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Data Collection Message Filter Debug, Report Realsense Details Update

feature/d435i_testrig
Mohamed Fazil 2 years ago
parent
df0ddb8858
commit
0295f21df2
6 changed files with 197 additions and 156 deletions
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  1. +1
    -0
      .gitignore
  2. +7
    -1
      stretch_camera_testrig/launch/testrig_collect_data.launch
  3. +0
    -16
      stretch_camera_testrig/main.py
  4. +155
    -125
      stretch_camera_testrig/nodes/collect_head_calibration_data.py
  5. +31
    -11
      stretch_camera_testrig/nodes/testrig_analyze_data.py
  6. +3
    -3
      stretch_camera_testrig/nodes/testrig_dashboard.py

+ 1
- 0
.gitignore View File

@ -17,3 +17,4 @@ stretch_description/urdf/exported_urdf/*
stretch_description/urdf/exported_urdf_previous stretch_description/urdf/exported_urdf_previous
stretch_description/urdf/exported_urdf_previous/* stretch_description/urdf/exported_urdf_previous/*
stretch_funmap/src/stretch_funmap/cython_min_cost_path.c stretch_funmap/src/stretch_funmap/cython_min_cost_path.c

+ 7
- 1
stretch_camera_testrig/launch/testrig_collect_data.launch View File

@ -15,7 +15,13 @@
<!-- REALSENSE D435i Model Load --> <!-- REALSENSE D435i Model Load -->
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find realsense2_description)/urdf/test_d435i_camera.urdf.xacro' use_nominal_extrinsics:=true" /> <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find realsense2_description)/urdf/test_d435i_camera.urdf.xacro' use_nominal_extrinsics:=true" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node
name="robot_state_publisher"
pkg="robot_state_publisher"
type="robot_state_publisher" >
<param name="publish_frequency" value="15.0"/>
</node>
<!-- ARUCO MARKER DETECTOR --> <!-- ARUCO MARKER DETECTOR -->
<rosparam command="load" file="$(find stretch_core)/config/stretch_marker_dict.yaml" /> <rosparam command="load" file="$(find stretch_core)/config/stretch_marker_dict.yaml" />

+ 0
- 16
stretch_camera_testrig/main.py View File

@ -1,16 +0,0 @@
# This is a sample Python script.
# Press Shift+F10 to execute it or replace it with your code.
# Press Double Shift to search everywhere for classes, files, tool windows, actions, and settings.
def print_hi(name):
# Use a breakpoint in the code line below to debug your script.
print(f'Hi, {name}') # Press Ctrl+F8 to toggle the breakpoint.
# Press the green button in the gutter to run the script.
if __name__ == '__main__':
print_hi('PyCharm')
# See PyCharm help at https://www.jetbrains.com/help/pycharm/

+ 155
- 125
stretch_camera_testrig/nodes/collect_head_calibration_data.py View File

@ -36,24 +36,25 @@ from copy import deepcopy
import yaml import yaml
import time import time
class CollectHeadCalibrationDataNode: class CollectHeadCalibrationDataNode:
def __init__(self,test_rig=False):
def __init__(self, test_rig=False):
self.rate = 10.0 self.rate = 10.0
self.joint_state = None self.joint_state = None
self.acceleration = None
self.acceleration = None
self.data_time = None self.data_time = None
self.marker_time = None self.marker_time = None
self.test_rig = test_rig self.test_rig = test_rig
self.data_lock = threading.Lock() self.data_lock = threading.Lock()
if test_rig: if test_rig:
self.number_of_testrig_samples=40
self.number_of_testrig_samples = 40
def calibration_data_callback(self, accel, marker_array, joint_state=None):
def calibration_data_callback(self, marker_array, accel=None, joint_state=None):
# Prepare and assign data for calibration to member # Prepare and assign data for calibration to member
# variables. The configuration of the robot's joints, the # variables. The configuration of the robot's joints, the
# D435i acceleration, and the 3D fiducial estimates made via # D435i acceleration, and the 3D fiducial estimates made via
@ -63,7 +64,8 @@ class CollectHeadCalibrationDataNode:
if not self.test_rig: if not self.test_rig:
self.data_time = joint_state.header.stamp self.data_time = joint_state.header.stamp
self.joint_state = joint_state self.joint_state = joint_state
self.acceleration = [accel.linear_acceleration.x, accel.linear_acceleration.y, accel.linear_acceleration.z]
self.acceleration = [accel.linear_acceleration.x, accel.linear_acceleration.y,
accel.linear_acceleration.z]
self.wrist_inside_marker_pose = None self.wrist_inside_marker_pose = None
self.wrist_top_marker_pose = None self.wrist_top_marker_pose = None
@ -78,7 +80,7 @@ class CollectHeadCalibrationDataNode:
self.marker_time = marker.header.stamp self.marker_time = marker.header.stamp
elif marker.header.stamp < self.marker_time: elif marker.header.stamp < self.marker_time:
self.marker_time = marker.header.stamp self.marker_time = marker.header.stamp
if marker.id == self.wrist_inside_marker_id: if marker.id == self.wrist_inside_marker_id:
self.wrist_inside_marker_pose = marker.pose self.wrist_inside_marker_pose = marker.pose
@ -104,16 +106,17 @@ class CollectHeadCalibrationDataNode:
self.trajectory_goal.trajectory.header.stamp = rospy.Time.now() self.trajectory_goal.trajectory.header.stamp = rospy.Time.now()
self.trajectory_client.send_goal(self.trajectory_goal) self.trajectory_client.send_goal(self.trajectory_goal)
self.trajectory_client.wait_for_result() self.trajectory_client.wait_for_result()
def get_samples(self, pan_angle_center, tilt_angle_center, wrist_extension_center, number_of_samples, first_move=False):
def get_samples(self, pan_angle_center, tilt_angle_center, wrist_extension_center, number_of_samples,
first_move=False):
# Collect N observations (samples) centered around the # Collect N observations (samples) centered around the
# provided head and wrist extension pose. If first_move is # provided head and wrist extension pose. If first_move is
# true, it indicates that this is the first movement to a new # true, it indicates that this is the first movement to a new
# region for calibration, which can induce more vibrations and # region for calibration, which can induce more vibrations and
# thus benefit from more time to settle prior to collecting a # thus benefit from more time to settle prior to collecting a
# sample. # sample.
head_motion_settle_time = 1.0 #5.0
head_motion_settle_time = 1.0 # 5.0
first_pan_tilt_extra_settle_time = 1.0 first_pan_tilt_extra_settle_time = 1.0
wait_before_each_sample_s = 0.2 wait_before_each_sample_s = 0.2
@ -124,10 +127,10 @@ class CollectHeadCalibrationDataNode:
# Ensure that the head is clearly in one of the two head tilt # Ensure that the head is clearly in one of the two head tilt
# backlash regimes and not in the indeterminate transition # backlash regimes and not in the indeterminate transition
# region. # region.
tilt_backlash_safety_margin = 0.08
tilt_backlash_looking_down_max = tilt_backlash_transition - tilt_backlash_safety_margin # looking down
tilt_backlash_looking_up_min = tilt_backlash_transition + tilt_backlash_safety_margin # looking up
tilt_backlash_safety_margin = 0.08
tilt_backlash_looking_down_max = tilt_backlash_transition - tilt_backlash_safety_margin # looking down
tilt_backlash_looking_up_min = tilt_backlash_transition + tilt_backlash_safety_margin # looking up
tilt_angle = tilt_angle_center tilt_angle = tilt_angle_center
if (tilt_angle_center > tilt_backlash_looking_down_max) and (tilt_angle_center < tilt_backlash_looking_up_min): if (tilt_angle_center > tilt_backlash_looking_down_max) and (tilt_angle_center < tilt_backlash_looking_up_min):
# Commanded tilt_angle_center is in an uncertain backlash range # Commanded tilt_angle_center is in an uncertain backlash range
@ -138,29 +141,29 @@ class CollectHeadCalibrationDataNode:
tilt_angle = tilt_backlash_looking_up_min tilt_angle = tilt_backlash_looking_up_min
else: else:
tilt_angle = tilt_backlash_looking_down_max tilt_angle = tilt_backlash_looking_down_max
if tilt_angle > tilt_backlash_transition:
if tilt_angle > tilt_backlash_transition:
joint_head_tilt_looking_up = True joint_head_tilt_looking_up = True
else: else:
joint_head_tilt_looking_up = False joint_head_tilt_looking_up = False
# represent all head pan and wrist extension backlash states # represent all head pan and wrist extension backlash states
backlash_combinations = ((False, False), (False, True), (True, True), (True, False)) backlash_combinations = ((False, False), (False, True), (True, True), (True, False))
pan_backlash_change_rad = 0.07 # ~8 degrees
wrist_backlash_change_m = 0.01 # 1 cm
pan_backlash_change_rad = 0.07 # ~8 degrees
wrist_backlash_change_m = 0.01 # 1 cm
samples = [] samples = []
# collect samples for all head pan and wrist extension # collect samples for all head pan and wrist extension
# backlash states # backlash states
for joint_head_pan_looked_left, wrist_extension_retracted in backlash_combinations:
for joint_head_pan_looked_left, wrist_extension_retracted in backlash_combinations:
if joint_head_pan_looked_left: if joint_head_pan_looked_left:
pan_angle = pan_angle_center + pan_backlash_change_rad pan_angle = pan_angle_center + pan_backlash_change_rad
else: else:
pan_angle = pan_angle_center - pan_backlash_change_rad pan_angle = pan_angle_center - pan_backlash_change_rad
if wrist_extension_retracted:
if wrist_extension_retracted:
wrist_extension = wrist_extension_center - wrist_backlash_change_m wrist_extension = wrist_extension_center - wrist_backlash_change_m
else: else:
wrist_extension = wrist_extension_center + wrist_backlash_change_m wrist_extension = wrist_extension_center + wrist_backlash_change_m
@ -171,7 +174,6 @@ class CollectHeadCalibrationDataNode:
'wrist_extension': wrist_extension} 'wrist_extension': wrist_extension}
self.move_to_pose(head_arm_pose) self.move_to_pose(head_arm_pose)
# wait for the joints and sensors to settle # wait for the joints and sensors to settle
rospy.sleep(head_motion_settle_time) rospy.sleep(head_motion_settle_time)
settled_time = rospy.Time.now() settled_time = rospy.Time.now()
@ -186,19 +188,19 @@ class CollectHeadCalibrationDataNode:
rospy.sleep(wait_before_each_sample_s) rospy.sleep(wait_before_each_sample_s)
observation = {'joints': {'joint_head_pan': None, observation = {'joints': {'joint_head_pan': None,
'joint_head_tilt': None, 'joint_head_tilt': None,
'wrist_extension' : None,
'joint_lift': None },
'wrist_extension': None,
'joint_lift': None},
'backlash_state': { 'backlash_state': {
'joint_head_pan_looked_left': None, 'joint_head_pan_looked_left': None,
'joint_head_tilt_looking_up': None, 'joint_head_tilt_looking_up': None,
'wrist_extension_retracted': None 'wrist_extension_retracted': None
},
'camera_measurements': { 'd435i_acceleration': None,
'wrist_inside_marker_pose': None,
'wrist_top_marker_pose': None,
'base_left_marker_pose': None,
'base_right_marker_pose': None,
'shoulder_marker_pose': None}
},
'camera_measurements': {'d435i_acceleration': None,
'wrist_inside_marker_pose': None,
'wrist_top_marker_pose': None,
'base_left_marker_pose': None,
'base_right_marker_pose': None,
'shoulder_marker_pose': None}
} }
# wait for a sample taken after the robot has # wait for a sample taken after the robot has
@ -224,16 +226,17 @@ class CollectHeadCalibrationDataNode:
# settled # settled
data_ready = True data_ready = True
if not data_ready: if not data_ready:
#rospy.sleep(0.2) #0.1
# rospy.sleep(0.2) #0.1
rospy.sleep(1.0) rospy.sleep(1.0)
timeout = (rospy.Time.now() - start_wait) > timeout_duration timeout = (rospy.Time.now() - start_wait) > timeout_duration
if timeout: if timeout:
rospy.logerr('collect_head_calibration_data get_samples: timeout while waiting for sample.') rospy.logerr('collect_head_calibration_data get_samples: timeout while waiting for sample.')
raise Exception('Timed out waiting for joint_states/accelerations/markers messages after 10 seconds')
raise Exception(
'Timed out waiting for joint_states/accelerations/markers messages after 10 seconds')
with self.data_lock: with self.data_lock:
#set backlash joint state
# set backlash joint state
backlash_state = observation['backlash_state'] backlash_state = observation['backlash_state']
backlash_state['joint_head_pan_looked_left'] = joint_head_pan_looked_left backlash_state['joint_head_pan_looked_left'] = joint_head_pan_looked_left
backlash_state['joint_head_tilt_looking_up'] = joint_head_tilt_looking_up backlash_state['joint_head_tilt_looking_up'] = joint_head_tilt_looking_up
@ -242,7 +245,7 @@ class CollectHeadCalibrationDataNode:
# record the settled joint values # record the settled joint values
joints = observation['joints'] joints = observation['joints']
for joint_name in joints: for joint_name in joints:
print('Joint name %s'%joint_name)
print('Joint name %s' % joint_name)
joint_index = self.joint_state.name.index(joint_name) joint_index = self.joint_state.name.index(joint_name)
joint_value = self.joint_state.position[joint_index] joint_value = self.joint_state.position[joint_index]
joints[joint_name] = joint_value joints[joint_name] = joint_value
@ -253,19 +256,24 @@ class CollectHeadCalibrationDataNode:
# record the settled aruco measurements # record the settled aruco measurements
if self.wrist_inside_marker_pose is not None: if self.wrist_inside_marker_pose is not None:
camera_measurements['wrist_inside_marker_pose'] = ros_numpy.numpify(self.wrist_inside_marker_pose).tolist()
camera_measurements['wrist_inside_marker_pose'] = ros_numpy.numpify(
self.wrist_inside_marker_pose).tolist()
if self.wrist_top_marker_pose is not None: if self.wrist_top_marker_pose is not None:
camera_measurements['wrist_top_marker_pose'] = ros_numpy.numpify(self.wrist_top_marker_pose).tolist()
camera_measurements['wrist_top_marker_pose'] = ros_numpy.numpify(
self.wrist_top_marker_pose).tolist()
if self.base_left_marker_pose is not None: if self.base_left_marker_pose is not None:
camera_measurements['base_left_marker_pose'] = ros_numpy.numpify(self.base_left_marker_pose).tolist()
camera_measurements['base_left_marker_pose'] = ros_numpy.numpify(
self.base_left_marker_pose).tolist()
if self.base_right_marker_pose is not None: if self.base_right_marker_pose is not None:
camera_measurements['base_right_marker_pose'] = ros_numpy.numpify(self.base_right_marker_pose).tolist()
camera_measurements['base_right_marker_pose'] = ros_numpy.numpify(
self.base_right_marker_pose).tolist()
if self.shoulder_marker_pose is not None: if self.shoulder_marker_pose is not None:
camera_measurements['shoulder_marker_pose'] = ros_numpy.numpify(self.shoulder_marker_pose).tolist()
camera_measurements['shoulder_marker_pose'] = ros_numpy.numpify(
self.shoulder_marker_pose).tolist()
samples.append(observation) samples.append(observation)
return samples return samples
@ -275,27 +283,27 @@ class CollectHeadCalibrationDataNode:
# testrig rigid setup. This function allows to # testrig rigid setup. This function allows to
# collect samples in the same data dictionary format # collect samples in the same data dictionary format
# used for calibration without any robot motion. # used for calibration without any robot motion.
samples = [] samples = []
wait_before_each_sample_s = 0.1 wait_before_each_sample_s = 0.1
for sample_number in range(number_of_samples): for sample_number in range(number_of_samples):
rospy.sleep(wait_before_each_sample_s) rospy.sleep(wait_before_each_sample_s)
observation = {'joints': {'joint_head_pan': None, observation = {'joints': {'joint_head_pan': None,
'joint_head_tilt': None,
'wrist_extension' : None,
'joint_lift': None },
'backlash_state': {
'joint_head_pan_looked_left': None,
'joint_head_tilt_looking_up': None,
'wrist_extension_retracted': None
},
'camera_measurements': { 'd435i_acceleration': None,
'wrist_inside_marker_pose': None,
'wrist_top_marker_pose': None,
'base_left_marker_pose': None,
'base_right_marker_pose': None,
'shoulder_marker_pose': None}
}
'joint_head_tilt': None,
'wrist_extension': None,
'joint_lift': None},
'backlash_state': {
'joint_head_pan_looked_left': None,
'joint_head_tilt_looking_up': None,
'wrist_extension_retracted': None
},
'camera_measurements': {'d435i_acceleration': None,
'wrist_inside_marker_pose': None,
'wrist_top_marker_pose': None,
'base_left_marker_pose': None,
'base_right_marker_pose': None,
'shoulder_marker_pose': None}
}
with self.data_lock: with self.data_lock:
@ -305,23 +313,27 @@ class CollectHeadCalibrationDataNode:
# record the settled aruco measurements # record the settled aruco measurements
if self.wrist_inside_marker_pose is not None: if self.wrist_inside_marker_pose is not None:
camera_measurements['wrist_inside_marker_pose'] = ros_numpy.numpify(self.wrist_inside_marker_pose).tolist()
camera_measurements['wrist_inside_marker_pose'] = ros_numpy.numpify(
self.wrist_inside_marker_pose).tolist()
if self.wrist_top_marker_pose is not None: if self.wrist_top_marker_pose is not None:
camera_measurements['wrist_top_marker_pose'] = ros_numpy.numpify(self.wrist_top_marker_pose).tolist()
camera_measurements['wrist_top_marker_pose'] = ros_numpy.numpify(
self.wrist_top_marker_pose).tolist()
if self.base_left_marker_pose is not None: if self.base_left_marker_pose is not None:
camera_measurements['base_left_marker_pose'] = ros_numpy.numpify(self.base_left_marker_pose).tolist()
camera_measurements['base_left_marker_pose'] = ros_numpy.numpify(
self.base_left_marker_pose).tolist()
if self.base_right_marker_pose is not None: if self.base_right_marker_pose is not None:
camera_measurements['base_right_marker_pose'] = ros_numpy.numpify(self.base_right_marker_pose).tolist()
camera_measurements['base_right_marker_pose'] = ros_numpy.numpify(
self.base_right_marker_pose).tolist()
if self.shoulder_marker_pose is not None: if self.shoulder_marker_pose is not None:
camera_measurements['shoulder_marker_pose'] = ros_numpy.numpify(self.shoulder_marker_pose).tolist() camera_measurements['shoulder_marker_pose'] = ros_numpy.numpify(self.shoulder_marker_pose).tolist()
samples.append(observation) samples.append(observation)
return samples return samples
def calibrate_pan_and_tilt(self, collect_check_data=False): def calibrate_pan_and_tilt(self, collect_check_data=False):
# Collects observations of fiducial markers on the robot's # Collects observations of fiducial markers on the robot's
# body while moving the head pan, head tilt, arm lift, and arm # body while moving the head pan, head tilt, arm lift, and arm
@ -335,9 +347,9 @@ class CollectHeadCalibrationDataNode:
# calibration. When collect_check_data is False, more samples # calibration. When collect_check_data is False, more samples
# are collected with the intention of fully calibrating the # are collected with the intention of fully calibrating the
# robot. # robot.
calibration_data = [] calibration_data = []
number_of_samples_per_head_pose = 1 #3
number_of_samples_per_head_pose = 1 # 3
wrist_motion_settle_time = 1.0 wrist_motion_settle_time = 1.0
######################################## ########################################
@ -353,17 +365,17 @@ class CollectHeadCalibrationDataNode:
# looking down data # looking down data
min_tilt_angle_rad = -1.4 min_tilt_angle_rad = -1.4
max_tilt_angle_rad = -0.5
max_tilt_angle_rad = -0.5
min_pan_angle_rad = -3.8 min_pan_angle_rad = -3.8
max_pan_angle_rad = 1.3 max_pan_angle_rad = 1.3
if collect_check_data: if collect_check_data:
number_of_tilt_steps = 1
number_of_pan_steps = 3
else:
number_of_tilt_steps = 3 #4
number_of_pan_steps = 5 #7
number_of_tilt_steps = 1
number_of_pan_steps = 3
else:
number_of_tilt_steps = 3 # 4
number_of_pan_steps = 5 # 7
pan_angles_rad = np.linspace(min_pan_angle_rad, max_pan_angle_rad, number_of_pan_steps) pan_angles_rad = np.linspace(min_pan_angle_rad, max_pan_angle_rad, number_of_pan_steps)
tilt_angles_rad = np.linspace(min_tilt_angle_rad, max_tilt_angle_rad, number_of_tilt_steps) tilt_angles_rad = np.linspace(min_tilt_angle_rad, max_tilt_angle_rad, number_of_tilt_steps)
@ -377,14 +389,17 @@ class CollectHeadCalibrationDataNode:
self.move_to_pose(lift_pose) self.move_to_pose(lift_pose)
# wait for the joints and sensors to settle # wait for the joints and sensors to settle
rospy.loginfo('Wait {0} seconds for the robot to settle after motion of the arm.'.format(wrist_motion_settle_time))
rospy.loginfo(
'Wait {0} seconds for the robot to settle after motion of the arm.'.format(wrist_motion_settle_time))
rospy.sleep(wrist_motion_settle_time) rospy.sleep(wrist_motion_settle_time)
rospy.loginfo('Starting to collect global head looking down data (expect to collect {0} samples).'.format(number_of_tilt_steps * number_of_pan_steps))
rospy.loginfo('Starting to collect global head looking down data (expect to collect {0} samples).'.format(
number_of_tilt_steps * number_of_pan_steps))
first_pan_tilt = True first_pan_tilt = True
for pan_angle in pan_angles_rad: for pan_angle in pan_angles_rad:
for tilt_angle in tilt_angles_rad: for tilt_angle in tilt_angles_rad:
observation = self.get_samples(pan_angle, tilt_angle, wrist_extension, number_of_samples_per_head_pose, first_move=first_pan_tilt)
observation = self.get_samples(pan_angle, tilt_angle, wrist_extension, number_of_samples_per_head_pose,
first_move=first_pan_tilt)
first_pan_tilt = False first_pan_tilt = False
calibration_data.extend(observation) calibration_data.extend(observation)
n = len(calibration_data) n = len(calibration_data)
@ -401,7 +416,7 @@ class CollectHeadCalibrationDataNode:
rospy.loginfo('COLLECT GLOBAL HEAD LOOKING UP DATA') rospy.loginfo('COLLECT GLOBAL HEAD LOOKING UP DATA')
rospy.loginfo('*************************************') rospy.loginfo('*************************************')
rospy.loginfo('') rospy.loginfo('')
if not collect_check_data: if not collect_check_data:
tilt_angles_rad = [-0.3, 0.38] tilt_angles_rad = [-0.3, 0.38]
pan_angles_rad = [-3.8, -1.66, 1.33] pan_angles_rad = [-3.8, -1.66, 1.33]
@ -415,20 +430,23 @@ class CollectHeadCalibrationDataNode:
self.move_to_pose(wrist_pose) self.move_to_pose(wrist_pose)
# wait for the joints and sensors to settle # wait for the joints and sensors to settle
rospy.loginfo('Wait {0} seconds for the robot to settle after motion of the arm.'.format(wrist_motion_settle_time))
rospy.loginfo(
'Wait {0} seconds for the robot to settle after motion of the arm.'.format(wrist_motion_settle_time))
rospy.sleep(wrist_motion_settle_time) rospy.sleep(wrist_motion_settle_time)
rospy.loginfo('Starting to collect global head looking up data (expect to collect {0} samples).'.format(len(pan_angles_rad) * len(tilt_angles_rad)))
rospy.loginfo('Starting to collect global head looking up data (expect to collect {0} samples).'.format(
len(pan_angles_rad) * len(tilt_angles_rad)))
first_pan_tilt = True first_pan_tilt = True
for pan_angle in pan_angles_rad: for pan_angle in pan_angles_rad:
for tilt_angle in tilt_angles_rad: for tilt_angle in tilt_angles_rad:
observation = self.get_samples(pan_angle, tilt_angle, wrist_extension, number_of_samples_per_head_pose, first_move=first_pan_tilt)
observation = self.get_samples(pan_angle, tilt_angle, wrist_extension,
number_of_samples_per_head_pose, first_move=first_pan_tilt)
first_pan_tilt = False first_pan_tilt = False
calibration_data.extend(observation) calibration_data.extend(observation)
n = len(calibration_data) n = len(calibration_data)
if (n % 10) == 0: if (n % 10) == 0:
rospy.loginfo('{0} samples collected so far.'.format(n)) rospy.loginfo('{0} samples collected so far.'.format(n))
####################################### #######################################
## ##
## COLLECT HIGH SHOULDER DATA ## COLLECT HIGH SHOULDER DATA
@ -439,7 +457,7 @@ class CollectHeadCalibrationDataNode:
rospy.loginfo('COLLECT HIGH SHOULDER DATA') rospy.loginfo('COLLECT HIGH SHOULDER DATA')
rospy.loginfo('*************************************') rospy.loginfo('*************************************')
rospy.loginfo('') rospy.loginfo('')
############################################################## ##############################################################
### poses that see the shoulder marker ### poses that see the shoulder marker
# #
@ -463,7 +481,7 @@ class CollectHeadCalibrationDataNode:
############################################################## ##############################################################
wrist_extension = 0.29 wrist_extension = 0.29
# low shoulder height # low shoulder height
pan_angle_rad = -3.7 pan_angle_rad = -3.7
tilt_angle_rad_1 = -1.4 tilt_angle_rad_1 = -1.4
@ -473,16 +491,19 @@ class CollectHeadCalibrationDataNode:
pose = {'joint_lift': lift_m} pose = {'joint_lift': lift_m}
rospy.loginfo('Move to first shoulder capture height.') rospy.loginfo('Move to first shoulder capture height.')
self.move_to_pose(pose) self.move_to_pose(pose)
rospy.loginfo('Wait {0} seconds for the robot to settle after motion of the arm.'.format(wrist_motion_settle_time))
rospy.loginfo(
'Wait {0} seconds for the robot to settle after motion of the arm.'.format(wrist_motion_settle_time))
rospy.sleep(wrist_motion_settle_time) rospy.sleep(wrist_motion_settle_time)
first_pan_tilt = True first_pan_tilt = True
observation = self.get_samples(pan_angle_rad, tilt_angle_rad_1, wrist_extension, number_of_samples_per_head_pose, first_move=first_pan_tilt)
observation = self.get_samples(pan_angle_rad, tilt_angle_rad_1, wrist_extension,
number_of_samples_per_head_pose, first_move=first_pan_tilt)
calibration_data.extend(observation) calibration_data.extend(observation)
if not collect_check_data: if not collect_check_data:
first_pan_tilt = False first_pan_tilt = False
observation = self.get_samples(pan_angle_rad, tilt_angle_rad_2, wrist_extension, number_of_samples_per_head_pose, first_move=first_pan_tilt)
observation = self.get_samples(pan_angle_rad, tilt_angle_rad_2, wrist_extension,
number_of_samples_per_head_pose, first_move=first_pan_tilt)
calibration_data.extend(observation) calibration_data.extend(observation)
# high shoulder height # high shoulder height
@ -494,19 +515,21 @@ class CollectHeadCalibrationDataNode:
pose = {'joint_lift': lift_m} pose = {'joint_lift': lift_m}
rospy.loginfo('Move to second shoulder capture height.') rospy.loginfo('Move to second shoulder capture height.')
self.move_to_pose(pose) self.move_to_pose(pose)
rospy.loginfo('Wait {0} seconds for the robot to settle after motion of the arm.'.format(wrist_motion_settle_time))
rospy.loginfo(
'Wait {0} seconds for the robot to settle after motion of the arm.'.format(wrist_motion_settle_time))
rospy.sleep(wrist_motion_settle_time) rospy.sleep(wrist_motion_settle_time)
first_pan_tilt = True first_pan_tilt = True
observation = self.get_samples(pan_angle_rad, tilt_angle_rad_1, wrist_extension, number_of_samples_per_head_pose, first_move=first_pan_tilt)
observation = self.get_samples(pan_angle_rad, tilt_angle_rad_1, wrist_extension,
number_of_samples_per_head_pose, first_move=first_pan_tilt)
calibration_data.extend(observation) calibration_data.extend(observation)
if not collect_check_data: if not collect_check_data:
first_pan_tilt = False first_pan_tilt = False
observation = self.get_samples(pan_angle_rad, tilt_angle_rad_2, wrist_extension, number_of_samples_per_head_pose, first_move=first_pan_tilt)
observation = self.get_samples(pan_angle_rad, tilt_angle_rad_2, wrist_extension,
number_of_samples_per_head_pose, first_move=first_pan_tilt)
calibration_data.extend(observation) calibration_data.extend(observation)
####################################### #######################################
## ##
## COLLECT ARM FOCUSED DATA ## COLLECT ARM FOCUSED DATA
@ -542,16 +565,17 @@ class CollectHeadCalibrationDataNode:
wrist_focused_min_tilt = -1.2 wrist_focused_min_tilt = -1.2
wrist_focused_max_tilt = -0.5 wrist_focused_max_tilt = -0.5
if collect_check_data: if collect_check_data:
num_wrist_focused_pan_steps = 1 #3
num_wrist_focused_tilt_steps = 1 #3
num_wrist_focused_pan_steps = 1 # 3
num_wrist_focused_tilt_steps = 1 # 3
else: else:
num_wrist_focused_pan_steps = 2 #3
num_wrist_focused_tilt_steps = 2 #3
wrist_focused_pan_angles_rad = np.linspace(wrist_focused_min_pan, wrist_focused_max_pan, num_wrist_focused_pan_steps)
wrist_focused_tilt_angles_rad = np.linspace(wrist_focused_min_tilt, wrist_focused_max_tilt, num_wrist_focused_tilt_steps)
num_wrist_focused_pan_steps = 2 # 3
num_wrist_focused_tilt_steps = 2 # 3
wrist_focused_pan_angles_rad = np.linspace(wrist_focused_min_pan, wrist_focused_max_pan,
num_wrist_focused_pan_steps)
wrist_focused_tilt_angles_rad = np.linspace(wrist_focused_min_tilt, wrist_focused_max_tilt,
num_wrist_focused_tilt_steps)
if collect_check_data: if collect_check_data:
wrist_extensions = [0.2] wrist_extensions = [0.2]
@ -560,8 +584,8 @@ class CollectHeadCalibrationDataNode:
# heights. # heights.
# #
# 0.46 m = (0.8 m + 0.12 m) / 2.0 # 0.46 m = (0.8 m + 0.12 m) / 2.0
wrist_heights = [0.46, 0.8] #[0.2, 0.5, 0.8]
wrist_poses = [{'wrist_extension': e, 'joint_lift': h} for h in wrist_heights for e in wrist_extensions]
wrist_heights = [0.46, 0.8] # [0.2, 0.5, 0.8]
wrist_poses = [{'wrist_extension': e, 'joint_lift': h} for h in wrist_heights for e in wrist_extensions]
num_wrist_poses = len(wrist_poses) num_wrist_poses = len(wrist_poses)
else: else:
@ -571,12 +595,13 @@ class CollectHeadCalibrationDataNode:
# heights. # heights.
# #
# 0.46 m = (0.8 m + 0.12 m) / 2.0 # 0.46 m = (0.8 m + 0.12 m) / 2.0
wrist_heights = [0.46, 0.8] #[0.2, 0.5, 0.8]
wrist_poses = [{'wrist_extension': e, 'joint_lift': h} for h in wrist_heights for e in wrist_extensions]
wrist_heights = [0.46, 0.8] # [0.2, 0.5, 0.8]
wrist_poses = [{'wrist_extension': e, 'joint_lift': h} for h in wrist_heights for e in wrist_extensions]
num_wrist_poses = len(wrist_poses) num_wrist_poses = len(wrist_poses)
rospy.loginfo('Starting to collect arm focused samples (expect to collect {0} samples).'.format(num_wrist_poses * num_wrist_focused_pan_steps * num_wrist_focused_tilt_steps))
rospy.loginfo('Starting to collect arm focused samples (expect to collect {0} samples).'.format(
num_wrist_poses * num_wrist_focused_pan_steps * num_wrist_focused_tilt_steps))
for wrist_pose in wrist_poses: for wrist_pose in wrist_poses:
@ -584,19 +609,21 @@ class CollectHeadCalibrationDataNode:
self.move_to_pose(wrist_pose) self.move_to_pose(wrist_pose)
# wait for the joints and sensors to settle # wait for the joints and sensors to settle
rospy.loginfo('Wait {0} seconds for the robot to settle after motion of the arm.'.format(wrist_motion_settle_time))
rospy.loginfo(
'Wait {0} seconds for the robot to settle after motion of the arm.'.format(wrist_motion_settle_time))
rospy.sleep(wrist_motion_settle_time) rospy.sleep(wrist_motion_settle_time)
first_pan_tilt = True first_pan_tilt = True
for pan_angle in wrist_focused_pan_angles_rad: for pan_angle in wrist_focused_pan_angles_rad:
for tilt_angle in wrist_focused_tilt_angles_rad: for tilt_angle in wrist_focused_tilt_angles_rad:
observation = self.get_samples(pan_angle, tilt_angle, wrist_pose['wrist_extension'], number_of_samples_per_head_pose, first_move=first_pan_tilt)
observation = self.get_samples(pan_angle, tilt_angle, wrist_pose['wrist_extension'],
number_of_samples_per_head_pose, first_move=first_pan_tilt)
first_pan_tilt = False first_pan_tilt = False
calibration_data.extend(observation) calibration_data.extend(observation)
n = len(calibration_data) n = len(calibration_data)
if (n % 10) == 0: if (n % 10) == 0:
rospy.loginfo('{0} samples collected so far.'.format(n)) rospy.loginfo('{0} samples collected so far.'.format(n))
####################################### #######################################
## ##
## FINISHED COLLECTING DATA - SAVE IT ## FINISHED COLLECTING DATA - SAVE IT
@ -608,9 +635,10 @@ class CollectHeadCalibrationDataNode:
rospy.loginfo('*************************************') rospy.loginfo('*************************************')
rospy.loginfo('') rospy.loginfo('')
rospy.loginfo('Collected {0} samples in total.'.format(len(calibration_data))) rospy.loginfo('Collected {0} samples in total.'.format(len(calibration_data)))
t = time.localtime() t = time.localtime()
capture_date = str(t.tm_year) + str(t.tm_mon).zfill(2) + str(t.tm_mday).zfill(2) + str(t.tm_hour).zfill(2) + str(t.tm_min).zfill(2)
capture_date = str(t.tm_year) + str(t.tm_mon).zfill(2) + str(t.tm_mday).zfill(2) + str(t.tm_hour).zfill(
2) + str(t.tm_min).zfill(2)
if collect_check_data: if collect_check_data:
filename = self.calibration_directory + 'check_head_calibration_data_' + capture_date + '.yaml' filename = self.calibration_directory + 'check_head_calibration_data_' + capture_date + '.yaml'
else: else:
@ -624,7 +652,7 @@ class CollectHeadCalibrationDataNode:
rospy.loginfo('') rospy.loginfo('')
####################################### #######################################
def testrig_data_collect(self, number_of_samples): def testrig_data_collect(self, number_of_samples):
calibration_data = [] calibration_data = []
@ -642,14 +670,14 @@ class CollectHeadCalibrationDataNode:
rospy.loginfo('Target Number of Frames :{0}'.format(number_of_samples)) rospy.loginfo('Target Number of Frames :{0}'.format(number_of_samples))
rospy.loginfo('') rospy.loginfo('')
while len(calibration_data)<number_of_samples:
while len(calibration_data) < number_of_samples:
observation = self.get_samples_testrig(1) observation = self.get_samples_testrig(1)
first_pan_tilt = False first_pan_tilt = False
calibration_data.extend(observation) calibration_data.extend(observation)
n = len(calibration_data) n = len(calibration_data)
if (n % 10) == 0: if (n % 10) == 0:
rospy.loginfo('{0} samples collected so far.'.format(n)) rospy.loginfo('{0} samples collected so far.'.format(n))
####################################### #######################################
## ##
## FINISHED COLLECTING DATA - SAVE IT ## FINISHED COLLECTING DATA - SAVE IT
@ -661,9 +689,10 @@ class CollectHeadCalibrationDataNode:
rospy.loginfo('*************************************') rospy.loginfo('*************************************')
rospy.loginfo('') rospy.loginfo('')
rospy.loginfo('Collected {0} samples in total.'.format(len(calibration_data))) rospy.loginfo('Collected {0} samples in total.'.format(len(calibration_data)))
t = time.localtime() t = time.localtime()
capture_date = str(t.tm_year) + str(t.tm_mon).zfill(2) + str(t.tm_mday).zfill(2) + str(t.tm_hour).zfill(2) + str(t.tm_min).zfill(2)
capture_date = str(t.tm_year) + str(t.tm_mon).zfill(2) + str(t.tm_mday).zfill(2) + str(t.tm_hour).zfill(
2) + str(t.tm_min).zfill(2)
filename = self.testrig_data_path + 'testrig_collected_data_' + capture_date + '.yaml' filename = self.testrig_data_path + 'testrig_collected_data_' + capture_date + '.yaml'
rospy.loginfo('Saving calibration_data to a YAML file named {0}'.format(filename)) rospy.loginfo('Saving calibration_data to a YAML file named {0}'.format(filename))
@ -705,7 +734,7 @@ class CollectHeadCalibrationDataNode:
else: else:
rospy.init_node('collect_testrig_data') rospy.init_node('collect_testrig_data')
self.node_name = rospy.get_name()
self.node_name = rospy.get_name()
rospy.loginfo("{0} started".format(self.node_name)) rospy.loginfo("{0} started".format(self.node_name))
# Obtain the ArUco marker ID numbers. # Obtain the ArUco marker ID numbers.
@ -726,13 +755,15 @@ class CollectHeadCalibrationDataNode:
if not self.test_rig: if not self.test_rig:
filename = rospy.get_param('~controller_calibration_file') filename = rospy.get_param('~controller_calibration_file')
rospy.loginfo('Loading factory default tilt backlash transition angle from the YAML file named {0}'.format(filename))
rospy.loginfo(
'Loading factory default tilt backlash transition angle from the YAML file named {0}'.format(filename))
fid = open(filename, 'r') fid = open(filename, 'r')
controller_parameters = yaml.load(fid) controller_parameters = yaml.load(fid)
fid.close() fid.close()
self.tilt_angle_backlash_transition_rad = controller_parameters['tilt_angle_backlash_transition'] self.tilt_angle_backlash_transition_rad = controller_parameters['tilt_angle_backlash_transition']
deg_per_rad = 180.0/math.pi
rospy.loginfo('self.tilt_angle_backlash_transition_rad in degrees = {0}'.format(self.tilt_angle_backlash_transition_rad * deg_per_rad))
deg_per_rad = 180.0 / math.pi
rospy.loginfo('self.tilt_angle_backlash_transition_rad in degrees = {0}'.format(
self.tilt_angle_backlash_transition_rad * deg_per_rad))
self.calibration_directory = rospy.get_param('~calibration_directory') self.calibration_directory = rospy.get_param('~calibration_directory')
rospy.loginfo('Using the following directory for calibration files: {0}'.format(self.calibration_directory)) rospy.loginfo('Using the following directory for calibration files: {0}'.format(self.calibration_directory))
@ -742,16 +773,18 @@ class CollectHeadCalibrationDataNode:
accel_subscriber = message_filters.Subscriber('/camera/accel/sample_corrected', Imu) accel_subscriber = message_filters.Subscriber('/camera/accel/sample_corrected', Imu)
aruco_subscriber = message_filters.Subscriber('/aruco/marker_array', MarkerArray) aruco_subscriber = message_filters.Subscriber('/aruco/marker_array', MarkerArray)
slop_time = 0.1 slop_time = 0.1
self.synchronizer = message_filters.ApproximateTimeSynchronizer([accel_subscriber, aruco_subscriber, joint_state_subscriber], 10, slop_time, allow_headerless=True)
self.synchronizer = message_filters.ApproximateTimeSynchronizer(
[aruco_subscriber, accel_subscriber, joint_state_subscriber], 10, slop_time, allow_headerless=True)
self.synchronizer.registerCallback(self.calibration_data_callback) self.synchronizer.registerCallback(self.calibration_data_callback)
self.trajectory_client = actionlib.SimpleActionClient('/stretch_controller/follow_joint_trajectory', FollowJointTrajectoryAction)
self.trajectory_client = actionlib.SimpleActionClient('/stretch_controller/follow_joint_trajectory',
FollowJointTrajectoryAction)
self.trajectory_goal = FollowJointTrajectoryGoal() self.trajectory_goal = FollowJointTrajectoryGoal()
self.trajectory_goal.goal_time_tolerance = rospy.Time(1.0) self.trajectory_goal.goal_time_tolerance = rospy.Time(1.0)
self.point = JointTrajectoryPoint() self.point = JointTrajectoryPoint()
self.point.time_from_start = rospy.Duration(0.0) self.point.time_from_start = rospy.Duration(0.0)
server_reached = self.trajectory_client.wait_for_server(timeout=rospy.Duration(60.0)) server_reached = self.trajectory_client.wait_for_server(timeout=rospy.Duration(60.0))
if not server_reached: if not server_reached:
rospy.signal_shutdown('Unable to connect to arm action server. Timeout exceeded.') rospy.signal_shutdown('Unable to connect to arm action server. Timeout exceeded.')
@ -769,14 +802,11 @@ class CollectHeadCalibrationDataNode:
accel_subscriber = message_filters.Subscriber('/camera/accel/sample_corrected', Imu) accel_subscriber = message_filters.Subscriber('/camera/accel/sample_corrected', Imu)
aruco_subscriber = message_filters.Subscriber('/aruco/marker_array', MarkerArray) aruco_subscriber = message_filters.Subscriber('/aruco/marker_array', MarkerArray)
slop_time = 0.1 slop_time = 0.1
self.synchronizer = message_filters.ApproximateTimeSynchronizer([accel_subscriber, aruco_subscriber], 10, slop_time, allow_headerless=True)
self.synchronizer = message_filters.ApproximateTimeSynchronizer([aruco_subscriber], 10, slop_time,
allow_headerless=True)
self.synchronizer.registerCallback(self.calibration_data_callback) self.synchronizer.registerCallback(self.calibration_data_callback)
rate = rospy.Rate(self.rate) rate = rospy.Rate(self.rate)
self.testrig_data_path = rospy.get_param('~testrig_data_directory') self.testrig_data_path = rospy.get_param('~testrig_data_directory')
self.number_of_testrig_samples = rospy.get_param('~samples') self.number_of_testrig_samples = rospy.get_param('~samples')
self.testrig_data_collect(number_of_samples=self.number_of_testrig_samples) self.testrig_data_collect(number_of_samples=self.number_of_testrig_samples)

+ 31
- 11
stretch_camera_testrig/nodes/testrig_analyze_data.py View File

@ -54,7 +54,7 @@ class TestRig_Analyze:
self.data_capture_date = capture_date self.data_capture_date = capture_date
self.test_results_dict = {'capture_id': self.data_capture_date, self.test_results_dict = {'capture_id': self.data_capture_date,
'realsense_firmware': self.realsense_fw,
'realsense_details': self.realsense_fw,
'number_samples': None, 'number_samples': None,
'null_frames': {}, 'null_frames': {},
'lighting_condition': { 'lighting_condition': {
@ -68,17 +68,29 @@ class TestRig_Analyze:
performance_metrics = {} performance_metrics = {}
for key in self.data_keys: for key in self.data_keys:
performance_metric = {} performance_metric = {}
performance_metric['mean'] = float(np.mean(self.remove_null_vals(error_data_dict[key])))
performance_metric['maximum'] = float(np.max(self.remove_null_vals(error_data_dict[key])))
performance_metric['median'] = float(np.median(self.remove_null_vals(error_data_dict[key])))
performance_metric['rmse'] = float(np.sqrt(np.mean(self.remove_null_vals(error_data_dict[key]) ** 2)))
performance_metric['mean'] = np.nan
performance_metric['maximum'] = np.nan
performance_metric['median'] = np.nan
performance_metric['rmse'] = np.nan
try:
performance_metric['mean'] = float(np.mean(self.remove_null_vals(error_data_dict[key])))
performance_metric['maximum'] = float(np.max(self.remove_null_vals(error_data_dict[key])))
performance_metric['median'] = float(np.median(self.remove_null_vals(error_data_dict[key])))
performance_metric['rmse'] = float(np.sqrt(np.mean(self.remove_null_vals(error_data_dict[key]) ** 2)))
except(ValueError):
print('[Error] Metrics Computation Error')
performance_metrics[key] = performance_metric performance_metrics[key] = performance_metric
return performance_metrics return performance_metrics
def remove_null_vals(self, arr): def remove_null_vals(self, arr):
arr = np.array(arr, dtype=np.float)
return arr[~np.isnan(arr)]
rn_vals = []
for x in arr:
if x is not None:
rn_vals.append(x)
rn_vals = np.array(rn_vals)
return rn_vals
def populate_performance_metrics(self): def populate_performance_metrics(self):
self.test_results_dict['performance_metrics']['angle_rotation_error'] = self.get_performance_metric( self.test_results_dict['performance_metrics']['angle_rotation_error'] = self.get_performance_metric(
@ -101,17 +113,25 @@ class TestRig_Analyze:
return null_counts return null_counts
def get_realsense_fw(self): def get_realsense_fw(self):
fw_version = None
fw_details = None
try: try:
fw_details = Popen("rs-fw-update -l | grep -i 'firmware'", shell=True, bufsize=64, stdin=PIPE, stdout=PIPE, fw_details = Popen("rs-fw-update -l | grep -i 'firmware'", shell=True, bufsize=64, stdin=PIPE, stdout=PIPE,
close_fds=True).stdout.read() close_fds=True).stdout.read()
fw_serial = fw_details.split(',')[1]
fw_serial = fw_serial.split(' ')[-1]
fw_usb = fw_details.split(',')[-1]
fw_usb = fw_usb.split(' ')[-1][:-1]
fw_v = fw_details.split(',')[3] fw_v = fw_details.split(',')[3]
fw_v = fw_v.split(' ')[-1] fw_v = fw_v.split(' ')[-1]
fw_version = fw_v
fw_details = {'serial': fw_serial,
'firmware': fw_v,
'usb': fw_usb}
except: except:
print('[Error] Realsense FW not found.') print('[Error] Realsense FW not found.')
return fw_version
return fw_details
def testrg_data_parse(self, filename): def testrg_data_parse(self, filename):
# Parses the collected data in yaml # Parses the collected data in yaml
@ -131,7 +151,7 @@ class TestRig_Analyze:
for observation in data_list: for observation in data_list:
for key in self.data_keys: for key in self.data_keys:
marker_pose = observation['camera_measurements'][key] marker_pose = observation['camera_measurements'][key]
if marker_pose != None:
if marker_pose is not None:
data_dict[key].append(np.array(marker_pose)) data_dict[key].append(np.array(marker_pose))
else: else:
data_dict[key].append(None) data_dict[key].append(None)

+ 3
- 3
stretch_camera_testrig/nodes/testrig_dashboard.py View File

@ -27,7 +27,7 @@ class TestRig_dashboard():
self.error_keys = ["angle_rotation_error", "euclidean_error"] self.error_keys = ["angle_rotation_error", "euclidean_error"]
self.window = Tk() self.window = Tk()
self.window.title("Camera Test rig Dashboard") self.window.title("Camera Test rig Dashboard")
self.window.geometry('600x900')
self.window.geometry('700x900')
self.data_file_name = None self.data_file_name = None
self.test_rig = None self.test_rig = None
@ -117,7 +117,7 @@ class TestRig_dashboard():
except KeyError: except KeyError:
None None
info_txt = str(yaml.safe_dump(info_dict, allow_unicode=True, default_flow_style=False)) info_txt = str(yaml.safe_dump(info_dict, allow_unicode=True, default_flow_style=False))
self.info_print = Label(self.window, text=info_txt, anchor="w", font=("Arial", 12), justify=LEFT)
self.info_print = Label(self.window, text=info_txt, anchor="w", font=("Arial", 10), justify=LEFT)
self.info_print.place(x=x_pos, y=y_pos) self.info_print.place(x=x_pos, y=y_pos)
def metrics_table_print(self, pos_x, pos_y, error_key): def metrics_table_print(self, pos_x, pos_y, error_key):
@ -220,7 +220,7 @@ class TestRig_dashboard():
self.test_rig = test_rig self.test_rig = test_rig
self.metrics_table_print(self.x_off_mid + 130, self.y_off_mid + 420, 'euclidean_error') self.metrics_table_print(self.x_off_mid + 130, self.y_off_mid + 420, 'euclidean_error')
self.metrics_table_print(self.x_off_mid + 130, self.y_off_mid + 620, 'angle_rotation_error') self.metrics_table_print(self.x_off_mid + 130, self.y_off_mid + 620, 'angle_rotation_error')
self.test_data_info(360, 150)
self.test_data_info(380, 140)
return test_rig return test_rig
def mainloop(self): def mainloop(self):

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