 * math.cos(angle + math.pi / 4) + p[1] = q[1] + 9 * math.sin(angle + math.pi / 4) + cv2.line(img, (int(p[0]), int(p[1])), (int(q[0]), int(q[1])), color, 1, cv2.LINE_AA) + + p[0] = q[0] + 9 * math.cos(angle - math.pi / 4) + p[1] = q[1] + 9 * math.sin(angle - math.pi / 4) + cv2.line(img, (int(p[0]), int(p[1])), (int(q[0]), int(q[1])), color, 1, cv2.LINE_AA) + return img + + def get_orientation(self, pts, img): + ## [pca] + # Construct a buffer used by the pca analysis + sz = len(pts) + data_pts = np.empty((sz, 2), dtype=np.float64) + for i in range(data_pts.shape[0]): + data_pts[i,0] = pts[i,0,0] + data_pts[i,1] = pts[i,0,1] + + # Perform PCA analysis + mean = np.empty((0)) + mean, eigenvectors, eigenvalues = cv2.PCACompute2(data_pts, mean) + + # Store the center of the object + cntr = (int(mean[0,0]), int(mean[0,1])) + ## [pca] + + ## [visualization] + # Draw the principal components + # cv2.circle(img, cntr, 3, (255, 0, 255), 2) + p1 = (cntr[0] + 0.02 * eigenvectors[0,0] * eigenvalues[0,0], cntr[1] + 0.02 * eigenvectors[0,1] * eigenvalues[0,0]) + p2 = (cntr[0] - 0.02 * eigenvectors[1,0] * eigenvalues[1,0], cntr[1] - 0.02 * eigenvectors[1,1] * eigenvalues[1,0]) + img = self.drawAxis(img, cntr, p1, (255, 255, 0), 1) + # img = self.drawAxis(img, cntr, p2, (0, 0, 255), 5) + + angle = math.atan2(eigenvectors[0,1], eigenvectors[0,0]) # orientation in radians + return angle + + def get_pointcloud_position(self, pointcloud, center): + """ + pointcloud: pointcloud data of current frame with PointCloud2 data type + center: x and y coordinates of center of the bounding box of detected object + """ + + # Get the pointcloud data + pc = np.array(list(point_cloud2.read_points(pointcloud, skip_nans=False, field_names=("x", "y", "z"))), dtype=np.float32) + pc = pc.reshape((480,640,3)) + + # Get the center point of the bounding box + center_x, center_y = center + # center_point = pc[center_y, center_x] + + # Define the radius of the circle + radius = 7 + + # Calculate the coordinates of the circle points within the radius + min_x = max(0, center_x - radius) + max_x = min(pc.shape[1] - 1, center_x + radius) + min_y = max(0, center_y - radius) + max_y = min(pc.shape[0] - 1, center_y + radius) + + circle_points = [] + for y in range(min_y, max_y + 1): + for x in range(min_x, max_x + 1): + distance = math.sqrt((center_x - x) ** 2 + (center_y - y) ** 2) + if distance <= radius: + point = pc[y, x] + if not np.isnan(point).any(): + circle_points.append(point) + + # Determine the centroid of the non-NaN points + if circle_points: + circle_points_pc = np.array([point for point in circle_points]) + center_point = np.mean(circle_points_pc, axis=0) + + # Get the pose of the center point of the bounding box + pose = PoseStamped() + pose.header.frame_id = pointcloud.header.frame_id + pose.header.stamp = pointcloud.header.stamp + pose.pose.position.x = center_point[0] + pose.pose.position.y = center_point[1] + pose.pose.position.z = center_point[2] + pose.pose.orientation.x = 0.0 + pose.pose.orientation.y = 0.0 + pose.pose.orientation.z = 0.0 + pose.pose.orientation.w = 1.0 + + try: + t = self.tf_listener.getLatestCommonTime("base_link", pose.header.frame_id) + pose.header.stamp = t + pose = self.tf_listener.transformPose("base_link", pose) + # if pose doesnot has nan values then append pose to the list + if not math.isnan(pose.pose.position.x): + center_wrt_BL = pose.pose.position.x, pose.pose.position.y, pose.pose.position.z + return center_wrt_BL + except ( + tf.LookupException, + tf.ConnectivityException, + tf.ExtrapolationException, + ) as e: + rospy.logerr("Tf error: %s" % str(e)) + + return None + + def run(self, image, pointcloud): + """ + image: image data of current frame with Image data type + pointcloud: pointcloud data of current frame with PointCloud2 data type + """ + if image: + try: + cv_img = self.cvbridge.imgmsg_to_cv2(image, "bgr8") + bboxes, probs, labels = self.yolo_detect(cv_img) + + # Capatilize labels + labels = [label.upper() for label in labels] + bbox_img = None + + # Fit a Ellipse to the centers of the bounding boxes + for bbox, prob, label in zip(bboxes, probs, labels): + if label == "SCREW_NUT_ASSEMBLY": + # Calculate center of bounding box + center_x = (int(bbox[0]) + int(bbox[2])) // 2 + center_y = (int(bbox[1]) + int(bbox[3])) // 2 + center = np.array([center_x, center_y]) + + # Convert image to grayscale + bbox_img = cv_img[int(bbox[1]):int(bbox[3]), int(bbox[0]):int(bbox[2])] + if bbox_img is None: + continue + gray = cv2.cvtColor(bbox_img, cv2.COLOR_BGR2GRAY) + + # Convert image to binary + _, bw = cv2.threshold(gray, 50, 255, cv2.THRESH_BINARY | cv2.THRESH_OTSU) + + # Find all the contours in the thresholded image + contours, _ = cv2.findContours(bw, cv2.RETR_LIST, cv2.CHAIN_APPROX_NONE) + + # get contour with maximum area + max_area = 0 + best_cnt = None + for cnt in contours: + area = cv2.contourArea(cnt) + if area > max_area: + max_area = area + best_cnt = cnt + + yaw_angle = self.get_orientation(best_cnt, bbox_img) + + center_BL = self.get_pointcloud_position(pointcloud, center) + + predicted_pose = PoseStamped() + predicted_pose.header.stamp = pointcloud.header.stamp + predicted_pose.header.frame_id = "base_link_static" + predicted_pose.pose.position.x = center_BL[0] + predicted_pose.pose.position.y = center_BL[1] + predicted_pose.pose.position.z = 0.06 + + # convert yaw_list_CL to yaw_list_BL + yaw_BL = np.pi/2 - yaw_angle # from CL to BL + if yaw_BL > np.pi: + yaw_BL -= 2*np.pi + if yaw_BL < 0: + yaw_BL += np.pi + # now yaw_list is b/w 0 to np.pi (180 degrees) + orientation = tr.quaternion_from_euler(0, 0, yaw_BL) + predicted_pose.pose.orientation.x = orientation[0] + predicted_pose.pose.orientation.y = orientation[1] + predicted_pose.pose.orientation.z = orientation[2] + predicted_pose.pose.orientation.w = orientation[3] + + # publish the pose + self.pub_pose.publish(predicted_pose) + self.pose_sent = True + msg_str = f'e_done' + self.event_out.publish(String(data=msg_str)) + # print("pose e_done sent") + + if self.debug: + # computes the bounding box for the contour, and draws it on the frame, + (x,y,w,h) = cv2.boundingRect(best_cnt) + if w > 40 and h > 40: + cv2.rectangle(bbox_img, (x,y), (x+w,y+h), (255, 0, 0), 2) + + self.publish_debug_img(bbox_img) + + except CvBridgeError as e: + rospy.logerr(e) + return + else: + rospy.logwarn("No image received") + + def publish_debug_img(self, debug_img): + debug_img = np.array(debug_img, dtype=np.uint8) + debug_img = self.cvbridge.cv2_to_imgmsg(debug_img, "bgr8") + self.pub_debug.publish(debug_img) + + +if __name__ == '__main__': + rospy.init_node("coworker_assembly_detection") + rospy.loginfo('Started Coworker assembly detection Node.') + object_recognizer = CoworkerAssembly(debug_mode=True) + rospy.loginfo("Coworker assembly detection node is ready to give pose") + rospy.spin() diff --git a/data/mir_perception/mir_object_recognition/ros/scripts/hand_gesture_node b/data/mir_perception/mir_object_recognition/ros/scripts/hand_gesture_node new file mode 100644 index 0000000000000000000000000000000000000000..47abb9d3cb5667dd9fcec509bf78cda5cbde018d --- /dev/null +++ b/data/mir_perception/mir_object_recognition/ros/scripts/hand_gesture_node @@ -0,0 +1,156 @@ +#!/usr/bin/env python3 +import os +import random +import time +import cv2 +import numpy as np +import roslib +import rospy +import torch +import math +import csv +from geometry_msgs.msg import PoseStamped, Pose, Point, Quaternion +from cv_bridge import CvBridge, CvBridgeError +from std_msgs.msg import ColorRGBA, String +import message_filters +from mas_perception_msgs.msg import ImageList, Object, ObjectList, TimeStampedPose +from sensor_msgs.msg import Image, RegionOfInterest, PointCloud2, PointField +from sensor_msgs import point_cloud2 +from ultralytics import YOLO +import tf +from sklearn.decomposition import PCA +from geometry_msgs.msg import PoseStamped, Pose +from visualization_msgs.msg import Marker +from scipy.optimize import least_squares +from sklearn.mixture import GaussianMixture +import tf.transformations as tr +from scipy.spatial.transform import Rotation as R +import tf2_sensor_msgs +from tf2_sensor_msgs.tf2_sensor_msgs import do_transform_cloud +import tf2_ros +import tf2_py as tf2 +import ros_numpy +from scipy.optimize import least_squares +import pdb + +class GestureRecognition(): + def __init__(self, debug_mode=True): + + self.cvbridge = CvBridge() + self.debug = debug_mode + self.pub_debug = rospy.Publisher("/mir_perception/gesture_recognition/output/gesture_recognition_debug", Image, queue_size=1) + + rospy.Subscriber("/mir_perception/gesture_recognition/event_in", String, self.event_in_cb) + self.event_out = rospy.Publisher("/mir_perception/gesture_recognition/event_out", String, queue_size=1) + + self.net = 'detection' + self.model_name = 'yolov8' + weights = os.path.join(roslib.packages.get_pkg_dir("mir_rgb_object_recognition_models"), + 'common', 'models', 'yolov8', 'robocup_2023_dataset', "hand_gesture_model.pt") + self.weights = weights + self.confidence_threshold = 0.8 + self.iou_threshold = 0.45 + self.augment = False + + # Initialize + self.device = torch.device('cpu') + self.half = self.device.type != 'cpu' # half precision only supported on CUDA + + # Load model + if self.model_name == 'yolov8': + self.model = YOLO(weights) + + self.event = None + self.gesture_sent = False + self.frame_counter = 0 + # self.event_in_cb("e_start") + + + def callback(self, img_msg): + try: + self.run(img_msg) + except Exception as e: + rospy.loginfo("[hand_gesture_node] killing callback") + + def event_in_cb(self, msg): + """ + Starts a planned motion based on the specified arm position. + + # """ + self.event = msg.data + if self.event.startswith("e_start") and not self.gesture_sent: + # if not self.gesture_sent: + # Subscribe to image topic + self.sub_img = rospy.Subscriber("/tower_cam3d_front/rgb/image_raw", Image, self.callback) + + if self.gesture_sent: + self.sub_img.sub.unregister() + rospy.loginfo("[gesture_recognition_node] Unregistered image subscribers") + + def yolo_detect(self, cv_img): + if self.net == 'detection' and self.model_name == 'yolov8': + predictions = self.model.predict(source=cv_img, + conf=self.confidence_threshold, + iou=self.iou_threshold, + device=self.device, + verbose = False, + ) + # convert results to numpy array + predictions_np = predictions[0].boxes.numpy() + class_ids = predictions_np.cls + class_names = predictions[0].names + class_labels = [class_names[i] for i in class_ids] + class_scores = predictions_np.conf + class_bboxes = predictions_np.xyxy # x, y, w, h + + return class_bboxes, class_scores, class_labels, predictions + + def run(self, image): + """ + image: image data of current frame with Image data type + pointcloud: pointcloud data of current frame with PointCloud2 data type + """ + if image: + try: + cv_img = self.cvbridge.imgmsg_to_cv2(image, "bgr8") + bboxes, probs, labels, predictions = self.yolo_detect(cv_img) + + # Capatilize labels + labels = [label.upper() for label in labels] + + # Fit a Ellipse to the centers of the bounding boxes + for bbox, prob, label in zip(bboxes, probs, labels): + if label == "VICTORY": + self.frame_counter += 1 + else: + self.frame_counter = 0 + + if self.frame_counter == 5: + self.gesture_sent = True + msg_str = f'e_done' + self.event_out.publish(String(data=msg_str)) + # print("gesture e_done sent") + + if self.debug: + # Draw bounding boxes and labels of detections + debug_img = predictions[0].plot() + self.publish_debug_img(debug_img) + + except CvBridgeError as e: + rospy.logerr(e) + return + else: + rospy.logwarn("No image received") + + def publish_debug_img(self, debug_img): + debug_img = np.array(debug_img, dtype=np.uint8) + debug_img = self.cvbridge.cv2_to_imgmsg(debug_img, "bgr8") + self.pub_debug.publish(debug_img) + + +if __name__ == '__main__': + rospy.init_node("gesture_recognition") + rospy.loginfo('Started Gesture Recognition Node.') + object_recognizer = GestureRecognition(debug_mode=True) + rospy.loginfo("Gesture Recognition node is ready to recognize gesture") + rospy.spin() diff --git a/data/mir_perception/mir_object_recognition/ros/scripts/pc_object_recognizer_node b/data/mir_perception/mir_object_recognition/ros/scripts/pc_object_recognizer_node new file mode 100644 index 0000000000000000000000000000000000000000..31822be38fd85dec358d5dc8f0b3b880ee49ac41 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/ros/scripts/pc_object_recognizer_node @@ -0,0 +1,165 @@ +#!/usr/bin/env python3 + +import colorsys +import importlib +import os + +import numpy as np +import roslib +import rospy +import sensor_msgs.point_cloud2 +import yaml +from mas_perception_msgs.msg import ObjectList +import pc_object_recognition.utils.pc_utils as pc_utils +from pc_object_recognition.cnn_based_classifiers import CNNBasedClassifiers +from pc_object_recognition.dgcnn_classifier import DGCNNClassifier +from pc_object_recognition.feature_based_classifiers import FeatureBasedClassifiers +from pc_object_recognition.utils.features import FVRDDFeatureExtraction + + +class PointcloudObjectRecognizer(): + """ + PointCloud object recognizer class. The inference can be invoked through \ + ros topic and it publishes back the recognized object list via ros topic. + + :param model: Model name (featured_based / cnn_based) + :param model_id: Model id (FVRDD / RDD or DGCNN) + :param dataset: Dataset + :param ngaussians: Number of gaussians of FV + :param variance: Variance of gmm model for FV + """ + + def __init__(self, model, model_id, dataset, model_dir, ngaussians=2, variance=0.05): + self.model = model + dataset_dir = model_id + "_" + dataset + #cfg_folder = os.path.join(roslib.packages.get_pkg_dir("mir_object_recognition"), 'common', 'config') + + model_config_file = os.path.join(roslib.packages.get_pkg_dir("mir_object_recognition"), + 'ros', 'config', "pc_classifier_config.yaml") + + if os.path.isfile(model_config_file): + configs = {} + with open(model_config_file, 'r') as infile: + configs = yaml.safe_load(infile) + self.label_to_name = configs['objects'] + else: + rospy.logerr("Model configuration not found for %s", model) + + # Subscriber and publisher + self.sub = rospy.Subscriber( + "input/object_list", ObjectList, self.recognize_object_topic_cb) + self.pub = rospy.Publisher( + "output/object_list", ObjectList, queue_size=1) + + if model == "feature_based": # we dont need this part now only use cnn_based + + feature_extraction = FVRDDFeatureExtraction(model_id) + self.fe_method = feature_extraction.get_method() + if model_id == "fvrdd": + gmm = pc_utils.get_3d_grid_gmm( + subdivisions=[ngaussians, ngaussians, ngaussians], variance=variance) + feature_extraction.set_fv_params(gmm, use_rdd=True) + elif model_id == "rdd": + feature_extraction.set_rdd_params(color=True) + classifier_file = os.path.join(model_dir, 'classifier.pkl') + label_encoder = os.path.join(model_dir, 'label_encoder.pkl') + self.classifier = FeatureBasedClassifiers(classifier_file, label_encoder) + + elif model == "cnn_based": + checkpoint = os.path.join(model_dir, 'model.t7') + module_name = "pc_object_recognition" + "." + model_id.lower()+"_"+"classifier" + class_name = model_id.upper()+"Classifier" + ClassifierClass = getattr( + importlib.import_module(module_name), class_name) + model_configs = configs['model'][model][model_id.lower()] + + self.classifier = ClassifierClass(model_path=checkpoint, + num_classes=model_configs['num_classes'], + num_points=model_configs['num_points'], + cloud_dim=model_configs['cloud_dim']) + + def recognize_object_topic_cb(self, object_list): + """ + Reocgnize object callback + + :param object_list: Object list + :type: mas_perception_msgs.object_list + """ + + if object_list.objects: + rospy.loginfo("%d clouds received ", len(object_list.objects)) + recognized_object_list = ObjectList() + recognized_object_list = object_list.objects + + for object in recognized_object_list: + if self.model == "feature_based": + cloud = self.extract_pointcloud( + object.views[0].point_cloud, color="hsv") + features = self.fe_method(cloud) + features = np.reshape(features, (1, -1)) + name, probability = self.classifier.classify(features) + name = name[0] + elif self.model == "cnn_based": + cloud = self.extract_pointcloud( + object.views[0].point_cloud, color="rgb") + + label, probability = self.classifier.classify( + cloud, center=True, rotate=True, pad=True) + + if (label, probability) != (None, None): + name = self.label_to_name[label] + probability = probability + else: + name = "unknown object found" + probability = 0.0 + continue + rospy.loginfo('Name of the object found: %s', name) + object.name = name + object.probability = probability + self.pub.publish(recognized_object_list) + + def extract_pointcloud(self, pc, color="hsv"): + """ + Generator for x,y,z,rgb fields from pointcloud + + :param pc: The input pointcloud + :type: sensor_msgs.point_cloud2 + :param color: The choice of color (hsv/rgb) + :type: numpy.array + + :return: Extracted pointcloud + :return type: numpy.array + """ + xyzrgb_gen = sensor_msgs.point_cloud2.read_points( + pc, skip_nans=False, field_names=("x", "y", "z", "rgb")) + + pointcloud = [list(elem) for elem in list(xyzrgb_gen)] + pointcloud = np.array(pointcloud) + float_rgb = pointcloud[:, 3][np.newaxis].T + + # Convert float rgb to hsv/rgb + if color == "hsv": + pc_color = np.array( + [list(colorsys.rgb_to_hsv(*pc_utils.float_to_rgb(frgb))) for frgb in float_rgb]) + elif color == "rgb": + pc_color = np.array([list(pc_utils.float_to_rgb(frgb)) + for frgb in float_rgb]) + + pointcloud = np.hstack([pointcloud[:, 0:3], pc_color]) + + return pointcloud + + +if __name__ == '__main__': + rospy.init_node('pc_object_recognizer') + + model = rospy.get_param("~model") + model_id = rospy.get_param("~model_id") + model_dir = rospy.get_param("~model_dir") + dataset = rospy.get_param("~dataset") + + object_recognizer = PointcloudObjectRecognizer( + model, model_id, dataset, model_dir) + rospy.loginfo('\033[92m'+"PCL Recognizer is ready using %s , model: %s ", + model, model_id) + rospy.spin() diff --git a/data/mir_perception/mir_object_recognition/ros/scripts/rgb_object_recognizer_node b/data/mir_perception/mir_object_recognition/ros/scripts/rgb_object_recognizer_node new file mode 100644 index 0000000000000000000000000000000000000000..421c795822e2e813f4c77daa3cc2fc0d8afaa769 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/ros/scripts/rgb_object_recognizer_node @@ -0,0 +1,153 @@ +#!/usr/bin/env python3 +import os +import random + +import numpy as np +import roslib +import rospy +import torch +from cv_bridge import CvBridge, CvBridgeError +from mas_perception_msgs.msg import ImageList, Object, ObjectList +from sensor_msgs.msg import Image, RegionOfInterest +from ultralytics import YOLO + +class RGBObjectRecognizer(): + def __init__(self, weights, + net='detection', + model_name='yolov8', + confidence_threshold=0.65, + iou_threshold=0.45, + img_size=640, + trace=True, + classify=False, + augment=False, + device='cpu', + debug_mode=True): + + self.cvbridge = CvBridge() + self.debug = debug_mode + self.pub_debug = rospy.Publisher( + "/mir_perception/multimodal_object_recognition/recognizer/rgb/output/debug_image", Image, queue_size=1) + self.pub_result = rospy.Publisher( + "output/object_list", ObjectList, queue_size=1) + self.sub_img = rospy.Subscriber( + "input/images", ImageList, self.image_recognition_cb) + self.net = net + self.model_name = model_name + self.confidence_threshold = confidence_threshold + self.iou_threshold = iou_threshold + self.device = "cuda" if torch.cuda.is_available() else device + + # Load model + if self.model_name == 'yolov8': + self.model_atwork = YOLO(weights['atwork']) + self.model_cavity = YOLO(weights['cavity']) + + def image_recognition_cb(self, img_msg): + if img_msg.images: + result_list = ObjectList() + objects = [] + rospy.loginfo("[{}] images received: {} ".format( + len(img_msg.images), self.model_name)) + if self.net == 'detection': + try: + cv_img = self.cvbridge.imgmsg_to_cv2( + img_msg.images[0], "bgr8") + + if rospy.has_param("/mir_perception/multimodal_object_recognition/obj_category"): + obj_category = rospy.get_param("/mir_perception/multimodal_object_recognition/obj_category") + if obj_category == "cavity": + self.model = self.model_cavity + elif obj_category == "container": + self.model = self.model_container + else: + self.model = self.model_atwork + # print the model name + rospy.loginfo(f"\033[92m" + f"[RGB Recognizer] is using {obj_category} objects category model" + f"\033[0m") + else: + rospy.loginfo(f"\033[92m" + f"[RGB Recognizer] is using atwork objects category model" + f"\033[0m") + + if self.model_name == 'yolov8': + + predictions = self.model.predict(source=cv_img, + conf=self.confidence_threshold, + iou=self.iou_threshold, + device=self.device, + verbose=False + ) + + # convert results to numpy array + predictions_np = predictions[0].boxes.numpy() + class_ids = predictions_np.cls + class_names = predictions[0].names + class_labels = [class_names[i] for i in class_ids] + class_scores = predictions_np.conf + class_bboxes = predictions_np.xyxy # x, y, w, h + + bboxes, probs, labels = class_bboxes, class_scores, class_labels + + for i in range(len(labels)): + result = Object() + result.name = labels[i].upper() + result.probability = probs[i] + roi = RegionOfInterest() + roi.x_offset = int(bboxes[i][0]) + roi.y_offset = int(bboxes[i][1]) + roi.width = int(bboxes[i][2] - bboxes[i][0]) + roi.height = int(bboxes[i][3] - bboxes[i][1]) + result.roi = roi + + objects.append(result) + + if self.debug: + + # Draw bounding boxes and labels of detections + debug_img = predictions[0].plot() + + # publish bbox and label + self.publish_debug_img(debug_img) + + else: + rospy.logerr("[RGB Recognition] Model not supported") + return + + # Publish result_list + result_list.objects = objects + self.pub_result.publish(result_list) + + except CvBridgeError as e: + rospy.logerr(e) + return + + elif self.net == 'classification': + rospy.logwarn("TODO: MobileNet") + + def publish_debug_img(self, debug_img): + debug_img = np.array(debug_img, dtype=np.uint8) + debug_img = self.cvbridge.cv2_to_imgmsg(debug_img, "bgr8") + self.pub_debug.publish(debug_img) + + +if __name__ == '__main__': + rospy.init_node("rgb_object_recognizer") + rospy.loginfo('Started object recognition node.') + net = rospy.get_param("~net") + classifier_name = rospy.get_param("~classifier") + dataset = rospy.get_param("~dataset") + model_dir = rospy.get_param("~model_dir") + model_categories = rospy.get_param("~model_category") + weights = {} + for model_category in model_categories: + weight = os.path.join(roslib.packages.get_pkg_dir("mir_rgb_object_recognition_models"), + 'common', 'models', classifier_name, dataset, model_category +".pt") + if not os.path.isfile(weight): + rospy.logerr("[RGB Recognition] Model not found: %s", weight) + exit(-1) + weights[model_category] = weight + + object_recognizer = RGBObjectRecognizer( + weights, + debug_mode=True) + rospy.loginfo("\033[92m" + "RGB Recognizer is ready using %s : %s , dataset: %s " + "\033[0m", + net, classifier_name, dataset) + rospy.spin() diff --git a/data/mir_perception/mir_object_recognition/ros/scripts/rgb_object_recognizer_node_yolov5 b/data/mir_perception/mir_object_recognition/ros/scripts/rgb_object_recognizer_node_yolov5 new file mode 100644 index 0000000000000000000000000000000000000000..30433d1fac44ed9c32a0d9d66c0627d0ffdd869d --- /dev/null +++ b/data/mir_perception/mir_object_recognition/ros/scripts/rgb_object_recognizer_node_yolov5 @@ -0,0 +1,184 @@ +#!/usr/bin/env python3 + +import colorsys +import os +import pickle +import struct +import sys +import time + +import cv2 +import numpy as np +import roslib +import rospy +import yaml +from cv_bridge import CvBridge, CvBridgeError +from mas_perception_msgs.msg import ImageList, Object, ObjectList +from mas_perception_msgs.srv import RecognizeImage, RecognizeImageResponse +# from rgb_object_recognition import SqueezeDetClassifier, SSDLiteMobilenet, util +from rgb_object_recognition import yolov5_classifier +from sensor_msgs.msg import Image, RegionOfInterest + + +class RGBObjectRecognizer(): + def __init__(self, model_dir, net='detection', model_name='yolov5', debug_mode=True): + self.cvbridge = CvBridge() + self.debug = debug_mode + self.pub_debug = rospy.Publisher( + "/mir_perception/multimodal_object_recognition/recognizer/rgb/output/debug_image", Image, queue_size=1) + self.pub_result = rospy.Publisher( + "output/object_list", ObjectList, queue_size=1) + self.sub_img = rospy.Subscriber( + "input/images", ImageList, self.image_recognition_cb) + self.net = net + self.model_name = model_name + self.model_dir = model_dir + self.confidence_threshold = 0.7 + + config_file = os.path.join(roslib.packages.get_pkg_dir("mir_object_recognition"), + 'ros', 'config', "rgb_classifier_config.yaml") + + self.yolo_data_config_file = os.path.join(roslib.packages.get_pkg_dir("mir_object_recognition"), + 'common', 'src', 'rgb_object_recognition', "data_for_detect.yaml") + + if os.path.isfile(config_file): + configs = {} + with open(config_file, 'r') as infile: + configs = yaml.safe_load(infile) + + # model_config = configs['model'][model_name] + self.classes = configs['classes'] + self.colors = configs['colors'] + + if self.net == 'detection': + # if self.model_name == 'squeezeDet': + # self.model = SqueezeDetClassifier(config=model_config, + # checkpoint_path=model_dir) + + # elif self.model_name == 'ssdLiteMobilenet': + # self.model = SSDLiteMobilenet(model_dir) + if self.model_name == 'dummy': + pass + + elif self.model_name == 'yolov5': + print("TODO: Link YOLOv5 to original gitrepo") + print("TODO: Classify YOLOv5 inference code") + + elif self.net == 'classification': + print("TODO: MobileNet") + else: + rospy.logerr("Config file: {} not found".format(config_file)) + + def image_recognition_cb(self, img_msg): + if img_msg.images: + result_list = ObjectList() + objects = [] + rospy.loginfo("[{}] images received: {} ".format( + len(img_msg.images), self.model_name)) + if self.net == 'detection': + try: + cv_image = self.cvbridge.imgmsg_to_cv2( + img_msg.images[0], "bgr8") + + if self.model_name == 'yolov5': + + predictions = yolov5_classifier.run(weights=self.model_dir, + data=self.yolo_data_config_file, + source=cv_image) + # prediction bounding boxes are in [x1, y1, x2, y2] format + + output_bb_ary = predictions['boxes'] + output_labels_ary = predictions['labels'] + output_scores_ary = predictions['scores'] + + detected_object_list = [] + detected_object_score = [] + detected_bb_list = [] + + # Extract required objects from prediction output with confidence score greater than 0.5 + print("---------------------------") + print("Name of the objects, Score\n") + for idx, value in enumerate(output_labels_ary): + object_name = value + score = output_scores_ary[idx] + + if score >= self.confidence_threshold: + detected_object_list.append(object_name) + detected_object_score.append(score) + detected_bb_list.append(output_bb_ary[idx]) + + print("{}, {}".format(object_name, score)) + + print("---------------------------") + + bboxes, probs, labels = detected_bb_list, detected_object_score, detected_object_list + + else: + bboxes, probs, labels = self.model.classify(cv_image) + + for i in range(len(labels)): + result = Object() + result.name = labels[i].upper() + result.probability = probs[i] + roi = RegionOfInterest() + roi.x_offset = int(bboxes[i][0]) + roi.y_offset = int(bboxes[i][1]) + roi.width = int(bboxes[i][2]) - int(bboxes[i][0]) + roi.height = int(bboxes[i][3]) - int(bboxes[i][1]) + result.roi = roi + + objects.append(result) + # Publish result_list + result_list.objects = objects + self.pub_result.publish(result_list) + + if self.debug: + + # Draw bounding box on image + debug_img = cv_image + debug_img = debug_img.astype(np.float32, copy=False) + debug_img = cv2.resize(debug_img, (img_msg.images[0].width, + img_msg.images[0].height)) + # Get display labels + classes = [label.upper() for label in labels] + + # draw bounding boxes on image, probability and class + for i in range(len(bboxes)): + x1 = int(bboxes[i][0]) + y1 = int(bboxes[i][1]) + x2 = int(bboxes[i][2]) + y2 = int(bboxes[i][3]) + cv2.rectangle(debug_img, (x1, y1), (x2, y2), + (0, 0, 255), 2) + cv2.putText(debug_img, "{} {:.2f}".format(classes[i], probs[i]), + (x1, y1 - 5), cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 0, 255), 2) + + # publish bbox and label + self.publish_debug_img(debug_img) + + except CvBridgeError as e: + print(e) + return + + elif self.net == 'classification': + print("TODO: MobileNet") + + def publish_debug_img(self, debug_img): + debug_img = np.array(debug_img, dtype=np.uint8) + debug_img = self.cvbridge.cv2_to_imgmsg(debug_img, "bgr8") + self.pub_debug.publish(debug_img) + + +if __name__ == '__main__': + rospy.init_node("rgb_object_recognizer") + rospy.loginfo('Started object recognition node.') + net = rospy.get_param("~net") + classifier_name = rospy.get_param("~classifier") + dataset = rospy.get_param("~dataset") + model_dir = rospy.get_param("~model_dir") + + object_recognizer = RGBObjectRecognizer( + model_dir=model_dir, net=net, model_name=classifier_name, debug_mode=True) + rospy.loginfo('\033[92m'+"RGB Recognizer is ready using %s : %s , dataset: %s ", + net, classifier_name, dataset) + rospy.spin() diff --git a/data/mir_perception/mir_object_recognition/ros/src/multimodal_object_recognition_node.cpp b/data/mir_perception/mir_object_recognition/ros/src/multimodal_object_recognition_node.cpp new file mode 100644 index 0000000000000000000000000000000000000000..44bb681d826208f1c8fa8f0982506f35e9ed7a14 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/ros/src/multimodal_object_recognition_node.cpp @@ -0,0 +1,1003 @@ +/* + * Copyright 2019 Bonn-Rhein-Sieg University + * + * Author: Mohammad Wasil + * + */ +#include + +#include +#include +#include + +#include +#include +#include +#include + +#include +#include +#include + +#include +#include + +#include +#include +#include +#include + +#include + +MultimodalObjectRecognitionROS::MultimodalObjectRecognitionROS(ros::NodeHandle nh): + nh_(nh), + pointcloud_msg_received_count_(0), + image_msg_received_count_(0), + received_recognized_cloud_list_flag_(false), + received_recognized_image_list_flag_(false), + rgb_object_id_(100), + container_height_(0.05), + rgb_roi_adjustment_(2), + rgb_bbox_min_diag_(21), + rgb_bbox_max_diag_(250), + roi_min_bbox_z_(0.03), + bounding_box_visualizer_pc_("output/bounding_boxes", Color(Color::IVORY)), + cluster_visualizer_rgb_("output/tabletop_cluster_rgb"), + cluster_visualizer_pc_("output/tabletop_cluster_pc"), + cluster_visualizer_filtered_rgb_("output/tabletop_cluster_filtered_rgb"), + label_visualizer_rgb_("output/rgb_labels", Color(Color::SEA_GREEN)), + label_visualizer_pc_("output/pc_labels", Color(Color::IVORY)), + data_collection_(false), + enable_roi_(true), + rgb_cluster_remove_outliers_(true), + enable_rgb_recognizer_(true), + enable_pc_recognizer_(true), + obj_category_("atwork") +{ + tf_listener_.reset(new tf::TransformListener); + scene_segmentation_ros_ = SceneSegmentationROSSPtr(new SceneSegmentationROS()); + mm_object_recognition_utils_ = MultimodalObjectRecognitionUtilsSPtr(new MultimodalObjectRecognitionUtils()); + + dynamic_reconfigure::Server::CallbackType f = + boost::bind(&MultimodalObjectRecognitionROS::configCallback, this, _1, _2); + server_.setCallback(f); + + sub_event_in_ = nh_.subscribe("event_in", 1, &MultimodalObjectRecognitionROS::eventCallback, this); + pub_event_out_ = nh_.advertise("event_out", 1); + + // Publish cloud and images to cloud and rgb recognition topics + pub_cloud_to_recognizer_ = nh_.advertise( + "recognizer/pc/input/object_list", 1); + pub_image_to_recognizer_ = nh_.advertise( + "recognizer/rgb/input/images", 1); + + // Subscribe to cloud and rgb recognition topics + sub_recognized_cloud_list_ = nh_.subscribe("recognizer/pc/output/object_list", 1, + &MultimodalObjectRecognitionROS::recognizedCloudCallback, this); + sub_recognized_image_list_ = nh_.subscribe("recognizer/rgb/output/object_list", 1, + &MultimodalObjectRecognitionROS::recognizedImageCallback, this); + + // Pub combined object_list to object_list merger + pub_object_list_ = nh_.advertise("output/object_list", 10); + + // Pub workspace height + pub_workspace_height_ = nh_.advertise("output/workspace_height", 1); + + // debug topics + pub_debug_cloud_plane_ = nh_.advertise("output/debug_cloud_plane", 1); + + nh_.param("debug_mode", debug_mode_, false); + ROS_WARN_STREAM("[multimodal_object_recognition] Debug mode: " <("output/pc_object_pose_array", 10); + pub_rgb_object_pose_array_ = nh_.advertise("output/rgb_object_pose_array", 10); + + nh_.param("target_frame_id", target_frame_id_, "base_link"); + ROS_WARN_STREAM("[multimodal_object_recognition] target frame: " <("pointcloud_source_frame_id", pointcloud_source_frame_id_, "fixed_camera_link"); + + nh_.param("logdir", logdir_, "/tmp"); + nh_.param("object_info", object_info_path_, "None"); + loadObjectInfo(object_info_path_); + +} + +MultimodalObjectRecognitionROS::~MultimodalObjectRecognitionROS() +{ +} + +void MultimodalObjectRecognitionROS::synchronizeCallback(const sensor_msgs::ImageConstPtr &image, + const sensor_msgs::PointCloud2ConstPtr &cloud) +{ + ROS_INFO("[multimodal_object_recognition_ros] Received synchronized pointcloud and image"); + if (pointcloud_msg_received_count_ < 1) + { + pointcloud_msg_ = cloud; + pointcloud_msg_->header.frame_id = pointcloud_source_frame_id_; + pointcloud_msg_received_count_ += 1; + + image_msg_ = image; + image_msg_received_count_ += 1; + } +} + +void MultimodalObjectRecognitionROS::recognizedCloudCallback(const mas_perception_msgs::ObjectList &msg) +{ + ROS_INFO("Received recognized cloud callback "); + if (!received_recognized_cloud_list_flag_) + { + recognized_cloud_list_ = msg; + received_recognized_cloud_list_flag_ = true; + } +} + +void MultimodalObjectRecognitionROS::recognizedImageCallback(const mas_perception_msgs::ObjectList &msg) +{ + ROS_INFO("Received recognized image callback "); + if (!received_recognized_image_list_flag_) + { + recognized_image_list_ = msg; + received_recognized_image_list_flag_ = true; + } +} + +void MultimodalObjectRecognitionROS::update() +{ + if (pointcloud_msg_received_count_ > 0 && image_msg_received_count_ > 0) + { + ROS_WARN("Received %d images and pointclouds", pointcloud_msg_received_count_); + // Reset msg received flag + pointcloud_msg_received_count_ = 0; + image_msg_received_count_ = 0; + + image_sub_->unsubscribe(); + cloud_sub_->unsubscribe(); + + ROS_WARN_STREAM("Starting multimodal object recognition"); + double start_time = ros::Time::now().toSec(); + // transform pointcloud to the given frame_id + preprocessPointCloud(pointcloud_msg_); + scene_segmentation_ros_->addCloudAccumulation(cloud_); // Extend this to work with multiple viewpoints + recognizeCloudAndImage(); + double end_time = ros::Time::now().toSec(); + ROS_INFO_STREAM("Total processing time: "<< end_time - start_time); + + // Reset received recognized cloud and image + received_recognized_cloud_list_flag_ = false; + received_recognized_image_list_flag_ = false; + + // reset object id + rgb_object_id_ = 100; + scene_segmentation_ros_->resetPclObjectId(); + + // clear recognized image and cloud list + recognized_image_list_.objects.clear(); + recognized_cloud_list_.objects.clear(); + + scene_segmentation_ros_->resetCloudAccumulation(); + // pub e_done + std_msgs::String event_out; + event_out.data = "e_done"; + pub_event_out_.publish(event_out); + } +} + +void MultimodalObjectRecognitionROS::preprocessPointCloud(const sensor_msgs::PointCloud2ConstPtr &cloud_msg) +{ + sensor_msgs::PointCloud2 msg_transformed; + msg_transformed.header.frame_id = target_frame_id_; + if (!mpu::pointcloud::transformPointCloudMsg(tf_listener_, target_frame_id_, *cloud_msg, msg_transformed)) + return; + + pcl::PCLPointCloud2::Ptr pc2(new pcl::PCLPointCloud2); + pcl_conversions::toPCL(msg_transformed, *pc2); + pc2->header.frame_id = msg_transformed.header.frame_id; + + cloud_ = PointCloud::Ptr(new PointCloud); + pcl::fromPCLPointCloud2(*pc2, *cloud_); +} + +void MultimodalObjectRecognitionROS::segmentPointCloud(mas_perception_msgs::ObjectList &object_list, + std::vector &clusters, + std::vector boxes) +{ + PointCloud::Ptr cloud(new PointCloud); + cloud->header.frame_id = target_frame_id_; + scene_segmentation_ros_->getCloudAccumulation(cloud); + + // if the cluster is centered,it looses the correct location of the object + scene_segmentation_ros_->segmentCloud(cloud, object_list, clusters, boxes, + center_cluster_ = false, pad_cluster_, padded_cluster_size_); + + // get workspace height + std_msgs::Float64 workspace_height_msg; + workspace_height_msg.data = scene_segmentation_ros_->getWorkspaceHeight(); + pub_workspace_height_.publish(workspace_height_msg); + + if (debug_mode_) + { + PointCloud::Ptr cloud_debug(new PointCloud); + cloud_debug = scene_segmentation_ros_->getCloudDebug(); + sensor_msgs::PointCloud2 ros_pc2; + pcl::toROSMsg(*cloud_debug, ros_pc2); + ros_pc2.header.frame_id = target_frame_id_; + pub_debug_cloud_plane_.publish(ros_pc2); + } +} + +void MultimodalObjectRecognitionROS::recognizeCloudAndImage() +{ + mas_perception_msgs::ObjectList cloud_object_list; + std::vector clusters_3d; + std::vector boxes; + + segmentPointCloud(cloud_object_list, clusters_3d, boxes); + + if (data_collection_) + { + std::string filename; + + // Save PCD (point cloud) cluster + for (auto& cluster : clusters_3d) + { + filename = ""; + filename.append("pcd_cluster_"); + filename.append(std::to_string(ros::Time::now().toSec())); + mpu::object::savePcd(cluster, logdir_, filename); + ROS_INFO_STREAM("\033[1;35mSaving point cloud to \033[0m" << logdir_); + } + + // Save raw image + cv_bridge::CvImagePtr raw_cv_image; + if (mpu::object::getCVImage(image_msg_, raw_cv_image)) + { + std::string filename = ""; + filename = ""; + filename.append("rgb_raw_"); + filename.append(std::to_string(ros::Time::now().toSec())); + mpu::object::saveCVImage(raw_cv_image, logdir_, filename); + ROS_DEBUG_STREAM("Image:" << filename << " saved to " << logdir_); + } + else + { + ROS_ERROR("Cannot generate cv image..."); + } + + return; + } + + // Reset recognition callback flags + received_recognized_cloud_list_flag_ = false; + received_recognized_image_list_flag_ = false; + + // Publish 3D object cluster for recognition + if (!cloud_object_list.objects.empty() && enable_pc_recognizer_) + { + ROS_INFO_STREAM("Publishing clouds for recognition"); + pub_cloud_to_recognizer_.publish(cloud_object_list); + } + + // Pub Image to recognizer + mas_perception_msgs::ImageList image_list; + image_list.images.resize(1); + image_list.images[0] = *image_msg_; + if (!image_list.images.empty() && enable_rgb_recognizer_) + { + ROS_INFO_STREAM("Publishing images for recognition"); + pub_image_to_recognizer_.publish(image_list); + } + ROS_INFO_STREAM("Waiting for message from Cloud and Image recognizer"); + // loop till it received the message from the 3d and rgb recognition + int loop_rate_hz = 30; + int timeout_wait = 10; // secs + ros::Rate loop_rate(loop_rate_hz); + int loop_rate_count = 0; + if (cloud_object_list.objects.size() > 0 && enable_pc_recognizer_) + { + ROS_INFO_STREAM("[Cloud] Waiting message from PCL recognizer node"); + while (!received_recognized_cloud_list_flag_) + { + loop_rate_count += 1; + ros::spinOnce(); + loop_rate.sleep(); + if (received_recognized_cloud_list_flag_ == true) + { + ROS_INFO("[Cloud] Received %d objects from pcl recognizer", recognized_cloud_list_.objects.size()); + } + if (loop_rate_count > loop_rate_hz * timeout_wait) + { + received_recognized_cloud_list_flag_ = false; + ROS_WARN("[Cloud] No message received from PCL recognizer. "); + break; + } + } + } + + // Merge recognized_cloud_list and rgb_object_list + mas_perception_msgs::ObjectList combined_object_list; + if (!recognized_cloud_list_.objects.empty()) + { + combined_object_list.objects.insert(combined_object_list.objects.end(), + recognized_cloud_list_.objects.begin(), + recognized_cloud_list_.objects.end()); + } + + loop_rate_count = 0; + timeout_wait = 3; // secs + if (image_list.images.size() > 0) + { + ROS_INFO_STREAM("[RGB] Waiting message from RGB recognizer node"); + while (!received_recognized_image_list_flag_) + { + loop_rate_count += 1; + ros::spinOnce(); + loop_rate.sleep(); + if (received_recognized_image_list_flag_ == true) + { + ROS_INFO("[RGB] Received %d objects from rgb recognizer", (int)(recognized_image_list_.objects.size())); + } + if (loop_rate_count > loop_rate_hz * timeout_wait) + { + received_recognized_image_list_flag_ = false; + ROS_WARN("[RGB] No message received from RGB recognizer. "); + break; + } + } + } + // Reset recognition callback flags + received_recognized_cloud_list_flag_ = false; + received_recognized_image_list_flag_ = false; + + mas_perception_msgs::ObjectList rgb_object_list; + mas_perception_msgs::BoundingBoxList bounding_boxes; + std::vector clusters_2d; + std::vector filtered_clusters_2d; + + cv_bridge::CvImagePtr cv_image; + if (recognized_image_list_.objects.size() > 0) + { + try + { + cv_image = cv_bridge::toCvCopy(image_msg_, sensor_msgs::image_encodings::BGR8); + } + catch (cv_bridge::Exception& e) + { + ROS_ERROR("cv_bridge exception: %s", e.what()); + return; + } + + bounding_boxes.bounding_boxes.resize(recognized_image_list_.objects.size()); + rgb_object_list.objects.resize(recognized_image_list_.objects.size()); + + for (int i = 0; i < recognized_image_list_.objects.size(); i++) + { + mas_perception_msgs::Object object = recognized_image_list_.objects[i]; + // Check qualitative info of the object + if (round_objects_.count(recognized_image_list_.objects[i].name)) + { + object.shape.shape = object.shape.SPHERE; + } + else if (flat_objects_.count(recognized_image_list_.objects[i].name)) + { + object.shape.shape = "flat"; + } + else + { + object.shape.shape = object.shape.OTHER; + } + // Get ROI + sensor_msgs::RegionOfInterest roi_2d = object.roi; + const cv::Rect2d rect2d(roi_2d.x_offset, roi_2d.y_offset, roi_2d.width, roi_2d.height); + + if (debug_mode_) + { + cv::Point pt1; + cv::Point pt2; + + pt1.x = roi_2d.x_offset; + pt1.y = roi_2d.y_offset; + pt2.x = roi_2d.x_offset + roi_2d.width; + pt2.y = roi_2d.y_offset + roi_2d.height; + + // draw bbox + cv::rectangle(cv_image->image, pt1, pt2, cv::Scalar(0, 255, 0), 1, 8, 0); + // add label + cv::putText(cv_image->image, object.name, cv::Point(pt1.x, pt2.y), + cv::FONT_HERSHEY_SIMPLEX, 0.3, cv::Scalar(0, 255, 0), 1); + } + // Remove large 2d misdetected bbox (misdetection) + double len_diag = sqrt(powf(roi_2d.width, 2) + powf(roi_2d.height, 2)); + + // check if object name has container + bool is_container = false; + if (object.name == "CONTAINER_BOX_BLUE" || object.name == "CONTAINER_BOX_RED") + { + ROS_INFO("Found container object %s", object.name.c_str()); + is_container = true; + } + + if ((len_diag > rgb_bbox_min_diag_ && len_diag < rgb_bbox_max_diag_) || is_container) + { + PointCloud::Ptr cloud_roi(new PointCloud); + bool getROISuccess = mpu::pointcloud::getPointCloudROI(roi_2d, cloud_, cloud_roi, + rgb_roi_adjustment_, + rgb_cluster_remove_outliers_); + // ToDo: Filter big objects from 2d proposal, if the height is less than 3 mm + // pcl::PointXYZRGB min_pt; + // pcl::PointXYZRGB max_pt; + // pcl::getMinMax3D(*cloud_roi, min_pt, max_pt); + // float obj_height = max_pt.z - scene_segmentation_ros_->getWorkspaceHeight(); + + if (getROISuccess) + { + sensor_msgs::PointCloud2 ros_pc2; + pcl::PCLPointCloud2::Ptr pc2(new pcl::PCLPointCloud2); + pcl::toPCLPointCloud2(*cloud_roi, *pc2); + pcl_conversions::fromPCL(*pc2, ros_pc2); + ros_pc2.header.frame_id = target_frame_id_; + ros_pc2.header.stamp = ros::Time::now(); + + rgb_object_list.objects[i].views.resize(1); + rgb_object_list.objects[i].views[0].point_cloud = ros_pc2; + + clusters_2d.push_back(cloud_roi); + // Get pose + geometry_msgs::PoseStamped pose; + + // ************************************************ + // Publish filtered point cloud from RGB recognizer + // ************************************************ + + // PointCloud filtered_rgb_pointcloud; + PointCloud::Ptr filtered_rgb_pointcloud(new PointCloud); + *filtered_rgb_pointcloud = mpu::object::estimatePose(cloud_roi, pose, object, object.shape.shape, + rgb_cluster_filter_limit_min_, + rgb_cluster_filter_limit_max_, + obj_category_); + + // append filtered point cloud to filtered_clusters_2d + filtered_clusters_2d.push_back(filtered_rgb_pointcloud); + + PointT min_pt; + PointT max_pt; + pcl::getMinMax3D(*filtered_rgb_pointcloud, min_pt, max_pt); + + rgb_object_list.objects[i].dimensions.vector.z = max_pt.z - min_pt.z; + ROS_INFO("[RGB Object Height] Object %s length: %f", object.name.c_str(), rgb_object_list.objects[i].dimensions.vector.z); + + if (max_pt.z > 0.09) + { + ROS_INFO("[RGB Object Height] Object %s length is greater than 9cm: %f", object.name.c_str(), max_pt.z); + } + + //********************************* + + // Transform pose + std::string frame_id = cloud_->header.frame_id; + pose.header.stamp = ros::Time::now(); + pose.header.frame_id = frame_id; + if (frame_id != target_frame_id_) + { + mpu::object::transformPose(tf_listener_, target_frame_id_, + pose, rgb_object_list.objects[i].pose); + } + else + { + rgb_object_list.objects[i].pose = pose; + } + rgb_object_list.objects[i].probability = recognized_image_list_.objects[i].probability; + rgb_object_list.objects[i].database_id = rgb_object_id_; + rgb_object_list.objects[i].name = recognized_image_list_.objects[i].name; + } + else + { + ROS_DEBUG("[RGB] DECOY"); + rgb_object_list.objects[i].name = "DECOY"; + rgb_object_list.objects[i].database_id = rgb_object_id_; + + } + } + else + { + ROS_WARN("[RGB] BBOX too big or too small"); + ROS_DEBUG("[RGB] DECOY"); + rgb_object_list.objects[i].name = "DECOY"; + rgb_object_list.objects[i].database_id = rgb_object_id_; + } + rgb_object_id_++; + } + combined_object_list.objects.insert(combined_object_list.objects.end(), + rgb_object_list.objects.begin(), + rgb_object_list.objects.end()); + } + + if (!combined_object_list.objects.empty()) + { + if (enable_roi_) + { + for (int i = 0; i < combined_object_list.objects.size(); i++) + { + double current_object_pose_x = combined_object_list.objects[i].pose.pose.position.x; + if (current_object_pose_x < roi_base_link_to_laser_distance_ || + current_object_pose_x > roi_max_object_pose_x_to_base_link_) + /* combined_object_list.objects[i].pose.pose.position.z < scene_segmentation_ros_ */ + /* ->object_height_above_workspace_ - 0.05) */ + { + ROS_WARN_STREAM("This object " << combined_object_list.objects[i].name << " out of RoI"); + combined_object_list.objects[i].name = "DECOY"; + } + } + } + // Adjust RPY to make pose flat, adjust container pose + // Adjust Axis and Bolt pose + adjustObjectPose(combined_object_list); + // Publish object to object list merger + publishObjectList(combined_object_list); + } + else + { + ROS_WARN("No objects to publish"); + if (debug_mode_) + { + ros::Time time_now = ros::Time::now(); + // Save raw image + cv_bridge::CvImagePtr raw_cv_image; + if (mpu::object::getCVImage(image_msg_, raw_cv_image)) + { + std::string filename = ""; + filename = ""; + filename.append("rgb_raw_"); + filename.append(std::to_string(time_now.toSec())); + mpu::object::saveCVImage(raw_cv_image, logdir_, filename); + ROS_DEBUG_STREAM("Image:" << filename << " saved to " << logdir_); + } + else + { + ROS_ERROR("Cannot generate cv image..."); + } + } + return; + } + + if (debug_mode_) + { + ROS_DEBUG_STREAM("Debug mode: publishing object information"); + publishDebug(combined_object_list, clusters_3d, clusters_2d, filtered_clusters_2d); + + ros::Time time_now = ros::Time::now(); + + // Save debug image + if(recognized_image_list_.objects.size() > 0) + { + std::string filename = ""; + filename.append("rgb_debug_"); + filename.append(std::to_string(time_now.toSec())); + mpu::object::saveCVImage(cv_image, logdir_, filename); + ROS_DEBUG_STREAM("Image:" << filename << " saved to " << logdir_); + } + else + { + ROS_WARN_STREAM("No Objects found. Cannot save debug image..."); + } + // Save raw image + cv_bridge::CvImagePtr raw_cv_image; + if (mpu::object::getCVImage(image_msg_, raw_cv_image)) + { + std::string filename = ""; + filename = ""; + filename.append("rgb_raw_"); + filename.append(std::to_string(time_now.toSec())); + mpu::object::saveCVImage(raw_cv_image, logdir_, filename); + ROS_DEBUG_STREAM("Image:" << filename << " saved to " << logdir_); + } + else + { + ROS_ERROR("Cannot generate cv image..."); + } + + // Save pointcloud debug + for (auto& cluster : clusters_3d) + { + std::string filename = ""; + filename = ""; + filename.append("pcd_cluster_"); + filename.append(std::to_string(time_now.toSec())); + mpu::object::savePcd(cluster, logdir_, filename); + ROS_DEBUG_STREAM("Point cloud:" << filename << " saved to " << logdir_); + } + } +} + +void MultimodalObjectRecognitionROS::publishDebug(mas_perception_msgs::ObjectList &combined_object_list, + std::vector &clusters_3d, + std::vector &clusters_2d, + std::vector &filtered_clusters_2d) +{ + ROS_INFO_STREAM("Cloud list: " << recognized_cloud_list_.objects.size() << " RGB list: " << recognized_image_list_.objects.size() << " Combined object list: " << combined_object_list.objects.size()); + // Compute normal to generate parallel BBOX to the plane + const Eigen::Vector3f normal = scene_segmentation_ros_->getPlaneNormal(); + + std::string names = ""; + if (recognized_cloud_list_.objects.size() > 0) + { + // Bounding boxes + if (clusters_3d.size() > 0) + { + mas_perception_msgs::BoundingBoxList bounding_boxes; + cluster_visualizer_pc_.publish(clusters_3d, target_frame_id_); + bounding_boxes.bounding_boxes.resize(clusters_3d.size()); + for (int i=0; i < clusters_3d.size(); i++) + { + mpu::object::BoundingBox bbox; + mpu::object::get3DBoundingBox(clusters_3d[i], normal, bbox, bounding_boxes.bounding_boxes[i]); + } + if (bounding_boxes.bounding_boxes.size() > 0) + { + bounding_box_visualizer_pc_.publish(bounding_boxes.bounding_boxes, target_frame_id_); + } + } + // PCL Pose array for debug mode only + geometry_msgs::PoseArray pcl_object_pose_array; + pcl_object_pose_array.header.frame_id = target_frame_id_; + pcl_object_pose_array.header.stamp = ros::Time::now(); + pcl_object_pose_array.poses.resize(recognized_cloud_list_.objects.size()); + std::vector pcl_labels; + int pcl_count = 0; + for (int i=0; i < combined_object_list.objects.size(); i++) + { + if (combined_object_list.objects[i].database_id < 99) + { + names += combined_object_list.objects[i].name + ", "; + pcl_object_pose_array.poses[pcl_count] = combined_object_list.objects[i].pose.pose; + pcl_labels.push_back(combined_object_list.objects[i].name); + pcl_count++; + } + } + ROS_INFO_STREAM("[Cloud] Objects: " << names); + // Publish pose array + if (pcl_object_pose_array.poses.size() > 0) + { + pub_pc_object_pose_array_.publish(pcl_object_pose_array); + } + // Publish label visualizer + if ((pcl_labels.size() == pcl_object_pose_array.poses.size()) && + (pcl_labels.size() > 0) && (pcl_object_pose_array.poses.size() > 0)) + { + label_visualizer_pc_.publish(pcl_labels, pcl_object_pose_array); + } + } + if (clusters_2d.size() > 0) + { + cluster_visualizer_rgb_.publish(clusters_2d, target_frame_id_); + // RGB Pose array for debug mode only + geometry_msgs::PoseArray rgb_object_pose_array; + rgb_object_pose_array.header.frame_id = target_frame_id_; + rgb_object_pose_array.header.stamp = ros::Time::now(); + rgb_object_pose_array.poses.resize(recognized_image_list_.objects.size()); + std::vector rgb_labels; + int rgb_count = 0; + names = ""; + for (int i = 0; i < combined_object_list.objects.size(); i++) + { + if (combined_object_list.objects[i].database_id > 99) + { + names += combined_object_list.objects[i].name + ", "; + rgb_object_pose_array.poses[rgb_count] = combined_object_list.objects[i].pose.pose; + rgb_labels.push_back(combined_object_list.objects[i].name); + rgb_count++; + } + } + ROS_INFO_STREAM("[RGB] Objects: "<< names); + // Publish pose array + if (rgb_object_pose_array.poses.size() > 0) + { + pub_rgb_object_pose_array_.publish(rgb_object_pose_array); + } + // Publish label visualizer + if ((rgb_labels.size() == rgb_object_pose_array.poses.size()) && + (rgb_labels.size() > 0) && (rgb_object_pose_array.poses.size() > 0)) + { + label_visualizer_rgb_.publish(rgb_labels, rgb_object_pose_array); + } + } + if (filtered_clusters_2d.size() > 0) + { + cluster_visualizer_filtered_rgb_.publish(filtered_clusters_2d, target_frame_id_); + } +} + +void MultimodalObjectRecognitionROS::publishObjectList(mas_perception_msgs::ObjectList &object_list) +{ + for (int i = 0; i < object_list.objects.size(); i++) + { + // Empty cloud + sensor_msgs::PointCloud2 empty_ros_cloud; + object_list.objects[i].views.resize(1); + object_list.objects[i].views[0].point_cloud = empty_ros_cloud; + // Rename container to match refbox naming + if (object_list.objects[i].name == "BLUE_CONTAINER") + { + object_list.objects[i].name = "CONTAINER_BOX_BLUE"; + } + else if (object_list.objects[i].name == "RED_CONTAINER") + { + object_list.objects[i].name = "CONTAINER_BOX_RED"; + } + } + // Publish object list to object list merger + pub_object_list_.publish(object_list); +} + +void MultimodalObjectRecognitionROS::adjustObjectPose(mas_perception_msgs::ObjectList &object_list) +{ + for (int i = 0; i < object_list.objects.size(); i++) + { + tf::Quaternion q( + object_list.objects[i].pose.pose.orientation.x, + object_list.objects[i].pose.pose.orientation.y, + object_list.objects[i].pose.pose.orientation.z, + object_list.objects[i].pose.pose.orientation.w); + tf::Matrix3x3 m(q); + double roll, pitch, yaw; + m.getRPY(roll, pitch, yaw); + double change_in_pitch = 0.0; + if (round_objects_.count(object_list.objects[i].name)) + { + ROS_INFO_STREAM("Setting yaw to zero for " << object_list.objects[i].name); + yaw = 0.0; + } + + // Update container pose + if (object_list.objects[i].name == "CONTAINER_BOX_RED" || + object_list.objects[i].name == "CONTAINER_BOX_BLUE") + { + if (object_list.objects[i].database_id >= 100) + { + ROS_INFO_STREAM("Updating RGB container pose for " << object_list.objects[i].name); + mm_object_recognition_utils_->adjustContainerPose(object_list.objects[i], container_height_); + } + } + + if (object_list.objects[i].dimensions.vector.z > 0.09 and + object_list.objects[i].name != "CONTAINER_BOX_RED" && + object_list.objects[i].name != "CONTAINER_BOX_BLUE") + { + tf::Quaternion q2; + q2.setRPY(0.0, -1.57, 0.0); + object_list.objects[i].pose.pose.orientation.x = q2.x(); + object_list.objects[i].pose.pose.orientation.y = q2.y(); + object_list.objects[i].pose.pose.orientation.z = q2.z(); + object_list.objects[i].pose.pose.orientation.w = q2.w(); + } + else + { + // Make pose flat + tf::Quaternion q2 = tf::createQuaternionFromRPY(0.0, change_in_pitch , yaw); + object_list.objects[i].pose.pose.orientation.x = q2.x(); + object_list.objects[i].pose.pose.orientation.y = q2.y(); + object_list.objects[i].pose.pose.orientation.z = q2.z(); + object_list.objects[i].pose.pose.orientation.w = q2.w(); + + double detected_object_height = object_list.objects[i].pose.pose.position.z; + if (obj_category_ == "cavity") + { + ROS_WARN_STREAM("PP01 workstation; not updating height"); + } + else if (object_list.objects[i].name == "CONTAINER_BOX_RED" || + object_list.objects[i].name == "CONTAINER_BOX_BLUE") + { + ROS_WARN_STREAM("Container; not updating height"); + } + else if (use_fixed_heights_ or (std::fabs(detected_object_height - scene_segmentation_ros_->getWorkspaceHeight()) > 0.03)) + { + if (use_fixed_heights_) + { + ROS_WARN_STREAM("Assuming fixed platform heights of 0, 5, 10 and 15 cm"); + } + else + { + ROS_WARN_STREAM("Difference between object height and workspace height is > 3cm"); + } + // do something + bool is_0cm = std::fabs(detected_object_height - height_of_floor_) < 0.01; + bool is_5cm = std::fabs(detected_object_height - (height_of_floor_ + 0.05)) < 0.01; + bool is_10cm = std::fabs(detected_object_height - (height_of_floor_ + 0.1)) < 0.01; + bool is_15cm = std::fabs(detected_object_height - (height_of_floor_ + 0.15)) < 0.01; + if (is_0cm) + { + ROS_WARN_STREAM("Updating height to 0cm"); + object_list.objects[i].pose.pose.position.z = height_of_floor_ + object_height_above_workspace_; + } + if (is_5cm) + { + ROS_WARN_STREAM("Updating height to 5cm"); + object_list.objects[i].pose.pose.position.z = height_of_floor_ + 0.05 + object_height_above_workspace_; + } + if (is_10cm) + { + ROS_WARN_STREAM("Updating height to 10cm"); + object_list.objects[i].pose.pose.position.z = height_of_floor_ + 0.1 + object_height_above_workspace_; + } + if (is_15cm) + { + ROS_WARN_STREAM("Updating height to 15cm"); + object_list.objects[i].pose.pose.position.z = height_of_floor_ + 0.15 + object_height_above_workspace_; + } + + } + else + { + object_list.objects[i].pose.pose.position.z = scene_segmentation_ros_->getWorkspaceHeight() + + object_height_above_workspace_; + } + + } + + /* + // Update workspace height + if (scene_segmentation_ros_->getWorkspaceHeight() != -1000.0) + { + if (object_list.objects[i].name == "CONTAINER_BOX_RED" || + object_list.objects[i].name == "CONTAINER_BOX_BLUE") + { + + object_list.objects[i].pose.pose.position.z = scene_segmentation_ros_->getWorkspaceHeight() + + container_height_; + ROS_WARN_STREAM("Updated container height: " << object_list.objects[i].pose.pose.position.z ); + } + } + */ + + // Update axis or bolt pose + if (object_list.objects[i].name == "M20_100" || object_list.objects[i].name == "AXIS" || object_list.objects[i].name == "SCREWDRIVER") + { + mm_object_recognition_utils_->adjustAxisBoltPose(object_list.objects[i]); + } + } +} + +void MultimodalObjectRecognitionROS::loadObjectInfo(const std::string &filename) +{ + if (boost::filesystem::is_regular_file(filename)) + { + using boost::property_tree::ptree; + mas_perception_msgs::Object object; + ptree pt; + read_xml(filename, pt); + + BOOST_FOREACH(ptree::value_type const& v, pt.get_child("object_info")) + { + if (v.first == "object") + { + Object f; + f.name = v.second.get("name"); + f.shape = v.second.get("shape"); + f.color = v.second.get("color"); + if (f.shape == object.shape.SPHERE) + { + round_objects_.insert(f.name); + } + else if (f.shape == "flat") + { + flat_objects_.insert(f.name); + } + object_info_.push_back(f); + } + } + ROS_INFO("Object info is loaded!"); + } + else + { + ROS_WARN("No object info is provided!"); + return; + } + +} + +void MultimodalObjectRecognitionROS::eventCallback(const std_msgs::String::ConstPtr &msg) +{ + std_msgs::String event_out; + if (msg->data == "e_start") + { + // Synchronize callback + image_sub_ = new message_filters::Subscriber (nh_, "input_image_topic", 1); + cloud_sub_ = new message_filters::Subscriber (nh_, "input_cloud_topic", 1); + msg_sync_ = new message_filters::Synchronizer (msgSyncPolicy(1), *image_sub_, *cloud_sub_); + msg_sync_->registerCallback(boost::bind(&MultimodalObjectRecognitionROS::synchronizeCallback, this, _1, _2)); + } + else if (msg->data == "e_stop") + { + scene_segmentation_ros_->resetCloudAccumulation(); + event_out.data = "e_stopped"; + pub_event_out_.publish(event_out); + } + else if (msg->data == "e_data_collection") + { + data_collection_ = true; + event_out.data = "e_data_collection_started"; + pub_event_out_.publish(event_out); + ROS_INFO_STREAM("\033[1;35mData collection enabled\033[0m"); + } + else if (msg->data == "e_stop_data_collection") + { + data_collection_ = false; + scene_segmentation_ros_->resetCloudAccumulation(); + event_out.data = "e_data_collection_stopped"; + pub_event_out_.publish(event_out); + ROS_WARN_STREAM("\033[1;35mData collection disabled\033[0m"); + } + else + { + return; + } +} + +void MultimodalObjectRecognitionROS::configCallback(mir_object_recognition::SceneSegmentationConfig &config, uint32_t level) +{ + scene_segmentation_ros_->setVoxelGridParams(config.voxel_leaf_size, config.voxel_filter_field_name, + config.voxel_filter_limit_min, config.voxel_filter_limit_max); + scene_segmentation_ros_->setPassthroughParams(config.enable_passthrough_filter, + config.passthrough_filter_field_name, + config.passthrough_filter_limit_min, + config.passthrough_filter_limit_max); + scene_segmentation_ros_->setCropBoxParams(config.enable_cropbox_filter, config.cropbox_filter_min_x, config.cropbox_filter_max_x, + config.cropbox_filter_min_y, config.cropbox_filter_max_y, config.cropbox_filter_min_z, config.cropbox_filter_max_z); + scene_segmentation_ros_->setNormalParams(config.normal_radius_search, config.use_omp, config.num_cores); + Eigen::Vector3f axis(config.sac_x_axis, config.sac_y_axis, config.sac_z_axis); + scene_segmentation_ros_->setSACParams(config.sac_max_iterations, config.sac_distance_threshold, + config.sac_optimize_coefficients, axis, config.sac_eps_angle, + config.sac_normal_distance_weight); + scene_segmentation_ros_->setPrismParams(config.prism_min_height, config.prism_max_height); + scene_segmentation_ros_->setOutlierParams(config.outlier_radius_search, config.outlier_min_neighbors); + scene_segmentation_ros_->setClusterParams(config.cluster_tolerance, config.cluster_min_size, config.cluster_max_size, + config.cluster_min_height, config.cluster_max_height, config.cluster_max_length, + config.cluster_min_distance_to_polygon); + // Object recognizer param + enable_rgb_recognizer_ = config.enable_rgb_recognizer; + enable_pc_recognizer_ = config.enable_pc_recognizer; + obj_category_ = config.obj_category; + + // Cluster param + center_cluster_ = config.center_cluster; + pad_cluster_ = config.pad_cluster; + padded_cluster_size_ = config.padded_cluster_size; + // Workspace and object height + use_fixed_heights_ = config.use_fixed_heights; + object_height_above_workspace_ = config.object_height_above_workspace; + height_of_floor_ = config.height_of_floor; + container_height_ = config.container_height; + // RGB proposal params + rgb_roi_adjustment_ = config.rgb_roi_adjustment; + rgb_bbox_min_diag_ = config.rgb_bbox_min_diag; + rgb_bbox_max_diag_ = config.rgb_bbox_max_diag; + rgb_cluster_filter_limit_min_ = config.rgb_cluster_filter_limit_min; + rgb_cluster_filter_limit_max_ = config.rgb_cluster_filter_limit_max; + rgb_cluster_remove_outliers_ = config.rgb_cluster_remove_outliers; + // ROI params + enable_roi_ = config.enable_roi; + roi_base_link_to_laser_distance_ = config.roi_base_link_to_laser_distance; + roi_max_object_pose_x_to_base_link_ = config.roi_max_object_pose_x_to_base_link; + roi_min_bbox_z_ = config.roi_min_bbox_z; +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "multimodal_object_recognition"); + ros::NodeHandle nh("~"); + // Initialize frame rate + int frame_rate = 30; + nh.param("frame_rate", frame_rate, 30); + ros::Rate loop_rate(frame_rate); + // Create an object of multimodal object recognition + MultimodalObjectRecognitionROS mm_object_recognition(nh); + ROS_INFO_STREAM("\033[1;32m [multimodal_object_recognition] node started with rate " + << frame_rate << " \033[0m\n"); + // Run mm object recognition + while (ros::ok()) + { + mm_object_recognition.update(); + ros::spinOnce(); + loop_rate.sleep(); + } + return 0; +} diff --git a/data/mir_perception/mir_object_recognition/ros/src/multimodal_object_recognition_utils.cpp b/data/mir_perception/mir_object_recognition/ros/src/multimodal_object_recognition_utils.cpp new file mode 100644 index 0000000000000000000000000000000000000000..c85d315d41d54c19d2c08960a3516673a0c32504 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/ros/src/multimodal_object_recognition_utils.cpp @@ -0,0 +1,157 @@ +/* + * Copyright 2019 Bonn-Rhein-Sieg University + * + * Author: Mohammad Wasil + * + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +MultimodalObjectRecognitionUtils::MultimodalObjectRecognitionUtils() {} +MultimodalObjectRecognitionUtils::~MultimodalObjectRecognitionUtils() {} +void MultimodalObjectRecognitionUtils::adjustContainerPose(mas_perception_msgs::Object &container_object, + float container_height) +{ + PointCloud::Ptr cloud(new PointCloud); + pcl::fromROSMsg(container_object.views[0].point_cloud, *cloud); + // find min and max z + pcl::PointXYZRGB min_pt; + pcl::PointXYZRGB max_pt; + pcl::getMinMax3D(*cloud, min_pt, max_pt); + ROS_INFO_STREAM("Min and max z " << min_pt.z << ", " << max_pt.z); + // estimate normal + pcl::search::Search::Ptr tree = boost::shared_ptr > (new pcl::search::KdTree); + pcl::PointCloud::Ptr normals (new pcl::PointCloud ); + pcl::NormalEstimation normal_estimator; + normal_estimator.setSearchMethod(tree); + normal_estimator.setInputCloud(cloud); + normal_estimator.setKSearch(50); + normal_estimator.compute(*normals); + // filter points by height + pcl::IndicesPtr indices (new std::vector ); + pcl::PassThrough pass; + pass.setInputCloud(cloud); + pass.setFilterFieldName("z"); + pass.setFilterLimits(min_pt.z, (min_pt.z + (min_pt.z + max_pt.z/2))/2); + pass.filter(*indices); + // apply segmentation with region growing + pcl::RegionGrowing reg; + reg.setMinClusterSize(300); + reg.setMaxClusterSize(1000000); + reg.setSearchMethod(tree); + reg.setNumberOfNeighbours(200); + reg.setInputCloud(cloud); + // reg.setIndices (indices); + reg.setInputNormals(normals); + reg.setSmoothnessThreshold(3.0 / 180.0 * M_PI); + reg.setCurvatureThreshold(1.0); + std::vector clusters; + reg.extract(clusters); + // find the biggest cluster + pcl::PointIndices::Ptr filtered_cluster(new pcl::PointIndices() ); + int largest_index, largest_cluster; + if (clusters.size() == 0) + { + return; + } + for (size_t i = 0; i < clusters.size(); i++) + { + if (i == 0) + { + largest_index = 0; + largest_cluster = clusters[0].indices.size(); + } + else + { + if (largest_cluster <= clusters[i].indices.size()) + { + largest_index = i; + largest_cluster = clusters[i].indices.size(); + } + } + } + int counter = 0; + while (counter < clusters[largest_index].indices.size ()) + { + filtered_cluster->indices.push_back(clusters[largest_index].indices[counter]); + counter++; + } + PointCloud::Ptr cloud_filtered (new PointCloud); + // point indices to cloud + pcl::ExtractIndices c_filter(true); + c_filter.setInputCloud(cloud); + c_filter.setIndices(filtered_cluster); + c_filter.filter(*cloud_filtered); + // publish selected cluster + // PointCloud::Ptr colored_cloud = reg.getColoredCloud(); + // sensor_msgs::PointCloud2 ros_pointcloud; + // pcl::PCLPointCloud2::Ptr cloud_cl(new pcl::PCLPointCloud2); + // pcl::toPCLPointCloud2(*cloud_filtered, *cloud_cl); + // pcl_conversions::fromPCL(*cloud_cl, ros_pointcloud); + // ros_pointcloud.header.frame_id = target_frame_id_; + // pub_pc_cluster_.publish(ros_pointcloud); + // find centroid + Eigen::Vector4f centroid; + unsigned int valid_points = pcl::compute3DCentroid(*cloud_filtered, centroid); + // Change the center of object + container_object.pose.pose.position.x = centroid[0]; + container_object.pose.pose.position.y = centroid[1]; + ROS_INFO_STREAM("Updating height from " << container_object.pose.pose.position.z << " to " << (max_pt.z)); + container_object.pose.pose.position.z = max_pt.z; +} +void MultimodalObjectRecognitionUtils::adjustAxisBoltPose(mas_perception_msgs::Object &object) +{ + pcl::PointCloud::Ptr xyz_cloud(new pcl::PointCloud); + pcl::fromROSMsg(object.views[0].point_cloud, *xyz_cloud); + int pcl_point_size = object.views[0].point_cloud.height * object.views[0].point_cloud.width; + pcl::PointXYZ min_pt; + pcl::PointXYZ max_pt; + + pcl::getMinMax3D(*xyz_cloud, min_pt, max_pt); + pcl::PointCloud::Ptr point_at_z(new pcl::PointCloud); + + Eigen::Vector4f centroid; + for (size_t i = 0; i < pcl_point_size; i++ ) + { + if (xyz_cloud->points[i].z == max_pt.z) + { + point_at_z->points.push_back(xyz_cloud->points[i]); + } + } + unsigned int valid_points = pcl::compute3DCentroid(*point_at_z, centroid); + if (object.name == "M20_100") + { + ROS_INFO_STREAM("Updating object pose from object id: " << object.database_id); + float midpoint_x = (object.pose.pose.position.x + centroid[0])/2; + float midpoint_y = (object.pose.pose.position.y + centroid[1])/2; + float quarter_x = (object.pose.pose.position.x + midpoint_x)/2; + float quarter_y = (object.pose.pose.position.y + midpoint_y)/2; + object.pose.pose.position.x = quarter_x; + object.pose.pose.position.y = quarter_y; + } + else if (object.name == "SCREWDRIVER") + { + ROS_INFO_STREAM("Updating object pose from object id: " << object.database_id); + float midpoint_x = (object.pose.pose.position.x + centroid[0])/2; + float midpoint_y = (object.pose.pose.position.y + centroid[1])/2; + object.pose.pose.position.x = midpoint_x; + object.pose.pose.position.y = midpoint_y; + } + else if (object.name == "AXIS") + { + ROS_INFO_STREAM("Updating AXIS pose from object id: " << object.database_id); + object.pose.pose.position.x = centroid[0]; + object.pose.pose.position.y = centroid[1]; + } +} diff --git a/data/mir_perception/mir_object_recognition/setup.py b/data/mir_perception/mir_object_recognition/setup.py new file mode 100644 index 0000000000000000000000000000000000000000..019b2c16e08a20d273c00b442b316a7f889b99f8 --- /dev/null +++ b/data/mir_perception/mir_object_recognition/setup.py @@ -0,0 +1,13 @@ +# ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD + +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages=['rgb_object_recognition', + 'pc_object_recognition'], + package_dir={'rgb_object_recognition': 'common/src/rgb_object_recognition', + 'pc_object_recognition': 'common/src/pc_object_recognition'} + ) + +setup(**d) diff --git a/data/mir_perception/mir_object_segmentation/CMakeLists.txt b/data/mir_perception/mir_object_segmentation/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..7ab9ddc2e26688c069b0fa15ec38aef1d1b261e5 --- /dev/null +++ b/data/mir_perception/mir_object_segmentation/CMakeLists.txt @@ -0,0 +1,117 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_object_segmentation) + +add_compile_options(-std=c++14) + +find_package(catkin REQUIRED + COMPONENTS + cv_bridge + dynamic_reconfigure + pcl_ros + roscpp + roslint + tf + mas_perception_msgs + visualization_msgs + mir_perception_utils +) + +find_package(PCL 1.10 REQUIRED) +find_package(VTK REQUIRED) +find_package(OpenCV REQUIRED) + +generate_dynamic_reconfigure_options( + ros/config/SceneSegmentation.cfg +) + +catkin_package( + INCLUDE_DIRS + ros/include + common/include + LIBRARIES + ${PROJECT_NAME} + CATKIN_DEPENDS + mas_perception_msgs + visualization_msgs +) + +include_directories( + ros/include + common/include + ${catkin_INCLUDE_DIRS} + ${PCL_INCLUDE_DIRS} + ${VTK_INCLUDE_DIRS} +) + +add_definitions(-fpermissive) + +### LIBRARIES #################################################### +add_library(${PROJECT_NAME} + common/src/cloud_accumulation.cpp + common/src/scene_segmentation.cpp + ros/src/laserscan_segmentation.cpp + ros/src/scene_segmentation_ros.cpp +) + +add_dependencies(${PROJECT_NAME} + ${catkin_EXPORTED_TARGETS} +) +target_link_libraries(${PROJECT_NAME} + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} +) + +### EXECUTABLES ############################################### +add_executable(scene_segmentation_node + ros/src/scene_segmentation_node.cpp +) +add_dependencies(scene_segmentation_node + ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_gencfg +) +target_link_libraries(scene_segmentation_node + ${catkin_LIBRARIES} + ${PROJECT_NAME} +) + +roslint_cpp() + +### TESTS +if(CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + roslaunch_add_file_check(ros/launch) +endif() + +### INSTALLS +install(DIRECTORY common/include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" + PATTERN ".svn" EXCLUDE +) + +install(DIRECTORY ros/include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" + PATTERN ".svn" EXCLUDE +) + +install(DIRECTORY ros/config/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ros/config +) + +install(DIRECTORY ros/launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ros/launch +) + +install(TARGETS ${PROJECT_NAME} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) + +install(TARGETS scene_segmentation_node + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install( + TARGETS + ${PROJECT_NAME} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) diff --git a/data/mir_perception/mir_object_segmentation/common/include/mir_object_segmentation/cloud_accumulation.h b/data/mir_perception/mir_object_segmentation/common/include/mir_object_segmentation/cloud_accumulation.h new file mode 100644 index 0000000000000000000000000000000000000000..24a84d8c96deefb7693cc39574b521822b16e9fd --- /dev/null +++ b/data/mir_perception/mir_object_segmentation/common/include/mir_object_segmentation/cloud_accumulation.h @@ -0,0 +1,51 @@ +/* + * Copyright 2016 Bonn-Rhein-Sieg University + * + * Maintainer: Mohammad Wasil + * Author: Sergey Alexandrov + * + */ +#ifndef MIR_OBJECT_SEGMENTATION_CLOUD_ACCUMULATION_H +#define MIR_OBJECT_SEGMENTATION_CLOUD_ACCUMULATION_H + +#include +#include +#include +#include + +/** This class accumulates input point clouds in the occupancy octree with a + * given spatial resolution. */ +class CloudAccumulation +{ + public: + typedef std::unique_ptr UPtr; + + /** \brief Constructor + * \param[in] Octree resolution + * */ + explicit CloudAccumulation(double resolution = 0.0025); + + /** \brief Add point cloud to octree + * \param[in] Point cloud + * */ + void addCloud(const PointCloud::ConstPtr &cloud); + /** \brief Get accumulated cloud + * \param[out] Accumulated point cloud + * */ + void getAccumulatedCloud(PointCloud &cloud); + /** \brief Return cloud count */ + int getCloudCount() const { return cloud_count_; } + /** \brief Reset octree and cloud count */ + void reset(); + + private: + typedef OctreePointCloudOccupancyColored Octree; + typedef std::unique_ptr OctreeUPtr; + + OctreeUPtr octree_; + + int cloud_count_; + double resolution_; +}; + +#endif // MIR_OBJECT_SEGMENTATION_CLOUD_ACCUMULATION_H diff --git a/data/mir_perception/mir_object_segmentation/common/include/mir_object_segmentation/laserscan_segmentation.h b/data/mir_perception/mir_object_segmentation/common/include/mir_object_segmentation/laserscan_segmentation.h new file mode 100644 index 0000000000000000000000000000000000000000..3237e377b5cd6b81e3cde999e35c7f17c35eaafd --- /dev/null +++ b/data/mir_perception/mir_object_segmentation/common/include/mir_object_segmentation/laserscan_segmentation.h @@ -0,0 +1,35 @@ +/*! + * @copyright 2018 Bonn-Rhein-Sieg University + */ +#ifndef MIR_OBJECT_SEGMENTATION_LASERSCAN_SEGMENTATION_H +#define MIR_OBJECT_SEGMENTATION_LASERSCAN_SEGMENTATION_H + +#include +#include +#include +#include + +class LaserScanSegmentation +{ + public: + /* dThresholdDistanceBetweenAdajecentPoints in meters */ + LaserScanSegmentation(double dThresholdDistanceBetweenAdajecentPoints, + unsigned int unMinimumPointsPerSegment); + ~LaserScanSegmentation(); + + mas_perception_msgs::LaserScanSegmentList getSegments( + const sensor_msgs::LaserScan::ConstPtr &inputScan, bool store_data_points = false); + + private: + /* distance threshold between two adjacent laser scan points to determine + * where a new segment starts in meters */ + double _dThresholdDistanceBetweenAdajecentPoints; + unsigned int _unMinimumPointsPerSegment; + + double getEuclideanDistance(double dDistanceA, double dAngleA, double dDistanceB, double dAngleB); + + geometry_msgs::Point getCenterOfGravity(unsigned int indexStart, unsigned int indexEnd, + const sensor_msgs::LaserScan::ConstPtr &inputScan); +}; + +#endif // MIR_OBJECT_SEGMENTATION_LASERSCAN_SEGMENTATION_H diff --git a/data/mir_perception/mir_object_segmentation/common/include/mir_object_segmentation/scene_segmentation.h b/data/mir_perception/mir_object_segmentation/common/include/mir_object_segmentation/scene_segmentation.h new file mode 100644 index 0000000000000000000000000000000000000000..6a2ba4f42c5db930ae8fec165e039b47b962595f --- /dev/null +++ b/data/mir_perception/mir_object_segmentation/common/include/mir_object_segmentation/scene_segmentation.h @@ -0,0 +1,158 @@ +/* + * Copyright 2018 Bonn-Rhein-Sieg University + * + * Author: Mohammad Wasil, Santosh Thoduka + * + */ +#ifndef MIR_OBJECT_SEGMENTATION_SCENE_SEGMENTATION_H +#define MIR_OBJECT_SEGMENTATION_SCENE_SEGMENTATION_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +using namespace mir_perception_utils::object; + +class SceneSegmentation +{ + private: + pcl::PassThrough pass_through_; + pcl::CropBox crop_box_; + pcl::VoxelGrid voxel_grid_; + pcl::NormalEstimation normal_estimation_; + pcl::NormalEstimationOMP normal_estimation_omp_; + + pcl::SACSegmentationFromNormals sac_; + pcl::ProjectInliers project_inliers_; + pcl::ConvexHull convex_hull_; + pcl::ExtractPolygonalPrismData extract_polygonal_prism_; + + pcl::EuclideanClusterExtraction cluster_extraction_; + pcl::RadiusOutlierRemoval radius_outlier_; + + public: + /** \brief Constructor */ + SceneSegmentation(); + /** \brief Destructor */ + virtual ~SceneSegmentation(); + + /** \brief Segment point cloud + * \param[in] Point cloud + * \param[out] A list of point cloud clusters + * \param[out] A list of bounding boxes + * \param[out] Model coefficients + * \param[out] Workspace height + * */ + PointCloud::Ptr segmentScene(const PointCloud::ConstPtr &cloud, + std::vector &clusters, + std::vector &boxes, + pcl::ModelCoefficients::Ptr &coefficients, double &workspace_height); + /** \brief Find plane + * \param[in] Point cloud + * \param[out] Convex hull + * \param[out] Model coefficients + * \param[out] Workspace height + * */ + PointCloud::Ptr findPlane(const PointCloud::ConstPtr &cloud, PointCloud::Ptr &hull, + PointCloud::Ptr &plane, pcl::ModelCoefficients::Ptr &coefficients, + double &workspace_height); + + /** \brief Set voxel grid parameters + * \param[in] Leaf size for x,y,z + * \param[in] Field name, on which axis the filter will be applied + * \param[in] The minimum allowed the field value + * \param[in] The maximum allowed the field value + * */ + void setVoxelGridParams(double leaf_size, const std::string &field_name, double limit_min, + double limit_max); + /** \brief Set passthrough filter parameters + * \param[in] Enable or disable passthrough filter + * \param[in] Field name, on which axis the filter will be applied + * \param[in] The minimum allowed the field value + * \param[in] The maximum allowed the field value + * */ + void setPassthroughParams(bool enable_passthrough_filter, const std::string &field_name, + double limit_min, double limit_max); + + /** \brief Set crop box filter parameters to include filters in XYZ + * \param[in] Enable or disable crop box filter + * \param[in] X min + * \param[in] X max + * \param[in] Y min + * \param[in] Y max + * \param[in] Z min + * \param[in] Z max + * */ + void setCropBoxParams(bool enable_cropbox_filter, double min_x, double max_x, double min_y, + double max_y, double min_z, double max_z); + /** \brief Set Normal param using radius + * \param[in] Radius search + * \param[in] Use Open MP (OMP) for parallel normal estimation using cpu + * (default False) + * \param[in] Number of cores to use for computing normal with OMP (default=4) + * */ + void setNormalParams(double radius_search, bool use_omp = false, int num_cores = 4); + /** \brief Set SAC parameters + * \param[in] The maximum number of iterations the algorithm will run for + * \param[in] The distance to model threshold + * \param[in] Model coefficient refinement + * \param[in] The axis to which the plane should be perpendicular + * \param[in] The maximum allowed difference between the model normal and the + * given axis in radians + * \param[in] The relative weight (between 0 and 1) to give to the angular + * distance (0 to pi/2) between point normals and the plane normal. + * */ + void setSACParams(int max_iterations, double distance_threshold, bool optimize_coefficients, + Eigen::Vector3f axis, double eps_angle, double normal_distance_weight); + /** \brief Set prism parameters + * \param[in] The minimum height above the plane from which to construct the + * polygonal prism + * \param[in] The maximum height above the plane from which to construct the + * polygonal prism + * */ + void setPrismParams(double min_height, double max_height); + /** \brief Set outliers parameters + * \param[in] Radius of the sphere that will determine which points are + * neighbors. + * \param[in] The number of neighbors that need to be present in order to be + * classified as an inlier. + * */ + void setOutlierParams(double radius_search, int min_neighbors); + /** \brief Set cluster parameters + * \param[in] The spatial tolerance as a measure in the L2 Euclidean space + * \param[in] The minimum number of points that a cluster must contain in + * order to be accepted + * \param[in] The maximum number of points that a cluster must contain in + * order to be accepted + * \param[in] The minimum height of the cluster above the given polygon + * \param[in] The maximum height of the cluster above the given polygon + * \param[in] The maximum length of the cluster + * \param[in] The minimum height of the cluster above the given polygon + * */ + void setClusterParams(double cluster_tolerance, int cluster_min_size, int cluster_max_size, + double cluster_min_height, double cluster_max_height, double max_length, + double cluster_min_distance_to_polygon); + + private: + bool enable_passthrough_filter_; + bool enable_cropbox_filter_; + bool use_omp_; +}; + +#endif // MIR_OBJECT_SEGMENTATION_SCENE_SEGMENTATION_H diff --git a/data/mir_perception/mir_object_segmentation/common/src/cloud_accumulation.cpp b/data/mir_perception/mir_object_segmentation/common/src/cloud_accumulation.cpp new file mode 100644 index 0000000000000000000000000000000000000000..cf78c4acd521e7cfadf4985b66c36e61e503f86f --- /dev/null +++ b/data/mir_perception/mir_object_segmentation/common/src/cloud_accumulation.cpp @@ -0,0 +1,30 @@ +/* + * Copyright 2016 Bonn-Rhein-Sieg University + * + * Author: Sergey Alexandrov + * + */ + +#include + +#include + +CloudAccumulation::CloudAccumulation(double resolution) : resolution_(resolution) { reset(); } +void CloudAccumulation::addCloud(const PointCloud::ConstPtr &cloud) +{ + octree_->setOccupiedVoxelsAtPointsFromCloud(cloud); + cloud_count_++; +} + +void CloudAccumulation::getAccumulatedCloud(PointCloud &cloud) +{ + octree_->getOccupiedVoxelCentersWithColor(cloud.points); + cloud.width = static_cast(cloud.points.size()); + cloud.height = 1; +} + +void CloudAccumulation::reset() +{ + octree_ = OctreeUPtr(new Octree(resolution_)); + cloud_count_ = 0; +} diff --git a/data/mir_perception/mir_object_segmentation/common/src/scene_segmentation.cpp b/data/mir_perception/mir_object_segmentation/common/src/scene_segmentation.cpp new file mode 100644 index 0000000000000000000000000000000000000000..a8294295b7c190c1b59c9e3fbe8bd33166d9add4 --- /dev/null +++ b/data/mir_perception/mir_object_segmentation/common/src/scene_segmentation.cpp @@ -0,0 +1,197 @@ +/* + * Copyright 2018 Bonn-Rhein-Sieg University + * + * Author: Mohammad Wasil, Santosh Thoduka + * + */ +#include +#include +#include + +#include + +SceneSegmentation::SceneSegmentation() : use_omp_(false) +{ + cluster_extraction_.setSearchMethod(boost::make_shared>()); + normal_estimation_.setSearchMethod(boost::make_shared>()); + normal_estimation_omp_.setSearchMethod(boost::make_shared>()); +}; +SceneSegmentation::~SceneSegmentation(){ + +}; + +PointCloud::Ptr SceneSegmentation::segmentScene(const PointCloud::ConstPtr &cloud, + std::vector &clusters, + std::vector &boxes, + pcl::ModelCoefficients::Ptr &coefficients, + double &workspace_height) +{ + PointCloud::Ptr filtered(new PointCloud); + PointCloud::Ptr plane(new PointCloud); + PointCloud::Ptr hull(new PointCloud); + pcl::PointIndices::Ptr segmented_cloud_inliers(new pcl::PointIndices); + std::vector clusters_indices; + + filtered = findPlane(cloud, hull, plane, coefficients, workspace_height); + + if (coefficients->values.size() == 0) { + return filtered; + } + + extract_polygonal_prism_.setInputPlanarHull(hull); + extract_polygonal_prism_.setInputCloud(cloud); + extract_polygonal_prism_.setViewPoint(0.0, 0.0, 2.0); + extract_polygonal_prism_.segment(*segmented_cloud_inliers); + + cluster_extraction_.setInputCloud(cloud); + cluster_extraction_.setIndices(segmented_cloud_inliers); + cluster_extraction_.extract(clusters_indices); + + const Eigen::Vector3f normal(coefficients->values[0], coefficients->values[1], + coefficients->values[2]); + + for (size_t i = 0; i < clusters_indices.size(); i++) { + const pcl::PointIndices &cluster_indices = clusters_indices[i]; + PointCloud::Ptr cluster(new PointCloud); + pcl::copyPointCloud(*cloud, cluster_indices, *cluster); + clusters.push_back(cluster); + BoundingBox box = BoundingBox::create(cluster->points, normal); + boxes.push_back(box); + } + return filtered; +} + +PointCloud::Ptr SceneSegmentation::findPlane(const PointCloud::ConstPtr &cloud, + PointCloud::Ptr &hull, PointCloud::Ptr &plane, + pcl::ModelCoefficients::Ptr &coefficients, + double &workspace_height) +{ + PointCloud::Ptr filtered(new PointCloud); + pcl::PointIndices::Ptr segmented_cloud_inliers(new pcl::PointIndices); + + PointCloudN::Ptr normals(new PointCloudN); + + voxel_grid_.setInputCloud(cloud); + voxel_grid_.filter(*filtered); + + if (enable_passthrough_filter_) { + pass_through_.setInputCloud(filtered); + pass_through_.filter(*filtered); + } + + // cropbox filter to include filters in XYZ + if (enable_cropbox_filter_){ + crop_box_.setInputCloud(filtered); + crop_box_.filter(*filtered); + } + + if (use_omp_) { + normal_estimation_omp_.setInputCloud(filtered); + normal_estimation_omp_.compute(*normals); + } else { + normal_estimation_.setInputCloud(filtered); + normal_estimation_.compute(*normals); + } + + pcl::PointIndices::Ptr inliers(new pcl::PointIndices); + + sac_.setModelType(pcl::SACMODEL_NORMAL_PARALLEL_PLANE); + sac_.setMethodType(pcl::SAC_RANSAC); + + sac_.setInputCloud(filtered); + sac_.setInputNormals(normals); + sac_.segment(*inliers, *coefficients); + + if (inliers->indices.size() == 0) { + std::cout << "No plane inliers found " << std::endl; + return filtered; + } + + project_inliers_.setModelType(pcl::SACMODEL_NORMAL_PARALLEL_PLANE); + project_inliers_.setInputCloud(filtered); + project_inliers_.setModelCoefficients(coefficients); + project_inliers_.setIndices(inliers); + project_inliers_.setCopyAllData(false); + project_inliers_.filter(*plane); + + convex_hull_.setInputCloud(plane); + convex_hull_.reconstruct(*hull); + + // determine workspace height based on the mean of z axis + double z = 0.0; + for (int i = 0; i < hull->points.size(); i++) { + z += hull->points[i].z; + } + if (hull->points.size() > 0) { + z /= hull->points.size(); + } + workspace_height = z; + + return filtered; +} + +void SceneSegmentation::setVoxelGridParams(double leaf_size, const std::string &filter_field, + double limit_min, double limit_max) +{ + voxel_grid_.setLeafSize(leaf_size, leaf_size, leaf_size); + voxel_grid_.setFilterFieldName(filter_field); + voxel_grid_.setFilterLimits(limit_min, limit_max); +} + +void SceneSegmentation::setPassthroughParams(bool enable_passthrough_filter, + const std::string &field_name, double limit_min, + double limit_max) +{ + enable_passthrough_filter_ = enable_passthrough_filter; + pass_through_.setFilterFieldName(field_name); + pass_through_.setFilterLimits(limit_min, limit_max); +} + +void SceneSegmentation::setCropBoxParams(bool enable_cropbox_filter, double min_x, double max_x, + double min_y, double max_y, double min_z, double max_z) +{ + enable_cropbox_filter_ = enable_cropbox_filter; + crop_box_.setMin(Eigen::Vector4f(min_x, min_y, min_z, 1.0)); + crop_box_.setMax(Eigen::Vector4f(max_x, max_y, max_z, 1.0)); +} + +void SceneSegmentation::setNormalParams(double radius_search, bool use_omp, int num_cores) +{ + use_omp_ = use_omp; + if (use_omp_) { + normal_estimation_omp_.setRadiusSearch(radius_search); + normal_estimation_omp_.setNumberOfThreads(num_cores); + } else { + normal_estimation_.setRadiusSearch(radius_search); + } +} +void SceneSegmentation::setSACParams(int max_iterations, double distance_threshold, + bool optimize_coefficients, Eigen::Vector3f axis, + double eps_angle, double normal_distance_weight) +{ + sac_.setMaxIterations(max_iterations); + sac_.setDistanceThreshold(distance_threshold); + sac_.setAxis(axis); + sac_.setEpsAngle(eps_angle); + sac_.setOptimizeCoefficients(optimize_coefficients); + sac_.setNormalDistanceWeight(normal_distance_weight); +} +void SceneSegmentation::setPrismParams(double min_height, double max_height) +{ + extract_polygonal_prism_.setHeightLimits(min_height, max_height); +} + +void SceneSegmentation::setOutlierParams(double radius_search, int min_neighbors) +{ + radius_outlier_.setRadiusSearch(radius_search); + radius_outlier_.setMinNeighborsInRadius(min_neighbors); +} +void SceneSegmentation::setClusterParams(double cluster_tolerance, int cluster_min_size, + int cluster_max_size, double cluster_min_height, + double cluster_max_height, double max_length, + double cluster_min_distance_to_polygon) +{ + cluster_extraction_.setClusterTolerance(cluster_tolerance); + cluster_extraction_.setMinClusterSize(cluster_min_size); + cluster_extraction_.setMaxClusterSize(cluster_max_size); +} diff --git a/data/mir_perception/mir_object_segmentation/package.xml b/data/mir_perception/mir_object_segmentation/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..8c24498d5c52989e02cf4ce1285e624edad75183 --- /dev/null +++ b/data/mir_perception/mir_object_segmentation/package.xml @@ -0,0 +1,32 @@ + + + mir_object_segmentation + 0.0.1 + Scene segmentation + + Mohammad Wasil + Mohammad Wasil + Santosh Thoduka + Sergey Alexandrov + + GPLv3 + + catkin + + cv_bridge + dynamic_reconfigure + libpcl-all-dev + pcl_ros + roscpp + roslint + tf + visualization_msgs + mas_perception_msgs + mir_perception_utils + + mas_perception_msgs + visualization_msgs + + roslaunch + + diff --git a/data/mir_perception/mir_object_segmentation/ros/config/SceneSegmentation.cfg b/data/mir_perception/mir_object_segmentation/ros/config/SceneSegmentation.cfg new file mode 100644 index 0000000000000000000000000000000000000000..d8c2a3ae3d88b1072a812957dcdf626df2fd13b0 --- /dev/null +++ b/data/mir_perception/mir_object_segmentation/ros/config/SceneSegmentation.cfg @@ -0,0 +1,67 @@ +#! /usr/bin/env python + +PACKAGE='mir_object_segmentation' + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +pc_object_segmentation = gen.add_group("Pointcloud object segmentation") +# def add (self, name, paramtype, level, description, default = None, min = None, max = None, edit_method = ""): +pc_object_segmentation.add ("octree_resolution", double_t, 0, "Octree resolution", 0.0025, 0, 2.0) +pc_os_voxel = pc_object_segmentation.add_group("Voxel filter") +pc_os_voxel.add ("voxel_leaf_size", double_t, 0, "The size of a leaf (on x,y,z) used for downsampling.", 0.009, 0, 1.0) +pc_os_voxel.add ("voxel_filter_field_name", str_t, 0, "The field name used for filtering", "z") +pc_os_voxel.add ("voxel_filter_limit_min", double_t, 0, "The minimum allowed field value a point will be considered from", -0.15, -10.0, 10.0) +pc_os_voxel.add ("voxel_filter_limit_max", double_t, 0, "The maximum allowed field value a point will be considered from", 0.25, -10.0, 10.0) + +pc_os_passthrough = pc_object_segmentation.add_group("Passthrough filter") +pc_os_passthrough.add ("enable_passthrough_filter", bool_t, 0, "Enable passthrough filter", False) +pc_os_passthrough.add ("passthrough_filter_field_name", str_t, 0, "The field name used for filtering", "x") +pc_os_passthrough.add ("passthrough_filter_limit_min", double_t, 0, "The minimum allowed field value a point will be considered from", 0.0, -10.0, 10.0) +pc_os_passthrough.add ("passthrough_filter_limit_max", double_t, 0, "The maximum allowed field value a point will be considered from", 0.8, -10.0, 10.0) + +pc_os_cropbox = pc_object_segmentation.add_group("Cropbox filter") +pc_os_cropbox.add ("enable_cropbox_filter", bool_t, 0, "Enable cropbox filter", False) +pc_os_cropbox.add ("cropbox_filter_min_x", double_t, 0, "The minimum allowed x value a point will be considered from", 0.0, -10.0, 10.0) +pc_os_cropbox.add ("cropbox_filter_max_x", double_t, 0, "The maximum allowed x value a point will be considered from", 0.8, -10.0, 10.0) +pc_os_cropbox.add ("cropbox_filter_min_y", double_t, 0, "The minimum allowed y value a point will be considered from", -0.5, -10.0, 10.0) +pc_os_cropbox.add ("cropbox_filter_max_y", double_t, 0, "The maximum allowed y value a point will be considered from", 0.8, -10.0, 10.0) +pc_os_cropbox.add ("cropbox_filter_min_z", double_t, 0, "The minimum allowed z value a point will be considered from", -0.2, -10.0, 10.0) +pc_os_cropbox.add ("cropbox_filter_max_z", double_t, 0, "The maximum allowed z value a point will be considered from", 0.6, -10.0, 10.0) + + +pc_os_sac = pc_object_segmentation.add_group("SAC segmentation") +pc_os_sac.add ("normal_radius_search", double_t, 0, "Sphere radius for nearest neighbor search", 0.03, 0.0, 0.5) +pc_os_sac.add ("use_omp", bool_t, 0, "Use Open MP to estimate normal", False) +pc_os_sac.add ("num_cores", int_t, 0, "The number of cores to use for OMP normal estimation", 4, 1, 16) +pc_os_sac.add ("sac_max_iterations", int_t, 0, "The maximum number of iterations the algorithm will run for", 1000, 0, 100000) +pc_os_sac.add ("sac_distance_threshold", double_t, 0, "The distance to model threshold", 0.01, 0, 1.0) +pc_os_sac.add ("sac_optimize_coefficients", bool_t, 0, "Model coefficient refinement", True) +pc_os_sac.add ("sac_x_axis", double_t, 0, "The x axis to which the plane should be perpendicular, the eps angle > 0 to activate axis-angle constraint", 0.0, 0.0, 1.0) +pc_os_sac.add ("sac_y_axis", double_t, 0, "The y axis to which the plane should be perpendicular, the eps angle > 0 to activate axis-angle constraint", 0.0, 0.0, 1.0) +pc_os_sac.add ("sac_z_axis", double_t, 0, "The z axis to which the plane should be perpendicular, the eps angle > 0 to activate axis-angle constraint", 1.0, 0.0, 1.0) +pc_os_sac.add ("sac_eps_angle", double_t, 0, "The maximum allowed difference between the model normal and the given axis in radians.", 0.09, 0.0, 1.5707) +pc_os_sac.add ("sac_normal_distance_weight", double_t, 0, "The relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point normals and the plane normal.", 0.05, 0, 1.0) +pc_os_sac.add ("prism_min_height", double_t, 0, "The minimum height above the plane from which to construct the polygonal prism", 0.01, 0.0, 5.0) +pc_os_sac.add ("prism_max_height", double_t, 0, "The maximum height above the plane from which to construct the polygonal prism", 0.1, 0.0, 5.0) +pc_os_sac.add ("outlier_radius_search", double_t, 0, "Radius of the sphere that will determine which points are neighbors.", 0.03, 0.0, 10.0) +pc_os_sac.add ("outlier_min_neighbors", int_t, 0, "The number of neighbors that need to be present in order to be classified as an inlier.", 20, 0, 1000) + +pc_os_cluster = pc_object_segmentation.add_group("Object cluster") +pc_os_cluster.add ("cluster_tolerance", double_t, 0, "The spatial tolerance as a measure in the L2 Euclidean space", 0.02, 0.0, 2.0) +pc_os_cluster.add ("cluster_min_size", int_t, 0, "The minimum number of points that a cluster must contain in order to be accepted", 25, 0, 1000) +pc_os_cluster.add ("cluster_max_size", int_t, 0, "The maximum number of points that a cluster must contain in order to be accepted", 20000, 0, 2147483647) +pc_os_cluster.add ("cluster_min_height", double_t, 0, "The minimum height of the cluster above the given polygon", 0.011, 0, 5.0) +pc_os_cluster.add ("cluster_max_height", double_t, 0, "The maximum height of the cluster above the given polygon", 0.09, 0, 5.0) +pc_os_cluster.add ("cluster_max_length", double_t, 0, "The maximum length of the cluster", 0.25, 0, 5.0) +pc_os_cluster.add ("cluster_min_distance_to_polygon", double_t, 0, "The minimum height of the cluster above the given polygon", 0.04, 0, 5.0) +pc_os_cluster.add ("center_cluster", bool_t, 0, "Center cluster", True) +pc_os_cluster.add ("pad_cluster", bool_t, 0, "Pad cluster so that it has the same size", False) +pc_os_cluster.add ("padded_cluster_size", int_t, 0, "The size of the padded cluster", 2048, 128, 4096) + +object_pose = gen.add_group("Object pose") +object_pose.add ("object_height_above_workspace", double_t, 0, "The height of the object above the workspace", 0.052, 0, 2.0) + +exit (gen.generate (PACKAGE, "mir_object_segmentation", "SceneSegmentation")) + diff --git a/data/mir_perception/mir_object_segmentation/ros/config/scene_segmentation_constraints.yaml b/data/mir_perception/mir_object_segmentation/ros/config/scene_segmentation_constraints.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a6d8268d8325ff9c342f044a1b7fd4f4f767dd9e --- /dev/null +++ b/data/mir_perception/mir_object_segmentation/ros/config/scene_segmentation_constraints.yaml @@ -0,0 +1,44 @@ +# reasonable parameters to find planes of @Work workspaces +scene_segmentation: + voxel_leaf_size: 0.009 + voxel_filter_field_name: z + voxel_filter_limit_min: -0.15 + voxel_filter_limit_max: 0.3 + enable_passthrough_filter: true + passthrough_filter_field_name: x + passthrough_filter_limit_min: 0.0 + passthrough_filter_limit_max: 0.8 + enable_cropbox_filter: true + cropbox_filter_min_x: 0.0 + cropbox_filter_min_x: 0.8 + cropbox_filter_min_y: -0.5 + cropbox_filter_min_y: 0.8 + cropbox_filter_min_z: -0.2 + cropbox_filter_min_z: 0.6 + normal_radius_search: 0.03 + use_omp: False + num_cores: 8 + sac_max_iterations: 1000 + sac_distance_threshold: 0.01 + sac_optimize_coefficients: true + sac_x_axis: 0.0 + sac_y_axis: 0.0 + sac_z_axis: 1.0 + sac_eps_angle: 0.09 + sac_normal_distance_weight: 0.05 + prism_min_height: 0.01 + prism_max_height: 0.10 + outlier_radius_search: 0.03 + outlier_min_neighbors: 20 + cluster_tolerance: 0.02 + cluster_min_size: 25 + cluster_max_size: 20000 + cluster_min_height: 0.011 + cluster_max_height: 0.09 + cluster_max_length: 0.25 + cluster_min_distance_to_polygon: 0.04 + center_cluster: True + pad_cluster: False + padded_cluster_size: 2048 + octree_resolution: 0.0025 + object_height_above_workspace: 0.052 diff --git a/data/mir_perception/mir_object_segmentation/ros/include/mir_object_segmentation/scene_segmentation_node.h b/data/mir_perception/mir_object_segmentation/ros/include/mir_object_segmentation/scene_segmentation_node.h new file mode 100644 index 0000000000000000000000000000000000000000..fc17d9579bfe79d6e09ea1f40d38febceddb0974 --- /dev/null +++ b/data/mir_perception/mir_object_segmentation/ros/include/mir_object_segmentation/scene_segmentation_node.h @@ -0,0 +1,109 @@ +/* + * Copyright 2018 Bonn-Rhein-Sieg University + * + * Author: Mohammad Wasil, Santosh Thoduka + * + */ +#ifndef MIR_OBJECT_SEGMENTATION_SCENE_SEGMENTATION_NODE_H +#define MIR_OBJECT_SEGMENTATION_SCENE_SEGMENTATION_NODE_H + +#include + +#include +#include +#include +#include +#include + +#include + +#include +#include + +/** \brief This node subscribes to pointcloud topic. + * Inputs: + * ~event_in: + * - e_start: starts subscribing to pointcloud topic + * - e_add_cloud_start: adds pointcloud to octree, if it is on dataset + * collection mode, + * the node will start segmenting the pointcloud. + * - e_add_cloud_stop: stops adding pointcloud to octree + * - e_find_plane: finds the plane and publishes workspace height + * - e_segment: starts segmentation and publish ObjectList + * - e_reset: clears accumulated cloud + * - e_stop: stops subscribing and clears accumulated pointcloud + * Outputs: + * ~event_out: + * - e_started: started listening to new messages + * - e_add_cloud_started: started adding the cloud to octree + * - e_add_cloud_stopped: stopped adding the cloud to octree + * - e_done: started finding the plane or started segmenting the pointcloud + * - e_stopped: stopped subscribing and cleared accumulated pointcloud + * + * \author Mohammad Wasil, Santosh Thoduka + */ + +namespace mpu = mir_perception_utils; +using mpu::visualization::BoundingBoxVisualizer; +using mpu::visualization::ClusteredPointCloudVisualizer; +using mpu::visualization::LabelVisualizer; +using mpu::visualization::Color; + +class SceneSegmentationNode +{ + public: + SceneSegmentationNode(); + virtual ~SceneSegmentationNode(); + + private: + ros::NodeHandle nh_; + ros::Publisher pub_debug_; + ros::Publisher pub_object_list_; + ros::Publisher pub_event_out_; + ros::Publisher pub_workspace_height_; + + ros::Subscriber sub_cloud_; + ros::Subscriber sub_event_in_; + + dynamic_reconfigure::Server server_; + + boost::shared_ptr tf_listener_; + + SceneSegmentationROS scene_segmentation_ros_; + + BoundingBoxVisualizer bounding_box_visualizer_; + ClusteredPointCloudVisualizer cluster_visualizer_; + LabelVisualizer label_visualizer_; + + // Parameters + bool add_to_octree_; + int object_id_; + std::string target_frame_id_; + std::string logdir_; + + // Dynamic reconfigurable parameters + double octree_resolution_; + double object_height_above_workspace_; + + // cluster + bool center_cluster_; + bool pad_cluster_; + unsigned int padded_cluster_size_; + + private: + void pointcloudCallback(const sensor_msgs::PointCloud2::Ptr &msg); + void eventCallback(const std_msgs::String::ConstPtr &msg); + void configCallback(mir_object_segmentation::SceneSegmentationConfig &config, uint32_t level); + + /** \brief Segment accumulated pointcloud, find the plane, + * clusters table top objects, find object heights, and publish them. + **/ + void segmentPointCloud(); + + /** \brief Segment accumulated pointcloud, find the plane, + * find the plane height, and publish it. + **/ + void findPlane(); +}; + +#endif // MIR_OBJECT_SEGMENTATION_SCENE_SEGMENTATION_NODE_H diff --git a/data/mir_perception/mir_object_segmentation/ros/include/mir_object_segmentation/scene_segmentation_ros.h b/data/mir_perception/mir_object_segmentation/ros/include/mir_object_segmentation/scene_segmentation_ros.h new file mode 100644 index 0000000000000000000000000000000000000000..297162eda5099c4a0a1fb9b66a58804497b3ab76 --- /dev/null +++ b/data/mir_perception/mir_object_segmentation/ros/include/mir_object_segmentation/scene_segmentation_ros.h @@ -0,0 +1,196 @@ +/* + * Copyright 2019 Bonn-Rhein-Sieg University + * + * Author: Mohammad Wasil, Santosh Thoduka + * + */ +#ifndef MIR_OBJECT_SEGMENTATION_SCENE_SEGMENTATION_ROS_H +#define MIR_OBJECT_SEGMENTATION_SCENE_SEGMENTATION_ROS_H + +#include +#include +#include + +#include +#include +#include +#include + +#include +#include + +#include +#include + +#include +#include + +/** \brief This class is a wrapper for table top point cloud segmentation. + * + * \author Mohammad Wasil, Santosh Thoduka + */ + +class SceneSegmentationROS +{ + public: + /** \brief Constructor + * \param[in] NodeHandle in order for this to have access to parameters + * for example octree_resolution. + * */ + explicit SceneSegmentationROS(double octree_resolution = 0.0025); + + /** \brief Destructor */ + virtual ~SceneSegmentationROS(); + + private: + ros::NodeHandle nh_; + ros::ServiceClient recognize_service; + + /** Create unique pointer object of cloud_accumulation */ + CloudAccumulation::UPtr cloud_accumulation_; + /** Create unique pointer for object scene_segmentation */ + typedef std::unique_ptr SceneSegmentationUPtr; + SceneSegmentationUPtr scene_segmentation_; + + pcl::ModelCoefficients::Ptr model_coefficients_; + boost::shared_ptr tf_listener_; + + bool add_to_octree_; + int pcl_object_id_; + double octree_resolution_; + double workspace_height_; + + PointCloud::Ptr cloud_debug_; + + public: + /** \brief Find plane, segment table top point cloud and cluster them + * \param[in] Input point cloud + * \param[out] Object list with unknown labels + * \param[out] 3D table top object clusters + * \param[out] Bounding boxes of the clusters + * \param[in] Center cluster so that it has zero mean + * \param[in] Pad cluster so that the cluster does not have variable point + * size + * \param[in] Number of padded points + * */ + void segmentCloud(const PointCloud::ConstPtr &cloud, mas_perception_msgs::ObjectList &obj_list, + std::vector &clusters, std::vector &boxes, + bool center_cluster, bool pad_cluster, int num_points); + + /** \brief Find plane + * \param[in] Input point cloud + * \param[out] Point cloud debug output + * */ + void findPlane(const PointCloud::ConstPtr &cloud_in, PointCloud::Ptr &cloud_debug); + + /** \brief Reset accumulated cloud */ + void resetCloudAccumulation(); + + /** \brief Accumulate pointcloud + * \param[in] Pointcloud to accumulate + * */ + void addCloudAccumulation(const PointCloud::Ptr &cloud); + + /** \brief Get accumulated pointcloud + * \param[out] Accumulated pointcloud + * */ + void getCloudAccumulation(PointCloud::Ptr &cloud); + + /** Returns plane normal */ + Eigen::Vector3f getPlaneNormal(); + + /** Returns plane height */ + double getWorkspaceHeight(); + + /** Reset 3D object id */ + void resetPclObjectId(); + + /** \brief Set voxel grid parameters + * \param[in] Leaf size for x,y,z + * \param[in] Field name, on which axis the filter will be applied + * \param[in] The minimum allowed the field value + * \param[in] The maximum allowed the field value + * */ + void setVoxelGridParams(double voxel_leaf_size, std::string voxel_filter_field_name, + double voxel_filter_limit_min, double voxel_filter_limit_max); + + /** \brief Set passthrough filter parameters + * \param[in] Enable or disable passthrough filter + * \param[in] Field name, on which axis the filter will be applied + * \param[in] The minimum allowed the field value + * \param[in] The maximum allowed the field value + * */ + void setPassthroughParams(bool enable_passthrough_filter, + std::string passthrough_filter_field_name, + double passthrough_filter_limit_min, + double passthrough_filter_limit_max); + /** \brief Set crop box filter parameters to include filters in XYZ + * \param[in] Enable or disable crop box filter + * \param[in] X min + * \param[in] X max + * \param[in] Y min + * \param[in] Y max + * \param[in] Z min + * \param[in] Z max + * */ + void setCropBoxParams(bool enable_cropbox_filter, double min_x, double max_x, double min_y, + double max_y, double min_z, double max_z); + /** \brief Set Normal param using radius + * \param[in] Radius search + * \param[in] Use Open MP (OMP) for parallel normal estimation using cpu + * (default False) + * \param[in] Number of cores to use for computing normal with OMP (default=4) + * */ + void setNormalParams(double normal_radius_search, bool use_omp = false, int num_cores = 4); + + /** \brief Set SAC parameters + * \param[in] The maximum number of iterations the algorithm will run for + * \param[in] The distance to model threshold + * \param[in] Model coefficient refinement + * \param[in] The axis to which the plane should be perpendicular + * \param[in] The maximum allowed difference between the model normal and the + * given axis in radians + * \param[in] The relative weight (between 0 and 1) to give to the angular + * distance (0 to pi/2) between point normals and the plane normal. + * */ + void setSACParams(int sac_max_iterations, double sac_distance_threshold, + bool sac_optimize_coefficients, Eigen::Vector3f axis, double sac_eps_angle, + double sac_normal_distance_weight); + + /** \brief Set prism parameters + * \param[in] The minimum height above the plane from which to construct the + * polygonal prism + * \param[in] The maximum height above the plane from which to construct the + * polygonal prism + * */ + void setPrismParams(double prism_min_height, double prism_max_height); + + /** \brief Set outliers parameters + * \param[in] Radius of the sphere that will determine which points are + * neighbors. + * \param[in] The number of neighbors that need to be present in order to be + * classified as an inlier. + * */ + void setOutlierParams(double outlier_radius_search, double outlier_min_neighbors); + + /** \brief Set cluster parameters + * \param[in] The spatial tolerance as a measure in the L2 Euclidean space + * \param[in] The minimum number of points that a cluster must contain in + * order to be accepted + * \param[in] The maximum number of points that a cluster must contain in + * order to be accepted + * \param[in] The minimum height of the cluster above the given polygon + * \param[in] The maximum height of the cluster above the given polygon + * \param[in] The maximum length of the cluster + * \param[in] The minimum height of the cluster above the given polygon + * */ + void setClusterParams(double cluster_tolerance, int cluster_min_size, int cluster_max_size, + double cluster_min_height, double cluster_max_height, + double cluster_max_length, double cluster_min_distance_to_polygon); + + /** \brief Get debug cloud**/ + PointCloud::Ptr getCloudDebug(); + +}; + +#endif // MIR_OBJECT_SEGMENTATION_SCENE_SEGMENTATION_ROS_H diff --git a/data/mir_perception/mir_object_segmentation/ros/launch/scene_segmentation.launch b/data/mir_perception/mir_object_segmentation/ros/launch/scene_segmentation.launch new file mode 100644 index 0000000000000000000000000000000000000000..7bf326e97c2f4fd5439017d2f4af2e8ee60c957f --- /dev/null +++ b/data/mir_perception/mir_object_segmentation/ros/launch/scene_segmentation.launch @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_perception/mir_object_segmentation/ros/src/laserscan_segmentation.cpp b/data/mir_perception/mir_object_segmentation/ros/src/laserscan_segmentation.cpp new file mode 100644 index 0000000000000000000000000000000000000000..115773b287c66161338ab8eea70153228a2957b6 --- /dev/null +++ b/data/mir_perception/mir_object_segmentation/ros/src/laserscan_segmentation.cpp @@ -0,0 +1,126 @@ +/*! + * @copyright 2018 Bonn-Rhein-Sieg University + */ +#include +#include + +LaserScanSegmentation::LaserScanSegmentation(double dThresholdDistanceBetweenAdajecentPoints, + unsigned int unMinimumPointsPerSegment) +{ + this->_dThresholdDistanceBetweenAdajecentPoints = dThresholdDistanceBetweenAdajecentPoints; + this->_unMinimumPointsPerSegment = unMinimumPointsPerSegment; +} + +LaserScanSegmentation::~LaserScanSegmentation() = default; + +mas_perception_msgs::LaserScanSegmentList LaserScanSegmentation::getSegments( + const sensor_msgs::LaserScan::ConstPtr &inputScan, bool store_data_points) +{ + mas_perception_msgs::LaserScanSegmentList segments; + std::vector data_points; + + double dNumberofPointsBetweenStartAndEnd = 0; + unsigned int unSegmentStartPoint = 0; + unsigned int unSegmentEndPoint = 0; + + auto scan_size = static_cast( + ceil((inputScan->angle_max - inputScan->angle_min) / inputScan->angle_increment)); + + if (scan_size == 0) return segments; + + // run over laser scan data + for (unsigned int i = 0; i < (scan_size - 1); ++i) { + ++dNumberofPointsBetweenStartAndEnd; + + // first point in laser scan is start point of the first segment + if (i == 0) unSegmentStartPoint = i; + + double dAngleCur = inputScan->angle_min + (i * inputScan->angle_increment); + double dDistanceCur = inputScan->ranges[i]; + double dAngleNext = inputScan->angle_min + ((i + 1) * inputScan->angle_increment); + double dDistanceNext = inputScan->ranges[i + 1]; + + if (store_data_points) { + geometry_msgs::Point cur_point; + cur_point.x = dDistanceCur * cos(dAngleCur); + cur_point.y = dDistanceCur * sin(dAngleCur); + data_points.push_back(cur_point); + } + + if ((getEuclideanDistance(dDistanceCur, dAngleCur, dDistanceNext, dAngleNext) > + this->_dThresholdDistanceBetweenAdajecentPoints) || + (i == (scan_size - 2))) { + if (i < (scan_size - 2)) + unSegmentEndPoint = i; + else + unSegmentEndPoint = i + 1; + + // if number of points between start and end point is lesser then 3 , it + // is not a segment + if (dNumberofPointsBetweenStartAndEnd >= this->_unMinimumPointsPerSegment) { + geometry_msgs::Point centerPoint; + centerPoint = getCenterOfGravity(unSegmentStartPoint, unSegmentEndPoint, inputScan); + double dDistanceToSegment = sqrt(pow(centerPoint.x, 2.0) + pow(centerPoint.y, 2.0)); + + if (dDistanceToSegment < 5.0) { + mas_perception_msgs::LaserScanSegment seg; + + seg.header = inputScan->header; + seg.header.stamp = ros::Time::now(); + seg.center.x = centerPoint.x; + seg.center.y = centerPoint.y; + + if (store_data_points) seg.data_points = data_points; + + segments.segments.push_back(seg); + } + } + + if (i < (scan_size - 2)) { + unSegmentStartPoint = i + 1; + dNumberofPointsBetweenStartAndEnd = 0; + + if (store_data_points) data_points.clear(); + } + } + } + + segments.header = inputScan->header; + segments.header.stamp = ros::Time::now(); + segments.num_segments = static_cast(segments.segments.size()); + + return segments; +} + +double LaserScanSegmentation::getEuclideanDistance(double dDistanceA, double dAngleA, + double dDistanceB, double dAngleB) +{ + return sqrt((dDistanceA * dDistanceA) + (dDistanceB * dDistanceB) - + (2 * dDistanceA * dDistanceB) * cos(fabs(dAngleA - dAngleB))); +} + +geometry_msgs::Point LaserScanSegmentation::getCenterOfGravity( + unsigned int indexStart, unsigned int indexEnd, + const sensor_msgs::LaserScan::ConstPtr &inputScan) +{ + geometry_msgs::Point centerPoint; + + centerPoint.x = 0; + centerPoint.y = 0; + centerPoint.z = 0; + + unsigned int i = 0, j = 0; + for (i = indexStart, j = 0; i <= indexEnd; ++i, ++j) { + double dAngle = inputScan->angle_min + (i * inputScan->angle_increment); + double dX = inputScan->ranges[i] * cos(dAngle); + double dY = inputScan->ranges[i] * sin(dAngle); + + centerPoint.x += dX; + centerPoint.y += dY; + } + + centerPoint.x /= j; + centerPoint.y /= j; + + return centerPoint; +} diff --git a/data/mir_perception/mir_object_segmentation/ros/src/scene_segmentation_node.cpp b/data/mir_perception/mir_object_segmentation/ros/src/scene_segmentation_node.cpp new file mode 100644 index 0000000000000000000000000000000000000000..86a0e262a249434f2b03176499f2af5e3abb245b --- /dev/null +++ b/data/mir_perception/mir_object_segmentation/ros/src/scene_segmentation_node.cpp @@ -0,0 +1,203 @@ +/* + * Copyright 2018 Bonn-Rhein-Sieg University + * + * Author: Mohammad Wasil, Santosh Thoduka + * + */ +#include +#include +#include +#include +#include +#include +#include + +#include + +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#include + +SceneSegmentationNode::SceneSegmentationNode() + : nh_("~"), + bounding_box_visualizer_("output/bounding_boxes", Color(Color::SEA_GREEN)), + cluster_visualizer_("output/tabletop_clusters"), + label_visualizer_("output/labels", Color(Color::TEAL)), + add_to_octree_(false), + object_id_(0), + scene_segmentation_ros_(0.0025) +{ + sub_event_in_ = nh_.subscribe("event_in", 1, &SceneSegmentationNode::eventCallback, this); + pub_event_out_ = nh_.advertise("event_out", 1); + pub_object_list_ = nh_.advertise("output/object_list", 1); + pub_workspace_height_ = nh_.advertise("output/workspace_height", 1); + pub_debug_ = nh_.advertise("output/debug_cloud", 1); + + dynamic_reconfigure::Server::CallbackType f = + boost::bind(&SceneSegmentationNode::configCallback, this, _1, _2); + server_.setCallback(f); + + tf_listener_.reset(new tf::TransformListener); + + nh_.param("logdir", logdir_, "/tmp/"); + nh_.param("target_frame_id", target_frame_id_, "base_link"); +} + +SceneSegmentationNode::~SceneSegmentationNode() {} +void SceneSegmentationNode::pointcloudCallback(const sensor_msgs::PointCloud2::Ptr &msg) +{ + if (add_to_octree_) { + sensor_msgs::PointCloud2 msg_transformed; + if (!mpu::pointcloud::transformPointCloudMsg(tf_listener_, target_frame_id_, *msg, + msg_transformed)) + return; + + PointCloud::Ptr cloud = boost::make_shared(); + pcl::PCLPointCloud2 pc2; + pcl_conversions::toPCL(msg_transformed, pc2); + pcl::fromPCLPointCloud2(pc2, *cloud); + + scene_segmentation_ros_.addCloudAccumulation(cloud); + + std_msgs::String event_out; + add_to_octree_ = false; + event_out.data = "e_add_cloud_stopped"; + pub_event_out_.publish(event_out); + } +} + +void SceneSegmentationNode::segmentPointCloud() +{ + PointCloud::Ptr cloud(new PointCloud); + cloud->header.frame_id = target_frame_id_; + scene_segmentation_ros_.getCloudAccumulation(cloud); + + std::vector clusters; + mas_perception_msgs::ObjectList object_list; + std::vector boxes; + scene_segmentation_ros_.segmentCloud(cloud, object_list, clusters, boxes, center_cluster_, + pad_cluster_, padded_cluster_size_); + + mas_perception_msgs::BoundingBoxList bounding_boxes; + bounding_boxes.bounding_boxes.resize(clusters.size()); + + geometry_msgs::PoseArray poses; + poses.header.stamp = ros::Time::now(); + poses.header.frame_id = target_frame_id_; + std::vector labels; + + for (int i = 0; i < object_list.objects.size(); i++) { + mpu::object::convertBboxToMsg(boxes[i], bounding_boxes.bounding_boxes[i]); + labels.push_back(object_list.objects[i].name); + // make the object height dynamically reconfigurable + object_list.objects[i].pose.pose.position.z += object_height_above_workspace_; + poses.poses.push_back(object_list.objects[i].pose.pose); + } + ROS_INFO_STREAM("Publishing object list and workspace height"); + pub_object_list_.publish(object_list); + bounding_box_visualizer_.publish(bounding_boxes.bounding_boxes, target_frame_id_); + cluster_visualizer_.publish(clusters, target_frame_id_); + label_visualizer_.publish(labels, poses); + + std_msgs::Float64 workspace_height_msg; + workspace_height_msg.data = scene_segmentation_ros_.getWorkspaceHeight(); + pub_workspace_height_.publish(workspace_height_msg); +} + +void SceneSegmentationNode::findPlane() +{ + PointCloud::Ptr cloud(new PointCloud); + cloud->header.frame_id = target_frame_id_; + scene_segmentation_ros_.getCloudAccumulation(cloud); + + PointCloud::Ptr cloud_debug(new PointCloud); + scene_segmentation_ros_.findPlane(cloud, cloud_debug); + cloud_debug->header.frame_id = cloud->header.frame_id; + ROS_INFO_STREAM("Got plane and publishing workspace height"); + std_msgs::Float64 workspace_height_msg; + workspace_height_msg.data = scene_segmentation_ros_.getWorkspaceHeight(); + pub_workspace_height_.publish(workspace_height_msg); + pub_debug_.publish(*cloud_debug); +} + +void SceneSegmentationNode::eventCallback(const std_msgs::String::ConstPtr &msg) +{ + std_msgs::String event_out; + if (msg->data == "e_start") { + sub_cloud_ = nh_.subscribe("input", 1, &SceneSegmentationNode::pointcloudCallback, this); + event_out.data = "e_started"; + } else if (msg->data == "e_add_cloud_start") { + add_to_octree_ = true; + return; + } else if (msg->data == "e_add_cloud_stop") { + add_to_octree_ = false; + event_out.data = "e_add_cloud_stopped"; + } else if (msg->data == "e_find_plane") { + findPlane(); + scene_segmentation_ros_.resetCloudAccumulation(); + event_out.data = "e_done"; + } else if (msg->data == "e_segment") { + segmentPointCloud(); + scene_segmentation_ros_.resetCloudAccumulation(); + event_out.data = "e_done"; + } else if (msg->data == "e_reset") { + scene_segmentation_ros_.resetCloudAccumulation(); + event_out.data = "e_reset"; + } else if (msg->data == "e_stop") { + sub_cloud_.shutdown(); + scene_segmentation_ros_.resetCloudAccumulation(); + event_out.data = "e_stopped"; + } else { + return; + } + pub_event_out_.publish(event_out); +} + +void SceneSegmentationNode::configCallback(mir_object_segmentation::SceneSegmentationConfig &config, + uint32_t level) +{ + scene_segmentation_ros_.setVoxelGridParams(config.voxel_leaf_size, config.voxel_filter_field_name, + config.voxel_filter_limit_min, + config.voxel_filter_limit_max); + scene_segmentation_ros_.setPassthroughParams( + config.enable_passthrough_filter, config.passthrough_filter_field_name, + config.passthrough_filter_limit_min, config.passthrough_filter_limit_max); + scene_segmentation_ros_.setNormalParams(config.normal_radius_search, config.use_omp, + config.num_cores); + Eigen::Vector3f axis(config.sac_x_axis, config.sac_y_axis, config.sac_z_axis); + scene_segmentation_ros_.setSACParams(config.sac_max_iterations, config.sac_distance_threshold, + config.sac_optimize_coefficients, axis, config.sac_eps_angle, + config.sac_normal_distance_weight); + scene_segmentation_ros_.setPrismParams(config.prism_min_height, config.prism_max_height); + scene_segmentation_ros_.setOutlierParams(config.outlier_radius_search, + config.outlier_min_neighbors); + scene_segmentation_ros_.setClusterParams(config.cluster_tolerance, config.cluster_min_size, + config.cluster_max_size, config.cluster_min_height, + config.cluster_max_height, config.cluster_max_length, + config.cluster_min_distance_to_polygon); + + center_cluster_ = config.center_cluster; + pad_cluster_ = config.pad_cluster; + padded_cluster_size_ = config.padded_cluster_size; + + octree_resolution_ = config.octree_resolution; + object_height_above_workspace_ = config.object_height_above_workspace; +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "scene_segmentation_node"); + SceneSegmentationNode scene_seg; + ROS_INFO_STREAM("\033[1;32m[scene_segmentation_node] node started \033[0m\n"); + ros::spin(); + return 0; +} diff --git a/data/mir_perception/mir_object_segmentation/ros/src/scene_segmentation_ros.cpp b/data/mir_perception/mir_object_segmentation/ros/src/scene_segmentation_ros.cpp new file mode 100644 index 0000000000000000000000000000000000000000..35245470ad560e763842e4941dae5bccde5deb41 --- /dev/null +++ b/data/mir_perception/mir_object_segmentation/ros/src/scene_segmentation_ros.cpp @@ -0,0 +1,173 @@ +/* + * Copyright 2019 Bonn-Rhein-Sieg University + * + * Author: Mohammad Wasil, Santosh Thoduka + * + */ +#include +#include + +#include +#include +#include +#include + +#include +#include + +#include +#include + +namespace mpu = mir_perception_utils; + +SceneSegmentationROS::SceneSegmentationROS(double octree_resolution) + : octree_resolution_(octree_resolution), pcl_object_id_(0) +{ + cloud_accumulation_ = CloudAccumulation::UPtr(new CloudAccumulation(octree_resolution_)); + scene_segmentation_ = SceneSegmentationUPtr(new SceneSegmentation()); + model_coefficients_ = pcl::ModelCoefficients::Ptr(new pcl::ModelCoefficients); + cloud_debug_ = PointCloud::Ptr(new PointCloud); +} + +SceneSegmentationROS::~SceneSegmentationROS() {} +void SceneSegmentationROS::segmentCloud(const PointCloud::ConstPtr &cloud, + mas_perception_msgs::ObjectList &object_list, + std::vector &clusters, + std::vector &boxes, bool center_cluster, + bool pad_cluster, int num_points) +{ + std::string frame_id = cloud->header.frame_id; + cloud_debug_ = scene_segmentation_->segmentScene(cloud, clusters, boxes, + model_coefficients_, workspace_height_); + cloud_debug_->header.frame_id = frame_id; + + object_list.objects.resize(boxes.size()); + ros::Time now = ros::Time::now(); + for (int i = 0; i < clusters.size(); i++) { + sensor_msgs::PointCloud2 ros_cloud; + ros_cloud.header.frame_id = frame_id; + if (pad_cluster) { + mpu::pointcloud::padPointCloud(clusters[i], num_points); + } + if (center_cluster) { + PointCloud::Ptr centered_cluster(new PointCloud); + mpu::pointcloud::centerPointCloud(*clusters[i], *centered_cluster); + pcl::toROSMsg(*centered_cluster, ros_cloud); + } else { + pcl::toROSMsg(*clusters[i], ros_cloud); + } + + // Assign unknown name for every object by default then recognize it later + object_list.objects[i].views.resize(1); + object_list.objects[i].views[0].point_cloud = ros_cloud; + object_list.objects[i].name = "unknown"; + object_list.objects[i].probability = 0.0; + + geometry_msgs::PoseStamped pose; + mpu::object::estimatePose(boxes[i], pose); + pose.header.stamp = now; + pose.header.frame_id = frame_id; + + object_list.objects[i].pose = pose; + object_list.objects[i].database_id = pcl_object_id_; + pcl_object_id_++; + } +} + +void SceneSegmentationROS::findPlane(const PointCloud::ConstPtr &cloud_in, + PointCloud::Ptr &cloud_debug) +{ + PointCloud::Ptr hull(new PointCloud); + PointCloud::Ptr plane(new PointCloud); + cloud_debug = + scene_segmentation_->findPlane(cloud_in, hull, plane, model_coefficients_, workspace_height_); + cloud_debug->header.frame_id = cloud_in->header.frame_id; +} + +void SceneSegmentationROS::resetCloudAccumulation() { cloud_accumulation_->reset(); } +void SceneSegmentationROS::addCloudAccumulation(const PointCloud::Ptr &cloud) +{ + cloud_accumulation_->addCloud(cloud); +} + +void SceneSegmentationROS::getCloudAccumulation(PointCloud::Ptr &cloud) +{ + cloud_accumulation_->getAccumulatedCloud(*cloud); +} + +Eigen::Vector3f SceneSegmentationROS::getPlaneNormal() +{ + Eigen::Vector3f normal(model_coefficients_->values[0], model_coefficients_->values[1], + model_coefficients_->values[2]); + return normal; +} + +double SceneSegmentationROS::getWorkspaceHeight() { return workspace_height_; } +void SceneSegmentationROS::resetPclObjectId() { pcl_object_id_ = 0; } +void SceneSegmentationROS::setVoxelGridParams(double voxel_leaf_size, + std::string voxel_filter_field_name, + double voxel_filter_limit_min, + double voxel_filter_limit_max) +{ + scene_segmentation_->setVoxelGridParams(voxel_leaf_size, voxel_filter_field_name, + voxel_filter_limit_min, voxel_filter_limit_max); +} + +void SceneSegmentationROS::setPassthroughParams(bool enable_passthrough_filter, + std::string passthrough_filter_field_name, + double passthrough_filter_limit_min, + double passthrough_filter_limit_max) +{ + scene_segmentation_->setPassthroughParams( + enable_passthrough_filter, passthrough_filter_field_name, passthrough_filter_limit_min, + passthrough_filter_limit_max); +} + +void SceneSegmentationROS::setCropBoxParams(bool enable_cropbox_filter, double min_x, double max_x, double min_y, + double max_y, double min_z, double max_z) +{ + scene_segmentation_->setCropBoxParams(enable_cropbox_filter, min_x, max_x, min_y, max_y, min_z, max_z); +} + +void SceneSegmentationROS::setNormalParams(double normal_radius_search, bool use_omp, int num_cores) +{ + scene_segmentation_->setNormalParams(normal_radius_search, use_omp, num_cores); +} + +void SceneSegmentationROS::setSACParams(int sac_max_iterations, double sac_distance_threshold, + bool sac_optimize_coefficients, Eigen::Vector3f axis, + double sac_eps_angle, double sac_normal_distance_weight) +{ + scene_segmentation_->setSACParams(sac_max_iterations, sac_distance_threshold, + sac_optimize_coefficients, axis, sac_eps_angle, + sac_normal_distance_weight); +} + +void SceneSegmentationROS::setPrismParams(double prism_min_height, double prism_max_height) +{ + scene_segmentation_->setPrismParams(prism_min_height, prism_max_height); +} + +void SceneSegmentationROS::setOutlierParams(double outlier_radius_search, + double outlier_min_neighbors) +{ + scene_segmentation_->setOutlierParams(outlier_radius_search, outlier_min_neighbors); +} + +void SceneSegmentationROS::setClusterParams(double cluster_tolerance, int cluster_min_size, + int cluster_max_size, double cluster_min_height, + double cluster_max_height, double cluster_max_length, + double cluster_min_distance_to_polygon) +{ + scene_segmentation_->setClusterParams(cluster_tolerance, cluster_min_size, cluster_max_size, + cluster_min_height, cluster_max_height, cluster_max_length, + cluster_min_distance_to_polygon); +} + +PointCloud::Ptr SceneSegmentationROS::getCloudDebug() +{ + if (cloud_debug_->points.size() < 0) + ROS_WARN("Debug cloud is empty"); + + return(cloud_debug_); +} diff --git a/data/mir_perception/mir_perceive_aruco_cube/CMakeLists.txt b/data/mir_perception/mir_perceive_aruco_cube/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..0c9a2970d6c0ee11f035f621937b9e6353da8d63 --- /dev/null +++ b/data/mir_perception/mir_perceive_aruco_cube/CMakeLists.txt @@ -0,0 +1,20 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_perceive_aruco_cube) + +find_package(catkin REQUIRED + COMPONENTS + sensor_msgs + cv_bridge + geometry_msgs + tf +) + +find_package(OpenCV REQUIRED) + +catkin_package( + CATKIN_DEPENDS + sensor_msgs + cv_bridge + DEPENDS + OpenCV +) diff --git a/data/mir_perception/mir_perceive_aruco_cube/docs/aruco_cube.jpg b/data/mir_perception/mir_perceive_aruco_cube/docs/aruco_cube.jpg new file mode 100644 index 0000000000000000000000000000000000000000..eab3de96febc74d0b7c7b15b5ea622f28a3c04f2 --- /dev/null +++ b/data/mir_perception/mir_perceive_aruco_cube/docs/aruco_cube.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bde6dfaef54af6bcbcd88f4a68a2ba3d640e417061ea0d7a7fcd9173c47bc546 +size 38776 diff --git a/data/mir_perception/mir_perceive_aruco_cube/docs/rviz_aruco_pose.png b/data/mir_perception/mir_perceive_aruco_cube/docs/rviz_aruco_pose.png new file mode 100644 index 0000000000000000000000000000000000000000..99d46e9ad68976127fba93958a8484d6273305ed --- /dev/null +++ b/data/mir_perception/mir_perceive_aruco_cube/docs/rviz_aruco_pose.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6482fd7e5bc3e879e9339d83967d51be7ca52600c2bd240adf3cd5a09487af17 +size 421842 diff --git a/data/mir_perception/mir_perceive_aruco_cube/package.xml b/data/mir_perception/mir_perceive_aruco_cube/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..ef8cf632a70e9e9b10f9432e78755a41f0aa3ebd --- /dev/null +++ b/data/mir_perception/mir_perceive_aruco_cube/package.xml @@ -0,0 +1,23 @@ + + + mir_perceive_aruco_cube + 0.1.0 + Detects aruco cube using camera images and camera params. + + Dharmin B. + Dharmin B. + + GPLv3 + + catkin + + cv_bridge + sensor_msgs + sensor_msgs + tf + + sensor_msgs + cv_bridge + + roslaunch + diff --git a/data/mir_perception/mir_perceive_aruco_cube/ros/launch/perceive_aruco_cube.launch b/data/mir_perception/mir_perceive_aruco_cube/ros/launch/perceive_aruco_cube.launch new file mode 100644 index 0000000000000000000000000000000000000000..8b16a6f87440ecd3f0f3b31d6e2363ac0ff56e24 --- /dev/null +++ b/data/mir_perception/mir_perceive_aruco_cube/ros/launch/perceive_aruco_cube.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_perception/mir_perceive_aruco_cube/ros/scripts/perceive_aruco_cube b/data/mir_perception/mir_perceive_aruco_cube/ros/scripts/perceive_aruco_cube new file mode 100644 index 0000000000000000000000000000000000000000..0af26262f5d6ed4f51be9f8fd8111b419dccd480 --- /dev/null +++ b/data/mir_perception/mir_perceive_aruco_cube/ros/scripts/perceive_aruco_cube @@ -0,0 +1,254 @@ +#!/usr/bin/env python3 +from __future__ import print_function + +import mcr_manipulation_measurers_ros.pose_transformer +import numpy as np +import rospy +import tf +from geometry_msgs.msg import Point, PoseStamped, Quaternion +from mas_perception_msgs.msg import Object, ObjectList +from sensor_msgs.msg import CameraInfo, Image +from std_msgs.msg import String + +import cv2 +from cv_bridge import CvBridge, CvBridgeError + + +class ArucoCubePerceiver(object): + def __init__(self): + # class variables + self._bridge = CvBridge() + self._aruco_dict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_4X4_50) + self._listening = False + self._publish_object = False + self._retry_attempts = 0 + self._camera_mat = None + self._dist_coeff = None + self._pose_transformer = ( + mcr_manipulation_measurers_ros.pose_transformer.PoseTransformer() + ) + + # ros parameters + self._target_frame = rospy.get_param("~target_frame", "base_link") + self._retry_threshold = rospy.get_param("~retry_attempts", 3) + self._marker_length = rospy.get_param("~marker_length", 0.04) + self._debug = rospy.get_param("~debug", False) + + # publishers + self._output_pose_pub = rospy.Publisher( + "~output_pose", PoseStamped, queue_size=1 + ) + self._output_obj_list_pub = rospy.Publisher( + "~output_object_list", ObjectList, queue_size=1 + ) + self._event_out_pub = rospy.Publisher( + "~event_out", String, queue_size=1) + self._debug_image_pub = rospy.Publisher( + "~debug_image", Image, queue_size=1) + + # subscribers + self._event_in_sub = rospy.Subscriber( + "~event_in", String, self._event_in_cb) + self._image_sub = rospy.Subscriber( + "~input_rgb_image", Image, self._input_image_cb + ) + self._camera_info_sub = rospy.Subscriber( + "~camera_info", CameraInfo, self._camera_info_cb + ) + + rospy.loginfo("Initialised ArucoCubePerceiver") + + def _event_in_cb(self, msg): + if msg.data == "e_start": + self._listening = True + self._publish_object = False + self._event_out_pub.publish(String(data="e_started")) + if msg.data == "e_stop": + self._listening = False + self._publish_object = False + self._event_out_pub.publish(String(data="e_stopped")) + if msg.data == "e_trigger": + self._listening = True + self._publish_object = True + + def _camera_info_cb(self, msg): + """ + Callback for camera info. Initialises camera matrix and distortion + coefficient for the camera and unregisters the subscriber at the end. + + :msg: sensor_msgs.CameraInfo + :returns: None + + """ + camera_mat = [] + for i in range(3): + camera_mat.append(list(msg.K[i * 3: i * 3 + 3])) + self._camera_mat = np.array(camera_mat) + dist_coeff = list(msg.D) + self._dist_coeff = np.array(dist_coeff) + self._camera_info_sub.unregister() + + def _input_image_cb(self, msg): + """ + Callback for image from camera. Finds Aruco marker and publishes its + pose in cartesian space along with `e_success`. + + :msg: sensor_msgs.Image + :returns: None + + """ + if not self._listening: + return + + try: + cv_image = self._bridge.imgmsg_to_cv2(msg, "bgr8") + except CvBridgeError as e: + rospy.logerr( + "Could not convert ros sensor msgs Image to opencv Image.") + rospy.logerr(str(e)) + self._check_failure() + return + + if self._camera_mat is None or self._dist_coeff is None: + rospy.logerr("camera calibration info not available") + self._check_failure() + return + + corners = self._get_best_aruco_marker_corners(cv_image) + if corners is None: + rospy.logerr("No aruco markers found") + self._check_failure() + return + + rot, trans = cv2.aruco.estimatePoseSingleMarkers( + corners, self._marker_length, self._camera_mat, self._dist_coeff + ) + rot = np.squeeze(rot) + trans = np.squeeze(trans) + + try: + output_pose = self._get_pose_from_rvec_tvec(rot, trans) + except Exception as e: + rospy.logerr("Could not get pose from rvec and tvec.") + rospy.logerr(str(e)) + self._check_failure() + return + output_pose.header.frame_id = msg.header.frame_id + + try: + target_pose = self._pose_transformer.get_transformed_pose( + output_pose, self._target_frame + ) + except Exception as e: + rospy.logerr("Pose transformation failed.") + rospy.logerr(str(e)) + self._check_failure() + return + self._output_pose_pub.publish(target_pose) + + if self._publish_object: + obj = Object(pose=target_pose, name="ARUCO_CUBE", database_id=150) + self._output_obj_list_pub.publish(ObjectList(objects=[obj])) + self._listening = False + self._retry_attempts = 0 + self._event_out_pub.publish(String(data="e_success")) + + def _check_failure(self): + """ + Check the number of retry attempts and if it exceeded threshold then publish + e_failure on event out topic and turn off listening + + :returns: None + + """ + if not self._publish_object: + return + if self._retry_attempts > self._retry_threshold: + self._event_out_pub.publish(String(data="e_failure")) + self._listening = False + self._retry_attempts = 0 + else: + self._retry_attempts += 1 + + def _get_pose_from_rvec_tvec(self, rvec, tvec): + """ + Return a Pose object from rvec and tvec. This function also applies a + few transforms on the pose. + 1) opencv provides orientation such that the Z axis is facing up from the + marker. Here, the Z axis is inverted so that it is facing inside the cube + 2) opencv provides position of the marker, however, we are interested in + center of aruco cube. Thus we shift the position by marker_length/2 meters + + :rvec: numpy.array (shape 3x1) + :tvec: numpy.array (shape 3x1) + :returns: geometry_msgs.PoseStamped + + """ + # convert from rvec to rotation matrix + mat = np.zeros((3, 3)) + cv2.Rodrigues(rvec, mat) + + # create a homogeneous transformation matrix + rot_mat = np.zeros((4, 4)) + rot_mat[:3, :3] = mat + rot_mat[3, 3] = 1.0 + rot_mat[:3, 3] = tvec + + # rotate 180 degrees so that the z axis is pointing away from camera + rot_mat[:3, 2] = -rot_mat[:3, 2] + rot_mat[:3, 1] = -rot_mat[:3, 1] + quat = tf.transformations.quaternion_from_matrix(rot_mat) + + # offset marker pose by marker_length/2 meter towards the center + cube_center = np.array([0.0, 0.0, self._marker_length / 2.0, 1.0]) + cube_center_transformed = rot_mat.dot(cube_center) + cube_center_transformed_list = list(cube_center_transformed[:3]) + + output_pose = PoseStamped() + output_pose.header.stamp = rospy.Time.now() + output_pose.pose.position = Point(*cube_center_transformed_list) + output_pose.pose.orientation = Quaternion(*quat) + return output_pose + + def _get_best_aruco_marker_corners(self, img): + """ + Detect aruco markers in image and return the corners of a marker. + If multiple markers are detected, then it returns the corners of the marker + with highest surface area in image + + :img: cv2.Image + :returns: np.array of shape 4x2 + + """ + corners_set, ids, rejectedImgPoints = cv2.aruco.detectMarkers( + img, self._aruco_dict + ) + if ids is None: + return None + + variances = [np.var((np.squeeze(corner_set))) + for corner_set in corners_set] + max_variance_index = variances.index(max(variances)) + best_corners = corners_set[max_variance_index] + + if self._publish_object: + rospy.loginfo("Detected aruco marker id: " + + str(ids[max_variance_index])) + + if self._debug: + debug_img = cv2.aruco.drawDetectedMarkers( + img.copy(), corners_set, ids) + try: + ros_debug_img = self._bridge.cv2_to_imgmsg(debug_img, "bgr8") + self._debug_image_pub.publish(ros_debug_img) + except CvBridgeError as e: + rospy.logwarn("Could not convert debug cv image to ros image") + pass + return best_corners + + +if __name__ == "__main__": + rospy.init_node("aruco_cube_perceiver") + ACP = ArucoCubePerceiver() + rospy.spin() + print("Exiting.") diff --git a/data/mir_perception/mir_perception/CMakeLists.txt b/data/mir_perception/mir_perception/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..d91aabc68a4a299393ef0369383a8feb620c0bec --- /dev/null +++ b/data/mir_perception/mir_perception/CMakeLists.txt @@ -0,0 +1,4 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_perception) +find_package(catkin REQUIRED) +catkin_metapackage() diff --git a/data/mir_perception/mir_perception/package.xml b/data/mir_perception/mir_perception/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..f5f78aff94dfb0087087bbf1bc994d0a8d7b632d --- /dev/null +++ b/data/mir_perception/mir_perception/package.xml @@ -0,0 +1,19 @@ + + + mir_perception + 0.0.1 + perception related packages + + GPLv3 + + Frederik Hegger + + Frederik Hegger + Sven Schneider + + catkin + + + + + diff --git a/data/mir_perception/mir_perception_utils/CMakeLists.txt b/data/mir_perception/mir_perception_utils/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..85970a5547c66275a49173ddc483ab0ffe47431b --- /dev/null +++ b/data/mir_perception/mir_perception_utils/CMakeLists.txt @@ -0,0 +1,88 @@ +cmake_minimum_required(VERSION 3.0.2) +project(mir_perception_utils) + +add_compile_options(-std=c++14) + +find_package(catkin REQUIRED + COMPONENTS + cv_bridge + mas_perception_msgs + pcl_ros + roscpp + roslint + tf + visualization_msgs +) + +find_package(PCL 1.10 REQUIRED) +find_package(VTK REQUIRED) +find_package(OpenCV REQUIRED) + +catkin_package( + INCLUDE_DIRS + ros/include + common/include + LIBRARIES + ${PROJECT_NAME} + CATKIN_DEPENDS + mas_perception_msgs + visualization_msgs +) + +include_directories( + ros/include + common/include + ${catkin_INCLUDE_DIRS} + ${PCL_INCLUDE_DIRS} + ${VTK_INCLUDE_DIRS} +) + +add_definitions(-fpermissive) + +### LIBRARIES #################################################### +add_library(${PROJECT_NAME} + common/src/bounding_box.cpp + common/src/pointcloud_utils.cpp + ros/src/object_utils_ros.cpp + ros/src/pointcloud_utils_ros.cpp +) + +add_dependencies(${PROJECT_NAME} + ${catkin_EXPORTED_TARGETS} +) +target_link_libraries(${PROJECT_NAME} + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} +) + +roslint_cpp() + +### TESTS +#if(CATKIN_ENABLE_TESTING) +# find_package(roslaunch REQUIRED) +# roslaunch_add_file_check(ros/launch) +#endif() + +### INSTALLS +install(DIRECTORY common/include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" + PATTERN ".svn" EXCLUDE +) + +install(DIRECTORY ros/include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" + PATTERN ".svn" EXCLUDE +) + + +install(TARGETS ${PROJECT_NAME} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) + +install( + TARGETS + ${PROJECT_NAME} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) diff --git a/data/mir_perception/mir_perception_utils/common/include/mir_perception_utils/aliases.h b/data/mir_perception/mir_perception_utils/common/include/mir_perception_utils/aliases.h new file mode 100644 index 0000000000000000000000000000000000000000..23c0681dda1852327b8781fdc70a6be9dde5faea --- /dev/null +++ b/data/mir_perception/mir_perception_utils/common/include/mir_perception_utils/aliases.h @@ -0,0 +1,33 @@ +/* + * Copyright 2016 Bonn-Rhein-Sieg University + * + * Author: Sergey Alexandrov + * + */ +#ifndef MIR_PERCEPTION_UTILS_ALIASES_H +#define MIR_PERCEPTION_UTILS_ALIASES_H + +#include + +#include +#include +#include +#include + +typedef pcl::PointXYZRGB PointT; +typedef pcl::Normal PointNT; +typedef pcl::Label PointLT; + +typedef pcl::PointCloud PointCloud; +typedef pcl::PointCloud PointCloudN; +typedef pcl::PointCloud PointCloudL; + +typedef pcl::PlanarPolygon PlanarPolygon; +typedef std::vector> PlanarPolygonVector; +typedef boost::shared_ptr PlanarPolygonPtr; +typedef boost::shared_ptr PlanarPolygonConstPtr; + +typedef pcl::PlanarRegion PlanarRegion; +typedef std::vector> PlanarRegionVector; + +#endif // MIR_PERCEPTION_UTILS_ALIASES_H diff --git a/data/mir_perception/mir_perception_utils/common/include/mir_perception_utils/bounding_box.h b/data/mir_perception/mir_perception_utils/common/include/mir_perception_utils/bounding_box.h new file mode 100644 index 0000000000000000000000000000000000000000..105ddc8701579965594cba61f69785162bccf7c2 --- /dev/null +++ b/data/mir_perception/mir_perception_utils/common/include/mir_perception_utils/bounding_box.h @@ -0,0 +1,54 @@ +/* + * Copyright 2016 Bonn-Rhein-Sieg University + * + * Maintainer: Mohammad Wasil + * Author: Sergey Alexandrov + * + */ +#ifndef MIR_PERCEPTION_UTILS_BOUNDING_BOX_H +#define MIR_PERCEPTION_UTILS_BOUNDING_BOX_H + +#include +#include + +namespace mir_perception_utils +{ +namespace object +{ +class BoundingBox +{ + public: + typedef Eigen::Vector3f Point; + typedef std::vector> Points; + + inline const Point &getCenter() const { return center_; } + inline const Points &getVertices() const { return vertices_; } + inline Eigen::Vector3f getDimensions() const { return dimensions_; } + inline float getVolume() const { return dimensions_[0] * dimensions_[1] * dimensions_[2]; } + /** \brief Create a bounding box around the cloud, restricting it to be + * parallel to the plane defined by the normal. + * \param[in] Point cloud + * \param[in] Normal + * */ + static BoundingBox create(const typename PointCloud::ConstPtr &cloud, + const Eigen::Vector3f &normal); + + /** \brief Create a bounding box around the point vector, restricting it to be + * parallel to the plane defined by the normal. + * \param[in] Point vector + * \param[in] Normal + */ + static BoundingBox create(const typename PointCloud::VectorType &points, + const Eigen::Vector3f &normal); + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + private: + Point center_; + Points vertices_; + Eigen::Vector3f dimensions_; +}; +} +} + +#endif // MIR_PERCEPTION_UTILS_BOUNDING_BOX_H diff --git a/data/mir_perception/mir_perception_utils/common/include/mir_perception_utils/color.h b/data/mir_perception/mir_perception_utils/common/include/mir_perception_utils/color.h new file mode 100644 index 0000000000000000000000000000000000000000..302977e6faa797537dcea74334cc01f9fcefe5c2 --- /dev/null +++ b/data/mir_perception/mir_perception_utils/common/include/mir_perception_utils/color.h @@ -0,0 +1,101 @@ +/* + * Copyright 2016 Bonn-Rhein-Sieg University + * + * Author: Sergey Alexandrov + * + */ +#ifndef MIR_PERCEPTION_UTILS_COLOR_H +#define MIR_PERCEPTION_UTILS_COLOR_H + +#include +#include + +namespace mir_perception_utils +{ +namespace visualization +{ +struct Color { + uint8_t r; + uint8_t g; + uint8_t b; + + Color(float nr, float ng, float nb) : r(nr * 255), g(ng * 255), b(nb * 255) {} + Color(uint8_t nr, uint8_t ng, uint8_t nb) : r(nr), g(ng), b(nb) {} + enum Name { + SALMON, + TEAL, + DEEP_PINK, + SANGRIA, + SEA_BLUE, + SEA_GREEN, + SCARLET, + PUMPKIN, + JASMINE, + IVORY, + GAINSBORO, + }; + + explicit Color(Name name) + { + switch (name) { + case SALMON: + r = 0xFA, g = 0x80, b = 0x72; + break; + case TEAL: + r = 0x00, g = 0x80, b = 0x80; + break; + case DEEP_PINK: + r = 0xFF, g = 0x14, b = 0x93; + break; + case SANGRIA: + r = 0x92, g = 0x00, b = 0x0A; + break; + case SEA_BLUE: + r = 0x00, g = 0x69, b = 0x94; + break; + case SEA_GREEN: + r = 0x2E, g = 0x8B, b = 0x57; + break; + case SCARLET: + r = 0xFF, g = 0x24, b = 0x00; + break; + case PUMPKIN: + r = 0xFF, g = 0x75, b = 0x18; + break; + case JASMINE: + r = 0xF8, g = 0xDE, b = 0x7E; + break; + case IVORY: + r = 0xFF, g = 0xFF, b = 0xF0; + break; + case GAINSBORO: + r = 0xDC, g = 0xDC, b = 0xDC; + break; + default: + r = 0xFF, g = 0xFF, b = 0xFF; + break; + } + } + + operator float() const + { + pcl::PointXYZRGB point(r, g, b); + return point.rgb; + } + + operator std_msgs::ColorRGBA() const + { + std_msgs::ColorRGBA color; + color.r = r / 255.0; + color.g = g / 255.0; + color.b = b / 255.0; + color.a = 1.0; + return color; + } +}; + +} // namespace visualization + +} // namespace mir + +#endif // MIR_PERCEPTION_UTILS_COLOR_H diff --git a/data/mir_perception/mir_perception_utils/common/include/mir_perception_utils/octree_pointcloud_occupancy_colored.h b/data/mir_perception/mir_perception_utils/common/include/mir_perception_utils/octree_pointcloud_occupancy_colored.h new file mode 100644 index 0000000000000000000000000000000000000000..44dc3271f779e7b1a6aa4c46a30af997ba72c458 --- /dev/null +++ b/data/mir_perception/mir_perception_utils/common/include/mir_perception_utils/octree_pointcloud_occupancy_colored.h @@ -0,0 +1,68 @@ +/* + * Copyright 2016 Bonn-Rhein-Sieg University + * + * Author: Sergey Alexandrov + * + */ +#ifndef MIR_PERCEPTION_UTILS_OCTREE_POINTCLOUD_OCCUPANCY_COLORED_H +#define MIR_PERCEPTION_UTILS_OCTREE_POINTCLOUD_OCCUPANCY_COLORED_H + +#include +#include +#include +#include + +using pcl::octree::OctreePointCloud; +using pcl::octree::OctreeContainerPointIndex; +using pcl::octree::OctreeContainerEmpty; +using pcl::octree::OctreeBase; +using pcl::octree::OctreeKey; + +template +class OctreePointCloudOccupancyColored + : public OctreePointCloud> +{ + public: + explicit OctreePointCloudOccupancyColored(const double resolution) + : OctreePointCloud>(resolution) + { + } + + ~OctreePointCloudOccupancyColored() override = default; + + void setOccupiedVoxelAtPoint(const PointT &point) + { + OctreeKey key; + this->adoptBoundingBoxToPoint(point); + this->genOctreeKeyforPoint(point, key); + OctreeContainerPointIndex *leaf = this->createLeaf(key); + leaf->addPointIndex(point.rgba); + } + + void setOccupiedVoxelsAtPointsFromCloud(const typename pcl::PointCloud::ConstPtr &cloud) + { + for (size_t i = 0; i < cloud->points.size(); i++) + if (isFinite(cloud->points[i])) this->setOccupiedVoxelAtPoint(cloud->points[i]); + } + + uint32_t getVoxelColorAtPoint(const PointT &point) const + { + uint32_t color = 0; + OctreeContainerPointIndex *leaf = this->findLeafAtPoint(point); + if (leaf) color = static_cast(leaf->getPointIndex()); + return color; + } + + void getOccupiedVoxelCentersWithColor(typename pcl::PointCloud::VectorType &points) + { + this->getOccupiedVoxelCenters(points); + for (size_t i = 0; i < points.size(); i++) { + uint32_t color = this->getVoxelColorAtPoint(points[i]); + points[i].rgba = color; + } + } +}; +#endif // MIR_PERCEPTION_UTILS_OCTREE_POINTCLOUD_OCCUPANCY_COLORED_H diff --git a/data/mir_perception/mir_perception_utils/common/include/mir_perception_utils/pointcloud_utils.h b/data/mir_perception/mir_perception_utils/common/include/mir_perception_utils/pointcloud_utils.h new file mode 100644 index 0000000000000000000000000000000000000000..382c65c404f786687519eb8267844b90cd4dc3ba --- /dev/null +++ b/data/mir_perception/mir_perception_utils/common/include/mir_perception_utils/pointcloud_utils.h @@ -0,0 +1,34 @@ +/* + * Copyright 2020 Bonn-Rhein-Sieg University + * + * Author: Mohammad Wasil + * + */ + +#ifndef MIR_PERCCEPTION_UTILS_POINTCLOUD_UTILS_H +#define MIR_PERCCEPTION_UTILS_POINTCLOUD_UTILS_H + +#include + +namespace mir_perception_utils +{ +namespace pointcloud +{ +/** \brief Center PointCloud, adapted from pcl library group_common + * https://pointcloudlibrary.github.io/documentation/group__common.html + * \param[in] PointCloud input + * \param[out] Centered PointCloud output + * \return The number of valid points, if the cloud is dense, it's the same + * as the number of input points + */ +unsigned int centerPointCloud(const PointCloud &cloud_in, PointCloud ¢ered_cloud); +/** \brief Pad point cloud + * \param[in] Normalized PointCloud input + * \param[in] Number of points + * \return The number of padded points + */ +unsigned int padPointCloud(PointCloud::Ptr &cloud_in, int num_points); +} +}; + +#endif // MIR_PERCCEPTION_UTILS_POINTCLOUD_UTILS_H diff --git a/data/mir_perception/mir_perception_utils/common/src/bounding_box.cpp b/data/mir_perception/mir_perception_utils/common/src/bounding_box.cpp new file mode 100644 index 0000000000000000000000000000000000000000..9de1d08ccf4794a363bf97d1fe90186ad7b8189a --- /dev/null +++ b/data/mir_perception/mir_perception_utils/common/src/bounding_box.cpp @@ -0,0 +1,93 @@ +/* + * Copyright 2016 Bonn-Rhein-Sieg University + * + * Maintainer: Mohammad Wasil + * Author: Sergey Alexandrov + * + */ + +#include +#include +#include +#include +#include +#include + +#include + +#include + +using namespace mir_perception_utils::object; + +BoundingBox BoundingBox::create(const PointCloud::ConstPtr &cloud, const Eigen::Vector3f &normal) +{ + BoundingBox box; + + // Step 1: transform the cloud so that z-axis as aligned with plane normal. + Eigen::Vector3f perpendicular(-normal[1], normal[0], normal[2]); + Eigen::Affine3f transform = pcl::getTransFromUnitVectorsZY(normal, perpendicular); + Eigen::Affine3f inverse_transform = transform.inverse(Eigen::Isometry); + PointCloud cloud_transformed; + pcl::transformPointCloud(*cloud, cloud_transformed, transform); + + // Step 2: project cloud onto the plane and calculate bounding box for the + // projected points. + // Have no idea how this "mem storage" and "seq" beasts work. + // Initialization example taken from: + // http://opencv.willowgarage.com/documentation/dynamic_structures.html#seqsort + CvMemStorage *storage = cvCreateMemStorage(0); + CvSeq *points = cvCreateSeq(CV_32SC2, sizeof(CvSeq), sizeof(CvPoint), storage); + + // CvPoints are made of integers, so we will need to scale our points (which + // are in meters). + const float SCALE = 1000.0; + float min_z = std::numeric_limits::max(); + float max_z = -1 * std::numeric_limits::max(); + + for (size_t i = 0; i < cloud_transformed.points.size(); i++) { + const PointT &pt = cloud_transformed.points[i]; + if (!std::isnan(pt.z)) { + CvPoint p; + p.x = pt.x * SCALE; + p.y = pt.y * SCALE; + cvSeqPush(points, &p); + if (pt.z > max_z) max_z = pt.z; + if (pt.z < min_z) min_z = pt.z; + } + } + + CvBox2D box2d = cvMinAreaRect2(points); + cvReleaseMemStorage(&storage); + box.dimensions_[0] = max_z - min_z; + box.dimensions_[1] = std::max(box2d.size.width, box2d.size.height) / SCALE; + box.dimensions_[2] = std::min(box2d.size.width, box2d.size.height) / SCALE; + box.center_[0] = box2d.center.x / SCALE; + box.center_[1] = box2d.center.y / SCALE; + box.center_[2] = min_z + box.dimensions_[0] / 2.0; + box.center_ = inverse_transform * box.center_; + + cv::Point2f vertices[4]; + cv::RotatedRect(box2d).points(vertices); + for (size_t i = 0; i < 4; i++) { + const cv::Point2f &pt = vertices[i]; + Eigen::Vector3f p; + p << pt.x / SCALE, pt.y / SCALE, min_z; + box.vertices_.push_back(inverse_transform * p); + } + for (size_t i = 0; i < 4; i++) { + const cv::Point2f &pt = vertices[i]; + Eigen::Vector3f p; + p << pt.x / SCALE, pt.y / SCALE, max_z; + box.vertices_.push_back(inverse_transform * p); + } + return box; +} + +BoundingBox BoundingBox::create(const PointCloud::VectorType &points, const Eigen::Vector3f &normal) +{ + PointCloud::Ptr cloud(new PointCloud); + cloud->points = points; + cloud->width = points.size(); + cloud->height = 1; + return create(cloud, normal); +} diff --git a/data/mir_perception/mir_perception_utils/common/src/pointcloud_utils.cpp b/data/mir_perception/mir_perception_utils/common/src/pointcloud_utils.cpp new file mode 100644 index 0000000000000000000000000000000000000000..f3d3c4f833226df4251d6d37a30016d36abc2fdb --- /dev/null +++ b/data/mir_perception/mir_perception_utils/common/src/pointcloud_utils.cpp @@ -0,0 +1,86 @@ +/* + * Copyright 2020 Bonn-Rhein-Sieg University + * + * Author: Mohammad Wasil + * + */ +#include +#include +#include +#include +#include +#include + +using namespace mir_perception_utils; + +unsigned int pointcloud::centerPointCloud(const PointCloud &cloud_in, PointCloud ¢ered_cloud) +{ + if (cloud_in.empty()) return (0); + + pcl::copyPointCloud(cloud_in, centered_cloud); + + Eigen::Vector4f centroid; + pcl::compute3DCentroid(centered_cloud, centroid); + + unsigned int point_count; + // Check if the data is dense, means there may be NaN or Inf values + if (centered_cloud.is_dense) { + point_count = static_cast(centered_cloud.points.size()); + // For each point in the cloud + for (auto &point : centered_cloud) { + point.x = point.x - centroid[0]; + point.y = point.y - centroid[1]; + point.z = point.z - centroid[2]; + } + } + // Check NaN or Inf values, that could exist + else { + point_count = 0; + for (auto &point : centered_cloud) { + // Check if the point is invalid + if (!isFinite(point)) continue; + + point.x = point.x - centroid[0]; + point.y = point.y - centroid[1]; + point.z = point.z - centroid[2]; + ++point_count; + } + } + return (point_count); +} + +unsigned int pointcloud::padPointCloud(PointCloud::Ptr &cloud_in, int num_points) +{ + if (cloud_in->empty()) return (0); + + unsigned int point_count; + point_count = static_cast(cloud_in->size()); + + std::random_device rd; // get ran + std::mt19937 eng(rd()); // seed the generator + std::uniform_int_distribution<> distr(0, point_count); + + if (point_count > num_points) { + unsigned int point_diff = point_count - num_points; + + pcl::PointIndices::Ptr random_indices(new pcl::PointIndices()); + + for (int n = 0; n < num_points; ++n) random_indices->indices.push_back(distr(eng)); + + pcl::ExtractIndices extract; + extract.setInputCloud(cloud_in); + extract.setIndices(random_indices); + extract.setNegative(false); + extract.filter(*cloud_in); + cloud_in->width = cloud_in->points.size(); + } else if (point_count < num_points) { + int additional_points = num_points - point_count; + for (int i = 0; i < additional_points; i++) { + int random_index = distr(eng); + cloud_in->points.push_back(cloud_in->points[random_index]); + } + point_count += additional_points; + cloud_in->width = cloud_in->points.size(); + } + return (point_count); +} diff --git a/data/mir_perception/mir_perception_utils/package.xml b/data/mir_perception/mir_perception_utils/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..5c86582efc68927961df0bea840baf2c71aed55f --- /dev/null +++ b/data/mir_perception/mir_perception_utils/package.xml @@ -0,0 +1,28 @@ + + + mir_perception_utils + 0.0.1 + mir perception utils + + Mohammad Wasil + Mohammad Wasil + Santosh Thoduka + Sergey Alexandrov + + GPLv3 + + catkin + + cv_bridge + libpcl-all-dev + mas_perception_msgs + pcl_ros + roscpp + roslint + tf + visualization_msgs + + mas_perception_msgs + visualization_msgs + + diff --git a/data/mir_perception/mir_perception_utils/ros/include/mir_perception_utils/bounding_box_visualizer.h b/data/mir_perception/mir_perception_utils/ros/include/mir_perception_utils/bounding_box_visualizer.h new file mode 100644 index 0000000000000000000000000000000000000000..8bda6db41537a65e48ffba60ce0ef251e6d2f764 --- /dev/null +++ b/data/mir_perception/mir_perception_utils/ros/include/mir_perception_utils/bounding_box_visualizer.h @@ -0,0 +1,51 @@ +/* + * Copyright 2016 Bonn-Rhein-Sieg University + * + * Author: Sergey Alexandrov + * + */ +#ifndef MIR_PERCEPTION_UTILS_BOUNDING_BOX_VISUALIZER_H +#define MIR_PERCEPTION_UTILS_BOUNDING_BOX_VISUALIZER_H + +#include +#include + +#include + +#include +#include + +using mir_perception_utils::visualization::Color; + +namespace mir_perception_utils +{ +namespace visualization +{ +class BoundingBoxVisualizer +{ + public: + BoundingBoxVisualizer(ros::NodeHandle *nh, const std::string &topic_name, Color color, + bool check_subscribers = true); + + BoundingBoxVisualizer(const std::string &topic_name, Color color, bool check_subscribers = true); + + void publish(const mas_perception_msgs::BoundingBox &box, const std::string &frame_id); + + void publish(const std::vector &boxes, + const std::string &frame_id); + + int getNumSubscribers(); + + private: + ros::Publisher marker_publisher_; + + const Color color_; + bool check_subscribers_; +}; + +} // namespace visualization + +} // namespace mir +#include "impl/bounding_box_visualizer.hpp" + +#endif // MIR_PERCEPTION_UTILS_BOUNDING_BOX_VISUALIZER_H diff --git a/data/mir_perception/mir_perception_utils/ros/include/mir_perception_utils/clustered_point_cloud_visualizer.h b/data/mir_perception/mir_perception_utils/ros/include/mir_perception_utils/clustered_point_cloud_visualizer.h new file mode 100644 index 0000000000000000000000000000000000000000..c017dd87e319b623d3fe9b824638534652796162 --- /dev/null +++ b/data/mir_perception/mir_perception_utils/ros/include/mir_perception_utils/clustered_point_cloud_visualizer.h @@ -0,0 +1,50 @@ +/* + * Copyright 2016 Bonn-Rhein-Sieg University + * + * Author: Sergey Alexandrov + * + */ +#ifndef MIR_PERCEPTION_UTILS_CLUSTERED_POINT_CLOUD_VISUALIZER_H +#define MIR_PERCEPTION_UTILS_CLUSTERED_POINT_CLOUD_VISUALIZER_H + +#include +#include + +#include + +#include + +#include + +namespace mir_perception_utils +{ +namespace visualization +{ +class ClusteredPointCloudVisualizer +{ + public: + ClusteredPointCloudVisualizer(const boost::shared_ptr &nh, + const std::string &topic_name, bool check_subscribers = true); + + ClusteredPointCloudVisualizer(const std::string &topic_name, bool check_subscribers = true); + + template + void publish(const std::vector::Ptr> &clusters, + const std::string &frame_id); + int getNumSubscribers(); + + private: + ros::Publisher cloud_publisher_; + + bool check_subscribers_; + + static const size_t COLORS_NUM = 32; + float COLORS[COLORS_NUM]; +}; + +} // namespace visualization + +} // namespace mir +#include "impl/clustered_point_cloud_visualizer.hpp" + +#endif // MIR_PERCEPTION_UTILS_CLUSTERED_POINT_CLOUD_VISUALIZER_H diff --git a/data/mir_perception/mir_perception_utils/ros/include/mir_perception_utils/impl/bounding_box_visualizer.hpp b/data/mir_perception/mir_perception_utils/ros/include/mir_perception_utils/impl/bounding_box_visualizer.hpp new file mode 100644 index 0000000000000000000000000000000000000000..fea8897eb1894dd80122c616d4de84df8864bb91 --- /dev/null +++ b/data/mir_perception/mir_perception_utils/ros/include/mir_perception_utils/impl/bounding_box_visualizer.hpp @@ -0,0 +1,85 @@ +#ifndef BOUNDING_BOX_VISUALIZER_HPP +#define BOUNDING_BOX_VISUALIZER_HPP + +#include +#include +#include + +using mir_perception_utils::visualization::Color; + +namespace mir_perception_utils +{ +namespace visualization +{ +BoundingBoxVisualizer::BoundingBoxVisualizer(ros::NodeHandle *nh, const std::string &topic_name, + Color color, bool check_subscribers) + : color_(color), check_subscribers_(check_subscribers) +{ + marker_publisher_ = nh->advertise(topic_name, 10); +} + +BoundingBoxVisualizer::BoundingBoxVisualizer(const std::string &topic_name, Color color, + bool check_subscribers) + : color_(color), check_subscribers_(check_subscribers) +{ + ros::NodeHandle nh("~"); + marker_publisher_ = nh.advertise(topic_name, 10); +} + +int BoundingBoxVisualizer::getNumSubscribers() { return marker_publisher_.getNumSubscribers(); } +void BoundingBoxVisualizer::publish(const mas_perception_msgs::BoundingBox &box, + const std::string &frame_id) +{ + std::vector boxes; + boxes.push_back(box); + publish(boxes, frame_id); +} + +void BoundingBoxVisualizer::publish(const std::vector &boxes, + const std::string &frame_id) +{ + if (check_subscribers_ && marker_publisher_.getNumSubscribers() == 0) return; + visualization_msgs::Marker lines; + lines.header.frame_id = frame_id; + lines.header.stamp = ros::Time::now(); + lines.type = visualization_msgs::Marker::LINE_LIST; + lines.action = visualization_msgs::Marker::ADD; + lines.scale.x = 0.001; + lines.scale.y = 0.001; + lines.color = std_msgs::ColorRGBA(color_); + lines.ns = "bounding_boxes"; + lines.id = 1; + + for (size_t i = 0; i < boxes.size(); i++) { + const std::vector &pt = boxes[i].vertices; + lines.points.push_back(pt[0]); + lines.points.push_back(pt[1]); + lines.points.push_back(pt[0]); + lines.points.push_back(pt[3]); + lines.points.push_back(pt[0]); + lines.points.push_back(pt[4]); + lines.points.push_back(pt[1]); + lines.points.push_back(pt[2]); + lines.points.push_back(pt[1]); + lines.points.push_back(pt[5]); + lines.points.push_back(pt[2]); + lines.points.push_back(pt[3]); + lines.points.push_back(pt[2]); + lines.points.push_back(pt[6]); + lines.points.push_back(pt[3]); + lines.points.push_back(pt[7]); + lines.points.push_back(pt[4]); + lines.points.push_back(pt[5]); + lines.points.push_back(pt[4]); + lines.points.push_back(pt[7]); + lines.points.push_back(pt[5]); + lines.points.push_back(pt[6]); + lines.points.push_back(pt[6]); + lines.points.push_back(pt[7]); + } + marker_publisher_.publish(lines); +} +} +} + +#endif /* BOUNDING_BOX_VISUALIZER_HPP */ diff --git a/data/mir_perception/mir_perception_utils/ros/include/mir_perception_utils/impl/clustered_point_cloud_visualizer.hpp b/data/mir_perception/mir_perception_utils/ros/include/mir_perception_utils/impl/clustered_point_cloud_visualizer.hpp new file mode 100644 index 0000000000000000000000000000000000000000..b2b1c167f543083292683ca28186876c7cadd00b --- /dev/null +++ b/data/mir_perception/mir_perception_utils/ros/include/mir_perception_utils/impl/clustered_point_cloud_visualizer.hpp @@ -0,0 +1,80 @@ +#ifndef CLUSTERED_POINT_CLOUD_VISUALIZER_HPP +#define CLUSTERED_POINT_CLOUD_VISUALIZER_HPP + +#include + +#include + +#include +#include +#include +#include + +using mir_perception_utils::visualization::Color; + +namespace mir_perception_utils +{ +namespace visualization +{ +ClusteredPointCloudVisualizer::ClusteredPointCloudVisualizer( + const boost::shared_ptr &nh, const std::string &topic_name, + bool check_subscribers) + : check_subscribers_(check_subscribers) +{ + cloud_publisher_ = nh->advertise(topic_name, 1); + for (size_t i = 0; i < COLORS_NUM; ++i) { + COLORS[i] = 1.0f * rand() / RAND_MAX; + } +} + +ClusteredPointCloudVisualizer::ClusteredPointCloudVisualizer(const std::string &topic_name, + bool check_subscribers) + : check_subscribers_(check_subscribers) +{ + ros::NodeHandle nh("~"); + cloud_publisher_ = nh.advertise(topic_name, 1); + for (size_t i = 0; i < COLORS_NUM; ++i) { + COLORS[i] = 1.0f * rand() / RAND_MAX; + } +} + +int ClusteredPointCloudVisualizer::getNumSubscribers() +{ + return cloud_publisher_.getNumSubscribers(); +} + +template +void ClusteredPointCloudVisualizer::publish( + const std::vector::Ptr> &clusters, const std::string &frame_id) +{ + if (cloud_publisher_.getNumSubscribers() == 0) return; + pcl::PointCloud composite; + size_t color = 0; + + for (size_t i = 0; i < clusters.size(); i++) { + const PointCloud::Ptr &cloud = clusters[i]; + for (size_t j = 0; j < cloud->points.size(); j++) { + const PointT &point = cloud->points[j]; + pcl::PointXYZRGB pt; + pt.x = point.x; + pt.y = point.y; + pt.z = point.z; + pt.rgb = float(Color(static_cast(color))); + composite.points.push_back(pt); + } + color++; + } + composite.header.frame_id = frame_id; + composite.width = static_cast(composite.points.size()); + composite.height = 1; + + pcl::PCLPointCloud2 pc2; + sensor_msgs::PointCloud2 cloud_msg; + pcl::toPCLPointCloud2(composite, pc2); + pcl_conversions::fromPCL(pc2, cloud_msg); + cloud_publisher_.publish(cloud_msg); +} +} +} + +#endif /* CLUSTERED_POINT_CLOUD_VISUALIZER_HPP */ diff --git a/data/mir_perception/mir_perception_utils/ros/include/mir_perception_utils/impl/helpers.hpp b/data/mir_perception/mir_perception_utils/ros/include/mir_perception_utils/impl/helpers.hpp new file mode 100644 index 0000000000000000000000000000000000000000..114668d163620a882d8c4c901e0db0be9633d7bf --- /dev/null +++ b/data/mir_perception/mir_perception_utils/ros/include/mir_perception_utils/impl/helpers.hpp @@ -0,0 +1,92 @@ +#ifndef HELPERS_HPP +#define HELPERS_HPP + +#include +#include + +#include +#include + +using namespace mir_perception_utils::object; + +/** Convert from PCL PlanarPolygon to ROS message. */ +inline void convertPlanarPolygon(const PlanarPolygon &polygon, + mas_perception_msgs::PlanarPolygon &polygon_msg) +{ + for (int i = 0; i < 4; ++i) { + polygon_msg.coefficients[i] = polygon.getCoefficients()[i]; + } + + const PointCloud::VectorType &points = polygon.getContour(); + for (size_t i = 0; i < points.size(); i++) { + geometry_msgs::Point32 pt; + pt.x = points[i].x; + pt.y = points[i].y; + pt.z = points[i].z; + polygon_msg.contour.push_back(pt); + } +} + +/** Convert from ROS message to PCL PlanarPolygon. */ +inline void convertPlanarPolygon(const mas_perception_msgs::PlanarPolygon &polygon_msg, + PlanarPolygon &polygon) +{ + PointCloud::VectorType contour; + Eigen::Vector4f coefficients(polygon_msg.coefficients.elems); + for (size_t i = 0; i < polygon_msg.contour.size(); i++) { + PointT pt; + pt.x = polygon_msg.contour[i].x; + pt.y = polygon_msg.contour[i].y; + pt.z = polygon_msg.contour[i].z; + contour.push_back(pt); + } + polygon = PlanarPolygon(contour, coefficients); +} + +inline double computePlanarPolygonArea(const PlanarPolygon &polygon) +{ + const Eigen::Vector4f &normal = polygon.getCoefficients(); + const PointCloud::VectorType &points = polygon.getContour(); + + // Find axis with largest normal component and project onto perpendicular + // plane + int k0, k1, k2; + k0 = (std::fabs(normal[0]) > std::fabs(normal[1])) ? 0 : 1; + k0 = (std::fabs(normal[k0]) > std::fabs(normal[2])) ? k0 : 2; + k1 = (k0 + 1) % 3; + k2 = (k0 + 2) % 3; + + double area = 0; + for (size_t i = 0; i < points.size(); i++) { + size_t j = (i + 1) % points.size(); + float p1[3] = {points[i].x, points[i].y, points[i].z}; + float p2[3] = {points[j].x, points[j].y, points[j].z}; + area += p1[k1] * p2[k2] - p1[k2] * p2[k1]; + } + + return std::fabs(area) / (2 * std::fabs(normal[k0])); +} + +/** Convert from BoundingBox object to ROS message. */ +inline void convertBoundingBox(const BoundingBox &bounding_box, + mas_perception_msgs::BoundingBox &bounding_box_msg) +{ + const BoundingBox::Point ¢er = bounding_box.getCenter(); + bounding_box_msg.center.x = center[0]; + bounding_box_msg.center.y = center[1]; + bounding_box_msg.center.z = center[2]; + bounding_box_msg.dimensions.x = bounding_box.getDimensions()[0]; + bounding_box_msg.dimensions.y = bounding_box.getDimensions()[1]; + bounding_box_msg.dimensions.z = bounding_box.getDimensions()[2]; + + const BoundingBox::Points &vertices = bounding_box.getVertices(); + for (size_t i = 0; i < vertices.size(); i++) { + geometry_msgs::Point pt; + pt.x = vertices[i][0]; + pt.y = vertices[i][1]; + pt.z = vertices[i][2]; + bounding_box_msg.vertices.push_back(pt); + } +} + +#endif /* HELPERS_HPP */ diff --git a/data/mir_perception/mir_perception_utils/ros/include/mir_perception_utils/impl/label_visualizer.hpp b/data/mir_perception/mir_perception_utils/ros/include/mir_perception_utils/impl/label_visualizer.hpp new file mode 100644 index 0000000000000000000000000000000000000000..1dfcbfcc1673302536c07d21989ed75b00291870 --- /dev/null +++ b/data/mir_perception/mir_perception_utils/ros/include/mir_perception_utils/impl/label_visualizer.hpp @@ -0,0 +1,57 @@ +#ifndef LABEL_VISUALIZER_HPP +#define LABEL_VISUALIZER_HPP + +#include +#include +#include +#include +#include + +using mir_perception_utils::visualization::Color; + +namespace mir_perception_utils +{ +namespace visualization +{ +LabelVisualizer::LabelVisualizer(const ros::NodeHandle &nh, const std::string &topic_name, + Color color, bool check_subscribers) + : color_(color), check_subscribers_(check_subscribers) +{ + ros::NodeHandle nh_(nh); + marker_publisher_ = nh_.advertise(topic_name, 10); +} + +LabelVisualizer::LabelVisualizer(const std::string &topic_name, Color color, bool check_subscribers) + : color_(color), check_subscribers_(check_subscribers) +{ + ros::NodeHandle nh("~"); + marker_publisher_ = nh.advertise(topic_name, 10); +} + +int LabelVisualizer::getNumSubscribers() { return marker_publisher_.getNumSubscribers(); } +void LabelVisualizer::publish(const std::vector &labels, + const geometry_msgs::PoseArray &poses) +{ + visualization_msgs::MarkerArray markers; + for (int i = 0; i < labels.size(); i++) { + visualization_msgs::Marker m; + m.header = poses.header; + m.type = visualization_msgs::Marker::TEXT_VIEW_FACING; + m.action = visualization_msgs::Marker::ADD; + m.scale.z = 0.04; + m.color = std_msgs::ColorRGBA(color_); + m.ns = "labels"; + m.id = i; + m.pose.position.x = poses.poses[i].position.x; + m.pose.position.y = poses.poses[i].position.y + 0.02; + m.pose.position.z = poses.poses[i].position.z; + m.pose.orientation.w = 1.0; + m.text = labels[i]; + markers.markers.push_back(m); + } + marker_publisher_.publish(markers); +} +} +} + +#endif /* BOUNDING_BOX_VISUALIZER_HPP */ diff --git a/data/mir_perception/mir_perception_utils/ros/include/mir_perception_utils/impl/planar_polygon_visualizer.hpp b/data/mir_perception/mir_perception_utils/ros/include/mir_perception_utils/impl/planar_polygon_visualizer.hpp new file mode 100644 index 0000000000000000000000000000000000000000..c954c15e722ee3c6e9032c44cff4bb3487d22a4a --- /dev/null +++ b/data/mir_perception/mir_perception_utils/ros/include/mir_perception_utils/impl/planar_polygon_visualizer.hpp @@ -0,0 +1,63 @@ +#ifndef PLANAR_POLYGON_VISUALIZER_HPP +#define PLANAR_POLYGON_VISUALIZER_HPP + +namespace mir_perception_utils +{ +namespace visualization +{ +PlanarPolygonVisualizer::PlanarPolygonVisualizer(const std::string &topic_name, Color color, + bool check_subscribers, double thickness) + : color_(color), check_subscribers_(check_subscribers), thickness_(thickness) +{ + ros::NodeHandle nh("~"); + marker_publisher_ = nh.advertise(topic_name, 1); +} + +template +void PlanarPolygonVisualizer::publish(const pcl::PlanarPolygon &polygon, + const std::string &frame_id) +{ + if (marker_publisher_.getNumSubscribers() == 0) return; + visualization_msgs::Marker marker; + buildPolygonMarker(polygon.getContour(), marker, frame_id); + marker_publisher_.publish(marker); +} + +template +void PlanarPolygonVisualizer::buildPolygonMarker( + const typename pcl::PointCloud::VectorType &points, visualization_msgs::Marker &marker, + const std::string &frame_id, int id) +{ + if (!points.size()) return; + + marker.type = visualization_msgs::Marker::LINE_LIST; + marker.action = visualization_msgs::Marker::ADD; + marker.header.frame_id = frame_id; + marker.scale.x = thickness_; + marker.scale.y = thickness_; + marker.color.a = 1.0; + marker.ns = "polygon"; + marker.id = id; + marker.color = color_; + + geometry_msgs::Point first_point; + first_point.x = points[0].x; + first_point.y = points[0].y; + first_point.z = points[0].z; + marker.points.push_back(first_point); + + for (size_t i = 1; i < points.size(); i++) { + geometry_msgs::Point pt; + pt.x = points[i].x; + pt.y = points[i].y; + pt.z = points[i].z; + marker.points.push_back(pt); + marker.points.push_back(pt); + } + + marker.points.push_back(first_point); +} +} +} + +#endif /* PLANAR_POLYGON_VISUALIZER_HPP */ diff --git a/data/mir_perception/mir_perception_utils/ros/include/mir_perception_utils/label_visualizer.h b/data/mir_perception/mir_perception_utils/ros/include/mir_perception_utils/label_visualizer.h new file mode 100644 index 0000000000000000000000000000000000000000..4b0bd3d1a739ca19d5937cffaf2614d96144b5ca --- /dev/null +++ b/data/mir_perception/mir_perception_utils/ros/include/mir_perception_utils/label_visualizer.h @@ -0,0 +1,48 @@ +/* + * Copyright 2016 Bonn-Rhein-Sieg University + * + * Author: Santosh Thoduka, Sergey Alexandrov + * + */ +#ifndef MIR_PERCEPTION_UTILS_LABEL_VISUALIZER_H +#define MIR_PERCEPTION_UTILS_LABEL_VISUALIZER_H + +#include +#include + +#include +#include + +#include + +using mir_perception_utils::visualization::Color; + +namespace mir_perception_utils +{ +namespace visualization +{ +class LabelVisualizer +{ + public: + LabelVisualizer(const ros::NodeHandle &nh, const std::string &topic_name, Color color, + bool check_subscribers = true); + + LabelVisualizer(const std::string &topic_name, Color color, bool check_subscribers = true); + + void publish(const std::vector &labels, const geometry_msgs::PoseArray &poses); + + int getNumSubscribers(); + + private: + ros::Publisher marker_publisher_; + + const Color color_; + bool check_subscribers_; +}; + +} // namespace visualization + +} // namespace mir +#include "impl/label_visualizer.hpp" + +#endif // MIR_PERCEPTION_UTILS_LABEL_VISUALIZER_H diff --git a/data/mir_perception/mir_perception_utils/ros/include/mir_perception_utils/object_utils_ros.h b/data/mir_perception/mir_perception_utils/ros/include/mir_perception_utils/object_utils_ros.h new file mode 100644 index 0000000000000000000000000000000000000000..49efd2bc5090089881cfba3c684bceb2f415e33a --- /dev/null +++ b/data/mir_perception/mir_perception_utils/ros/include/mir_perception_utils/object_utils_ros.h @@ -0,0 +1,102 @@ +/* + * Copyright 2019 Bonn-Rhein-Sieg University + * + * Author: Mohammad Wasil, Santosh Thoduka + * + */ +#ifndef MIR_PERCCEPTION_UTILS_OBJECT_UTILS_H +#define MIR_PERCCEPTION_UTILS_OBJECT_UTILS_H + +#include +#include +#include + +#include + +#include +#include +#include +#include + +#include +#include +#include + +namespace mir_perception_utils +{ +namespace object +{ +/** \brief Compute 3D bounding box parallel with the plane + * \param[in] Pointcloud pointer + * \param[in] Plane normal + * \param[Out] Generated bounding box + * \param[out] Bounding box message + * */ +void get3DBoundingBox(const PointCloud::ConstPtr &cloud, const Eigen::Vector3f &normal, + BoundingBox &bbox, mas_perception_msgs::BoundingBox &bounding_box_msg); + +/** \brief Estimate pose given bounding box + * \param[in] Bounding box + * \param[out] Estimated pose + * */ +void estimatePose(const BoundingBox &box, geometry_msgs::PoseStamped &pose); + +/** \brief Estimate pose given a cluster generated from 3D proposal. Passthrough + * filter + * is also applied to remove part of the table on the cluster. Returns + * estimated pose. + * The orientation is calculated based on + * http://www.pcl-users.org/Finding-oriented-bounding-box-of-a-cloud-td4024616.html + * \param[in] Point cloud cluster + * \param[out] Estimated pose + * \param[in] The label of the cluster (optional), and is used to filter round + * objects + * \param[in] Minimum value of the field z allowed + * \param[in] Maximum value of the field z allowed +*/ +PointCloud estimatePose(const PointCloud::Ptr &xyz_input_cloud, geometry_msgs::PoseStamped &pose, + mas_perception_msgs::Object &object, + std::string shape = "None", float passthrough_lim_min = 0.0060, + float passthrough_lim_max = 0.0, + std::string obj_category = "atwork"); + +/** \brief Transform pose + * \param[in] Transform listener + * \param[in] Target frame id + * \param[in] Source pose stamped + * \param[out] Transformed pose stamped + * */ +void transformPose(const boost::shared_ptr tf_listener, + const std::string &target_frame, const geometry_msgs::PoseStamped &pose, + geometry_msgs::PoseStamped &transformed_pose); + +/** \brief Convert boundingbox to bounding box ros msg + * \param[in] BoundingBox bbox + * \param[out] Bounding box message + * */ +void convertBboxToMsg(const BoundingBox &bbox, mas_perception_msgs::BoundingBox &bounding_box_msg); + +/** \brief Save pointcloud + * \param[in] logdir (default="/tmp") + * \param[in] obj_name (default="unknown") + * */ +void savePcd(const PointCloud::ConstPtr &pointcloud, std::string log_dir = "/tmp/", + std::string obj_name = "unknown"); + +/** \brief Save debug image if debug_mode is enabled + * \param[in] image with boundix boxes of objects drawn + * \param[in] raw_image + * \param[in] logdir (default /tmp) +*/ +void saveCVImage(const cv_bridge::CvImagePtr &cv_image, std::string log_dir = "/tmp/", + std::string obj_name = "unknown"); + +/** \brief Convert sensor_msgs/Image to cv_image + * \param[in] Sensor_msg/Image + * \param[out] cv image output +*/ +bool getCVImage(const sensor_msgs::ImageConstPtr &image, cv_bridge::CvImagePtr &cv_image); +} +} + +#endif // MIR_PERCCEPTION_UTILS_OBJECT_UTILS_H diff --git a/data/mir_perception/mir_perception_utils/ros/include/mir_perception_utils/planar_polygon_visualizer.h b/data/mir_perception/mir_perception_utils/ros/include/mir_perception_utils/planar_polygon_visualizer.h new file mode 100644 index 0000000000000000000000000000000000000000..e1222966b833a2eb804a5967ff3979d818c42943 --- /dev/null +++ b/data/mir_perception/mir_perception_utils/ros/include/mir_perception_utils/planar_polygon_visualizer.h @@ -0,0 +1,54 @@ +/* + * Copyright 2016 Bonn-Rhein-Sieg University + * + * Author: Sergey Alexandrov + * + */ +#ifndef MIR_PERCEPTION_UTILS_PLANAR_POLYGON_VISUALIZER_H +#define MIR_PERCEPTION_UTILS_PLANAR_POLYGON_VISUALIZER_H + +#include + +#include +#include + +#include +#include + +#include + +namespace mir_perception_utils +{ +namespace visualization +{ +class PlanarPolygonVisualizer +{ + public: + PlanarPolygonVisualizer(const std::string &topic_name, Color color, bool check_subscribers = true, + double thickness = 0.005); + + template + void publish(const pcl::PlanarPolygon &polygon, const std::string &frame_id); + + /** Fill the fields of the marker object so that it visualizes the provided + * vector of points by drawing a polyline through them. */ + template + void buildPolygonMarker(const typename pcl::PointCloud::VectorType &points, + visualization_msgs::Marker &marker, const std::string &frame_id, + int id = 1); + + private: + ros::Publisher marker_publisher_; + + const std::string frame_id_; + const Color color_; + bool check_subscribers_; + double thickness_; +}; + +} // namespace visualization + +} // namespace mir +#include "impl/planar_polygon_visualizer.hpp" + +#endif // MIR_PERCEPTION_UTILS_PLANAR_POLYGON_VISUALIZER_H diff --git a/data/mir_perception/mir_perception_utils/ros/include/mir_perception_utils/pointcloud_utils_ros.h b/data/mir_perception/mir_perception_utils/ros/include/mir_perception_utils/pointcloud_utils_ros.h new file mode 100644 index 0000000000000000000000000000000000000000..be7c4f13c7af7358f20b2b1bdc0414def27bc97e --- /dev/null +++ b/data/mir_perception/mir_perception_utils/ros/include/mir_perception_utils/pointcloud_utils_ros.h @@ -0,0 +1,68 @@ +/* + * Copyright 2020 Bonn-Rhein-Sieg University + * + * Author: Mohammad Wasil + * + */ + +#ifndef MIR_PERCCEPTION_UTILS_POINTCLOUD_UTILS_ROS_H +#define MIR_PERCCEPTION_UTILS_POINTCLOUD_UTILS_ROS_H + +#include + +#include +#include + +#include + +#include +#include + +namespace mir_perception_utils +{ +namespace pointcloud +{ +/** \brief Transform sensor_msgs PointCloud2 +* \param[in] Transform listener +* \param[in] Target frame id +* \param[in] sensor_msgs PointCloud2 input +* \param[in] sensor_msgs PointCloud2 output +*/ +bool transformPointCloudMsg(const boost::shared_ptr &tf_listener, + const std::string &target_frame, + const sensor_msgs::PointCloud2 &cloud_in, + sensor_msgs::PointCloud2 &cloud_out); + +/** \brief Transform pcl PointCloud + * \param[in] Transform listener + * \param[in] Target frame id + * \param[in] pcl PointCloud input + * \param[in] pcl PointCloud output +*/ +bool transformPointCloud(const boost::shared_ptr &tf_listener, + const std::string &target_frame, const PointCloud &cloud_in, + PointCloud &cloud_out); + +/** \brief Transform pcl PointCloud2 + * \param[in] Transform listener + * \param[in] Target frame id + * \param[in] pcl PointCloud2 input + * \param[in] pcl PointCloud2 output +*/ +bool transformPointCloud2(const boost::shared_ptr &tf_listener, + const std::string &target_frame, const pcl::PCLPointCloud2 &cloud_in_pc2, + pcl::PCLPointCloud2 &cloud_out_pc2); + +/** \brief Get 3D ROI of point cloud given 2D ROI + * \param[in] Region of interest (bounding box) of 2D object + * \param[in] Organized pointcloud input + * \param[out] 3D pointcloud cluster (3D ROI) of the given 2D ROI + * \param[in] Adjust the rgb roi proposal (in pixel) + * \param[in] Remove 3D ROI outliers +*/ +bool getPointCloudROI(const sensor_msgs::RegionOfInterest &roi, const PointCloud::Ptr &cloud_id, + PointCloud::Ptr &cloud_roi, float roi_size_adjustment, bool remove_outliers); +} +}; + +#endif // MIR_PERCCEPTION_UTILS_POINTCLOUD_UTILS_ROS_H diff --git a/data/mir_perception/mir_perception_utils/ros/src/object_utils_ros.cpp b/data/mir_perception/mir_perception_utils/ros/src/object_utils_ros.cpp new file mode 100644 index 0000000000000000000000000000000000000000..b6bb892d164b15f345040bc8cef2bd7fc891e0ae --- /dev/null +++ b/data/mir_perception/mir_perception_utils/ros/src/object_utils_ros.cpp @@ -0,0 +1,220 @@ +/* + * Copyright 2019 Bonn-Rhein-Sieg University + * + * Author: Mohammad Wasil, Santosh Thoduka + * + */ + +#include +#include + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +using namespace mir_perception_utils; +void object::estimatePose(const BoundingBox &box, geometry_msgs::PoseStamped &pose) +{ + BoundingBox::Points vertices = box.getVertices(); + Eigen::Vector3f n1; + Eigen::Vector3f n2; + Eigen::Vector3f n3 = (vertices[4] - vertices[0]) / (vertices[4] - vertices[0]).norm(); + if ((vertices[1] - vertices[0]).norm() > (vertices[3] - vertices[0]).norm()) { + n1 = (vertices[1] - vertices[0]) / (vertices[1] - vertices[0]).norm(); + } else { + n1 = (vertices[3] - vertices[0]) / (vertices[3] - vertices[0]).norm(); + } + n2 = n3.cross(n1); + ROS_INFO_STREAM("got norms"); + Eigen::Matrix3f m; + m << n1, n2, n3; + Eigen::Quaternion q(m); + q.normalize(); + + Eigen::Vector3f centroid = box.getCenter(); + pose.pose.position.x = centroid(0); + pose.pose.position.y = centroid(1); + pose.pose.position.z = (vertices[0](2) + vertices[1](2) + vertices[2](2) + vertices[3](2)) / 4.0; + pose.pose.orientation.x = q.x(); + pose.pose.orientation.y = q.y(); + pose.pose.orientation.z = q.z(); + pose.pose.orientation.w = q.w(); +} + +PointCloud object::estimatePose(const PointCloud::Ptr &xyz_input_cloud, geometry_msgs::PoseStamped &pose, + mas_perception_msgs::Object &object, + std::string shape, float passthrough_lim_min_offset, + float passthrough_lim_max_offset, + std::string obj_category) +{ + // Apply filter to remove points belonging to the plane for non + // circular/spherical object + // to find its orientation + PointCloud filtered_cloud; + if (obj_category == "atwork" and (shape == "sphere" or shape == "flat")) { + filtered_cloud = *xyz_input_cloud; + } else { + pcl::PassThrough pass_through; + pass_through.setFilterFieldName("z"); + PointT min_pt; + PointT max_pt; + pcl::getMinMax3D(*xyz_input_cloud, min_pt, max_pt); + double limit_min = min_pt.z + passthrough_lim_min_offset; + double limit_max = max_pt.z + passthrough_lim_max_offset; + if (obj_category == "cavity") + { + limit_max = max_pt.z - 0.015; // TODO: make 0.01 as a dynamic configurable parameter + if (object.name == "M20_H") + { + limit_max = max_pt.z - 0.02; + } + pass_through.setFilterLimits(limit_min, limit_max); + pass_through.setInputCloud(xyz_input_cloud); + pass_through.filter(filtered_cloud); + + // change z value to max(filterpointcloud z) This is only for cavity + for (size_t i = 0; i < filtered_cloud.points.size(); ++i) { + // check if filtered_cloud.points[i].z has not nan or inf value + if (!std::isnan(filtered_cloud.points[i].z) && !std::isinf(filtered_cloud.points[i].z)) { + filtered_cloud.points[i].z = 0.015; // 0.045 is an empirical values, TODO: get 0.045 from target_pose_z_pos from config file + } + } + } + else{ + if (object.name != "M20" && object.name != "M30" && object.name != "F20_20_G") { + pass_through.setFilterLimits(limit_min, limit_max); + pass_through.setInputCloud(xyz_input_cloud); + pass_through.filter(filtered_cloud); + } + else{ + filtered_cloud = *xyz_input_cloud; + } + } + } + + Eigen::Vector4f centroid; + pcl::compute3DCentroid(filtered_cloud, centroid); + + Eigen::Matrix3f covariance; + pcl::computeCovarianceMatrixNormalized(filtered_cloud, centroid, covariance); + + Eigen::SelfAdjointEigenSolver eigen_solver(covariance, + Eigen::ComputeEigenvectors); + Eigen::Matrix3f eigen_vectors = eigen_solver.eigenvectors(); + + // swap largest and second largest eigenvector so that y-axis aligns with + // largest eigenvector and z with the second largest + eigen_vectors.col(0).swap(eigen_vectors.col(2)); + eigen_vectors.col(1) = eigen_vectors.col(2).cross(eigen_vectors.col(0)); + + Eigen::Matrix4f eigen_vector_transform(Eigen::Matrix4f::Identity()); + eigen_vector_transform.block<3, 3>(0, 0) = eigen_vectors.transpose(); + eigen_vector_transform.block<3, 1>(0, 3) = + -(eigen_vector_transform.block<3, 3>(0, 0) * centroid.head<3>()); + + // transform cloud to eigenvector space + pcl::PointCloud transformed_cloud; + pcl::transformPointCloud(filtered_cloud, transformed_cloud, eigen_vector_transform); + + // find mean diagonal + pcl::PointXYZRGB min_point, max_point; + pcl::getMinMax3D(transformed_cloud, min_point, max_point); + Eigen::Vector3f mean_diag = (max_point.getVector3fMap() + min_point.getVector3fMap()) / 2.0; + + // orientation and position of bounding box of cloud + Eigen::Quaternionf orientation(eigen_vectors); + Eigen::Vector3f position = eigen_vectors * mean_diag + centroid.head<3>(); + + pose.pose.position.x = position(0); + pose.pose.position.y = position(1); + pose.pose.position.z = position(2); + pose.pose.orientation.w = orientation.w(); + pose.pose.orientation.x = orientation.x(); + pose.pose.orientation.y = orientation.y(); + pose.pose.orientation.z = orientation.z(); + + tf::Quaternion quaternion; + tf::quaternionMsgToTF(pose.pose.orientation, quaternion); + tf::Matrix3x3 m(quaternion); + double roll, pitch, yaw; + m.getRPY(roll, pitch, yaw); + + pose.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(0, 0, yaw); + + return filtered_cloud; +} + +void object::transformPose(const boost::shared_ptr tf_listener, + const std::string &target_frame, const geometry_msgs::PoseStamped &pose, + geometry_msgs::PoseStamped &transformed_pose) +{ + if (tf_listener) { + try { + ros::Time common_time; + tf_listener->getLatestCommonTime(pose.header.frame_id, target_frame, common_time, NULL); + pose.header.stamp = common_time; + tf_listener->waitForTransform(target_frame, pose.header.frame_id, common_time, + ros::Duration(0.1)); + tf_listener->transformPose(target_frame, pose, transformed_pose); + } catch (tf::LookupException &ex) { + ROS_WARN("Failed to transform pose: (%s)", ex.what()); + transformed_pose = pose; + } + } else { + ROS_ERROR_THROTTLE(2.0, "[ObjectUtils]: TF listener not initialized."); + transformed_pose = pose; + } +} + +void object::get3DBoundingBox(const PointCloud::ConstPtr &cloud, const Eigen::Vector3f &normal, + BoundingBox &bbox, mas_perception_msgs::BoundingBox &bounding_box_msg) +{ + bbox = BoundingBox::create(cloud->points, normal); + convertBoundingBox(bbox, bounding_box_msg); +} + +void object::convertBboxToMsg(const BoundingBox &bbox, + mas_perception_msgs::BoundingBox &bounding_box_msg) +{ + convertBoundingBox(bbox, bounding_box_msg); +} + +void object::savePcd(const PointCloud::ConstPtr &pointcloud, std::string log_dir, + std::string obj_name) +{ + std::stringstream filename; + filename.str(""); + filename << log_dir << obj_name << ".pcd"; + pcl::io::savePCDFileASCII(filename.str(), *pointcloud); +} + +void object::saveCVImage(const cv_bridge::CvImagePtr &cv_image, std::string log_dir, + std::string obj_name) +{ + std::stringstream filename; + filename.str(""); + filename << log_dir << obj_name << ".jpg"; + cv::imwrite(filename.str(), cv_image->image); +} + +bool object::getCVImage(const sensor_msgs::ImageConstPtr &image, cv_bridge::CvImagePtr &cv_image) +{ + try { + cv_image = cv_bridge::toCvCopy(image, sensor_msgs::image_encodings::BGR8); + return (true); + } catch (cv_bridge::Exception &e) { + ROS_ERROR("cv_bridge exception: %s", e.what()); + return (false); + } +} diff --git a/data/mir_perception/mir_perception_utils/ros/src/pointcloud_utils_ros.cpp b/data/mir_perception/mir_perception_utils/ros/src/pointcloud_utils_ros.cpp new file mode 100644 index 0000000000000000000000000000000000000000..05fd61e4348c81f0eea9447febd6a53d0224e8d6 --- /dev/null +++ b/data/mir_perception/mir_perception_utils/ros/src/pointcloud_utils_ros.cpp @@ -0,0 +1,154 @@ +/* + * Copyright 2020 Bonn-Rhein-Sieg University + * + * Author: Mohammad Wasil + * + */ +#include +#include +#include +#include + +using namespace mir_perception_utils; + +bool pointcloud::transformPointCloudMsg(const boost::shared_ptr &tf_listener, + const std::string &target_frame, + const sensor_msgs::PointCloud2 &cloud_in, + sensor_msgs::PointCloud2 &cloud_out) +{ + if (tf_listener) { + try { + ros::Time common_time; + tf_listener->getLatestCommonTime(target_frame, cloud_in.header.frame_id, common_time, NULL); + cloud_in.header.stamp = common_time; + tf_listener->waitForTransform(target_frame, cloud_in.header.frame_id, ros::Time::now(), + ros::Duration(1.0)); + pcl_ros::transformPointCloud(target_frame, cloud_in, cloud_out, *tf_listener); + cloud_out.header.frame_id = target_frame; + } catch (tf::TransformException &ex) { + ROS_ERROR("PCL transform error: %s", ex.what()); + return (false); + } + } else { + ROS_ERROR_THROTTLE(2.0, "TF listener not initialized."); + return (false); + } + return (true); +} + +bool pointcloud::transformPointCloud(const boost::shared_ptr &tf_listener, + const std::string &target_frame, const PointCloud &cloud_in, + PointCloud &cloud_out) +{ + if (tf_listener) { + try { + ros::Time common_time; + tf_listener->getLatestCommonTime(target_frame, cloud_in.header.frame_id, common_time, NULL); + pcl::PCLHeader pc_header; + pc_header.frame_id = cloud_in.header.frame_id; + pc_header.seq = cloud_in.header.seq; + pcl_conversions::toPCL(common_time, pc_header.stamp); + cloud_in.header = pc_header; + tf_listener->waitForTransform(target_frame, cloud_in.header.frame_id, ros::Time::now(), + ros::Duration(1.0)); + pcl_ros::transformPointCloud(target_frame, cloud_in, cloud_out, *tf_listener); + cloud_out.header.frame_id = target_frame; + } catch (tf::TransformException &ex) { + ROS_ERROR("PCL transform error: %s", ex.what()); + return (false); + } + } else { + ROS_ERROR_THROTTLE(2.0, "TF listener not initialized."); + return (false); + } + return (true); +} + +bool pointcloud::transformPointCloud2(const boost::shared_ptr &tf_listener, + const std::string &target_frame, + const pcl::PCLPointCloud2 &cloud_in_pc2, + pcl::PCLPointCloud2 &cloud_out_pc2) +{ + if (tf_listener) { + try { + PointCloud cloud_in; + pcl::fromPCLPointCloud2(cloud_in_pc2, cloud_in); + PointCloud cloud_out; + + ros::Time common_time; + tf_listener->getLatestCommonTime(target_frame, cloud_in.header.frame_id, common_time, NULL); + pcl::PCLHeader pc_header; + pc_header.frame_id = cloud_in.header.frame_id; + pc_header.seq = cloud_in.header.seq; + pcl_conversions::toPCL(common_time, pc_header.stamp); + cloud_in.header = pc_header; + tf_listener->waitForTransform(target_frame, cloud_in.header.frame_id, ros::Time::now(), + ros::Duration(1.0)); + pcl_ros::transformPointCloud(target_frame, cloud_in, cloud_out, *tf_listener); + + cloud_out.header.frame_id = target_frame; + pcl::toPCLPointCloud2(cloud_out, cloud_out_pc2); + } catch (tf::TransformException &ex) { + ROS_ERROR("PCL transform error: %s", ex.what()); + return (false); + } + } else { + ROS_ERROR_THROTTLE(2.0, "TF listener not initialized."); + return (false); + } + return (true); +} + +bool pointcloud::getPointCloudROI(const sensor_msgs::RegionOfInterest &roi, + const PointCloud::Ptr &cloud_in, PointCloud::Ptr &cloud_roi, + float roi_size_adjustment, bool remove_outliers) +{ + if (cloud_in->height <= 1 || cloud_in->width <= 1) { + ROS_ERROR("Pointcloud input height is %d and width is %d",cloud_in->height, cloud_in->width ); + return (false); + } + int min_x = roi.x_offset; + int min_y = roi.y_offset; + int max_x = roi.x_offset + roi.width; + int max_y = roi.y_offset + roi.height; + // Adjust roi + if (roi.x_offset > roi_size_adjustment) min_x = min_x - roi_size_adjustment; + if (roi.y_offset > roi_size_adjustment) min_y = min_y - roi_size_adjustment; + if (roi.width + roi_size_adjustment < cloud_in->width) min_x = min_x + roi_size_adjustment; + if (roi.height + roi_size_adjustment < cloud_in->height) min_y = min_y + roi_size_adjustment; + + std::vector pixel_loc; + + for (int i = min_x; i < max_x; i++) { + for (int j = min_y; j < max_y; j++) { + cv::Point loc; + loc.x = i; + loc.y = j; + pixel_loc.push_back(loc); + } + } + for (size_t i = 0; i < pixel_loc.size(); i++) { + // check cloud_in size + if (pixel_loc[i].x >= static_cast(cloud_in->width) || pixel_loc[i].y >= static_cast(cloud_in->height)) + { + ROS_ERROR("Pixel location is out of range."); + return (false); + } + PointT pcl_point = cloud_in->at(pixel_loc[i].x, pixel_loc[i].y); + if ((!std::isnan(pcl_point.x)) && (!std::isnan(pcl_point.y)) && (!std::isnan(pcl_point.z)) && + (!std::isnan(pcl_point.r)) && (!std::isnan(pcl_point.g)) && (!std::isnan(pcl_point.b))) { + cloud_roi->points.push_back(pcl_point); + } + } + cloud_roi->header = cloud_in->header; + if (remove_outliers) { + if (cloud_roi->points.size() > 0) { + pcl::StatisticalOutlierRemoval sor; + sor.setInputCloud(cloud_roi); + sor.setMeanK(50); + sor.setStddevMulThresh(3.0); + sor.filter(*cloud_roi); + } + } + return (true); +} diff --git a/data/mir_perception/mir_ppt_detection/CMakeLists.txt b/data/mir_perception/mir_ppt_detection/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..c9f203a6bf53368635ccc434dc2c5900d2393899 --- /dev/null +++ b/data/mir_perception/mir_ppt_detection/CMakeLists.txt @@ -0,0 +1,44 @@ +cmake_minimum_required(VERSION 3.0.2) +project(mir_ppt_detection) + +add_compile_options(-std=c++14) + +find_package(catkin REQUIRED COMPONENTS + pcl_ros + pcl_conversions + roscpp + rospy + std_msgs + sensor_msgs + mas_perception_msgs +) + +add_message_files( + FILES + Cavity.msg + Cavities.msg) + +generate_messages( + DEPENDENCIES + sensor_msgs + std_msgs +) + +catkin_package() + +include_directories( + include + ${catkin_INCLUDE_DIRS} +) +include_directories(/usr/include/eigen3) # FIXME +include_directories(${EIGEN3_INCLUDE_DIR} ${EIGEN3_INCLUDE_DIR}/unsupported/) + +add_executable(ppt_detector + src/ppt_detector.cpp + src/min_distance_to_hull_calculator.cpp +) +target_link_libraries(ppt_detector + ${catkin_LIBRARIES} + yaml-cpp +) +add_dependencies(ppt_detector mir_ppt_detection_generate_messages_cpp) diff --git a/data/mir_perception/mir_ppt_detection/config/object_shape_learned_params.yaml b/data/mir_perception/mir_ppt_detection/config/object_shape_learned_params.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d882c62e34a9a5cd43ac582fb5f84f04ac0b3b66 --- /dev/null +++ b/data/mir_perception/mir_ppt_detection/config/object_shape_learned_params.yaml @@ -0,0 +1,18 @@ +M20: + mu: [6.842142155855308e-05, 7.677336130363084e-05] + cov: [4.192859858588949e-11, 2.7496170282666428e-11, 2.7496170282666428e-11, 3.627525384708628e-11] +M30: + mu: [0.00015085244306548308, 0.00016354891195955002] + cov: [8.990644779772099e-11, 4.192080890678874e-11, 4.192080890678874e-11, 4.210791037406877e-11] +F20_20: + mu: [4.219124159398377e-05, 0.0007638833955412798] + cov: [1.1422009997246786e-11, 8.028810660379275e-11, 8.028810660379275e-11, 2.1916320899387855e-09] +S40_40: + mu: [0.00014971820019127335, 0.0007961156508827117] + cov: [2.999392217447495e-11, 3.399259957635893e-11, 3.399259957635893e-11, 8.269596631167351e-10] +M20_100: + mu: [7.01223714781494e-05, 0.001064217328715792] + cov: [3.943785120475447e-11, 4.762301649734013e-10, 4.762301649734013e-10, 7.81120261633482e-09] +R20: + mu: [8.268490305061188e-05, 0.00018639499853353626] + cov: [6.794921254896393e-11, 2.8762637682325962e-11, 2.8762637682325962e-11, 6.523610412460562e-11] diff --git a/data/mir_perception/mir_ppt_detection/include/mir_ppt_detection/min_distance_to_hull_calculator.hpp b/data/mir_perception/mir_ppt_detection/include/mir_ppt_detection/min_distance_to_hull_calculator.hpp new file mode 100644 index 0000000000000000000000000000000000000000..422a59a0be8d940d53dd5240005f16b2ff123efc --- /dev/null +++ b/data/mir_perception/mir_ppt_detection/include/mir_ppt_detection/min_distance_to_hull_calculator.hpp @@ -0,0 +1,54 @@ +#ifndef MIN_DISTANCE_TO_HULL_CALCULATOR_H_ +#define MIN_DISTANCE_TO_HULL_CALCULATOR_H_ + +#include +#include +#include + +typedef pcl::PointXYZRGBA PointRGBA; + +class MinDistanceToHullCalculator +{ +public: + /** + * Constructor + */ + MinDistanceToHullCalculator(); + /** + * Destructor + */ + virtual ~MinDistanceToHullCalculator(); + + /** + * Set the convex hull points of the workspace + */ + void setConvexHullPointsAndEdges(const pcl::PointCloud::ConstPtr& convex_hull_cloud); + + /** + * Calculate minimum euclidean distance between an object point and hull points + */ + float computeMinDistanceToHull(const PointRGBA& object_point); + + /** + * Calculate minimum euclidean distance between object cloud points and hull points + */ + float computeMinDistanceToHull(const pcl::PointCloud::ConstPtr& object_cloud); + +private: + /** + * Flag to check if convex hull points of a workspace are available + */ + bool convex_hull_available_; + + /** + * Convex hull point and edge vectors + */ + std::vector hull_points_; + std::vector normalized_hull_edge_vecs_; + + /** + * Calculate minimum euclidean distance between a point and an edge + */ + float computeMinDistanceToEdge(Eigen::Vector3f& pt, Eigen::Vector3f& edge_orig, Eigen::Vector3f& normalized_edge_vec); +}; +#endif diff --git a/data/mir_perception/mir_ppt_detection/include/mir_ppt_detection/ppt_detector.h b/data/mir_perception/mir_ppt_detection/include/mir_ppt_detection/ppt_detector.h new file mode 100644 index 0000000000000000000000000000000000000000..e5c805ad88771ef92bc4c2e8cf47b19cf5421496 --- /dev/null +++ b/data/mir_perception/mir_ppt_detection/include/mir_ppt_detection/ppt_detector.h @@ -0,0 +1,143 @@ +#ifndef PPT_DETECTOR_H +#define PPT_DETECTOR_H + +#include +// PCL specific includes +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +typedef pcl::PointXYZRGB PointT; +typedef pcl::PointXYZRGBA PointRGBA; +typedef pcl::PointCloud PointCloud; +typedef pcl::PointCloud PointCloudRGBA; +typedef pcl::PointIndices PointIndices; + +struct LearnedObjectParams +{ + Eigen::Vector2f mu; + Eigen::Matrix2f cov; +}; + +class PPTDetector +{ + public: + PPTDetector(); + void detectCavities(const PointCloud::ConstPtr& input, + mir_ppt_detection::Cavities& cavities_msg, + PointCloudRGBA::Ptr& non_planar_cloud, + PointCloudRGBA::Ptr& planar_cloud, + PointCloudRGBA::Ptr& cavity_cloud); + + protected: + + PointRGBA get_point_rgba(const pcl::PointXYZRGB& pt_rgb); + PointCloudRGBA::Ptr get_point_cloud_rgba(const pcl::PointCloud::Ptr cloud_rgb); + + template + void downsample_organized_cloud(T cloud_in, PointCloud::Ptr cloud_downsampled, int scale); + + bool compute_dominant_plane_and_hull(PointCloud::Ptr cloud_in, + pcl::ModelCoefficients::Ptr plane_coeffs, + PointCloud::Ptr hull); + + void project_points_to_plane(PointCloud::Ptr cloud_in, + pcl::ModelCoefficients::Ptr plane_coeffs, + PointIndices::Ptr planar_indices, + PointIndices::Ptr non_planar_indices, + PointCloudRGBA::Ptr cloud_projected); + + void extract_polygonal_prism_inliers(PointCloudRGBA::Ptr cloud_in, + PointIndices::Ptr indices_in, + PointCloud::Ptr cloud_hull, + PointIndices::Ptr hull_inlier_indices); + + static bool customRegionGrowing1 (const PointRGBA& point_a, const PointRGBA& point_b, + float squared_distance); + + static bool customRegionGrowing2 (const PointRGBA& point_a, const PointRGBA& point_b, + float squared_distance); + + float get_non_planar_pt_frac(PointCloudRGBA::Ptr cloud_in); + + void compute_cavity_clusters(PointCloudRGBA::Ptr cloud_in, + PointIndices::Ptr planar_idx, + PointIndices::Ptr non_planar_idx, + pcl::IndicesClustersPtr clusters); + + void cloud_cb (const PointCloud::ConstPtr& input); + + float get_mahalanobis_distance(Eigen::Vector2f x, Eigen::Vector2f mu, Eigen::Matrix2f cov); + + std::string predictCavityName(const mir_ppt_detection::Cavity& cavity); + + bool readObjectShapeParams(); + + void publish_cavity_msg(const mir_ppt_detection::Cavities& cavities); + + void eventInCallback(const std_msgs::String &msg); + + ros::NodeHandle nh_; + ros::Subscriber pc_sub_; + + bool debug_pub_; + + int downsample_scale = 3; + float planar_projection_thresh = 0.015; + float cam_cx = 320.0; + float cam_cy = 245.1; + float cam_fx = 615.8; + float cam_fy = 615.6; + float min_cavity_area = 1e-4; + + ros::Publisher cloud_pub0, cloud_pub1, cloud_pub2; + ros::Publisher cavity_pub; + ros::Publisher cavity_msg_pub_; + ros::Publisher debug_pose_pub_; + ros::Publisher event_out_pub_; + ros::Subscriber event_in_sub_; + MinDistanceToHullCalculator dist_to_hull; + + std::map learned_obj_params_map_; + + tf::TransformListener listener_; + + std::string target_frame_, source_frame_; + +}; + +#endif diff --git a/data/mir_perception/mir_ppt_detection/launch/ppt_detector.launch b/data/mir_perception/mir_ppt_detection/launch/ppt_detector.launch new file mode 100644 index 0000000000000000000000000000000000000000..53acf8f6873c765c8f8c3b649ac60a8be30cbf62 --- /dev/null +++ b/data/mir_perception/mir_ppt_detection/launch/ppt_detector.launch @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_perception/mir_ppt_detection/msg/Cavities.msg b/data/mir_perception/mir_ppt_detection/msg/Cavities.msg new file mode 100644 index 0000000000000000000000000000000000000000..43717aac8c45b7df731a431fcc845353d1b6fb85 --- /dev/null +++ b/data/mir_perception/mir_ppt_detection/msg/Cavities.msg @@ -0,0 +1 @@ +Cavity[] cavities diff --git a/data/mir_perception/mir_ppt_detection/msg/Cavity.msg b/data/mir_perception/mir_ppt_detection/msg/Cavity.msg new file mode 100644 index 0000000000000000000000000000000000000000..6dcf2883dcb88d59578a424d7a18e12755afdead --- /dev/null +++ b/data/mir_perception/mir_ppt_detection/msg/Cavity.msg @@ -0,0 +1,3 @@ +geometry_msgs/Pose pose +float32 cov_major +float32 cov_minor diff --git a/data/mir_perception/mir_ppt_detection/package.xml b/data/mir_perception/mir_ppt_detection/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..4eb4736204edd005c245cbc282b9a7fb7987703b --- /dev/null +++ b/data/mir_perception/mir_ppt_detection/package.xml @@ -0,0 +1,32 @@ + + + mir_ppt_detection + 0.0.0 + The ppt_3d package + + Santosh Thoduka + + MIT + + Heruka Andradi + + catkin + roscpp + rospy + std_msgs + libpcl-all-dev + mas_perception_msgs + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + libpcl-all + mas_perception_msgs + + + + + + diff --git a/data/mir_perception/mir_ppt_detection/scripts/covariance_data/distribution_dict.json b/data/mir_perception/mir_ppt_detection/scripts/covariance_data/distribution_dict.json new file mode 100644 index 0000000000000000000000000000000000000000..e83802c05aca447331e0c63b629bd503cc04113f --- /dev/null +++ b/data/mir_perception/mir_ppt_detection/scripts/covariance_data/distribution_dict.json @@ -0,0 +1,37 @@ +{ + "M20_100_2": + { + "mu": [7.966775259681803e-05, 0.00123619569773328], + "cov": [7.816460266253371e-12, 9.58489911964074e-12, 9.58489911964074e-12, 6.065511003563572e-10] + }, + "M20": + { + "mu": [8.212593381341442e-05, 9.153397475975512e-05], + "cov": [8.151377497566192e-12, -5.085169469674101e-13, -5.085169469674101e-13, 1.7628821758809368e-11] + }, + "M30": + { + "mu": [0.00017501990483562293, 0.0001872053680479618], + "cov": [1.3058520323768772e-11, -2.521326376010694e-12, -2.521326376010694e-12, 1.9948737279276803e-11] + }, + "F20_20": + { + "mu": [4.986749640270968e-05, 0.0009100607037128482], + "cov": [2.2994151321003596e-12, 2.0228862993517537e-12, 2.0228862993517537e-12, 6.190538544112443e-10] + }, + "S40_40": + { + "mu": [0.0001631211254624015, 0.0009091216501970352], + "cov": [3.63936539524971e-11, -3.530775111157953e-11, -3.530775111157953e-11, 8.35529589238131e-10] + }, + "M20_100": + { + "mu": [8.694407811259574e-05, 0.0012463137898792295], + "cov": [6.836558954021394e-12, -5.640281323814547e-12, -5.640281323814547e-12, 5.605639897062023e-10] + }, + "R20": + { + "mu": [0.00010728045717336326, 0.00019963709166317823], + "cov": [3.6957333376084496e-11, -1.507988154382415e-12, -1.507988154382415e-12, 4.285946079073053e-11] + } +} diff --git a/data/mir_perception/mir_ppt_detection/scripts/covariance_data/ppt_train_process_data b/data/mir_perception/mir_ppt_detection/scripts/covariance_data/ppt_train_process_data new file mode 100644 index 0000000000000000000000000000000000000000..7f9ad8427b67ca91c27134c21a703aa00f273704 --- /dev/null +++ b/data/mir_perception/mir_ppt_detection/scripts/covariance_data/ppt_train_process_data @@ -0,0 +1,31 @@ +#! /usr/bin/env python +import numpy as np +import matplotlib.pyplot as plt +import glob +import json +import rospkg + +distribution_dict = dict() +folder_name = rospkg.RosPack().get_path('ppt_3d') + '/scripts/covariance_data/' + +for filename in glob.glob(folder_name + 'data**/*.npy'): + data_raw = np.load(filename) + #data = np.array([data_pt for data_pt in data_raw if (data_pt[0]>2.5e-5 and data_pt[1]<0.0014)]) + data = np.array([data_pt for data_pt in data_raw]) + object_name = filename[len(folder_name)+5:-4] + distribution_dict[object_name] = {'mu':list(np.mean(data, axis=0)), 'cov':list(np.cov(data.T).reshape((1,4))[0])} + print filename + print np.mean(data, axis=0) + print np.cov(data.T) + print "--------------------" + + plt.scatter(data[:,0], data[:,1], label=object_name, c=np.random.rand(3,)) + +with open('distribution_dict.json', 'w') as fp: + json.dump(distribution_dict, fp) + +#with open('distribution_dict.json', 'r') as fp: +# json.load(fp) + +plt.legend() +plt.show() diff --git a/data/mir_perception/mir_ppt_detection/scripts/covariance_data/ppt_train_record_data b/data/mir_perception/mir_ppt_detection/scripts/covariance_data/ppt_train_record_data new file mode 100644 index 0000000000000000000000000000000000000000..234ab82d340edcf18efbfe2fc9e807306ebab370 --- /dev/null +++ b/data/mir_perception/mir_ppt_detection/scripts/covariance_data/ppt_train_record_data @@ -0,0 +1,23 @@ +#! /usr/bin/env python +import rospy +from ppt_3d.msg import Cavity +import tf +import sys +import numpy as np +import rospkg + +data = [] + +def callback(msg,args): + if msg.cov_minor > 1e-5: + data.append([msg.cov_minor, msg.cov_major]) + print ("length of data = " + str(len(data))) + np.save(rospkg.RosPack().get_path('ppt_3d') + '/scripts/covariance_data/data/'+args[0]+".npy", np.array(data)) + +if __name__ == '__main__': + if (len(sys.argv) == 2): + filename = sys.argv[1] + rospy.init_node('ppt_train_record_data') + + rospy.Subscriber("cavity", Cavity, callback, [filename]) + rospy.spin() diff --git a/data/mir_perception/mir_ppt_detection/scripts/ppt_classifier_node b/data/mir_perception/mir_ppt_detection/scripts/ppt_classifier_node new file mode 100644 index 0000000000000000000000000000000000000000..0160883f3a2f68d3dbcb7315dcd1759334411ac7 --- /dev/null +++ b/data/mir_perception/mir_ppt_detection/scripts/ppt_classifier_node @@ -0,0 +1,55 @@ +#! /usr/bin/env python + +import rospy +import rospkg +import tf +from mir_ppt_detection.msg import Cavity, Cavities +import json +import numpy as np + +br = tf.TransformBroadcaster() + +with open(rospkg.RosPack().get_path('mir_ppt_detection') + '/scripts/covariance_data/distribution_dict.json', 'r') as fp: + distribution_dict = json.load(fp) + for key in distribution_dict.keys(): + distribution_dict[key]['mu'] = np.array(distribution_dict[key]['mu']) + distribution_dict[key]['cov'] = 16*np.array(distribution_dict[key]['cov']).reshape((2,2)) + +def get_mahalanobis_distance(x, mu, cov): + return np.matmul(np.matmul((x-mu), np.linalg.pinv(cov)), (x-mu).T)**0.5 + +def callback(msg): + print "recieved" + for cavity in msg.cavities: + if cavity.cov_minor > 2.5e-5: + obj_name = 'unknown' + min_mahalanobis_distance = 1000 + obj_cov = np.array([cavity.cov_minor, cavity.cov_major]) + print "cov: " + print obj_cov + for key in distribution_dict.keys(): + target_distribution = distribution_dict[key] + mahalanobis_distance = get_mahalanobis_distance(obj_cov, + target_distribution['mu'], target_distribution['cov']) + if mahalanobis_distance < 2.0 and mahalanobis_distance < min_mahalanobis_distance: + obj_name = key + min_mahalanobis_distance = mahalanobis_distance + print mahalanobis_distance + print key + ": " + str(mahalanobis_distance) + elif mahalanobis_distance < 4.0: + print mahalanobis_distance + print key + ": " + str(mahalanobis_distance) + obj_pose = (cavity.pose.position.x, cavity.pose.position.y, + cavity.pose.position.z) + obj_quat = (cavity.pose.orientation.x, cavity.pose.orientation.y, + cavity.pose.orientation.z, cavity.pose.orientation.w) + + br.sendTransform(obj_pose, obj_quat, rospy.Time.now(), obj_name, + 'arm_cam3d_camera_color_optical_frame') + print "object detected is : " + obj_name + ": " + str(min_mahalanobis_distance) + +if __name__ == '__main__': + rospy.init_node('ppt_classifier_node') + + rospy.Subscriber("~cavities", Cavities, callback) + rospy.spin() diff --git a/data/mir_perception/mir_ppt_detection/src/min_distance_to_hull_calculator.cpp b/data/mir_perception/mir_ppt_detection/src/min_distance_to_hull_calculator.cpp new file mode 100644 index 0000000000000000000000000000000000000000..fcb0066b2bb6f5bea58668bdb6610ac2e5165fb1 --- /dev/null +++ b/data/mir_perception/mir_ppt_detection/src/min_distance_to_hull_calculator.cpp @@ -0,0 +1,88 @@ +#include + +#include +#include +#include + +typedef pcl::PointXYZRGBA PointRGBA; + +MinDistanceToHullCalculator::MinDistanceToHullCalculator() +{ + convex_hull_available_ = false; +} + +MinDistanceToHullCalculator::~MinDistanceToHullCalculator() +{ +} + +void MinDistanceToHullCalculator::setConvexHullPointsAndEdges( + const pcl::PointCloud::ConstPtr& convex_hull_cloud) +{ + hull_points_.clear(); + normalized_hull_edge_vecs_.clear(); + const PointRGBA* pcl_pt; + Eigen::Vector3f hull_edge_pt_1, hull_edge_pt_2, edge_vec; + pcl_pt = &convex_hull_cloud->points[0]; + hull_edge_pt_1 << pcl_pt->x, pcl_pt->y, pcl_pt->z; + for( size_t i = 0; i < convex_hull_cloud->points.size(); i++){ + pcl_pt = &convex_hull_cloud->points[i]; + hull_edge_pt_2 << pcl_pt->x, pcl_pt->y, pcl_pt->z; + hull_points_.push_back(hull_edge_pt_1); + edge_vec = hull_edge_pt_2 - hull_edge_pt_1; + normalized_hull_edge_vecs_.push_back(edge_vec/edge_vec.norm()); + hull_edge_pt_1 = hull_edge_pt_2; + } + if (!convex_hull_available_) convex_hull_available_ = true; +} + +float MinDistanceToHullCalculator::computeMinDistanceToEdge( + Eigen::Vector3f& pt, Eigen::Vector3f& edge_orig, + Eigen::Vector3f& normalized_edge_vec) +{ + Eigen::Vector3f edge_orig_to_pt_vec = pt - edge_orig; + return pow( ( pow(edge_orig_to_pt_vec.norm(), 2) - + pow(normalized_edge_vec.dot(edge_orig_to_pt_vec), 2) + ), + 0.5); +} + +float MinDistanceToHullCalculator::computeMinDistanceToHull(const PointRGBA& object_point) +{ + Eigen::Vector3f obj_pt; + float pt_to_edge_dist, min_pt_to_edge_dist = std::numeric_limits::max(); + obj_pt << object_point.x, object_point.y, object_point.z; + if (convex_hull_available_) + { + for( size_t i = 0; i < hull_points_.size(); i++) + { + pt_to_edge_dist = computeMinDistanceToEdge(obj_pt, hull_points_[i], + normalized_hull_edge_vecs_[i]); + if (pt_to_edge_dist < min_pt_to_edge_dist) min_pt_to_edge_dist = pt_to_edge_dist; + } + } + else + { + std::cout << "!!! The convex hull points of the workspace are yet to be set !!!" << std::endl; + } + return min_pt_to_edge_dist; +} + +float MinDistanceToHullCalculator::computeMinDistanceToHull( + const pcl::PointCloud::ConstPtr& object_cloud) +{ + float min_pt_to_edge_dist, min_obj_to_hull_dist = std::numeric_limits::max(); + if (convex_hull_available_) + { + for( size_t i = 0; i < object_cloud->points.size(); i++) + { + min_pt_to_edge_dist = computeMinDistanceToHull(object_cloud->points[i]); + if (min_pt_to_edge_dist < min_obj_to_hull_dist) min_obj_to_hull_dist = min_pt_to_edge_dist; + } + } + else + { + std::cout << "!!! The convex hull points of the workspace are yet to be set !!!" << std::endl; + } + return min_obj_to_hull_dist; +} + diff --git a/data/mir_perception/mir_ppt_detection/src/ppt_detector.cpp b/data/mir_perception/mir_ppt_detection/src/ppt_detector.cpp new file mode 100644 index 0000000000000000000000000000000000000000..5e72be9515921a91d9eb1b179259a1897b6469a0 --- /dev/null +++ b/data/mir_perception/mir_ppt_detection/src/ppt_detector.cpp @@ -0,0 +1,568 @@ +#include + +PPTDetector::PPTDetector(): + nh_("~") +{ + // Create a ROS subscriber for the input point cloud + // pc_sub_ = nh_.subscribe ("points", 1, &PPTDetector::cloud_cb, this); + event_in_sub_ = nh_.subscribe("event_in", 1, &PPTDetector::eventInCallback, this); + + // Create a ROS publisher for the output point cloud + cloud_pub0 = nh_.advertise ("cloud_non_planar", 1); + cloud_pub1 = nh_.advertise ("cloud_planar", 1); + cloud_pub2 = nh_.advertise ("cloud_cavity_clusters", 1); + cavity_pub = nh_.advertise ("cavities", 1); + + cavity_msg_pub_ = nh_.advertise("output_cavity", 10); + debug_pose_pub_ = nh_.advertise("output_debug_pose", 1); + event_out_pub_ = nh_.advertise("event_out", 1); + + // read ros param + bool success = readObjectShapeParams(); + if ( !success ) + { + ROS_FATAL("Failed to read object_shape_learned_params_file."); + ros::shutdown(); + } + + nh_.param("target_frame", target_frame_, "base_link"); + nh_.param("source_frame", source_frame_, "arm_cam3d_camera_color_optical_frame"); + nh_.param("debug_pub", debug_pub_, true); +} + +bool PPTDetector::readObjectShapeParams() +{ + std::string object_shape_learned_params_file; + nh_.param("object_shape_learned_params_file", object_shape_learned_params_file, ""); + + if ( object_shape_learned_params_file == "" ) + { + ROS_ERROR_STREAM("Object shape learned params file not provided"); + return false; + } + + YAML::Node object_shape_learned_params_yaml; + try + { + object_shape_learned_params_yaml = YAML::LoadFile(object_shape_learned_params_file); + } + catch(YAML::BadFile) + { + ROS_ERROR_STREAM("YAML threw BadFile exception. Does the file exist?" + << std::endl << object_shape_learned_params_file ); + return false; + } + + if ( !object_shape_learned_params_yaml.IsMap() ) + { + ROS_ERROR_STREAM("Object shape learned params file does not have a correct format."); + return false; + } + + // std::cout << object_shape_learned_params_yaml << std::endl; + for ( YAML::const_iterator it = object_shape_learned_params_yaml.begin(); + it != object_shape_learned_params_yaml.end(); ++it ) + { + std::string obj_name = it->first.as(); + if ( !it->second["mu"] || !it->second["cov"] ) + { + ROS_ERROR_STREAM("Object shape learned params file contains object " + << obj_name << " with invalid info"); + return false; + } + std::vector mu_vector = it->second["mu"].as>(); + std::vector cov_vector = it->second["cov"].as>(); + if ( mu_vector.size() != 2 || cov_vector.size() != 4 ) + { + ROS_ERROR_STREAM("Object shape learned params file contains object " + << obj_name << " with invalid size info"); + return false; + } + LearnedObjectParams learned_obj_params; + learned_obj_params.mu(0, 0) = mu_vector[0]; + learned_obj_params.mu(1, 0) = mu_vector[1]; + // FIXME: remove magic number 16 + learned_obj_params.cov(0, 0) = 16 * cov_vector[0]; + learned_obj_params.cov(0, 1) = 16 * cov_vector[1]; + learned_obj_params.cov(1, 0) = 16 * cov_vector[2]; + learned_obj_params.cov(1, 1) = 16 * cov_vector[3]; + learned_obj_params_map_[obj_name] = learned_obj_params; + } + + // for ( auto itr = learned_obj_params_map_.begin(); + // itr != learned_obj_params_map_.end(); + // itr ++ ) + // { + // std::cout << itr->first << std::endl; + // std::cout << "mu: " << itr->second.mu << std::endl; + // std::cout << "cov: " << itr->second.cov << std::endl; + // } + + return true; +} + +PointRGBA PPTDetector::get_point_rgba(const pcl::PointXYZRGB& pt_rgb){ + PointRGBA pt_rgba; + pt_rgba.x = pt_rgb.x; + pt_rgba.y = pt_rgb.y; + pt_rgba.z = pt_rgb.z; + pt_rgba.r = pt_rgb.r; + pt_rgba.g = pt_rgb.g; + pt_rgba.b = pt_rgb.b; + return pt_rgba; +} + +PointCloudRGBA::Ptr PPTDetector::get_point_cloud_rgba(const pcl::PointCloud::Ptr cloud_rgb){ + PointCloudRGBA::Ptr cloud_rgba(new PointCloudRGBA); + for( size_t i = 0; i < cloud_rgb->points.size(); i++){ + cloud_rgba->points.push_back(get_point_rgba(cloud_rgb->points[i])); + } + return cloud_rgba; +} + +template +void PPTDetector::downsample_organized_cloud(T cloud_in, PointCloud::Ptr cloud_downsampled, int scale) { + cloud_downsampled->width = cloud_in->width / scale; + cloud_downsampled->height = cloud_in->height / scale; + cloud_downsampled->points.resize(cloud_downsampled->width * cloud_downsampled->height); + for( size_t i = 0, ii = 0; i < cloud_downsampled->height; ii += scale, i++){ + for( size_t j = 0, jj = 0; j < cloud_downsampled->width; jj += scale, j++){ + cloud_downsampled->at(j, i) = cloud_in->at(jj, ii); + } + } +} + +bool PPTDetector::compute_dominant_plane_and_hull(PointCloud::Ptr cloud_in, + pcl::ModelCoefficients::Ptr plane_coeffs, + PointCloud::Ptr hull){ + //Estimate most dominant plane coefficients and inliers + PointIndices::Ptr inliers (new PointIndices); + pcl::SACSegmentation sac_seg; + sac_seg.setModelType (pcl::SACMODEL_PLANE); + sac_seg.setMethodType (pcl::SAC_RANSAC); + sac_seg.setOptimizeCoefficients (true); + sac_seg.setDistanceThreshold (0.01); + sac_seg.setInputCloud (cloud_in); + sac_seg.segment (*inliers, *plane_coeffs); + + if (inliers->indices.size() > cloud_in->points.size() / 5) { + //Project plane model inliers to plane + PointCloud::Ptr cloud_plane(new PointCloud); + pcl::ProjectInliers project_inliers; + project_inliers.setModelType(pcl::SACMODEL_NORMAL_PARALLEL_PLANE); + project_inliers.setInputCloud(cloud_in); + project_inliers.setModelCoefficients(plane_coeffs); + project_inliers.setIndices(inliers); + project_inliers.setCopyAllData(false); + project_inliers.filter(*cloud_plane); + + //Compute plane convex hull + pcl::ConvexHull convex_hull; + convex_hull.setInputCloud(cloud_plane); + convex_hull.reconstruct(*hull); + hull->points.push_back(hull->at(0)); + return true; + } else { + return false; + } +} + +void PPTDetector::project_points_to_plane(PointCloud::Ptr cloud_in, + pcl::ModelCoefficients::Ptr plane_coeffs, + PointIndices::Ptr planar_indices, + PointIndices::Ptr non_planar_indices, + PointCloudRGBA::Ptr cloud_projected){ + cloud_projected->width = cloud_in->width; + cloud_projected->height = cloud_in->height; + for( size_t row = 0; row < cloud_in->height; row++){ + for( size_t col = 0; col < cloud_in->width; col++){ + PointT pt_in = cloud_in->at(col, row); + + float x_bar = (downsample_scale*col-cam_cx)/cam_fx; + float y_bar = (downsample_scale*row-cam_cy)/cam_fy; + float z = -plane_coeffs->values[3] / (plane_coeffs->values[0]*x_bar + plane_coeffs->values[1]*y_bar + plane_coeffs->values[2]) + 5e-4f*rand()/(RAND_MAX); + PointRGBA pt_projected = get_point_rgba(pt_in); + pt_projected.x = x_bar*z; + pt_projected.y = y_bar*z; + pt_projected.z = z; + + float pt_in_dist = sqrt(pow(pt_in.x,2) + pow(pt_in.y,2) + pow(pt_in.z,2)); + float pt_proj_dist = sqrt(pow(pt_projected.x,2) + pow(pt_projected.y,2) + pow(pt_projected.z,2)); + if (fabs(pt_in_dist - pt_proj_dist) < planar_projection_thresh) { + planar_indices->indices.push_back(col + row*cloud_in->width); + pt_projected.a = 0; + } else if (std::isnan(pt_in_dist) || pt_in_dist > pt_proj_dist){ + non_planar_indices->indices.push_back(col + row*cloud_in->width); + pt_projected.a = 1; + } + cloud_projected->points.push_back(pt_projected); + } + } +} + +void PPTDetector::extract_polygonal_prism_inliers(PointCloudRGBA::Ptr cloud_in, + PointIndices::Ptr indices_in, + PointCloud::Ptr cloud_hull, + PointIndices::Ptr hull_inlier_indices){ + pcl::ExtractPolygonalPrismData epp; + PointCloudRGBA::Ptr cloud_hull_rgba = get_point_cloud_rgba(cloud_hull); + epp.setInputPlanarHull(cloud_hull_rgba); + epp.setInputCloud(cloud_in); + epp.setIndices(indices_in); + double z_min = -planar_projection_thresh; + double z_max = planar_projection_thresh; + epp.setHeightLimits(z_min, z_max); + epp.segment(*hull_inlier_indices); +} + +bool PPTDetector::customRegionGrowing1 (const PointRGBA& point_a, const PointRGBA& point_b, + float squared_distance){ + float thresh = 5; + if (fabs(point_a.r-point_b.r) < thresh && fabs(point_a.g-point_b.g) < thresh && fabs(point_a.b-point_b.b) < thresh){ + return true; + } + return false; +} + +bool PPTDetector::customRegionGrowing2 (const PointRGBA& point_a, const PointRGBA& point_b, + float squared_distance){ + if (point_a.a == 1 && point_b.a == 1){ + return true; + } else { + float thresh = 5; + if (fabs(point_a.r-point_b.r) < thresh && fabs(point_a.g-point_b.g) < thresh && fabs(point_a.b-point_b.b) < thresh){ + return true; + } + } + return false; +} + +float PPTDetector::get_non_planar_pt_frac(PointCloudRGBA::Ptr cloud_in){ + int non_planar_pt_cnt = 0; + for( size_t i= 0; i < cloud_in->points.size(); i++){ + if (cloud_in->points[i].a == 1) {non_planar_pt_cnt++;} + } + return (float)non_planar_pt_cnt/cloud_in->points.size(); +} + +void PPTDetector::compute_cavity_clusters(PointCloudRGBA::Ptr cloud_in, + PointIndices::Ptr planar_idx, + PointIndices::Ptr non_planar_idx, + pcl::IndicesClustersPtr clusters){ + pcl::ConditionalEuclideanClustering cec; + cec.setInputCloud (cloud_in); + + pcl::IndicesClustersPtr planar_cavity_candidate_idx_clusters (new pcl::IndicesClusters); + cec.setIndices (planar_idx); + cec.setClusterTolerance (0.005); + cec.setMinClusterSize (1); + cec.setMaxClusterSize (cloud_in->points.size() / 50); + cec.setConditionFunction (&PPTDetector::customRegionGrowing1); + cec.segment (*planar_cavity_candidate_idx_clusters); + + pcl::PointIndices::Ptr cavity_candidate_indices (new pcl::PointIndices (*non_planar_idx)); + for (std::vector::const_iterator cluster_it = planar_cavity_candidate_idx_clusters->begin (); + cluster_it != planar_cavity_candidate_idx_clusters->end (); ++cluster_it) { + cavity_candidate_indices->indices.insert(cavity_candidate_indices->indices.end(), + cluster_it->indices.begin(), + cluster_it->indices.end()); + } + + cec.setIndices (cavity_candidate_indices); + cec.setClusterTolerance (0.005); + cec.setMinClusterSize (cloud_in->points.size() / 400); + cec.setMaxClusterSize (cloud_in->points.size() / 10); + cec.setConditionFunction (&PPTDetector::customRegionGrowing2); + cec.segment (*clusters); +} + +void PPTDetector::detectCavities(const PointCloud::ConstPtr& input, + mir_ppt_detection::Cavities& cavities_msg, + PointCloudRGBA::Ptr& non_planar_cloud, + PointCloudRGBA::Ptr& planar_cloud, + PointCloudRGBA::Ptr& cavity_cloud) +{ + //Downsample by downsample_scale + PointCloud::Ptr cloud_downsampled(new PointCloud); + downsample_organized_cloud(input, cloud_downsampled, downsample_scale); + + //Downsample by downsample_scale a second time + PointCloud::Ptr cloud_downsampled_x2(new PointCloud); + downsample_organized_cloud(cloud_downsampled, cloud_downsampled_x2, downsample_scale); + + //Estimate most dominant plane coefficients and hull + pcl::ModelCoefficients::Ptr plane_coefficients (new pcl::ModelCoefficients); + PointCloud::Ptr cloud_hull(new PointCloud); + + if (!compute_dominant_plane_and_hull(cloud_downsampled_x2, plane_coefficients, cloud_hull)) + { + return; + } + dist_to_hull.setConvexHullPointsAndEdges(get_point_cloud_rgba(cloud_hull)); + // std::cout << "plane segmentation time: " << ros::Time::now().toSec() - t.toSec() << std::endl; + + PointIndices::Ptr planar_indices (new PointIndices); + PointIndices::Ptr non_planar_indices (new PointIndices); + PointCloudRGBA::Ptr cloud_projected(new PointCloudRGBA); + project_points_to_plane(cloud_downsampled, plane_coefficients, planar_indices, + non_planar_indices, cloud_projected); + + PointIndices::Ptr planar_hull_inlier_indices (new PointIndices); + extract_polygonal_prism_inliers(cloud_projected, planar_indices, + cloud_hull, planar_hull_inlier_indices); + PointIndices::Ptr non_planar_hull_inlier_indices (new PointIndices); + extract_polygonal_prism_inliers(cloud_projected, non_planar_indices, + cloud_hull, non_planar_hull_inlier_indices); + + pcl::IndicesClustersPtr cavity_clusters (new pcl::IndicesClusters); + compute_cavity_clusters(cloud_projected, planar_hull_inlier_indices, + non_planar_hull_inlier_indices, cavity_clusters); + std::cout << "Number of clusters: " << cavity_clusters->size() << std::endl; + + PointIndices::Ptr cavity_cluster_indices (new PointIndices); + for (std::vector::const_iterator cluster_it = cavity_clusters->begin (); + cluster_it != cavity_clusters->end (); ++cluster_it) + { + cavity_cluster_indices->indices.insert(cavity_cluster_indices->indices.end(), + cluster_it->indices.begin(), + cluster_it->indices.end()); + } + + pcl::ExtractIndices extract (true); + extract.setInputCloud (cloud_projected); + PointCloudRGBA::Ptr cloud_cavity(new PointCloudRGBA); + pcl::ConvexHull convex_hull; + convex_hull.setComputeAreaVolume(true); + PointCloudRGBA::Ptr cavity_hull(new PointCloudRGBA); + for (std::vector::const_iterator cluster_it = cavity_clusters->begin (); + cluster_it != cavity_clusters->end (); ++cluster_it) + { + PointIndices::Ptr cavity_indices (new PointIndices (*cluster_it)); + extract.setIndices (cavity_indices); + extract.filter (*cloud_cavity); + if (get_non_planar_pt_frac(cloud_cavity) < 0.6) + { + continue; + } + convex_hull.setInputCloud(cloud_cavity); + convex_hull.reconstruct(*cavity_hull); + if (convex_hull.getTotalArea() < min_cavity_area || + dist_to_hull.computeMinDistanceToHull(cavity_hull) < 0.01) { + continue; + } + // std::cerr << "Cavity cloud points added: " << cloud_cavity->points.size () << std::endl; + PointCloudRGBA::Ptr cavity_cloud_filtered(new PointCloudRGBA); + pcl::VoxelGrid sor; + sor.setInputCloud (cloud_cavity); + sor.setLeafSize (0.002f, 0.002f, 0.002f); + sor.filter (*cavity_cloud_filtered); + + Eigen::Vector4f pcaCentroid; + pcl::compute3DCentroid(*cavity_cloud_filtered, pcaCentroid); + Eigen::Matrix3f covariance; + computeCovarianceMatrixNormalized(*cavity_cloud_filtered, + pcaCentroid, covariance); + Eigen::SelfAdjointEigenSolver eigen_solver( + covariance, Eigen::ComputeEigenvectors); + Eigen::Matrix3f eigenVectorsPCA = eigen_solver.eigenvectors(); + + int first_principle_component_direction_signum; + float first_principle_component_displacement; + float second_principle_component_displacement; + float displacement_metric = 0.0f; + Eigen::Vector3f pt_to_centroid_vec, pcaCentroid_vec3f = pcaCentroid.head<3>(); + for (std::vector >::const_iterator cpt = cavity_cloud_filtered->points.begin (); + cpt != cavity_cloud_filtered->points.end (); ++cpt){ + pt_to_centroid_vec = cpt->getVector3fMap()-pcaCentroid_vec3f; + first_principle_component_displacement = eigenVectorsPCA.col(2).dot(pt_to_centroid_vec); + second_principle_component_displacement = eigenVectorsPCA.col(1).dot(pt_to_centroid_vec); + displacement_metric += first_principle_component_displacement * pow(second_principle_component_displacement,2); + } + first_principle_component_direction_signum = displacement_metric/fabs(displacement_metric); + eigenVectorsPCA.col(0) = first_principle_component_direction_signum * eigenVectorsPCA.col(2); + // Ensure orientation z-axis (3rd principle component / eigenvector column) points towards camera + if (eigenVectorsPCA.col(0).cross(eigenVectorsPCA.col(1))[2] > 0){ + eigenVectorsPCA.col(1) = -eigenVectorsPCA.col(1); + } + eigenVectorsPCA.col(2) = eigenVectorsPCA.col(0).cross(eigenVectorsPCA.col(1)); + + + mir_ppt_detection::Cavity cavity_msg; + cavity_msg.cov_minor = eigen_solver.eigenvalues()[1]; + cavity_msg.cov_major = eigen_solver.eigenvalues()[2]; + geometry_msgs::Pose pose; + Eigen::Quaternionf quaternionPCA(eigenVectorsPCA); + pose.orientation.x = quaternionPCA.x(); + pose.orientation.y = quaternionPCA.y(); + pose.orientation.z = quaternionPCA.z(); + pose.orientation.w = quaternionPCA.w(); + pose.position.x = pcaCentroid[0]; + pose.position.y = pcaCentroid[1]; + pose.position.z = pcaCentroid[2]; + cavity_msg.pose = pose; + cavities_msg.cavities.push_back(cavity_msg); + // std::cout << "eigenval minor: " << eigen_solver.eigenvalues()[1] + // << " eigenval major: " << eigen_solver.eigenvalues()[2] << std::endl; + } + + extract.setIndices (non_planar_hull_inlier_indices); + extract.filter (*non_planar_cloud); + non_planar_cloud->width = non_planar_cloud->points.size (); + non_planar_cloud->height = 1; + non_planar_cloud->is_dense = true; + + extract.setIndices (planar_hull_inlier_indices); + extract.filter (*planar_cloud); + planar_cloud->width = planar_cloud->points.size (); + planar_cloud->height = 1; + planar_cloud->is_dense = true; + + extract.setIndices (cavity_cluster_indices); + extract.filter (*cavity_cloud); + cavity_cloud->width = cavity_cloud->points.size (); + cavity_cloud->height = 1; + cavity_cloud->is_dense = true; +} + +float PPTDetector::get_mahalanobis_distance(Eigen::Vector2f x, Eigen::Vector2f mu, Eigen::Matrix2f cov) +{ + Eigen::Vector2f x_minus_mu = x-mu; + float answer = (cov.inverse() * x_minus_mu).transpose() * x_minus_mu; + return sqrt(answer); +} + +std::string PPTDetector::predictCavityName(const mir_ppt_detection::Cavity& cavity) +{ + std::string obj_name = "unknown"; + if ( cavity.cov_minor < 2.5e-5f ) + { + std::cout << "cov minor is too small" << std::endl; + return obj_name; + } + + float min_mahalanobis_distance = 1000.0f; + + Eigen::Vector2f obj_x; + obj_x(0, 0) = cavity.cov_minor; + obj_x(1, 0) = cavity.cov_major; + + for ( auto itr = learned_obj_params_map_.begin(); + itr != learned_obj_params_map_.end(); + itr ++ ) + { + float mahalanobis_distance = get_mahalanobis_distance(obj_x, itr->second.mu, + itr->second.cov); + // FIXME: remove magic number 2.0 + if ( mahalanobis_distance < 2.0f && mahalanobis_distance < min_mahalanobis_distance ) + { + obj_name = itr->first; + min_mahalanobis_distance = mahalanobis_distance; + } + } + return obj_name; +} + + +void PPTDetector::publish_cavity_msg(const mir_ppt_detection::Cavities& cavities) +{ + geometry_msgs::PoseArray pose_array_msg; + pose_array_msg.header.stamp = ros::Time::now(); + pose_array_msg.header.frame_id = target_frame_; + + + for ( size_t i = 0; i < cavities.cavities.size(); i ++ ) + { + std::string cavity_name = predictCavityName(cavities.cavities[i]); + std::cout << "i:" << i << " winner cavity:" << cavity_name << std::endl; + + if ( cavity_name == "unknown" ) + { + continue; + } + + geometry_msgs::PoseStamped pose_in_source_frame; + pose_in_source_frame.pose = cavities.cavities[i].pose; + pose_in_source_frame.header.frame_id = source_frame_; + pose_in_source_frame.header.stamp = ros::Time::now(); + + geometry_msgs::PoseStamped pose_in_target_frame; + try + { + listener_.waitForTransform(target_frame_, source_frame_, pose_in_source_frame.header.stamp, ros::Duration(3.0)); + listener_.transformPose(target_frame_, pose_in_source_frame, pose_in_target_frame); + } + catch (tf::TransformException ex) + { + ROS_ERROR("%s", ex.what()); + } + pose_in_target_frame.pose.position.z = 0.035; //TODO: do not hardcode this; use workspace height + object_height_above_workspace + + mas_perception_msgs::Cavity cavity; + + cavity.pose = pose_in_target_frame; + //ROS_INFO_STREAM("pose fream id in for loop " <header.frame_id ; + output.header.stamp = ros::Time::now(); + cloud_pub0.publish (output); + + pcl::toROSMsg(*planar_cloud, output); + output.header.frame_id = input->header.frame_id ; + output.header.stamp = ros::Time::now(); + cloud_pub1.publish (output); + + pcl::toROSMsg(*cavity_cloud, output); + output.header.frame_id = input->header.frame_id ; + output.header.stamp = ros::Time::now(); + cloud_pub2.publish (output); + } + pc_sub_.shutdown(); + + std_msgs::String output_msg; + output_msg.data = std::string("e_done"); + event_out_pub_.publish(output_msg); +} + +void PPTDetector::eventInCallback(const std_msgs::String &msg) +{ + if (msg.data == "e_trigger") + { + pc_sub_ = nh_.subscribe ("points", 1, &PPTDetector::cloud_cb, this); + ROS_INFO("Subscribed to pointcloud"); + } +} + +int main (int argc, char** argv) +{ + // Initialize ROS + ros::init (argc, argv, "ppt_3d_detector"); + PPTDetector ppt_detector; + // Spin + ros::spin (); +} diff --git a/data/mir_planning/mir_actions/mir_actions/CMakeLists.txt b/data/mir_planning/mir_actions/mir_actions/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..eab1ce46907634a9e761ce4cc8aeed525491d444 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_actions/CMakeLists.txt @@ -0,0 +1,23 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_actions) + +find_package(catkin REQUIRED + COMPONENTS + mir_move_base_safe + mir_perceive_location + mir_perceive_cavity + mir_pick_object + mir_place_object + mir_stage_object + mir_unstage_object + mir_insert_object + mir_insert_cavity + mir_planning_msgs +) + +catkin_python_setup() + +catkin_package( + CATKIN_DEPENDS + mir_planning_msgs +) diff --git a/data/mir_planning/mir_actions/mir_actions/package.xml b/data/mir_planning/mir_actions/mir_actions/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..9c466d2436176d1250927c2fe328e3f107200999 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_actions/package.xml @@ -0,0 +1,30 @@ + + + mir_actions + 1.0.0 + + youbot actions package, provides with common code among yb + actions + launch file + utils to run all action servers + + + Oscar Lima + + GPLv3 + + Oscar Lima + + catkin + + mir_planning_msgs + + mir_move_base_safe + mir_perceive_location + mir_perceive_cavity + mir_pick_object + mir_place_object + mir_stage_object + mir_unstage_object + mir_insert_object + mir_insert_cavity + + diff --git a/data/mir_planning/mir_actions/mir_actions/ros/config/youbot_dynamic_params.yaml b/data/mir_planning/mir_actions/mir_actions/ros/config/youbot_dynamic_params.yaml new file mode 100644 index 0000000000000000000000000000000000000000..882f75d050239022bc870df4b30ef452417f0798 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_actions/ros/config/youbot_dynamic_params.yaml @@ -0,0 +1,114 @@ +# This file is used to specify parameters that can be set +# using dynamic reconfigure. The named configurations set here +# can be referred to from state machines in order to change a set of parameters +# for a particular node based on the context. For example dbc_move_base +# consists of all parameters for the direct base controller which is +# used by the move_base wrapper. dbc_pick_object consists of the parameters for the +# same direct base controller, but used in the context of picking objects (or inserting) +dbc_move_base: + /mcr_navigation/direct_base_controller/coordinator: + threshold_linear_x: 0.005 + threshold_linear_y: 0.005 + threshold_angular_z: 0.04 + wait_for_transform: 0.1 + p_gain_x: 3.0 + p_gain_y: 3.0 + p_gain_yaw: 3.0 + max_velocity_x: 0.35 + max_velocity_y: 0.35 + max_velocity_z: 0.0 + max_velocity_roll: 0.0 + max_velocity_pitch: 0.0 + max_velocity_yaw: 0.35 + use_collision_avoidance: False + loop_rate: 20.0 +dbc_pick_object: + /mcr_navigation/direct_base_controller/coordinator: + threshold_linear_x: 0.04 + threshold_linear_y: 0.02 + threshold_angular_z: 15.0 + wait_for_transform: 0.1 + p_gain_x: 2.0 + p_gain_y: 4.0 + p_gain_yaw: 4.0 + max_velocity_x: 0.05 + max_velocity_y: 0.2 + max_velocity_z: 0.0 + max_velocity_roll: 0.0 + max_velocity_pitch: 0.0 + max_velocity_yaw: 0.4 + use_collision_avoidance: True + front_laser_threshold: 0.04 + right_laser_threshold: 0.04 + rear_laser_threshold: 0.02 + left_laser_threshold: 0.04 + loop_rate: 25.0 +pregrasp_planner_single_shot: + /pregrasp_planner_node: + min_azimuth: 0.0 + max_azimuth: 0.0 + min_zenith: 0.0 + max_zenith: 0.0 + min_roll: 0.0 + max_roll: 0.0 + linear_step: 0.01 + angular_step: 0.5 + min_distance_to_object: -0.03 + max_distance_to_object: -0.03 + max_samples: 20 + max_height: 0.0 + min_height: 0.0 + height_tolerance: 0.24 + angular_tolerance: 10.0 + target_frame: base_link + reference_axis: z + rotation_offset: 0.0 + linear_offset_x: 0.0 + linear_offset_y: 0.0 + linear_offset_z: 0.0 + generate_pregrasp_waypoint: True + ignore_orientation: False + joint_1_offset: 0.0 + joint_2_offset: -0.6 + joint_3_offset: 0.3 + joint_4_offset: 0.0 + joint_5_offset: 0.0 + joint_1_offset_side_grasp: 0.0 + joint_2_offset_side_grasp: 0.0 + joint_3_offset_side_grasp: 0.453 + joint_4_offset_side_grasp: -0.367 + joint_5_offset_side_grasp: 0.0 + rotation_range_min: 270.0 + rotation_range_max: 90.0 +pregrasp_planner_zealous: + /pregrasp_planner_node: + min_azimuth: 0.0 + max_azimuth: 0.0 + min_zenith: -60.0 + max_zenith: 10.0 + min_roll: -30.0 + max_roll: 30.0 + linear_step: 0.01 + angular_step: 0.5 + min_distance_to_object: 0.0 + max_distance_to_object: 0.0 + max_samples: 20 + max_height: 0.0 + min_height: 0.0 + max_samples: 20 + max_height: 0.0 + min_height: 0.0 + target_frame: base_link + ignore_orientation: True +multimodal_object_recognition_atwork: + /mir_perception/multimodal_object_recognition: + obj_category: atwork + rgb_cluster_filter_limit_max: 0.35 +multimodal_object_recognition_cavity: + /mir_perception/multimodal_object_recognition: + obj_category: cavity + rgb_cluster_filter_limit_max: -0.015 +multimodal_object_recognition_container: + /mir_perception/multimodal_object_recognition: + obj_category: container + rgb_cluster_filter_limit_max: 0.35 \ No newline at end of file diff --git a/data/mir_planning/mir_actions/mir_actions/ros/launch/run_action_servers.launch b/data/mir_planning/mir_actions/mir_actions/ros/launch/run_action_servers.launch new file mode 100644 index 0000000000000000000000000000000000000000..d641cba4612afacd49c8ed9b820bc9454b9c6a04 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_actions/ros/launch/run_action_servers.launch @@ -0,0 +1,56 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_planning/mir_actions/mir_actions/ros/src/mir_actions/__init__.py b/data/mir_planning/mir_actions/mir_actions/ros/src/mir_actions/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/data/mir_planning/mir_actions/mir_actions/ros/src/mir_actions/utils.py b/data/mir_planning/mir_actions/mir_actions/ros/src/mir_actions/utils.py new file mode 100644 index 0000000000000000000000000000000000000000..7332a079da65377dac75ddfe202d2cb068e056b0 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_actions/ros/src/mir_actions/utils.py @@ -0,0 +1,124 @@ +#! /usr/bin/env python + +from __future__ import print_function + +import geometry_msgs.msg +import rospy +import tf +import math + +class Utils(object): + + """ + Utility functions for :ref:`mir_actions` packages + """ + + @staticmethod + def get_value_of(params, desired_key): + """Get the value of ``desired_key`` from ``params`` + If none of the key matches, returns None + + :param params: all key value pairs + :type params: list (diagnostic_msgs/KeyValue) + :param desired_key: query key + :type desired_key: str + :return: value corresponding ``desired_key`` + :rtype: str | None + + """ + for param in params: + if desired_key == param.key: + return param.value + return None + + @staticmethod + def get_orientation_from_param_server(orientation_goal, frame_id="map", + param_ns="/script_server/base_orientations/"): + assert type(orientation_goal) == str, "'orientation_goal' must be a string." + + parameter_name = param_ns + orientation_goal + if not rospy.has_param(parameter_name): + rospy.logerr( + "parameter '{}' does not exist on ROS Parameter Server, aborting...".format( + parameter_name + ) + ) + return None + else: + angle = rospy.get_param(parameter_name) + + quat = tf.transformations.quaternion_from_euler(0, 0, angle) + orientation = geometry_msgs.msg.Quaternion() + orientation.x = quat[0] + orientation.y = quat[1] + orientation.z = quat[2] + orientation.w = quat[3] + + return orientation + + @staticmethod + def get_pose_from_param_server(navigation_goal, frame_id="map", + param_ns="/script_server/base/"): + """ + param navigation_goal: the name of the navigation goal to obtain the pose. + type navigation_goal: str + + param frame_id: the name of the reference frame for the pose. + type frame_id: str + + param param_ns: the namespace of the parameter server. + type param_ns: str + + return: the pose specified by name; or None if the pose name is not + in the param server. + return type: geometry_msgs.msg.PoseStamped or None + + """ + assert type(navigation_goal) == str, "'navigation_goal' must be a string." + + parameter_name = param_ns + navigation_goal + if not rospy.has_param(parameter_name): + rospy.logerr( + "parameter '{}' does not exist on ROS Parameter Server, aborting...".format( + parameter_name + ) + ) + return None + else: + pose = geometry_msgs.msg.PoseStamped() + pose_2d = rospy.get_param(parameter_name) + + # TODO: Oscar fix this... No Jose i will not fix it + # pose.header.stamp = rospy.Time.now() + pose.header.frame_id = frame_id + pose.pose.position.x = pose_2d[0] + pose.pose.position.y = pose_2d[1] + pose.pose.position.z = 0.0 + + q = tf.transformations.quaternion_from_euler(0, 0, pose_2d[2]) + pose.pose.orientation.x = q[0] + pose.pose.orientation.y = q[1] + pose.pose.orientation.z = q[2] + pose.pose.orientation.w = q[3] + + return pose + + @staticmethod + def get_distance_between_poses(pose1, pose2): + """ + param pose1: the first pose. + type pose1: geometry_msgs.msg.PoseStamped() + param pose2: the second pose. + type pose2: geometry_msgs.msg.PoseStamped() + return: the distance between the two poses. + return type: float + """ + + print("pose1: {}".format(pose1.pose.position)) + print("pose2: {}".format(pose2.pose.position)) + + return math.sqrt( + math.pow(pose1.pose.position.x - pose2.pose.position.x, 2) + + math.pow(pose1.pose.position.y - pose2.pose.position.y, 2) + + math.pow(pose1.pose.position.z - pose2.pose.position.z, 2) + ) \ No newline at end of file diff --git a/data/mir_planning/mir_actions/mir_actions/setup.py b/data/mir_planning/mir_actions/mir_actions/setup.py new file mode 100644 index 0000000000000000000000000000000000000000..9d41bdd0ac7b58f30f0d8a5539484105b616ce99 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_actions/setup.py @@ -0,0 +1,11 @@ +#!/usr/bin/env python + +from distutils.core import setup + +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages=["mir_actions"], package_dir={"mir_actions": "ros/src/mir_actions"} +) + +setup(**d) diff --git a/data/mir_planning/mir_actions/mir_calibrate_pick/CMakeLists.txt b/data/mir_planning/mir_actions/mir_calibrate_pick/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..8cfe6472d8560fcf9d6d8fc8bd6689f28a664d71 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_calibrate_pick/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_calibrate_pick) + +find_package(catkin REQUIRED + COMPONENTS +) + +catkin_package( + CATKIN_DEPENDS +) diff --git a/data/mir_planning/mir_actions/mir_calibrate_pick/package.xml b/data/mir_planning/mir_actions/mir_calibrate_pick/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..d8e71801f4dcbb37f73cf67e914f5bed965272bf --- /dev/null +++ b/data/mir_planning/mir_actions/mir_calibrate_pick/package.xml @@ -0,0 +1,16 @@ + + + mir_calibrate_pick + 1.0.0 + + Action server which assists in extrinsic calibration of the 3D camera + + + GPLv3 + + Santosh Thoduka + Santosh Thoduka + + catkin + + diff --git a/data/mir_planning/mir_actions/mir_calibrate_pick/ros/launch/calibrate_pick.launch b/data/mir_planning/mir_actions/mir_calibrate_pick/ros/launch/calibrate_pick.launch new file mode 100644 index 0000000000000000000000000000000000000000..5dcbfb2cbe0973ed5b6bd1af3408362366224f1f --- /dev/null +++ b/data/mir_planning/mir_actions/mir_calibrate_pick/ros/launch/calibrate_pick.launch @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_planning/mir_actions/mir_calibrate_pick/ros/scripts/calibrate_pick_client_test.py b/data/mir_planning/mir_actions/mir_calibrate_pick/ros/scripts/calibrate_pick_client_test.py new file mode 100644 index 0000000000000000000000000000000000000000..14cc3fc25c524cdd82bb573b178954f252c342c4 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_calibrate_pick/ros/scripts/calibrate_pick_client_test.py @@ -0,0 +1,39 @@ +#! /usr/bin/env python + +import sys + +import rospy +from actionlib import SimpleActionClient +from actionlib_msgs.msg import GoalStatus +from diagnostic_msgs.msg import KeyValue +from mir_planning_msgs.msg import GenericExecuteAction, GenericExecuteGoal + +if __name__ == "__main__": + rospy.init_node("calibrate_pick_client_tester") + + client = SimpleActionClient("calibrate_pick_server", GenericExecuteAction) + client.wait_for_server() + + goal = GenericExecuteGoal() + rospy.loginfo("Sending following goal to calibrate pick server") + rospy.loginfo(goal) + + client.send_goal(goal) + + timeout = 150.0 + finished_within_time = client.wait_for_result( + rospy.Duration.from_sec(int(timeout)) + ) + if not finished_within_time: + client.cancel_goal() + + state = client.get_state() + result = client.get_result() + if state == GoalStatus.SUCCEEDED: + rospy.loginfo("Action SUCCESS") + rospy.loginfo(client.get_result()) + elif state == GoalStatus.ABORTED: + rospy.logerr("Action FAILED") + else: + rospy.logwarn("State: " + str(state)) + rospy.loginfo(client.get_result()) diff --git a/data/mir_planning/mir_actions/mir_calibrate_pick/ros/scripts/calibrate_pick_server.py b/data/mir_planning/mir_actions/mir_calibrate_pick/ros/scripts/calibrate_pick_server.py new file mode 100644 index 0000000000000000000000000000000000000000..35e42018697901ffa62405d199c0d1d051092bcc --- /dev/null +++ b/data/mir_planning/mir_actions/mir_calibrate_pick/ros/scripts/calibrate_pick_server.py @@ -0,0 +1,120 @@ +#!/usr/bin/python3 +import sys + +import mcr_states.common.basic_states as gbs +import mir_states.common.manipulation_states as gms +import rospy +import smach +from mir_planning_msgs.msg import ( + GenericExecuteAction, + GenericExecuteFeedback, + GenericExecuteResult, +) +from smach_ros import ActionServerWrapper, IntrospectionServer + +class WaitForEventFromUser(smach.State): + def __init__(self): + smach.State.__init__(self, outcomes=['success', 'failure']) + + def execute(self, userdata): + rospy.loginfo("Have you placed the mockup pose? press y/n ") + input_from_user = input() + if ('y' == input_from_user): + rospy.loginfo("Received YES .. moving arm ") + return 'success' + else: + rospy.loginfo("Received NO .. EXITING MOVING ARM ") + return 'failure' + + +def main(): + # Open the container + rospy.init_node("calibrate_pick_server") + # Construct state machine + sm = smach.StateMachine( + outcomes=["OVERALL_SUCCESS", "OVERALL_FAILED"], + input_keys=["goal"], + output_keys=["feedback", "result"], + ) + + with sm: + # publish a static frame which will be used as reference for perceived objs + smach.StateMachine.add( + "STOP_REFERENCE_FRAME_PUB", + gbs.send_event([("/static_transform_publisher_node/event_in", "e_stop")]), + transitions={"success": "MOVE_ARM"}, + ) + + smach.StateMachine.add( + "OPEN_GRIPPER", + gms.control_gripper("open"), + transitions={"succeeded": "MOVE_ARM"}, + ) + smach.StateMachine.add('MOVE_ARM', gms.move_arm('look_at_workspace_from_near'), + transitions={'succeeded': 'PUBLISH_REFERENCE_FRAME', + 'failed': 'MOVE_ARM'}) + # publish a static frame which will be used as reference for perceived objs + smach.StateMachine.add( + "PUBLISH_REFERENCE_FRAME", + gbs.send_event([("/static_transform_publisher_node/event_in", "e_start")]), + transitions={"success": "WAIT_FOR_EVENT_FROM_USER"}, + ) + + smach.StateMachine.add('WAIT_FOR_EVENT_FROM_USER', WaitForEventFromUser(), + transitions={'success' : 'MOVE_ROBOT_AND_PICK', + 'failure' : 'OVERALL_FAILED'}) + + # whole body control command. It moves direct base controller and + # calls pre-grasp planner, and (optionally) moves arm to object pose + smach.StateMachine.add( + "MOVE_ROBOT_AND_PICK", + gbs.send_and_wait_events_combined( + event_in_list=[("/wbc/event_in", "e_start")], + event_out_list=[("/wbc/event_out", "e_success", True)], + timeout_duration=50, + ), + transitions={ + "success": "OVERALL_SUCCESS", + "timeout": "STOP_MOVE_ROBOT_TO_OBJECT_WITH_FAILURE", + "failure": "STOP_MOVE_ROBOT_TO_OBJECT_WITH_FAILURE", + }, + ) + + smach.StateMachine.add( + "STOP_MOVE_ROBOT_TO_OBJECT_WITH_FAILURE", + gbs.send_event( + [ + ("/waypoint_trajectory_generation/event_in", "e_start"), + ("/wbc/event_in", "e_stop"), + ] + ), + transitions={"success": "OVERALL_FAILED"}, + ) + + + # smach viewer + if rospy.get_param("~viewer_enabled", False): + sis = IntrospectionServer( + "calibrate_pick_smach_viewer", sm, "/CALIBRATE_PICK_SMACH_VIEWER" + ) + sis.start() + + # Construct action server wrapper + asw = ActionServerWrapper( + server_name="calibrate_pick_server", + action_spec=GenericExecuteAction, + wrapped_container=sm, + succeeded_outcomes=["OVERALL_SUCCESS"], + aborted_outcomes=["OVERALL_FAILED"], + preempted_outcomes=["PREEMPTED"], + goal_key="goal", + feedback_key="feedback", + result_key="result", + ) + # Run the server in a background thread + asw.run_server() + rospy.spin() + + +if __name__ == "__main__": + main() diff --git a/data/mir_planning/mir_actions/mir_insert_cavity/CMakeLists.txt b/data/mir_planning/mir_actions/mir_insert_cavity/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..67b878e5c31e0bb7a4021df55d80d0b3b24da9c7 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_insert_cavity/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_insert_cavity) + +find_package(catkin REQUIRED + COMPONENTS +) + +catkin_package( + CATKIN_DEPENDS +) diff --git a/data/mir_planning/mir_actions/mir_insert_cavity/package.xml b/data/mir_planning/mir_actions/mir_insert_cavity/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..dea30f3d8e417eebcf2005e256d1a7b45757694a --- /dev/null +++ b/data/mir_planning/mir_actions/mir_insert_cavity/package.xml @@ -0,0 +1,17 @@ + + + mir_insert_cavity + 1.0.0 + + After perceiving a cavity workstation, this package tries to insert an object + in correct cavity. + + + GPLv3 + + Oscar Lima + Oscar Lima + + catkin + + diff --git a/data/mir_planning/mir_actions/mir_insert_cavity/ros/scripts/insert_cavity_client_test.py b/data/mir_planning/mir_actions/mir_insert_cavity/ros/scripts/insert_cavity_client_test.py new file mode 100644 index 0000000000000000000000000000000000000000..23b82ef28d40f86c272f7c7783c197bf5bebcdec --- /dev/null +++ b/data/mir_planning/mir_actions/mir_insert_cavity/ros/scripts/insert_cavity_client_test.py @@ -0,0 +1,48 @@ +#! /usr/bin/env python + +import sys + +import rospy +from actionlib import SimpleActionClient +from actionlib_msgs.msg import GoalStatus +from diagnostic_msgs.msg import KeyValue +from mir_planning_msgs.msg import GenericExecuteAction, GenericExecuteGoal + +if __name__ == "__main__": + rospy.init_node("insert_cavity_client_tester") + + client = SimpleActionClient("insert_cavity_server", GenericExecuteAction) + client.wait_for_server() + + if len(sys.argv) == 3: + goal = GenericExecuteGoal() + peg = str(sys.argv[1]).upper() + platform = str(sys.argv[2]).upper() + goal.parameters.append(KeyValue(key="peg", value=peg)) + goal.parameters.append(KeyValue(key="platform", value=platform)) # stage platform eg: PLATFORM_LEFT + goal.parameters.append(KeyValue(key="hole", value="PP01")) + rospy.loginfo("Sending following goal to place object server") + rospy.loginfo(goal) + + client.send_goal(goal) + + timeout = 35.0 + finished_within_time = client.wait_for_result( + rospy.Duration.from_sec(int(timeout)) + ) + if not finished_within_time: + client.cancel_goal() + + state = client.get_state() + result = client.get_result() + if state == GoalStatus.SUCCEEDED: + rospy.loginfo("Action SUCCESS") + rospy.loginfo(result) + elif state == GoalStatus.ABORTED: + rospy.logerr("Action FAILED") + else: + rospy.logwarn("State: " + str(state)) + rospy.loginfo(result) + else: + rospy.logerr("Arguments were not received in the proper format !") + rospy.loginfo("usage : insert_cavity OBJECT_NAME PLATFORM_NAME") diff --git a/data/mir_planning/mir_actions/mir_insert_cavity/ros/scripts/insert_cavity_server.py b/data/mir_planning/mir_actions/mir_insert_cavity/ros/scripts/insert_cavity_server.py new file mode 100644 index 0000000000000000000000000000000000000000..0cd4b1dc941b8bffbc46c40e5b28c52ab79d0216 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_insert_cavity/ros/scripts/insert_cavity_server.py @@ -0,0 +1,439 @@ +#!/usr/bin/python +import mcr_perception_states.common.perception_states as gps +import mcr_states.common.basic_states as gbs +import mir_states.common.action_states as gas +import mir_states.common.manipulation_states as gms +import moveit_commander +import numpy as np +import rospy +import smach +import tf.transformations +from actionlib import SimpleActionClient +from geometry_msgs.msg import PoseStamped +from mas_perception_msgs.msg import Cavity +from mir_actions.utils import Utils +from mir_planning_msgs.msg import ( + GenericExecuteAction, + GenericExecuteFeedback, + GenericExecuteResult, +) +from moveit_msgs.msg import MoveItErrorCodes +from smach_ros import ActionServerWrapper, IntrospectionServer +from std_msgs.msg import Float64, String + +# =============================================================================== + +# For wiggle arm +arm_command = moveit_commander.MoveGroupCommander("arm_1") +arm_command.set_goal_position_tolerance(0.01) +arm_command.set_goal_orientation_tolerance(0.01) +arm_command.set_goal_joint_tolerance(0.005) + +# =============================================================================== + + +class SelectObject(smach.State): + def __init__(self, topic_name): + smach.State.__init__( + self, + outcomes=["succeeded"], + input_keys=["goal"], + output_keys=["feedback", "result"], + ) + self.publisher = rospy.Publisher(topic_name, String, queue_size=10) + rospy.sleep(0.1) # time for the publisher to register in ros network + + def execute(self, userdata): + # Add empty result msg (because if none of the state do it, action server gives error) + userdata.result = GenericExecuteResult() + userdata.feedback = GenericExecuteFeedback( + current_state="SelectObject", text="selecting object" + ) + + obj = Utils.get_value_of(userdata.goal.parameters, "peg") + self.publisher.publish(String(data=obj)) + rospy.sleep(0.2) # let the topic survive for some time + return "succeeded" + + +# =============================================================================== + + +class ppt_wiggle_arm(smach.State): + """ + Wiggle arm after placement on the table + """ + + def __init__(self, wiggle_offset=0.0, joint=0): + smach.State.__init__(self, outcomes=["succeeded", "failed"]) + self.wiggle_offset = wiggle_offset + self.joint_number = joint + self.blocking = True + + # create publisher for sending gripper position + self.gripper_topic = "/gripper_controller/command" + self.cavity_pose_topic = "/mcr_perception/object_selector/output/object_pose" + + self.gripper = rospy.Publisher(self.gripper_topic, Float64, queue_size=10) + + # Determining which object to wiggle + # rospy.Subscriber("~object_name", std_msgs.msg.String, self.object_name_cb) + # Determineing object orientation + rospy.Subscriber(self.cavity_pose_topic, PoseStamped, self.cavity_pose_cb) + + self.yaw = 0 + self.joint_values_static = [] + # giving some time to the publisher to register in ros network + rospy.sleep(0.1) + + def object_name_cb(self, msg): + """ + Obtains an event for the component. + + """ + rospy.loginfo("Object received: {0}".format(msg.data)) + self.object_name = msg + + def cavity_pose_cb(self, msg): + self.object_pose = msg + o = msg.pose.orientation + l = [o.x, o.y, o.z, o.w] + roll, pitch, self.yaw = tf.transformations.euler_from_quaternion(l) + + def execute_arm(self, joint_number, wiggle_offset): + joint_values = self.joint_values_static[:] + joint_values[joint_number] = ( + self.joint_values_static[joint_number] + wiggle_offset + ) + try: + arm_command.set_joint_value_target(joint_values) + except Exception as e: + rospy.logerr("unable to set target position: %s" % (str(e))) + return "failed" + error_code = arm_command.go(wait=self.blocking) + + if error_code == MoveItErrorCodes.SUCCESS: + return "succeeded" + else: + rospy.logerr("Arm movement failed with error code: %d", error_code) + return "failed" + + def execute(self, userdata): + # open the arm slightly + message = Float64() + message.data = -0.1 + self.gripper.publish(message) + rospy.sleep(0.1) + joint_number_to_change = None + wiggle_offset = None + self.joint_values_static = arm_command.get_current_joint_values() + ################# + if np.allclose(self.yaw, 0): + # wiggle right left first + joint_number_to_change = 0 + wiggle_offset = -0.12 + self.execute_arm(joint_number_to_change, wiggle_offset) + # go left + joint_number_to_change = 0 + wiggle_offset = 0.12 + self.execute_arm(joint_number_to_change, wiggle_offset) + # go center again + joint_number_to_change = 0 + wiggle_offset = 0.0 + self.execute_arm(joint_number_to_change, wiggle_offset) + # wiggle forward + joint_number_to_change = 3 + wiggle_offset = -0.12 + self.execute_arm(joint_number_to_change, wiggle_offset) + # go left + joint_number_to_change = 3 + wiggle_offset = 0.12 + self.execute_arm(joint_number_to_change, wiggle_offset) + # go center again + joint_number_to_change = 3 + wiggle_offset = 0.0 + self.execute_arm(joint_number_to_change, wiggle_offset) + else: + # wiggle forward + joint_number_to_change = 3 + wiggle_offset = -0.12 + self.execute_arm(joint_number_to_change, wiggle_offset) + # go left + joint_number_to_change = 3 + wiggle_offset = 0.12 + self.execute_arm(joint_number_to_change, wiggle_offset) + # go center again + joint_number_to_change = 3 + wiggle_offset = 0.0 + self.execute_arm(joint_number_to_change, wiggle_offset) + # wiggle right left first + joint_number_to_change = 0 + wiggle_offset = -0.12 + self.execute_arm(joint_number_to_change, wiggle_offset) + # go left + joint_number_to_change = 0 + wiggle_offset = 0.12 + self.execute_arm(joint_number_to_change, wiggle_offset) + # go center again + joint_number_to_change = 0 + wiggle_offset = 0.0 + self.execute_arm(joint_number_to_change, wiggle_offset) + + return "succeeded" + ################# + +# =============================================================================== + +class Unstage_to_place(smach.State): + + def __init__(self): + + smach.State.__init__(self, outcomes=["success","failed"],input_keys=["goal","heavy_objects", "platform","object"]) + self.platform = "PLATFORM_MIDDLE" + self.obj = "M20" + + def execute(self,userdata): + + self.platform = Utils.get_value_of(userdata.goal.parameters, "platform") + self.obj = Utils.get_value_of(userdata.goal.parameters, "peg") + + if self.obj is None: + rospy.logwarn('Missing parameter "object". Using default.') + self.obj = "light" + else: + self.obj = "light" + + + self.unstage_client = SimpleActionClient('unstage_object_server', GenericExecuteAction) + self.unstage_client.wait_for_server() + + # Assigning the goal + + goal = GenericExecuteGoal() + goal.parameters.append(KeyValue(key="platform", value=self.platform)) + goal.parameters.append(KeyValue(key="object", value=self.obj)) + + self.unstage_client.send_goal(goal) + self.unstage_client.wait_for_result(rospy.Duration.from_sec(25.0)) + + return "success" + +# =============================================================================== +def transition_cb(*args, **kwargs): + userdata = args[0] + sm_state = args[1][0] + + feedback = GenericExecuteFeedback() + feedback.current_state = sm_state + userdata.feedback = feedback + +def start_cb(*args, **kwargs): + userdata = args[0] + sm_state = args[1][0] + + feedback = GenericExecuteFeedback() + feedback.current_state = sm_state + userdata.feedback = feedback +# =============================================================================== + + +def main(): + rospy.init_node("insert_cavity_server") + # Construct state machine + sm = smach.StateMachine( + outcomes=["OVERALL_SUCCESS", "OVERALL_FAILED"], + input_keys=["goal"], + output_keys=["feedback", "result"], + ) + with sm: + # publish object as string to mcr_perception_selectors -> cavity, + # this component then publishes pose in base_link reference frame + smach.StateMachine.add( + "SELECT_OBJECT", + SelectObject("/mcr_perception/cavity_pose_selector/object_name"), + transitions={"succeeded": "CHECK_IF_OBJECT_IS_AVAILABLE"}, + ) + + smach.StateMachine.add( + "SELECT_CAVITY", + SelectCavity("/mcr_perception/object_selector/input/object_name", vertical=False), + transitions={ + "succeeded": "GENERATE_OBJECT_POSE", + "failed": "GET_VERTICAL_CAVITY" + }, + ) + + smach.StateMachine.add( + "GET_VERTICAL_CAVITY", + SelectCavity("/mcr_perception/object_selector/input/object_name", vertical=True), + transitions={ + "succeeded": "GENERATE_OBJECT_POSE", + "failed": "OVERALL_FAILED" + }, + ) + + # generates a pose of object + smach.StateMachine.add( + "GENERATE_OBJECT_POSE", + gbs.send_and_wait_events_combined( + event_in_list=[("/mcr_perception/object_selector/event_in", "e_trigger")], + event_out_list=[("/mcr_perception/object_selector/event_out", "e_selected", True)], + timeout_duration=10, + ), + transitions={ + "success": "UNSTAGE_FOR_PLACING", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "SET_DBC_PARAMS", + gbs.set_named_config("dbc_pick_object"), + transitions={ + "success": "MOVE_ROBOT_AND_TRY_PLACING", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "MOVE_ROBOT_AND_TRY_PLACING", + gbs.send_and_wait_events_combined( + event_in_list=[("/wbc/event_in", "e_try")], + event_out_list=[("/wbc/event_out", "e_success", True)], + timeout_duration=50, + ), + transitions={ + "success": "MOVE_ARM_TO_MIDDLE_POSE", + "timeout": "MOVE_ARM_TO_MIDDLE_POSE", + "failure": "MOVE_ARM_TO_MIDDLE_POSE", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_MIDDLE_POSE", + gms.move_arm("pre_place"), + transitions={ + "succeeded": "PERCEIVE_CAVITY", + "failed": "MOVE_ARM_TO_MIDDLE_POSE", + }, + ) + # perceive cavity again after moving in front of the desired cavity + smach.StateMachine.add( + "PERCEIVE_CAVITY", + gps.find_cavities(retries=1), + transitions={"cavities_found": "SELECT_OBJECT_AGAIN", "no_cavities_found": "OVERALL_FAILED",}, + ) + + smach.StateMachine.add( + "SELECT_OBJECT_AGAIN", + SelectObject("/mcr_perception/cavity_pose_selector/object_name"), + transitions={"succeeded": "CHECK_IF_OBJECT_IS_AVAILABLE_AGAIN"}, + ) + + smach.StateMachine.add( + "CHECK_IF_OBJECT_IS_AVAILABLE_AGAIN", + gbs.send_and_wait_events_combined( + event_in_list=[ + ("/mcr_perception/cavity_pose_selector/event_in", "e_trigger",) + ], + event_out_list=[ + ( + "/mcr_perception/cavity_pose_selector/event_out", + "e_success", + True, + ) + ], + timeout_duration=10, + ), + transitions={ + "success": "UNSTAGE_OBJECT", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "UNSTAGE_OBJECT", + gas.unstage_object(), + transitions={"success": "TRY_INSERTING", "failed": "OVERALL_FAILED",}, + ) + + # execute robot motion + smach.StateMachine.add( + "TRY_INSERTING", + gbs.send_and_wait_events_combined( + event_in_list=[("/wbc/event_in", "e_start_arm_only")], + event_out_list=[("/wbc/event_out", "e_success", True)], + timeout_duration=20, + ), + transitions={ + "success": "OPEN_GRIPPER", + "timeout": "STAGE_OBJECT", + "failure": "STAGE_OBJECT", + }, + ) + + smach.StateMachine.add( + "STAGE_OBJECT", + gas.stage_object(), + transitions={"success": "OVERALL_FAILED", "failed": "OVERALL_FAILED",}, + ) + + # close gripper + smach.StateMachine.add( + "OPEN_GRIPPER", + gms.control_gripper("open"), + transitions={"succeeded": "WIGGLE_ARM"}, + ) + + # wiggling the arm for precision placement + smach.StateMachine.add( + "WIGGLE_ARM", + ppt_wiggle_arm(wiggle_offset=-0.12, joint=0), + transitions={ + "succeeded": "MOVE_ARM_TO_HOLD", + "failed": "MOVE_ARM_TO_HOLD", + }, + ) + + # move arm to HOLD position + smach.StateMachine.add( + "MOVE_ARM_TO_HOLD", + gms.move_arm("pre_place"), + transitions={ + "succeeded": "OVERALL_SUCCESS", + "failed": "MOVE_ARM_TO_HOLD", + }, + ) + + sm.register_transition_cb(transition_cb) + sm.register_start_cb(start_cb) + + # smach viewer + if rospy.get_param("~viewer_enabled", True): + sis = IntrospectionServer( + "insert_cavity_smach_viewer", sm, "/INSERT_CAVITY_SMACH_VIEWER" + ) + sis.start() + + # Construct action server wrapper + asw = ActionServerWrapper( + server_name="insert_cavity_server", + action_spec=GenericExecuteAction, + wrapped_container=sm, + succeeded_outcomes=["OVERALL_SUCCESS"], + aborted_outcomes=["OVERALL_FAILED"], + preempted_outcomes=["PREEMPTED"], + goal_key="goal", + feedback_key="feedback", + result_key="result", + ) + # Run the server in a background thread + asw.run_server() + rospy.spin() + + +if __name__ == "__main__": + main() diff --git a/data/mir_planning/mir_actions/mir_insert_object/CMakeLists.txt b/data/mir_planning/mir_actions/mir_insert_object/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..3a6952100e611fdc4142fc4752a75c50e6230a6f --- /dev/null +++ b/data/mir_planning/mir_actions/mir_insert_object/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_insert_object) + +find_package(catkin REQUIRED + COMPONENTS +) + +catkin_package( + CATKIN_DEPENDS +) diff --git a/data/mir_planning/mir_actions/mir_insert_object/docs/linear_motions/linear_motions_launch_screen.png b/data/mir_planning/mir_actions/mir_insert_object/docs/linear_motions/linear_motions_launch_screen.png new file mode 100644 index 0000000000000000000000000000000000000000..08f49d1dd3fed0ee16d6826268feddc1f2aa53b7 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_insert_object/docs/linear_motions/linear_motions_launch_screen.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c8f19ec42be2ccda159b3b86cc4ef3211a75539b73efa05eca335a9097cf3712 +size 202727 diff --git a/data/mir_planning/mir_actions/mir_insert_object/docs/linear_motions/linear_motions_wiki.md b/data/mir_planning/mir_actions/mir_insert_object/docs/linear_motions/linear_motions_wiki.md new file mode 100644 index 0000000000000000000000000000000000000000..5de0af66edfb66b7c3e110d7dac9d03c66249d95 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_insert_object/docs/linear_motions/linear_motions_wiki.md @@ -0,0 +1,113 @@ +# Description +This package contains launch files to execute different types +of arm motions (e.g. planned, Cartesian). + +## 'linear_motion_with_interpolatino' node: +This component moves the arm in a linear motion using the +'mcr_trajectory_generation' package, specifically using the linear interpolation +implementation. + +**Input(s):** + * `start_pose`: The pose where the manipulator's end effector will start the + trajectory. + * `goal_pose`: The pose where the manipulator's end effector will end the trajectory. + +**Output(s):** + * The arm motion. + +**Relevant parameter(s):** + * `linear_offset`: A linear offset in X, Y, Z (in meters) to shift the end-effector + to another pose. + +** Diagram ** +![Linear motions with interpolation][linear_motions_with_linear_interpolator] + +### Usage +1. Launch the components (example): + + ```roslaunch mir_arm_motions poses_to_move_down.launch``` + + ```roslaunch mir_arm_motions poses_to_move_up.launch``` + + ```roslaunch mir_arm_motions linear_motions_with_interpolation_example.launch``` + + [**Note**: You will probably need to create your own launch file and configure it + according to your needs.] +1. Start the component to generate the poses (to go up): + + ```rostopic pub /poses_to_move_up/event_in std_msgs/String "e_start"``` + + or (to go down) + + ```rostopic pub /poses_to_move_down/event_in std_msgs/String "e_start"``` + +1. Subscribe to the result(s) of the component: + + ```rostopic echo /linear_interpolator_demo/event_out``` + +1. Toggle the component: + 1. To start the component: + + ```rostopic pub /linear_interpolator_demo/event_in std_msgs/String "e_start"``` + 1. To stop the component: + + ```rostopic pub /dmp_trajectory_demo/event_in std_msgs/String "e_stop"``` +1. If the result of the linear_interpolator_demo was a `e_success`, then the arm can be moved with +the following command: + + ```rostopic pub /linear_interpolator_demo_trajectory_executor/event_in std_msgs/String "e_start"``` + + +## 'linear_motions_with_cartesian_controller' node: +This component moves the arm in a linear motion using the +'mcr_guarded_approach_pose' package, specifically using the Cartesian controller +implementation. + +**Input(s):** + * `start_pose`: The pose where the manipulator's end effector will start the + trajectory. + * `goal_pose`: The pose where the manipulator's end effector will end the trajectory. + +**Output(s):** + * The arm motion. + +**Relevant parameter(s):** + * `linear_offset`: A linear offset in X, Y, Z (in meters) to shift the end-effector + to another pose. + +** Diagram ** +![Linear motions with Cartesian controller][linear_motions_with_cartesian_controller] + +### Usage +1. Launch the components (example): + + ```roslaunch mir_arm_motions poses_to_move_down.launch``` + + ```roslaunch mir_arm_motions poses_to_move_up.launch``` + + ```roslaunch mir_arm_motions linear_motions_with_cartesian_controller_example.launch``` + + [**Note**: You will probably need to create your own launch file and configure it + according to your needs.] +1. Start the component to generate the poses (to go up): + + ```rostopic pub /poses_to_move_up/event_in std_msgs/String "e_start"``` + + or (to go down) + + ```rostopic pub /poses_to_move_down/event_in std_msgs/String "e_start"``` + +1. Subscribe to the result(s) of the component: + + ```rostopic echo /cartesian_controller_demo/event_out``` + +1. Toggle the component: + 1. To start the component: + + ```rostopic pub /cartesian_controller_demo/event_in std_msgs/String "e_start"``` + 1. To stop the component: + + ```rostopic pub /cartesian_controller_demo/event_in std_msgs/String "e_stop"``` + +[linear_motions_with_linear_interpolator]: https://mas.b-it-center.de/gitgate/mas-group/mas_industrial_robotics/tree/hydro/mir_manipulation/mir_arm_motions/ros/doc/linear_motions_with_linear_interpolator.png "Linear motions with interpolation" +[linear_motions_with_cartesian_controller]: https://mas.b-it-center.de/gitgate/mas-group/mas_industrial_robotics/tree/hydro/mir_manipulation/mir_arm_motions/ros/doc/linear_motions_with_cartesian_controller.png "Linear motions with Cartesian controller" diff --git a/data/mir_planning/mir_actions/mir_insert_object/docs/linear_motions/linear_motions_with_cartesian_controller.png b/data/mir_planning/mir_actions/mir_insert_object/docs/linear_motions/linear_motions_with_cartesian_controller.png new file mode 100644 index 0000000000000000000000000000000000000000..0a30a601a4571fff2922a7a07135caae721cf898 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_insert_object/docs/linear_motions/linear_motions_with_cartesian_controller.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8674e1dbaf5763db3a509390f335aa641c2e911b02ddc8cc817438345a9b8395 +size 73513 diff --git a/data/mir_planning/mir_actions/mir_insert_object/docs/pregrasp_planner/azimuth_and_zenith.png b/data/mir_planning/mir_actions/mir_insert_object/docs/pregrasp_planner/azimuth_and_zenith.png new file mode 100644 index 0000000000000000000000000000000000000000..170313325b204ba5500466f84221a2762a21e829 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_insert_object/docs/pregrasp_planner/azimuth_and_zenith.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d4807c8576f5a52ec8a42dc594f26c976a145878d8f7c0deefacf1da56cd6a7e +size 55228 diff --git a/data/mir_planning/mir_actions/mir_insert_object/package.xml b/data/mir_planning/mir_actions/mir_insert_object/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..49ca01bcc92c06ef600c3a2b1034f2e17b13850b --- /dev/null +++ b/data/mir_planning/mir_actions/mir_insert_object/package.xml @@ -0,0 +1,19 @@ + + + mir_insert_object + 1.0.0 + + Behavior insert object based on state machines wrapped by actionlib server + Assumes that yb is having an object in its hand then looks for a container, moves + the arm on top of that container, then executes linear motion down, opens gripper + then linear motion up then moves the arm back to idle or HOLD position + + + GPLv3 + + Oscar Lima + Oscar Lima + + catkin + + diff --git a/data/mir_planning/mir_actions/mir_insert_object/ros/launch/insert_object_workaround.launch b/data/mir_planning/mir_actions/mir_insert_object/ros/launch/insert_object_workaround.launch new file mode 100644 index 0000000000000000000000000000000000000000..ee18cab746b8295c01b22e27baae4d7e83d21a19 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_insert_object/ros/launch/insert_object_workaround.launch @@ -0,0 +1,7 @@ + + + + + + diff --git a/data/mir_planning/mir_actions/mir_insert_object/ros/scripts/insert_object_client_test.py b/data/mir_planning/mir_actions/mir_insert_object/ros/scripts/insert_object_client_test.py new file mode 100644 index 0000000000000000000000000000000000000000..779d0a7eda364499d4b3140cb00a3257d82670a5 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_insert_object/ros/scripts/insert_object_client_test.py @@ -0,0 +1,47 @@ +#! /usr/bin/env python + +import sys + +import rospy +from actionlib import SimpleActionClient +from actionlib_msgs.msg import GoalStatus +from diagnostic_msgs.msg import KeyValue +from mir_planning_msgs.msg import GenericExecuteAction, GenericExecuteGoal + +if __name__ == "__main__": + rospy.init_node("insert_object_client_tester") + + client = SimpleActionClient("insert_object_server", GenericExecuteAction) + client.wait_for_server() + + if len(sys.argv) == 3: + goal = GenericExecuteGoal() + hole = str(sys.argv[1]).upper() + platform = str(sys.argv[2]).upper() + goal.parameters.append(KeyValue(key="hole", value=hole)) + goal.parameters.append(KeyValue(key="platform", value=platform)) + rospy.loginfo("Sending following goal to place object server") + rospy.loginfo(goal) + + client.send_goal(goal) + + timeout = 25.0 + finished_within_time = client.wait_for_result( + rospy.Duration.from_sec(int(timeout)) + ) + if not finished_within_time: + client.cancel_goal() + + state = client.get_state() + result = client.get_result() + if state == GoalStatus.SUCCEEDED: + rospy.loginfo("Action SUCCESS") + rospy.loginfo(result) + elif state == GoalStatus.ABORTED: + rospy.logerr("Action FAILED") + else: + rospy.logwarn("State: " + str(state)) + rospy.loginfo(result) + else: + rospy.logerr("Arguments were not received in the proper format !") + rospy.loginfo("usage : insert OBJECT_NAME PLATFORM_NAME") diff --git a/data/mir_planning/mir_actions/mir_insert_object/ros/scripts/insert_object_server.py b/data/mir_planning/mir_actions/mir_insert_object/ros/scripts/insert_object_server.py new file mode 100644 index 0000000000000000000000000000000000000000..ae5556f0543dde7a54cffa49036f391b159e0618 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_insert_object/ros/scripts/insert_object_server.py @@ -0,0 +1,229 @@ +#!/usr/bin/python +import mcr_states.common.basic_states as gbs +import mir_states.common.action_states as gas +import mir_states.common.manipulation_states as gms +import rospy +import smach +from actionlib import SimpleActionClient +from geometry_msgs.msg import PoseStamped +from mir_actions.utils import Utils +from mir_planning_msgs.msg import ( + GenericExecuteAction, + GenericExecuteFeedback, + GenericExecuteResult, +) +from smach_ros import ActionServerWrapper, IntrospectionServer +from std_msgs.msg import String + +# =============================================================================== + + +class SelectObject(smach.State): + def __init__(self, topic_name): + smach.State.__init__( + self, + outcomes=["succeeded"], + input_keys=["goal"], + output_keys=["feedback", "result"], + ) + self.publisher = rospy.Publisher(topic_name, String, queue_size=10) + rospy.sleep(0.1) # time for the publisher to register in ros network + + def execute(self, userdata): + # Add empty result msg (because if none of the state do it, action server gives error) + userdata.result = GenericExecuteResult() + userdata.feedback = GenericExecuteFeedback( + current_state="SelectObject", text="selecting object" + ) + + obj = Utils.get_value_of(userdata.goal.parameters, "hole") + self.publisher.publish(String(data=obj)) + rospy.sleep(0.2) # let the topic survive for some time + return "succeeded" + + +# =============================================================================== + +def transition_cb(*args, **kwargs): + userdata = args[0] + sm_state = args[1][0] + + feedback = GenericExecuteFeedback() + feedback.current_state = sm_state + userdata.feedback = feedback + +def start_cb(*args, **kwargs): + userdata = args[0] + sm_state = args[1][0] + + feedback = GenericExecuteFeedback() + feedback.current_state = sm_state + userdata.feedback = feedback +# =============================================================================== + + +def main(): + # Open the container + rospy.init_node("insert_object_server") + # Construct state machine + sm = smach.StateMachine( + outcomes=["OVERALL_SUCCESS", "OVERALL_FAILED"], + input_keys=["goal"], + output_keys=["feedback", "result"], + ) + with sm: + smach.StateMachine.add( + "SELECT_OBJECT", + SelectObject("/mcr_perception/object_selector/input/object_name"), + transitions={"succeeded": "GENERATE_OBJECT_POSE"}, + ) + + # generates a pose of object + smach.StateMachine.add( + "GENERATE_OBJECT_POSE", + gbs.send_and_wait_events_combined( + event_in_list=[ + ("/mcr_perception/object_selector/event_in", "e_trigger") + ], + event_out_list=[ + ("/mcr_perception/object_selector/event_out", "e_selected", True,) + ], + timeout_duration=10, + ), + transitions={ + "success": "SET_DBC_PARAMS", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "SET_DBC_PARAMS", + gbs.set_named_config("dbc_pick_object"), + transitions={ + "success": "MOVE_ROBOT_AND_TRY_PLACING", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "MOVE_ROBOT_AND_TRY_PLACING", + gbs.send_and_wait_events_combined( + event_in_list=[("/wbc/event_in", "e_try")], + event_out_list=[("/wbc/event_out", "e_success", True)], + timeout_duration=50, + ), + transitions={ + "success": "UNSTAGE_OBJECT", + "timeout": "UNSTAGE_OBJECT", + "failure": "UNSTAGE_OBJECT", + }, + ) + + smach.StateMachine.add( + "UNSTAGE_OBJECT", + gas.unstage_object(), + transitions={ + "success": "RE_GENERATE_OBJECT_POSE", + "failed": "OVERALL_FAILED", + }, + ) + + # generates a pose based on the previous string object topic received + smach.StateMachine.add( + "RE_GENERATE_OBJECT_POSE", + gbs.send_event( + [("/mcr_perception/object_selector/event_in", "e_re_trigger")] + ), + transitions={"success": "MOVE_ROBOT_AND_PLACE"}, + ) + + # execute robot motion + smach.StateMachine.add( + "MOVE_ROBOT_AND_PLACE", + gbs.send_and_wait_events_combined( + event_in_list=[("/wbc/event_in", "e_start")], + event_out_list=[("/wbc/event_out", "e_success", True)], + timeout_duration=20, + ), + transitions={ + "success": "OPEN_GRIPPER", + "timeout": "MOVE_ARM_TO_DEFAULT_PLACE", + "failure": "MOVE_ARM_TO_DEFAULT_PLACE", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_DEFAULT_PLACE", + gms.move_arm("look_at_turntable"), + transitions={ + "succeeded": "MOVE_ARM_CARTESIAN", + "failed": "MOVE_ARM_TO_DEFAULT_PLACE", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_CARTESIAN", + gbs.send_and_wait_events_combined( + event_in_list=[("/insert_object_workaroud/event_in", "e_start")], + event_out_list=[ + ("/insert_object_workaroud/event_out", "e_success", True) + ], + timeout_duration=10, + ), + transitions={ + "success": "OPEN_GRIPPER", + "timeout": "STOP_ARM_CARTESIAN_MOTION", + "failure": "OPEN_GRIPPER", + }, + ) + + smach.StateMachine.add( + "STOP_ARM_CARTESIAN_MOTION", + gbs.send_event([("/insert_object_workaroud/event_in", "e_stop")]), + transitions={"success": "OPEN_GRIPPER"}, + ) + + smach.StateMachine.add( + "OPEN_GRIPPER", + gms.control_gripper("open_narrow"), + transitions={"succeeded": "MOVE_ARM_TO_HOLD"}, + ) + + # move arm to HOLD position + smach.StateMachine.add( + "MOVE_ARM_TO_HOLD", + gms.move_arm("look_at_turntable"), + transitions={"succeeded": "OVERALL_SUCCESS", "failed": "MOVE_ARM_TO_HOLD",}, + ) + + sm.register_transition_cb(transition_cb) + sm.register_start_cb(start_cb) + + # smach viewer + if rospy.get_param("~viewer_enabled", False): + sis = smach_ros.IntrospectionServer( + "insert_object_smach_viewer", sm, "/INSERT_OBJECT_SMACH_VIEWER" + ) + sis.start() + + # Construct action server wrapper + asw = ActionServerWrapper( + server_name="insert_object_server", + action_spec=GenericExecuteAction, + wrapped_container=sm, + succeeded_outcomes=["OVERALL_SUCCESS"], + aborted_outcomes=["OVERALL_FAILED"], + preempted_outcomes=["PREEMPTED"], + goal_key="goal", + feedback_key="feedback", + result_key="result", + ) + # Run the server in a background thread + asw.run_server() + rospy.spin() + + +if __name__ == "__main__": + main() diff --git a/data/mir_planning/mir_actions/mir_insert_object/ros/scripts/mir_cartesian_velocity_insert.py b/data/mir_planning/mir_actions/mir_insert_object/ros/scripts/mir_cartesian_velocity_insert.py new file mode 100644 index 0000000000000000000000000000000000000000..af81c987f63780f11cbd16ef378de9f24bc818f2 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_insert_object/ros/scripts/mir_cartesian_velocity_insert.py @@ -0,0 +1,325 @@ +#!/usr/bin/env python + +""" +Author: Abhishek Padalkar + +""" + +import math +import time + +import numpy as np +import rospy +import tf +from geometry_msgs.msg import ( + Point, + PointStamped, + Pose, + PoseArray, + PoseStamped, + TwistStamped, +) +from nav_msgs.msg import Path +from std_msgs.msg import String + + +class cartesian_velocity_insert: + def __init__(self): + rospy.loginfo("Node initiated.........") + self.tf_listener = tf.TransformListener() + + self.cartesian_velocity_command_pub = ( + "/arm_1/arm_controller/cartesian_velocity_command" + ) + self.number_of_sampling_points = 30 + self.goal_tolerance = 0.02 + self.vel_publisher = rospy.Publisher( + self.cartesian_velocity_command_pub, TwistStamped, queue_size=1 + ) + self.object_pose_sub = rospy.Subscriber( + "/pregrasp_planner_node/pose_samples", PoseArray, self.object_pose_cb + ) + self.feedforward_gain = 4 + self.feedback_gain = 3 + self.debug_pose_pub = rospy.Publisher( + "/insert_object_workaround/modified_pose_debug", PoseStamped, queue_size=11 + ) + """ + self.feedforward_gain = rospy.get_param('~feedforward_gain') + self.feedback_gain = rospy.get_param('~feedback_gain') + """ + + self.tf_listener = tf.TransformListener() + # Node cycle rate (in hz) + self.loop_rate = rospy.Rate(rospy.get_param("~loop_rate", 10)) + self.event = None + + rospy.Subscriber("/insert_object_workaroud/event_in", String, self.event_in_cb) + self.event_out = rospy.Publisher( + "/insert_object_workaroud/event_out", String, queue_size=1 + ) + self.start_end = None + self.goal = None + self.z_offset = 0.03 + self.xy_plane_offset = 0.07 + + def object_pose_cb(self, data): + pose_stamped_ = PoseStamped() + pose_stamped_.header.frame_id = data.header.frame_id + pose_stamped_.pose = data.poses[0] + while not rospy.is_shutdown(): + try: + pose_stamped_1 = self.tf_listener.transformPose( + "/arm_link_0", pose_stamped_ + ) + break + except: + continue + self.goal = [ + pose_stamped_1.pose.position.x, + pose_stamped_1.pose.position.y, + pose_stamped_1.pose.position.z, + ] + theta = math.atan2(self.goal[1], self.goal[0]) + radius = np.sqrt(self.goal[0] ** 2 + self.goal[1] ** 2) + radius = radius - self.xy_plane_offset + pose_stamped_1.pose.position.x = radius * np.cos(theta) + pose_stamped_1.pose.position.y = radius * np.sin(theta) + + while not rospy.is_shutdown(): + try: + pose_stamped_2 = self.tf_listener.transformPose( + "/base_link", pose_stamped_1 + ) + break + except: + continue + self.debug_pose_pub.publish(pose_stamped_2) + self.goal = [ + pose_stamped_2.pose.position.x, + pose_stamped_2.pose.position.y, + pose_stamped_2.pose.position.z, + ] + rospy.logdebug("Object pose received [%.4f, %.4f. %.4f]" % (self.goal[0], self.goal[1], self.goal[2])) + + def event_in_cb(self, msg): + """ + Starts a planned motion based on the specified arm position. + + """ + self.event = msg.data + + def start(self): + """ + Starts the component. + + """ + rospy.loginfo("Ready to start now...") + state = "INIT" + + while not rospy.is_shutdown(): + + if state == "INIT": + state = self.init_state() + elif state == "IDLE": + state = self.idle_state() + elif state == "RUNNING": + state = self.running_state() + + rospy.logdebug("State: {0}".format(state)) + self.loop_rate.sleep() + + def init_state(self): + """ + Executes the INIT state of the state machine. + + :return: The updated state. + :rtype: str + + """ + if self.event == "e_start": + return "IDLE" + elif self.event == "e_stop": + self.reset_component_data() + self.event_out.publish("e_stopped") + return "INIT" + else: + return "INIT" + + def idle_state(self): + """ + Executes the IDLE state of the state machine. + + :return: The updated state. + :rtype: str + + """ + + if self.event == "e_stop": + self.reset_component_data() + self.event_out.publish("e_stopped") + return "INIT" + elif self.goal != None: + return "RUNNING" + elif self.goal == None and self.event == "e_start": + rospy.loginfo("Goal not recieved") + self.event_out.publish("e_failure") + self.event = None + return "IDLE" + + def running_state(self): + """ + Executes the RUNNING state of the state machine. + + :return: The updated state. + :rtype: str + + """ + if self.event == "e_stop": + self.reset_component_data() + self.event_out.publish("e_stopped") + return "INIT" + else: + self.execute() + self.event_out.publish("e_success") + self.reset_component_data() + return "INIT" + + def reset_component_data(self): + """ + Clears the data of the component. + + """ + self.event = None + self.points = None + + def move_arm_to_goal(self): + rospy.logdebug("Moving arm to goal position") + goal_point = self.goal + while not rospy.is_shutdown() and self.event != "e_stop": + try: + (current_pos, rot) = self.tf_listener.lookupTransform( + "/base_link", "/arm_link_5", rospy.Time(0) + ) + break + except ( + tf.LookupException, + tf.ConnectivityException, + tf.ExtrapolationException, + ): + continue + + path_x = np.linspace( + current_pos[0], goal_point[0], self.number_of_sampling_points + ) + path_y = np.linspace( + current_pos[1], goal_point[1], self.number_of_sampling_points + ) + path_z = np.linspace( + current_pos[2], goal_point[2], self.number_of_sampling_points + ) + + path = path_x[np.newaxis] + path = np.vstack((path, path_y)) + path = np.vstack((path, path_z)) + self.trajectory_controller(path) + + def trajectory_controller(self, path): + count = 0 + previous_index = 0 + path_x = path[0, :] + path_y = path[1, :] + path_z = path[2, :] + while True: + try: + (trans, rot) = self.tf_listener.lookupTransform( + "/base_link", "/arm_link_5", rospy.Time(0) + ) + break + except ( + tf.LookupException, + tf.ConnectivityException, + tf.ExtrapolationException, + ): + continue + current_pos = np.array([trans[0], trans[1], trans[2]]) + + distance = np.linalg.norm((np.array(path[:, path.shape[1] - 1]) - current_pos)) + final_pos = path[:, path.shape[1] - 1] + rospy.logdebug("final pos is [%.4f, %.4f, %.4f]" % (final_pos[0], final_pos[1], final_pos[2])) + while ( + distance > self.goal_tolerance + and self.event != "e_stop" + and not rospy.is_shutdown() + ): + try: + (trans, rot) = self.tf_listener.lookupTransform( + "/base_link", "/arm_link_5", rospy.Time(0) + ) + except ( + tf.LookupException, + tf.ConnectivityException, + tf.ExtrapolationException, + ): + continue + message = TwistStamped() + current_pos = np.array([trans[0], trans[1], trans[2]]) + distance = np.linalg.norm( + (np.array(path[:, path.shape[1] - 1]) - current_pos) + ) + dist = [] + for i in range(path.shape[1]): + dist.append(np.linalg.norm((path[:, i] - current_pos))) + index = np.argmin(dist) + + if index < previous_index: + index = previous_index + else: + previous_index = index + + # Delete this block later + if index > path.shape[1] - 1: + break + + # Check if path repeated points in it, this will prevent trajectory execution as velocity between these two points will + # be zero (difference is zero) + + if index == path.shape[1] - 1: + ind = index + else: + ind = index + 1 + + vel_x = self.feedforward_gain * ( + path_x[ind] - path_x[index] + ) + self.feedback_gain * (path_x[ind] - current_pos[0]) + vel_y = self.feedforward_gain * ( + path_y[ind] - path_y[index] + ) + self.feedback_gain * (path_y[ind] - current_pos[1]) + vel_z = self.feedforward_gain * ( + path_z[ind] - path_z[index] + ) + self.feedback_gain * (path_z[ind] - current_pos[2]) + + message.header.seq = count + message.header.frame_id = "/base_link" + message.twist.linear.x = vel_x + message.twist.linear.y = vel_y + message.twist.linear.z = vel_z + self.vel_publisher.publish(message) + count += 1 + + message = TwistStamped() + message.header.seq = count + message.header.frame_id = "/base_link" + message.twist.linear.x = 0.0 + message.twist.linear.y = 0.0 + message.twist.linear.z = 0.0 + self.vel_publisher.publish(message) + + def execute(self): + self.move_arm_to_goal() + + +if __name__ == "__main__": + rospy.init_node("mir_cartesian_velocity_insert") + OBJ = cartesian_velocity_insert() + OBJ.start() diff --git a/data/mir_planning/mir_actions/mir_manipulate_drawer/CMakeLists.txt b/data/mir_planning/mir_actions/mir_manipulate_drawer/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..aee51becbc8acdffab1d3cb13aea40ea79e55ca8 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_manipulate_drawer/CMakeLists.txt @@ -0,0 +1,12 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_manipulate_drawer) + +find_package(catkin REQUIRED + COMPONENTS +) + +catkin_python_setup() + +catkin_package( + CATKIN_DEPENDS +) diff --git a/data/mir_planning/mir_actions/mir_manipulate_drawer/package.xml b/data/mir_planning/mir_actions/mir_manipulate_drawer/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..3618db1b742efdacd20869fe8c14ebb229fc6138 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_manipulate_drawer/package.xml @@ -0,0 +1,17 @@ + + + mir_manipulate_drawer + 1.0.0 + + Action server for opening and closing drawer. Assumes the handle is perceived. + It uses direct_base_controller and mir_moveit_client for base and arm motion. + + + GPLv3 + + Dharmin B. + Dharmin B. + + catkin + + diff --git a/data/mir_planning/mir_actions/mir_manipulate_drawer/ros/config/params.yaml b/data/mir_planning/mir_actions/mir_manipulate_drawer/ros/config/params.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a435b36a8a291dd1ab980955654c8e4286a11b9e --- /dev/null +++ b/data/mir_planning/mir_actions/mir_manipulate_drawer/ros/config/params.yaml @@ -0,0 +1,20 @@ +drawer_length: 0.27 +dbc_params: + open_drawer: + x_offset: -0.66 + drawer_length_factor: 0.0 + open_drawer_post: + x_offset: -0.68 + drawer_length_factor: -1.0 + open_drawer_post_safe: + x_offset: -0.73 + drawer_length_factor: -1.0 + perceive_drawer: + x_offset: -0.32 + drawer_length_factor: -1.0 + close_drawer: + x_offset: -0.03 + drawer_length_factor: 1.0 + close_drawer_safe: + x_offset: -0.15 + drawer_length_factor: 1.0 diff --git a/data/mir_planning/mir_actions/mir_manipulate_drawer/ros/launch/close_drawer.launch b/data/mir_planning/mir_actions/mir_manipulate_drawer/ros/launch/close_drawer.launch new file mode 100644 index 0000000000000000000000000000000000000000..252213137a66b1e0b519928465875e06f1cf818f --- /dev/null +++ b/data/mir_planning/mir_actions/mir_manipulate_drawer/ros/launch/close_drawer.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/data/mir_planning/mir_actions/mir_manipulate_drawer/ros/launch/manipulate_drawer.launch b/data/mir_planning/mir_actions/mir_manipulate_drawer/ros/launch/manipulate_drawer.launch new file mode 100644 index 0000000000000000000000000000000000000000..5ccac40c1fe1d5bd1eb47eb592372e59178f3d01 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_manipulate_drawer/ros/launch/manipulate_drawer.launch @@ -0,0 +1,7 @@ + + + + + + + diff --git a/data/mir_planning/mir_actions/mir_manipulate_drawer/ros/launch/open_drawer.launch b/data/mir_planning/mir_actions/mir_manipulate_drawer/ros/launch/open_drawer.launch new file mode 100644 index 0000000000000000000000000000000000000000..74c066ad8d1950fab072ba4e45b9df9739f50287 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_manipulate_drawer/ros/launch/open_drawer.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/data/mir_planning/mir_actions/mir_manipulate_drawer/ros/scripts/close_drawer_client b/data/mir_planning/mir_actions/mir_manipulate_drawer/ros/scripts/close_drawer_client new file mode 100644 index 0000000000000000000000000000000000000000..2e04fe46935b491be719a4e82fd34d81975af30d --- /dev/null +++ b/data/mir_planning/mir_actions/mir_manipulate_drawer/ros/scripts/close_drawer_client @@ -0,0 +1,40 @@ +#! /usr/bin/env python + +import sys + +import rospy +from actionlib import SimpleActionClient +from actionlib_msgs.msg import GoalStatus +from diagnostic_msgs.msg import KeyValue +from mir_planning_msgs.msg import GenericExecuteAction, GenericExecuteGoal + +if __name__ == "__main__": + rospy.init_node("close_drawer_client") + + client = SimpleActionClient("close_drawer_server", GenericExecuteAction) + client.wait_for_server() + + goal = GenericExecuteGoal() + + rospy.loginfo("Sending following goal to pick from drawer server") + rospy.loginfo(goal) + + client.send_goal(goal) + + timeout = 30.0 + finished_within_time = client.wait_for_result(rospy.Duration.from_sec(int(timeout))) + if not finished_within_time: + client.cancel_goal() + + state = client.get_state() + result = client.get_result() + if state == GoalStatus.SUCCEEDED: + rospy.loginfo("Action SUCCESS") + rospy.loginfo(client.get_result()) + sys.exit(0) + elif state == GoalStatus.ABORTED: + rospy.logerr("Action FAILED") + else: + rospy.logwarn("State: " + str(state)) + rospy.loginfo(client.get_result()) + sys.exit(1) diff --git a/data/mir_planning/mir_actions/mir_manipulate_drawer/ros/scripts/close_drawer_server b/data/mir_planning/mir_actions/mir_manipulate_drawer/ros/scripts/close_drawer_server new file mode 100644 index 0000000000000000000000000000000000000000..64e7bc2176ebeb8a2f372b2bc9a2e7f7ef9d4886 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_manipulate_drawer/ros/scripts/close_drawer_server @@ -0,0 +1,283 @@ +#!/usr/bin/python + +from __future__ import print_function + +import mcr_states.common.basic_states as gbs +import mir_states.common.action_states as gas +import mir_states.common.manipulation_states as gms +import rospy +import smach +from mir_actions.utils import Utils +from mir_planning_msgs.msg import ( + GenericExecuteAction, + GenericExecuteFeedback, + GenericExecuteResult, +) +from smach_ros import ActionServerWrapper, IntrospectionServer + +from mir_manipulate_drawer.manipulate_drawer_utils import ( + ManipulateDrawerUtils, + SendPoseToDBC, + SendSafePoseToDBC, + Setup, +) + + +def main(): + # Open the container + rospy.init_node("close_drawer_server") + # Construct state machine + sm = smach.StateMachine( + outcomes=["OVERALL_SUCCESS", "OVERALL_FAILED"], + input_keys=["goal"], + output_keys=["feedback", "result"], + ) + + with sm: + # ASSUMPTION: the robot is aligned perpendicular to an open drawer + smach.StateMachine.add( + "SETUP", + Setup(), + transitions={"succeeded": "PUBLISH_TEMP_REFERENCE_FRAME_BACKWARD_MOTION"}, + ) + + # publish a temporary reference frame for moving backward if necessary + smach.StateMachine.add( + "PUBLISH_TEMP_REFERENCE_FRAME_BACKWARD_MOTION", + gbs.send_event([("/static_transform_publisher_node/event_in", "e_start")]), + transitions={"success": "SET_DBC_PARAMS"}, + ) + + smach.StateMachine.add( + "SET_DBC_PARAMS", + gbs.set_named_config("dbc_pick_object"), + transitions={ + "success": "SEND_SAFE_POSE_TO_DBC", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + # - Move base back for perceive drawer handle + smach.StateMachine.add( + "SEND_SAFE_POSE_TO_DBC", + SendSafePoseToDBC(target_dist=0.42), + transitions={"succeeded": "START_DBC_SAFE_POSE"}, + ) + + smach.StateMachine.add( + "START_DBC_SAFE_POSE", + gbs.send_and_wait_events_combined( + event_in_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_in", + "e_start", + ) + ], + event_out_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_out", + "e_success", + True, + ) + ], + timeout_duration=10, + ), + transitions={ + "success": "PUBLISH_TEMP_REFERENCE_FRAME_FORWARD_MOTION", + "timeout": "STOP_DBC", + "failure": "STOP_DBC", + }, + ) + + # publish a temporary reference frame for moving backward if necessary + smach.StateMachine.add( + "PUBLISH_TEMP_REFERENCE_FRAME_FORWARD_MOTION", + gbs.send_event([("/static_transform_publisher_node/event_in", "e_start")]), + transitions={"success": "MOVE_ARM_TO_DRAWER_HANDLE_PRE_GRASP"}, + ) + + # - Move arm to drawer_handle_pre_grasp + smach.StateMachine.add( + "MOVE_ARM_TO_DRAWER_HANDLE_PRE_GRASP", + gms.move_arm("drawer_handle_pre_grasp"), + transitions={ + "succeeded": "SEND_SAFE_POSE_TO_DBC_CLOSE_PRE", + "failed": "MOVE_ARM_TO_DRAWER_HANDLE_PRE_GRASP", + }, + ) + + # - Move base back for perceive drawer handle + smach.StateMachine.add( + "SEND_SAFE_POSE_TO_DBC_CLOSE_PRE", + SendSafePoseToDBC(target_dist=0.27), + transitions={"succeeded": "START_DBC_SAFE_POSE_CLOSE_PRE"}, + ) + + smach.StateMachine.add( + "START_DBC_SAFE_POSE_CLOSE_PRE", + gbs.send_and_wait_events_combined( + event_in_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_in", + "e_start", + ) + ], + event_out_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_out", + "e_success", + True, + ) + ], + timeout_duration=10, + ), + transitions={ + "success": "PUBLISH_TEMP_REFERENCE_FRAME_CLOSE_DRAWER", + "timeout": "STOP_DBC", + "failure": "STOP_DBC", + }, + ) + + # publish a temporary reference frame for moving backward if necessary + smach.StateMachine.add( + "PUBLISH_TEMP_REFERENCE_FRAME_CLOSE_DRAWER", + gbs.send_event([("/static_transform_publisher_node/event_in", "e_start")]), + transitions={"success": "SEND_DBC_POSE_CLOSE_DRAWER"}, + ) + + # - Move base forward to close the drawer + smach.StateMachine.add( + "SEND_DBC_POSE_CLOSE_DRAWER", + SendPoseToDBC(param_name="close_drawer"), + transitions={"succeeded": "START_DBC_CLOSE_DRAWER"}, + ) + + smach.StateMachine.add( + "START_DBC_CLOSE_DRAWER", + gbs.send_and_wait_events_combined( + event_in_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_in", + "e_start", + ) + ], + event_out_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_out", + "e_success", + True, + ) + ], + timeout_duration=10, + ), + transitions={ + "success": "SEND_DBC_POSE_CLOSE_DRAWER_SAFE", + "timeout": "STOP_DBC", + "failure": "STOP_DBC", + }, + ) + + # - Move base backward so that the arm does not collide when moving up + smach.StateMachine.add( + "SEND_DBC_POSE_CLOSE_DRAWER_SAFE", + SendPoseToDBC(param_name="close_drawer_safe"), + transitions={"succeeded": "START_DBC_CLOSE_DRAWER_SAFE"}, + ) + + smach.StateMachine.add( + "START_DBC_CLOSE_DRAWER_SAFE", + gbs.send_and_wait_events_combined( + event_in_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_in", + "e_start", + ) + ], + event_out_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_out", + "e_success", + True, + ) + ], + timeout_duration=10, + ), + transitions={ + "success": "MOVE_ARM_TO_NEUTRAL", + "timeout": "STOP_DBC", + "failure": "STOP_DBC", + }, + ) + + # - Move arm to some neutral position + smach.StateMachine.add( + "MOVE_ARM_TO_NEUTRAL", + gms.move_arm("look_at_workspace_from_near"), + transitions={ + "succeeded": "OVERALL_SUCCESS", + "failed": "MOVE_ARM_TO_NEUTRAL", + }, + ) + + smach.StateMachine.add( + "STOP_DBC", + gbs.send_and_wait_events_combined( + event_in_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_in", + "e_stop", + ) + ], + event_out_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_out", + "e_stopped", + True, + ) + ], + timeout_duration=10, + ), + transitions={ + "success": "MOVE_ARM_TO_NEUTRAL_FAILURE", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + # - Move arm to some neutral position for failure + smach.StateMachine.add( + "MOVE_ARM_TO_NEUTRAL_FAILURE", + gms.move_arm("look_at_workspace_from_near"), + transitions={ + "succeeded": "OVERALL_FAILED", + "failed": "MOVE_ARM_TO_NEUTRAL_FAILURE", + }, + ) + + # smach viewer + if rospy.get_param("~viewer_enabled", False): + sis = IntrospectionServer( + "close_drawer_viewer", sm, "/CLOSE_DRAWER_SMACH_VIEWER" + ) + sis.start() + + # Construct action server wrapper + asw = ActionServerWrapper( + server_name="close_drawer_server", + action_spec=GenericExecuteAction, + wrapped_container=sm, + succeeded_outcomes=["OVERALL_SUCCESS"], + aborted_outcomes=["OVERALL_FAILED"], + preempted_outcomes=["PREEMPTED"], + goal_key="goal", + feedback_key="feedback", + result_key="result", + ) + # Run the server in a background thread + asw.run_server() + rospy.spin() + + +if __name__ == "__main__": + main() diff --git a/data/mir_planning/mir_actions/mir_manipulate_drawer/ros/scripts/open_drawer_client b/data/mir_planning/mir_actions/mir_manipulate_drawer/ros/scripts/open_drawer_client new file mode 100644 index 0000000000000000000000000000000000000000..e3e24d126ff67a11b92d2a4f3b02fab785d0fc05 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_manipulate_drawer/ros/scripts/open_drawer_client @@ -0,0 +1,40 @@ +#! /usr/bin/env python + +import sys + +import rospy +from actionlib import SimpleActionClient +from actionlib_msgs.msg import GoalStatus +from diagnostic_msgs.msg import KeyValue +from mir_planning_msgs.msg import GenericExecuteAction, GenericExecuteGoal + +if __name__ == "__main__": + rospy.init_node("open_drawer_client") + + client = SimpleActionClient("open_drawer_server", GenericExecuteAction) + client.wait_for_server() + + goal = GenericExecuteGoal() + + rospy.loginfo("Sending following goal to open drawer server") + rospy.loginfo(goal) + + client.send_goal(goal) + + timeout = 60.0 + finished_within_time = client.wait_for_result(rospy.Duration.from_sec(int(timeout))) + if not finished_within_time: + client.cancel_goal() + + state = client.get_state() + result = client.get_result() + if state == GoalStatus.SUCCEEDED: + rospy.loginfo("Action SUCCESS") + rospy.loginfo(client.get_result()) + sys.exit(0) + elif state == GoalStatus.ABORTED: + rospy.logerr("Action FAILED") + else: + rospy.logwarn("State: " + str(state)) + rospy.loginfo(client.get_result()) + sys.exit(1) diff --git a/data/mir_planning/mir_actions/mir_manipulate_drawer/ros/scripts/open_drawer_server b/data/mir_planning/mir_actions/mir_manipulate_drawer/ros/scripts/open_drawer_server new file mode 100644 index 0000000000000000000000000000000000000000..f1efe9bbc838086035da0d095bf5f446b40d73e9 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_manipulate_drawer/ros/scripts/open_drawer_server @@ -0,0 +1,483 @@ +#!/usr/bin/python + +from __future__ import print_function + +import copy + +import mcr_states.common.basic_states as gbs +import mir_states.common.action_states as gas +import mir_states.common.manipulation_states as gms +import rospy +import smach +import tf +from geometry_msgs.msg import PoseStamped, Quaternion +from mir_actions.utils import Utils +from mir_planning_msgs.msg import ( + GenericExecuteAction, + GenericExecuteFeedback, + GenericExecuteResult, +) +from smach_ros import ActionServerWrapper, IntrospectionServer +from std_msgs.msg import Float32MultiArray + +from mir_manipulate_drawer.manipulate_drawer_utils import ( + ManipulateDrawerUtils, + SendPoseToDBC, + SendSafePoseToDBC, + Setup, +) + +# =============================================================================== + + +class AddPoseToUserdata(smach.State): + def __init__(self, topic_name): + smach.State.__init__( + self, + outcomes=["succeeded", "timeout"], + input_keys=["handle_pose"], + output_keys=["handle_pose"], + ) + _pose_sub = rospy.Subscriber(topic_name, PoseStamped, self._pose_cb) + self._pose = None + rospy.sleep(0.1) # time for the publisher to register in ros network + + def _pose_cb(self, msg): + self._pose = msg + + def execute(self, userdata): + if self._pose is not None: + userdata.handle_pose = self._pose + print("\nadding pose to userdata\n") + rospy.loginfo(self._pose) + self._pose = None + return "succeeded" + else: + rospy.loginfo("Timeout") + return "timeout" + + +# =============================================================================== + + +class SendPoseToMoveIt(smach.State): + def __init__(self): + smach.State.__init__(self, outcomes=["succeeded"], input_keys=["handle_pose"]) + self._moveit_pose_pub = rospy.Publisher( + "/arm_moveit_client/target_pose", PoseStamped, queue_size=10 + ) + self.utils = ManipulateDrawerUtils() + rospy.sleep(0.1) # time for the publisher to register in ros network + + def execute(self, userdata): + arm_target_pose = copy.deepcopy(userdata.handle_pose) + arm_target_pose.header.stamp = rospy.Time.now() + arm_target_pose.pose.position.x += -0.005 + arm_target_pose.pose.position.y += 0.0 + arm_target_pose.pose.position.z += 0.015 + quat = tf.transformations.quaternion_from_euler(0.0, 2.25, 0.0) + arm_target_pose.pose.orientation = Quaternion(*quat) + rospy.loginfo("Arm pose") + rospy.loginfo(arm_target_pose) + self._moveit_pose_pub.publish(arm_target_pose) + return "succeeded" + + +# =============================================================================== + + +class ValidateDrawerOpened(smach.State): + def __init__(self): + smach.State.__init__(self, outcomes=["succeeded", "failed"]) + laser_dist_sub = rospy.Subscriber( + "/mcr_navigation/laser_distances/distances", + Float32MultiArray, + self._laser_dist_cb, + ) + self._front_laser_dist = 0.0 + self._ideal_dist = rospy.get_param("~dbc_params/open_drawer/x_offset", None) + rospy.sleep(0.1) # time for the publisher to register in ros network + + def _laser_dist_cb(self, msg): + self._front_laser_dist = msg.data[0] + + def execute(self, userdata): + if self._ideal_dist is None: + rospy.logerr("dbc params not available") + return "failed" + + # dist_from_base_link_to_drawer - dist_from_front_laser_to_drawer - dist_from_base_link_to_front_laser < 5 cm + if abs(abs(self._ideal_dist) - self._front_laser_dist - 0.3) < 0.05: + return "succeeded" + else: + rospy.logerr("Drawer open validation failed.") + return "failed" + + +# =============================================================================== + + +def main(): + # Open the container + rospy.init_node("open_drawer_server") + # Construct state machine + sm = smach.StateMachine( + outcomes=["OVERALL_SUCCESS", "OVERALL_FAILED"], + input_keys=["goal"], + output_keys=["feedback", "result"], + ) + + with sm: + # ASSUMPTION: the robot is aligned perpendicular to a closed perceived drawer + smach.StateMachine.add( + "SETUP", Setup(), transitions={"succeeded": "SELECT_OBJECT"} + ) + + smach.StateMachine.add( + "SELECT_OBJECT", + gbs.send_event( + [ + ( + "/mcr_perception/object_selector/input/object_name", + "DRAWER_HANDLE", + ) + ] + ), + transitions={"success": "GENERATE_OBJECT_POSE"}, + ) + + # generates a pose of object + smach.StateMachine.add( + "GENERATE_OBJECT_POSE", + gbs.send_and_wait_events_combined( + event_in_list=[ + ("/mcr_perception/object_selector/event_in", "e_trigger") + ], + event_out_list=[ + ("/mcr_perception/object_selector/event_out", "e_selected", True,) + ], + timeout_duration=10, + ), + transitions={ + "success": "SET_DBC_PARAMS", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + # publish a static frame which will be used as reference for perceived objs + smach.StateMachine.add( + "SET_DBC_PARAMS", + gbs.set_named_config("dbc_pick_object"), + transitions={ + "success": "ADD_HANDLE_POSE_TO_USERDATA", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "ADD_HANDLE_POSE_TO_USERDATA", + AddPoseToUserdata( + topic_name="/mcr_perception/object_selector/output/object_pose" + ), + transitions={ + "succeeded": "SEND_SAFE_POSE_TO_DBC", + "timeout": "OVERALL_FAILED", + }, + ) + + # - Move base back for perceive drawer handle + smach.StateMachine.add( + "SEND_SAFE_POSE_TO_DBC", + SendSafePoseToDBC(target_dist=0.52), + transitions={"succeeded": "START_DBC_SAFE_POSE"}, + ) + + smach.StateMachine.add( + "START_DBC_SAFE_POSE", + gbs.send_and_wait_events_combined( + event_in_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_in", + "e_start", + ) + ], + event_out_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_out", + "e_success", + True, + ) + ], + timeout_duration=10, + ), + transitions={ + "success": "MOVE_ARM_TO_DRAWER_HANDLE_PRE_GRASP", + "timeout": "STOP_DBC", + "failure": "STOP_DBC", + }, + ) + + # - Move arm to drawer_handle_pre_grasp + smach.StateMachine.add( + "MOVE_ARM_TO_DRAWER_HANDLE_PRE_GRASP", + gms.move_arm("drawer_handle_pre_grasp"), + transitions={ + "succeeded": "SEND_DBC_POSE_OPEN_DRAWER", + "failed": "MOVE_ARM_TO_DRAWER_HANDLE_PRE_GRASP", + }, + ) + + # - Move base a forward so that the gripper can reach handle without + # extending a lot + smach.StateMachine.add( + "SEND_DBC_POSE_OPEN_DRAWER", + SendPoseToDBC(param_name="open_drawer"), + transitions={"succeeded": "START_DBC_OPEN_DRAWER"}, + ) + + smach.StateMachine.add( + "START_DBC_OPEN_DRAWER", + gbs.send_and_wait_events_combined( + event_in_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_in", + "e_start", + ) + ], + event_out_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_out", + "e_success", + True, + ) + ], + timeout_duration=10, + ), + transitions={ + "success": "SEND_MOVEIT_POSE_DRAWER_HANDLE", + "timeout": "STOP_DBC", + "failure": "STOP_DBC", + }, + ) + + # - Move the arm to drawer handle pose + smach.StateMachine.add( + "SEND_MOVEIT_POSE_DRAWER_HANDLE", + SendPoseToMoveIt(), + transitions={"succeeded": "TRIGGER_MOVEIT_DRAWER_HANDLE"}, + ) + + smach.StateMachine.add( + "TRIGGER_MOVEIT_DRAWER_HANDLE", + gbs.send_and_wait_events_combined( + event_in_list=[("arm_moveit_client/event_in", "e_start")], + event_out_list=[("arm_moveit_client/event_out", "e_success", True)], + timeout_duration=10, + ), + transitions={ + "success": "CLOSE_GRIPPER_HANDLE", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + # - Close gripper + smach.StateMachine.add( + "CLOSE_GRIPPER_HANDLE", + gms.control_gripper("close"), + transitions={"succeeded": "SEND_DBC_POSE_OPEN_DRAWER_POST"}, + ) + + # - Move base backwards to open drawer + smach.StateMachine.add( + "SEND_DBC_POSE_OPEN_DRAWER_POST", + SendPoseToDBC(param_name="open_drawer_post"), + transitions={"succeeded": "START_DBC_OPEN_DRAWER_POST"}, + ) + + smach.StateMachine.add( + "START_DBC_OPEN_DRAWER_POST", + gbs.send_and_wait_events_combined( + event_in_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_in", + "e_start", + ) + ], + event_out_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_out", + "e_success", + True, + ) + ], + timeout_duration=10, + ), + transitions={ + "success": "OPEN_GRIPPER", + "timeout": "STOP_DBC", + "failure": "STOP_DBC", + }, + ) + + # - Open gripper + smach.StateMachine.add( + "OPEN_GRIPPER", + gms.control_gripper("open"), + transitions={"succeeded": "VALIDATE_DRAWER_OPENED"}, + ) + + smach.StateMachine.add( + "VALIDATE_DRAWER_OPENED", + ValidateDrawerOpened(), + transitions={ + "succeeded": "MOVE_ARM_TO_DRAWER_HANDLE_POST_OPEN", + "failed": "STOP_DBC", + }, + ) + + # - Move arm to drawer_handle_pre_grasp + smach.StateMachine.add( + "MOVE_ARM_TO_DRAWER_HANDLE_POST_OPEN", + gms.move_arm("drawer_handle_pre_grasp"), + transitions={ + "succeeded": "SEND_DBC_POSE_OPEN_DRAWER_POST_SAFE", + "failed": "MOVE_ARM_TO_DRAWER_HANDLE_POST_OPEN", + }, + ) + + # - Move base a bit back so that the arm can move up without collision + smach.StateMachine.add( + "SEND_DBC_POSE_OPEN_DRAWER_POST_SAFE", + SendPoseToDBC(param_name="open_drawer_post_safe"), + transitions={"succeeded": "START_DBC_OPEN_DRAWER_POST_SAFE"}, + ) + + smach.StateMachine.add( + "START_DBC_OPEN_DRAWER_POST_SAFE", + gbs.send_and_wait_events_combined( + event_in_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_in", + "e_start", + ) + ], + event_out_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_out", + "e_success", + True, + ) + ], + timeout_duration=10, + ), + transitions={ + "success": "MOVE_ARM_TO_NEUTRAL", + "timeout": "STOP_DBC", + "failure": "STOP_DBC", + }, + ) + + # - Move arm to some neutral position + smach.StateMachine.add( + "MOVE_ARM_TO_NEUTRAL", + gms.move_arm("look_at_workspace_from_near"), + transitions={ + "succeeded": "SEND_DBC_POSE_PERCEIVE_DRAWER", + "failed": "MOVE_ARM_TO_NEUTRAL", + }, + ) + + # - Move base in front of the drawer + smach.StateMachine.add( + "SEND_DBC_POSE_PERCEIVE_DRAWER", + SendPoseToDBC(param_name="perceive_drawer"), + transitions={"succeeded": "START_DBC_PERCEIVE_DRAWER"}, + ) + + smach.StateMachine.add( + "START_DBC_PERCEIVE_DRAWER", + gbs.send_and_wait_events_combined( + event_in_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_in", + "e_start", + ) + ], + event_out_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_out", + "e_success", + True, + ) + ], + timeout_duration=10, + ), + transitions={ + "success": "OVERALL_SUCCESS", + "timeout": "STOP_DBC", + "failure": "STOP_DBC", + }, + ) + + smach.StateMachine.add( + "STOP_DBC", + gbs.send_and_wait_events_combined( + event_in_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_in", + "e_stop", + ) + ], + event_out_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_out", + "e_stopped", + True, + ) + ], + timeout_duration=10, + ), + transitions={ + "success": "MOVE_ARM_TO_NEUTRAL_FAILURE", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + # - Move arm to some neutral position for failure + smach.StateMachine.add( + "MOVE_ARM_TO_NEUTRAL_FAILURE", + gms.move_arm("look_at_workspace_from_near"), + transitions={ + "succeeded": "OVERALL_FAILED", + "failed": "MOVE_ARM_TO_NEUTRAL_FAILURE", + }, + ) + + # smach viewer + if rospy.get_param("~viewer_enabled", False): + sis = IntrospectionServer("open_drawer_viewer", sm, "/OPEN_DRAWER_SMACH_VIEWER") + sis.start() + + # Construct action server wrapper + asw = ActionServerWrapper( + server_name="open_drawer_server", + action_spec=GenericExecuteAction, + wrapped_container=sm, + succeeded_outcomes=["OVERALL_SUCCESS"], + aborted_outcomes=["OVERALL_FAILED"], + preempted_outcomes=["PREEMPTED"], + goal_key="goal", + feedback_key="feedback", + result_key="result", + ) + # Run the server in a background thread + asw.run_server() + rospy.spin() + + +if __name__ == "__main__": + main() diff --git a/data/mir_planning/mir_actions/mir_manipulate_drawer/ros/src/mir_manipulate_drawer/__init__.py b/data/mir_planning/mir_actions/mir_manipulate_drawer/ros/src/mir_manipulate_drawer/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/data/mir_planning/mir_actions/mir_manipulate_drawer/ros/src/mir_manipulate_drawer/manipulate_drawer_utils.py b/data/mir_planning/mir_actions/mir_manipulate_drawer/ros/src/mir_manipulate_drawer/manipulate_drawer_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..329b35249f31f968a95d3c8ae2f5a0c890cf6bc7 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_manipulate_drawer/ros/src/mir_manipulate_drawer/manipulate_drawer_utils.py @@ -0,0 +1,141 @@ +#! usr/bin/env python +from __future__ import print_function + +import rospy +import smach +from geometry_msgs.msg import PoseStamped +from mir_planning_msgs.msg import ( + GenericExecuteAction, + GenericExecuteFeedback, + GenericExecuteResult, +) +from std_msgs.msg import Float32MultiArray + + +class ManipulateDrawerUtils(object): + + """Util class to help open and close drawers""" + + def __init__(self): + self._dbc_params = rospy.get_param("~dbc_params", None) + self._drawer_length = rospy.get_param("~drawer_length", 0.25) + self._frame_id = rospy.get_param("~frame_id", "base_link_static") + if self._dbc_params is None: + rospy.logfatal("Params not available") + + def calc_pose_for_dbc_for_param(self, pose_in, param_name="default"): + """ + Calculate pose for dbc based on the param + + :param pose_in: input pose + :type pose_in: geometry_msgs.msg.PoseStamped + :param param_name: name of parameter in action server step + :type param_name: str + :return: Pose for the robot to be at to perform ``param_name`` step + :rtype: geometry_msgs.PoseStamped + + """ + if param_name not in self._dbc_params: + return PoseStamped() + + dbc_param = self._dbc_params[param_name] + dbc_target_pose = PoseStamped() + dbc_target_pose.header.stamp = rospy.Time.now() + dbc_target_pose.header.frame_id = self._frame_id + if pose_in is None: + dbc_target_pose.pose.position.x = dbc_param["x_offset"] + dbc_target_pose.pose.position.y = 0.0 + else: + dbc_target_pose.pose.position.x = ( + pose_in.pose.position.x + dbc_param["x_offset"] + ) + dbc_target_pose.pose.position.y = pose_in.pose.position.y + + drawer_length_offset = self._drawer_length * dbc_param["drawer_length_factor"] + dbc_target_pose.pose.position.x += drawer_length_offset + dbc_target_pose.pose.orientation.w = 1.0 + + return dbc_target_pose + + +# =============================================================================== + + +class Setup(smach.State): + def __init__(self): + smach.State.__init__( + self, + outcomes=["succeeded"], + input_keys=["handle_pose"], + output_keys=["feedback", "result", "handle_pose"], + ) + + def execute(self, userdata): + userdata.handle_pose = None # reset handle pose + + # Add empty result msg (because if none of the state do it, action server gives error) + userdata.result = GenericExecuteResult() + userdata.feedback = GenericExecuteFeedback( + current_state="Setup", text="Setting up" + ) + return "succeeded" + + +# =============================================================================== + + +class SendSafePoseToDBC(smach.State): + def __init__(self, target_dist=0.2): + smach.State.__init__(self, outcomes=["succeeded"]) + self._dbc_pose_pub = rospy.Publisher( + "/mcr_navigation/direct_base_controller/input_pose", + PoseStamped, + queue_size=10, + ) + laser_dist_sub = rospy.Subscriber( + "/mcr_navigation/laser_distances/distances", + Float32MultiArray, + self._laser_dist_cb, + ) + self._front_laser_dist = 0.0 + self._target_dist = target_dist + rospy.sleep(0.1) # time for the publisher to register in ros network + + def _laser_dist_cb(self, msg): + self._front_laser_dist = msg.data[0] + + def execute(self, userdata): + x_offset = self._front_laser_dist - self._target_dist + + dbc_target_pose = PoseStamped() + dbc_target_pose.header.stamp = rospy.Time.now() + dbc_target_pose.header.frame_id = "base_link_static" + dbc_target_pose.pose.position.x = x_offset + dbc_target_pose.pose.position.y = 0.0 + dbc_target_pose.pose.orientation.w = 1.0 + rospy.loginfo(dbc_target_pose) + self._dbc_pose_pub.publish(dbc_target_pose) + return "succeeded" + + +# =============================================================================== + + +class SendPoseToDBC(smach.State): + def __init__(self, param_name="default"): + smach.State.__init__(self, outcomes=["succeeded"], input_keys=["handle_pose"]) + self._dbc_pose_pub = rospy.Publisher( + "/mcr_navigation/direct_base_controller/input_pose", + PoseStamped, + queue_size=10, + ) + self._param_name = param_name + self.utils = ManipulateDrawerUtils() + rospy.sleep(0.1) # time for the publisher to register in ros network + + def execute(self, userdata): + dbc_pose = self.utils.calc_pose_for_dbc_for_param( + userdata.handle_pose, self._param_name + ) + self._dbc_pose_pub.publish(dbc_pose) + return "succeeded" diff --git a/data/mir_planning/mir_actions/mir_manipulate_drawer/setup.py b/data/mir_planning/mir_actions/mir_manipulate_drawer/setup.py new file mode 100644 index 0000000000000000000000000000000000000000..2e8df44240572498c55716e6db4702f89d768ba1 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_manipulate_drawer/setup.py @@ -0,0 +1,12 @@ +#!/usr/bin/env python + +from distutils.core import setup + +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages=["mir_manipulate_drawer"], + package_dir={"mir_manipulate_drawer": "ros/src/mir_manipulate_drawer"}, +) + +setup(**d) diff --git a/data/mir_planning/mir_actions/mir_move_base_safe/CMakeLists.txt b/data/mir_planning/mir_actions/mir_move_base_safe/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..be75af61fef8e636ce676103e4b729ee4fc79d89 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_move_base_safe/CMakeLists.txt @@ -0,0 +1,11 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_move_base_safe) + +find_package(catkin REQUIRED + COMPONENTS +) + +catkin_package( + CATKIN_DEPENDS + nav_msgs +) diff --git a/data/mir_planning/mir_actions/mir_move_base_safe/package.xml b/data/mir_planning/mir_actions/mir_move_base_safe/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..f5f2f46a23258f36328c2a6c2ec6e97f6bcf403f --- /dev/null +++ b/data/mir_planning/mir_actions/mir_move_base_safe/package.xml @@ -0,0 +1,23 @@ + + + mir_move_base_safe + 1.0.0 + + moves the arm by using moveit to a position inside the base footprint of the robot + as defined in move_base component, then calls move_base trough actionlib to achieve + a position in (x,y,theta) provided in a semantic way. This semantic position needs + to be stored in the parameter server. + + + GPLv3 + + Oscar Lima + Oscar Lima + + catkin + + roscpp + + nav_msgs + + diff --git a/data/mir_planning/mir_actions/mir_move_base_safe/ros/launch/direct_base_controller.launch b/data/mir_planning/mir_actions/mir_move_base_safe/ros/launch/direct_base_controller.launch new file mode 100644 index 0000000000000000000000000000000000000000..442d660c8283b0c6be4d81d383022e8a6458dae2 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_move_base_safe/ros/launch/direct_base_controller.launch @@ -0,0 +1,123 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_planning/mir_actions/mir_move_base_safe/ros/launch/move_base.launch b/data/mir_planning/mir_actions/mir_move_base_safe/ros/launch/move_base.launch new file mode 100644 index 0000000000000000000000000000000000000000..42e1de7cef4297fd64e78ac0068e0e47c94ee494 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_move_base_safe/ros/launch/move_base.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/data/mir_planning/mir_actions/mir_move_base_safe/ros/scripts/move_base_safe_client_test.py b/data/mir_planning/mir_actions/mir_move_base_safe/ros/scripts/move_base_safe_client_test.py new file mode 100644 index 0000000000000000000000000000000000000000..322802f8c8f22ef8d69488f0664e746a4c52543d --- /dev/null +++ b/data/mir_planning/mir_actions/mir_move_base_safe/ros/scripts/move_base_safe_client_test.py @@ -0,0 +1,51 @@ +#! /usr/bin/env python + +import sys + +import rospy +from actionlib import SimpleActionClient +from actionlib_msgs.msg import GoalStatus +from diagnostic_msgs.msg import KeyValue +from mir_planning_msgs.msg import GenericExecuteAction, GenericExecuteGoal + +if __name__ == "__main__": + rospy.init_node("move_base_safe_client_tester") + + client = SimpleActionClient("move_base_safe_server", GenericExecuteAction) + client.wait_for_server() + + if len(sys.argv) > 1: + destination = str(sys.argv[1]).upper() + next_action = "" + if len(sys.argv) > 2: + next_action = str(sys.argv[2]).upper() + + goal = GenericExecuteGoal() + goal.parameters.append(KeyValue(key="arm_safe_position", value="barrier_tape")) + goal.parameters.append(KeyValue(key="destination_location", value=destination)) + goal.parameters.append(KeyValue(key="next_action", value=next_action)) + rospy.loginfo("Sending following goal to move base safe server") + rospy.loginfo(goal) + + client.send_goal(goal) + + timeout = 60.0 + finished_within_time = client.wait_for_result( + rospy.Duration.from_sec(int(timeout)) + ) + if not finished_within_time: + client.cancel_goal() + + state = client.get_state() + result = client.get_result() + if state == GoalStatus.SUCCEEDED: + rospy.loginfo("Action SUCCESS") + rospy.loginfo(client.get_result()) + elif state == GoalStatus.ABORTED: + rospy.logerr("Action FAILED") + else: + rospy.logwarn("State: " + str(state)) + rospy.loginfo(client.get_result()) + else: + rospy.logerr("Arguments were not received in the proper format !") + rospy.loginfo("usage : move_base DESTINATION") diff --git a/data/mir_planning/mir_actions/mir_move_base_safe/ros/scripts/move_base_safe_server.py b/data/mir_planning/mir_actions/mir_move_base_safe/ros/scripts/move_base_safe_server.py new file mode 100644 index 0000000000000000000000000000000000000000..97cfe7d8ac630f47f6bb57b6b542c1b2fffbe436 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_move_base_safe/ros/scripts/move_base_safe_server.py @@ -0,0 +1,485 @@ +#!/usr/bin/env python +import mcr_states.common.basic_states as gbs +import mir_states.common.manipulation_states as gms +import param_server_utils +import rospy +import smach +import smach_ros +from actionlib import SimpleActionClient +from geometry_msgs.msg import PoseStamped +from std_msgs.msg import String +from mir_actions.utils import Utils +from mir_planning_msgs.msg import ( + GenericExecuteAction, + GenericExecuteFeedback, + GenericExecuteResult, +) +from smach_ros import ActionServerWrapper + +# =============================================================================== + + +class AlignWithWorkspace(smach.State): # inherit from the State base class + def __init__(self): + smach.State.__init__( + self, + outcomes=["succeeded", "failed"], + input_keys=["goal"], + output_keys=["feedback", "result"], + ) + self.align = rospy.get_param("~align", False) + if self.align: + self.client = SimpleActionClient( + "/align_with_workspace_server", AlignWithWorkspaceAction + ) + self.client.wait_for_server() + + def execute(self, userdata): + if not self.align: + return "succeeded" + else: + return "succeeded" + + # goal = AlignWithWorkspaceActionGoal() + + # goal.goal.destination_location = userdata.goal.destination_location + # timeout = 10.0 + # rospy.loginfo('Sending action lib goal to align_with_workspace_server, destination : ' + goal.goal.destination_location) + # self.client.send_goal(goal.goal) + # self.client.wait_for_result(rospy.Duration.from_sec(int(timeout))) + # self.client.cancel_goal() + # server_result = self.client.get_result() + # if server_result: + # rospy.loginfo("Alignment result: " + str(server_result.success)); + # else: + # rospy.loginfo("Alignment result: failed"); + # return 'failed' + # if server_result.success: + # return 'succeeded' + # else: + # return 'failed' + + +# =============================================================================== + + +class CheckBeSafe(smach.State): + def __init__(self): + smach.State.__init__(self, outcomes=["safe", "unsafe"], input_keys=["goal"]) + + def execute(self, userdata): + be_safe = rospy.get_param("~be_safe", True) + return "safe" if be_safe else "unsafe" + + +# =============================================================================== + + +class PrepareArmForNextAction(smach.State): + def __init__(self): + smach.State.__init__( + self, + outcomes=["succeeded", "failed", "skipped"], + input_keys=["goal"], + output_keys=["feedback", "result", "move_arm_to"], + ) + + def execute(self, userdata): + prepare_arm_for_next_action = rospy.get_param("~prepare_arm_for_next_action", True) + if not prepare_arm_for_next_action: + return "skipped" + if Utils.get_value_of(userdata.goal.parameters, "next_action") == "PERCEIVE": + arm_goal = "look_at_workspace_from_near" + elif Utils.get_value_of(userdata.goal.parameters, "next_action") == "UNSTAGE": + arm_goal = "stage_intermediate" + else: + return "skipped" + # giving feedback to the user + feedback = GenericExecuteFeedback() + feedback.current_state = "MOVE_ARM" + feedback.text = "[move_base_safe] Moving the arm to " + arm_goal + userdata.feedback = feedback + userdata.move_arm_to = arm_goal + return "succeeded" + + +# =============================================================================== + + +class SetupMoveBase(smach.State): + """ + Obtains nav goal from action lib and publishes a pose stamped to the specified topic + """ + + def __init__(self, topic_name): + smach.State.__init__( + self, + outcomes=["succeeded", "failed", "preempted"], + input_keys=["goal"], + output_keys=["feedback", "result"], + ) + self.pub = rospy.Publisher(topic_name, PoseStamped, queue_size=1) + self.dbc_pose_pub = rospy.Publisher( + "/mcr_navigation/direct_base_controller/input_pose", + PoseStamped, + queue_size=1, + ) + rospy.sleep(0.1) + + def execute(self, userdata): + if self.preempt_requested(): + rospy.logwarn("preemption requested!!!") + self.recall_preempt() # reset preemption flag for next request + return "preempted" + + base_goal = Utils.get_value_of(userdata.goal.parameters, "destination_location") + base_orientation = Utils.get_value_of( + userdata.goal.parameters, "destination_orientation" + ) + rospy.loginfo("Destination: " + str(base_goal)) + + pose = None + pose = param_server_utils.get_pose_from_param_server(base_goal) + if base_orientation is not None: + pose.pose.orientation = param_server_utils.get_orientation_from_param_server( + base_orientation + ) + + # Add empty result msg (because if none of the state do it, action server gives error) + userdata.result = GenericExecuteResult() + + # giving feedback to the user + feedback = GenericExecuteFeedback() + feedback.current_state = "MOVE_BASE" + feedback.text = "[move_base_safe] moving the base to " + base_goal + userdata.feedback = feedback + if pose: + self.pub.publish(pose) + self.dbc_pose_pub.publish(pose) + return "succeeded" + else: + return "failed" + +# =============================================================================== + +class StartMoveBase(smach.State): + def __init__(self, + event_in_topic='/move_base_wrapper/event_in', + event_out_topic='/move_base_wrapper/event_out', + timeout_duration=50): + smach.State.__init__( + self, + outcomes=["success", "failure", "timeout", "stopped", "preempted"] + ) + self.pub = rospy.Publisher(event_in_topic, String, queue_size=1) + self.sub = rospy.Subscriber(event_out_topic, String, self.event_cb) + self.event = None + self.timeout_duration = rospy.Duration.from_sec(timeout_duration) + rospy.sleep(0.1) + + def execute(self, userdata): + if self.preempt_requested(): + rospy.logwarn("preemption requested!!!") + self.recall_preempt() # reset preemption flag for next request + return "preempted" + self.event = None + self.pub.publish('e_start') + start_time = rospy.Time.now() + while (rospy.Time.now() - start_time < self.timeout_duration): + if self.preempt_requested(): + rospy.logwarn("preemption requested!!!") + self.recall_preempt() # reset preemption flag for next request + self.pub.publish('e_stop') + return "preempted" + if self.event is not None: + if self.event == 'e_success': + return 'success' + elif self.event == 'e_failure': + return 'failure' + elif self.event == 'e_stopped': + return 'stopped' + rospy.sleep(0.01) + return 'timeout' + + def event_cb(self, msg): + self.event = msg.data + + +# =============================================================================== + +def transition_cb(*args, **kwargs): + userdata = args[0] + sm_state = args[1][0] + publisher = args[2] + publisher.publish(sm_state) + + feedback = GenericExecuteFeedback() + feedback.current_state = sm_state + userdata.feedback = feedback + +def start_cb(*args, **kwargs): + userdata = args[0] + sm_state = args[1][0] + publisher = args[2] + publisher.publish(sm_state) + + feedback = GenericExecuteFeedback() + feedback.current_state = sm_state + userdata.feedback = feedback +# =============================================================================== + + +def main(): + rospy.init_node("move_base_safe_server") + # Construct state machine + sm = smach.StateMachine( + outcomes=["OVERALL_SUCCESS", "OVERALL_FAILED", "OVERALL_PREEMPTED"], + input_keys=["goal"], + output_keys=["feedback", "result"], + ) + + with sm: + smach.StateMachine.add( + "CHECK_IF_BARRIER_TAPE_ENABLED", + CheckBeSafe(), + transitions={ + "safe": "START_BARRIER_TAPE_DETECTION", + "unsafe": "SETUP_MOVE_BASE", + }, + ) + + smach.StateMachine.add( + "START_BARRIER_TAPE_DETECTION", + gbs.send_event( + [("/mir_perception/barrier_tape_detection/event_in", "e_start",)] + ), + transitions={"success": "MOVE_ARM_TO_DETECT_BARRIER_TAPE"}, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_DETECT_BARRIER_TAPE", + gms.move_arm("barrier_tape", blocking=False), + transitions={"succeeded": "SETUP_MOVE_BASE", + "failed": "MOVE_ARM_TO_DETECT_BARRIER_TAPE"}, + ) + # get pose from action lib as string, convert to pose stamped and publish + smach.StateMachine.add( + "SETUP_MOVE_BASE", + SetupMoveBase("/move_base_wrapper/pose_in"), + transitions={ + "succeeded": "SET_DIRECT_BASE_CONTROLLER_PARAMETERS", + "failed": "STOP_BARRIER_TAPE_DETECTION_WITH_FAILURE", + "preempted": "OVERALL_PREEMPTED", + }, + ) + + smach.StateMachine.add( + "SET_DIRECT_BASE_CONTROLLER_PARAMETERS", + gbs.set_named_config("dbc_move_base"), + transitions={ + "success": "START_MOVE_BASE", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "START_MOVE_BASE", + StartMoveBase( + event_in_topic="/move_base_wrapper/event_in", + event_out_topic="/move_base_wrapper/event_out", + timeout_duration=50, + ), + transitions={ + "success": "PREPARE_ARM_FOR_NEXT_ACTION", + "timeout": "RESET_BARRIER_TAPE", + "failure": "RESET_BARRIER_TAPE", + "stopped": "STOP_BARRIER_TAPE_DETECTION_WITH_FAILURE", + "preempted": "OVERALL_PREEMPTED", + }, + ) + + smach.StateMachine.add( + "RESET_BARRIER_TAPE", + gbs.send_event( + [("/mir_perception/barrier_tape_detection/event_in", "e_reset",), + ("/move_base_wrapper/event_in", "e_stop",)] + ), + transitions={"success": "SETUP_MOVE_BASE_AGAIN"}, + ) + + smach.StateMachine.add( + "SETUP_MOVE_BASE_AGAIN", + SetupMoveBase("/move_base_wrapper/pose_in"), + transitions={ + "succeeded": "START_MOVE_BASE_AGAIN", + "failed": "STOP_BARRIER_TAPE_DETECTION_WITH_FAILURE", + "preempted": "OVERALL_PREEMPTED", + }, + ) + + smach.StateMachine.add( + "START_MOVE_BASE_AGAIN", + gbs.send_and_wait_events_combined( + event_in_list=[ + ("/move_base_wrapper/event_in", "e_start")], + event_out_list=[("/move_base_wrapper/event_out", "e_success", True)], + timeout_duration=50, + ), + transitions={ + "success": "PREPARE_ARM_FOR_NEXT_ACTION", + "timeout": "STOP_BARRIER_TAPE_DETECTION_WITH_FAILURE", + "failure": "STOP_BARRIER_TAPE_DETECTION_WITH_FAILURE", + }, + ) + + # send arm to a position depending on next action + smach.StateMachine.add( + "PREPARE_ARM_FOR_NEXT_ACTION", + PrepareArmForNextAction(), + transitions={ + "succeeded": "MOVE_ARM_FOR_NEXT_ACTION", + "skipped": "REACH_DESTINATION_PRECISELY", + "failed": "PREPARE_ARM_FOR_NEXT_ACTION", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_FOR_NEXT_ACTION", + gms.move_arm(blocking=False), + transitions={"succeeded": "REACH_DESTINATION_PRECISELY", + "failed": "REACH_DESTINATION_PRECISELY"}, + ) + + # call direct base controller to fine adjust the base to the final desired pose + # (navigation tolerance is set to a wide tolerance) + smach.StateMachine.add( + "REACH_DESTINATION_PRECISELY", + gbs.send_and_wait_events_combined( + event_in_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_in", + "e_start", + ), + ], + event_out_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_out", + "e_success", + True, + ) + ], + timeout_duration=5, + ), # this is a tradeoff between speed and accuracy, set a higher value for accuracy increase + transitions={ + "success": "STOP_CONTROLLER_WITH_SUCCESS", + "timeout": "STOP_CONTROLLER_WITH_SUCCESS", + "failure": "STOP_CONTROLLER_WITH_FAILURE", + }, + ) + + # stop controller with success + smach.StateMachine.add( + "STOP_CONTROLLER_WITH_SUCCESS", + gbs.send_and_wait_events_combined( + event_in_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_in", + "e_stop", + ) + ], + event_out_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_out", + "e_stopped", + True, + ) + ], + timeout_duration=1, + ), + transitions={ + "success": "STOP_BARRIER_TAPE_DETECTION_WITH_SUCCESS", + "timeout": "STOP_BARRIER_TAPE_DETECTION_WITH_SUCCESS", + "failure": "STOP_BARRIER_TAPE_DETECTION_WITH_FAILURE", + }, + ) + + # stop controller with failure + smach.StateMachine.add( + "STOP_CONTROLLER_WITH_FAILURE", + gbs.send_and_wait_events_combined( + event_in_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_in", + "e_stop", + ) + ], + event_out_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_out", + "e_stopped", + True, + ) + ], + timeout_duration=1, + ), + transitions={ + "success": "STOP_BARRIER_TAPE_DETECTION_WITH_FAILURE", + "timeout": "STOP_BARRIER_TAPE_DETECTION_WITH_FAILURE", + "failure": "STOP_BARRIER_TAPE_DETECTION_WITH_FAILURE", + }, + ) + + smach.StateMachine.add( + "STOP_BARRIER_TAPE_DETECTION_WITH_FAILURE", + gbs.send_event( + [("/mir_perception/barrier_tape_detection/event_in", "e_stop"), + ("/move_base_wrapper/event_in", "e_stop",)] + ), + transitions={"success": "OVERALL_FAILED"}, + ) + + smach.StateMachine.add( + "STOP_BARRIER_TAPE_DETECTION_WITH_SUCCESS", + gbs.send_event( + [("/mir_perception/barrier_tape_detection/event_in", "e_stop")] + ), + transitions={"success": "ALIGN_WITH_WORKSPACE"}, + ) + + smach.StateMachine.add( + "ALIGN_WITH_WORKSPACE", + AlignWithWorkspace(), + transitions={"succeeded": "OVERALL_SUCCESS", "failed": "OVERALL_SUCCESS",}, + ) + + state_publisher = rospy.Publisher('~current_state', String, queue_size=1) + sm.register_transition_cb(transition_cb, [state_publisher]) + sm.register_start_cb(start_cb, [state_publisher]) + + # smach viewer + if rospy.get_param("~viewer_enabled", False): + sis = smach_ros.IntrospectionServer( + "move_base_safe_smach_viewer", sm, "/MOVE_BASE_SAFE_SMACH_VIEWER" + ) + sis.start() + + # Construct action server wrapper + asw = ActionServerWrapper( + server_name="move_base_safe_server", + action_spec=GenericExecuteAction, + wrapped_container=sm, + succeeded_outcomes=["OVERALL_SUCCESS"], + aborted_outcomes=["OVERALL_FAILED"], + preempted_outcomes=["OVERALL_PREEMPTED"], + goal_key="goal", + feedback_key="feedback", + result_key="result", + ) + # Run the server in a background thread + asw.run_server() + rospy.spin() + + +if __name__ == "__main__": + main() diff --git a/data/mir_planning/mir_actions/mir_move_base_safe/ros/scripts/param_server_utils.py b/data/mir_planning/mir_actions/mir_move_base_safe/ros/scripts/param_server_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..0bd5faccf1078bb091d9bacf4a87aff9a97baeb8 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_move_base_safe/ros/scripts/param_server_utils.py @@ -0,0 +1,92 @@ +#!/usr/bin/python +import geometry_msgs.msg +import rospy +import tf + + +def get_orientation_from_param_server( + orientation_goal, frame_id="map", param_ns="/script_server/base_orientations/" +): + assert type(orientation_goal) == str, "'orientation_goal' must be a string." + + parameter_name = param_ns + orientation_goal + if not rospy.has_param(parameter_name): + rospy.logerr( + "parameter '{}' does not exist on ROS Parameter Server, aborting...".format( + parameter_name + ) + ) + return None + else: + angle = rospy.get_param(parameter_name) + + quat = tf.transformations.quaternion_from_euler(0, 0, angle) + orientation = geometry_msgs.msg.Quaternion() + orientation.x = quat[0] + orientation.y = quat[1] + orientation.z = quat[2] + orientation.w = quat[3] + + return orientation + + +def get_pose_from_param_server( + navigation_goal, frame_id="map", param_ns="/script_server/base/" +): + """ + param navigation_goal: the name of the navigation goal to obtain the pose. + type navigation_goal: str + + param frame_id: the name of the reference frame for the pose. + type frame_id: str + + param param_ns: the namespace of the parameter server. + type param_ns: str + + return: the pose specified by name; or None if the pose name is not + in the param server. + return type: geometry_msgs.msg.PoseStamped or None + + """ + assert type(navigation_goal) == str, "'navigation_goal' must be a string." + + parameter_name = param_ns + navigation_goal + if not rospy.has_param(parameter_name): + rospy.logerr( + "parameter '{}' does not exist on ROS Parameter Server, aborting...".format( + parameter_name + ) + ) + return None + else: + pose = geometry_msgs.msg.PoseStamped() + pose_2d = rospy.get_param(parameter_name) + + # TODO: Oscar fix this... No Jose i will not fix it + # pose.header.stamp = rospy.Time.now() + pose.header.frame_id = frame_id + pose.pose.position.x = pose_2d[0] + pose.pose.position.y = pose_2d[1] + pose.pose.position.z = 0.0 + + q = tf.transformations.quaternion_from_euler(0, 0, pose_2d[2]) + pose.pose.orientation.x = q[0] + pose.pose.orientation.y = q[1] + pose.pose.orientation.z = q[2] + pose.pose.orientation.w = q[3] + + return pose + + +if __name__ == "__main__": + import sys + + while True: + nav_goal = raw_input( + "Please specify the name of the navigation_goal ('q' to quit): " + ) + if nav_goal == "q": + print("Quitting...") + sys.exit(0) + pose = get_pose_from_param_server(nav_goal) + print("Pose for navigation goal '{}': {}".format(nav_goal, pose)) diff --git a/data/mir_planning/mir_actions/mir_perceive_cavity/CMakeLists.txt b/data/mir_planning/mir_actions/mir_perceive_cavity/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..24291c5b36c86814d8c95fe84340c2fe043b2277 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_perceive_cavity/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_perceive_cavity) + +find_package(catkin REQUIRED + COMPONENTS +) + +catkin_package( + CATKIN_DEPENDS +) diff --git a/data/mir_planning/mir_actions/mir_perceive_cavity/package.xml b/data/mir_planning/mir_actions/mir_perceive_cavity/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..6ace95bbe24d4756ccba509dc801e2857cfb4d09 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_perceive_cavity/package.xml @@ -0,0 +1,17 @@ + + + mir_perceive_cavity + 1.0.0 + + Assumes that the robot is in front of a platform, then triggers base placement component + moves the arm to look_at_workspace and triggers cavity recognition pipeline. + + + GPLv3 + + Deebul Nair + Deebul Nair + + catkin + + diff --git a/data/mir_planning/mir_actions/mir_perceive_cavity/ros/launch/test_perceive_cavity.launch b/data/mir_planning/mir_actions/mir_perceive_cavity/ros/launch/test_perceive_cavity.launch new file mode 100644 index 0000000000000000000000000000000000000000..dcf3eb9c30148fb457d0da1c8fe463969bebbda5 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_perceive_cavity/ros/launch/test_perceive_cavity.launch @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_planning/mir_actions/mir_perceive_cavity/ros/scripts/perceive_cavity_client_test.py b/data/mir_planning/mir_actions/mir_perceive_cavity/ros/scripts/perceive_cavity_client_test.py new file mode 100644 index 0000000000000000000000000000000000000000..4ddaa5987b29393eb4d56d36de3760bdad1667e1 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_perceive_cavity/ros/scripts/perceive_cavity_client_test.py @@ -0,0 +1,45 @@ +#! /usr/bin/env python + +import sys + +import rospy +from actionlib import SimpleActionClient +from actionlib_msgs.msg import GoalStatus +from diagnostic_msgs.msg import KeyValue +from mir_planning_msgs.msg import GenericExecuteAction, GenericExecuteGoal + +if __name__ == "__main__": + rospy.init_node("perceive_cavity_client_tester") + + client = SimpleActionClient("perceive_cavity_server", GenericExecuteAction) + client.wait_for_server() + + goal = GenericExecuteGoal() + if len(sys.argv) > 1: + location = str(sys.argv[1]).upper() + else: + location = "PP01" + goal.parameters.append(KeyValue(key="location", value=location)) + goal.parameters.append(KeyValue(key="perception_mode", value="single_view")) + + rospy.loginfo("Sending following goal to perceive cavity server") + rospy.loginfo(goal) + + client.send_goal(goal) + + timeout = 15.0 + finished_within_time = client.wait_for_result(rospy.Duration.from_sec(int(timeout))) + if not finished_within_time: + client.cancel_goal() + + state = client.get_state() + result = client.get_result() + if state == GoalStatus.SUCCEEDED: + rospy.loginfo("Action SUCCESS") + for kv in result.results: + rospy.loginfo(kv.value) + elif state == GoalStatus.ABORTED: + rospy.logerr("Action FAILED") + else: + rospy.logwarn("State: " + str(state)) + rospy.loginfo(result) diff --git a/data/mir_planning/mir_actions/mir_perceive_cavity/ros/scripts/perceive_cavity_server.py b/data/mir_planning/mir_actions/mir_perceive_cavity/ros/scripts/perceive_cavity_server.py new file mode 100644 index 0000000000000000000000000000000000000000..dde1a0d776829f54975b61bde2f407c5e8213658 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_perceive_cavity/ros/scripts/perceive_cavity_server.py @@ -0,0 +1,268 @@ +#!/usr/bin/python + +import mcr_perception_states.common.perception_states as gps +import mcr_states.common.basic_states as gbs +import mir_states.common.basic_states as mir_gbs +import mir_states.common.manipulation_states as gms +import rospy +import smach +from diagnostic_msgs.msg import KeyValue +from mas_perception_msgs.msg import ObjectList +from mir_actions.utils import Utils +from mir_planning_msgs.msg import ( + GenericExecuteAction, + GenericExecuteFeedback, + GenericExecuteResult, +) +from smach_ros import ActionServerWrapper, IntrospectionServer + +# =============================================================================== + + +class SetupMoveArm(smach.State): + def __init__(self): + smach.State.__init__( + self, + outcomes=["pose_set", "tried_all"], + input_keys=["arm_pose_index", "arm_pose_list"], + output_keys=["arm_pose_index", "move_arm_to"], + ) + + def execute(self, userdata): + if userdata.arm_pose_index >= len(userdata.arm_pose_list): + return "tried_all" + # set arm pose to next pose in list + userdata.move_arm_to = userdata.arm_pose_list[userdata.arm_pose_index] + userdata.arm_pose_index += 1 + + return "pose_set" + + +# =============================================================================== +# =============================================================================== + + +class Setup(smach.State): + def __init__(self): + smach.State.__init__( + self, + outcomes=["succeeded"], + input_keys=["goal", "arm_pose_list"], + output_keys=["feedback", "result", "arm_pose_index", "arm_pose_list"], + ) + + def execute(self, userdata): + userdata.arm_pose_index = 0 # reset arm position for new request + # Add empty result msg (because if none of the state do it, action server gives error) + userdata.result = GenericExecuteResult() + userdata.feedback = GenericExecuteFeedback( + current_state="Setup", text="Setting up" + ) + # This server runs in two modes: + # 1. three_view mode - perceive using motion of arm in three directions + # 2. single_view mode - only perceiving in one direction + perception_mode = Utils.get_value_of(userdata.goal.parameters, "perception_mode") + if perception_mode is not None and perception_mode == "single_view": + userdata.arm_pose_list = ["pre_place"] + else: + userdata.arm_pose_list = [ + "ppt_cavity_middle", + "ppt_cavity_left", + "ppt_cavity_far_left", + "ppt_cavity_right", + "ppt_cavity_far_right" + ] + + return "succeeded" + + +# =============================================================================== + + +class PopulateResultWithCavities(smach.State): + def __init__(self): + smach.State.__init__( + self, + outcomes=["succeeded"], + input_keys=["goal"], + output_keys=["feedback", "result"], + ) + self.cavities_sub = rospy.Subscriber( + "/mcr_perception/cavity_finder/output/cavities_list", + ObjectList, + self.objects_callback, + ) + self.perceived_cavity_names = [] + + def objects_callback(self, msg): + # self.perceived_cavity_names.extend([str(obj.name) for obj in msg.objects]) + for obj in msg.objects: + if str(obj.name) not in self.perceived_cavity_names: + self.perceived_cavity_names.append(str(obj.name)) + else: + pass + + def execute(self, userdata): + result = GenericExecuteResult() + for i, obj in enumerate(self.perceived_cavity_names): + result.results.append(KeyValue(key="cavity_" + str(i + 1), value=obj)) + rospy.loginfo(result) + userdata.result = result + + self.perceived_cavity_names = [] # clear perceived objects for next call + return "succeeded" + + +# =============================================================================== + +def transition_cb(*args, **kwargs): + userdata = args[0] + sm_state = args[1][0] + + feedback = GenericExecuteFeedback() + feedback.current_state = sm_state + userdata.feedback = feedback + +def start_cb(*args, **kwargs): + userdata = args[0] + sm_state = args[1][0] + + feedback = GenericExecuteFeedback() + feedback.current_state = sm_state + userdata.feedback = feedback +# =============================================================================== + +def main(): + rospy.init_node("perceive_cavity_server") + # Construct state machine + sm = smach.StateMachine( + outcomes=["OVERALL_SUCCESS", "OVERALL_FAILED"], + input_keys=["goal"], + output_keys=["feedback", "result"], + ) + # sm.userdata.next_arm_pose_index = 0 + + #+++ + # this array is populated in the Setup state + sm.userdata.arm_pose_list = [] + sm.userdata.arm_pose_index = 0 + #+++ + + with sm: + # approach to platform + smach.StateMachine.add( + "SETUP", + Setup(), + transitions={"succeeded": "PUBLISH_REFERENCE_FRAME_FOR_WBC"}, + ) + + # generates a pose based on the previous string object topic received + smach.StateMachine.add( + "PUBLISH_REFERENCE_FRAME_FOR_WBC", + gbs.send_event([("/static_transform_publisher_node/event_in", "e_start")]), + transitions={"success": "START_POSE_SELECTOR"}, + ) + + # start the cavity pose selector to accumulate the poses + smach.StateMachine.add( + "START_POSE_SELECTOR", + gbs.send_event( + [("/mcr_perception/cavity_pose_selector/event_in", "e_start")] + ), + transitions={"success": "SET_APPROPRIATE_ARM_POSE"}, + ) + + #+++ + # move arm to appropriate position + smach.StateMachine.add( + "SET_APPROPRIATE_ARM_POSE", + SetupMoveArm(), + transitions={ + "pose_set": "MOVE_ARM_TO_SELECTED_POSE", + "tried_all": "POPULATE_RESULT_WITH_CAVITIES", + }, + ) + + + smach.StateMachine.add( + "MOVE_ARM_TO_SELECTED_POSE", + gms.move_arm_and_gripper("open"), + transitions={ + "succeeded": "WAIT_FOR_ARM_TO_STABILIZE", + "failed": "MOVE_ARM_TO_SELECTED_POSE", + }, + ) + + smach.StateMachine.add( + "WAIT_FOR_ARM_TO_STABILIZE", + mir_gbs.wait_for(0.5), + transitions={ + "succeeded": "RECOGNIZE_CAVITIES", + }, + ) + #+++ + + #--- + # move arm to selected pose + # smach.StateMachine.add( + # "LOOK_AROUND", + # gms.move_arm("look_at_workspace_from_near", blocking=True), + # transitions={"succeeded": "RECOGNIZE_CAVITIES", "failed": "LOOK_AROUND",}, + # ) + #--- + + # trigger perception pipeline + smach.StateMachine.add( + "RECOGNIZE_CAVITIES", + gps.find_cavities(retries=1), + transitions={ + "cavities_found": "SET_APPROPRIATE_ARM_POSE", + "no_cavities_found": "SET_APPROPRIATE_ARM_POSE", + }, + ) + + # populate action server result with perceived objects + smach.StateMachine.add( + "POPULATE_RESULT_WITH_CAVITIES", + PopulateResultWithCavities(), + transitions={"succeeded": "VISUALIZE_CAVITIES"}, + ) + + # populate action server result with perceived objects + smach.StateMachine.add( + "VISUALIZE_CAVITIES", + gbs.send_event( + [("/mcr_perception/cavity_pose_selector/event_in", "e_visualize")] + ), + transitions={"success": "OVERALL_SUCCESS"}, + ) + + sm.register_transition_cb(transition_cb) + sm.register_start_cb(start_cb) + + # smach viewer + if rospy.get_param("~viewer_enabled", False): + sis = IntrospectionServer( + "perceive_cavity_smach_viewer", sm, "/PERCEIVE_CAVITY_SMACH_VIEWER" + ) + sis.start() + + # Construct action server wrapper + asw = ActionServerWrapper( + server_name="perceive_cavity_server", + action_spec=GenericExecuteAction, + wrapped_container=sm, + succeeded_outcomes=["OVERALL_SUCCESS"], + aborted_outcomes=["OVERALL_FAILED"], + preempted_outcomes=["PREEMPTED"], + goal_key="goal", + feedback_key="feedback", + result_key="result", + ) + # Run the server in a background thread + asw.run_server() + rospy.spin() + + +if __name__ == "__main__": + main() diff --git a/data/mir_planning/mir_actions/mir_perceive_drawer/CMakeLists.txt b/data/mir_planning/mir_actions/mir_perceive_drawer/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..6f6c04015f67c5621197b5f0cc56f8e31f5f0620 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_perceive_drawer/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_perceive_drawer) + +find_package(catkin REQUIRED + COMPONENTS +) + +catkin_package( + CATKIN_DEPENDS +) diff --git a/data/mir_planning/mir_actions/mir_perceive_drawer/package.xml b/data/mir_planning/mir_actions/mir_perceive_drawer/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..a86ee040af1386f5182c78f579f9210842ecae6a --- /dev/null +++ b/data/mir_planning/mir_actions/mir_perceive_drawer/package.xml @@ -0,0 +1,18 @@ + + + mir_perceive_drawer + 1.0.0 + + Action server for perceiving drawer handle and perceiving inside drawer. + Assumes that the location is a drawer. + It uses direct_base_controller and mir_moveit_client for base and arm motion. + + + GPLv3 + + Dharmin B. + Dharmin B. + + catkin + + diff --git a/data/mir_planning/mir_actions/mir_perceive_drawer/ros/launch/perceive_drawer_handle.launch b/data/mir_planning/mir_actions/mir_perceive_drawer/ros/launch/perceive_drawer_handle.launch new file mode 100644 index 0000000000000000000000000000000000000000..85e8a9105494b5a75a6f07ae74ab103f736fa276 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_perceive_drawer/ros/launch/perceive_drawer_handle.launch @@ -0,0 +1,9 @@ + + + + + + + + diff --git a/data/mir_planning/mir_actions/mir_perceive_drawer/ros/scripts/perceive_drawer_handle_client b/data/mir_planning/mir_actions/mir_perceive_drawer/ros/scripts/perceive_drawer_handle_client new file mode 100644 index 0000000000000000000000000000000000000000..32a8050ffcfb2a498b0103d41c62c1bdea837f8d --- /dev/null +++ b/data/mir_planning/mir_actions/mir_perceive_drawer/ros/scripts/perceive_drawer_handle_client @@ -0,0 +1,40 @@ +#! /usr/bin/env python + +import sys + +import rospy +from actionlib import SimpleActionClient +from actionlib_msgs.msg import GoalStatus +from diagnostic_msgs.msg import KeyValue +from mir_planning_msgs.msg import GenericExecuteAction, GenericExecuteGoal + +if __name__ == "__main__": + rospy.init_node("perceive_drawer_handle_client") + + client = SimpleActionClient("perceive_drawer_handle_server", GenericExecuteAction) + client.wait_for_server() + + goal = GenericExecuteGoal() + + rospy.loginfo("Sending following goal to pick from drawer server") + rospy.loginfo(goal) + + client.send_goal(goal) + + timeout = 30.0 + finished_within_time = client.wait_for_result(rospy.Duration.from_sec(int(timeout))) + if not finished_within_time: + client.cancel_goal() + + state = client.get_state() + result = client.get_result() + if state == GoalStatus.SUCCEEDED: + rospy.loginfo("Action SUCCESS") + rospy.loginfo(client.get_result()) + sys.exit(0) + elif state == GoalStatus.ABORTED: + rospy.logerr("Action FAILED") + else: + rospy.logwarn("State: " + str(state)) + rospy.loginfo(client.get_result()) + sys.exit(1) diff --git a/data/mir_planning/mir_actions/mir_perceive_drawer/ros/scripts/perceive_drawer_handle_server b/data/mir_planning/mir_actions/mir_perceive_drawer/ros/scripts/perceive_drawer_handle_server new file mode 100644 index 0000000000000000000000000000000000000000..c066b0174e4b1057a7a9aa2984c9705ed5c38b19 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_perceive_drawer/ros/scripts/perceive_drawer_handle_server @@ -0,0 +1,298 @@ +#!/usr/bin/python + +from __future__ import print_function + +import mcr_states.common.basic_states as gbs +import mir_states.common.manipulation_states as gms +import rospy +import smach +from geometry_msgs.msg import PoseStamped +from mas_perception_msgs.msg import Object, ObjectList +from mir_actions.utils import Utils +from mir_planning_msgs.msg import ( + GenericExecuteAction, + GenericExecuteFeedback, + GenericExecuteResult, +) +from smach_ros import ActionServerWrapper, IntrospectionServer +from std_msgs.msg import Float32MultiArray + +# =============================================================================== + + +class Setup(smach.State): + def __init__(self): + smach.State.__init__( + self, + outcomes=["succeeded"], + input_keys=[], + output_keys=["feedback", "result"], + ) + + def execute(self, userdata): + # Add empty result msg (because if none of the state do it, action server gives error) + userdata.result = GenericExecuteResult() + userdata.feedback = GenericExecuteFeedback( + current_state="Setup", text="Setting up" + ) + return "succeeded" + + +# =============================================================================== + + +class ConvertPoseToObject(smach.State): + def __init__(self, topic_name): + smach.State.__init__(self, outcomes=["succeeded", "timeout"]) + _pose_sub = rospy.Subscriber(topic_name, PoseStamped, self._pose_cb) + self._obj_pub = rospy.Publisher( + "/mcr_perception/object_list_merger/output_object_list", + ObjectList, + queue_size=1, + ) + self._pose = None + rospy.sleep(0.1) # time for the publisher to register in ros network + + def _pose_cb(self, msg): + self._pose = msg + + def execute(self, userdata): + if self._pose is not None: + rospy.loginfo(self._pose) + obj = Object(pose=self._pose, name="DRAWER_HANDLE", database_id=50) + self._obj_pub.publish(ObjectList(objects=[obj])) + self._pose = None + return "succeeded" + else: + rospy.loginfo("Timeout") + return "timeout" + + +# =============================================================================== + + +class SendSafePoseToDBC(smach.State): + def __init__(self, target_dist=0.2): + smach.State.__init__(self, outcomes=["succeeded"]) + self._dbc_pose_pub = rospy.Publisher( + "/mcr_navigation/direct_base_controller/input_pose", + PoseStamped, + queue_size=10, + ) + laser_dist_sub = rospy.Subscriber( + "/mcr_navigation/laser_distances/distances", + Float32MultiArray, + self._laser_dist_cb, + ) + self._front_laser_dist = 0.0 + self._target_dist = target_dist + rospy.sleep(0.1) # time for the publisher to register in ros network + + def _laser_dist_cb(self, msg): + self._front_laser_dist = msg.data[0] + + def execute(self, userdata): + x_offset = self._front_laser_dist - self._target_dist + + dbc_target_pose = PoseStamped() + dbc_target_pose.header.stamp = rospy.Time.now() + dbc_target_pose.header.frame_id = "base_link_static" + dbc_target_pose.pose.position.x = x_offset + dbc_target_pose.pose.position.y = 0.0 + dbc_target_pose.pose.orientation.w = 1.0 + rospy.loginfo(dbc_target_pose) + self._dbc_pose_pub.publish(dbc_target_pose) + return "succeeded" + + +# =============================================================================== + + +def main(): + # Open the container + rospy.init_node("perceive_drawer_handle_server") + # Construct state machine + sm = smach.StateMachine( + outcomes=["OVERALL_SUCCESS", "OVERALL_FAILED"], + input_keys=["goal"], + output_keys=["feedback", "result"], + ) + + # ============================================================ + # ASSUMPTION: the robot is aligned perpendicular to the drawer + # ============================================================ + + with sm: + smach.StateMachine.add( + "SETUP", Setup(), transitions={"succeeded": "PUBLISH_TEMP_REFERENCE_FRAME"}, + ) + + # publish a temporary reference frame for moving backward if necessary + smach.StateMachine.add( + "PUBLISH_TEMP_REFERENCE_FRAME", + gbs.send_event([("/static_transform_publisher_node/event_in", "e_start")]), + transitions={"success": "OPEN_GRIPPER_HANDLE"}, + ) + + # Open gripper + smach.StateMachine.add( + "OPEN_GRIPPER_HANDLE", + gms.control_gripper("open"), + transitions={"succeeded": "SET_DBC_PARAMS"}, + ) + + smach.StateMachine.add( + "SET_DBC_PARAMS", + gbs.set_named_config("dbc_pick_object"), + transitions={ + "success": "SEND_SAFE_POSE_TO_DBC", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + # - Move base back for perceive drawer handle + smach.StateMachine.add( + "SEND_SAFE_POSE_TO_DBC", + SendSafePoseToDBC(target_dist=0.52), + transitions={"succeeded": "START_DBC"}, + ) + + smach.StateMachine.add( + "START_DBC", + gbs.send_and_wait_events_combined( + event_in_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_in", + "e_start", + ) + ], + event_out_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_out", + "e_success", + True, + ) + ], + timeout_duration=10, + ), + transitions={ + "success": "PUBLISH_REFERENCE_FRAME", + "timeout": "STOP_DBC", + "failure": "STOP_DBC", + }, + ) + + smach.StateMachine.add( + "STOP_DBC", + gbs.send_and_wait_events_combined( + event_in_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_in", + "e_stop", + ) + ], + event_out_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_out", + "e_stopped", + True, + ) + ], + timeout_duration=15, + ), + transitions={ + "success": "OVERALL_FAILED", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + # publish a static frame which will be used as reference for movement + # and perceiving objects + smach.StateMachine.add( + "PUBLISH_REFERENCE_FRAME", + gbs.send_event([("/static_transform_publisher_node/event_in", "e_start")]), + transitions={"success": "MOVE_ARM_TO_LOOK_AT_DRAWER_HANDLE"}, + ) + + # - Move arm to look_at_drawer_handle + smach.StateMachine.add( + "MOVE_ARM_TO_LOOK_AT_DRAWER_HANDLE", + gms.move_arm("look_at_drawer_handle"), + transitions={ + "succeeded": "PERCEIVE_HANDLE", + "failed": "MOVE_ARM_TO_LOOK_AT_DRAWER_HANDLE", + }, + ) + + # - Call perceive drawer handle + smach.StateMachine.add( + "PERCEIVE_HANDLE", + gbs.send_and_wait_events_combined( + event_in_list=[ + ("/mir_perception/drawer_handle_perceiver/event_in", "e_start",) + ], + event_out_list=[ + ( + "/mir_perception/drawer_handle_perceiver/event_out", + "e_done", + True, + ) + ], + timeout_duration=10, + ), + transitions={ + "success": "CONVERT_POSE_TO_OBJECT", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "CONVERT_POSE_TO_OBJECT", + ConvertPoseToObject( + topic_name="/mir_perception/drawer_handle_perceiver/output_pose" + ), + transitions={ + "succeeded": "MOVE_ARM_TO_NEUTRAL", + "timeout": "OVERALL_FAILED", + }, + ) + + # - Move arm to some neutral position + smach.StateMachine.add( + "MOVE_ARM_TO_NEUTRAL", + gms.move_arm("look_at_workspace_from_near"), + transitions={ + "succeeded": "OVERALL_SUCCESS", + "failed": "MOVE_ARM_TO_NEUTRAL", + }, + ) + + # smach viewer + if rospy.get_param("~viewer_enabled", False): + sis = IntrospectionServer( + "perceive_drawer_handle_viewer", sm, "/PERCEIVE_DRAWER_HANDLE_SMACH_VIEWER", + ) + sis.start() + + # Construct action server wrapper + asw = ActionServerWrapper( + server_name="perceive_drawer_handle_server", + action_spec=GenericExecuteAction, + wrapped_container=sm, + succeeded_outcomes=["OVERALL_SUCCESS"], + aborted_outcomes=["OVERALL_FAILED"], + preempted_outcomes=["PREEMPTED"], + goal_key="goal", + feedback_key="feedback", + result_key="result", + ) + # Run the server in a background thread + asw.run_server() + rospy.spin() + + +if __name__ == "__main__": + main() diff --git a/data/mir_planning/mir_actions/mir_perceive_drawer/ros/scripts/perceive_inside_drawer_client b/data/mir_planning/mir_actions/mir_perceive_drawer/ros/scripts/perceive_inside_drawer_client new file mode 100644 index 0000000000000000000000000000000000000000..8cb86b9843d34c9bc7d4321cd478d8df853246b3 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_perceive_drawer/ros/scripts/perceive_inside_drawer_client @@ -0,0 +1,40 @@ +#! /usr/bin/env python + +import sys + +import rospy +from actionlib import SimpleActionClient +from actionlib_msgs.msg import GoalStatus +from diagnostic_msgs.msg import KeyValue +from mir_planning_msgs.msg import GenericExecuteAction, GenericExecuteGoal + +if __name__ == "__main__": + rospy.init_node("perceive_inside_drawer_client") + + client = SimpleActionClient("perceive_inside_drawer_server", GenericExecuteAction) + client.wait_for_server() + + goal = GenericExecuteGoal() + + rospy.loginfo("Sending following goal to pick from drawer server") + rospy.loginfo(goal) + + client.send_goal(goal) + + timeout = 30.0 + finished_within_time = client.wait_for_result(rospy.Duration.from_sec(int(timeout))) + if not finished_within_time: + client.cancel_goal() + + state = client.get_state() + result = client.get_result() + if state == GoalStatus.SUCCEEDED: + rospy.loginfo("Action SUCCESS") + rospy.loginfo(client.get_result()) + sys.exit(0) + elif state == GoalStatus.ABORTED: + rospy.logerr("Action FAILED") + else: + rospy.logwarn("State: " + str(state)) + rospy.loginfo(client.get_result()) + sys.exit(1) diff --git a/data/mir_planning/mir_actions/mir_perceive_drawer/ros/scripts/perceive_inside_drawer_server b/data/mir_planning/mir_actions/mir_perceive_drawer/ros/scripts/perceive_inside_drawer_server new file mode 100644 index 0000000000000000000000000000000000000000..473761ee2e8d9d7be348918422a85fc3089d8c35 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_perceive_drawer/ros/scripts/perceive_inside_drawer_server @@ -0,0 +1,243 @@ +#!/usr/bin/python + +from __future__ import print_function + +import mcr_states.common.basic_states as gbs +import mir_states.common.manipulation_states as gms +import rospy +import smach +from diagnostic_msgs.msg import KeyValue +from mas_perception_msgs.msg import ObjectList +from mir_actions.utils import Utils +from mir_planning_msgs.msg import ( + GenericExecuteAction, + GenericExecuteFeedback, + GenericExecuteResult, +) +from smach_ros import ActionServerWrapper, IntrospectionServer + +# =============================================================================== + + +class Setup(smach.State): + def __init__(self): + smach.State.__init__( + self, + outcomes=["succeeded"], + input_keys=[], + output_keys=["feedback", "result"], + ) + + def execute(self, userdata): + # Add empty result msg (because if none of the state do it, action server gives error) + userdata.result = GenericExecuteResult() + userdata.feedback = GenericExecuteFeedback( + current_state="Setup", text="Setting up" + ) + return "succeeded" + + +# =============================================================================== + + +class PopulateResultWithObjects(smach.State): + def __init__(self): + smach.State.__init__( + self, + outcomes=["succeeded"], + input_keys=["goal"], + output_keys=["feedback", "result"], + ) + self.objects_sub = rospy.Subscriber( + "/mcr_perception/object_list_merger/local_output_object_list", + ObjectList, + self.objects_callback, + ) + self.perceived_obj_names = [] + + def objects_callback(self, msg): + self.perceived_obj_names = [str(obj.name) for obj in msg.objects] + + def execute(self, userdata): + result = GenericExecuteResult() + for i, obj in enumerate(self.perceived_obj_names): + result.results.append(KeyValue(key="obj_" + str(i + 1), value=obj)) + userdata.result = result + + userdata.feedback = GenericExecuteFeedback() # place holder + + self.perceived_obj_names = [] # clear perceived objects for next call + return "succeeded" + + +# =============================================================================== + + +def main(): + # Open the container + rospy.init_node("perceive_inside_drawer_server") + # Construct state machine + sm = smach.StateMachine( + outcomes=["OVERALL_SUCCESS", "OVERALL_FAILED"], + input_keys=["goal"], + output_keys=["feedback", "result"], + ) + + with sm: + # ASSUMPTION: the robot is aligned perpendicular to an open drawer and + # if not far away to look inside the open drawer + smach.StateMachine.add( + "SETUP", Setup(), transitions={"succeeded": "PUBLISH_REFERENCE_FRAME"}, + ) + + # publish a static frame which will be used as reference for perceived objs + smach.StateMachine.add( + "PUBLISH_REFERENCE_FRAME", + gbs.send_event([("/static_transform_publisher_node/event_in", "e_start")]), + transitions={"success": "OPEN_GRIPPER"}, + ) + + # - Open gripper + smach.StateMachine.add( + "OPEN_GRIPPER", + gms.control_gripper("open"), + transitions={"succeeded": "MOVE_ARM_TO_LOOK_INSIDE_DRAWER"}, + ) + + # - Move arm to look_inside_drawer + smach.StateMachine.add( + "MOVE_ARM_TO_LOOK_INSIDE_DRAWER", + gms.move_arm("look_inside_drawer"), + transitions={ + "succeeded": "START_OBJECT_LIST_MERGER", + "failed": "MOVE_ARM_TO_LOOK_INSIDE_DRAWER", + }, + ) + + # Uncomment you want to perceive aruco cube instead of atwork objects + # smach.StateMachine.add( + # "PERCEIVE_OBJECT", + # gbs.send_and_wait_events_combined( + # event_in_list=[("/mir_perception/aruco_cube_perceiver/event_in", "e_trigger")], + # event_out_list=[("/mir_perception/aruco_cube_perceiver/event_out", "e_success", True)], + # timeout_duration=10, + # ), + # transitions={ + # "success": "MOVE_ARM_TO_NEUTRAL", + # "timeout": "OVERALL_FAILED", + # "failure": "OVERALL_FAILED", + # }, + # ) + + smach.StateMachine.add( + "START_OBJECT_LIST_MERGER", + gbs.send_and_wait_events_combined( + event_in_list=[("/mcr_perception/object_list_merger/event_in", "e_start")], + event_out_list=[("/mcr_perception/object_list_merger/event_out", "e_started", True)], + timeout_duration=5, + ), + transitions={ + "success": "START_OBJECT_RECOGNITION", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "START_OBJECT_RECOGNITION", + gbs.send_and_wait_events_combined( + event_in_list=[("/mir_perception/multimodal_object_recognition/event_in", "e_start")], + event_out_list=[("/mir_perception/multimodal_object_recognition/event_out", "e_done", True)], + timeout_duration=10, + ), + transitions={ + "success": "STOP_RECOGNITION", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "STOP_RECOGNITION", + gbs.send_and_wait_events_combined( + event_in_list=[("/mir_perception/multimodal_object_recognition/event_in", "e_stop")], + event_out_list=[("/mir_perception/multimodal_object_recognition/event_out", "e_stopped", True)], + timeout_duration=5, + ), + transitions={ + "success": "STOP_OBJECT_LIST_MERGER", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "STOP_OBJECT_LIST_MERGER", + gbs.send_and_wait_events_combined( + event_in_list=[("/mcr_perception/object_list_merger/event_in", "e_stop")], + event_out_list=[("/mcr_perception/object_list_merger/event_out", "e_stopped", True)], + timeout_duration=5, + ), + transitions={ + "success": "PUBLISH_MERGED_OBJECT_LIST", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "PUBLISH_MERGED_OBJECT_LIST", + gbs.send_and_wait_events_combined( + event_in_list=[("/mcr_perception/object_list_merger/event_in", "e_trigger_local")], + event_out_list=[("/mcr_perception/object_list_merger/event_out", "e_done", True)], + timeout_duration=5, + ), + transitions={ + "success": "MOVE_ARM_TO_NEUTRAL", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + # - Move arm to some neutral position + smach.StateMachine.add( + "MOVE_ARM_TO_NEUTRAL", + gms.move_arm("look_at_workspace_from_near"), + transitions={ + "succeeded": "POPULATE_RESULT_WITH_OBJECTS", + "failed": "MOVE_ARM_TO_NEUTRAL", + }, + ) + + smach.StateMachine.add( + "POPULATE_RESULT_WITH_OBJECTS", + PopulateResultWithObjects(), + transitions={"succeeded": "OVERALL_SUCCESS"}, + ) + + # smach viewer + if rospy.get_param("~viewer_enabled", False): + sis = IntrospectionServer( + "perceive_inside_drawer_viewer", sm, "/PERCEIVE_INSIDE_DRAWER_SMACH_VIEWER", + ) + sis.start() + + # Construct action server wrapper + asw = ActionServerWrapper( + server_name="perceive_inside_drawer_server", + action_spec=GenericExecuteAction, + wrapped_container=sm, + succeeded_outcomes=["OVERALL_SUCCESS"], + aborted_outcomes=["OVERALL_FAILED"], + preempted_outcomes=["PREEMPTED"], + goal_key="goal", + feedback_key="feedback", + result_key="result", + ) + # Run the server in a background thread + asw.run_server() + rospy.spin() + + +if __name__ == "__main__": + main() diff --git a/data/mir_planning/mir_actions/mir_perceive_location/CMakeLists.txt b/data/mir_planning/mir_actions/mir_perceive_location/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..bbe0b82987eca444f8b4c45b280b1ea4830cb960 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_perceive_location/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_perceive_location) + +find_package(catkin REQUIRED + COMPONENTS +) + +catkin_package( + CATKIN_DEPENDS +) diff --git a/data/mir_planning/mir_actions/mir_perceive_location/package.xml b/data/mir_planning/mir_actions/mir_perceive_location/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..2090591accf6cdddfea2ce93bc8dae29b6d999c7 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_perceive_location/package.xml @@ -0,0 +1,17 @@ + + + mir_perceive_location + 1.0.0 + + Assumes that the robot is in front of a platform, then triggers base placement component + moves the arm to look_at_workspace and triggers perception pipeline. + + + GPLv3 + + Oscar Lima + Oscar Lima + + catkin + + diff --git a/data/mir_planning/mir_actions/mir_perceive_location/ros/launch/perceive_location_server.launch b/data/mir_planning/mir_actions/mir_perceive_location/ros/launch/perceive_location_server.launch new file mode 100644 index 0000000000000000000000000000000000000000..1f1c2840e48571b9bd0978bc456fee343915a92e --- /dev/null +++ b/data/mir_planning/mir_actions/mir_perceive_location/ros/launch/perceive_location_server.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_planning/mir_actions/mir_perceive_location/ros/launch/test_perceive.launch b/data/mir_planning/mir_actions/mir_perceive_location/ros/launch/test_perceive.launch new file mode 100644 index 0000000000000000000000000000000000000000..06972a9ffeb193eedd90a81d824d9691b5322d78 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_perceive_location/ros/launch/test_perceive.launch @@ -0,0 +1,58 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_planning/mir_actions/mir_perceive_location/ros/scripts/perceive_location_client_test.py b/data/mir_planning/mir_actions/mir_perceive_location/ros/scripts/perceive_location_client_test.py new file mode 100644 index 0000000000000000000000000000000000000000..886ca36e9f0f76261e84e9455c90647dab15830b --- /dev/null +++ b/data/mir_planning/mir_actions/mir_perceive_location/ros/scripts/perceive_location_client_test.py @@ -0,0 +1,53 @@ +#! /usr/bin/env python + +from __future__ import print_function + +import sys + +import rospy +from actionlib import SimpleActionClient +from actionlib_msgs.msg import GoalStatus +from diagnostic_msgs.msg import KeyValue +from mir_planning_msgs.msg import GenericExecuteAction, GenericExecuteGoal +from mir_actions.utils import Utils + +if __name__ == "__main__": + rospy.init_node("perceive_location_client_tester") + + client = SimpleActionClient("perceive_location_server", GenericExecuteAction) + client.wait_for_server() + + goal = GenericExecuteGoal() + if len(sys.argv) > 1: + location = str(sys.argv[1]).upper() + goal.parameters.append(KeyValue(key="location", value=location)) + + rospy.loginfo("Sending following goal to perceive location server") + rospy.loginfo(goal) + + client.send_goal(goal) + + timeout = 25.0 + finished_within_time = client.wait_for_result(rospy.Duration.from_sec(int(timeout))) + if not finished_within_time: + client.cancel_goal() + + state = client.get_state() + result = client.get_result() + if state == GoalStatus.SUCCEEDED: + rospy.loginfo("Action SUCCESS") + print("Perceived objects:") + for i in range(20): + obj_key = "obj_" + str(i+1) + obj_key_id = "obj_" + str(i+1) + "_id" + obj_name = Utils.get_value_of(result.results, obj_key) + if obj_name == None: + break + + obj_id = Utils.get_value_of(result.results, obj_key_id) + print(obj_name.ljust(15), str(obj_id).ljust(3)) + elif state == GoalStatus.ABORTED: + rospy.logerr("Action FAILED") + else: + rospy.logwarn("State: " + str(state)) + rospy.loginfo(result) diff --git a/data/mir_planning/mir_actions/mir_perceive_location/ros/scripts/perceive_location_server.py b/data/mir_planning/mir_actions/mir_perceive_location/ros/scripts/perceive_location_server.py new file mode 100644 index 0000000000000000000000000000000000000000..6225f016afd743b08a6c258dd19dc3d950232146 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_perceive_location/ros/scripts/perceive_location_server.py @@ -0,0 +1,581 @@ +#!/usr/bin/python + +from __future__ import print_function +import mcr_states.common.basic_states as gbs +import mir_states.common.basic_states as mir_gbs +import mir_states.common.manipulation_states as gms +import mir_states.common.navigation_states as gns +import mir_states.common.action_states as gas +import rospy +import smach +import tf +from diagnostic_msgs.msg import KeyValue +from geometry_msgs.msg import PoseStamped, Quaternion +from mas_perception_msgs.msg import ObjectList +from mir_actions.utils import Utils +from mir_planning_msgs.msg import ( + GenericExecuteAction, + GenericExecuteFeedback, + GenericExecuteResult, +) +from smach_ros import ActionServerWrapper, IntrospectionServer + +# =============================================================================== + + +class CheckIfBaseCentered(smach.State): + def __init__(self): + smach.State.__init__( + self, + outcomes=["yes", "no", "unavailable"], + input_keys=["goal"] + ) + self.tf_listener = tf.TransformListener() + self.distance_threshold = 0.1 + + def get_robot_pose(self): + for i in range(10): + try: + trans, rot = self.tf_listener.lookupTransform('map', 'base_link', rospy.Time(0)) + _, _, yaw = tf.transformations.euler_from_quaternion(rot) + return (trans[0], trans[1], yaw) + except Exception as e: + rospy.logerr(str(e)) + return None + + def execute(self, userdata): + rospy.loginfo("[perceive] userdata goal: %s" % str(userdata.goal.parameters)) + target_location = Utils.get_value_of(userdata.goal.parameters, 'location') + if target_location is not None: + target_pose = Utils.get_pose_from_param_server(target_location) + robot_pose = self.get_robot_pose() + xdiff = target_pose.pose.position.x - robot_pose[0] + ydiff = target_pose.pose.position.y - robot_pose[1] + if (xdiff > self.distance_threshold or ydiff > self.distance_threshold): + return 'no' + else: + return 'yes' + + else: + return 'unavailable' + +# =============================================================================== + + +class SetupMoveArm(smach.State): + def __init__(self): + smach.State.__init__( + self, + outcomes=["pose_set", "tried_all"], + input_keys=["arm_pose_index", "arm_pose_list"], + output_keys=["arm_pose_index", "move_arm_to"], + ) + + def execute(self, userdata): + if userdata.arm_pose_index >= len(userdata.arm_pose_list): + return "tried_all" + # set arm pose to next pose in list + userdata.move_arm_to = userdata.arm_pose_list[userdata.arm_pose_index] + userdata.arm_pose_index += 1 + + return "pose_set" + + +# =============================================================================== + + +class SetupMoveBaseWithDBC(smach.State): + def __init__(self): + smach.State.__init__( + self, + outcomes=["pose_set", "tried_all"], + input_keys=[ + "base_pose_index", + "base_pose_list", + "arm_pose_list", + "arm_pose_index", + ], + output_keys=["base_pose_index", "move_arm_to"], + ) + self._dbc_pose_pub = rospy.Publisher( + "/mcr_navigation/direct_base_controller/input_pose", + PoseStamped, + queue_size=1, + ) + rospy.sleep(0.1) # time for the publisher to register in ros network + + def execute(self, userdata): + if userdata.base_pose_index >= len(userdata.base_pose_list): + return "tried_all" + + target_pose_dict = userdata.base_pose_list[userdata.base_pose_index] + # set base pose to next pose in list + dbc_pose = PoseStamped() + dbc_pose.header.stamp = rospy.Time.now() + dbc_pose.header.frame_id = "base_link_static" + dbc_pose.pose.position.x = target_pose_dict["x"] + dbc_pose.pose.position.y = target_pose_dict["y"] + quat = tf.transformations.quaternion_from_euler(0, 0, target_pose_dict["theta"]) + dbc_pose.pose.orientation = Quaternion(*quat) + + userdata.base_pose_index += 1 + print(dbc_pose) + self._dbc_pose_pub.publish(dbc_pose) + userdata.move_arm_to = userdata.arm_pose_list[userdata.arm_pose_index] + return "pose_set" + +# =============================================================================== + + +class Setup(smach.State): + def __init__(self): + smach.State.__init__( + self, + outcomes=["succeeded"], + input_keys=[], + output_keys=["feedback", "result", "arm_pose_index", "base_pose_index",], + ) + + def execute(self, userdata): + userdata.arm_pose_index = 0 # reset arm position for new request + userdata.base_pose_index = 0 # reset base position for new request + + # Add empty result msg (because if none of the state do it, action server gives error) + userdata.result = GenericExecuteResult() + userdata.feedback = GenericExecuteFeedback( + current_state="Setup", text="Setting up" + ) + return "succeeded" + + +# =============================================================================== + + +class PopulateResultWithObjects(smach.State): + def __init__(self): + smach.State.__init__( + self, + outcomes=["succeeded"], + input_keys=["goal"], + output_keys=["feedback", "result"], + ) + self.objects_sub = rospy.Subscriber( + "/mcr_perception/object_list_merger/output_object_list", + ObjectList, + self.objects_callback, + ) + self.perceived_obj_names = [] + self.perceived_obj_db_id = [] + + def objects_callback(self, msg): + self.perceived_obj_names = [str(obj.name) for obj in msg.objects] + self.perceived_obj_db_id = [str(obj.database_id) for obj in msg.objects] + + def execute(self, userdata): + result = GenericExecuteResult() + for i, obj in enumerate(self.perceived_obj_names): + result.results.append(KeyValue(key="obj_" + str(i + 1), value=obj)) + result.results.append(KeyValue(key="obj_" + str(i + 1) + "_id", + value=self.perceived_obj_db_id[i])) + userdata.result = result + + userdata.feedback = GenericExecuteFeedback() # place holder + + self.perceived_obj_names = [] # clear perceived objects for next call + self.perceived_obj_db_id = [] # clear perceived objects for next call + return "succeeded" + + +# =============================================================================== + + +class GetMotionType(smach.State): + def __init__(self): + smach.State.__init__(self, outcomes=["base_motion", "arm_motion"]) + + def execute(self, userdata): + base_motion_enabled = rospy.get_param("~base_motion_enabled", False) + return "base_motion" if base_motion_enabled else "arm_motion" + + +# =============================================================================== + +class SetPerceptionParams(smach.State): + def __init__(self): + smach.State.__init__( + self, + outcomes=["success", "failure"], + input_keys=["goal"], + ) + self.set_named_config = gbs.set_named_config("multimodal_object_recognition_atwork") + + def execute(self, userdata): + obj_category = Utils.get_value_of(userdata.goal.parameters, "obj_category") + rospy.loginfo("[perceive] obj_category: %s", obj_category) + + if obj_category: + self.set_named_config.execute(userdata, obj_category) + return "success" + else: + self.set_named_config.execute(userdata) + return "success" + +# =============================================================================== + +def transition_cb(*args, **kwargs): + userdata = args[0] + sm_state = args[1][0] + + feedback = GenericExecuteFeedback() + feedback.current_state = sm_state + userdata.feedback = feedback + +def start_cb(*args, **kwargs): + userdata = args[0] + sm_state = args[1][0] + + feedback = GenericExecuteFeedback() + feedback.current_state = sm_state + userdata.feedback = feedback +# =============================================================================== + + +def main(): + rospy.init_node("perceive_location_server") + sleep_time = rospy.get_param("~sleep_time", 1.0) + # Construct state machine + sm = smach.StateMachine( + outcomes=["OVERALL_SUCCESS", "OVERALL_FAILED"], + input_keys=["goal"], + output_keys=["feedback", "result"], + ) + # Open the container + sm.userdata.arm_pose_list = [ + "look_at_workspace_from_near", + ] + sm.userdata.arm_pose_index = 0 + + base_x_offset = rospy.get_param("~base_x_offset", 0.0) + base_y_offset = rospy.get_param("~base_y_offset", 0.25) + base_theta_offset = rospy.get_param("~base_theta_offset", 0.0) + + sm.userdata.base_pose_list = [ + {"x": 0.0, "y": 0.0, "theta": 0.0}, + {"x": base_x_offset, "y": base_y_offset, "theta": base_theta_offset}, + {"x": base_x_offset, "y": -base_y_offset, "theta": -base_theta_offset}, + ] + sm.userdata.base_pose_index = 0 + + with sm: + + # set atwork model + smach.StateMachine.add( + "SET_PERCEPTION_PARAMS", + SetPerceptionParams(), + transitions={ + "success": "SETUP", + "failure": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "SETUP", Setup(), transitions={"succeeded": "CHECK_IF_BASE_IS_AT_LOCATION"}, + ) + + + smach.StateMachine.add( + "CHECK_IF_BASE_IS_AT_LOCATION", + CheckIfBaseCentered(), + transitions={"yes": "PUBLISH_REFERENCE_FRAME", + "unavailable": "PUBLISH_REFERENCE_FRAME", + "no" : "MOVE_BASE_TO_LOCATION"}, + ) + + smach.StateMachine.add( + "MOVE_BASE_TO_LOCATION", + gas.move_base(None), + transitions={"success": "PUBLISH_REFERENCE_FRAME", + "failed" : "PUBLISH_REFERENCE_FRAME"}, + ) + + # publish a static frame which will be used as reference for perceived objs + smach.StateMachine.add( + "PUBLISH_REFERENCE_FRAME", + gbs.send_event([("/static_transform_publisher_node/event_in", "e_start")]), + transitions={"success": "SET_DIRECT_BASE_CONTROLLER_PARAMETERS"}, + ) + + # publish a static frame which will be used as reference for perceived objs + smach.StateMachine.add( + "SET_DIRECT_BASE_CONTROLLER_PARAMETERS", + gbs.set_named_config("dbc_pick_object"), + transitions={ + "success": "START_OBJECT_LIST_MERGER", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "START_OBJECT_LIST_MERGER", + gbs.send_and_wait_events_combined( + event_in_list=[ + ("/mcr_perception/object_list_merger/event_in", "e_start"), + ("/mcr_perception/object_selector/event_in", "e_start"), + ], + event_out_list=[ + ("/mcr_perception/object_list_merger/event_out", "e_started", True,) + ], + timeout_duration=5, + ), + transitions={ + "success": "GET_MOTION_TYPE", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "GET_MOTION_TYPE", + GetMotionType(), + transitions={ + "base_motion": "SET_NEXT_BASE_POSE", + "arm_motion": "SET_NEXT_ARM_POSE", + }, + ) + + smach.StateMachine.add( + "SET_NEXT_BASE_POSE", + SetupMoveBaseWithDBC(), + transitions={ + "pose_set": "MOVE_BASE_WITH_DIRECT_BASE_CONTROLLER", + "tried_all": "STOP_OBJECT_LIST_MERGER", + }, + ) + + smach.StateMachine.add( + "MOVE_BASE_WITH_DIRECT_BASE_CONTROLLER", + gbs.send_and_wait_events_combined( + event_in_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_in", + "e_start", + ) + ], + event_out_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_out", + "e_success", + True, + ) + ], + timeout_duration=10, + ), + transitions={ + "success": "MOVE_ARM_TO_PERCEIVE_POSE", + "timeout": "STOP_DIRECT_BASE_CONTROLLER", + "failure": "STOP_DIRECT_BASE_CONTROLLER", + }, + ) + + smach.StateMachine.add( + "SET_NEXT_ARM_POSE", + SetupMoveArm(), + transitions={ + "pose_set": "MOVE_ARM_TO_PERCEIVE_POSE", + "tried_all": "STOP_OBJECT_LIST_MERGER", + }, + ) + + # move arm to appropriate position + smach.StateMachine.add( + "MOVE_ARM_TO_PERCEIVE_POSE", + gms.move_arm_and_gripper("open"), + transitions={ + "succeeded": "WAIT_FOR_ARM_TO_STABILIZE", + "failed": "MOVE_ARM_TO_PERCEIVE_POSE", + }, + ) + + # move arm to appropriate position + smach.StateMachine.add( + "WAIT_FOR_ARM_TO_STABILIZE", + mir_gbs.wait_for(0.5), + transitions={ + "succeeded": "START_OBJECT_RECOGNITION", + }, + ) + + # New perception pipeline state machine + smach.StateMachine.add( + "START_OBJECT_RECOGNITION", + gbs.send_and_wait_events_combined( + event_in_list=[ + ( + "/mir_perception/multimodal_object_recognition/event_in", + "e_start", + ) + ], + event_out_list=[ + ( + "/mir_perception/multimodal_object_recognition/event_out", + "e_done", + True, + ) + ], + timeout_duration=60, + ), + transitions={ + "success": "STOP_RECOGNITION", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "STOP_RECOGNITION", + gbs.send_and_wait_events_combined( + event_in_list=[ + ( + "/mir_perception/multimodal_object_recognition/event_in", + "e_stop", + ) + ], + event_out_list=[ + ( + "/mir_perception/multimodal_object_recognition/event_out", + "e_stopped", + True, + ) + ], + timeout_duration=5, + ), + transitions={ + "success": "GET_MOTION_TYPE", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "STOP_OBJECT_LIST_MERGER", + gbs.send_and_wait_events_combined( + event_in_list=[ + ("/mcr_perception/object_list_merger/event_in", "e_stop") + ], + event_out_list=[ + ("/mcr_perception/object_list_merger/event_out", "e_stopped", True,) + ], + timeout_duration=5, + ), + transitions={ + "success": "PUBLISH_MERGED_OBJECT_LIST", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "PUBLISH_MERGED_OBJECT_LIST", + gbs.send_and_wait_events_combined( + event_in_list=[ + ("/mcr_perception/object_list_merger/event_in", "e_trigger",) + ], + event_out_list=[ + ("/mcr_perception/object_list_merger/event_out", "e_done", True,) + ], + timeout_duration=5, + ), + transitions={ + "success": "CHECK_IF_OBJECTS_FOUND", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "CHECK_IF_OBJECTS_FOUND", + gbs.send_and_wait_events_combined( + event_in_list=[ + ( + "/mcr_perception/object_list_merger/object_found_event_in", + "e_trigger", + ) + ], + event_out_list=[ + ( + "/mcr_perception/object_list_merger/object_found_event_out", + "e_objects_found", + True, + ) + ], + timeout_duration=5.0, + ), + transitions={ + "success": "POPULATE_RESULT_WITH_OBJECTS", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + # populate action server result with perceived objects + smach.StateMachine.add( + "POPULATE_RESULT_WITH_OBJECTS", + PopulateResultWithObjects(), + transitions={"succeeded": "OVERALL_SUCCESS"}, + ) + + smach.StateMachine.add( + "STOP_DIRECT_BASE_CONTROLLER", + gbs.send_and_wait_events_combined( + event_in_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_in", + "e_stop", + ) + ], + event_out_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_out", + "e_stopped", + True, + ) + ], + timeout_duration=10, + ), + transitions={ + "success": "OVERALL_FAILED", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + sm.register_transition_cb(transition_cb) + sm.register_start_cb(start_cb) + + # smach viewer + if rospy.get_param("~viewer_enabled", False): + sis = IntrospectionServer( + "perceive_location_smach_viewer", sm, "/PERCEIVE_LOCATION_SMACH_VIEWER", + ) + sis.start() + + # Construct action server wrapper + asw = ActionServerWrapper( + server_name="perceive_location_server", + action_spec=GenericExecuteAction, + wrapped_container=sm, + succeeded_outcomes=["OVERALL_SUCCESS"], + aborted_outcomes=["OVERALL_FAILED"], + preempted_outcomes=["PREEMPTED"], + goal_key="goal", + feedback_key="feedback", + result_key="result", + ) + # Run the server in a background thread + asw.run_server() + rospy.spin() + + +if __name__ == "__main__": + main() diff --git a/data/mir_planning/mir_actions/mir_perceive_location/ros/scripts/perceive_location_server_yb4.py b/data/mir_planning/mir_actions/mir_perceive_location/ros/scripts/perceive_location_server_yb4.py new file mode 100644 index 0000000000000000000000000000000000000000..c9cf2d5f2145a7c045146117eb235d1da5a188fe --- /dev/null +++ b/data/mir_planning/mir_actions/mir_perceive_location/ros/scripts/perceive_location_server_yb4.py @@ -0,0 +1,550 @@ +#!/usr/bin/python + +from __future__ import print_function +import mcr_states.common.basic_states as gbs +import mir_states.common.basic_states as mir_gbs +import mir_states.common.manipulation_states as gms +import mir_states.common.navigation_states as gns +import mir_states.common.action_states as gas +import rospy +import smach +import tf +from diagnostic_msgs.msg import KeyValue +from geometry_msgs.msg import PoseStamped, Quaternion +from mas_perception_msgs.msg import ObjectList +from mir_actions.utils import Utils +from mir_planning_msgs.msg import ( + GenericExecuteAction, + GenericExecuteFeedback, + GenericExecuteResult, +) +from smach_ros import ActionServerWrapper, IntrospectionServer + +# =============================================================================== + + +class CheckIfBaseCentered(smach.State): + def __init__(self): + smach.State.__init__( + self, + outcomes=["yes", "no", "unavailable"], + input_keys=["goal"] + ) + self.tf_listener = tf.TransformListener() + self.distance_threshold = 0.1 + + def get_robot_pose(self): + for i in range(10): + try: + trans, rot = self.tf_listener.lookupTransform('map', 'base_link', rospy.Time(0)) + _, _, yaw = tf.transformations.euler_from_quaternion(rot) + return (trans[0], trans[1], yaw) + except Exception as e: + rospy.logerr(str(e)) + return None + + def execute(self, userdata): + target_location = Utils.get_value_of(userdata.goal.parameters, 'location') + if target_location is not None: + target_pose = Utils.get_pose_from_param_server(target_location) + robot_pose = self.get_robot_pose() + xdiff = target_pose.pose.position.x - robot_pose[0] + ydiff = target_pose.pose.position.y - robot_pose[1] + if (xdiff > self.distance_threshold or ydiff > self.distance_threshold): + return 'no' + else: + return 'yes' + + else: + return 'unavailable' + +# =============================================================================== + + +class SetupMoveArm(smach.State): + def __init__(self): + smach.State.__init__( + self, + outcomes=["pose_set", "tried_all"], + input_keys=["arm_pose_index", "arm_pose_list"], + output_keys=["arm_pose_index", "move_arm_to"], + ) + + def execute(self, userdata): + if userdata.arm_pose_index >= len(userdata.arm_pose_list): + return "tried_all" + # set arm pose to next pose in list + userdata.move_arm_to = userdata.arm_pose_list[userdata.arm_pose_index] + userdata.arm_pose_index += 1 + + return "pose_set" + + +# =============================================================================== + + +class SetupMoveBaseWithDBC(smach.State): + def __init__(self): + smach.State.__init__( + self, + outcomes=["pose_set", "tried_all"], + input_keys=[ + "base_pose_index", + "base_pose_list", + "arm_pose_list", + "arm_pose_index", + ], + output_keys=["base_pose_index", "move_arm_to"], + ) + self._dbc_pose_pub = rospy.Publisher( + "/mcr_navigation/direct_base_controller/input_pose", + PoseStamped, + queue_size=1, + ) + rospy.sleep(0.1) # time for the publisher to register in ros network + + def execute(self, userdata): + if userdata.base_pose_index >= len(userdata.base_pose_list): + return "tried_all" + + target_pose_dict = userdata.base_pose_list[userdata.base_pose_index] + # set base pose to next pose in list + dbc_pose = PoseStamped() + dbc_pose.header.stamp = rospy.Time.now() + dbc_pose.header.frame_id = "base_link_static" + dbc_pose.pose.position.x = target_pose_dict["x"] + dbc_pose.pose.position.y = target_pose_dict["y"] + quat = tf.transformations.quaternion_from_euler( + 0.0, 0.0, target_pose_dict["theta"] + ) + dbc_pose.pose.orientation = Quaternion(*quat) + + userdata.base_pose_index += 1 + print(dbc_pose) + self._dbc_pose_pub.publish(dbc_pose) + userdata.move_arm_to = userdata.arm_pose_list[userdata.arm_pose_index] + return "pose_set" + +# =============================================================================== + + +class Setup(smach.State): + def __init__(self): + smach.State.__init__( + self, + outcomes=["succeeded"], + input_keys=[], + output_keys=["feedback", "result", "arm_pose_index", "base_pose_index",], + ) + + def execute(self, userdata): + userdata.arm_pose_index = 0 # reset arm position for new request + userdata.base_pose_index = 0 # reset base position for new request + + # Add empty result msg (because if none of the state do it, action server gives error) + userdata.result = GenericExecuteResult() + userdata.feedback = GenericExecuteFeedback( + current_state="Setup", text="Setting up" + ) + return "succeeded" + + +# =============================================================================== + + +class PopulateResultWithObjects(smach.State): + def __init__(self): + smach.State.__init__( + self, + outcomes=["succeeded"], + input_keys=["goal"], + output_keys=["feedback", "result"], + ) + self.objects_sub = rospy.Subscriber( + "/mcr_perception/object_list_merger/output_object_list", + ObjectList, + self.objects_callback, + ) + self.perceived_obj_names = [] + self.perceived_obj_db_id = [] + + def objects_callback(self, msg): + self.perceived_obj_names = [str(obj.name) for obj in msg.objects] + self.perceived_obj_db_id = [str(obj.database_id) for obj in msg.objects] + + def execute(self, userdata): + result = GenericExecuteResult() + for i, obj in enumerate(self.perceived_obj_names): + result.results.append(KeyValue(key="obj_" + str(i + 1), value=obj)) + result.results.append(KeyValue(key="obj_" + str(i + 1) + "_id", + value=self.perceived_obj_db_id[i])) + userdata.result = result + + userdata.feedback = GenericExecuteFeedback() # place holder + + self.perceived_obj_names = [] # clear perceived objects for next call + self.perceived_obj_db_id = [] # clear perceived objects for next call + return "succeeded" + + +# =============================================================================== + + +class GetMotionType(smach.State): + def __init__(self): + smach.State.__init__(self, outcomes=["base_motion", "arm_motion"]) + + def execute(self, userdata): + base_motion_enabled = rospy.get_param("~base_motion_enabled", False) + return "base_motion" if base_motion_enabled else "arm_motion" + + +# =============================================================================== + +def transition_cb(*args, **kwargs): + userdata = args[0] + sm_state = args[1][0] + + feedback = GenericExecuteFeedback() + feedback.current_state = sm_state + userdata.feedback = feedback + +def start_cb(*args, **kwargs): + userdata = args[0] + sm_state = args[1][0] + + feedback = GenericExecuteFeedback() + feedback.current_state = sm_state + userdata.feedback = feedback +# =============================================================================== + + +def main(): + rospy.init_node("perceive_location_server") + sleep_time = rospy.get_param("~sleep_time", 1.0) + # Construct state machine + sm = smach.StateMachine( + outcomes=["OVERALL_SUCCESS", "OVERALL_FAILED"], + input_keys=["goal"], + output_keys=["feedback", "result"], + ) + # Open the container + sm.userdata.arm_pose_list = [ + "look_at_workspace_from_near", + "look_at_workspace_from_near_left", + "look_at_workspace_from_near_right", + ] + sm.userdata.arm_pose_index = 0 + + base_x_offset = rospy.get_param("~base_x_offset", 0.0) + base_y_offset = rospy.get_param("~base_y_offset", 0.25) + base_theta_offset = rospy.get_param("~base_theta_offset", 0.0) + sm.userdata.base_pose_list = [ + {"x": 0.0, "y": 0.0, "theta": 0.0}, + {"x": base_x_offset, "y": base_y_offset, "theta": base_theta_offset}, + {"x": base_x_offset, "y": -base_y_offset, "theta": -base_theta_offset}, + ] + sm.userdata.base_pose_index = 0 + + with sm: + # approach to platform + smach.StateMachine.add( + "SETUP", Setup(), transitions={"succeeded": "CHECK_IF_BASE_IS_AT_LOCATION"}, + ) + + smach.StateMachine.add( + "CHECK_IF_BASE_IS_AT_LOCATION", + CheckIfBaseCentered(), + transitions={"yes": "PUBLISH_REFERENCE_FRAME", + "unavailable": "PUBLISH_REFERENCE_FRAME", + "no" : "MOVE_BASE_TO_LOCATION"}, + ) + + smach.StateMachine.add( + "MOVE_BASE_TO_LOCATION", + gas.move_base(None), + transitions={"success": "PUBLISH_REFERENCE_FRAME", + "failed" : "PUBLISH_REFERENCE_FRAME"}, + ) + + # publish a static frame which will be used as reference for perceived objs + smach.StateMachine.add( + "PUBLISH_REFERENCE_FRAME", + gbs.send_event([("/static_transform_publisher_node/event_in", "e_start")]), + transitions={"success": "SET_DIRECT_BASE_CONTROLLER_PARAMETERS"}, + ) + + # publish a static frame which will be used as reference for perceived objs + smach.StateMachine.add( + "SET_DIRECT_BASE_CONTROLLER_PARAMETERS", + gbs.set_named_config("dbc_pick_object"), + transitions={ + "success": "START_OBJECT_LIST_MERGER", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "START_OBJECT_LIST_MERGER", + gbs.send_and_wait_events_combined( + event_in_list=[ + ("/mcr_perception/object_list_merger/event_in", "e_start"), + ("/mcr_perception/object_selector/event_in", "e_start"), + ], + event_out_list=[ + ("/mcr_perception/object_list_merger/event_out", "e_started", True,) + ], + timeout_duration=5, + ), + transitions={ + "success": "GET_MOTION_TYPE", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "GET_MOTION_TYPE", + GetMotionType(), + transitions={ + "base_motion": "SET_NEXT_BASE_POSE", + "arm_motion": "SET_NEXT_ARM_POSE", + }, + ) + + smach.StateMachine.add( + "SET_NEXT_BASE_POSE", + SetupMoveBaseWithDBC(), + transitions={ + "pose_set": "MOVE_BASE_WITH_DIRECT_BASE_CONTROLLER", + "tried_all": "POPULATE_RESULT_WITH_OBJECTS", + }, + ) + + smach.StateMachine.add( + "MOVE_BASE_WITH_DIRECT_BASE_CONTROLLER", + gbs.send_and_wait_events_combined( + event_in_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_in", + "e_start", + ) + ], + event_out_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_out", + "e_success", + True, + ) + ], + timeout_duration=10, + ), + transitions={ + "success": "MOVE_ARM_TO_PERCEIVE_POSE", + "timeout": "STOP_DIRECT_BASE_CONTROLLER", + "failure": "STOP_DIRECT_BASE_CONTROLLER", + }, + ) + + smach.StateMachine.add( + "SET_NEXT_ARM_POSE", + SetupMoveArm(), + transitions={ + "pose_set": "MOVE_ARM_TO_PERCEIVE_POSE", + "tried_all": "STOP_OBJECT_LIST_MERGER", + }, + ) + + # move arm to appropriate position + smach.StateMachine.add( + "MOVE_ARM_TO_PERCEIVE_POSE", + gms.move_arm_and_gripper("open"), + transitions={ + "succeeded": "WAIT_FOR_ARM_TO_STABILIZE", + "failed": "MOVE_ARM_TO_PERCEIVE_POSE", + }, + ) + + # move arm to appropriate position + smach.StateMachine.add( + "WAIT_FOR_ARM_TO_STABILIZE", + mir_gbs.wait_for(0.5), + transitions={ + "succeeded": "START_OBJECT_RECOGNITION", + }, + ) + + # New perception pipeline state machine + smach.StateMachine.add( + "START_OBJECT_RECOGNITION", + gbs.send_and_wait_events_combined( + event_in_list=[ + ( + "/mir_perception/multimodal_object_recognition/event_in", + "e_start", + ) + ], + event_out_list=[ + ( + "/mir_perception/multimodal_object_recognition/event_out", + "e_done", + True, + ) + ], + timeout_duration=10, + ), + transitions={ + "success": "STOP_RECOGNITION", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "STOP_RECOGNITION", + gbs.send_and_wait_events_combined( + event_in_list=[ + ( + "/mir_perception/multimodal_object_recognition/event_in", + "e_stop", + ) + ], + event_out_list=[ + ( + "/mir_perception/multimodal_object_recognition/event_out", + "e_stopped", + True, + ) + ], + timeout_duration=5, + ), + transitions={ + "success": "GET_MOTION_TYPE", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "STOP_OBJECT_LIST_MERGER", + gbs.send_and_wait_events_combined( + event_in_list=[ + ("/mcr_perception/object_list_merger/event_in", "e_stop") + ], + event_out_list=[ + ("/mcr_perception/object_list_merger/event_out", "e_stopped", True,) + ], + timeout_duration=5, + ), + transitions={ + "success": "PUBLISH_MERGED_OBJECT_LIST", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "PUBLISH_MERGED_OBJECT_LIST", + gbs.send_and_wait_events_combined( + event_in_list=[ + ("/mcr_perception/object_list_merger/event_in", "e_trigger",) + ], + event_out_list=[ + ("/mcr_perception/object_list_merger/event_out", "e_done", True,) + ], + timeout_duration=5, + ), + transitions={ + "success": "CHECK_IF_OBJECTS_FOUND", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "CHECK_IF_OBJECTS_FOUND", + gbs.send_and_wait_events_combined( + event_in_list=[ + ( + "/mcr_perception/object_list_merger/object_found_event_in", + "e_trigger", + ) + ], + event_out_list=[ + ( + "/mcr_perception/object_list_merger/object_found_event_out", + "e_objects_found", + True, + ) + ], + timeout_duration=5.0, + ), + transitions={ + "success": "POPULATE_RESULT_WITH_OBJECTS", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + # populate action server result with perceived objects + smach.StateMachine.add( + "POPULATE_RESULT_WITH_OBJECTS", + PopulateResultWithObjects(), + transitions={"succeeded": "OVERALL_SUCCESS"}, + ) + + smach.StateMachine.add( + "STOP_DIRECT_BASE_CONTROLLER", + gbs.send_and_wait_events_combined( + event_in_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_in", + "e_stop", + ) + ], + event_out_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_out", + "e_stopped", + True, + ) + ], + timeout_duration=10, + ), + transitions={ + "success": "OVERALL_FAILED", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + sm.register_transition_cb(transition_cb) + sm.register_start_cb(start_cb) + + # smach viewer + if rospy.get_param("~viewer_enabled", False): + sis = IntrospectionServer( + "perceive_location_smach_viewer", sm, "/PERCEIVE_LOCATION_SMACH_VIEWER", + ) + sis.start() + + # Construct action server wrapper + asw = ActionServerWrapper( + server_name="perceive_location_server", + action_spec=GenericExecuteAction, + wrapped_container=sm, + succeeded_outcomes=["OVERALL_SUCCESS"], + aborted_outcomes=["OVERALL_FAILED"], + preempted_outcomes=["PREEMPTED"], + goal_key="goal", + feedback_key="feedback", + result_key="result", + ) + # Run the server in a background thread + asw.run_server() + rospy.spin() + + +if __name__ == "__main__": + main() diff --git a/data/mir_planning/mir_actions/mir_perceive_mock/CMakeLists.txt b/data/mir_planning/mir_actions/mir_perceive_mock/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..0e758a87c9916950aa80fd82e27e55edda00f92e --- /dev/null +++ b/data/mir_planning/mir_actions/mir_perceive_mock/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_perceive_mock) + +find_package(catkin REQUIRED + COMPONENTS +) + +catkin_package( + CATKIN_DEPENDS +) diff --git a/data/mir_planning/mir_actions/mir_perceive_mock/package.xml b/data/mir_planning/mir_actions/mir_perceive_mock/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..8007192d07b708c43a98c385e1fec0ae7aebda06 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_perceive_mock/package.xml @@ -0,0 +1,18 @@ + + + mir_perceive_mock + 1.0.0 + + Assumes that the robot is in front of a platform, then triggers base placement component + moves the arm to look_at_workspace and triggers mock perception pipeline to + perceive an aruco cube. + + + GPLv3 + + Dharmin B. + Dharmin B. + + catkin + + diff --git a/data/mir_planning/mir_actions/mir_perceive_mock/ros/launch/perceive_aruco_server.launch b/data/mir_planning/mir_actions/mir_perceive_mock/ros/launch/perceive_aruco_server.launch new file mode 100644 index 0000000000000000000000000000000000000000..dda7ce2dd025c7337198b42be82e6c05601da786 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_perceive_mock/ros/launch/perceive_aruco_server.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/data/mir_planning/mir_actions/mir_perceive_mock/ros/scripts/perceive_aruco_client_test b/data/mir_planning/mir_actions/mir_perceive_mock/ros/scripts/perceive_aruco_client_test new file mode 100644 index 0000000000000000000000000000000000000000..0ba0a697d53b5b1b97e33546e7765cb694445e9c --- /dev/null +++ b/data/mir_planning/mir_actions/mir_perceive_mock/ros/scripts/perceive_aruco_client_test @@ -0,0 +1,42 @@ +#! /usr/bin/env python + +import sys + +import rospy +from actionlib import SimpleActionClient +from actionlib_msgs.msg import GoalStatus +from diagnostic_msgs.msg import KeyValue +from mir_planning_msgs.msg import GenericExecuteAction, GenericExecuteGoal + +if __name__ == "__main__": + rospy.init_node("perceive_aruco_client_tester") + + client = SimpleActionClient("perceive_aruco_server", GenericExecuteAction) + client.wait_for_server() + + goal = GenericExecuteGoal() + if len(sys.argv) > 1: + location = str(sys.argv[1]).upper() + goal.parameters.append(KeyValue(key="location", value=location)) + + rospy.loginfo("Sending following goal to perceive location server") + rospy.loginfo(goal) + + client.send_goal(goal) + + timeout = 15.0 + finished_within_time = client.wait_for_result(rospy.Duration.from_sec(int(timeout))) + if not finished_within_time: + client.cancel_goal() + + state = client.get_state() + result = client.get_result() + if state == GoalStatus.SUCCEEDED: + rospy.loginfo("Action SUCCESS") + for kv in result.results: + rospy.loginfo(kv.value) + elif state == GoalStatus.ABORTED: + rospy.logerr("Action FAILED") + else: + rospy.logwarn("State: " + str(state)) + rospy.loginfo(result) diff --git a/data/mir_planning/mir_actions/mir_perceive_mock/ros/scripts/perceive_aruco_server b/data/mir_planning/mir_actions/mir_perceive_mock/ros/scripts/perceive_aruco_server new file mode 100644 index 0000000000000000000000000000000000000000..9890bd37af00e27dec285772842a7e9f2ee7979b --- /dev/null +++ b/data/mir_planning/mir_actions/mir_perceive_mock/ros/scripts/perceive_aruco_server @@ -0,0 +1,350 @@ +#!/usr/bin/python + +import mcr_states.common.basic_states as gbs +import mir_states.common.manipulation_states as gms +import rospy +import smach +import tf +from diagnostic_msgs.msg import KeyValue +from geometry_msgs.msg import PoseStamped, Quaternion +from mas_perception_msgs.msg import ObjectList +from mir_actions.utils import Utils +from mir_planning_msgs.msg import ( + GenericExecuteAction, + GenericExecuteFeedback, + GenericExecuteResult, +) +from smach_ros import ActionServerWrapper, IntrospectionServer + +# =============================================================================== + + +class SetupMoveArm(smach.State): + def __init__(self): + smach.State.__init__( + self, + outcomes=["pose_set", "tried_all"], + input_keys=["arm_pose_index", "arm_pose_list"], + output_keys=["arm_pose_index", "move_arm_to"], + ) + + def execute(self, userdata): + if userdata.arm_pose_index >= len(userdata.arm_pose_list): + return "tried_all" + # set arm pose to next pose in list + userdata.move_arm_to = userdata.arm_pose_list[userdata.arm_pose_index] + userdata.arm_pose_index += 1 + + return "pose_set" + + +# =============================================================================== + + +class SetupMoveBaseWithDBC(smach.State): + def __init__(self): + smach.State.__init__( + self, + outcomes=["pose_set", "tried_all"], + input_keys=[ + "base_pose_index", + "base_pose_list", + "arm_pose_list", + "arm_pose_index", + ], + output_keys=["base_pose_index", "move_arm_to"], + ) + self._dbc_pose_pub = rospy.Publisher( + "/mcr_navigation/direct_base_controller/input_pose", + PoseStamped, + queue_size=1, + ) + rospy.sleep(0.1) # time for the publisher to register in ros network + + def execute(self, userdata): + if userdata.base_pose_index >= len(userdata.base_pose_list): + return "tried_all" + + target_pose_dict = userdata.base_pose_list[userdata.base_pose_index] + # set base pose to next pose in list + dbc_pose = PoseStamped() + dbc_pose.header.stamp = rospy.Time.now() + dbc_pose.header.frame_id = "base_link_static" + dbc_pose.pose.position.x = target_pose_dict["x"] + dbc_pose.pose.position.y = target_pose_dict["y"] + quat = tf.transformations.quaternion_from_euler( + 0.0, 0.0, target_pose_dict["theta"] + ) + dbc_pose.pose.orientation = Quaternion(*quat) + + userdata.base_pose_index += 1 + print(dbc_pose) + self._dbc_pose_pub.publish(dbc_pose) + userdata.move_arm_to = userdata.arm_pose_list[userdata.arm_pose_index] + return "pose_set" + + +# =============================================================================== + + +class Setup(smach.State): + def __init__(self): + smach.State.__init__( + self, + outcomes=["succeeded"], + input_keys=[], + output_keys=["feedback", "result", "arm_pose_index", "base_pose_index",], + ) + + def execute(self, userdata): + userdata.arm_pose_index = 0 # reset arm position for new request + userdata.base_pose_index = 0 # reset base position for new request + + # Add empty result msg (because if none of the state do it, action server gives error) + userdata.result = GenericExecuteResult() + userdata.feedback = GenericExecuteFeedback( + current_state="Setup", text="Setting up" + ) + return "succeeded" + + +# =============================================================================== + + +class PopulateResultWithObjects(smach.State): + def __init__(self): + smach.State.__init__( + self, + outcomes=["succeeded"], + input_keys=["goal"], + output_keys=["feedback", "result"], + ) + self.objects_sub = rospy.Subscriber( + "/mcr_perception/object_list_merger/output_object_list", + ObjectList, + self.objects_callback, + ) + self.perceived_obj_names = [] + + def objects_callback(self, msg): + self.perceived_obj_names = [str(obj.name) for obj in msg.objects] + + def execute(self, userdata): + result = GenericExecuteResult() + for i, obj in enumerate(self.perceived_obj_names): + result.results.append(KeyValue(key="obj_" + str(i + 1), value=obj)) + userdata.result = result + + userdata.feedback = GenericExecuteFeedback() # place holder + + self.perceived_obj_names = [] # clear perceived objects for next call + return "succeeded" + + +# =============================================================================== + + +class GetMotionType(smach.State): + def __init__(self): + smach.State.__init__(self, outcomes=["base_motion", "arm_motion"]) + + def execute(self, userdata): + base_motion_enabled = rospy.get_param("~base_motion_enabled", False) + return "base_motion" if base_motion_enabled else "arm_motion" + + +# =============================================================================== + + +def main(): + rospy.init_node("perceive_aruco_server") + + # Construct state machine + sm = smach.StateMachine( + outcomes=["OVERALL_SUCCESS", "OVERALL_FAILED"], + input_keys=["goal"], + output_keys=["feedback", "result"], + ) + + # different arm poses to cover the whole workspace + sm.userdata.arm_pose_list = [ + "look_at_workspace_from_near", + "look_at_workspace_from_near_left", + "look_at_workspace_from_near_right", + ] + sm.userdata.arm_pose_index = 0 + + base_x_offset = rospy.get_param("~base_x_offset", 0.0) + base_y_offset = rospy.get_param("~base_y_offset", 0.25) + base_theta_offset = rospy.get_param("~base_theta_offset", 0.0) + sm.userdata.base_pose_list = [ + {"x": 0.0, "y": 0.0, "theta": 0.0}, + {"x": base_x_offset, "y": base_y_offset, "theta": base_theta_offset}, + {"x": base_x_offset, "y": -base_y_offset, "theta": -base_theta_offset}, + ] + sm.userdata.base_pose_index = 0 + + with sm: + # setup the server's internal state + smach.StateMachine.add( + "SETUP", Setup(), transitions={"succeeded": "PUBLISH_REFERENCE_FRAME"}, + ) + + # publish a static frame which will be used as reference for perceived objs + smach.StateMachine.add( + "PUBLISH_REFERENCE_FRAME", + gbs.send_event([("/static_transform_publisher_node/event_in", "e_start")]), + transitions={"success": "SET_DBC_PARAMS"}, + ) + + # publish a static frame which will be used as reference for perceived objs + smach.StateMachine.add( + "SET_DBC_PARAMS", + gbs.set_named_config("dbc_pick_object"), + transitions={ + "success": "GET_MOTION_TYPE", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "GET_MOTION_TYPE", + GetMotionType(), + transitions={ + "base_motion": "SET_APPROPRIATE_BASE_POSE", + "arm_motion": "SET_APPROPRIATE_ARM_POSE", + }, + ) + + smach.StateMachine.add( + "SET_APPROPRIATE_BASE_POSE", + SetupMoveBaseWithDBC(), + transitions={ + "pose_set": "MOVE_BASE_WITH_DBC", + "tried_all": "POPULATE_RESULT_WITH_OBJECTS", + }, + ) + + smach.StateMachine.add( + "MOVE_BASE_WITH_DBC", + gbs.send_and_wait_events_combined( + event_in_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_in", + "e_start", + ) + ], + event_out_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_out", + "e_success", + True, + ) + ], + timeout_duration=10, + ), + transitions={ + "success": "MOVE_ARM", + "timeout": "STOP_DBC", + "failure": "STOP_DBC", + }, + ) + + smach.StateMachine.add( + "SET_APPROPRIATE_ARM_POSE", + SetupMoveArm(), + transitions={ + "pose_set": "MOVE_ARM", + "tried_all": "POPULATE_RESULT_WITH_OBJECTS", + }, + ) + + # move arm to appropriate position + smach.StateMachine.add( + "MOVE_ARM", + gms.move_arm_and_gripper("open"), + transitions={"succeeded": "DETECT_ARUCO", "failed": "MOVE_ARM"}, + ) + + # Get the pose of aruco cube from camera image + smach.StateMachine.add( + "DETECT_ARUCO", + gbs.send_and_wait_events_combined( + event_in_list=[ + ("/mir_perception/aruco_cube_perceiver/event_in", "e_trigger",) + ], + event_out_list=[ + ( + "/mir_perception/aruco_cube_perceiver/event_out", + "e_success", + True, + ) + ], + timeout_duration=10, + ), + transitions={ + "success": "POPULATE_RESULT_WITH_OBJECTS", + "timeout": "OVERALL_FAILED", + "failure": "GET_MOTION_TYPE", + }, + ) + + # populate action server result with perceived objects + smach.StateMachine.add( + "POPULATE_RESULT_WITH_OBJECTS", + PopulateResultWithObjects(), + transitions={"succeeded": "OVERALL_SUCCESS"}, + ) + + smach.StateMachine.add( + "STOP_DBC", + gbs.send_and_wait_events_combined( + event_in_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_in", + "e_stop", + ) + ], + event_out_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_out", + "e_stopped", + True, + ) + ], + timeout_duration=10, + ), + transitions={ + "success": "OVERALL_FAILED", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + # smach viewer + if rospy.get_param("~viewer_enabled", False): + sis = IntrospectionServer( + "perceive_aruco_smach_viewer", sm, "/PERCEIVE_ARUCO_SMACH_VIEWER" + ) + sis.start() + + # Construct action server wrapper + asw = ActionServerWrapper( + server_name="perceive_aruco_server", + action_spec=GenericExecuteAction, + wrapped_container=sm, + succeeded_outcomes=["OVERALL_SUCCESS"], + aborted_outcomes=["OVERALL_FAILED"], + preempted_outcomes=["PREEMPTED"], + goal_key="goal", + feedback_key="feedback", + result_key="result", + ) + # Run the server in a background thread + asw.run_server() + rospy.spin() + + +if __name__ == "__main__": + main() diff --git a/data/mir_planning/mir_actions/mir_pick_from_drawer/CMakeLists.txt b/data/mir_planning/mir_actions/mir_pick_from_drawer/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..772f14fc0b92daaa8418df089003ee194f92b514 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_pick_from_drawer/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_pick_from_drawer) + +find_package(catkin REQUIRED + COMPONENTS +) + +catkin_package( + CATKIN_DEPENDS +) diff --git a/data/mir_planning/mir_actions/mir_pick_from_drawer/package.xml b/data/mir_planning/mir_actions/mir_pick_from_drawer/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..95313d3e3c0636d9fadba4fd6b54a7c18fe4fe7a --- /dev/null +++ b/data/mir_planning/mir_actions/mir_pick_from_drawer/package.xml @@ -0,0 +1,19 @@ + + + mir_pick_from_drawer + 1.0.0 + + Assumes that the location is a drawer and it is opened and the object + requested for picking is perceived. + The base and arm are controlled using direct_base_controller and + mir_moveit_client. + + + GPLv3 + + Dharmin B. + Dharmin B. + + catkin + + diff --git a/data/mir_planning/mir_actions/mir_pick_from_drawer/ros/launch/pick_from_drawer_pipeline.launch b/data/mir_planning/mir_actions/mir_pick_from_drawer/ros/launch/pick_from_drawer_pipeline.launch new file mode 100644 index 0000000000000000000000000000000000000000..961cd1b24d4d18084b9b7860b5a4f94187c678cc --- /dev/null +++ b/data/mir_planning/mir_actions/mir_pick_from_drawer/ros/launch/pick_from_drawer_pipeline.launch @@ -0,0 +1,14 @@ + + + + + + + + + + + + diff --git a/data/mir_planning/mir_actions/mir_pick_from_drawer/ros/scripts/pick_from_drawer_client b/data/mir_planning/mir_actions/mir_pick_from_drawer/ros/scripts/pick_from_drawer_client new file mode 100644 index 0000000000000000000000000000000000000000..8e9837e0603d22fdcdbe82efde8da40ae317e8a1 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_pick_from_drawer/ros/scripts/pick_from_drawer_client @@ -0,0 +1,48 @@ +#! /usr/bin/env python + +import sys + +import rospy +from actionlib import SimpleActionClient +from actionlib_msgs.msg import GoalStatus +from diagnostic_msgs.msg import KeyValue +from mir_planning_msgs.msg import GenericExecuteAction, GenericExecuteGoal + +if __name__ == "__main__": + rospy.init_node("pick_from_drawer_client") + + client = SimpleActionClient("pick_from_drawer_server", GenericExecuteAction) + client.wait_for_server() + + if len(sys.argv) >= 2: + goal = GenericExecuteGoal() + obj = str(sys.argv[1]).upper() + goal.parameters.append(KeyValue(key="object", value=obj)) + + rospy.loginfo("Sending following goal to pick from drawer server") + rospy.loginfo(goal) + + client.send_goal(goal) + + timeout = 60.0 + finished_within_time = client.wait_for_result( + rospy.Duration.from_sec(int(timeout)) + ) + if not finished_within_time: + client.cancel_goal() + + state = client.get_state() + result = client.get_result() + if state == GoalStatus.SUCCEEDED: + rospy.loginfo("Action SUCCESS") + rospy.loginfo(client.get_result()) + sys.exit(0) + elif state == GoalStatus.ABORTED: + rospy.logerr("Action FAILED") + else: + rospy.logwarn("State: " + str(state)) + rospy.loginfo(client.get_result()) + else: + rospy.logerr("Arguments were not received in the proper format!") + rospy.loginfo("usage : pick_from_drawer OBJECT_NAME") + sys.exit(1) diff --git a/data/mir_planning/mir_actions/mir_pick_from_drawer/ros/scripts/pick_from_drawer_pipeline_script b/data/mir_planning/mir_actions/mir_pick_from_drawer/ros/scripts/pick_from_drawer_pipeline_script new file mode 100644 index 0000000000000000000000000000000000000000..2d8e10043b81f7ec3b78f7a5ee1e9d1b96383e92 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_pick_from_drawer/ros/scripts/pick_from_drawer_pipeline_script @@ -0,0 +1,8 @@ +#! /bin/bash + +rosrun mir_perceive_drawer perceive_drawer_handle_client && + rosrun mir_manipulate_drawer open_drawer_client && + rosrun mir_perceive_drawer perceive_inside_drawer_client && + rosrun mir_pick_from_drawer pick_from_drawer_client ARUCO_CUBE && + rosrun mir_stage_object stage_object_client_test.py PLATFORM_MIDDLE && + rosrun mir_manipulate_drawer close_drawer_client diff --git a/data/mir_planning/mir_actions/mir_pick_from_drawer/ros/scripts/pick_from_drawer_server b/data/mir_planning/mir_actions/mir_pick_from_drawer/ros/scripts/pick_from_drawer_server new file mode 100644 index 0000000000000000000000000000000000000000..60e744fa918ed28b252993318be3ef7dfca4fb31 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_pick_from_drawer/ros/scripts/pick_from_drawer_server @@ -0,0 +1,218 @@ +#!/usr/bin/python + +from __future__ import print_function + +import copy + +import mcr_states.common.basic_states as gbs +import mir_states.common.action_states as gas +import mir_states.common.manipulation_states as gms +import rospy +import smach +import tf +from geometry_msgs.msg import PoseStamped, Quaternion +from mir_actions.utils import Utils +from mir_planning_msgs.msg import ( + GenericExecuteAction, + GenericExecuteFeedback, + GenericExecuteResult, +) +from smach_ros import ActionServerWrapper, IntrospectionServer +from std_msgs.msg import String + +# =============================================================================== + + +class SelectObject(smach.State): + def __init__(self, topic_name): + smach.State.__init__( + self, + outcomes=["succeeded"], + input_keys=["goal"], + output_keys=["feedback", "result"], + ) + self.publisher = rospy.Publisher(topic_name, String, queue_size=10) + rospy.sleep(0.1) # time for the publisher to register in ros network + + def execute(self, userdata): + # Add empty result msg (because if none of the state do it, action server gives error) + userdata.result = GenericExecuteResult() + userdata.feedback = GenericExecuteFeedback( + current_state="SelectObject", text="selecting object" + ) + + obj = Utils.get_value_of(userdata.goal.parameters, "object") + self.publisher.publish(String(data=obj)) + rospy.sleep(0.2) # let the topic survive for some time + return "succeeded" + + +# =============================================================================== + + +class SendPoseToMoveIt(smach.State): + def __init__(self): + smach.State.__init__(self, outcomes=["succeeded", "failed"]) + self._moveit_pose_pub = rospy.Publisher( + "/arm_moveit_client/target_pose", PoseStamped, queue_size=10 + ) + _pose_sub = rospy.Subscriber( + "/mcr_perception/object_selector/output/object_pose", + PoseStamped, + self._pose_cb, + ) + self._pose = None + rospy.sleep(0.1) # time for the publisher to register in ros network + + def _pose_cb(self, msg): + self._pose = msg + + def execute(self, userdata): + if self._pose is None: + return "failed" + arm_target_pose = copy.deepcopy(self._pose) + arm_target_pose.header.stamp = rospy.Time.now() + arm_target_pose.pose.position.x += 0.0 + arm_target_pose.pose.position.y += 0.0 + arm_target_pose.pose.position.z += 0.01 + quat = tf.transformations.quaternion_from_euler(0.0, 3.14, 0.0) + arm_target_pose.pose.orientation = Quaternion(*quat) + rospy.loginfo("Arm pose") + rospy.loginfo(arm_target_pose) + self._moveit_pose_pub.publish(arm_target_pose) + self._pose = None + return "succeeded" + + +# =============================================================================== + + +def main(): + # Open the container + rospy.init_node("pick_from_drawer_server") + # Construct state machine + sm = smach.StateMachine( + outcomes=["OVERALL_SUCCESS", "OVERALL_FAILED"], + input_keys=["goal"], + output_keys=["feedback", "result"], + ) + + with sm: + smach.StateMachine.add( + "SELECT_OBJECT", + SelectObject("/mcr_perception/local_object_selector/input/object_name"), + transitions={"succeeded": "GENERATE_OBJECT_POSE"}, + ) + + # generates a pose of object + smach.StateMachine.add( + "GENERATE_OBJECT_POSE", + gbs.send_and_wait_events_combined( + event_in_list=[ + ("/mcr_perception/local_object_selector/event_in", "e_trigger") + ], + event_out_list=[ + ("/mcr_perception/local_object_selector/event_out", "e_selected", True,) + ], + timeout_duration=10, + ), + transitions={ + "success": "MOVE_ARM_TO_LOOK_INSIDE_DRAWER", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + # - Move arm to look_inside_drawer + smach.StateMachine.add( + "MOVE_ARM_TO_LOOK_INSIDE_DRAWER", + gms.move_arm("look_inside_drawer"), + transitions={ + "succeeded": "OPEN_GRIPPER", + "failed": "MOVE_ARM_TO_LOOK_INSIDE_DRAWER", + }, + ) + + smach.StateMachine.add( + "OPEN_GRIPPER", + gms.control_gripper("open_narrow"), + transitions={"succeeded": "SEND_MOVEIT_POSE_OBJECT"}, + ) + + # - Pick object from drawer + smach.StateMachine.add( + "SEND_MOVEIT_POSE_OBJECT", + SendPoseToMoveIt(), + transitions={ + "succeeded": "TRIGGER_MOVEIT_OBJECT", + "failed": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "TRIGGER_MOVEIT_OBJECT", + gbs.send_and_wait_events_combined( + event_in_list=[("arm_moveit_client/event_in", "e_start")], + event_out_list=[("arm_moveit_client/event_out", "e_success", True)], + timeout_duration=10, + ), + transitions={ + "success": "CLOSE_GRIPPER_OBJECT", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + # - Close gripper + smach.StateMachine.add( + "CLOSE_GRIPPER_OBJECT", + gms.control_gripper("close"), + transitions={"succeeded": "MOVE_ARM_TO_RETRACT"}, + ) + + # Retract arm after pick + smach.StateMachine.add( + "MOVE_ARM_TO_RETRACT", + gms.move_arm("look_inside_drawer"), + transitions={ + "succeeded": "MOVE_ARM_TO_NEUTRAL", + "failed": "MOVE_ARM_TO_RETRACT", + }, + ) + + # - Move arm to some neutral position + smach.StateMachine.add( + "MOVE_ARM_TO_NEUTRAL", + gms.move_arm("look_at_workspace_from_near"), + transitions={ + "succeeded": "OVERALL_SUCCESS", + "failed": "MOVE_ARM_TO_NEUTRAL", + }, + ) + + # smach viewer + if rospy.get_param("~viewer_enabled", False): + sis = IntrospectionServer( + "pick_from_drawer_viewer", sm, "/PICK_OBJECT_FROM_DRAWER_SMACH_VIEWER", + ) + sis.start() + + # Construct action server wrapper + asw = ActionServerWrapper( + server_name="pick_from_drawer_server", + action_spec=GenericExecuteAction, + wrapped_container=sm, + succeeded_outcomes=["OVERALL_SUCCESS"], + aborted_outcomes=["OVERALL_FAILED"], + preempted_outcomes=["PREEMPTED"], + goal_key="goal", + feedback_key="feedback", + result_key="result", + ) + # Run the server in a background thread + asw.run_server() + rospy.spin() + + +if __name__ == "__main__": + main() diff --git a/data/mir_planning/mir_actions/mir_pick_from_shelf/CMakeLists.txt b/data/mir_planning/mir_actions/mir_pick_from_shelf/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..190a9e7619f6c9fb236a4ecaf52887956ee565d4 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_pick_from_shelf/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_pick_from_shelf) + +find_package(catkin REQUIRED + COMPONENTS +) + +catkin_package( + CATKIN_DEPENDS +) diff --git a/data/mir_planning/mir_actions/mir_pick_from_shelf/package.xml b/data/mir_planning/mir_actions/mir_pick_from_shelf/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..771a5610c91d0db461753a07c7f107ddafd68a54 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_pick_from_shelf/package.xml @@ -0,0 +1,18 @@ + + + mir_pick_from_shelf + 1.0.0 + + Assumes that the location is a shelf and its already perceived and objects + were found. It picks up an object from the bottom shelf using direct_base_controller + and mir_moveit_client. + + + GPLv3 + + Dharmin B. + Dharmin B. + + catkin + + diff --git a/data/mir_planning/mir_actions/mir_pick_from_shelf/ros/launch/pick_from_shelf.launch b/data/mir_planning/mir_actions/mir_pick_from_shelf/ros/launch/pick_from_shelf.launch new file mode 100644 index 0000000000000000000000000000000000000000..42b673244529e3e9bdec17394649874919520273 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_pick_from_shelf/ros/launch/pick_from_shelf.launch @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_planning/mir_actions/mir_pick_from_shelf/ros/scripts/pick_from_shelf_client b/data/mir_planning/mir_actions/mir_pick_from_shelf/ros/scripts/pick_from_shelf_client new file mode 100644 index 0000000000000000000000000000000000000000..f14fe2ed34307321d7adde81750bc4a601c27604 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_pick_from_shelf/ros/scripts/pick_from_shelf_client @@ -0,0 +1,45 @@ +#! /usr/bin/env python + +import sys + +import rospy +from actionlib import SimpleActionClient +from actionlib_msgs.msg import GoalStatus +from diagnostic_msgs.msg import KeyValue +from mir_planning_msgs.msg import GenericExecuteAction, GenericExecuteGoal + +if __name__ == "__main__": + rospy.init_node("pick_from_shelf_client") + + client = SimpleActionClient("pick_from_shelf_server", GenericExecuteAction) + client.wait_for_server() + + if len(sys.argv) == 2: + goal = GenericExecuteGoal() + obj = str(sys.argv[1]).upper() + goal.parameters.append(KeyValue(key="object", value=obj)) + rospy.loginfo("Sending following goal to place object server") + rospy.loginfo(goal) + + client.send_goal(goal) + + timeout = 15.0 + finished_within_time = client.wait_for_result( + rospy.Duration.from_sec(int(timeout)) + ) + if not finished_within_time: + client.cancel_goal() + + state = client.get_state() + result = client.get_result() + if state == GoalStatus.SUCCEEDED: + rospy.loginfo("Action SUCCESS") + rospy.loginfo(client.get_result()) + elif state == GoalStatus.ABORTED: + rospy.logerr("Action FAILED") + else: + rospy.logwarn("State: " + str(state)) + rospy.loginfo(client.get_result()) + else: + rospy.logerr("Arguments were not received in the proper format !") + rospy.loginfo("usage : pick_from_shelf OBJECT_NAME") diff --git a/data/mir_planning/mir_actions/mir_pick_from_shelf/ros/scripts/pick_from_shelf_server b/data/mir_planning/mir_actions/mir_pick_from_shelf/ros/scripts/pick_from_shelf_server new file mode 100644 index 0000000000000000000000000000000000000000..8f45fa808a71b7bb73f97991bd83d896b191d7ff --- /dev/null +++ b/data/mir_planning/mir_actions/mir_pick_from_shelf/ros/scripts/pick_from_shelf_server @@ -0,0 +1,366 @@ +#!/usr/bin/python + +from __future__ import print_function + +import sys + +import mcr_states.common.basic_states as gbs +import mir_states.common.manipulation_states as gms +import rospy +import smach +from geometry_msgs.msg import PoseStamped +from mir_actions.utils import Utils +from mir_planning_msgs.msg import ( + GenericExecuteAction, + GenericExecuteFeedback, + GenericExecuteResult, +) +from smach_ros import ActionServerWrapper, IntrospectionServer +from std_msgs.msg import String + +from pick_from_shelf_utils import PickFromShelfUtils + +# =============================================================================== + + +class SelectObject(smach.State): + def __init__(self, topic_name): + smach.State.__init__( + self, + outcomes=["succeeded"], + input_keys=["goal"], + output_keys=["feedback", "result"], + ) + self.publisher = rospy.Publisher(topic_name, String, queue_size=10) + rospy.sleep(0.1) # time for the publisher to register in ros network + + def execute(self, userdata): + # Add empty result msg (because if none of the state do it, action server gives error) + userdata.result = GenericExecuteResult() + userdata.feedback = GenericExecuteFeedback( + current_state="SelectObject", text="selecting object" + ) + + obj = Utils.get_value_of(userdata.goal.parameters, "object") + self.publisher.publish(String(data=obj)) + rospy.sleep(0.2) # let the topic to survive for some time + return "succeeded" + + +# =============================================================================== + + +class SendPoseToDBC(smach.State): + def __init__(self, retract=False): + smach.State.__init__(self, outcomes=["succeeded"]) + self._dbc_pose_pub = rospy.Publisher( + "/mcr_navigation/direct_base_controller/input_pose", + PoseStamped, + queue_size=10, + ) + _obj_pose_sub = rospy.Subscriber( + "mcr_perception/object_selector/output/object_pose", + PoseStamped, + self._obj_pose_cb, + ) + self._obj_pose = None + self.retract = retract + self.utils = PickFromShelfUtils() + rospy.sleep(0.1) # time for the publisher to register in ros network + + def _obj_pose_cb(self, msg): + self._obj_pose = msg + + def execute(self, userdata): + if self.retract: + dbc_pose = self.utils.get_retracted_dbc_pose() + else: + dbc_pose = self.utils.calc_pose_for_dbc(self._obj_pose) + self._dbc_pose_pub.publish(dbc_pose) + self._obj_pose = None + return "succeeded" + + +# =============================================================================== + + +class SendPoseToMoveIt(smach.State): + def __init__(self, modification_name="intermediate"): + smach.State.__init__(self, outcomes=["succeeded"]) + self._moveit_pose_pub = rospy.Publisher( + "/arm_moveit_client/target_pose", PoseStamped, queue_size=10 + ) + _obj_pose_sub = rospy.Subscriber( + "mcr_perception/object_selector/output/object_pose", + PoseStamped, + self._obj_pose_cb, + ) + self._obj_pose = None + self._modification_name = modification_name + self.utils = PickFromShelfUtils() + rospy.sleep(0.1) # time for the publisher to register in ros network + + def _obj_pose_cb(self, msg): + self._obj_pose = msg + + def execute(self, userdata): + modified_obj_pose = self.utils.get_arm_pose( + self._obj_pose, self._modification_name + ) + rospy.loginfo("Modified pose") + rospy.loginfo(modified_obj_pose) + self._moveit_pose_pub.publish(modified_obj_pose) + self._obj_pose = None + return "succeeded" + + +# =============================================================================== + + +def main(): + # Open the container + rospy.init_node("pick_from_shelf_server") + # Construct state machine + sm = smach.StateMachine( + outcomes=["OVERALL_SUCCESS", "OVERALL_FAILED"], + input_keys=["goal"], + output_keys=["feedback", "result"], + ) + + with sm: + smach.StateMachine.add( + "SELECT_OBJECT", + SelectObject("/mcr_perception/object_selector/input/object_name"), + transitions={"succeeded": "GENERATE_OBJECT_POSE"}, + ) + + # generates a pose of object + smach.StateMachine.add( + "GENERATE_OBJECT_POSE", + gbs.send_and_wait_events_combined( + event_in_list=[ + ("/mcr_perception/object_selector/event_in", "e_trigger") + ], + event_out_list=[ + ("/mcr_perception/object_selector/event_out", "e_selected", True,) + ], + timeout_duration=10, + ), + transitions={ + "success": "SET_DBC_PARAMS", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "SET_DBC_PARAMS", + gbs.set_named_config("dbc_pick_object"), + transitions={ + "success": "SEND_DBC_POSE", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "SEND_DBC_POSE", + SendPoseToDBC(retract=False), + transitions={"succeeded": "MOVE_BASE_USING_DBC"}, + ) + + # Move base using direct base controller + smach.StateMachine.add( + "MOVE_BASE_USING_DBC", + gbs.send_and_wait_events_combined( + event_in_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_in", + "e_start", + ) + ], + event_out_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_out", + "e_success", + True, + ) + ], + timeout_duration=10, + ), + transitions={ + "success": "MOVE_ARM_TO_PRE_GRASP", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_PRE_GRASP", + gms.move_arm("shelf_pre_grasp_lower"), + transitions={ + "succeeded": "OPEN_GRIPPER", + "failed": "MOVE_ARM_TO_PRE_GRASP", + }, + ) + + smach.StateMachine.add( + "OPEN_GRIPPER", + gms.control_gripper("open_rtt"), + transitions={"succeeded": "SEND_MOVEIT_POSE_INTERMEDIATE"}, + ) + + smach.StateMachine.add( + "SEND_MOVEIT_POSE_INTERMEDIATE", + SendPoseToMoveIt(modification_name="intermediate"), + transitions={"succeeded": "MOVE_ARM_USING_MOVEIT_INTERMEDIATE"}, + ) + + # Move arm using mir_moveit_client to an intermediate pose before obj + smach.StateMachine.add( + "MOVE_ARM_USING_MOVEIT_INTERMEDIATE", + gbs.send_and_wait_events_combined( + event_in_list=[("arm_moveit_client/event_in", "e_start")], + event_out_list=[("arm_moveit_client/event_out", "e_success", True)], + timeout_duration=10, + ), + transitions={ + "success": "SEND_MOVEIT_POSE", + "timeout": "MOVE_ARM_TO_PRE_GRASP_FAILED", + "failure": "MOVE_ARM_TO_PRE_GRASP_FAILED", + }, + ) + + smach.StateMachine.add( + "SEND_MOVEIT_POSE", + SendPoseToMoveIt(modification_name="object"), + transitions={"succeeded": "MOVE_ARM_USING_MOVEIT"}, + ) + + # Move arm using mir_moveit_client to obj pose + smach.StateMachine.add( + "MOVE_ARM_USING_MOVEIT", + gbs.send_and_wait_events_combined( + event_in_list=[("arm_moveit_client/event_in", "e_start")], + event_out_list=[("arm_moveit_client/event_out", "e_success", True)], + timeout_duration=10, + ), + transitions={ + "success": "CLOSE_GRIPPER", + "timeout": "MOVE_ARM_TO_PRE_GRASP_FAILED", + "failure": "MOVE_ARM_TO_PRE_GRASP_FAILED", + }, + ) + + smach.StateMachine.add( + "CLOSE_GRIPPER", + gms.control_gripper("close"), + transitions={"succeeded": "SEND_MOVEIT_POSE_INTERMEDIATE_POST"}, + ) + + smach.StateMachine.add( + "SEND_MOVEIT_POSE_INTERMEDIATE_POST", + SendPoseToMoveIt(modification_name="intermediate_post"), + transitions={"succeeded": "MOVE_ARM_USING_MOVEIT_INTERMEDIATE_POST"}, + ) + + # Move arm using mir_moveit_client to an intermediate pose before obj + smach.StateMachine.add( + "MOVE_ARM_USING_MOVEIT_INTERMEDIATE_POST", + gbs.send_and_wait_events_combined( + event_in_list=[("arm_moveit_client/event_in", "e_start")], + event_out_list=[("arm_moveit_client/event_out", "e_success", True)], + timeout_duration=10, + ), + transitions={ + "success": "MOVE_ARM_TO_PRE_GRASP_RETRACT", + "timeout": "MOVE_ARM_TO_PRE_GRASP_FAILED", + "failure": "MOVE_ARM_TO_PRE_GRASP_FAILED", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_PRE_GRASP_RETRACT", + gms.move_arm("shelf_pre_grasp_lower"), + transitions={ + "succeeded": "SEND_DBC_POSE_RETRACT", + "failed": "MOVE_ARM_TO_PRE_GRASP_RETRACT", + }, + ) + + smach.StateMachine.add( + "SEND_DBC_POSE_RETRACT", + SendPoseToDBC(retract=True), + transitions={"succeeded": "MOVE_BASE_USING_DBC_RETRACT"}, + ) + + # Move base using direct base controller + smach.StateMachine.add( + "MOVE_BASE_USING_DBC_RETRACT", + gbs.send_and_wait_events_combined( + event_in_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_in", + "e_start", + ) + ], + event_out_list=[ + ( + "/mcr_navigation/direct_base_controller/coordinator/event_out", + "e_success", + True, + ) + ], + timeout_duration=10, + ), + transitions={ + "success": "MOVE_ARM_TO_INTERMEDIATE", + "timeout": "MOVE_ARM_TO_INTERMEDIATE", + "failure": "MOVE_ARM_TO_INTERMEDIATE", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_PRE_GRASP_FAILED", + gms.move_arm("shelf_pre_grasp_lower"), + transitions={ + "succeeded": "OVERALL_FAILED", + "failed": "MOVE_ARM_TO_PRE_GRASP_FAILED", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_INTERMEDIATE", + gms.move_arm("stage_intermediate"), + transitions={ + "succeeded": "OVERALL_SUCCESS", + "failed": "MOVE_ARM_TO_INTERMEDIATE", + }, + ) + + # smach viewer + if rospy.get_param("~viewer_enabled", False): + sis = IntrospectionServer( + "pick_from_shelf_viewer", sm, "/PICK_OBJECT_SMACH_VIEWER" + ) + sis.start() + + # Construct action server wrapper + asw = ActionServerWrapper( + server_name="pick_from_shelf_server", + action_spec=GenericExecuteAction, + wrapped_container=sm, + succeeded_outcomes=["OVERALL_SUCCESS"], + aborted_outcomes=["OVERALL_FAILED"], + preempted_outcomes=["PREEMPTED"], + goal_key="goal", + feedback_key="feedback", + result_key="result", + ) + # Run the server in a background thread + asw.run_server() + rospy.spin() + + +if __name__ == "__main__": + main() diff --git a/data/mir_planning/mir_actions/mir_pick_from_shelf/ros/scripts/pick_from_shelf_utils.py b/data/mir_planning/mir_actions/mir_pick_from_shelf/ros/scripts/pick_from_shelf_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..438c686328482cf4e48256701cd919c0bbbc345b --- /dev/null +++ b/data/mir_planning/mir_actions/mir_pick_from_shelf/ros/scripts/pick_from_shelf_utils.py @@ -0,0 +1,101 @@ +#! usr/bin/env python +from __future__ import print_function + +import copy +import math + +import rospy +import tf +from geometry_msgs.msg import PoseStamped, Quaternion + + +class PickFromShelfUtils(object): + + """Util class to help pick_from_shelf_server""" + + def __init__(self): + # ros params + self.frame_id = rospy.get_param("~frame_id", "base_link_static") + self.y_pos_movement_threshold = rospy.get_param( + "~y_pos_movement_threshold", 0.15 + ) + self.start_base_pose_offset = rospy.get_param("~start_base_pose_offset", -0.7) + self.pitch = rospy.get_param("~pitch", 2.0) + self.arm_link_0_offset_x = rospy.get_param("~arm_link_0_offset_x", 0.223) + self.arm_link_0_offset_y = rospy.get_param("~arm_link_0_offset_y", 0.0) + self.intermediate_perc = rospy.get_param("~intermediate_perc", 0.8) + self.retract_base_pose_x = rospy.get_param("~retract_base_pose_x", -0.2) + self.intermediate_arm_height = rospy.get_param("~intermediate_arm_height", 0.1) + + def calc_pose_for_dbc(self, obj_pose): + """Assumption: object pose is in `base_link_static`. + Calculates a target pose for direct base controller necessary for the + youbot to pick an object from a lower shelf. + If the obj pose is too far from the middle of the workspace in y axis, + then it is clipped. This is done so that the base does not travel too far + away from the middle of the workspace and (possibly) collide with other + obstacles. + + :obj_pose: geometry_msgs.PoseStamped + :returns: geometry_msgs.PoseStamped + + """ + dbc_target_pose = PoseStamped() + dbc_target_pose.header.stamp = rospy.Time.now() + dbc_target_pose.header.frame_id = self.frame_id + dbc_target_pose.pose.position.x = ( + self.start_base_pose_offset + obj_pose.pose.position.x + ) + dbc_target_pose.pose.position.y = min( + self.y_pos_movement_threshold, + max(-self.y_pos_movement_threshold, obj_pose.pose.position.y), + ) + dbc_target_pose.pose.orientation.w = 1.0 + return dbc_target_pose + + def get_arm_pose(self, obj_pose, modification_name="intermediate"): + """Return a pose the youbot arm's end effector should go to based on object pose. + The orientation is modified such that roll is always 0.0. + Pitch is based on parameter (leaning forward for the youbot arm to be able to pick) + and yaw is based on how far the object is from the middle of the workstation. + + If is_intermediate is True, the arm pose returned is not all the way at + obj pose but somewhere in the middle. This mimics behaviour of pre grasp planning + but with a bit more generalisation. It can be made a bit more general by + considering z position. + + :obj_pose: geometry_msgs.PoseStamped + :modification_name: str + :returns: geometry_msgs.PoseStamped + + """ + robot_current_loc = self.calc_pose_for_dbc(obj_pose) + arm_link_0_x = robot_current_loc.pose.position.x + self.arm_link_0_offset_x + arm_link_0_y = robot_current_loc.pose.position.y + self.arm_link_0_offset_y + delta_x = obj_pose.pose.position.x - arm_link_0_x + delta_y = obj_pose.pose.position.y - arm_link_0_y + yaw = math.atan2(delta_y, delta_x) + quat = tf.transformations.quaternion_from_euler(0.0, self.pitch, yaw) + arm_pose = copy.deepcopy(obj_pose) + arm_pose.pose.orientation = Quaternion(*quat) + if modification_name == "intermediate": + arm_pose.pose.position.x = arm_link_0_x + (self.intermediate_perc * delta_x) + arm_pose.pose.position.y = arm_link_0_y + (self.intermediate_perc * delta_y) + arm_pose.pose.position.z = self.intermediate_arm_height + elif modification_name == "intermediate_post": + arm_pose.pose.position.z = self.intermediate_arm_height + return arm_pose + + def get_retracted_dbc_pose(self): + """Return a pose in `base_link_static` frame for the robot to back up + + :returns: geometry_msgs.PoseStamped + + """ + dbc_target_pose = PoseStamped() + dbc_target_pose.header.stamp = rospy.Time.now() + dbc_target_pose.header.frame_id = self.frame_id + dbc_target_pose.pose.position.x = self.retract_base_pose_x + dbc_target_pose.pose.position.y = 0.0 + dbc_target_pose.pose.orientation.w = 1.0 + return dbc_target_pose diff --git a/data/mir_planning/mir_actions/mir_pick_object/CMakeLists.txt b/data/mir_planning/mir_actions/mir_pick_object/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..667372da6be5b13f5ae5a19f84b78decf904f07f --- /dev/null +++ b/data/mir_planning/mir_actions/mir_pick_object/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_pick_object) + +find_package(catkin REQUIRED + COMPONENTS +) + +catkin_package( + CATKIN_DEPENDS +) diff --git a/data/mir_planning/mir_actions/mir_pick_object/package.xml b/data/mir_planning/mir_actions/mir_pick_object/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..0f17fdffe417b7904fd5eafc99de2700468e9843 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_pick_object/package.xml @@ -0,0 +1,18 @@ + + + mir_pick_object + 1.0.0 + + Assumes that the location is already perceived and objects were found, then triggers + pregrasp planner, calls inverse kinematics and moves the arm towards the object, then + closes the gripper and moves the arm to idle position + + + GPLv3 + + Oscar Lima + Oscar Lima + + catkin + + diff --git a/data/mir_planning/mir_actions/mir_pick_object/ros/launch/pick_object_server.launch b/data/mir_planning/mir_actions/mir_pick_object/ros/launch/pick_object_server.launch new file mode 100644 index 0000000000000000000000000000000000000000..668847e6f0a0e04e8ca7b2abe20d06e8df9c5755 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_pick_object/ros/launch/pick_object_server.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + $(arg large_objects) + + + $(arg rollable_objects) + + + + + + diff --git a/data/mir_planning/mir_actions/mir_pick_object/ros/scripts/pick_object_client_test.py b/data/mir_planning/mir_actions/mir_pick_object/ros/scripts/pick_object_client_test.py new file mode 100644 index 0000000000000000000000000000000000000000..615ba9cfd79d6abda891995af298a90277eacdf4 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_pick_object/ros/scripts/pick_object_client_test.py @@ -0,0 +1,47 @@ +#! /usr/bin/env python + +import sys + +import rospy +from actionlib import SimpleActionClient +from actionlib_msgs.msg import GoalStatus +from diagnostic_msgs.msg import KeyValue +from mir_planning_msgs.msg import GenericExecuteAction, GenericExecuteGoal + +if __name__ == "__main__": + rospy.init_node("pick_object_client_tester") + + client = SimpleActionClient("wbc_pick_object_server", GenericExecuteAction) + client.wait_for_server() + + if len(sys.argv) == 3: + goal = GenericExecuteGoal() + obj = str(sys.argv[1]).upper() + location = str(sys.argv[2]).upper() + goal.parameters.append(KeyValue(key="object", value=obj)) + goal.parameters.append(KeyValue(key="location", value=location)) + rospy.loginfo("Sending following goal to place object server") + rospy.loginfo(goal) + + client.send_goal(goal) + + timeout = 15.0 + finished_within_time = client.wait_for_result( + rospy.Duration.from_sec(int(timeout)) + ) + if not finished_within_time: + client.cancel_goal() + + state = client.get_state() + result = client.get_result() + if state == GoalStatus.SUCCEEDED: + rospy.loginfo("Action SUCCESS") + rospy.loginfo(client.get_result()) + elif state == GoalStatus.ABORTED: + rospy.logerr("Action FAILED") + else: + rospy.logwarn("State: " + str(state)) + rospy.loginfo(client.get_result()) + else: + rospy.logerr("Arguments were not received in the proper format !") + rospy.loginfo("usage : pick OBJECT_NAME LOCATION") diff --git a/data/mir_planning/mir_actions/mir_pick_object/ros/scripts/pick_object_server.py b/data/mir_planning/mir_actions/mir_pick_object/ros/scripts/pick_object_server.py new file mode 100644 index 0000000000000000000000000000000000000000..cce5124b22ece6e5e39440c4805a987c7a2cf6ab --- /dev/null +++ b/data/mir_planning/mir_actions/mir_pick_object/ros/scripts/pick_object_server.py @@ -0,0 +1,460 @@ +#!/usr/bin/python +import sys + +import mcr_states.common.basic_states as gbs +import mir_states.common.manipulation_states as gms +import mir_states.common.basic_states as mir_gbs +import rospy +import smach +from mir_actions.utils import Utils +from mir_planning_msgs.msg import ( + GenericExecuteAction, + GenericExecuteFeedback, + GenericExecuteResult, +) +from smach_ros import ActionServerWrapper, IntrospectionServer +from std_msgs.msg import String + +# =============================================================================== + + +class SelectObject(smach.State): + def __init__(self, topic_name): + smach.State.__init__( + self, + outcomes=["succeeded"], + input_keys=["goal"], + output_keys=["feedback", "result"], + ) + self.publisher = rospy.Publisher(topic_name, String, queue_size=10) + rospy.sleep(0.1) # time for the publisher to register in ros network + + def execute(self, userdata): + # Add empty result msg (because if none of the state do it, action server gives error) + userdata.result = GenericExecuteResult() + userdata.feedback = GenericExecuteFeedback( + current_state="SelectObject", text="selecting object" + ) + + obj = Utils.get_value_of(userdata.goal.parameters, "object") + self.publisher.publish(String(data=obj)) + rospy.sleep(0.2) # let the topic to survive for some time + return "succeeded" + +# =============================================================================== + +class IsObjectLarge(smach.State): + def __init__(self): + smach.State.__init__( + self, + outcomes=["large", "small"], + input_keys=["goal", "large_objects"], + output_keys=[], + ) + + def execute(self, userdata): + obj = Utils.get_value_of(userdata.goal.parameters, "object") + if obj is None: + rospy.logwarn('Missing parameter "object". Using default.') + return "large" + for large_object in userdata.large_objects: + if large_object.upper() in obj.upper(): + return "large" + return "small" + + +# =============================================================================== + +class ShouldReperceive(smach.State): + def __init__(self): + smach.State.__init__( + self, + outcomes=["yes", "no"], + input_keys=["reperceive"], + output_keys=[], + ) + + def execute(self, userdata): + if userdata.reperceive: + return 'yes' + else: + return 'no' + +# =============================================================================== + +def transition_cb(*args, **kwargs): + userdata = args[0] + sm_state = args[1][0] + + feedback = GenericExecuteFeedback() + feedback.current_state = sm_state + userdata.feedback = feedback + +def start_cb(*args, **kwargs): + userdata = args[0] + sm_state = args[1][0] + + feedback = GenericExecuteFeedback() + feedback.current_state = sm_state + userdata.feedback = feedback +# =============================================================================== + +def main(): + # Open the container + rospy.init_node("pick_object_wbc_server") + # Construct state machine + sm = smach.StateMachine( + outcomes=["OVERALL_SUCCESS", "OVERALL_FAILED"], + input_keys=["goal"], + output_keys=["feedback", "result"], + ) + + # read large object list + sm.userdata.large_objects = rospy.get_param("~large_objects", ["S40_40_B", "S40_40_G", "M30", "BEARING_BOX", "MOTOR"]) + sm.userdata.reperceive = rospy.get_param("~reperceive", True) + + with sm: + smach.StateMachine.add( + "SET_PREGRASP_PARAMS", + gbs.set_named_config("pregrasp_planner_no_sampling"), + transitions={ + "success": "SELECT_OBJECT", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "SELECT_OBJECT", + SelectObject("/mcr_perception/object_selector/input/object_name"), + transitions={"succeeded": "GENERATE_OBJECT_POSE"}, + ) + + # generates a pose of object + smach.StateMachine.add( + "GENERATE_OBJECT_POSE", + gbs.send_and_wait_events_combined( + event_in_list=[ + ("/mcr_perception/object_selector/event_in", "e_trigger") + ], + event_out_list=[ + ("/mcr_perception/object_selector/event_out", "e_selected", True,) + ], + timeout_duration=10, + ), + transitions={ + "success": "SET_DBC_PARAMS", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "SET_DBC_PARAMS", + gbs.set_named_config("dbc_pick_object"), + transitions={ + "success": "MOVE_ROBOT_AND_TRY_PICKING", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + # whole body control command. It moves direct base controller and + # checks if an IK soln exists for the arm. + smach.StateMachine.add( + "MOVE_ROBOT_AND_TRY_PICKING", + gbs.send_and_wait_events_combined( + event_in_list=[("/wbc/event_in", "e_try")], + event_out_list=[("/wbc/event_out", "e_success", True)], + timeout_duration=50, + ), + transitions={ + "success": "CHECK_IF_REPERCEIVE", + "timeout": "STOP_MOVE_ROBOT_TO_OBJECT_WITH_FAILURE", + "failure": "STOP_MOVE_ROBOT_TO_OBJECT_WITH_FAILURE", + }, + ) + + smach.StateMachine.add( + "CHECK_IF_REPERCEIVE", + ShouldReperceive(), + transitions={ + "yes": "OPEN_GRIPPER_FOR_REPERCEIVE", + "no": "GENERATE_OBJECT_POSE_AGAIN", + }, + ) + + smach.StateMachine.add( + "OPEN_GRIPPER_FOR_REPERCEIVE", + gms.control_gripper("open"), + transitions={"succeeded": "MOVE_ARM"}, + ) + + # move arm to appropriate position + smach.StateMachine.add( + "MOVE_ARM", + gms.move_arm("look_at_workspace_from_near"), + transitions={ + "succeeded": "START_OBJECT_LIST_MERGER", + "failed": "MOVE_ARM", + }, + ) + + smach.StateMachine.add( + "START_OBJECT_LIST_MERGER", + gbs.send_and_wait_events_combined( + event_in_list=[("/mcr_perception/object_list_merger/event_in", "e_start")], + event_out_list=[("/mcr_perception/object_list_merger/event_out", "e_started", True)], + timeout_duration=5, + ), + transitions={ + "success": "WAIT_FOR_ARM_TO_STABILIZE", + "timeout": "TRY_PICKING", + "failure": "TRY_PICKING", + }, + ) + + smach.StateMachine.add( + "WAIT_FOR_ARM_TO_STABILIZE", + mir_gbs.wait_for(0.5), + transitions={ + "succeeded": "START_OBJECT_RECOGNITION", + }, + ) + + + # New perception pipeline state machine + smach.StateMachine.add( + "START_OBJECT_RECOGNITION", + gbs.send_and_wait_events_combined( + event_in_list=[("/mir_perception/multimodal_object_recognition/event_in", "e_start")], + event_out_list=[("/mir_perception/multimodal_object_recognition/event_out", "e_done", True)], + timeout_duration=10, + ), + transitions={ + "success": "STOP_RECOGNITION", + "timeout": "TRY_PICKING", + "failure": "TRY_PICKING", + }, + ) + + smach.StateMachine.add( + "STOP_RECOGNITION", + gbs.send_and_wait_events_combined( + event_in_list=[("/mir_perception/multimodal_object_recognition/event_in", "e_stop")], + event_out_list=[("/mir_perception/multimodal_object_recognition/event_out", "e_stopped", True)], + timeout_duration=5, + ), + transitions={ + "success": "STOP_OBJECT_LIST_MERGER", + "timeout": "TRY_PICKING", + "failure": "TRY_PICKING", + }, + ) + + smach.StateMachine.add( + "STOP_OBJECT_LIST_MERGER", + gbs.send_and_wait_events_combined( + event_in_list=[("/mcr_perception/object_list_merger/event_in", "e_stop")], + event_out_list=[("/mcr_perception/object_list_merger/event_out", "e_stopped", True)], + timeout_duration=5, + ), + transitions={ + "success": "PUBLISH_MERGED_OBJECT_LIST", + "timeout": "TRY_PICKING", + "failure": "TRY_PICKING", + }, + ) + + smach.StateMachine.add( + "PUBLISH_MERGED_OBJECT_LIST", + gbs.send_and_wait_events_combined( + event_in_list=[("/mcr_perception/object_list_merger/event_in", "e_trigger_local")], + event_out_list=[("/mcr_perception/object_list_merger/event_out", "e_done", True)], + timeout_duration=5, + ), + transitions={ + "success": "SELECT_OBJECT_AGAIN", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "SELECT_OBJECT_AGAIN", + SelectObject("/mcr_perception/local_object_selector/input/object_name"), + transitions={"succeeded": "GENERATE_UPDATED_OBJECT_POSE"}, + ) + + # generates a pose of object + smach.StateMachine.add( + "GENERATE_UPDATED_OBJECT_POSE", + gbs.send_and_wait_events_combined( + event_in_list=[("/mcr_perception/local_object_selector/event_in", "e_trigger")], + event_out_list=[("/mcr_perception/local_object_selector/event_out", "e_selected", True)], + timeout_duration=10, + ), + transitions={ + "success": "CHECK_IF_OBJECT_LARGE_LOCAL", + "timeout": "GENERATE_OBJECT_POSE_AGAIN", + "failure": "GENERATE_OBJECT_POSE_AGAIN", + }, + ) + + # generates a pose of object + smach.StateMachine.add( + "GENERATE_OBJECT_POSE_AGAIN", + gbs.send_and_wait_events_combined( + event_in_list=[("/mcr_perception/object_selector/event_in", "e_re_trigger")], + event_out_list=[("/mcr_perception/object_selector/event_out", "e_selected", True)], + timeout_duration=10, + ), + transitions={ + "success": "CHECK_IF_OBJECT_LARGE", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "CHECK_IF_OBJECT_LARGE_LOCAL", + IsObjectLarge(), + transitions={ + "large": "OPEN_GRIPPER_WIDE_LOCAL", + "small": "OPEN_GRIPPER_NARROW_LOCAL", + }, + ) + + smach.StateMachine.add( + "OPEN_GRIPPER_WIDE_LOCAL", + gms.control_gripper("open"), + transitions={"succeeded": "TRY_PICKING"}, + ) + + smach.StateMachine.add( + "OPEN_GRIPPER_NARROW_LOCAL", + gms.control_gripper("open_narrow"), + transitions={"succeeded": "TRY_PICKING"}, + ) + + + + # move only arm for wbc + smach.StateMachine.add( + "TRY_PICKING", + gbs.send_and_wait_events_combined( + event_in_list=[("/wbc/event_in", "e_start_arm_only")], + event_out_list=[("/wbc/event_out", "e_success", True)], + timeout_duration=20, + ), + transitions={ + "success": "CLOSE_GRIPPER", + "timeout": "STOP_MOVE_ROBOT_TO_OBJECT_WITH_FAILURE", + "failure": "STOP_MOVE_ROBOT_TO_OBJECT_WITH_FAILURE", + }, + ) + + smach.StateMachine.add( + "CHECK_IF_OBJECT_LARGE", + IsObjectLarge(), + transitions={ + "large": "OPEN_GRIPPER_WIDE", + "small": "OPEN_GRIPPER_NARROW", + }, + ) + + smach.StateMachine.add( + "OPEN_GRIPPER_WIDE", + gms.control_gripper("open"), + transitions={"succeeded": "MOVE_ROBOT_AND_PICK"}, + ) + + smach.StateMachine.add( + "OPEN_GRIPPER_NARROW", + gms.control_gripper("open_narrow"), + transitions={"succeeded": "MOVE_ROBOT_AND_PICK"}, + ) + + + # whole body control command. It moves direct base controller and + # calls pre-grasp planner, and (optionally) moves arm to object pose + smach.StateMachine.add( + "MOVE_ROBOT_AND_PICK", + gbs.send_and_wait_events_combined( + event_in_list=[("/wbc/event_in", "e_start")], + event_out_list=[("/wbc/event_out", "e_success", True)], + timeout_duration=50, + ), + transitions={ + "success": "CLOSE_GRIPPER", + "timeout": "STOP_MOVE_ROBOT_TO_OBJECT_WITH_FAILURE", + "failure": "STOP_MOVE_ROBOT_TO_OBJECT_WITH_FAILURE", + }, + ) + + smach.StateMachine.add( + "STOP_MOVE_ROBOT_TO_OBJECT_WITH_FAILURE", + gbs.send_event( + [ + ("/waypoint_trajectory_generation/event_in", "e_stop"), + ("/wbc/event_in", "e_stop"), + ] + ), + transitions={"success": "OVERALL_FAILED"}, + ) + + smach.StateMachine.add( + "CLOSE_GRIPPER", + gms.control_gripper("close"), + transitions={"succeeded": "MOVE_ARM_TO_STAGE_INTERMEDIATE"}, + ) + + # move arm to stage_intemediate position + smach.StateMachine.add( + "MOVE_ARM_TO_STAGE_INTERMEDIATE", + gms.move_arm("stage_intermediate"), + transitions={ + "succeeded": "VERIFY_OBJECT_GRASPED", + "failed": "MOVE_ARM_TO_STAGE_INTERMEDIATE", + }, + ) + + smach.StateMachine.add( + "VERIFY_OBJECT_GRASPED", + gms.verify_object_grasped(5), + transitions={ + "succeeded": "OVERALL_SUCCESS", + "failed": "OVERALL_FAILED", + }, + ) + + sm.register_transition_cb(transition_cb) + sm.register_start_cb(start_cb) + + + # smach viewer + if rospy.get_param("~viewer_enabled", False): + sis = IntrospectionServer( + "pick_object_smach_viewer", sm, "/PICK_OBJECT_SMACH_VIEWER" + ) + sis.start() + + # Construct action server wrapper + asw = ActionServerWrapper( + server_name="wbc_pick_object_server", + action_spec=GenericExecuteAction, + wrapped_container=sm, + succeeded_outcomes=["OVERALL_SUCCESS"], + aborted_outcomes=["OVERALL_FAILED"], + preempted_outcomes=["PREEMPTED"], + goal_key="goal", + feedback_key="feedback", + result_key="result", + ) + # Run the server in a background thread + asw.run_server() + rospy.spin() + + +if __name__ == "__main__": + main() diff --git a/data/mir_planning/mir_actions/mir_place_object/CMakeLists.txt b/data/mir_planning/mir_actions/mir_place_object/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..2c6a43e91bc62640453e5d1ff46b37a2ea234584 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_place_object/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_place_object) + +find_package(catkin REQUIRED + COMPONENTS +) + +catkin_package( + CATKIN_DEPENDS +) diff --git a/data/mir_planning/mir_actions/mir_place_object/package.xml b/data/mir_planning/mir_actions/mir_place_object/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..a0bd7e1fe20d8c0b0292ff3999abb6b4cb7a2c24 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_place_object/package.xml @@ -0,0 +1,16 @@ + + + mir_place_object + 1.0.0 + + Places a object at supporting surface. + + + GPLv3 + + Oscar Lima + Oscar Lima + + catkin + + diff --git a/data/mir_planning/mir_actions/mir_place_object/ros/launch/place_object_server.launch b/data/mir_planning/mir_actions/mir_place_object/ros/launch/place_object_server.launch new file mode 100644 index 0000000000000000000000000000000000000000..e6eb138289df5ae0215b55f2ca56c6b7d125430d --- /dev/null +++ b/data/mir_planning/mir_actions/mir_place_object/ros/launch/place_object_server.launch @@ -0,0 +1,13 @@ + + + + + + + + $(arg max_allowed_tries) + + + + diff --git a/data/mir_planning/mir_actions/mir_place_object/ros/launch/place_unstage_object_server.launch b/data/mir_planning/mir_actions/mir_place_object/ros/launch/place_unstage_object_server.launch new file mode 100644 index 0000000000000000000000000000000000000000..c908aa54fc1b903c1639023bb55e1ac6aacb29ed --- /dev/null +++ b/data/mir_planning/mir_actions/mir_place_object/ros/launch/place_unstage_object_server.launch @@ -0,0 +1,13 @@ + + + + + + + + $(arg max_allowed_tries) + + + + diff --git a/data/mir_planning/mir_actions/mir_place_object/ros/scripts/place_object_client_test.py b/data/mir_planning/mir_actions/mir_place_object/ros/scripts/place_object_client_test.py new file mode 100644 index 0000000000000000000000000000000000000000..f6fd889bc82fc58740d16feb5fa7bbefe39deb04 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_place_object/ros/scripts/place_object_client_test.py @@ -0,0 +1,51 @@ +#! /usr/bin/env python + +import sys + +import rospy +from actionlib import SimpleActionClient +from actionlib_msgs.msg import GoalStatus +from diagnostic_msgs.msg import KeyValue +from mir_planning_msgs.msg import GenericExecuteAction, GenericExecuteGoal + +if __name__ == "__main__": + rospy.init_node("place_object_client_tester") + + client = SimpleActionClient("place_object_server", GenericExecuteAction) + client.wait_for_server() + print("Server found") + + if len(sys.argv) > 1: + platform = str(sys.argv[1]).upper() + if len(sys.argv) > 2: + obj = str(sys.argv[2]).upper() + else: + obj = "M20" + else: + platform = "PLATFORM_MIDDLE" + obj = "M20" + + goal = GenericExecuteGoal() + goal.parameters.append(KeyValue(key="platform", value=platform)) + goal.parameters.append(KeyValue(key="object", value=obj)) + + rospy.loginfo("Sending following goal to place object server") + rospy.loginfo(goal) + + client.send_goal(goal) + + timeout = 15.0 + finished_within_time = client.wait_for_result(rospy.Duration.from_sec(int(timeout))) + if not finished_within_time: + client.cancel_goal() + + state = client.get_state() + result = client.get_result() + if state == GoalStatus.SUCCEEDED: + rospy.loginfo("Action SUCCESS") + rospy.loginfo(client.get_result()) + elif state == GoalStatus.ABORTED: + rospy.logerr("Action FAILED") + else: + rospy.logwarn("State: " + str(state)) + rospy.loginfo(client.get_result()) diff --git a/data/mir_planning/mir_actions/mir_place_object/ros/scripts/place_object_server.py b/data/mir_planning/mir_actions/mir_place_object/ros/scripts/place_object_server.py new file mode 100644 index 0000000000000000000000000000000000000000..116e0b9e124af918dccef2e3cca248687fafa1e8 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_place_object/ros/scripts/place_object_server.py @@ -0,0 +1,461 @@ +#!/usr/bin/env python + + +# threshold checking for TF calculation WIP + + +""" +This file is for eye to hand configuration of the robot +unstage will happen outside the place object server + +""" + + +from selectors import PollSelector +import mcr_states.common.basic_states as gbs +import mir_states.common.manipulation_states as gms # move the arm, and gripper +import rospy +import smach +from mir_actions.utils import Utils +from mir_planning_msgs.msg import ( + GenericExecuteAction, + GenericExecuteFeedback, + GenericExecuteResult, + GenericExecuteGoal +) +from smach_ros import ActionServerWrapper, IntrospectionServer +from std_msgs.msg import String +from geometry_msgs.msg import PoseArray +from geometry_msgs.msg import PoseStamped +from diagnostic_msgs.msg import KeyValue +from actionlib import SimpleActionClient +from actionlib_msgs.msg import GoalStatus + + +# =============================================================================== +class CheckIfLocationIsShelf(smach.State): + def __init__(self): + smach.State.__init__( + self, + outcomes=["shelf", "not_shelf"], + input_keys=["goal"], + output_keys=["feedback", "result"], + ) + + def execute(self, userdata): + location = Utils.get_value_of(userdata.goal.parameters, "location") + print("[Place Object Server] Location received : ", location) + if (location == "SH01") or (location == "SH02"): + return "shelf" + else: + return "not_shelf" + + +# =============================================================================== + +# new class for threshold calculation to go to default place +class Threshold_calculation(smach.State): + + def __init__(self): + smach.State.__init__( + self, + outcomes=["reached", "continue"], + input_keys=["max_allowed_tries", "threshold_counter"], + output_keys=["feedback", "result", "threshold_counter"], + ) + + def execute(self, userdata): + + max_tries = userdata.max_allowed_tries + + result = None + + if userdata.threshold_counter >= max_tries: + result = "reached" + userdata.threshold_counter = 0 + else: + userdata.threshold_counter += 1 + result = "continue" + + userdata.result = GenericExecuteResult() + userdata.feedback = GenericExecuteFeedback( + current_state="GO_DEFAULT_THRESHOLD", text="No of time tried the IK reachability: " + str(userdata.threshold_counter), + ) + return result + +# ============================================================================== + +# new class for empty space detection + +class GetEmptyPositionOnTable(smach.State): + def __init__(self,empty_spaces): + + smach.State.__init__(self,outcomes=["success", "failure"], + input_keys=["empty_locations",], + output_keys=["feedback","result","empty_locations"] + ) + + self.empty_locations = None + self.timeout = rospy.Duration.from_sec(15.0) + rospy.Subscriber(empty_spaces, PoseArray, self.empty_space_cb) # subscribing to empty_space locations published by empty_space_detector node + rospy.sleep(0.1) + + def empty_space_cb(self, msg): # Callback for get empty_space_location from empty_space detector node + + self.empty_locations = msg + + def execute(self, userdata): # Getting data from empty space detector and giving all the poses it to next states + + userdata.result = GenericExecuteResult() + userdata.feedback = GenericExecuteFeedback( + current_state="EMPTY_POSE_RECEIVE", text="Receiving empty space location",) + rospy.loginfo("<<--- getting empty position --->>") + userdata.empty_locations = self.empty_locations # The empty locations have all the empty poses + + return 'success' + +# =============================================================================== + +# new class for publishing the empty pose + +class PublishObjectPose(smach.State): + def __init__(self): + smach.State.__init__(self, outcomes=["success", "failed"], + input_keys=["empty_locations"]) + + self.empty_pose_pub = rospy.Publisher( + "/mcr_perception/object_selector/output/object_pose", + PoseStamped, + queue_size=10) + + def execute(self, userdata): + + empty_locations = userdata.empty_locations + + if len(empty_locations.poses) > 0: + + base_link_pose = PoseStamped() + base_link_pose.header = empty_locations.header + + base_link_pose.pose.position.x = 0.0 + base_link_pose.pose.position.y = 0.0 + base_link_pose.pose.position.z = 0.0 + base_link_pose.pose.orientation.x = 0.0 + base_link_pose.pose.orientation.y = 0.0 + base_link_pose.pose.orientation.z = 0.0 + + empty_locations_temp = PoseStamped() + empty_locations_temp.header = empty_locations.header + + + distance_list = [] + for i in range(len(empty_locations.poses)): + empty_locations_temp.pose = empty_locations.poses[i] + distance_list.append(Utils.get_distance_between_poses(base_link_pose, empty_locations_temp)) + + index = distance_list.index(min(distance_list)) + + nearest_pose = PoseStamped() + nearest_pose.header = empty_locations.header + nearest_pose.pose = empty_locations.poses[index] + + + # TODO: This z value should be tested + + nearest_pose.pose.position.z += rospy.get_param("/mir_perception/empty_space_detector/object_height_above_workspace") # adding the height of the object above the workspace Should be change for vertical object + + rospy.loginfo(nearest_pose.pose.position.z) + rospy.loginfo("Publishing single pose to pregrasp planner") + + rospy.loginfo(type(nearest_pose)) + self.empty_pose_pub.publish(nearest_pose) + + rospy.sleep(0.3) + nearest_pose = None + + return "success" + +#================================================================================= + +def transition_cb(*args, **kwargs): + userdata = args[0] + sm_state = args[1][0] + + feedback = GenericExecuteFeedback() + feedback.current_state = sm_state + userdata.feedback = feedback + +def start_cb(*args, **kwargs): + userdata = args[0] + sm_state = args[1][0] + + feedback = GenericExecuteFeedback() + feedback.current_state = sm_state + userdata.feedback = feedback + + +def main(): + rospy.init_node("place_object_server") + # Construct state machine + sm = smach.StateMachine( + outcomes=["OVERALL_SUCCESS", "OVERALL_FAILED"], + input_keys=["goal", "feedback", "result"], + output_keys=["feedback", "result"],) + + sm.userdata.threshold_counter = 0 + sm.userdata.empty_locations = None + sm.userdata.heavy_objects = rospy.get_param("~heavy_objects", ["m20_100"]) + sm.userdata.max_allowed_tries = rospy.get_param("~max_allowed_IK_tries", 3) + + with sm: + # add states to the container + smach.StateMachine.add( + "CHECK_IF_SHELF_INITIAL", + CheckIfLocationIsShelf(), + transitions={ + "shelf": "MOVE_ARM_TO_SHELF_INTERMEDIATE", + "not_shelf": "CHECK_MAX_TRY_THRESHOLD", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_SHELF_INTERMEDIATE", + gms.move_arm("shelf_intermediate"), + transitions={ + "succeeded": "MOVE_ARM_TO_SHELF_INTERMEDIATE_2", + "failed": "MOVE_ARM_TO_SHELF_INTERMEDIATE", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_SHELF_INTERMEDIATE_2", + gms.move_arm("shelf_intermediate_2"), + transitions={ + "succeeded": "MOVE_ARM_TO_PRE_GRASP_LOWER", + "failed": "MOVE_ARM_TO_SHELF_INTERMEDIATE_2", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_PRE_GRASP_LOWER", + gms.move_arm("shelf_pre_grasp_lower"), + transitions={ + "succeeded": "MOVE_ARM_TO_SHELF_PLACE_FINAL", + "failed": "MOVE_ARM_TO_PRE_GRASP_LOWER", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_SHELF_PLACE_FINAL", + gms.move_arm("shelf_place_final"), + transitions={ + "succeeded": "OPEN_GRIPPER_SHELF", + "failed": "MOVE_ARM_TO_SHELF_PLACE_FINAL", + }, + ) + + smach.StateMachine.add( + "OPEN_GRIPPER_SHELF", + gms.control_gripper("open"), + transitions={"succeeded": "MOVE_ARM_TO_SHELF_PLACE_FINAL_RETRACT"}, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_SHELF_PLACE_FINAL_RETRACT", + gms.move_arm("shelf_place_final"), + transitions={ + "succeeded": "MOVE_ARM_TO_PRE_GRASP_LOWER_RETRACT", + "failed": "MOVE_ARM_TO_SHELF_PLACE_FINAL_RETRACT", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_PRE_GRASP_LOWER_RETRACT", + gms.move_arm("shelf_pre_grasp_lower"), + transitions={ + "succeeded": "MOVE_ARM_TO_SHELF_INTERMEDIATE_2_RETRACT", + "failed": "MOVE_ARM_TO_PRE_GRASP_LOWER_RETRACT", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_SHELF_INTERMEDIATE_2_RETRACT", + gms.move_arm("shelf_intermediate_2"), + transitions={ + "succeeded": "MOVE_ARM_TO_SHELF_INTERMEDIATE_RETRACT", + "failed": "MOVE_ARM_TO_SHELF_INTERMEDIATE_2_RETRACT", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_SHELF_INTERMEDIATE_RETRACT", + gms.move_arm("shelf_intermediate"), + transitions={ + "succeeded": "MOVE_ARM_TO_NEUTRAL", + "failed": "MOVE_ARM_TO_SHELF_INTERMEDIATE_RETRACT", + }, + ) +# till above the state machine is for shelf + + smach.StateMachine.add( + "CHECK_MAX_TRY_THRESHOLD", + Threshold_calculation(), + transitions={ + "continue": "EMPTY_SPACE_CLOUD_ADD", + "reached": "GO_DEFAULT_THRESHOLD", + }, + ) + + + smach.StateMachine.add( + "GO_DEFAULT_THRESHOLD", + gms.move_arm("place_default"), + transitions={ + "succeeded": "OPEN_GRIPPER", + "failed": "GO_DEFAULT_THRESHOLD", + } + ) + + smach.StateMachine.add( + "EMPTY_SPACE_CLOUD_ADD", + gbs.send_and_wait_events_combined( + event_in_list = [ + ("/mir_perception/empty_space_detector/event_in","e_add_cloud"), + ], + event_out_list = [("/mir_perception/empty_space_detector/event_out","e_added_cloud", True)], + timeout_duration=50, + ), + transitions={ + "success": "EMPTY_SPACE_TRIGGER", + "timeout": "CHECK_MAX_TRY_THRESHOLD", + "failure": "EMPTY_SPACE_CLOUD_ADD", + }, + ) + + + smach.StateMachine.add( + "EMPTY_SPACE_TRIGGER", + gbs.send_and_wait_events_combined( + event_in_list = [("/mir_perception/empty_space_detector/event_in","e_trigger")], + event_out_list = [("/mir_perception/empty_space_detector/event_out","e_success",True)], + timeout_duration = 50, + ), + transitions={ + "success": "EMPTY_POSE_RECEIVE", + "timeout": "EMPTY_SPACE_CLOUD_ADD", + "failure": "CHECK_MAX_TRY_THRESHOLD", + }, + ) + + + smach.StateMachine.add( + "EMPTY_POSE_RECEIVE", + GetEmptyPositionOnTable("/mir_perception/empty_space_detector/empty_spaces"), + + transitions={ + "success": "PUBLISH_OBJECT_POSE_FOR_VERIFICATION", + "failure": "EMPTY_SPACE_CLOUD_ADD", + }, + ) + + smach.StateMachine.add( + "PUBLISH_OBJECT_POSE_FOR_VERIFICATION", + PublishObjectPose(), + transitions={ + "success": "CHECK_PRE_GRASP_POSE_IK", + "failed": "PUBLISH_OBJECT_POSE_FOR_VERIFICATION" + } + + ) + + smach.StateMachine.add( + "CHECK_PRE_GRASP_POSE_IK", + gbs.send_and_wait_events_combined( + event_in_list=[ + ("/pregrasp_planner_node/event_in", "e_start") + ], + event_out_list=[ + ( + "/pregrasp_planner_node/event_out", + "e_success", + True, + ) + ], + timeout_duration=20, + ), + transitions={ + "success": "GO_TO_PRE_GRASP_POSE", + "timeout": "CHECK_MAX_TRY_THRESHOLD", + "failure": "CHECK_MAX_TRY_THRESHOLD", + }, + ) + + smach.StateMachine.add( + "GO_TO_PRE_GRASP_POSE", + gbs.send_and_wait_events_combined( + event_in_list=[ + ("/waypoint_trajectory_generation/event_in", "e_start")], + event_out_list=[ + ( + "/waypoint_trajectory_generation/event_out", + "e_success", + True, + )], + timeout_duration=20, + ), + transitions={ + "success": "OPEN_GRIPPER", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + + smach.StateMachine.add( + "OPEN_GRIPPER", + gms.control_gripper("open"), + transitions={ + "succeeded": "MOVE_ARM_TO_NEUTRAL" + }, + ) + + + smach.StateMachine.add( + "MOVE_ARM_TO_NEUTRAL", + gms.move_arm("barrier_tape"), + transitions={ + "succeeded": "OVERALL_SUCCESS", + "failed": "MOVE_ARM_TO_NEUTRAL", + }, + ) + + sm.register_transition_cb(transition_cb) + sm.register_start_cb(start_cb) + sm.userdata.threshold_counter = 0 + + # smach viewer + if rospy.get_param("~viewer_enabled", True): + sis = IntrospectionServer( + "place_object_smach_viewer", sm, "/STAGE_OBJECT_SMACH_VIEWER" + ) + sis.start() + + # Construct action server wrapper + asw = ActionServerWrapper( + server_name="place_object_server", + action_spec=GenericExecuteAction, + wrapped_container=sm, + succeeded_outcomes=["OVERALL_SUCCESS"], + aborted_outcomes=["OVERALL_FAILED"], + preempted_outcomes=["PREEMPTED"], + goal_key="goal", + feedback_key="feedback", + result_key="result", + ) + # Run the server in a background thread + asw.run_server() + rospy.spin() + + +if __name__ == "__main__": + main() diff --git a/data/mir_planning/mir_actions/mir_place_object/ros/scripts/place_unstage_object_server.py b/data/mir_planning/mir_actions/mir_place_object/ros/scripts/place_unstage_object_server.py new file mode 100644 index 0000000000000000000000000000000000000000..af83e379a94d89b854f676c2aad7b5b095ef3503 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_place_object/ros/scripts/place_unstage_object_server.py @@ -0,0 +1,550 @@ +#!/usr/bin/env python +""" +This file is for eye in hand configuration of the robot +unstage will happen inside the place object server + +""" + +import mcr_states.common.basic_states as gbs +import mir_states.common.manipulation_states as gms # move the arm, and gripper +import rospy +import smach +from mir_actions.utils import Utils +from mir_planning_msgs.msg import ( + GenericExecuteAction, + GenericExecuteFeedback, + GenericExecuteResult, + GenericExecuteGoal +) +from smach_ros import ActionServerWrapper, IntrospectionServer +from std_msgs.msg import String +from geometry_msgs.msg import PoseArray +from geometry_msgs.msg import PoseStamped +from diagnostic_msgs.msg import KeyValue +from actionlib import SimpleActionClient +from actionlib_msgs.msg import GoalStatus + +class CheckIfLocationIsShelf(smach.State): + def __init__(self): + smach.State.__init__( + self, + outcomes=["shelf", "not_shelf"], + input_keys=["goal"], + output_keys=["feedback", "result"], + ) + + def execute(self, userdata): + location = Utils.get_value_of(userdata.goal.parameters, "location") + print("[Place Object Server] Location received : ", location) + if (location == "SH01") or (location == "SH02"): + return "shelf" + else: + return "not_shelf" + + +# =============================================================================== +# new class for threshold calculation to go to default place +class Threshold_calculation(smach.State): + + def __init__(self): + smach.State.__init__( + self, + outcomes=["reached", "continue"], + input_keys=["max_allowed_tries", "threshold_counter"], + output_keys=["feedback", "result", "threshold_counter"], + ) + + def execute(self, userdata): + + max_tries = userdata.max_allowed_tries + + result = None + + if userdata.threshold_counter >= max_tries: + result = "reached" + userdata.threshold_counter = 0 + else: + userdata.threshold_counter += 1 + result = "continue" + + userdata.result = GenericExecuteResult() + userdata.feedback = GenericExecuteFeedback( + current_state="GO_DEFAULT_THRESHOLD", text="No of time tried the IK reachability: " + str(userdata.threshold_counter), + ) + return result + +# ============================================================================== + +# new class for empty space detection + +class GetEmptyPositionOnTable(smach.State): + def __init__(self,empty_spaces): + + smach.State.__init__(self,outcomes=["success", "failure"], + input_keys=["empty_locations",], + output_keys=["feedback","result","empty_locations"] + ) + + self.empty_locations = None + self.timeout = rospy.Duration.from_sec(15.0) + rospy.Subscriber(empty_spaces, PoseArray, self.empty_space_cb) # subscribing to empty_space locations published by empty_space_detector node + rospy.sleep(0.1) + + def empty_space_cb(self, msg): # Callback for get empty_space_location from empty_space detector node + + self.empty_locations = msg + + def execute(self, userdata): # Getting data from empty space detector and giving all the poses it to next states + + userdata.result = GenericExecuteResult() + userdata.feedback = GenericExecuteFeedback( + current_state="EMPTY_POSE_RECEIVE", text="Receiving empty space location",) + rospy.loginfo("<<--- getting empty position --->>") + userdata.empty_locations = self.empty_locations # The empty locations have all the empty poses + + return 'success' + +#================================================================================= + +# class from unstage server for unstaging the object + +class Unstage_to_place(smach.State): + + def __init__(self): + + smach.State.__init__(self, outcomes=["success","failed"],input_keys=["goal","heavy_objects", "platform","object"]) + self.platform = "PLATFORM_MIDDLE" + self.obj = "M20" + + def execute(self,userdata): + + self.platform = Utils.get_value_of(userdata.goal.parameters, "platform") + self.obj = Utils.get_value_of(userdata.goal.parameters, "object") + + if self.obj is None: + rospy.logwarn('Missing parameter "object". Using default.') + self.obj = "light" + for heavy_object in userdata.heavy_objects: + if heavy_object.upper() in self.obj.upper(): + self.obj = "heavy" + else: + self.obj = "light" + + + self.unstage_client = SimpleActionClient('unstage_object_server', GenericExecuteAction) + self.unstage_client.wait_for_server() + + # Assigning the goal + + goal = GenericExecuteGoal() + goal.parameters.append(KeyValue(key="platform", value=self.platform)) + goal.parameters.append(KeyValue(key="object", value=self.obj)) + + self.unstage_client.send_goal(goal) + self.unstage_client.wait_for_result(rospy.Duration.from_sec(15.0)) + + rospy.loginfo("Unstaged from backplatform " + self.platform) + rospy.loginfo("Sending following goal to unstage object server") + rospy.loginfo(goal) + + return "success" + +# =============================================================================== + +# new class for publishing the empty pose + +class PublishObjectPose(smach.State): + def __init__(self): + smach.State.__init__(self, outcomes=["success", "failed"], + input_keys=["empty_locations"]) + + self.empty_pose_pub = rospy.Publisher( + "/mcr_perception/object_selector/output/object_pose", + PoseStamped, + queue_size=10) + + def execute(self, userdata): + + empty_locations = userdata.empty_locations + + if len(empty_locations.poses) > 0: + + base_link_pose = PoseStamped() + base_link_pose.header = empty_locations.header + + base_link_pose.pose.position.x = 0.0 + base_link_pose.pose.position.y = 0.0 + base_link_pose.pose.position.z = 0.0 + base_link_pose.pose.orientation.x = 0.0 + base_link_pose.pose.orientation.y = 0.0 + base_link_pose.pose.orientation.z = 0.0 + + empty_locations_temp = PoseStamped() + empty_locations_temp.header = empty_locations.header + + + distance_list = [] + for i in range(len(empty_locations.poses)): + empty_locations_temp.pose = empty_locations.poses[i] + distance_list.append(Utils.get_distance_between_poses(base_link_pose, empty_locations_temp)) + + # return the index of min value in the list + index = distance_list.index(min(distance_list)) + + nearest_pose = PoseStamped() + nearest_pose.header = empty_locations.header + nearest_pose.pose = empty_locations.poses[index] + + # TODO: This z value should be tested + + nearest_pose.pose.position.z += rospy.get_param("object_height_above_workspace", 0.035) # adding the height of the object above the workspace Should be change for vertical object + nearest_pose.pose.position.z += 0.03 # add 3cm height for droping the object + + rospy.loginfo(nearest_pose.pose.position.z) + rospy.loginfo("Publishing single pose to pregrasp planner") + + rospy.loginfo(type(nearest_pose)) + self.empty_pose_pub.publish(nearest_pose) + + rospy.sleep(0.3) + nearest_pose = None + + return "success" + +#================================================================================= + +def transition_cb(*args, **kwargs): + userdata = args[0] + sm_state = args[1][0] + + feedback = GenericExecuteFeedback() + feedback.current_state = sm_state + userdata.feedback = feedback + +def start_cb(*args, **kwargs): + userdata = args[0] + sm_state = args[1][0] + + feedback = GenericExecuteFeedback() + feedback.current_state = sm_state + userdata.feedback = feedback + + +def main(): + rospy.init_node("place_object_server") + # Construct state machine + sm = smach.StateMachine( + outcomes=["OVERALL_SUCCESS", "OVERALL_FAILED"], + input_keys=["goal", "feedback", "result"], + output_keys=["feedback", "result"],) + + sm.userdata.threshold_counter = 0 + sm.userdata.empty_locations = None + sm.userdata.heavy_objects = rospy.get_param("~heavy_objects", ["m20_100"]) + sm.userdata.max_allowed_tries = rospy.get_param("~max_allowed_IK_tries", 3) + + with sm: + # add states to the container + smach.StateMachine.add( + "CHECK_IF_SHELF_INITIAL", + CheckIfLocationIsShelf(), + transitions={ + "shelf": "MOVE_ARM_TO_SHELF_INTERMEDIATE", + "not_shelf": "MOVE_ARM_TO_PRE_PERCEIVE", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_PRE_PERCEIVE", + gms.move_arm("platform_middle_pre"), + transitions={ + "succeeded": "MOVE_ARM_TO_PRECEIVE", + "failed": "MOVE_ARM_TO_PRE_PERCEIVE", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_PRECEIVE", + gms.move_arm("look_at_workspace"), + transitions={ + "succeeded": "CHECK_MAX_TRY_THRESHOLD", + "failed": "MOVE_ARM_TO_PRECEIVE", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_SHELF_INTERMEDIATE", + gms.move_arm("shelf_intermediate"), + transitions={ + "succeeded": "MOVE_ARM_TO_SHELF_INTERMEDIATE_2", + "failed": "MOVE_ARM_TO_SHELF_INTERMEDIATE", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_SHELF_INTERMEDIATE_2", + gms.move_arm("shelf_intermediate_2"), + transitions={ + "succeeded": "MOVE_ARM_TO_PRE_GRASP_LOWER", + "failed": "MOVE_ARM_TO_SHELF_INTERMEDIATE_2", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_PRE_GRASP_LOWER", + gms.move_arm("shelf_pre_grasp_lower"), + transitions={ + "succeeded": "MOVE_ARM_TO_SHELF_PLACE_FINAL", + "failed": "MOVE_ARM_TO_PRE_GRASP_LOWER", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_SHELF_PLACE_FINAL", + gms.move_arm("shelf_place_final"), + transitions={ + "succeeded": "OPEN_GRIPPER_SHELF", + "failed": "MOVE_ARM_TO_SHELF_PLACE_FINAL", + }, + ) + + smach.StateMachine.add( + "OPEN_GRIPPER_SHELF", + gms.control_gripper("open"), + transitions={"succeeded": "MOVE_ARM_TO_SHELF_PLACE_FINAL_RETRACT" + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_SHELF_PLACE_FINAL_RETRACT", + gms.move_arm("shelf_place_final"), + transitions={ + "succeeded": "MOVE_ARM_TO_PRE_GRASP_LOWER_RETRACT", + "failed": "MOVE_ARM_TO_SHELF_PLACE_FINAL_RETRACT", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_PRE_GRASP_LOWER_RETRACT", + gms.move_arm("shelf_pre_grasp_lower"), + transitions={ + "succeeded": "MOVE_ARM_TO_SHELF_INTERMEDIATE_2_RETRACT", + "failed": "MOVE_ARM_TO_PRE_GRASP_LOWER_RETRACT", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_SHELF_INTERMEDIATE_2_RETRACT", + gms.move_arm("shelf_intermediate_2"), + transitions={ + "succeeded": "MOVE_ARM_TO_SHELF_INTERMEDIATE_RETRACT", + "failed": "MOVE_ARM_TO_SHELF_INTERMEDIATE_2_RETRACT", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_SHELF_INTERMEDIATE_RETRACT", + gms.move_arm("shelf_intermediate"), + transitions={ + "succeeded": "MOVE_ARM_TO_NEUTRAL", + "failed": "MOVE_ARM_TO_SHELF_INTERMEDIATE_RETRACT", + }, + ) +# till above the state machine is for shelf + + smach.StateMachine.add( + "CHECK_MAX_TRY_THRESHOLD", + Threshold_calculation(), + transitions={ + "continue": "EMPTY_SPACE_CLOUD_ADD", + "reached": "MOVE_ARM_TO_PRE_DEFAULT", + }, + ) + + smach.StateMachine.add( + "CLOSE_GRIPPER", + gms.control_gripper("close"), + transitions={ + "succeeded": "MOVE_ARM_TO_PRE_DEFAULT" + }, + ) + + + smach.StateMachine.add( + "MOVE_ARM_TO_PRE_DEFAULT", + gms.move_arm("platform_middle_pre"), + transitions={ + "succeeded": "GO_DEFAULT_THRESHOLD", + "failed": "MOVE_ARM_TO_PRE_DEFAULT", + }, + ) + + smach.StateMachine.add( + "GO_DEFAULT_THRESHOLD", + gms.move_arm("place_default"), + transitions={ + "succeeded": "OVERALL_SUCCESS", + "failed": "GO_DEFAULT_THRESHOLD", + } + ) + + """ + Assumption: + The camera should be looking at the workspace to find + the empty locations. The camera should be mounted on the arm + """ + + smach.StateMachine.add( + "EMPTY_SPACE_CLOUD_ADD", + gbs.send_and_wait_events_combined( + event_in_list = [ + ("/mir_perception/empty_space_detector/event_in","e_add_cloud"), + ], + event_out_list = [("/mir_perception/empty_space_detector/event_out","e_added_cloud", True)], + timeout_duration=50,), + transitions={"success": "EMPTY_SPACE_TRIGGER", + "timeout": "CHECK_MAX_TRY_THRESHOLD", + "failure": "EMPTY_SPACE_CLOUD_ADD",}, + ) + + + smach.StateMachine.add( + "EMPTY_SPACE_TRIGGER", + gbs.send_and_wait_events_combined( + event_in_list = [("/mir_perception/empty_space_detector/event_in","e_trigger")], + event_out_list = [("/mir_perception/empty_space_detector/event_out","e_success",True)], + timeout_duration = 50,), + transitions={"success": "EMPTY_POSE_RECEIVE", + "timeout": "EMPTY_SPACE_CLOUD_ADD", + "failure": "CHECK_MAX_TRY_THRESHOLD", + }, + ) + + + smach.StateMachine.add( + "EMPTY_POSE_RECEIVE", + GetEmptyPositionOnTable( + "/mir_perception/empty_space_detector/empty_spaces"), + + transitions={ + "success": "PUBLISH_OBJECT_POSE_FOR_VERIFICATION", + "failure": "EMPTY_SPACE_CLOUD_ADD", + }, + ) + + smach.StateMachine.add( + "PUBLISH_OBJECT_POSE_FOR_VERIFICATION", + PublishObjectPose(), + transitions={"success": "CHECK_PRE_GRASP_POSE_IK", + "failed": "PUBLISH_OBJECT_POSE_FOR_VERIFICATION" + } + ) + + smach.StateMachine.add( + "CHECK_PRE_GRASP_POSE_IK", + gbs.send_and_wait_events_combined( + event_in_list=[ + ("/pregrasp_planner_node/event_in", "e_start") + ], + event_out_list=[ + ( + "/pregrasp_planner_node/event_out", + "e_success", + True, + ) + ], + timeout_duration=20, + ), + transitions={ + "success": "MOVE_ARM_TO_PRE_UNSTAGE", + "timeout": "CHECK_MAX_TRY_THRESHOLD", + "failure": "CHECK_MAX_TRY_THRESHOLD", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_PRE_UNSTAGE", + gms.move_arm("platform_middle_pre"), + transitions={ + "succeeded": "UNSTAGE_FOR_PLACING", + "failed": "MOVE_ARM_TO_PRE_UNSTAGE", + }, + ) + + + smach.StateMachine.add( + "UNSTAGE_FOR_PLACING", + Unstage_to_place(), + transitions={ + "success":"GO_TO_PRE_GRASP_POSE", + "failed":"MOVE_ARM_TO_NEUTRAL", + }, + ) + + smach.StateMachine.add( + "GO_TO_PRE_GRASP_POSE", + gbs.send_and_wait_events_combined( + event_in_list=[ + ("/waypoint_trajectory_generation/event_in", "e_start")], + event_out_list=[ + ( + "/waypoint_trajectory_generation/event_out", + "e_success", + True, + )], + timeout_duration=20, + ), + transitions={ + "success": "OPEN_GRIPPER", + "timeout": "OVERALL_FAILED", + "failure": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "OPEN_GRIPPER", + gms.control_gripper("open"), + transitions={ + "succeeded": "MOVE_ARM_TO_NEUTRAL" + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_NEUTRAL", + gms.move_arm("barrier_tape"), + transitions={ + "succeeded": "OVERALL_SUCCESS", + "failed": "MOVE_ARM_TO_NEUTRAL", + }, + ) + + sm.register_transition_cb(transition_cb) + sm.register_start_cb(start_cb) + sm.userdata.threshold_counter = 0 + + # smach viewer + if rospy.get_param("~viewer_enabled", True): + sis = IntrospectionServer( + "place_object_smach_viewer", sm, "/STAGE_OBJECT_SMACH_VIEWER" + ) + sis.start() + + # Construct action server wrapper + asw = ActionServerWrapper( + server_name="place_unstage_object_server", + action_spec=GenericExecuteAction, + wrapped_container=sm, + succeeded_outcomes=["OVERALL_SUCCESS"], + aborted_outcomes=["OVERALL_FAILED"], + preempted_outcomes=["PREEMPTED"], + goal_key="goal", + feedback_key="feedback", + result_key="result", + ) + # Run the server in a background thread + asw.run_server() + rospy.spin() + + +if __name__ == "__main__": + main() diff --git a/data/mir_planning/mir_actions/mir_stage_object/CMakeLists.txt b/data/mir_planning/mir_actions/mir_stage_object/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..d0c0b7c1a46f1c9c312c617dfe3cb165ba520c54 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_stage_object/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_stage_object) + +find_package(catkin REQUIRED + COMPONENTS +) + +catkin_package( + CATKIN_DEPENDS +) diff --git a/data/mir_planning/mir_actions/mir_stage_object/package.xml b/data/mir_planning/mir_actions/mir_stage_object/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..6997d45aa5c4ed4e59a7268b9ce888c19bdfac03 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_stage_object/package.xml @@ -0,0 +1,18 @@ + + + mir_stage_object + 1.0.0 + + Assumes that the robot has ab object on its gripper, then moves the arm towards + specified robot platform (middle, left or right) then opens the gripper (to store the object + on yb platform) then moves the arm back to idle position + + + GPLv3 + + Oscar Lima + Oscar Lima + + catkin + + diff --git a/data/mir_planning/mir_actions/mir_stage_object/ros/launch/stage_object_server.launch b/data/mir_planning/mir_actions/mir_stage_object/ros/launch/stage_object_server.launch new file mode 100644 index 0000000000000000000000000000000000000000..2e37a53c6a5788039b80339770457994b8f50c12 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_stage_object/ros/launch/stage_object_server.launch @@ -0,0 +1,25 @@ + + + + + + + + + + $(arg heavy_objects) + + + + + + + + $(arg heavy_objects) + + + + + diff --git a/data/mir_planning/mir_actions/mir_stage_object/ros/scripts/stage_object_client_test.py b/data/mir_planning/mir_actions/mir_stage_object/ros/scripts/stage_object_client_test.py new file mode 100644 index 0000000000000000000000000000000000000000..a9bfbe8b8cf42f9e785029a47f5b1383b591dda1 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_stage_object/ros/scripts/stage_object_client_test.py @@ -0,0 +1,49 @@ +#! /usr/bin/env python + +import sys + +import rospy +from actionlib import SimpleActionClient +from actionlib_msgs.msg import GoalStatus +from diagnostic_msgs.msg import KeyValue +from mir_planning_msgs.msg import GenericExecuteAction, GenericExecuteGoal + +if __name__ == "__main__": + rospy.init_node("stage_object_client_tester") + + client = SimpleActionClient("stage_object_server", GenericExecuteAction) + client.wait_for_server() + + if len(sys.argv) > 1: + platform = str(sys.argv[1]).upper() + if len(sys.argv) > 2: + obj = str(sys.argv[2]).upper() + else: + obj = "M20" + else: + platform = "PLATFORM_MIDDLE" + obj = "M20" + + goal = GenericExecuteGoal() + goal.parameters.append(KeyValue(key="platform", value=platform)) + goal.parameters.append(KeyValue(key="object", value=obj)) + rospy.loginfo("Sending following goal to stage object server") + rospy.loginfo(goal) + + client.send_goal(goal) + + timeout = 25.0 + finished_within_time = client.wait_for_result(rospy.Duration.from_sec(int(timeout))) + if not finished_within_time: + client.cancel_goal() + + state = client.get_state() + result = client.get_result() + if state == GoalStatus.SUCCEEDED: + rospy.loginfo("Action SUCCESS") + rospy.loginfo(client.get_result()) + elif state == GoalStatus.ABORTED: + rospy.logerr("Action FAILED") + else: + rospy.logwarn("State: " + str(state)) + rospy.loginfo(client.get_result()) diff --git a/data/mir_planning/mir_actions/mir_stage_object/ros/scripts/stage_object_server.py b/data/mir_planning/mir_actions/mir_stage_object/ros/scripts/stage_object_server.py new file mode 100644 index 0000000000000000000000000000000000000000..441c62c0662c4f641fb6036018742cc18f0d1396 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_stage_object/ros/scripts/stage_object_server.py @@ -0,0 +1,163 @@ +#!/usr/bin/env python + +import mir_states.common.manipulation_states as gms # move the arm, and gripper +import mir_states.common.basic_states as mir_gbs +import rospy +import smach +import smach_ros +from mir_actions.utils import Utils +from mir_planning_msgs.msg import ( + GenericExecuteAction, + GenericExecuteFeedback, + GenericExecuteResult, +) +from smach_ros import ActionServerWrapper + +# =============================================================================== + +class SetupMoveArm(smach.State): + def __init__(self, arm_target, is_heavy=False): + smach.State.__init__( + self, + outcomes=["succeeded", "failed"], + input_keys=["goal"], + output_keys=["feedback", "result", "move_arm_to"], + ) + self.arm_target = arm_target + self.is_heavy = is_heavy + + def execute(self, userdata): + platform = Utils.get_value_of(userdata.goal.parameters, "platform") + if platform is None: + rospy.logwarn('Missing parameter "platform". Using default.') + platform = "PLATFORM_MIDDLE" + platform = platform.lower() + + if self.arm_target == "pre": + platform += "_pre" + + if self.is_heavy: + platform += "_heavy" + userdata.move_arm_to = platform + + # Add empty result msg (because if none of the state do it, action server gives error) + userdata.result = GenericExecuteResult() + userdata.feedback = GenericExecuteFeedback( + current_state="SetupMoveArm", text="Moving arm to " + platform + ) + return "succeeded" + +# =============================================================================== + +def transition_cb(*args, **kwargs): + userdata = args[0] + sm_state = args[1][0] + + feedback = GenericExecuteFeedback() + feedback.current_state = sm_state + userdata.feedback = feedback + +def start_cb(*args, **kwargs): + userdata = args[0] + sm_state = args[1][0] + + feedback = GenericExecuteFeedback() + feedback.current_state = sm_state + userdata.feedback = feedback + +# =============================================================================== + +def main(): + rospy.init_node("stage_object_server") + # Construct state machine + sm = smach.StateMachine( + outcomes=["OVERALL_SUCCESS", "OVERALL_FAILED"], + input_keys=["goal"], + output_keys=["feedback", "result"], + ) + + # read heavy object list + sm.userdata.heavy_objects = rospy.get_param("~heavy_objects", ["m20_100"]) + + with sm: + # add states to the container + smach.StateMachine.add( + "MOVE_ARM_TO_STAGE_INTERMEDIATE", + gms.move_arm("stage_intermediate"), + transitions={ + "succeeded": "SETUP_MOVE_ARM_PRE_STAGE", + "failed": "MOVE_ARM_TO_STAGE_INTERMEDIATE", + }, + ) + + smach.StateMachine.add( + "SETUP_MOVE_ARM_PRE_STAGE", + SetupMoveArm("pre"), + transitions={ + "succeeded": "MOVE_ARM_PRE_STAGE", + "failed": "SETUP_MOVE_ARM_PRE_STAGE", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_PRE_STAGE", + gms.move_arm(), + transitions={ + "succeeded": "SETUP_MOVE_ARM_STAGE", + "failed": "MOVE_ARM_PRE_STAGE", + }, + ) + + smach.StateMachine.add( + "SETUP_MOVE_ARM_STAGE", + SetupMoveArm("final"), + transitions={ + "succeeded": "MOVE_ARM_STAGE", + "failed": "SETUP_MOVE_ARM_STAGE", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_STAGE", + gms.move_arm(), + transitions={ + "succeeded": "OPEN_GRIPPER", + "failed": "MOVE_ARM_STAGE" + }, + ) + + smach.StateMachine.add( + "OPEN_GRIPPER", + gms.control_gripper("open_narrow"), + transitions={"succeeded": "OVERALL_SUCCESS"}, + ) + + sm.register_transition_cb(transition_cb) + sm.register_start_cb(start_cb) + + # smach viewer + if rospy.get_param("~viewer_enabled", False): + sis = smach_ros.IntrospectionServer( + "stage_object_smach_viewer", sm, "/STAGE_OBJECT_SMACH_VIEWER" + ) + sis.start() + + # Construct action server wrapper + asw = ActionServerWrapper( + server_name="stage_object_server", + action_spec=GenericExecuteAction, + wrapped_container=sm, + succeeded_outcomes=["OVERALL_SUCCESS"], + aborted_outcomes=["OVERALL_FAILED"], + preempted_outcomes=["PREEMPTED"], + goal_key="goal", + feedback_key="feedback", + result_key="result", + ) + # Run the server in a background thread + asw.run_server() + rospy.spin() + + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/data/mir_planning/mir_actions/mir_stage_object/ros/scripts/stage_object_server_yb4.py b/data/mir_planning/mir_actions/mir_stage_object/ros/scripts/stage_object_server_yb4.py new file mode 100644 index 0000000000000000000000000000000000000000..a7a763fafd864e474e179ac8c24da17fbdfcf36f --- /dev/null +++ b/data/mir_planning/mir_actions/mir_stage_object/ros/scripts/stage_object_server_yb4.py @@ -0,0 +1,303 @@ +#!/usr/bin/env python + +import mir_states.common.manipulation_states as gms # move the arm, and gripper +import rospy +import smach +import smach_ros +from mir_actions.utils import Utils +from mir_planning_msgs.msg import ( + GenericExecuteAction, + GenericExecuteFeedback, + GenericExecuteResult, +) +from smach_ros import ActionServerWrapper + +# =============================================================================== + + +class SetupMoveArm(smach.State): + def __init__(self, arm_target, is_heavy=False): + smach.State.__init__( + self, + outcomes=["succeeded", "failed"], + input_keys=["goal"], + output_keys=["feedback", "result", "move_arm_to"], + ) + self.arm_target = arm_target + self.is_heavy = is_heavy + + def execute(self, userdata): + platform = Utils.get_value_of(userdata.goal.parameters, "platform") + if platform is None: + rospy.logwarn('Missing parameter "platform". Using default.') + platform = "PLATFORM_MIDDLE" + platform = platform.lower() + + if self.arm_target == "pre": + platform += "_pre" + + if self.is_heavy: + platform += "_heavy" + userdata.move_arm_to = platform + + # Add empty result msg (because if none of the state do it, action server gives error) + userdata.result = GenericExecuteResult() + userdata.feedback = GenericExecuteFeedback( + current_state="SetupMoveArm", text="Moving arm to " + platform + ) + return "succeeded" + + +# =============================================================================== + +class IsObjectHeavy(smach.State): + def __init__(self): + smach.State.__init__( + self, + outcomes=["heavy", "light"], + input_keys=["goal", "heavy_objects"], + output_keys=[], + ) + + def execute(self, userdata): + obj = Utils.get_value_of(userdata.goal.parameters, "object") + if obj is None: + rospy.logwarn('Missing parameter "object". Using default.') + return "light" + for heavy_object in userdata.heavy_objects: + if heavy_object.upper() in obj.upper(): + return "heavy" + return "light" + + +# =============================================================================== + +def transition_cb(*args, **kwargs): + userdata = args[0] + sm_state = args[1][0] + + feedback = GenericExecuteFeedback() + feedback.current_state = sm_state + userdata.feedback = feedback + +def start_cb(*args, **kwargs): + userdata = args[0] + sm_state = args[1][0] + + feedback = GenericExecuteFeedback() + feedback.current_state = sm_state + userdata.feedback = feedback + +# =============================================================================== + +def main(): + rospy.init_node("stage_object_server") + # Construct state machine + sm = smach.StateMachine( + outcomes=["OVERALL_SUCCESS", "OVERALL_FAILED"], + input_keys=["goal"], + output_keys=["feedback", "result"], + ) + + # read heavy object list + sm.userdata.heavy_objects = rospy.get_param("~heavy_objects", ["m20_100"]) + + with sm: + # add states to the container + smach.StateMachine.add( + "MOVE_ARM_TO_STAGE_INTERMEDIATE", + gms.move_arm("stage_intermediate"), + transitions={ + "succeeded": "CHECK_IF_OBJECT_HEAVY", + "failed": "MOVE_ARM_TO_STAGE_INTERMEDIATE", + }, + ) + + smach.StateMachine.add( + "CHECK_IF_OBJECT_HEAVY", + IsObjectHeavy(), + transitions={ + "heavy": "MOVE_ARM_TO_STAGE_INTERMEDIATE_2", + "light": "SETUP_MOVE_ARM_PRE_STAGE", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_STAGE_INTERMEDIATE_2", + gms.move_arm("stage_intermediate_2"), + transitions={ + "succeeded": "SETUP_MOVE_ARM_PRE_STAGE_HEAVY", + "failed": "MOVE_ARM_TO_STAGE_INTERMEDIATE_2", + }, + ) + + smach.StateMachine.add( + "SETUP_MOVE_ARM_PRE_STAGE", + SetupMoveArm("pre"), + transitions={ + "succeeded": "MOVE_ARM_PRE_STAGE", + "failed": "SETUP_MOVE_ARM_PRE_STAGE", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_PRE_STAGE", + gms.move_arm(), + transitions={ + "succeeded": "SETUP_MOVE_ARM_STAGE", + "failed": "MOVE_ARM_PRE_STAGE", + }, + ) + + smach.StateMachine.add( + "SETUP_MOVE_ARM_STAGE", + SetupMoveArm("final"), + transitions={ + "succeeded": "MOVE_ARM_STAGE", + "failed": "SETUP_MOVE_ARM_STAGE", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_STAGE", + gms.move_arm(), + transitions={ + "succeeded": "OPEN_GRIPPER", + "failed": "MOVE_ARM_STAGE" + }, + ) + + smach.StateMachine.add( + "SETUP_MOVE_ARM_PRE_STAGE_HEAVY", + SetupMoveArm("pre", is_heavy=True), + transitions={ + "succeeded": "MOVE_ARM_PRE_STAGE_HEAVY", + "failed": "SETUP_MOVE_ARM_PRE_STAGE_HEAVY", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_PRE_STAGE_HEAVY", + gms.move_arm(), + transitions={ + "succeeded": "SETUP_MOVE_ARM_STAGE_HEAVY", + "failed": "MOVE_ARM_PRE_STAGE_HEAVY", + }, + ) + + smach.StateMachine.add( + "SETUP_MOVE_ARM_STAGE_HEAVY", + SetupMoveArm("final", is_heavy=True), + transitions={ + "succeeded": "MOVE_ARM_STAGE_HEAVY", + "failed": "SETUP_MOVE_ARM_STAGE_HEAVY", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_STAGE_HEAVY", + gms.move_arm(), + transitions={ + "succeeded": "OPEN_GRIPPER", + "failed": "MOVE_ARM_STAGE_HEAVY" + }, + ) + + smach.StateMachine.add( + "OPEN_GRIPPER", + gms.control_gripper("open_narrow"), + transitions={"succeeded": "CHECK_IF_OBJECT_HEAVY_AGAIN"}, + ) + + smach.StateMachine.add( + "CHECK_IF_OBJECT_HEAVY_AGAIN", + IsObjectHeavy(), + transitions={ + "heavy": "SETUP_MOVE_ARM_PRE_STAGE_HEAVY_AGAIN", + "light": "SETUP_MOVE_ARM_PRE_STAGE_AGAIN", + }, + ) + + smach.StateMachine.add( + "SETUP_MOVE_ARM_PRE_STAGE_AGAIN", + SetupMoveArm("pre"), + transitions={ + "succeeded": "MOVE_ARM_PRE_STAGE_AGAIN", + "failed": "SETUP_MOVE_ARM_PRE_STAGE_AGAIN", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_PRE_STAGE_AGAIN", + gms.move_arm(blocking=True), + transitions={ + "succeeded": "MOVE_ARM_TO_STAGE_INTERMEDIATE_FINAL", + "failed": "MOVE_ARM_PRE_STAGE_AGAIN", + }, + ) + + smach.StateMachine.add( + "SETUP_MOVE_ARM_PRE_STAGE_HEAVY_AGAIN", + SetupMoveArm("pre", is_heavy=True), + transitions={ + "succeeded": "MOVE_ARM_PRE_STAGE_HEAVY_AGAIN", + "failed": "SETUP_MOVE_ARM_PRE_STAGE_HEAVY_AGAIN", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_PRE_STAGE_HEAVY_AGAIN", + gms.move_arm(blocking=False), + transitions={ + "succeeded": "MOVE_ARM_TO_STAGE_INTERMEDIATE_2_FINAL", + "failed": "MOVE_ARM_PRE_STAGE_HEAVY_AGAIN", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_STAGE_INTERMEDIATE_2_FINAL", + gms.move_arm("stage_intermediate_2"), + transitions={ + "succeeded": "MOVE_ARM_TO_STAGE_INTERMEDIATE_FINAL", + "failed": "MOVE_ARM_TO_STAGE_INTERMEDIATE_2_FINAL", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_STAGE_INTERMEDIATE_FINAL", + gms.move_arm("stage_intermediate"), + transitions={ + "succeeded": "OVERALL_SUCCESS", + "failed": "MOVE_ARM_TO_STAGE_INTERMEDIATE_FINAL", + }, + ) + + sm.register_transition_cb(transition_cb) + sm.register_start_cb(start_cb) + + # smach viewer + if rospy.get_param("~viewer_enabled", False): + sis = smach_ros.IntrospectionServer( + "stage_object_smach_viewer", sm, "/STAGE_OBJECT_SMACH_VIEWER" + ) + sis.start() + + # Construct action server wrapper + asw = ActionServerWrapper( + server_name="stage_object_server", + action_spec=GenericExecuteAction, + wrapped_container=sm, + succeeded_outcomes=["OVERALL_SUCCESS"], + aborted_outcomes=["OVERALL_FAILED"], + preempted_outcomes=["PREEMPTED"], + goal_key="goal", + feedback_key="feedback", + result_key="result", + ) + # Run the server in a background thread + asw.run_server() + rospy.spin() + + +if __name__ == "__main__": + main() diff --git a/data/mir_planning/mir_actions/mir_unclutter_workspace/CMakeLists.txt b/data/mir_planning/mir_actions/mir_unclutter_workspace/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..894290bf47fe9f00b328aff25f966b9338eac77e --- /dev/null +++ b/data/mir_planning/mir_actions/mir_unclutter_workspace/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_unclutter_workspace) + +find_package(catkin REQUIRED + COMPONENTS +) + +catkin_package( + CATKIN_DEPENDS +) diff --git a/data/mir_planning/mir_actions/mir_unclutter_workspace/package.xml b/data/mir_planning/mir_actions/mir_unclutter_workspace/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..1e7713a4b6c1ccdde69232c22d4eecd0ba4d04f2 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_unclutter_workspace/package.xml @@ -0,0 +1,16 @@ + + + mir_unclutter_workspace + 1.0.0 + + TODO + + + GPLv3 + + Dharmin B. + Dharmin B. + + catkin + + diff --git a/data/mir_planning/mir_actions/mir_unclutter_workspace/ros/launch/unclutter_workspace.launch b/data/mir_planning/mir_actions/mir_unclutter_workspace/ros/launch/unclutter_workspace.launch new file mode 100644 index 0000000000000000000000000000000000000000..99c820dc2f01446271334913ef1a8740b2754954 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_unclutter_workspace/ros/launch/unclutter_workspace.launch @@ -0,0 +1,8 @@ + + + + + + + diff --git a/data/mir_planning/mir_actions/mir_unclutter_workspace/ros/scripts/unclutter_workspace_client_test b/data/mir_planning/mir_actions/mir_unclutter_workspace/ros/scripts/unclutter_workspace_client_test new file mode 100644 index 0000000000000000000000000000000000000000..965d74c8ae14f33a1d8e49d07b8e550af6a23374 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_unclutter_workspace/ros/scripts/unclutter_workspace_client_test @@ -0,0 +1,37 @@ +#! /usr/bin/env python + +import sys + +import rospy +from actionlib import SimpleActionClient +from actionlib_msgs.msg import GoalStatus +from diagnostic_msgs.msg import KeyValue +from mir_planning_msgs.msg import GenericExecuteAction, GenericExecuteGoal + +if __name__ == "__main__": + rospy.init_node("unclutter_workspace_client_test") + + client = SimpleActionClient("unclutter_workspace_server", GenericExecuteAction) + client.wait_for_server() + + goal = GenericExecuteGoal() + rospy.loginfo("Sending following goal to unclutter workspace server") + rospy.loginfo(goal) + + client.send_goal(goal) + + timeout = 25.0 + finished_within_time = client.wait_for_result(rospy.Duration.from_sec(int(timeout))) + if not finished_within_time: + client.cancel_goal() + + state = client.get_state() + result = client.get_result() + if state == GoalStatus.SUCCEEDED: + rospy.loginfo("Action SUCCESS") + rospy.loginfo(client.get_result()) + elif state == GoalStatus.ABORTED: + rospy.logerr("Action FAILED") + else: + rospy.logwarn("State: " + str(state)) + rospy.loginfo(client.get_result()) diff --git a/data/mir_planning/mir_actions/mir_unclutter_workspace/ros/scripts/unclutter_workspace_server b/data/mir_planning/mir_actions/mir_unclutter_workspace/ros/scripts/unclutter_workspace_server new file mode 100644 index 0000000000000000000000000000000000000000..670ca91bc5e5ea26229b8f65a04c6b5f93fceec0 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_unclutter_workspace/ros/scripts/unclutter_workspace_server @@ -0,0 +1,171 @@ +#!/usr/bin/env python + +import mir_states.common.manipulation_states as gms # move the arm, and gripper +import rospy +import smach +import smach_ros +from mir_actions.utils import Utils +from mir_planning_msgs.msg import ( + GenericExecuteAction, + GenericExecuteFeedback, + GenericExecuteResult, +) +from smach_ros import ActionServerWrapper + +# =============================================================================== + + +def main(): + rospy.init_node("unclutter_workspace_server") + # Construct state machine + sm = smach.StateMachine( + outcomes=["OVERALL_SUCCESS", "OVERALL_FAILED"], + input_keys=["goal", "feedback", "result"], + output_keys=["feedback", "result"], + ) + + with sm: + # add states to the container + smach.StateMachine.add( + "CLOSE_GRIPPER_INITIAL", + gms.control_gripper("close"), + transitions={"succeeded": "MOVE_ARM_TO_UNCLUTTER_MIDDLE_HIGH"}, + ) + + # smach.StateMachine.add( + # "MOVE_ARM_TO_STAGE_INTERMEDIATE_INITIAL", + # gms.move_arm("stage_intermediate"), + # transitions={ + # "succeeded": "MOVE_ARM_TO_UNCLUTTER_MIDDLE_HIGH", + # "failed": "OVERALL_FAILED", + # }, + # ) + + smach.StateMachine.add( + "MOVE_ARM_TO_UNCLUTTER_MIDDLE_HIGH", + gms.move_arm("unclutter_middle_high"), + transitions={ + "succeeded": "OPEN_GRIPPER_MIDDLE_HIGH", + "failed": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "OPEN_GRIPPER_MIDDLE_HIGH", + gms.control_gripper("open_narrow"), + transitions={"succeeded": "MOVE_ARM_TO_UNCLUTTER_MIDDLE"}, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_UNCLUTTER_MIDDLE", + gms.move_arm("unclutter_middle"), + transitions={ + "succeeded": "MOVE_ARM_TO_UNCLUTTER_MIDDLE_PERP", + "failed": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_UNCLUTTER_MIDDLE_PERP", + gms.move_arm("unclutter_middle_perp"), + transitions={ + "succeeded": "CLOSE_GRIPPER_MIDDLE_PERP", + "failed": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "CLOSE_GRIPPER_MIDDLE_PERP", + gms.control_gripper("close"), + transitions={"succeeded": "MOVE_ARM_TO_UNCLUTTER_LEFT"}, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_UNCLUTTER_LEFT", + gms.move_arm("unclutter_left"), + transitions={ + "succeeded": "OPEN_GRIPPER_LEFT", + "failed": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "OPEN_GRIPPER_LEFT", + gms.control_gripper("open_narrow"), + transitions={"succeeded": "MOVE_ARM_TO_UNCLUTTER_LEFT_PERP"}, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_UNCLUTTER_LEFT_PERP", + gms.move_arm("unclutter_left_perp"), + transitions={ + "succeeded": "CLOSE_GRIPPER_LEFT_PERP", + "failed": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "CLOSE_GRIPPER_LEFT_PERP", + gms.control_gripper("close"), + transitions={"succeeded": "MOVE_ARM_TO_UNCLUTTER_RIGHT"}, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_UNCLUTTER_RIGHT", + gms.move_arm("unclutter_right"), + transitions={ + "succeeded": "OPEN_GRIPPER_RIGHT", + "failed": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "OPEN_GRIPPER_RIGHT", + gms.control_gripper("open_narrow"), + transitions={"succeeded": "MOVE_ARM_TO_UNCLUTTER_RIGHT_PERP"}, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_UNCLUTTER_RIGHT_PERP", + gms.move_arm("unclutter_right_perp"), + transitions={ + "succeeded": "MOVE_ARM_TO_STAGE_INTERMEDIATE_FINAL", + "failed": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_STAGE_INTERMEDIATE_FINAL", + gms.move_arm("stage_intermediate"), + transitions={ + "succeeded": "OVERALL_SUCCESS", + "failed": "OVERALL_FAILED", + }, + ) + + # smach viewer + if rospy.get_param("~viewer_enabled", False): + sis = smach_ros.IntrospectionServer( + "unclutter_workspace_smach_viewer", sm, "/STAGE_OBJECT_SMACH_VIEWER" + ) + sis.start() + + # Construct action server wrapper + asw = ActionServerWrapper( + server_name="unclutter_workspace_server", + action_spec=GenericExecuteAction, + wrapped_container=sm, + succeeded_outcomes=["OVERALL_SUCCESS"], + aborted_outcomes=["OVERALL_FAILED"], + preempted_outcomes=["PREEMPTED"], + goal_key="goal", + feedback_key="feedback", + result_key="result", + ) + # Run the server in a background thread + asw.run_server() + rospy.spin() + + +if __name__ == "__main__": + main() diff --git a/data/mir_planning/mir_actions/mir_unstage_object/CMakeLists.txt b/data/mir_planning/mir_actions/mir_unstage_object/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..c8e74d95a339c6eda93f486e2d41959a5eeca882 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_unstage_object/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_unstage_object) + +find_package(catkin REQUIRED + COMPONENTS +) + +catkin_package( + CATKIN_DEPENDS +) \ No newline at end of file diff --git a/data/mir_planning/mir_actions/mir_unstage_object/package.xml b/data/mir_planning/mir_actions/mir_unstage_object/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..35c5a439c36b886b3ec361f58a0b09010a222907 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_unstage_object/package.xml @@ -0,0 +1,18 @@ + + + mir_unstage_object + 1.0.0 + + assumes that the robot has an object on its rear platform staged, then + moves the arm towards a goal platform (action lib goal) closes the gripper + and moves the arm towards iddle position with an object in robots gripper + + + GPLv3 + + Oscar Lima + Oscar Lima + + catkin + + diff --git a/data/mir_planning/mir_actions/mir_unstage_object/ros/launch/unstage_object_server.launch b/data/mir_planning/mir_actions/mir_unstage_object/ros/launch/unstage_object_server.launch new file mode 100644 index 0000000000000000000000000000000000000000..5028286a9a4eb831af31636a51a05d37eea0d5d5 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_unstage_object/ros/launch/unstage_object_server.launch @@ -0,0 +1,27 @@ + + + + + + + + + + $(arg heavy_objects) + + + + + + + + + $(arg heavy_objects) + + + + + + diff --git a/data/mir_planning/mir_actions/mir_unstage_object/ros/scripts/unstage_object_client_test.py b/data/mir_planning/mir_actions/mir_unstage_object/ros/scripts/unstage_object_client_test.py new file mode 100644 index 0000000000000000000000000000000000000000..a6b71d7f4881911b86a0885c8c08abb83c8e0f48 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_unstage_object/ros/scripts/unstage_object_client_test.py @@ -0,0 +1,49 @@ +#! /usr/bin/env python + +import sys + +import rospy +from actionlib import SimpleActionClient +from actionlib_msgs.msg import GoalStatus +from diagnostic_msgs.msg import KeyValue +from mir_planning_msgs.msg import GenericExecuteAction, GenericExecuteGoal + +if __name__ == "__main__": + rospy.init_node("unstage_object_client_tester") + + client = SimpleActionClient("unstage_object_server", GenericExecuteAction) + client.wait_for_server() + + if len(sys.argv) > 1: + platform = str(sys.argv[1]).upper() + if len(sys.argv) > 2: + obj = str(sys.argv[2]).upper() + else: + obj = "M20" + else: + platform = "PLATFORM_MIDDLE" + obj = "M20" + + goal = GenericExecuteGoal() + goal.parameters.append(KeyValue(key="platform", value=platform)) + goal.parameters.append(KeyValue(key="object", value=obj)) + rospy.loginfo("Sending following goal to unstage object server") + rospy.loginfo(goal) + + client.send_goal(goal) + + timeout = 25.0 + finished_within_time = client.wait_for_result(rospy.Duration.from_sec(int(timeout))) + if not finished_within_time: + client.cancel_goal() + + state = client.get_state() + result = client.get_result() + if state == GoalStatus.SUCCEEDED: + rospy.loginfo("Action SUCCESS") + rospy.loginfo(client.get_result()) + elif state == GoalStatus.ABORTED: + rospy.logerr("Action FAILED") + else: + rospy.logwarn("State: " + str(state)) + rospy.loginfo(client.get_result()) diff --git a/data/mir_planning/mir_actions/mir_unstage_object/ros/scripts/unstage_object_server.py b/data/mir_planning/mir_actions/mir_unstage_object/ros/scripts/unstage_object_server.py new file mode 100644 index 0000000000000000000000000000000000000000..87e53a2d7e4a2b8cee52b1d0752542cbbc6d576a --- /dev/null +++ b/data/mir_planning/mir_actions/mir_unstage_object/ros/scripts/unstage_object_server.py @@ -0,0 +1,205 @@ +#!/usr/bin/env python + +import mir_states.common.manipulation_states as gms # move the arm, and gripper +import rospy +import smach +import smach_ros +from mir_actions.utils import Utils +from mir_planning_msgs.msg import ( + GenericExecuteAction, + GenericExecuteFeedback, + GenericExecuteResult, +) +from smach_ros import ActionServerWrapper + +# =============================================================================== + +class SetupMoveArm(smach.State): + def __init__(self, arm_target, is_heavy=False): + smach.State.__init__( + self, + outcomes=["succeeded", "failed"], + input_keys=["goal"], + output_keys=["feedback", "result", "move_arm_to"], + ) + self.arm_target = arm_target + self.is_heavy = is_heavy + + def execute(self, userdata): + platform = Utils.get_value_of(userdata.goal.parameters, "platform") + if platform is None: + rospy.logwarn('Missing parameter "platform". Using default.') + platform = "PLATFORM_MIDDLE" + platform = platform.lower() + + if self.arm_target == "pre": + platform += "_pre" + + if self.is_heavy: + platform += "_heavy" + userdata.move_arm_to = platform + + # Add empty result msg (because if none of the state do it, action server gives error) + userdata.result = GenericExecuteResult() + userdata.feedback = GenericExecuteFeedback( + current_state="SetupMoveArm", text="Moving arm to " + platform + ) + return "succeeded" + + +# =============================================================================== + +class IsObjectHeavy(smach.State): + def __init__(self): + smach.State.__init__( + self, + outcomes=["heavy", "light"], + input_keys=["goal", "heavy_objects"], + output_keys=[], + ) + + def execute(self, userdata): + obj = Utils.get_value_of(userdata.goal.parameters, "object") + if obj is None: + rospy.logwarn('Missing parameter "object". Using default.') + return "light" + for heavy_object in userdata.heavy_objects: + if heavy_object.upper() in obj.upper(): + return "heavy" + return "light" + + +# =============================================================================== + +def transition_cb(*args, **kwargs): + userdata = args[0] + sm_state = args[1][0] + + feedback = GenericExecuteFeedback() + feedback.current_state = sm_state + userdata.feedback = feedback + +def start_cb(*args, **kwargs): + userdata = args[0] + sm_state = args[1][0] + + feedback = GenericExecuteFeedback() + feedback.current_state = sm_state + userdata.feedback = feedback +# =============================================================================== + + +def main(): + rospy.init_node("unstage_object_server") + # Construct state machine + sm = smach.StateMachine( + outcomes=["OVERALL_SUCCESS", "OVERALL_FAILED"], + input_keys=["goal"], + output_keys=["feedback", "result"], + ) + + # read heavy object list + sm.userdata.heavy_objects = rospy.get_param("~heavy_objects", ["m20_100"]) + + with sm: + smach.StateMachine.add( + "OPEN_GRIPPER", + gms.control_gripper("open_narrow"), + transitions={"succeeded": "SETUP_MOVE_ARM_STAGE"}, + ) + # add states to the container + + smach.StateMachine.add( + "SETUP_MOVE_ARM_STAGE", + SetupMoveArm("final"), + transitions={ + "succeeded": "MOVE_ARM_STAGE", + "failed": "SETUP_MOVE_ARM_STAGE", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_STAGE", + gms.move_arm(), + transitions={ + "succeeded": "CLOSE_GRIPPER", + "failed": "MOVE_ARM_STAGE" + }, + ) + + smach.StateMachine.add( + "CLOSE_GRIPPER", + gms.control_gripper("close"), + transitions={"succeeded": "VERIFY_OBJECT_GRASPED"}, + ) + + smach.StateMachine.add( + "VERIFY_OBJECT_GRASPED", + gms.verify_object_grasped(5), + transitions={ + "succeeded": "SETUP_MOVE_ARM_PRE_STAGE_AGAIN", + "failed": "OVERALL_FAILED", + }, + ) + + smach.StateMachine.add( + "SETUP_MOVE_ARM_PRE_STAGE_AGAIN", + SetupMoveArm("pre"), + transitions={ + "succeeded": "MOVE_ARM_PRE_STAGE_AGAIN", + "failed": "SETUP_MOVE_ARM_PRE_STAGE_AGAIN", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_PRE_STAGE_AGAIN", + gms.move_arm(blocking=True), + transitions={ + "succeeded": "MOVE_ARM_TO_BARRIER_TAPE", + "failed": "MOVE_ARM_PRE_STAGE_AGAIN", + }, + ) + + """ + Barrier tape configuration is modified so while unstaging + the arm should go to barrier tape config in yb2-robot-configuration + inorder to avoid any occlution in the camera + """ + smach.StateMachine.add( + "MOVE_ARM_TO_BARRIER_TAPE", + gms.move_arm("barrier_tape"), + transitions={ + "succeeded": "OVERALL_SUCCESS", + "failed": "MOVE_ARM_TO_BARRIER_TAPE", + }, + ) + + sm.register_transition_cb(transition_cb) + sm.register_start_cb(start_cb) + + # smach viewer + if rospy.get_param("~viewer_enabled", True): + sis = smach_ros.IntrospectionServer( + "unstage_object_smach_viewer", sm, "/UNSTAGE_OBJECT_SMACH_VIEWER" + ) + sis.start() + + # Construct action server wrapper + asw = ActionServerWrapper( + server_name="unstage_object_server", + action_spec=GenericExecuteAction, + wrapped_container=sm, + succeeded_outcomes=["OVERALL_SUCCESS"], + aborted_outcomes=["OVERALL_FAILED"], + preempted_outcomes=["PREEMPTED"], + goal_key="goal", + feedback_key="feedback", + result_key="result", + ) + # Run the server in a background thread + asw.run_server() + rospy.spin() + + +if __name__ == "__main__": + main() diff --git a/data/mir_planning/mir_actions/mir_unstage_object/ros/scripts/unstage_object_server_yb4.py b/data/mir_planning/mir_actions/mir_unstage_object/ros/scripts/unstage_object_server_yb4.py new file mode 100644 index 0000000000000000000000000000000000000000..1f0d88c5791e95c86a18859e740f4082098ebca2 --- /dev/null +++ b/data/mir_planning/mir_actions/mir_unstage_object/ros/scripts/unstage_object_server_yb4.py @@ -0,0 +1,309 @@ +#!/usr/bin/env python + +import mir_states.common.manipulation_states as gms # move the arm, and gripper +import rospy +import smach +import smach_ros +from mir_actions.utils import Utils +from mir_planning_msgs.msg import ( + GenericExecuteAction, + GenericExecuteFeedback, + GenericExecuteResult, +) +from smach_ros import ActionServerWrapper + +# =============================================================================== + +class SetupMoveArm(smach.State): + def __init__(self, arm_target, is_heavy=False): + smach.State.__init__( + self, + outcomes=["succeeded", "failed"], + input_keys=["goal"], + output_keys=["feedback", "result", "move_arm_to"], + ) + self.arm_target = arm_target + self.is_heavy = is_heavy + + def execute(self, userdata): + platform = Utils.get_value_of(userdata.goal.parameters, "platform") + if platform is None: + rospy.logwarn('Missing parameter "platform". Using default.') + platform = "PLATFORM_MIDDLE" + platform = platform.lower() + + if self.arm_target == "pre": + platform += "_pre" + + if self.is_heavy: + platform += "_heavy" + userdata.move_arm_to = platform + + # Add empty result msg (because if none of the state do it, action server gives error) + userdata.result = GenericExecuteResult() + userdata.feedback = GenericExecuteFeedback( + current_state="SetupMoveArm", text="Moving arm to " + platform + ) + return "succeeded" + + +# =============================================================================== + +class IsObjectHeavy(smach.State): + def __init__(self): + smach.State.__init__( + self, + outcomes=["heavy", "light"], + input_keys=["goal", "heavy_objects"], + output_keys=[], + ) + + def execute(self, userdata): + obj = Utils.get_value_of(userdata.goal.parameters, "object") + if obj is None: + rospy.logwarn('Missing parameter "object". Using default.') + return "light" + for heavy_object in userdata.heavy_objects: + if heavy_object.upper() in obj.upper(): + return "heavy" + return "light" + + +# =============================================================================== + +def transition_cb(*args, **kwargs): + userdata = args[0] + sm_state = args[1][0] + + feedback = GenericExecuteFeedback() + feedback.current_state = sm_state + userdata.feedback = feedback + +def start_cb(*args, **kwargs): + userdata = args[0] + sm_state = args[1][0] + + feedback = GenericExecuteFeedback() + feedback.current_state = sm_state + userdata.feedback = feedback +# =============================================================================== + + +def main(): + rospy.init_node("unstage_object_server") + # Construct state machine + sm = smach.StateMachine( + outcomes=["OVERALL_SUCCESS", "OVERALL_FAILED"], + input_keys=["goal"], + output_keys=["feedback", "result"], + ) + + # read heavy object list + sm.userdata.heavy_objects = rospy.get_param("~heavy_objects", ["m20_100"]) + + with sm: + smach.StateMachine.add( + "OPEN_GRIPPER", + gms.control_gripper("open_narrow"), + transitions={"succeeded": "MOVE_ARM_TO_STAGE_INTERMEDIATE"}, + ) + # add states to the container + smach.StateMachine.add( + "MOVE_ARM_TO_STAGE_INTERMEDIATE", + gms.move_arm("stage_intermediate"), + transitions={ + "succeeded": "CHECK_IF_OBJECT_HEAVY", + "failed": "MOVE_ARM_TO_STAGE_INTERMEDIATE", + }, + ) + + smach.StateMachine.add( + "CHECK_IF_OBJECT_HEAVY", + IsObjectHeavy(), + transitions={ + "heavy": "MOVE_ARM_TO_STAGE_INTERMEDIATE_2", + "light": "SETUP_MOVE_ARM_PRE_STAGE", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_STAGE_INTERMEDIATE_2", + gms.move_arm("stage_intermediate_2"), + transitions={ + "succeeded": "SETUP_MOVE_ARM_PRE_STAGE_HEAVY", + "failed": "MOVE_ARM_TO_STAGE_INTERMEDIATE_2", + }, + ) + + smach.StateMachine.add( + "SETUP_MOVE_ARM_PRE_STAGE", + SetupMoveArm("pre"), + transitions={ + "succeeded": "MOVE_ARM_PRE_STAGE", + "failed": "SETUP_MOVE_ARM_PRE_STAGE", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_PRE_STAGE", + gms.move_arm(), + transitions={ + "succeeded": "SETUP_MOVE_ARM_STAGE", + "failed": "MOVE_ARM_PRE_STAGE", + }, + ) + + smach.StateMachine.add( + "SETUP_MOVE_ARM_STAGE", + SetupMoveArm("final"), + transitions={ + "succeeded": "MOVE_ARM_STAGE", + "failed": "SETUP_MOVE_ARM_STAGE", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_STAGE", + gms.move_arm(), + transitions={ + "succeeded": "CLOSE_GRIPPER", + "failed": "MOVE_ARM_STAGE" + }, + ) + + smach.StateMachine.add( + "SETUP_MOVE_ARM_PRE_STAGE_HEAVY", + SetupMoveArm("pre", is_heavy=True), + transitions={ + "succeeded": "MOVE_ARM_PRE_STAGE_HEAVY", + "failed": "SETUP_MOVE_ARM_PRE_STAGE_HEAVY", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_PRE_STAGE_HEAVY", + gms.move_arm(), + transitions={ + "succeeded": "SETUP_MOVE_ARM_STAGE_HEAVY", + "failed": "MOVE_ARM_PRE_STAGE_HEAVY", + }, + ) + + smach.StateMachine.add( + "SETUP_MOVE_ARM_STAGE_HEAVY", + SetupMoveArm("final", is_heavy=True), + transitions={ + "succeeded": "MOVE_ARM_STAGE_HEAVY", + "failed": "SETUP_MOVE_ARM_STAGE_HEAVY", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_STAGE_HEAVY", + gms.move_arm(), + transitions={ + "succeeded": "CLOSE_GRIPPER", + "failed": "MOVE_ARM_STAGE_HEAVY" + }, + ) + + smach.StateMachine.add( + "CLOSE_GRIPPER", + gms.control_gripper("close"), + transitions={"succeeded": "CHECK_IF_OBJECT_HEAVY_AGAIN"}, + ) + + # TODO: verify if object is grasped or not + + smach.StateMachine.add( + "CHECK_IF_OBJECT_HEAVY_AGAIN", + IsObjectHeavy(), + transitions={ + "heavy": "SETUP_MOVE_ARM_PRE_STAGE_HEAVY_AGAIN", + "light": "SETUP_MOVE_ARM_PRE_STAGE_AGAIN", + }, + ) + + smach.StateMachine.add( + "SETUP_MOVE_ARM_PRE_STAGE_AGAIN", + SetupMoveArm("pre"), + transitions={ + "succeeded": "MOVE_ARM_PRE_STAGE_AGAIN", + "failed": "SETUP_MOVE_ARM_PRE_STAGE_AGAIN", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_PRE_STAGE_AGAIN", + gms.move_arm(blocking=True), + transitions={ + "succeeded": "MOVE_ARM_TO_STAGE_INTERMEDIATE_FINAL", + "failed": "MOVE_ARM_PRE_STAGE_AGAIN", + }, + ) + + smach.StateMachine.add( + "SETUP_MOVE_ARM_PRE_STAGE_HEAVY_AGAIN", + SetupMoveArm("pre", is_heavy=True), + transitions={ + "succeeded": "MOVE_ARM_PRE_STAGE_HEAVY_AGAIN", + "failed": "SETUP_MOVE_ARM_PRE_STAGE_HEAVY_AGAIN", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_PRE_STAGE_HEAVY_AGAIN", + gms.move_arm(blocking=False), + transitions={ + "succeeded": "MOVE_ARM_TO_STAGE_INTERMEDIATE_2_FINAL", + "failed": "MOVE_ARM_PRE_STAGE_HEAVY_AGAIN", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_STAGE_INTERMEDIATE_2_FINAL", + gms.move_arm("stage_intermediate_2"), + transitions={ + "succeeded": "MOVE_ARM_TO_STAGE_INTERMEDIATE_FINAL", + "failed": "MOVE_ARM_TO_STAGE_INTERMEDIATE_2_FINAL", + }, + ) + + smach.StateMachine.add( + "MOVE_ARM_TO_STAGE_INTERMEDIATE_FINAL", + gms.move_arm("stage_intermediate"), + transitions={ + "succeeded": "OVERALL_SUCCESS", + "failed": "MOVE_ARM_TO_STAGE_INTERMEDIATE_FINAL", + }, + ) + + sm.register_transition_cb(transition_cb) + sm.register_start_cb(start_cb) + + # smach viewer + if rospy.get_param("~viewer_enabled", False): + sis = smach_ros.IntrospectionServer( + "unstage_object_smach_viewer", sm, "/UNSTAGE_OBJECT_SMACH_VIEWER" + ) + sis.start() + + # Construct action server wrapper + asw = ActionServerWrapper( + server_name="unstage_object_server", + action_spec=GenericExecuteAction, + wrapped_container=sm, + succeeded_outcomes=["OVERALL_SUCCESS"], + aborted_outcomes=["OVERALL_FAILED"], + preempted_outcomes=["PREEMPTED"], + goal_key="goal", + feedback_key="feedback", + result_key="result", + ) + # Run the server in a background thread + asw.run_server() + rospy.spin() + + +if __name__ == "__main__": + main() diff --git a/data/mir_planning/mir_atwork_commander_client/CMakeLists.txt b/data/mir_planning/mir_atwork_commander_client/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..82189fb9e0abcfd7964fc53028ac9b56729a47ce --- /dev/null +++ b/data/mir_planning/mir_atwork_commander_client/CMakeLists.txt @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_atwork_commander_client) + +find_package(catkin REQUIRED + COMPONENTS +) + +catkin_python_setup() + +catkin_package( + CATKIN_DEPENDS + rospy + atwork_commander_msgs + mir_knowledge +) diff --git a/data/mir_planning/mir_atwork_commander_client/package.xml b/data/mir_planning/mir_atwork_commander_client/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..6a9481d8096740fdf2abdb3aaa5cfdccc3565ef8 --- /dev/null +++ b/data/mir_planning/mir_atwork_commander_client/package.xml @@ -0,0 +1,20 @@ + + + mir_atwork_commander_client + 0.1.0 + + Client for atwork commander + + + GPLv3 + + Dharmin B. + Dharmin B. + + catkin + + rospy + atwork_commander_msgs + mir_knowledge + + diff --git a/data/mir_planning/mir_atwork_commander_client/ros/launch/atwork_commander_client.launch b/data/mir_planning/mir_atwork_commander_client/ros/launch/atwork_commander_client.launch new file mode 100644 index 0000000000000000000000000000000000000000..7e9db7eaa8fecc3c08171d023388419a28556b69 --- /dev/null +++ b/data/mir_planning/mir_atwork_commander_client/ros/launch/atwork_commander_client.launch @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + $(arg ignore_pick_location) + + + $(arg ignore_place_location) + + + $(arg robot) + + + + + + diff --git a/data/mir_planning/mir_atwork_commander_client/ros/scripts/atwork_commander_client_node b/data/mir_planning/mir_atwork_commander_client/ros/scripts/atwork_commander_client_node new file mode 100644 index 0000000000000000000000000000000000000000..c6cb2f0d16c3810cbc1e114f20143eee7c979083 --- /dev/null +++ b/data/mir_planning/mir_atwork_commander_client/ros/scripts/atwork_commander_client_node @@ -0,0 +1,14 @@ +#!/usr/bin/env python + +from __future__ import print_function + +import rospy + +from mir_atwork_commander_client.atwork_commander_client import AtworkCommanderClient + +NODE = "mir_atwork_commander_client" + +if __name__ == "__main__": + rospy.init_node(NODE) + ACC = AtworkCommanderClient() + rospy.spin() diff --git a/data/mir_planning/mir_atwork_commander_client/ros/src/mir_atwork_commander_client/__init__.py b/data/mir_planning/mir_atwork_commander_client/ros/src/mir_atwork_commander_client/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/data/mir_planning/mir_atwork_commander_client/ros/src/mir_atwork_commander_client/atwork_commander_client.py b/data/mir_planning/mir_atwork_commander_client/ros/src/mir_atwork_commander_client/atwork_commander_client.py new file mode 100644 index 0000000000000000000000000000000000000000..7354ae4b89424af6a27224f2294fe59a9e91c36b --- /dev/null +++ b/data/mir_planning/mir_atwork_commander_client/ros/src/mir_atwork_commander_client/atwork_commander_client.py @@ -0,0 +1,393 @@ +#! /usr/bin/env python + +from __future__ import print_function + +import copy +import rospy + +from atwork_commander_msgs.msg import Task, Object, RobotState +from mir_knowledge_ros.problem_uploader import ProblemUploader +from rosplan_knowledge_msgs.srv import KnowledgeUpdateServiceRequest as Req + +class AtworkCommanderClient(object): + + """TODO: Docstring for AtworkCommanderClient. """ + + def __init__(self): + # ros params + self._debug = rospy.get_param("~debug", False) + self._ignore_pick_locations = rospy.get_param("~ignore_pick_location", []) + self._ignore_place_locations = rospy.get_param("~ignore_place_location", []) + self._robot_name = rospy.get_param("~robot_name", "ybrsu-bot") + + # subscribers + self._task_sub = rospy.Subscriber("~task", Task, self._task_cb) + self._robot_state_pub = rospy.Publisher("~robot_state", RobotState, queue_size=1) + self._timer = rospy.Timer(rospy.Duration(0.5), self._timer_callback) + + self._robot_state = RobotState() + self._robot_state.sender.team_name = "b-it-bots" + self._robot_state.sender.robot_name = self._robot_name + + # class variables + self._processed_task_ids = [] + self._attr_to_obj_type = ProblemUploader.get_attr_to_obj_type() + + # read object codes from Object.msg class + self._obj_code_to_name = AtworkCommanderClient.get_obj_code_to_name_dict() + self._cavity_start_code = getattr(Object, "CAVITY_START") + self._cavity_end_code = getattr(Object, "CAVITY_END") + + def _timer_callback(self, event): + self._robot_state.sender.header.stamp = rospy.Time.now() + self._robot_state_pub.publish(self._robot_state) + + def _task_cb(self, msg): + task = copy.deepcopy(msg) + if task.id in self._processed_task_ids: # repeated task message + return + + self._processed_task_ids.append(task.id) + + start_obj_dicts = self._get_obj_dicts_from_workstations(task.arena_start_state) + target_obj_dicts = self._get_obj_dicts_from_workstations(task.arena_target_state) + + obj_dicts = self._get_entire_knowledge_from_obj_dicts(start_obj_dicts, target_obj_dicts) + if self._debug: + for obj_dict in obj_dicts: + print(obj_dict) + + self._ignore_knowledge(obj_dicts) + + # read facts and add them to the knowledge base + facts = self._get_facts_from_obj_dicts(obj_dicts) + fact_ki_list = ProblemUploader.get_fact_knowledge_item_list(facts) + fact_update_success = ProblemUploader.update_kb_array(fact_ki_list, Req.ADD_KNOWLEDGE) + + # read goals and add them to the knowledge base + goals = self._get_goals_from_obj_dicts(obj_dicts) + goal_ki_list = ProblemUploader.get_fact_knowledge_item_list(goals) + goal_update_success = ProblemUploader.update_kb_array(goal_ki_list, Req.ADD_GOAL) + + # populate instances + objects = [obj_dict["object_full_name"] for obj_dict in obj_dicts] + locations = [workstation.workstation_name for workstation in task.arena_start_state] + + instances = {"object": objects, "location": locations} + # print(instances) + instance_ki_list = ProblemUploader.get_instance_knowledge_item_list( + instances + ) + instance_update_success = ProblemUploader.update_kb_array( + instance_ki_list, + Req.ADD_KNOWLEDGE + ) + + self._print_task(obj_dicts) + + def _get_entire_knowledge_from_obj_dicts(self, start_obj_dicts, target_obj_dicts): + """TODO: + + :param start_obj_dicts: dictionary containing object info at the start + :type start_obj_dicts: list of dict + :param target_obj_dicts: dictionary containing object info at the end + :type target_obj_dicts: list of dict + :return: obj_dicts + :rtype: obj_dicts: list of dict + + """ + obj_dicts = [] + + cavity_included = False + for obj_dict in start_obj_dicts: + new_obj_dict = copy.deepcopy(obj_dict) + # remove repeated occurence of pp01_cavity + if "cavity" in new_obj_dict["object"]: + if cavity_included: + continue + else: + cavity_included = True + obj_dicts.append(new_obj_dict) + + # initialise full name in dict + objects_count = {} + for obj_dict in obj_dicts: + object_name = obj_dict["object"] + if object_name in objects_count: + objects_count[object_name] += 1 + else: + objects_count[object_name] = 1 + object_full_name = AtworkCommanderClient.get_object_full_name( + object_name, objects_count[object_name]) + obj_dict["object_full_name"] = object_full_name + + # set target for decoys and heavy objects + for obj_dict in obj_dicts: + if obj_dict["decoy"]: + obj_dict["target"] = obj_dict["location"] + + if "container" in obj_dict["object"] or "cavity" in obj_dict["object"]: + obj_dict["target"] = obj_dict["location"] + + # match target obj dicts with obj dicts + for target_obj_dict in target_obj_dicts: + if target_obj_dict["decoy"]: + continue + + # ignore container and cavity objects + if "container" in target_obj_dict["object"] or\ + "cavity" in target_obj_dict["object"]: + continue + + obj_dict_index = self._find_obj_dict_with( + obj_dicts, target=target_obj_dict["target"], + object_name=target_obj_dict["object"]) + if obj_dict_index == -1: + rospy.logwarn("Did not find matching object for " +\ + target_obj_dict["object"]) + continue + + if target_obj_dict["target"] == "empty": + obj_dicts[obj_dict_index]["target"] = target_obj_dict["location"] + elif "container" in target_obj_dict["target"]: + container_obj_dict_index = self._find_obj_dict_with(obj_dicts, + location=target_obj_dict["location"], + object_name=target_obj_dict["target"]) + if container_obj_dict_index == -1: + rospy.logwarn("Did not find a container " +\ + target_obj_dict["target"] + " on " +\ + target_obj_dict["location"] + " for " +\ + target_obj_dict["object"]) + continue + obj_dicts[obj_dict_index]["target"] = \ + obj_dicts[container_obj_dict_index]["object_full_name"] + elif "cavity" in target_obj_dict["target"]: + cavity_obj_dict_index = self._find_obj_dict_with(obj_dicts, + object_name=target_obj_dict["target"]) + if cavity_obj_dict_index == -1: + rospy.logwarn("Did not find a cavity " + target_obj_dict["target"] +\ + " for " + target_obj_dict["object"]) + continue + obj_dicts[obj_dict_index]["target"] = \ + obj_dicts[cavity_obj_dict_index]["object_full_name"] + return obj_dicts + + def _find_obj_dict_with(self, obj_dicts, object_name=None, object_full_name=None, + decoy=None, location=None, target=None): + for i, obj_dict in enumerate(obj_dicts): + bool_list = [] + bool_list.append(object_name is None or object_name == obj_dict["object"]) + bool_list.append(object_full_name is None or object_full_name == obj_dict["object_full_name"]) + bool_list.append(decoy is None or decoy == obj_dict["decoy"]) + bool_list.append(location is None or location == obj_dict["location"]) + bool_list.append(target is None or target == obj_dict["target"]) + if all(bool_list): + return i + return -1 + + + def _get_facts_from_obj_dicts(self, obj_dicts): + """TODO: Docstring for _get_objects_and_locations. + + :param obj_dicts: dictionary containing object info + :type obj_dicts: list of dict + :return: facts + :rtype: list (list [str, [[str, str], ...]] ) + + example of returned facts + [ + ['on', [['o', 'r20'], ['l', 'SH01']]], + ['on', [['o', 'bearing'], ['l', 'CB01']]], + ['on', [['o', 'm30-00'], ['l', 'WS01']]], + ] + """ + facts = [] + for obj_dict in obj_dicts: + if "container" in obj_dict["object"] or "cavity" in obj_dict["object"]: + facts.append(self._get_fact_from_attr_and_values( + "container", + [obj_dict["object_full_name"]])) + facts.append(self._get_fact_from_attr_and_values( + "heavy", + [obj_dict["object_full_name"]])) + + if "container" in obj_dict["target"] or "cavity" in obj_dict["target"]: + facts.append(self._get_fact_from_attr_and_values( + "insertable", + [obj_dict["object_full_name"]])) + + facts.append(self._get_fact_from_attr_and_values( + "on", + [obj_dict["object_full_name"], obj_dict["location"]]) + ) + + return facts + + def _get_goals_from_obj_dicts(self, obj_dicts): + """TODO: + + :param obj_dicts: dictionary containing object info + :type obj_dicts: list of dict + :return: facts + :rtype: list (list [str, [[str, str], ...]] ) + + example of returned goals + [ + ['on', [['o', 'r20'], ['l', 'SH01']]], + ['on', [['o', 'bearing'], ['l', 'CB01']]], + ['on', [['o', 'm30-00'], ['l', 'WS01']]], + ] + """ + goals = [] + for obj_dict in obj_dicts: + if obj_dict["target"] == obj_dict["location"]: + continue + + if obj_dict["target"] == "empty": # mostly used for ignored tasks + continue + + if "container" in obj_dict["target"] or "cavity" in obj_dict["target"]: + goals.append(self._get_fact_from_attr_and_values( + "in", + [obj_dict["object_full_name"], obj_dict["target"]]) + ) + else: + goals.append(self._get_fact_from_attr_and_values( + "on", + [obj_dict["object_full_name"], obj_dict["target"]]) + ) + + return goals + + + def _get_obj_dicts_from_workstations(self, workstations): + """TODO: + + :param workstations: workstations from task message + :type workstations: list (atwork_commander_msgs.msg.Workstation) + :return: object strings + :rtype: list (dict) + + """ + obj_dicts = [] + for workstation in workstations: + for obj in workstation.objects: + + if obj.object not in self._obj_code_to_name: + rospy.logwarn("Could not find " + str(obj.object) + " in object codes") + continue + + if self._cavity_start_code <= obj.object < self._cavity_end_code: + object_name = "pp01_cavity" + else: + object_name = self._obj_code_to_name[obj.object] + + if obj.target not in self._obj_code_to_name: + rospy.logwarn("Could not find " + str(obj.target) + " in object codes") + continue + + if self._cavity_start_code <= obj.target < self._cavity_end_code: + target_name = "pp01_cavity" + else: + target_name = self._obj_code_to_name[obj.target] + + obj_dict = { + "object": object_name, + "location": workstation.workstation_name, + "target": target_name, + "decoy": obj.decoy + } + obj_dicts.append(obj_dict) + return obj_dicts + + def _get_fact_from_attr_and_values(self, attr_name, values): + """TODO: + + :param attr_name: name of attribute + :type attr_name: str + :param values: values for key value pair + :type values: list [str, ...] + :return: fact + :rtype: list [str, [[str, str], ...]] + + example of returned fact + ['on', [['o', 'r20'], ['l', 'SH01']]], + """ + kv_list = [ + [key, value] + for key, value in zip(self._attr_to_obj_type[attr_name], values) + ] + return [attr_name, kv_list] + + def _print_task(self, obj_dicts): + string = "" + for obj_dict in obj_dicts: + if obj_dict["target"] == obj_dict["location"]: + continue + + if obj_dict["target"] == "empty": + continue + + string += obj_dict["object_full_name"].ljust(20) + " : " + string += obj_dict["location"] + " -> " + obj_dict["target"].ljust(20) + + if "container" in obj_dict["target"] or "cavity" in obj_dict["target"]: + container_obj_dict_index = self._find_obj_dict_with(obj_dicts, + object_full_name=obj_dict["target"]) + if container_obj_dict_index != -1: + string += " (" + obj_dicts[container_obj_dict_index]["location"] + ")" + string += "\n" + print(string.upper()) + + def _ignore_knowledge(self, obj_dicts): + for obj_dict in obj_dicts: + if obj_dict["decoy"]: + continue + + ignore = False + for location in self._ignore_pick_locations: + if location.upper() in obj_dict["location"].upper(): + ignore = True + if self._debug: + print("ignoring", obj_dict, "because of pick location", location) + break + + for location in self._ignore_place_locations: + if location.upper() in obj_dict["target"].upper(): + ignore = True + if self._debug: + print("ignoring", obj_dict, "because of place location", location) + break + + if ignore: + obj_dict["target"] = "empty" + + @staticmethod + def get_obj_code_to_name_dict(): + obj_code_to_name = {} + object_class_attributes = dir(Object) + for attr in object_class_attributes: + if attr.isupper() and "START" not in attr and "END" not in attr: + obj_code_to_name[getattr(Object, attr)] = attr.lower() + return obj_code_to_name + + @staticmethod + def get_object_full_name(object_name, count): + """TODO: + + :param object_name: name of object + :type object_name: str + :param count: unique num to be added as suffix + :type count: int + :return: object_full_name + :rtype: str + + """ + name = "" + if object_name == "container_red": + name = "container_box_red" + elif object_name == "container_blue": + name = "container_box_blue" + else: + name = object_name + return name + "-" + str(count-1).zfill(2) diff --git a/data/mir_planning/mir_atwork_commander_client/setup.py b/data/mir_planning/mir_atwork_commander_client/setup.py new file mode 100644 index 0000000000000000000000000000000000000000..33519fc8acda68df4d6d0f5ad66bda66437df72d --- /dev/null +++ b/data/mir_planning/mir_atwork_commander_client/setup.py @@ -0,0 +1,14 @@ +#!/usr/bin/env python + +from distutils.core import setup + +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages=["mir_atwork_commander_client"], + package_dir={ + "mir_atwork_commander_client": "ros/src/mir_atwork_commander_client", + }, +) + +setup(**d) diff --git a/data/mir_planning/mir_knowledge/CMakeLists.txt b/data/mir_planning/mir_knowledge/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..ffec894b8478f9d15c3fb68ace1de4d482d8b90d --- /dev/null +++ b/data/mir_planning/mir_knowledge/CMakeLists.txt @@ -0,0 +1,14 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_knowledge) + +find_package(catkin REQUIRED COMPONENTS) + +catkin_python_setup() + +catkin_package() + +### TESTS +if(CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + roslaunch_add_file_check(ros/launch) +endif() diff --git a/data/mir_planning/mir_knowledge/common/pddl/additional_domain/domain.pddl b/data/mir_planning/mir_knowledge/common/pddl/additional_domain/domain.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d948302893e5f896f39d069923a4901b4dfd1ee5 --- /dev/null +++ b/data/mir_planning/mir_knowledge/common/pddl/additional_domain/domain.pddl @@ -0,0 +1,285 @@ +(define (domain additional_domain) + (:requirements :typing :action-costs) + (:types + location ; service areas, points of interest, navigation goals + robot ; your amazing yet powerful robot + object ; objects to be manipulated by the robot + robot_platform ; platform slots for the robot to store objects + drawer ; drawer to store objects + ) + + (:predicates + + ; robot ?r is at location ?l + (at ?r - robot ?l - location) + + ; object ?o is on location ?l + (on ?o - object ?l - location) + + ; object ?o is stored on robot platform ?rp + (stored ?o - object ?rp - robot_platform) + + ; robot platform ?rp is occupied, yb has 3 free places to store objects + (occupied ?rp - robot_platform) + + ; gripper ?g is holding object ?o + (holding ?r - robot ?o - object) + + ; gripper ?g is free (does not contain object) + (gripper_is_free ?r - robot) + + ; object ?o is able to hold other objects + (container ?o - object) + + ; object ?o is inserted inside object ?h + (in ?peg - object ?hole - object) + + ; the object ?o is heavy and cannot be lifted by the robot + (heavy ?o - object) + + ; specifies if an object ?o can be inserted into another object + (insertable ?o - object) + + ; an object ?o is perceived when object recognition was triggered + ; gets lost if the robot moves the base + (perceived ?l - location) + + ; specifies whether the gripper has opened the drawer ?d + (opened ?d - drawer) + + ; object ?o is located inside drawer ?d + (inside ?o - object ?d - drawer) + + ; contents of drawer ?d are perceived + (perceived_inside ?d - drawer) + + ; draw ?d is located at location ?l + (located_at ?d - drawer ?l - location) + ) + + (:functions + (total-cost) - number + ) + +; moves a robot ?r from ?source - location to a ?destination - location +; NOTE : the situation in which the robot arm is in any position before moving +; is not handled at the planning level, hence we advise to always move the arm +; to a folded position, then navigate + (:action move_base + :parameters (?r - robot ?source ?destination - location) + :precondition (and (at ?r ?source) + (gripper_is_free ?r) + ) + :effect (and (not (at ?r ?source)) + (at ?r ?destination) + (increase (total-cost) 20) + ) + ) + + ; perceive an object ?o which is in a location ?l with a empty gripper ?g + ; to find the pose of this object before it can be picked + (:action perceive + :parameters (?r - robot ?l - location) + :precondition (and (at ?r ?l) + (gripper_is_free ?r) + (not (perceived ?l)) + ) + :effect (and (perceived ?l) + (increase (total-cost) 10) + ) + ) + + ; pick an object ?o which is inside a location ?l with a free gripper ?g + ; with robot ?r that is at location ?l + ; (:action pick + (:action pick + :parameters (?r - robot ?l - location ?o - object) + :precondition (and (on ?o ?l) + (at ?r ?l) + (perceived ?l) + (gripper_is_free ?r) + (not (holding ?r ?o)) + (not (heavy ?o)) + ) + :effect (and (holding ?r ?o) + (not (on ?o ?l)) + (not (gripper_is_free ?r)) + (increase (total-cost) 2) + ) + ) + + (:action place + :parameters (?r - robot ?l - location ?o - object) + :precondition (and (at ?r ?l) + (holding ?r ?o) + (not (on ?o ?l)) + (not (insertable ?o )) + (not (gripper_is_free ?r)) + ) + :effect (and (on ?o ?l) + (not (holding ?r ?o)) + (gripper_is_free ?r) + (increase (total-cost) 2) + ) + ) + + (:action place_unstage + :parameters (?r - robot ?l - location ?o - object ?rp - robot_platform) + :precondition (and (at ?r ?l) + (not (on ?o ?l)) + (not (insertable ?o )) + (gripper_is_free ?r) + (stored ?o ?rp) + (not (holding ?r ?o)) + ) + :effect (and (gripper_is_free ?r) + (not (stored ?o ?rp)) + (not (occupied ?rp)) + (not (holding ?r ?o)) + (on ?o ?l) + (increase (total-cost) 3) + ) + ) + + ; stage an object ?o in a robot platform ?rp which is not occupied with a gripper ?g + ; which is holding the object ?o + (:action stage + :parameters (?r - robot ?rp - robot_platform ?o - object) + :precondition (and (holding ?r ?o) + (not (occupied ?rp)) + (not (gripper_is_free ?r)) + ) + :effect (and (not (holding ?r ?o)) + (gripper_is_free ?r) + (stored ?o ?rp) + (occupied ?rp) + (increase (total-cost) 1) + ) + ) + + ; unstage an object ?o stored on a robot platform ?rp with a free gripper ?g + (:action unstage + :parameters (?r - robot ?rp - robot_platform ?o - object) + :precondition (and (gripper_is_free ?r) + (stored ?o ?rp) + (not (holding ?r ?o)) + ) + :effect (and (not (gripper_is_free ?r)) + (not (stored ?o ?rp)) + (not (occupied ?rp)) + (holding ?r ?o) + (increase (total-cost) 1) + ) + ) + + ; inserts a object ?o which gripper ?g is holding into another object ?o at location ?l + (:action insert + :parameters (?r - robot ?rp - robot_platform ?l - location ?peg ?hole - object ) + :precondition (and (at ?r ?l) + (on ?hole ?l) + (container ?hole) + ;(holding ?g ?peg) + (not (holding ?r ?peg)) + ;(not (gripper_is_free ?g)) + (gripper_is_free ?r) + (stored ?peg ?rp) + (not (container ?peg)) ;a container cannot be inserted into a container + (perceived ?l) + ) + :effect (and (not (holding ?r ?peg)) + (gripper_is_free ?r) + (in ?peg ?hole) + (on ?peg ?l) + (not (stored ?peg ?rp)) + (not (occupied ?rp)) + (heavy ?hole) + (heavy ?peg) ;it doesn't become heavy but it cannot be picked again + (increase (total-cost) 5) + ) + ) + + ; open a drawer ?d using the robot gripper + ; with robot ?r that is at location ?draw_loc + (:action open + :parameters (?r - robot ?draw_loc - location ?d - drawer) + :precondition (and (at ?r ?draw_loc) + (located_at ?d ?draw_loc) + (perceived ?draw_loc) + (gripper_is_free ?r) + (not (opened ?d)) + ) + :effect (and (opened ?d) + (gripper_is_free ?r) + (increase (total-cost) 2) + ) + ) + + ; close a drawer ?d using the robot gripper + ; with robot ?r that is at location ?draw_loc + (:action close + :parameters (?r - robot ?draw_loc - location ?d - drawer) + :precondition (and (at ?r ?draw_loc) + (located_at ?d ?draw_loc) + (gripper_is_free ?r) + (opened ?d) + ) + :effect (and (not (opened ?d)) + (gripper_is_free ?r) + (increase (total-cost) 2) + ) + ) + +; perceive a an object ?o in a drawer ?d with an empty robot gripper + ; to find the pose of this object before it can be picked + (:action perceive_inside_drawer + :parameters (?r - robot ?draw_loc - location ?d - drawer) + :precondition (and (at ?r ?draw_loc) + (located_at ?d ?draw_loc) + (opened ?d) + (gripper_is_free ?r) + (not (perceived_inside ?d)) + ) + :effect (and (perceived_inside ?d) + (increase (total-cost) 10) + ) + ) + + ; pick an object ?o which is inside a drawer ?d at location ?draw_loc with a free gripper + ; with robot ?r that is at location ?draw_loc + (:action pick_from_drawer + :parameters (?r - robot ?draw_loc - location ?d - drawer ?o - object) + :precondition (and (inside ?o ?d) + (at ?r ?draw_loc) + (located_at ?d ?draw_loc) + (perceived_inside ?d) + (gripper_is_free ?r) + (not (holding ?r ?o)) + (not (heavy ?o)) + (opened ?d) + ) + :effect (and (holding ?r ?o) + (not (inside ?o ?d)) + (not (gripper_is_free ?r)) + (increase (total-cost) 2) + ) + ) + + ; place an object ?o inside a drawer ?d at location ?drawer + ; with robot ?r that is at location ?draw_loc + (:action place_inside_drawer + :parameters (?r - robot ?draw_loc - location ?d - drawer ?o - object) + :precondition (and (at ?r ?draw_loc) + (located_at ?d ?draw_loc) + (holding ?r ?o) + (perceived ?draw_loc) + (not (insertable ?o )) + (not (gripper_is_free ?r)) + (opened ?d) + ) + :effect (and (inside ?o ?d) + (not (holding ?r ?o)) + (gripper_is_free ?r) + (increase (total-cost) 2) + ) + ) + ) \ No newline at end of file diff --git a/data/mir_planning/mir_knowledge/common/pddl/additional_domain/local_2022_problem_complete.pddl b/data/mir_planning/mir_knowledge/common/pddl/additional_domain/local_2022_problem_complete.pddl new file mode 100644 index 0000000000000000000000000000000000000000..672b85e48185f5d260c099857ce9eab8e5de3e48 --- /dev/null +++ b/data/mir_planning/mir_knowledge/common/pddl/additional_domain/local_2022_problem_complete.pddl @@ -0,0 +1,32 @@ +;This PDDL problem definition was made automatically from a KB snapshot +(define (problem general_domain_task) +(:domain general_domain) + +(:objects + WS00 WS03 WS05 WS01 START - location + R20 F20_20_B INSULATION_TAPE BEARING_BOX SCREW_DRIVER MOTOR S40_40_B AXIS S40_40_G BRACKET TENNIS_BALL PRINGLES SPONGE TOWEL SPOON DISHWASHER_SOAP BROWN_BOX CUP EYE_GLASSES TOOTHBRUSH - object + YOUBOT-BRSU - robot + PLATFORM_MIDDLE - robot_platform +) + +(:init + ;Cost information starts + (= (total-cost) 0) + ;Cost information ends + + (at YOUBOT-BRSU WS00) + (gripper_is_free YOUBOT-BRSU) + (on F20_20_B WS00) + (on AXIS WS00) +) + +(:goal (and + (on F20_20_B WS01) + (on AXIS WS01) + ) +) + +(:metric minimize (total-cost)) + +) + diff --git a/data/mir_planning/mir_knowledge/common/pddl/additional_domain/minimum_required_facts.pddl b/data/mir_planning/mir_knowledge/common/pddl/additional_domain/minimum_required_facts.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d2c3f799dba5ae4803389ff55c4ab99b5ce2c891 --- /dev/null +++ b/data/mir_planning/mir_knowledge/common/pddl/additional_domain/minimum_required_facts.pddl @@ -0,0 +1,41 @@ +(define (problem minimum_required_facts) +(:domain robocup_at_work) +(:objects + + ; robots + YOUBOT-BRSU - robot + + ; robot available platforms, to store objects inside the robot + PLATFORM_MIDDLE - robot_platform + + ; locations + START END - location + + ; objects + ;o--o1 o--o2 o--o3 o--o4 o--o4 - object +) +(:init + + ; robot initial conditions : location + (at YOUBOT-BRSU START) ; youbot is at start position + + ; status of the gripper at the beginning + (gripper_is_free YOUBOT-BRSU) + ;(on o1 s1) + ;(on o2 s2) + ;(on o3 s3) + ;(on o4 s4) + ;(on o5 s5) +) +(:goal + (and + ;(at YOUBOT-BRSU END) + ;(holding YOUBOT-BRSU o1) + ;(stored o1 PLATFORM_MIDDLE) + ;(at YOUBOT-BRSU S5) + ;(on o1 S5) + ;(on o2 S3) + ;(on o3 S6) + ) +) +) diff --git a/data/mir_planning/mir_knowledge/common/pddl/general_domain/domain.pddl b/data/mir_planning/mir_knowledge/common/pddl/general_domain/domain.pddl new file mode 100644 index 0000000000000000000000000000000000000000..709629e6c21843cf171cb88756279fecb9938422 --- /dev/null +++ b/data/mir_planning/mir_knowledge/common/pddl/general_domain/domain.pddl @@ -0,0 +1,269 @@ +(define (domain general_domain) + (:requirements :typing :action-costs) + (:types + location ; service areas, points of interest, navigation goals + robot ; your amazing yet powerful robot + object ; objects to be manipulated by the robot + robot_platform ; platform slots for the robot to store objects + drawer ; drawer to store objects + ) + + (:predicates + + ; robot ?r is at location ?l + (at ?r - robot ?l - location) + + ; object ?o is on location ?l + (on ?o - object ?l - location) + + ; object ?o is stored on robot platform ?rp + (stored ?o - object ?rp - robot_platform) + + ; robot platform ?rp is occupied, yb has 3 free places to store objects + (occupied ?rp - robot_platform) + + ; gripper ?g is holding object ?o + (holding ?r - robot ?o - object) + + ; gripper ?g is free (does not contain object) + (gripper_is_free ?r - robot) + + ; object ?o is able to hold other objects + (container ?o - object) + + ; object ?o is inserted inside object ?h + (in ?peg - object ?hole - object) + + ; the object ?o is heavy and cannot be lifted by the robot + (heavy ?o - object) + + ; specifies if an object ?o can be inserted into another object + (insertable ?o - object) + + ; an object ?o is perceived when object recognition was triggered + ; gets lost if the robot moves the base + (perceived ?l - location) + + ; specifies whether the gripper has opened the drawer ?d + (opened ?d - drawer) + + ; object ?o is located inside drawer ?d + (inside ?o - object ?d - drawer) + + ; contents of drawer ?d are perceived + (perceived_inside ?d - drawer) + + ; draw ?d is located at location ?l + (located_at ?d - drawer ?l - location) + ) + + (:functions + (total-cost) - number + ) + +; moves a robot ?r from ?source - location to a ?destination - location +; NOTE : the situation in which the robot arm is in any position before moving +; is not handled at the planning level, hence we advise to always move the arm +; to a folded position, then navigate + (:action move_base + :parameters (?r - robot ?source ?destination - location) + :precondition (and (at ?r ?source) + (gripper_is_free ?r) + ) + :effect (and (not (at ?r ?source)) + (at ?r ?destination) + (not (perceived ?source)) + (increase (total-cost) 20) + ) + ) + + ; perceive an object ?o which is in a location ?l with a empty gripper ?g + ; to find the pose of this object before it can be picked + (:action perceive + :parameters (?r - robot ?l - location) + :precondition (and (at ?r ?l) + (gripper_is_free ?r) + (not (perceived ?l)) + ) + :effect (and (perceived ?l) + (increase (total-cost) 10) + ) + ) + + ; pick an object ?o which is inside a location ?l with a free gripper ?g + ; with robot ?r that is at location ?l + ; (:action pick + (:action pick + :parameters (?r - robot ?l - location ?o - object) + :precondition (and (on ?o ?l) + (at ?r ?l) + (perceived ?l) + (gripper_is_free ?r) + (not (holding ?r ?o)) + (not (heavy ?o)) + ) + :effect (and (holding ?r ?o) + (not (on ?o ?l)) + (not (gripper_is_free ?r)) + (increase (total-cost) 2) + ) + ) + + (:action place + :parameters (?r - robot ?l - location ?o - object) + :precondition (and (at ?r ?l) + (holding ?r ?o) + (not (on ?o ?l)) + (not (insertable ?o )) + (not (gripper_is_free ?r)) + ) + :effect (and (on ?o ?l) + (not (holding ?r ?o)) + (gripper_is_free ?r) + (increase (total-cost) 2) + ) + ) + + + ; stage an object ?o in a robot platform ?rp which is not occupied with a gripper ?g + ; which is holding the object ?o + (:action stage + :parameters (?r - robot ?rp - robot_platform ?o - object) + :precondition (and (holding ?r ?o) + (not (occupied ?rp)) + (not (gripper_is_free ?r)) + ) + :effect (and (not (holding ?r ?o)) + (gripper_is_free ?r) + (stored ?o ?rp) + (occupied ?rp) + (increase (total-cost) 1) + ) + ) + + ; unstage an object ?o stored on a robot platform ?rp with a free gripper ?g + (:action unstage + :parameters (?r - robot ?rp - robot_platform ?o - object) + :precondition (and (gripper_is_free ?r) + (stored ?o ?rp) + (not (holding ?r ?o)) + ) + :effect (and (not (gripper_is_free ?r)) + (not (stored ?o ?rp)) + (not (occupied ?rp)) + (holding ?r ?o) + (increase (total-cost) 1) + ) + ) + + ; inserts a object ?o which gripper ?g is holding into another object ?o at location ?l + (:action insert + :parameters (?r - robot ?rp - robot_platform ?l - location ?peg ?hole - object ) + :precondition (and (at ?r ?l) + (on ?hole ?l) + (container ?hole) + ;(holding ?g ?peg) + (not (holding ?r ?peg)) + ;(not (gripper_is_free ?g)) + (gripper_is_free ?r) + (stored ?peg ?rp) + (not (container ?peg)) ;a container cannot be inserted into a container + (perceived ?l) + ) + :effect (and (not (holding ?r ?peg)) + (gripper_is_free ?r) + (in ?peg ?hole) + (on ?peg ?l) + (not (stored ?peg ?rp)) + (not (occupied ?rp)) + (heavy ?hole) + (heavy ?peg) ;it doesn't become heavy but it cannot be picked again + (increase (total-cost) 5) + ) + ) + + ; open a drawer ?d using the robot gripper + ; with robot ?r that is at location ?draw_loc + (:action open + :parameters (?r - robot ?draw_loc - location ?d - drawer) + :precondition (and (at ?r ?draw_loc) + (located_at ?d ?draw_loc) + (perceived ?draw_loc) + (gripper_is_free ?r) + (not (opened ?d)) + ) + :effect (and (opened ?d) + (gripper_is_free ?r) + (increase (total-cost) 2) + ) + ) + + ; close a drawer ?d using the robot gripper + ; with robot ?r that is at location ?draw_loc + (:action close + :parameters (?r - robot ?draw_loc - location ?d - drawer) + :precondition (and (at ?r ?draw_loc) + (located_at ?d ?draw_loc) + (gripper_is_free ?r) + (opened ?d) + ) + :effect (and (not (opened ?d)) + (gripper_is_free ?r) + (increase (total-cost) 2) + ) + ) + +; perceive a an object ?o in a drawer ?d with an empty robot gripper + ; to find the pose of this object before it can be picked + (:action perceive_inside_drawer + :parameters (?r - robot ?draw_loc - location ?d - drawer) + :precondition (and (at ?r ?draw_loc) + (located_at ?d ?draw_loc) + (opened ?d) + (gripper_is_free ?r) + (not (perceived_inside ?d)) + ) + :effect (and (perceived_inside ?d) + (increase (total-cost) 10) + ) + ) + + ; pick an object ?o which is inside a drawer ?d at location ?draw_loc with a free gripper + ; with robot ?r that is at location ?draw_loc + (:action pick_from_drawer + :parameters (?r - robot ?draw_loc - location ?d - drawer ?o - object) + :precondition (and (inside ?o ?d) + (at ?r ?draw_loc) + (located_at ?d ?draw_loc) + (perceived_inside ?d) + (gripper_is_free ?r) + (not (holding ?r ?o)) + (not (heavy ?o)) + (opened ?d) + ) + :effect (and (holding ?r ?o) + (not (inside ?o ?d)) + (not (gripper_is_free ?r)) + (increase (total-cost) 2) + ) + ) + + ; place an object ?o inside a drawer ?d at location ?drawer + ; with robot ?r that is at location ?draw_loc + (:action place_inside_drawer + :parameters (?r - robot ?draw_loc - location ?d - drawer ?o - object) + :precondition (and (at ?r ?draw_loc) + (located_at ?d ?draw_loc) + (holding ?r ?o) + (perceived ?draw_loc) + (not (insertable ?o )) + (not (gripper_is_free ?r)) + (opened ?d) + ) + :effect (and (inside ?o ?d) + (not (holding ?r ?o)) + (gripper_is_free ?r) + (increase (total-cost) 2) + ) + ) + ) diff --git a/data/mir_planning/mir_knowledge/common/pddl/general_domain/local_2022_problem_complete.pddl b/data/mir_planning/mir_knowledge/common/pddl/general_domain/local_2022_problem_complete.pddl new file mode 100644 index 0000000000000000000000000000000000000000..672b85e48185f5d260c099857ce9eab8e5de3e48 --- /dev/null +++ b/data/mir_planning/mir_knowledge/common/pddl/general_domain/local_2022_problem_complete.pddl @@ -0,0 +1,32 @@ +;This PDDL problem definition was made automatically from a KB snapshot +(define (problem general_domain_task) +(:domain general_domain) + +(:objects + WS00 WS03 WS05 WS01 START - location + R20 F20_20_B INSULATION_TAPE BEARING_BOX SCREW_DRIVER MOTOR S40_40_B AXIS S40_40_G BRACKET TENNIS_BALL PRINGLES SPONGE TOWEL SPOON DISHWASHER_SOAP BROWN_BOX CUP EYE_GLASSES TOOTHBRUSH - object + YOUBOT-BRSU - robot + PLATFORM_MIDDLE - robot_platform +) + +(:init + ;Cost information starts + (= (total-cost) 0) + ;Cost information ends + + (at YOUBOT-BRSU WS00) + (gripper_is_free YOUBOT-BRSU) + (on F20_20_B WS00) + (on AXIS WS00) +) + +(:goal (and + (on F20_20_B WS01) + (on AXIS WS01) + ) +) + +(:metric minimize (total-cost)) + +) + diff --git a/data/mir_planning/mir_knowledge/common/pddl/general_domain/minimum_required_facts.pddl b/data/mir_planning/mir_knowledge/common/pddl/general_domain/minimum_required_facts.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d2c3f799dba5ae4803389ff55c4ab99b5ce2c891 --- /dev/null +++ b/data/mir_planning/mir_knowledge/common/pddl/general_domain/minimum_required_facts.pddl @@ -0,0 +1,41 @@ +(define (problem minimum_required_facts) +(:domain robocup_at_work) +(:objects + + ; robots + YOUBOT-BRSU - robot + + ; robot available platforms, to store objects inside the robot + PLATFORM_MIDDLE - robot_platform + + ; locations + START END - location + + ; objects + ;o--o1 o--o2 o--o3 o--o4 o--o4 - object +) +(:init + + ; robot initial conditions : location + (at YOUBOT-BRSU START) ; youbot is at start position + + ; status of the gripper at the beginning + (gripper_is_free YOUBOT-BRSU) + ;(on o1 s1) + ;(on o2 s2) + ;(on o3 s3) + ;(on o4 s4) + ;(on o5 s5) +) +(:goal + (and + ;(at YOUBOT-BRSU END) + ;(holding YOUBOT-BRSU o1) + ;(stored o1 PLATFORM_MIDDLE) + ;(at YOUBOT-BRSU S5) + ;(on o1 S5) + ;(on o2 S3) + ;(on o3 S6) + ) +) +) diff --git a/data/mir_planning/mir_knowledge/common/pddl/plan_with_ffha.sh b/data/mir_planning/mir_knowledge/common/pddl/plan_with_ffha.sh new file mode 100644 index 0000000000000000000000000000000000000000..434db4ce5c3873944a63224226f7fba4d328dd80 --- /dev/null +++ b/data/mir_planning/mir_knowledge/common/pddl/plan_with_ffha.sh @@ -0,0 +1,10 @@ +#!/bin/bash + +# the plan to use (executable) +planner="rosrun ffha ffha" + +# pddl inputs to the planner +domain="${1}/domain.pddl" + +# Plan! +$planner -o $domain -f ${1}/problems/p${2}.pddl diff --git a/data/mir_planning/mir_knowledge/package.xml b/data/mir_planning/mir_knowledge/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..35aef5b80c7fe3e22f4cfb0e138e5911026cc5b6 --- /dev/null +++ b/data/mir_planning/mir_knowledge/package.xml @@ -0,0 +1,23 @@ + + + mir_knowledge + 1.0.0 + Stores semantic knowledge about the industrial domain + + Oscar Lima + + GPLv3 + + Oscar Lima + + catkin + + + + rosplan_knowledge_base + + roslaunch + + diff --git a/data/mir_planning/mir_knowledge/ros/launch/upload_yb_intrinsic_knowledge.launch b/data/mir_planning/mir_knowledge/ros/launch/upload_yb_intrinsic_knowledge.launch new file mode 100644 index 0000000000000000000000000000000000000000..9de127163a7756b7784e2740f6ab6a840efa8141 --- /dev/null +++ b/data/mir_planning/mir_knowledge/ros/launch/upload_yb_intrinsic_knowledge.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/data/mir_planning/mir_knowledge/ros/scripts/upload_knowledge b/data/mir_planning/mir_knowledge/ros/scripts/upload_knowledge new file mode 100644 index 0000000000000000000000000000000000000000..014e5ac9604faecdd1e61db7169dbcedd0ca6667 --- /dev/null +++ b/data/mir_planning/mir_knowledge/ros/scripts/upload_knowledge @@ -0,0 +1,35 @@ +#!/usr/bin/env python + +import rospy +from mir_knowledge_ros.problem_uploader import ProblemUploader +from std_msgs.msg import String + +UPLOADER = None + + +def event_in_cb(msg): + if msg.data == "e_trigger": + UPLOADER.upload() + else: + rospy.logerr("Unrecognized event in message. Expecting `e_trigger` ...") + + +def main(): + global UPLOADER + rospy.init_node("upload_knowledge") + rospy.sleep(0.5) + + pddl_problem_file = rospy.get_param("~problem_file", None) + if pddl_problem_file == None: + rospy.logerr("No problem file provided. Exiting...") + return + + UPLOADER = ProblemUploader(pddl_problem_file) + rospy.Subscriber("~event_in", String, event_in_cb) + + rospy.loginfo("[upload_knowledge] Initialized.") + rospy.spin() + + +if __name__ == "__main__": + main() diff --git a/data/mir_planning/mir_knowledge/ros/src/mir_knowledge_ros/__init__.py b/data/mir_planning/mir_knowledge/ros/src/mir_knowledge_ros/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/data/mir_planning/mir_knowledge/ros/src/mir_knowledge_ros/problem_uploader.py b/data/mir_planning/mir_knowledge/ros/src/mir_knowledge_ros/problem_uploader.py new file mode 100644 index 0000000000000000000000000000000000000000..27f0922263dc9e74c3747c6adb56da0c0c2928ac --- /dev/null +++ b/data/mir_planning/mir_knowledge/ros/src/mir_knowledge_ros/problem_uploader.py @@ -0,0 +1,358 @@ +#!/usr/bin/env python +""" +This node reads information from problem.pddl file and uploads the knowledge +required for the robot to plan. +The way this is done right now is through service call using rosplan interface + +First uses an existing pddl parser (taken from downward code inside mercury planner code) +and transforms into pddl vector. + +Example: + the third element of this vector looks like this: + + .. code-block:: python + + [':objects', 'dynamixel', '-', 'gripper', 's1', 's2', 's3', 's4', + 'start', 'exit', 'cb_ramp', 'cb_trash', 'drill_loc', + 'force_fitting', 'assembly_station', '-', 'location', + 'o1', 'o2', 'o3', 'o4', 'o5', 'o6', 'faulty_plate', + 'fixable_plate', 'filecard', 'tray', 'blue_box', 'drill', + 'trash', '-', 'object', 'youbot-brsu-3', '-', 'robot', + 'platform_middle', 'platform_left', 'platform_right', '-', 'robot_platform'] + +Above shown example shows the instances part of pddl problem file. +Init facts and goal follows after. + +These vectors are converted into different data types which are a bit easier for service +requests and a bit easier to understand for humans. + +These data types are converted into list of KnowledgeItem and KB is updated using +KnowledgeUpdateServiceArray. + +""" + +from __future__ import print_function +from os import curdir +import string + +import mercury_planner.pddl as pddl # for parsing pddl file +import rospy +from diagnostic_msgs.msg import KeyValue +from rosplan_knowledge_msgs.msg import KnowledgeItem +from rosplan_knowledge_msgs.srv import ( + GetDomainAttributeService, + KnowledgeUpdateService, + KnowledgeUpdateServiceArray, +) +from rosplan_knowledge_msgs.srv import KnowledgeUpdateServiceRequest as Req + + +class ProblemUploader(object): + + """ + Upload instances and facts from a pddl problem file to Knowledge Base + + :param problem_file: path of problem file + :type problem_file: str + + """ + + def __init__(self, problem_file): + self._problem_file = problem_file + pddl_problem = pddl.pddl_file.parse_pddl_file("problem", self._problem_file) + self._instances = ProblemUploader.parse_objects(pddl_problem[3]) + self._attr_to_obj_type = ProblemUploader.get_attr_to_obj_type() + self._facts = self._parse_facts(pddl_problem[4]) + self._goals = self._parse_facts(pddl_problem[5][1]) + + def upload(self): + instance_ki_list = ProblemUploader.get_instance_knowledge_item_list( + self._instances + ) + success_1 = ProblemUploader.update_kb_array(instance_ki_list, Req.ADD_KNOWLEDGE) + + + fact_ki_list = ProblemUploader.get_fact_knowledge_item_list(self._facts) + success_2 = ProblemUploader.update_kb_array(fact_ki_list, Req.ADD_KNOWLEDGE) + + goal_ki_list = ProblemUploader.get_fact_knowledge_item_list(self._goals) + success_3 = ProblemUploader.update_kb_array(goal_ki_list, Req.ADD_GOAL) + + return all([success_1, success_2, success_3]) + + @staticmethod + def get_instance_knowledge_item_list(instances): + """ + Create a list of KnowledgeItem from instances + + :param instances: instances + :type instances: dict {str: [str, str, ...], ...} + :rtype: list of rosplan_knowledge_msgs.KnowledgeItem + + """ + ki_list = [] + for instance_type, instance_names in instances.items(): + for instance_name in instance_names: + ki_list.append( + KnowledgeItem( + knowledge_type=KnowledgeItem.INSTANCE, + instance_type=instance_type, + instance_name=instance_name.upper(), + ) + ) + return ki_list + + @staticmethod + def get_fact_knowledge_item_list(facts): + """ + Create a list of KnowledgeItem from facts + + :param facts: facts + :type facts: list of tuple ( each tuple is (str, [(str, str), ...]) ) + :rtype: list of rosplan_knowledge_msgs.msg.KnowledgeItem + + """ + ki_list = [] + for attr_name, kv_list in facts: + ki_list.append( + KnowledgeItem( + knowledge_type=KnowledgeItem.FACT, + attribute_name=attr_name, + values=[KeyValue(k, v.upper()) for k, v in kv_list], + ) + ) + return ki_list + + @staticmethod + def update_kb_array(ki_list, update_type): + """ + Update knowledge base with an array of knowledge item + + :param ki_list: list of knowledge item + :type ki_list: list (rosplan_knowledge_msgs.msg.KnowledgeItem) + :param update_type: type of update to be performed in KB + :type update_type: int + :return: None + + """ + update_kb_topic = "/rosplan_knowledge_base/update_array" + rospy.loginfo("Waiting for " + update_kb_topic) + rospy.wait_for_service(update_kb_topic) + + try: + update_kb = rospy.ServiceProxy(update_kb_topic, KnowledgeUpdateServiceArray) + response = update_kb( + update_type=[update_type] * len(ki_list), knowledge=ki_list + ) + if response.success: + rospy.loginfo("Upload succeeded") + else: + rospy.logerr("Upload failed") + return response.success + except rospy.ServiceException as e: + rospy.logerr("Service call failed: %s" % e) + + @staticmethod + def parse_objects(pddl_objects): + """ + first element is ignored, then after a dash is the categories, + and all the instances before are the objects belonging to that categories. + + :param pddl_objects: list of pddl objects + :type pddl_objects: list (str) + :rtype: dict {str: [str, str, ...], ...} + + example returned object + { + robot_platform: ['platform_middle', 'platform_left', 'platform_right'], + object: ['r20', 'm20', 'm30-00', 'm30-01', 'axis', 'bearing'], + location: ['sh01', 'cb01', 'ws01', 'ws02', 'start', 'end'], + robot: ['youbot-brsu'] + } + + """ + # ignore first element + objects = pddl_objects[1:] + + curr_list = [] + obj_dict = {} + while len(objects) > 0: + string = objects.pop(0) + if string == "-": + type_name = objects.pop(0) + obj_dict[type_name] = curr_list + curr_list = list() + else: + curr_list.append(string) + return obj_dict + + def _parse_facts(self, pddl_facts): + """ + parse facts from a list of strings + + :param pddl_facts: list of pddl facts + :type pddl_facts: list (str) + :rtype: list (tuple (str, [(str, str), ...]) ) + + example returned object + [ + ('at', [('r', 'youbot-brsu'), ('l', 'start')]), + ('gripper_is_free', [('r', 'youbot-brsu')]), + ('on', [('o', 'r20'), ('l', 'sh01')]), + ('on', [('o', 'bearing'), ('l', 'cb01')]), + ('on', [('o', 'm30-00'), ('l', 'ws01')]), + ] + + """ + facts = [] + for fact in pddl_facts[1:]: + attr_name = fact[0] + if attr_name not in self._attr_to_obj_type or len(fact) - 1 != len( + self._attr_to_obj_type[attr_name] + ): + continue + kv_list = [ + (key, value) + + for key, value in zip(self._attr_to_obj_type[attr_name], fact[1:]) + ] + facts.append((attr_name, kv_list)) + return facts + + @staticmethod + def get_attr_to_obj_type(): + """ + Create a dict to look up from attribute name to object keys + + Example: 'on' -> ('o', 'l') + where 'o' stands for object and 'l' stands for location according to the + domain file. + + :return: a dict to map attribute name to object keys + :rtype: dict + + """ + domain_attr_kb_topic = "/rosplan_knowledge_base/domain/predicates" + rospy.loginfo("Waiting for " + domain_attr_kb_topic) + rospy.wait_for_service(domain_attr_kb_topic) + rospy.loginfo("Wait complete.") + response = None + try: + get_domain_attr = rospy.ServiceProxy( + domain_attr_kb_topic, GetDomainAttributeService + ) + response = get_domain_attr() + except rospy.ServiceException as e: + rospy.logerr("Service call failed: %s" % e) + return None + + attr_to_obj_type = {} + for item in response.items: + attr_to_obj_type[item.name] = [param.key for param in item.typed_parameters] + return attr_to_obj_type + + @staticmethod + 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 diff --git a/data/mir_planning/mir_knowledge/ros/test/pddl_object_upload_test.py b/data/mir_planning/mir_knowledge/ros/test/pddl_object_upload_test.py new file mode 100644 index 0000000000000000000000000000000000000000..379a4a3fa19442b476acbf3649156a62473efe28 --- /dev/null +++ b/data/mir_planning/mir_knowledge/ros/test/pddl_object_upload_test.py @@ -0,0 +1,161 @@ +#!/usr/bin/env python + +""" +Test unit for the functions used in upload_knowledge.py +""" + +PKG = "mir_knowledge" + +import unittest + +import mir_knowledge.update_knowledge_utils as utils +import mir_knowledge_ros.upload_knowledge as upload_knowledge +import rosunit + + +class TestPddlObjectUpload(unittest.TestCase): + def test_parse_objects(self): + """ + Assuming that our problem.pddl file looks like the vector in pddl_objects, the expected return + value comming from the function is described in expected, if equal then the test is passed + """ + pddl_objects = [ + ":objects", + "dynamixel", + "-", + "gripper", + "s1", + "s2", + "s3", + "s4", + "start", + "exit", + "cb_ramp", + "cb_trash", + "drill_loc", + "force_fitting", + "assembly_station", + "-", + "location", + "o1", + "o2", + "o3", + "o4", + "o5", + "o6", + "faulty_plate", + "fixable_plate", + "filecard", + "tray", + "blue_box", + "drill", + "trash", + "-", + "object", + "youbot-brsu-3", + "-", + "robot", + "platform_middle", + "platform_left", + "platform_right", + "-", + "robot_platform", + ] + + grippers = ["dynamixel"] + locations = [ + "s1", + "s2", + "s3", + "s4", + "start", + "exit", + "cb_ramp", + "cb_trash", + "drill_loc", + "force_fitting", + "assembly_station", + ] + objects = [ + "o1", + "o2", + "o3", + "o4", + "o5", + "o6", + "faulty_plate", + "fixable_plate", + "filecard", + "tray", + "blue_box", + "drill", + "trash", + ] + robots = ["youbot-brsu-3"] + robot_platforms = ["platform_middle", "platform_left", "platform_right"] + + grippers_knowledge = [ + utils.create_knowledge_unit_dict( + 0, + utils.create_knowledge_dict( + instance_type="gripper", instance_name=gripper + ), + ) + for gripper in grippers + ] + + locations_knowledge = [ + utils.create_knowledge_unit_dict( + 0, + utils.create_knowledge_dict( + instance_type="location", instance_name=location + ), + ) + for location in locations + ] + + objects_knowledge = [ + utils.create_knowledge_unit_dict( + 0, + utils.create_knowledge_dict(instance_type="object", instance_name=obj), + ) + for obj in objects + ] + + robots_knowledge = [ + utils.create_knowledge_unit_dict( + 0, + utils.create_knowledge_dict(instance_type="robot", instance_name=robot), + ) + for robot in robots + ] + + robot_platforms_knowledge = [ + utils.create_knowledge_unit_dict( + 0, + utils.create_knowledge_dict( + instance_type="robot_platform", instance_name=robot_platform + ), + ) + for robot_platform in robot_platforms + ] + + expected = [ + grippers_knowledge, + locations_knowledge, + objects_knowledge, + robots_knowledge, + robot_platforms_knowledge, + ] + + result = upload_knowledge.pddl_object_list_to_dict(pddl_objects) + + self.assertEqual( + result, + expected, + msg="result:\n{0}\n\nexpected:\n{1}".format(result, expected), + ) + + +if __name__ == "__main__": + rosunit.unitrun(PKG, "test_pddl_object_upload", TestPddlObjectUpload) diff --git a/data/mir_planning/mir_knowledge/setup.py b/data/mir_planning/mir_knowledge/setup.py new file mode 100644 index 0000000000000000000000000000000000000000..d4677ad156e7e17d4c6f768c9121f060a33dffee --- /dev/null +++ b/data/mir_planning/mir_knowledge/setup.py @@ -0,0 +1,12 @@ +#!/usr/bin/env python + +from distutils.core import setup + +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages=["mir_knowledge_ros", "mercury_planner"], + package_dir={"mir_knowledge_ros": "ros/src/mir_knowledge_ros"}, +) + +setup(**d) diff --git a/data/mir_planning/mir_knowledge_base_analyzer/CMakeLists.txt b/data/mir_planning/mir_knowledge_base_analyzer/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..e965bfb93dd89b2f8aae76c8e22bdad01bd122b2 --- /dev/null +++ b/data/mir_planning/mir_knowledge_base_analyzer/CMakeLists.txt @@ -0,0 +1,53 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_knowledge_base_analyzer) + +find_package(catkin REQUIRED + COMPONENTS + std_msgs + roscpp + rosplan_knowledge_msgs + mir_planning_msgs +) + +catkin_python_setup() + +catkin_package( + CATKIN_DEPENDS +) + + +include_directories( + ${catkin_INCLUDE_DIRS} + ros/include + +) + +### EXECUTABLES ### +add_executable(knowledge_base_queries + ros/src/knowledge_base_queries.cpp +) +add_dependencies(knowledge_base_queries + ${catkin_EXPORTED_TARGETS} +) +target_link_libraries(knowledge_base_queries + ${catkin_LIBRARIES} +) + +### TESTS +if(CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + + roslaunch_add_file_check(ros/launch) +endif() + + +### INSTALLS +install( + TARGETS + knowledge_base_queries + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY ros/launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ros/launch +) diff --git a/data/mir_planning/mir_knowledge_base_analyzer/common/src/mir_knowledge_base_analyzer/__init__.py b/data/mir_planning/mir_knowledge_base_analyzer/common/src/mir_knowledge_base_analyzer/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/data/mir_planning/mir_knowledge_base_analyzer/common/src/mir_knowledge_base_analyzer/my_generic_util_class.py b/data/mir_planning/mir_knowledge_base_analyzer/common/src/mir_knowledge_base_analyzer/my_generic_util_class.py new file mode 100644 index 0000000000000000000000000000000000000000..711b92b8af96eb9f6602b42d638ff577c7a99512 --- /dev/null +++ b/data/mir_planning/mir_knowledge_base_analyzer/common/src/mir_knowledge_base_analyzer/my_generic_util_class.py @@ -0,0 +1,10 @@ +#!/usr/bin/env python + + +""" +comments about this generic class / functions +""" + +# this function is ros independant +def my_generic_sum_function(a, b): + return a + b diff --git a/data/mir_planning/mir_knowledge_base_analyzer/package.xml b/data/mir_planning/mir_knowledge_base_analyzer/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..d704ace06892b88eeda67c3236c2413bbd57aa8f --- /dev/null +++ b/data/mir_planning/mir_knowledge_base_analyzer/package.xml @@ -0,0 +1,23 @@ + + + mir_knowledge_base_analyzer + 1.0.0 + + 1. query the knowledge base and tells you if there is pending goals + 2. query the knowledge base and informs if there is new knowledge + + + GPLv3 + + Oscar Lima + Oscar Lima + + catkin + + rosplan_knowledge_msgs + mir_planning_msgs + + rosplan_knowledge_msgs + mir_planning_msgs + + diff --git a/data/mir_planning/mir_knowledge_base_analyzer/ros/config/my_arg_file.yaml b/data/mir_planning/mir_knowledge_base_analyzer/ros/config/my_arg_file.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/data/mir_planning/mir_knowledge_base_analyzer/ros/doc/available_goals_terminal_test.png b/data/mir_planning/mir_knowledge_base_analyzer/ros/doc/available_goals_terminal_test.png new file mode 100644 index 0000000000000000000000000000000000000000..ff0bee3e0bd8d227b92fa73e5b98adc243e8ba0c --- /dev/null +++ b/data/mir_planning/mir_knowledge_base_analyzer/ros/doc/available_goals_terminal_test.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c80e0eccf676e1e744fadb0e72c1d16c6a1c1aead8495d9f211dd83048d263f9 +size 54594 diff --git a/data/mir_planning/mir_knowledge_base_analyzer/ros/include/mir_knowledge_base_analyzer/knowledge_base_queries.h b/data/mir_planning/mir_knowledge_base_analyzer/ros/include/mir_knowledge_base_analyzer/knowledge_base_queries.h new file mode 100644 index 0000000000000000000000000000000000000000..3af8af15ea62f0c3fe17f1a53f65e944a1823042 --- /dev/null +++ b/data/mir_planning/mir_knowledge_base_analyzer/ros/include/mir_knowledge_base_analyzer/knowledge_base_queries.h @@ -0,0 +1,32 @@ +#include +#include +#include + +class KnowledgeBaseQueries +{ + public: + KnowledgeBaseQueries(ros::NodeHandle &nh); + virtual ~KnowledgeBaseQueries(); + + private: + void queryCallback(const std_msgs::String::ConstPtr &msg); + void queryParamCallback(const std_msgs::String::ConstPtr &msg); + + bool publishObjectsAtLocation(const std::string &location); + + std::string getCurrentRobotLocation(); + bool publishRobotLocation(); + + void stripObjectID(std::string &object); + + ros::NodeHandle nh_; + ros::ServiceClient current_knowledge_client_; + + ros::Subscriber query_sub_; + ros::Subscriber query_param_sub_; + ros::Publisher event_out_; + ros::Publisher objects_at_location_pub_; + ros::Publisher robot_location_pub_; + + std::string query_param_; +}; diff --git a/data/mir_planning/mir_knowledge_base_analyzer/ros/launch/knowledge_base_analyzer.launch b/data/mir_planning/mir_knowledge_base_analyzer/ros/launch/knowledge_base_analyzer.launch new file mode 100644 index 0000000000000000000000000000000000000000..bc17237d37319367ab901c8d139a6980c556e322 --- /dev/null +++ b/data/mir_planning/mir_knowledge_base_analyzer/ros/launch/knowledge_base_analyzer.launch @@ -0,0 +1,9 @@ + + + + + + + + diff --git a/data/mir_planning/mir_knowledge_base_analyzer/ros/launch/knowledge_base_queries.launch b/data/mir_planning/mir_knowledge_base_analyzer/ros/launch/knowledge_base_queries.launch new file mode 100644 index 0000000000000000000000000000000000000000..df62e9f50c2136833f97ac5b2806f60d926ae897 --- /dev/null +++ b/data/mir_planning/mir_knowledge_base_analyzer/ros/launch/knowledge_base_queries.launch @@ -0,0 +1,7 @@ + + + + + + diff --git a/data/mir_planning/mir_knowledge_base_analyzer/ros/scripts/knowledge_base_analyzer b/data/mir_planning/mir_knowledge_base_analyzer/ros/scripts/knowledge_base_analyzer new file mode 100644 index 0000000000000000000000000000000000000000..a02ab0cfe55f86faf2d95eca5d9a4f8612c63690 --- /dev/null +++ b/data/mir_planning/mir_knowledge_base_analyzer/ros/scripts/knowledge_base_analyzer @@ -0,0 +1,6 @@ +#!/usr/bin/env python + +import mir_knowledge_base_analyzer_ros.knowledge_base_analyzer + +if __name__ == "__main__": + mir_knowledge_base_analyzer_ros.knowledge_base_analyzer.main() diff --git a/data/mir_planning/mir_knowledge_base_analyzer/ros/src/knowledge_base_queries.cpp b/data/mir_planning/mir_knowledge_base_analyzer/ros/src/knowledge_base_queries.cpp new file mode 100644 index 0000000000000000000000000000000000000000..1f987a671987fb7ca01588bf2fa2ba25cd653a9c --- /dev/null +++ b/data/mir_planning/mir_knowledge_base_analyzer/ros/src/knowledge_base_queries.cpp @@ -0,0 +1,157 @@ +#include +#include + +#include + +KnowledgeBaseQueries::KnowledgeBaseQueries(ros::NodeHandle &nh) : nh_(nh) + +{ + current_knowledge_client_ = nh_.serviceClient( + "/rosplan_knowledge_base/state/propositions"); + + query_sub_ = nh_.subscribe("query", 1, &KnowledgeBaseQueries::queryCallback, this); + query_param_sub_ = + nh_.subscribe("query_param", 1, &KnowledgeBaseQueries::queryParamCallback, this); + + event_out_ = nh_.advertise("event_out", 1); + objects_at_location_pub_ = + nh_.advertise("objects_at_location", 1); + robot_location_pub_ = nh_.advertise("robot_location", 1); +} + +KnowledgeBaseQueries::~KnowledgeBaseQueries() {} +void KnowledgeBaseQueries::queryCallback(const std_msgs::String::ConstPtr &msg) +{ + std_msgs::String eout; + if (msg->data == "get_objects_at_location") { + if (!query_param_.empty()) { + bool result = publishObjectsAtLocation(query_param_); + if (result) { + eout.data = "e_success"; + } else { + eout.data = "e_failure"; + } + } else { + eout.data = "e_failure"; + } + } else if (msg->data == "get_objects_at_current_location") { + std::string location = getCurrentRobotLocation(); + if (!location.empty()) { + bool result = publishObjectsAtLocation(location); + if (result) { + eout.data = "e_success"; + } else { + eout.data = "e_failure"; + } + } else { + eout.data = "e_failure"; + } + } else if (msg->data == "get_robot_location") { + bool result = publishRobotLocation(); + if (result) { + eout.data = "e_success"; + } else { + eout.data = "e_failure"; + } + } else { + eout.data = "e_failure"; + } + query_param_ = ""; + event_out_.publish(eout); +} + +void KnowledgeBaseQueries::queryParamCallback(const std_msgs::String::ConstPtr &msg) +{ + query_param_ = msg->data; +} + +bool KnowledgeBaseQueries::publishObjectsAtLocation(const std::string &location) +{ + rosplan_knowledge_msgs::GetAttributeService srv; + srv.request.predicate_name = "on"; + std::vector objects; + if (current_knowledge_client_.call(srv)) { + mir_planning_msgs::ObjectsAtLocation objects_msg; + objects_msg.location = location; + for (int i = 0; i < srv.response.attributes.size(); i++) { + std::vector keyvalues = srv.response.attributes[i].values; + std::string current_object; + bool use_current_object = false; + for (int j = 0; j < keyvalues.size(); j++) { + if (keyvalues[j].key == "l" && keyvalues[j].value == location) { + use_current_object = true; + } + if (keyvalues[j].key == "o") { + current_object = keyvalues[j].value; + } + } + if (use_current_object && !current_object.empty()) { + stripObjectID(current_object); + objects_msg.objects.push_back(current_object); + } + } + objects_at_location_pub_.publish(objects_msg); + return true; + } else { + return false; + } +} + +void KnowledgeBaseQueries::stripObjectID(std::string &object) +{ + if (isdigit(object.at(object.length() - 1)) && isdigit(object.at(object.length() - 2)) && + object.at(object.length() - 3) == '-') { + object = object.substr(0, object.length() - 3); + } +} + +std::string KnowledgeBaseQueries::getCurrentRobotLocation() +{ + rosplan_knowledge_msgs::GetAttributeService srv; + srv.request.predicate_name = "at"; + if (current_knowledge_client_.call(srv)) { + if (srv.response.attributes.size() != 1) { + return ""; + } + + std::vector keyvalues = srv.response.attributes[0].values; + std::string location; + for (int j = 0; j < keyvalues.size(); j++) { + if (keyvalues[j].key == "l") { + location = keyvalues[j].value; + break; + } + } + return location; + } else { + return ""; + } +} + +bool KnowledgeBaseQueries::publishRobotLocation() +{ + std::string location_str = getCurrentRobotLocation(); + if (!location_str.empty()) { + std_msgs::String location; + location.data = location_str; + robot_location_pub_.publish(location); + return true; + } else { + return false; + } +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "knowledge_base_queries"); + ros::NodeHandle nh("~"); + KnowledgeBaseQueries kbq(nh); + int loop_rate = 5; + nh.param("loop_rate", loop_rate, 5); + ros::Rate rate(loop_rate); + while (ros::ok()) { + ros::spinOnce(); + rate.sleep(); + } + return 0; +} diff --git a/data/mir_planning/mir_knowledge_base_analyzer/ros/src/mir_knowledge_base_analyzer_ros/__init__.py b/data/mir_planning/mir_knowledge_base_analyzer/ros/src/mir_knowledge_base_analyzer_ros/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/data/mir_planning/mir_knowledge_base_analyzer/ros/src/mir_knowledge_base_analyzer_ros/knowledge_base_analyzer.py b/data/mir_planning/mir_knowledge_base_analyzer/ros/src/mir_knowledge_base_analyzer_ros/knowledge_base_analyzer.py new file mode 100644 index 0000000000000000000000000000000000000000..c2c16534690a8dee59f96371e9d1487cb83ed40f --- /dev/null +++ b/data/mir_planning/mir_knowledge_base_analyzer/ros/src/mir_knowledge_base_analyzer_ros/knowledge_base_analyzer.py @@ -0,0 +1,77 @@ +#!/usr/bin/env python +""" +Check if the response of the following is empty or not + +.. code-block:: bash + + rosservice call /rosplan_knowledge_base/state/goals "predicate_name: ''" + +If it is, then there are no unfinished goals +""" + +import rospy +from rosplan_knowledge_msgs.srv import GetAttributeService +from std_msgs.msg import String + + +class KnowledgeBaseAnalizer(object): + """ + Analyzes if there are new goals in the knowledge base + + """ + + def __init__(self): + # Subscribers + rospy.Subscriber( + "~pending_goals/event_in", String, self.pending_goals_event_in_cb + ) + # Publishers + self.pending_goals_event_out = rospy.Publisher( + "~pending_goals/event_out", String + ) + + def pending_goals_event_in_cb(self, msg): + """ + Obtains an event for the component. + + :param msg: Incoming message + :type msg: std_msgs.msg.String + + """ + rospy.loginfo("Pending goal request received...") + rospy.loginfo("Waiting for service: /rosplan_knowledge_base/state/goals") + rospy.wait_for_service("/rosplan_knowledge_base/state/goals") + rospy.loginfo( + "Service /rosplan_knowledge_base/state/goals is available, proceeding" + ) + event_out = String() + event_out.data = "e_failure" + try: + pending_goals = rospy.ServiceProxy( + "/rosplan_knowledge_base/state/goals", GetAttributeService + ) + response = pending_goals("") + if str(response) == "attributes: []": + rospy.loginfo("There are no pending goals in the knowledge base") + event_out.data = "e_no_goals" + else: + rospy.loginfo("There are pending goals in the knowledge base") + event_out.data = "e_goals_available" + except rospy.ServiceException as e: + rospy.logerr("Service call failed: %s" % e) + rospy.loginfo("Publishing pending goals response") + self.pending_goals_event_out.publish(event_out) + + def start(self): + """ + Starts the component in a loop till rosnode is alive. + + """ + rospy.loginfo("Pending_goals_analyzer node initilized...") + rospy.spin() + + +def main(): + rospy.init_node("pending_goals_analyzer") + knowledge_base_analyzer = KnowledgeBaseAnalizer() + knowledge_base_analyzer.start() diff --git a/data/mir_planning/mir_knowledge_base_analyzer/ros/test/my_test.py b/data/mir_planning/mir_knowledge_base_analyzer/ros/test/my_test.py new file mode 100644 index 0000000000000000000000000000000000000000..a2dd7b025f18d720823e16c4ca641891c76f015d --- /dev/null +++ b/data/mir_planning/mir_knowledge_base_analyzer/ros/test/my_test.py @@ -0,0 +1,163 @@ +#!/usr/bin/env python + +""" +Test unit for the functions used in upload_knowledge.py +""" +PKG = "mir_knowledge" + +import unittest + +import mir_knowledge.update_knowledge_utils as utils +import mir_knowledge_ros.upload_knowledge as upload_knowledge +import rosunit + + +class TestPddlObjectUpload(unittest.TestCase): + """ + todo + """ + + def test_parse_objects(self): + """ + todo + """ + pddl_objects = [ + ":objects", + "dynamixel", + "-", + "gripper", + "s1", + "s2", + "s3", + "s4", + "start", + "exit", + "cb_ramp", + "cb_trash", + "drill_loc", + "force_fitting", + "assembly_station", + "-", + "location", + "o1", + "o2", + "o3", + "o4", + "o5", + "o6", + "faulty_plate", + "fixable_plate", + "filecard", + "tray", + "blue_box", + "drill", + "trash", + "-", + "object", + "youbot-brsu-3", + "-", + "robot", + "platform_middle", + "platform_left", + "platform_right", + "-", + "robot_platform", + ] + + grippers = ["dynamixel"] + locations = [ + "s1", + "s2", + "s3", + "s4", + "start", + "exit", + "cb_ramp", + "cb_trash", + "drill_loc", + "force_fitting", + "assembly_station", + ] + objects = [ + "o1", + "o2", + "o3", + "o4", + "o5", + "o6", + "faulty_plate", + "fixable_plate", + "filecard", + "tray", + "blue_box", + "drill", + "trash", + ] + robots = ["youbot-brsu-3"] + robot_platforms = ["platform_middle", "platform_left", "platform_right"] + + grippers_knowledge = [ + utils.create_knowledge_unit_dict( + 0, + utils.create_knowledge_dict( + instance_type="gripper", instance_name=gripper + ), + ) + for gripper in grippers + ] + + locations_knowledge = [ + utils.create_knowledge_unit_dict( + 0, + utils.create_knowledge_dict( + instance_type="location", instance_name=location + ), + ) + for location in locations + ] + + objects_knowledge = [ + utils.create_knowledge_unit_dict( + 0, + utils.create_knowledge_dict(instance_type="object", instance_name=obj), + ) + for obj in objects + ] + + robots_knowledge = [ + utils.create_knowledge_unit_dict( + 0, + utils.create_knowledge_dict(instance_type="robot", instance_name=robot), + ) + for robot in robots + ] + + robot_platforms_knowledge = [ + utils.create_knowledge_unit_dict( + 0, + utils.create_knowledge_dict( + instance_type="robot_platform", instance_name=robot_platform + ), + ) + for robot_platform in robot_platforms + ] + + expected = [ + grippers_knowledge, + locations_knowledge, + objects_knowledge, + robots_knowledge, + robot_platforms_knowledge, + ] + + result = upload_knowledge.pddl_object_list_to_dict(pddl_objects) + + self.assertEqual( + result, + expected, + msg="result:\n{0}\n\nexpected:\n{1}".format(result, expected), + ) + + +if __name__ == "__main__": + rosunit.unitrun(PKG, "test_pddl_object_upload", TestPddlObjectUpload) diff --git a/data/mir_planning/mir_knowledge_base_analyzer/setup.py b/data/mir_planning/mir_knowledge_base_analyzer/setup.py new file mode 100644 index 0000000000000000000000000000000000000000..fddd2d13f700672248e23741fc150e9ea953a31f --- /dev/null +++ b/data/mir_planning/mir_knowledge_base_analyzer/setup.py @@ -0,0 +1,16 @@ +#!/usr/bin/env python + +from distutils.core import setup + +from catkin_pkg.python_setup import generate_distutils_setup + +# for your packages to be recognized by python +d = generate_distutils_setup( + packages=["mir_knowledge_base_analyzer", "mir_knowledge_base_analyzer_ros"], + package_dir={ + "mir_knowledge_base_analyzer": "common/src/mir_knowledge_base_analyzer", + "mir_knowledge_base_analyzer_ros": "ros/src/mir_knowledge_base_analyzer_ros", + }, +) + +setup(**d) diff --git a/data/mir_planning/mir_pddl_problem_generator/CMakeLists.txt b/data/mir_planning/mir_pddl_problem_generator/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..e642abe3a39e2b9b765a59d3da60b8fdb206071e --- /dev/null +++ b/data/mir_planning/mir_pddl_problem_generator/CMakeLists.txt @@ -0,0 +1,58 @@ +cmake_minimum_required(VERSION 2.8.3) + +project(mir_pddl_problem_generator) + +find_package(catkin REQUIRED COMPONENTS + roscpp + roslint + rosplan_planning_system + std_msgs +) + +add_definitions(-std=c++11) +catkin_package( + CATKIN_DEPENDS std_msgs +) + +include_directories( + ros/include + ${catkin_INCLUDE_DIRS} +) + +# LIBRARY +add_library(pddl_problem_generator ros/src/pddl_problem_generator.cpp) + +# EXECUTABLES +add_executable(pddl_problem_generator_node ros/src/pddl_problem_generator_node.cpp) +target_link_libraries(pddl_problem_generator_node ${catkin_LIBRARIES} pddl_problem_generator) + +# TESTS +if(CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + roslaunch_add_file_check(ros/launch) +endif() + +roslint_cpp() + +# INSTALLS +install(DIRECTORY common/include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" +) + +install(DIRECTORY ros/include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" +) + +install(TARGETS pddl_problem_generator + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) + +install(TARGETS pddl_problem_generator_node + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY ros/launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ros/launch +) diff --git a/data/mir_planning/mir_pddl_problem_generator/package.xml b/data/mir_planning/mir_pddl_problem_generator/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..9ff81b35579e4f028b257ebc8b53d26e99ba18be --- /dev/null +++ b/data/mir_planning/mir_pddl_problem_generator/package.xml @@ -0,0 +1,32 @@ + + + mir_pddl_problem_generator + 1.0.0 + + Generates automatically PDDL problem definition from + knowledge base snapshot. + + + Oscar Lima + + GPLv3 + + Oscar Lima + + catkin + roscpp + std_msgs + rosplan_planning_system + roslint + + roscpp + std_msgs + rosplan_planning_system + + + rosplan_knowledge_base + + roslaunch + rostest + diff --git a/data/mir_planning/mir_pddl_problem_generator/ros/config/points.yaml b/data/mir_planning/mir_pddl_problem_generator/ros/config/points.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d89587327eeba0e5678190f7019eb6ed159360fa --- /dev/null +++ b/data/mir_planning/mir_pddl_problem_generator/ros/config/points.yaml @@ -0,0 +1,32 @@ +# ============================================================================== +# ===================== workstations ========================================= +# ============================================================================== + +ws: 100 +sh: 50 +co: 20 # container_box_blue / container_box_red +pp: 10 +cb: 0 + +# ============================================================================== +# ====================== objects ============================================= +# ============================================================================== + +# long objects +f20_20_b: 20 +f20_20_g: 20 +s40_40_b: 20 +s40_40_g: 20 +m20_100: 20 +axis: 20 + +# medium objects +r20: 20 +m30: 20 +motor: 20 +bearing_box: 20 + +# small objects +distance_tube: 10 +bearing: 10 +m20: 10 \ No newline at end of file diff --git a/data/mir_planning/mir_pddl_problem_generator/ros/include/mir_pddl_generator_node/pddl_problem_generator.h b/data/mir_planning/mir_pddl_problem_generator/ros/include/mir_pddl_generator_node/pddl_problem_generator.h new file mode 100644 index 0000000000000000000000000000000000000000..b6d1e2813d2ef8533eb297db4628105a2a38d039 --- /dev/null +++ b/data/mir_planning/mir_pddl_problem_generator/ros/include/mir_pddl_generator_node/pddl_problem_generator.h @@ -0,0 +1,65 @@ + +#ifndef PDDL_PROBLEM_GENERATOR_H +#define PDDL_PROBLEM_GENERATOR_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "rosplan_knowledge_msgs/GetAttributeService.h" +#include "rosplan_knowledge_msgs/GetDomainAttributeService.h" +#include "rosplan_knowledge_msgs/GetDomainNameService.h" +#include "rosplan_knowledge_msgs/GetDomainTypeService.h" +#include "rosplan_knowledge_msgs/GetInstanceService.h" +#include "rosplan_knowledge_msgs/GetMetricService.h" + +class PDDLProblemGenerator +{ + public: + PDDLProblemGenerator(); + ~PDDLProblemGenerator(); + + bool generatePDDLProblemFile(const std::string &problem_path); + + private: + ros::NodeHandle nh_; + + std::string domain_name_service_; + std::string domain_type_service_; + std::string domain_predicate_service_; + + std::string state_instance_service_; + std::string state_proposition_service_; + std::string state_goal_service_; + + std::map points_map_; + int max_goals_; + bool prefer_goals_with_same_source_ws_; + + float getPoints(const std::string &key); + float getPointsObject(const std::string &obj); + float getPointsLocation(const std::string &loc); + float getGoalScore(const std::map &goal); + std::string getSourceLocation(const rosplan_knowledge_msgs::KnowledgeItem &ki); + + bool makeHeader(std::ofstream &pFile); + bool makeObjects(std::ofstream &pFile); + bool makeInitialState(std::ofstream &pFile); + bool makeGoals(std::ofstream &pFile); + bool makeMetric(std::ofstream &pFile); + + struct goal_sort_ { + inline bool operator()(const std::tuple, float> &a, + const std::tuple, float> &b) + { + return std::get<1>(a) >= std::get<1>(b); + } + }; +}; +#endif // PDDL_PROBLEM_GENERATOR_H diff --git a/data/mir_planning/mir_pddl_problem_generator/ros/include/mir_pddl_generator_node/pddl_problem_generator_node.h b/data/mir_planning/mir_pddl_problem_generator/ros/include/mir_pddl_generator_node/pddl_problem_generator_node.h new file mode 100644 index 0000000000000000000000000000000000000000..541e08a3f11e948dbf88c8301f01c8fb9d6a66a2 --- /dev/null +++ b/data/mir_planning/mir_pddl_problem_generator/ros/include/mir_pddl_generator_node/pddl_problem_generator_node.h @@ -0,0 +1,52 @@ +/* + * Copyright [2016] + * + * Author: Oscar Lima (olima_84@yahoo.com) + * + * Node used to generate PDDL problem definition automatically from + * Knowledge base snapshot + * + */ + +#ifndef MIR_PDDL_GENERATOR_NODE_PDDL_PROBLEM_GENERATOR_NODE_H +#define MIR_PDDL_GENERATOR_NODE_PDDL_PROBLEM_GENERATOR_NODE_H + +#include +#include +#include + +#include + +class PDDLProblemGeneratorNode +{ + public: + PDDLProblemGeneratorNode(); + ~PDDLProblemGeneratorNode(); + + // std_msgs/String node event_in callback to trigger PDDL generation process + void eventInCallback(const std_msgs::String::ConstPtr &msg); + + // ros node main loop + void update(); + + private: + // flag used to know when we have received a callback + bool is_event_in_received_; + + // ros related variables + ros::NodeHandle nh_; + ros::Publisher pub_event_out_; + ros::Subscriber sub_event_in_; + + // for receiving event in msg + std_msgs::String event_in_msg_; + + // for publishing event_out string msg + std_msgs::String event_out_msg_; + + std::string problem_path_; + + // Common class pddl problem generator + PDDLProblemGenerator *pddl_problem_generator_; +}; +#endif // MIR_PDDL_GENERATOR_NODE_PDDL_PROBLEM_GENERATOR_NODE_H diff --git a/data/mir_planning/mir_pddl_problem_generator/ros/launch/pddl_problem_generator.launch b/data/mir_planning/mir_pddl_problem_generator/ros/launch/pddl_problem_generator.launch new file mode 100644 index 0000000000000000000000000000000000000000..2bfe52d6cea2a2343e78e4b501c4c48b4f24a451 --- /dev/null +++ b/data/mir_planning/mir_pddl_problem_generator/ros/launch/pddl_problem_generator.launch @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_planning/mir_pddl_problem_generator/ros/src/pddl_problem_generator.cpp b/data/mir_planning/mir_pddl_problem_generator/ros/src/pddl_problem_generator.cpp new file mode 100644 index 0000000000000000000000000000000000000000..01d38d637aac6c9c88f53d055685434524d88945 --- /dev/null +++ b/data/mir_planning/mir_pddl_problem_generator/ros/src/pddl_problem_generator.cpp @@ -0,0 +1,391 @@ +#include +#include + +PDDLProblemGenerator::PDDLProblemGenerator() : nh_("~") +{ + std::string knowledge_base; + nh_.param("knowledge_base", knowledge_base, "rosplan_knowledge_base"); + + nh_.param("max_goals", max_goals_, 3); + nh_.param("prefer_goals_with_same_source_ws", prefer_goals_with_same_source_ws_, true); + + nh_.getParam("points", points_map_); + if (points_map_.size() == 0) ROS_ERROR("Points for objects and location not defined."); + + std::stringstream ss; + + ss << "/" << knowledge_base << "/domain/name"; + domain_name_service_ = ss.str(); + ss.str(""); + + ss << "/" << knowledge_base << "/domain/types"; + domain_type_service_ = ss.str(); + ss.str(""); + + ss << "/" << knowledge_base << "/domain/predicates"; + domain_predicate_service_ = ss.str(); + ss.str(""); + + ss << "/" << knowledge_base << "/state/instances"; + state_instance_service_ = ss.str(); + ss.str(""); + + ss << "/" << knowledge_base << "/state/propositions"; + state_proposition_service_ = ss.str(); + ss.str(""); + + ss << "/" << knowledge_base << "/state/goals"; + state_goal_service_ = ss.str(); + ss.str(""); + + ROS_INFO("[mir_pddl_problem_generator] Initialised"); +} + +PDDLProblemGenerator::~PDDLProblemGenerator() {} +bool PDDLProblemGenerator::generatePDDLProblemFile(const std::string &problem_path) +{ + boost::filesystem::path boost_problem_file((problem_path).c_str()); + boost::filesystem::path boost_problem_dir = boost_problem_file.parent_path(); + + if (!(boost::filesystem::exists(boost_problem_dir))) { + if (!(boost::filesystem::create_directory(boost_problem_dir))) { + ROS_ERROR_STREAM("Could not create dir " << boost_problem_dir); + return false; + } + } + + std::ofstream pFile; + pFile.open((problem_path).c_str()); + + if (!makeHeader(pFile)) { + ROS_ERROR("Could not make header"); + pFile.close(); + return false; + } + + if (!makeObjects(pFile)) { + ROS_ERROR("Could not make objects"); + pFile.close(); + return false; + } + + if (!makeInitialState(pFile)) { + ROS_ERROR("Could not make initial state"); + pFile.close(); + return false; + } + + if (!makeGoals(pFile)) { + ROS_ERROR("Could not make goals"); + pFile.close(); + return false; + } + + if (!makeMetric(pFile)) { + ROS_ERROR("Could not make metric"); + pFile.close(); + return false; + } + + pFile << ")" << std::endl; + pFile.close(); + + ROS_INFO("[mir_pddl_problem_generator] Problem file created successfully."); + + return true; +} + +bool PDDLProblemGenerator::makeHeader(std::ofstream &pFile) +{ + // get domain name + ros::ServiceClient getNameClient = + nh_.serviceClient(domain_name_service_); + rosplan_knowledge_msgs::GetDomainNameService name_srv; + if (!getNameClient.call(name_srv)) { + ROS_ERROR("[mir_pddl_problem_generator] Failed to call service %s", + domain_name_service_.c_str()); + return false; + } + + pFile << ";This PDDL problem definition was made automatically from a KB " + "snapshot" + << std::endl; + pFile << "(define (problem " << name_srv.response.domain_name << "_task)" << std::endl; + pFile << "(:domain " << name_srv.response.domain_name << ")" << std::endl; + pFile << "" << std::endl; + return true; +} + +bool PDDLProblemGenerator::makeObjects(std::ofstream &pFile) +{ + ros::ServiceClient getTypesClient = + nh_.serviceClient(domain_type_service_); + ros::ServiceClient getInstancesClient = + nh_.serviceClient(state_instance_service_); + + bool is_there_objects = false; + + // objects + pFile << "(:objects" << std::endl; + + // get types + rosplan_knowledge_msgs::GetDomainTypeService type_srv; + if (!getTypesClient.call(type_srv)) { + ROS_ERROR("[mir_pddl_problem_generator] Failed to call service %s", + domain_type_service_.c_str()); + } + + // get instances of each type + for (size_t t = 0; t < type_srv.response.types.size(); t++) { + rosplan_knowledge_msgs::GetInstanceService instance_srv; + instance_srv.request.type_name = type_srv.response.types[t]; + + if (!getInstancesClient.call(instance_srv)) { + ROS_ERROR("[mir_pddl_problem_generator] Failed to call service %s: %s", + state_instance_service_.c_str(), instance_srv.request.type_name.c_str()); + } else { + if (instance_srv.response.instances.size() == 0) continue; + pFile << " "; + for (size_t i = 0; i < instance_srv.response.instances.size(); i++) { + pFile << instance_srv.response.instances[i] << " "; + } + pFile << "- " << type_srv.response.types[t] << std::endl; + if (!is_there_objects) is_there_objects = true; + } + } + pFile << ")" << std::endl; + pFile << "" << std::endl; + + return is_there_objects; +} + +bool PDDLProblemGenerator::makeInitialState(std::ofstream &pFile) +{ + ros::ServiceClient getDomainPropsClient = + nh_.serviceClient( + domain_predicate_service_); + ros::ServiceClient getPropsClient = + nh_.serviceClient(state_proposition_service_); + + // note the time now for TILs + ros::Time time = ros::Time::now() + ros::Duration(1); + + pFile << "(:init" << std::endl; + pFile << " ;Cost information starts" << std::endl; + pFile << " (= (total-cost) 0)" << std::endl; + pFile << " ;Cost information ends" << std::endl; + pFile << "" << std::endl; + + bool is_there_facts = false; + + // get propositions + rosplan_knowledge_msgs::GetDomainAttributeService domain_attr_srv; + if (!getDomainPropsClient.call(domain_attr_srv)) { + ROS_ERROR("[mir_pddl_problem_generator] Failed to call service %s", + domain_predicate_service_.c_str()); + } else { + std::vector::iterator ait = + domain_attr_srv.response.items.begin(); + for (; ait != domain_attr_srv.response.items.end(); ait++) { + rosplan_knowledge_msgs::GetAttributeService attr_srv; + attr_srv.request.predicate_name = ait->name; + if (!getPropsClient.call(attr_srv)) { + ROS_ERROR("[mir_pddl_problem_generator] Failed to call service %s: %s", + state_proposition_service_.c_str(), attr_srv.request.predicate_name.c_str()); + } else { + for (size_t i = 0; i < attr_srv.response.attributes.size(); i++) { + rosplan_knowledge_msgs::KnowledgeItem attr = attr_srv.response.attributes[i]; + + pFile << " ("; + + // Check if the attribute is negated + if (attr.is_negative) pFile << "not ("; + + pFile << attr.attribute_name; + for (auto j : ait->typed_parameters) { + for (auto k : attr.values) { + if (j.key.compare(k.key) == 0) { + pFile << " " << k.value; + } + } + } + pFile << ")"; + + if (attr.is_negative) pFile << ")"; + + pFile << std::endl; + is_there_facts = true; + } + } + } + } + + pFile << ")" << std::endl; + + // blank space between facts and goals + pFile << std::endl; + + return is_there_facts; +} + +bool PDDLProblemGenerator::makeGoals(std::ofstream &pFile) +{ + ros::ServiceClient getCurrentGoalsClient = + nh_.serviceClient(state_goal_service_); + + pFile << "(:goal" << std::endl; + pFile << " (and" << std::endl; + + std::vector, float>> goals; + bool has_goals = false; + + // get current goals + rosplan_knowledge_msgs::GetAttributeService current_goal_srv; + if (!getCurrentGoalsClient.call(current_goal_srv)) { + ROS_ERROR("[mir_pddl_problem_generator] Failed to call service %s", + state_goal_service_.c_str()); + } else { + for (size_t i = 0; i < current_goal_srv.response.attributes.size(); i++) { + rosplan_knowledge_msgs::KnowledgeItem attr = current_goal_srv.response.attributes[i]; + + if (attr.knowledge_type != rosplan_knowledge_msgs::KnowledgeItem::FACT) { + continue; + } + + if (attr.is_negative) { + continue; + } + + std::string source = getSourceLocation(attr); + if (source.size() == 0) { + continue; + } + + std::map goal; + goal["src"] = source; + goal["dest"] = attr.values[1].value; + goal["obj"] = attr.values[0].value; + goal["attr"] = attr.attribute_name; + float score = getGoalScore(goal); + goals.push_back(std::make_tuple(goal, score)); + } + + std::sort(goals.begin(), goals.end(), goal_sort_()); + + /* for debugging */ + for (auto goal : goals) { + std::cout << std::get<1>(goal) << " " + << std::get<0>(goal)["obj"] << " " + << std::get<0>(goal)["src"] << " -> " + << std::get<0>(goal)["dest"] << std::endl; + } + std::cout << std::endl; + has_goals = goals.size() > 0; + + unsigned int goal_counter = 0; + while (true) { + if (goals.size() == 0) { + break; + } + + if (goal_counter >= max_goals_) { + break; + } + + std::cout << "Selected goals" << std::endl; + auto main_goal = goals[0]; + std::cout << std::get<1>(main_goal) << " " + << std::get<0>(main_goal)["obj"] << " " + << std::get<0>(main_goal)["src"] << " -> " + << std::get<0>(main_goal)["dest"] << std::endl; + goals.erase(goals.begin()); + pFile << " (" << std::get<0>(main_goal)["attr"]; + pFile << " " << std::get<0>(main_goal)["obj"]; + pFile << " " << std::get<0>(main_goal)["dest"]; + pFile << ")" << std::endl; + goal_counter++; + std::string src_loc = std::get<0>(main_goal)["src"]; + if (prefer_goals_with_same_source_ws_) { + unsigned int i = 0; + while (i < goals.size()) { + auto goal = goals[i]; + if (src_loc.compare(std::get<0>(goal)["src"]) == 0) { + pFile << " (" << std::get<0>(goal)["attr"]; + pFile << " " << std::get<0>(goal)["obj"]; + pFile << " " << std::get<0>(goal)["dest"]; + pFile << ")" << std::endl; + goal_counter++; + goals.erase(goals.begin() + i); + } else { + i++; + } + } + } + } + } + pFile << " )" << std::endl; + pFile << ")" << std::endl << std::endl; + return has_goals; +} + +bool PDDLProblemGenerator::makeMetric(std::ofstream &pFile) +{ + pFile << "(:metric minimize (total-cost))" << std::endl; + pFile << "" << std::endl; + + return true; +} + +float PDDLProblemGenerator::getGoalScore(const std::map &goal) +{ + float score = 0.0; + score += getPointsLocation(goal.at("src")); + score += getPointsLocation(goal.at("dest")); + score += getPointsObject(goal.at("obj")); + return score; +} + +std::string PDDLProblemGenerator::getSourceLocation(const rosplan_knowledge_msgs::KnowledgeItem &ki) +{ + if (ki.attribute_name.compare("in") != 0 and ki.attribute_name.compare("on") != 0) return ""; + + std::string obj = ki.values[0].value; + + ros::ServiceClient getPropsClient = + nh_.serviceClient(state_proposition_service_); + + rosplan_knowledge_msgs::GetAttributeService attr_srv; + attr_srv.request.predicate_name = ki.attribute_name; + if (!getPropsClient.call(attr_srv)) { + ROS_ERROR("[mir_pddl_problem_generator] Failed to call service %s: %s", + state_proposition_service_.c_str(), attr_srv.request.predicate_name.c_str()); + return ""; + } else { + for (size_t i = 0; i < attr_srv.response.attributes.size(); i++) { + rosplan_knowledge_msgs::KnowledgeItem attr = attr_srv.response.attributes[i]; + if (attr.values[0].value.compare(obj) == 0) { + return attr.values[1].value; + } + } + } + return "XXXX"; // dummy location +} + +float PDDLProblemGenerator::getPoints(const std::string &key) +{ + std::string key_lower(key.length(), 'X'); + std::transform(key.begin(), key.end(), key_lower.begin(), ::tolower); + auto it = points_map_.find(key_lower); + return (it == points_map_.end()) ? 0.0f : it->second; +} + +float PDDLProblemGenerator::getPointsObject(const std::string &obj) +{ + size_t minus_pos = obj.find_first_of("-"); + return (minus_pos == obj.npos) ? getPoints(obj) : getPoints(obj.substr(0, minus_pos)); +} + +float PDDLProblemGenerator::getPointsLocation(const std::string &loc) +{ + return (loc.size() > 2) ? getPoints(loc.substr(0, 2)) : 0.0f; +} diff --git a/data/mir_planning/mir_pddl_problem_generator/ros/src/pddl_problem_generator_node.cpp b/data/mir_planning/mir_pddl_problem_generator/ros/src/pddl_problem_generator_node.cpp new file mode 100644 index 0000000000000000000000000000000000000000..b92e9043b7d83c3daa3d637801c2df9a47866224 --- /dev/null +++ b/data/mir_planning/mir_pddl_problem_generator/ros/src/pddl_problem_generator_node.cpp @@ -0,0 +1,95 @@ +/* + * Copyright [2016] + * + * Author: Oscar Lima (olima_84@yahoo.com) + * + * Creates PDDL problem definition automatically from knowledge base snapshot + * + */ + +#include +#include + +PDDLProblemGeneratorNode::PDDLProblemGeneratorNode() : nh_("~"), is_event_in_received_(false) +{ + // subscriptions + sub_event_in_ = nh_.subscribe("event_in", 1, &PDDLProblemGeneratorNode::eventInCallback, this); + + // publications + pub_event_out_ = nh_.advertise("event_out", 2); + + nh_.param("problem_path", problem_path_, "/tmp/problem.pddl"); + ROS_INFO("PDDL problem path : %s", problem_path_.c_str()); + pddl_problem_generator_ = new PDDLProblemGenerator(); +} + +PDDLProblemGeneratorNode::~PDDLProblemGeneratorNode() +{ + delete pddl_problem_generator_; + // shut down publishers and subscribers + sub_event_in_.shutdown(); + pub_event_out_.shutdown(); +} + +void PDDLProblemGeneratorNode::eventInCallback(const std_msgs::String::ConstPtr &msg) +{ + event_in_msg_ = *msg; + is_event_in_received_ = true; +} + +void PDDLProblemGeneratorNode::update() +{ + // listen to callbacks + ros::spinOnce(); + + if (!is_event_in_received_) return; + + // reset flag + is_event_in_received_ = false; + + // checking for event in msg content + if (event_in_msg_.data != "e_trigger") { + ROS_ERROR("Received unsupported event: %s", event_in_msg_.data.c_str()); + return; + } + + // generate PDDL file + if (!pddl_problem_generator_->generatePDDLProblemFile(problem_path_)) { + ROS_ERROR("An error occurred while generating PDDL file"); + event_out_msg_.data = std::string("e_failure"); + pub_event_out_.publish(event_out_msg_); + return; + } + + event_out_msg_.data = std::string("e_success"); + pub_event_out_.publish(event_out_msg_); + ROS_INFO("Succesfully created PDDL problem from KB snapshot !"); +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "pddl_problem_generator"); + + ROS_INFO("Node is going to initialize..."); + + // create object of the node class (PDDLProblemGeneratorNode) + PDDLProblemGeneratorNode pddl_problem_generator_node; + + // setup node frequency + double node_frequency = 10.0; + ros::NodeHandle nh("~"); + nh.param("node_frequency", node_frequency, 10.0); + ROS_INFO("Node will run at : %lf [hz]", node_frequency); + ros::Rate loop_rate(node_frequency); + ROS_INFO("Node initialized."); + + while (ros::ok()) { + // main loop function + pddl_problem_generator_node.update(); + + // sleep to control the node frequency + loop_rate.sleep(); + } + + return 0; +} diff --git a/data/mir_planning/mir_planner_executor/CMakeLists.txt b/data/mir_planning/mir_planner_executor/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..d277eb22d60469cabfcc2f3ef97084f1ed81c7f3 --- /dev/null +++ b/data/mir_planning/mir_planner_executor/CMakeLists.txt @@ -0,0 +1,83 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_planner_executor) +add_compile_options(-std=c++11) + +find_package(catkin REQUIRED + COMPONENTS + roscpp + roslint + rosplan_planning_system + std_msgs + actionlib_msgs + actionlib + rosplan_dispatch_msgs + mir_planning_msgs +) + +add_definitions(-std=c++11) +catkin_package( + CATKIN_DEPENDS +) + +include_directories( + ros/include + common/include + ${catkin_INCLUDE_DIRS} +) + + +### EXECUTABLES +add_executable(planner_executor + ros/src/planner_executor.cpp + ros/src/knowledge_updater.cpp + ros/src/actions/executor_action.cpp + ros/src/actions/base_executor_action.cpp + + ros/src/actions/move/move_action.cpp + + ros/src/actions/pick/base_pick_action.cpp + ros/src/actions/pick/pick_action.cpp + ros/src/actions/pick/pick_from_shelf_action.cpp + ros/src/actions/pick/combined_pick_action.cpp + + ros/src/actions/place/place_action.cpp + ros/src/actions/place_unstage/place_unstage_action.cpp + + ros/src/actions/perceive/base_perceive_action.cpp + ros/src/actions/perceive/perceive_action.cpp + ros/src/actions/perceive/perceive_cavity_action.cpp + ros/src/actions/perceive/combined_perceive_action.cpp + + ros/src/actions/stage/stage_action.cpp + + ros/src/actions/unstage/unstage_action.cpp + + ros/src/actions/insert/base_insert_action.cpp + ros/src/actions/insert/insert_action.cpp + ros/src/actions/insert/insert_cavity_action.cpp + ros/src/actions/insert/combined_insert_action.cpp +) +target_link_libraries(planner_executor ${catkin_LIBRARIES}) + +### TESTS +if(CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + roslaunch_add_file_check(ros/launch) +endif() + +roslint_cpp() + +### INSTALLS + +install(DIRECTORY ros/include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" +) + +install(TARGETS planner_executor + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY ros/launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ros/launch +) diff --git a/data/mir_planning/mir_planner_executor/package.xml b/data/mir_planning/mir_planner_executor/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..967bbbf8b917b34facb72908672b0d98f245a355 --- /dev/null +++ b/data/mir_planning/mir_planner_executor/package.xml @@ -0,0 +1,29 @@ + + + mir_planner_executor + 1.0.0 + + Reads a plan, comming from a planner and executes each action in order. + + + GPLv3 + + Oscar Lima + Torsten Jandt + Torsten Jandt + + catkin + + actionlib + actionlib_msgs + rosplan_planning_system + mir_planning_msgs + actionlib + actionlib_msgs + rosplan_knowledge_base + rosplan_planning_system + mir_planning_msgs + + + + diff --git a/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/base_executor_action.h b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/base_executor_action.h new file mode 100644 index 0000000000000000000000000000000000000000..67d40d2fc854a15fbd228a09e07c6f88db253a9c --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/base_executor_action.h @@ -0,0 +1,23 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#pragma once +#include +#include + +class BaseExecutorAction +{ + private: + protected: + public: + virtual bool execute(std::string &name, std::vector ¶ms) = 0; + virtual void initialize(KnowledgeUpdater *knowledge_updater) = 0; + + /* helper functions to work with vector of KeyValue objs */ + std::string getValueOf(std::vector &dict, std::string key); + int getIndexOf(std::vector &dict, std::string key); +}; diff --git a/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/executor_action.h b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/executor_action.h new file mode 100644 index 0000000000000000000000000000000000000000..b05ac1fd94841721f6bc064acc32ac97e3f078ed --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/executor_action.h @@ -0,0 +1,33 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#pragma once +#include +#include +#include +#include +#include +#include + +class ExecutorAction : public BaseExecutorAction +{ + private: + protected: + actionlib::SimpleActionClient client_; + KnowledgeUpdater *knowledge_updater_; + + ExecutorAction(std::string server_topic) : client_(server_topic){}; + + virtual bool run(std::vector ¶ms); + virtual void update_knowledge_base(bool success, + std::vector ¶ms) = 0; + virtual void updateParamsBasedOnContext(std::vector ¶ms) = 0; + + public: + bool execute(std::string &name, std::vector ¶ms) override; + void initialize(KnowledgeUpdater *knowledge_updater) override; +}; diff --git a/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/insert/base_insert_action.h b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/insert/base_insert_action.h new file mode 100644 index 0000000000000000000000000000000000000000..d540879cdf05358c63771c15952cfb7e52d07298 --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/insert/base_insert_action.h @@ -0,0 +1,18 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#pragma once + +#include + +class BaseInsertAction : public ExecutorAction +{ + protected: + BaseInsertAction(std::string server_topic) : ExecutorAction(server_topic){}; + void updateParamsBasedOnContext(std::vector ¶ms) override; + void update_knowledge_base(bool success, std::vector ¶ms) override; +}; diff --git a/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/insert/combined_insert_action.h b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/insert/combined_insert_action.h new file mode 100644 index 0000000000000000000000000000000000000000..6eb2b7d551bf1ac4b6b76794e923d18e710655d8 --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/insert/combined_insert_action.h @@ -0,0 +1,23 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#pragma once + +#include +#include + +class CombinedInsertAction : public BaseExecutorAction +{ + private: + ExecutorAction *default_insert_; + ExecutorAction *cavity_insert_; + + public: + CombinedInsertAction(); + void initialize(KnowledgeUpdater *knowledge_updater) override; + bool execute(std::string &name, std::vector ¶ms) override; +}; diff --git a/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/insert/insert_action.h b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/insert/insert_action.h new file mode 100644 index 0000000000000000000000000000000000000000..913fd1d2eb51917b06f5a2b3a252f3d07daffec4 --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/insert/insert_action.h @@ -0,0 +1,16 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#pragma once + +#include + +class InsertAction : public BaseInsertAction +{ + public: + InsertAction(); +}; diff --git a/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/insert/insert_cavity_action.h b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/insert/insert_cavity_action.h new file mode 100644 index 0000000000000000000000000000000000000000..3a4072e250611c9c8cd5f7d32b88d816ad1c3b01 --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/insert/insert_cavity_action.h @@ -0,0 +1,16 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#pragma once + +#include + +class InsertCavityAction : public BaseInsertAction +{ + public: + InsertCavityAction(); +}; diff --git a/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/move/move_action.h b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/move/move_action.h new file mode 100644 index 0000000000000000000000000000000000000000..0568ddfa2bc4c719c309d198f467a59507bbcf58 --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/move/move_action.h @@ -0,0 +1,21 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#pragma once + +#include + +class MoveAction : public ExecutorAction +{ + public: + MoveAction(); + + protected: + void updateParamsBasedOnContext(std::vector ¶ms) override; + void update_knowledge_base(bool success, std::vector ¶ms) override; + std::map failure_count_; +}; diff --git a/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/perceive/base_perceive_action.h b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/perceive/base_perceive_action.h new file mode 100644 index 0000000000000000000000000000000000000000..8e708deeb162c2cdb1086f6c83d603f958eb26cd --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/perceive/base_perceive_action.h @@ -0,0 +1,21 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#pragma once + +#include + +class BasePerceiveAction : public ExecutorAction +{ + protected: + BasePerceiveAction(std::string server_topic) : ExecutorAction(server_topic) + { + std::cout << server_topic << std::endl; + }; + void updateParamsBasedOnContext(std::vector ¶ms) override; + void update_knowledge_base(bool success, std::vector ¶ms) override; +}; diff --git a/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/perceive/combined_perceive_action.h b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/perceive/combined_perceive_action.h new file mode 100644 index 0000000000000000000000000000000000000000..ab732eb184365bb97ab2dce11732426ed830684d --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/perceive/combined_perceive_action.h @@ -0,0 +1,23 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#pragma once + +#include +#include + +class CombinedPerceiveAction : public BaseExecutorAction +{ + private: + ExecutorAction *default_perceive_; + ExecutorAction *cavity_perceive_; + + public: + CombinedPerceiveAction(); + void initialize(KnowledgeUpdater *knowledge_updater) override; + bool execute(std::string &name, std::vector ¶ms) override; +}; diff --git a/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/perceive/perceive_action.h b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/perceive/perceive_action.h new file mode 100644 index 0000000000000000000000000000000000000000..5d5e60cae7e9cffa204b0eefbcacf5ecd72205c4 --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/perceive/perceive_action.h @@ -0,0 +1,16 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#pragma once + +#include + +class PerceiveAction : public BasePerceiveAction +{ + public: + PerceiveAction(); +}; diff --git a/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/perceive/perceive_cavity_action.h b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/perceive/perceive_cavity_action.h new file mode 100644 index 0000000000000000000000000000000000000000..f75a00c8ae04484d535a145a186f18be8f019fa7 --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/perceive/perceive_cavity_action.h @@ -0,0 +1,16 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#pragma once + +#include + +class PerceiveCavityAction : public BasePerceiveAction +{ + public: + PerceiveCavityAction(); +}; diff --git a/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/pick/base_pick_action.h b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/pick/base_pick_action.h new file mode 100644 index 0000000000000000000000000000000000000000..f22dad45523f2456e0b7cf90d41ee0b853cbb0f4 --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/pick/base_pick_action.h @@ -0,0 +1,23 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#pragma once + +#include +#include + +class BasePickAction : public ExecutorAction +{ + protected: + BasePickAction(std::string server_topic) : ExecutorAction(server_topic) + { + std::cout << server_topic << std::endl; + }; + void updateParamsBasedOnContext(std::vector ¶ms) override; + void update_knowledge_base(bool success, std::vector ¶ms) override; + std::map failure_count_; +}; diff --git a/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/pick/combined_pick_action.h b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/pick/combined_pick_action.h new file mode 100644 index 0000000000000000000000000000000000000000..1238dd0e167dab07f1f7dc663f21fd4dfccfb27b --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/pick/combined_pick_action.h @@ -0,0 +1,23 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#pragma once + +#include +#include + +class CombinedPickAction : public BaseExecutorAction +{ + private: + ExecutorAction *default_pick_; + ExecutorAction *pick_from_shelf_; + + public: + CombinedPickAction(); + void initialize(KnowledgeUpdater *knowledge_updater) override; + bool execute(std::string &name, std::vector ¶ms) override; +}; diff --git a/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/pick/pick_action.h b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/pick/pick_action.h new file mode 100644 index 0000000000000000000000000000000000000000..6b808e9306c75d18fb3bd78e9145a2cde7c490b7 --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/pick/pick_action.h @@ -0,0 +1,16 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#pragma once + +#include + +class PickAction : public BasePickAction +{ + public: + PickAction(); +}; diff --git a/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/pick/pick_from_shelf_action.h b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/pick/pick_from_shelf_action.h new file mode 100644 index 0000000000000000000000000000000000000000..4eaf53cdb5f367a96da3b2ada46f7ba13a47ec0a --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/pick/pick_from_shelf_action.h @@ -0,0 +1,16 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#pragma once + +#include + +class PickFromShelfAction : public BasePickAction +{ + public: + PickFromShelfAction(); +}; diff --git a/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/place/place_action.h b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/place/place_action.h new file mode 100644 index 0000000000000000000000000000000000000000..b60fe17fbe36dd41a7606a03c28d978bb110661c --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/place/place_action.h @@ -0,0 +1,20 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#pragma once + +#include + +class PlaceAction : public ExecutorAction +{ + public: + PlaceAction(); + + protected: + void updateParamsBasedOnContext(std::vector ¶ms) override; + void update_knowledge_base(bool success, std::vector ¶ms) override; +}; diff --git a/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/place_unstage/place_unstage_action.h b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/place_unstage/place_unstage_action.h new file mode 100644 index 0000000000000000000000000000000000000000..f8c410928645b35a3dfc3f7281c4f50766be2b8a --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/place_unstage/place_unstage_action.h @@ -0,0 +1,13 @@ +#pragma once + +#include + +class PlaceUnstageAction : public ExecutorAction +{ + public: + PlaceUnstageAction(); + + protected: + void updateParamsBasedOnContext(std::vector ¶ms) override; + void update_knowledge_base(bool success, std::vector ¶ms) override; +}; diff --git a/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/stage/stage_action.h b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/stage/stage_action.h new file mode 100644 index 0000000000000000000000000000000000000000..1afc465a12f4e3e60e4aba129773cd82038dc9b3 --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/stage/stage_action.h @@ -0,0 +1,20 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#pragma once + +#include + +class StageAction : public ExecutorAction +{ + public: + StageAction(); + + protected: + void updateParamsBasedOnContext(std::vector ¶ms) override; + void update_knowledge_base(bool success, std::vector ¶ms) override; +}; diff --git a/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/unstage/unstage_action.h b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/unstage/unstage_action.h new file mode 100644 index 0000000000000000000000000000000000000000..e50aa2d36eee39e4d1b8d9ef32a857501d59de0a --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/actions/unstage/unstage_action.h @@ -0,0 +1,20 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#pragma once + +#include + +class UnstageAction : public ExecutorAction +{ + public: + UnstageAction(); + + protected: + void updateParamsBasedOnContext(std::vector ¶ms) override; + void update_knowledge_base(bool success, std::vector ¶ms) override; +}; diff --git a/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/knowledge_updater.h b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/knowledge_updater.h new file mode 100644 index 0000000000000000000000000000000000000000..1ae9b25ea3d61b63aa975f35067ae1c08573537d --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/knowledge_updater.h @@ -0,0 +1,44 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#pragma once + +#include +#include +#include +#include +#include + +class KnowledgeUpdater +{ + private: + static constexpr const char *LOG_NAME = "KNOWLEDGE_UPDATER"; + + ros::ServiceClient rosplan_update_client_; + ros::ServiceClient rosplan_get_goals_client_; + ros::ServiceClient rosplan_get_knowledge_client_; + + std::vector removed_goals_; + ros::ServiceServer re_add_goals_server_; + + std::string toUpper(std::string str); + bool update_knowledge(uint8_t type, std::string name, + std::vector> values); + + public: + KnowledgeUpdater(ros::NodeHandle &nh); + ~KnowledgeUpdater(); + bool addGoal(std::string name, std::vector> values); + bool remGoal(std::string name, std::vector> values); + bool addKnowledge(std::string name, std::vector> values); + bool remKnowledge(std::string name, std::vector> values); + bool remGoalsWithObject(std::string object_name); + bool remGoalsWithLocation(std::string location); + bool remGoalsRelatedToLocation(std::string location); + bool re_add_goals(mir_planning_msgs::ReAddGoals::Request &req, + mir_planning_msgs::ReAddGoals::Response &res); +}; diff --git a/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/planner_executor.h b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/planner_executor.h new file mode 100644 index 0000000000000000000000000000000000000000..488058b01ea434fed668855eb5c75d63f8bf0b94 --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/planner_executor.h @@ -0,0 +1,43 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +class PlannerExecutor +{ + private: + actionlib::SimpleActionServer server_; + + KnowledgeUpdater *knowledge_updater_; + + ros::Publisher audio_publisher_; + + std::map actions_; + + void announceAction(std::string action_name, std::vector params); + + BaseExecutorAction *getActionExecutor(std::string &name); + + bool checkPlan(const rosplan_dispatch_msgs::CompletePlan &plan); + std::string toUpper(std::string str); + void addActionExecutor(std::string name, BaseExecutorAction *action); + + public: + PlannerExecutor(ros::NodeHandle &nh); + ~PlannerExecutor(); + void executeCallback(); +}; diff --git a/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/to_be_removed_constants.h b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/to_be_removed_constants.h new file mode 100644 index 0000000000000000000000000000000000000000..c5150387db30c82bfd061c7065d9302d23538f86 --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/include/mir_planner_executor/to_be_removed_constants.h @@ -0,0 +1,5 @@ +#pragma once + +#define CAVITY_LOCATION_NAME "PP01" +#define CAVITY_OBJECT_NAME "PP01_CAVITY-00" +#define SHELF_LOCATION_TYPE "SH" diff --git a/data/mir_planning/mir_planner_executor/ros/launch/planner_executor.launch b/data/mir_planning/mir_planner_executor/ros/launch/planner_executor.launch new file mode 100644 index 0000000000000000000000000000000000000000..3b28dd003247435ff75b276030f54bacde231b03 --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/launch/planner_executor.launch @@ -0,0 +1,7 @@ + + + + + + + diff --git a/data/mir_planning/mir_planner_executor/ros/launch/planner_executor_test.launch b/data/mir_planning/mir_planner_executor/ros/launch/planner_executor_test.launch new file mode 100644 index 0000000000000000000000000000000000000000..8c57ec4221d29f03bc35a8ee9c976d0665ad9ea1 --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/launch/planner_executor_test.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/data/mir_planning/mir_planner_executor/ros/src/actions/base_executor_action.cpp b/data/mir_planning/mir_planner_executor/ros/src/actions/base_executor_action.cpp new file mode 100644 index 0000000000000000000000000000000000000000..41d9481d256e3652893fac36601c41f738ecf16e --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/src/actions/base_executor_action.cpp @@ -0,0 +1,29 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#include + +std::string BaseExecutorAction::getValueOf(std::vector &dict, + std::string key) +{ + for (diagnostic_msgs::KeyValue kv : dict) { + if (key.compare(kv.key) == 0) { + return kv.value; + } + } + return ""; +} + +int BaseExecutorAction::getIndexOf(std::vector &dict, std::string key) +{ + for (int i = 0; i < dict.size(); i++) { + if (key.compare(dict[i].key) == 0) { + return i; + } + } + return -1; +} diff --git a/data/mir_planning/mir_planner_executor/ros/src/actions/executor_action.cpp b/data/mir_planning/mir_planner_executor/ros/src/actions/executor_action.cpp new file mode 100644 index 0000000000000000000000000000000000000000..672f581ba6350481683f64a04f4f6961cdc796a2 --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/src/actions/executor_action.cpp @@ -0,0 +1,36 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#include +#include + +void ExecutorAction::initialize(KnowledgeUpdater *knowledge_updater) +{ + knowledge_updater_ = knowledge_updater; +} + +bool ExecutorAction::execute(std::string &name, std::vector ¶ms) +{ + updateParamsBasedOnContext(params); + bool success = run(params); + update_knowledge_base(success, params); + return success; +} + +bool ExecutorAction::run(std::vector ¶ms) +{ + mir_planning_msgs::GenericExecuteGoal goal; + goal.parameters = params; + actionlib::SimpleClientGoalState state = + client_.sendGoalAndWait(goal, ros::Duration(150.0), ros::Duration(5.0)); + if (state == actionlib::SimpleClientGoalState::StateEnum::SUCCEEDED) { + /* auto res = client_.getResult(); */ + /* ROS_INFO_STREAM(*res); */ + return true; + } else + return false; +} diff --git a/data/mir_planning/mir_planner_executor/ros/src/actions/insert/base_insert_action.cpp b/data/mir_planning/mir_planner_executor/ros/src/actions/insert/base_insert_action.cpp new file mode 100644 index 0000000000000000000000000000000000000000..5aeace32c8ea8739daa4b8351920bda2980e03fd --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/src/actions/insert/base_insert_action.cpp @@ -0,0 +1,52 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#include +#include + +void BaseInsertAction::update_knowledge_base(bool success, + std::vector ¶ms) +{ + std::string robot = getValueOf(params, "robot_name"); + std::string platform = getValueOf(params, "platform"); + std::string location = getValueOf(params, "location"); + std::string peg = getValueOf(params, "peg"); + std::string hole = getValueOf(params, "hole"); + if (success) { + knowledge_updater_->addKnowledge("in", {{"peg", peg}, {"hole", hole}}); + knowledge_updater_->remGoal("in", {{"peg", peg}, {"hole", hole}}); + + knowledge_updater_->addKnowledge("on", {{"peg", peg}, {"l", location}}); + knowledge_updater_->remGoal("on", {{"peg", peg}, {"l", location}}); + + knowledge_updater_->addKnowledge("heavy", {{"peg", peg}}); + knowledge_updater_->remGoal("heavy", {{"peg", peg}}); + + knowledge_updater_->addKnowledge("heavy", {{"hole", hole}}); + knowledge_updater_->remGoal("heavy", {{"hole", hole}}); + + knowledge_updater_->remKnowledge("stored", {{"o", peg}, {"rp", platform}}); + + knowledge_updater_->remKnowledge("occupied", {{"rp", platform}}); + } else { + // knowledge_updater_->remKnowledge("perceived", {{"l", location}}); + knowledge_updater_->remGoalsWithObject(peg); + ROS_WARN("Insert failed, remove goals with object \"%s\"", peg.c_str()); + } +} + +void BaseInsertAction::updateParamsBasedOnContext(std::vector ¶ms) +{ + int platform_index = getIndexOf(params, "param_1"); + int location_index = getIndexOf(params, "param_2"); + int peg_index = getIndexOf(params, "param_3"); + int hole_index = getIndexOf(params, "param_4"); + if (platform_index > 0) params[platform_index].key = "platform"; + if (location_index > 0) params[location_index].key = "location"; + if (peg_index > 0) params[peg_index].key = "peg"; + if (hole_index > 0) params[hole_index].key = "hole"; +} diff --git a/data/mir_planning/mir_planner_executor/ros/src/actions/insert/combined_insert_action.cpp b/data/mir_planning/mir_planner_executor/ros/src/actions/insert/combined_insert_action.cpp new file mode 100644 index 0000000000000000000000000000000000000000..9e8c2b31da6b5ff30ff5f59c76424e34fe3c5fd4 --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/src/actions/insert/combined_insert_action.cpp @@ -0,0 +1,38 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#include +#include +#include +#include +#include + +CombinedInsertAction::CombinedInsertAction() +{ + default_insert_ = new InsertAction(); + cavity_insert_ = new InsertCavityAction(); +} + +void CombinedInsertAction::initialize(KnowledgeUpdater *knowledge_updater) +{ + default_insert_->initialize(knowledge_updater); + cavity_insert_->initialize(knowledge_updater); +} + +bool CombinedInsertAction::execute(std::string &name, + std::vector ¶ms) +{ + std::string hole = getValueOf(params, "param_4"); + std::transform(hole.begin(), hole.end(), hole.begin(), ::toupper); + if (hole == CAVITY_OBJECT_NAME) { + ROS_INFO("CombinedInsertAction: CAVITY"); + return cavity_insert_->execute(name, params); + } else { + ROS_INFO("CombinedInsertAction: DEFAULT"); + return default_insert_->execute(name, params); + } +} diff --git a/data/mir_planning/mir_planner_executor/ros/src/actions/insert/insert_action.cpp b/data/mir_planning/mir_planner_executor/ros/src/actions/insert/insert_action.cpp new file mode 100644 index 0000000000000000000000000000000000000000..fc1686ef5073ac323d33a1279282c1bfba4d7a10 --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/src/actions/insert/insert_action.cpp @@ -0,0 +1,13 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#include + +InsertAction::InsertAction() : BaseInsertAction("/insert_object_server") +{ + // client_.waitForServer(); +} diff --git a/data/mir_planning/mir_planner_executor/ros/src/actions/insert/insert_cavity_action.cpp b/data/mir_planning/mir_planner_executor/ros/src/actions/insert/insert_cavity_action.cpp new file mode 100644 index 0000000000000000000000000000000000000000..46d98f6205e387c621ebb0ae8b1b8833b1612395 --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/src/actions/insert/insert_cavity_action.cpp @@ -0,0 +1,13 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#include + +InsertCavityAction::InsertCavityAction() : BaseInsertAction("/insert_cavity_server") +{ + // client_.waitForServer(); +} diff --git a/data/mir_planning/mir_planner_executor/ros/src/actions/move/move_action.cpp b/data/mir_planning/mir_planner_executor/ros/src/actions/move/move_action.cpp new file mode 100644 index 0000000000000000000000000000000000000000..8016b1ae3362fb696d52f2dd91b714d58621c0ab --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/src/actions/move/move_action.cpp @@ -0,0 +1,54 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#include + +MoveAction::MoveAction() : ExecutorAction("/move_base_safe_server") +{ + // client_.waitForServer(); +} + +void MoveAction::update_knowledge_base(bool success, std::vector ¶ms) +{ + std::string robot = getValueOf(params, "robot_name"); + std::string from = getValueOf(params, "source_location"); + std::string to = getValueOf(params, "destination_location"); + int N = 0; + if (success) { + knowledge_updater_->remKnowledge("at", {{"r", robot}, {"l", from}}); + knowledge_updater_->remGoal("at", {{"r", robot}, {"l", to}}); + knowledge_updater_->addKnowledge("at", {{"r", robot}, {"l", to}}); + knowledge_updater_->remKnowledge("perceived", {{"l", from}}); + knowledge_updater_->remKnowledge("perceived", {{"l", to}}); + } else { + int count = 1; + if (failure_count_.find(to) != failure_count_.end()) { + count = failure_count_[to] + 1; + } + ROS_WARN("Move to location \"%s\" failed %d times", to.c_str(), count); + if (count > N) { + knowledge_updater_->remGoalsRelatedToLocation(to); + ROS_WARN("Move failed %d times, remove goals with object from location \"%s\"", count, + to.c_str()); + failure_count_[to] = 0; + } else { + failure_count_[to] = count; + } + } +} + +void MoveAction::updateParamsBasedOnContext(std::vector ¶ms) +{ + int from_index = getIndexOf(params, "param_1"); + int to_index = getIndexOf(params, "param_2"); + if (from_index > 0) { + params[from_index].key = "source_location"; + } + if (to_index > 0) { + params[to_index].key = "destination_location"; + } +} diff --git a/data/mir_planning/mir_planner_executor/ros/src/actions/perceive/base_perceive_action.cpp b/data/mir_planning/mir_planner_executor/ros/src/actions/perceive/base_perceive_action.cpp new file mode 100644 index 0000000000000000000000000000000000000000..8d04d4579499c29e4afa97e56c5c9ce876fc2c1e --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/src/actions/perceive/base_perceive_action.cpp @@ -0,0 +1,29 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#include +#include + +void BasePerceiveAction::update_knowledge_base(bool success, + std::vector ¶ms) +{ + std::string robot = getValueOf(params, "robot_name"); + std::string location = getValueOf(params, "location"); + if (success) { + knowledge_updater_->addKnowledge("perceived", {{"l", location}}); + knowledge_updater_->remGoal("perceived", {{"l", location}}); + } else { + // TODO move base? + return; + } +} + +void BasePerceiveAction::updateParamsBasedOnContext(std::vector ¶ms) +{ + int location_index = getIndexOf(params, "param_1"); + if (location_index > 0) params[location_index].key = "location"; +} diff --git a/data/mir_planning/mir_planner_executor/ros/src/actions/perceive/combined_perceive_action.cpp b/data/mir_planning/mir_planner_executor/ros/src/actions/perceive/combined_perceive_action.cpp new file mode 100644 index 0000000000000000000000000000000000000000..49a04902fc24c52db80e265651e74db6517bfdc2 --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/src/actions/perceive/combined_perceive_action.cpp @@ -0,0 +1,38 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#include +#include +#include +#include +#include + +CombinedPerceiveAction::CombinedPerceiveAction() +{ + default_perceive_ = new PerceiveAction(); + cavity_perceive_ = new PerceiveCavityAction(); +} + +void CombinedPerceiveAction::initialize(KnowledgeUpdater *knowledge_updater) +{ + default_perceive_->initialize(knowledge_updater); + cavity_perceive_->initialize(knowledge_updater); +} + +bool CombinedPerceiveAction::execute(std::string &name, + std::vector ¶ms) +{ + std::string location = getValueOf(params, "param_1"); + std::transform(location.begin(), location.end(), location.begin(), ::toupper); + if (location == CAVITY_LOCATION_NAME) { + ROS_INFO("CombinedPerceiveAction: CAVITY"); + return cavity_perceive_->execute(name, params); + } else { + ROS_INFO("CombinedPerceiveAction: DEFAULT"); + return default_perceive_->execute(name, params); + } +} diff --git a/data/mir_planning/mir_planner_executor/ros/src/actions/perceive/perceive_action.cpp b/data/mir_planning/mir_planner_executor/ros/src/actions/perceive/perceive_action.cpp new file mode 100644 index 0000000000000000000000000000000000000000..69c6200b11ff3b3550208ef06353a43475204057 --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/src/actions/perceive/perceive_action.cpp @@ -0,0 +1,13 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#include + +PerceiveAction::PerceiveAction() : BasePerceiveAction("/perceive_location_server") +{ + // client_.waitForServer(); +} diff --git a/data/mir_planning/mir_planner_executor/ros/src/actions/perceive/perceive_cavity_action.cpp b/data/mir_planning/mir_planner_executor/ros/src/actions/perceive/perceive_cavity_action.cpp new file mode 100644 index 0000000000000000000000000000000000000000..24aee94cb9366db8e5ad0464e5874d0e0f4c9a2f --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/src/actions/perceive/perceive_cavity_action.cpp @@ -0,0 +1,13 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#include + +PerceiveCavityAction::PerceiveCavityAction() : BasePerceiveAction("/perceive_cavity_server") +{ + // client_.waitForServer(); +} diff --git a/data/mir_planning/mir_planner_executor/ros/src/actions/pick/base_pick_action.cpp b/data/mir_planning/mir_planner_executor/ros/src/actions/pick/base_pick_action.cpp new file mode 100644 index 0000000000000000000000000000000000000000..520212f86bc1dceaee34edb17eb2ed1b84286061 --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/src/actions/pick/base_pick_action.cpp @@ -0,0 +1,51 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#include +#include + +void BasePickAction::update_knowledge_base(bool success, + std::vector ¶ms) +{ + std::string robot = getValueOf(params, "robot_name"); + std::string location = getValueOf(params, "location"); + std::string object = getValueOf(params, "object"); + int N = 1; + if (success) { + knowledge_updater_->addKnowledge("holding", {{"r", robot}, {"o", object}}); + knowledge_updater_->remGoal("holding", {{"r", robot}, {"o", object}}); + knowledge_updater_->remKnowledge("on", {{"o", object}, {"l", location}}); + knowledge_updater_->remKnowledge("gripper_is_free", {{"r", robot}}); + } else { + int count = 1; + if (failure_count_.find(object) != failure_count_.end()) { + count = failure_count_[object] + 1; + } + ROS_WARN("Pick for object \"%s\" failed %d times", object.c_str(), count); + if (count > N) { + knowledge_updater_->remGoalsWithObject(object); + knowledge_updater_->remKnowledge("perceived", {{"l", location}}); + ROS_WARN("Pick failed %d times, remove goals with object \"%s\"", count, object.c_str()); + failure_count_[object] = 0; + } else { + knowledge_updater_->remKnowledge("perceived", {{"l", location}}); + failure_count_[object] = count; + } + } +} + +void BasePickAction::updateParamsBasedOnContext(std::vector ¶ms) +{ + int location_index = getIndexOf(params, "param_1"); + int object_index = getIndexOf(params, "param_2"); + if (location_index > 0) { + params[location_index].key = "location"; + } + if (object_index > 0) { + params[object_index].key = "object"; + } +} diff --git a/data/mir_planning/mir_planner_executor/ros/src/actions/pick/combined_pick_action.cpp b/data/mir_planning/mir_planner_executor/ros/src/actions/pick/combined_pick_action.cpp new file mode 100644 index 0000000000000000000000000000000000000000..04399c6c224c8a56c079dfb884b5eabb70e23950 --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/src/actions/pick/combined_pick_action.cpp @@ -0,0 +1,38 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#include +#include +#include +#include +#include + +CombinedPickAction::CombinedPickAction() +{ + default_pick_ = new PickAction(); + pick_from_shelf_ = new PickFromShelfAction(); +} + +void CombinedPickAction::initialize(KnowledgeUpdater *knowledge_updater) +{ + default_pick_->initialize(knowledge_updater); + pick_from_shelf_->initialize(knowledge_updater); +} + +bool CombinedPickAction::execute(std::string &name, std::vector ¶ms) +{ + std::string location = getValueOf(params, "param_1"); + std::transform(location.begin(), location.end(), location.begin(), ::toupper); + std::string location_type = location.substr(0, 2); + if (location_type == SHELF_LOCATION_TYPE) { + ROS_INFO("CombinedPickAction: SHELF"); + return pick_from_shelf_->execute(name, params); + } else { + ROS_INFO("CombinedPickAction: DEFAULT"); + return default_pick_->execute(name, params); + } +} diff --git a/data/mir_planning/mir_planner_executor/ros/src/actions/pick/pick_action.cpp b/data/mir_planning/mir_planner_executor/ros/src/actions/pick/pick_action.cpp new file mode 100644 index 0000000000000000000000000000000000000000..6bd9ea8bf15e45fabb8a6aab83cac217cceef1e2 --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/src/actions/pick/pick_action.cpp @@ -0,0 +1,13 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#include + +PickAction::PickAction() : BasePickAction("/wbc_pick_object_server") +{ + // client_.waitForServer(); +} diff --git a/data/mir_planning/mir_planner_executor/ros/src/actions/pick/pick_from_shelf_action.cpp b/data/mir_planning/mir_planner_executor/ros/src/actions/pick/pick_from_shelf_action.cpp new file mode 100644 index 0000000000000000000000000000000000000000..e3dd94c0f100eff33d1f2c124b4a697db6061b11 --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/src/actions/pick/pick_from_shelf_action.cpp @@ -0,0 +1,13 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#include + +PickFromShelfAction::PickFromShelfAction() : BasePickAction("/pick_from_shelf_server") +{ + // client_.waitForServer(); +} diff --git a/data/mir_planning/mir_planner_executor/ros/src/actions/place/place_action.cpp b/data/mir_planning/mir_planner_executor/ros/src/actions/place/place_action.cpp new file mode 100644 index 0000000000000000000000000000000000000000..b01f6d44de99706768a3e006d1d6b6947f3642ef --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/src/actions/place/place_action.cpp @@ -0,0 +1,45 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#include +#include + +PlaceAction::PlaceAction() : ExecutorAction("/place_object_server") +{ + // client_.waitForServer(); +} + +void PlaceAction::update_knowledge_base(bool success, + std::vector ¶ms) +{ + std::string robot = getValueOf(params, "robot_name"); + std::string location = getValueOf(params, "location"); + std::string object = getValueOf(params, "object"); + if (success) { + knowledge_updater_->addKnowledge("on", {{"o", object}, {"l", location}}); + knowledge_updater_->remGoal("on", {{"o", object}, {"l", location}}); + knowledge_updater_->remKnowledge("holding", {{"r", robot}, {"o", object}}); + knowledge_updater_->addKnowledge("gripper_is_free", {{"r", robot}}); + knowledge_updater_->remGoal("gripper_is_free", {{"r", robot}}); + knowledge_updater_->addKnowledge("perceived", {{"l", location}}); + knowledge_updater_->remGoal("perceived", {{"l", location}}); + } else { + return; + } +} + +void PlaceAction::updateParamsBasedOnContext(std::vector ¶ms) +{ + int location_index = getIndexOf(params, "param_1"); + int object_index = getIndexOf(params, "param_2"); + if (location_index > 0) { + params[location_index].key = "location"; + } + if (object_index > 0) { + params[object_index].key = "object"; + } +} diff --git a/data/mir_planning/mir_planner_executor/ros/src/actions/place_unstage/place_unstage_action.cpp b/data/mir_planning/mir_planner_executor/ros/src/actions/place_unstage/place_unstage_action.cpp new file mode 100644 index 0000000000000000000000000000000000000000..5411105d8030496264f641b93912a95b8acca579 --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/src/actions/place_unstage/place_unstage_action.cpp @@ -0,0 +1,47 @@ +#include +#include + +PlaceUnstageAction::PlaceUnstageAction() : ExecutorAction("/place_unstage_object_server") +{ + // client_.waitForServer(); +} + +void PlaceUnstageAction::update_knowledge_base(bool success, + std::vector ¶ms) +{ + std::string robot = getValueOf(params, "robot_name"); + std::string location = getValueOf(params, "location"); + std::string object = getValueOf(params, "object"); + std::string platform = getValueOf(params, "platform"); + if (success) { + knowledge_updater_->remKnowledge("stored",{{"rp",platform},{"o",object}}); + knowledge_updater_->remKnowledge("occupied",{{"rp",platform}}); + knowledge_updater_->addKnowledge("on", {{"o", object}, {"l", location}}); + knowledge_updater_->addKnowledge("perceived", {{"l", location}}); + knowledge_updater_->addKnowledge("gripper_is_free", {{"r", robot}}); + knowledge_updater_->remGoal("holding", {{"r", robot}, {"o", object}}); + knowledge_updater_->remGoal("on", {{"o", object}, {"l", location}}); + knowledge_updater_->remGoal("gripper_is_free", {{"r", robot}}); + knowledge_updater_->remGoal("perceived", {{"l", location}}); + } else { + return; + } +} + +void PlaceUnstageAction::updateParamsBasedOnContext(std::vector ¶ms) +{ + int location_index = getIndexOf(params, "param_1"); + int object_index = getIndexOf(params, "param_2"); + int platform_index = getIndexOf(params, "param_3"); + + if (platform_index > 0) { + params[platform_index].key = "platform"; + } + if (object_index > 0) { + params[object_index].key = "object"; + } + if (location_index > 0) { + params[location_index].key = "location"; + } +} + diff --git a/data/mir_planning/mir_planner_executor/ros/src/actions/stage/stage_action.cpp b/data/mir_planning/mir_planner_executor/ros/src/actions/stage/stage_action.cpp new file mode 100644 index 0000000000000000000000000000000000000000..044922d8ff1ec02b11c7dbcd15a51419e11f9720 --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/src/actions/stage/stage_action.cpp @@ -0,0 +1,48 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#include +#include + +StageAction::StageAction() : ExecutorAction("/stage_object_server") +{ + // client_.waitForServer(); +} + +void StageAction::update_knowledge_base(bool success, + std::vector ¶ms) +{ + std::string robot = getValueOf(params, "robot_name"); + std::string platform = getValueOf(params, "platform"); + std::string object = getValueOf(params, "object"); + if (success) { + knowledge_updater_->remKnowledge("holding", {{"r", robot}, {"o", object}}); + + knowledge_updater_->addKnowledge("gripper_is_free", {{"r", robot}}); + knowledge_updater_->remGoal("gripper_is_free", {{"r", robot}}); + + knowledge_updater_->addKnowledge("stored", {{"rp", platform}, {"o", object}}); + knowledge_updater_->remGoal("stored", {{"rp", platform}, {"o", object}}); + + knowledge_updater_->addKnowledge("occupied", {{"rp", platform}}); + knowledge_updater_->remGoal("occupied", {{"rp", platform}}); + } else { + return; + } +} + +void StageAction::updateParamsBasedOnContext(std::vector ¶ms) +{ + int platform_index = getIndexOf(params, "param_1"); + int object_index = getIndexOf(params, "param_2"); + if (platform_index > 0) { + params[platform_index].key = "platform"; + } + if (object_index > 0) { + params[object_index].key = "object"; + } +} diff --git a/data/mir_planning/mir_planner_executor/ros/src/actions/unstage/unstage_action.cpp b/data/mir_planning/mir_planner_executor/ros/src/actions/unstage/unstage_action.cpp new file mode 100644 index 0000000000000000000000000000000000000000..2874fc958c767c70754d9726f6d4a42144c2c104 --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/src/actions/unstage/unstage_action.cpp @@ -0,0 +1,44 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#include +#include + +UnstageAction::UnstageAction() : ExecutorAction("/unstage_object_server") +{ + // client_.waitForServer(); +} + +void UnstageAction::update_knowledge_base(bool success, + std::vector ¶ms) +{ + std::string robot = getValueOf(params, "robot_name"); + std::string platform = getValueOf(params, "platform"); + std::string object = getValueOf(params, "object"); + if (success) { + knowledge_updater_->remKnowledge("gripper_is_free", {{"r", robot}}); + knowledge_updater_->remKnowledge("stored", {{"rp", platform}, {"o", object}}); + knowledge_updater_->remKnowledge("occupied", {{"rp", platform}}); + + knowledge_updater_->addKnowledge("holding", {{"r", robot}, {"o", object}}); + knowledge_updater_->remGoal("holding", {{"r", robot}, {"o", object}}); + } else { + return; + } +} + +void UnstageAction::updateParamsBasedOnContext(std::vector ¶ms) +{ + int platform_index = getIndexOf(params, "param_1"); + int object_index = getIndexOf(params, "param_2"); + if (platform_index > 0) { + params[platform_index].key = "platform"; + } + if (object_index > 0) { + params[object_index].key = "object"; + } +} diff --git a/data/mir_planning/mir_planner_executor/ros/src/knowledge_updater.cpp b/data/mir_planning/mir_planner_executor/ros/src/knowledge_updater.cpp new file mode 100644 index 0000000000000000000000000000000000000000..aefde308fd79e2d0c4038d26e8df3ffe55c200b2 --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/src/knowledge_updater.cpp @@ -0,0 +1,171 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#include +#include +#include +#include + +KnowledgeUpdater::KnowledgeUpdater(ros::NodeHandle &nh) +{ + rosplan_update_client_ = nh.serviceClient( + "/rosplan_knowledge_base/update"); + rosplan_get_goals_client_ = nh.serviceClient( + "/rosplan_knowledge_base/state/goals"); + rosplan_get_knowledge_client_ = nh.serviceClient( + "/rosplan_knowledge_base/state/propositions"); + re_add_goals_server_ = nh.advertiseService("re_add_goals", &KnowledgeUpdater::re_add_goals, this); +} +KnowledgeUpdater::~KnowledgeUpdater() {} +bool KnowledgeUpdater::update_knowledge(uint8_t type, std::string name, + std::vector> values) +{ + rosplan_knowledge_msgs::KnowledgeItem msg; + msg.knowledge_type = rosplan_knowledge_msgs::KnowledgeItem::FACT; + msg.instance_type = ""; + msg.instance_name = ""; + msg.attribute_name = name; + msg.function_value = 0.0; + for (auto &p : values) { + diagnostic_msgs::KeyValue kv; + kv.key = p.first; + kv.value = toUpper(p.second); + msg.values.push_back(kv); + } + rosplan_knowledge_msgs::KnowledgeUpdateService srv; + srv.request.update_type = type; + srv.request.knowledge = msg; + return rosplan_update_client_.call(srv); +} + +bool KnowledgeUpdater::remKnowledge(std::string name, + std::vector> values) +{ + return update_knowledge(rosplan_knowledge_msgs::KnowledgeUpdateServiceRequest::REMOVE_KNOWLEDGE, + name, values); +} + +bool KnowledgeUpdater::addKnowledge(std::string name, + std::vector> values) +{ + return update_knowledge(rosplan_knowledge_msgs::KnowledgeUpdateServiceRequest::ADD_KNOWLEDGE, + name, values); +} + +bool KnowledgeUpdater::remGoal(std::string name, + std::vector> values) +{ + return update_knowledge(rosplan_knowledge_msgs::KnowledgeUpdateServiceRequest::REMOVE_GOAL, name, + values); +} + +bool KnowledgeUpdater::addGoal(std::string name, + std::vector> values) +{ + return update_knowledge(rosplan_knowledge_msgs::KnowledgeUpdateServiceRequest::ADD_GOAL, name, + values); +} + +bool KnowledgeUpdater::remGoalsWithObject(std::string object_name) +{ + rosplan_knowledge_msgs::GetAttributeService srv; + if (!rosplan_get_goals_client_.call(srv)) { + ROS_ERROR("Failed to call rosplan GetAttributeService"); + return false; + } + const std::vector &goals = srv.response.attributes; + for (auto const &goal : goals) { + for (auto const &item : goal.values) { + if ((toUpper(item.key) == toUpper("o") || toUpper(item.key) == toUpper("peg")) && + (toUpper(item.value) == toUpper(object_name))) { + rosplan_knowledge_msgs::KnowledgeUpdateService srv_del; + srv_del.request.update_type = + rosplan_knowledge_msgs::KnowledgeUpdateServiceRequest::REMOVE_GOAL; + srv_del.request.knowledge = goal; + if (!rosplan_update_client_.call(srv_del)) { + return false; + } + removed_goals_.push_back(goal); + break; + } + } + } + return true; +} + +bool KnowledgeUpdater::remGoalsWithLocation(std::string location) +{ + rosplan_knowledge_msgs::GetAttributeService srv; + if (!rosplan_get_goals_client_.call(srv)) { + ROS_ERROR("Failed to call rosplan GetAttributeService"); + return false; + } + const std::vector &goals = srv.response.attributes; + for (auto const &goal : goals) { + for (auto const &item : goal.values) { + if (toUpper(item.key) == toUpper("l") && (toUpper(item.value) == toUpper(location))) { + rosplan_knowledge_msgs::KnowledgeUpdateService srv_del; + srv_del.request.update_type = + rosplan_knowledge_msgs::KnowledgeUpdateServiceRequest::REMOVE_GOAL; + srv_del.request.knowledge = goal; + if (!rosplan_update_client_.call(srv_del)) { + return false; + } + removed_goals_.push_back(goal); + break; + } + } + } + return true; +} + +bool KnowledgeUpdater::remGoalsRelatedToLocation(std::string location) +{ + remGoalsWithLocation(location); + rosplan_knowledge_msgs::GetAttributeService srv; + if (!rosplan_get_knowledge_client_.call(srv)) { + ROS_ERROR("Failed to call rosplan GetAttributeService"); + return false; + } + const std::vector &facts = srv.response.attributes; + for (auto const &fact : facts) { + std::string name = fact.attribute_name; + if (toUpper(name) == toUpper("on")) { + std::string o = fact.values[0].value; + std::string l = fact.values[1].value; + if (toUpper(location) == toUpper(l)) { + remGoalsWithObject(o); + } + } + } + return true; +} + +bool KnowledgeUpdater::re_add_goals(mir_planning_msgs::ReAddGoals::Request &req, + mir_planning_msgs::ReAddGoals::Response &res) +{ + ROS_INFO("Going to re-add removed goals!"); + while (!removed_goals_.empty()) { + auto goal = removed_goals_[0]; + rosplan_knowledge_msgs::KnowledgeUpdateService srv_add; + srv_add.request.update_type = rosplan_knowledge_msgs::KnowledgeUpdateServiceRequest::ADD_GOAL; + srv_add.request.knowledge = goal; + if (!rosplan_update_client_.call(srv_add)) { + res.success = false; + return false; + } + removed_goals_.erase(removed_goals_.begin()); + } + res.success = true; + return true; +} + +std::string KnowledgeUpdater::toUpper(std::string str) +{ + std::transform(str.begin(), str.end(), str.begin(), ::toupper); + return str; +} diff --git a/data/mir_planning/mir_planner_executor/ros/src/planner_executor.cpp b/data/mir_planning/mir_planner_executor/ros/src/planner_executor.cpp new file mode 100644 index 0000000000000000000000000000000000000000..ff611a89296a849490c1b78f7e42d4cd5c90d0fc --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/src/planner_executor.cpp @@ -0,0 +1,178 @@ +/* + * Copyright [2017] + * + * Author: Torsten Jandt + * + */ + +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +// #include + +PlannerExecutor::PlannerExecutor(ros::NodeHandle &nh) : server_(nh, "execute_plan", false) +{ + server_.registerGoalCallback(boost::bind(&PlannerExecutor::executeCallback, this)); + server_.start(); + + ros::NodeHandle private_nh("~"); + knowledge_updater_ = new KnowledgeUpdater(nh); + + // audio_publisher_ = + // private_nh.advertise("/mir_audio_receiver/tts_request", + // 1); + + addActionExecutor("PICK", new CombinedPickAction()); + addActionExecutor("PLACE", new PlaceAction()); + addActionExecutor("STAGE", new StageAction()); + addActionExecutor("UNSTAGE", new UnstageAction()); + addActionExecutor("MOVE_BASE", new MoveAction()); + addActionExecutor("INSERT", new CombinedInsertAction()); + addActionExecutor("PERCEIVE", new CombinedPerceiveAction()); + addActionExecutor("PLACE_UNSTAGE", new PlaceUnstageAction()); + ROS_INFO("Node initialized. PlannerExecutor is available!!!"); +} + +PlannerExecutor::~PlannerExecutor() {} +void PlannerExecutor::addActionExecutor(std::string name, BaseExecutorAction *action) +{ + actions_[toUpper(name)] = action; + action->initialize(knowledge_updater_); +} + +void PlannerExecutor::executeCallback() +{ + const mir_planning_msgs::ExecutePlanGoalConstPtr &msg_goal = server_.acceptNewGoal(); + const rosplan_dispatch_msgs::CompletePlan &plan = msg_goal->plan; + const std::vector &actions = plan.plan; + ROS_INFO("Got plan, %d actions", (unsigned int)actions.size()); + + bool result = checkPlan(plan); + if (!result) { + ROS_ERROR("Plan check failed. Execution fails"); + mir_planning_msgs::ExecutePlanResult msg_result; + msg_result.success = false; + server_.setAborted(msg_result); + return; + } + ROS_INFO("Plan seems to be valid"); + + int num_of_actions = actions.size(); + for (int i = 0; i < num_of_actions; i++) { + auto const &action = actions[i]; + + if (server_.isPreemptRequested()) { + ROS_WARN("Preemption is requested. Stopping execution."); + mir_planning_msgs::ExecutePlanResult msg_result; + msg_result.success = false; + server_.setPreempted(msg_result); + return; + } + + std::vector params = action.parameters; + + /* add info about next action */ + if (i + 1 < num_of_actions) { + std::string next_action_name = actions[i + 1].name; + diagnostic_msgs::KeyValue next_action; + next_action.key = "next_action"; + next_action.value = next_action_name; + params.push_back(next_action); + if (next_action_name == "PICK" || next_action_name == "INSERT") { + std::string next_object = actions[i + 1].parameters[2].value; + diagnostic_msgs::KeyValue next_object_param; + next_object_param.key = "next_object"; + next_object_param.value = next_object; + params.push_back(next_object_param); + } + } + + std::string action_name = toUpper(action.name); + announceAction(action_name, params); + + BaseExecutorAction *executor = getActionExecutor(action_name); + bool res = executor->execute(action_name, params); + + if (!res) { + ROS_WARN("\nAction \"%s\" failed, abort plan execution\n", action_name.c_str()); + mir_planning_msgs::ExecutePlanResult msg_result; + msg_result.success = false; + server_.setAborted(msg_result); + return; + } + ROS_INFO("Finished action \"%s\"\n", action_name.c_str()); + } + ROS_INFO("Plan execution finished"); + mir_planning_msgs::ExecutePlanResult msg_result; + msg_result.success = true; + server_.setSucceeded(msg_result); +} + +bool PlannerExecutor::checkPlan(const rosplan_dispatch_msgs::CompletePlan &plan) +{ + const std::vector &actions = plan.plan; + for (auto const &action : actions) { + std::string action_name = toUpper(action.name); + if (!actions_.count(action_name)) { + ROS_ERROR( + "Failed to find action executor with name \"%s\" required by " + "the plan.", + action_name.c_str()); + return false; + } + } + return true; +} + +void PlannerExecutor::announceAction(std::string action_name, + std::vector params) +{ + /* announce action with text */ + std::cout << std::endl << std::endl << std::endl << std::endl << std::endl; + ROS_INFO("Executing action \"%s\"", action_name.c_str()); + ROS_INFO("Parameters :"); + for (diagnostic_msgs::KeyValue kw : params) { + ROS_INFO_STREAM(" " << kw.key << ": " << kw.value); + } + + /* announce action with audio */ +/* mir_audio_receiver::AudioMessage audio_msg; + std::string action_name_string(action_name.c_str()); + std::replace(action_name_string.begin(), action_name_string.end(), '_', ' '); + ROS_INFO("Announcing action \"%s\"", action_name_string.c_str()); + std::string audio_message_string = "Executing action " + action_name_string; + audio_msg.message = audio_message_string; + audio_publisher_.publish(audio_msg); */ +} + +std::string PlannerExecutor::toUpper(std::string str) +{ + std::transform(str.begin(), str.end(), str.begin(), ::toupper); + return str; +} + +BaseExecutorAction *PlannerExecutor::getActionExecutor(std::string &name) +{ + return actions_[toUpper(name)]; +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "planner_executor"); + + ros::NodeHandle nh; + + PlannerExecutor planner_executor(nh); + + ros::spin(); + return 0; +} diff --git a/data/mir_planning/mir_planner_executor/ros/test/planner_executor_mockup b/data/mir_planning/mir_planner_executor/ros/test/planner_executor_mockup new file mode 100644 index 0000000000000000000000000000000000000000..d88fb4085e670ed1f099742701568fa0a1f53e04 --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/test/planner_executor_mockup @@ -0,0 +1,97 @@ +#! /usr/bin/env python + +from __future__ import print_function + +import rospy +from actionlib import SimpleActionServer +from diagnostic_msgs.msg import KeyValue +from mir_planning_msgs.msg import GenericExecuteAction, GenericExecuteResult + + +class PlannerExecutorMockup(object): + + """Mockup servers for planner executor testing""" + + _server_topics = [ + "/move_base_safe_server", + "/place_object_server", + "/perceive_location_server", + "/perceive_cavity_server", + "/wbc_pick_object_server", + "pick_from_shelf_server", + "/stage_object_server", + "/unstage_object_server", + "/insert_object_server", + "/insert_cavity_server", + ] + + def __init__(self): + self._action_servers = [] + self.start_servers() + rospy.loginfo(str(len(self._action_servers)) + " servers started") + + def start_servers(self): + """ Start action servers for each topic in self.server_topics + + :returns: None + + """ + for i, server_topic in enumerate(self._server_topics): + cb_name = "server_execute_cb_" + str(i) + if hasattr(self, cb_name) and callable(getattr(self, cb_name)): + action_server = SimpleActionServer( + server_topic, GenericExecuteAction, getattr(self, cb_name), False + ) + action_server.start() + self._action_servers.append(action_server) + else: + rospy.logerr("Ran out of callback functions") + + def server_execute_cb_0(self, goal): + self.server_execute_cb(goal, 0) + + def server_execute_cb_1(self, goal): + self.server_execute_cb(goal, 1) + + def server_execute_cb_2(self, goal): + self.server_execute_cb(goal, 2) + + def server_execute_cb_3(self, goal): + self.server_execute_cb(goal, 3) + + def server_execute_cb_4(self, goal): + self.server_execute_cb(goal, 4) + + def server_execute_cb_5(self, goal): + self.server_execute_cb(goal, 5) + + def server_execute_cb_6(self, goal): + self.server_execute_cb(goal, 6) + + def server_execute_cb_7(self, goal): + self.server_execute_cb(goal, 7) + + def server_execute_cb_8(self, goal): + self.server_execute_cb(goal, 8) + + def server_execute_cb_9(self, goal): + self.server_execute_cb(goal, 9) + + def server_execute_cb(self, goal, action_server_index): + print("\n", "=" * 30) + print('Mockup: "' + self._server_topics[action_server_index] + '"') + for param in goal.parameters: + if param.key != "next_action": + print(param.key, ":", param.value) + plan_result = GenericExecuteResult() + success = input("Succeed? (y|n)[y]? ") + if success in ["", "y", "Y"]: + self._action_servers[action_server_index].set_succeeded(plan_result) + else: + self._action_servers[action_server_index].set_aborted() + + +if __name__ == "__main__": + rospy.init_node("planner_executor_mockup") + MOCKUP = PlannerExecutorMockup() + rospy.spin() diff --git a/data/mir_planning/mir_planner_executor/ros/test/planner_executor_test b/data/mir_planning/mir_planner_executor/ros/test/planner_executor_test new file mode 100644 index 0000000000000000000000000000000000000000..2473d5924d1d93819b593b352595d8f51fecc4be --- /dev/null +++ b/data/mir_planning/mir_planner_executor/ros/test/planner_executor_test @@ -0,0 +1,72 @@ +#! /usr/bin/env python + +from __future__ import print_function + +import rospy +from actionlib import SimpleActionClient +from mir_planning_msgs.msg import ExecutePlanAction, ExecutePlanGoal, ExecutePlanResult +from rosplan_dispatch_msgs.msg import CompletePlan + +from mir_task_planning.utils import Utils + +# This is a made up plan which has all 7 actions +PLAN = """\ +(move_base youbot-brsu start ws04) +(perceive youbot-brsu ws04) +(pick youbot-brsu ws04 axis-00) +(stage youbot-brsu platform_left axis-00) +(pick youbot-brsu ws04 motor-00) +(stage youbot-brsu platform_middle motor-00) +(move_base youbot-brsu ws04 sh01) +(perceive youbot-brsu sh01) +(pick youbot-brsu sh01 m20_100-00) +(stage youbot-brsu platform_left m20_100-00) +(move_base youbot-brsu ws04 pp01) +(perceive youbot-brsu pp01) +(insert youbot-brsu platform_left pp01 axis-00 pp01_cavity) +(move_base youbot-brsu pp01 ws01) +(perceive youbot-brsu ws01) +(insert youbot-brsu platform_left ws01 m20_100-00 container_box_blue-00) +(move_base youbot-brsu ws01 ws06) +(unstage youbot-brsu platform_right motor-00) +(place youbot-brsu ws06 motor-00)""" + +SMALL_PLAN = """\ +(move_base youbot-brsu start ws04) +(perceive youbot-brsu ws04)""" + + +def get_complete_plan_from_string(string): + """Create and return CompletePlan obj from a multiline string + + :string: string + :returns: rosplan_dispatch_msgs/CompletePlan + + """ + complete_plan = CompletePlan() + for line_num, line in enumerate(string.split("\n")): + action_msg = Utils.get_action_msg_from_string(line, line_num + 1) + complete_plan.plan.append(action_msg) + return complete_plan + + +def main(): + complete_plan = get_complete_plan_from_string(PLAN) + # complete_plan = get_complete_plan_from_string(SMALL_PLAN) + planner_executor_client = SimpleActionClient( + "/task_planning/execute_plan", ExecutePlanAction + ) + rospy.loginfo("Waiting for planner executor...") + planner_executor_client.wait_for_server() + rospy.loginfo("Wait complete. Sending goal.") + goal = ExecutePlanGoal(plan=complete_plan) + planner_executor_client.send_goal(goal) + planner_executor_client.wait_for_result() + result = planner_executor_client.get_result() + rospy.loginfo("Got result") + print(result) + + +if __name__ == "__main__": + rospy.init_node("planner_executor_test") + main() diff --git a/data/mir_planning/mir_planning/CMakeLists.txt b/data/mir_planning/mir_planning/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..cf22ebb305cc894067bdf94664a2fc263509c2aa --- /dev/null +++ b/data/mir_planning/mir_planning/CMakeLists.txt @@ -0,0 +1,18 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_planning) + +find_package(catkin REQUIRED + COMPONENTS + mir_task_planning + mir_planner_executor + mir_planning_bringup + mir_planning_core + mir_planning_msgs + mir_knowledge_base_analyzer + mir_refbox_parser + mir_actions + mir_knowledge + mir_pddl_problem_generator +) + +catkin_metapackage() diff --git a/data/mir_planning/mir_planning/package.xml b/data/mir_planning/mir_planning/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..1294881a93f27dbdc30025b693e1f1097139e878 --- /dev/null +++ b/data/mir_planning/mir_planning/package.xml @@ -0,0 +1,30 @@ + + + mir_planning + 0.0.1 + Components for planning for at work domain + GPLv3 + + Oscar Lima + Torsten Jandt + Dharmin B. + + Torsten Jandt + + catkin + + mir_task_planning + mir_planner_executor + mir_planning_bringup + mir_planning_core + mir_planning_msgs + mir_knowledge_base_analyzer + mir_refbox_parser + mir_actions + mir_knowledge + mir_pddl_problem_generator + + + + + diff --git a/data/mir_planning/mir_planning_bringup/CMakeLists.txt b/data/mir_planning/mir_planning_bringup/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..07904207314092abf802aaae6cf7b7f03ed4b914 --- /dev/null +++ b/data/mir_planning/mir_planning_bringup/CMakeLists.txt @@ -0,0 +1,181 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_planning_bringup) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a run_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if you package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES mir_planning_bringup +# CATKIN_DEPENDS other_catkin_pkg +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +# include_directories(include) + +## Declare a C++ library +# add_library(mir_planning_bringup +# src/${PROJECT_NAME}/mir_planning_bringup.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(mir_planning_bringup ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +# add_executable(mir_planning_bringup_node src/mir_planning_bringup_node.cpp) + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(mir_planning_bringup_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(mir_planning_bringup_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS mir_planning_bringup mir_planning_bringup_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_mir_planning_bringup.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/data/mir_planning/mir_planning_bringup/package.xml b/data/mir_planning/mir_planning_bringup/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..7db43f8ec93fef0ce6416f77eff3d2151297884f --- /dev/null +++ b/data/mir_planning/mir_planning_bringup/package.xml @@ -0,0 +1,50 @@ + + + mir_planning_bringup + 0.0.0 + The mir_planning_bringup package + + + + + oscar + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + + + + + + + \ No newline at end of file diff --git a/data/mir_planning/mir_planning_bringup/ros/config/debug_topics.yaml b/data/mir_planning/mir_planning_bringup/ros/config/debug_topics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5d2a0c90e5ddbf3cccf4c57f0e42264470a6fc67 --- /dev/null +++ b/data/mir_planning/mir_planning_bringup/ros/config/debug_topics.yaml @@ -0,0 +1,241 @@ +/arm_moveit_client/event_in +/arm_moveit_client/event_out +/barrier_tape/scan +/base_motion_calculator/event_in +/base_motion_calculator/event_out +/base_motion_calculator/pose_out_1 +/dashboard/platform_state +/dashboard/power_state +/diagnostics +/gripper_controller/grasp_monitor/event_in +/gripper_controller/grasp_monitor/event_out +/gripper_moveit_client/event_in +/gripper_moveit_client/event_out +/insert_object_in_cavity_server/cancel +/insert_object_in_cavity_server/feedback +/insert_object_in_cavity_server/goal +/insert_object_in_cavity_server/result +/insert_object_in_cavity_server/status +/insert_object_server/cancel +/insert_object_server/feedback +/insert_object_server/goal +/insert_object_server/result +/insert_object_server/status +/knowledge_base_analyzer/pending_goals/event_in +/knowledge_base_analyzer/pending_goals/event_out +/map +/mcr_common/dynamic_reconfigure_client/event_in +/mcr_common/dynamic_reconfigure_client/event_out +/mcr_common/twist_to_motion_direction_conversion/event_in +/mcr_navigation/collision_velocity_filter/event_out +/mcr_navigation/direct_base_controller/coordinator/event_in +/mcr_navigation/direct_base_controller/coordinator/event_out +/mcr_navigation/direct_base_controller/pose_converter/converted_pose +/mcr_navigation/direct_base_controller/pose_converter/event_in +/mcr_navigation/direct_base_controller/pose_error_calculator/event_in +/mcr_navigation/direct_base_controller/pose_error_calculator/event_out +/mcr_navigation/direct_base_controller/pose_error_monitor/event_in +/mcr_navigation/direct_base_controller/pose_error_monitor/event_out +/mcr_navigation/direct_base_controller/twist_controller/event_in +/mcr_navigation/direct_base_controller/twist_controller/event_out +/mcr_navigation/direct_base_controller/twist_limiter/event_in +/mcr_navigation/direct_base_controller/twist_limiter/event_out +/mcr_navigation/direct_base_controller/twist_synchronizer/event_in +/mcr_navigation/direct_base_controller/twist_synchronizer/event_out +/mir_perception/barrier_tape_detection/event_in +/mcr_perception/cavity_finder/input/event_in +/mcr_perception/cavity_finder/output/depth_debug_image +/mcr_perception/cavity_finder/output/event_out +/mcr_perception/cavity_finder/output/pointclouds +/mcr_perception/cavity_finder/output/pointclouds_combined +/mcr_perception/cavity_finder/output/pose +/mcr_perception/cavity_finder/output/rgb_debug_image +/mcr_perception/cavity_pose_selector/cavity +/mcr_perception/cavity_pose_selector/event_in +/mcr_perception/cavity_pose_selector/event_out +/mcr_perception/cavity_pose_selector/object_name +/mcr_perception/cloud_accumulator/event_in +/mcr_perception/cloud_accumulator/event_out +/mcr_perception/cloud_accumulator/output +/mcr_perception/convex_hull/output +/mcr_perception/convex_hull/output_polygon +/mcr_perception/multimodal_object_identification/input/event_in +/mcr_perception/multimodal_object_identification/input/recognized_objects_list +/mcr_perception/multimodal_object_identification/output/event_out +/mcr_perception/multimodal_object_identification/output/platform_pointcloud +/mcr_perception/multimodal_object_identification/output/pointclouds_combined +/mcr_perception/multimodal_object_identification/output/pose +/mcr_perception/multimodal_object_identification/output/rgb_debug_image +/mcr_perception/multimodal_object_identification/output/segmented_object_debug_image +/mcr_perception/mux_pointcloud/event_in +/mcr_perception/mux_pointcloud/event_out +/mcr_perception/object_detector/event_in +/mcr_perception/object_detector/event_out +/mcr_perception/object_detector/object_list +/mcr_perception/object_list_merger/event_in +/mcr_perception/object_list_merger/event_out +/mcr_perception/object_list_merger/output_object_list +/mcr_perception/object_selector/event_in +/mcr_perception/object_selector/event_out +/mcr_perception/object_selector/input/object_name +/mcr_perception/object_selector/output/object +/mcr_perception/object_selector/output/object_name +/mcr_perception/object_selector/output/object_pose +/mcr_perception/place_pose_selector/event_in +/mcr_perception/place_pose_selector/event_out +/mcr_perception/place_pose_selector/place_pose +/mcr_perception/place_pose_selector/platform_name +/mcr_perception/tabletop_cloud_accumulator/accumulated_cloud +/mcr_perception/tabletop_cloud_clusterer/tabletop_clusters +/mcr_perception/transform/output +/mcr_perception/workspace_finder/event_in +/mcr_perception/workspace_finder/event_out +/mcr_perception/workspace_finder/polygon +/mcr_task_planning/mercury_planner/event_in +/mcr_task_planning/mercury_planner/event_out +/mcr_tools/rosbag_recorder/event_in +/mir_knowledge_base_analyzer/knowledge_base_queries/event_out +/mir_knowledge_base_analyzer/knowledge_base_queries/objects_at_location +/mir_knowledge_base_analyzer/knowledge_base_queries/query +/mir_knowledge_base_analyzer/knowledge_base_queries/query_param +/mir_knowledge_base_analyzer/knowledge_base_queries/robot_location +/mir_manipulation/look_at_point/event_in +/mir_pregrasp_planner_pipeline/pose_out +/move_arm_planned/event_in +/move_arm_planned/event_out +/move_arm_planned/joint_position_monitor/configuration +/move_arm_planned/joint_position_monitor/event_in +/move_arm_planned/joint_position_monitor/event_out +/move_arm_planned_motion/event_in +/move_base/DWAPlannerROS/global_plan +/move_base/DWAPlannerROS/local_plan +/move_base/GlobalPlannerWithOrientations/plan +/move_base/GlobalPlannerWithOrientations/potential +/move_base/cancel +/move_base/current_goal +/move_base/feedback +/move_base/force_field_recovery/force_field_vector +/move_base/force_field_recovery/obstacle_cloud +/move_base/force_field_recovery/obstacle_neighborhood +/move_base/global_costmap/costmap +/move_base/goal +/move_base/local_costmap/costmap +/move_base/result +/move_base/status +/move_base_safe_server/cancel +/move_base_safe_server/feedback +/move_base_safe_server/goal +/move_base_safe_server/result +/move_base_safe_server/status +/move_base_simple/goal +/move_base_wrapper/event_in +/move_base_wrapper/event_out +/move_base_wrapper/pose_in +/move_base_wrapper/pose_out +/move_group/cancel +/odom +/particlecloud +/perceive_cavity_server/cancel +/perceive_cavity_server/feedback +/perceive_cavity_server/goal +/perceive_cavity_server/result +/perceive_cavity_server/status +/perceive_location_server/cancel +/perceive_location_server/feedback +/perceive_location_server/goal +/perceive_location_server/result +/perceive_location_server/status +/place_object_server/cancel +/place_object_server/feedback +/place_object_server/goal +/place_object_server/result +/place_object_server/status +/pregrasp_pipeline_pose_selector/event_in +/pregrasp_pipeline_pose_selector/event_out +/pregrasp_pipeline_pose_selector/goal_pose +/pregrasp_pipeline_pose_selector/joint_configuration +/pregrasp_pipeline_pose_selector/joint_configuration_prepregrasp +/pregrasp_pipeline_pose_selector/offset_pose +/pregrasp_planner_pipeline/event_in +/pregrasp_planner_pipeline/event_out +/pregrasp_planner_pipeline/grasp_planner/event_in +/pregrasp_planner_pipeline/grasp_planner/event_out +/pregrasp_planner_pipeline/grasp_planner/pose_out +/pregrasp_planner_pipeline/grasp_planner/sampling_parameters +/pregrasp_planner_pipeline/grasp_type +/pregrasp_planner_pipeline/pose_generator/event_in +/pregrasp_planner_pipeline/pose_generator/event_out +/pregrasp_planner_pipeline/pose_generator/poses_list +/pregrasp_planner_pipeline/pose_transformer/event_in +/pregrasp_planner_pipeline/pose_transformer/event_out +/pregrasp_planner_pipeline/pose_transformer/transformed_pose +/realsense_node/health_status +/refbox_parser/event_in +/refbox_parser/event_out +/rosout +/rosout_agg +/scan_combined +/scan_front +/scan_rear +/stage_object_server/cancel +/stage_object_server/feedback +/stage_object_server/goal +/stage_object_server/result +/stage_object_server/status +/static_transform_publisher_node/event_in +/task_planning/execute_plan/cancel +/task_planning/execute_plan/feedback +/task_planning/execute_plan/goal +/task_planning/execute_plan/result +/task_planning/execute_plan/status +/task_planning/load_plan/cancel +/task_planning/load_plan/feedback +/task_planning/load_plan/goal +/task_planning/load_plan/result +/task_planning/load_plan/status +/task_planning/pddl_problem_generator_node/event_in +/task_planning/pddl_problem_generator_node/event_out +/task_planning/plan_success_analizer/event_in +/task_planning/plan_success_analizer/event_out +/tf +/tf_static +/unstage_object_server/cancel +/unstage_object_server/feedback +/unstage_object_server/goal +/unstage_object_server/result +/unstage_object_server/status +/upload_knowledge/event_in +/visualization_marker +/visualization_marker_array +/waypoint_trajectory_generation/event_in +/waypoint_trajectory_generation/event_out +/wbc/mcr_navigation/direct_base_controller/coordinator/event_in +/wbc/mcr_navigation/direct_base_controller/coordinator/event_out +/wbc/mcr_navigation/direct_base_controller/pose_error_calculator/event_in +/wbc/mcr_navigation/direct_base_controller/pose_error_calculator/event_out +/wbc/mcr_navigation/direct_base_controller/pose_error_monitor/event_in +/wbc/mcr_navigation/direct_base_controller/pose_error_monitor/event_out +/wbc/mcr_navigation/direct_base_controller/pose_transformer_trigger/event_in +/wbc/mcr_navigation/direct_base_controller/twist_controller/event_in +/wbc/mcr_navigation/direct_base_controller/twist_controller/event_out +/wbc/mcr_navigation/direct_base_controller/twist_limiter/event_in +/wbc/mcr_navigation/direct_base_controller/twist_limiter/event_out +/wbc/mcr_navigation/direct_base_controller/twist_synchronizer/event_in +/wbc/mcr_navigation/direct_base_controller/twist_synchronizer/event_out +/wbc_base_motion_calculator_pipeline/pose_transformer/transformed_pose +/wbc_pick_object_server/cancel +/wbc_pick_object_server/feedback +/wbc_pick_object_server/goal +/wbc_pick_object_server/result +/wbc_pick_object_server/status +/whole_body_motion_calculator_pipeline/event_in +/whole_body_motion_calculator_pipeline/event_out +/whole_body_motion_calculator_pipeline/pose_out +/whole_body_motion_calculator_pipeline/pose_selector/event_in +/whole_body_motion_calculator_pipeline/pose_selector/event_out +/whole_body_motion_calculator_pipeline/pose_transformer/event_in +/whole_body_motion_calculator_pipeline/pose_transformer/event_out +/whole_body_motion_calculator_pipeline/pose_transformer/transformed_pose +/whole_body_motion_calculator_pipeline/whole_body_motion_calculator/event_in +/whole_body_motion_calculator_pipeline/whole_body_motion_calculator/event_out +/mir_perception/barrier_tape_detection/output/yellow_barrier_tape_pose_array diff --git a/data/mir_planning/mir_planning_bringup/ros/config/logging_topics.yaml b/data/mir_planning/mir_planning_bringup/ros/config/logging_topics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bf96e02327582f13f3c6cd081c2dcde2f6d15127 --- /dev/null +++ b/data/mir_planning/mir_planning_bringup/ros/config/logging_topics.yaml @@ -0,0 +1,10 @@ +/rockin/robot_pose +/rockin/marker_pose +/rockin/trajectory +/rockin/rgb/camera_info +/rockin/depth/camera_info +/rockin/depth/pointcloud +/rockin/scan_0 +/rockin/scan_1 +/tf +/rockin/notification diff --git a/data/mir_planning/mir_planning_bringup/ros/launch/bnt.launch b/data/mir_planning/mir_planning_bringup/ros/launch/bnt.launch new file mode 100644 index 0000000000000000000000000000000000000000..af6dd63c1ab19591645c5c3961e677de7b7d114c --- /dev/null +++ b/data/mir_planning/mir_planning_bringup/ros/launch/bnt.launch @@ -0,0 +1,59 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_planning/mir_planning_bringup/ros/launch/debug_logging.launch b/data/mir_planning/mir_planning_bringup/ros/launch/debug_logging.launch new file mode 100644 index 0000000000000000000000000000000000000000..a2a384d1b65bcd39f25b868151d83b8a644e1916 --- /dev/null +++ b/data/mir_planning/mir_planning_bringup/ros/launch/debug_logging.launch @@ -0,0 +1,14 @@ + + + + + + + + + + + + + diff --git a/data/mir_planning/mir_planning_bringup/ros/launch/logging.launch b/data/mir_planning/mir_planning_bringup/ros/launch/logging.launch new file mode 100644 index 0000000000000000000000000000000000000000..bac755c48d11a6665a1f2bd5abd9d95f7e7bcecb --- /dev/null +++ b/data/mir_planning/mir_planning_bringup/ros/launch/logging.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/data/mir_planning/mir_planning_bringup/ros/launch/robot.launch b/data/mir_planning/mir_planning_bringup/ros/launch/robot.launch new file mode 100644 index 0000000000000000000000000000000000000000..6b9d90447e9a916122f2170f50a8f5894a0edd23 --- /dev/null +++ b/data/mir_planning/mir_planning_bringup/ros/launch/robot.launch @@ -0,0 +1,178 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_planning/mir_planning_core/CMakeLists.txt b/data/mir_planning/mir_planning_core/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..ac621d2d4be5d670ab05d1111f15afc10ac127a1 --- /dev/null +++ b/data/mir_planning/mir_planning_core/CMakeLists.txt @@ -0,0 +1,12 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_planning_core) + +find_package(catkin REQUIRED + COMPONENTS + mir_planning_msgs +) + +catkin_package( + CATKIN_DEPENDS + mir_planning_msgs +) diff --git a/data/mir_planning/mir_planning_core/package.xml b/data/mir_planning/mir_planning_core/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..4c290f79786e40bf895a2c6ab058cc2b98a25add --- /dev/null +++ b/data/mir_planning/mir_planning_core/package.xml @@ -0,0 +1,18 @@ + + + mir_planning_core + 1.0.0 + + handles plan generation, execution, monitoring and replanning (if needed) + + + GPLv3 + + Oscar Lima + Oscar Lima + + catkin + + mir_planning_msgs + + diff --git a/data/mir_planning/mir_planning_core/ros/launch/task_planning_components.launch b/data/mir_planning/mir_planning_core/ros/launch/task_planning_components.launch new file mode 100644 index 0000000000000000000000000000000000000000..42644d17363e2dd1fcb0ee5262ede496f9177a03 --- /dev/null +++ b/data/mir_planning/mir_planning_core/ros/launch/task_planning_components.launch @@ -0,0 +1,66 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_planning/mir_planning_core/ros/launch/task_planning_sm.launch b/data/mir_planning/mir_planning_core/ros/launch/task_planning_sm.launch new file mode 100644 index 0000000000000000000000000000000000000000..b94b0f7fa8490e08189576a80c5a49b931558de6 --- /dev/null +++ b/data/mir_planning/mir_planning_core/ros/launch/task_planning_sm.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/data/mir_planning/mir_planning_core/ros/scripts/planning_coordinator_sm.py b/data/mir_planning/mir_planning_core/ros/scripts/planning_coordinator_sm.py new file mode 100644 index 0000000000000000000000000000000000000000..0b1e5921e035265b894fdba50b4bcbe46158334f --- /dev/null +++ b/data/mir_planning/mir_planning_core/ros/scripts/planning_coordinator_sm.py @@ -0,0 +1,294 @@ +#!/usr/bin/env python + +import os +import sys +import threading + +# import of generic states +import mcr_states.common.basic_states as gbs +import mir_states.common.action_states as gas +import rospy +import smach +from actionlib import SimpleActionClient +from actionlib_msgs.msg import GoalStatus +from mir_planning_msgs.msg import ( + ExecutePlanAction, + ExecutePlanGoal, + PlanAction, + PlanGoal, +) +from mir_planning_msgs.srv import ReAddGoals +from std_msgs.msg import String + +from mir_audio_receiver.msg import AudioMessage +# =============================================================================== + + +class re_add_goals(smach.State): + def __init__(self): + smach.State.__init__(self, outcomes=["success", "failure"]) + rospy.wait_for_service("/task_planning/re_add_goals") + self.srv = rospy.ServiceProxy("/task_planning/re_add_goals", ReAddGoals) + rospy.sleep(0.2) + + def execute(self, userdata): + res = self.srv() + if res: + return "success" + else: + return "failure" + + +# =============================================================================== + + +class plan_task(smach.State): + def __init__(self, mode=PlanGoal.NORMAL): + # publishing a Audio message at startup + audio_message = AudioMessage() + audio_pub = rospy.Publisher("/mir_audio_receiver/tts_request", AudioMessage, queue_size=1) + audio_message.message = "Hello, I am the mastermind. I am ready to plan your tasks." + audio_pub.publish(audio_message) + rospy.sleep(1.0) + + smach.State.__init__( + self, + outcomes=["success", "failure"], + input_keys=["domain_file", "problem_file", "planner"], + output_keys=["plan"], + ) + self.mode = mode + self.planner_client = SimpleActionClient( + "/mir_task_planning/task_planner_server/plan_task", PlanAction + ) + self.planner_client.wait_for_server() + rospy.sleep(0.2) + + def execute(self, userdata): + goal = PlanGoal( + domain_file=userdata.domain_file, + problem_file=userdata.problem_file, + planner=userdata.planner, + mode=self.mode, + ) + self.planner_client.send_goal(goal) + self.planner_client.wait_for_result() + state = self.planner_client.get_state() + result = self.planner_client.get_result() + if state == GoalStatus.SUCCEEDED: + rospy.loginfo("Found a plan with %i actions", len(result.plan.plan)) + userdata.plan = result.plan + return "success" + elif state == GoalStatus.ABORTED: + rospy.logerr("Failed to plan") + rospy.sleep(2.0) + return "failure" + + +# =============================================================================== + + +class execute_plan(smach.State): + def __init__(self): + smach.State.__init__( + self, + outcomes=["success", "failure", "preempted"], + input_keys=["already_once_executed", "plan"], + output_keys=["already_once_executed"], + ) + self.planner_executor_client = SimpleActionClient( + "/task_planning/execute_plan", ExecutePlanAction + ) + self.planner_executor_client.wait_for_server() + rospy.sleep(0.2) + + def execute(self, userdata): + userdata.already_once_executed = True + success = self.execute_plan(userdata.plan) + if not success: + return "failure" + return "success" + + def execute_plan(self, plan): + goal = ExecutePlanGoal() + goal.plan = plan + self.planner_executor_client.send_goal(goal) + finished = self.planner_executor_client.wait_for_result() + if not finished: + return False + res = self.planner_executor_client.get_result() + return res.success + + +# =============================================================================== + + +class check_execution_already_started(smach.State): + """ + This state will check if the execution has started at least once. If it has + then it will go to exit otherwise it will go to re add goals + """ + + def __init__(self, max_count=3): + smach.State.__init__( + self, + outcomes=["success", "failure"], + input_keys=["already_once_executed", "check_execution_counter"], + output_keys=["check_execution_counter"], + ) + self.max_count = max_count + + def execute(self, userdata): + rospy.sleep(3.0) # time for the system to recover for checking goals + if userdata.already_once_executed: + if userdata.check_execution_counter >= self.max_count: + return "success" + else: + userdata.check_execution_counter += 1 + return "failure" + else: + return "failure" + + +# =============================================================================== + + +def main(): + rospy.init_node("planning_coordinator") + problem_file = rospy.get_param("~problem_file", None) + domain_file = rospy.get_param("~domain_file", None) + planner = rospy.get_param("~planner", "mercury") + + # publishing a Audio message at startup + audio_message = AudioMessage() + audio_pub = rospy.Publisher("/mir_audio_receiver/tts_request", AudioMessage, queue_size=1) + audio_message.message = "Hello, I am the planning coordinator" + audio_pub.publish(audio_message) + + if problem_file is None or domain_file is None: + rospy.logfatal("Either domain and/or problem file not provided. Exiting.") + sys.exit(1) + # Create a SMACH state machine + sm = smach.StateMachine( + outcomes=["OVERALL_FAILURE", "OVERALL_PREEMPT", "OVERALL_SUCCESS"] + ) + sm.userdata.already_once_executed = False + # counter for how many times did it enter check_execution_already_started() + sm.userdata.check_execution_counter = 0 + sm.userdata.domain_file = domain_file + sm.userdata.problem_file = problem_file + sm.userdata.planner = planner + # Open the container + with sm: + # upload intrinsic knowledge + smach.StateMachine.add( + "UPLOAD_INTRINSIC_KNOWLEDGE", + gbs.send_event([("/upload_knowledge/event_in", "e_trigger")]), + transitions={"success": "LOOK_FOR_UNFINISHED_GOALS"}, + ) + + # TODO:wait for upload intrinsic knowledge succes response + + # send even in to look for goals component to process and see if there are unfinished goals on the knowledge base + smach.StateMachine.add( + "LOOK_FOR_UNFINISHED_GOALS", + gbs.send_and_wait_events_combined( + event_in_list=[ + ("/knowledge_base_analyzer/pending_goals/event_in", "e_start") + ], + event_out_list=[ + ( + "/knowledge_base_analyzer/pending_goals/event_out", + "e_goals_available", + True, + ) + ], + timeout_duration=5, + ), + transitions={ + "success": "GENERATE_PDDL_PROBLEM", + "timeout": "CHECK_EXECUTION_ALREADY_STARTED", + "failure": "CHECK_EXECUTION_ALREADY_STARTED", + }, + ) + + smach.StateMachine.add( + "CHECK_EXECUTION_ALREADY_STARTED", + check_execution_already_started(max_count=3), + transitions={"success": "MOVE_TO_EXIT", "failure": "RE_ADD_GOALS"}, + ) + + smach.StateMachine.add( + "RE_ADD_GOALS", + re_add_goals(), + transitions={ + "success": "LOOK_FOR_UNFINISHED_GOALS", + "failure": "LOOK_FOR_UNFINISHED_GOALS", + }, + ) + + # generate problem from knowledge base snapshot + smach.StateMachine.add( + "GENERATE_PDDL_PROBLEM", + gbs.send_and_wait_events_combined( + event_in_list=[ + ("/mir_planning/pddl_problem_generator/event_in", "e_trigger") + ], + event_out_list=[ + ( + "/mir_planning/pddl_problem_generator/event_out", + "e_success", + True, + ) + ], + timeout_duration=5, + ), + transitions={ + "success": "PLAN", + "timeout": "GENERATE_PDDL_PROBLEM", + "failure": "OVERALL_FAILURE", + }, + ) + + # plan task (mode can be either PlanGoal.NORMAL or PlanGoal.FAST) + smach.StateMachine.add( + "PLAN", + plan_task(mode=PlanGoal.NORMAL), + transitions={ + "success": "EXECUTE_PLAN", + "failure": "LOOK_FOR_UNFINISHED_GOALS", + }, + ) + + smach.StateMachine.add( + "EXECUTE_PLAN", + execute_plan(), + transitions={ + "success": "LOOK_FOR_UNFINISHED_GOALS", + "failure": "LOOK_FOR_UNFINISHED_GOALS", + "preempted": "OVERALL_PREEMPT", + }, + ) + + smach.StateMachine.add( + "MOVE_TO_EXIT", + gas.move_base("EXIT"), + transitions={"success": "OVERALL_SUCCESS", "failed": "MOVE_TO_EXIT"}, + ) + + # Create a thread to execute the smach container + smach_thread = threading.Thread(target=sm.execute) + smach_thread.start() + + while not rospy.is_shutdown() and smach_thread.isAlive(): + rospy.sleep(1.0) + if rospy.is_shutdown(): + rospy.logwarn("ctrl + c detected!!! preempting smach execution") + # Request the container to preempt + sm.request_preempt() + smach_thread.join() + + +if __name__ == "__main__": + print("Going to main function") + main() diff --git a/data/mir_planning/mir_planning_msgs/CMakeLists.txt b/data/mir_planning/mir_planning_msgs/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..f98ed4d4c4a19e2c5c66708359bc5d5ba1f213ba --- /dev/null +++ b/data/mir_planning/mir_planning_msgs/CMakeLists.txt @@ -0,0 +1,43 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_planning_msgs) + +find_package(catkin REQUIRED + genmsg + std_msgs + actionlib_msgs + diagnostic_msgs + rosplan_knowledge_msgs + rosplan_dispatch_msgs + message_generation +) + +add_message_files( + DIRECTORY + ros/msg + FILES + ObjectsAtLocation.msg +) + +add_action_files( + DIRECTORY + ros/action + FILES + ExecutePlan.action + GenericExecute.action + Plan.action +) + +add_service_files( + DIRECTORY + ros/srv + FILES + ReAddGoals.srv +) + +generate_messages(DEPENDENCIES + actionlib_msgs + diagnostic_msgs + rosplan_dispatch_msgs +) + +catkin_package() diff --git a/data/mir_planning/mir_planning_msgs/package.xml b/data/mir_planning/mir_planning_msgs/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..5a967718102cdf76a46935d9d302f239f905db86 --- /dev/null +++ b/data/mir_planning/mir_planning_msgs/package.xml @@ -0,0 +1,29 @@ + + + mir_planning_msgs + 1.0.0 + + Messages, Services and Actions for planning modules in mas industrial robotics + + + GPLv3 + + Oscar Lima + Torsten Jandt + Dharmin B. + + Torsten Jandt + + catkin + + actionlib_msgs + actionlib + + rosplan_knowledge_msgs + rosplan_dispatch_msgs + + message_runtime + rosplan_knowledge_msgs + rosplan_dispatch_msgs + + diff --git a/data/mir_planning/mir_planning_msgs/ros/action/ExecutePlan.action b/data/mir_planning/mir_planning_msgs/ros/action/ExecutePlan.action new file mode 100644 index 0000000000000000000000000000000000000000..69245b604bf63cea92076e6494d15e9140cacb26 --- /dev/null +++ b/data/mir_planning/mir_planning_msgs/ros/action/ExecutePlan.action @@ -0,0 +1,7 @@ +# Define the goal +rosplan_dispatch_msgs/CompletePlan plan +--- +# Define the result +bool success +--- +# Define a feedback message diff --git a/data/mir_planning/mir_planning_msgs/ros/action/GenericExecute.action b/data/mir_planning/mir_planning_msgs/ros/action/GenericExecute.action new file mode 100644 index 0000000000000000000000000000000000000000..31cd22b78b5ef6eb5c5b962bdb31dd8ea3b1c58a --- /dev/null +++ b/data/mir_planning/mir_planning_msgs/ros/action/GenericExecute.action @@ -0,0 +1,9 @@ +# goal definition +diagnostic_msgs/KeyValue[] parameters +--- +# result definition +diagnostic_msgs/KeyValue[] results +--- +# feedback +string current_state +string text diff --git a/data/mir_planning/mir_planning_msgs/ros/action/Plan.action b/data/mir_planning/mir_planning_msgs/ros/action/Plan.action new file mode 100644 index 0000000000000000000000000000000000000000..41d3462aa5ad357e6451bf1dd1359fc8d4f57f6d --- /dev/null +++ b/data/mir_planning/mir_planning_msgs/ros/action/Plan.action @@ -0,0 +1,16 @@ +# goal definition + +# option for mode +# NORMAL: run the planner till the time runs out (timeout configured in mir_task_planning) +# FAST: run the planner as soon as first plan is generated or time runs out +uint8 NORMAL=0 +uint8 FAST=1 + +string planner +string domain_file +string problem_file +uint8 mode +--- +# result definition +rosplan_dispatch_msgs/CompletePlan plan +--- diff --git a/data/mir_planning/mir_planning_msgs/ros/msg/ObjectsAtLocation.msg b/data/mir_planning/mir_planning_msgs/ros/msg/ObjectsAtLocation.msg new file mode 100644 index 0000000000000000000000000000000000000000..b294f4897ea980228d6ecc9f60f3645cd8dda861 --- /dev/null +++ b/data/mir_planning/mir_planning_msgs/ros/msg/ObjectsAtLocation.msg @@ -0,0 +1,2 @@ +string location +string[] objects diff --git a/data/mir_planning/mir_planning_msgs/ros/srv/ReAddGoals.srv b/data/mir_planning/mir_planning_msgs/ros/srv/ReAddGoals.srv new file mode 100644 index 0000000000000000000000000000000000000000..410e0f9d9d2a1bd456293e81e81e615b3abb4268 --- /dev/null +++ b/data/mir_planning/mir_planning_msgs/ros/srv/ReAddGoals.srv @@ -0,0 +1,2 @@ +--- +bool success diff --git a/data/mir_planning/mir_planning_visualisation/CMakeLists.txt b/data/mir_planning/mir_planning_visualisation/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..2cf80d5fe8527a0674c26509d95d1f0b2d8c076b --- /dev/null +++ b/data/mir_planning/mir_planning_visualisation/CMakeLists.txt @@ -0,0 +1,16 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_planning_visualisation) + +find_package(catkin REQUIRED + COMPONENTS + mir_planning_msgs + mcr_gazebo_objects +) + +catkin_python_setup() + +catkin_package( + CATKIN_DEPENDS + rospy + mir_planning_msgs +) diff --git a/data/mir_planning/mir_planning_visualisation/docs/kb_and_plan_vis.gif b/data/mir_planning/mir_planning_visualisation/docs/kb_and_plan_vis.gif new file mode 100644 index 0000000000000000000000000000000000000000..6a53472595aa0ab27659144fe4fd379e9b8654d0 --- /dev/null +++ b/data/mir_planning/mir_planning_visualisation/docs/kb_and_plan_vis.gif @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4d03d0ff53fc365aef5fabc6b50d6e1cacbb378b1e01f11e711a883e07d21a3 +size 638372 diff --git a/data/mir_planning/mir_planning_visualisation/docs/kb_fake_obj.png b/data/mir_planning/mir_planning_visualisation/docs/kb_fake_obj.png new file mode 100644 index 0000000000000000000000000000000000000000..4a2e181c36ae9c26829014375499c8acd95c7d7e --- /dev/null +++ b/data/mir_planning/mir_planning_visualisation/docs/kb_fake_obj.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a50093fc3d2c4d596307fe02ac8fef9f47b131a49149bdd81b1417a37f4cfbb +size 111790 diff --git a/data/mir_planning/mir_planning_visualisation/docs/kb_plus_plan_vis_labelled.png b/data/mir_planning/mir_planning_visualisation/docs/kb_plus_plan_vis_labelled.png new file mode 100644 index 0000000000000000000000000000000000000000..dfba998f21feaf7a52b76e663fdd0b9fab94bc10 --- /dev/null +++ b/data/mir_planning/mir_planning_visualisation/docs/kb_plus_plan_vis_labelled.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6bfae57aba623d2f2d2c3e723fdc3fff88af0d9bc657ee65389467375c2d0f15 +size 78116 diff --git a/data/mir_planning/mir_planning_visualisation/package.xml b/data/mir_planning/mir_planning_visualisation/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..27f9583d4ec7c11ae3a91c138125edb3fb05c8e9 --- /dev/null +++ b/data/mir_planning/mir_planning_visualisation/package.xml @@ -0,0 +1,22 @@ + + + mir_planning_visualisation + 1.0.0 + + Visualisation for planning pipeline (knowledge base and plan) + + + GPLv3 + + Dharmin B. + Iswariya Manivannan + + Dharmin B. + + catkin + + rospy + mir_planning_msgs + mcr_gazebo_objects + + diff --git a/data/mir_planning/mir_planning_visualisation/ros/config/model_to_marker.yaml b/data/mir_planning/mir_planning_visualisation/ros/config/model_to_marker.yaml new file mode 100644 index 0000000000000000000000000000000000000000..90590267db4f66cb7d812a3f7794380ae5068ef8 --- /dev/null +++ b/data/mir_planning/mir_planning_visualisation/ros/config/model_to_marker.yaml @@ -0,0 +1,477 @@ +# ======= +# OBJECTS +# ======= +m20: + file_name: 'm20.stl' + scale: 0.001 + color: + r: 0.1 + g: 0.1 + b: 0.1 + offset: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: -90.0 + yaw: 180.0 +m30: + file_name: 'm30.stl' + scale: 0.001 + color: + r: 0.1 + g: 0.1 + b: 0.1 + offset: + x: 0.02 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: -90.0 + yaw: 0.0 +f20_20_b: + file_name: 'f20_20.stl' + scale: 0.001 + color: + r: 0.1 + g: 0.1 + b: 0.1 + offset: + x: 0.0 + y: 0.0 + z: 0.01 + roll: 0.0 + pitch: -90.0 + yaw: 180.0 +f20_20_g: + file_name: 'f20_20.stl' + scale: 0.001 + color: + r: 0.5 + g: 0.5 + b: 0.5 + offset: + x: 0.0 + y: 0.0 + z: 0.01 + roll: 0.0 + pitch: -90.0 + yaw: 180.0 +s40_40_b: + file_name: 's40_40.stl' + scale: 0.001 + color: + r: 0.1 + g: 0.1 + b: 0.1 + offset: + x: 0.0 + y: 0.0 + z: 0.02 + roll: 0.0 + pitch: -90.0 + yaw: 180.0 +s40_40_g: + file_name: 's40_40.stl' + scale: 0.001 + color: + r: 0.5 + g: 0.5 + b: 0.5 + offset: + x: 0.0 + y: 0.0 + z: 0.02 + roll: 0.0 + pitch: -90.0 + yaw: 180.0 +m20_100: + file_name: 'm20_100.stl' + scale: 0.001 + color: + r: 0.1 + g: 0.1 + b: 0.1 + offset: + x: 0.013 + y: 0.01 + z: 0.0 + roll: 30.0 + pitch: 3.0 + yaw: 0.0 +r20: + file_name: 'r20.stl' + scale: 0.001 + color: + r: 0.1 + g: 0.1 + b: 0.1 + offset: + x: 0.0 + y: 0.0 + z: 0.015 + roll: 0.0 + pitch: -90.0 + yaw: 180.0 +motor: + file_name: 'motor.stl' + scale: 0.001 + color: + r: 0.1 + g: 0.1 + b: 0.1 + offset: + x: 0.0 + y: 0.0 + z: 0.02 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 +distance_tube: + file_name: 'distance_tube.stl' + scale: 0.001 + color: + r: 0.5 + g: 0.5 + b: 0.5 + offset: + x: 0.015 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 +bearing: + file_name: 'bearing.stl' + scale: 0.001 + color: + r: 0.6 + g: 0.6 + b: 0.6 + offset: + x: 0.015 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: -90.0 + yaw: 0.0 +bearing_box: + file_name: 'bearing_box.stl' + scale: 0.001 + color: + r: 0.5 + g: 0.5 + b: 0.5 + offset: + x: 0.0 + y: -0.025 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 +axis: + file_name: 'axis.stl' + scale: 0.001 + color: + r: 0.5 + g: 0.5 + b: 0.5 + offset: + x: 0.0 + y: 0.0 + z: 0.015 + roll: 0.0 + pitch: 6.0 + yaw: 0.0 +container_box_red: + file_name: 'container.stl' + scale: 0.001 + color: + r: 1.0 + g: 0.0 + b: 0.0 + offset: + x: 0.0 + y: -0.07 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 180.0 +container_box_blue: + file_name: 'container.stl' + scale: 0.001 + color: + r: 0.0 + g: 0.0 + b: 1.0 + offset: + x: 0.0 + y: -0.07 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 180.0 + +# ============ +# WORKSTATIONS +# ============ +ws: + file_name: 'workstation.stl' + scale: 0.001 + color: + r: 0.9 + g: 0.9 + b: 0.9 + offset: + x: 0.0 + y: -0.4 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 180.0 +sh: + file_name: 'shelf.stl' + scale: 0.001 + color: + r: 0.9 + g: 0.9 + b: 0.9 + offset: + x: -0.5 + y: -0.4 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 180.0 +pp: + file_name: 'ppt_platform.stl' + scale: 0.001 + color: + r: 0.9 + g: 0.9 + b: 0.9 + offset: + x: -0.25 + y: -0.05 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 180.0 +tt: + file_name: 'workstation.stl' + scale: 1.0 + color: + r: 0.9 + g: 0.9 + b: 0.9 + offset: + x: 0.5 + y: 0.0 + z: 0.09 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + +# ====== +# YOUBOT +# ====== +youbot: + file_name: 'base.dae' + scale: 1.0 + color: + r: 0.2 + g: 0.2 + b: 0.2 + offset: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 +arm_0: + file_name: 'arm0.dae' + scale: 1.0 + color: + r: 0.1 + g: 0.1 + b: 0.1 + offset: + x: 0.135 + y: 0.0 + z: 0.05 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 +arm_1: + file_name: 'arm1.dae' + scale: 1.0 + color: + r: 0.85 + g: 0.34 + b: 0.11 + offset: + x: 0.155 + y: 0.0 + z: 0.145 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 +arm_2: + file_name: 'arm2.dae' + scale: 1.0 + color: + r: 0.85 + g: 0.34 + b: 0.11 + offset: + x: 0.121 + y: -0.03 + z: 0.204 + roll: 0.0 + pitch: -60.0 + yaw: 0.0 +arm_3: + file_name: 'arm3.dae' + scale: 1.0 + color: + r: 0.85 + g: 0.34 + b: 0.11 + offset: + x: 0.093 + y: 0.03 + z: 0.312 + roll: 0.0 + pitch: 30.0 + yaw: 0.0 +arm_4: + file_name: 'arm4.dae' + scale: 1.0 + color: + r: 0.85 + g: 0.34 + b: 0.11 + offset: + x: 0.15 + y: -0.008 + z: 0.36 + roll: 0.0 + pitch: 90.0 + yaw: 0.0 +arm_5: + file_name: 'arm5.dae' + scale: 1.0 + color: + r: 0.1 + g: 0.1 + b: 0.1 + offset: + x: 0.216 + y: 0.0 + z: 0.36 + roll: 0.0 + pitch: 90.0 + yaw: 0.0 +arm_palm: + file_name: 'palm.dae' + scale: 1.0 + color: + r: 0.1 + g: 0.1 + b: 0.1 + offset: + x: 0.25 + y: 0.0 + z: 0.363 + roll: 0.0 + pitch: 90.0 + yaw: 0.0 +youbot_plate: + file_name: 'plate.dae' + scale: 1.0 + color: + r: 0.6 + g: 0.6 + b: 0.6 + offset: + x: -0.1 + y: 0.0 + z: 0.035 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 +yb_wheel_lf: + file_name: 'palm.dae' + scale: 0.1 + color: + r: 0.85 + g: 0.34 + b: 0.11 + offset: + x: 0.228 + y: 0.158 + z: -0.03 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 +yb_wheel_rf: + file_name: 'palm.dae' + scale: 0.1 + color: + r: 0.85 + g: 0.34 + b: 0.11 + offset: + x: 0.228 + y: -0.158 + z: -0.03 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 +yb_wheel_lb: + file_name: 'palm.dae' + scale: 0.1 + color: + r: 0.85 + g: 0.34 + b: 0.11 + offset: + x: -0.228 + y: 0.158 + z: -0.03 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 +yb_wheel_rb: + file_name: 'palm.dae' + scale: 0.1 + color: + r: 0.85 + g: 0.34 + b: 0.11 + offset: + x: -0.228 + y: -0.158 + z: -0.03 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + +# ======= +# DEFAULT +# ======= +default: + file_name: '' + scale: 0.05 + color: + r: 1.0 + g: 0.0 + b: 0.0 + offset: + x: 0.0 + y: 0.0 + z: 0.025 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 diff --git a/data/mir_planning/mir_planning_visualisation/ros/config/plan_marker_color.yaml b/data/mir_planning/mir_planning_visualisation/ros/config/plan_marker_color.yaml new file mode 100644 index 0000000000000000000000000000000000000000..23b2516cdd7784c9d3958c7a21220e7b79090ef1 --- /dev/null +++ b/data/mir_planning/mir_planning_visualisation/ros/config/plan_marker_color.yaml @@ -0,0 +1,26 @@ +# ======= +# ACTIONS +# ======= +move_base: + color: + r: 0.3 + g: 0.9 + b: 0.3 + a: 0.6 +pick: + color: + r: 0.2 + g: 0.2 + b: 0.8 + a: 0.8 + scale: 0.0012 +# ===== +# GOALS +# ===== +goal: + color: + r: 0.3 + g: 0.9 + b: 0.3 + a: 0.6 + scale: 0.0012 diff --git a/data/mir_planning/mir_planning_visualisation/ros/config/planning_rviz.rviz b/data/mir_planning/mir_planning_visualisation/ros/config/planning_rviz.rviz new file mode 100644 index 0000000000000000000000000000000000000000..7d1fb9c9c67981b6317316437a8c7eceda33ad52 --- /dev/null +++ b/data/mir_planning/mir_planning_visualisation/ros/config/planning_rviz.rviz @@ -0,0 +1,128 @@ +Panels: + - Class: rviz/Displays + Help Height: 70 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 373 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /mir_planning/planning_visualiser/markers + Name: Planning markers + Namespaces: + "": true + Queue Size: 100 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 8.819380760192871 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 1.6857465505599976 + Y: -0.3054875135421753 + Z: 0.04500067979097366 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 1.1203978061676025 + Target Frame: + Value: Orbit (rviz) + Yaw: 4.418576240539551 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1034 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 924 + X: 970 + Y: 20 diff --git a/data/mir_planning/mir_planning_visualisation/ros/config/test_navigation_goals.yaml b/data/mir_planning/mir_planning_visualisation/ros/config/test_navigation_goals.yaml new file mode 100644 index 0000000000000000000000000000000000000000..33413a037e8309f15801d7d549a02743d70bc0ab --- /dev/null +++ b/data/mir_planning/mir_planning_visualisation/ros/config/test_navigation_goals.yaml @@ -0,0 +1,18 @@ +START: [0.0, 0.0, 0.0] +EXIT: [0.0, 0.0, 0.0] +WS01: [3.0, 1.2, 1.57] +WS02: [2.0, 1.2, 1.57] +WS03: [1.0, 1.2, 1.57] +WS04: [0.0, 1.2, 1.57] +WS05: [3.0, -1.2, -1.57] +WS06: [2.0, -1.2, -1.57] +WS07: [1.0, -1.2, -1.57] +WS08: [0.0, -1.2, -1.57] +WS09: [0.0, 1.0, 3.14] +WS10: [0.0, -1.0, 3.14] +WS11: [2.0, -0.65, 1.57] +WS12: [2.0, 0.65, -1.57] +SH01: [3.5, 1.2, 0.0] +SH02: [3.5, -1.0, 0.0] +PP01: [3.5, 0.0, 0.0] +TT01: [0.0, 0.0, 3.14] diff --git a/data/mir_planning/mir_planning_visualisation/ros/launch/planning_visualiser.launch b/data/mir_planning/mir_planning_visualisation/ros/launch/planning_visualiser.launch new file mode 100644 index 0000000000000000000000000000000000000000..7681fb182aa9ec6f027ae95899bc6514934f03c1 --- /dev/null +++ b/data/mir_planning/mir_planning_visualisation/ros/launch/planning_visualiser.launch @@ -0,0 +1,51 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_planning/mir_planning_visualisation/ros/launch/test_planning_visualiser.launch b/data/mir_planning/mir_planning_visualisation/ros/launch/test_planning_visualiser.launch new file mode 100644 index 0000000000000000000000000000000000000000..5c3980c7800024776d3a4a1e0e97dd3b4d3731fd --- /dev/null +++ b/data/mir_planning/mir_planning_visualisation/ros/launch/test_planning_visualiser.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + diff --git a/data/mir_planning/mir_planning_visualisation/ros/scripts/visualiser b/data/mir_planning/mir_planning_visualisation/ros/scripts/visualiser new file mode 100644 index 0000000000000000000000000000000000000000..1e9b4bdb43ddb04e0a01d81986e3d2aef9b6d9e1 --- /dev/null +++ b/data/mir_planning/mir_planning_visualisation/ros/scripts/visualiser @@ -0,0 +1,55 @@ +#!/usr/bin/env python + +from __future__ import print_function + +import rospy +from mir_planning_visualisation.kb_visualiser import KnowledgeBaseVisualiser +from mir_planning_visualisation.plan_visualiser import PlanVisualiser +from visualization_msgs.msg import Marker, MarkerArray + + +class Visualiser(object): + + """ + Visualise Knowledge base and plan with MarkerArray msg + """ + + def __init__(self): + # Publishers + self._marker_pub = rospy.Publisher("~markers", MarkerArray, queue_size=1) + + # class variables + self._kb_visualiser = KnowledgeBaseVisualiser() + self._plan_visualiser = PlanVisualiser() + + rospy.sleep(1.0) + self._marker_pub.publish(MarkerArray(markers=[Marker(action=Marker.DELETEALL)])) + rospy.loginfo("Initialised") + + def visualise(self): + kb_markers, kb_data = self._kb_visualiser.visualise() + if kb_markers is None: + return + + markers = self._plan_visualiser.visualise(kb_markers, kb_data=kb_data) + if markers is None: + return + + # reset markers + self._marker_pub.publish(MarkerArray(markers=[Marker(action=Marker.DELETEALL)])) + + # publish all markers + self._marker_pub.publish(MarkerArray(markers=markers)) + + +if __name__ == "__main__": + rospy.init_node("planning_visualiser") + VISUALISER = Visualiser() + RATE = rospy.Rate(rospy.get_param("~rate", 0.5)) + try: + while not rospy.is_shutdown(): + VISUALISER.visualise() + RATE.sleep() + except rospy.exceptions.ROSInterruptException as e: + pass + rospy.loginfo("Exiting...") diff --git a/data/mir_planning/mir_planning_visualisation/ros/src/mir_planning_visualisation/__init__.py b/data/mir_planning/mir_planning_visualisation/ros/src/mir_planning_visualisation/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/data/mir_planning/mir_planning_visualisation/ros/src/mir_planning_visualisation/kb_visualiser.py b/data/mir_planning/mir_planning_visualisation/ros/src/mir_planning_visualisation/kb_visualiser.py new file mode 100644 index 0000000000000000000000000000000000000000..02f529ed0e2ed590bafc3dea538a6c9263a1d218 --- /dev/null +++ b/data/mir_planning/mir_planning_visualisation/ros/src/mir_planning_visualisation/kb_visualiser.py @@ -0,0 +1,197 @@ +from __future__ import print_function + +import rospy +import yaml +from mir_planning_visualisation.utils import Utils +from rosplan_knowledge_msgs.msg import KnowledgeItem +from rosplan_knowledge_msgs.srv import GetAttributeService + + +class KnowledgeBaseVisualiser(object): + + """ + Visualise propositions from knowledge base + Currently supported attributes are ``on``, ``in``, ``at`` and ``stored``. + """ + + def __init__(self): + # read ros params + self._debug = rospy.get_param("~debug", False) + self._visualise_robot = rospy.get_param("~visualise_robot", True) + self._kb_server_facts_topic = rospy.get_param( + "~kb_server_facts_topic", "~facts" + ) + self._kb_server_goals_topic = rospy.get_param( + "~kb_server_goals_topic", "~goals" + ) + marker_config_file = rospy.get_param("~plan_marker_color_config", None) + + plan_marker_config = None + with open(marker_config_file) as file_obj: + plan_marker_config = yaml.safe_load(file_obj) + if plan_marker_config is None: + raise Exception("Plan marker config not provided.") + self._goal_obj_config = plan_marker_config["goal"] + + # class variables + self._utils = Utils() + self._prev_data = self._get_visualisable_data_from_facts_and_goals() + self._prev_markers = None + + def visualise(self): + """ + - Query KB for all the facts. + - Create data for facts with specific attribute. + - Create markers from that data. + - Return markers and data + + :return: a list of markers along with relevant data from KB + :rtype: tuple (list (list( visualization_msgs.msg.Marker)), dict) + + """ + facts = self._get_response_from_kb(self._kb_server_facts_topic) + if facts is None or (isinstance(facts, list) and len(facts) == 0): + rospy.loginfo("No valid response") + return None, None + + goals = self._get_response_from_kb(self._kb_server_goals_topic) + if goals is None or (isinstance(goals, list) and len(goals) == 0): + goals = [] + + data = self._get_visualisable_data_from_facts_and_goals(facts, goals) + if data != self._prev_data: + self._utils.marker_counter = 0 + self._prev_data = data + self._prev_markers = self._get_markers_from_data(data) + + return self._prev_markers, self._prev_data + + def _get_response_from_kb(self, server_topic): + if self._debug: + rospy.loginfo("Waiting for service: " + server_topic) + rospy.wait_for_service(server_topic) + try: + get_response = rospy.ServiceProxy(server_topic, GetAttributeService) + response = get_response() + if len(response.attributes) == 0: + # rospy.logwarn("No propositions in KB") + return None + else: + if self._debug: + rospy.loginfo( + "Found propositions: " + str(len(response.attributes)) + ) + facts = [ + attribute + for attribute in response.attributes + if attribute.knowledge_type == KnowledgeItem.FACT + ] + resp = [ + (fact.attribute_name, {kv.key: kv.value for kv in fact.values}) + for fact in facts + ] + return resp + except rospy.ServiceException as e: + rospy.logerr("Service call failed: %s" % e) + return None + + def _get_markers_from_data(self, data): + markers = [] + + obj_on_ws = [] + for ws_name, obj_list in data["obj_on_ws"].items(): + obj_markers = self._utils.get_markers_from_obj_on_ws( + obj_list, ws_name, data["obj_in_container"] + ) + obj_on_ws.extend(obj_markers) + markers.append(obj_on_ws) + + if self._visualise_robot: + obj_on_robot_markers = [] + for platform, obj in data["obj_on_robot"].items(): + obj_marker = self._utils.get_markers_from_obj_on_robot( + obj, platform, data["robot_ws"] + ) + if obj_marker: + obj_on_robot_markers.append(obj_marker) + markers.append(obj_on_robot_markers) + + goal_obj_on_ws = [] + for ws_name, obj_list in data["goal_obj_on_ws"].items(): + obj_markers = self._utils.get_markers_from_obj_on_ws( + obj_list, ws_name, data["goal_obj_in_container"], is_goal=True + ) + for marker in obj_markers: + marker.text += "GOAL" + marker.color.r = self._goal_obj_config["color"]["r"] + marker.color.g = self._goal_obj_config["color"]["g"] + marker.color.b = self._goal_obj_config["color"]["b"] + marker.color.a = self._goal_obj_config["color"]["a"] + marker.scale.x = ( + marker.scale.y + ) = marker.scale.z = self._goal_obj_config["scale"] + goal_obj_on_ws.extend(obj_markers) + markers.append(goal_obj_on_ws) + + if self._visualise_robot: + markers.append(self._utils.get_markers_for_youbot(data["robot_ws"])) + + markers.append(self._utils.get_markers_from_ws_pos()) + return markers + + def _get_visualisable_data_from_facts_and_goals(self, facts=[], goals=[]): + obj_on_ws = {} + robot_ws = "start" + obj_on_robot = {} + obj_in_container = {} + goal_obj_on_ws = {} + goal_obj_in_container = {} + + for fact in facts: + if self._debug: + print(fact) + + if fact[0] == "on": + if fact[1]["l"] not in obj_on_ws: + obj_on_ws[fact[1]["l"]] = [] + if "o" in fact[1]: + obj_on_ws[fact[1]["l"]].append(fact[1]["o"]) + + if fact[0] == "stored": + obj_on_robot[fact[1]["rp"]] = fact[1]["o"] + + if fact[0] == "at": + robot_ws = fact[1]["l"] + + if fact[0] == "in": + container = fact[1]["hole"] + if container not in obj_in_container: + obj_in_container[container] = [] + if "peg" in fact[1]: + obj_in_container[container].append(fact[1]["peg"]) + + for fact in goals: + if self._debug: + print("goal", fact) + + if fact[0] == "on": + if fact[1]["l"] not in goal_obj_on_ws: + goal_obj_on_ws[fact[1]["l"]] = [] + if "o" in fact[1]: + goal_obj_on_ws[fact[1]["l"]].append(fact[1]["o"]) + + if fact[0] == "in": + container = fact[1]["hole"] + if container not in goal_obj_in_container: + goal_obj_in_container[container] = [] + if "peg" in fact[1]: + goal_obj_in_container[container].append(fact[1]["peg"]) + + data = {} + data["obj_on_ws"] = obj_on_ws + data["robot_ws"] = robot_ws + data["obj_on_robot"] = obj_on_robot + data["obj_in_container"] = obj_in_container + data["goal_obj_on_ws"] = goal_obj_on_ws + data["goal_obj_in_container"] = goal_obj_in_container + return data diff --git a/data/mir_planning/mir_planning_visualisation/ros/src/mir_planning_visualisation/plan_visualiser.py b/data/mir_planning/mir_planning_visualisation/ros/src/mir_planning_visualisation/plan_visualiser.py new file mode 100644 index 0000000000000000000000000000000000000000..022447796021a8c3fe2c3ac42df202b4b1838367 --- /dev/null +++ b/data/mir_planning/mir_planning_visualisation/ros/src/mir_planning_visualisation/plan_visualiser.py @@ -0,0 +1,103 @@ +from __future__ import print_function + +import rospy +import yaml +from mir_planning_msgs.msg import PlanActionResult +from mir_planning_visualisation.utils import Utils +import itertools + +class PlanVisualiser(object): + """ + Class to visualize tasks in plan. + Currently supported actions ``move_base`` and ``pick`` + """ + + def __init__(self): + """ Class constructor to create + necessary publisher and subscriber + """ + + marker_config_file = rospy.get_param("~plan_marker_color_config", None) + + self._utils = Utils() + + self.plan_marker_config = None + with open(marker_config_file) as file_obj: + self.plan_marker_config = yaml.safe_load(file_obj) + if self.plan_marker_config is None: + raise Exception("Plan marker config not provided.") + + self._complete_plan = None + self._prev_location = "START" + + rospy.Subscriber("~plan", PlanActionResult, self._task_planner_cb) + + def _task_planner_cb(self, msg): + if msg: + self._complete_plan = msg.result.plan.plan + self._plan_changed = True + + def _set_markers_for_complete_plan(self, kb_markers, kb_data): + move_base_config = self.plan_marker_config["move_base"] + pick_config = self.plan_marker_config["pick"] + move_base_markers = [] + curr_location = kb_data["robot_ws"].upper() + if curr_location != self._prev_location: + self._prev_location = curr_location + for idx, action in enumerate(self._complete_plan): + if ( + action.name.upper() == "MOVE_BASE" + and action.parameters[2].value.upper() == kb_data["robot_ws"] + ): + self._complete_plan = self._complete_plan[idx + 1 :] + break + + for action in self._complete_plan: + if action.name.upper() == "MOVE_BASE": + source = action.parameters[1].value.lower() + destination = action.parameters[2].value.lower() + marker = self._utils.get_arc_marker(source, destination) + marker.color.r = move_base_config["color"]["r"] + marker.color.g = move_base_config["color"]["g"] + marker.color.b = move_base_config["color"]["b"] + marker.color.a = move_base_config["color"]["a"] + move_base_markers.append(marker) + elif action.name.upper() == "PICK": + for marker in kb_markers[0]: + if marker.text.upper() == action.parameters[2].value: + marker.mesh_use_embedded_materials = True + marker.color.r = pick_config["color"]["r"] + marker.color.g = pick_config["color"]["g"] + marker.color.b = pick_config["color"]["b"] + marker.color.a = pick_config["color"]["a"] + marker.scale.x = marker.scale.y = marker.scale.z = pick_config[ + "scale" + ] + break + + kb_markers.append(move_base_markers) + + def visualise(self, kb_markers, kb_data=None): + """ + - Modify markers based on pick action. + - Add markers for move_base actions + + :param kb_markers: markers from :class:`mir_planning_visualisation.kb_visualiser.KnowledgeBaseVisualiser` + :type kb_markers: list (lists (visualization_msgs.msg.Marker)) + :param kb_data: data from knowledge base + :type kb_data: dict + :return: all markers to be published + :rtype: list (visualization_msgs.msg.Marker) + + """ + if kb_data is None: + return None + + self._utils.marker_counter = 10000 # to avoid marker id repetition + if self._complete_plan: + self._set_markers_for_complete_plan(kb_markers, kb_data) + + # flatten the list of markers + flattened_kb_markers = list(itertools.chain.from_iterable(kb_markers)) + return(flattened_kb_markers) + # return sum(kb_markers, []) \ No newline at end of file diff --git a/data/mir_planning/mir_planning_visualisation/ros/src/mir_planning_visualisation/utils.py b/data/mir_planning/mir_planning_visualisation/ros/src/mir_planning_visualisation/utils.py new file mode 100644 index 0000000000000000000000000000000000000000..ade866f35388334c14401c37f75c6ada122c5bae --- /dev/null +++ b/data/mir_planning/mir_planning_visualisation/ros/src/mir_planning_visualisation/utils.py @@ -0,0 +1,368 @@ +from __future__ import print_function + +import copy +import math +import os + +import rospy +import tf +import yaml +from geometry_msgs.msg import Point, Quaternion +from visualization_msgs.msg import Marker + + +class Utils(object): + + """ + Utils class to create marker on request based on the configutation from + a config file. + """ + + def __init__(self): + # read ros params + self._global_frame = rospy.get_param("~global_frame", "map") + self._base_link_to_ws_edge = rospy.get_param("~base_link_to_ws_edge", 0.4) + self._alpha = rospy.get_param("~alpha", 1.0) + + self._model_path = rospy.get_param("~model_path", None) + self._model_pkg_path = rospy.get_param("~model_pkg_path", None) + if self._model_path is None: + raise Exception("Model path not provided.") + if not os.path.exists(self._model_path): + raise Exception( + "Invalid model path provided. " + + str(self._model_path) + + " does not exist" + ) + + marker_config_file = rospy.get_param("~model_to_marker_config", None) + self.marker_config = None + with open(marker_config_file) as file_obj: + self.marker_config = yaml.safe_load(file_obj) + if self.marker_config is None: + raise Exception("Model config not provided.") + + navigation_goals_file = rospy.get_param("~navigation_goals", None) + navigation_goals = None + with open(navigation_goals_file) as file_obj: + navigation_goals = yaml.safe_load(file_obj) + if navigation_goals is None: + raise Exception("Navigation goal file not provided.") + + # class variables + self.marker_counter = 0 + self._ws_pose = dict() + # offset nav goal based on size of robot to initialise workstation poses + for ws, pos in navigation_goals.items(): + delta_x = math.cos(pos[2]) * self._base_link_to_ws_edge + delta_y = math.sin(pos[2]) * self._base_link_to_ws_edge + self._ws_pose[ws.lower()] = [pos[0] + delta_x, pos[1] + delta_y, pos[2]] + + def get_markers_from_ws_pos(self): + """Create markers for workstations + + :return: workstation markers + :rtype: list of visualization_msgs.Marker + + """ + markers = [] + for ws, pos in self._ws_pose.items(): + if "ws" in ws: + marker = self.get_marker_from_obj_name_and_pos( + "ws", x=pos[0], y=pos[1], yaw=pos[2] + ) + elif "sh" in ws: + marker = self.get_marker_from_obj_name_and_pos( + "sh", x=pos[0], y=pos[1], yaw=pos[2] + ) + elif "pp" in ws: + marker = self.get_marker_from_obj_name_and_pos( + "pp", x=pos[0], y=pos[1], yaw=pos[2] + ) + elif "tt" in ws: + marker = self.get_marker_from_obj_name_and_pos( + "tt", x=pos[0], y=pos[1], yaw=pos[2] + ) + config = self.marker_config["tt"] + marker.type = Marker.CYLINDER + marker.scale.x = marker.scale.y = config["scale"] + marker.scale.z = 0.02 + else: + continue + marker.text = ws + markers.append(marker) + return markers + + def get_markers_for_youbot(self, robot_ws="start"): + """Create markers for robot + + :param ws_name: name of workstation where the robot currently is + :type ws_name: str + :return: markers representing youbot body + :rtype: list (visualization_msgs.Marker) + + """ + x, y, yaw = self._ws_pose.get(robot_ws.lower(), [0.0, 0.0, 0.0]) + delta_x = math.cos(yaw) * self._base_link_to_ws_edge + delta_y = math.sin(yaw) * self._base_link_to_ws_edge + x, y = x - delta_x, y - delta_y + keys = [ + "youbot", + "arm_0", + "arm_1", + "arm_2", + "arm_3", + "arm_4", + "arm_5", + "arm_palm", + "youbot_plate", + "yb_wheel_lf", + "yb_wheel_rf", + "yb_wheel_lb", + "yb_wheel_rb", + ] + marker_dict = { + key: self.get_marker_from_obj_name_and_pos(key, x=x, y=y, z=0.05, yaw=yaw) + for key in keys + } + for key, marker in marker_dict.items(): + if "wheel" in key: + marker.type = Marker.SPHERE + return marker_dict.values() + + def get_markers_from_obj_on_robot(self, obj, platform, robot_ws): + """Create markers for objects stored on robot's platform + + :param obj: name of object + :type obj: str + :param platform: name of robot platform on which the object is + :type platform: str + :param robot_ws: name of location where the robot currently is + :type robot_ws: str + :return: marker of object on robot platform + :rtype: list (visualization_msgs.Marker) + + """ + x, y, yaw = self._ws_pose.get(robot_ws.lower(), [0.0, 0.0, 0.0]) + delta_x = math.cos(yaw) * self._base_link_to_ws_edge + delta_y = math.sin(yaw) * self._base_link_to_ws_edge + x, y = x - delta_x, y - delta_y + obj_pose_offsets = { + platform: (-0.1, y) + for platform, y in zip( + ["platform_middle", "platform_left", "platform_right"], [0.0, 0.1, -0.1] + ) + } + + offset = obj_pose_offsets.get(platform.lower(), None) + if offset: + delta_x = (math.cos(yaw) * offset[0]) + (-math.sin(yaw) * offset[1]) + delta_y = (math.sin(yaw) * offset[0]) + (math.cos(yaw) * offset[1]) + marker = self.get_marker_from_obj_name_and_pos( + obj, x=x + delta_x, y=y + delta_y, z=0.11, yaw=yaw + ) + return marker + else: + rospy.logwarn("Object " + obj + " on unknown platform " + platform) + + def get_markers_from_obj_on_ws( + self, obj_list, ws_name, container_to_obj=None, is_goal=False + ): + """Create markers for objects on a given workstation + + :param obj_list: list of object present on a workstation + :type obj_list: list + :param ws_name: name of workstation + :type ws_name: str + :param container_to_obj: dict mapping container name of obj present in it + :type container_to_obj: dict + :return: markers for objects on a workstation + :rtype: list (visualization_msgs.Marker) + + """ + ws = ws_name.lower() + pos = self._ws_pose.get(ws, None) + if pos is None: + return [] + markers = [] + if "ws" in ws or "sh" in ws: + obj_pose_offsets = [ + (x, y) for x in [0.05, 0.2] for y in [0.0, 0.15, -0.15, 0.3, -0.3] + ] + elif "tt" in ws: + cb_radius = self.marker_config["tt"]["scale"] / 2.0 + obj_pose_offsets = [ + ( + math.cos(math.radians(theta)) * cb_radius * 0.8 + cb_radius, + math.sin(math.radians(theta)) * cb_radius * 0.8, + ) + for theta in range(0, 360, 36) + ] + else: + return [] + + if is_goal: + obj_pose_offsets = [(0.35, y) for y in [0.0, 0.15, -0.15, 0.3, -0.3]] + + if len(obj_list) > 10: + rospy.logwarn("Only showing 10 objects on " + str(ws)) + for obj, offset in zip(obj_list, obj_pose_offsets): + delta_x = (math.cos(pos[2]) * offset[0]) + (-math.sin(pos[2]) * offset[1]) + delta_y = (math.sin(pos[2]) * offset[0]) + (math.cos(pos[2]) * offset[1]) + marker = self.get_marker_from_obj_name_and_pos( + obj, x=pos[0] + delta_x, y=pos[1] + delta_y, z=0.1, yaw=pos[2] + ) + markers.append(marker) + # for containers + if container_to_obj and obj in container_to_obj: + objs_in_container = container_to_obj[obj] + delta_x_container = (math.cos(pos[2]) * (offset[0] + 0.05)) + ( + -math.sin(pos[2]) * offset[1] + ) + delta_y_container = (math.sin(pos[2]) * (offset[0] + 0.05)) + ( + math.cos(pos[2]) * offset[1] + ) + z = 0.1 + for obj_in_container in objs_in_container: + z += 0.05 + marker = self.get_marker_from_obj_name_and_pos( + obj_in_container, + x=pos[0] + delta_x_container, + y=pos[1] + delta_y_container, + z=z, + yaw=pos[2], + ) + markers.append(marker) + return markers + + def get_marker_from_obj_name_and_pos( + self, obj_name, x=0.0, y=0.0, z=0.0, yaw=0.0, frame=None + ): + """Create a marker for a given object at a given position + + The marker is created in such a way that the position (given by x, y and z) + lies at the middle bottom of the model. + + If the given object name cannot be mapped to a model, a default marker + is used instead. Default marker is a small red cube. + + :param obj_name: name of object (contains '-' and an ID number after) + :type obj_name: string + :param x: float + :param y: float + :param z: float + :param yaw: float + :param frame: str + :return: marker representing an object + :rtype: visualization_msgs.Marker + + """ + if frame is None: + frame = self._global_frame + + model_name = obj_name.split("-")[0] if "-" in obj_name else obj_name + model_name = model_name.lower() + marker = Marker() + if model_name not in self.marker_config: + rospy.logwarn( + "Could not find " + str(model_name) + ". Using default marker" + ) + marker.type = Marker.CUBE + config = self.marker_config["default"] + else: + config = self.marker_config[model_name] + file_path = os.path.join(self._model_pkg_path, config["file_name"]) + resource_file = "package://" + file_path + marker.type = Marker.MESH_RESOURCE + marker.mesh_resource = resource_file + + marker.header.stamp = rospy.Time.now() + + marker.scale.x = marker.scale.y = marker.scale.z = config["scale"] + + marker.color.r = config["color"]["r"] + marker.color.g = config["color"]["g"] + marker.color.b = config["color"]["b"] + marker.color.a = self._alpha + + angle = math.radians(config["offset"]["yaw"]) + yaw + quat = tf.transformations.quaternion_from_euler( + math.radians(config["offset"]["roll"]), + math.radians(config["offset"]["pitch"]), + angle, + ) + marker.pose.orientation = Quaternion(*quat) + delta_x = (math.cos(angle) * config["offset"]["x"]) + ( + -math.sin(angle) * config["offset"]["y"] + ) + delta_y = (math.sin(angle) * config["offset"]["x"]) + ( + math.cos(angle) * config["offset"]["y"] + ) + marker.pose.position.x = x + delta_x + marker.pose.position.y = y + delta_y + marker.pose.position.z = z + config["offset"]["z"] + + marker.header.frame_id = frame + self.marker_counter += 1 + marker.id = self.marker_counter + marker.text = obj_name + return marker + + def get_arc_marker(self, src, dest, num_of_points=11, scale_factor=3.0): + """Create an arc from src to dest with an arrow head at the top + + :param src: source location + :type src: str + :param dest: destination location + :type dest: str + :param num_of_points: number of points that the arc should contain + :type num_of_points: int + :param scale_factor: float + :type scale_factor: float + :return: Marker representing ``move_base`` action in the plan + :rtype: visualization_msgs.Marker + + .. note:: ``num_of_points`` should be greater or equal to 5 + + """ + if num_of_points < 5: + num_of_points = 5 + + point_a = self._ws_pose.get(src, None) + point_b = self._ws_pose.get(dest, None) + if point_a is None or point_b is None: + return None + + delta_x = (point_b[0] - point_a[0]) / num_of_points + delta_y = (point_b[1] - point_a[1]) / num_of_points + delta_z = math.pi / (num_of_points) + dist = ((point_b[0] - point_a[0]) ** 2 + (point_b[1] - point_a[1]) ** 2) ** 0.5 + scale_z = min(dist / scale_factor, 2.0) + points = [ + Point( + x=point_a[0] + i * delta_x, + y=point_a[1] + i * delta_y, + z=math.sin(i * delta_z) * scale_z, + ) + for i in range(num_of_points + 1) + ] + + # add arrow at the top of arc + mid = points[num_of_points // 2] + arrow_points = [ + (copy.deepcopy(points[num_of_points // 2 + 1])), + Point(x=mid.x + delta_y / 2, y=mid.y + delta_x / 2, z=mid.z), + Point(x=mid.x - delta_y / 2, y=mid.y - delta_x / 2, z=mid.z), + ] + for p in arrow_points: + points.insert(num_of_points // 2 + 2, p) + + marker = Marker(type=Marker.LINE_STRIP) + self.marker_counter += 1 + marker.id = self.marker_counter + marker.points = points + marker.header.stamp = rospy.Time.now() + marker.header.frame_id = self._global_frame + marker.color.g = marker.color.a = 1.0 + marker.scale.x = 0.02 + return marker diff --git a/data/mir_planning/mir_planning_visualisation/setup.py b/data/mir_planning/mir_planning_visualisation/setup.py new file mode 100644 index 0000000000000000000000000000000000000000..af89a0f8dc34730f2db508b40cc372acee1db8cc --- /dev/null +++ b/data/mir_planning/mir_planning_visualisation/setup.py @@ -0,0 +1,12 @@ +#!/usr/bin/env python + +from distutils.core import setup + +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages=["mir_planning_visualisation"], + package_dir={"mir_planning_visualisation": "ros/src/mir_planning_visualisation"}, +) + +setup(**d) diff --git a/data/mir_planning/mir_refbox_parser/CMakeLists.txt b/data/mir_planning/mir_refbox_parser/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..b3595ccf28c5a09c10b9b62e057933071e3e4071 --- /dev/null +++ b/data/mir_planning/mir_refbox_parser/CMakeLists.txt @@ -0,0 +1,40 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_refbox_parser) + +find_package(catkin REQUIRED + COMPONENTS + std_msgs + roslint +) + +catkin_python_setup() + +catkin_package( + CATKIN_DEPENDS + rospy + std_msgs + sensor_msgs + geometry_msgs + mir_planning_msgs + tf +) + +### TESTS +roslint_python() + +if(CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + find_package(rostest REQUIRED) + + roslaunch_add_file_check(ros/launch) + add_rostest(ros/launch/refbox_parser.test) +endif() + + +install(DIRECTORY ros/launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ros/launch +) +install(PROGRAMS + ros/scripts/refbox_parser_node + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) diff --git a/data/mir_planning/mir_refbox_parser/package.xml b/data/mir_planning/mir_refbox_parser/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..8148bb96e39696b91a0ab222800e48954c9be762 --- /dev/null +++ b/data/mir_planning/mir_refbox_parser/package.xml @@ -0,0 +1,26 @@ + + + mir_refbox_parser + 0.0.0 + The mir_refbox_parser package + + Deebul Nair + Deebul Nair + + + GPLv3 + + catkin + + std_msgs + roslint + + rostest + + rospy + std_msgs + sensor_msgs + geometry_msgs + mir_planning_msgs + tf + diff --git a/data/mir_planning/mir_refbox_parser/ros/doc/node.png b/data/mir_planning/mir_refbox_parser/ros/doc/node.png new file mode 100644 index 0000000000000000000000000000000000000000..d832df49f79aeadbded4a7b07658ae937c7d61d8 --- /dev/null +++ b/data/mir_planning/mir_refbox_parser/ros/doc/node.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50d01febccec0be7da01a26e25be23a182bf673ab65f046f76c4b8002a8d5b1a +size 59285 diff --git a/data/mir_planning/mir_refbox_parser/ros/doc/node.svg b/data/mir_planning/mir_refbox_parser/ros/doc/node.svg new file mode 100644 index 0000000000000000000000000000000000000000..a9f91d980a3ca4ef2c1cfbc0f3ed101fada862c6 --- /dev/null +++ b/data/mir_planning/mir_refbox_parser/ros/doc/node.svg @@ -0,0 +1,378 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + image/svg+xml + + + + + + + + mir_refbox_parser + + topic : ~/refboxmsg type : std_msgs::String + + + + topic : ~/event_outmsg type : std_msgs/String + + + GUI + service:/rosplan_knowledge_base/update + service:/rosplan_knowledge_base/domain/predicates + + topic : ~/event_inmsg type : std_msgs::String + + diff --git a/data/mir_planning/mir_refbox_parser/ros/doc/overall_architecture.png b/data/mir_planning/mir_refbox_parser/ros/doc/overall_architecture.png new file mode 100644 index 0000000000000000000000000000000000000000..ecb64594713cd74bc8abd1d3b1d585813d5b9760 --- /dev/null +++ b/data/mir_planning/mir_refbox_parser/ros/doc/overall_architecture.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:537d46c28a65890fd6f9769b82e35362f688ef7db246ad0afe2bb21428de9608 +size 27238 diff --git a/data/mir_planning/mir_refbox_parser/ros/doc/overall_architecture.svg b/data/mir_planning/mir_refbox_parser/ros/doc/overall_architecture.svg new file mode 100644 index 0000000000000000000000000000000000000000..9a42fb9cef5045acd5ea9b3e4856b7d3aa578290 --- /dev/null +++ b/data/mir_planning/mir_refbox_parser/ros/doc/overall_architecture.svg @@ -0,0 +1,183 @@ + + + + + + + + + + + + + + + + image/svg+xml + + + + + + + + + + RocKin refreebox + Refree box messagetoRos topic message + Ros topic messageto Ros plan message + + + + + + diff --git a/data/mir_planning/mir_refbox_parser/ros/images/arena.png b/data/mir_planning/mir_refbox_parser/ros/images/arena.png new file mode 100644 index 0000000000000000000000000000000000000000..abfb7d631d82c1c979c75ba5f486bf83781c6b47 --- /dev/null +++ b/data/mir_planning/mir_refbox_parser/ros/images/arena.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b31a3a2e9127fe5ff1406475bab93d0f9fb67ebb7c66b8de2f73f44cec2018b +size 19521 diff --git a/data/mir_planning/mir_refbox_parser/ros/images/arena.svg b/data/mir_planning/mir_refbox_parser/ros/images/arena.svg new file mode 100644 index 0000000000000000000000000000000000000000..e5b5ecb48eecc9f8cfa0b62d898c715a0d26af71 --- /dev/null +++ b/data/mir_planning/mir_refbox_parser/ros/images/arena.svg @@ -0,0 +1,296 @@ + + + + + + + + + + + + image/svg+xml + + + + + + + + + + + + + + + + + S1 + S2 + S3 + S4 + C1 + P1 + P2 + P3 + Entry Exit + + YouBot + + diff --git a/data/mir_planning/mir_refbox_parser/ros/images/conveyor.gif b/data/mir_planning/mir_refbox_parser/ros/images/conveyor.gif new file mode 100644 index 0000000000000000000000000000000000000000..e030ff623bcf06b98890d75a6b2c3f2e91f24a2c --- /dev/null +++ b/data/mir_planning/mir_refbox_parser/ros/images/conveyor.gif @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:550f814319acf1175418ae0e0b668fee0a1df64b239a2d44bfb99cb6c57a89d9 +size 174 diff --git a/data/mir_planning/mir_refbox_parser/ros/images/conveyor.png b/data/mir_planning/mir_refbox_parser/ros/images/conveyor.png new file mode 100644 index 0000000000000000000000000000000000000000..d506b665574348d90997210911c3ba94cad1bd92 --- /dev/null +++ b/data/mir_planning/mir_refbox_parser/ros/images/conveyor.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:31fc00ba19504ab071a31da1a960500f771f5220fda8458733daae3492b9bee9 +size 495 diff --git a/data/mir_planning/mir_refbox_parser/ros/images/entry.gif b/data/mir_planning/mir_refbox_parser/ros/images/entry.gif new file mode 100644 index 0000000000000000000000000000000000000000..c15cc86369d7384acf8de828891e58afc3c1a315 --- /dev/null +++ b/data/mir_planning/mir_refbox_parser/ros/images/entry.gif @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a36aebdcf5f61740954ae8be18f52e7e9376e53724348fd839968e52e4fa34ea +size 1553 diff --git a/data/mir_planning/mir_refbox_parser/ros/images/entry.png b/data/mir_planning/mir_refbox_parser/ros/images/entry.png new file mode 100644 index 0000000000000000000000000000000000000000..99cd04fb314723a33cda7079ca5f5cc5cb5d66d4 --- /dev/null +++ b/data/mir_planning/mir_refbox_parser/ros/images/entry.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4261faf41e05c4add9eb7156cda48838e0d4f224f0463978dd8cc030207c128 +size 1940 diff --git a/data/mir_planning/mir_refbox_parser/ros/images/knowledge_base_gui.py b/data/mir_planning/mir_refbox_parser/ros/images/knowledge_base_gui.py new file mode 100644 index 0000000000000000000000000000000000000000..75b215923ad08cc8e0c7c79061b4d33508875331 --- /dev/null +++ b/data/mir_planning/mir_refbox_parser/ros/images/knowledge_base_gui.py @@ -0,0 +1,251 @@ +# from Tkinter import * +#!/usr/bin/env python + +import os +import re +import sys +import Tkinter as tk + +import rospkg +import rospy +from rosplan_dispatch_msgs.msg import * +from rosplan_knowledge_msgs.msg import * +from rosplan_knowledge_msgs.srv import * + + +class VisualizeWorldModel: + def __init__(self): + + # from the export image of inkscape + self.canvas_width = 1000 + self.canvas_height = 700 + + self.master = tk.Tk() + + self.canvas = tk.Canvas( + self.master, width=self.canvas_width, height=self.canvas_height + ) + self.canvas.pack() + + rect = tk.PhotoImage(file="rect.gif") + conveyor = tk.PhotoImage(file="conveyor.gif") + youbot = tk.PhotoImage(file="youbot.gif") + entry = tk.PhotoImage(file="entry.gif") + + self.locations = {} + self.objects_on_location = {} + self.goals_from_knowledge_base = {} + + ########################################################## + # Workspace details + # @todo : move the below files as config file to load + ########################################################## + + self.locations["SH-01"] = [100, 100, "Shelf 01"] + self.locations["SH-02"] = [320, 100, "Shelf 02"] + self.locations["SH-03"] = [530, 100, "Shelf 03"] + self.locations["SH-04"] = [830, 100, "Shelf 03"] + self.locations["WS-01"] = [820, 250, "Drilling Workstation"] + self.locations["WS-03"] = [750, 100, "Force Fitting Workstation"] + self.locations["CB-01"] = [100, 250, "Conveyor Belt"] + self.locations["WS-05"] = [200, 400, "Work Station "] + self.locations["WS-06"] = [500, 500, "Work Station "] + self.locations["WS-07"] = [800, 400, "Work Station "] + # self.locations['entry'] = [800, 250, "Entry"] + self.locations["yb"] = [500, 250, "Youbot"] + + # creating empty list of objects + for key, loc in self.locations.iteritems(): + self.objects_on_location[key] = [""] + + for key, loc in self.locations.iteritems(): + # Adding location for putting text + self.locations[key].append(loc[0] + 40) + self.locations[key].append(loc[1] + 20) + + self.canvas.create_image( + self.locations["SH-01"][0], + self.locations["SH-01"][1], + anchor=tk.NW, + image=rect, + ) + self.canvas.create_image( + self.locations["SH-02"][0], + self.locations["SH-02"][1], + anchor=tk.NW, + image=rect, + ) + self.canvas.create_image( + self.locations["SH-03"][0], + self.locations["SH-03"][1], + anchor=tk.NW, + image=rect, + ) + self.canvas.create_image( + self.locations["SH-04"][0], + self.locations["SH-04"][1], + anchor=tk.NW, + image=rect, + ) + self.canvas.create_image( + self.locations["WS-01"][0], + self.locations["WS-01"][1], + anchor=tk.NW, + image=rect, + ) + self.canvas.create_image( + self.locations["WS-03"][0], + self.locations["WS-03"][1], + anchor=tk.NW, + image=rect, + ) + self.canvas.create_image( + self.locations["WS-05"][0], + self.locations["WS-05"][1], + anchor=tk.NW, + image=rect, + ) + self.canvas.create_image( + self.locations["WS-06"][0], + self.locations["WS-06"][1], + anchor=tk.NW, + image=rect, + ) + self.canvas.create_image( + self.locations["WS-07"][0], + self.locations["WS-07"][1], + anchor=tk.NW, + image=rect, + ) + self.canvas.create_image( + self.locations["CB-01"][0], + self.locations["CB-01"][1], + anchor=tk.NW, + image=conveyor, + ) + # self.canvas.create_image(self.locations['entry'][0],self.locations['entry'][1], anchor=tk.NW, image=entry) + self.canvas.create_image( + self.locations["yb"][0], self.locations["yb"][1], anchor=tk.NW, image=youbot + ) + + # Writing names to the images + for key, loc in self.locations.iteritems(): + self.canvas.create_text( + loc[0], loc[1], text=key + " " + loc[2], anchor=tk.NW, fill="blue" + ) + text_id = self.canvas.create_text(loc[3], loc[4], text="", anchor=tk.NW) + self.locations[key].append(text_id) + text_id = self.canvas.create_text(loc[3], loc[4], text="", anchor=tk.NW) + self.locations[key].append(text_id) + + self.master.after(50, self.update_text) + self.master.mainloop() + + def query_database_facts(self): + # empty list of objects + for key, loc in self.locations.iteritems(): + self.objects_on_location[key] = [""] + try: + model_client = rospy.ServiceProxy( + "/rosplan_knowledge_base/state/propositions", GetAttributeService + ) + resp = model_client("") + for attribute in resp.attributes: + if "on" == attribute.attribute_name: + location = attribute.values[1].value + object = attribute.values[0].value + print "location : ", location + regex_sh_01 = re.compile("SH-0[1-6]") + regex_sh_02 = re.compile("SH-0[7-9]|SH-1[0-2]") + regex_sh_03 = re.compile("SH-1[3-8]") + regex_sh_04 = re.compile("SH-19]|SH-2[0-4]") + if regex_sh_01.match(location): + print "regex match 01" + location = "SH-01" + elif regex_sh_02.match(location): + print "regex match 02" + location = "SH-02" + elif regex_sh_03.match(location): + print "regex match 03" + location = "SH-03" + elif regex_sh_04.match(location): + print "regex match 04" + location = "SH-04" + self.objects_on_location[location].append(object) + # First for loop stores all objects location + # Second for loop for storing objects in other locations + for attribute in resp.attributes: + if "in" == attribute.attribute_name: + container = attribute.values[1].value + object = attribute.values[0].value + # Finding the location of the container + for location, objects in self.objects_on_location.iteritems(): + if container in objects: + self.objects_on_location[location].append(object) + except rospy.ServiceException, e: + print "Service call failed: %s" % e + + def query_database_goals(self): + # empty list of objects + for key, loc in self.locations.iteritems(): + self.goals_from_knowledge_base[key] = [""] + try: + model_client = rospy.ServiceProxy( + "/rosplan_knowledge_base/state/goals", GetAttributeService + ) + resp = model_client("") + for attribute in resp.attributes: + if "on" == attribute.attribute_name: + location = attribute.values[1].value + object = attribute.values[0].value + print "location : ", location + regex_sh_01 = re.compile("SH-0[1-6]") + regex_sh_02 = re.compile("SH-0[7-9]|SH-1[0-2]") + regex_sh_03 = re.compile("SH-1[3-8]") + regex_sh_04 = re.compile("SH-19]|SH-2[0-4]") + if regex_sh_01.match(location): + print "regex match 01" + location = "SH-01" + elif regex_sh_02.match(location): + print "regex match 02" + location = "SH-02" + elif regex_sh_03.match(location): + print "regex match 03" + location = "SH-03" + elif regex_sh_04.match(location): + print "regex match 04" + location = "SH-04" + self.goals_from_knowledge_base[location].append(object) + # First for loop stores all objects location + # Second for loop for storing objects in other locations + for attribute in resp.attributes: + if "in" == attribute.attribute_name: + container = attribute.values[1].value + object = attribute.values[0].value + # Finding the location of the container + for location, objects in self.goals_from_knowledge_base.iteritems(): + if container in objects: + self.goals_from_knowledge_base[location].append(object) + except rospy.ServiceException, e: + print "Service call failed: %s" % e + + def update_text(self): + # self.canvas.itemconfig(self.locations['WS-05'][5], text= "update text") + self.query_database_facts() + self.query_database_goals() + for key, loc in self.locations.iteritems(): + self.canvas.itemconfig( + loc[5], text=("\n".join(self.objects_on_location[key])), anchor=tk.NW + ) + self.canvas.itemconfig( + loc[6], + text=("\n".join(self.goals_from_knowledge_base[key])), + anchor=tk.NW, + fill="red", + ) + + self.master.after(500, self.update_text) + + +if __name__ == "__main__": + wm = VisualizeWorldModel() diff --git a/data/mir_planning/mir_refbox_parser/ros/images/rect.gif b/data/mir_planning/mir_refbox_parser/ros/images/rect.gif new file mode 100644 index 0000000000000000000000000000000000000000..6b72742601646bde8654466191c98d901bcb9522 --- /dev/null +++ b/data/mir_planning/mir_refbox_parser/ros/images/rect.gif @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5cf99ac08d3024b08965236c74a2364bbb24949a5915a66caf67ec4c882a0c62 +size 225 diff --git a/data/mir_planning/mir_refbox_parser/ros/images/rect.png b/data/mir_planning/mir_refbox_parser/ros/images/rect.png new file mode 100644 index 0000000000000000000000000000000000000000..dff210ed62d405947fe929e8551994ea2db09e21 --- /dev/null +++ b/data/mir_planning/mir_refbox_parser/ros/images/rect.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2f7375d6cd9d6c3fd73886036073a397d23ed168ce648ebe7a915022aea7ef99 +size 444 diff --git a/data/mir_planning/mir_refbox_parser/ros/images/youbot.gif b/data/mir_planning/mir_refbox_parser/ros/images/youbot.gif new file mode 100644 index 0000000000000000000000000000000000000000..e83ce546eebf876cc12a6de0464724cad79db0e6 --- /dev/null +++ b/data/mir_planning/mir_refbox_parser/ros/images/youbot.gif @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01ab9ae4b21e8c1ee043a7cf00ea967a77bb7bfba87e6e136986ef582b6bd385 +size 1817 diff --git a/data/mir_planning/mir_refbox_parser/ros/images/youbot.png b/data/mir_planning/mir_refbox_parser/ros/images/youbot.png new file mode 100644 index 0000000000000000000000000000000000000000..8f80047b39b97e758917cb9f937db9ddc7331281 --- /dev/null +++ b/data/mir_planning/mir_refbox_parser/ros/images/youbot.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db980d93113d54966cd27e90f6229233905bd0145c749deabbe751a988895c08 +size 2593 diff --git a/data/mir_planning/mir_refbox_parser/ros/launch/refbox_parser.launch b/data/mir_planning/mir_refbox_parser/ros/launch/refbox_parser.launch new file mode 100644 index 0000000000000000000000000000000000000000..0a559a96b56cf27f15a4ba065d2c8463acb7b77e --- /dev/null +++ b/data/mir_planning/mir_refbox_parser/ros/launch/refbox_parser.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_planning/mir_refbox_parser/ros/launch/refbox_parser.test b/data/mir_planning/mir_refbox_parser/ros/launch/refbox_parser.test new file mode 100644 index 0000000000000000000000000000000000000000..55e466050dd256f36768322a30ab050ed3c38010 --- /dev/null +++ b/data/mir_planning/mir_refbox_parser/ros/launch/refbox_parser.test @@ -0,0 +1,12 @@ + + + + + + + + + + + diff --git a/data/mir_planning/mir_refbox_parser/ros/scripts/refbox_parser_node b/data/mir_planning/mir_refbox_parser/ros/scripts/refbox_parser_node new file mode 100644 index 0000000000000000000000000000000000000000..b88862609b6ed0777be4d389cb5ac8380e479b49 --- /dev/null +++ b/data/mir_planning/mir_refbox_parser/ros/scripts/refbox_parser_node @@ -0,0 +1,6 @@ +#!/usr/bin/env python + +import mir_refbox_parser_ros.refbox_parser + +if __name__ == "__main__": + mir_refbox_parser_ros.refbox_parser.main() diff --git a/data/mir_planning/mir_refbox_parser/ros/src/mir_refbox_parser_ros/__init__.py b/data/mir_planning/mir_refbox_parser/ros/src/mir_refbox_parser_ros/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/data/mir_planning/mir_refbox_parser/ros/src/mir_refbox_parser_ros/refbox_parser.py b/data/mir_planning/mir_refbox_parser/ros/src/mir_refbox_parser_ros/refbox_parser.py new file mode 100644 index 0000000000000000000000000000000000000000..49fbd9c271e0f7d8a55bc20ef2dcea2cab7c29f2 --- /dev/null +++ b/data/mir_planning/mir_refbox_parser/ros/src/mir_refbox_parser_ros/refbox_parser.py @@ -0,0 +1,805 @@ +#!/usr/bin/env python +""" + +""" +# -*- encoding: utf-8 -*- +__author__ = "dnair2s" + +import sys + +import actionlib +import atwork_ros_msgs.msg +import geometry_msgs.msg +import roslib +import rospy +import std_msgs.msg +from actionlib_msgs.msg import GoalStatus +from diagnostic_msgs.msg import KeyValue +from mir_planning_msgs.msg import ( + GenericExecuteAction, + GenericExecuteGoal, + GenericExecuteResult, +) +from rosplan_knowledge_msgs.msg import KnowledgeItem +from rosplan_knowledge_msgs.srv import ( + GetDomainAttributeService, + GetDomainTypeService, + KnowledgeUpdateService, +) + + +class RefboxParser(object): + """ + World model for storing the objects + """ + + def __init__(self): + + # inventory message + self._inventory_message = None + # order messge + self._tasks = None + + # list for storing the parameters from domain + self._predicate_param_type_list = {} + self._predicate_param_label_list = {} + + # model view + self._type_list = [] + + # list to remember the naming given to models + self._model_number = {} + + # The dictinary to store name of the dommain as per pddl + # NOTE container is of type object as per the pddl designed + self.domain_name = { + "object": "object", + "location": "location", + "container": "object", + "destination": "location", + } + + # The enum value for rosplan_knowledge_msgs/KnowledgeUpdateService + self.knowledge_update_service = { + "ADD_KNOWLEDGE": 0, + "ADD_GOAL": 1, + "REMOVE_KNOWLEDGE": 2, + "REMOVE_GOAL": 3, + } + + # Enum of object types from messages rocking + # https://github.com/rockin-robot-challenge/at_work_central_factory_hub/blob/rockin/rockin/msgs/Inventory.proto + self.object_type = { + 1: "F20_20_B", + 2: "F20_20_G", + 3: "S40_40_B", + 4: "S40_40_G", + 5: "M20_100", + 6: "M20", + 7: "M30", + 8: "R20", + 9: "BEARING_BOX", + 10: "BEARING", + 11: "AXIS", + 12: "DISTANCE_TUBE", + 13: "MOTOR", + 14: "CONTAINER_BOX_BLUE", + 15: "CONTAINER_BOX_RED", + } + + self.location_type = {1: "SH", 2: "WS", 3: "CB", 4: "WP", 5: "PP", 6: "ROBOT"} + + self.orientation = {1: "NORTH", 2: "EAST", 3: "SOUTH", 4: "WEST"} + + # Node cycle rate (in hz) + self.loop_rate = rospy.Rate(rospy.get_param("~loop_rate", 0.5)) + + # Subscriber -> subscribe to refbox Inventory message + rospy.Subscriber( + "~refbox", + atwork_ros_msgs.msg.Inventory, + self.inventory_callback, + queue_size=10, + ) + + # Subscriber -> subscribe to refbox for Order message + rospy.Subscriber( + "~refbox_task", + atwork_ros_msgs.msg.TaskInfo, + self.task_callback, + queue_size=10, + ) + + # event in subscriber + rospy.Subscriber( + "~event_in", std_msgs.msg.String, self.eventInCallBack, queue_size=10 + ) + + # subscriber for robot pose for benchmarking + rospy.Subscriber( + "/rockin/robot_pose", + geometry_msgs.msg.PoseStamped, + self.robotPoseCallBack, + queue_size=1, + ) + + # subscriber for IR marker pose for benchmarking + rospy.Subscriber( + "/rockin/marker_pose", + geometry_msgs.msg.PoseStamped, + self.markerPoseCallBack, + queue_size=1, + ) + + # For benchmarking + self.pub_robot_pose = rospy.Publisher( + "/rockin/robot_pose_waypoint", geometry_msgs.msg.PoseStamped, queue_size=1 + ) + self.pub_marker_pose = rospy.Publisher( + "/rockin/marker_pose_waypoint", geometry_msgs.msg.PoseStamped, queue_size=1 + ) + + # For logging + self.pub_logging_status = rospy.Publisher( + "/robot_example_ros/logging_status", + atwork_ros_msgs.msg.LoggingStatus, + queue_size=1, + ) + self.pub_logger = rospy.Publisher( + "/mcr_tools/rosbag_recorder/event_in", std_msgs.msg.String, queue_size=1 + ) + + # even inventory flag + self.start_inventory_flag = True + + # event of completion of inventory update for starting task update + self.inventory_update_complete_flag = False + + # even order flag + self.start_order_flag = True + + # Robocup hack not include object on rotating table + self.object_to_delete_goals = [] + + # publisher + self.event_out = rospy.Publisher("~event_out", std_msgs.msg.String) + + bnt = rospy.get_param("~bnt", True) + + if bnt: + rospy.loginfo( + "Running BNT from refbox. Not waiting for the database world model" + ) + else: + rospy.loginfo("waiting for update world model service") + rospy.wait_for_service("/rosplan_knowledge_base/update") + + self.update_kb = rospy.ServiceProxy( + "/rosplan_knowledge_base/update", KnowledgeUpdateService + ) + + # populate goal combo boxes + rospy.wait_for_service("/rosplan_knowledge_base/domain/predicates") + try: + predicates_client = rospy.ServiceProxy( + "/rosplan_knowledge_base/domain/predicates", + GetDomainAttributeService, + ) + resp = predicates_client() + for pred in resp.items: + param_list = [] + label_list = [] + for param in pred.typed_parameters: + param_list.append(param.value) + label_list.append(param.key) + self._predicate_param_type_list[pred.name] = param_list + self._predicate_param_label_list[pred.name] = label_list + print "Predicate param type list" + print self._predicate_param_type_list + print "Predicate param label list" + print self._predicate_param_label_list + except rospy.ServiceException, e: + print "Service call failed: %s" % e + + # populate type combo box + rospy.wait_for_service("/rosplan_knowledge_base/domain/types") + try: + type_client = rospy.ServiceProxy( + "/rosplan_knowledge_base/domain/types", GetDomainTypeService + ) + resp = type_client() + for typename in resp.types: + self._type_list.append(typename) + + print self._type_list + except rospy.ServiceException, e: + print "Service call failed: %s" % e + + rospy.loginfo("Started node Refbox") + + def eventInCallBack(self, msg): + if msg.data == "e_trigger": + rospy.loginfo( + "Received trigger updating knowledge base based on order and invetory data" + ) + self.start_inventory_flag = True + self.start_order_flag = True + + def start(self): + """ + Main loop for parsing + """ + while not rospy.is_shutdown(): + if self.start_inventory_flag: + self.load_inventory_to_knowledge_base() + # Resetting the namings + self._model_number = {} + if self.start_order_flag: + self.process_task_message() + # Resetting the namings + self._model_number = {} + self.loop_rate.sleep() + + def inventory_callback(self, msg): + """ + Callback on inventory message + + :param msg: incoming message + :type msg: atwork_ros_msgs.msg.Inventory + + Inventory message has a list of "Items". + Each Item has the following structure. + + .. code-block:: bash + + object ->description of the object + type + type_id + instance_id(optional) ->If provided then dont check quantity + description(optional) + quantity(optional) ->If instance_id not provided check this + container(optional) ->The container in which the item is stored + type + type_id + instance_id(optional) + description(optional) + location(optional) ->Location where the object is stored + type + instance_id + description(optional) + + """ + self._inventory_message = atwork_ros_msgs.msg.Inventory(msg.items) + pass + + def load_instance_message_PP01(self, domain): + # Creating the message + instance_msg = KnowledgeItem() + # uploading the instance of object + + instance_msg.knowledge_type = KnowledgeItem.INSTANCE + instance_msg.instance_type = self.domain_name[domain] + instance_msg.instance_name = "PP01_CAVITY" + instance_msg.attribute_name = "" + instance_msg.function_value = 0.0 + + self.write_to_knowledge_base( + instance_msg, self.knowledge_update_service["ADD_KNOWLEDGE"] + ) + return instance_msg.instance_name + + def load_instance_message(self, domain, item, count=1): + # Creating the message + instance_msg = KnowledgeItem() + # uploading the instance of object + + instance_msg.knowledge_type = KnowledgeItem.INSTANCE + instance_msg.instance_type = self.domain_name[domain] + instance_msg.instance_name = self.msg_to_instance_name(item, domain, count) + instance_msg.attribute_name = "" + instance_msg.function_value = 0.0 + + self.write_to_knowledge_base( + instance_msg, self.knowledge_update_service["ADD_KNOWLEDGE"] + ) + return instance_msg.instance_name + + 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 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 write_to_knowledge_base(self, msg, type): + try: + # get response + # rospy.loginfo("Type :%d, msg %d , %s ,%s, %s", type, msg.knowledge_type, msg.instance_type, + # msg.instance_name, msg.attribute_name) + + resp1 = self.update_kb(type, msg) + success = resp1.success + except rospy.ServiceException, e: + rospy.logerr("Service call failed: %s", e) + success = None + + if success: + rospy.loginfo("World model successfully updated") + return "success" + else: + rospy.logerr("Could not update world model, failed") + self.event_out.publish("e_failure") + return "fail" + + def msg_to_instance_name(self, item, domain_name, input_count=1): + + if domain_name == "object": + text = self.object_type[item.object.type.data] + if -1 == input_count: + text = text + else: + # if the count is available in the list then add + object_count = 0 + if self._model_number.has_key(text): + object_count = self._model_number[text] + 1 + self._model_number[text] = object_count + else: + self._model_number[text] = 0 + + print "##########################################3" + print self._model_number + print "##########################################3" + text = text + "-" + str(object_count).zfill(2) + if domain_name == "container": + text = self.object_type[item.container.type.data] + if -1 == input_count: + text = text + else: + # if the count is available in the list then add + object_count = 0 + if self._model_number.has_key(text): + object_count = self._model_number[text] + 1 + self._model_number[text] = object_count + else: + self._model_number[text] = 0 + + print "##########################################3" + print self._model_number + print "##########################################3" + text = text + "-" + str(object_count).zfill(2) + # text = text + '-' + str(input_count).zfill(2) + + if domain_name == "location": + text = self.location_type[item.location.type.data] + str( + item.location.instance_id.data + ).zfill(2) + + if domain_name == "destination": + text = self.location_type[item.destination.type.data] + str( + item.destination.instance_id.data + ).zfill(2) + return text + + def task_callback(self, msg): + """ + Order callback for taking the order + """ + self._tasks = atwork_ros_msgs.msg.TaskInfo(msg.tasks) + pass + + #################################################################### + # used for benchmarking + #################################################################### + def robotPoseCallBack(self, msg): + self.robot_pose = msg + + def markerPoseCallBack(self, msg): + self.marker_pose = msg + + #################################################################### + # Navigation task + #################################################################### + def execute_navigation_task(self): + client = actionlib.SimpleActionClient( + "move_base_safe_server", GenericExecuteAction + ) + rospy.loginfo("Waiting for move_base_safe's actionlib server") + client.wait_for_server() + rospy.loginfo("Got move_base_safe's actionlib server sending goals") + goal = GenericExecuteGoal() + goal.parameters.append(KeyValue(key="arm_safe_position", value="barrier_tape")) + + # start logging and tell the refbox that we're logging + self.pub_logger.publish("e_start") + logging_status = atwork_ros_msgs.msg.LoggingStatus() + logging_status.is_logging.data = True + self.pub_logging_status.publish(logging_status) + + for task in self._tasks.tasks: + # check if the task is navigation or transportation + + if atwork_ros_msgs.msg.Task.NAVIGATION == task.type.data: + print self.location_type[task.navigation_task.location.type.data] + str( + task.navigation_task.location.instance_id.data + ).zfill(2) + try: + destination_location = self.location_type[ + task.navigation_task.location.type.data + ] + str(task.navigation_task.location.instance_id.data).zfill(2) + goal.parameters.append( + KeyValue(key="destination_location", value=destination_location) + ) + destination_orientation = self.orientation[ + task.navigation_task.orientation.data + ] + goal.parameters.append( + KeyValue( + key="destination_orientation", value=destination_orientation + ) + ) + timeout = 60.0 + rospy.loginfo( + "Sending action lib goal to move_base_safe_server" + + " , destination : " + + destination_location + + " , orientation : " + + destination_orientation + ) + client.send_goal(goal) + client.wait_for_result(rospy.Duration.from_sec(int(timeout))) + result = client.get_result() + state = client.get_state() + if result: + if state == GoalStatus.SUCCEEDED: + # wait for required time at location + d = rospy.Duration( + task.navigation_task.wait_time.data.secs, 0 + ) + rospy.sleep(d) + else: + rospy.logerr("Navigation task failure. TODO to retry") + else: + client.cancel_goal() + rospy.logerr("No Result from client") + except: + rospy.logerr( + "FAILED . Action server MOVE_BASE_SAFE to desitnaton %s ", + destination_location, + ) + + # Exiting when the action is done move to EXIT + goal = GenericExecuteGoal() + goal.parameters.append(KeyValue(key="arm_safe_position", value="barrier_tape")) + goal.parameters.append(KeyValue(key="destination_location", value="EXIT")) + timeout = 60.0 + client.send_goal(goal) + client.wait_for_result(rospy.Duration.from_sec(int(timeout))) + client.cancel_goal() + rospy.loginfo("Reached EXIT ") + + # stop logging and tell the refbox that we've stopped logging + self.pub_logger.publish("e_stop") + logging_status = atwork_ros_msgs.msg.LoggingStatus() + logging_status.is_logging.data = False + self.pub_logging_status.publish(logging_status) + + def process_task_message(self): + if None == self._tasks: + return + if atwork_ros_msgs.msg.Task.NAVIGATION == self._tasks.tasks[0].type.data: + self.execute_navigation_task() + elif atwork_ros_msgs.msg.Task.TRANSPORTATION == self._tasks.tasks[0].type.data: + # check if the inventory data was written otherwise wait for inventory update + if False == self.inventory_update_complete_flag: + # Return without resetting the message and order flag + rospy.loginfo("The inventory is not updated. Waiting ") + return + self.load_order_to_knowledge_base() + else: + rospy.logerr("NO VALID TASK PRESENT") + + # Resetting flag when order came and it contined data + self.start_order_flag = False + # order messge + self._tasks = None + + 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 fill_order(self, order, attribute, first, second, count=1, container_name=None): + 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 + if 5 == order.destination.type.data: + fact_msg.attribute_name = "in" + output_value = KeyValue() + output_value.key = (self._predicate_param_label_list[fact_msg.attribute_name])[ + 0 + ] + name_of_object = self.msg_to_instance_name(order, first, count) + output_value.value = name_of_object + + ##Robocup finals hack not adding goals for object to be picked from rotation table + if output_value.value in self.object_to_delete_goals: + print "Not adding goal for ", output_value.value + return + + # if 5 == order.object.type.data or 12 == order.object.type.data: + # print "Not adding M20_100 and distance tube goal" + # return + + fact_msg.values.append(output_value) + output_value = KeyValue() + output_value.key = (self._predicate_param_label_list[fact_msg.attribute_name])[ + 1 + ] + if not container_name: + # in order the container or location doesnt have the count + output_value.value = self.msg_to_instance_name(order, second) + else: + output_value.value = container_name + # if 'SH01' == order.destination.type.data or 'SH02' == order.destination.type.data: + # print "not adding goal for shelfes" + # return + ## For PP01 adding insert + if 5 == order.destination.type.data: + # Hack for PPT for Nagoya + ################# + # print "Not adding Goals for PP01" + # return + ################# + output_value.value = "PP01_CAVITY" + + fact_msg.values.append(output_value) + + self.write_to_knowledge_base( + fact_msg, self.knowledge_update_service["ADD_GOAL"] + ) + + return name_of_object + + +def main(): + rospy.init_node("refbox_parser", anonymous=True) + refbox_parser = RefboxParser() + refbox_parser.start() diff --git a/data/mir_planning/mir_refbox_parser/ros/test/publish_msg.py b/data/mir_planning/mir_refbox_parser/ros/test/publish_msg.py new file mode 100644 index 0000000000000000000000000000000000000000..04eb950d72c785dba505f0469cc50244612bd770 --- /dev/null +++ b/data/mir_planning/mir_refbox_parser/ros/test/publish_msg.py @@ -0,0 +1,40 @@ +#!/usr/bin/env python +import re + +import geometry_msgs.msg +import rospy +import std_msgs.msg + + +def main(): + print "Hello world" + rospy.init_node("kb_upload_test") + rospy.loginfo("Updating world model robot at destination") + # publishers + refbox = rospy.Publisher("/refbox_parser/refbox", std_msgs.msg.String) + + event_in = rospy.Publisher("/refbox_parser/event_in", std_msgs.msg.String) + + inventory_message = "BNT<(C1,W,3),(S1,E,3),(T3,N,3),(S3,S,3),(T1,S,3),(D1,E,3),(S4,N,3),(S5,N,3),(T4,W,3),(T2,S,3),(S2,E,3)>" + + HARDCODED_SPECS = { + "BNT": "BNT<(C1,W,3),(S1,E,3),(T3,N,3),(S3,S,3),(T1,S,3),(D1,E,3),(S4,N,3),(S5,N,3),(T4,W,3),(T2,S,3),(S2,E,3)>", + "BMT": "BMT", + "BTT": "BTT);goalsituation()>", + #'BTT': 'BTT);goalsituation()>', + "PPT": "PPT", + "CBT": "CBT", + } + # task_spec = re.findall('[^<>]+' , inventory_message) + # print task_spec[1] + + rate = rospy.Rate(1) # 10hz + while not rospy.is_shutdown(): + event_in.publish("e_trigger") + print ("send e_trigger") + refbox.publish(HARDCODED_SPECS["PPT"]) + rate.sleep() + + +if __name__ == "__main__": + main() diff --git a/data/mir_planning/mir_refbox_parser/ros/test/refbox_parser_test.py b/data/mir_planning/mir_refbox_parser/ros/test/refbox_parser_test.py new file mode 100644 index 0000000000000000000000000000000000000000..d37aef3209ac87986bc861b207d2f6f500feb327 --- /dev/null +++ b/data/mir_planning/mir_refbox_parser/ros/test/refbox_parser_test.py @@ -0,0 +1,76 @@ +#!/usr/bin/env python +""" +Test integration for the world model node. + +""" + +import time +import unittest + +import geometry_msgs.msg +import mcr_manipulation_msgs.msg +import rospy +import rostest +import std_msgs.msg +import tf + +PKG = "mir_refbox_parser" + + +class RefboxParserTest(unittest.TestCase): + def setUp(self): + """ + Sets up the test fixture before exercising it. + + """ + print ("inside test") + rospy.loginfo("inside test") + # params + self.result = None + self.wait_for_result = None + + # publishers + self.refbox = rospy.Publisher("~refbox", std_msgs.msg.String) + + self.event_in = rospy.Publisher("~event_in", std_msgs.msg.String) + # subscribers + rospy.Subscriber("~event_out", std_msgs.msg.String, self.result_callback) + + def tearDown(self): + """ + Deconstructs the test fixture after testing it. + + """ + self.refbox.unregister() + + def test_refbox_communication(self): + """ + Verifies that the node communicates properly with refbox + and stores the data properly in its database while retrieved + + """ + print ("inside test refbox communication") + + expected_result = std_msgs.msg.String() + expected_result.data = "e_done" + + inventory_message = "BNT<(C1,W,3),(S1,E,3),(T3,N,3),(S3,S,3),(T1,S,3),(D1,E,3),(S4,N,3),(S5,N,3),(T4,W,3),(T2,S,3),(S2,E,3)>" + + self.event_in.publish("e_trigger") + print ("send e_trigger") + self.refbox.publish(inventory_message) + + while not self.wait_for_result: + print "waiting" + time.sleep(1) + + self.assertEqual(self.result.data, expected_result.data) + + def result_callback(self, msg): + self.result = msg + self.wait_for_result = True + + +if __name__ == "__main__": + rospy.init_node("refbox_parser_test") + rostest.rosrun(PKG, "refbox_parser_test", RefboxParserTest) diff --git a/data/mir_planning/mir_refbox_parser/setup.py b/data/mir_planning/mir_refbox_parser/setup.py new file mode 100644 index 0000000000000000000000000000000000000000..daf0518674a7011c9085062f3442bcee90b08866 --- /dev/null +++ b/data/mir_planning/mir_refbox_parser/setup.py @@ -0,0 +1,12 @@ +#!/usr/bin/env python + +from distutils.core import setup + +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages=["mir_refbox_parser_ros"], + package_dir={"mir_refbox_parser_ros": "ros/src/mir_refbox_parser_ros"}, +) + +setup(**d) diff --git a/data/mir_planning/mir_task_planning/CMakeLists.txt b/data/mir_planning/mir_task_planning/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..392e9ebadaf81f35e321a85403cdc3256f6e79e9 --- /dev/null +++ b/data/mir_planning/mir_task_planning/CMakeLists.txt @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_task_planning) + +find_package(catkin REQUIRED + COMPONENTS + mir_planning_msgs +) + +catkin_python_setup() + +catkin_package( + CATKIN_DEPENDS + rospy + mir_planning_msgs +) diff --git a/data/mir_planning/mir_task_planning/common/pddl/domain.pddl b/data/mir_planning/mir_task_planning/common/pddl/domain.pddl new file mode 100644 index 0000000000000000000000000000000000000000..b7ab24a955a5c8955278a508ce5c8709eeb91fd9 --- /dev/null +++ b/data/mir_planning/mir_task_planning/common/pddl/domain.pddl @@ -0,0 +1,269 @@ +(define (domain general_domain) + (:requirements :typing :action-costs) + (:types + location ; service areas, points of interest, navigation goals + robot ; your amazing yet powerful robot + object ; objects to be manipulated by the robot + robot_platform ; platform slots for the robot to store objects + drawer ; drawer to store objects + ) + + (:predicates + + ; robot ?r is at location ?l + (at ?r - robot ?l - location) + + ; object ?o is on location ?l + (on ?o - object ?l - location) + + ; object ?o is stored on robot platform ?rp + (stored ?o - object ?rp - robot_platform) + + ; robot platform ?rp is occupied, yb has 3 free places to store objects + (occupied ?rp - robot_platform) + + ; gripper ?g is holding object ?o + (holding ?r - robot ?o - object) + + ; gripper ?g is free (does not contain object) + (gripper_is_free ?r - robot) + + ; object ?o is able to hold other objects + (container ?o - object) + + ; object ?o is inserted inside object ?h + (in ?peg - object ?hole - object) + + ; the object ?o is heavy and cannot be lifted by the robot + (heavy ?o - object) + + ; specifies if an object ?o can be inserted into another object + (insertable ?o - object) + + ; an object ?o is perceived when object recognition was triggered + ; gets lost if the robot moves the base + (perceived ?l - location) + + ; specifies whether the gripper has opened the drawer ?d + (opened ?d - drawer) + + ; object ?o is located inside drawer ?d + (inside ?o - object ?d - drawer) + + ; contents of drawer ?d are perceived + (perceived_inside ?d - drawer) + + ; draw ?d is located at location ?l + (located_at ?d - drawer ?l - location) + ) + + (:functions + (total-cost) - number + ) + +; moves a robot ?r from ?source - location to a ?destination - location +; NOTE : the situation in which the robot arm is in any position before moving +; is not handled at the planning level, hence we advise to always move the arm +; to a folded position, then navigate + (:action move_base + :parameters (?r - robot ?source ?destination - location) + :precondition (and (at ?r ?source) + (gripper_is_free ?r) + ) + :effect (and (not (at ?r ?source)) + (at ?r ?destination) + (not (perceived ?source)) + (increase (total-cost) 20) + ) + ) + + ; perceive an object ?o which is in a location ?l with a empty gripper ?g + ; to find the pose of this object before it can be picked + (:action perceive + :parameters (?r - robot ?l - location) + :precondition (and (at ?r ?l) + (gripper_is_free ?r) + (not (perceived ?l)) + ) + :effect (and (perceived ?l) + (increase (total-cost) 10) + ) + ) + + ; pick an object ?o which is inside a location ?l with a free gripper ?g + ; with robot ?r that is at location ?l + ; (:action pick + (:action pick + :parameters (?r - robot ?l - location ?o - object) + :precondition (and (on ?o ?l) + (at ?r ?l) + (perceived ?l) + (gripper_is_free ?r) + (not (holding ?r ?o)) + (not (heavy ?o)) + ) + :effect (and (holding ?r ?o) + (not (on ?o ?l)) + (not (gripper_is_free ?r)) + (increase (total-cost) 2) + ) + ) + + (:action place + :parameters (?r - robot ?l - location ?o - object) + :precondition (and (at ?r ?l) + (holding ?r ?o) + (not (on ?o ?l)) + (not (insertable ?o )) + (not (gripper_is_free ?r)) + ) + :effect (and (on ?o ?l) + (not (holding ?r ?o)) + (gripper_is_free ?r) + (increase (total-cost) 2) + ) + ) + + + ; stage an object ?o in a robot platform ?rp which is not occupied with a gripper ?g + ; which is holding the object ?o + (:action stage + :parameters (?r - robot ?rp - robot_platform ?o - object) + :precondition (and (holding ?r ?o) + (not (occupied ?rp)) + (not (gripper_is_free ?r)) + ) + :effect (and (not (holding ?r ?o)) + (gripper_is_free ?r) + (stored ?o ?rp) + (occupied ?rp) + (increase (total-cost) 1) + ) + ) + + ; unstage an object ?o stored on a robot platform ?rp with a free gripper ?g + (:action unstage + :parameters (?r - robot ?rp - robot_platform ?o - object) + :precondition (and (gripper_is_free ?r) + (stored ?o ?rp) + (not (holding ?r ?o)) + ) + :effect (and (not (gripper_is_free ?r)) + (not (stored ?o ?rp)) + (not (occupied ?rp)) + (holding ?r ?o) + (increase (total-cost) 1) + ) + ) + + ; inserts a object ?o which gripper ?g is holding into another object ?o at location ?l + (:action insert + :parameters (?r - robot ?rp - robot_platform ?l - location ?peg ?hole - object ) + :precondition (and (at ?r ?l) + (on ?hole ?l) + (container ?hole) + ;(holding ?g ?peg) + (not (holding ?r ?peg)) + ;(not (gripper_is_free ?g)) + (gripper_is_free ?r) + (stored ?peg ?rp) + (not (container ?peg)) ;a container cannot be inserted into a container + (perceived ?l) + ) + :effect (and (not (holding ?r ?peg)) + (gripper_is_free ?r) + (in ?peg ?hole) + (on ?peg ?l) + (not (stored ?peg ?rp)) + (not (occupied ?rp)) + (heavy ?hole) + (heavy ?peg) ;it doesn't become heavy but it cannot be picked again + (increase (total-cost) 5) + ) + ) + + ; open a drawer ?d using the robot gripper + ; with robot ?r that is at location ?draw_loc + (:action open + :parameters (?r - robot ?draw_loc - location ?d - drawer) + :precondition (and (at ?r ?draw_loc) + (located_at ?d ?draw_loc) + (perceived ?draw_loc) + (gripper_is_free ?r) + (not (opened ?d)) + ) + :effect (and (opened ?d) + (gripper_is_free ?r) + (increase (total-cost) 2) + ) + ) + + ; close a drawer ?d using the robot gripper + ; with robot ?r that is at location ?draw_loc + (:action close + :parameters (?r - robot ?draw_loc - location ?d - drawer) + :precondition (and (at ?r ?draw_loc) + (located_at ?d ?draw_loc) + (gripper_is_free ?r) + (opened ?d) + ) + :effect (and (not (opened ?d)) + (gripper_is_free ?r) + (increase (total-cost) 2) + ) + ) + +; perceive a an object ?o in a drawer ?d with an empty robot gripper + ; to find the pose of this object before it can be picked + (:action perceive_inside_drawer + :parameters (?r - robot ?draw_loc - location ?d - drawer) + :precondition (and (at ?r ?draw_loc) + (located_at ?d ?draw_loc) + (opened ?d) + (gripper_is_free ?r) + (not (perceived_inside ?d)) + ) + :effect (and (perceived_inside ?d) + (increase (total-cost) 10) + ) + ) + + ; pick an object ?o which is inside a drawer ?d at location ?draw_loc with a free gripper + ; with robot ?r that is at location ?draw_loc + (:action pick_from_drawer + :parameters (?r - robot ?draw_loc - location ?d - drawer ?o - object) + :precondition (and (inside ?o ?d) + (at ?r ?draw_loc) + (located_at ?d ?draw_loc) + (perceived_inside ?d) + (gripper_is_free ?r) + (not (holding ?r ?o)) + (not (heavy ?o)) + (opened ?d) + ) + :effect (and (holding ?r ?o) + (not (inside ?o ?d)) + (not (gripper_is_free ?r)) + (increase (total-cost) 2) + ) + ) + + ; place an object ?o inside a drawer ?d at location ?drawer + ; with robot ?r that is at location ?draw_loc + (:action place_inside_drawer + :parameters (?r - robot ?draw_loc - location ?d - drawer ?o - object) + :precondition (and (at ?r ?draw_loc) + (located_at ?d ?draw_loc) + (holding ?r ?o) + (perceived ?draw_loc) + (not (insertable ?o )) + (not (gripper_is_free ?r)) + (opened ?d) + ) + :effect (and (inside ?o ?d) + (not (holding ?r ?o)) + (gripper_is_free ?r) + (increase (total-cost) 2) + ) + ) + ) \ No newline at end of file diff --git a/data/mir_planning/mir_task_planning/common/pddl/drawer_problem.pddl b/data/mir_planning/mir_task_planning/common/pddl/drawer_problem.pddl new file mode 100644 index 0000000000000000000000000000000000000000..fc655731fa6505c53390b5466d8e8a0bf0cd6360 --- /dev/null +++ b/data/mir_planning/mir_task_planning/common/pddl/drawer_problem.pddl @@ -0,0 +1,39 @@ +;This PDDL problem definition was made automatically from a KB snapshot +(define (problem general_domain_task) +(:domain general_domain) + +(:objects + DRAW01_LOC SH01 CB01 WS01 WS02 START END - location + R20 M20 M30-00 M30-01 AXIS BEARING - object + YOUBOT-BRSU - robot + PLATFORM_MIDDLE PLATFORM_LEFT PLATFORM_RIGHT - robot_platform + DRAW01 - drawer +) + +(:init + ;Cost information starts + (= (total-cost) 0) + ;Cost information ends + + (at YOUBOT-BRSU START) + (gripper_is_free YOUBOT-BRSU) + (located_at DRAW01 DRAW01_LOC) + (inside R20 DRAW01) + (on M20 WS01) + (on AXIS WS02) + (on BEARING SH01) +) + +(:goal (and + (on R20 WS01) + (inside M20 DRAW01) + (inside AXIS DRAW01) + (inside BEARING DRAW01) + (not (opened DRAW01)) + ) +) + +(:metric minimize (total-cost)) + +) + diff --git a/data/mir_planning/mir_task_planning/common/pddl/problem.pddl b/data/mir_planning/mir_task_planning/common/pddl/problem.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f9dc6a65fad9d7e819808989dbc9e565ceda6678 --- /dev/null +++ b/data/mir_planning/mir_task_planning/common/pddl/problem.pddl @@ -0,0 +1,73 @@ +;This PDDL problem definition was made automatically from a KB snapshot +(define (problem general_domain_task) +(:domain general_domain) + +(:objects + SH02 CB01 WS02 WS04 WS03 WS06 WS11 WS10 WS01 WS08 SH01 PP01 START END - location + R20-00 R20-01 M20-00 M20_100-00 MOTOR-00 BEARING-00 M20_100-01 S40_40_G-00 AXIS-00 BEARING_BOX-00 F20_20_G-00 F20_20_B-00 F20_20_G-01 F20_20_B-01 S40_40_B-00 CONTAINER_BOX_BLUE-00 CONTAINER_BOX_RED-00 CONTAINER_BOX_BLUE-01 CONTAINER_BOX_RED-01 PP01_CAVITY - object + YOUBOT-BRSU - robot + PLATFORM_MIDDLE PLATFORM_LEFT PLATFORM_RIGHT - robot_platform +) + +(:init + ;Cost information starts + (= (total-cost) 0) + ;Cost information ends + + (at YOUBOT-BRSU START) + (container CONTAINER_BOX_BLUE-00) + (container CONTAINER_BOX_RED-00) + (container CONTAINER_BOX_BLUE-01) + (container CONTAINER_BOX_RED-01) + (container PP01_CAVITY) + (gripper_is_free YOUBOT-BRSU) + (heavy CONTAINER_BOX_BLUE-00) + (heavy CONTAINER_BOX_RED-00) + (heavy CONTAINER_BOX_BLUE-01) + (heavy CONTAINER_BOX_RED-01) + (heavy PP01_CAVITY) + (insertable M20_100-00) + (insertable MOTOR-00) + (insertable BEARING-00) + (insertable M20_100-01) + (insertable AXIS-00) + (on R20-00 SH02) + (on R20-01 SH02) + (on M20-00 CB01) + (on M20_100-00 WS02) + (on MOTOR-00 WS04) + (on BEARING-00 WS03) + (on M20_100-01 WS06) + (on S40_40_G-00 WS02) + (on AXIS-00 WS04) + (on BEARING_BOX-00 WS03) + (on F20_20_G-00 WS02) + (on F20_20_B-00 WS04) + (on F20_20_G-01 WS03) + (on F20_20_B-01 WS06) + (on S40_40_B-00 CB01) + (on CONTAINER_BOX_BLUE-00 WS01) + (on CONTAINER_BOX_RED-00 WS01) + (on CONTAINER_BOX_BLUE-01 WS08) + (on CONTAINER_BOX_RED-01 WS08) + (on PP01_CAVITY PP01) +) + +(:goal (and + (on BEARING_BOX-00 WS10) + (on R20-01 WS10) + (on R20-00 WS11) + (in AXIS-00 PP01_CAVITY) + (on M20-00 WS11) + (on S40_40_G-00 SH01) + (in MOTOR-00 CONTAINER_BOX_RED-00) + (in BEARING-00 CONTAINER_BOX_BLUE-01) + (in M20_100-01 CONTAINER_BOX_RED-01) + (in M20_100-00 CONTAINER_BOX_BLUE-00) + ) +) + +(:metric minimize (total-cost)) + +) + diff --git a/data/mir_planning/mir_task_planning/common/pddl/small_problem.pddl b/data/mir_planning/mir_task_planning/common/pddl/small_problem.pddl new file mode 100644 index 0000000000000000000000000000000000000000..35987ffff713fac476b4e2a2fd6b63d79d08b563 --- /dev/null +++ b/data/mir_planning/mir_task_planning/common/pddl/small_problem.pddl @@ -0,0 +1,46 @@ +;This PDDL problem definition was made automatically from a KB snapshot +(define (problem general_domain_task) +(:domain general_domain) + +(:objects + CB01 WS02 WS01 SH01 PP01 START END - location + R20-00 M20-00 BEARING-00 S40_40_G-00 AXIS-00 CONTAINER_BOX_BLUE-00 PP01_CAVITY - object + YOUBOT-BRSU - robot + PLATFORM_MIDDLE PLATFORM_LEFT PLATFORM_RIGHT - robot_platform +) + +(:init + ;Cost information starts + (= (total-cost) 0) + ;Cost information ends + + (at YOUBOT-BRSU START) + (container CONTAINER_BOX_BLUE-00) + (container PP01_CAVITY) + (gripper_is_free YOUBOT-BRSU) + (heavy CONTAINER_BOX_BLUE-00) + (heavy PP01_CAVITY) + (insertable BEARING-00) + (insertable AXIS-00) + (on R20-00 SH01) + (on M20-00 CB01) + (on BEARING-00 WS01) + (on S40_40_G-00 WS02) + (on AXIS-00 WS02) + (on CONTAINER_BOX_BLUE-00 WS02) + (on PP01_CAVITY PP01) +) + +(:goal (and + (on R20-00 WS01) + (in AXIS-00 PP01_CAVITY) + (on M20-00 WS02) + (on S40_40_G-00 SH01) + (in BEARING-00 CONTAINER_BOX_BLUE-00) + ) +) + +(:metric minimize (total-cost)) + +) + diff --git a/data/mir_planning/mir_task_planning/common/pddl/smaller_problem.pddl b/data/mir_planning/mir_task_planning/common/pddl/smaller_problem.pddl new file mode 100644 index 0000000000000000000000000000000000000000..337ba93f70b41e76c88271e2f825a9e641745d4e --- /dev/null +++ b/data/mir_planning/mir_task_planning/common/pddl/smaller_problem.pddl @@ -0,0 +1,39 @@ +;This PDDL problem definition was made automatically from a KB snapshot +(define (problem general_domain_task) +(:domain general_domain) + +(:objects + SH01 CB01 WS01 WS02 START END - location + R20 M20 M30-00 M30-01 AXIS BEARING - object + YOUBOT-BRSU - robot + PLATFORM_MIDDLE PLATFORM_LEFT PLATFORM_RIGHT - robot_platform +) + +(:init + ;Cost information starts + (= (total-cost) 0) + ;Cost information ends + + (at YOUBOT-BRSU START) + (gripper_is_free YOUBOT-BRSU) + (on R20 SH01) + (on BEARING CB01) + (on M30-00 WS01) + (on M20 WS01) + (on AXIS WS02) + (on M30-01 WS01) +) + +(:goal (and + (on R20 WS01) + (on AXIS WS01) + (on M20 WS02) + (on M30-00 WS02) + (on BEARING WS02) + ) +) + +(:metric minimize (total-cost)) + +) + diff --git a/data/mir_planning/mir_task_planning/common/pddl/test_problem.pddl b/data/mir_planning/mir_task_planning/common/pddl/test_problem.pddl new file mode 100644 index 0000000000000000000000000000000000000000..c00c0407eda3d1c94c167352db4a2b8c964c25fd --- /dev/null +++ b/data/mir_planning/mir_task_planning/common/pddl/test_problem.pddl @@ -0,0 +1,23 @@ +(define (problem test_problem) +(:domain robocup_at_work) +(:objects + + ; locations + WS01 WS02 - location + + ; objects + M30 M20 - object +) +(:init + + (on M30 WS01) + (on M20 WS01) +) +(:goal + (and + (on M30 WS02) + (on M20 WS02) + ;(at youbot-brsu END) + ) +) +) diff --git a/data/mir_planning/mir_task_planning/common/planner_wrapper/__init__.py b/data/mir_planning/mir_task_planning/common/planner_wrapper/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/data/mir_planning/mir_task_planning/common/planner_wrapper/planner_wrapper.py b/data/mir_planning/mir_task_planning/common/planner_wrapper/planner_wrapper.py new file mode 100644 index 0000000000000000000000000000000000000000..2406626e3d92e764e00b751095b6bfb29b7c2d6d --- /dev/null +++ b/data/mir_planning/mir_task_planning/common/planner_wrapper/planner_wrapper.py @@ -0,0 +1,294 @@ +#! /usr/bin/env python +""" +This module calls different planners depending on the request with the provided +domain and problem file. +""" +from __future__ import print_function + +import os +import subprocess +import sys +import time + +import rospkg +import yaml + +class PlannerWrapper(object): + + """A common planner wrapper which calls other planner wrapper based on + what is needed with params from a config file + + :param planner_commands: configurations for different planner with their shell command + :type planner_commands: dict + :param plan_dir: directory path where the plan files should be generated (optional) + :type plan_dir: string + :param plan_backup_dir: directory path where the best plan's backup copy should be + placed (optional) + :type plan_backup_dir: string + :param plan_file_name: name of the generated plan files (optional) + :type plan_file_name: string + :param time_limit: time limit for the planner (in seconds) (optional) + :type time_limit: float + """ + + def __init__(self, planner_commands, **kwargs): + self._planner_commands = planner_commands + self._plan_dir = kwargs.get("plan_dir", "/tmp/plan") + self._plan_backup_dir = kwargs.get("plan_backup_dir", "~/.ros") + self._plan_file_name = kwargs.get("plan_file_name", "task_plan") + self._time_limit = kwargs.get("time_limit", 5) + self._rospack_obj = rospkg.RosPack() + + # replace ~ with full path (if present) + self._plan_dir = os.path.expanduser(self._plan_dir) + self._plan_backup_dir = os.path.expanduser(self._plan_backup_dir) + # create directories if they don't exist + if not os.path.isdir(self._plan_dir): + os.makedirs(self._plan_dir) + if not os.path.isdir(self._plan_backup_dir): + os.makedirs(self._plan_backup_dir) + + def plan(self, planner, domain_file, problem_file, fast_mode=False): + """ + Perform the following tasks (returns None if any one fails) + - Call a planner with given domain and problem file using system call. + - Clean up any unneccessary files generated by the plan. + - Read the generated plan file and return the plan + + :param planner: name of the planner to be used + :type planner: string + :param domain_file: path to domain pddl file + :type domain_file: string + :param problem_file: path to problem pddl file + :type problem_file: string + :param fast_mode: should the planner stop once a plan file is generated\ + or should it continue to optimise it until the time runs out + :type fast_mode: bool + :return: plan represented as list of strings + :rtype: list (strings) | None + + """ + # validate the planning request + if planner not in self._planner_commands: + return None + + print("[planner_wrapper] Trying to plan...") + command = self._get_valid_planner_command(planner, domain_file, problem_file) + if not command: + return None + print(command) + + if self._run_command_in_tmp(command.split(), fast_mode): + plan_file = self._find_correct_plan_file() + if plan_file: + print("[planner_wrapper] Plan call was success") + + # read plan file + with open(plan_file) as file_object: + raw_plan = file_object.read().split("\n") + # remove comments + task_plan = [line for line in raw_plan if line and line[0] != ";"] + + # delete all files in plan directory + self.clean_plan_dir() + + # take a backup of plan file in desired directory + with open( + os.path.join(self._plan_backup_dir, "task_plan.plan"), "w" + ) as file_obj: + file_obj.writelines(["%s\n" % action for action in task_plan]) + + return task_plan + print("[planner_wrapper] Plan call failed") + print("\n\nHere is the output of the command: ", command, "\n\n\n") + with open( + os.path.join(self._plan_dir, "command_output.txt"), "r" + ) as output_file: + output_text = output_file.read() + print(output_text) + print("\n\n\n") + return None + + def _run_command_in_tmp(self, command, fast_mode): + """Changes the pwd to /tmp and runs the command in subprocess module + If fast_mode is True, stop the execution of subprocess as soon as a + plan file is generated. + + :command: list of strings + :fast_mode: bool + :returns: bool (success) + + """ + success = False + try: + pwd = os.getcwd() + os.chdir(self._plan_dir) + with open("command_output.txt", "w") as output_file: + proc_obj = subprocess.Popen( + command, stdout=output_file, stderr=output_file + ) + start_time = time.time() + while ( + proc_obj.poll() is None + and time.time() < start_time + 2 * self._time_limit + ): + time.sleep(0.2) + # terminate the process if fast_mode and found a plan file + if fast_mode and self._plan_file_exists(): + proc_obj.terminate() + break + if proc_obj.poll() is None: + print("[planner_wrapper] Terminating process manually") + proc_obj.kill() + with open("command_output.txt", "r") as output_file: + output_text = output_file.read() + if output_text: + success = True + os.chdir(pwd) + except Exception as err: + print( + "[planner_wrapper] Encountered following error while executing command\n" + + str(err) + ) + return success + + def _find_correct_plan_file(self): + """Find the latest plan file if multiple files are generated and return it. + :returns: string (plan file path) + + """ + files_list = os.listdir(self._plan_dir) + plan_file_list = [ + filename for filename in files_list if "task_plan" in filename + ] + if len(plan_file_list) == 0: + print("[planner_wrapper] No plan files found.") + return None + best_plan = sorted(plan_file_list, key=lambda x: int(x.split(".")[-1]))[-1] + return os.path.join(self._plan_dir, best_plan) + + def clean_plan_dir(self): + """Remove all files that are unnecessary. + :returns: None + + """ + ls_output = os.listdir(self._plan_dir) + for text_file in ls_output: + try: + os.remove(os.path.join(self._plan_dir, text_file)) + except Exception as err: + print( + "[planner_wrapper] Encountered following error while cleaning plan dir\n" + + str(err) + ) + + def _get_valid_planner_command(self, planner, domain_file, problem_file): + """Return a valid shell command string to invoke planner + + :planner: TODO + :returns: TODO + + """ + command = None + try: + command = self._planner_commands[planner]["command"] + # tell planner to use this file name where the plans are stored + command = command.replace("FILENAME", self._plan_file_name) + # give the domain file name to the planner + command = command.replace("DOMAIN", domain_file) + # give the problem file name to the planner + command = command.replace("PROBLEM", problem_file) + # give the time limit for planner + command = command.replace("TIMELIMIT", str(self._time_limit)) + + pkg_path = self._rospack_obj.get_path( + self._planner_commands[planner]["rospkg_name"] + ) + executable = os.path.join( + pkg_path, self._planner_commands[planner]["executable_path"] + ) + # use executable of planner + command = command.replace("EXECUTABLE", executable) + except Exception as err: + print( + "[planner_wrapper] Encountered following error while creating command\n" + + str(err) + ) + return command + + def _plan_file_exists(self): + """Check if a plan file exists in plan dir or not. + :returns: bool + + """ + for file_name in os.listdir(self._plan_dir): + if self._plan_file_name in file_name: + return True + return False + + +# ============================================================================== +# Functions to use this class without ROS +# ============================================================================== + + +def get_planner_commands(): + """ + read the planner commands config file if possible. Returns None if fails + + :return: dict containing configuration for different planner commands + :rtype: dict | None + + """ + code_dir = os.path.abspath(os.path.dirname(__file__)) + common_dir = os.path.dirname(code_dir) + main_dir = os.path.dirname(common_dir) + config_file = os.path.join(main_dir, "ros/config/planner_commands.yaml") + planner_commands = None + with open(config_file, "r") as file_handle: + data = yaml.load(file_handle) + planner_commands = data["planner_commands"] + + return planner_commands + + +def get_domain_and_problem_file(): + """ + Get the file path of the domain and problem pddl file. Returns None if fails. + + :return: domain file and problem file + :rtype: dict | None + + """ + code_dir = os.path.abspath(os.path.dirname(__file__)) + common_dir = os.path.dirname(code_dir) + domain_file = os.path.join(common_dir, "pddl/domain.pddl") + problem_file = os.path.join(common_dir, "pddl/problem.pddl") + files = {"domain": None, "problem": None} + with open(domain_file, "r") as file_handle: + _ = file_handle.read() + files["domain"] = domain_file + with open(problem_file, "r") as file_handle: + _ = file_handle.read() + files["problem"] = problem_file + return files + + +if __name__ == "__main__": + # try to read the planner commands config file and domain and problem file + PLANNER_COMMANDS = get_planner_commands() + FILES = get_domain_and_problem_file() + if not PLANNER_COMMANDS: + print("Could not read planner commands config file") + sys.exit(1) + if None in FILES.values(): + print("Could not read domain or problem file") + sys.exit(1) + + # initialise planner wrapper object + PLANNER_WRAPPER = PlannerWrapper(PLANNER_COMMANDS) + + # try to plan with the default problem and domain file + TASK_PLAN = PLANNER_WRAPPER.plan("lama", FILES["domain"], FILES["problem"]) + if TASK_PLAN: + print(len(TASK_PLAN)) diff --git a/data/mir_planning/mir_task_planning/package.xml b/data/mir_planning/mir_task_planning/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..6f3de5c85e37c91ba8e8f8484bf415aa622d07ee --- /dev/null +++ b/data/mir_planning/mir_task_planning/package.xml @@ -0,0 +1,21 @@ + + + mir_task_planning + 1.0.0 + + Provide action server for generating task plans + + + GPLv3 + + Dharmin B. + Dharmin B. + + catkin + + rospy + mir_planning_msgs + actionlib + actionlib_msgs + + diff --git a/data/mir_planning/mir_task_planning/ros/config/planner_commands.yaml b/data/mir_planning/mir_task_planning/ros/config/planner_commands.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c32351e4cc2a42a3d909d4638a08b76b42ec4ee6 --- /dev/null +++ b/data/mir_planning/mir_task_planning/ros/config/planner_commands.yaml @@ -0,0 +1,11 @@ +# shell commands to execute planners +planner_commands: + # all CAPS words will be replaced in the code + mercury: + command: 'timeout TIMELIMIT EXECUTABLE DOMAIN PROBLEM FILENAME' + rospkg_name: 'mercury_planner' + executable_path: 'build/Mercury-fixed/seq-sat-mercury/plan' + lama: + command: 'EXECUTABLE --search-time-limit TIMELIMIT --alias seq-sat-lama-2011 --plan-file FILENAME DOMAIN PROBLEM' + rospkg_name: 'lama_planner' + executable_path: 'fast-downward/fast-downward.py' diff --git a/data/mir_planning/mir_task_planning/ros/launch/task_planner.launch b/data/mir_planning/mir_task_planning/ros/launch/task_planner.launch new file mode 100644 index 0000000000000000000000000000000000000000..b9476e3189f2b530b13673187bd7c08c1792c39a --- /dev/null +++ b/data/mir_planning/mir_task_planning/ros/launch/task_planner.launch @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_planning/mir_task_planning/ros/launch/task_planner_client.launch b/data/mir_planning/mir_task_planning/ros/launch/task_planner_client.launch new file mode 100644 index 0000000000000000000000000000000000000000..2e0af7b6b15f8a0bf3421b676fd66e85a22d4f17 --- /dev/null +++ b/data/mir_planning/mir_task_planning/ros/launch/task_planner_client.launch @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_planning/mir_task_planning/ros/launch/task_planner_client_test.launch b/data/mir_planning/mir_task_planning/ros/launch/task_planner_client_test.launch new file mode 100644 index 0000000000000000000000000000000000000000..7d9229c8aef544a4b96cbe026bae8826a294d056 --- /dev/null +++ b/data/mir_planning/mir_task_planning/ros/launch/task_planner_client_test.launch @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_planning/mir_task_planning/ros/launch/upload_problem.launch b/data/mir_planning/mir_task_planning/ros/launch/upload_problem.launch new file mode 100644 index 0000000000000000000000000000000000000000..b3003ab53aa748f2c1d63d97dd027d51a6c351ae --- /dev/null +++ b/data/mir_planning/mir_task_planning/ros/launch/upload_problem.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + diff --git a/data/mir_planning/mir_task_planning/ros/scripts/task_planner_client b/data/mir_planning/mir_task_planning/ros/scripts/task_planner_client new file mode 100644 index 0000000000000000000000000000000000000000..2a404ddd99f10558de74355b36778bab3136e15d --- /dev/null +++ b/data/mir_planning/mir_task_planning/ros/scripts/task_planner_client @@ -0,0 +1,91 @@ +#!/usr/bin/env python + +from __future__ import print_function + +import os.path +import sys + +# action lib +import actionlib +import rospy +from actionlib_msgs.msg import GoalStatus +from mir_planning_msgs.msg import PlanAction, PlanGoal + +NODE = "task_planner_client" + + +def send_action_goal( + domain_file, problem_file, planner="mercury", mode=PlanGoal.NORMAL +): + """Create a client for task_planner action server and send a goal with given parameters + + :domain: string (file path of domain file) + :problem: string (file path of problem file) + :planner: string (mercury/lama) + :mode: int (0 or 1) + :returns: list of strings (plan) + + """ + client = actionlib.SimpleActionClient( + "/mir_task_planning/task_planner_server/plan_task", PlanAction + ) + if client.wait_for_server(timeout=rospy.Duration(5)): + goal = PlanGoal( + planner=planner, + domain_file=domain_file, + problem_file=problem_file, + mode=mode, + ) + client.send_goal(goal) + client.wait_for_result() + state = client.get_state() + result = client.get_result() + if state == GoalStatus.SUCCEEDED: + rospy.loginfo("Found a plan with %i actions", len(result.plan.plan)) + rospy.loginfo(result) + elif state == GoalStatus.ABORTED: + rospy.logerr("Failed to plan") + else: + print("timeout while contacting task_planner server") + + +def main(): + domain_file_name = rospy.get_param("~domain_file_name", None) + problem_file_name = rospy.get_param("~problem_file_name", None) + file_path = rospy.get_param("~file_path", None) + + if domain_file_name is None or problem_file_name is None or file_path is None: + rospy.logfatal( + "Either domain file name or problem file name or file path not provided. Exiting." + ) + sys.exit(1) + + domain_file = os.path.join(file_path, domain_file_name) + problem_file = os.path.join(file_path, problem_file_name) + + if not os.path.exists(domain_file) or not os.path.exists(problem_file): + rospy.logfatal("Either domain file or problem file does not exist. Exiting.") + sys.exit(1) + + # planner = 'mercury' + planner = "lama" + mode = PlanGoal.NORMAL + # mode = PlanGoal.FAST + + try: + rospy.loginfo("Started " + NODE + " node") + plan = send_action_goal( + domain_file=domain_file, + problem_file=problem_file, + planner=planner, + mode=mode, + ) + rospy.sleep(0.2) # time for client to finish + except Exception as e: + print("Got following exception while executing", NODE, "\n", str(e)) + + +if __name__ == "__main__": + + rospy.init_node(NODE) + main() diff --git a/data/mir_planning/mir_task_planning/ros/scripts/task_planner_server b/data/mir_planning/mir_task_planning/ros/scripts/task_planner_server new file mode 100644 index 0000000000000000000000000000000000000000..a3ce2da7a3a813ee057b31f408429bf9d8769e59 --- /dev/null +++ b/data/mir_planning/mir_task_planning/ros/scripts/task_planner_server @@ -0,0 +1,150 @@ +#!/usr/bin/env python + +from __future__ import print_function + +import actionlib +import rospy +from mir_planning_msgs.msg import PlanAction, PlanGoal, PlanResult +from rosplan_dispatch_msgs.msg import CompletePlan + +from mir_task_planning.utils import Utils +from planner_wrapper.planner_wrapper import PlannerWrapper + +NODE = "task_planner_server" + + +class TaskPlannerServer(object): + + """ + A wrapper around planner which calls the appropriate scripts with appropriate + parameters wrapped inside an action server. + """ + + def __init__(self): + """ + - initialising subscribers, publishers and action server, + - reading ros parameters. + """ + + # read ros params + self._verbose = rospy.get_param("~verbose", False) + time_limit = rospy.get_param("~time_limit", 10) + + # read config files + planner_commands = rospy.get_param("~planner_commands") + self.verbose_print(planner_commands) + if not planner_commands: + raise Exception("Command to execute planner not provided") + + # Subscribers + + # Publishers + + # Action servers + self._action_server = actionlib.SimpleActionServer( + "~plan_task", PlanAction, execute_cb=self._plan_execute_cb, auto_start=False + ) + rospy.sleep(1) + self._action_server.start() + rospy.sleep(1) + self.verbose_print("Initialised server") + + # class variables + self.planner_wrapper = PlannerWrapper(planner_commands, time_limit=time_limit) + + def _plan_execute_cb(self, goal): + """Callback function to handle plan action clients' goals. + + :goal: PlanGoal + :returns: None + + """ + self.verbose_print("Plan request received") + plan = self.planner_wrapper.plan( + goal.planner, + goal.domain_file, + goal.problem_file, + goal.mode == PlanGoal.FAST, + ) + if not plan: + rospy.logerr("Failed to plan.") + self._action_server.set_aborted() + return + + complete_plan = CompletePlan() + for action_id, action_string in enumerate(plan): + complete_plan.plan.append( + Utils.get_action_msg_from_string(action_string, action_id + 1) + ) + + filtered_plan = TaskPlannerServer.post_process_plan(complete_plan) + + self._plan_result = PlanResult(plan=filtered_plan) + self._action_server.set_succeeded(self._plan_result) + + @staticmethod + def post_process_plan(complete_plan): + """Post process the plan to remove repeated action. + e.g. if there is a move_base action right after another move_base action, + the first move_base action will serve no purpose and thus should be removed. + + TODO: please add more filters if/when needed + + Filters when: + move_base -> move_base + move_base -> perceive -> move_base + + :complete_plan: rosplan_dispatch_msgs/CompletePlan + :returns: rosplan_dispatch_msgs/CompletePlan + + """ + plan = complete_plan.plan + new_plan = [] + i = 0 + while i < len(plan): + + # filter consecutive move_base actions + if i < len(plan) - 1 and plan[i].name == plan[i + 1].name == "MOVE_BASE": + # copy source from removed move_base action to repeated move_base + plan[i+1].parameters[1].value = plan[i].parameters[1].value + i += 1 + continue + + # filter move_base > perceive > move_base actions + if ( i < len(plan) - 2 + and plan[i].name == plan[i + 2].name == "MOVE_BASE" + and plan[i + 1] == "PERCEIVE" ): + # copy source from removed move_base action to repeated move_base + plan[i+2].parameters[1].value = plan[i].parameters[1].value + i += 2 + continue + + new_plan.append(plan[i]) + i += 1 + rospy.loginfo("Filtered " + str(len(plan) - len(new_plan)) + " actions") + return CompletePlan(plan=new_plan) + + def verbose_print(self, *args): + """ + Print the message as ros info if verbose is enabled, else print it as debug + :args: list of arguments (just like print) + :returns: None + + """ + try: + string_list = [str(i) for i in args] + string_list.insert(0, "[" + NODE + "] ") + except Exception as e: + string_list = [] + if self._verbose: + rospy.loginfo("".join(string_list)) + else: + rospy.logdebug("".join(string_list)) + + +# ============================================================================= + +if __name__ == "__main__": + rospy.init_node(NODE) + task_planner_server = TaskPlannerServer() + rospy.spin() diff --git a/data/mir_planning/mir_task_planning/ros/src/mir_task_planning/__init__.py b/data/mir_planning/mir_task_planning/ros/src/mir_task_planning/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/data/mir_planning/mir_task_planning/ros/src/mir_task_planning/utils.py b/data/mir_planning/mir_task_planning/ros/src/mir_task_planning/utils.py new file mode 100644 index 0000000000000000000000000000000000000000..f6d4eaca431fa6cb07c4c70ea4e3bcb45865df39 --- /dev/null +++ b/data/mir_planning/mir_task_planning/ros/src/mir_task_planning/utils.py @@ -0,0 +1,27 @@ +from diagnostic_msgs.msg import KeyValue +from rosplan_dispatch_msgs.msg import ActionDispatch + + +class Utils(object): + @staticmethod + def get_action_msg_from_string(string, action_id): + """ + Create and return Action obj from string of type ``(word word word ...)`` + + :param string: action represented in string format + :type string: str + :param action_id: identifier for the given action + :type action_id: int + :return: action represented in action object format + :rtype: rosplan_dispatch_msgs.msg.ActionDispatch + + """ + # remove parenthesis, convert str to upper case and split at spaces + action_param_list = string[1:-1].upper().split() + name = action_param_list[0] + params = [ + KeyValue("param_" + str(i + 1), param) + for i, param in enumerate(action_param_list[2:]) + ] + params.insert(0, KeyValue("robot_name", action_param_list[1])) + return ActionDispatch(action_id=action_id, name=name, parameters=params) diff --git a/data/mir_planning/mir_task_planning/ros/test/upload_problem b/data/mir_planning/mir_task_planning/ros/test/upload_problem new file mode 100644 index 0000000000000000000000000000000000000000..570af6e6c08d7fee747b5e8dbc74ac26e13a2c13 --- /dev/null +++ b/data/mir_planning/mir_task_planning/ros/test/upload_problem @@ -0,0 +1,35 @@ +#!/usr/bin/env python + +""" +This is a test script which uploads knowledge from a pddl problem file to knowledge +base. This mimics getting data from refbox, parsing that data and upload that data +to knowledge base. +""" + +from __future__ import print_function + +import os.path + +import rospy +from mir_knowledge_ros.problem_uploader import ProblemUploader + +NODE = "upload_problem" + + +def main(): + rospy.init_node("test_problem_uploader") + + problem_file = rospy.get_param("~problem_file", None) + print(problem_file) + + if problem_file is None or not os.path.exists(problem_file): + rospy.logfatal("Either domain file or problem file does not exist. Exiting.") + sys.exit(1) + + uploader = ProblemUploader(problem_file) + uploader.upload() + rospy.sleep(1.0) + + +if __name__ == "__main__": + main() diff --git a/data/mir_planning/mir_task_planning/setup.py b/data/mir_planning/mir_task_planning/setup.py new file mode 100644 index 0000000000000000000000000000000000000000..e116e41ae9b59653b7aeaf00e7ebcf7f4c34f5e6 --- /dev/null +++ b/data/mir_planning/mir_task_planning/setup.py @@ -0,0 +1,15 @@ +#!/usr/bin/env python + +from distutils.core import setup + +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages=["planner_wrapper", "mir_task_planning"], + package_dir={ + "planner_wrapper": "common/planner_wrapper", + "mir_task_planning": "ros/src/mir_task_planning", + }, +) + +setup(**d) diff --git a/data/mir_robots/mir_bringup/CMakeLists.txt b/data/mir_robots/mir_bringup/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..3b9207e7502d25ea95202ad238f326314019b1c0 --- /dev/null +++ b/data/mir_robots/mir_bringup/CMakeLists.txt @@ -0,0 +1,51 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_bringup) + +find_package(catkin REQUIRED) + +catkin_package( + CATKIN_DEPENDS + urg_node + mcr_collision_velocity_filter + mcr_default_env_config + mir_arm_cartesian_control + mir_default_robot_config + mir_gripper_controller + mir_hardware_config + mir_teleop + openni2_launch + robot_state_publisher + tf + youbot_dashboard + youbot_description + youbot_diagnostic_aggregator + youbot_driver_ros_interface + usb_cam +) + +### TEST +if(CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + + #roslaunch_add_file_check(robot.launch robot:=youbot-brsu-1) + roslaunch_add_file_check(robots) + roslaunch_add_file_check(components robot:=youbot-brsu-1) + roslaunch_add_file_check(tools) +endif() + + +### INSTALLS +set( + INSTALL_DIRS + components + robots + tools +) +foreach(dir ${INSTALL_DIRS}) + install(DIRECTORY ${dir} + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) +endforeach() + +install(FILES robot.launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + ) diff --git a/data/mir_robots/mir_bringup/components/base_front_hokuyo_node.launch b/data/mir_robots/mir_bringup/components/base_front_hokuyo_node.launch new file mode 100644 index 0000000000000000000000000000000000000000..a729517d1b6eb2f0ae0c7a40ed34904aac1705a3 --- /dev/null +++ b/data/mir_robots/mir_bringup/components/base_front_hokuyo_node.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/data/mir_robots/mir_bringup/components/base_front_urg_node.launch b/data/mir_robots/mir_bringup/components/base_front_urg_node.launch new file mode 100644 index 0000000000000000000000000000000000000000..7b2f46cc3e12435dbfd2bec5c306605aab700543 --- /dev/null +++ b/data/mir_robots/mir_bringup/components/base_front_urg_node.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/data/mir_robots/mir_bringup/components/base_rear_hokuyo_node.launch b/data/mir_robots/mir_bringup/components/base_rear_hokuyo_node.launch new file mode 100644 index 0000000000000000000000000000000000000000..65e3a4e54338c6649d1e8a234a45a92043fb43e1 --- /dev/null +++ b/data/mir_robots/mir_bringup/components/base_rear_hokuyo_node.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/data/mir_robots/mir_bringup/components/base_rear_urg_node.launch b/data/mir_robots/mir_bringup/components/base_rear_urg_node.launch new file mode 100644 index 0000000000000000000000000000000000000000..d5c0f2821c138e7c1641e20299710071328e6b78 --- /dev/null +++ b/data/mir_robots/mir_bringup/components/base_rear_urg_node.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/data/mir_robots/mir_bringup/components/microsoft_life_cam.launch b/data/mir_robots/mir_bringup/components/microsoft_life_cam.launch new file mode 100644 index 0000000000000000000000000000000000000000..5125cea7fa8b54d7108d999d440f0013d341e779 --- /dev/null +++ b/data/mir_robots/mir_bringup/components/microsoft_life_cam.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/data/mir_robots/mir_bringup/components/openni.launch b/data/mir_robots/mir_bringup/components/openni.launch new file mode 100644 index 0000000000000000000000000000000000000000..6f8b2afb0c47d2cb8f4ce3bd3b342ea4903a2bef --- /dev/null +++ b/data/mir_robots/mir_bringup/components/openni.launch @@ -0,0 +1,117 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_robots/mir_bringup/components/openni2.launch b/data/mir_robots/mir_bringup/components/openni2.launch new file mode 100644 index 0000000000000000000000000000000000000000..481403ab89f83fc5943e22f9f143490963dce7b4 --- /dev/null +++ b/data/mir_robots/mir_bringup/components/openni2.launch @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/data/mir_robots/mir_bringup/components/realsense_camera.launch b/data/mir_robots/mir_bringup/components/realsense_camera.launch new file mode 100644 index 0000000000000000000000000000000000000000..9ddc601c5a09cdadc171359efb860a5114e28d87 --- /dev/null +++ b/data/mir_robots/mir_bringup/components/realsense_camera.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/data/mir_robots/mir_bringup/components/realsense_camera_dorabot.launch b/data/mir_robots/mir_bringup/components/realsense_camera_dorabot.launch new file mode 100644 index 0000000000000000000000000000000000000000..02e222f266a34b2c0b3828c28ee56c257a7194ec --- /dev/null +++ b/data/mir_robots/mir_bringup/components/realsense_camera_dorabot.launch @@ -0,0 +1,7 @@ + + + + + + + diff --git a/data/mir_robots/mir_bringup/components/youbot_oodl_driver.launch b/data/mir_robots/mir_bringup/components/youbot_oodl_driver.launch new file mode 100644 index 0000000000000000000000000000000000000000..40e6af3ab4579da83416aae93e2c0b53440785f4 --- /dev/null +++ b/data/mir_robots/mir_bringup/components/youbot_oodl_driver.launch @@ -0,0 +1,52 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_robots/mir_bringup/package.xml b/data/mir_robots/mir_bringup/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..305129a251de64d1cd5e7d3f6d592f496b777209 --- /dev/null +++ b/data/mir_robots/mir_bringup/package.xml @@ -0,0 +1,36 @@ + + + mir_bringup + 0.0.1 + launch files to bring up a complete robot or only specific components + + Frederik Hegger + + GPLv3 + + Frederik Hegger + + catkin + + urg_node + mcr_default_env_config + mcr_collision_velocity_filter + mir_arm_cartesian_control + mir_default_robot_config + mir_gripper_controller + mir_hardware_config + mir_teleop + mir_twist_mux + openni2_launch + robot_state_publisher + rgbd_launch + tf + youbot_dashboard + youbot_description + youbot_diagnostic_aggregator + youbot_driver_ros_interface + usb_cam + + roslaunch + + diff --git a/data/mir_robots/mir_bringup/robot.launch b/data/mir_robots/mir_bringup/robot.launch new file mode 100644 index 0000000000000000000000000000000000000000..bdabc3b78b0c65578a74226f9e6ebf131ff28f45 --- /dev/null +++ b/data/mir_robots/mir_bringup/robot.launch @@ -0,0 +1,27 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_robots/mir_bringup/robots/youbot-brsu-1.launch b/data/mir_robots/mir_bringup/robots/youbot-brsu-1.launch new file mode 100644 index 0000000000000000000000000000000000000000..99d873f826093f3cd1f3a78ec57f1d0cbf6845ae --- /dev/null +++ b/data/mir_robots/mir_bringup/robots/youbot-brsu-1.launch @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_robots/mir_bringup/robots/youbot-brsu-2.launch b/data/mir_robots/mir_bringup/robots/youbot-brsu-2.launch new file mode 100644 index 0000000000000000000000000000000000000000..04df12ddd8f218bcc106b39231fe21dc8849368e --- /dev/null +++ b/data/mir_robots/mir_bringup/robots/youbot-brsu-2.launch @@ -0,0 +1,47 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_robots/mir_bringup/robots/youbot-brsu-3.launch b/data/mir_robots/mir_bringup/robots/youbot-brsu-3.launch new file mode 100644 index 0000000000000000000000000000000000000000..6fac74f544fb063080d8205ee9ed8ee966be7b0c --- /dev/null +++ b/data/mir_robots/mir_bringup/robots/youbot-brsu-3.launch @@ -0,0 +1,44 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_robots/mir_bringup/robots/youbot-brsu-4.launch b/data/mir_robots/mir_bringup/robots/youbot-brsu-4.launch new file mode 100644 index 0000000000000000000000000000000000000000..5d4012fc8cd054b07eb1e29ceb0f2d34b16fc428 --- /dev/null +++ b/data/mir_robots/mir_bringup/robots/youbot-brsu-4.launch @@ -0,0 +1,58 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_robots/mir_bringup/robots/youbot-brsu-arm.launch b/data/mir_robots/mir_bringup/robots/youbot-brsu-arm.launch new file mode 100644 index 0000000000000000000000000000000000000000..c98fc5dbd6fbb69b144f68609eb96d7dcc4c293a --- /dev/null +++ b/data/mir_robots/mir_bringup/robots/youbot-brsu-arm.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/data/mir_robots/mir_bringup/tools/bringup_launcher.sh b/data/mir_robots/mir_bringup/tools/bringup_launcher.sh new file mode 100644 index 0000000000000000000000000000000000000000..f4e9a2913f4550cf08f4fa4eb58768ef35555ce6 --- /dev/null +++ b/data/mir_robots/mir_bringup/tools/bringup_launcher.sh @@ -0,0 +1,34 @@ +#!/bin/bash + +SESSION="bringup" + +#allow re-launch +/usr/bin/tmux has-session -t $SESSION 2> /dev/null && /usr/bin/tmux kill-session -t $SESSION +/usr/bin/tmux -2 new-session -d -s $SESSION + +echo "Exporting and sourcing necessary stuff" + +/usr/bin/tmux send-keys -t $SESSION.0 "export HOME=/home/robocup" C-m +/usr/bin/tmux send-keys -t $SESSION.0 "cd" C-m +/usr/bin/tmux send-keys -t $SESSION.0 "source ~/.bashrc" C-m + +# Use either block no. 1 or 2 depending on the use case. 2 launches gripper +# separately. This generally has higher chance of gripper coming up faster +# compared to 1 which is desirable during competitions. + + +# 1) unified bringup +echo "Launch bringup" +/usr/bin/tmux send-keys -t $SESSION.2 "bringup" C-m + + +# 2) gripper launched separately from bringup +# echo "Launching gripper" +# /usr/bin/tmux send-keys -t $SESSION.0 "roslaunch mir_gripper_controller dynamixel_gripper.launch" C-m +# echo "Launch bringup" +# /usr/bin/tmux split-window -h +# sleep 10s +# /usr/bin/tmux send-keys -t $SESSION.1 "export HOME=/home/robocup" C-m +# /usr/bin/tmux send-keys -t $SESSION.1 "cd" C-m +# /usr/bin/tmux send-keys -t $SESSION.1 "source ~/.bashrc" C-m +# /usr/bin/tmux send-keys -t $SESSION.1 "bringup" C-m diff --git a/data/mir_robots/mir_bringup/tools/dashboard.launch b/data/mir_robots/mir_bringup/tools/dashboard.launch new file mode 100644 index 0000000000000000000000000000000000000000..239c23ee91bde6a10836a381df50cec79b4d7ebc --- /dev/null +++ b/data/mir_robots/mir_bringup/tools/dashboard.launch @@ -0,0 +1,7 @@ + + + + + + + diff --git a/data/mir_robots/mir_default_robot_config/CMakeLists.txt b/data/mir_robots/mir_default_robot_config/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..3924c768c985c22081c21f516f67d376303eda0e --- /dev/null +++ b/data/mir_robots/mir_default_robot_config/CMakeLists.txt @@ -0,0 +1,24 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_default_robot_config) +find_package(catkin REQUIRED) + +catkin_package() + +### TESTS +if(CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + + roslaunch_add_file_check(upload_param.launch robot:=youbot-brsu-1) +endif() + + +### INSTALLS +install(FILES upload_param.launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +foreach(robot ${robot_list}) + install(DIRECTORY ${robot} + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${robot} + ) +endforeach() diff --git a/data/mir_robots/mir_default_robot_config/package.xml b/data/mir_robots/mir_default_robot_config/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..b67d986253f634c79d8e6fe56959b2fa44a9a2f0 --- /dev/null +++ b/data/mir_robots/mir_default_robot_config/package.xml @@ -0,0 +1,17 @@ + + + mir_default_robot_config + 0.0.1 + default robot configurations e.g. for the arm, gripper, etc. + + Frederik Hegger + + GPLv3 + + Frederik Hegger + + catkin + + roslaunch + + diff --git a/data/mir_robots/mir_default_robot_config/upload_param.launch b/data/mir_robots/mir_default_robot_config/upload_param.launch new file mode 100644 index 0000000000000000000000000000000000000000..50b5321bfcab223539aed43150971ada42195f95 --- /dev/null +++ b/data/mir_robots/mir_default_robot_config/upload_param.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/data/mir_robots/mir_default_robot_config/youbot-brsu-1/dynamixel_gripper/controllers.yaml b/data/mir_robots/mir_default_robot_config/youbot-brsu-1/dynamixel_gripper/controllers.yaml new file mode 100644 index 0000000000000000000000000000000000000000..917174b7bf8ef0b669ed3111e9e07dd40957c1f8 --- /dev/null +++ b/data/mir_robots/mir_default_robot_config/youbot-brsu-1/dynamixel_gripper/controllers.yaml @@ -0,0 +1,15 @@ +gripper_controller: + controller: + package: dynamixel_controllers + module: joint_position_controller_dual_motor + type: JointPositionControllerDual + joint_name: gripper_joint + joint_speed: 7.5 + motor_master: + id: 1 + init: 50 + min: 0 + max: 400 + motor_slave: + id: 2 + calbration_offset: 0 diff --git a/data/mir_robots/mir_default_robot_config/youbot-brsu-1/dynamixel_gripper/motors.yaml b/data/mir_robots/mir_default_robot_config/youbot-brsu-1/dynamixel_gripper/motors.yaml new file mode 100644 index 0000000000000000000000000000000000000000..36a519db81c76267775a79b5fa0e0fe559f4dabd --- /dev/null +++ b/data/mir_robots/mir_default_robot_config/youbot-brsu-1/dynamixel_gripper/motors.yaml @@ -0,0 +1,8 @@ +namespace: dxl_manager +serial_ports: + gripper_port: + port_name: /dev/youbot/dynamixel_gripper + baud_rate: 1000000 + min_motor_id: 1 + max_motor_id: 2 + update_rate: 50 diff --git a/data/mir_robots/mir_default_robot_config/youbot-brsu-1/workspace_constraints.yaml b/data/mir_robots/mir_default_robot_config/youbot-brsu-1/workspace_constraints.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fc1a24b0df5731a7d5a149c539c5396a0c389f57 --- /dev/null +++ b/data/mir_robots/mir_default_robot_config/youbot-brsu-1/workspace_constraints.yaml @@ -0,0 +1,6 @@ +# Plane constraints for workspace finder +# Generated by calibrate_workspace_finder.py script +normal_x: 0.028799 +normal_y: -0.750423 +normal_z: -0.660331 +distance: 0.381429 diff --git a/data/mir_robots/mir_default_robot_config/youbot-brsu-2/dynamixel_gripper/controllers.yaml b/data/mir_robots/mir_default_robot_config/youbot-brsu-2/dynamixel_gripper/controllers.yaml new file mode 100644 index 0000000000000000000000000000000000000000..66afc54b5d77bf4fa7db7d34ce1b3dfacabef94e --- /dev/null +++ b/data/mir_robots/mir_default_robot_config/youbot-brsu-2/dynamixel_gripper/controllers.yaml @@ -0,0 +1,15 @@ +gripper_controller: + controller: + package: dynamixel_controllers + module: joint_position_controller_dual_motor + type: JointPositionControllerDual + joint_name: gripper_joint + joint_speed: 1.17 + motor_master: + id: 1 + init: 1985 + min: 0 + max: 4095 + motor_slave: + id: 2 + calbration_offset: 0 diff --git a/data/mir_robots/mir_default_robot_config/youbot-brsu-2/dynamixel_gripper/motors.yaml b/data/mir_robots/mir_default_robot_config/youbot-brsu-2/dynamixel_gripper/motors.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c90888f1c6a714256a0c311fe5526a60c7cf95f6 --- /dev/null +++ b/data/mir_robots/mir_default_robot_config/youbot-brsu-2/dynamixel_gripper/motors.yaml @@ -0,0 +1,8 @@ +namespace: dxl_manager +serial_ports: + gripper_port: + port_name: /dev/youbot/dynamixel_gripper + baud_rate: 1000000 + min_motor_id: 1 + max_motor_id: 2 + update_rate: 10 diff --git a/data/mir_robots/mir_default_robot_config/youbot-brsu-2/gripper_joint_configurations.yaml b/data/mir_robots/mir_default_robot_config/youbot-brsu-2/gripper_joint_configurations.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e4f77df35f960e592b67df7fc14ab551ff2cd8a2 --- /dev/null +++ b/data/mir_robots/mir_default_robot_config/youbot-brsu-2/gripper_joint_configurations.yaml @@ -0,0 +1,4 @@ +joint_names: [gripper_finger_joint_l, gripper_finger_joint_r] + +open: [[0.0115, 0.0115]] +close: [[0.0, 0.0]] diff --git a/data/mir_robots/mir_default_robot_config/youbot-brsu-3/dynamixel_gripper/controllers.yaml b/data/mir_robots/mir_default_robot_config/youbot-brsu-3/dynamixel_gripper/controllers.yaml new file mode 100644 index 0000000000000000000000000000000000000000..65d83c585c7518ae5f01e99620a0355fa0b231dc --- /dev/null +++ b/data/mir_robots/mir_default_robot_config/youbot-brsu-3/dynamixel_gripper/controllers.yaml @@ -0,0 +1,15 @@ +gripper_controller: + controller: + package: dynamixel_controllers + module: joint_position_controller_dual_motor + type: JointPositionControllerDual + joint_name: gripper_joint + joint_speed: 7.5 + motor_master: + id: 1 + init: 512 + min: 0 + max: 1023 + motor_slave: + id: 2 + calbration_offset: 0 diff --git a/data/mir_robots/mir_default_robot_config/youbot-brsu-3/dynamixel_gripper/motors.yaml b/data/mir_robots/mir_default_robot_config/youbot-brsu-3/dynamixel_gripper/motors.yaml new file mode 100644 index 0000000000000000000000000000000000000000..36a519db81c76267775a79b5fa0e0fe559f4dabd --- /dev/null +++ b/data/mir_robots/mir_default_robot_config/youbot-brsu-3/dynamixel_gripper/motors.yaml @@ -0,0 +1,8 @@ +namespace: dxl_manager +serial_ports: + gripper_port: + port_name: /dev/youbot/dynamixel_gripper + baud_rate: 1000000 + min_motor_id: 1 + max_motor_id: 2 + update_rate: 50 diff --git a/data/mir_robots/mir_default_robot_config/youbot-brsu-3/workspace_constraints.yaml b/data/mir_robots/mir_default_robot_config/youbot-brsu-3/workspace_constraints.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4a21d39dcadbc46cf8a7e7985e24fbcada741d47 --- /dev/null +++ b/data/mir_robots/mir_default_robot_config/youbot-brsu-3/workspace_constraints.yaml @@ -0,0 +1,6 @@ +# Plane constraints for workspace finder +# Generated by calibrate_workspace_finder.py script +normal_x: 0.029560 +normal_y: -0.767087 +normal_z: -0.640860 +distance: 0.373023 diff --git a/data/mir_robots/mir_default_robot_config/youbot-brsu-4/dynamixel_gripper/controllers.yaml b/data/mir_robots/mir_default_robot_config/youbot-brsu-4/dynamixel_gripper/controllers.yaml new file mode 100644 index 0000000000000000000000000000000000000000..65d83c585c7518ae5f01e99620a0355fa0b231dc --- /dev/null +++ b/data/mir_robots/mir_default_robot_config/youbot-brsu-4/dynamixel_gripper/controllers.yaml @@ -0,0 +1,15 @@ +gripper_controller: + controller: + package: dynamixel_controllers + module: joint_position_controller_dual_motor + type: JointPositionControllerDual + joint_name: gripper_joint + joint_speed: 7.5 + motor_master: + id: 1 + init: 512 + min: 0 + max: 1023 + motor_slave: + id: 2 + calbration_offset: 0 diff --git a/data/mir_robots/mir_default_robot_config/youbot-brsu-4/dynamixel_gripper/motors.yaml b/data/mir_robots/mir_default_robot_config/youbot-brsu-4/dynamixel_gripper/motors.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0ed567e29ea73970929da9a88de34d52c86c804e --- /dev/null +++ b/data/mir_robots/mir_default_robot_config/youbot-brsu-4/dynamixel_gripper/motors.yaml @@ -0,0 +1,8 @@ +namespace: dxl_manager +serial_ports: + gripper_port: + port_name: /dev/youbot/dynamixel_gripper + baud_rate: 200000 + min_motor_id: 1 + max_motor_id: 2 + update_rate: 10 diff --git a/data/mir_robots/mir_default_robot_config/youbot-brsu-4/gripper_joint_configurations.yaml b/data/mir_robots/mir_default_robot_config/youbot-brsu-4/gripper_joint_configurations.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e4f77df35f960e592b67df7fc14ab551ff2cd8a2 --- /dev/null +++ b/data/mir_robots/mir_default_robot_config/youbot-brsu-4/gripper_joint_configurations.yaml @@ -0,0 +1,4 @@ +joint_names: [gripper_finger_joint_l, gripper_finger_joint_r] + +open: [[0.0115, 0.0115]] +close: [[0.0, 0.0]] diff --git a/data/mir_robots/mir_hardware_config/CMakeLists.txt b/data/mir_robots/mir_hardware_config/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..ab2dbeaa08f8b5a57937c98068985f7846deccfc --- /dev/null +++ b/data/mir_robots/mir_hardware_config/CMakeLists.txt @@ -0,0 +1,33 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_hardware_config) +find_package(catkin REQUIRED) + +catkin_package( + CATKIN_DEPENDS + mcr_description + mir_description + youbot_description +) + +set(robot_list + youbot-brsu-1 + youbot-brsu-2 + youbot-brsu-3 + youbot-brsu-4 +) + + +### TESTS +if(CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + + roslaunch_add_file_check(upload_param.launch robot:=youbot-brsu-1) +endif() + + +### INSTALLS +foreach(robot ${robot_list}) + install(DIRECTORY ${robot} + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${robot} + ) +endforeach() diff --git a/data/mir_robots/mir_hardware_config/package.xml b/data/mir_robots/mir_hardware_config/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..4afc8a0c84d3a3552b900cbf460fb114a745389f --- /dev/null +++ b/data/mir_robots/mir_hardware_config/package.xml @@ -0,0 +1,21 @@ + + + mir_hardware_config + 0.0.1 + urdf descriptions and yaml configuration files for different industrial robots + + Frederik Hegger + + GPLv3 + + Frederik Hegger + + catkin + + mcr_description + mir_description + youbot_description + + roslaunch + + diff --git a/data/mir_robots/mir_hardware_config/upload_param.launch b/data/mir_robots/mir_hardware_config/upload_param.launch new file mode 100644 index 0000000000000000000000000000000000000000..8ee1e8bd12120e47bc2aec2a91310e15ea33280e --- /dev/null +++ b/data/mir_robots/mir_hardware_config/upload_param.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-1/config/arm.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-1/config/arm.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4d4d2a540693063652b5f62871598b3777f84342 --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-1/config/arm.yaml @@ -0,0 +1,24 @@ +arm_controller: + joints: + - arm_joint_1 + - arm_joint_2 + - arm_joint_3 + - arm_joint_4 + - arm_joint_5 + + limits: + arm_joint_1: + min: 0.0100692 + max: 5.84014 + arm_joint_2: + min: 0.0100692 + max: 2.61799 + arm_joint_3: + min: -5.02655 + max: -0.015708 + arm_joint_4: + min: 0.0221239 + max: 3.4292 + arm_joint_5: + min: 0.110619 + max: 5.64159 diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-1/config/base_footprint.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-1/config/base_footprint.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2b3092d6efacaa1985b73b48047a7d6825792d68 --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-1/config/base_footprint.yaml @@ -0,0 +1,12 @@ +footprint: [[-0.2720, -0.1869], + [-0.2720, -0.0331], + [-0.3260, -0.0310], + [-0.3260, 0.0310], + [-0.2720, 0.0325], + [-0.2720, 0.1875], + [0.2720, 0.1875], + [0.2720, 0.0865], + [0.3160, 0.0425], + [0.3160, -0.0425], + [0.2720, -0.0865], + [0.2720, -0.1875]] diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-1/config/base_footprint_rectangular.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-1/config/base_footprint_rectangular.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5e14e2a1fab041bb0e17fa043edb6f5e7273b02d --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-1/config/base_footprint_rectangular.yaml @@ -0,0 +1,5 @@ +footprint: [[-0.3160, -0.1869], + [-0.3160, 0.1869], + [0.3160, 0.1869], + [0.3160, -0.1869]] + diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-1/config/gripper.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-1/config/gripper.yaml new file mode 100644 index 0000000000000000000000000000000000000000..646a64f8b31c904d049125f405782e7756e14f6b --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-1/config/gripper.yaml @@ -0,0 +1,8 @@ +gripper_controller: + limits: + gripper_finger_joint_l: + min: 0.0 + max: 0.0115 + gripper_finger_joint_r: + min: 0 + max: 0.0115 diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-1/config/joy.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-1/config/joy.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f202f33e610b05b29b83b0da1a365ddc552945f6 --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-1/config/joy.yaml @@ -0,0 +1,3 @@ +dev: /dev/input/js0 +deadzone: 0.12 +autorepeat_rate: 50.0 \ No newline at end of file diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-1/config/laser_front.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-1/config/laser_front.yaml new file mode 100644 index 0000000000000000000000000000000000000000..45d8d85d0360262cfcc4b825da79001dbe282629 --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-1/config/laser_front.yaml @@ -0,0 +1,5 @@ +port: /dev/youbot/hokuyo_front +frame_id: /base_laser_front_link +min_ang: -1.57 +max_ang: 1.57 + diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-1/config/laser_rear.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-1/config/laser_rear.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9a20b11d89bcd70ccb2c9e0f03d962e9547a7d3f --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-1/config/laser_rear.yaml @@ -0,0 +1,5 @@ +port: /dev/youbot/hokuyo_rear +frame_id: /base_laser_rear_link +min_ang: -1.57 +max_ang: 1.57 + diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-1/config/teleop.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-1/config/teleop.yaml new file mode 100644 index 0000000000000000000000000000000000000000..21d0416d94ce14e9a2dd0e875d96d2bac0bfc29e --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-1/config/teleop.yaml @@ -0,0 +1,5 @@ +base_max_linear_x_vel: 0.3 # m per second in run mode +base_max_linear_y_vel: 0.3 # m per second in run mode +base_max_angular_vel: 0.6 # rad per second in run mode +arm_max_vel: 0.4 # rad per second in run mode +soft_joint_limit_threshold: 0.1 # rad diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-1/urdf/robot.urdf.xacro b/data/mir_robots/mir_hardware_config/youbot-brsu-1/urdf/robot.urdf.xacro new file mode 100644 index 0000000000000000000000000000000000000000..395561c30cd77315a5a6d107cc3384e2f718d78d --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-1/urdf/robot.urdf.xacro @@ -0,0 +1,63 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-2/config/arm.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-2/config/arm.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4d4d2a540693063652b5f62871598b3777f84342 --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-2/config/arm.yaml @@ -0,0 +1,24 @@ +arm_controller: + joints: + - arm_joint_1 + - arm_joint_2 + - arm_joint_3 + - arm_joint_4 + - arm_joint_5 + + limits: + arm_joint_1: + min: 0.0100692 + max: 5.84014 + arm_joint_2: + min: 0.0100692 + max: 2.61799 + arm_joint_3: + min: -5.02655 + max: -0.015708 + arm_joint_4: + min: 0.0221239 + max: 3.4292 + arm_joint_5: + min: 0.110619 + max: 5.64159 diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-2/config/base_footprint.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-2/config/base_footprint.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2b3092d6efacaa1985b73b48047a7d6825792d68 --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-2/config/base_footprint.yaml @@ -0,0 +1,12 @@ +footprint: [[-0.2720, -0.1869], + [-0.2720, -0.0331], + [-0.3260, -0.0310], + [-0.3260, 0.0310], + [-0.2720, 0.0325], + [-0.2720, 0.1875], + [0.2720, 0.1875], + [0.2720, 0.0865], + [0.3160, 0.0425], + [0.3160, -0.0425], + [0.2720, -0.0865], + [0.2720, -0.1875]] diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-2/config/base_footprint_rectangular.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-2/config/base_footprint_rectangular.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5e14e2a1fab041bb0e17fa043edb6f5e7273b02d --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-2/config/base_footprint_rectangular.yaml @@ -0,0 +1,5 @@ +footprint: [[-0.3160, -0.1869], + [-0.3160, 0.1869], + [0.3160, 0.1869], + [0.3160, -0.1869]] + diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-2/config/gripper.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-2/config/gripper.yaml new file mode 100644 index 0000000000000000000000000000000000000000..646a64f8b31c904d049125f405782e7756e14f6b --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-2/config/gripper.yaml @@ -0,0 +1,8 @@ +gripper_controller: + limits: + gripper_finger_joint_l: + min: 0.0 + max: 0.0115 + gripper_finger_joint_r: + min: 0 + max: 0.0115 diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-2/config/joy.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-2/config/joy.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f202f33e610b05b29b83b0da1a365ddc552945f6 --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-2/config/joy.yaml @@ -0,0 +1,3 @@ +dev: /dev/input/js0 +deadzone: 0.12 +autorepeat_rate: 50.0 \ No newline at end of file diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-2/config/laser_front.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-2/config/laser_front.yaml new file mode 100644 index 0000000000000000000000000000000000000000..45d8d85d0360262cfcc4b825da79001dbe282629 --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-2/config/laser_front.yaml @@ -0,0 +1,5 @@ +port: /dev/youbot/hokuyo_front +frame_id: /base_laser_front_link +min_ang: -1.57 +max_ang: 1.57 + diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-2/config/laser_front_urg.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-2/config/laser_front_urg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e5185ce0ab3dc47362e70275e5b0d989eb0ec169 --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-2/config/laser_front_urg.yaml @@ -0,0 +1,5 @@ +serial_port: /dev/youbot/hokuyo_front +frame_id: /base_laser_front_link +angle_min: -1.57 +angle_max: 1.57 + diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-2/config/laser_rear.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-2/config/laser_rear.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9a20b11d89bcd70ccb2c9e0f03d962e9547a7d3f --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-2/config/laser_rear.yaml @@ -0,0 +1,5 @@ +port: /dev/youbot/hokuyo_rear +frame_id: /base_laser_rear_link +min_ang: -1.57 +max_ang: 1.57 + diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-2/config/laser_rear_urg.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-2/config/laser_rear_urg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4d6c30b64400e1bff3024acf9149a8991fbc9487 --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-2/config/laser_rear_urg.yaml @@ -0,0 +1,5 @@ +serial_port: /dev/youbot/hokuyo_rear +frame_id: /base_laser_rear_link +angle_min: -1.57 +angle_max: 1.57 + diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-2/config/teleop.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-2/config/teleop.yaml new file mode 100644 index 0000000000000000000000000000000000000000..21d0416d94ce14e9a2dd0e875d96d2bac0bfc29e --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-2/config/teleop.yaml @@ -0,0 +1,5 @@ +base_max_linear_x_vel: 0.3 # m per second in run mode +base_max_linear_y_vel: 0.3 # m per second in run mode +base_max_angular_vel: 0.6 # rad per second in run mode +arm_max_vel: 0.4 # rad per second in run mode +soft_joint_limit_threshold: 0.1 # rad diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-2/urdf/robot.urdf.xacro b/data/mir_robots/mir_hardware_config/youbot-brsu-2/urdf/robot.urdf.xacro new file mode 100644 index 0000000000000000000000000000000000000000..09ab1c74196c6e0ade08273c46e3121af442d05e --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-2/urdf/robot.urdf.xacro @@ -0,0 +1,103 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-3/config/arm.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-3/config/arm.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4d4d2a540693063652b5f62871598b3777f84342 --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-3/config/arm.yaml @@ -0,0 +1,24 @@ +arm_controller: + joints: + - arm_joint_1 + - arm_joint_2 + - arm_joint_3 + - arm_joint_4 + - arm_joint_5 + + limits: + arm_joint_1: + min: 0.0100692 + max: 5.84014 + arm_joint_2: + min: 0.0100692 + max: 2.61799 + arm_joint_3: + min: -5.02655 + max: -0.015708 + arm_joint_4: + min: 0.0221239 + max: 3.4292 + arm_joint_5: + min: 0.110619 + max: 5.64159 diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-3/config/base_footprint.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-3/config/base_footprint.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2b3092d6efacaa1985b73b48047a7d6825792d68 --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-3/config/base_footprint.yaml @@ -0,0 +1,12 @@ +footprint: [[-0.2720, -0.1869], + [-0.2720, -0.0331], + [-0.3260, -0.0310], + [-0.3260, 0.0310], + [-0.2720, 0.0325], + [-0.2720, 0.1875], + [0.2720, 0.1875], + [0.2720, 0.0865], + [0.3160, 0.0425], + [0.3160, -0.0425], + [0.2720, -0.0865], + [0.2720, -0.1875]] diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-3/config/base_footprint_rectangular.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-3/config/base_footprint_rectangular.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5e14e2a1fab041bb0e17fa043edb6f5e7273b02d --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-3/config/base_footprint_rectangular.yaml @@ -0,0 +1,5 @@ +footprint: [[-0.3160, -0.1869], + [-0.3160, 0.1869], + [0.3160, 0.1869], + [0.3160, -0.1869]] + diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-3/config/gripper.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-3/config/gripper.yaml new file mode 100644 index 0000000000000000000000000000000000000000..646a64f8b31c904d049125f405782e7756e14f6b --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-3/config/gripper.yaml @@ -0,0 +1,8 @@ +gripper_controller: + limits: + gripper_finger_joint_l: + min: 0.0 + max: 0.0115 + gripper_finger_joint_r: + min: 0 + max: 0.0115 diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-3/config/joy.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-3/config/joy.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f202f33e610b05b29b83b0da1a365ddc552945f6 --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-3/config/joy.yaml @@ -0,0 +1,3 @@ +dev: /dev/input/js0 +deadzone: 0.12 +autorepeat_rate: 50.0 \ No newline at end of file diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-3/config/laser_front.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-3/config/laser_front.yaml new file mode 100644 index 0000000000000000000000000000000000000000..45d8d85d0360262cfcc4b825da79001dbe282629 --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-3/config/laser_front.yaml @@ -0,0 +1,5 @@ +port: /dev/youbot/hokuyo_front +frame_id: /base_laser_front_link +min_ang: -1.57 +max_ang: 1.57 + diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-3/config/laser_front_urg.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-3/config/laser_front_urg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e5185ce0ab3dc47362e70275e5b0d989eb0ec169 --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-3/config/laser_front_urg.yaml @@ -0,0 +1,5 @@ +serial_port: /dev/youbot/hokuyo_front +frame_id: /base_laser_front_link +angle_min: -1.57 +angle_max: 1.57 + diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-3/config/laser_rear.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-3/config/laser_rear.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9a20b11d89bcd70ccb2c9e0f03d962e9547a7d3f --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-3/config/laser_rear.yaml @@ -0,0 +1,5 @@ +port: /dev/youbot/hokuyo_rear +frame_id: /base_laser_rear_link +min_ang: -1.57 +max_ang: 1.57 + diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-3/config/laser_rear_urg.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-3/config/laser_rear_urg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4d6c30b64400e1bff3024acf9149a8991fbc9487 --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-3/config/laser_rear_urg.yaml @@ -0,0 +1,5 @@ +serial_port: /dev/youbot/hokuyo_rear +frame_id: /base_laser_rear_link +angle_min: -1.57 +angle_max: 1.57 + diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-3/config/teleop.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-3/config/teleop.yaml new file mode 100644 index 0000000000000000000000000000000000000000..21d0416d94ce14e9a2dd0e875d96d2bac0bfc29e --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-3/config/teleop.yaml @@ -0,0 +1,5 @@ +base_max_linear_x_vel: 0.3 # m per second in run mode +base_max_linear_y_vel: 0.3 # m per second in run mode +base_max_angular_vel: 0.6 # rad per second in run mode +arm_max_vel: 0.4 # rad per second in run mode +soft_joint_limit_threshold: 0.1 # rad diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-3/urdf/robot.urdf.xacro b/data/mir_robots/mir_hardware_config/youbot-brsu-3/urdf/robot.urdf.xacro new file mode 100644 index 0000000000000000000000000000000000000000..24963c7625118cefd4a1b3baf23bca5b7675f0b1 --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-3/urdf/robot.urdf.xacro @@ -0,0 +1,72 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-4/config/arm.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-4/config/arm.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4d4d2a540693063652b5f62871598b3777f84342 --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-4/config/arm.yaml @@ -0,0 +1,24 @@ +arm_controller: + joints: + - arm_joint_1 + - arm_joint_2 + - arm_joint_3 + - arm_joint_4 + - arm_joint_5 + + limits: + arm_joint_1: + min: 0.0100692 + max: 5.84014 + arm_joint_2: + min: 0.0100692 + max: 2.61799 + arm_joint_3: + min: -5.02655 + max: -0.015708 + arm_joint_4: + min: 0.0221239 + max: 3.4292 + arm_joint_5: + min: 0.110619 + max: 5.64159 diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-4/config/base_footprint.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-4/config/base_footprint.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2b3092d6efacaa1985b73b48047a7d6825792d68 --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-4/config/base_footprint.yaml @@ -0,0 +1,12 @@ +footprint: [[-0.2720, -0.1869], + [-0.2720, -0.0331], + [-0.3260, -0.0310], + [-0.3260, 0.0310], + [-0.2720, 0.0325], + [-0.2720, 0.1875], + [0.2720, 0.1875], + [0.2720, 0.0865], + [0.3160, 0.0425], + [0.3160, -0.0425], + [0.2720, -0.0865], + [0.2720, -0.1875]] diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-4/config/base_footprint_rectangular.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-4/config/base_footprint_rectangular.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5e14e2a1fab041bb0e17fa043edb6f5e7273b02d --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-4/config/base_footprint_rectangular.yaml @@ -0,0 +1,5 @@ +footprint: [[-0.3160, -0.1869], + [-0.3160, 0.1869], + [0.3160, 0.1869], + [0.3160, -0.1869]] + diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-4/config/gripper.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-4/config/gripper.yaml new file mode 100644 index 0000000000000000000000000000000000000000..646a64f8b31c904d049125f405782e7756e14f6b --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-4/config/gripper.yaml @@ -0,0 +1,8 @@ +gripper_controller: + limits: + gripper_finger_joint_l: + min: 0.0 + max: 0.0115 + gripper_finger_joint_r: + min: 0 + max: 0.0115 diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-4/config/joy.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-4/config/joy.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f202f33e610b05b29b83b0da1a365ddc552945f6 --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-4/config/joy.yaml @@ -0,0 +1,3 @@ +dev: /dev/input/js0 +deadzone: 0.12 +autorepeat_rate: 50.0 \ No newline at end of file diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-4/config/laser_front.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-4/config/laser_front.yaml new file mode 100644 index 0000000000000000000000000000000000000000..45d8d85d0360262cfcc4b825da79001dbe282629 --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-4/config/laser_front.yaml @@ -0,0 +1,5 @@ +port: /dev/youbot/hokuyo_front +frame_id: /base_laser_front_link +min_ang: -1.57 +max_ang: 1.57 + diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-4/config/laser_front_urg.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-4/config/laser_front_urg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e5185ce0ab3dc47362e70275e5b0d989eb0ec169 --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-4/config/laser_front_urg.yaml @@ -0,0 +1,5 @@ +serial_port: /dev/youbot/hokuyo_front +frame_id: /base_laser_front_link +angle_min: -1.57 +angle_max: 1.57 + diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-4/config/laser_rear.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-4/config/laser_rear.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9a20b11d89bcd70ccb2c9e0f03d962e9547a7d3f --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-4/config/laser_rear.yaml @@ -0,0 +1,5 @@ +port: /dev/youbot/hokuyo_rear +frame_id: /base_laser_rear_link +min_ang: -1.57 +max_ang: 1.57 + diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-4/config/laser_rear_urg.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-4/config/laser_rear_urg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4d6c30b64400e1bff3024acf9149a8991fbc9487 --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-4/config/laser_rear_urg.yaml @@ -0,0 +1,5 @@ +serial_port: /dev/youbot/hokuyo_rear +frame_id: /base_laser_rear_link +angle_min: -1.57 +angle_max: 1.57 + diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-4/config/teleop.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-4/config/teleop.yaml new file mode 100644 index 0000000000000000000000000000000000000000..21d0416d94ce14e9a2dd0e875d96d2bac0bfc29e --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-4/config/teleop.yaml @@ -0,0 +1,5 @@ +base_max_linear_x_vel: 0.3 # m per second in run mode +base_max_linear_y_vel: 0.3 # m per second in run mode +base_max_angular_vel: 0.6 # rad per second in run mode +arm_max_vel: 0.4 # rad per second in run mode +soft_joint_limit_threshold: 0.1 # rad diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-4/urdf/robot.urdf.xacro b/data/mir_robots/mir_hardware_config/youbot-brsu-4/urdf/robot.urdf.xacro new file mode 100644 index 0000000000000000000000000000000000000000..122890724c3f6be3924e6c71370774015087c5fc --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-4/urdf/robot.urdf.xacro @@ -0,0 +1,82 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-arm/config/arm.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-arm/config/arm.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4d4d2a540693063652b5f62871598b3777f84342 --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-arm/config/arm.yaml @@ -0,0 +1,24 @@ +arm_controller: + joints: + - arm_joint_1 + - arm_joint_2 + - arm_joint_3 + - arm_joint_4 + - arm_joint_5 + + limits: + arm_joint_1: + min: 0.0100692 + max: 5.84014 + arm_joint_2: + min: 0.0100692 + max: 2.61799 + arm_joint_3: + min: -5.02655 + max: -0.015708 + arm_joint_4: + min: 0.0221239 + max: 3.4292 + arm_joint_5: + min: 0.110619 + max: 5.64159 diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-arm/config/gripper.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-arm/config/gripper.yaml new file mode 100644 index 0000000000000000000000000000000000000000..646a64f8b31c904d049125f405782e7756e14f6b --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-arm/config/gripper.yaml @@ -0,0 +1,8 @@ +gripper_controller: + limits: + gripper_finger_joint_l: + min: 0.0 + max: 0.0115 + gripper_finger_joint_r: + min: 0 + max: 0.0115 diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-arm/config/joy.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-arm/config/joy.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f202f33e610b05b29b83b0da1a365ddc552945f6 --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-arm/config/joy.yaml @@ -0,0 +1,3 @@ +dev: /dev/input/js0 +deadzone: 0.12 +autorepeat_rate: 50.0 \ No newline at end of file diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-arm/config/teleop.yaml b/data/mir_robots/mir_hardware_config/youbot-brsu-arm/config/teleop.yaml new file mode 100644 index 0000000000000000000000000000000000000000..21d0416d94ce14e9a2dd0e875d96d2bac0bfc29e --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-arm/config/teleop.yaml @@ -0,0 +1,5 @@ +base_max_linear_x_vel: 0.3 # m per second in run mode +base_max_linear_y_vel: 0.3 # m per second in run mode +base_max_angular_vel: 0.6 # rad per second in run mode +arm_max_vel: 0.4 # rad per second in run mode +soft_joint_limit_threshold: 0.1 # rad diff --git a/data/mir_robots/mir_hardware_config/youbot-brsu-arm/urdf/robot.urdf.xacro b/data/mir_robots/mir_hardware_config/youbot-brsu-arm/urdf/robot.urdf.xacro new file mode 100644 index 0000000000000000000000000000000000000000..051add39b732d393ef439c63b3349c0648081696 --- /dev/null +++ b/data/mir_robots/mir_hardware_config/youbot-brsu-arm/urdf/robot.urdf.xacro @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_robots/mir_robots/CMakeLists.txt b/data/mir_robots/mir_robots/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..caf4a86f5e0a853b12bd1089833c1abf24749432 --- /dev/null +++ b/data/mir_robots/mir_robots/CMakeLists.txt @@ -0,0 +1,4 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_robots) +find_package(catkin REQUIRED) +catkin_metapackage() \ No newline at end of file diff --git a/data/mir_robots/mir_robots/package.xml b/data/mir_robots/mir_robots/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..6ab57edda9520bb3ef2a618d39f7a51bcdea95dc --- /dev/null +++ b/data/mir_robots/mir_robots/package.xml @@ -0,0 +1,22 @@ + + + mir_robots + 0.0.1 + industrial robot packages + + GPLv3 + + Frederik Hegger + + Frederik Hegger + Sven Schneider + Matthias Füller + Rhama Dwiputra + Nico Hochgeschwender + + catkin + + + + + diff --git a/data/mir_scenarios/mir_conveyor_belt_test/CMakeLists.txt b/data/mir_scenarios/mir_conveyor_belt_test/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..d57135d7b15f54b710532bbad5eec3a68503503e --- /dev/null +++ b/data/mir_scenarios/mir_conveyor_belt_test/CMakeLists.txt @@ -0,0 +1,26 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_conveyor_belt_test) + +find_package(catkin REQUIRED) + +catkin_package( + CATKIN_DEPENDS +) + + +### TESTS +if(CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + + roslaunch_add_file_check(ros/launch) +endif() + + +### INSTALLS +install(PROGRAMS + ros/scripts/conveyor_belt_test + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}/ros/scripts +) +install(DIRECTORY ros/launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ros/launch +) diff --git a/data/mir_scenarios/mir_conveyor_belt_test/package.xml b/data/mir_scenarios/mir_conveyor_belt_test/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..03f4a597c7f50a31078548d8d160c52709172a99 --- /dev/null +++ b/data/mir_scenarios/mir_conveyor_belt_test/package.xml @@ -0,0 +1,26 @@ + + + mir_conveyor_belt_test + 0.0.1 + state machine for the RoboCup@Work conveyor belt test (CBT) + + Frederik Hegger + Jose Loza + + GPLv3 + + Frederik Hegger + Jose Loza + + catkin + + mcr_gazebo_objects + mir_2dnav + mir_base_placement + mir_bringup + mir_bringup_sim + mir_moveit_youbot + + roslaunch + + diff --git a/data/mir_scenarios/mir_conveyor_belt_test/ros/launch/cbt.launch b/data/mir_scenarios/mir_conveyor_belt_test/ros/launch/cbt.launch new file mode 100644 index 0000000000000000000000000000000000000000..505447939217f74a6610fdc80e9134bdd5724769 --- /dev/null +++ b/data/mir_scenarios/mir_conveyor_belt_test/ros/launch/cbt.launch @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_scenarios/mir_conveyor_belt_test/ros/scripts/conveyor_belt_test b/data/mir_scenarios/mir_conveyor_belt_test/ros/scripts/conveyor_belt_test new file mode 100644 index 0000000000000000000000000000000000000000..9818a2326c3f1d929eef4d7b9a61f6e197e06ba0 --- /dev/null +++ b/data/mir_scenarios/mir_conveyor_belt_test/ros/scripts/conveyor_belt_test @@ -0,0 +1,453 @@ +#!/usr/bin/python + +import math +import random +import sys + +import actionlib +import atwork_ros_msgs.msg +import mir_states.common.basic_states as gbs +import mir_states.common.manipulation_states as gms_o +import mir_states.common.navigation_states as gns_o +import mir_states.common.perception_mockup_util as perception_mockup_util +import mir_states.common.perception_states as gps_o +import mir_states.robocup.basic_transportation_test_states as btts +import mir_states.robocup.referee_box_states as refbox +import mir_states_common.robocup.referee_box_communication as rbc +import rospy +import smach +import smach_ros +import std_msgs.msg +from mas_perception_msgs.msg import Object, ObjectList +from mcr_manipulation_msgs.msg import GripperCommand + +import dynamixel_msgs.msg # import of generic states +from mir_yb_action_msgs.msg import ( + MoveBaseSafeAction, + MoveBaseSafeGoal, + StageObjectAction, + StageObjectGoal, +) + + +class move_base_safe(smach.State): + def __init__( + self, destination_location, timeout=120.0, action_server="move_base_safe_server" + ): + smach.State.__init__(self, outcomes=["succeeded", "failed"]) + self.destination_location = destination_location + self.timeout = timeout + self.action_server = action_server + self.client = actionlib.SimpleActionClient(action_server, MoveBaseSafeAction) + self.client.wait_for_server() + + def execute(self, userdata): + goal = MoveBaseSafeGoal() + goal.source_location = "anywhere" + goal.destination_location = self.destination_location + # rospy.loginfo('Sending actionlib goal to ' + self.action_server + ', destination: ', + # goal.destination_location + ' with timeout: ' + str(self.timeout)) + self.client.send_goal(goal) + self.client.wait_for_result(rospy.Duration.from_sec(self.timeout)) + res = self.client.get_result() + if res and res.success: + return "succeeded" + else: + return "failed" + + +class place_object(smach.State): + def __init__(self, timeout=120.0, action_server="stage_object_server"): + smach.State.__init__(self, outcomes=["succeeded", "failed"]) + self.timeout = timeout + self.action_server = action_server + self.client = actionlib.SimpleActionClient(action_server, StageObjectAction) + self.client.wait_for_server() + self.platform_poses = ["platform_right", "platform_middle", "platform_left"] + self.counter = 0 + + def execute(self, userdata): + goal = StageObjectGoal() + goal.robot_platform = self.platform_poses[self.counter] + self.counter = self.counter + 1 + if self.counter >= len(self.platform_poses): + self.counter = 0 + # rospy.loginfo('Sending actionlib goal to ' + self.action_server + ', destination: ', + # goal.destination_location + ' with timeout: ' + str(self.timeout)) + self.client.send_goal(goal) + self.client.wait_for_result(rospy.Duration.from_sec(self.timeout)) + res = self.client.get_result() + if res and res.success: + return "succeeded" + else: + return "failed" + + +class my_pause(smach.State): + def __init__(self): + smach.State.__init__(self, outcomes=["succeeded"]) + rospy.Subscriber( + "/rtt/caliberate_object_delay", std_msgs.msg.Float64, self.delay_cb + ) + self.sleep_time = 0.0 + + def delay_cb(self, msg): + self.sleep_time = msg.data + + def execute(self, userdata): + + rospy.sleep(self.sleep_time) + rospy.loginfo("I HAVE SLEPT %f", self.sleep_time) + return "succeeded" + + +class wait_for_object(smach.State): + def __init__(self): + smach.State.__init__(self, outcomes=["succeeded", "failed"]) + self.result = None + self.img_editor = rospy.Publisher( + "/mcr_perception/edit_image/event_in", std_msgs.msg.String, queue_size=11 + ) + self.event_out = rospy.Publisher( + "/mcr_perception/background_change_detection/event_in", + std_msgs.msg.String, + queue_size=10, + ) + + rospy.Subscriber( + "/mcr_perception/background_change_detection/event_out", + std_msgs.msg.String, + self.event_cb, + ) + + def execute(self, userdata): + i = raw_input("Enter to start ") + self.result = None + self.img_editor.publish("e_start") + rospy.loginfo("published") + ### TODO CHANGE THIS + rospy.sleep(1) + self.event_out.publish("e_start") + rospy.sleep(1) + while not self.result: + rospy.sleep(0.1) + self.img_editor.publish("e_stop") + self.event_out.publish("e_stop") + + if self.result.data != "e_change": + return "failed" + return "succeeded" + + def event_cb(self, msg): + self.result = msg + + +class for_testing(smach.State): + def __init__(self): + smach.State.__init__(self, outcomes=["succeeded", "failed"]) + + def execute(self, userdata): + # TODO TIMING + rospy.logerr("THERE IS SOMETHING NOT FINISHED") + rospy.sleep(1.0) + if True: + return "succeeded" + else: + return "failed" + + +class cbt_release(smach.State): + def __init__(self): + smach.State.__init__(self, outcomes=["succeeded"]) + + def execute(self, userdata): + # TODO TIMING + gms_o.control_gripper("open_wide") + # gms_o.gripper_command.go() + rospy.sleep(3.0) + return "succeeded" + + +class cbt_grasp(smach.State): + def __init__(self): + smach.State.__init__(self, outcomes=["succeeded"]) + self.gripper_cmd_pub = rospy.Publisher( + "/arm_1/gripper_command", GripperCommand, queue_size=1 + ) + + def execute(self, userdata): + # TODO TIMING + # gms_o.control_gripper("close") + # rospy.sleep(1 + grip_cmd = GripperCommand() + grip_cmd.command = 1 + self.gripper_cmd_pub.publish(grip_cmd) + # gms_o.control_gripper('close') + # gms_o.gripper_command.go() + rospy.sleep(1.0) + return "succeeded" + + +class cbt_grasp_relese(smach.State): + def __init__(self): + smach.State.__init__(self, outcomes=["succeeded"]) + + def execute(self, userdata): + # TODO TIMING + gms_o.control_gripper("open") + # rospy.sleep(3.5) + # gms_o.gripper_command.set_named_target("open") + # gms_o.gripper_command.go() + rospy.sleep(2.0) + return "succeeded" + + +class get_cbt_task(smach.State): + def __init__(self): + smach.State.__init__(self, outcomes=["task_received"]) + + rospy.Subscriber( + "/robot_example_ros/task_info", atwork_ros_msgs.msg.TaskInfo, self.refboxcb + ) + self.is_refbox_start_recieved = False + + def refboxcb(self, msg): + self.is_refbox_start_recieved = True + + def execute(self, userdata): + rospy.loginfo("Waiting for task") + while not rospy.is_shutdown(): + if self.is_refbox_start_recieved: + break + rospy.sleep(1.0) + return "task_received" + + +class check_gripper_joint_values(smach.State): + def __init__(self): + smach.State.__init__(self, outcomes=["succeeded", "failed"]) + self.result = None + self.val = False + rospy.Subscriber( + "/gripper_controller/state", dynamixel_msgs.msg.JointState, self.event_cb + ) + + def execute(self, userdata): + self.val = True + while not self.result: + rospy.sleep(0.1) + if self.result.current_pos > 2.5: + return "failed" + return "succeeded" + + def event_cb(self, msg): + if self.val: + self.result = msg + print self.result.current_pos + self.val = False + + +# main +def main(simulation=False): + print "Starting node" + rospy.init_node("basic_conveyor_test") + + print "Starting StateMachine" + SM = smach.StateMachine(outcomes=["done"]) + + # open the container + + use_mockup = True + + with SM: + + # smach.StateMachine.add('OPEN_GRIPPER_2', gms_o.control_gripper('close'), + # transitions={'succeeded': 'ARM_TO_CONVEYOR_VIEW'}) + + # smach.StateMachine.add('INIT_ROBOT', gbs_o.init_robot(), + # transitions={'succeeded':'GET_TASK'}) + # transitions={'succeeded':'ARM_TO_CONVEYOR_VIEW'}) + + """ + smach.StateMachine.add('GET_TASK', get_cbt_task(), + transitions={'task_received': 'MOVE_TO_CONVEYOR'}) + """ + + if use_mockup: + smach.StateMachine.add( + "MOVE_TO_CONVEYOR", + for_testing(), + transitions={ + "succeeded": "ARM_TO_CONVEYOR_VIEW", + "failed": "ARM_TO_CONVEYOR_VIEW", + }, + ) + + else: + # THE FAILED TRANSITION IS WRONG + # smach.StateMachine.add('MOVE_TO_CONVEYOR', gns_o.approach_pose("CB02"), + # transitions={'succeeded': 'OPEN_GRIPPER', + # 'failed': 'ARM_TO_CONVEYOR_VIEW'}) + smach.StateMachine.add( + "MOVE_TO_CONVEYOR", + move_base_safe("CB02"), + transitions={ + "succeeded": "OPEN_GRIPPER", + "failed": "ARM_TO_CONVEYOR_VIEW", + }, + ) + + # smach.StateMachine.add('ARM_TO_CONVEYOR_VIEW', gms_o.move_arm("pre_grasp"), + + # smach.StateMachine.add('PAUSE', my_pause(), + # transitions={'succeeded': 'WAIT_FOR_OBJECT'}) + + # TODO + smach.StateMachine.add( + "OPEN_GRIPPER", + gms_o.control_gripper("open_wide"), + transitions={"succeeded": "ARM_TO_CONVEYOR_VIEW"}, + ) + + smach.StateMachine.add( + "OPEN_NARROW", + gms_o.control_gripper("open_wide"), + transitions={"succeeded": "ARM_TO_CONVEYOR_VIEW"}, + ) + + smach.StateMachine.add( + "ARM_TO_CONVEYOR_VIEW", + gms_o.move_arm( + # [2.2187, 1.85767, -1.5741, 3.2046, 1.3840]), + # [2.19647672522, 2.1781809757, -1.77540825632 ,3.10630504597, 4.40075183871]), + # [2.20925454919, 1.98791323601 ,-1.38040010402 ,2.87320772063, 4.35358370112]), + # [2.19702046241, 1.965317935, -1.42639302047, 2.97477850846, 4.40238900671]), + [ + 2.19678887064, + 1.96535821183, + -1.38852112103, + 2.92002187594, + 4.3730969738, + ] + ), + transitions={ + "succeeded": "OPEN_GRIPPER_WIDE", + "failed": "ARM_TO_CONVEYOR_VIEW", + }, + ) + + smach.StateMachine.add( + "OPEN_GRIPPER_WIDE", + gms_o.control_gripper("open_wide"), + transitions={"succeeded": "WAIT_FOR_OBJECT"}, + ) + + smach.StateMachine.add( + "WAIT_FOR_OBJECT", + wait_for_object(), + transitions={"succeeded": "WAIT_TO_CLOSE_GRIPPER", "failed": "OPEN_NARROW"}, + ) + """ + smach.StateMachine.add('ARM_TO_CONVEYOR_VIEW2', gms_o.move_arm( + # [2.2187, 1.85767, -1.5741, 3.2046, 1.3840]), + # [2.19647672522, 2.1781809757, -1.77540825632 ,3.10630504597, 4.40075183871]), + [2.20925454919, 1.98791323601 ,-1.38040010402 ,2.87320772063, 4.35358370112]), + transitions={'succeeded': 'WAIT_FOR_OBJECT2', + 'failed': 'ARM_TO_CONVEYOR_VIEW2'}) + + smach.StateMachine.add('WAIT_FOR_OBJECT2', wait_for_object(), + transitions={'succeeded': 'WAIT_TO_CLOSE_GRIPPER', + 'failed': 'ARM_TO_CONVEYOR_VIEW3'}) + + smach.StateMachine.add('ARM_TO_CONVEYOR_VIEW3', gms_o.move_arm( + # [2.2187, 1.85767, -1.5741, 3.2046, 1.3840]), + # [2.19647672522, 2.1781809757, -1.77540825632 ,3.10630504597, 4.40075183871]), + #[2.20925454919, 1.98791323601 ,-1.38040010402 ,2.87320772063, 4.35358370112]), + [2.27990010707, 1.92302726466, -1.30382378309, 2.8730086056, 4.35475626739]), + transitions={'succeeded': 'WAIT_FOR_OBJECT3', + 'failed': 'ARM_TO_CONVEYOR_VIEW3'}) + + smach.StateMachine.add('WAIT_FOR_OBJECT3', wait_for_object(), + transitions={'succeeded': 'WAIT_TO_CLOSE_GRIPPER', + 'failed': 'WAIT_FOR_OBJECT3'}) + """ + # smach.StateMachine.add('GO_TO_GRASP_POSE', gms_o.move_arm( + # #[2.2186, 2.01376, -1.5741, 3.0410, 1.3842]), + # [2.21078506868 ,2.19248931916, -1.77215670793 ,3.0796457562, 4.38099520321]), + # transitions={'succeeded': 'CBT_GRASP', + # 'failed': 'WAIT_FOR_OBJECT'}) + + # smach.StateMachine.add('ARM_TO_GRASP', gms_o.move_arm("grasp_cbt"), + # transitions={'succeeded': 'CBT_GRASP', + # 'failed': 'ARM_TO_GRASP'}) + + smach.StateMachine.add( + "WAIT_TO_CLOSE_GRIPPER", my_pause(), transitions={"succeeded": "CBT_GRASP"} + ) + + smach.StateMachine.add( + "CBT_GRASP", cbt_grasp(), transitions={"succeeded": "ARM_TO_PLACING_POSE_2"} + ) + + # smach.StateMachine.add('ARM_TO_INTERMEDIATE_POSE', gms_o.move_arm("pre_grasp"), + # transitions={'succeeded': 'ARM_TO_PLACING_POSE_2', + # 'failed' : 'ARM_TO_PLACING_POSE_2'}) + # transitions={'succeeded': 'ARM_TO_PLACING_POSE', + # 'failed': 'ARM_TO_PLACING_POSE'}) + + # smach.StateMachine.add('CHECK_GRIPPER_JOINT_VALUES', check_gripper_joint_values(), + # transitions={'succeeded': 'ARM_TO_PLACING_POSE_2', + # 'failed' : 'OPEN_GRIPPER'}) + # transitions={'succeeded': 'ARM_TO_PLACING_POSE', + # 'failed': 'ARM_TO_PLACING_POSE'}) + + # transitions={'succeeded': 'ARM_TO_PLACING_POSE', + # 'failed': 'ARM_TO_PLACING_POSE'} + + # smach.StateMachine.add('ARM_TO_PLACING_POSE_2', gms_o.move_arm("platform_middle"), + # transitions={'succeeded': 'OPEN_NARROW', + # 'failed': 'ARM_TO_PLACING_POSE_2'}) + + smach.StateMachine.add( + "ARM_TO_PLACING_POSE_2", + place_object(), + transitions={"succeeded": "OPEN_NARROW", "failed": "ARM_TO_PLACING_POSE_2"}, + ) + # smach.StateMachine.add('ARM_TO_REAR_PLATFORM', gms_o.move_arm("platform_left"), + # transitions={'succeeded': 'OPEN_GRIPPER', + # 'failed': 'ARM_TO_REAR_PLATFORM'}) + # smach.StateMachine.add('OPEN_GRIPPER', cbt_release(), + # transitions={'succeeded': 'ARM_DONE'}) + + # smach.StateMachine.add('ARM_DONE', gms_o.move_arm("platform_intermediate"), + # transitions={'succeeded': 'MOVE_TO_EXIT', + # 'failed': 'ARM_DONE'}) + # if use_mockup: + # smach.StateMachine.add('MOVE_TO_EXIT', for_testing(), + # transitions={'succeeded': 'done', + # 'failed': 'done'}) + # else: + # smach.StateMachine.add('MOVE_TO_EXIT', gns_o.approach_pose("EXIT"), + # transitions={'succeeded':'done', + # 'failed':'MOVE_TO_EXIT'}) + + # Start SMACH viewer + smach_viewer = smach_ros.IntrospectionServer("CONVEYOR_BELT_TEST", SM, "/SM_ROOT") + smach_viewer.start() + + result = SM.execute() + + while not rospy.is_shutdown(): + if result is None: + rospy.spin_once() + print ("span once") + else: + rospy.loginfo("CONVEYOR_BELT_TEST test is Done.") + break + + smach_viewer.stop() + print ("exit") + + +if __name__ == "__main__": + main(sys.argv[-1] == "--simulation") diff --git a/data/mir_scenarios/mir_scenarios/CMakeLists.txt b/data/mir_scenarios/mir_scenarios/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..891e1ae90edaf8143814a7b936ecac1ac57a7e2f --- /dev/null +++ b/data/mir_scenarios/mir_scenarios/CMakeLists.txt @@ -0,0 +1,4 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_scenarios) +find_package(catkin REQUIRED) +catkin_metapackage() diff --git a/data/mir_scenarios/mir_scenarios/package.xml b/data/mir_scenarios/mir_scenarios/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..5dfca4a5e153e999e59d2a434e6635176a58c077 --- /dev/null +++ b/data/mir_scenarios/mir_scenarios/package.xml @@ -0,0 +1,22 @@ + + + mir_scenarios + 0.0.1 + scenario states and state machines + + GPLv3 + + Frederik Hegger + + Frederik Hegger + Sven Schneider + Matthias Füller + Rhama Dwiputra + Nico Hochgeschwender + + catkin + + + + + diff --git a/data/mir_scenarios/mir_states/CMakeLists.txt b/data/mir_scenarios/mir_states/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..9136d5f57f7083277e66dc0b4fb48b880b767120 --- /dev/null +++ b/data/mir_scenarios/mir_states/CMakeLists.txt @@ -0,0 +1,21 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_states) + +find_package(catkin REQUIRED) + +catkin_python_setup() + +catkin_package( + CATKIN_DEPENDS + actionlib + geometry_msgs + mcr_states + mcr_perception_states + mir_base_placement + move_base_msgs + rospy + smach + smach_ros + std_srvs + tf +) diff --git a/data/mir_scenarios/mir_states/package.xml b/data/mir_scenarios/mir_states/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..5771c2eb079474135c18bd4c63696643b5e05332 --- /dev/null +++ b/data/mir_scenarios/mir_states/package.xml @@ -0,0 +1,26 @@ + + + mir_states + 0.0.1 + SMACH states + + Alex Moriarty + B-IT-Bots Robotics Team + + BSD + + catkin + + actionlib + geometry_msgs + mir_base_placement + move_base_msgs + rospy + smach + smach_ros + std_srvs + tf + mcr_states + mcr_perception_states + + diff --git a/data/mir_scenarios/mir_states/ros/src/__init__.py b/data/mir_scenarios/mir_states/ros/src/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/data/mir_scenarios/mir_states/ros/src/mir_states/__init__.py b/data/mir_scenarios/mir_states/ros/src/mir_states/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/data/mir_scenarios/mir_states/ros/src/mir_states/common/__init__.py b/data/mir_scenarios/mir_states/ros/src/mir_states/common/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/data/mir_scenarios/mir_states/ros/src/mir_states/common/action_states.py b/data/mir_scenarios/mir_states/ros/src/mir_states/common/action_states.py new file mode 100644 index 0000000000000000000000000000000000000000..eda4be4c479891f43c871f142580133fffba0518 --- /dev/null +++ b/data/mir_scenarios/mir_states/ros/src/mir_states/common/action_states.py @@ -0,0 +1,235 @@ +#!/usr/bin/python + +import rospy +import smach +from actionlib import SimpleActionClient +from actionlib_msgs.msg import GoalStatus +from diagnostic_msgs.msg import KeyValue +from mir_actions.utils import Utils +from mir_planning_msgs.msg import GenericExecuteAction, GenericExecuteGoal + + +class place_object(smach.State): + def __init__(self, platform_name): + smach.State.__init__(self, outcomes=["success", "failed"]) + self.client = SimpleActionClient("place_object_server", GenericExecuteAction) + self.client.wait_for_server() + self.goal = GenericExecuteGoal() + self.goal.parameters.append( + KeyValue(key="location", value=str(platform_name).upper()) + ) + + def execute(self, userdata): + self.client.send_goal(self.goal) + self.client.wait_for_result(rospy.Duration.from_sec(15.0)) + state = self.client.get_state() + if state == GoalStatus.SUCCEEDED: + return "success" + else: + return "failed" + + +class pick_object(smach.State): + def __init__(self): + smach.State.__init__(self, outcomes=["success", "failed"]) + self.client = SimpleActionClient("wbc_pick_object_server", GenericExecuteAction) + self.client.wait_for_server() + self.goal = GenericExecuteGoal() + self.goal.parameters.append(KeyValue(key="object", value="any")) + + def execute(self, userdata): + self.client.send_goal(self.goal) + self.client.wait_for_result(rospy.Duration.from_sec(30.0)) + state = self.client.get_state() + if state == GoalStatus.SUCCEEDED: + return "success" + else: + return "failed" + + +class perceive_location(smach.State): + def __init__(self, obj_category="atwork"): + smach.State.__init__(self, outcomes=["success", "failed"]) + self.client = SimpleActionClient( + "perceive_location_server", GenericExecuteAction + ) + self.client.wait_for_server() + self.goal = GenericExecuteGoal() + self.goal.parameters.append( + KeyValue(key="obj_category", value=str(obj_category))) + + def execute(self, userdata): + self.client.send_goal(self.goal) + self.client.wait_for_result(rospy.Duration.from_sec(30.0)) + state = self.client.get_state() + if state == GoalStatus.SUCCEEDED: + return "success" + else: + return "failed" + + +class move_base(smach.State): + def __init__(self, destination_location): + smach.State.__init__(self, + outcomes=["success", "failed"], + input_keys=["goal"]) + self.client = SimpleActionClient("move_base_safe_server", GenericExecuteAction) + self.client.wait_for_server() + self.goal = GenericExecuteGoal() + self.destination_location = destination_location + + + def execute(self, userdata): + self.goal.parameters = [] + self.goal.parameters.append( + KeyValue(key="arm_safe_position", value="barrier_tape") + ) + # if location is sent as an argument to this state, set it here + if self.destination_location is not None: + self.goal.parameters.append( + KeyValue( + key="destination_location", value=str(self.destination_location).upper() + ) + ) + current_destination_location = Utils.get_value_of(self.goal.parameters, "destination_location") + # if location has not been set read it from userdata (either + # destination_location or location) + if current_destination_location is None: + location = Utils.get_value_of(userdata.goal.parameters, "destination_location") + if location is None: + location = Utils.get_value_of(userdata.goal.parameters, "location") + if location is None: + rospy.logerr("Location not specified. Not calling move_base") + return 'failed' + self.goal.parameters.append( + KeyValue(key="destination_location", value=str(location).upper()) + ) + + self.client.send_goal(self.goal) + self.client.wait_for_result(rospy.Duration.from_sec(int(15.0))) + state = self.client.get_state() + if state == GoalStatus.SUCCEEDED: + return "success" + else: + return "failed" + + +class insert_object(smach.State): + def __init__(self, robot_platform, container): + smach.State.__init__(self, outcomes=["success", "failed"]) + self.client = SimpleActionClient("insert_object_server", GenericExecuteAction) + self.client.wait_for_server() + self.goal = GenericExecuteGoal() + self.goal.parameters.append( + KeyValue(key="robot_platform", value=str(robot_platform).upper()) + ) + self.goal.parameters.append(KeyValue(key="hole", value=str(container).upper())) + + def execute(self, userdata): + self.client.send_goal(self.goal) + self.client.wait_for_result(rospy.Duration.from_sec(int(30.0))) + state = self.client.get_state() + if state == GoalStatus.SUCCEEDED: + return "success" + else: + return "failed" + + +class stage_object(smach.State): + def __init__(self, platform=None): + smach.State.__init__(self, outcomes=["success", "failed"], input_keys=["goal"]) + self.client = SimpleActionClient("stage_object_server", GenericExecuteAction) + self.client.wait_for_server() + self.goal = GenericExecuteGoal() + self.platform = platform + + def execute(self, userdata): + self.goal.parameters = [] + if self.platform is not None: + self.goal.parameters.append( + KeyValue(key="platform", value=str(self.platform).upper()) + ) + + obj = Utils.get_value_of(userdata.goal.parameters, "peg") + if obj is not None: + self.goal.parameters.append( + KeyValue(key="object", value=str(obj).upper()) + ) + + # initialise platform in goal if not already initialised + current_platform = Utils.get_value_of(self.goal.parameters, "platform") + if current_platform is None: + platform = Utils.get_value_of(userdata.goal.parameters, "platform") + if platform is None: + rospy.logwarn("Platform not provided. Using default") + platform = "platform_middle" + self.goal.parameters.append( + KeyValue(key="platform", value=str(platform).upper()) + ) + + self.client.send_goal(self.goal) + self.client.wait_for_result(rospy.Duration.from_sec(30.0)) + state = self.client.get_state() + if state == GoalStatus.SUCCEEDED: + return "success" + else: + return "failed" + + +class unstage_object(smach.State): + def __init__(self, platform=None): + smach.State.__init__(self, outcomes=["success", "failed"], input_keys=["goal"]) + self.client = SimpleActionClient("unstage_object_server", GenericExecuteAction) + self.client.wait_for_server() + self.goal = GenericExecuteGoal() + self.platform = platform + + def execute(self, userdata): + self.goal.parameters = [] + if self.platform is not None: + self.goal.parameters.append( + KeyValue(key="platform", value=str(self.platform).upper()) + ) + + obj = Utils.get_value_of(userdata.goal.parameters, "peg") + if obj is not None: + self.goal.parameters.append( + KeyValue(key="object", value=str(obj).upper()) + ) + + # initialise platform in goal if not already initialised + current_platform = Utils.get_value_of(self.goal.parameters, "platform") + if current_platform is None: + platform = Utils.get_value_of(userdata.goal.parameters, "platform") + if platform is None: + rospy.logwarn("Platform not provided. Using default") + platform = "platform_middle" + self.goal.parameters.append( + KeyValue(key="platform", value=str(platform).upper()) + ) + + self.client.send_goal(self.goal) + self.client.wait_for_result(rospy.Duration.from_sec(30.0)) + state = self.client.get_state() + if state == GoalStatus.SUCCEEDED: + return "success" + else: + return "failed" + + +class perceive_cavity(smach.State): + def __init__(self, perception_mode='three_view'): + smach.State.__init__(self, outcomes=["success", "failed"]) + self.client = SimpleActionClient("perceive_cavity_server", GenericExecuteAction) + self.client.wait_for_server() + self.goal = GenericExecuteGoal() + self.goal.parameters.append(KeyValue(key='perception_mode', value=perception_mode)) + + def execute(self, userdata): + self.client.send_goal(self.goal) + self.client.wait_for_result(rospy.Duration.from_sec(30.0)) + state = self.client.get_state() + if state == GoalStatus.SUCCEEDED: + return "success" + else: + return "failed" diff --git a/data/mir_scenarios/mir_states/ros/src/mir_states/common/basic_states.py b/data/mir_scenarios/mir_states/ros/src/mir_states/common/basic_states.py new file mode 100644 index 0000000000000000000000000000000000000000..bb92411859254c76630ea48bc1f04e3c6a8b3cc1 --- /dev/null +++ b/data/mir_scenarios/mir_states/ros/src/mir_states/common/basic_states.py @@ -0,0 +1,88 @@ +#!/usr/bin/python + +import mir_states.common.manipulation_states as manipulation +import rospy +import smach +import smach_ros +import std_msgs.msg + + +class init_robot(smach.State): + def __init__(self): + smach.State.__init__(self, outcomes=["succeeded"]) + + def execute(self, userdata): + + # init gripper + manipulation.gripper_command.set_named_target("open") + manipulation.gripper_command.go() + + # init arm + manipulation.arm_command.set_named_target("folded") + manipulation.arm_command.go() + + rospy.loginfo("robot initialized") + + return "succeeded" + + +class loop_for_vs(smach.State): + """ + This state will return 'loop' MAX-1 times. + On the MAX execute, 'continue' is returned. + """ + + def __init__(self, MAX, sleep_time=0.0): + smach.State.__init__( + self, + outcomes=["loop", "continue"], + input_keys=["prev_vs_result"], + output_keys=["prev_vs_result"], + ) + self.max_loop_count = MAX + self.loop_count = 0 + self.sleep_time = sleep_time + + def execute(self, userdata): + print ("[loop_for_vs]: {0}".format(userdata.prev_vs_result)) + if userdata.prev_vs_result == "success": + self.loop_count = 0 + if self.loop_count < self.max_loop_count: + rospy.sleep(self.sleep_time) + rospy.loginfo("run number: %d" % self.loop_count) + self.loop_count = self.loop_count + 1 + return "loop" + else: + self.loop_count = 0 + return "continue" + + +class set_vs_status(smach.State): + def __init__(self, status): + smach.State.__init__( + self, + outcomes=["success"], + input_keys=["prev_vs_result"], + output_keys=["prev_vs_result"], + ) + self.status = status + + def execute(self, userdata): + print ("status: {0}".format(self.status)) + if self.status: + userdata.prev_vs_result = "success" + else: + userdata.prev_vs_result = "fail" + print ("[set_vs_status]: {0}".format(userdata.prev_vs_result)) + + return "success" + + +class wait_for(smach.State): + def __init__(self, duration=1.0): + smach.State.__init__(self, outcomes=["succeeded"]) + self._duration = duration + + def execute(self, userdata): + rospy.sleep(self._duration) + return "succeeded" diff --git a/data/mir_scenarios/mir_states/ros/src/mir_states/common/manipulation_states.py b/data/mir_scenarios/mir_states/ros/src/mir_states/common/manipulation_states.py new file mode 100644 index 0000000000000000000000000000000000000000..89af05cf19bcffc18a2a7661e3cf765cdb616876 --- /dev/null +++ b/data/mir_scenarios/mir_states/ros/src/mir_states/common/manipulation_states.py @@ -0,0 +1,527 @@ +#!/usr/bin/python + +import json +import math +import re + +import brics_actuator.msg +import geometry_msgs.msg +import rospy +import smach +import smach_ros +import std_msgs.msg +import std_srvs.srv + +from mas_perception_msgs.msg import ObjectList, Object +from mir_pregrasp_planning_ros.orientation_independent_ik import OrientationIndependentIK +import tf +from tf.transformations import euler_from_quaternion +from mir_manipulation_msgs.msg import GripperCommand +from std_msgs.msg import String + +class Bunch: + def __init__(self, **kwds): + self.__dict__.update(kwds) + + +class MoveitClient: + + """ + Move arm to a target. target may be fixed at construction time or set + through userdata. + + :param move_arm_to: target where the arm should move. If it is a string, then it gives + target name (should be availabile on the parameter server). If it as + tuple or a list, then it is treated differently based on the length. If it + has 7 items, then it is cartesian pose (x, y, z, r, p ,y) + the corresponding frame. + If it has 5 items, then it is arm configuration in join space. + :type move_arm_to: str | tuple | list + + """ + + def __init__(self, moveit_group=None, target=None, timeout=10.0, joint_names=None): + + TOPIC_EVENT_IN = "moveit_client/event_in" + TOPIC_EVENT_OUT = "moveit_client/event_out" + TOPIC_TARGET_STRING_POSE = "moveit_client/target_string_pose" + TOPIC_TARGET_POSE = "moveit_client/target_pose" + TOPIC_TARGET_CONFIGURATION = "moveit_client/target_configuration" + + self.move_arm_to = target + + self._point_ik_solver = OrientationIndependentIK() + + # Eventin publisher + self.pub_event = rospy.Publisher( + moveit_group + TOPIC_EVENT_IN, std_msgs.msg.String, queue_size=1 + ) + + # Target configuration publishers + self.pub_target_config_name = rospy.Publisher( + moveit_group + TOPIC_TARGET_STRING_POSE, std_msgs.msg.String, queue_size=1 + ) + self.pub_target_pose = rospy.Publisher( + moveit_group + TOPIC_TARGET_POSE, + geometry_msgs.msg.PoseStamped, + queue_size=1, + ) + self.pub_target_config = rospy.Publisher( + moveit_group + TOPIC_TARGET_CONFIGURATION, + brics_actuator.msg.JointPositions, + queue_size=1, + ) + + # Eventout subscriber + self.sub_event = rospy.Subscriber( + moveit_group + TOPIC_EVENT_OUT, std_msgs.msg.String, self.event_cb + ) + + self.client_event = None + self.timeout = timeout + self.joint_names = joint_names + self.moveit_group = moveit_group + + def event_cb(self, msg): + self.client_event = msg.data + + def execute(self, userdata, blocking=True): + target = self.move_arm_to or userdata.move_arm_to + + # do it twice because it probably fails the first time + for i in range(2): + self.client_event = None + self.pub_event.publish("e_start") + + if type(target) is str: # target is a string specifing a joint position + rospy.loginfo("MOVING ARM TO: " + str(target)) + self.pub_target_config_name.publish(target) + + elif type(target) is list: # target is a list ... + if len(target) == 7: # ... of 7 items: Cartesian pose (x, y, z, r, p, y, frame_id) + pose = geometry_msgs.msg.PoseStamped() + pose.header.frame_id = target[6] + pose.pose.position.x = float(target[0]) + pose.pose.position.y = float(target[1]) + pose.pose.position.z = float(target[2]) + + q = tf.transformations.quaternion_from_euler( + target[3], target[4], target[5] + ) + pose.pose.orientation.x = q[0] + pose.pose.orientation.y = q[1] + pose.pose.orientation.z = q[2] + pose.pose.orientation.w = q[3] + + self.pub_target_pose.publish(pose) + elif len(target) == 5: # ... of 5 items: Joint space configuration + self.pub_target_config.publish(self.list_to_brics_joint_positions(target)) + elif len(target) == 4: # ... of 3 items: Cartesian point (x, y, z, frame_id) + brics_joint_pos_msg = self._point_ik_solver.get_joint_msg_from_point(*target) + if brics_joint_pos_msg is None: + rospy.logerr("Could not find IK") + return 'failed' + self.pub_target_config.publish(brics_joint_pos_msg) + elif len(target) == 5: # ... of 5 items: Joint space configuration + self.pub_target_config.publish( + self.list_to_brics_joint_positions(target) + ) + else: + rospy.logerr("target list is malformed") + return "failed" + else: + rospy.logerr( + "no valid target specified. Target should be a string (name of a joint position) or a list of 7 items (Cartesian Pose + frame id)" + ) + return "failed" + + timeout = rospy.Duration.from_sec(self.timeout) + rate = rospy.Rate(10) + start_time = rospy.Time.now() + redo = False + while blocking: + if (rospy.Time.now() - start_time) > timeout: + rospy.loginfo( + "Moveit " + self.moveit_group + "client node response timeout." + ) + break + if self.client_event: + if self.client_event == "e_success": + return "succeeded" + else: + return "failed" + rate.sleep() + + if not blocking: + return "succeeded" + + return "failed" + + def list_to_brics_joint_positions(self, joint_positions): + brics_joint_positions = brics_actuator.msg.JointPositions() + for idx, joint_position in enumerate(joint_positions): + joint_value = brics_actuator.msg.JointValue() + joint_value.timeStamp = rospy.Time.now() + joint_value.joint_uri = self.joint_names[idx] + joint_value.unit = "rad" + joint_value.value = joint_position + + brics_joint_positions.positions.append(joint_value) + + return brics_joint_positions + + +class move_arm(smach.State): + def __init__(self, target=None, blocking=True, tolerance=None, timeout=10.0): + smach.State.__init__( + self, outcomes=["succeeded", "failed"], input_keys=["move_arm_to"] + ) + joint_names = [ + "arm_joint_1", + "arm_joint_2", + "arm_joint_3", + "arm_joint_4", + "arm_joint_5", + ] + self.arm_moveit_client = MoveitClient("/arm_", target, timeout, joint_names) + self.blocking = blocking + + def execute(self, userdata): + return self.arm_moveit_client.execute(userdata, self.blocking) + + +class check_move_group_feedback(smach.State): + def __init__(self, timeout=10.0): + smach.State.__init__(self, outcomes=["succeeded, waiting, failed"]) + self.move_group_status_sub("/move_group/status", self.status_cb) + self.status = 1 + + def status_cb(self, msg): + self.status = status + + def execute(self): + if self.status == 3: + return "succeeded" + elif self.status == 1: + return "waiting" + else: + return "failed" + +class control_gripper(smach.State): + def __init__(self, target=None, blocking=True, tolerance=None, timeout=10.0): + smach.State.__init__(self, outcomes=["succeeded"]) + + self.command = GripperCommand() + self.current_state = "GRIPPER_OPEN" + self.grasped_counter = 0 + if 'open' in target: + self.command.command = GripperCommand.OPEN + elif 'close' in target: + self.command.command = GripperCommand.CLOSE + elif type(target) == float: + self.command.command = target + self.pub = rospy.Publisher('/arm_1/gripper_command', GripperCommand, queue_size=1) + self.sub = rospy.Subscriber('/arm_1/gripper_feedback', String, self.feedback_cb) + + def feedback_cb(self, msg): + json_obj = json.loads(msg.data) + self.current_state = json_obj["state"] + if self.current_state == "OBJECT_GRASPED": + self.grasped_counter += 1 + + def execute(self, userdata): + self.pub.publish(self.command) + while True: + if (self.current_state == "GRIPPER_OPEN" or self.current_state == "GRIPPER_INTER") and\ + self.command.command != GripperCommand.CLOSE: + self.grasped_counter = 0 + return "succeeded" + elif self.current_state == "GRIPPER_CLOSED" and\ + self.command.command == GripperCommand.CLOSE: + self.grasped_counter = 0 + return "succeeded" + elif self.current_state == "OBJECT_GRASPED" and\ + self.grasped_counter > 4 and\ + self.command.command == GripperCommand.CLOSE: + self.grasped_counter = 0 + return "succeeded" + rospy.sleep(0.1) + +class verify_object_grasped(smach.State): + def __init__(self, timeout=5.0): + smach.State.__init__(self, outcomes=["succeeded", "failed"]) + + self.current_state = "OBJECT_GRASPED" + self.grasped_counter = 0 + self.timeout = rospy.Duration(timeout) + self.sub = rospy.Subscriber('/arm_1/gripper_feedback', String, self.feedback_cb) + + def feedback_cb(self, msg): + json_obj = json.loads(msg.data) + self.current_state = json_obj["state"] + if self.current_state == "OBJECT_GRASPED": + self.grasped_counter += 1 + + def execute(self, userdata): + start_time = rospy.Time.now() + while (rospy.Time.now() - start_time < self.timeout): + rospy.sleep(0.1) + if self.current_state == "GRIPPER_CLOSED" or\ + self.current_state == "GRIPPER_INTER" or\ + self.current_state == "GRIPPER_OPEN": + return "failed" + elif self.current_state == "OBJECT_GRASPED" and\ + self.grasped_counter > 4: + self.grasped_counter = 0 + return "succeeded" + return "failed" + +class move_arm_and_gripper(smach.State): + + """ + Author : Abhishek Padalkar + + This states moves the arm and gripper in parallel. + It send gripper command directly on cotroller toipc. + Without waiting for the gripper motion to complete, it initiates arm motion with move_group. + Grpper feedback can be added here, to do so gripper controller code in this state needed to shifted in separate state, + take feedback from gripper_controller/state, and run move_arm state and the new gripper state concurrently. + """ + + def __init__(self, conf, target=None, blocking=True, tolerance=None, timeout=10.0): + smach.State.__init__( + self, outcomes=["succeeded", "failed"], input_keys=["move_arm_to"] + ) + joint_names = [ + "arm_joint_1", + "arm_joint_2", + "arm_joint_3", + "arm_joint_4", + "arm_joint_5", + ] + self.arm_moveit_client = MoveitClient("/arm_", target, timeout, joint_names) + self.pub = rospy.Publisher('/arm_1/gripper_command', GripperCommand, queue_size=1) + self.conf = conf + self.gripper_command = GripperCommand() + if 'open' in self.conf: + self.gripper_command.command = GripperCommand.OPEN + elif 'close' in self.conf: + self.gripper_command.command = GripperCommand.CLOSE + elif type(self.conf) == float: + self.gripper_command.command = self.conf + + def get_targets(self, group_name): + text = rospy.get_param("/robot_description_semantic") + "Following code searches and extracts gripper configurations in youbot.srdf" + pattern = ( + 'group_state[ \\\\\n\r\f\v\t]*name="' + + self.conf + + '"[ \\\\\n\r\f\v\t]*group="arm_1_gripper">[ \\\\\n\r\f\v\t]*= len(self.pose_name_list): + rospy.loginfo("[manipulation states] All poses covered ending loop") + userdata.next_arm_pose_index = 0 + return "completed" + + userdata.move_arm_to = self.pose_name_list[userdata.next_arm_pose_index] + userdata.next_arm_pose_index += 1 + + return "succeeded" diff --git a/data/mir_scenarios/mir_states/ros/src/mir_states/common/navigation_states.py b/data/mir_scenarios/mir_states/ros/src/mir_states/common/navigation_states.py new file mode 100644 index 0000000000000000000000000000000000000000..16d23b28d396478705f6375db5b6a6d464000263 --- /dev/null +++ b/data/mir_scenarios/mir_states/ros/src/mir_states/common/navigation_states.py @@ -0,0 +1,259 @@ +#!/usr/bin/python +import math +import random + +import actionlib +import actionlib_msgs.msg +import move_base_msgs.msg +import rospy +import smach +import smach_ros +import std_srvs.srv +import tf +from actionlib.simple_action_client import GoalStatus +from geometry_msgs.msg import PoseStamped, Quaternion, Twist +from mir_navigation_msgs.msg import OrientToBaseAction, OrientToBaseActionGoal +from std_msgs.msg import String + + +class adjust_to_workspace(smach.State): + + ADJUST_SERVER = "/mir_navigation/base_placement/adjust_to_workspace" + + def __init__(self, distance=None): + smach.State.__init__( + self, + outcomes=["succeeded", "failed"], + input_keys=["desired_distance_to_workspace"], + ) + + self.ac_base_adj = actionlib.SimpleActionClient( + self.ADJUST_SERVER, OrientToBaseAction + ) + + self.distance = distance or userdata.desired_distance_to_workspace + if not self.distance: + self.distance = 0.20 + + def execute(self, userdata): + rospy.logdebug("Waiting for action server <<%s>>...", self.ADJUST_SERVER) + self.ac_base_adj.wait_for_server() + rospy.logdebug("Action server <<%s>> is ready...", self.ADJUST_SERVER) + + action_goal = OrientToBaseActionGoal() + action_goal.goal.distance = self.distance + + rospy.logdebug("Sending action goal...") + self.ac_base_adj.send_goal(action_goal.goal) + + rospy.loginfo("Waiting for base to adjust...") + if self.ac_base_adj.wait_for_result(): + rospy.loginfo("Action finished: %s", self.ac_base_adj.get_state()) + return "succeeded" + else: + rospy.logerr("Action did not finish before the time out!") + return "failed" + + +class move_base_relative(smach.State): + + """ + Shift the robot by the offset stored in 'move_base_by' field of userdata + or the offset passed to the constructor. + + :param move_base_by: x, y, and yaw displacement the shift the robot by + (in /base_link). If an offset was supplied to the + state constructor then it will override this input. + :type move_base_by: 3-tuple + + """ + + def __init__(self, offset=None): + smach.State.__init__( + self, + outcomes=["succeeded", "timeout", "unreachable"], + input_keys=["move_base_by"], + ) + self.offset = offset + + self.pub_relative_base_ctrl_command = rospy.Publisher( + "/mcr_navigation/relative_base_controller/command", PoseStamped, latch=True + ) + self.pub_relative_base_ctrl_event = rospy.Publisher( + "/mcr_navigation/relative_base_controller/event_in", String, latch=True + ) + self.sub_relative_base_ctrl_event = rospy.Subscriber( + "/mcr_navigation/relative_base_controller/event_out", + String, + self.relative_base_controller_event_cb, + ) + self.sub_collision_velocity_filter_event = rospy.Subscriber( + "/mcr_navigation/collision_velocity_filter/event_out", + String, + self.collision_velocity_filter_event_cb, + ) + self.relative_base_ctrl_event = "" + self.collision_velocity_filter_event = "" + + def collision_velocity_filter_event_cb(self, event): + self.collision_velocity_filter_event = event.data + + def relative_base_controller_event_cb(self, event): + self.relative_base_ctrl_event = event.data + + def sample_with_boundary(self, lower, upper): + if (lower == 0.0) and (upper == 0.0): + return 0.0 + + value = random.uniform(lower, upper) + if -0.015 <= value <= 0.015: + value = math.copysign(0.015, value) + + return value + + def execute(self, userdata): + + offset = self.offset or userdata.move_base_by + if not offset: + offset = [0, 0, 0] + + relative_base_move = PoseStamped() + relative_base_move.header.stamp = rospy.Time.now() + relative_base_move.header.frame_id = "/base_link" + + if len(offset) == 3: + relative_base_move.pose.position.x = offset[0] + relative_base_move.pose.position.y = offset[1] + + q = tf.transformations.quaternion_from_euler(0, 0, offset[2]) + relative_base_move.pose.orientation = Quaternion(*q) + + elif len(offset) == 6: + relative_base_move.pose.position.x = self.sample_with_boundary( + offset[0], offset[1] + ) + relative_base_move.pose.position.y = self.sample_with_boundary( + offset[2], offset[3] + ) + + q = tf.transformations.quaternion_from_euler( + 0, 0, self.sample_with_boundary(offset[4], offset[5]) + ) + relative_base_move.pose.orientation = Quaternion(*q) + + self.relative_base_ctrl_event = "" + self.collision_velocity_filter_event = "" + # publish desired relative movement + self.pub_relative_base_ctrl_command.publish(relative_base_move) + + # publish event to start the movement + self.pub_relative_base_ctrl_event.publish(String("e_start")) + + timeout = rospy.Duration.from_sec( + 10.0 + ) # wait for the done event max. 10 seconds + start_time = rospy.Time.now() + while True: + + if self.relative_base_ctrl_event == "e_done": + rospy.loginfo("relative pose reached") + return "succeeded" + + if self.collision_velocity_filter_event == "e_zero_velocities_forwarded": + rospy.loginfo("relative pose unreachable") + self.pub_relative_base_ctrl_event.publish("e_stop") + return "unreachable" + + if (rospy.Time.now() - start_time) > timeout: + rospy.logerr( + "timeout of %f seconds exceeded for relative base movement" + % float(timeout.to_sec()) + ) + return "timeout" + + rospy.sleep(0.01) + + return "succeeded" + + +class approach_pose(smach.State): + def __init__(self, pose_name=""): + smach.State.__init__( + self, outcomes=["succeeded", "failed"], input_keys=["base_pose_to_approach"] + ) + + self.pose_name = pose_name + + self.move_base_action_name = "/move_base" + self.move_base_action = actionlib.SimpleActionClient( + self.move_base_action_name, move_base_msgs.msg.MoveBaseAction + ) + + def execute(self, userdata): + + # wait for action server + rospy.loginfo("Wait for action: %s", self.move_base_action_name) + if not self.move_base_action.wait_for_server(rospy.Duration(5)): + rospy.logerr( + "%s action server not ready within timeout, aborting...", + self.move_base_action_name, + ) + return "failed" + + # check if argument has been passed or userdata should be used + if self.pose_name == "": + self.pose_name2 = userdata.base_pose_to_approach + else: + self.pose_name2 = self.pose_name + + # get pose from parameter server + if type(self.pose_name2) is str: + parameter_name = "/script_server/base/" + self.pose_name2 + if not rospy.has_param(parameter_name): + rospy.logerr( + "parameter <<%s>> does not exist on ROS Parameter Server, aborting...", + parameter_name, + ) + return "failed" + + self.target_pose = rospy.get_param(parameter_name) + else: + rospy.logerr( + "pose parameter <<%s>> is not a string, aborting...", self.pose_name2 + ) + return "failed" + + # prepare action message + pose = PoseStamped() + pose.header.stamp = rospy.Time.now() + pose.header.frame_id = "/map" + pose.pose.position.x = self.target_pose[0] + pose.pose.position.y = self.target_pose[1] + pose.pose.position.z = 0.0 + q = tf.transformations.quaternion_from_euler(0, 0, self.target_pose[2]) + pose.pose.orientation.x = q[0] + pose.pose.orientation.y = q[1] + pose.pose.orientation.z = q[2] + pose.pose.orientation.w = q[3] + + goal = move_base_msgs.msg.MoveBaseGoal() + goal.target_pose = pose + + # call action + rospy.loginfo("send navigation goal") + self.move_base_action.send_goal(goal) + + rospy.loginfo( + "wait for %s action to reach %s", + self.move_base_action_name, + self.pose_name2, + ) + self.move_base_action.wait_for_result() + + # evaluate result + result = self.move_base_action.get_state() + + if result == actionlib_msgs.msg.GoalStatus.SUCCEEDED: + return "succeeded" + else: + return "failed" diff --git a/data/mir_scenarios/mir_states/ros/src/mir_states/common/perception_mockup_util.py b/data/mir_scenarios/mir_states/ros/src/mir_states/common/perception_mockup_util.py new file mode 100644 index 0000000000000000000000000000000000000000..e8f1f9d220dfbe4346775b65685187833a0bdef7 --- /dev/null +++ b/data/mir_scenarios/mir_states/ros/src/mir_states/common/perception_mockup_util.py @@ -0,0 +1,64 @@ +#!/usr/bin/python + +import rospy +import smach +from mas_perception_msgs.msg import Object, ObjectList + + +def set_object_list( + object_list, topic="/mcr_perception/object_detector/set_object_to_mockup" +): + pub = rospy.Publisher(topic, ObjectList) + rospy.sleep(0.25) + pub.publish(object_list) + + +def remove_object( + object, topic="/mcr_perception/object_detector/rm_object_from_mockup" +): + pub = rospy.Publisher(topic, Object) + rospy.sleep(0.25) + pub.publish(object) + + +def add_object(object, topic="/mcr_perception/object_detector/rm_object_from_mockup"): + pub = rospy.Publisher(topic, Object) + rospy.sleep(0.25) + pub.publish(object) + + +class add_object_from_task_list_state(smach.State): + def __init__(self, type=""): + smach.State.__init__(self, outcomes=["success"], input_keys=["task_list"]) + rospy.loginfo("object_detection_task_list_observer_state initialized") + + def execute(self, userdata): + rospy.loginfo("object_detection_task_list_observer_state executed") + + object_list = [] + + for task in userdata.task_list: + if task.type == "source": + for object_names in task.object_names: + obj = Object() + obj.name = object_names + obj.pose.header.frame_id = "/base_link" + obj.pose.pose.position.x = 0.61 + object_list.append(obj) + + set_object_list(object_list) + + return "success" + + +class remove_object_to_grasp_state(smach.State): + def __init__(self, type=""): + smach.State.__init__(self, outcomes=["success"], input_keys=["object_to_grasp"]) + rospy.loginfo("object_detection_grasp_object_observer_state initialized") + + def execute(self, userdata): + rospy.loginfo("object_detection_grasp_object_observer_state executed") + + remove_object(userdata.object_to_grasp) + + return "success" diff --git a/data/mir_scenarios/mir_states/ros/src/mir_states/common/perception_states.py b/data/mir_scenarios/mir_states/ros/src/mir_states/common/perception_states.py new file mode 100644 index 0000000000000000000000000000000000000000..0cc7ad30bc4aeeb64e20c0b211db2444e35193bb --- /dev/null +++ b/data/mir_scenarios/mir_states/ros/src/mir_states/common/perception_states.py @@ -0,0 +1,166 @@ +#!/usr/bin/python + +import mas_perception_msgs.msg +import mir_controller_msgs.srv +import rospy +import smach +import std_msgs.msg +import tf + + +class do_visual_servoing(smach.State): + + SERVER = "/mir_controllers/visual_servoing/do_visual_servoing" + + def __init__(self): + smach.State.__init__( + self, + outcomes=["succeeded", "failed", "timeout", "lost_object"], + input_keys=["vscount"], + output_keys=["vscount"], + ) + self.do_vs = rospy.ServiceProxy( + self.SERVER, mir_controller_msgs.srv.StartVisualServoing + ) + + def execute(self, userdata): + try: + rospy.loginfo("Calling service <<%s>>" % self.SERVER) + response = self.do_vs() + except rospy.ServiceException as e: + userdata.vscount = 0 + rospy.logerr( + "Exception when calling service <<%s>>: %s" % (self.SERVER, str(e)) + ) + return "failed" + if response.return_value.error_code == 0: + userdata.vscount = 0 + return "succeeded" + elif response.return_value.error_code == -1: + return "failed" + elif response.return_value.error_code == -2: + return "timeout" + elif response.return_value.error_code == -3: + return "lost_object" + + +class find_cavities(smach.State): + def __init__(self): + smach.State.__init__( + self, + outcomes=["succeeded", "failed"], + input_keys=["selected_objects", "found_cavities"], + output_keys=["found_cavities"], + ) + + self.sub_cavity = rospy.Subscriber( + "/mcr_perception/cavity_message_builder/output/cavity", + mas_perception_msgs.msg.Cavity, + self.cavity_cb, + ) + self.pub_contour_finder_event = rospy.Publisher( + "/mcr_perception/contour_finder/input/event_in", std_msgs.msg.String + ) + self.pub_object_category = rospy.Publisher( + "/mcr_perception/cavity_template_publisher/input/object_name", + std_msgs.msg.String, + ) + self.tf_listener = tf.TransformListener() + self.cavity = None + + def cavity_cb(self, cavity): + self.cavity = cavity + + def execute(self, userdata): + local_found_cavities = [] + for obj in userdata.selected_objects: + self.cavity = None + self.pub_object_category.publish(obj.name) + self.pub_contour_finder_event.publish("e_trigger") + + timeout = rospy.Duration.from_sec( + 5.0 + ) # wait for the done event max. 5 seconds + start_time = rospy.Time.now() + while not rospy.is_shutdown(): + if self.cavity: + rospy.loginfo( + "Received Cavity message for %s, matching error: %.5f", + obj.name, + self.cavity.template_matching_error.matching_error, + ) + self.cavity.object_name = obj.name + local_found_cavities.append(self.cavity) + break + + if (rospy.Time.now() - start_time) > timeout: + rospy.logwarn( + "timeout of %f seconds exceeded for finding cavity" + % float(timeout.to_sec()) + ) + break + + rospy.sleep(0.01) + + if len(local_found_cavities) == 0: + return "failed" + + userdata.found_cavities = local_found_cavities + + return "succeeded" + + +class check_found_cavities(smach.State): + def __init__(self): + smach.State.__init__( + self, + outcomes=["cavities_found", "no_cavities_found"], + input_keys=["best_matched_cavities"], + ) + + def execute(self, userdata): + + if len(userdata.best_matched_cavities) == 0: + return "no_cavities_found" + else: + return "cavities_found" + + +class find_best_matched_cavities(smach.State): + def __init__(self): + smach.State.__init__( + self, + outcomes=["succeeded", "complete"], + input_keys=["best_matched_cavities", "found_cavities"], + output_keys=["best_matched_cavities"], + ) + + self.matching_threshold = 0.1 + self.loop_count = 0 + + def execute(self, userdata): + + for cavity in userdata.found_cavities: + exists = False + for idx, c in enumerate(userdata.best_matched_cavities): + if cavity.object_name == c.object_name: + if ( + cavity.template_matching_error.matching_error + < c.template_matching_error.matching_error + ): + userdata.best_matched_cavities[idx] = cavity + print "Found better cavity for ", cavity.object_name, ". Old: ", c.template_matching_error.matching_error, " New: ", cavity.template_matching_error.matching_error + exists = True + + if exists == False: + if ( + cavity.template_matching_error.matching_error + < self.matching_threshold + ): + userdata.best_matched_cavities.append(cavity) + + if self.loop_count >= 2: + self.loop_count = 0 + return "complete" + self.loop_count += 1 + return "succeeded" diff --git a/data/mir_scenarios/mir_states/setup.py b/data/mir_scenarios/mir_states/setup.py new file mode 100644 index 0000000000000000000000000000000000000000..9b1ae3c2c8b8d5cbd34306b33ced8e224541a47f --- /dev/null +++ b/data/mir_scenarios/mir_states/setup.py @@ -0,0 +1,15 @@ +# ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD + +from distutils.core import setup + +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages=["mir_states_common", "mir_states"], + package_dir={ + "mir_states_common": "common/src/mir_states_common", + "mir_states": "ros/src/mir_states", + }, +) + +setup(**d) diff --git a/data/mir_simulation/mir_bringup_sim/CMakeLists.txt b/data/mir_simulation/mir_bringup_sim/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..5fa768477e7ddfe2566e248a8343cb2faeea8314 --- /dev/null +++ b/data/mir_simulation/mir_bringup_sim/CMakeLists.txt @@ -0,0 +1,31 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_bringup_sim) +find_package(catkin REQUIRED) + +catkin_package( + CATKIN_DEPENDS + gazebo_ros + mcr_gazebo_worlds + mir_arm_cartesian_control + mir_default_robot_config + mir_hardware_config + robot_state_publisher + youbot_gazebo_control +) + +### TEST +if(CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + + #roslaunch_add_file_check(. robot:=youbot-brsu-1 robot_env:=brsu-c025) + roslaunch_add_file_check(robots) +endif() + + +### INSTALLS +install(DIRECTORY robots/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/robots +) +install(FILES robot.launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/data/mir_simulation/mir_bringup_sim/controller/dynamixel_gripper_controller.yaml b/data/mir_simulation/mir_bringup_sim/controller/dynamixel_gripper_controller.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a2343d72421418d6aeeac71e88aa55a54ebd3aa0 --- /dev/null +++ b/data/mir_simulation/mir_bringup_sim/controller/dynamixel_gripper_controller.yaml @@ -0,0 +1,8 @@ +gripper_controller: + type: effort_controllers/JointTrajectoryController + joints: + - gripper_motor_left_joint + - gripper_motor_right_joint + gains: + gripper_motor_left_joint: {p: 1000.0, d: 1.0} + gripper_motor_right_joint: {p: 1000.0, d: 1.0} diff --git a/data/mir_simulation/mir_bringup_sim/package.xml b/data/mir_simulation/mir_bringup_sim/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..2b4ee1aa61348d7991d55968d4e26b30c1342851 --- /dev/null +++ b/data/mir_simulation/mir_bringup_sim/package.xml @@ -0,0 +1,27 @@ + + + mir_bringup_sim + 0.0.1 + bringup launch files to start a desired industrial robot in simulation + + GPLv3 + + Frederik Hegger + + Frederik Hegger + + catkin + + controller_manager + gazebo_ros + mcr_gazebo_worlds + mir_arm_cartesian_control + mir_default_robot_config + mir_hardware_config + mir_twist_mux + robot_state_publisher + youbot_gazebo_control + + roslaunch + + diff --git a/data/mir_simulation/mir_bringup_sim/robot.launch b/data/mir_simulation/mir_bringup_sim/robot.launch new file mode 100644 index 0000000000000000000000000000000000000000..aec6e3a90a30848b7ddfa2df4a7f2ba3c0264761 --- /dev/null +++ b/data/mir_simulation/mir_bringup_sim/robot.launch @@ -0,0 +1,53 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_simulation/mir_bringup_sim/robot_nav.launch b/data/mir_simulation/mir_bringup_sim/robot_nav.launch new file mode 100644 index 0000000000000000000000000000000000000000..e2a1c526a2e7b1bcdbad98e59b1edd5c5c39e6f2 --- /dev/null +++ b/data/mir_simulation/mir_bringup_sim/robot_nav.launch @@ -0,0 +1,64 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_simulation/mir_bringup_sim/robots/youbot-brsu-1.launch b/data/mir_simulation/mir_bringup_sim/robots/youbot-brsu-1.launch new file mode 100644 index 0000000000000000000000000000000000000000..98604d3dcacfee86820f963313e3a26e139aca1f --- /dev/null +++ b/data/mir_simulation/mir_bringup_sim/robots/youbot-brsu-1.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_simulation/mir_bringup_sim/robots/youbot-brsu-2.launch b/data/mir_simulation/mir_bringup_sim/robots/youbot-brsu-2.launch new file mode 100644 index 0000000000000000000000000000000000000000..5189dff6da6273319f494dce610338177d83386b --- /dev/null +++ b/data/mir_simulation/mir_bringup_sim/robots/youbot-brsu-2.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_simulation/mir_bringup_sim/robots/youbot-brsu-3.launch b/data/mir_simulation/mir_bringup_sim/robots/youbot-brsu-3.launch new file mode 100644 index 0000000000000000000000000000000000000000..5189dff6da6273319f494dce610338177d83386b --- /dev/null +++ b/data/mir_simulation/mir_bringup_sim/robots/youbot-brsu-3.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_simulation/mir_bringup_sim/robots/youbot-brsu-4.launch b/data/mir_simulation/mir_bringup_sim/robots/youbot-brsu-4.launch new file mode 100644 index 0000000000000000000000000000000000000000..ee45cf4a7c5f0b4a72dcd9b1caf0928e70dc83de --- /dev/null +++ b/data/mir_simulation/mir_bringup_sim/robots/youbot-brsu-4.launch @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_simulation/mir_bringup_sim/robots/youbot-brsu-5.launch b/data/mir_simulation/mir_bringup_sim/robots/youbot-brsu-5.launch new file mode 100644 index 0000000000000000000000000000000000000000..9e39dd6be0dff59a88af7080545aa88c4147f7fa --- /dev/null +++ b/data/mir_simulation/mir_bringup_sim/robots/youbot-brsu-5.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_simulation/mir_bringup_sim/robots/youbot-brsu-arm.launch b/data/mir_simulation/mir_bringup_sim/robots/youbot-brsu-arm.launch new file mode 100644 index 0000000000000000000000000000000000000000..7f3b0f2c1218980fb8252521f73262e3b626253c --- /dev/null +++ b/data/mir_simulation/mir_bringup_sim/robots/youbot-brsu-arm.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/data/mir_simulation/mir_simulation/CMakeLists.txt b/data/mir_simulation/mir_simulation/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..e0332326c9f3a5460e0061cdf45135f031184f91 --- /dev/null +++ b/data/mir_simulation/mir_simulation/CMakeLists.txt @@ -0,0 +1,4 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_simulation) +find_package(catkin REQUIRED) +catkin_metapackage() diff --git a/data/mir_simulation/mir_simulation/package.xml b/data/mir_simulation/mir_simulation/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..b73bdaf398d165be2bcad403fd477d262eba881f --- /dev/null +++ b/data/mir_simulation/mir_simulation/package.xml @@ -0,0 +1,22 @@ + + + mir_simulation + 0.0.1 + Collection of simulation related packages + + GPLv3 + + Frederik Hegger + + Frederik Hegger + Sven Schneider + Matthias Füller + Rhama Dwiputra + Nico Hochgeschwender + + catkin + + + + + diff --git a/data/mir_simulation/mir_world_generation/CMakeLists.txt b/data/mir_simulation/mir_world_generation/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..969990fb6a158e161f1c67944b550458a8c05434 --- /dev/null +++ b/data/mir_simulation/mir_world_generation/CMakeLists.txt @@ -0,0 +1,9 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mir_world_generation) +find_package(catkin REQUIRED) + +catkin_package( + CATKIN_DEPENDS +) + +catkin_python_setup() diff --git a/data/mir_simulation/mir_world_generation/common/config/config.yaml b/data/mir_simulation/mir_world_generation/common/config/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f569911b134500444e57d7377081b33c20429b45 --- /dev/null +++ b/data/mir_simulation/mir_world_generation/common/config/config.yaml @@ -0,0 +1,25 @@ +# how many workstation of each type is required +ws_type_to_num: + ws: 8 + sh: 2 + pp: 1 + +# Path where all the generated files should be stored +generation_dir: '/tmp' + +# number of row and columns of cells in grid +num_of_rows: 3 +num_of_cols: 4 + +# threshold for generating a wall between 2 cell [0.0 - 1.0] +# Increase this value to generate more complex environment (more walls and/or more ws) +wall_generation_threshold: 0.3 + +# threshold for generating noise in occupancy grid [0.0 - 1.0] +noise_threshold: 0.15 + +# number of retries before giving up +max_retries_allowed: 5 + +# distance from base link of robot to center of workstation (used for nav goal) +base_link_to_ws_center: 0.65 diff --git a/data/mir_simulation/mir_world_generation/common/mir_world_generation/__init__.py b/data/mir_simulation/mir_world_generation/common/mir_world_generation/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/data/mir_simulation/mir_world_generation/common/mir_world_generation/grid_based_generator.py b/data/mir_simulation/mir_world_generation/common/mir_world_generation/grid_based_generator.py new file mode 100644 index 0000000000000000000000000000000000000000..a68f7927ea6c86a2a7feb42d7a06e07f61ae6541 --- /dev/null +++ b/data/mir_simulation/mir_world_generation/common/mir_world_generation/grid_based_generator.py @@ -0,0 +1,459 @@ +from __future__ import print_function + +import math +import os +import random + +import yaml +from mir_world_generation.node import Node +from mir_world_generation.utils import Utils +from PIL import Image, ImageDraw + + +class GridBasedGenerator(object): + + """ + Generate world model for @work arenas based on a grid of cells + (represented by :class:`mir_world_generation.node.Node`). + Each cell in the grid can contain atmost 2 workstations. + There is a start and exit cell which will contain no workstations. + The grid is surrounded with walls on all 4 sides. + There can be walls between 2 adjacent cells. + """ + + def __init__(self): + code_dir = os.path.abspath(os.path.dirname(__file__)) + common_dir = os.path.dirname(code_dir) + config_dir = os.path.join(common_dir, "config") + config_file = os.path.join(config_dir, "config.yaml") + with open(config_file, "r") as file_obj: + config_data = yaml.safe_load(file_obj) + + # configurable variables + self._num_of_rows = config_data.get("num_of_rows", 3) + self._num_of_cols = config_data.get("num_of_cols", 4) + self._ws_type_to_num = config_data.get("ws_type_to_num", {}) + self._max_retries_allowed = config_data.get("max_retries_allowed", 5) + self._generation_dir = config_data.get("generation_dir", "/tmp") + self._base_link_to_ws_center = config_data.get("base_link_to_ws_center", 0.65) + self._wall_generation_threshold = config_data.get( + "wall_generation_threshold", 0.3 + ) + self._noise_threshold = config_data.get("noise_threshold", 0.1) + + # hardcoded values + # 0.01 resolution makes 1 px = 1 cm. This makes occ generation calc easy + self._resolution = 0.01 # meters/pixel + # 1.5 x 1.5 meter cell is by design since it allows 2 ws and youbot at the same time + self._grid_dim = int(1.5 / self._resolution) # pixels + + # randomly choose a start cell in first column + self._start_cell = (random.randint(0, self._num_of_rows - 1), 0) + # randomly choose an exit cell in last column + self._exit_cell = ( + random.randint(0, self._num_of_rows - 1), + self._num_of_cols - 1, + ) + + self._grid = [ + [None for _ in range(self._num_of_cols)] for _ in range(self._num_of_rows) + ] + self._walled_edges = [] + self._ws = [] + + def generate_configuration(self): + """ + 1. Generate a grid of cells (Node object). + 2. Add walls between these cells randomly. + 3. Add required amount of workstations in this grid randomly. + 4. If required amount of workstations are more that what is possible\ + with the current randomly generated configuration, repeat 1, 2 and 3. + + + :return: Return false after failing multiple times. + :rtype: bool + + """ + print("=" * 40) + attempts = 0 + while attempts < self._max_retries_allowed: + attempts += 1 + print("Generating wall and ws configuration. Attempt:", attempts) + for i in range(self._num_of_rows): + for j in range(self._num_of_cols): + self._grid[i][j] = Node(col=j, row=i, size=self._grid_dim) + + all_edges = [] + for i in range(self._num_of_rows - 1): + for j in range(self._num_of_cols): + all_edges.append(((i, j), (i + 1, j))) + for i in range(self._num_of_rows): + for j in range(self._num_of_cols - 1): + all_edges.append(((i, j), (i, j + 1))) + walled_edges = [] + for edge in all_edges: + if random.random() < self._wall_generation_threshold: + walled_edges.append(edge) + print("Adding wall", edge) + walled_edge = self._make_connected(walled_edges) + self._walled_edges = walled_edges + + success = self._generate_ws() + if success: + print("=" * 40) + print() + return True + + print() + return False + + def create_occ_grid(self, border=100): + """ + Create occupancy grid map (map.pgm) and its config (map.yaml) based on + walls and grid + + :param border: num of pixel surrounding grid of cells + :type border: int + + """ + height = self._num_of_rows * self._grid_dim + width = self._num_of_cols * self._grid_dim + self._grid_map = Image.new("L", (width + 2 * border, height + 2 * border), 205) + self._draw_obj = ImageDraw.Draw(self._grid_map) + + # draw clear reactangle with walls around it + xy = [(-2, -2), (width + 2, height + 2)] + self._draw_obj.rectangle( + GridBasedGenerator.offset_xy_with_border(xy, border), + outline=0, + fill=255, + width=4, + ) + + # draw internal walls + for edge in self._walled_edges: + n1 = self._grid[edge[0][0]][edge[0][1]] + n2 = self._grid[edge[1][0]][edge[1][1]] + if n1.x == n2.x: + xy = [(n2.x, n2.y), (n2.x + self._grid_dim, n2.y)] + else: + xy = [(n2.x, n2.y), (n2.x, n2.y + self._grid_dim)] + self._draw_obj.line( + GridBasedGenerator.offset_xy_with_border(xy, border), fill=0, width=4 + ) + + # draw WS + for ws_dict in self._ws: + direction = Node.get_direction_from_theta(ws_dict["theta"]) + x, y = ws_dict["x"], ws_dict["y"] + if direction == "E" or direction == "W": + xy = [ + (x - Node.ws_width / 2, y - Node.ws_length / 2), + (x + Node.ws_width / 2, y + Node.ws_length / 2), + ] + else: # 'N' or 'S' facing + xy = [ + (x - Node.ws_length / 2, y - Node.ws_width / 2), + (x + Node.ws_length / 2, y + Node.ws_width / 2), + ] + self._draw_obj.rectangle( + GridBasedGenerator.offset_xy_with_border(xy, border), + outline=0, + fill=205, + width=2, + ) + self._draw_obj.text( + [(x + border - 12, y + border)], + ws_dict["type"].upper() + ws_dict["id"], + fill=255, + ) + + # add noise + for i in range(self._grid_map.width): + for j in range(self._grid_map.height): + if self._grid_map.getpixel((i, j)) == 0: # px is black + # one of the surrounding px is white + if ( + self._grid_map.getpixel((i - 1, j)) == 255 + or self._grid_map.getpixel((i + 1, j)) == 255 + or self._grid_map.getpixel((i, j - 1)) == 255 + or self._grid_map.getpixel((i, j + 1)) == 255 + ): + if random.random() < self._noise_threshold: + self._grid_map.putpixel((i, j), 255) + + image_path = os.path.join(self._generation_dir, "map.pgm") + self._grid_map.save(image_path) + print("Occupancy grid map created:", image_path) + self._save_occ_grid_yaml_file(height, border) + + def create_xacro(self, name="at_work_arena"): + """ + Create a xacro file which can be spawned into gazebo simulator based on + walls and grid of cells generated from :func:`generate_configuration` + + :param name: name of world and name of xacro file + :type name: str + + """ + # read snippets + code_dir = os.path.abspath(os.path.dirname(__file__)) + common_dir = os.path.dirname(code_dir) + xacro_snippet_dir = os.path.join(common_dir, "xacro_snippet") + snippets = {} + for file_name in os.listdir(xacro_snippet_dir): + with open(os.path.join(xacro_snippet_dir, file_name), "r") as file_obj: + snippets[file_name] = file_obj.read() + + file_string = [] + + # start with headers + file_string.append(snippets["beginning"].format(**{"NAME": name})) + + # add walls + wall_dict_list = self._get_wall_dict_list() + for wall in wall_dict_list: + file_string.append(snippets["wall"].format(**wall)) + + # add all ws (ws, sh, pp) + for ws_dict in self._ws: + x = ws_dict["x"] * self._resolution + (self._start_cell[1] * 1.5) - 0.75 + y = ws_dict["y"] * self._resolution - (self._start_cell[0] * 1.5) - 0.75 + file_string.append( + snippets[ws_dict["type"]].format( + **{"ID": ws_dict["id"], "X": x, "Y": -y, "YAW": ws_dict["theta"]} + ) + ) + + # end with closing tag + file_string.append(snippets["end"].format()) + + # write to a file + string = "".join(file_string) + xacro_path = os.path.join(self._generation_dir, name + ".xacro") + with open(xacro_path, "w") as file_obj: + file_obj.write(string) + print("Xacro file created:", xacro_path) + + def create_nav_goal(self): + """ + Create navigation goals file (navigation_goals.yaml) based on ``self._ws`` + and ``self._start_cell`` and ``self._exit_cell`` + """ + nav_goals = [] + for ws_dict in self._ws: + x = ws_dict["x"] * self._resolution + (self._start_cell[1] * 1.5) - 0.75 + y = ws_dict["y"] * self._resolution - (self._start_cell[0] * 1.5) - 0.75 + theta = ws_dict["theta"] + name = ws_dict["type"].upper() + ws_dict["id"] + delta_x = math.cos(theta) * -self._base_link_to_ws_center + delta_y = math.sin(theta) * -self._base_link_to_ws_center + pos = str([round(x + delta_x, 3), round(-y + delta_y, 3), round(theta, 3)]) + nav_goals.append(name + ": " + pos) + nav_goals.sort() + nav_goals.append("START: [0.0, 0.0, 0.0]") + x = (self._exit_cell[1] * 1.5) + (self._start_cell[1] * 1.5) + y = -(self._exit_cell[0] * 1.5) + (self._start_cell[0] * 1.5) + nav_goals.append("EXIT: [" + str(x) + ", " + str(y) + ", 0.0]") + + nav_goal_path = os.path.join(self._generation_dir, "navigation_goals.yaml") + with open(nav_goal_path, "w") as file_obj: + file_obj.write("\n".join(nav_goals)) + print("Navigation goals file created:", nav_goal_path) + + def _generate_ws(self): + # calc probable position of workstation for each cell + max_possible_ws = 0 + for i in range(self._num_of_rows): + for j in range(self._num_of_cols): + self._calc_cell_ws_probability(i, j) + max_possible_ws += self._grid[i][j].remaining_ws_slot + + total_ws_needed = sum(self._ws_type_to_num.values()) + print("Required workstation:", total_ws_needed) + print("Max possible workstation:", max_possible_ws) + if max_possible_ws < total_ws_needed: + print("ERROR. This many ws are not possible with current configuration") + return False + + # randomly pick a cell and generate a ws in it if possible + for ws_type, num in self._ws_type_to_num.iteritems(): + for ws_num in range(1, num + 1): + while True: + i = random.randint(0, self._num_of_rows - 1) + j = random.randint(0, self._num_of_cols - 1) + if self._grid[i][j].remaining_ws_slot > 0: + self._grid[i][j].add_ws() + ws_dict = self._grid[i][j].ws[-1] + ws_dict["id"] = str(ws_num).zfill(2) + ws_dict["type"] = ws_type + print( + "Adding", + ws_type, + ws_num, + "at (", + ws_dict["x"], + ",", + ws_dict["y"], + ")", + ) + break + + # aggregate all ws + self._ws = [] + for i in range(self._num_of_rows): + for j in range(self._num_of_cols): + self._ws.extend(self._grid[i][j].ws) + return True + + def _calc_cell_ws_probability(self, i, j): + if (i, j) == self._start_cell or (i, j) == self._exit_cell: + self._grid[i][j].probable_ws_direction = [] + return + connected_neighbours = Utils.get_connected_neighbour( + (i, j), self._walled_edges, self._num_of_rows, self._num_of_cols + ) + for neighbour in connected_neighbours: + diff_i = neighbour[0] - i + diff_j = neighbour[1] - j + if diff_i > 0: + self._grid[i][j].probable_ws_direction.remove("S") + elif diff_i < 0: + self._grid[i][j].probable_ws_direction.remove("N") + if diff_j > 0: + self._grid[i][j].probable_ws_direction.remove("E") + elif diff_j < 0: + self._grid[i][j].probable_ws_direction.remove("W") + return + + def _make_connected(self, walled_edges): + connected_nodes = Utils.get_connected_nodes( + self._start_cell, walled_edges, self._num_of_rows, self._num_of_cols + ) + while len(connected_nodes) != self._num_of_rows * self._num_of_cols: + disconnected_nodes = [] + for i in range(self._num_of_rows): + for j in range(self._num_of_cols): + if (i, j) not in connected_nodes: + disconnected_nodes.append((i, j)) + node = random.choice(disconnected_nodes) + walls_around_node = [ + walled_edge + for walled_edge in walled_edges + if node == walled_edge[0] or node == walled_edge[1] + ] + if len(walls_around_node) == 0: + continue + chosen_wall = random.choice(walls_around_node) + walled_edges.remove(chosen_wall) + print("Disconnected map. Removed wall", chosen_wall) + connected_nodes = Utils.get_connected_nodes( + self._start_cell, walled_edges, self._num_of_rows, self._num_of_cols + ) + return walled_edges + + def _get_wall_dict_list(self): + walls = [] + wall_id = 1 + # add internal walls + for edge in self._walled_edges: + n1 = self._grid[edge[0][0]][edge[0][1]] + n2 = self._grid[edge[1][0]][edge[1][1]] + if n1.x == n2.x: + p1 = (n2.x * self._resolution, n2.y * self._resolution) + p2 = ( + (n2.x + self._grid_dim) * self._resolution, + n2.y * self._resolution, + ) + theta = 0.0 + else: + p1 = (n2.x * self._resolution, n2.y * self._resolution) + p2 = ( + n2.x * self._resolution, + (n2.y + self._grid_dim) * self._resolution, + ) + theta = math.pi / 2 + x, y = self._get_x_y_from_2_points(p1, p2) + walls.append( + { + "WALL_ID": str(wall_id).zfill(2), + "LENGTH": 1.5, + "X": x, + "Y": -y, + "YAW": theta, + } + ) + wall_id += 1 + + # add border walls + height = self._num_of_rows * 1.5 + width = self._num_of_cols * 1.5 + border_wall_data = [ + [(0.0, 0.0), (width, 0.0), 0.0], + [(0.0, height), (width, height), 0.0], + [(0.0, 0.0), (0.0, height), math.pi / 2], + [(width, 0.0), (width, height), math.pi / 2], + ] + for p1, p2, theta in border_wall_data: + x, y = self._get_x_y_from_2_points(p1, p2) + length = ((p1[0] - p2[0]) ** 2 + (p1[1] - p2[1]) ** 2) ** 0.5 + walls.append( + { + "WALL_ID": str(wall_id).zfill(2), + "LENGTH": length, + "X": x, + "Y": -y, + "YAW": theta, + } + ) + wall_id += 1 + + return walls + + def _get_ws_dict_list(self): + ws_dict_list = [] + for i in range(self._num_of_rows): + for j in range(self._num_of_cols): + for ws in self._grid[i][j].ws: + x = ws["x"] * self._resolution + (self._start_cell[1] * 1.5) - 0.75 + y = ws["y"] * self._resolution - (self._start_cell[0] * 1.5) - 0.75 + ws_dict_list.append({"X": x, "Y": -y, "YAW": ws["theta"]}) + return ws_dict_list + + @staticmethod + def offset_xy_with_border(xy, border): + return [ + (xy[0][0] + border, xy[0][1] + border), + (xy[1][0] + border, xy[1][1] + border), + ] + + def _save_occ_grid_yaml_file(self, height, border): + i, j = self._start_cell + x = j * 1.5 + border * self._resolution + 0.75 + y = (height * self._resolution) - i * 1.5 + border * self._resolution - 0.75 + data = dict( + image="map.pgm", + resolution=0.01, + origin=[-x, -y, 0.0], + negate=0, + occupied_thresh=0.65, + free_thresh=0.196, + ) + + yaml_path = os.path.join(self._generation_dir, "map.yaml") + with open(yaml_path, "w") as file_obj: + yaml.safe_dump(data, file_obj, default_flow_style=False) + print("Occupancy grid config created:", yaml_path) + + def _get_x_y_from_2_points(self, p1, p2): + x = (p1[0] + p2[0]) / 2 + (self._start_cell[1] * 1.5) - 0.75 + y = (p1[1] + p2[1]) / 2 - (self._start_cell[0] * 1.5) - 0.75 + return x, y + + +if __name__ == "__main__": + GBG = GridBasedGenerator() + if GBG.generate_configuration(): + GBG.create_occ_grid() + GBG.create_xacro() + GBG.create_nav_goal() diff --git a/data/mir_simulation/mir_world_generation/common/mir_world_generation/node.py b/data/mir_simulation/mir_world_generation/common/mir_world_generation/node.py new file mode 100644 index 0000000000000000000000000000000000000000..9448ebef7617474025e58e0c10d2cde4fa7191a3 --- /dev/null +++ b/data/mir_simulation/mir_world_generation/common/mir_world_generation/node.py @@ -0,0 +1,153 @@ +import math +import random + + +class Node(object): + + """ + An object representation of a cell in a grid of size ``row`` x ``col``. Each cell + is a square of dimension ``size`` (in cm) which can hold **atmost 2** workstations. + """ + + ws_length = 80 # cm + ws_width = 50 # cm + + def __init__(self, col=0, row=0, size=150): + self.size = size + self.x = col * self.size + self.y = row * self.size + self.ws = [] + # North, South, East, West (north will be positive Y axis) + self.probable_ws_direction = ["N", "S", "E", "W"] + + def add_ws(self): + """ + Add a workstation at random in the cell. + If a workstation is already present then move that one in a way such that + there is no overlap between the two + """ + min_len_pos = self.ws_length / 2 + max_len_pos = self.size - (self.ws_length / 2) + min_wid_pos = self.ws_width / 2 + max_wid_pos = self.size - (self.ws_width / 2) + + direction = random.choice(self.probable_ws_direction) + self.probable_ws_direction.remove(direction) + if direction == "N": + if "S" in self.probable_ws_direction: + self.probable_ws_direction.remove("S") + x = ( + self._resolve_overlap(direction) + if len(self.ws) > 0 + else random.randint(self.x + min_len_pos, self.x + max_len_pos) + ) + y = self.y + min_wid_pos + theta = math.pi / 2 + if direction == "S": + if "N" in self.probable_ws_direction: + self.probable_ws_direction.remove("N") + x = ( + self._resolve_overlap(direction) + if len(self.ws) > 0 + else random.randint(self.x + min_len_pos, self.x + max_len_pos) + ) + y = self.y + max_wid_pos + theta = -math.pi / 2 + if direction == "E": + if "W" in self.probable_ws_direction: + self.probable_ws_direction.remove("W") + x = self.x + max_wid_pos + y = ( + self._resolve_overlap(direction) + if len(self.ws) > 0 + else random.randint(self.y + min_len_pos, self.y + max_len_pos) + ) + theta = 0.0 + if direction == "W": + if "E" in self.probable_ws_direction: + self.probable_ws_direction.remove("E") + x = self.x + min_wid_pos + y = ( + self._resolve_overlap(direction) + if len(self.ws) > 0 + else random.randint(self.y + min_len_pos, self.y + max_len_pos) + ) + theta = math.pi + + self.ws.append({"x": x, "y": y, "theta": theta}) + + def _resolve_overlap(self, direction): + """ + Given the direction of a workstation that needs to be added to the cell, + resolve any possible overlap between it and the already present WS. + The already present WS is moved to a corner and the new WS will be spawned + to diagonally opposite corner. + + :direction: str ('N', 'S', 'E', or 'W') + :returns: int + + """ + min_len_pos = self.ws_length / 2 + max_len_pos = self.size - (self.ws_length / 2) + min_wid_pos = self.ws_width / 2 + max_wid_pos = self.size - (self.ws_width / 2) + + ws1 = self.ws[0] # already present WS + ws1_dir = Node.get_direction_from_theta(ws1["theta"]) + if direction == "N": + ws1["y"] = self.y + max_len_pos + return self.x + min_len_pos if ws1_dir == "E" else self.x + max_len_pos + if direction == "S": + ws1["y"] = self.y + min_len_pos + return self.x + min_len_pos if ws1_dir == "E" else self.x + max_len_pos + if direction == "E": + ws1["x"] = self.x + min_len_pos + return self.y + min_len_pos if ws1_dir == "S" else self.y + max_len_pos + if direction == "W": + ws1["x"] = self.x + max_len_pos + return self.y + min_len_pos if ws1_dir == "S" else self.y + max_len_pos + + @staticmethod + def get_direction_from_theta(theta): + """ + Return a direction ('N', 'S', 'E', 'W') from theta (-pi to pi) + + :theta: float + :returns: str + + """ + if theta == 0.0: + return "E" + elif theta == math.pi: + return "W" + elif theta == math.pi / 2: + return "N" + elif theta == -math.pi / 2: + return "S" + + @property + def remaining_ws_slot(self): + """ + Calculate how many more workstation can be spawned into this cell + + :returns: int + + """ + remaining_ws_slot = 0 + if "N" in self.probable_ws_direction or "S" in self.probable_ws_direction: + remaining_ws_slot += 1 + if "E" in self.probable_ws_direction or "W" in self.probable_ws_direction: + remaining_ws_slot += 1 + return remaining_ws_slot + + def __str__(self): + return self.__repr__() + + def __repr__(self): + string = "<" + string += "x: " + str(self.x) + ", " + string += "y: " + str(self.y) + ", " + string += "prob: " + str(self.probable_ws_direction) + ", " + string += "ws: " + str(self.ws) + string += ">" + return string diff --git a/data/mir_simulation/mir_world_generation/common/mir_world_generation/utils.py b/data/mir_simulation/mir_world_generation/common/mir_world_generation/utils.py new file mode 100644 index 0000000000000000000000000000000000000000..3f2a658a1336239d332355848e96a017e9a07577 --- /dev/null +++ b/data/mir_simulation/mir_world_generation/common/mir_world_generation/utils.py @@ -0,0 +1,89 @@ +class Utils(object): + @staticmethod + def get_connected_nodes(start_cell, walled_edges, max_row, max_col): + """ + Find the connected graph starting from ``start_cell`` in a grid of size + ``max_row`` x ``max_col``. All the edges except ``walled_edges`` are considered + as connected. + + :param start_cell: starting position of the robot in grid + :type start_cell: tuple (int, int) + :param walled_edges: edges in a graph which are not connected + :type walled_edges: list (list (tuple (int, int))) + :param max_row: number of rows in the grid + :type max_row: int + :param max_col: number of columns in the grid + :type max_col: int + :return: connected graph of cells + :rtype: list (tuple(int, int)) + + """ + connected_nodes = [] + fringe = [start_cell] + while len(fringe) > 0: + current = fringe.pop(0) + if current in connected_nodes: + continue + connected_neighbours = Utils.get_connected_neighbour( + current, walled_edges, max_row, max_col + ) + connected_nodes.append(current) + for neighbour in connected_neighbours: + if neighbour not in connected_nodes: + fringe.append(neighbour) + return connected_nodes + + @staticmethod + def get_connected_neighbour(node, walled_edges, max_row, max_col): + """ + Return neighbours of a cell (represented by :class:`mir_world_generation.node.Node`) + which are connected (not walled off). + + :param node: cell/node in a graph made from a grid + :type node: tuple (int, int) + :param walled_edges: edges in a graph which are not connected + :type walled_edges: list (list (tuple (int, int))) + :param max_row: number of rows in the grid + :type max_row: int + :param max_col: number of columns in the grid + :type max_col: int + :return: neighbours of a cell which are connected (not walled off) + :rtype: list (tuple (int, int)) + + """ + neighbours = Utils.get_neighbours(node[0], node[1], max_row, max_col) + connected_neighbours = [ + n + for n in neighbours + if (node, n) not in walled_edges and (n, node) not in walled_edges + ] + return connected_neighbours + + @staticmethod + def get_neighbours(i, j, max_row, max_col): + """ + Return all possible neighbour of a cell at position (``i``, ``j``) in a grid + of size ``max_row`` x ``max_col``. + + :param i: row index + :type i: int + :param j: column index + :type j: int + :param max_row: number of rows in the grid + :type max_row: int + :param max_col: number of columns in the grid + :type max_col: int + :return: all possible neighbours + :rtype: list (tuple (int, int)) + + """ + neighbours = [] + if i != 0: + neighbours.append((i - 1, j)) + if i != max_row - 1: + neighbours.append((i + 1, j)) + if j != 0: + neighbours.append((i, j - 1)) + if j != max_col - 1: + neighbours.append((i, j + 1)) + return neighbours diff --git a/data/mir_simulation/mir_world_generation/common/xacro_snippet/beginning b/data/mir_simulation/mir_world_generation/common/xacro_snippet/beginning new file mode 100644 index 0000000000000000000000000000000000000000..27ea9628cb8e27f13b1b0458b6b02abb1f8502a9 --- /dev/null +++ b/data/mir_simulation/mir_world_generation/common/xacro_snippet/beginning @@ -0,0 +1,12 @@ + + + + + + + + + + diff --git a/data/mir_simulation/mir_world_generation/common/xacro_snippet/end b/data/mir_simulation/mir_world_generation/common/xacro_snippet/end new file mode 100644 index 0000000000000000000000000000000000000000..83b5b02fc4d139980a667c523757d8760fc01935 --- /dev/null +++ b/data/mir_simulation/mir_world_generation/common/xacro_snippet/end @@ -0,0 +1,2 @@ + + diff --git a/data/mir_simulation/mir_world_generation/common/xacro_snippet/pp b/data/mir_simulation/mir_world_generation/common/xacro_snippet/pp new file mode 100644 index 0000000000000000000000000000000000000000..003bfd6223488a28592e6d61dbba5383621198be --- /dev/null +++ b/data/mir_simulation/mir_world_generation/common/xacro_snippet/pp @@ -0,0 +1,5 @@ + + + + diff --git a/data/mir_simulation/mir_world_generation/common/xacro_snippet/sh b/data/mir_simulation/mir_world_generation/common/xacro_snippet/sh new file mode 100644 index 0000000000000000000000000000000000000000..ff90cde36b79a414bbb3661341ead18fbdb97821 --- /dev/null +++ b/data/mir_simulation/mir_world_generation/common/xacro_snippet/sh @@ -0,0 +1,4 @@ + + + + diff --git a/data/mir_simulation/mir_world_generation/common/xacro_snippet/wall b/data/mir_simulation/mir_world_generation/common/xacro_snippet/wall new file mode 100644 index 0000000000000000000000000000000000000000..4a982962320adedbbbd5d092b9dc7b994fb8e829 --- /dev/null +++ b/data/mir_simulation/mir_world_generation/common/xacro_snippet/wall @@ -0,0 +1,4 @@ + + + + diff --git a/data/mir_simulation/mir_world_generation/common/xacro_snippet/ws b/data/mir_simulation/mir_world_generation/common/xacro_snippet/ws new file mode 100644 index 0000000000000000000000000000000000000000..eb7576560ba4bb4d8514a3b7395e671bd884bbd3 --- /dev/null +++ b/data/mir_simulation/mir_world_generation/common/xacro_snippet/ws @@ -0,0 +1,4 @@ + + + + diff --git a/data/mir_simulation/mir_world_generation/docs/map_plus_gazebo_3x4.png b/data/mir_simulation/mir_world_generation/docs/map_plus_gazebo_3x4.png new file mode 100644 index 0000000000000000000000000000000000000000..0442426ec420ede38106218d123b98ac0a57f0fb --- /dev/null +++ b/data/mir_simulation/mir_world_generation/docs/map_plus_gazebo_3x4.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e4a2c2ab968862fc9685e4a9396f2ea03fab451e09ac7d50cfff1b25a8d2f65 +size 150916 diff --git a/data/mir_simulation/mir_world_generation/docs/map_plus_gazebo_4x4.png b/data/mir_simulation/mir_world_generation/docs/map_plus_gazebo_4x4.png new file mode 100644 index 0000000000000000000000000000000000000000..fee1672a3b4ffd0ee4e8d5e38a7a1a4865cb5018 --- /dev/null +++ b/data/mir_simulation/mir_world_generation/docs/map_plus_gazebo_4x4.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02c42ef55d034839f1fee53a900e98919ef9c373e7feadd0bdcc57bcd8a39cf6 +size 161253 diff --git a/data/mir_simulation/mir_world_generation/package.xml b/data/mir_simulation/mir_world_generation/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..8f55cf570e1d764fe6a9dbc551d31287360c8178 --- /dev/null +++ b/data/mir_simulation/mir_world_generation/package.xml @@ -0,0 +1,15 @@ + + + mir_world_generation + 0.0.1 + Procedurally generate world model with workstations and walls. + + GPLv3 + + Dharmin B. + + Dharmin B. + + catkin + + diff --git a/data/mir_simulation/mir_world_generation/ros/config/world_generation.rviz b/data/mir_simulation/mir_world_generation/ros/config/world_generation.rviz new file mode 100644 index 0000000000000000000000000000000000000000..572c3eea81e04eae8069af4eb64d60197a3bffe2 --- /dev/null +++ b/data/mir_simulation/mir_world_generation/ros/config/world_generation.rviz @@ -0,0 +1,159 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 434 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: false + Visual Enabled: true + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Class: rviz/Axes + Enabled: true + Length: 1 + Name: Axes + Radius: 0.100000001 + Reference Frame: + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /poses + Name: Nav goal + Namespaces: + "": true + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /pose_text + Name: Nav goal name + Namespaces: + "": true + Queue Size: 100 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Scale: 71.2536545 + Target Frame: + Value: TopDownOrtho (rviz) + X: 2.32223678 + Y: -0.39956975 + Saved: ~ +Window Geometry: + Displays: + collapsed: true + Height: 722 + Hide Left Dock: true + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 647 + X: 20 + Y: 20 diff --git a/data/mir_simulation/mir_world_generation/ros/launch/sim.launch b/data/mir_simulation/mir_world_generation/ros/launch/sim.launch new file mode 100644 index 0000000000000000000000000000000000000000..741e2651a9dbb27fe1afb294826160acf85cc8aa --- /dev/null +++ b/data/mir_simulation/mir_world_generation/ros/launch/sim.launch @@ -0,0 +1,51 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/mir_simulation/mir_world_generation/setup.py b/data/mir_simulation/mir_world_generation/setup.py new file mode 100644 index 0000000000000000000000000000000000000000..55dbc2f42606251235b0a4fc290598892123ed2f --- /dev/null +++ b/data/mir_simulation/mir_world_generation/setup.py @@ -0,0 +1,12 @@ +#!/usr/bin/env python + +from distutils.core import setup + +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages=["mir_world_generation"], + package_dir={"mir_world_generation": "common/mir_world_generation"}, +) + +setup(**d) diff --git a/data/repository.rosinstall b/data/repository.rosinstall new file mode 100644 index 0000000000000000000000000000000000000000..e9b7ca0c0bbbcbe99c8fcf8f69b59e146dd15574 --- /dev/null +++ b/data/repository.rosinstall @@ -0,0 +1,119 @@ +- git: + local-name: mas_common_robotics + uri: https://github.com/b-it-bots/mas_common_robotics.git + version: noetic + +- git: + local-name: youbot_driver + uri: https://github.com/mas-group/youbot_driver.git + version: indigo-devel + +- git: + local-name: brics_actuator + uri: https://github.com/wnowak/brics_actuator.git + version: master + +- git: + local-name: pr2_power_drivers + uri: https://github.com/PR2/pr2_power_drivers.git + version: kinetic-devel + +- git: + local-name: youbot_driver_ros_interface + uri: https://github.com/mas-group/youbot_driver_ros_interface.git + version: trajectory_controller_dirty_fix + +- git: + local-name: youbot_description + uri: https://github.com/mas-group/youbot_description.git + version: kinetic-devel + +- git: + local-name: youbot_simulation + uri: https://github.com/mas-group/youbot_simulation.git + version: noetic-devel + +- git: + local-name: youbot_diagnostics + uri: https://github.com/mas-group/youbot_diagnostics.git + version: indigo-devel + +- git: + local-name: youbot-manipulation + uri: https://github.com/mas-group/youbot-manipulation.git + version: kinetic + +- git: + local-name: dynamixel_motor + uri: https://github.com/mas-group/dynamixel_motor.git + version: noetic + +- git: + local-name: mas_navigation + uri: https://github.com/b-it-bots/mas_navigation.git + version: melodic + +- git: + local-name: mas_perception + uri: https://github.com/b-it-bots/mas_perception.git + version: noetic + +- git: + local-name: mas_perception_msgs + uri: https://github.com/b-it-bots/mas_perception_msgs.git + version: noetic + +- git: + local-name: ROSPlan + uri: https://github.com/b-it-bots/ROSPlan.git + version: master + +- git: + local-name: mercury_planner + uri: https://github.com/b-it-bots/mercury_planner.git + version: master + +- git: + local-name: lama_planner + uri: https://github.com/b-it-bots/lama_planner.git + version: noetic + +- git: + local-name: orocos_kinematics_dynamics + uri: https://github.com/orocos/orocos_kinematics_dynamics.git + version: master + +- git: + local-name: kdl_parser + uri: https://github.com/ros/kdl_parser.git + version: noetic-devel + +- git: + local-name: dmp + uri: https://github.com/b-it-bots/dmp.git + version: master + +- git: + local-name: gazebo-pkgs + uri: https://github.com/b-it-bots/gazebo-pkgs.git + version: master + +- git: + local-name: frontier_exploration + uri: https://github.com/paulbovbel/frontier_exploration.git + version: melodic-devel + +- git: + local-name: explore_lite + uri: https://github.com/hrnr/m-explore.git + version: noetic-devel + +- git: + local-name: atwork-commander + uri: https://github.com/robocup-at-work/atwork-commander.git + version: noetic + +- git: + local-name: mir_perception_models + uri: https://github.com/b-it-bots/mir_perception_models.git + version: main diff --git a/data/setup.sh b/data/setup.sh new file mode 100644 index 0000000000000000000000000000000000000000..9218a6f1826b2d22923873936e948e5a3e06b042 --- /dev/null +++ b/data/setup.sh @@ -0,0 +1,172 @@ +#!/bin/bash + +# Exit immediately if any command exits with a nonzero exit value +set -e + +function install_basic_packages { + sudo apt-get update -qq + sudo apt-get install -y -qq curl figlet wget +} + +function fancy_print { + echo "################################################################################" + figlet -t $1 + echo "################################################################################" +} + +# Install ROS Noetic +function update_keys { + echo "Setting up ROS keys" + sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' + curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - + + #realsense public key + sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE + sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u +} + +# not required in docker +function install_ros_base { + sudo apt update -qq + if [[ $ROS_INSTALL = "full" ]] + then + echo "Installing ROS desktop full" + sudo apt install -y -qq ros-$ROS_DISTRO-desktop-full + elif [[ $ROS_INSTALL = "base" ]] + then + echo "Installing ROS base" + sudo apt install -y -qq ros-$ROS_DISTRO-ros-base + fi +} + +function install_ros_dependencies { + sudo apt install python3-rosdep + sudo rm -rf /etc/ros/rosdep/sources.list.d/* + sudo rosdep init -q + rosdep update -q + sudo apt install -y -qq python3-rosinstall python3-rosinstall-generator python3-wstool build-essential python3-catkin-tools python3-pip bison flex gawk g++-multilib pypy + sudo pip3 install catkin_pkg empy + #sudo rm -rf /var/lib/apt/lists/* +} + +function install_perception_dependencies { + fancy_print "Installing perception dependencies" + sudo pip3 install --no-cache-dir -r $WS_DIR/src/mas_industrial_robotics/images/mas_industrial_robotics/$ROS_DISTRO-perception-requirements.txt +} + +function install_ros { + update_keys + fancy_print "Installing ROS" + install_ros_base + fancy_print "Installing ROS Dependencies" + install_ros_dependencies + source /opt/ros/$ROS_DISTRO/setup.bash +} + +# Setup catkin workspace in the home directory +function setup_catkin_ws { + fancy_print "Setting up a catkin workspace" + + if [ $DOCKER_INSTALL = 0 ]; + then + echo "Create src directory in $WS_DIR" + mkdir -p $WS_DIR/src + fi + + cd $WS_DIR + catkin init + catkin config --extend /opt/ros/$ROS_DISTRO/ +} + +# Clone mas_industrial_robotics and other repos +function get_mas_industrial_robotics { + fancy_print "Getting source code" + wstool init --shallow $WS_DIR/src + wstool merge -t $WS_DIR/src $ROOT_DIR/repository.rosinstall + wstool update -t $WS_DIR/src + if [ $DOCKER_INSTALL = 0 ]; + then + echo "Copy mas industrial robotics to src" + cp -r $ROOT_DIR $WS_DIR/src + fi +} + +# Install ros and other dependencies +function install_mas_dependencies { + fancy_print "Installing MAS Dependencies" + rosdep update -q + cd $WS_DIR + sudo apt-get update + rosdep install --from-paths src --ignore-src --rosdistro=$ROS_DISTRO --skip-keys rosplan_demos -y +} + +function build_mas_industrial_robotics { + fancy_print "Building ROS packages" + if [ $DOCKER_INSTALL = 1 ]; + then + #Disable building the youbot_driver_ros_interface in travis CI as it expects a user input during build + touch $WS_DIR/src/youbot_driver_ros_interface/CATKIN_IGNORE + + # build mercury_planner first in CI, otherwise it will fails due to socket error + catkin build mercury_planner + cd $WS_DIR + fi + catkin build +} + +ROS_INSTALL=base +ROS_DISTRO=noetic +WS_DIR="" +DOCKER_INSTALL=0 + +while test $# -gt 0; do + case "$1" in + -h|--help) + echo "Usage: bash setup.sh" + echo " " + echo "options:" + echo "-h, --help show brief help" + echo "-ri, --ros_install (str) whether to install desktop-full or base (default: base)" + echo "-rd, --ros_distro (str) whether to install desktop-full or base (default: melodic)" + echo "-ws, --ws_dir (str) workspace dir" + echo "-d, --docker (0 or 1) whether to install in docker mode or system wide (default: 0 / system wide)" + exit 0 + ;; + -ri|--ros_install) + ROS_INSTALL="$2" + shift + shift + ;; + -rd|--ros_distro) + ROS_DISTRO="$2" + shift + shift + ;; + -ws|--ws_dir) + WS_DIR="$2" + shift + shift + ;; + -d|--docker) + DOCKER_INSTALL=$2 + shift + shift + ;; + *) + break + ;; + esac +done + +# Begin shell command executions from here +# Store the root directory path in a variable +ROOT_DIR=$(pwd) + +install_basic_packages +install_ros +setup_catkin_ws +get_mas_industrial_robotics +install_mas_dependencies +#install_perception_dependencies +build_mas_industrial_robotics +fancy_print "Build Complete" diff --git a/data/start-container.yml b/data/start-container.yml new file mode 100644 index 0000000000000000000000000000000000000000..9547253bb370d167cb7e27339de1b2339144d396 --- /dev/null +++ b/data/start-container.yml @@ -0,0 +1,34 @@ +version: "3.0" +services: + industrial_kinetic: + image: ghcr.io/b-it-bots/mas_industrial_robotics/industrial-kinetic:latest + volumes: + - /tmp/.X11-unix:/tmp/.X11-unix:rw + - $HOME/.rviz:/home/robocup/.rviz # include if any specific rviz settings are needed + environment: + - DISPLAY=$DISPLAY + - QT_X11_NO_MITSHM=1 + - ROBOT=youbot-brsu-4 # setup robot + - ROBOT_ENV=brsu-c025-sim # setup environement + devices: + - /dev/dri:/dev/dri + privileged: true + tty: true + network_mode: "host" + + industrial_melodic: + image: ghcr.io/b-it-bots/mas_industrial_robotics/industrial-melodic:latest + volumes: + - /tmp/.X11-unix:/tmp/.X11-unix:rw + - $HOME/.rviz:/home/robocup/.rviz # include if any specific rviz settings are needed + environment: + - DISPLAY=$DISPLAY + - QT_X11_NO_MITSHM=1 + - ROBOT=youbot-brsu-4 # setup robot + - ROBOT_ENV=brsu-c025-sim # setup environement + devices: + - /dev/dri:/dev/dri + privileged: true + tty: true + network_mode: "host" + diff --git a/data/youbot.rviz b/data/youbot.rviz new file mode 100644 index 0000000000000000000000000000000000000000..39bee7145ef20b16ef0f604c7fe213d2857313f8 --- /dev/null +++ b/data/youbot.rviz @@ -0,0 +1,1534 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /TF1/Frames1 + - /btt1 + - /btt1/Perception1/perception_markers1/Namespaces1 + - /btt1/New_Perception1/rgb_labels1/Namespaces1 + - /btt1/Navigation1/nav goals1/Namespaces1 + - /btt1/direct_base_ctrl1/base_link_as_pose1 + Splitter Ratio: 0.524050653 + Tree Height: 500 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: raw_image +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.400000006 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 0.5 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + adapter_plate_arm_root_link: + Alpha: 1 + Show Axes: false + Show Trail: false + adapter_plate_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_cam3d_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + arm_cam3d_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + arm_cam3d_laser_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + arm_cam3d_laser_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + arm_cam3d_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_cam3d_rgb_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + arm_cam3d_rgb_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + arm_link_0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_link_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_link_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_link_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_link_5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_laser_front_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_laser_rear_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + caster_link_bl: + Alpha: 1 + Show Axes: false + Show Trail: false + caster_link_br: + Alpha: 1 + Show Axes: false + Show Trail: false + caster_link_fl: + Alpha: 1 + Show Axes: false + Show Trail: false + caster_link_fr: + Alpha: 1 + Show Axes: false + Show Trail: false + gripper_bracket_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_bracket_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_finger_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_finger_mount_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_finger_mount_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_finger_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_motor_left_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_motor_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + gripper_motor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_motor_right_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_motor_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + rear_platform_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_platform_fence_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_link_bl: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_link_br: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_link_fl: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_link_fr: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: false + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: false + - Class: rviz/Group + Displays: + - Class: rviz/Group + Displays: + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: raw_color_pcl + Position Transformer: XYZ + Queue Size: 10 + Selectable: false + Size (Pixels): 3 + Size (m): 0.0199999996 + Style: Points + Topic: /arm_cam3d/depth_registered/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: tabletop_clusters + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Points + Topic: /mcr_perception/scene_segmentation/tabletop_clusters + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /mcr_perception/scene_segmentation/bounding_boxes + Name: perception_markers + Namespaces: + {} + Queue Size: 100 + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: passthrough_x + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Flat Squares + Topic: /mcr_perception/passthrough_x/output + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz/MarkerArray + Enabled: false + Marker Topic: /mcr_perception/scene_segmentation/labels + Name: pcl_labels + Namespaces: + {} + Queue Size: 100 + Value: false + - Alpha: 0.300000012 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 170; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: tabletop_accum + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Spheres + Topic: /mcr_perception/scene_segmentation_node/tabletop_clusters + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Class: rviz/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Polygon + Topic: /mcr_perception/convex_hull/output_polygon + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: false + Image Topic: /arm_cam3d/rgb/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: "" + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: barrier_scan + Position Transformer: "" + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Flat Squares + Topic: /barrier_tape/scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: cloud_accumulator + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Boxes + Topic: /mcr_perception/scene_segmentation/output + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Arrow Length: 0.100000001 + Axes Length: 0.300000012 + Axes Radius: 0.00999999978 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: true + Head Length: 0.0700000003 + Head Radius: 0.0299999993 + Name: DetectedCavities + Shaft Length: 0.230000004 + Shaft Radius: 0.00999999978 + Shape: Arrow (Flat) + Topic: /mcr_perception/cavity_finder/output/pose + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: false + Image Topic: /mcr_perception/cavity_finder/output/rgb_debug_image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: cavity_debug + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: false + - Alpha: 1 + Arrow Length: 0.300000012 + Axes Length: 0.300000012 + Axes Radius: 0.00999999978 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: true + Head Length: 0.0700000003 + Head Radius: 0.0299999993 + Name: detectedobjects + Shaft Length: 0.230000004 + Shaft Radius: 0.00999999978 + Shape: Arrow (Flat) + Topic: /mcr_perception/multimodal_object_identification/output/pose + Unreliable: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: mm_pointcloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Points + Topic: /mcr_perception/multimodal_object_identification/output/pointclouds_combined + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: mm_platform + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Flat Squares + Topic: /mcr_perception/multimodal_object_identification/output/platform_pointcloud + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Image + Enabled: false + Image Topic: /mcr_perception/multimodal_object_identification/output/rgb_debug_image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: mm_rgb_debug + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: false + Enabled: false + Name: Perception + - Class: rviz/Group + Displays: + - Class: rviz/Image + Enabled: false + Image Topic: /arm_cam3d/rgb/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: raw_image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: false + - Class: rviz/Image + Enabled: true + Image Topic: /mir_perception/multimodal_object_recognition/recognizer/rgb/output/debug_image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: squeezeDet_debug + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: raw_pointcloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Points + Topic: /arm_cam3d/depth_registered/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: rgb_tabletop_clusters + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Points + Topic: /mir_perception/multimodal_object_recognition/tabletop_cluster_rgb + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: pcl_tabletop_clusters + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Points + Topic: /mir_perception/multimodal_object_recognition/tabletop_cluster_pcl + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Arrow Length: 0.300000012 + Axes Length: 0.300000012 + Axes Radius: 0.00999999978 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: true + Head Length: 0.0700000003 + Head Radius: 0.0299999993 + Name: rgb_PoseArray + Shaft Length: 0.230000004 + Shaft Radius: 0.00999999978 + Shape: Arrow (Flat) + Topic: /mir_perception/multimodal_object_recognition/output/rgb_object_pose_array + Unreliable: false + Value: true + - Alpha: 1 + Arrow Length: 0.300000012 + Axes Length: 0.300000012 + Axes Radius: 0.00999999978 + Class: rviz/PoseArray + Color: 255; 255; 255 + Enabled: true + Head Length: 0.0700000003 + Head Radius: 0.0299999993 + Name: pcl_PoseArray + Shaft Length: 0.230000004 + Shaft Radius: 0.00999999978 + Shape: Arrow (Flat) + Topic: /mir_perception/multimodal_object_recognition/output/pcl_object_pose_array + Unreliable: false + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /mir_perception/multimodal_object_recognition/pcl_labels + Name: pcl_labels + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: false + Marker Topic: /mir_perception/multimodal_object_recognition/rgb_labels + Name: rgb_labels + Namespaces: + {} + Queue Size: 100 + Value: false + - Class: rviz/Marker + Enabled: true + Marker Topic: /mir_perception/multimodal_object_recognition/bounding_boxes + Name: bounding_boxes_pcl + Namespaces: + {} + Queue Size: 100 + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Class: rviz/Pose + Color: 0; 170; 0 + Enabled: true + Head Length: 0.0500000007 + Head Radius: 0.0799999982 + Name: pose_selector + Shaft Length: 0.400000006 + Shaft Radius: 0.00899999961 + Shape: Arrow + Topic: /mcr_perception/object_selector/output/object_pose + Unreliable: false + Value: true + Enabled: true + Name: New_Perception + - Class: rviz/Group + Displays: + - Alpha: 1 + Class: rviz/Polygon + Color: 255; 85; 0 + Enabled: false + Name: robot_footprint + Topic: /move_base/local_costmap/footprint + Unreliable: false + Value: false + - Alpha: 0.899999976 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 0; 85; 255 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: scan_front + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 5 + Size (m): 0.00999999978 + Style: Points + Topic: /scan_front + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 0.899999976 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 0; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: scan_rear + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 5 + Size (m): 0.00999999978 + Style: Points + Topic: /scan_rear + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 0.5 + Class: rviz/Map + Color Scheme: map + Draw Behind: true + Enabled: true + Name: map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: local_costmap + Topic: /move_base/local_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.200000003 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: global_costmap + Topic: /move_base/global_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Arrow Length: 0.300000012 + Axes Length: 0.300000012 + Axes Radius: 0.00999999978 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: true + Head Length: 0.0700000003 + Head Radius: 0.0299999993 + Name: global_plan_wo + Shaft Length: 0.230000004 + Shaft Radius: 0.00999999978 + Shape: Arrow (Flat) + Topic: /move_base/GlobalPlannerWithOrientations/plan + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 170; 0; 127 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: global_plan_as_path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/GlobalPlannerWithOrientations/path_plan + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: dwa_global_plan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/DWAPlannerROS/global_plan + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 85; 85; 127 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: local_plan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/DWAPlannerROS/local_plan + Unreliable: false + Value: true + - Alpha: 1 + Arrow Length: 0.300000012 + Axes Length: 0.300000012 + Axes Radius: 0.00999999978 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: true + Head Length: 0.0700000003 + Head Radius: 0.0299999993 + Name: amcl particles + Shaft Length: 0.230000004 + Shaft Radius: 0.00999999978 + Shape: Arrow (Flat) + Topic: /particlecloud + Unreliable: false + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /visualization_marker_array + Name: nav goals + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/Group + Displays: + - Class: rviz/Marker + Enabled: true + Marker Topic: /move_base/force_field_recovery/force_field_vector + Name: ff_vector + Namespaces: + {} + Queue Size: 100 + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 85; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: obstacle_cloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0500000007 + Style: Spheres + Topic: /move_base/force_field_recovery/obstacle_cloud + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /move_base/force_field_recovery/obstacle_neighborhood + Name: obst_neighbourhood + Namespaces: + {} + Queue Size: 100 + Value: true + Enabled: false + Name: force_field + Enabled: true + Name: Navigation + - Class: rviz/Group + Displays: + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Class: rviz/Pose + Color: 85; 170; 0 + Enabled: true + Head Length: 0.100000001 + Head Radius: 0.0299999993 + Name: random object pose + Shaft Length: 0.100000001 + Shaft Radius: 0.00999999978 + Shape: Arrow + Topic: /mcr_perception/random_object_selector/output/object_pose + Unreliable: false + Value: true + - Alpha: 0.899999976 + Axes Length: 1 + Axes Radius: 0.100000001 + Class: rviz/Pose + Color: 170; 85; 255 + Enabled: true + Head Length: 0.100000001 + Head Radius: 0.100000001 + Name: modified pose + Shaft Length: 0.5 + Shaft Radius: 0.0500000007 + Shape: Arrow + Topic: /move_base_relative/random_obj_selector_transformer_republisher/output/transformed_pose + Unreliable: false + Value: true + Enabled: false + Name: move_relative + - Class: rviz/Group + Displays: + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Class: rviz/Pose + Color: 0; 85; 0 + Enabled: true + Head Length: 0.300000012 + Head Radius: 0.100000001 + Name: base_link_as_pose + Shaft Length: 1 + Shaft Radius: 0.0500000007 + Shape: Arrow + Topic: /mcr_navigation/direct_base_controller/pose_converter/converted_pose + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Class: rviz/Pose + Color: 85; 85; 255 + Enabled: true + Head Length: 0.300000012 + Head Radius: 0.100000001 + Name: goal_pose + Shaft Length: 1 + Shaft Radius: 0.0500000007 + Shape: Arrow + Topic: /pose_transformer/transformed_pose + Unreliable: false + Value: true + Enabled: false + Name: direct_base_ctrl + - Class: rviz/Group + Displays: + - Alpha: 0.899999976 + Axes Length: 1 + Axes Radius: 0.100000001 + Class: rviz/Pose + Color: 0; 255; 0 + Enabled: false + Head Length: 0.100000001 + Head Radius: 0.0299999993 + Name: winner_pose + Shaft Length: 0.100000001 + Shaft Radius: 0.00999999978 + Shape: Arrow + Topic: /pregrasp_planner_pipeline/grasp_planner/pose_out + Unreliable: false + Value: false + - Alpha: 1 + Arrow Length: 0.300000012 + Axes Length: 0.300000012 + Axes Radius: 0.00999999978 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: false + Head Length: 0.0700000003 + Head Radius: 0.0299999993 + Name: generated_poses + Shaft Length: 0.230000004 + Shaft Radius: 0.00999999978 + Shape: Arrow (Flat) + Topic: /pregrasp_planner_pipeline/pose_generator/poses_list + Unreliable: false + Value: false + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Class: rviz/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.300000012 + Head Radius: 0.100000001 + Name: pose_in_pregrasp_planner + Shaft Length: 1 + Shaft Radius: 0.0500000007 + Shape: Arrow + Topic: /mir_pregrasp_planner_pipeline/pose_in + Unreliable: false + Value: true + Enabled: false + Name: pregrasp_planner + - Class: rviz/Group + Displays: + - Class: rviz/Image + Enabled: false + Image Topic: /mcr_perception/barrier_tape_detection/debug_image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: debug_image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Flat Squares + Topic: /mcr_perception/barrier_tape_detection/output/yellow_barrier_tape_pointcloud + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: "" + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: "" + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Flat Squares + Topic: /barrier_tape/scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: false + Name: barrier_tape + - Class: rviz/Group + Displays: + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: line_tracing_3d + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Flat Squares + Topic: /mcr_perception/line_contour_detector/output/pointclouds_filtered + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /mcr_perception/line_contour_detector/output/debug_image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: line_tracing_rgb + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: line_path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /mir_manipulation/mir_trajectory_executor/line_tracing_path + Unreliable: false + Value: true + Enabled: false + Name: line_tracing + - Class: rviz/Group + Displays: + - Alpha: 1 + Axes Length: 0.100000001 + Axes Radius: 0.00999999978 + Class: rviz/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.300000012 + Head Radius: 0.100000001 + Name: grasp_pose + Shaft Length: 1 + Shaft Radius: 0.0500000007 + Shape: Axes + Topic: /mir_pregrasp_planner_pipeline/pose_out + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 0.200000003 + Axes Radius: 0.00999999978 + Class: rviz/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.300000012 + Head Radius: 0.100000001 + Name: object_pose + Shaft Length: 1 + Shaft Radius: 0.0500000007 + Shape: Axes + Topic: /mcr_perception/object_selector/output/object_pose + Unreliable: false + Value: true + - Alpha: 0.100000001 + Axes Length: 0.100000001 + Axes Radius: 0.00999999978 + Class: rviz/Pose + Color: 255; 0; 255 + Enabled: true + Head Length: 0.100000001 + Head Radius: 0.00999999978 + Name: base_goal_pose + Shaft Length: 0.100000001 + Shaft Radius: 0.00999999978 + Shape: Axes + Topic: /wbc_base_motion_calculator_pipeline/pose_transformer/transformed_pose + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Class: rviz/Pose + Color: 0; 0; 0 + Enabled: true + Head Length: 0.300000012 + Head Radius: 0.100000001 + Name: base_start_pose + Shaft Length: 0.100000001 + Shaft Radius: 0.0500000007 + Shape: Arrow + Topic: /base_motion_calculator/pose_out_1 + Unreliable: false + Value: true + - Alpha: 1 + Arrow Length: 0.300000012 + Axes Length: 0.300000012 + Axes Radius: 0.00999999978 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: false + Head Length: 0.0700000003 + Head Radius: 0.0299999993 + Name: PoseArray + Shaft Length: 0.230000004 + Shaft Radius: 0.00999999978 + Shape: Arrow (Flat) + Topic: /pregrasp_planner_pipeline/pose_generator/poses_list + Unreliable: false + Value: false + Enabled: false + Name: WBC + Enabled: true + Name: btt + - Alpha: 1 + Axes Length: 0.100000001 + Axes Radius: 0.00999999978 + Class: rviz/Pose + Color: 255; 25; 0 + Enabled: false + Head Length: 0.300000012 + Head Radius: 0.100000001 + Name: Mockup_pose + Shaft Length: 1 + Shaft Radius: 0.0500000007 + Shape: Axes + Topic: /mir_states/object_selector/object_pose + Unreliable: false + Value: false + - Alpha: 1 + Arrow Length: 0.300000012 + Axes Length: 0.300000012 + Axes Radius: 0.00999999978 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: false + Head Length: 0.0700000003 + Head Radius: 0.0299999993 + Name: updated_axis_bolt_poses + Shaft Length: 0.230000004 + Shaft Radius: 0.00999999978 + Shape: Arrow (Flat) + Topic: /mcr_perception/object_list_merger/updated_axis_bolt_pose + Unreliable: false + Value: false + - Alpha: 1 + Arrow Length: 0.300000012 + Axes Length: 0.300000012 + Axes Radius: 0.00999999978 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: false + Head Length: 0.0700000003 + Head Radius: 0.0299999993 + Name: updated_container_pose + Shaft Length: 0.230000004 + Shaft Radius: 0.00999999978 + Shape: Arrow (Flat) + Topic: /mcr_perception/object_list_merger/updated_container_pose + Unreliable: false + Value: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 4.24583197 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.428392589 + Y: 0.0384034216 + Z: 0.202103913 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.999799848 + Target Frame: + Value: Orbit (rviz) + Yaw: 2.17139602 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1056 + Hide Left Dock: false + Hide Right Dock: true + Image: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1920 + X: 0 + Y: 24 + cavity_debug: + collapsed: false + debug_image: + collapsed: false + line_tracing_rgb: + collapsed: false + mm_rgb_debug: + collapsed: false + raw_image: + collapsed: false + squeezeDet_debug: + collapsed: false