From 18af15444a768d3b3da33b15be7deddb94db9b40 Mon Sep 17 00:00:00 2001 From: Charlie Kemp <31106448+hello-ck@users.noreply.github.com> Date: Wed, 10 Jun 2020 16:59:10 -0400 Subject: [PATCH] initial public version --- README.md | 54 + hello_helpers/CMakeLists.txt | 197 +++ hello_helpers/LICENSE.md | 11 + hello_helpers/README.md | 29 + hello_helpers/package.xml | 60 + hello_helpers/setup.py | 8 + hello_helpers/src/hello_helpers/__init__.py | 0 hello_helpers/src/hello_helpers/fit_plane.py | 303 ++++ hello_helpers/src/hello_helpers/hello_misc.py | 215 +++ .../src/hello_helpers/hello_ros_viz.py | 128 ++ images/HelloRobotLogoBar.png | Bin 0 -> 7533 bytes stretch_calibration/CMakeLists.txt | 203 +++ stretch_calibration/LICENSE.md | 11 + stretch_calibration/README.md | 96 ++ .../config/head_calibration_options.yaml | 3 + .../collect_head_calibration_data.launch | 57 + .../process_head_calibration_data.launch | 16 + ...calibration_data_with_visualization.launch | 25 + .../simple_test_head_calibration.launch | 32 + ...est_head_calibration_low_resolution.launch | 58 + ...ior_head_calibration_to_update_urdf.launch | 16 + .../launch/visualize_head_calibration.launch | 58 + stretch_calibration/nodes/calibration.py | 363 +++++ .../nodes/collect_head_calibration_data | 592 +++++++ .../nodes/process_head_calibration_data | 959 +++++++++++ .../nodes/revert_to_previous_calibration.sh | 75 + .../nodes/update_uncalibrated_urdf.sh | 9 + .../nodes/update_urdf_after_xacro_change.sh | 13 + .../update_with_most_recent_calibration.sh | 38 + .../visualize_most_recent_head_calibration.sh | 44 + stretch_calibration/package.xml | 78 + .../rviz/head_calibration.rviz | 303 ++++ stretch_core/CMakeLists.txt | 206 +++ stretch_core/LICENSE.md | 11 + stretch_core/README.md | 17 + ...ller_calibration_head_factory_default.yaml | 6 + stretch_core/config/stretch_marker_dict.yaml | 75 + stretch_core/launch/d435i_basic.launch | 63 + .../launch/d435i_high_resolution.launch | 16 + .../launch/d435i_low_resolution.launch | 17 + stretch_core/launch/imu_filter.launch | 12 + stretch_core/launch/respeaker.launch | 33 + stretch_core/launch/rplidar.launch | 20 + stretch_core/launch/stretch_aruco.launch | 8 + stretch_core/launch/stretch_driver.launch | 44 + stretch_core/launch/stretch_ekf.launch | 13 + stretch_core/launch/stretch_ekf.yaml | 276 ++++ .../launch/stretch_scan_matcher.launch | 26 + .../launch/wheel_odometry_test.launch | 31 + stretch_core/nodes/d435i_accel_correction | 50 + stretch_core/nodes/d435i_configure | 81 + stretch_core/nodes/d435i_frustum_visualizer | 207 +++ stretch_core/nodes/detect_aruco_markers | 721 +++++++++ stretch_core/nodes/keyboard.py | 42 + stretch_core/nodes/keyboard_teleop | 362 +++++ stretch_core/nodes/stretch_driver | 1397 +++++++++++++++++ stretch_core/package.xml | 92 ++ stretch_core/rviz/stretch_simple_test.rviz | 402 +++++ stretch_core/rviz/wheel_odometry_test.rviz | 406 +++++ stretch_deep_perception/CMakeLists.txt | 206 +++ stretch_deep_perception/LICENSE.md | 11 + stretch_deep_perception/README.md | 82 + .../stretch_detect_body_landmarks.launch | 37 + .../launch/stretch_detect_faces.launch | 36 + .../stretch_detect_nearest_mouth.launch | 36 + .../launch/stretch_detect_objects.launch | 36 + .../nodes/body_landmark_detector_python3.py | 259 +++ .../nodes/deep_learning_model_options.py | 11 + .../nodes/deep_models_shared_python3.py | 28 + .../nodes/detect_body_landmarks_python3.py | 32 + .../nodes/detect_faces_python3.py | 62 + .../nodes/detect_nearest_mouth_python3.py | 106 ++ .../nodes/detect_objects_python3.py | 44 + .../nodes/detection_2d_to_3d_python3.py | 380 +++++ .../nodes/detection_node_python3.py | 167 ++ .../nodes/detection_ros_markers_python3.py | 301 ++++ .../nodes/head_estimator_python3.py | 308 ++++ .../nodes/numba_image_to_pointcloud.py | 41 + .../nodes/object_detector_python3.py | 197 +++ ..._landmark_detection_with_images_python3.py | 53 + ...est_head_estimation_with_images_python3.py | 44 + ...st_object_detection_with_images_python3.py | 53 + stretch_deep_perception/package.xml | 90 ++ .../rviz/body_landmark_detection.rviz | 377 +++++ .../rviz/face_detection.rviz | 377 +++++ .../rviz/nearest_mouth_detection.rviz | 378 +++++ .../rviz/object_detection.rviz | 377 +++++ stretch_demos/CMakeLists.txt | 206 +++ stretch_demos/LICENSE.md | 11 + stretch_demos/README.md | 59 + stretch_demos/launch/clean_surface.launch | 50 + stretch_demos/launch/grasp_object.launch | 50 + stretch_demos/launch/handover_object.launch | 55 + stretch_demos/nodes/clean_surface | 226 +++ stretch_demos/nodes/grasp_object | 273 ++++ stretch_demos/nodes/handover_object | 216 +++ stretch_demos/package.xml | 90 ++ stretch_demos/rviz/handover_object.rviz | 347 ++++ stretch_description/CMakeLists.txt | 220 +++ stretch_description/LICENSE.md | 13 + stretch_description/README.md | 35 + stretch_description/meshes/base_link.STL | Bin 0 -> 1333184 bytes stretch_description/meshes/laser.STL | Bin 0 -> 34284 bytes stretch_description/meshes/link_arm_l0.STL | Bin 0 -> 419684 bytes stretch_description/meshes/link_arm_l1.STL | Bin 0 -> 96684 bytes stretch_description/meshes/link_arm_l2.STL | Bin 0 -> 90084 bytes stretch_description/meshes/link_arm_l3.STL | Bin 0 -> 90084 bytes stretch_description/meshes/link_arm_l4.STL | Bin 0 -> 88084 bytes .../meshes/link_aruco_inner_wrist.STL | Bin 0 -> 684 bytes .../meshes/link_aruco_left_base.STL | Bin 0 -> 284 bytes .../meshes/link_aruco_right_base.STL | Bin 0 -> 284 bytes .../meshes/link_aruco_shoulder.STL | Bin 0 -> 3884 bytes .../meshes/link_aruco_top_wrist.STL | Bin 0 -> 684 bytes stretch_description/meshes/link_gripper.STL | Bin 0 -> 330884 bytes .../meshes/link_gripper_finger_left.STL | Bin 0 -> 8284 bytes .../meshes/link_gripper_finger_right.STL | Bin 0 -> 8284 bytes .../meshes/link_gripper_fingertip_left.STL | Bin 0 -> 125484 bytes .../meshes/link_gripper_fingertip_right.STL | Bin 0 -> 125484 bytes stretch_description/meshes/link_head.STL | Bin 0 -> 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.../urdf/stretch_respeaker.xacro | 62 + stretch_description/urdf/xacro_to_urdf.sh | 5 + stretch_funmap/CMakeLists.txt | 197 +++ stretch_funmap/LICENSE.md | 11 + stretch_funmap/README.md | 144 ++ stretch_funmap/images/living_room_map.png | Bin 0 -> 48320 bytes .../images/living_room_map_image.png | Bin 0 -> 17838 bytes .../images/living_room_map_perspective.png | Bin 0 -> 79858 bytes stretch_funmap/images/navigation_1.png | Bin 0 -> 89453 bytes stretch_funmap/images/reach_1.png | Bin 0 -> 59133 bytes stretch_funmap/images/reach_plan_1.png | Bin 0 -> 41838 bytes stretch_funmap/images/reach_plan_2.png | Bin 0 -> 36084 bytes stretch_funmap/launch/mapping.launch | 54 + stretch_funmap/nodes/funmap | 1307 +++++++++++++++ stretch_funmap/package.xml | 60 + stretch_funmap/rviz/stretch_mapping.rviz | 529 +++++++ stretch_funmap/setup.py | 8 + stretch_funmap/src/stretch_funmap/__init__.py | 0 .../src/stretch_funmap/compile_cython_code.sh | 12 + .../stretch_funmap/cython_min_cost_path.pyx | 369 +++++ .../stretch_funmap/manipulation_planning.py | 1208 ++++++++++++++ stretch_funmap/src/stretch_funmap/mapping.py | 505 ++++++ .../src/stretch_funmap/max_height_image.py | 531 +++++++ .../src/stretch_funmap/merge_maps.py | 520 ++++++ stretch_funmap/src/stretch_funmap/navigate.py | 343 ++++ .../src/stretch_funmap/navigation_planning.py | 965 ++++++++++++ .../stretch_funmap/numba_check_line_path.py | 126 ++ .../stretch_funmap/numba_compare_images.py | 54 + .../numba_create_plane_image.py | 76 + .../src/stretch_funmap/numba_height_image.py | 560 +++++++ .../numba_manipulation_planning.py | 101 ++ .../src/stretch_funmap/numba_sample_ridge.py | 144 ++ .../stretch_funmap/ros_max_height_image.py | 282 ++++ .../segment_max_height_image.py | 1068 +++++++++++++ stretch_navigation/CMakeLists.txt | 204 +++ stretch_navigation/LICENSE.md | 11 + stretch_navigation/README.md | 40 + .../config/base_local_planner_params.yaml | 11 + .../config/common_costmap_params.yaml | 8 + .../config/global_costmap_params_nomap.yaml | 5 + .../config/global_costmap_params_withmap.yaml | 5 + .../config/local_costmap_params.yaml | 10 + stretch_navigation/launch/mapping.launch | 19 + stretch_navigation/launch/navigation.launch | 26 + stretch_navigation/package.xml | 16 + stretch_navigation/rviz/mapping.rviz | 412 +++++ stretch_navigation/rviz/navigation.rviz | 412 +++++ 183 files changed, 26716 insertions(+) create mode 100644 README.md create mode 100644 hello_helpers/CMakeLists.txt create mode 100644 hello_helpers/LICENSE.md create mode 100644 hello_helpers/README.md create mode 100644 hello_helpers/package.xml create mode 100644 hello_helpers/setup.py create mode 100644 hello_helpers/src/hello_helpers/__init__.py create mode 100644 hello_helpers/src/hello_helpers/fit_plane.py create mode 100644 hello_helpers/src/hello_helpers/hello_misc.py create mode 100644 hello_helpers/src/hello_helpers/hello_ros_viz.py create mode 100644 images/HelloRobotLogoBar.png create mode 100644 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create mode 100644 stretch_navigation/config/global_costmap_params_withmap.yaml create mode 100644 stretch_navigation/config/local_costmap_params.yaml create mode 100644 stretch_navigation/launch/mapping.launch create mode 100644 stretch_navigation/launch/navigation.launch create mode 100644 stretch_navigation/package.xml create mode 100644 stretch_navigation/rviz/mapping.rviz create mode 100644 stretch_navigation/rviz/navigation.rviz diff --git a/README.md b/README.md new file mode 100644 index 0000000..140184d --- /dev/null +++ b/README.md @@ -0,0 +1,54 @@ +![](./images/HelloRobotLogoBar.png) + +## Overview + +The *stretch_ros* repository holds ROS related code for the Stretch RE1 mobile manipulator from Hello Robot Inc. + +**Please be aware that the code in this repository is currently under heavy development.** + + +| Resource | Description | +| ------------------------------------------------------------ | ------------------------------------------------------------ | +[hello_helpers](https://github.com/hello-robot/stretch_ros/blob/master/hello_helpers/README.md) | Miscellaneous helper code used across the stretch_ros repository +[stretch_calibration](https://github.com/hello-robot/stretch_ros/tree/master/stretch_calibration/README.md) | Creates and updates calibrated URDFs for the Stretch RE1 +[stretch_core](https://github.com/hello-robot/stretch_ros/tree/master/stretch_core/README.md) | Enables basic use of the Stretch RE1 from ROS +[stretch_deep_perception](https://github.com/hello-robot/stretch_ros/blob/master/stretch_deep_perception/README.md) | Demonstrations that use open deep learning models to perceive the world +[stretch_demos](https://github.com/hello-robot/stretch_ros/tree/master/stretch_demos/README.md) | Demonstrations of simple autonomous manipulation +[stretch_description](https://github.com/hello-robot/stretch_ros/blob/master/stretch_description/README.md) | Generate and export URDFs +[stretch_funmap](https://github.com/hello-robot/stretch_ros/blob/master/stretch_funmap/README.md) | Demonstrations of Fast Unified Navigation, Manipulation And Planning (FUNMAP) +[stretch_navigation](https://github.com/hello-robot/stretch_ros/blob/master/stretch_navigation/README.md) | Common ROS navigation for the Stretch RE1 + + + +## Code Status & Development Plans + +We intend for the following high-level summary to provide guidance about the current state of the code and planned development activities. + +Directory | Testing Status | Notes +--- | --- | --- +hello_helpers | FAIR | +stretch_calibration | GOOD | +stretch_core | FAIR | limited capabilities and a current development focus +stretch_deep_perception | GOOD | +stretch_demos | POOR | current development focus +stretch_description | GOOD | +stretch_funmap | POOR | current development focus +stretch_navigation | GOOD | + +## Licenses + +This software is intended for use with the Stretch RE1 mobile manipulator, which is a robot produced and sold by Hello Robot Inc. For further information, including inquiries about dual licensing, please contact Hello Robot Inc. + +For license details for this repository, see the LICENSE files found in the directories. A summary of the licenses follows: + +Directory | License +--- | --- +hello_helpers | [Apache 2.0](http://www.apache.org/licenses/LICENSE-2.0) +stretch_calibration | [GPLv3](https://www.gnu.org/licenses/gpl-3.0.html) +stretch_core | [Apache 2.0](http://www.apache.org/licenses/LICENSE-2.0) +stretch_deep_perception | [Apache 2.0](http://www.apache.org/licenses/LICENSE-2.0) +stretch_demos | [Apache 2.0](http://www.apache.org/licenses/LICENSE-2.0) +stretch_description | [CC BY-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/) +stretch_funmap | [LGPLv3](https://www.gnu.org/licenses/lgpl-3.0.en.html) +stretch_navigation | [Apache 2.0](http://www.apache.org/licenses/LICENSE-2.0) + diff --git a/hello_helpers/CMakeLists.txt b/hello_helpers/CMakeLists.txt new file mode 100644 index 0000000..5956985 --- /dev/null +++ b/hello_helpers/CMakeLists.txt @@ -0,0 +1,197 @@ +cmake_minimum_required(VERSION 2.8.3) +project(hello_helpers) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## 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 COMPONENTS + rospy +) + +## 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 exec_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 exec_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 exec_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 your 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 hello_helpers +# CATKIN_DEPENDS rospy +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/hello_helpers.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/hello_helpers_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_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 ${PROJECT_NAME} ${PROJECT_NAME}_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_hello_helpers.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/hello_helpers/LICENSE.md b/hello_helpers/LICENSE.md new file mode 100644 index 0000000..c45b1e2 --- /dev/null +++ b/hello_helpers/LICENSE.md @@ -0,0 +1,11 @@ +The following license applies to the entire contents of this directory (the "Contents"), which contains software for use with the Stretch RE1 mobile manipulator, which is a robot produced and sold by Hello Robot Inc. + +Copyright 2020 Hello Robot Inc. + +The Contents are licensed under the Apache License, Version 2.0 (the "License"). You may not use the Contents 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, the Contents are distributed under the License are 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. + +For further information about the Contents including inquiries about dual licensing, please contact Hello Robot Inc. diff --git a/hello_helpers/README.md b/hello_helpers/README.md new file mode 100644 index 0000000..48222db --- /dev/null +++ b/hello_helpers/README.md @@ -0,0 +1,29 @@ +![](../images/HelloRobotLogoBar.png) + +## Overview + +*hello_helpers* mostly consists of the hello_helpers Python module. This module provides various Python files used across stretch_ros that have not attained sufficient status to stand on their own. + +## Capabilities + +*fit_plane.py* : Fits planes to 3D data. + +*hello_misc.py* : Various functions, including a helpful Python object with which to create ROS nodes. + +*hello_ros_viz.py* : Various helper functions for vizualizations using RViz. + +## Typical Usage + +``` +import hello_helpers.fit_plane as fp +``` +``` +import hello_helpers.hello_misc as hm +``` +``` +import hello_helpers.hello_ros_viz as hr +``` + +## License + +For license information, please see the LICENSE files. diff --git a/hello_helpers/package.xml b/hello_helpers/package.xml new file mode 100644 index 0000000..45060b7 --- /dev/null +++ b/hello_helpers/package.xml @@ -0,0 +1,60 @@ + + + hello_helpers + 0.0.1 + The hello_helpers package + + + + + Hello Robot Inc. + + + + + Apache License 2.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + rospy + rospy + rospy + + + + + + + + diff --git a/hello_helpers/setup.py b/hello_helpers/setup.py new file mode 100644 index 0000000..59c85cf --- /dev/null +++ b/hello_helpers/setup.py @@ -0,0 +1,8 @@ +#!/usr/bin/env python + +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +setup_args = generate_distutils_setup( packages=['hello_helpers'], package_dir={'': 'src'}) + +setup(**setup_args) diff --git a/hello_helpers/src/hello_helpers/__init__.py b/hello_helpers/src/hello_helpers/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/hello_helpers/src/hello_helpers/fit_plane.py b/hello_helpers/src/hello_helpers/fit_plane.py new file mode 100644 index 0000000..3af4124 --- /dev/null +++ b/hello_helpers/src/hello_helpers/fit_plane.py @@ -0,0 +1,303 @@ +#!/usr/bin/env python + +from __future__ import print_function + +import numpy as np +import cv2 + +def fit_plane_to_height_image(height_image, mask): + # Perform a least squares fit of a plane to the masked region of + # the height_image. Find the 3 element vector a for the equation + # aX ~= z where X[:,i] = [x_i, y_i, 1]^T, z[i] = z_i and a=[alpha, + # beta, gamma] such that alpha*x + beta*y + gamma ~= z . + z = height_image[mask > 0] + nonzero = cv2.findNonZero(mask) + perform_test = False + if perform_test: + print('z.shape =', z.shape) + print(z) + for n in range(10): + test_x, test_y = nonzero[n][0] + test_z = height_image[test_y, test_x] + + print('x, y, z, z_test =', test_x, test_y, test_z, z[n]) + num_points, s1, s2 = nonzero.shape + nonzero = np.reshape(nonzero, (num_points, 2)) + X_T = np.append(nonzero, np.ones((num_points,1)), axis=1) + a0 = np.matmul(z, X_T) + A1 = np.matmul(X_T.transpose(), X_T) + A1 = np.linalg.inv(A1) + a = np.matmul(a0, A1) + X = X_T.transpose() + # aX ~= z + return a, X, z + +def fit_plane_to_height_image_error(a, X, z): + # Calculate the fit error for the plane. + z_fit = np.matmul(a, X) + fit_error = z - z_fit + return fit_error, z_fit + + +def svd_fit(points, verbose=False): + # calculate and subtract the mean + center = np.mean(points, axis=0) + + if verbose: + print( 'center =', center ) + + # make the point distribution have zero mean + points_zero_mean = points - center + + if verbose: + print( 'points_zero_mean[:5] =', points_zero_mean[:5] ) + print( 'points_zero_mean.shape =', points_zero_mean.shape ) + + # find the covariance matrix, C, for the data + C = np.cov(points_zero_mean.transpose()) + + # find the SVD of the covariance matrix + u, s, vh = np.linalg.svd(C) + + e0 = np.reshape(u[:, 0], (3,1)) + e1 = np.reshape(u[:, 1], (3,1)) + e2 = np.reshape(u[:, 2], (3,1)) + + center = np.reshape(center, (3,1)) + + return center, e0, e1, e2 + + +class FitPlane(): + def __init__(self): + self.d = None + self.n = None + # defines the direction from points to the camera + self.towards_camera = np.reshape(np.array([0.0, 0.0, -1.0]), (3,1)) + + def set_plane(self, n, d): + self.n = n + self.d = d + self.update() + + def update(self): + return + + def get_plane_normal(self): + return -self.n + + def get_plane_coordinate_system(self): + z_p = -self.n + # two options to avoid selecting poor choice that is almost + # parallel to z_p + x_approx = np.reshape(np.array([1.0, 0.0, 0.0]), (3,1)) + x_approx_1 = x_approx - (np.matmul(z_p.transpose(), x_approx) * z_p) + x_approx = np.reshape(np.array([0.0, 1.0, 0.0]), (3,1)) + x_approx_2 = x_approx - (np.matmul(z_p.transpose(), x_approx) * z_p) + x_approx_1_mag = np.linalg.norm(x_approx_1) + x_approx_2_mag = np.linalg.norm(x_approx_2) + if x_approx_1_mag > x_approx_2_mag: + x_p = x_approx_1 / x_approx_1_mag + else: + x_p = x_approx_2 / x_approx_2_mag + y_p = np.reshape(np.cross(z_p.flatten(), x_p.flatten()), (3,1)) + + p_origin = self.d * self.n + return x_p, y_p, z_p, p_origin + + + def get_points_on_plane(self, plane_origin=None, side_length=1.0, sample_spacing=0.01): + x_p, y_p, z_p, p_origin = self.get_plane_coordinate_system() + h = side_length/2.0 + if plane_origin is None: + plane_list = [np.reshape((x_p * alpha) + (y_p * beta) + p_origin, (3,)) + for alpha in np.arange(-h, h, sample_spacing) + for beta in np.arange(-h, h, sample_spacing)] + else: + plane_origin = np.reshape(plane_origin, (3, 1)) + plane_list = [np.reshape((x_p * alpha) + (y_p * beta) + plane_origin, (3,)) + for alpha in np.arange(-h, h, sample_spacing) + for beta in np.arange(-h, h, sample_spacing)] + + plane_array = np.array(plane_list) + return plane_array + + + def abs_dist(self, points_array): + out = np.abs(np.matmul(self.n.transpose(), points_array.transpose()) - self.d).flatten() + return out + + def height(self, points_array): + # positive is closer to the camera (e.g., above floor) + # negative is farther from the camera (e.g., below floor)? + out = - (np.matmul(self.n.transpose(), points_array.transpose()) - self.d).flatten() + return out + + def get_points_nearby(self, points_array, dist_threshold_mm): + # return points that are within a distance from the current plane + if (self.n is not None) and (self.d is not None): + dist = np.abs(np.matmul(self.n.transpose(), points_array.transpose()) - self.d).flatten() + # only points < dist_threshold meters away from the plane are + # considered in the fit dist_threshold = 0.2 #1.0 #0.5 #0.2 + + dist_threshold_m = dist_threshold_mm / 1000.0 + thresh_test = np.abs(dist) < dist_threshold_m + points = points_array[thresh_test, :] + else: + points = points_array + return points + + + def fit_svd(self, points_array, + dist_threshold_mm=200.0, + prefilter_points=False, + verbose=True): + # relevant numpy documentation for SVD: + # + # "When a is a 2D array, it is factorized as u @ np.diag(s) @ vh" + # + #" The rows of vh are the eigenvectors of A^H A and the + # columns of u are the eigenvectors of A A^H. In both cases + # the corresponding (possibly non-zero) eigenvalues are given + # by s**2. " + + if prefilter_points: + # only fit to points near the current plane + points = self.get_points_nearby(points_array, dist_threshold_mm) + else: + points = points_array + + center, e0, e1, e2 = svd_fit(points, verbose) + + # find the smallest eigenvector, which corresponds to the + # normal of the plane + n = e2 + + # ensure that the direction of the normal matches our convention + approximate_up = self.towards_camera + if np.matmul(n.transpose(), approximate_up) > 0.0: + n = -n + if verbose: + print( 'SVD fit' ) + print( 'n =', n ) + print( 'np.linalg.norm(n) =', np.linalg.norm(n) ) + + #center = np.reshape(center, (3,1)) + d = np.matmul(n.transpose(), center) + if verbose: + print( 'd =', d ) + + self.d = d + self.n = n + if verbose: + print( 'self.d =', self.d ) + print( 'self.n =', self.n ) + self.update() + + + def fit_ransac(self, points_array, + dist_threshold=0.2, + ransac_inlier_threshold_m=0.04, + use_density_normalization=False, + number_of_iterations=100, + prefilter_points=False, + verbose=True): + # Initial RANSAC algorithm based on pseudocode on Wikipedia + # https://en.wikipedia.org/wiki/Random_sample_consensus + + if prefilter_points: + # only fit to points near the current plane + dist_threshold_mm = dist_threshold * 1000.0 + points = self.get_points_nearby(points_array, dist_threshold_mm) + else: + points = points_array + + num_points = points.shape[0] + indices = np.arange(num_points) + + ransac_threshold_m = ransac_inlier_threshold_m + + min_num_inliers = 100 + + approximate_up = self.towards_camera + + # should be well above the maximum achievable error, since + # error is average distance in meters + + best_model_inlier_selector = None + best_model_inlier_count = 0 + + for i in range(number_of_iterations): + if verbose: + print( 'RANSAC iteration', i ) + candidate_inliers = points[np.random.choice(indices, 3), :] + c0, c1, c2 = candidate_inliers + # fit plane to candidate inliers + n = np.cross(c1 - c0, c2 - c0) + if np.dot(n, approximate_up) > 0.0: + n = -n + n = np.reshape(n / np.linalg.norm(n), (3,1)) + c0 = np.reshape(c0, (3,1)) + d = np.matmul(n.transpose(), c0) + + dist = np.abs(np.matmul(n.transpose(), points.transpose()) - d).flatten() + select_model_inliers = dist < ransac_threshold_m + if use_density_normalization: + inliers = points[select_model_inliers] + # square grid with this many bins to a side, small + # values (e.g., 10 and 20) can result in the fit being + # biased towards edges of the planar region + num_bins = 100 # num_bins x num_bins = total bins + density_image, mm_per_pix, x_indices, y_indices = create_density_image(inliers, self, image_width_pix=num_bins, view_width_m=5.0, return_indices=True) + density_image = np.reciprocal(density_image, where=density_image!=0.0) + number_model_inliers = np.int(np.round(np.sum(density_image[y_indices, x_indices]))) + else: + number_model_inliers = np.count_nonzero(select_model_inliers) + if number_model_inliers > min_num_inliers: + if verbose: + print( 'model found with %d inliers' % number_model_inliers ) + if number_model_inliers > best_model_inlier_count: + if verbose: + print( 'model has more inliers than the previous best model, so updating' ) + best_model_n = n + best_model_d = d + best_model_inlier_count = number_model_inliers + best_model_inlier_selector = select_model_inliers + best_model_inliers = None + best_model_error = None + elif number_model_inliers == best_model_inlier_count: + if verbose: + print( 'model has the same number of inliers as the previous best model, so comparing' ) + model_inliers = points[select_model_inliers] + # error is the average distance of points from the plane + # sum_i | n^T p_i - d | + # should be able to make this faster by selecting from the already computed distances + new_error = np.average(np.abs(np.matmul(n.transpose(), model_inliers.transpose()) - d)) + if best_model_inliers is None: + best_model_inliers = points[best_model_inlier_selector] + if best_model_error is None: + # should be able to make this faster by + # selecting from the already computed + # distances + best_model_error = np.average(np.abs(np.matmul(best_model_n.transpose(), best_model_inliers.transpose()) - best_model_d)) + if new_error < best_model_error: + if verbose: + print( 'model has a lower error than the previous model, so updating' ) + best_model_n = n + best_model_d = d + best_model_inlier_count = number_model_inliers + best_model_inlier_selector = select_model_inliers + best_model_inliers = model_inliers + best_model_error = new_error + if best_model_inlier_count > 0: + if verbose: + print( 'RANSAC FINISHED' ) + print( 'new model found by RANSAC:' ) + self.d = best_model_d + self.n = best_model_n + if verbose: + print( 'self.d =', self.d ) + print( 'self.n =', self.n ) + self.update() + else: + print( 'RANSAC FAILED TO FIND A MODEL' ) diff --git a/hello_helpers/src/hello_helpers/hello_misc.py b/hello_helpers/src/hello_helpers/hello_misc.py new file mode 100644 index 0000000..0f88d9b --- /dev/null +++ b/hello_helpers/src/hello_helpers/hello_misc.py @@ -0,0 +1,215 @@ +#!/usr/bin/env python + +from __future__ import print_function + +import time +import os +import glob +import math + +import rospy +import tf2_ros +import ros_numpy +import numpy as np +import cv2 + +import actionlib +from control_msgs.msg import FollowJointTrajectoryAction +from control_msgs.msg import FollowJointTrajectoryGoal +from trajectory_msgs.msg import JointTrajectoryPoint +import tf2_ros +from sensor_msgs.msg import PointCloud2 +from std_srvs.srv import Trigger, TriggerRequest + + +####################### +# initial code copied from stackoverflow.com on 10/20/2019 +# https://stackoverflow.com/questions/45225474/find-nearest-white-pixel-to-a-given-pixel-location-opencv +def find_nearest_nonzero(img, target): + nonzero = cv2.findNonZero(img) + distances = np.sqrt((nonzero[:,:,0] - target[0]) ** 2 + (nonzero[:,:,1] - target[1]) ** 2) + nearest_index = np.argmin(distances) + nearest_x, nearest_y = nonzero[nearest_index][0] + nearest_label = img[nearest_y, nearest_x] + return nearest_x, nearest_y, nearest_label +####################### + + +def get_wrist_state(joint_states): + telescoping_joints = ['joint_arm_l0', 'joint_arm_l1', 'joint_arm_l2', 'joint_arm_l3'] + wrist_velocity = 0.0 + wrist_position = 0.0 + wrist_effort = 0.0 + for joint_name in telescoping_joints: + i = joint_states.name.index(joint_name) + wrist_position += joint_states.position[i] + wrist_velocity += joint_states.velocity[i] + wrist_effort += joint_states.effort[i] + + wrist_effort = wrist_effort / len(telescoping_joints) + return [wrist_position, wrist_velocity, wrist_effort] + +def get_lift_state(joint_states): + joint_name = 'joint_lift' + i = joint_states.name.index(joint_name) + lift_position = joint_states.position[i] + lift_velocity = joint_states.velocity[i] + lift_effort = joint_states.effort[i] + return [lift_position, lift_velocity, lift_effort] + +def get_left_finger_state(joint_states): + joint_name = 'joint_gripper_finger_left' + i = joint_states.name.index(joint_name) + left_finger_position = joint_states.position[i] + left_finger_velocity = joint_states.velocity[i] + left_finger_effort = joint_states.effort[i] + return [left_finger_position, left_finger_velocity, left_finger_effort] + +class HelloNode: + def __init__(self): + self.joint_state = None + self.point_cloud = None + + def joint_states_callback(self, joint_state): + self.joint_state = joint_state + + def point_cloud_callback(self, point_cloud): + self.point_cloud = point_cloud + + def move_to_pose(self, pose, async=False): + joint_names = [key for key in pose] + self.trajectory_goal.trajectory.joint_names = joint_names + joint_positions = [pose[key] for key in joint_names] + self.point.positions = joint_positions + self.trajectory_goal.trajectory.points = [self.point] + self.trajectory_goal.trajectory.header.stamp = rospy.Time.now() + self.trajectory_client.send_goal(self.trajectory_goal) + if not async: + self.trajectory_client.wait_for_result() + #print('Received the following result:') + #print(self.trajectory_client.get_result()) + + def get_robot_floor_pose_xya(self, floor_frame='odom'): + # Returns the current estimated x, y position and angle of the + # robot on the floor. This is typically called with respect to + # the odom frame or the map frame. x and y are in meters and + # the angle is in radians. + + # Navigation planning is performed with respect to a height of + # 0.0, so the heights of transformed points are 0.0. The + # simple method of handling the heights below assumes that the + # frame is aligned such that the z axis is normal to the + # floor, so that ignoring the z coordinate is approximately + # equivalent to projecting a point onto the floor. + + # Query TF2 to obtain the current estimated transformation + # from the robot's base_link frame to the frame. + robot_to_odom_mat, timestamp = get_p1_to_p2_matrix('base_link', floor_frame, self.tf2_buffer) + + # Find the robot's current location in the frame. + r0 = np.array([0.0, 0.0, 0.0, 1.0]) + r0 = np.matmul(robot_to_odom_mat, r0)[:2] + + # Find the current angle of the robot in the frame. + r1 = np.array([1.0, 0.0, 0.0, 1.0]) + r1 = np.matmul(robot_to_odom_mat, r1)[:2] + robot_forward = r1 - r0 + r_ang = np.arctan2(robot_forward[1], robot_forward[0]) + + return [r0[0], r0[1], r_ang], timestamp + + + def main(self, node_name, node_topic_namespace, wait_for_first_pointcloud=True): + rospy.init_node(node_name) + self.node_name = rospy.get_name() + rospy.loginfo("{0} started".format(self.node_name)) + + self.trajectory_client = actionlib.SimpleActionClient('/stretch_controller/follow_joint_trajectory', FollowJointTrajectoryAction) + self.trajectory_goal = FollowJointTrajectoryGoal() + self.trajectory_goal.goal_time_tolerance = rospy.Time(1.0) + server_reached = self.trajectory_client.wait_for_server(timeout=rospy.Duration(60.0)) + if not server_reached: + rospy.signal_shutdown('Unable to connect to arm action server. Timeout exceeded.') + sys.exit() + self.point = JointTrajectoryPoint() + self.point.time_from_start = rospy.Duration(0.0) + + self.tf2_buffer = tf2_ros.Buffer() + self.tf2_listener = tf2_ros.TransformListener(self.tf2_buffer) + + self.point_cloud_subscriber = rospy.Subscriber('/camera/depth/color/points', PointCloud2, self.point_cloud_callback) + self.point_cloud_pub = rospy.Publisher('/' + node_topic_namespace + '/point_cloud2', PointCloud2, queue_size=1) + + rospy.wait_for_service('/stop_the_robot') + rospy.loginfo('Node ' + self.node_name + ' connected to /stop_the_robot service.') + self.stop_the_robot_service = rospy.ServiceProxy('/stop_the_robot', Trigger) + + if wait_for_first_pointcloud: + # Do not start until a point cloud has been received + point_cloud_msg = self.point_cloud + print('Node ' + node_name + ' waiting to receive first point cloud.') + while point_cloud_msg is None: + rospy.sleep(0.1) + point_cloud_msg = self.point_cloud + print('Node ' + node_name + ' received first point cloud, so continuing.') + + +def create_time_string(): + t = time.localtime() + time_string = 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) + str(t.tm_sec).zfill(2) + return time_string + + +def get_recent_filenames(filename_without_time_suffix, filename_extension, remove_extension=False): + filenames = glob.glob(filename_without_time_suffix + '_*[0-9]' + '.' + filename_extension) + filenames.sort() + if remove_extension: + return [os.path.splitext(f)[0] for f in filenames] + return filenames + + +def get_most_recent_filename(filename_without_time_suffix, filename_extension, remove_extension=False): + filenames = get_recent_filenames(filename_without_time_suffix, filename_extension, remove_extension=remove_extension) + most_recent_filename = filenames[-1] + return most_recent_filename + + +def angle_diff_deg(target_deg, current_deg): + # I've written this type of function many times before, and it's + # always been annoying and tricky. This time, I looked on the web: + # https://stackoverflow.com/questions/1878907/the-smallest-difference-between-2-angles + diff_deg = target_deg - current_deg + diff_deg = ((diff_deg + 180.0) % 360.0) - 180.0 + return diff_deg + + +def angle_diff_rad(target_rad, current_rad): + # I've written this type of function many times before, and it's + # always been annoying and tricky. This time, I looked on the web: + # https://stackoverflow.com/questions/1878907/the-smallest-difference-between-2-angles + diff_rad = target_rad - current_rad + diff_rad = ((diff_rad + math.pi) % (2.0 * math.pi)) - math.pi + return diff_rad + + +def get_p1_to_p2_matrix(p1_frame_id, p2_frame_id, tf2_buffer, lookup_time=None, timeout_s=None): + # If the necessary TF2 transform is successfully looked up, this + # returns a 4x4 affine transformation matrix that transforms + # points in the p1_frame_id frame to points in the p2_frame_id. + try: + if lookup_time is None: + lookup_time = rospy.Time(0) # return most recent transform + if timeout_s is None: + timeout_ros = rospy.Duration(0.1) + else: + timeout_ros = rospy.Duration(timeout_s) + stamped_transform = tf2_buffer.lookup_transform(p2_frame_id, p1_frame_id, lookup_time, timeout_ros) + + # http://docs.ros.org/melodic/api/geometry_msgs/html/msg/TransformStamped.html + + p1_to_p2_mat = ros_numpy.numpify(stamped_transform.transform) + return p1_to_p2_mat, stamped_transform.header.stamp + except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: + print('WARNING: get_p1_to_p2_matrix failed to lookup transform from p1_frame_id =', p1_frame_id, ' to p2_frame_id =', p2_frame_id) + print(' exception =', e) + return None, None diff --git a/hello_helpers/src/hello_helpers/hello_ros_viz.py b/hello_helpers/src/hello_helpers/hello_ros_viz.py new file mode 100644 index 0000000..62e6589 --- /dev/null +++ b/hello_helpers/src/hello_helpers/hello_ros_viz.py @@ -0,0 +1,128 @@ + +#!/usr/bin/env python + +from __future__ import print_function + +import rospy +from visualization_msgs.msg import Marker, MarkerArray +from geometry_msgs.msg import Point +from std_msgs.msg import ColorRGBA +import numpy as np + +def create_line_strip(points, id_num, frame_id, timestamp, rgba=[1.0, 0.0, 0.0, 1.0], line_width_m=0.01, duration_s=0.0): + marker = Marker() + marker.header.frame_id = frame_id + marker.header.stamp = timestamp + marker.id = id_num + marker.type = marker.LINE_STRIP + marker.action = marker.ADD + marker.lifetime = rospy.Duration(duration_s) + + # scale of 1,1,1 would result in a 1m x 1m x 1m cube + + # "Line strips also have some special handling for scale: only + # scale.x is used and it controls the width of the line segments." + # http://wiki.ros.org/rviz/DisplayTypes/Marker#Line_Strip_.28LINE_STRIP.3D4.29 + marker.scale.x = line_width_m + + c = marker.color + c.r, c.g, c.b, c.a = rgba + + marker.points = [] + for p in points: + ros_p = Point() + ros_p.x = p[0] + ros_p.y = p[1] + ros_p.z = p[2] + marker.points.append(ros_p) + return marker + +def create_sphere_marker(xyz, id_num, frame_id, timestamp, rgba=[1.0, 0.0, 0.0, 1.0], diameter_m=0.01, duration_s=0.0): + # a marker duration of 0 should last forever + marker = Marker() + marker.header.frame_id = frame_id + marker.header.stamp = timestamp + marker.id = id_num + marker.type = marker.SPHERE #CUBE + marker.action = marker.ADD + marker.lifetime = rospy.Duration(duration_s) + # scale of 1,1,1 would result in a 1m x 1m x 1m cube + marker.scale.x = diameter_m + marker.scale.y = diameter_m + marker.scale.z = diameter_m + marker.pose.position.x = xyz[0] + marker.pose.position.y = xyz[1] + marker.pose.position.z = xyz[2] + c = marker.color + c.r, c.g, c.b, c.a = rgba + return marker + +def create_axis_marker(xyz, axis, id_num, frame_id, timestamp, rgba, length=0.02, duration_s=0.0, arrow_scale=1.0): + marker = Marker() + marker.header.frame_id = frame_id + marker.header.stamp = timestamp + marker.id = id_num + marker.type = marker.ARROW + marker.action = marker.ADD + marker.lifetime = rospy.Duration(duration_s) + axis_arrow = {'head_diameter': (arrow_scale * 0.005), + 'shaft_diameter': (arrow_scale * 0.003), + 'head_length': (arrow_scale * 0.003)} + # "scale.x is the shaft diameter, and scale.y is the + # head diameter. If scale.z is not zero, it specifies + # the head length." - + # http://wiki.ros.org/rviz/DisplayTypes/Marker#Arrow_.28ARROW.3D0.29 + marker.scale.x = axis_arrow['shaft_diameter'] + marker.scale.y = axis_arrow['head_diameter'] + marker.scale.z = axis_arrow['head_length'] + c = marker.color + c.r, c.g, c.b, c.a = rgba + start_point = Point() + x, y, z = xyz + start_point.x = x + start_point.y = y + start_point.z = z + end_point = Point() + end_point.x = x + (axis[0] * length) + end_point.y = y + (axis[1] * length) + end_point.z = z + (axis[2] * length) + marker.points = [start_point, end_point] + return marker + +def create_points_marker(points_xyz, id_num, frame_id, timestamp, + points_rgba=None, duration_s=0.0, + default_rgba=(0.0, 1.0, 0.0, 1.0), + point_width=0.005): + marker = Marker() + marker.header.frame_id = frame_id + marker.header.stamp = timestamp + marker.id = id_num + marker.type = marker.POINTS + marker.action = marker.ADD + marker.lifetime = rospy.Duration(duration_s) + + # ROS documentation: "scale.x is point width, scale.y is point + # height" + marker.scale.x = point_width + marker.scale.y = point_width + + points = [] + colors = [] + for name, xyz in points_xyz.items(): + p = Point() + x, y, z = xyz + p.x = x + p.y = y + p.z = z + points.append(p) + c = ColorRGBA() + if points_rgba is None: + c.r, c.g, c.b, c.a = default_rgba + else: + c.r, c.g, c.b, c.a = points_rgba[name] + colors.append(c) + + marker.points = points + marker.colors = colors + return marker + diff --git a/images/HelloRobotLogoBar.png b/images/HelloRobotLogoBar.png new file mode 100644 index 0000000000000000000000000000000000000000..4db28fd557a68ae31f0a1ff99fab735212b61048 GIT binary patch literal 7533 zcmeHMS6EY7yCw+)gOnMpfEXP>WGDim*MKM>1RSauDGG$po6<`n)-*@HqSrdI8ECkp=h)bU6%6%sEQ0K2hdAdW`oiizFQ322DlSlJY}I>stqUeZ z!3fx1HcHwjulL20cJmL^n%TZjR*3eDKe|hJC9Mk`o#~wCx9HvQl zbZp;QB#2}0-!2fr+J8O*RyZ_)p$h0ZHh9sG01mdT@caYQx1Z?!vgAHL&Xu5lYykYE 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z0mOcB0QobSCptU4`ls%C><*Y)**#WM^aBVf69Bod?WLW^pnvK~haSM(fWrE4`yW7@ zO97C-uXqLBmK*;OcyuaY?#%hv^_m|+r~t@cU%Aa=_JfaXzcu5M!^`2@&G + + + + + + + + + + + + + + + + + + + + + [/stretch/joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/stretch_calibration/launch/process_head_calibration_data.launch b/stretch_calibration/launch/process_head_calibration_data.launch new file mode 100644 index 0000000..f7da017 --- /dev/null +++ b/stretch_calibration/launch/process_head_calibration_data.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/stretch_calibration/launch/process_head_calibration_data_with_visualization.launch b/stretch_calibration/launch/process_head_calibration_data_with_visualization.launch new file mode 100644 index 0000000..fc737d4 --- /dev/null +++ b/stretch_calibration/launch/process_head_calibration_data_with_visualization.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/stretch_calibration/launch/simple_test_head_calibration.launch b/stretch_calibration/launch/simple_test_head_calibration.launch new file mode 100644 index 0000000..831b271 --- /dev/null +++ b/stretch_calibration/launch/simple_test_head_calibration.launch @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/stretch_calibration/launch/simple_test_head_calibration_low_resolution.launch b/stretch_calibration/launch/simple_test_head_calibration_low_resolution.launch new file mode 100644 index 0000000..b65afe5 --- /dev/null +++ b/stretch_calibration/launch/simple_test_head_calibration_low_resolution.launch @@ -0,0 +1,58 @@ + + + + + + + + + + + + + + + + + + + + + [/stretch/joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/stretch_calibration/launch/use_prior_head_calibration_to_update_urdf.launch b/stretch_calibration/launch/use_prior_head_calibration_to_update_urdf.launch new file mode 100644 index 0000000..6bf5965 --- /dev/null +++ b/stretch_calibration/launch/use_prior_head_calibration_to_update_urdf.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/stretch_calibration/launch/visualize_head_calibration.launch b/stretch_calibration/launch/visualize_head_calibration.launch new file mode 100644 index 0000000..c69dc30 --- /dev/null +++ b/stretch_calibration/launch/visualize_head_calibration.launch @@ -0,0 +1,58 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [/stretch/joint_states] + + + + + + + + + + + + + + + + + + + + + + diff --git a/stretch_calibration/nodes/calibration.py b/stretch_calibration/nodes/calibration.py new file mode 100644 index 0000000..a14bc15 --- /dev/null +++ b/stretch_calibration/nodes/calibration.py @@ -0,0 +1,363 @@ +#!/usr/bin/env python + +from __future__ import print_function + +from sensor_msgs.msg import JointState +from geometry_msgs.msg import Twist +from nav_msgs.msg import Odometry + +import rospy +import actionlib +from control_msgs.msg import FollowJointTrajectoryAction +from control_msgs.msg import FollowJointTrajectoryGoal +from trajectory_msgs.msg import JointTrajectoryPoint + +from visualization_msgs.msg import Marker +from visualization_msgs.msg import MarkerArray + +from tf.transformations import quaternion_from_euler, euler_from_quaternion, quaternion_from_matrix + +from sensor_msgs.msg import Imu +from geometry_msgs.msg import Point + +import math +import time +import threading +import sys + +import numpy as np + +from copy import deepcopy + +import yaml +import time +import glob +import argparse as ap + +from urdf_parser_py.urdf import URDF as urdf_parser +import urdf_parser_py as up + +from scipy.spatial.transform import Rotation +import cma + +from visualization_msgs.msg import Marker +from visualization_msgs.msg import MarkerArray + +from hello_helpers.hello_misc import * +import hello_helpers.hello_ros_viz as hr + + +def use_all_data(sample_number, sample): + return True + +def use_very_little_data(sample_number, sample): + if (sample_number % 20) == 0: + return True + else: + return False + +def use_all_aruco_and_some_accel(sample_number, sample): + c = sample['camera_measurements'] + + wrist_inside_marker_detected = (c['wrist_inside_marker_pose'] != None) + wrist_top_marker_detected = (c['wrist_top_marker_pose'] != None) + base_left_marker_detected = (c['base_left_marker_pose'] != None) + base_right_marker_detected = (c['base_right_marker_pose'] != None) + + # If an ArUco marker is detected, use the sample + if wrist_top_marker_detected or wrist_inside_marker_detected or base_left_marker_detected or base_right_marker_detected: + return True + # For all other samples (accelerometer samples) use only some of the samples. + if (sample_number % 7) == 0: + return True + return False + +def soft_constraint_error(x, thresh, scale): + if x > thresh: + return scale * (x - thresh) + else: + return 0.0 + +def write_urdf_to_file(urdf): + urdf_string = urdf.to_xml_string() + fid = open('test.urdf', 'w') + fid.write(urdf_string) + fid.close() + +def affine_matrix_difference(t1, t2, size=4): + error = 0.0 + for i in range(size): + for j in range(size): + error += abs(t1[i,j] - t2[i,j]) + return error + +def rot_to_axes(r): + x_axis = np.reshape(r[:3,0], (3,1)) + y_axis = np.reshape(r[:3,1], (3,1)) + z_axis = np.reshape(r[:3,2], (3,1)) + return [x_axis, y_axis, z_axis] + +def norm_axes(axes): + x_axis, y_axis, z_axis = axes + x_axis = x_axis / np.linalg.norm(x_axis) + y_axis = y_axis / np.linalg.norm(y_axis) + z_axis = z_axis / np.linalg.norm(z_axis) + return [x_axis, y_axis, z_axis] + +def quat_to_rotated_axes(rot_mat, q): + r = Rotation.from_quat([q.x, q.y, q.z, q.w]).as_dcm() + rotated_r = np.matmul(rot_mat, r) + return rot_to_axes(rotated_r) + +def axis_error(axis, axis_target): + # dot product comparison: 1.0 is best case and -1.0 is worst case + error = np.dot(axis_target.transpose(), axis) + # linear transform: 0.0 is best case and 1.0 is worst case + return (1.0 - error) / 2.0 + +def axes_error(axes, axes_target): + # 0.0 is the best case and 1.0 is the worst case + errors = np.array([axis_error(axis, axis_target) for axis, axis_target in zip(axes, axes_target)]) + return np.sum(errors)/3.0 + +class Joint: + def __init__(self, urdf_joint): + self.joint = urdf_joint + self.is_joint = True + self.is_link = False + + def get_affine_matrix(self, value): + axis = self.joint.axis + rpy = self.joint.origin.rpy + xyz = self.joint.origin.xyz + affine_matrix = np.identity(4) + affine_matrix[:3, 3] = xyz + affine_matrix[:3,:3] = Rotation.from_euler('xyz', rpy).as_dcm() + if self.joint.type == 'revolute': + axis_affine_matrix = np.identity(4) + rotation_vector = value * (np.array(axis)/np.linalg.norm(axis)) + axis_affine_matrix[:3,:3] = Rotation.from_rotvec(rotation_vector).as_dcm() + affine_matrix = np.matmul(affine_matrix, axis_affine_matrix) + elif self.joint.type == 'prismatic': + axis_affine_matrix = np.identity(4) + axis_affine_matrix[:3, 3] = value * (np.array(axis)/np.linalg.norm(axis)) + affine_matrix = np.matmul(affine_matrix, axis_affine_matrix) + elif self.joint.type == 'fixed': + affine_matrix = affine_matrix + else: + print('ERROR: unrecognized joint type = ', self.joint_type) + exit() + return affine_matrix + + def __str__(self): + return self.joint.__str__() + +class Link: + def __init__(self, urdf_link): + self.link = urdf_link + self.is_joint = False + self.is_link = True + + def __str__(self): + return self.link.__str__() + +class Chain: + def __init__(self, urdf, start_name, end_name): + self.urdf = urdf + self.chain_names = self.urdf.get_chain(start_name, end_name) + self.chain = [] + for name in self.chain_names: + is_joint = self.urdf.joint_map.has_key(name) + is_link = self.urdf.link_map.has_key(name) + if is_joint and is_link: + print('ERROR: a joint and a link have the same name. This is not supported.') + exit() + if is_joint: + self.chain.append(Joint(self.urdf.joint_map[name])) + elif is_link: + self.chain.append(Link(self.urdf.link_map[name])) + else: + print('ERROR: no joint or link was found with the name returned by get_chain') + exit() + + def get_joint_by_name(self, name): + for e in self.chain: + if e.is_joint: + if e.joint.name == name: + return e.joint + return None + + def get_affine_matrix(self, joint_value_dict): + affine_matrix = np.identity(4) + for e in self.chain: + if e.is_joint: + value = joint_value_dict.get(e.joint.name, 0.0) + affine_matrix = np.matmul(affine_matrix, e.get_affine_matrix(value)) + return affine_matrix + + +class ArucoError: + def __init__(self, name, location, aruco_link, urdf, meters_per_deg, rgba): + + self.aruco_link = aruco_link + self.urdf = urdf + # This creates a wrapper around a mutable URDF object that is + # shared across multiple chains + self.marker_frame = '/base_link' + self.aruco_chain = Chain(self.urdf, 'base_link', self.aruco_link) + self.rgba = rgba + self.name = name + self.location = location + self.detected = False + self.observed_aruco_pose = None + self.joint_values = None + self.meters_per_deg = meters_per_deg + self.number_of_observations = None + + def reset_observation_count(self): + self.number_of_observations = 0 + + def increment_observation_count(self, sample): + c = sample['camera_measurements'] + if (c[self.name + '_marker_pose'] != None): + self.number_of_observations += 1 + + def update(self, sample, marker_time, unused): + camera_measurements = sample['camera_measurements'] + self.detected = (camera_measurements.get(self.name + '_marker_pose') != None) + if self.detected is None: + self.detected = False + self.observed_aruco_pose = None + else: + self.observed_aruco_pose = camera_measurements[self.name + '_marker_pose'] + self.joint_values = sample['joints'] + self.marker_time = marker_time + + def get_target_ros_markers(self, sample, marker_id, marker_time, rgba, unused): + ros_markers = [] + + camera_measurements = sample['camera_measurements'] + detected = (camera_measurements.get(self.name + '_marker_pose') != None) + + if (detected is None) or (not detected): + return [], marker_id + + joint_values = sample['joints'] + marker_time = marker_time + + target_transform = self.aruco_chain.get_affine_matrix(joint_values) + target_xyz = target_transform[:3,3] + target_axes = rot_to_axes(target_transform[:3,:3]) + + xyz = target_xyz + marker = hr.create_sphere_marker(xyz, marker_id, self.marker_frame, marker_time, rgba) + marker_id += 1 + ros_markers.append(marker) + + z_axis = target_axes[2] + marker = hr.create_axis_marker(xyz, z_axis, marker_id, self.marker_frame, marker_time, rgba) + marker_id += 1 + ros_markers.append(marker) + + return ros_markers, marker_id + + + def get_observed_ros_markers(self, sample, camera_transform, marker_id, marker_time, rgba): + # This is used when the camera kinematic change is not being fit + # The target/observation structure needs work to cover both head and tool calibration in a nice way. + ros_markers = [] + + camera_measurements = sample['camera_measurements'] + detected = (camera_measurements.get(self.name + '_marker_pose') != None) + + if (detected is None) or (not detected): + return [], marker_id + + observed_aruco_pose = camera_measurements[self.name + '_marker_pose'] + joint_values = sample['joints'] + marker_time = marker_time + + p = observed_aruco_pose.position + observed_xyz = np.dot(camera_transform, np.array([p.x, p.y, p.z, 1.0]))[:3] + xyz = observed_xyz + marker = hr.create_sphere_marker(xyz, marker_id, self.marker_frame, marker_time, rgba) + marker_id += 1 + ros_markers.append(marker) + + q = observed_aruco_pose.orientation + observed_axes = quat_to_rotated_axes(camera_transform[:3,:3], q) + z_axis = observed_axes[2] + marker = hr.create_axis_marker(xyz, z_axis, marker_id, self.marker_frame, marker_time, rgba) + marker_id += 1 + ros_markers.append(marker) + + return ros_markers, marker_id + + + def error(self, camera_transform, fit_z, fit_orientation, marker_id, visualize=True, visualize_targets=False): + # The target/observation structure needs work to cover both head and tool calibration in a nice way. + error = {'pos': 0.0, + 'orient': 0.0} + + target_transform = self.aruco_chain.get_affine_matrix(self.joint_values) + target_xyz = target_transform[:3,3] + target_axes = rot_to_axes(target_transform[:3,:3]) + + # Transform camera observations into the world coordinate + # system through the parametric kinematic chain that is + # being calibrated. + p = self.observed_aruco_pose.position + observed_xyz = np.dot(camera_transform, np.array([p.x, p.y, p.z, 1.0]))[:3] + + if fit_orientation: + q = self.observed_aruco_pose.orientation + observed_axes = quat_to_rotated_axes(camera_transform[:3,:3], q) + + # Calculate errors by comparing the transformed camera + # observations with target values. + if not fit_z: + # Only fit planar direction to the marker + # position due to downward deflection of the + # telescoping arm. + vec1 = observed_xyz[:2] + vec2 = target_xyz[:2] + vec1 = vec1 / np.linalg.norm(vec1) + vec2 = vec2 / np.linalg.norm(vec2) + error['pos'] += (self.meters_per_deg * axis_error(vec1, vec2)) / self.number_of_observations + else: + if fit_orientation: + # Fit the position and angle of the marker + error['pos'] += np.linalg.norm(observed_xyz - target_xyz) / self.number_of_observations + # 0.0 is the best case and 1.0 is the worst case + error['orient'] += (self.meters_per_deg * axes_error(observed_axes, target_axes)) / self.number_of_observations + else: + error['pos'] += np.linalg.norm(observed_xyz - target_xyz) / self.number_of_observations + + ros_markers = [] + + if visualize: + xyz = observed_xyz + marker = hr.create_sphere_marker(xyz, marker_id, self.marker_frame, self.marker_time, self.rgba) + marker_id += 1 + ros_markers.append(marker) + + if fit_orientation: + z_axis = observed_axes[2] + marker = hr.create_axis_marker(xyz, z_axis, marker_id, self.marker_frame, self.marker_time, self.rgba) + marker_id += 1 + ros_markers.append(marker) + + if visualize_targets: + target_rgba = [1.0, 1.0, 1.0, 1.0] + xyz = target_xyz + marker = hr.create_sphere_marker(xyz, marker_id, self.marker_frame, self.marker_time, target_rgba) + marker_id += 1 + ros_markers.append(marker) + + if fit_orientation: + z_axis = target_axes[2] + marker = hr.create_axis_marker(xyz, z_axis, marker_id, self.marker_frame, self.marker_time, target_rgba) + marker_id += 1 + ros_markers.append(marker) + + return error, ros_markers, marker_id diff --git a/stretch_calibration/nodes/collect_head_calibration_data b/stretch_calibration/nodes/collect_head_calibration_data new file mode 100755 index 0000000..f2b1356 --- /dev/null +++ b/stretch_calibration/nodes/collect_head_calibration_data @@ -0,0 +1,592 @@ +#!/usr/bin/env python + +from __future__ import print_function + +from sensor_msgs.msg import JointState +from geometry_msgs.msg import Twist +from nav_msgs.msg import Odometry + +import rospy +import actionlib +from control_msgs.msg import FollowJointTrajectoryAction +from control_msgs.msg import FollowJointTrajectoryGoal +from trajectory_msgs.msg import JointTrajectoryPoint + +import message_filters + +from visualization_msgs.msg import Marker +from visualization_msgs.msg import MarkerArray + +from tf.transformations import quaternion_from_euler, euler_from_quaternion, quaternion_from_matrix + +from sensor_msgs.msg import Imu + +import math +import time +import threading +import sys + +import numpy as np +import ros_numpy + +from copy import deepcopy + +import yaml +import time + +class CollectHeadCalibrationDataNode: + + def __init__(self): + + self.rate = 10.0 + + self.joint_state = None + self.acceleration = None + + self.data_time = None + self.marker_time = None + self.data_lock = threading.Lock() + + def calibration_data_callback(self, joint_state, accel, marker_array): + with self.data_lock: + self.data_time = joint_state.header.stamp + self.joint_state = joint_state + self.acceleration = [accel.linear_acceleration.x, accel.linear_acceleration.y, accel.linear_acceleration.z] + + self.wrist_inside_marker_pose = None + self.wrist_top_marker_pose = None + self.base_left_marker_pose = None + self.base_right_marker_pose = None + self.shoulder_marker_pose = None + + self.marker_time = None + for marker in marker_array.markers: + + # set marker_time to the earliest marker time + if self.marker_time is None: + self.marker_time = marker.header.stamp + elif marker.header.stamp < self.marker_time: + self.marker_time = marker.header.stamp + + if marker.id == self.wrist_inside_marker_id: + self.wrist_inside_marker_pose = marker.pose + + if marker.id == self.wrist_top_marker_id: + self.wrist_top_marker_pose = marker.pose + + if marker.id == self.base_left_marker_id: + self.base_left_marker_pose = marker.pose + + if marker.id == self.base_right_marker_id: + self.base_right_marker_pose = marker.pose + + if marker.id == self.shoulder_marker_id: + self.shoulder_marker_pose = marker.pose + + + def move_to_pose(self, pose): + joint_names = [key for key in pose] + self.trajectory_goal.trajectory.joint_names = joint_names + joint_positions = [pose[key] for key in joint_names] + self.point.positions = joint_positions + self.trajectory_goal.trajectory.points = [self.point] + self.trajectory_goal.trajectory.header.stamp = rospy.Time.now() + self.trajectory_client.send_goal(self.trajectory_goal) + 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): + head_motion_settle_time = 1.0 #5.0 + first_pan_tilt_extra_settle_time = 1.0 + wait_before_each_sample_s = 0.2 + + # generate pan and wrist backlash samples + + # tilt backlash + tilt_backlash_transition = self.tilt_angle_backlash_transition_rad + # Ensure that the head is clearly in one of the two head tilt + # backlash regimes and not in the indeterminate transition + # 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_angle = tilt_angle_center + 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 + # of tilt, so change it to be in a confident range. + down_diff = abs(tilt_backlash_looking_down_max - tilt_angle_center) + up_diff = abs(tilt_backlash_looking_up_min - tilt_angle_center) + if up_diff < down_diff: + tilt_angle = tilt_backlash_looking_up_min + else: + tilt_angle = tilt_backlash_looking_down_max + if tilt_angle > tilt_backlash_transition: + joint_head_tilt_looking_up = True + else: + joint_head_tilt_looking_up = 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 + + samples = [] + + for joint_head_pan_looked_left, wrist_extension_retracted in backlash_combinations: + + if joint_head_pan_looked_left: + pan_angle = pan_angle_center + pan_backlash_change_rad + else: + pan_angle = pan_angle_center - pan_backlash_change_rad + + if wrist_extension_retracted: + wrist_extension = wrist_extension_center - wrist_backlash_change_m + else: + wrist_extension = wrist_extension_center + wrist_backlash_change_m + + # move to backlash state + head_arm_pose = {'joint_head_pan': pan_angle, + 'joint_head_tilt': tilt_angle, + 'wrist_extension': wrist_extension} + self.move_to_pose(head_arm_pose) + + + # wait for the joints and sensors to settle + rospy.sleep(head_motion_settle_time) + settled_time = rospy.Time.now() + + if first_move: + rospy.sleep(first_pan_tilt_extra_settle_time) + + for sample_number in range(number_of_samples): + rospy.sleep(wait_before_each_sample_s) + 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} + } + + # wait for a sample taken after the robot has + # settled + timeout_duration = rospy.Duration(secs=10) + start_wait = rospy.Time.now() + timeout = False + data_ready = False + while (not data_ready) and (not timeout): + # check the timing of the current sample + with self.data_lock: + if (self.data_time is not None) and (self.data_time > settled_time): + if (self.marker_time is None): + # joint_states and acceleration + # were taken after the robot + # settled and there are no aruco + # marker poses + data_ready = True + elif (self.marker_time > settled_time): + # joint_states, acceleration, + # and aruco marker poses were + # taken after the robot + # settled + data_ready = True + if not data_ready: + #rospy.sleep(0.2) #0.1 + rospy.sleep(1.0) + timeout = (rospy.Time.now() - start_wait) > timeout_duration + + if timeout: + rospy.logerr('collect_head_calibration_data get_samples: timeout while waiting for sample.') + #raise IOError('Timeout') + + with self.data_lock: + #set backlash joint state + backlash_state = observation['backlash_state'] + 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['wrist_extension_retracted'] = wrist_extension_retracted + + # record the settled joint values + joints = observation['joints'] + for joint_name in joints: + print('Joint name %s'%joint_name) + joint_index = self.joint_state.name.index(joint_name) + joint_value = self.joint_state.position[joint_index] + joints[joint_name] = joint_value + + # record the settled camera measurments + camera_measurements = observation['camera_measurements'] + camera_measurements['d435i_acceleration'] = self.acceleration + + # record the settled aruco measurements + if self.wrist_inside_marker_pose is not None: + camera_measurements['wrist_inside_marker_pose'] = ros_numpy.numpify(self.wrist_inside_marker_pose).tolist() + + if self.wrist_top_marker_pose is not None: + camera_measurements['wrist_top_marker_pose'] = ros_numpy.numpify(self.wrist_top_marker_pose).tolist() + + if self.base_left_marker_pose is not None: + camera_measurements['base_left_marker_pose'] = ros_numpy.numpify(self.base_left_marker_pose).tolist() + + if self.base_right_marker_pose is not None: + camera_measurements['base_right_marker_pose'] = ros_numpy.numpify(self.base_right_marker_pose).tolist() + + if self.shoulder_marker_pose is not None: + camera_measurements['shoulder_marker_pose'] = ros_numpy.numpify(self.shoulder_marker_pose).tolist() + + samples.append(observation) + return samples + + + + + def calibrate_pan_and_tilt(self): + + + calibration_data = [] + number_of_samples_per_head_pose = 1 #3 + wrist_motion_settle_time = 1.0 + + ######################################## + ## + ## COLLECT GLOBAL HEAD LOOKING DOWN DATA + ## + ######################################## + rospy.loginfo('') + rospy.loginfo('*************************************') + rospy.loginfo('COLLECT GLOBAL HEAD LOOKING DOWN DATA') + rospy.loginfo('*************************************') + rospy.loginfo('') + + # looking down data + min_tilt_angle_rad = -1.4 + max_tilt_angle_rad = -0.5 + + min_pan_angle_rad = -3.8 + max_pan_angle_rad = 1.3 + + 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) + tilt_angles_rad = np.linspace(min_tilt_angle_rad, max_tilt_angle_rad, number_of_tilt_steps) + + rospy.loginfo('Move to a new arm pose.') + wrist_extension = 0.12 + wrist_pose = {'wrist_extension': wrist_extension} + self.move_to_pose(wrist_pose) + lift_m = 0.16 + lift_pose = {'joint_lift': lift_m} + self.move_to_pose(lift_pose) + + # 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.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)) + first_pan_tilt = True + for pan_angle in pan_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) + first_pan_tilt = False + calibration_data.extend(observation) + n = len(calibration_data) + if (n % 10) == 0: + rospy.loginfo('{0} samples collected so far.'.format(n)) + + ####################################### + ## + ## COLLECT GLOBAL HEAD LOOKING UP DATA + ## + ####################################### + rospy.loginfo('') + rospy.loginfo('*************************************') + rospy.loginfo('COLLECT GLOBAL HEAD LOOKING UP DATA') + rospy.loginfo('*************************************') + rospy.loginfo('') + + tilt_angles_rad = [-0.3, 0.38] + pan_angles_rad = [-3.8, -1.66, 1.33] + + rospy.loginfo('Move to a new arm pose.') + lift_m = 0.92 + lift_pose = {'joint_lift': lift_m} + self.move_to_pose(lift_pose) + wrist_extension = 0.29 + wrist_pose = {'wrist_extension': wrist_extension} + self.move_to_pose(wrist_pose) + + # 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.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))) + first_pan_tilt = True + for pan_angle in pan_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) + first_pan_tilt = False + calibration_data.extend(observation) + n = len(calibration_data) + if (n % 10) == 0: + rospy.loginfo('{0} samples collected so far.'.format(n)) + + ####################################### + ## + ## COLLECT HIGH SHOULDER DATA + ## + ####################################### + rospy.loginfo('') + rospy.loginfo('*************************************') + rospy.loginfo('COLLECT HIGH SHOULDER DATA') + rospy.loginfo('*************************************') + rospy.loginfo('') + + ############################################################## + ### poses that see the shoulder marker + # + # lift 0.8 + # pan -3.82 to -3.619 + # tilt -0.918 to -0.49 + # + # lift 0.2 + # pan -3.85 to -2.48 + # tilt -1.23 to -0.87 + # + # two poses with good coverage + # (needs to account for +/- 0.07 rad for pan backlash) + # pan -3.7, tilt -0.7 + # pan -3.7, tilt -1.1 + # + # Marker detected with point clouds + # lift 0.5, pan -3.7, tilt = -1.4 to -1.2 + # lift 0.65, pan -3.85, tilt = -1.0 + # lift 0.74, pan -3.85, tilt = -0.78 to -1.4 (-1.4 also sees the base markers) + ############################################################## + + wrist_extension = 0.29 + + # low shoulder height + pan_angle_rad = -3.7 + tilt_angle_rad_1 = -1.4 + tilt_angle_rad_2 = -1.2 + lift_m = 0.5 + + pose = {'joint_lift': lift_m} + rospy.loginfo('Move to first shoulder capture height.') + 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.sleep(wrist_motion_settle_time) + + 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) + calibration_data.extend(observation) + 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) + calibration_data.extend(observation) + + # high shoulder height + pan_angle_rad = -3.85 + tilt_angle_rad_1 = -0.8 + tilt_angle_rad_2 = -1.4 + lift_m = 0.74 + + pose = {'joint_lift': lift_m} + rospy.loginfo('Move to second shoulder capture height.') + 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.sleep(wrist_motion_settle_time) + + 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) + calibration_data.extend(observation) + 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) + calibration_data.extend(observation) + + + ####################################### + ## + ## COLLECT ARM FOCUSED DATA + ## + ####################################### + rospy.loginfo('') + rospy.loginfo('*************************************') + rospy.loginfo('COLLECT ARM FOCUSED DATA') + rospy.loginfo('*************************************') + rospy.loginfo('') + + ############################################################## + ### poses that see both of the arm markers + # + # lift height 0.8 + # extension 0.4 tilt -0.52 pan -2.06 to -1.45 + # extension 0.03 tilt -1.27 pan -2.33 to -1.48 + # + # lift height 0.2 + # extension 0.4 tilt -0.9 pan -2.9 to -0.93 + # extension 0.03 tilt -1.23 pan -3.2 to -0.4 (full range) + # + # ranges with good coverage + # (needs to account for +/- 0.07 rad for pan backlash) + # tilt -1.2 to -0.5 + # pan -2.0 to -1.45 + # + ############################################################## + + wrist_focused_min_pan = -2.0 + wrist_focused_max_pan = -1.45 + + wrist_focused_min_tilt = -1.2 + wrist_focused_max_tilt = -0.5 + + 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) + + wrist_extensions = [0.03, 0.4] + # Already have data from a single extension at a height of + # 1.2m from global camera looking down, so try using only 2 + # heights. + # + # 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] + + 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)) + + for wrist_pose in wrist_poses: + + rospy.loginfo('Move to a new arm pose.') + self.move_to_pose(wrist_pose) + + # 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.sleep(wrist_motion_settle_time) + + first_pan_tilt = True + for pan_angle in wrist_focused_pan_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) + first_pan_tilt = False + calibration_data.extend(observation) + n = len(calibration_data) + if (n % 10) == 0: + rospy.loginfo('{0} samples collected so far.'.format(n)) + + ####################################### + ## + ## FINISHED COLLECTING DATA - SAVE IT + ## + ####################################### + rospy.loginfo('') + rospy.loginfo('*************************************') + rospy.loginfo('FINISHED COLLECTING DATA') + rospy.loginfo('*************************************') + rospy.loginfo('') + rospy.loginfo('Collected {0} samples in total.'.format(len(calibration_data))) + + 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) + filename = self.calibration_directory + 'head_calibration_data_' + capture_date + '.yaml' + rospy.loginfo('Saving calibration_data to a YAML file named {0}'.format(filename)) + fid = open(filename, 'w') + yaml.dump(calibration_data, fid) + fid.close() + rospy.loginfo('') + rospy.loginfo('*************************************') + rospy.loginfo('') + + ####################################### + + + def move_to_initial_configuration(self): + initial_pose = {'joint_wrist_yaw': 0.0, + 'wrist_extension': 0.0, + 'joint_lift': 0.3, + 'gripper_aperture': 0.0, + 'joint_head_pan': -1.6947147036864942, + 'joint_head_tilt': -0.4} + + rospy.loginfo('Move to the calibration start pose.') + self.move_to_pose(initial_pose) + + + def main(self): + rospy.init_node('collect_head_calibration_data') + self.node_name = rospy.get_name() + rospy.loginfo("{0} started".format(self.node_name)) + + self.marker_info = rospy.get_param('/aruco_marker_info') + for k in self.marker_info.keys(): + m = self.marker_info[k] + if m['link'] == 'link_aruco_left_base': + self.base_left_marker_id = int(k) + if m['link'] == 'link_aruco_right_base': + self.base_right_marker_id = int(k) + if m['link'] == 'link_aruco_inner_wrist': + self.wrist_inside_marker_id = int(k) + if m['link'] == 'link_aruco_top_wrist': + self.wrist_top_marker_id = int(k) + if m['link'] == 'link_aruco_shoulder': + self.shoulder_marker_id = int(k) + + filename = rospy.get_param('~controller_calibration_file') + + rospy.loginfo('Loading factory default tilt backlash transition angle from the YAML file named {0}'.format(filename)) + fid = open(filename, 'r') + controller_parameters = yaml.load(fid) + fid.close() + 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)) + + self.calibration_directory = rospy.get_param('~calibration_directory') + rospy.loginfo('Using the following directory for calibration files: {0}'.format(self.calibration_directory)) + + joint_state_subscriber = message_filters.Subscriber('/stretch/joint_states', JointState) + accel_subscriber = message_filters.Subscriber('/camera/accel/sample_corrected', Imu) + aruco_subscriber = message_filters.Subscriber('/aruco/marker_array', MarkerArray) + + slop_time = 0.1 + self.synchronizer = message_filters.ApproximateTimeSynchronizer([joint_state_subscriber, accel_subscriber, aruco_subscriber], 10, slop_time, allow_headerless=True) + self.synchronizer.registerCallback(self.calibration_data_callback) + + self.trajectory_client = actionlib.SimpleActionClient('/stretch_controller/follow_joint_trajectory', FollowJointTrajectoryAction) + self.trajectory_goal = FollowJointTrajectoryGoal() + self.trajectory_goal.goal_time_tolerance = rospy.Time(1.0) + + self.point = JointTrajectoryPoint() + self.point.time_from_start = rospy.Duration(0.0) + + server_reached = self.trajectory_client.wait_for_server(timeout=rospy.Duration(60.0)) + if not server_reached: + rospy.signal_shutdown('Unable to connect to arm action server. Timeout exceeded.') + sys.exit() + + self.move_to_initial_configuration() + + self.calibrate_pan_and_tilt() + + +if __name__ == '__main__': + + try: + node = CollectHeadCalibrationDataNode() + node.main() + except rospy.ROSInterruptException: + pass + diff --git a/stretch_calibration/nodes/process_head_calibration_data b/stretch_calibration/nodes/process_head_calibration_data new file mode 100755 index 0000000..bbf249e --- /dev/null +++ b/stretch_calibration/nodes/process_head_calibration_data @@ -0,0 +1,959 @@ +#!/usr/bin/env python + +from __future__ import print_function + +import calibration as ca + +from sensor_msgs.msg import JointState +from geometry_msgs.msg import Twist +from nav_msgs.msg import Odometry + +import rospy +import actionlib +from control_msgs.msg import FollowJointTrajectoryAction +from control_msgs.msg import FollowJointTrajectoryGoal +from trajectory_msgs.msg import JointTrajectoryPoint + +from visualization_msgs.msg import Marker +from visualization_msgs.msg import MarkerArray + +from tf.transformations import quaternion_from_euler, euler_from_quaternion, quaternion_from_matrix + +from sensor_msgs.msg import Imu +from geometry_msgs.msg import Point +from geometry_msgs.msg import Pose + +import math +import time +import threading +import sys + +import numpy as np +import ros_numpy + +from copy import deepcopy + +import yaml +import time +import glob +import argparse as ap + +from urdf_parser_py.urdf import URDF as urdf_parser +import urdf_parser_py as up + +from scipy.spatial.transform import Rotation +import cma + +from visualization_msgs.msg import Marker +from visualization_msgs.msg import MarkerArray + + +class HeadCalibrator: + + def __init__(self, uncalibrated_urdf_filename, calibration_directory, sample_selector_func, calibration_options, visualize, tilt_angle_backlash_transition_rad): + self.visualize = visualize + self.infinite_duration_visualization = False + + self.observations_used_for_fit = {} + + self.telescoping_joints = ['joint_arm_l0', 'joint_arm_l1', 'joint_arm_l2', 'joint_arm_l3'] + + self.tilt_angle_backlash_transition_rad = tilt_angle_backlash_transition_rad + + self.calibrate_lift = calibration_options.get('calibrate_lift', False) + self.calibrate_arm = calibration_options.get('calibrate_arm', False) + self.calibrate_controller_offsets = calibration_options.get('calibrate_controller_offsets', False) + + self.calibrate_pan_backlash = calibration_options.get('calibrate_pan_backlash', False) + self.calibrate_tilt_backlash = calibration_options.get('calibrate_tilt_backlash', False) + self.calibrate_arm_backlash = calibration_options.get('calibrate_arm_backlash', False) + self.default_backlash_state = {'joint_head_pan_looked_left':False, 'joint_head_tilt_looking_up':False, 'wrist_extension_retracted':False} + + self.use_this_sample = sample_selector_func + + self.calibration_directory = calibration_directory + self.head_calibration_data_filename = None + + if self.visualize: + self.visualization_markers_pub = rospy.Publisher('/calibration/marker_array', MarkerArray, queue_size=1) + else: + self.visualization_markers_pub = None + + self.pan_angle_offset = 0.0 + self.tilt_angle_offset = 0.0 + + self.pan_looked_left_offset = 0.0 + self.tilt_looking_up_offset = 0.0 + self.arm_retracted_offset = 0.0 + + self.initial_error_terms = {'wrist_top_pos': 0.0, + 'wrist_top_orient': 0.0, + 'wrist_inside_pos': 0.0, + 'wrist_inside_orient': 0.0, + 'shoulder_pos': 0.0, + 'shoulder_orient': 0.0, + 'base_left_pos': 0.0, + 'base_left_orient': 0.0, + 'base_right_pos': 0.0, + 'base_right_orient': 0.0, + 'parameter_error_total': 0.0} + + self.error_weights = {'wrist_top_pos': 1.0, + 'wrist_top_orient': 0.1, + 'wrist_inside_pos': 1.0, + 'wrist_inside_orient': 0.1, + 'shoulder_pos': 0.5, + 'shoulder_orient': 0.05, + 'base_left_pos': 0.5, + 'base_left_orient': 0.05, + 'base_right_pos': 0.5, + 'base_right_orient': 0.05, + 'joint_head_tilt_looking_up_error_multiplier': 2.0, + 'parameter_error_total': 1.0} + + self.original_urdf = urdf_parser.from_xml_file(uncalibrated_urdf_filename) + self.new_urdf = deepcopy(self.original_urdf) + + self.gravity_acceleration_vec = np.array([0.0, 0.0, 1.0]) + + self.camera_chain = ca.Chain(self.new_urdf, 'base_link', 'camera_color_optical_frame') + + # This is the part that connects the pan joint to the top of + # the mast. There is some variation in how it is mounted to + # the top of the mast. For example, it can be rotated + # slightly. + self.head_joint = self.camera_chain.get_joint_by_name('joint_head') + self.original_head_assembly_xyz = np.array(self.head_joint.origin.xyz) + self.original_head_assembly_rpy = np.array(self.head_joint.origin.rpy) + self.original_head_assembly_r = Rotation.from_euler('xyz', self.original_head_assembly_rpy) + + self.camera_tilt_joint = self.camera_chain.get_joint_by_name('joint_head_tilt') + self.original_tilt_assembly_xyz = np.array(self.camera_tilt_joint.origin.xyz) + self.original_tilt_assembly_rpy = np.array(self.camera_tilt_joint.origin.rpy) + self.original_tilt_assembly_r = Rotation.from_euler('xyz', self.original_tilt_assembly_rpy) + + self.camera_pan_joint = self.camera_chain.get_joint_by_name('joint_head_pan') + self.original_pan_assembly_xyz = np.array(self.camera_pan_joint.origin.xyz) + self.original_pan_assembly_rpy = np.array(self.camera_pan_joint.origin.rpy) + self.original_pan_assembly_r = Rotation.from_euler('xyz', self.original_pan_assembly_rpy) + + self.camera_mount_joint = self.camera_chain.get_joint_by_name('camera_joint') + self.original_camera_mount_xyz = np.array(self.camera_mount_joint.origin.xyz) + self.original_camera_mount_rpy = np.array(self.camera_mount_joint.origin.rpy) + self.original_camera_mount_r = Rotation.from_euler('xyz', self.original_camera_mount_rpy) + + self.wrist_chain = ca.Chain(self.new_urdf, 'base_link', 'link_arm_l0') + + if self.calibrate_lift: + # Calibrating the following joint ('joint_mast') results + # in better visualizations, since it actually moves the + # mast and keeps the carriage traveling along the + # mast. Without constraints, this should permit the same + # solutions as calibrating 'joint_lift'. With constraints, + # the possible solutions can differ due to the mast also + # influencing the position and orientation of the head + # assembly. + self.lift_joint = self.wrist_chain.get_joint_by_name('joint_mast') + self.original_lift_xyz = np.array(self.lift_joint.origin.xyz) + self.original_lift_rpy = np.array(self.lift_joint.origin.rpy) + self.original_lift_r = Rotation.from_euler('xyz', self.original_lift_rpy) + + if self.calibrate_arm: + # This calibrates the position and orientation of the arm + # with respect to the shoulder carriage that moves up and + # down the lift. This compensates for variations in the + # way the arm has been mounted. + self.arm_joint = self.wrist_chain.get_joint_by_name('joint_arm_l4') + self.original_arm_xyz = np.array(self.arm_joint.origin.xyz) + self.original_arm_rpy = np.array(self.arm_joint.origin.rpy) + self.original_arm_r = Rotation.from_euler('xyz', self.original_arm_rpy) + + # calculate 10 deg of error + deg_error = 10.0 + rad_error = 10.0 * (math.pi/180.0) + calib_error = math.cos(rad_error) + calib_error = (1.0 - calib_error) / 2.0 + + # convert error to meters of error per degree + self.meters_per_deg = 0.02 / calib_error # 2cm of error per 10 deg + + self.error_measures = [] + + aruco_urdf = self.new_urdf + rgba = [0.0, 1.0, 0.0, 0.2] + self.error_measures.append(ca.ArucoError('wrist_top', 'wrist', 'link_aruco_top_wrist', aruco_urdf, self.meters_per_deg, rgba)) + rgba = [0.0, 0.0, 1.0, 0.2] + self.error_measures.append(ca.ArucoError('wrist_inside', 'wrist', 'link_aruco_inner_wrist', aruco_urdf, self.meters_per_deg, rgba)) + rgba = [1.0, 1.0, 0.0, 0.2] + self.error_measures.append(ca.ArucoError('shoulder', 'shoulder', 'link_aruco_shoulder', aruco_urdf, self.meters_per_deg, rgba)) + rgba = [1.0, 0.0, 0.0, 0.2] + self.error_measures.append(ca.ArucoError('base_left', 'base', 'link_aruco_left_base', aruco_urdf, self.meters_per_deg, rgba)) + rgba = [1.0, 0.0, 1.0, 0.2] + self.error_measures.append(ca.ArucoError('base_right', 'base', 'link_aruco_right_base', aruco_urdf, self.meters_per_deg, rgba)) + + def load_data(self, parameters): + + filenames = glob.glob(self.calibration_directory + 'head_calibration_data' + '_*[0-9].yaml') + filenames.sort() + most_recent_filename = filenames[-1] + self.head_calibration_data_filename = most_recent_filename + print('Loading most recent head calibration data from a YAML file named ' + self.head_calibration_data_filename) + fid = open(self.head_calibration_data_filename, 'r') + self.data = yaml.load(fid) + fid.close() + + # Convert data in yaml file from readable text to full joint + # state representation and ROS Poses + marker_prefixes = ['wrist_top', 'wrist_inside', 'shoulder', 'base_left', 'base_right'] + + for i, s in enumerate(self.data): + # Convert from wrist_extension to joint links for compatibility with the URDF + joints = s['joints'] + # convert wrist_extension to telescoping joints for use with the URDF + wrist_extension = joints.pop('wrist_extension') + telescoping_value = wrist_extension/float(len(self.telescoping_joints)) + for j in self.telescoping_joints: + joints[j] = telescoping_value + + # Convert from 4x4 homogeneous transformation matrices + # represented as lists to ROS Poses + camera_measurements = s['camera_measurements'] + for p in marker_prefixes: + pose_key = p + '_marker_pose' + pose_list = camera_measurements.get(pose_key) + if pose_list is not None: + pose = ros_numpy.msgify(Pose, np.array(pose_list)) + camera_measurements[pose_key] = pose + + self.calculate_normalization() + if self.visualize: + self.update_urdf(parameters) + self.target_markers = self.generate_target_visualizations() + marker_array = MarkerArray() + marker_array.markers.extend(self.target_markers) + self.visualization_markers_pub.publish(marker_array) + + + def get_calibration_options(self): + calibration_options = {'calibrate_lift': self.calibrate_lift, + 'calibrate_arm': self.calibrate_arm, + 'calibrate_controller_offsets': self.calibrate_controller_offsets, + 'calibrate_pan_backlash': self.calibrate_pan_backlash, + 'calibrate_tilt_backlash': self.calibrate_tilt_backlash, + 'calibrate_arm_backlash': self.calibrate_arm_backlash} + return calibration_options + + def get_names_of_parameters_to_fit(self): + + parameter_names = [] + + if self.calibrate_controller_offsets: + parameter_names.extend(['pan_angle_offset', 'tilt_angle_offset']) + + if self.calibrate_pan_backlash: + parameter_names.extend(['pan_looked_left_offset']) + + if self.calibrate_tilt_backlash: + parameter_names.extend(['tilt_looking_up_offset']) + + if self.calibrate_arm_backlash: + parameter_names.extend(['arm_retracted_offset']) + + parameter_names.extend(['head_assembly_offset_xyz_x', 'head_assembly_offset_xyz_y', 'head_assembly_offset_xyz_z', + 'head_assembly_offset_rotvec_x', 'head_assembly_offset_rotvec_y', 'head_assembly_offset_rotvec_z', + + 'pan_assembly_offset_xyz_x', 'pan_assembly_offset_xyz_y', 'pan_assembly_offset_xyz_z', + 'pan_assembly_offset_rotvec_x', 'pan_assembly_offset_rotvec_y', 'pan_assembly_offset_rotvec_z', + 'tilt_assembly_offset_xyz_x', 'tilt_assembly_offset_xyz_y', 'tilt_assembly_offset_xyz_z', + 'tilt_assembly_offset_rotvec_x', 'tilt_assembly_offset_rotvec_y', 'tilt_assembly_offset_rotvec_z', + 'camera_mount_offset_xyz_x', 'camera_mount_offset_xyz_y', 'camera_mount_offset_xyz_z', + 'camera_mount_offset_rotvec_x', 'camera_mount_offset_rotvec_y', 'camera_mount_offset_rotvec_z']) + + if self.calibrate_lift: + parameter_names.extend(['lift_offset_xyz_x', 'lift_offset_xyz_y', 'lift_offset_xyz_z', + 'lift_offset_rotvec_x', 'lift_offset_rotvec_y', 'lift_offset_rotvec_z']) + + if self.calibrate_arm: + parameter_names.extend(['arm_offset_xyz_x', 'arm_offset_xyz_y', 'arm_offset_xyz_z', + 'arm_offset_rotvec_x', 'arm_offset_rotvec_y', 'arm_offset_rotvec_z']) + + return parameter_names + + def get_controller_parameters(self): + return {'tilt_angle_offset': self.tilt_angle_offset, + 'pan_angle_offset': self.pan_angle_offset, + 'pan_looked_left_offset': self.pan_looked_left_offset, + 'tilt_looking_up_offset': self.tilt_looking_up_offset, + 'arm_retracted_offset': self.arm_retracted_offset, + 'tilt_angle_backlash_transition': self.tilt_angle_backlash_transition_rad} + + def parameter_error_term(self, parameters): + i = 0 + + if self.calibrate_controller_offsets: + pan_angle_offset_abs = abs(parameters[i]) + i += 1 + tilt_angle_offset_abs = abs(parameters[i]) + i += 1 + + if self.calibrate_pan_backlash: + pan_looked_left_offset_abs = abs(parameters[i]) + i += 1 + + if self.calibrate_tilt_backlash: + tilt_looking_up_offset_abs = abs(parameters[i]) + i += 1 + + if self.calibrate_arm_backlash: + arm_retracted_offset_abs = abs(parameters[i]) + i += 1 + + head_assembly_offset_xyz_length = np.linalg.norm(parameters[i:i+3]) + i += 3 + head_assembly_offset_rotvec_mag = np.linalg.norm(parameters[i:i+3]) + i += 3 + + pan_assembly_offset_xyz_length = np.linalg.norm(parameters[i:i+3]) + i += 3 + pan_assembly_offset_rotvec_mag = np.linalg.norm(parameters[i:i+3]) + i += 3 + + tilt_assembly_offset_xyz_length = np.linalg.norm(parameters[i:i+3]) + i += 3 + tilt_assembly_offset_rotvec_mag = np.linalg.norm(parameters[i:i+3]) + i += 3 + + camera_mount_offset_xyz_length = np.linalg.norm(parameters[i:i+3]) + i += 3 + camera_mount_offset_rotvec_mag = np.linalg.norm(parameters[i:i+3]) + i += 3 + + if self.calibrate_lift: + lift_offset_xyz_length = np.linalg.norm(parameters[i:i+3]) + i += 3 + lift_offset_rotvec_mag = np.linalg.norm(parameters[i:i+3]) + i += 3 + + if self.calibrate_arm: + arm_offset_xyz_length = np.linalg.norm(parameters[i:i+3]) + i += 3 + arm_offset_rotvec_mag = np.linalg.norm(parameters[i:i+3]) + i += 3 + + parameter_error = 0.0 + + if self.calibrate_controller_offsets: + # no penalty region: +/- 10 deg for the pan and tilt angle + # offsets (10 deg = math.pi/18.0 rad) + parameter_error += ca.soft_constraint_error(pan_angle_offset_abs, math.pi/18.0, 10.0) + parameter_error += ca.soft_constraint_error(tilt_angle_offset_abs, math.pi/18.0, 10.0) + + if self.calibrate_pan_backlash: + # no penalty region: +/- 5 deg for the pan and tilt angle + # offsets (5 deg = math.pi/36.0 rad) + parameter_error += ca.soft_constraint_error(pan_looked_left_offset_abs, math.pi/36.0, 10.0) + i += 1 + + if self.calibrate_tilt_backlash: + # no penalty region: +/- 5 deg for the pan and tilt angle + # offsets (5 deg = math.pi/36.0 rad) + parameter_error += ca.soft_constraint_error(tilt_looking_up_offset_abs, math.pi/36.0, 10.0) + i += 1 + + if self.calibrate_arm_backlash: + # no penalty region: +/- 1 cm + parameter_error += ca.soft_constraint_error(arm_retracted_offset_abs, 0.01, 10.0) + i += 1 + + # no penalty region: 0.5cm radius sphere within which the head + # assembly can be placed relative to its uncalibrated position + # with respect to the mast. 5 rotation of the head (5 deg = + # 180/36 deg = math.pi/36.0 rad) + parameter_error += ca.soft_constraint_error(head_assembly_offset_xyz_length, 0.005, 10.0) + parameter_error += ca.soft_constraint_error(head_assembly_offset_rotvec_mag, math.pi/36.0, 10.0) + + # no penalty region: 1cm radius sphere within which the pan + # assembly can be placed relative to its uncalibrated position + # with respect to the mast. 5 degree max rotation of the pan + # assembly (5 deg = 180/36 deg = math.pi/36.0 rad) + parameter_error += ca.soft_constraint_error(pan_assembly_offset_xyz_length, 0.01, 10.0) + parameter_error += ca.soft_constraint_error(pan_assembly_offset_rotvec_mag, math.pi/36.0, 10.0) + + # no penalty region: 1cm radius sphere within which the tilt + # assembly can be placed relative to its uncalibrated position + # with respect to the pan assembly. 5 degree max rotation of + # the tilt assembly. (5 deg = 180/36 deg = math.pi/36.0 rad) + parameter_error += ca.soft_constraint_error(tilt_assembly_offset_xyz_length, 0.01, 10.0) + parameter_error += ca.soft_constraint_error(tilt_assembly_offset_rotvec_mag, math.pi/36.0, 10.0) + + # no penalty region: 0.5cm radius sphere within which the + # camera can be placed relative to its uncalibrated position + # with respect to the pan assembly. 5 max rotation of the + # camera assembly. (5 deg = 180/36 deg = math.pi/36.0 rad) + parameter_error += ca.soft_constraint_error(camera_mount_offset_xyz_length, 0.005, 10.0) + parameter_error += ca.soft_constraint_error(camera_mount_offset_rotvec_mag, math.pi/36.0, 10.0) + + if self.calibrate_lift: + # no penalty region: 1cm radius sphere within which the + # mast can be placed relative to its uncalibrated position + # with respect to the mobile base. 1.5 degree max rotation + # of the mast relative to the mobile base. (2.5 deg = + # 180/72 deg = math.pi/72.0 rad) + parameter_error += ca.soft_constraint_error(lift_offset_xyz_length, 0.01, 10.0) + parameter_error += ca.soft_constraint_error(lift_offset_rotvec_mag, math.pi/72.0, 10.0) + + if self.calibrate_arm: + # no penalty region: 1cm radius sphere within which the + # arm mount can be placed relative to its uncalibrated + # position with respect to the shoulder. 5 degree max + # rotation of the arm relative to the shoulder carriage (5 + # deg = 180/36 deg = math.pi/36.0 rad). + parameter_error += ca.soft_constraint_error(arm_offset_xyz_length, 0.01, 10.0) + parameter_error += ca.soft_constraint_error(arm_offset_rotvec_mag, math.pi/36.0, 10.0) + + output_error = {'total': parameter_error} + return output_error + + + def update_urdf(self, parameters): + # This updates self.new_urdf via the camera's kinematic chain + + i = 0 + + if self.calibrate_controller_offsets: + self.pan_angle_offset = parameters[i] + i += 1 + self.tilt_angle_offset = parameters[i] + i += 1 + else: + self.pan_angle_offset = 0.0 + self.tilt_angle_offset = 0.0 + + if self.calibrate_pan_backlash: + self.pan_looked_left_offset = parameters[i] + i += 1 + + if self.calibrate_tilt_backlash: + self.tilt_looking_up_offset = parameters[i] + i += 1 + + if self.calibrate_arm_backlash: + self.arm_retracted_offset = parameters[i] + i += 1 + + head_assembly_offset_xyz = parameters[i:i+3] + i += 3 + head_assembly_offset_rotvec = parameters[i:i+3] + i += 3 + + pan_assembly_offset_xyz = parameters[i:i+3] + i += 3 + pan_assembly_offset_rotvec = parameters[i:i+3] + i += 3 + + tilt_assembly_offset_xyz = parameters[i:i+3] + i += 3 + tilt_assembly_offset_rotvec = parameters[i:i+3] + i += 3 + + camera_mount_offset_xyz = parameters[i:i+3] + i += 3 + camera_mount_offset_rotvec = parameters[i:i+3] + i += 3 + + if self.calibrate_lift: + lift_offset_xyz = parameters[i:i+3] + i += 3 + lift_offset_rotvec = parameters[i:i+3] + i += 3 + + if self.calibrate_arm: + arm_offset_xyz = parameters[i:i+3] + i += 3 + arm_offset_rotvec = parameters[i:i+3] + i += 3 + + self.camera_pan_joint.origin.xyz = self.original_pan_assembly_xyz + pan_assembly_offset_xyz + pan_assembly_r = Rotation.from_rotvec(pan_assembly_offset_rotvec) * self.original_pan_assembly_r + self.camera_pan_joint.origin.rpy = pan_assembly_r.as_euler('xyz') + + self.camera_tilt_joint.origin.xyz = self.original_tilt_assembly_xyz + tilt_assembly_offset_xyz + tilt_assembly_r = Rotation.from_rotvec(tilt_assembly_offset_rotvec) * self.original_tilt_assembly_r + self.camera_tilt_joint.origin.rpy = tilt_assembly_r.as_euler('xyz') + + self.camera_mount_joint.origin.xyz = self.original_camera_mount_xyz + camera_mount_offset_xyz + camera_mount_r = Rotation.from_rotvec(camera_mount_offset_rotvec) * self.original_camera_mount_r + self.camera_mount_joint.origin.rpy = camera_mount_r.as_euler('xyz') + + if self.calibrate_lift: + self.lift_joint.origin.xyz = self.original_lift_xyz + lift_offset_xyz + lift_r = Rotation.from_rotvec(lift_offset_rotvec) * self.original_lift_r + self.lift_joint.origin.rpy = lift_r.as_euler('xyz') + + if self.calibrate_arm: + self.arm_joint.origin.xyz = self.original_arm_xyz + arm_offset_xyz + arm_r = Rotation.from_rotvec(arm_offset_rotvec) * self.original_arm_r + self.arm_joint.origin.rpy = arm_r.as_euler('xyz') + + + def calculate_normalization(self): + # Finds the number of observations that will be used for each error measure + for e in self.error_measures: + e.reset_observation_count() + for i, s in enumerate(self.data): + if self.use_this_sample(i, s): + for e in self.error_measures: + e.increment_observation_count(s) + print('Number of observations of each error measurement type to be used from the data:') + self.observations_used_for_fit = {} + for e in self.error_measures: + print(e.name, '=', e.number_of_observations) + self.observations_used_for_fit[e.name] = e.number_of_observations + + def generate_target_visualizations(self): + target_markers = [] + marker_id = 333333 + marker_time = rospy.Time.now() + # infinite lifetime (I think.) + #lifetime = rospy.Duration() + # 10 second lifetime, which assumes that these will be periodically resent. + lifetime = rospy.Duration(10.0) + rgba = [1.0, 1.0, 1.0, 1.0] + + for i, s in enumerate(self.data): + if self.use_this_sample(i, s): + + sample = deepcopy(s) + + # Update the sample to account for controller + # parameters and backlash. Specifically, this adds pan + # and tilt offsets and backlash state dependent + # offsets to pan, tilt, and the arm extension. + self.update_sample_with_offsets_and_backlash(sample) + + for e in self.error_measures: + markers, marker_id = e.get_target_ros_markers(sample, marker_id, marker_time, rgba, self.gravity_acceleration_vec) + for m in markers: + unique = True + for current_m in target_markers: + same_type = (m.type == current_m.type) + same_pose = (m.pose == current_m.pose) + same_points = (m.points == current_m.points) + if same_type and same_pose and same_points: + unique = False + if unique: + m.lifetime = lifetime + target_markers.append(m) + # Note that there will be many target markers for markers on a + # kinematic chain sensitive to the joint values, such as the + # ArUco markers on the wrist. In contrast, the ArUco markers + # on the mobile base will only have a single unique marker. + return target_markers + + + def visualize_fit(self, parameters_to_fit): + self.visualize = True + self.infinite_duration_visualization = True + self.calculate_error(parameters_to_fit) + + + def update_sample_with_offsets_and_backlash(self, sample): + # This changes the sample passed as an argument using + # controller parameters and the backlash state. Specifically, + # it adds pan and tilt offsets and backlash state dependent + # offsets to pan, tilt, and the arm extension. + + backlash_state = sample.get('backlash_state', self.default_backlash_state) + + if backlash_state['joint_head_pan_looked_left']: + pan_backlash_correction = self.pan_looked_left_offset + else: + pan_backlash_correction = 0.0 + + if backlash_state['joint_head_tilt_looking_up']: + #tilt_backlash_correction = -math.pi/18.0 # 10 deg test + tilt_backlash_correction = self.tilt_looking_up_offset + else: + tilt_backlash_correction = 0.0 + + if backlash_state['wrist_extension_retracted']: + arm_backlash_correction = self.arm_retracted_offset + else: + arm_backlash_correction = 0.0 + + joints = sample['joints'] + for j in self.telescoping_joints: + joints[j] = joints[j] + (arm_backlash_correction/4.0) + + joints['joint_head_pan'] = joints['joint_head_pan'] + self.pan_angle_offset + pan_backlash_correction + joints['joint_head_tilt'] = joints['joint_head_tilt'] + self.tilt_angle_offset + tilt_backlash_correction + + + def calculate_error(self, parameters_to_fit, output_error_terms=False): + + error_terms = self.initial_error_terms.copy() + + error_terms['parameter_error_total'] += self.parameter_error_term(parameters_to_fit)['total'] + + # updates the URDF and fit method variables with the current + # parameters + self.update_urdf(parameters_to_fit) + + marker_array = MarkerArray() + marker_time = rospy.Time.now() + marker_id = 0 + + if self.visualize: + # Send the target markers on each iteration, since they + # can be changed by some of the fit parameters, such as + # backlash compensation for arm retraction. + self.target_markers = self.generate_target_visualizations() + marker_array.markers.extend(self.target_markers) + + for i, s in enumerate(self.data): + + if self.use_this_sample(i, s): + + # Do not alter the original data. + sample = deepcopy(s) + backlash_state = sample.get('backlash_state', self.default_backlash_state) + + # Update the sample to account for controller + # parameters and backlash. Specifically, this adds pan + # and tilt offsets and backlash state dependent + # offsets to pan, tilt, and the arm extension. + self.update_sample_with_offsets_and_backlash(sample) + + # Update each marker, including whether it was + # detected and the joint values used to compute the + # URDF's marker prediction in the world frame (not + # through the camera). + for e in self.error_measures: + e.update(sample, marker_time, self.gravity_acceleration_vec) + + # Find the transform from the camera's coordinate + # system to the world frame, since all errors are + # computed in the world frame. + joints = sample['joints'] + self.camera_transform = self.camera_chain.get_affine_matrix(joints) + + # If the wrist has a large downward deflection due to + # a heavy tool, this can potentially be useful. It + # ignores z-axis error for wrist markers when the arm + # is extended past a defined length. + # + # wrist_extension = reduce(lambda current_sum, joint_name: current_sum + joints[joint_name], self.telescoping_joints, 0.0) + # max_wrist_extension_for_z_fit = 0.13 + # if wrist_extension > max_wrist_extension_for_z_fit: + # fit_z = False + # else: + # fit_z = True + fit_z = True + + # Whether or not to use ArUco marker orientation in + # the objective function. + #fit_orientation = False + fit_orientation = True + + for e in self.error_measures: + if e.detected: + if e.location == 'wrist': + delta_error, ros_markers, marker_id = e.error(self.camera_transform, fit_z, fit_orientation, marker_id, self.visualize) + else: + delta_error, ros_markers, marker_id = e.error(self.camera_transform, True, fit_orientation, marker_id, self.visualize) + + if backlash_state['joint_head_tilt_looking_up']: + error_multiplier = self.error_weights['joint_head_tilt_looking_up_error_multiplier'] + else: + error_multiplier = 1.0 + + for d in delta_error: + error_term_name = e.name + '_' + d + error_terms[error_term_name] += (error_multiplier * delta_error[d]) + marker_array.markers.extend(ros_markers) + + total_error = 0.0 + for k in error_terms: + total_error += self.error_weights[k] * error_terms[k] + print('error_terms =', error_terms) + print('total_error =', total_error) + + if self.visualize: + if self.infinite_duration_visualization: + for m in marker_array.markers: + m.lifetime = rospy.Duration() + self.visualization_markers_pub.publish(marker_array) + + if output_error_terms: + return total_error, error_terms + + return total_error + + + def save_urdf_file(self, time_string=None): + if time_string is None: + time_string = ca.create_time_string() + urdf_string = self.new_urdf.to_xml_string() + filename = self.calibration_directory + 'head_calibrated_' + time_string + '.urdf' + print('Saving new URDF file to ', filename) + fid = open(filename, 'w') + fid.write(urdf_string) + fid.close() + print('Finished saving') + + + def save_controller_calibration_file(self, time_string=None): + if time_string is None: + time_string = ca.create_time_string() + + controller_parameters = self.get_controller_parameters() + + no_numpy_controller_parameters = {} + for key, entry in controller_parameters.viewitems(): + if "tolist" in dir(entry): + entry = entry.tolist() + no_numpy_controller_parameters[key] = entry + + filename = self.calibration_directory + 'controller_calibration_head_' + time_string + '.yaml' + print('Saving controller calibration head parameters to a YAML file named ', filename) + fid = open(filename, 'w') + yaml.dump(no_numpy_controller_parameters, fid) + fid.close() + print('Finished saving.') + + + +class ProcessHeadCalibrationDataNode: + + def __init__(self, opt_results_file_to_load=None, load_most_recent_opt_results=False, visualize_only=False, visualize=True): + self.opt_results_file_to_load = opt_results_file_to_load + self.load_most_recent_opt_results = load_most_recent_opt_results + self.visualize_only = visualize_only + self.visualize = visualize + self.loaded_data = None + + # different error tolerances for different speeds and qualities of fit + self.fit_quality_dict = {'fastest_lowest_quality': 0.1, + 'medium_speed_and_quality': 0.01, + 'slow_high_quality': 0.001, + 'slowest_highest_quality': 0.0001} + + self.data_to_use_dict = { + 'use_very_little_data': ca.use_very_little_data, + 'use_all_aruco_and_some_accel': ca.use_all_aruco_and_some_accel, + 'use_all_data': ca.use_all_data + } + + + def main(self): + + rospy.init_node('process_head_calibration_data') + self.node_name = rospy.get_name() + rospy.loginfo("{0} started".format(self.node_name)) + + self.calibration_directory = rospy.get_param('~calibration_directory') + rospy.loginfo('Using the following directory for calibration files: {0}'.format(self.calibration_directory)) + + # load parameters for what data to fit and how well to fit it + head_calibration_options = rospy.get_param('/head_calibration_options') + self.data_to_use = head_calibration_options['data_to_use'] + self.fit_quality = head_calibration_options['fit_quality'] + if self.data_to_use not in self.data_to_use_dict.keys(): + rospy.logerr('Unrecognized option: data_to_use = {0}, valid options are {1}'.format(self.data_to_use, self.data_to_use_dict.keys())) + if self.fit_quality not in self.fit_quality_dict.keys(): + rospy.logerr('Unrecognized option: fit_quality = {0}, valid options are {1}'.format(self.data_to_use, self.fit_quality_dict.keys())) + rospy.loginfo('data_to_use = {0}'.format(self.data_to_use)) + rospy.loginfo('fit_quality = {0}'.format(self.fit_quality)) + + self.cma_tolfun = self.fit_quality_dict[self.fit_quality] + self.sample_selector_func = self.data_to_use_dict[self.data_to_use] + + # load default tilt backlash transition angle + self.uncalibrated_controller_calibration_filename = rospy.get_param('~uncalibrated_controller_calibration_filename') + rospy.loginfo('Loading factory default tilt backlash transition angle from the YAML file named {0}'.format(self.uncalibrated_controller_calibration_filename)) + fid = open(self.uncalibrated_controller_calibration_filename, 'r') + default_controller_parameters = yaml.load(fid) + fid.close() + tilt_angle_backlash_transition_rad = default_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(tilt_angle_backlash_transition_rad * deg_per_rad)) + + self.uncalibrated_urdf_filename = rospy.get_param('~uncalibrated_urdf_filename') + rospy.loginfo('The uncalibrated URDF filename: {0}'.format(self.uncalibrated_urdf_filename)) + + if self.load_most_recent_opt_results or (self.opt_results_file_to_load is not None): + if self.load_most_recent_opt_results: + filenames = glob.glob(self.calibration_directory + 'head_calibration_result' + '_*[0-9].yaml') + filenames.sort() + filename = filenames[-1] + print('Loading most recent CMA-ES result from a YAML file named ' + filename) + else: + filename = self.opt_results_file_to_load + print('Loading CMA-ES result from a YAML file named ' + filename) + fid = open(filename, 'r') + cma_result = yaml.load(fid) + fid.close() + + show_data_used_during_optimization = True + if show_data_used_during_optimization: + # attempt to visualize with the same data that was used during the optimization + self.data_to_use = cma_result.get('data_to_use', 'use_all_data') + else: + # show all data + self.data_to_use = 'use_all_data' + + self.sample_selector_func = self.data_to_use_dict[self.data_to_use] + + calibration_options = cma_result.get('calibration_options', {}) + fit_parameters = np.array(cma_result['best_parameters']) + self.calibrator = HeadCalibrator(self.uncalibrated_urdf_filename, self.calibration_directory, self.sample_selector_func, calibration_options, self.visualize, tilt_angle_backlash_transition_rad) + + if self.visualize_only: + print('Loading the most recent data file.') + self.calibrator.load_data(fit_parameters) + print('Visualizing how well the model fits the data.') + print('Wait to make sure that RViz has time to load.') + rospy.sleep(5.0) + self.calibrator.visualize_fit(fit_parameters) + else: + time_string = ca.create_time_string() + print('Updating the URDF with the parameters previously optimized with CMA-ES.') + self.calibrator.update_urdf(fit_parameters) + print('Saving the updated URDF file.') + self.calibrator.save_urdf_file(time_string) + print('Saving the updated controller calibration file.') + self.calibrator.save_controller_calibration_file(time_string) + + else: + + start_time = time.time() + + calibration_options = {'calibrate_lift': True, + 'calibrate_arm': True, + 'calibrate_controller_offsets': True, + 'calibrate_pan_backlash': True, + 'calibrate_tilt_backlash': True, + 'calibrate_arm_backlash': True} + + self.calibrator = HeadCalibrator(self.uncalibrated_urdf_filename, self.calibration_directory, self.sample_selector_func, calibration_options, self.visualize, tilt_angle_backlash_transition_rad) + parameter_names = self.calibrator.get_names_of_parameters_to_fit() + + #"incumbent solution" + all_options = cma.CMAOptions() + #"termination criterion: tolerance in function value" + options = {'tolfun': self.cma_tolfun} + + num_parameters = len(parameter_names) + initial_solution = num_parameters * [0.0] + self.calibrator.load_data(initial_solution) + initial_standard_deviation = 0.1 + es = cma.CMAEvolutionStrategy(initial_solution, initial_standard_deviation, options) + es.optimize(self.calibrator.calculate_error) + print + print('Optimization complete.') + print + es.result_pretty() + + end_time = time.time() + calibration_time_in_minutes = (end_time - start_time)/60.0 + print('Minutes spent calibrating: ', calibration_time_in_minutes) + + # A results tuple from CMAEvolutionStrategy property result. + + # This tuple contains in the given position and as attribute + + # 0 xbest best solution evaluated + # 1 fbest objective function value of best solution + # 2 evals_best evaluation count when xbest was evaluated + # 3 evaluations evaluations overall done + # 4 iterations + # 5 xfavorite distribution mean in "phenotype" space, to be considered as current best estimate of the optimum + # 6 stds effective standard deviations, can be used to compute a lower bound on the expected coordinate-wise distance to the true optimum, which is (very) approximately stds[i] * dimension**0.5 / min(mueff, dimension) / 1.5 / 5 ~ std_i * dimension**0.5 / min(popsize / 2, dimension) / 5, where dimension = CMAEvolutionStrategy.N and mueff = CMAEvolutionStrategy.sp.weights.mueff ~ 0.3 * popsize. + + # Get best error terms + best_parameters = es.result[0] + best_total_error, best_error_terms = self.calibrator.calculate_error(best_parameters, output_error_terms=True) + for key in best_error_terms: + best_error_terms[key] = float(best_error_terms[key]) + + # Convert from Numpy arrays to human-readable lists + no_numpy_cma_result = [] + for entry in es.result: + if "tolist" in dir(entry): + entry = entry.tolist() + no_numpy_cma_result.append(entry) + + # Create a dictionary with the parameters to improve human + # readability + best_parameter_dict = {} + for name, value in zip(parameter_names, no_numpy_cma_result[0]): + best_parameter_dict[name] = value + + cma_result = { + 'calibration_time_in_minutes': calibration_time_in_minutes, + 'initial_solution': initial_solution, + 'initial_standard_deviation': initial_standard_deviation, + 'options': options, + 'calibration_options': self.calibrator.get_calibration_options(), + 'parameter_names': parameter_names, + 'best_parameters': no_numpy_cma_result[0], + 'best_parameter_dict': best_parameter_dict, + 'best_parameters_error': no_numpy_cma_result[1], + 'best_parameters_error_terms': best_error_terms, + 'num_evals_to_find_best': no_numpy_cma_result[2], + 'num_evals_total': no_numpy_cma_result[3], + 'cma_iterations': no_numpy_cma_result[4], + 'cma_parameter_means': no_numpy_cma_result[5], + 'cma_parameter_stddevs': no_numpy_cma_result[6], + 'fit_quality_dict': self.fit_quality_dict, + 'fit_quality': self.fit_quality, + 'data_to_use': self.data_to_use, + 'observations_used_for_fit': self.calibrator.observations_used_for_fit, + 'calibration_data_filename': self.calibrator.head_calibration_data_filename, + 'error_weights': self.calibrator.error_weights + } + + time_string = ca.create_time_string() + + filename = self.calibration_directory + 'head_calibration_result_' + time_string + '.yaml' + if not self.visualize_only: + print() + print('********************************************************') + filename = self.calibration_directory + 'head_calibration_result_' + time_string + '.yaml' + print('Saving CMA-ES result to a YAML file named ', filename) + fid = open(filename, 'w') + yaml.dump(cma_result, fid) + fid.close() + print('Finished saving.') + + fit_parameters = cma_result['best_parameters'] + self.calibrator.update_urdf(fit_parameters) + + self.calibrator.save_urdf_file(time_string) + self.calibrator.save_controller_calibration_file(time_string) + else: + print() + print('********************************************************') + print('Not saving due to visualize only mode') + print() + print('Would have saved the CMA-ES result to a YAML file named ', filename) + print() + print('The following cma_result would have been saved:') + print(cma_result) + + +if __name__ == '__main__': + parser = ap.ArgumentParser(description='Process head calibration data and work with resulting files.') + parser.add_argument('--load', action='store', help='Do not perform an optimization and instead load the specified file, which should contain CMA-ES optimization results.', default=None) + parser.add_argument('--load_prev', action='store_true', help='Do not perform an optimization and instead load the most recent CMA-ES optimization results.') + parser.add_argument('--only_vis', action='store_true', help='Only visualize the fit of the CMA-ES optimization results. This does not save any results.') + parser.add_argument('--no_vis', action='store_true', help='Do not calculate or publish any visualizations. This results in faster fitting.') + args, unknown = parser.parse_known_args() + + opt_results_file_to_load = args.load + load_most_recent_opt_results = args.load_prev + visualize_only = args.only_vis + turn_on_visualization = not args.no_vis + + node = ProcessHeadCalibrationDataNode(opt_results_file_to_load = opt_results_file_to_load, load_most_recent_opt_results = load_most_recent_opt_results, visualize_only = visualize_only, visualize=turn_on_visualization) + node.main() diff --git a/stretch_calibration/nodes/revert_to_previous_calibration.sh b/stretch_calibration/nodes/revert_to_previous_calibration.sh new file mode 100755 index 0000000..7ef8120 --- /dev/null +++ b/stretch_calibration/nodes/revert_to_previous_calibration.sh @@ -0,0 +1,75 @@ +#!/bin/bash + +echo "Attempt to revert to the previous calibration." + +echo "First, attempt to move most recent calibration files to the reversion directory" + +REVERSION_DIR=$HELLO_FLEET_PATH/$HELLO_FLEET_ID"/calibration_ros/reverted/" + +echo "Creating $REVERSION_DIR if it does not already exist." +mkdir $REVERSION_DIR + +echo "-----------------------------------------------------------" +echo "Find the most recent optimization results file." + +FILENAME=$HELLO_FLEET_PATH/$HELLO_FLEET_ID"/calibration_ros/head_calibration_result_" + +for file in `ls $FILENAME*.yaml | sort -r`; do + MOSTRECENT_OPTIMIZATION_FILE=$file + break 1 +done + +echo "Found $MOSTRECENT_OPTIMIZATION_FILE" + +echo "Moving $MOSTRECENT_OPTIMIZATION_FILE to the reversion directory." + +echo "mv $MOSTRECENT_OPTIMIZATION_FILE $REVERSION_DIR" + +mv $MOSTRECENT_OPTIMIZATION_FILE $REVERSION_DIR + +echo "-----------------------------------------------------------" +echo "Find the most recent controller calibration file." + +FILENAME=$HELLO_FLEET_PATH/$HELLO_FLEET_ID"/calibration_ros/controller_calibration_head_" + +for file in `ls $FILENAME*.yaml | sort -r`; do + MOSTRECENT_CONTROLLER_FILE=$file + break 1 +done + +echo "Found $MOSTRECENT_CONTROLLER_FILE" + +echo "Moving $MOSTRECENT_CONTROLLER_FILE to the reversion directory." + +echo "mv $MOSTRECENT_CONTROLLER_FILE $REVERSION_DIR" + +mv $MOSTRECENT_CONTROLLER_FILE $REVERSION_DIR + +echo "-----------------------------------------------------------" +echo "Find the most recent calibrated URDF file." + +FILENAME=$HELLO_FLEET_PATH/$HELLO_FLEET_ID"/calibration_ros/head_calibrated_" + +for file in `ls $FILENAME*.urdf | sort -r`; do + MOSTRECENT_URDF=$file + break 1 +done + +echo "Found $MOSTRECENT_URDF" + +echo "Moving $MOSTRECENT_URDF to the reversion directory." + +echo "mv $MOSTRECENT_URDF $REVERSION_DIR" + +mv $MOSTRECENT_URDF $REVERSION_DIR + +echo "-----------------------------------------------------------" + +echo "Now, update calibration using the most recent files remaining in the calibration directory." + +echo "rosrun stretch_calibration update_with_most_recent_calibration.sh" + +rosrun stretch_calibration update_with_most_recent_calibration.sh + +echo "-----------------------------------------------------------" +echo "Done." diff --git a/stretch_calibration/nodes/update_uncalibrated_urdf.sh b/stretch_calibration/nodes/update_uncalibrated_urdf.sh new file mode 100755 index 0000000..69df8b3 --- /dev/null +++ b/stretch_calibration/nodes/update_uncalibrated_urdf.sh @@ -0,0 +1,9 @@ +#!/bin/bash + +echo "" +echo "Convert the current xacro files to a fresh uncalibrated URDF file." +echo "" + +echo "rosrun xacro xacro `rospack find stretch_description`/urdf/stretch_description.xacro > `rospack find stretch_description`/urdf/stretch_uncalibrated.urdf" + +rosrun xacro xacro `rospack find stretch_description`/urdf/stretch_description.xacro use_nominal_extrinsics:=true > `rospack find stretch_description`/urdf/stretch_uncalibrated.urdf diff --git a/stretch_calibration/nodes/update_urdf_after_xacro_change.sh b/stretch_calibration/nodes/update_urdf_after_xacro_change.sh new file mode 100755 index 0000000..d96343a --- /dev/null +++ b/stretch_calibration/nodes/update_urdf_after_xacro_change.sh @@ -0,0 +1,13 @@ +#!/bin/bash + +echo "Attempt to update the URDF using the most recent xacro and calibration files." +echo +echo "This should be run after any change to the xacro files that you want to be incorporated into the calibrated UDRF. It creates a new URDF for the robot using the current xacro files and the most recent head and tool calibration files." +echo + +rosrun stretch_calibration update_uncalibrated_urdf.sh +roslaunch stretch_calibration use_prior_head_calibration_to_update_urdf.launch +rosrun stretch_calibration update_with_most_recent_calibration.sh + +echo +echo "Finished with attempt to update the URDF using the most recent xacro and calibration files." diff --git a/stretch_calibration/nodes/update_with_most_recent_calibration.sh b/stretch_calibration/nodes/update_with_most_recent_calibration.sh new file mode 100755 index 0000000..f4ad81c --- /dev/null +++ b/stretch_calibration/nodes/update_with_most_recent_calibration.sh @@ -0,0 +1,38 @@ +#!/bin/bash + +echo "Attempt to update the calibration files using the most recently performed calibration." + +echo "-----------------------------------------------------------" +echo "Find the most recent controller calibration file." + +FILENAME=$HELLO_FLEET_PATH/$HELLO_FLEET_ID"/calibration_ros/controller_calibration_head_" + +for file in `ls $FILENAME*.yaml | sort -r`; do + MOSTRECENT=$file + break 1 +done + +echo "Found $MOSTRECENT." +echo "Making it the new controller calibration file." +echo "cp $MOSTRECENT `rospack find stretch_core`/config/controller_calibration_head.yaml" + +cp $MOSTRECENT `rospack find stretch_core`/config/controller_calibration_head.yaml + +echo "-----------------------------------------------------------" +echo "Find the most recent calibrated URDF file." + +FILENAME=$HELLO_FLEET_PATH/$HELLO_FLEET_ID"/calibration_ros/head_calibrated_" + +for file in `ls $FILENAME*.urdf | sort -r`; do + MOSTRECENT=$file + break 1 +done + +echo "Found $MOSTRECENT." +echo "Making it the new URDF file." +echo "cp $MOSTRECENT `rospack find stretch_description`/urdf/stretch.urdf" + +cp $MOSTRECENT `rospack find stretch_description`/urdf/stretch.urdf + +echo "-----------------------------------------------------------" +echo "Finished with attempt to update the calibration files." diff --git a/stretch_calibration/nodes/visualize_most_recent_head_calibration.sh b/stretch_calibration/nodes/visualize_most_recent_head_calibration.sh new file mode 100755 index 0000000..b45e7d1 --- /dev/null +++ b/stretch_calibration/nodes/visualize_most_recent_head_calibration.sh @@ -0,0 +1,44 @@ +#!/bin/bash + +echo "-----------------------------------------------------------" +echo "Find the most recent optimization results file." + +FILENAME=$HELLO_FLEET_PATH/$HELLO_FLEET_ID"/calibration_ros/head_calibration_result_" + +for file in `ls $FILENAME*.yaml | sort -r`; do + MOSTRECENT_OPTIMIZATION_FILE=$file + break 1 +done + +echo "Found $MOSTRECENT_OPTIMIZATION_FILE" + +echo "-----------------------------------------------------------" +echo "Find the most recent controller calibration file." + +FILENAME=$HELLO_FLEET_PATH/$HELLO_FLEET_ID"/calibration_ros/controller_calibration_head_" + +for file in `ls $FILENAME*.yaml | sort -r`; do + MOSTRECENT_CONTROLLER_FILE=$file + break 1 +done + +echo "Found $MOSTRECENT_CONTROLLER_FILE" + +echo "-----------------------------------------------------------" +echo "Find the most recent calibrated URDF file." + +FILENAME=$HELLO_FLEET_PATH/$HELLO_FLEET_ID"/calibration_ros/head_calibrated_" + +for file in `ls $FILENAME*.urdf | sort -r`; do + MOSTRECENT_URDF=$file + break 1 +done + +echo "Found $MOSTRECENT_URDF" + +echo "-----------------------------------------------------------" + +echo "Launch the visualization using these three files." +echo "roslaunch stretch_calibration visualize_head_calibration.launch optimization_result_yaml_file:=$MOSTRECENT_OPTIMIZATION_FILE calibrated_controller_yaml_file:=$MOSTRECENT_CONTROLLER_FILE calibrated_urdf_file:=$MOSTRECENT_URDF" + +roslaunch stretch_calibration visualize_head_calibration.launch optimization_result_yaml_file:=$MOSTRECENT_OPTIMIZATION_FILE calibrated_controller_yaml_file:=$MOSTRECENT_CONTROLLER_FILE calibrated_urdf_file:=$MOSTRECENT_URDF diff --git a/stretch_calibration/package.xml b/stretch_calibration/package.xml new file mode 100644 index 0000000..8209aaf --- /dev/null +++ b/stretch_calibration/package.xml @@ -0,0 +1,78 @@ + + + stretch_calibration + 0.0.1 + The stretch_calibration package + + + + + Hello Robot Inc. + + + + + GPLv3 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + stretch_core + stretch_description + roscpp + rospy + std_msgs + geometry_msgs + tf2 + stretch_core + stretch_description + roscpp + rospy + std_msgs + geometry_msgs + tf2 + stretch_core + stretch_description + roscpp + rospy + std_msgs + geometry_msgs + tf2 + + + + + + + + diff --git a/stretch_calibration/rviz/head_calibration.rviz b/stretch_calibration/rviz/head_calibration.rviz new file mode 100644 index 0000000..ee7c4f6 --- /dev/null +++ b/stretch_calibration/rviz/head_calibration.rviz @@ -0,0 +1,303 @@ +Panels: + - Class: rviz/Displays + Help Height: 145 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + - /MarkerArray1 + - /MarkerArray1/Namespaces1 + Splitter Ratio: 0.5 + Tree Height: 729 + - 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 + - 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 + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_bottom_screw_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_color_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_color_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_left_ir_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_left_ir_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_right_ir_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_right_ir_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + laser: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_inner_wrist: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_left_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_right_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_tool: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_top_wrist: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_finger_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_finger_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_fingertip_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_fingertip_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head_pan: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head_tilt: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_lift: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_mast: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + respeaker_base: + 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/MarkerArray + Enabled: true + Marker Topic: /calibration/marker_array + Name: MarkerArray + Namespaces: + "": true + Queue Size: 100 + 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: 0.886336624622345 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.12153230607509613 + Y: -0.13957977294921875 + Z: 0.4400593340396881 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.5747969150543213 + Target Frame: + Value: Orbit (rviz) + Yaw: 6.278561592102051 + Saved: ~ +Window Geometry: + Displays: + collapsed: true + Height: 1025 + Hide Left Dock: true + Hide Right Dock: true + QMainWindow State: 000000ff00000000fd0000000400000000000002ef000003a7fc0200000009fb0000001200530065006c0065006300740069006f006e000000003d000003a70000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003d000003a7000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000319000000cb0000000000000000000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006500000000000000073d000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000745000003a700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1861 + X: 59 + Y: 27 diff --git a/stretch_core/CMakeLists.txt b/stretch_core/CMakeLists.txt new file mode 100644 index 0000000..596e2a1 --- /dev/null +++ b/stretch_core/CMakeLists.txt @@ -0,0 +1,206 @@ +cmake_minimum_required(VERSION 2.8.3) +project(stretch_core) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## 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 COMPONENTS + actionlib + actionlib_msgs + geometry_msgs + nav_msgs + control_msgs + trajectory_msgs + rospy + std_msgs + std_srvs + tf + tf2 +) + +## 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 exec_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 exec_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 +# actionlib_msgs# geometry_msgs# nav_msgs# std_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 exec_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 your 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 stretch_core +# CATKIN_DEPENDS actionlib actionlib_msgs geometry_msgs nav_msgs rospy std_msgs tf tf2 +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/stretch_core.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/stretch_core_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_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 +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_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_stretch_core.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/stretch_core/LICENSE.md b/stretch_core/LICENSE.md new file mode 100644 index 0000000..c45b1e2 --- /dev/null +++ b/stretch_core/LICENSE.md @@ -0,0 +1,11 @@ +The following license applies to the entire contents of this directory (the "Contents"), which contains software for use with the Stretch RE1 mobile manipulator, which is a robot produced and sold by Hello Robot Inc. + +Copyright 2020 Hello Robot Inc. + +The Contents are licensed under the Apache License, Version 2.0 (the "License"). You may not use the Contents 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, the Contents are distributed under the License are 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. + +For further information about the Contents including inquiries about dual licensing, please contact Hello Robot Inc. diff --git a/stretch_core/README.md b/stretch_core/README.md new file mode 100644 index 0000000..7a60a62 --- /dev/null +++ b/stretch_core/README.md @@ -0,0 +1,17 @@ +![](../images/HelloRobotLogoBar.png) + +## Overview + +*stretch_core* provides the core ROS interfaces to the Stretch RE1 mobile manipulator from Hello Robot Inc. It includes the following nodes: + +*stretch_driver* : node that communicates with the low-level Python library (stretch_body) to interface with the Stretch RE1 + +*detect_aruco_markers* : node that detects and estimates the pose of ArUco markers, including the markers on the robot's body + +*d435i_** : various nodes to help use the Stretch RE1's 3D camera + +*keyboard_teleop* : node that provides a keyboard interface to control the robot's joints + +## License + +For license information, please see the LICENSE files. diff --git a/stretch_core/config/controller_calibration_head_factory_default.yaml b/stretch_core/config/controller_calibration_head_factory_default.yaml new file mode 100644 index 0000000..69c0a2b --- /dev/null +++ b/stretch_core/config/controller_calibration_head_factory_default.yaml @@ -0,0 +1,6 @@ +pan_angle_offset: 0.0 +tilt_angle_offset: 0.0 +pan_looked_left_offset: 0.0 +tilt_looking_up_offset: 0.0 +arm_retracted_offset: 0.0 +tilt_angle_backlash_transition: -0.4 diff --git a/stretch_core/config/stretch_marker_dict.yaml b/stretch_core/config/stretch_marker_dict.yaml new file mode 100644 index 0000000..981014f --- /dev/null +++ b/stretch_core/config/stretch_marker_dict.yaml @@ -0,0 +1,75 @@ +# examples of command line use +# rosparam load ./stretch_marker_dict.yaml +# rosparam list +# rosparam get /aruco_markers/ + +# Be careful with length_mm values. Stickers and printouts can vary +# significantly from your expectations. You should measure them +# directly. For example, in a prototype robot the stickers were closer +# to 23mm wide than 24mm. This 1mm difference resulted in > 1cm of +# error in the depths for the marker pose estimates when only using +# RGB images. + + +'aruco_marker_info': + '130': + 'length_mm': 47 + 'use_rgb_only': False + 'name': 'base_left' + 'link': 'link_aruco_left_base' + '131': + 'length_mm': 47 + 'use_rgb_only': False + 'name': 'base_right' + 'link': 'link_aruco_right_base' + '132': + 'length_mm': 23.5 + 'use_rgb_only': False + 'name': 'wrist_inside' + 'link': 'link_aruco_inner_wrist' + '133': + 'length_mm': 23.5 + 'use_rgb_only': False + 'name': 'wrist_top' + 'link': 'link_aruco_top_wrist' + '134': + 'length_mm': 31.4 + 'use_rgb_only': False + 'name': 'shoulder_top' + 'link': 'link_aruco_shoulder' + '246': + 'length_mm': 179.0 + 'use_rgb_only': False + 'name': 'floor_0' + 'link': None + '247': + 'length_mm': 179.0 + 'use_rgb_only': False + 'name': 'floor_1' + 'link': None + '248': + 'length_mm': 179.0 + 'use_rgb_only': False + 'name': 'floor_2' + 'link': None + '249': + 'length_mm': 179.0 + 'use_rgb_only': False + 'name': 'floor_3' + 'link': None + '10': + 'length_mm': 24 + 'use_rgb_only': False + 'name': 'target_object' + 'link': None + '21': + 'length_mm': 86 + 'use_rgb_only': False + 'name': 'user_pointer' + 'link': 'None' + 'default': + 'length_mm': 24 + 'use_rgb_only': False + 'name': 'unknown' + 'link': None + \ No newline at end of file diff --git a/stretch_core/launch/d435i_basic.launch b/stretch_core/launch/d435i_basic.launch new file mode 100644 index 0000000..fa3fd4f --- /dev/null +++ b/stretch_core/launch/d435i_basic.launch @@ -0,0 +1,63 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/stretch_core/launch/d435i_high_resolution.launch b/stretch_core/launch/d435i_high_resolution.launch new file mode 100644 index 0000000..ef22242 --- /dev/null +++ b/stretch_core/launch/d435i_high_resolution.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + diff --git a/stretch_core/launch/d435i_low_resolution.launch b/stretch_core/launch/d435i_low_resolution.launch new file mode 100644 index 0000000..495f739 --- /dev/null +++ b/stretch_core/launch/d435i_low_resolution.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + diff --git a/stretch_core/launch/imu_filter.launch b/stretch_core/launch/imu_filter.launch new file mode 100644 index 0000000..e2f620d --- /dev/null +++ b/stretch_core/launch/imu_filter.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/stretch_core/launch/respeaker.launch b/stretch_core/launch/respeaker.launch new file mode 100644 index 0000000..6c13590 --- /dev/null +++ b/stretch_core/launch/respeaker.launch @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + + + + + language: $(arg language) + self_cancellation: true + tts_tolerance: 0.5 + + + + diff --git a/stretch_core/launch/rplidar.launch b/stretch_core/launch/rplidar.launch new file mode 100644 index 0000000..c772d02 --- /dev/null +++ b/stretch_core/launch/rplidar.launch @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + diff --git a/stretch_core/launch/stretch_aruco.launch b/stretch_core/launch/stretch_aruco.launch new file mode 100644 index 0000000..b86f5f1 --- /dev/null +++ b/stretch_core/launch/stretch_aruco.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/stretch_core/launch/stretch_driver.launch b/stretch_core/launch/stretch_driver.launch new file mode 100644 index 0000000..8fadf0f --- /dev/null +++ b/stretch_core/launch/stretch_driver.launch @@ -0,0 +1,44 @@ + + + + + + + + + [/stretch/joint_states] + + + + + + + + + + + + + + + + + + + diff --git a/stretch_core/launch/stretch_ekf.launch b/stretch_core/launch/stretch_ekf.launch new file mode 100644 index 0000000..0d91667 --- /dev/null +++ b/stretch_core/launch/stretch_ekf.launch @@ -0,0 +1,13 @@ + + + + + + + + + + diff --git a/stretch_core/launch/stretch_ekf.yaml b/stretch_core/launch/stretch_ekf.yaml new file mode 100644 index 0000000..c13b8d0 --- /dev/null +++ b/stretch_core/launch/stretch_ekf.yaml @@ -0,0 +1,276 @@ +# The frequency, in Hz, at which the filter will output a position estimate. Note that the filter will not begin +# computation until it receives at least one message from one of the inputs. It will then run continuously at the +# frequency specified here, regardless of whether it receives more measurements. Defaults to 30 if unspecified. +frequency: 15 + +# The period, in seconds, after which we consider a sensor to have timed out. In this event, we carry out a predict +# cycle on the EKF without correcting it. This parameter can be thought of as the minimum frequency with which the +# filter will generate new output. Defaults to 1 / frequency if not specified. +sensor_timeout: 0.2 + +# ekf_localization_node and ukf_localization_node both use a 3D omnidirectional motion model. If this parameter is +# set to true, no 3D information will be used in your state estimate. Use this if you are operating in a planar +# environment and want to ignore the effect of small variations in the ground plane that might otherwise be detected +# by, for example, an IMU. Defaults to false if unspecified. +two_d_mode: true #true #false + +# Use this parameter to provide an offset to the transform generated by ekf_localization_node. This can be used for +# future dating the transform, which is required for interaction with some other packages. Defaults to 0.0 if +# unspecified. +transform_time_offset: 0.0 + +# Use this parameter to provide specify how long the tf listener should wait for a transform to become available. +# Defaults to 0.0 if unspecified. +transform_timeout: 0.0 + +# If you're having trouble, try setting this to true, and then echo the /diagnostics_agg topic to see if the node is +# unhappy with any settings or data. +print_diagnostics: true + +# Debug settings. Not for the faint of heart. Outputs a ludicrous amount of information to the file specified by +# debug_out_file. I hope you like matrices! Please note that setting this to true will have strongly deleterious +# effects on the performance of the node. Defaults to false if unspecified. +debug: false + +# Defaults to "robot_localization_debug.txt" if unspecified. Please specify the full path. +debug_out_file: /path/to/debug/file.txt + +# Whether to broadcast the transformation over the /tf topic. Defaults to true if unspecified. +publish_tf: false #true + +# Whether to publish the acceleration state. Defaults to false if unspecified. +publish_acceleration: false + +# REP-105 (http://www.ros.org/reps/rep-0105.html) specifies four principal coordinate frames: base_link, odom, map, and +# earth. base_link is the coordinate frame that is affixed to the robot. Both odom and map are world-fixed frames. +# The robot's position in the odom frame will drift over time, but is accurate in the short term and should be +# continuous. The odom frame is therefore the best frame for executing local motion plans. The map frame, like the odom +# frame, is a world-fixed coordinate frame, and while it contains the most globally accurate position estimate for your +# robot, it is subject to discrete jumps, e.g., due to the fusion of GPS data or a correction from a map-based +# localization node. The earth frame is used to relate multiple map frames by giving them a common reference frame. +# ekf_localization_node and ukf_localization_node are not concerned with the earth frame. +# Here is how to use the following settings: +# 1. Set the map_frame, odom_frame, and base_link frames to the appropriate frame names for your system. +# 1a. If your system does not have a map_frame, just remove it, and make sure "world_frame" is set to the value of +# odom_frame. +# 2. If you are fusing continuous position data such as wheel encoder odometry, visual odometry, or IMU data, set +# "world_frame" to your odom_frame value. This is the default behavior for robot_localization's state estimation nodes. +# 3. If you are fusing global absolute position data that is subject to discrete jumps (e.g., GPS or position updates +# from landmark observations) then: +# 3a. Set your "world_frame" to your map_frame value +# 3b. MAKE SURE something else is generating the odom->base_link transform. Note that this can even be another state +# estimation node from robot_localization! However, that instance should *not* fuse the global data. +map_frame: map # Defaults to "map" if unspecified +odom_frame: odom # Defaults to "odom" if unspecified +base_link_frame: base_link # Defaults to "base_link" if unspecified +world_frame: odom # Defaults to the value of odom_frame if unspecified + +# The filter accepts an arbitrary number of inputs from each input message type (nav_msgs/Odometry, +# geometry_msgs/PoseWithCovarianceStamped, geometry_msgs/TwistWithCovarianceStamped, +# sensor_msgs/Imu). To add an input, simply append the next number in the sequence to its "base" name, e.g., odom0, +# odom1, twist0, twist1, imu0, imu1, imu2, etc. The value should be the topic name. These parameters obviously have no +# default values, and must be specified. +odom0: /odom #/wheel/odom + +# Each sensor reading updates some or all of the filter's state. These options give you greater control over which +# values from each measurement are fed to the filter. For example, if you have an odometry message as input, but only +# want to use its Z position value, then set the entire vector to false, except for the third entry. The order of the +# values is x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Note that not some message types +# do not provide some of the state variables estimated by the filter. For example, a TwistWithCovarianceStamped message +# has no pose information, so the first six values would be meaningless in that case. Each vector defaults to all false +# if unspecified, effectively making this parameter required for each sensor. +# odom0_config: [true, true, false, +# false, false, false, +# false, false, false, +# false, false, true, +# false, false, false] +# odom0_config: [true, true, true, +# false, false, false, +# false, false, false, +# false, false, false, +# false, false, false] +odom0_config: [true, true, true, + false, false, true, + false, false, false, + false, false, false, + false, false, false] + + +# If you have high-frequency data or are running with a low frequency parameter value, then you may want to increase +# the size of the subscription queue so that more measurements are fused. +odom0_queue_size: 1 #2 + +# [ADVANCED] Large messages in ROS can exhibit strange behavior when they arrive at a high frequency. This is a result +# of Nagle's algorithm. This option tells the ROS subscriber to use the tcpNoDelay option, which disables Nagle's +# algorithm. +odom0_nodelay: false + +# [ADVANCED] When measuring one pose variable with two sensors, a situation can arise in which both sensors under- +# report their covariances. This can lead to the filter rapidly jumping back and forth between each measurement as they +# arrive. In these cases, it often makes sense to (a) correct the measurement covariances, or (b) if velocity is also +# measured by one of the sensors, let one sensor measure pose, and the other velocity. However, doing (a) or (b) isn't +# always feasible, and so we expose the differential parameter. When differential mode is enabled, all absolute pose +# data is converted to velocity data by differentiating the absolute pose measurements. These velocities are then +# integrated as usual. NOTE: this only applies to sensors that provide pose measurements; setting differential to true +# for twist measurements has no effect. +odom0_differential: true + +# [ADVANCED] When the node starts, if this parameter is true, then the first measurement is treated as a "zero point" +# for all future measurements. While you can achieve the same effect with the differential paremeter, the key +# difference is that the relative parameter doesn't cause the measurement to be converted to a velocity before +# integrating it. If you simply want your measurements to start at 0 for a given sensor, set this to true. +odom0_relative: false + +# [ADVANCED] If your data is subject to outliers, use these threshold settings, expressed as Mahalanobis distances, to +# control how far away from the current vehicle state a sensor measurement is permitted to be. Each defaults to +# numeric_limits::max() if unspecified. It is strongly recommended that these parameters be removed if not +# required. Data is specified at the level of pose and twist variables, rather than for each variable in isolation. +# For messages that have both pose and twist data, the parameter specifies to which part of the message we are applying +# the thresholds. +#odom0_pose_rejection_threshold: 5 +#odom0_twist_rejection_threshold: 1 + +# Further input parameter examples +# odom1: example/another_odom +# odom1_config: [false, false, true, +# false, false, false, +# false, false, false, +# false, false, true, +# false, false, false] +# odom1_differential: false +# odom1_relative: true +# odom1_queue_size: 2 +# odom1_pose_rejection_threshold: 2 +# odom1_twist_rejection_threshold: 0.2 +# odom1_nodelay: false + +# pose0: example/pose +# pose0_config: [true, true, false, +# false, false, false, +# false, false, false, +# false, false, false, +# false, false, false] +# pose0_differential: true +# pose0_relative: false +# pose0_queue_size: 5 +# pose0_rejection_threshold: 2 # Note the difference in parameter name +# pose0_nodelay: false + +# twist0: example/twist +# twist0_config: [false, false, false, +# false, false, false, +# true, true, true, +# false, false, false, +# false, false, false] +# twist0_queue_size: 3 +# twist0_rejection_threshold: 2 +# twist0_nodelay: false + + +# Each sensor reading updates some or all of the filter's state. These options give you greater control over which +# values from each measurement are fed to the filter. For example, if you have an odometry message as input, but only +# want to use its Z position value, then set the entire vector to false, except for the third entry. The order of the +# values is x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Note that not some message types +# do not provide some of the state variables estimated by the filter. For example, a TwistWithCovarianceStamped message +# has no pose information, so the first six values would be meaningless in that case. Each vector defaults to all false +# if unspecified, effectively making this parameter required for each sensor. + +imu0: /imu/data +#imu0_config: [false, false, false, +# true, true, true, +# false, false, false, +# true, true, true, +# true, true, true] +imu0_config: [false, false, false, + false, false, true, + false, false, false, + false, false, true, + false, false, false] +imu0_nodelay: false +imu0_differential: true #false +imu0_relative: true +imu0_queue_size: 1 #5 +#imu0_pose_rejection_threshold: 0.8 # Note the difference in parameter names +#imu0_twist_rejection_threshold: 0.8 # +#imu0_linear_acceleration_rejection_threshold: 0.8 # + +# [ADVANCED] Some IMUs automatically remove acceleration due to gravity, and others don't. If yours doesn't, please set +# this to true, and *make sure* your data conforms to REP-103, specifically, that the data is in ENU frame. +imu0_remove_gravitational_acceleration: true + +# [ADVANCED] The EKF and UKF models follow a standard predict/correct cycle. During prediction, if there is no +# acceleration reference, the velocity at time t+1 is simply predicted to be the same as the velocity at time t. During +# correction, this predicted value is fused with the measured value to produce the new velocity estimate. This can be +# problematic, as the final velocity will effectively be a weighted average of the old velocity and the new one. When +# this velocity is the integrated into a new pose, the result can be sluggish covergence. This effect is especially +# noticeable with LIDAR data during rotations. To get around it, users can try inflating the process_noise_covariance +# for the velocity variable in question, or decrease the variance of the variable in question in the measurement +# itself. In addition, users can also take advantage of the control command being issued to the robot at the time we +# make the prediction. If control is used, it will get converted into an acceleration term, which will be used during +# predicition. Note that if an acceleration measurement for the variable in question is available from one of the +# inputs, the control term will be ignored. +# Whether or not we use the control input during predicition. Defaults to false. +use_control: false #true +# Whether the input (assumed to be cmd_vel) is a geometry_msgs/Twist or geometry_msgs/TwistStamped message. Defaults to +# false. +stamped_control: false +# The last issued control command will be used in prediction for this period. Defaults to 0.2. +control_timeout: 0.2 +# Which velocities are being controlled. Order is vx, vy, vz, vroll, vpitch, vyaw. +control_config: [true, false, false, false, false, true] +# Places limits on how large the acceleration term will be. Should match your robot's kinematics. +acceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 3.4] +# Acceleration and deceleration limits are not always the same for robots. +deceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 4.5] +# If your robot cannot instantaneously reach its acceleration limit, the permitted change can be controlled with these +# gains +acceleration_gains: [0.8, 0.0, 0.0, 0.0, 0.0, 0.9] +# If your robot cannot instantaneously reach its deceleration limit, the permitted change can be controlled with these +# gains +deceleration_gains: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0] + +# [ADVANCED] The process noise covariance matrix can be difficult to tune, and can vary for each application, so it is +# exposed as a configuration parameter. This matrix represents the noise we add to the total error after each +# prediction step. The better the omnidirectional motion model matches your system, the smaller these values can be. +# However, if users find that a given variable is slow to converge, one approach is to increase the +# process_noise_covariance diagonal value for the variable in question, which will cause the filter's predicted error +# to be larger, which will cause the filter to trust the incoming measurement more during correction. The values are +# ordered as x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Defaults to the matrix below if +# unspecified. +process_noise_covariance: [0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0.04, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.02, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.015] + +# [ADVANCED] This represents the initial value for the state estimate error covariance matrix. Setting a diagonal +# value (variance) to a large value will result in rapid convergence for initial measurements of the variable in +# question. Users should take care not to use large values for variables that will not be measured directly. The values +# are ordered as x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Defaults to the matrix below +#if unspecified. +initial_estimate_covariance: [1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9] + diff --git a/stretch_core/launch/stretch_scan_matcher.launch b/stretch_core/launch/stretch_scan_matcher.launch new file mode 100644 index 0000000..a41e4b7 --- /dev/null +++ b/stretch_core/launch/stretch_scan_matcher.launch @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/stretch_core/launch/wheel_odometry_test.launch b/stretch_core/launch/wheel_odometry_test.launch new file mode 100644 index 0000000..57c5517 --- /dev/null +++ b/stretch_core/launch/wheel_odometry_test.launch @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/stretch_core/nodes/d435i_accel_correction b/stretch_core/nodes/d435i_accel_correction new file mode 100755 index 0000000..32f845a --- /dev/null +++ b/stretch_core/nodes/d435i_accel_correction @@ -0,0 +1,50 @@ +#!/usr/bin/env python + +from __future__ import print_function + +import sys +import rospy +from sensor_msgs.msg import Imu + +class D435iAccelCorrectionNode: + def __init__(self): + self.num_samples_to_skip = 4 + self.sample_count = 0 + + def accel_callback(self, accel): + self.accel = accel + self.sample_count += 1 + if (self.sample_count % self.num_samples_to_skip) == 0: + # This can avoid issues with the D435i's time stamps being too + # far ahead for TF. + self.accel.header.stamp = rospy.Time.now() + x = self.accel.linear_acceleration.x + y = self.accel.linear_acceleration.y + z = self.accel.linear_acceleration.z + + self.accel.linear_acceleration.x = x + self.accel.linear_acceleration.y = y + self.accel.linear_acceleration.z = z + + self.corrected_accel_pub.publish(self.accel) + + + def main(self): + rospy.init_node('D435iAccelCorrectionNode') + self.node_name = rospy.get_name() + rospy.loginfo("{0} started".format(self.node_name)) + + self.topic_name = '/camera/accel/sample' + self.accel_subscriber = rospy.Subscriber(self.topic_name, Imu, self.accel_callback) + + self.corrected_accel_pub = rospy.Publisher('/camera/accel/sample_corrected', Imu, queue_size=1) + + +if __name__ == '__main__': + node = D435iAccelCorrectionNode() + node.main() + try: + rospy.spin() + except KeyboardInterrupt: + print('interrupt received, so shutting down') + diff --git a/stretch_core/nodes/d435i_configure b/stretch_core/nodes/d435i_configure new file mode 100755 index 0000000..89da89c --- /dev/null +++ b/stretch_core/nodes/d435i_configure @@ -0,0 +1,81 @@ +#!/usr/bin/env python + +from __future__ import print_function + +import rospy +import dynamic_reconfigure.client +from std_srvs.srv import Trigger, TriggerResponse +import threading + +class D435iConfigureNode: + def __init__(self): + self.rate = 1.0 + self.visual_preset = None + self.mode_lock = threading.Lock() + + def turn_on_default_mode(self): + with self.mode_lock: + self.locked_mode_id = 1 + self.locked_mode_name = 'Default' + self.parameter_client.update_configuration({'visual_preset' : self.locked_mode_name}) + rospy.loginfo("Set D435i to {0} mode".format(self.locked_mode_name)) + + def turn_on_high_accuracy_mode(self): + with self.mode_lock: + self.locked_mode_id = 3 + self.locked_mode_name = 'High Accuracy' + self.parameter_client.update_configuration({'visual_preset' : self.locked_mode_name}) + rospy.loginfo("Set D435i to {0} mode".format(self.locked_mode_name)) + + def default_mode_service_callback(self, request): + self.turn_on_default_mode() + return TriggerResponse( + success=True, + message='Default mode enabled.' + ) + + def high_accuracy_mode_service_callback(self, request): + self.turn_on_high_accuracy_mode() + return TriggerResponse( + success=True, + message='High Accuracy mode enabled.' + ) + + def main(self): + rospy.init_node('configure_d435i') + self.node_name = rospy.get_name() + rospy.loginfo("{0} started".format(self.node_name)) + self.parameter_client = dynamic_reconfigure.client.Client('/camera/stereo_module/') + + self.switch_to_manipulation_mode_service = rospy.Service('/camera/switch_to_default_mode', + Trigger, + self.default_mode_service_callback) + + self.switch_to_navigation_mode_service = rospy.Service('/camera/switch_to_high_accuracy_mode', + Trigger, + self.high_accuracy_mode_service_callback) + + initial_mode = rospy.get_param('~initial_mode') + + rospy.loginfo("initial_mode = {0}".format(initial_mode)) + + if initial_mode == 'High Accuracy': + self.turn_on_high_accuracy_mode() + elif initial_mode == 'Default': + self.turn_on_default_mode() + else: + error_string = 'initial_mode = {0} not recognized. Setting to D435i to Default mode.'.format(initial_mode) + rospy.logerr(error_string) + self.turn_on_default_mode() + + rate = rospy.Rate(self.rate) + while not rospy.is_shutdown(): + rate.sleep() + + +if __name__ == '__main__': + try: + node = D435iConfigureNode() + node.main() + except KeyboardInterrupt: + print('interrupt received, so shutting down') diff --git a/stretch_core/nodes/d435i_frustum_visualizer b/stretch_core/nodes/d435i_frustum_visualizer new file mode 100755 index 0000000..2e1bbd0 --- /dev/null +++ b/stretch_core/nodes/d435i_frustum_visualizer @@ -0,0 +1,207 @@ +#!/usr/bin/env python + +from __future__ import print_function + +import rospy +import numpy as np + +import message_filters +from std_msgs.msg import Header +from visualization_msgs.msg import Marker +from visualization_msgs.msg import MarkerArray +from geometry_msgs.msg import Transform, Pose, Vector3, Quaternion, Point +from sensor_msgs.msg import CameraInfo + + +class FrustumNode: + def __init__(self): + self.color_count = 0 + self.depth_count = 0 + self.camera_types = ['depth', 'color'] + # only publish a single frustum for every N camera info + # messages received + self.skip_publishing = 5 + + # minimum-Z depth for D435i + # 1280x720 0.28 m + # 848x480 0.195 m + # 640x480 0.175 m + # 640x360 0.15 m + # 480x270 0.12 m + # 424x240 0.105 m + self.min_z_dict = {1280:0.28, + 848:0.195, + 640:0.175, + 640:0.15, + 480:0.12, + 424:0.105} + # This default value seems too large in practice. It would + # probably be better to set a smaller value and clip the point + # cloud (i.e., remove points that are farther away than the + # specified number). + self.max_z = 10.0 + + def depth_camera_info_callback(self, camera_info): + if (self.depth_count % self.skip_publishing) == 0: + self.camera_info_callback(camera_info, camera_type='depth') + self.depth_count = self.depth_count + 1 + + def color_camera_info_callback(self, camera_info): + if (self.color_count % self.skip_publishing) == 0: + self.camera_info_callback(camera_info, camera_type='color') + self.color_count = self.color_count + 1 + + def camera_info_callback(self, camera_info, camera_type=None): + if camera_type not in self.camera_types: + print('WARNING: FrustumNode camera_info_callback camera_type = {0} unrecognized. Valid types = {1}.'.format(camera_type, self.camera_types)) + return + camera_matrix = np.reshape(camera_info.K, (3,3)) + # Decompose the camera matrix. + f_x = camera_matrix[0,0] + c_x = camera_matrix[0,2] + f_y = camera_matrix[1,1] + c_y = camera_matrix[1,2] + frame_id = camera_info.header.frame_id + timestamp = camera_info.header.stamp + distortion_coefficients = np.array(camera_info.D) + height = camera_info.height + width = camera_info.width + min_z = self.min_z_dict[width] + max_z = self.max_z + + # use 0.5 to account for the edges of the pixels (-0.5 for + # first pixel, +0.5 for last pixel) + frustum_corners_whz = {'near_top_left': (-0.5, -0.5, min_z), + 'near_top_right': (width-0.5, -0.5, min_z), + 'near_bottom_left': (-0.5, height-0.5, min_z), + 'near_bottom_right': (width-0.5, height-0.5, min_z), + 'far_top_left': (-0.5, -0.5, max_z), + 'far_top_right': (width-0.5, -0.5, max_z), + 'far_bottom_left': (-0.5, height-0.5, max_z), + 'far_bottom_right': (width-0.5, height-0.5, max_z)} + + def corner_id_to_faces(corner_id): + faces = [] + faces.append('near' in corner_id) + faces.append('top' in corner_id) + faces.append('left' in corner_id) + return faces + + frustum_corners_xyz = {} + for k in frustum_corners_whz.keys(): + w, h, z = frustum_corners_whz[k] + + # Convert the depth image points to 3D points in meters + # using the camera matrix. + x = ((w - c_x) / f_x) * z + y = ((h - c_y) / f_y) * z + + faces = corner_id_to_faces(k) + frustum_corners_xyz[k] = [(x, y, z), faces] + + marker = Marker() + marker.type = marker.TRIANGLE_LIST + marker.action = marker.ADD + marker.lifetime = rospy.Duration(0.5) #0.2 + marker.text = 'D435i_frustum' + marker.header.frame_id = frame_id + marker.header.stamp = timestamp + marker.id = 0 + marker.scale.x = 1.0 + marker.scale.y = 1.0 + marker.scale.z = 1.0 + if camera_type == 'depth': + # frustum color and transparency + # gray + marker.color.r = 1.0 + marker.color.g = 1.0 + marker.color.b = 1.0 + marker.color.a = 0.4 + elif camera_type == 'color': + # frustum color and transparency + # yellow + marker.color.r = 1.0 + marker.color.g = 1.0 + marker.color.b = 0.0 + marker.color.a = 0.4 + + def adjacent_corners(c0, c1): + # return True if the corners are adjacent to one another and False otherwise + faces0 = c0[1] + faces1 = c1[1] + diff_count = 0 + for f0, f1 in zip(faces0, faces1): + if f0 != f1: + diff_count += 1 + return (diff_count == 1) + + def corners_to_quad(corners_dict, face_id): + quad_corners = [] + for k in corners_dict.keys(): + if face_id in k: + quad_corners.append(corners_dict[k]) + assert(len(quad_corners) == 4) + # sort into adjacent corners + sorted_quad_corners = [] + sorted_quad_corners.append(quad_corners.pop(0)) + prev_corner = sorted_quad_corners[0] + while len(quad_corners) > 0: + for c in quad_corners: + if adjacent_corners(prev_corner, c): + sorted_quad_corners.append(c) + prev_corner = c + break + quad_corners.remove(prev_corner) + quad_xyz = [c[0] for c in sorted_quad_corners] + return quad_xyz + + def xyz_to_point(xyz): + p = Point() + p.x, p.y, p.z = xyz + return p + + def quad_to_triangles(quad_xyz): + assert(len(quad_xyz) == 4) + triangles = [] + for xyz in quad_xyz[:3]: + triangles.append(xyz_to_point(xyz)) + for xyz in quad_xyz[2:]: + triangles.append(xyz_to_point(xyz)) + triangles.append(xyz_to_point(quad_xyz[0])) + return triangles + + points = [] + quad_ids = ['near', 'far', 'top', 'bottom', 'left', 'right'] + for s in quad_ids: + quad_xyz = corners_to_quad(frustum_corners_xyz, s) + triangles = quad_to_triangles(quad_xyz) + points.extend(triangles) + marker.points = points + + if camera_type == 'depth': + self.depth_frustum_marker_pub.publish(marker) + elif camera_type == 'color': + self.color_frustum_marker_pub.publish(marker) + + + def main(self): + rospy.init_node('FrustumNode') + self.node_name = rospy.get_name() + rospy.loginfo("{0} started".format(self.node_name)) + + self.color_camera_topic = '/camera/color/camera_info' + self.depth_camera_topic = '/camera/depth/camera_info' + self.depth_camera_info_subscriber = rospy.Subscriber(self.depth_camera_topic, CameraInfo, self.depth_camera_info_callback) + self.color_camera_info_subscriber = rospy.Subscriber(self.color_camera_topic, CameraInfo, self.color_camera_info_callback) + + self.depth_frustum_marker_pub = rospy.Publisher('/frustum_marker/depth_camera', Marker, queue_size=1) + self.color_frustum_marker_pub = rospy.Publisher('/frustum_marker/color_camera', Marker, queue_size=1) + + +if __name__ == '__main__': + node = FrustumNode() + node.main() + try: + rospy.spin() + except KeyboardInterrupt: + print('interrupt received, so shutting down') diff --git a/stretch_core/nodes/detect_aruco_markers b/stretch_core/nodes/detect_aruco_markers new file mode 100755 index 0000000..353cbad --- /dev/null +++ b/stretch_core/nodes/detect_aruco_markers @@ -0,0 +1,721 @@ +#!/usr/bin/env python + +from __future__ import print_function + +import sys +import rospy +import cv2 +import numpy as np +import math + +import message_filters +from std_msgs.msg import Header +from sensor_msgs.msg import Image +from sensor_msgs.msg import CameraInfo +from sensor_msgs import point_cloud2 +from sensor_msgs.msg import PointCloud2, PointField +from visualization_msgs.msg import Marker +from visualization_msgs.msg import MarkerArray +from geometry_msgs.msg import Point + +from cv_bridge import CvBridge, CvBridgeError + +import tf +from tf.transformations import quaternion_from_euler, euler_from_quaternion, quaternion_from_matrix + +import struct +import cv2.aruco as aruco +import hello_helpers.fit_plane as fp +import threading +from collections import deque + + +class ArucoMarker: + def __init__(self, aruco_id, marker_info): + self.aruco_id = aruco_id + colormap = cv2.COLORMAP_HSV + offset = 0 + i = (offset + (self.aruco_id * 29)) % 255 + image = np.uint8([[[i]]]) + id_color_image = cv2.applyColorMap(image, colormap) + bgr = id_color_image[0,0] + self.id_color = [bgr[2], bgr[1], bgr[0]] + + self.frame_id = '/camera_color_optical_frame' + self.info = marker_info.get(str(self.aruco_id), None) + + if self.info is None: + self.info = marker_info['default'] + self.length_of_marker_mm = self.info['length_mm'] + self.use_rgb_only = self.info['use_rgb_only'] + + # Distance beyond which the depth image depth will be + # used to estimate the marker position. + # 280mm is the minimum depth for the D435i at 1280x720 resolution + self.min_z_to_use_depth_image = 0.28 + (self.length_of_marker_mm/1000.0) + + self.marker = Marker() + self.marker.type = self.marker.CUBE + self.marker.action = self.marker.ADD + self.marker.lifetime = rospy.Duration(0.2) + self.marker.text = self.info['name'] + + self.frame_number = None + self.timestamp = None + self.plane = None + self.points_array = None + self.ready = False + + self.x_axis = None + self.y_axis = None + self.z_axis = None + self.used_depth_image = False + self.broadcasted = False + + + def get_marker_point_cloud(self): + return self.points_array + + def get_plane_fit_point_cloud(self): + if self.plane is None: + return None + origin = np.array(self.marker_position) + side_length = self.length_of_marker_mm/1000.0 + sample_spacing = 0.001 + points = self.plane.get_points_on_plane(origin, side_length, sample_spacing) + return points + + def update_marker_point_cloud(self, aruco_depth_estimate, display_images=False): + if (not self.ready) or (self.depth_image is None): + self.points_array = None + + c = self.center + mn = self.min_dists + mx = self.max_dists + corners = self.corners + id_num = self.aruco_id + + # Find rectangle that encloses the ArUco detected corners. + left = int(math.floor(c[0] + mn[0])) + right = int(math.ceil(c[0] + mx[0])) + top = int(math.floor(c[1] + mn[1])) + bottom = int(math.ceil(c[1] + mx[1])) + + # Crop rectangle of depth map corresponding with detected ArUco corners. + depth_crop = self.depth_image[top : bottom, left : right] + + # Create a mask corresponding with the polygon defined by the + # ArUco corners. + mask_crop = np.zeros_like(depth_crop, np.uint8) + crop_poly_points = np.array(corners) - [left, top] + crop_poly_points = np.round(crop_poly_points).astype(np.int32) + # TODO: Check how this treats the boundary pixels. Will it + # include or exclude the corners? Should it include or exclude + # the corners? + cv2.fillConvexPoly(mask_crop, crop_poly_points, 255) + + # Create array with pixel coordinates for the cropped region of the depth map. + coord_crop = np.mgrid[top : bottom : 1, left : right : 1] + + # Decompose the camera matrix. + camera_matrix = np.reshape(self.camera_info.K, (3,3)) + f_x = camera_matrix[0,0] + c_x = camera_matrix[0,2] + f_y = camera_matrix[1,1] + c_y = camera_matrix[1,2] + + # Convert the points in the cropped rectangle of the depth + # image to 3D points in meters using the camera matrix. + z = depth_crop/1000.0 + x = ((coord_crop[1] - c_x) / f_x) * z + y = ((coord_crop[0] - c_y) / f_y) * z + + # Filter the points based on their depth to remove extreme + # outliers. Without this, there is a tendency for some depths + # to read 0 or near 0 (by the camera) and some depths to be + # far away (e.g., on the floor), which can result in plane + # fitting problems. + + # TODO: Better handle situations when the cropped rectangle + # contains no reasonable depth values. + + # First, weakly filter the points using the RGB only depth + # estimate from the ArUco code. This is a weak filter due to + # the estimate's sensitivity to corner detection errors. + marker_length_m = self.length_of_marker_mm/1000.0 + min_z = aruco_depth_estimate - (6 * marker_length_m) + max_z = aruco_depth_estimate + (6 * marker_length_m) + mask_z = (z > min_z) & (z < max_z) + + # Second, filter for depths that are within one marker length + # away from the median depth. + remaining_z = z[mask_z] + if len(remaining_z) > 0: + median_z = np.median(z[mask_z]) + min_z = median_z - marker_length_m + max_z = median_z + marker_length_m + mask_z = (z > min_z) & (z < max_z) + + # Combine the values into a numpy array with the following + # structure: [[x0, y0, z0], [x1, y1, z1], ... ] + d = np.dstack([x,y,z]) + s = d.shape + points_array = d.reshape((s[0]*s[1],3)) + + # Only use the points that are within the polygon formed by + # the ArUco corners and fall within a reasonable range of + # depths. + points_array = points_array[(mask_crop.flatten() > 0) & mask_z.flatten()] + + if display_images: + display_depth_crop = cv2.normalize(depth_crop, None, 0, 255, cv2.NORM_MINMAX, cv2.CV_8U) + cv2.imshow('Cropped Depth {0}'.format(id_num), display_depth_crop) + display_mask_crop = cv2.normalize(mask_crop, None, 0, 255, cv2.NORM_MINMAX, cv2.CV_8U) + cv2.imshow('Cropped Mask {0}'.format(id_num), display_mask_crop) + else: + points_array = np.empty((0,3), dtype=np.float64) + + self.points_array = points_array + + + def update(self, corners, timestamp, frame_number, camera_info, depth_image=None): + self.ready = True + self.corners = corners + self.timestamp = timestamp + self.frame_number = frame_number + self.camera_info = camera_info + self.depth_image = depth_image + self.camera_matrix = np.reshape(self.camera_info.K, (3,3)) + self.distortion_coefficients = np.array(self.camera_info.D) + rvecs, tvecs, unknown_variable = aruco.estimatePoseSingleMarkers([self.corners], + self.length_of_marker_mm, + self.camera_matrix, + self.distortion_coefficients) + self.aruco_rotation = rvecs[0][0] + + # Convert ArUco position estimate to be in meters. + self.aruco_position = tvecs[0][0]/1000.0 + aruco_depth_estimate = self.aruco_position[2] + + self.center = np.average(self.corners, axis=1).flatten() + self.min_dists = np.min((self.corners - self.center), axis=1).flatten() + self.max_dists = np.max((self.corners - self.center), axis=1).flatten() + + if (self.depth_image is not None) and (aruco_depth_estimate > self.min_z_to_use_depth_image) and (not self.use_rgb_only): + only_use_rgb = False + + # Find suitable 3D points within the polygon defined by + # the ArUco detected corners. If there are too few points, + # do not proceed with fitting a plane and instead only use + # the RGB image to perform the 3D estimation using the + # ArUco code. + + self.update_marker_point_cloud(aruco_depth_estimate) + num_points = self.points_array.shape[0] + min_number_of_points_for_plane_fitting = 16 + if num_points < min_number_of_points_for_plane_fitting: + print('WARNING: There are too few points from the depth image for plane fitting, so only using the RGB ArUco estimate. number of points =', num_points) + only_use_rgb = True + else: + only_use_rgb = True + + if not only_use_rgb: + # Use the depth image and the RGB image to estimate the + # marker's pose. The RGB image is used to identify the + # marker and detect the corners of the marker. The depth + # image is used to fit a plane to the marker. The ArUco + # detected corners are then projected onto this fit plane + # and their projections are used to estimate the marker's + # position and the coordinate system on the plane (x axis + # and y axis). The z axis is normal to the fit plane. + + self.used_depth_image = True + + self.plane = fp.FitPlane() + self.plane.fit_svd(self.points_array, verbose=False) + + # Find the points on the fit plane corresponding with the + # four ArUco corners. Then, use the mean of the 4 points + # as the 3D center for the marker. + d = self.plane.d + n = self.plane.n + f_x = self.camera_matrix[0,0] + c_x = self.camera_matrix[0,2] + f_y = self.camera_matrix[1,1] + c_y = self.camera_matrix[1,2] + + def pix_to_plane(pix_x, pix_y): + z = 1.0 + x = ((pix_x - c_x) / f_x) * z + y = ((pix_y - c_y) / f_y) * z + point = np.array([x, y, z]) + ray = point/np.linalg.norm(point) + point = ((d / np.matmul(n.transpose(), ray)) * ray).flatten() + return point + + # "markerCorners is the list of corners of the detected markers. For + # each marker, its four corners are returned in their original order + # (which is clockwise starting with top left). So, the first corner is + # the top left corner, followed by the top right, bottom right and + # bottom left." + # https://docs.opencv.org/4.0.1/d5/dae/tutorial_aruco_detection.html + # + # y axis points to the top of the marker + # x axis points to the right of the marker + # z axis points out of the marker (normal to the marker) + corner_points = [] + total_corner = np.array([0.0, 0.0, 0.0]) + for (pix_x, pix_y) in self.corners[0]: + corner_point = pix_to_plane(pix_x, pix_y) + total_corner += corner_point + corner_points.append(corner_point) + self.marker_position = total_corner / 4.0 + + # Use the corners on the fit plane to estimate the x and y + # axes for the marker. + top_left, top_right, bottom_right, bottom_left = corner_points + + y_axis = (top_left + top_right) - (bottom_left + bottom_right) + y_length = np.linalg.norm(y_axis) + if y_length > 0.0: + y_axis = y_axis/y_length + else: + y_axis = None + + x_axis = (top_right + bottom_right) - (top_left + bottom_left) + x_length = np.linalg.norm(x_axis) + if x_length > 0.0: + x_axis = x_axis/x_length + else: + x_axis = None + + plane_normal = self.plane.get_plane_normal() + R = np.identity(4) + R[:3,:3] = cv2.Rodrigues(self.aruco_rotation)[0] + + if x_axis is not None: + old_x_axis = np.reshape(x_axis, (3,1)) + else: + old_x_axis = np.reshape(R[:3,0], (3,1)) + if y_axis is not None: + old_y_axis = np.reshape(y_axis, (3,1)) + else: + old_y_axis = np.reshape(R[:3,1], (3,1)) + + # The following methods directly use the z axis from the + # plane fit. + new_z_axis = plane_normal + if (x_axis is not None) and (y_axis is None): + # If x_axis found, but not y_axis. + new_x_axis = old_x_axis - (np.matmul(new_z_axis.transpose(), old_x_axis) * new_z_axis) + new_x_axis = new_x_axis/np.linalg.norm(new_x_axis) + new_y_axis = np.reshape(np.cross(new_z_axis.flatten(), new_x_axis.flatten()), (3,1)) + elif (x_axis is None) and (y_axis is not None): + # If y_axis found, but not x_axis. + new_y_axis = old_y_axis - (np.matmul(new_z_axis.transpose(), old_y_axis) * new_z_axis) + new_y_axis = new_y_axis/np.linalg.norm(new_y_axis) + new_x_axis = np.reshape(np.cross(new_y_axis.flatten(), new_z_axis.flatten()), (3,1)) + else: + # Either both x_axis and y_axis were found, or neither. + if (x_axis is None) and (y_axis is None): + print('WARNING: The detected ArUco corners did not project to reasonable 3D points on the fit plane.') + print(' self.corners[0] =', self.corners[0]) + + # Attempt to reduce bias due to selecting one of the + # old axes by averaging the results from both axes. + new_y_axis_1 = old_y_axis - (np.matmul(new_z_axis.transpose(), old_y_axis) * new_z_axis) + new_y_axis_1 = new_y_axis_1/np.linalg.norm(new_y_axis_1) + + new_x_axis_1 = np.reshape(np.cross(new_y_axis_1.flatten(), new_z_axis.flatten()), (3,1)) + + new_x_axis_2 = old_x_axis - (np.matmul(new_z_axis.transpose(), old_x_axis) * new_z_axis) + new_x_axis_2 = new_x_axis_2/np.linalg.norm(new_x_axis_2) + + new_x_axis = (new_x_axis_1 + new_x_axis_2)/2.0 + new_x_axis = new_x_axis/np.linalg.norm(new_x_axis) + new_y_axis = np.reshape(np.cross(new_z_axis.flatten(), new_x_axis.flatten()), (3,1)) + + self.x_axis = new_x_axis.flatten() + self.y_axis = new_y_axis.flatten() + self.z_axis = new_z_axis.flatten() + + R[:3,0] = self.x_axis + R[:3,1] = self.y_axis + R[:3,2] = self.z_axis + + self.marker_quaternion = quaternion_from_matrix(R) + else: + # Only use the RGB image for the marker pose + # estimate. ArUco code performs this estimation. + + self.used_depth_image = False + self.marker_position = self.aruco_position + R = np.identity(4) + R[:3,:3] = cv2.Rodrigues(self.aruco_rotation)[0] + self.marker_quaternion = quaternion_from_matrix(R) + self.x_axis = R[:3,0] + self.y_axis = R[:3,1] + self.z_axis = R[:3,2] + + self.broadcasted = False + self.ready = True + + + def get_marker_poly(self): + poly_points = np.array(corners) + poly_points = np.round(poly_points).astype(np.int32) + return poly_points + + def draw_marker_poly(self, image): + poly_points = self.get_marker_poly() + cv2.fillConvexPoly(image, poly_points, (255, 0, 0)) + + def broadcast_tf(self, tf_broadcaster, force_redundant=False): + # Create TF frame for the marker. By default, only broadcast a + # single time after an update. + if (not self.broadcasted) or force_redundant: + tf_broadcaster.sendTransform(self.marker_position, self.marker_quaternion, self.timestamp, self.marker.text, self.frame_id) + self.broadcasted = True + + def get_ros_marker(self): + if not self.ready: + return None + + self.marker.header.frame_id = self.frame_id + self.marker.header.stamp = self.timestamp + self.marker.id = self.aruco_id + + # scale of 1,1,1 would result in a 1m x 1m x 1m cube + self.marker.scale.x = self.length_of_marker_mm/1000.0 + self.marker.scale.y = self.length_of_marker_mm/1000.0 + self.marker.scale.z = 0.005 # half a centimeter tall + + # make as bright as possible + den = float(np.max(self.id_color)) + self.marker.color.r = self.id_color[2]/den + self.marker.color.g = self.id_color[1]/den + self.marker.color.b = self.id_color[0]/den + self.marker.color.a = 0.33 + + self.marker.pose.position.x = self.marker_position[0] + self.marker.pose.position.y = self.marker_position[1] + self.marker.pose.position.z = self.marker_position[2] + + q = self.marker_quaternion + self.marker.pose.orientation.x = q[0] + self.marker.pose.orientation.y = q[1] + self.marker.pose.orientation.z = q[2] + self.marker.pose.orientation.w = q[3] + + return self.marker + + + def create_axis_marker(self, axis, id_num, rgba=None, name=None): + marker = Marker() + marker.header.frame_id = self.frame_id + marker.header.stamp = self.timestamp + marker.id = id_num + marker.type = marker.ARROW + marker.action = marker.ADD + marker.lifetime = rospy.Duration(1.0) + if name is not None: + marker.text = name + axis_arrow = {'head_diameter': 0.005, + 'shaft_diameter': 0.003, + 'head_length': 0.003, + 'length': 0.02} + # "scale.x is the shaft diameter, and scale.y is the + # head diameter. If scale.z is not zero, it specifies + # the head length." - + # http://wiki.ros.org/rviz/DisplayTypes/Marker#Arrow_.28ARROW.3D0.29 + marker.scale.x = axis_arrow['shaft_diameter'] + marker.scale.y = axis_arrow['head_diameter'] + marker.scale.z = axis_arrow['head_length'] + + if rgba is None: + # make as bright as possible + den = float(np.max(self.id_color)) + marker.color.r = self.id_color[2]/den + marker.color.g = self.id_color[1]/den + marker.color.b = self.id_color[0]/den + marker.color.a = 0.33 + else: + c = marker.color + c.r, c.g, c.b, c.a = rgba + + start_point = Point() + x = self.marker_position[0] + y = self.marker_position[1] + z = self.marker_position[2] + start_point.x = x + start_point.y = y + start_point.z = z + end_point = Point() + length = axis_arrow['length'] + end_point.x = x + (axis[0] * length) + end_point.y = y + (axis[1] * length) + end_point.z = z + (axis[2] * length) + marker.points = [start_point, end_point] + return marker + + + def get_ros_z_axis_marker(self): + if not self.ready: + return None + + if self.plane is None: + return None + + if self.used_depth_image and (self.z_axis is not None): + id_num = 3 * self.aruco_id + return self.create_axis_marker(self.z_axis, id_num, rgba=None) + else: + return None + + def get_ros_axes_markers(self): + markers = [] + + if not self.ready: + return markers + + # ROS color convention + # x axis is red + # y axis is green + # z axis is blue + + base_name = self.info['name'] + + if self.z_axis is not None: + id_num = 3 * self.aruco_id + rgba = [0.0, 0.0, 1.0, 0.33] + name = base_name = '_z_axis' + markers.append(self.create_axis_marker(self.z_axis, id_num, rgba, name)) + if self.x_axis is not None: + id_num = (3 * self.aruco_id) + 1 + rgba = [1.0, 0.0, 0.0, 0.33] + name = base_name = '_x_axis' + markers.append(self.create_axis_marker(self.x_axis, id_num, rgba, name)) + if self.y_axis is not None: + id_num = (3 * self.aruco_id) + 2 + rgba = [0.0, 1.0, 0.0, 0.33] + name = base_name = '_y_axis' + markers.append(self.create_axis_marker(self.y_axis, id_num, rgba, name)) + + return markers + + + +class ArucoMarkerCollection: + def __init__(self, marker_info): + self.marker_info = marker_info + self.aruco_dict = aruco.Dictionary_get(aruco.DICT_6X6_250) + self.aruco_detection_parameters = aruco.DetectorParameters_create() + # Apparently available in OpenCV 3.4.1, but not OpenCV 3.2.0. + self.aruco_detection_parameters.cornerRefinementMethod = aruco.CORNER_REFINE_SUBPIX + self.aruco_detection_parameters.cornerRefinementWinSize = 2 + self.collection = {} + self.frame_number = 0 + + def __iter__(self): + # iterates through currently visible ArUco markers + keys = self.collection.keys() + for k in keys: + marker = self.collection[k] + if marker.frame_number == self.frame_number: + yield marker + + def draw_markers(self, image): + return aruco.drawDetectedMarkers(image, self.aruco_corners, self.aruco_ids) + + def broadcast_tf(self, tf_broadcaster): + # Create TF frames for each of the markers. Only broadcast each + # marker a single time after it has been updated. + for key in self.collection: + marker = self.collection[key] + marker.broadcast_tf(tf_broadcaster) + + def update(self, rgb_image, camera_info, depth_image=None, timestamp=None): + self.frame_number += 1 + self.timestamp = timestamp + self.rgb_image = rgb_image + self.camera_info = camera_info + self.depth_image = depth_image + self.gray_image = cv2.cvtColor(self.rgb_image, cv2.COLOR_BGR2GRAY) + image_height, image_width = self.gray_image.shape + self.aruco_corners, self.aruco_ids, aruco_rejected_image_points = aruco.detectMarkers(self.gray_image, + self.aruco_dict, + parameters = self.aruco_detection_parameters) + if self.aruco_ids is None: + num_detected = 0 + else: + num_detected = len(self.aruco_ids) + + if self.aruco_ids is not None: + for corners, aruco_id in zip(self.aruco_corners, self.aruco_ids): + aruco_id = int(aruco_id) + marker = self.collection.get(aruco_id, None) + if marker is None: + new_marker = ArucoMarker(aruco_id, self.marker_info) + self.collection[aruco_id] = new_marker + + self.collection[aruco_id].update(corners, self.timestamp, self.frame_number, self.camera_info, self.depth_image) + + def get_ros_marker_array(self): + marker_array = MarkerArray() + for key in self.collection: + marker = self.collection[key] + if marker.frame_number == self.frame_number: + ros_marker = marker.get_ros_marker() + marker_array.markers.append(ros_marker) + return marker_array + + def get_ros_axes_array(self, include_z_axes=True, include_axes=True): + marker_array = MarkerArray() + for key in self.collection: + marker = self.collection[key] + if marker.frame_number == self.frame_number: + if include_z_axes: + ros_z_axis_marker = marker.get_ros_z_axis_marker() + if ros_z_axis_marker is not None: + marker_array.markers.append(ros_z_axis_marker) + if include_axes: + ros_axes_markers= marker.get_ros_axes_markers() + marker_array.markers.extend(ros_axes_markers) + return marker_array + + +class DetectArucoNode: + def __init__(self): + self.cv_bridge = CvBridge() + self.rgb_image = None + self.rgb_image_timestamp = None + self.depth_image = None + self.depth_image_timestamp = None + self.camera_info = None + self.all_points = [] + self.display_images = False + self.publish_marker_point_clouds = False + + def image_callback(self, ros_rgb_image, ros_depth_image, rgb_camera_info): + try: + self.rgb_image = self.cv_bridge.imgmsg_to_cv2(ros_rgb_image, 'bgr8') + self.rgb_image_timestamp = ros_rgb_image.header.stamp + self.depth_image = self.cv_bridge.imgmsg_to_cv2(ros_depth_image) + self.depth_image_timestamp = ros_depth_image.header.stamp + except CvBridgeError as error: + print(error) + + self.camera_info = rgb_camera_info + + # Copy the depth image to avoid a change to the depth image + # during the update. + time_diff = self.rgb_image_timestamp - self.depth_image_timestamp + time_diff = abs(time_diff.to_sec()) + if time_diff > 0.0001: + print('WARNING: The rgb image and the depth image were not taken at the same time.') + print(' The time difference between their timestamps =', closest_time_diff, 's') + + self.aruco_marker_collection.update(self.rgb_image, self.camera_info, self.depth_image, self.rgb_image_timestamp) + + marker_array = self.aruco_marker_collection.get_ros_marker_array() + include_axes = True + include_z_axes = False + axes_array = None + if include_axes or include_z_axes: + axes_array = self.aruco_marker_collection.get_ros_axes_array(include_z_axes, include_axes) + + # Create TF frames for each of the markers. Only broadcast + # each marker a single time after it has been updated. + self.aruco_marker_collection.broadcast_tf(self.tf_broadcaster) + + for m in marker_array.markers: + if m.text == 'wrist_inside': + self.wrist_inside_marker_pub.publish(m) + if m.text == 'wrist_top': + self.wrist_top_marker_pub.publish(m) + + if self.publish_marker_point_clouds: + for marker in self.aruco_marker_collection: + marker_points = marker.get_marker_point_cloud() + self.add_point_array_to_point_cloud(marker_points) + plane_points = marker.get_plane_fit_point_cloud() + self.add_point_array_to_point_cloud(plane_points) + self.publish_point_cloud() + self.visualize_markers_pub.publish(marker_array) + if axes_array is not None: + self.visualize_axes_pub.publish(axes_array) + + # save rotation for last + if self.display_images: + # WARNING: This code now causes this node to freeze after + # a few frames. + aruco_image = self.aruco_marker_collection.draw_markers(self.rgb_image) + display_aruco_image = cv2.rotate(aruco_image, cv2.ROTATE_90_COUNTERCLOCKWISE) + cv2.imshow('Detected ArUco Markers', display_aruco_image) + cv2.waitKey(2) + + def add_to_point_cloud(self, x_mat, y_mat, z_mat, mask): + points = [[x, y, z] for x, y, z, m in zip(x_mat.flatten(), y_mat.flatten(), z_mat.flatten(), mask.flatten()) if m > 0] + self.all_points.extend(points) + + def add_point_array_to_point_cloud(self, point_array): + self.all_points.extend(list(point_array)) + + def publish_point_cloud(self): + header = Header() + header.frame_id = '/camera_color_optical_frame' + header.stamp = rospy.Time.now() + fields = [PointField('x', 0, PointField.FLOAT32, 1), + PointField('y', 4, PointField.FLOAT32, 1), + PointField('z', 8, PointField.FLOAT32, 1), + PointField('rgba', 12, PointField.UINT32, 1)] + r = 255 + g = 0 + b = 0 + a = 128 + rgba = struct.unpack('I', struct.pack('BBBB', b, g, r, a))[0] + points = [[x, y, z, rgba] for x, y, z in self.all_points] + point_cloud = point_cloud2.create_cloud(header, fields, points) + self.visualize_point_cloud_pub.publish(point_cloud) + self.all_points = [] + + def main(self): + rospy.init_node('DetectArucoNode') + self.node_name = rospy.get_name() + rospy.loginfo("{0} started".format(self.node_name)) + + self.marker_info = rospy.get_param('/aruco_marker_info') + self.aruco_marker_collection = ArucoMarkerCollection(self.marker_info) + + self.rgb_topic_name = '/camera/color/image_raw' #'/camera/infra1/image_rect_raw' + self.rgb_image_subscriber = message_filters.Subscriber(self.rgb_topic_name, Image) + + self.depth_topic_name = '/camera/aligned_depth_to_color/image_raw' + self.depth_image_subscriber = message_filters.Subscriber(self.depth_topic_name, Image) + + # TODO: This is unlikely to ever change, so it probably + # doesn't make sense to deal with the overhead of + # synchronizing it with other input. + self.camera_info_subscriber = message_filters.Subscriber('/camera/color/camera_info', CameraInfo) + + self.synchronizer = message_filters.TimeSynchronizer([self.rgb_image_subscriber, self.depth_image_subscriber, self.camera_info_subscriber], 10) + self.synchronizer.registerCallback(self.image_callback) + + self.visualize_markers_pub = rospy.Publisher('/aruco/marker_array', MarkerArray, queue_size=1) + self.visualize_axes_pub = rospy.Publisher('/aruco/axes', MarkerArray, queue_size=1) + self.visualize_point_cloud_pub = rospy.Publisher('/aruco/point_cloud2', PointCloud2, queue_size=1) + + self.wrist_top_marker_pub = rospy.Publisher('/aruco/wrist_top', Marker, queue_size=1) + self.wrist_inside_marker_pub = rospy.Publisher('/aruco/wrist_inside', Marker, queue_size=1) + + self.tf_broadcaster = tf.TransformBroadcaster() + + +if __name__ == '__main__': + node = DetectArucoNode() + node.main() + try: + rospy.spin() + except KeyboardInterrupt: + print('interrupt received, so shutting down') + cv2.destroyAllWindows() diff --git a/stretch_core/nodes/keyboard.py b/stretch_core/nodes/keyboard.py new file mode 100644 index 0000000..5d8c050 --- /dev/null +++ b/stretch_core/nodes/keyboard.py @@ -0,0 +1,42 @@ +#!/usr/bin/env python + +from __future__ import print_function + +import sys, tty, termios + +# This allows Ctrl-C and related keyboard commands to still function. +# It detects escape codes in order to recognize arrow keys. It also +# has buffer flushing to avoid repeated commands. This is +# blocking code. + +def getch(): + stdin_fd = 0 + # "Return a list containing the tty attributes for file descriptor + # fd, as follows: [iflag, oflag, cflag, lflag, ispeed, ospeed, cc]" + # from https://docs.python.org/2/library/termios.html + original_tty_attributes = termios.tcgetattr(stdin_fd) + new_tty_attributes = original_tty_attributes[:] + # Change the lflag (local modes) to turn off canonical mode + new_tty_attributes[3] &= ~termios.ICANON + try: + termios.tcsetattr(stdin_fd, termios.TCSAFLUSH, new_tty_attributes) + ch1 = sys.stdin.read(1) + if ch1 == '\x1b': + # special key pressed + ch2 = sys.stdin.read(1) + ch3 = sys.stdin.read(1) + ch = ch1 + ch2 + ch3 + else: + # not a special key + ch = ch1 + finally: + termios.tcsetattr(stdin_fd, termios.TCSAFLUSH, original_tty_attributes) + return ch + + +if __name__ == '__main__': + + while True: + c = getch() + print('c') + diff --git a/stretch_core/nodes/keyboard_teleop b/stretch_core/nodes/keyboard_teleop new file mode 100755 index 0000000..c81db72 --- /dev/null +++ b/stretch_core/nodes/keyboard_teleop @@ -0,0 +1,362 @@ +#!/usr/bin/env python + +from __future__ import print_function + +import keyboard as kb + +from sensor_msgs.msg import JointState +from geometry_msgs.msg import Twist +from nav_msgs.msg import Odometry + +import rospy +import actionlib +from control_msgs.msg import FollowJointTrajectoryAction +from control_msgs.msg import FollowJointTrajectoryGoal +from trajectory_msgs.msg import JointTrajectoryPoint + +from sensor_msgs.msg import PointCloud2 + +from control_msgs.msg import GripperCommandAction +from control_msgs.msg import GripperCommandGoal + +from std_srvs.srv import Trigger, TriggerRequest + +import math +import time +import threading +import sys + +import tf2_ros +import argparse as ap + +import hello_helpers.hello_misc as hm + + +class GetKeyboardCommands: + + def __init__(self, mapping_on, hello_world_on, open_drawer_on, clean_surface_on, grasp_object_on, deliver_object_on): + self.mapping_on = mapping_on + self.hello_world_on = hello_world_on + self.open_drawer_on = open_drawer_on + self.clean_surface_on = clean_surface_on + self.grasp_object_on = grasp_object_on + self.deliver_object_on = deliver_object_on + + self.step_size = 'medium' + self.persistent_command_count = 0 + self.prev_persistent_c = None + self.persistent_start_s = time.time() + self.max_persistent_delay_s = 1.0 + self.rad_per_deg = math.pi/180.0 + self.small_deg = 3.0 + self.small_rad = self.rad_per_deg * self.small_deg + self.small_translate = 0.005 #0.02 + self.medium_deg = 6.0 + self.medium_rad = self.rad_per_deg * self.medium_deg + self.medium_translate = 0.04 + self.big_deg = 12.0 + self.big_rad = self.rad_per_deg * self.big_deg + self.big_translate = 0.06 + self.mode = 'position' #'manipulation' #'navigation' + + def get_deltas(self): + if self.step_size == 'small': + deltas = {'rad': self.small_rad, 'translate': self.small_translate} + if self.step_size == 'medium': + deltas = {'rad': self.medium_rad, 'translate': self.medium_translate} + if self.step_size == 'big': + deltas = {'rad': self.big_rad, 'translate': self.big_translate} + return deltas + + def print_commands(self): + print('---------- KEYBOARD TELEOP MENU -----------') + print(' ') + print(' i HEAD UP ') + print(' j HEAD LEFT l HEAD RIGHT ') + print(' , HEAD DOWN ') + print(' ') + print(' ') + print(' 7 BASE ROTATE LEFT 9 BASE ROTATE RIGHT') + print(' home page-up ') + print(' ') + print(' ') + print(' 8 LIFT UP ') + print(' up-arrow ') + print(' 4 BASE FORWARD 6 BASE BACK ') + print(' left-arrow right-arrow ') + print(' 2 LIFT DOWN ') + print(' down-arrow ') + print(' ') + print(' ') + print(' w ARM OUT ') + print(' a WRIST FORWARD d WRIST BACK ') + print(' x ARM IN ') + print(' ') + print(' ') + print(' 5 GRIPPER CLOSE ') + print(' 0 GRIPPER OPEN ') + print(' ') + print(' step size: b BIG, m MEDIUM, s SMALL ') + print(' ') + print(' q QUIT ') + print(' ') + print('-------------------------------------------') + + + def get_command(self, node): + command = None + + c = kb.getch() + #rospy.loginfo('c =', c) + if ((c == '+') or (c == '=')) and self.mapping_on: + trigger_request = TriggerRequest() + trigger_result = node.trigger_global_localization_service(trigger_request) + rospy.loginfo('trigger_result = {0}'.format(trigger_result)) + if ((c == '-') or (c == '_')) and self.mapping_on: + trigger_request = TriggerRequest() + trigger_result = node.trigger_local_localization_service(trigger_request) + rospy.loginfo('trigger_result = {0}'.format(trigger_result)) + if ((c == '\\') or (c == '|')) and self.mapping_on: + trigger_request = TriggerRequest() + trigger_result = node.trigger_drive_to_scan_service(trigger_request) + rospy.loginfo('trigger_result = {0}'.format(trigger_result)) + if (c == ' ') and self.mapping_on: + trigger_request = TriggerRequest() + trigger_result = node.trigger_head_scan_service(trigger_request) + rospy.loginfo('trigger_result = {0}'.format(trigger_result)) + if ((c == '[') or (c == '{')) and self.mapping_on: + trigger_request = TriggerRequest() + trigger_result = node.trigger_align_with_nearest_cliff_service(trigger_request) + rospy.loginfo('trigger_result = {0}'.format(trigger_result)) + if ((c == ']') or (c == '}')) and self.mapping_on: + trigger_request = TriggerRequest() + trigger_result = node.trigger_reach_until_contact_service(trigger_request) + rospy.loginfo('trigger_result = {0}'.format(trigger_result)) + if ((c == ':') or (c == ';')) and self.mapping_on: + trigger_request = TriggerRequest() + trigger_result = node.trigger_lower_until_contact_service(trigger_request) + rospy.loginfo('trigger_result = {0}'.format(trigger_result)) + if ((c == '`') or (c == '~')) and self.hello_world_on: + trigger_request = TriggerRequest() + trigger_result = node.trigger_write_hello_service(trigger_request) + rospy.loginfo('trigger_result = {0}'.format(trigger_result)) + if ((c == '.') or (c == '>')) and self.open_drawer_on: + trigger_request = TriggerRequest() + trigger_result = node.trigger_open_drawer_service(trigger_request) + rospy.loginfo('trigger_result = {0}'.format(trigger_result)) + if ((c == '/') or (c == '?')) and self.clean_surface_on: + trigger_request = TriggerRequest() + trigger_result = node.trigger_clean_surface_service(trigger_request) + rospy.loginfo('trigger_result = {0}'.format(trigger_result)) + if ((c == '\'') or (c == '\"')) and self.grasp_object_on: + trigger_request = TriggerRequest() + trigger_result = node.trigger_grasp_object_service(trigger_request) + rospy.loginfo('trigger_result = {0}'.format(trigger_result)) + if ((c == 'y') or (c == 'Y')) and self.deliver_object_on: + trigger_request = TriggerRequest() + trigger_result = node.trigger_deliver_object_service(trigger_request) + rospy.loginfo('trigger_result = {0}'.format(trigger_result)) + + # 8 or up arrow + if c == '8' or c == '\x1b[A': + command = {'joint': 'joint_lift', 'delta': self.get_deltas()['translate']} + # 2 or down arrow + if c == '2' or c == '\x1b[B': + command = {'joint': 'joint_lift', 'delta': -self.get_deltas()['translate']} + if self.mode == 'manipulation': + # 4 or left arrow + if c == '4' or c == '\x1b[D': + command = {'joint': 'joint_mobile_base_translation', 'delta': self.get_deltas()['translate']} + # 6 or right arrow + if c == '6' or c == '\x1b[C': + command = {'joint': 'joint_mobile_base_translation', 'delta': -self.get_deltas()['translate']} + elif self.mode == 'position': + # 4 or left arrow + if c == '4' or c == '\x1b[D': + command = {'joint': 'translate_mobile_base', 'inc': self.get_deltas()['translate']} + # 6 or right arrow + if c == '6' or c == '\x1b[C': + command = {'joint': 'translate_mobile_base', 'inc': -self.get_deltas()['translate']} + # 1 or end key + if c == '7' or c == '\x1b[H': + command = {'joint': 'rotate_mobile_base', 'inc': self.get_deltas()['rad']} + # 3 or pg down 5~ + if c == '9' or c == '\x1b[5': + command = {'joint': 'rotate_mobile_base', 'inc': -self.get_deltas()['rad']} + elif self.mode == 'navigation': + rospy.loginfo('ERROR: Navigation mode is not currently supported.') + + if c == 'w' or c == 'W': + command = {'joint': 'wrist_extension', 'delta': self.get_deltas()['translate']} + if c == 'x' or c == 'X': + command = {'joint': 'wrist_extension', 'delta': -self.get_deltas()['translate']} + if c == 'd' or c == 'D': + command = {'joint': 'joint_wrist_yaw', 'delta': -self.get_deltas()['rad']} + if c == 'a' or c == 'A': + command = {'joint': 'joint_wrist_yaw', 'delta': self.get_deltas()['rad']} + if c == '5' or c == '\x1b[E' or c == 'g' or c == 'G': + # grasp + command = {'joint': 'joint_gripper_finger_left', 'delta': -self.get_deltas()['rad']} + if c == '0' or c == '\x1b[2' or c == 'r' or c == 'R': + # release + command = {'joint': 'joint_gripper_finger_left', 'delta': self.get_deltas()['rad']} + if c == 'i' or c == 'I': + command = {'joint': 'joint_head_tilt', 'delta': (2.0 * self.get_deltas()['rad'])} + if c == ',' or c == '<': + command = {'joint': 'joint_head_tilt', 'delta': -(2.0 * self.get_deltas()['rad'])} + if c == 'j' or c == 'J': + command = {'joint': 'joint_head_pan', 'delta': (2.0 * self.get_deltas()['rad'])} + if c == 'l' or c == 'L': + command = {'joint': 'joint_head_pan', 'delta': -(2.0 * self.get_deltas()['rad'])} + if c == 'b' or c == 'B': + rospy.loginfo('process_keyboard.py: changing to BIG step size') + self.step_size = 'big' + if c == 'm' or c == 'M': + rospy.loginfo('process_keyboard.py: changing to MEDIUM step size') + self.step_size = 'medium' + if c == 's' or c == 'S': + rospy.loginfo('process_keyboard.py: changing to SMALL step size') + self.step_size = 'small' + if c == 'q' or c == 'Q': + rospy.loginfo('keyboard_teleop exiting...') + rospy.signal_shutdown('Received quit character (q), so exiting') + sys.exit() + + return command + + +class KeyboardTeleopNode(hm.HelloNode): + + def __init__(self, mapping_on=False, hello_world_on=False, open_drawer_on=False, clean_surface_on=False, grasp_object_on=False, deliver_object_on=False): + hm.HelloNode.__init__(self) + self.keys = GetKeyboardCommands(mapping_on, hello_world_on, open_drawer_on, clean_surface_on, grasp_object_on, deliver_object_on) + self.rate = 10.0 + self.joint_state = None + self.mapping_on = mapping_on + self.hello_world_on = hello_world_on + self.open_drawer_on = open_drawer_on + self.clean_surface_on = clean_surface_on + self.grasp_object_on = grasp_object_on + self.deliver_object_on = deliver_object_on + + def joint_states_callback(self, joint_state): + self.joint_state = joint_state + + def send_command(self, command): + joint_state = self.joint_state + if (joint_state is not None) and (command is not None): + joint_name = command['joint'] + self.trajectory_goal.trajectory.joint_names = [joint_name] + if 'inc' in command: + inc = command['inc'] + rospy.loginfo('inc = {0}'.format(inc)) + new_value = inc + elif 'delta' in command: + joint_index = joint_state.name.index(joint_name) + joint_value = joint_state.position[joint_index] + delta = command['delta'] + rospy.loginfo('delta = {0}, joint_index = {1}, joint_value = {2}'.format(delta, joint_index, joint_value)) + new_value = joint_value + delta + self.point.positions = [new_value] + self.trajectory_goal.trajectory.points = [self.point] + self.trajectory_goal.trajectory.header.stamp = rospy.Time.now() + rospy.loginfo('joint_name = {0}, self.trajectory_goal = {1}'.format(joint_name, self.trajectory_goal)) + self.trajectory_client.send_goal(self.trajectory_goal) + rospy.loginfo('Done sending pose.') + + + def main(self): + hm.HelloNode.main(self, 'keyboard_teleop', 'keyboard_teleop', wait_for_first_pointcloud=False) + + if self.mapping_on: + rospy.loginfo('Node ' + self.node_name + ' waiting to connect to /funmap/trigger_head_scan.') + + rospy.wait_for_service('/funmap/trigger_head_scan') + rospy.loginfo('Node ' + self.node_name + ' connected to /funmap/trigger_head_scan.') + self.trigger_head_scan_service = rospy.ServiceProxy('/funmap/trigger_head_scan', Trigger) + + rospy.wait_for_service('/funmap/trigger_drive_to_scan') + rospy.loginfo('Node ' + self.node_name + ' connected to /funmap/trigger_drive_to_scan.') + self.trigger_drive_to_scan_service = rospy.ServiceProxy('/funmap/trigger_drive_to_scan', Trigger) + + rospy.wait_for_service('/funmap/trigger_global_localization') + rospy.loginfo('Node ' + self.node_name + ' connected to /funmap/trigger_global_localization.') + self.trigger_global_localization_service = rospy.ServiceProxy('/funmap/trigger_global_localization', Trigger) + + rospy.wait_for_service('/funmap/trigger_local_localization') + rospy.loginfo('Node ' + self.node_name + ' connected to /funmap/trigger_local_localization.') + self.trigger_local_localization_service = rospy.ServiceProxy('/funmap/trigger_local_localization', Trigger) + + rospy.wait_for_service('/funmap/trigger_align_with_nearest_cliff') + rospy.loginfo('Node ' + self.node_name + ' connected to /funmap/trigger_align_with_nearest_cliff.') + self.trigger_align_with_nearest_cliff_service = rospy.ServiceProxy('/funmap/trigger_align_with_nearest_cliff', Trigger) + + rospy.wait_for_service('/funmap/trigger_reach_until_contact') + rospy.loginfo('Node ' + self.node_name + ' connected to /funmap/trigger_reach_until_contact.') + self.trigger_reach_until_contact_service = rospy.ServiceProxy('/funmap/trigger_reach_until_contact', Trigger) + + rospy.wait_for_service('/funmap/trigger_lower_until_contact') + rospy.loginfo('Node ' + self.node_name + ' connected to /funmap/trigger_lower_until_contact.') + self.trigger_lower_until_contact_service = rospy.ServiceProxy('/funmap/trigger_lower_until_contact', Trigger) + + if self.hello_world_on: + rospy.wait_for_service('/hello_world/trigger_write_hello') + rospy.loginfo('Node ' + self.node_name + ' connected to /hello_world/trigger_write_hello.') + self.trigger_write_hello_service = rospy.ServiceProxy('/hello_world/trigger_write_hello', Trigger) + + if self.open_drawer_on: + rospy.wait_for_service('/open_drawer/trigger_open_drawer') + rospy.loginfo('Node ' + self.node_name + ' connected to /open_drawer/trigger_open_drawer.') + self.trigger_open_drawer_service = rospy.ServiceProxy('/open_drawer/trigger_open_drawer', Trigger) + + if self.clean_surface_on: + rospy.wait_for_service('/clean_surface/trigger_clean_surface') + rospy.loginfo('Node ' + self.node_name + ' connected to /clean_surface/trigger_clean_surface.') + self.trigger_clean_surface_service = rospy.ServiceProxy('/clean_surface/trigger_clean_surface', Trigger) + + if self.grasp_object_on: + rospy.wait_for_service('/grasp_object/trigger_grasp_object') + rospy.loginfo('Node ' + self.node_name + ' connected to /grasp_object/trigger_grasp_object.') + self.trigger_grasp_object_service = rospy.ServiceProxy('/grasp_object/trigger_grasp_object', Trigger) + + if self.deliver_object_on: + rospy.wait_for_service('/deliver_object/trigger_deliver_object') + rospy.loginfo('Node ' + self.node_name + ' connected to /deliver_object/trigger_deliver_object.') + self.trigger_deliver_object_service = rospy.ServiceProxy('/deliver_object/trigger_deliver_object', Trigger) + + + rospy.Subscriber('/stretch/joint_states', JointState, self.joint_states_callback) + + rate = rospy.Rate(self.rate) + + while not rospy.is_shutdown(): + self.keys.print_commands() + command = self.keys.get_command(self) + rospy.loginfo(command) + self.send_command(command) + rate.sleep() + + +if __name__ == '__main__': + try: + parser = ap.ArgumentParser(description='Keyboard teleoperation for stretch.') + parser.add_argument('--mapping_on', action='store_true', help='Turn on mapping control. For example, the space bar will trigger a head scan. This requires that the mapping node be run (funmap).') + parser.add_argument('--hello_world_on', action='store_true', help='Enable Hello World writing trigger, which requires connection to the appropriate hello_world service.') + parser.add_argument('--open_drawer_on', action='store_true', help='Enable Open Drawer trigger, which requires connection to the appropriate open_drawer service.') + parser.add_argument('--clean_surface_on', action='store_true', help='Enable Clean Surface trigger, which requires connection to the appropriate clean_surface service.') + parser.add_argument('--grasp_object_on', action='store_true', help='Enable Grasp Object trigger, which requires connection to the appropriate grasp_object service.') + parser.add_argument('--deliver_object_on', action='store_true', help='Enable Deliver Object trigger, which requires connection to the appropriate deliver_object service.') + + args, unknown = parser.parse_known_args() + mapping_on = args.mapping_on + hello_world_on = args.hello_world_on + open_drawer_on = args.open_drawer_on + clean_surface_on = args.clean_surface_on + grasp_object_on = args.grasp_object_on + deliver_object_on = args.deliver_object_on + + node = KeyboardTeleopNode(mapping_on, hello_world_on, open_drawer_on, clean_surface_on, grasp_object_on, deliver_object_on) + node.main() + except KeyboardInterrupt: + rospy.loginfo('interrupt received, so shutting down') + diff --git a/stretch_core/nodes/stretch_driver b/stretch_core/nodes/stretch_driver new file mode 100755 index 0000000..e05db29 --- /dev/null +++ b/stretch_core/nodes/stretch_driver @@ -0,0 +1,1397 @@ +#! /usr/bin/env python + +from __future__ import print_function, division + +import threading + +import rospy +from geometry_msgs.msg import Quaternion +from geometry_msgs.msg import PoseWithCovarianceStamped +from geometry_msgs.msg import Twist +from geometry_msgs.msg import TransformStamped + +from nav_msgs.msg import Odometry +from sensor_msgs.msg import JointState, Imu, MagneticField +from std_msgs.msg import Header + +import tf2_ros +import tf_conversions + +import stretch_body.robot as rb +import math +import numpy as np +import time + +import yaml + +import actionlib +from control_msgs.msg import FollowJointTrajectoryAction +from control_msgs.msg import FollowJointTrajectoryResult +from control_msgs.msg import FollowJointTrajectoryResult +from trajectory_msgs.msg import JointTrajectoryPoint +from actionlib_msgs.msg import GoalStatus + +from control_msgs.msg import GripperCommandAction +from control_msgs.msg import GripperCommandFeedback +from control_msgs.msg import GripperCommandActionResult + +from std_srvs.srv import Trigger, TriggerResponse + +import hello_helpers.hello_misc as hm + + +GRIPPER_DEBUG = False +BACKLASH_DEBUG = False + + +def bound_ros_command(bounds, ros_pos, clip_ros_tolerance): + # Clip the command with clip_ros_tolerance, instead of + # invalidating it, if it is close enough to the valid ranges. + if ros_pos < bounds[0]: + # Command is lower than the minimum value. + if (bounds[0] - ros_pos) < clip_ros_tolerance: + return bounds[0] + else: + return None + if ros_pos > bounds[1]: + # Command is greater than the maximum value. + if (ros_pos - bounds[1]) < clip_ros_tolerance: + return bounds[1] + else: + return None + return ros_pos + + +class GripperConversion: + def __init__(self): + # robotis position values (gripper.py) + # 0 is very close to closed (fingers almost or barely touching) + # 50 is maximally open + # -100 is maximally closed (maximum force applied to the object - might be risky for a large object) + # + # aperture is 12.5 cm wide when open (0.125 m, 125 mm) + # + # finger angle + # 0.0 just barely closed + # fully opened is + + # from stretch_gripper.xacro + # scale_finger_length = 0.9 + # scale_finger_length * 0.19011 + # = 0.171099 + self.finger_length_m = 0.171 + + self.open_aperture_m = 0.09 #0.125 + self.closed_aperture_m = 0.0 + + self.open_robotis = 70.0 + self.closed_robotis = 0.0 + + self.robotis_to_aperture_slope = ((self.open_aperture_m - self.closed_aperture_m) / (self.open_robotis - self.closed_robotis)) + + def robotis_to_aperture(self, robotis_in): + # linear model + aperture_m = (self.robotis_to_aperture_slope * (robotis_in - self.closed_robotis)) + self.closed_aperture_m + return aperture_m + + def aperture_to_robotis(self, aperture_m): + # linear model + robotis_out = ((aperture_m - self.closed_aperture_m) / self.robotis_to_aperture_slope) + self.closed_robotis + return robotis_out + + def aperture_to_finger_rad(self, aperture_m): + # arc length / radius = ang_rad + finger_rad = (aperture_m/2.0)/self.finger_length_m + return finger_rad + + def finger_rad_to_aperture(self, finger_rad): + aperture_m = 2.0 * (finger_rad * self.finger_length_m) + return aperture_m + + def finger_to_robotis(self, finger_ang_rad): + aperture_m = self.finger_rad_to_aperture(finger_ang_rad) + robotis_out = self.aperture_to_robotis(aperture_m) + return robotis_out + + def status_to_all(self, gripper_status): + aperture_m = self.robotis_to_aperture(gripper_status['pos_pct']) + finger_rad = self.aperture_to_finger_rad(aperture_m) + finger_effort = gripper_status['effort'] + finger_vel = (self.robotis_to_aperture_slope * gripper_status['vel'])/2.0 + return aperture_m, finger_rad, finger_effort, finger_vel + + +class SimpleCommandGroup: + def __init__(self, joint_name, acceptable_joint_error=0.015, clip_ros_tolerance=0.001): + self.clip_ros_tolerance = clip_ros_tolerance + self.acceptable_joint_error = acceptable_joint_error + self.joint_name = joint_name + + def update(self, joint_names, invalid_joints_error_func, robot_mode): + self.use_joint = False + if self.joint_name in joint_names: + self.joint_index = joint_names.index(self.joint_name) + self.use_joint = True + return True + + def get_num_valid_commands(self): + if self.use_joint: + return 1 + return 0 + + def set_goal(self, point, invalid_goal_error_func, other): + self.joint_goal = False + self.goal_joint_ros = None + self.goal_joint_hello = None + if self.use_joint: + self.goal_joint_ros = point.positions[self.joint_index] + self.goal_joint_hello = self.ros_to_mechaduino(self.goal_joint_ros) + self.joint_goal = True + if self.joint_goal and (self.goal_joint_hello is None): + error_string = 'received goal point that is out of bounds. The first error that was caught is that the {0} goal is invalid ({1} = {2}).'.format(self.joint_name, self.joint_name, self.goal_joint_ros) + invalid_goal_error_func(error_string) + return False + return True + + def ros_to_mechaduino(self, joint_ros): + return joint_ros + + + def init_execution(self, robot_status): + pass + + def update_execution(self, robot_status, backlash_state): + # This method needs to be implemented. It also needs to set self.joint_error. + return None + + def goal_reached(self): + if self.joint_goal: + return (abs(self.joint_error) < self.acceptable_joint_error) + else: + return True + +class HeadPanCommandGroup(SimpleCommandGroup): + def __init__(self, head_pan_calibrated_offset, head_pan_calibrated_looked_left_offset): + SimpleCommandGroup.__init__(self, 'joint_head_pan', acceptable_joint_error=0.15, clip_ros_tolerance=0.001) + self.head_pan_calibrated_offset = head_pan_calibrated_offset + self.head_pan_calibrated_looked_left_offset = head_pan_calibrated_looked_left_offset + + def update_execution(self, robot_status, backlash_state): + if self.joint_goal: + if backlash_state['head_pan_looked_left']: + pan_backlash_correction = self.head_pan_calibrated_looked_left_offset + else: + pan_backlash_correction = 0.0 + self.current_joint_hello = robot_status['head']['head_pan']['pos'] + self.head_pan_calibrated_offset + pan_backlash_correction + self.joint_error = self.goal_joint_hello - self.current_joint_hello + self.joint_target = self.goal_joint_hello + return self.joint_error + else: + return None + + +class HeadTiltCommandGroup(SimpleCommandGroup): + def __init__(self, head_tilt_calibrated_offset, head_tilt_calibrated_looking_up_offset): + SimpleCommandGroup.__init__(self, 'joint_head_tilt', acceptable_joint_error=0.52, clip_ros_tolerance=0.001) + self.head_tilt_calibrated_offset = head_tilt_calibrated_offset + self.head_tilt_calibrated_looking_up_offset = head_tilt_calibrated_looking_up_offset + + def update_execution(self, robot_status, backlash_state): + if self.joint_goal: + if backlash_state['head_tilt_looking_up']: + tilt_backlash_correction = self.head_tilt_calibrated_looking_up_offset + else: + tilt_backlash_correction = 0.0 + self.current_joint_hello = robot_status['head']['head_tilt']['pos'] + self.head_tilt_calibrated_offset + tilt_backlash_correction + self.joint_error = self.goal_joint_hello - self.current_joint_hello + self.joint_target = self.goal_joint_hello + return self.joint_error + else: + return None + + +class WristYawCommandGroup(SimpleCommandGroup): + def __init__(self): + SimpleCommandGroup.__init__(self, 'joint_wrist_yaw', acceptable_joint_error=0.015, clip_ros_tolerance=0.001) + + def update_execution(self, robot_status, backlash_state): + if self.joint_goal: + self.current_joint_hello = robot_status['end_of_arm']['wrist_yaw']['pos'] + self.joint_error = self.goal_joint_hello - self.current_joint_hello + self.joint_target = self.goal_joint_hello + return self.joint_error + else: + return None + + + +class GripperCommandGroup: + def __init__(self, acceptable_joint_error=0.015, clip_ros_tolerance=0.001): + self.clip_ros_tolerance = clip_ros_tolerance + self.acceptable_joint_error = acceptable_joint_error + self.gripper_joint_names = ['joint_gripper_finger_left', 'joint_gripper_finger_right', 'gripper_aperture'] + self.gripper_conversion = GripperConversion() + + def update(self, joint_names, invalid_joints_error_func, robot_mode): + self.use_gripper_joint = False + self.gripper_joints_to_command_names = [j for j in self.gripper_joint_names if j in joint_names] + self.gripper_joints_to_command_indices = [joint_names.index(j) for j in self.gripper_joints_to_command_names] + if len(self.gripper_joints_to_command_names) > 1: + # Commands that attempt to control the gripper with more + # than one joint name are not allowed, since the gripper + # ultimately only has a single degree of freedom. + error_string = 'Received a command for the gripper that includes more than one gripper joint name: {0}. Only one joint name is allowed to be used for a gripper command to avoid conflicts and confusion. The gripper only has a single degree of freedom that can be controlled using the following three mutually exclusive joint names: {1}.'.format(self.gripper_joints_to_command_names, self.gripper_joint_names) + invalid_joints_error_func(error_string) + self.use_gripper_joint = False + return False + + if len(self.gripper_joints_to_command_names) == 1: + self.gripper_joint_command_name = self.gripper_joints_to_command_names[0] + self.gripper_joint_command_index = self.gripper_joints_to_command_indices[0] + self.use_gripper_joint = True + + return True + + def get_num_valid_commands(self): + if self.use_gripper_joint: + return 1 + else: + return 0 + + def set_goal(self, point, invalid_goal_error_func, other): + self.gripper_joint_goal = False + self.goal_gripper_joint = None + goal = None + if self.use_gripper_joint: + name = self.gripper_joint_command_name + goal = point.positions[self.gripper_joint_command_index] + if ((name == 'joint_gripper_finger_left') or (name == 'joint_gripper_finger_right')): + self.goal_gripper_joint = self.gripper_conversion.finger_to_robotis(goal) + if (name == 'gripper_aperture'): + self.goal_gripper_joint = self.gripper_conversion.aperture_to_robotis(goal) + self.gripper_joint_goal = True + + # Check that the goal is valid. + self.gripper_joint_goal_valid = True + if self.goal_gripper_joint is None: + self.gripper_joint_goal_valid = False + + if not self.gripper_joint_goal_valid: + error_string = 'gripper goal {0} is invalid'.format(goal) + invalid_goal_error_func(error_string) + return False + return True + + def ros_to_mechaduino(self, joint_ros): + return joint_ros + + def init_execution(self, robot_status): + pass + + def update_execution(self, robot_status, backlash_state): + pass + + def goal_reached(self): + # TODO: check the gripper state + if self.use_gripper_joint: + return True + else: + return True + + +class TelescopingCommandGroup: + def __init__(self, wrist_extension_calibrated_retracted_offset): + self.wrist_extension_calibrated_retracted_offset = wrist_extension_calibrated_retracted_offset + self.telescoping_joints = ['joint_arm_l3', 'joint_arm_l2', 'joint_arm_l1', 'joint_arm_l0'] + self.clip_ros_tolerance = 0.001 + self.acceptable_joint_error_m = 0.005 + + def update(self, joint_names, invalid_joints_error_func, robot_mode): + self.use_telescoping_joints = False + self.use_wrist_extension = False + if 'wrist_extension' in joint_names: + # Check if a wrist_extension command was received. + self.use_wrist_extension = True + self.extension_index = joint_names.index('wrist_extension') + if any([(j in joint_names) for j in self.telescoping_joints]): + # Consider commands for both the wrist_extension joint and any of the telescoping joints invalid, since these can be redundant. + error_string = 'received a command for the wrist_extension joint and one or more telescoping_joints. These are mutually exclusive options. The joint names in the received command = {0}'.format(joint_names) + invalid_joints_error_func(error_string) + return False + elif all([(j in joint_names) for j in self.telescoping_joints]): + # Require all telescoping joints to be present for their commands to be used. + self.use_telescoping_joints = True + self.telescoping_indices = [joint_names.index(j) for j in self.telescoping_joints] + return True + + def get_num_valid_commands(self): + if self.use_wrist_extension: + return 1 + if self.use_telescoping_joints: + return len(self.telescoping_joints) + return 0 + + def set_goal(self, point, invalid_goal_error_func, other): + self.extension_goal = False + self.goal_extension_mecha = None + self.goal_extension_ros = None + if self.use_wrist_extension: + self.goal_extension_ros = point.positions[self.extension_index] + self.goal_extension_mecha = self.ros_to_mechaduino(self.goal_extension_ros) + self.extension_goal = True + + if self.use_telescoping_joints: + self.goal_extension_ros = sum([point.positions[i] for i in self.telescoping_indices]) + self.goal_extension_mecha = self.ros_to_mechaduino(self.goal_extension_ros) + self.extension_goal = True + + if self.extension_goal and (self.goal_extension_mecha is None): + error_string = 'received goal point that is out of bounds. The first error that was caught is that the extension goal is invalid (goal_extension_ros = {0}).'.format(self.goal_extension_ros) + invalid_goal_error_func(error_string) + return False + return True + + def ros_to_mechaduino(self, wrist_extension_ros): + return wrist_extension_ros + + def init_execution(self, robot_status): + pass + + def update_execution(self, robot_status, backlash_state): + if self.extension_goal: + if backlash_state['wrist_extension_retracted']: + arm_backlash_correction = self.wrist_extension_calibrated_retracted_offset + else: + arm_backlash_correction = 0.0 + self.current_extension_mecha = robot_status['arm']['pos'] + arm_backlash_correction + self.extension_error_m = self.goal_extension_mecha - self.current_extension_mecha + return self.extension_error_m + else: + return None + + def goal_reached(self): + if self.extension_goal: + return (abs(self.extension_error_m) < self.acceptable_joint_error_m) + else: + return True + + +class LiftCommandGroup: + def __init__(self, max_arm_height): + self.clip_ros_tolerance = 0.001 + self.acceptable_joint_error_m = 0.015 #15.0 + self.max_arm_height = max_arm_height + self.lift_ros_range = [0.0, self.max_arm_height] + + def update(self, joint_names, invalid_joints_error_func, robot_mode): + self.use_lift = False + if 'joint_lift' in joint_names: + self.lift_index = joint_names.index('joint_lift') + self.use_lift = True + return True + + def get_num_valid_commands(self): + if self.use_lift: + return 1 + return 0 + + def set_goal(self, point, invalid_goal_error_func, other): + self.lift_goal = False + self.goal_lift_mecha = None + self.goal_lift_ros = None + if self.use_lift: + self.goal_lift_ros = point.positions[self.lift_index] + self.goal_lift_mecha = self.ros_to_mechaduino(self.goal_lift_ros) + self.lift_goal = True + + if self.lift_goal and (self.goal_lift_mecha is None): + error_string = 'received goal point that is out of bounds. The first error that was caught is that the lift goal is invalid (goal_lift_ros = {0}).'.format(self.goal_lift_ros) + invalid_goal_error_func(error_string) + return False + return True + + def ros_to_mechaduino(self, lift_ros): + return lift_ros + + def init_execution(self, robot_status): + pass + + def update_execution(self, robot_status, backlash_state): + if self.lift_goal: + self.current_lift_mecha = robot_status['lift']['pos'] + self.lift_error_m = self.goal_lift_mecha - self.current_lift_mecha + return self.lift_error_m + else: + return None + + def goal_reached(self): + if self.lift_goal: + return (abs(self.lift_error_m) < self.acceptable_joint_error_m) + else: + return True + + +class MobileBaseCommandGroup: + def __init__(self): + self.mobile_base_virtual_joint_ros_range = [-0.5, 0.5] + self.acceptable_mobile_base_error_m = 0.005 + self.excellent_mobile_base_error_m = 0.005 + self.acceptable_mobile_base_error_rad = (math.pi/180.0) * 6.0 + self.excellent_mobile_base_error_rad = (math.pi/180.0) * 0.6 + + def update(self, joint_names, invalid_joints_error_func, robot_mode): + self.use_mobile_base_virtual_joint = False + self.use_mobile_base_inc = False + self.use_mobile_base_inc_rot = ('rotate_mobile_base' in joint_names) + self.use_mobile_base_inc_trans = ('translate_mobile_base' in joint_names) + self.use_mobile_base_inc = (self.use_mobile_base_inc_rot or self.use_mobile_base_inc_trans) + self.use_mobile_base_virtual_joint = ('joint_mobile_base_translation' in joint_names) + + if self.use_mobile_base_inc and self.use_mobile_base_virtual_joint: + # Commands that attempt to control the mobile base's + # virtual joint together with mobile base incremental + # commands are invalid. + command_string = '' + if self.use_mobile_base_inc_rot: + command_string += ' rotate_mobile_base ' + if self.use_mobile_base_inc_trans: + command_string += ' translate_mobile_base ' + error_string = 'received a command for the mobile base virtual joint (joint_mobile_base_translation) and mobile base incremental motions ({0}). These are mutually exclusive options. The joint names in the received command = {1}'.format(command_string, joint_names) + invalid_joints_error_func(error_string) + return False + + if self.use_mobile_base_virtual_joint: + # Check if a mobile base command was received. + if robot_mode != 'manipulation': + error_string = 'must be in manipulation mode to receive a command for the joint_mobile_base_translation joint. Current mode = {0}.'.format(robot_mode) + invalid_joints_error_func(error_string) + return False + self.virtual_joint_mobile_base_index = joint_names.index('joint_mobile_base_translation') + + if self.use_mobile_base_inc_rot: + if robot_mode != 'position': + error_string = 'must be in position mode to receive a rotate_mobile_base command. Current mode = {0}.'.format(robot_mode) + invalid_joints_error_func(error_string) + return False + self.rotate_mobile_base_index = joint_names.index('rotate_mobile_base') + + if self.use_mobile_base_inc_trans: + if robot_mode != 'position': + error_string = 'must be in position mode to receive a translate_mobile_base command. Current mode = {0}.'.format(robot_mode) + invalid_joints_error_func(error_string) + return False + self.translate_mobile_base_index = joint_names.index('translate_mobile_base') + return True + + + def get_num_valid_commands(self): + number_of_valid_joints = 0 + if self.use_mobile_base_virtual_joint: + number_of_valid_joints += 1 + if self.use_mobile_base_inc_rot: + number_of_valid_joints += 1 + if self.use_mobile_base_inc_trans: + number_of_valid_joints += 1 + return number_of_valid_joints + + def set_goal(self, point, invalid_goal_error_func, manipulation_origin): + self.rotate_mobile_base_goal = False + self.translate_mobile_base_goal = False + self.virtual_joint_mobile_base_goal = False + + if self.use_mobile_base_virtual_joint: + self.goal_mobile_base_virtual_joint_ros = point.positions[self.virtual_joint_mobile_base_index] + self.goal_mobile_base_virtual_joint_mecha = self.ros_to_mechaduino(self.goal_mobile_base_virtual_joint_ros, manipulation_origin) + self.virtual_joint_mobile_base_goal = True + + if self.use_mobile_base_inc_rot: + self.goal_rotate_mobile_base_mecha = point.positions[self.rotate_mobile_base_index] + self.rotate_mobile_base_goal = True + + if self.use_mobile_base_inc_trans: + self.goal_translate_mobile_base_mecha = point.positions[self.translate_mobile_base_index] + self.translate_mobile_base_goal = True + + if self.rotate_mobile_base_goal and self.translate_mobile_base_goal: + error_string = 'received a goal point with simultaneous rotation and translation mobile base goals. This is not allowed. Only one is allowed to be sent for a given goal point. rotate_mobile_base = {0} and translate_mobile_base = {1}'.format(self.goal_rotate_mobile_base_ros, self.goal_translate_mobile_base_ros) + invalid_goal_error_func(error_string) + return False + + return True + + def ros_to_mechaduino(self, ros_ros, manipulation_origin): + bounds = self.mobile_base_virtual_joint_ros_range + ros_pos = bound_ros_command(bounds, ros_ros, self.clip_ros_tolerance) + if ros_pos is None: + return None + else: + return (manipulation_origin['x'] + ros_pos) + + def init_execution(self, robot_status): + self.initial_mobile_base_translation_mecha_x = robot_status['base']['x'] + self.initial_mobile_base_translation_mecha_y = robot_status['base']['y'] + self.initial_mobile_base_rotation_mecha = robot_status['base']['theta'] + b = robot_status['base'] + + def update_execution(self, robot_status, backlash_state): + current_mobile_base_translation_mecha_x = robot_status['base']['x'] + current_mobile_base_translation_mecha_y = robot_status['base']['y'] + current_mobile_base_rotation_mecha = robot_status['base']['theta'] + b = robot_status['base'] + + self.mobile_base_error_m = None + self.mobile_base_error_rad = None + self.mobile_base_goal_reached = True + if self.virtual_joint_mobile_base_goal: + self.mobile_base_error_m = self.goal_mobile_base_virtual_joint_mecha - current_mobile_base_translation_mecha_x + self.mobile_base_goal_reached = (abs(self.mobile_base_error_m) < self.acceptable_mobile_base_error_m) + elif self.translate_mobile_base_goal: + # incremental motion relative to the initial position + x0 = self.initial_mobile_base_translation_mecha_x + y0 = self.initial_mobile_base_translation_mecha_y + x1 = current_mobile_base_translation_mecha_x + y1 = current_mobile_base_translation_mecha_y + distance_traveled = np.sqrt(np.square(x1 - x0) + np.square(y1 - y0)) + self.mobile_base_error_m = abs(self.goal_translate_mobile_base_mecha) - distance_traveled + self.mobile_base_error_m = np.sign(self.goal_translate_mobile_base_mecha) * self.mobile_base_error_m + self.mobile_base_goal_reached = (abs(self.mobile_base_error_m) < self.acceptable_mobile_base_error_m) + if (abs(self.mobile_base_error_m) < self.excellent_mobile_base_error_m): + self.mobile_base_goal_reached = True + else: + # Use velocity to help decide when the low-level command + # has been finished. + min_m_per_s = 0.002 + b = robot_status['base'] + speed = np.sqrt(np.square(b['x_vel']) + np.square(b['y_vel'])) + self.mobile_base_goal_reached = self.mobile_base_goal_reached and (speed < min_m_per_s) + + elif self.rotate_mobile_base_goal: + incremental_rad = hm.angle_diff_rad(current_mobile_base_rotation_mecha, self.initial_mobile_base_rotation_mecha) + self.mobile_base_error_rad = hm.angle_diff_rad(self.goal_rotate_mobile_base_mecha, incremental_rad) + self.mobile_base_goal_reached = (abs(self.mobile_base_error_rad) < self.acceptable_mobile_base_error_rad) + if (abs(self.mobile_base_error_rad) < self.excellent_mobile_base_error_rad): + self.mobile_base_goal_reached = True + else: + # Use velocity to help decide when the low-level command + # has been finished. + min_deg_per_s = 1.0 + min_rad_per_s = min_deg_per_s * (math.pi/180.0) + self.mobile_base_goal_reached = self.mobile_base_goal_reached and (abs(robot_status['base']['theta_vel']) < min_rad_per_s) + return self.mobile_base_error_m, self.mobile_base_error_rad + + def goal_reached(self): + return self.mobile_base_goal_reached + + +class StretchBodyNode: + + def __init__(self): + + self.use_robotis_head = True + self.use_robotis_end_of_arm = True + self.use_robotis_trajectories = False + + self.default_goal_timeout_s = 10.0 + self.default_goal_timeout_duration = rospy.Duration(self.default_goal_timeout_s) + + # Initialize calibration offsets + self.head_tilt_calibrated_offset_rad = 0.0 + self.head_pan_calibrated_offset_rad = 0.0 + + # Initialize backlash state + self.backlash_state = {'head_tilt_looking_up' : False, + 'head_pan_looked_left' : False, + 'wrist_extension_retracted' : False} + + # Initialize backlash offsets + self.head_pan_calibrated_looked_left_offset_rad = 0.0 + self.head_tilt_calibrated_looking_up_offset_rad = 0.0 + self.wrist_extension_calibrated_retracted_offset_m = 0.0 + self.head_tilt_backlash_transition_angle_rad = -0.4 + + self.gripper_conversion = GripperConversion() + + self.mobile_base_manipulation_origin = None #{'x':None, 'y':None, 'theta':None} + + self.use_lift = True + + # Clip the command, instead of invalidating it, if it is close + # enough to the valid ranges. + self.trajectory_debug = True + + self.robot_stop_lock = threading.Lock() + self.stop_the_robot = False + + self.robot_mode_lock = threading.Lock() + with self.robot_mode_lock: + self.robot_mode = None + self.robot_mode_read_only = 0 + + self.mode_change_polling_rate_hz = 4.0 + + + def trajectory_action_server_callback(self, goal): + + with self.robot_stop_lock: + if self.stop_the_robot: + # This trajectory callback has been called after a + # stop_the_robot service trigger that did not result + # in prempting a trajectory callback. Sufficient time + # is likely to have passed for the robot motors to + # have received their stop commands, so this + # trajectory command will be accepted. + + # Please note that it is possible that this trajectory + # command was sent before the stop_the_robot service + # trigger. + self.stop_the_robot = False + + with self.robot_mode_lock: + self.robot_mode_read_only += 1 + + def invalid_joints_error(error_string): + error_string = '{0} action server:'.format(self.node_name) + error_string + rospy.logerr(error_string) + result = FollowJointTrajectoryResult() + result.error_code = result.INVALID_JOINTS + self.trajectory_action_server.set_aborted(result) + with self.robot_mode_lock: + self.robot_mode_read_only -= 1 + + def invalid_goal_error(error_string): + error_string = '{0} action server:'.format(self.node_name) + error_string + rospy.logerr(error_string) + result = FollowJointTrajectoryResult() + result.error_code = result.INVALID_JOINTS + self.trajectory_action_server.set_aborted(result) + with self.robot_mode_lock: + self.robot_mode_read_only -= 1 + + def goal_tolerance_violated(error_string): + error_string = '{0} action server:'.format(self.node_name) + error_string + rospy.logerr(error_string) + result = FollowJointTrajectoryResult() + result.error_code = result.GOAL_TOLERANCE_VIOLATED + self.trajectory_action_server.set_aborted(result) + with self.robot_mode_lock: + self.robot_mode_read_only -= 1 + + # For now, ignore goal time and configuration tolerances. + joint_names = goal.trajectory.joint_names + if self.trajectory_debug: + rospy.loginfo('New trajectory received with joint_names = {0}'.format(joint_names)) + + ################################################### + # Decide what to do based on the commanded joints. + if self.use_lift: + command_groups = [self.telescoping_cg, self.lift_cg, self.mobile_base_cg, self.head_pan_cg, self.head_tilt_cg, self.wrist_yaw_cg, self.gripper_cg] + else: + command_groups = [self.telescoping_cg, self.mobile_base_cg, self.head_pan_cg, self.head_tilt_cg, self.wrist_yaw_cg, self.gripper_cg] + + updates = [c.update(joint_names, invalid_joints_error, self.robot_mode) for c in command_groups] + if not all(updates): + # The joint names violated at least one of the command + # group's requirements. The command group should have + # reported the error. + return + + number_of_valid_joints = sum([c.get_num_valid_commands() for c in command_groups]) + + if number_of_valid_joints <= 0: + # Abort if no valid joints were received. + error_string = 'received a command without any valid joint names. Received joint names = ' + str(joint_names) + invalid_joints_error(error_string) + return + + if len(joint_names) != number_of_valid_joints: + error_string = 'received {0} valid joints and {1} total joints. Received joint names = {2}'.format(number_of_valid_joints, len(joint_names), joint_names) + invalid_joints_error(error_string) + return + + ################################################### + # Try to reach each of the goals in sequence until an error is + # detected or success is achieved. + for point_number, point in enumerate(goal.trajectory.points): + if self.trajectory_debug: + rospy.loginfo('position # {0} = {1}'.format(point_number, point.positions)) + + + valid_goals = [c.set_goal(point, invalid_goal_error, self.mobile_base_manipulation_origin) for c in command_groups] + if not all(valid_goals): + # At least one of the goals violated the requirements + # of a command group. Any violations should have been + # reported as errors by the command groups. + return + + # Attempt to reach the goal. + update_rate = rospy.Rate(15.0) + + first_time = True + incremental_commands_executed = False + + goal_start_time = rospy.Time.now() + + while True: + # Get copy of the current robot status (uses lock held by the robot). + robot_status = self.robot.get_status() + + if first_time: + for c in command_groups: + c.init_execution(robot_status) + first_time = False + + if self.use_lift: + lift_error_m = self.lift_cg.update_execution(robot_status, self.backlash_state) + extension_error_m = self.telescoping_cg.update_execution(robot_status, self.backlash_state) + mobile_base_error_m, mobile_base_error_rad = self.mobile_base_cg.update_execution(robot_status, self.backlash_state) + self.head_pan_cg.update_execution(robot_status, self.backlash_state) + self.head_tilt_cg.update_execution(robot_status, self.backlash_state) + self.wrist_yaw_cg.update_execution(robot_status, self.backlash_state) + self.gripper_cg.update_execution(robot_status, self.backlash_state) + + # Check if a premption request has been received. + with self.robot_stop_lock: + if self.stop_the_robot or self.trajectory_action_server.is_preempt_requested(): + if self.trajectory_debug: + rospy.loginfo('PREEMPTION REQUESTED, but not stopping current motions to allow smooth interpolation between old and new commands.') + self.trajectory_action_server.set_preempted() + with self.robot_mode_lock: + self.robot_mode_read_only -= 1 + + self.stop_the_robot = False + return + + if not incremental_commands_executed: + translate = (mobile_base_error_m is not None) + rotate = (mobile_base_error_rad is not None) + if translate and rotate: + error_string = 'simultaneous translation and rotation of the mobile base requested. This is not allowed.' + invalid_goal_error(error_string) + return + if translate: + self.robot.base.translate_by(mobile_base_error_m) + if rotate: + self.robot.base.rotate_by(mobile_base_error_rad) + + if self.telescoping_cg.extension_goal: + self.robot.arm.move_by(extension_error_m) + if extension_error_m < 0.0: + self.backlash_state['wrist_extension_retracted'] = True + else: + self.backlash_state['wrist_extension_retracted'] = False + + if self.use_lift: + if self.lift_cg.lift_goal: + self.robot.lift.move_by(lift_error_m) + + if self.head_pan_cg.joint_goal: + self.robot.head.move_by('head_pan', self.head_pan_cg.joint_error) + if self.head_pan_cg.joint_error > 0.0: + self.backlash_state['head_pan_looked_left'] = True + else: + self.backlash_state['head_pan_looked_left'] = False + + if self.head_tilt_cg.joint_goal: + self.robot.head.move_by('head_tilt', self.head_tilt_cg.joint_error) + if self.head_tilt_cg.joint_target > (self.head_tilt_backlash_transition_angle_rad + self.head_tilt_calibrated_offset_rad): + self.backlash_state['head_tilt_looking_up'] = True + else: + self.backlash_state['head_tilt_looking_up'] = False + + if self.wrist_yaw_cg.joint_goal: + self.robot.end_of_arm.move_to('wrist_yaw', self.wrist_yaw_cg.joint_target) + + if self.gripper_cg.gripper_joint_goal: + gripper_command = self.gripper_cg.goal_gripper_joint + if GRIPPER_DEBUG: + print('move_to stretch_gripper =', gripper_command) + self.robot.end_of_arm.move_to('stretch_gripper', gripper_command) + + self.robot.push_command() + incremental_commands_executed = True + + # Check if the goal positions have been reached. + goals_reached = [c.goal_reached() for c in command_groups] + if all(goals_reached): + if self.trajectory_debug: + rospy.loginfo('achieved goal!') + break + + if (rospy.Time.now() - goal_start_time) > self.default_goal_timeout_duration: + error_string = 'time to execute the current goal point = {0} exceeded the default_goal_timeout = {1}'.format(point, self.default_goal_timeout_s) + goal_tolerance_violated(error_string) + return + + update_rate.sleep() + + # Currently not providing feedback. + + if self.trajectory_debug: + rospy.loginfo('Finished with all goals.') + + result = FollowJointTrajectoryResult() + result.error_code = result.SUCCESSFUL + self.trajectory_action_server.set_succeeded(result) + + with self.robot_mode_lock: + self.robot_mode_read_only -= 1 + return + + + ###### MOBILE BASE VELOCITY METHODS ####### + + def set_mobile_base_velocity_callback(self, twist): + # check on thread safety for this callback function + if self.robot_mode != 'navigation': + error_string = '{0} action server must be in navigation mode to receive a twist on cmd_vel. Current mode = {1}.'.format(self.node_name, self.robot_mode) + rospy.logerr(error_string) + return + self.linear_velocity_mps = twist.linear.x + self.angular_velocity_radps = twist.angular.z + self.last_twist_time = rospy.get_time() + + def command_mobile_base_velocity_and_publish_state(self): + with self.robot_mode_lock: + self.robot_mode_read_only += 1 + + if BACKLASH_DEBUG: + print('***') + print('self.backlash_state =', self.backlash_state) + + # set new mobile base velocities, if appropriate + # check on thread safety for this with callback that sets velocity command values + if self.robot_mode == 'navigation': + time_since_last_twist = rospy.get_time() - self.last_twist_time + if time_since_last_twist < self.timeout: + self.robot.base.set_velocity(self.linear_velocity_mps, self.angular_velocity_radps) + self.robot.push_command() + else: + # Too much information in general, although it could be blocked, since it's just INFO. + self.robot.base.set_velocity(0.0, 0.0) + self.robot.push_command() + + # get copy of the current robot status (uses lock held by the robot) + robot_status = self.robot.get_status() + + + # In the future, consider using time stamps from the robot's + # motor control boards and other boards. These would need to + # be synchronized with the rospy clock. + #robot_time = robot_status['timestamp_pc'] + #rospy.loginfo('robot_time =', robot_time) + #current_time = rospy.Time.from_sec(robot_time) + + current_time = rospy.Time.now() + + # obtain odometry + # assign relevant base status to variables + base_status = robot_status['base'] + x = base_status['x'] + x_raw = x + y = base_status['y'] + theta = base_status['theta'] + x_vel = base_status['x_vel'] + x_vel_raw = x_vel + y_vel = base_status['y_vel'] + x_effort = base_status['effort'][0] + x_effort_raw = x_effort + theta_vel = base_status['theta_vel'] + pose_time_s = base_status['pose_time_s'] + + if self.robot_mode == 'manipulation': + x = self.mobile_base_manipulation_origin['x'] + x_vel = 0.0 + x_effort = 0.0 + + # assign relevant arm status to variables + arm_status = robot_status['arm'] + if self.backlash_state['wrist_extension_retracted']: + arm_backlash_correction = self.wrist_extension_calibrated_retracted_offset_m + else: + arm_backlash_correction = 0.0 + + if BACKLASH_DEBUG: + print('arm_backlash_correction =', arm_backlash_correction) + pos_out = arm_status['pos'] + arm_backlash_correction + vel_out = arm_status['vel'] + eff_out = arm_status['motor']['effort'] + + if self.use_lift: + # assign relevant lift status to variables + lift_status = robot_status['lift'] + pos_up = lift_status['pos'] + vel_up = lift_status['vel'] + eff_up = lift_status['motor']['effort'] + else: + pos_up = 0.242 + vel_up = 0.0 + eff_up = 0.0 + + if self.use_robotis_end_of_arm: + # assign relevant wrist status to variables + wrist_status = robot_status['end_of_arm']['wrist_yaw'] + wrist_rad = wrist_status['pos'] + wrist_vel = wrist_status['vel'] + wrist_effort = wrist_status['effort'] + + # assign relevant gripper status to variables + gripper_status = robot_status['end_of_arm']['stretch_gripper'] + if GRIPPER_DEBUG: + print('-----------------------') + print('gripper_status[\'pos\'] =', gripper_status['pos']) + print('gripper_status[\'pos_pct\'] =', gripper_status['pos_pct']) + gripper_aperture_m, gripper_finger_rad, gripper_finger_effort, gripper_finger_vel = self.gripper_conversion.status_to_all(gripper_status) + if GRIPPER_DEBUG: + print('gripper_aperture_m =', gripper_aperture_m) + print('gripper_finger_rad =', gripper_finger_rad) + print('-----------------------') + + if self.use_robotis_head: + # assign relevant head pan status to variables + head_pan_status = robot_status['head']['head_pan'] + if self.backlash_state['head_pan_looked_left']: + pan_backlash_correction = self.head_pan_calibrated_looked_left_offset_rad + else: + pan_backlash_correction = 0.0 + if BACKLASH_DEBUG: + print('pan_backlash_correction =', pan_backlash_correction) + head_pan_rad = head_pan_status['pos'] + self.head_pan_calibrated_offset_rad + pan_backlash_correction + head_pan_vel = head_pan_status['vel'] + head_pan_effort = head_pan_status['effort'] + + # assign relevant head tilt status to variables + head_tilt_status = robot_status['head']['head_tilt'] + if self.backlash_state['head_tilt_looking_up']: + tilt_backlash_correction = self.head_tilt_calibrated_looking_up_offset_rad + else: + tilt_backlash_correction = 0.0 + if BACKLASH_DEBUG: + print('tilt_backlash_correction =', tilt_backlash_correction) + head_tilt_rad = head_tilt_status['pos'] + self.head_tilt_calibrated_offset_rad + tilt_backlash_correction + head_tilt_vel = head_tilt_status['vel'] + head_tilt_effort = head_tilt_status['effort'] + + q = tf_conversions.transformations.quaternion_from_euler(0, 0, theta) + + if self.broadcast_odom_tf: + # publish odometry via TF + t = TransformStamped() + t.header.stamp = current_time + t.header.frame_id = self.odom_frame_id + t.child_frame_id = self.base_frame_id + t.transform.translation.x = x + t.transform.translation.y = y + t.transform.translation.z = 0.0 + t.transform.rotation.x = q[0] + t.transform.rotation.y = q[1] + t.transform.rotation.z = q[2] + t.transform.rotation.w = q[3] + self.tf_broadcaster.sendTransform(t) + + # publish odometry via the odom topic + odom = Odometry() + odom.header.stamp = current_time + odom.header.frame_id = self.odom_frame_id + odom.child_frame_id = self.base_frame_id + odom.pose.pose.position.x = x + odom.pose.pose.position.y = y + odom.pose.pose.orientation.x = q[0] + odom.pose.pose.orientation.y = q[1] + odom.pose.pose.orientation.z = q[2] + odom.pose.pose.orientation.w = q[3] + odom.twist.twist.linear.x = x_vel + odom.twist.twist.angular.z = theta_vel + self.odom_pub.publish(odom) + + # publish joint state for the arm + joint_state = JointState() + joint_state.header.stamp = current_time + # joint_arm_l3 is the most proximal and joint_arm_l0 is the + # most distal joint of the telescoping arm model. The joints + # are connected in series such that moving the most proximal + # joint moves all the other joints in the global frame. + joint_state.name = ['wrist_extension', 'joint_lift', 'joint_arm_l3', 'joint_arm_l2', 'joint_arm_l1', 'joint_arm_l0'] + + # set positions of the telescoping joints + positions = [pos_out/4.0 for i in xrange(4)] + # set lift position + positions.insert(0, pos_up) + # set wrist_extension position + positions.insert(0, pos_out) + + # set velocities of the telescoping joints + velocities = [vel_out/4.0 for i in xrange(4)] + # set lift velocity + velocities.insert(0, vel_up) + # set wrist_extension velocity + velocities.insert(0, vel_out) + + # set efforts of the telescoping joints + efforts = [eff_out for i in xrange(4)] + # set lift effort + efforts.insert(0, eff_up) + # set wrist_extension effort + efforts.insert(0, eff_out) + + if self.use_robotis_head: + head_joint_names = ['joint_head_pan', 'joint_head_tilt'] + joint_state.name.extend(head_joint_names) + + positions.append(head_pan_rad) + velocities.append(head_pan_vel) + efforts.append(head_pan_effort) + + positions.append(head_tilt_rad) + velocities.append(head_tilt_vel) + efforts.append(head_tilt_effort) + + if self.use_robotis_end_of_arm: + end_of_arm_joint_names = ['joint_wrist_yaw', 'joint_gripper_finger_left', 'joint_gripper_finger_right'] + joint_state.name.extend(end_of_arm_joint_names) + + positions.append(wrist_rad) + velocities.append(wrist_vel) + efforts.append(wrist_effort) + + positions.append(gripper_finger_rad) + velocities.append(gripper_finger_vel) + efforts.append(gripper_finger_effort) + + positions.append(gripper_finger_rad) + velocities.append(gripper_finger_vel) + efforts.append(gripper_finger_effort) + + # set virtual joint for mobile base translation + joint_state.name.append('joint_mobile_base_translation') + if self.robot_mode == 'manipulation': + manipulation_translation = x_raw - self.mobile_base_manipulation_origin['x'] + positions.append(manipulation_translation) + velocities.append(x_vel_raw) + efforts.append(x_effort_raw) + else: + positions.append(0.0) + velocities.append(0.0) + efforts.append(0.0) + + # set joint_state + joint_state.position = positions + joint_state.velocity = velocities + joint_state.effort = efforts + self.joint_state_pub.publish(joint_state) + + ################################################## + # publish IMU sensor data + imu_status = robot_status['pimu']['imu'] + ax = imu_status['ax'] + ay = imu_status['ay'] + az = imu_status['az'] + gx = imu_status['gx'] + gy = imu_status['gy'] + gz = imu_status['gz'] + mx = imu_status['mx'] + my = imu_status['my'] + mz = imu_status['mz'] + + i = Imu() + i.header.stamp = current_time + i.header.frame_id = 'imu_mobile_base' + i.angular_velocity.x = gx + i.angular_velocity.y = gy + i.angular_velocity.z = gz + + i.linear_acceleration.x = ax + i.linear_acceleration.y = ay + i.linear_acceleration.z = az + self.imu_mobile_base_pub.publish(i) + + m = MagneticField() + m.header.stamp = current_time + m.header.frame_id = 'imu_mobile_base' + self.magnetometer_mobile_base_pub.publish(m) + + accel_status = robot_status['wacc'] + ax = accel_status['ax'] + ay = accel_status['ay'] + az = accel_status['az'] + + i = Imu() + i.header.stamp = current_time + i.header.frame_id = 'accel_wrist' + i.linear_acceleration.x = ax + i.linear_acceleration.y = ay + i.linear_acceleration.z = az + self.imu_wrist_pub.publish(i) + ################################################## + + with self.robot_mode_lock: + self.robot_mode_read_only -= 1 + return + + + ######## CHANGE MODES ######### + + def change_mode(self, new_mode, code_to_run): + polling_rate = rospy.Rate(self.mode_change_polling_rate_hz) + changed = False + while not changed: + with self.robot_mode_lock: + if self.robot_mode_read_only == 0: + self.robot_mode = new_mode + code_to_run() + changed = True + rospy.loginfo('Changed to mode = {0}'.format(self.robot_mode)) + if not changed: + polling_rate.sleep() + + # TODO : add a freewheel mode or something comparable for the mobile base? + + def turn_on_navigation_mode(self): + # Navigation mode enables mobile base velocity control via + # cmd_vel, and disables position-based control of the mobile + # base. + def code_to_run(): + self.linear_velocity_mps = 0.0 + self.angular_velocity_radps = 0.0 + self.change_mode('navigation', code_to_run) + + def turn_on_manipulation_mode(self): + # Manipulation mode enables mobile base translation using + # position control via joint_mobile_base_translation, and + # disables velocity control of the mobile base. It also + # updates the virtual prismatic joint named + # joint_mobile_base_translation that relates 'floor_link' and + # 'base_link'. This mode was originally created so that + # MoveIt! could treat the robot like an arm. This mode does + # not allow base rotation. + def code_to_run(): + self.robot.base.enable_pos_incr_mode() + # get copy of the current robot status (uses lock held by the robot) + robot_status = self.robot.get_status() + # obtain odometry + # assign relevant base status to variables + base_status = robot_status['base'] + x = base_status['x'] + y = base_status['y'] + theta = base_status['theta'] + self.mobile_base_manipulation_origin = {'x':x, 'y':y, 'theta':theta} + self.change_mode('manipulation', code_to_run) + + def turn_on_position_mode(self): + # Position mode enables mobile base translation and rotation + # using position control with sequential incremental rotations + # and translations. It also disables velocity control of the + # mobile base. It does not update the virtual prismatic + # joint. The frames associated with 'floor_link' and + # 'base_link' become identical in this mode. + def code_to_run(): + self.robot.base.enable_pos_incr_mode() + self.change_mode('position', code_to_run) + + def calibrate(self): + def code_to_run(): + if self.use_lift: + self.robot.lift.home() + self.robot.arm.home() + self.change_mode('calibration', code_to_run) + + ############################### + + ######## SERVICE CALLBACKS ####### + + def stop_the_robot_callback(self, request): + with self.robot_stop_lock: + self.stop_the_robot = True + + self.robot.base.translate_by(0.0) + self.robot.base.rotate_by(0.0) + self.robot.arm.move_by(0.0) + self.robot.lift.move_by(0.0) + self.robot.push_command() + + self.robot.head.move_by('head_pan', 0.0) + self.robot.head.move_by('head_tilt', 0.0) + self.robot.end_of_arm.move_by('wrist_yaw', 0.0) + self.robot.end_of_arm.move_by('stretch_gripper', 0.0) + self.robot.push_command() + + rospy.loginfo('Received stop_the_robot service call, so commanded all actuators to stop.') + return TriggerResponse( + success=True, + message='Stopped the robot.' + ) + + def navigation_mode_service_callback(self, request): + self.turn_on_navigation_mode() + return TriggerResponse( + success=True, + message='Now in navigation mode.' + ) + + def manipulation_mode_service_callback(self, request): + self.turn_on_manipulation_mode() + return TriggerResponse( + success=True, + message='Now in manipulation mode.' + ) + + def position_mode_service_callback(self, request): + self.turn_on_position_mode() + return TriggerResponse( + success=True, + message='Now in position mode.' + ) + ############################### + + def main(self): + + rospy.init_node('stretch_driver') + self.node_name = rospy.get_name() + + rospy.loginfo("{0} started".format(self.node_name)) + + filename = rospy.get_param('~controller_calibration_file') + mode = rospy.get_param('~mode', "position") + rospy.loginfo('mode = ' + str(mode)) + + self.broadcast_odom_tf = rospy.get_param('~broadcast_odom_tf') + rospy.loginfo('broadcast_odom_tf = ' + str(self.broadcast_odom_tf)) + if self.broadcast_odom_tf: + self.tf_broadcaster = tf2_ros.TransformBroadcaster() + + large_ang = 45.0 * np.pi/180.0 + + rospy.loginfo('Loading controller calibration parameters for the head from YAML file named {0}'.format(filename)) + fid = open(filename, 'r') + controller_parameters = yaml.load(fid) + fid.close() + + rospy.loginfo('controller parameters loaded = {0}'.format(controller_parameters)) + + deg_per_rad = 180.0/math.pi + self.head_tilt_calibrated_offset_rad = controller_parameters['tilt_angle_offset'] + ang = self.head_tilt_calibrated_offset_rad + if (abs(ang) > large_ang): + rospy.loginfo('WARNING: self.head_tilt_calibrated_offset_rad HAS AN UNUSUALLY LARGE MAGNITUDE') + rospy.loginfo('self.head_tilt_calibrated_offset_rad in degrees = {0}'.format(self.head_tilt_calibrated_offset_rad * deg_per_rad)) + + self.head_pan_calibrated_offset_rad = controller_parameters['pan_angle_offset'] + ang = self.head_pan_calibrated_offset_rad + if (abs(ang) > large_ang): + rospy.loginfo('WARNING: self.head_pan_calibrated_offset_rad HAS AN UNUSUALLY LARGE MAGNITUDE') + rospy.loginfo('self.head_pan_calibrated_offset_rad in degrees = {0}'.format(self.head_pan_calibrated_offset_rad * deg_per_rad)) + + self.head_pan_calibrated_looked_left_offset_rad = controller_parameters['pan_looked_left_offset'] + ang = self.head_pan_calibrated_looked_left_offset_rad + if (abs(ang) > large_ang): + rospy.loginfo('WARNING: self.head_pan_calibrated_looked_left_offset_rad HAS AN UNUSUALLY LARGE MAGNITUDE') + rospy.loginfo('self.head_pan_calibrated_looked_left_offset_rad in degrees = {0}'.format(self.head_pan_calibrated_looked_left_offset_rad * deg_per_rad)) + + self.head_tilt_backlash_transition_angle_rad = controller_parameters['tilt_angle_backlash_transition'] + rospy.loginfo('self.head_tilt_backlash_transition_angle_rad in degrees = {0}'.format(self.head_tilt_backlash_transition_angle_rad * deg_per_rad)) + + self.head_tilt_calibrated_looking_up_offset_rad = controller_parameters['tilt_looking_up_offset'] + ang = self.head_tilt_calibrated_looking_up_offset_rad + if (abs(ang) > large_ang): + rospy.loginfo('WARNING: self.head_tilt_calibrated_looking_up_offset_rad HAS AN UNUSUALLY LARGE MAGNITUDE') + rospy.loginfo('self.head_tilt_calibrated_looking_up_offset_rad in degrees = {0}'.format(self.head_tilt_calibrated_looking_up_offset_rad * deg_per_rad)) + + self.wrist_extension_calibrated_retracted_offset_m = controller_parameters['arm_retracted_offset'] + m = self.wrist_extension_calibrated_retracted_offset_m + if (abs(m) > 0.05): + rospy.loginfo('WARNING: self.wrist_extension_calibrated_retracted_offset_m HAS AN UNUSUALLY LARGE MAGNITUDE') + rospy.loginfo('self.wrist_extension_calibrated_retracted_offset_m in meters = {0}'.format(self.wrist_extension_calibrated_retracted_offset_m)) + + self.linear_velocity_mps = 0.0 # m/s ROS SI standard for cmd_vel (REP 103) + self.angular_velocity_radps = 0.0 # rad/s ROS SI standard for cmd_vel (REP 103) + + self.max_arm_height = 1.1 + + self.telescoping_cg = TelescopingCommandGroup(self.wrist_extension_calibrated_retracted_offset_m) + if self.use_lift: + self.lift_cg = LiftCommandGroup(self.max_arm_height) + self.mobile_base_cg = MobileBaseCommandGroup() + self.head_pan_cg = HeadPanCommandGroup(self.head_pan_calibrated_offset_rad, + self.head_pan_calibrated_looked_left_offset_rad) + self.head_tilt_cg = HeadTiltCommandGroup(self.head_tilt_calibrated_offset_rad, + self.head_tilt_calibrated_looking_up_offset_rad) + self.wrist_yaw_cg = WristYawCommandGroup() + self.gripper_cg = GripperCommandGroup() + + self.odom_pub = rospy.Publisher('odom', Odometry, queue_size=1) + + self.imu_mobile_base_pub = rospy.Publisher('imu_mobile_base', Imu, queue_size=1) + self.magnetometer_mobile_base_pub = rospy.Publisher('magnetometer_mobile_base', MagneticField, queue_size=1) + self.imu_wrist_pub = rospy.Publisher('imu_wrist', Imu, queue_size=1) + + + rospy.Subscriber("cmd_vel", Twist, self.set_mobile_base_velocity_callback) + + # ~ symbol gets parameter from private namespace + self.joint_state_rate = rospy.get_param('~rate', 15.0) + self.timeout = rospy.get_param('~timeout', 1.0) + rospy.loginfo("{0} rate = {1} Hz".format(self.node_name, self.joint_state_rate)) + rospy.loginfo("{0} timeout = {1} s".format(self.node_name, self.timeout)) + + self.use_fake_mechaduinos = rospy.get_param('~use_fake_mechaduinos', False) + rospy.loginfo("{0} use_fake_mechaduinos = {1}".format(rospy.get_name(), self.use_fake_mechaduinos)) + + self.base_frame_id = 'base_link' + rospy.loginfo("{0} base_frame_id = {1}".format(self.node_name, self.base_frame_id)) + self.odom_frame_id = 'odom' + rospy.loginfo("{0} odom_frame_id = {1}".format(self.node_name, self.odom_frame_id)) + + self.robot = rb.Robot() + self.robot.startup() + + # TODO: check with the actuators to see if calibration is required + #self.calibrate() + + self.joint_state_pub = rospy.Publisher('joint_states', JointState, queue_size=1) + + command_base_velocity_and_publish_joint_state_rate = rospy.Rate(self.joint_state_rate) + self.last_twist_time = rospy.get_time() + + # start action server for joint trajectories + self.trajectory_action_server = actionlib.SimpleActionServer('/stretch_controller/follow_joint_trajectory', + FollowJointTrajectoryAction, + execute_cb = self.trajectory_action_server_callback, + auto_start = False) + self.trajectory_action_server.start() + + if mode == "position": + self.turn_on_position_mode() + elif mode == "navigation": + self.turn_on_navigation_mode() + elif mode == "manipulation": + self.turn_on_manipulation_mode() + + self.switch_to_manipulation_mode_service = rospy.Service('/switch_to_manipulation_mode', + Trigger, + self.manipulation_mode_service_callback) + + self.switch_to_navigation_mode_service = rospy.Service('/switch_to_navigation_mode', + Trigger, + self.navigation_mode_service_callback) + + self.switch_to_position_mode_service = rospy.Service('/switch_to_position_mode', + Trigger, + self.position_mode_service_callback) + + self.stop_the_robot_service = rospy.Service('/stop_the_robot', + Trigger, + self.stop_the_robot_callback) + + + # start loop to command the mobile base velocity, publish + # odometry, and publish joint states + while not rospy.is_shutdown(): + self.command_mobile_base_velocity_and_publish_state() + command_base_velocity_and_publish_joint_state_rate.sleep() + + +if __name__ == '__main__': + try: + node = StretchBodyNode() + node.main() + except rospy.ROSInterruptException: + pass diff --git a/stretch_core/package.xml b/stretch_core/package.xml new file mode 100644 index 0000000..bdc2dd6 --- /dev/null +++ b/stretch_core/package.xml @@ -0,0 +1,92 @@ + + + stretch_core + 0.0.1 + The stretch_core package + + + + + Hello Robot Inc. + + + + + + Apache License 2.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + actionlib + actionlib_msgs + geometry_msgs + nav_msgs + control_msgs + trajectory_msgs + rospy + std_msgs + std_srvs + tf + tf2 + actionlib + actionlib_msgs + geometry_msgs + nav_msgs + control_msgs + trajectory_msgs + rospy + std_msgs + std_srvs + tf + tf2 + actionlib + actionlib_msgs + geometry_msgs + nav_msgs + control_msgs + trajectory_msgs + rospy + std_msgs + std_srvs + tf + tf2 + + + + + + + + diff --git a/stretch_core/rviz/stretch_simple_test.rviz b/stretch_core/rviz/stretch_simple_test.rviz new file mode 100644 index 0000000..29bdb51 --- /dev/null +++ b/stretch_core/rviz/stretch_simple_test.rviz @@ -0,0 +1,402 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Status1 + - /RobotModel1/Links1/camera_bottom_screw_frame1 + Splitter Ratio: 0.5 + Tree Height: 728 + - 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: PointCloud2 +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 + - Alpha: 1 + 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 + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_bottom_screw_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_color_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_color_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_infra1_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_infra1_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_infra2_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_infra2_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_inner_wrist: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_left_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_right_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_shoulder: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_top_wrist: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_grasp_center: + Alpha: 1 + Show Axes: false + Show Trail: false + link_gripper: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_finger_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_finger_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_fingertip_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_fingertip_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head_pan: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head_tilt: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_lift: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_mast: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_wrist_yaw: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + respeaker_base: + 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 + - 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: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /camera/depth/color/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/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 47 + Min Color: 0; 0; 0 + Min Intensity: 47 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.05000000074505806 + Head Radius: 0.05000000074505806 + Name: Pose + Shaft Length: 0.20000000298023224 + Shaft Radius: 0.02500000037252903 + Shape: Arrow + Topic: /sound_localization + Unreliable: false + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /aruco/marker_array + Name: MarkerArray + Namespaces: + "": true + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /aruco/axes + Name: MarkerArray + Namespaces: + "": true + Queue Size: 100 + 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: 2.1282339096069336 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.12903405725955963 + Y: 0.021570436656475067 + Z: 0.7168543338775635 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.23979780077934265 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.0022773751989006996 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1025 + 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: 1853 + X: 67 + Y: 27 diff --git a/stretch_core/rviz/wheel_odometry_test.rviz b/stretch_core/rviz/wheel_odometry_test.rviz new file mode 100644 index 0000000..cfaaacc --- /dev/null +++ b/stretch_core/rviz/wheel_odometry_test.rviz @@ -0,0 +1,406 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /Odometry1/Shape1 + Splitter Ratio: 0.5 + Tree Height: 728 + - 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: LaserScan +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 + - 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 + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_bottom_screw_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_color_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_color_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_infra1_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_infra1_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_infra2_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_infra2_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_inner_wrist: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_left_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_right_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_shoulder: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_top_wrist: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_grasp_center: + Alpha: 1 + Show Axes: false + Show Trail: false + link_gripper: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_finger_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_finger_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_fingertip_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_fingertip_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head_pan: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head_tilt: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_lift: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_mast: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_wrist_yaw: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + respeaker_base: + 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 + - 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: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 47 + Min Color: 0; 0; 0 + Min Intensity: 47 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /scan + 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: 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: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 4 + Size (m): 0.004000000189989805 + Style: Points + Topic: /camera/depth/color/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Angle Tolerance: 0.10000000149011612 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Keep: 10 + Name: Odometry + Position Tolerance: 0.10000000149011612 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 237; 212; 0 + Head Length: 0.03999999910593033 + Head Radius: 0.05000000074505806 + Shaft Length: 0.15000000596046448 + Shaft Radius: 0.019999999552965164 + Value: Arrow + Topic: /odom + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: odom + 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: 2.12781023979187 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.21425360441207886 + Y: -0.133222758769989 + Z: 0.6445393562316895 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.6047974228858948 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.3881237208843231 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1025 + 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: 1853 + X: 67 + Y: 27 diff --git a/stretch_deep_perception/CMakeLists.txt b/stretch_deep_perception/CMakeLists.txt new file mode 100644 index 0000000..56dc2ea --- /dev/null +++ b/stretch_deep_perception/CMakeLists.txt @@ -0,0 +1,206 @@ +cmake_minimum_required(VERSION 2.8.3) +project(stretch_deep_perception) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## 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 COMPONENTS + actionlib + actionlib_msgs + geometry_msgs + nav_msgs + control_msgs + trajectory_msgs + rospy + std_msgs + std_srvs + tf + tf2 +) + +## 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 exec_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 exec_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 +# actionlib_msgs# geometry_msgs# nav_msgs# std_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 exec_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 your 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 stretch_deep_perception +# CATKIN_DEPENDS actionlib actionlib_msgs geometry_msgs nav_msgs rospy std_msgs tf tf2 +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/stretch_deep_perception.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/stretch_deep_perception_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_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 +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_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_stretch_deep_perception.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/stretch_deep_perception/LICENSE.md b/stretch_deep_perception/LICENSE.md new file mode 100644 index 0000000..c45b1e2 --- /dev/null +++ b/stretch_deep_perception/LICENSE.md @@ -0,0 +1,11 @@ +The following license applies to the entire contents of this directory (the "Contents"), which contains software for use with the Stretch RE1 mobile manipulator, which is a robot produced and sold by Hello Robot Inc. + +Copyright 2020 Hello Robot Inc. + +The Contents are licensed under the Apache License, Version 2.0 (the "License"). You may not use the Contents 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, the Contents are distributed under the License are 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. + +For further information about the Contents including inquiries about dual licensing, please contact Hello Robot Inc. diff --git a/stretch_deep_perception/README.md b/stretch_deep_perception/README.md new file mode 100644 index 0000000..848283f --- /dev/null +++ b/stretch_deep_perception/README.md @@ -0,0 +1,82 @@ +![](../images/HelloRobotLogoBar.png) + +## Overview + +*stretch_deep_perception* provides demonstration code that uses open deep learning models to perceive the world. + +This code depends on the stretch_deep_perception_models repository, which should be installed under ~/stretch_user/ on your Stretch RE1 robot. + +Link to the stretch_deep_perception_models repository: +https://github.com/hello-robot/stretch_deep_perception_models + +## Getting Started Demos + +There are four demonstrations for you to try. + +### Face Estimation Demo + +First, try running the face detection demonstration via the following command: + +``` +roslaunch stretch_deep_perception stretch_detect_faces.launch +``` + +RViz should show you the robot, the point cloud from the camera, and information about detected faces. If it detects a face, it should show a 3D planar model of the face and 3D facial landmarks. These deep learning models come from OpenCV and the Open Model Zoo (https://github.com/opencv/open_model_zoo). + +You can use the keyboard_teleop commands within the terminal that you ran roslaunch in order to move the robot's head around to see your face. + + +``` + i (tilt up) + +j (pan left) k (pan right) + + , (tilt down) +``` + +Pan left and pan right are in terms of the robot's left and the robot's right. + +Now shut down everything that was launched by pressing q and Ctrl-C in the terminal. + +### Object Detection Demo + +Second, try running the object detection demo, which uses the tiny YOLO v3 object detection network (https://pjreddie.com/darknet/yolo/). RViz will display planar detection regions. Detection class labels will be printed to the terminal. + +``` +roslaunch stretch_deep_perception stretch_detect_objects.launch +``` + +Once you're ready for the next demo, shut down everything that was launched by pressing q and Ctrl-C in the terminal. + +### Body Landmark Detection Demo + +Third, try running the body landmark point detection demo. The deep learning model comes from the Open Model Zoo (https://github.com/opencv/open_model_zoo). RViz will display colored 3D points on body landmarks. The network also provides information to connect these landmarks, but this demo code does not currently use it. + + +``` +roslaunch stretch_deep_perception stretch_detect_body_landmarks.launch +``` + +Once you're ready for the next demo, shut down everything that was launched by pressing q and Ctrl-C in the terminal. + +### Nearest Mouth Detection Demo + +Finally, try running the nearest mouth detection demo. RViz will display a 3D frame of reference estimated for the nearest mouth detected by the robot. Sometimes the point cloud will make it difficult to see. Disabling the point cloud view in RViz will make it more visible. + +We have used this frame of reference to deliver food near a person's mouth. This has the potential to be useful for assistive feeding. However, use of this detector in this way could be risky. Please be very careful and aware that you are using it at your own risk. + +A less risky use of this detection is for object delivery. stretch_demos has a demonstration that delivers an object based on this frame of reference by holding out the object some distance from the mouth location and below the mouth location with respect to the world frame. This works well and is inspired by similar methods used with the robot EL-E at Georgia Tech [1]. + + +``` +roslaunch stretch_deep_perception stretch_detect_nearest_mouth.launch +``` + +## References + +[1] Hand It Over or Set It Down: A User Study of Object Delivery with an Assistive Mobile Manipulator, Young Sang Choi, Tiffany L. Chen, Advait Jain, Cressel Anderson, Jonathan D. Glass, and Charles C. Kemp, IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2009. http://pwp.gatech.edu/hrl/wp-content/uploads/sites/231/2016/05/roman2009_delivery.pdf + + +## License + +For license information, please see the LICENSE files. diff --git a/stretch_deep_perception/launch/stretch_detect_body_landmarks.launch b/stretch_deep_perception/launch/stretch_detect_body_landmarks.launch new file mode 100644 index 0000000..b9d5d68 --- /dev/null +++ b/stretch_deep_perception/launch/stretch_detect_body_landmarks.launch @@ -0,0 +1,37 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/stretch_deep_perception/launch/stretch_detect_faces.launch b/stretch_deep_perception/launch/stretch_detect_faces.launch new file mode 100644 index 0000000..8947962 --- /dev/null +++ b/stretch_deep_perception/launch/stretch_detect_faces.launch @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/stretch_deep_perception/launch/stretch_detect_nearest_mouth.launch b/stretch_deep_perception/launch/stretch_detect_nearest_mouth.launch new file mode 100644 index 0000000..5a3f372 --- /dev/null +++ b/stretch_deep_perception/launch/stretch_detect_nearest_mouth.launch @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/stretch_deep_perception/launch/stretch_detect_objects.launch b/stretch_deep_perception/launch/stretch_detect_objects.launch new file mode 100644 index 0000000..de7b7d8 --- /dev/null +++ b/stretch_deep_perception/launch/stretch_detect_objects.launch @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/stretch_deep_perception/nodes/body_landmark_detector_python3.py b/stretch_deep_perception/nodes/body_landmark_detector_python3.py new file mode 100644 index 0000000..9d4649f --- /dev/null +++ b/stretch_deep_perception/nodes/body_landmark_detector_python3.py @@ -0,0 +1,259 @@ +#!/usr/bin/env python3 + +import cv2 +import numpy as np +from scipy.spatial.transform import Rotation + +import deep_models_shared_python3 as dm + +class BodyLandmarkDetector: + def __init__(self, models_directory, confidence_threshold=0.2, landmarks_to_detect=None, use_neural_compute_stick=False): + + # Load the models + model_dir = models_directory +'open_model_zoo/human-pose-estimation-0001/FP32/' + print('Using the following directory to load body landmark models:', model_dir) + skeleton_weights_filename = model_dir + 'human-pose-estimation-0001.bin' + skeleton_config_filename = model_dir + 'human-pose-estimation-0001.xml' + print('Loading the following weights file:', skeleton_weights_filename) + print('Loading the following config file:', skeleton_config_filename) + + self.skeleton_model = cv2.dnn.readNet(skeleton_weights_filename, skeleton_config_filename) + + # attempt to use Neural Compute Stick 2 + if use_neural_compute_stick: + print('Not attempting to use a Intel Neural Compute Stick 2 for body landmarks due to potential errors.') + + dm.print_model_info(self.skeleton_model, 'skeleton_model') + + self.landmark_names = ['nose', 'neck', + 'right_shoulder', 'right_elbow', 'right_wrist', + 'left_shoulder', 'left_elbow', 'left_wrist', + 'right_hip', 'right_knee', 'right_ankle', + 'left_hip', 'left_knee', 'left_ankle', + 'right_eye', 'left_eye', + 'right_ear', 'left_ear'] + + if landmarks_to_detect is None: + self.default_landmarks_to_detect = self.landmark_names.copy() + else: + self.default_landmarks_to_detect = landmarks_to_detect + + # rgba + self.landmark_color_dict = {'nose': (1.0, 1.0, 1.0, 1.0), + 'neck': (0.0, 1.0, 0.0, 1.0), + 'right_shoulder': (1.0, 0.0, 0.0, 1.0), + 'right_elbow': (0.0, 1.0, 0.0, 1.0), + 'right_wrist': (0.0, 0.0, 1.0, 1.0), + 'left_shoulder': (0.0, 0.0, 1.0, 1.0), + 'left_elbow': (0.0, 1.0, 0.0, 1.0), + 'left_wrist': (0.0, 0.0, 1.0, 1.0), + 'right_hip': (0.0, 1.0, 1.0, 1.0), + 'right_knee': (0.0, 1.0, 1.0, 1.0), + 'right_ankle': (0.0, 0.0, 1.0, 1.0), + 'left_hip': (0.0, 1.0, 1.0, 1.0), + 'left_knee': (0.0, 1.0, 1.0, 1.0), + 'left_ankle': (0.0, 0.0, 1.0, 1.0), + 'right_eye': (1.0, 0.0, 1.0, 1.0), + 'left_eye': (1.0, 0.0, 1.0, 1.0), + 'right_ear': (0.0, 1.0, 1.0, 1.0), + 'left_ear': (0.0, 1.0, 1.0, 1.0)} + + self.landmark_colors = [self.landmark_color_dict[n] for n in self.landmark_names] + + # based on COCO pairs defined in + # https://github.com/opencv/opencv/blob/master/samples/dnn/openpose.py + + self.landmark_pairs = [['neck', 'right_shoulder'], ['neck', 'left_shoulder'], + ['right_shoulder', 'right_elbow'], ['right_elbow', 'right_wrist'], + ['left_shoulder', 'left_elbow'], ['left_elbow', 'left_wrist'], + ['neck', 'right_hip'], ['right_hip', 'right_knee'], ['right_knee', 'right_ankle'], + ['neck', 'left_hip'], ['left_hip', 'left_knee'], ['left_knee', 'left_ankle'], + ['neck', 'nose'], + ['nose', 'right_eye'], ['right_eye', 'right_ear'], + ['nose', 'left_eye'], ['left_eye', 'left_ear']] + + self.num_landmarks = len(self.landmark_names) + print('self.num_landmarks =', self.num_landmarks) + print('len(self.landmark_colors =', len(self.landmark_colors)) + + + def get_landmark_names(self): + return self.landmark_names + + def get_landmark_colors(self): + return self.landmark_colors + + def get_landmark_color_dict(self): + return self.landmark_color_dict + + def apply_to_image(self, rgb_image, draw_output=False, landmarks_to_detect=None): + if landmarks_to_detect is None: + landmarks_to_detect = self.default_landmarks_to_detect + + if draw_output: + output_image = rgb_image.copy() + else: + output_image = None + + orig_h, orig_w, orig_c = rgb_image.shape + orig_ratio = orig_h / orig_w + target_h = 256 + target_w = 456 + target_ratio = target_h / target_w + if orig_ratio > target_ratio: + new_h = target_h + scale = new_h / orig_h + new_w = int(round(orig_w * scale)) + else: + new_w = target_w + scale = new_w / orig_w + new_h = int(round(orig_h * scale)) + scaled = cv2.resize(rgb_image, (new_w, new_h)) + + if new_h < target_h: + new_h_offset = int(round((target_h - new_h) / 2.0)) + new_w_offset = 0 + if new_w < target_w: + new_w_offset = int(round((target_w - new_w) / 2.0)) + new_h_offset = 0 + + zero_padded = np.zeros((target_h, target_w, 3), dtype=np.uint8) + zero_padded[new_h_offset:new_h_offset+new_h, new_w_offset:new_w_offset+new_w, :] = scaled + + skeleton_image_blob = cv2.dnn.blobFromImage(zero_padded, size = (target_w, target_h)) + + skeleton_image_blob = cv2.dnn.blobFromImage(zero_padded, + size = (target_w, target_h), + mean = (128.0, 128.0, 128.0), + swapRB = False, + crop = False, + ddepth = cv2.CV_32F) + + self.skeleton_model.setInput(skeleton_image_blob) + + skeleton_out = self.skeleton_model.forward(['Mconv7_stage2_L2']) + confidence_maps = skeleton_out[0][0] + background_confidence_map = confidence_maps[self.num_landmarks] + c_map_h, c_map_w = background_confidence_map.shape + enlarge = 8.0 / scale + new_c_map_h = int(round(enlarge * c_map_h)) + new_c_map_w = int(round(enlarge * c_map_w)) + scaled_background_confidence_map = cv2.resize(background_confidence_map, (new_c_map_w, new_c_map_h)) + + bodies = [] + landmark_dict = {} + + for name in landmarks_to_detect: + landmark_index = self.landmark_names.index(name) + confidence_map = confidence_maps[landmark_index] + + scaled_confidence_map = cv2.resize(confidence_map, (new_c_map_w, new_c_map_h)) + min_val, max_val, (min_x, min_y), (max_x, max_y) = cv2.minMaxLoc(scaled_confidence_map) + background_confidence = scaled_background_confidence_map[max_y, max_x] + if max_val > background_confidence: + landmark_x = int(round((max_x - (new_w_offset/scale)))) + landmark_x = min(orig_w - 1, landmark_x) + landmark_y = int(round((max_y - (new_h_offset/scale)))) + landmark_y = min(orig_h - 1, landmark_y) + landmark_dict[name] = (landmark_x, landmark_y) + + bodies.append({'box':None, 'ypr':None, 'landmarks':landmark_dict}) + + if draw_output: + print('bodies =', bodies) + for body in bodies: + print('body =', body) + self.draw_skeleton(output_image, body) + + return bodies, output_image + + + def draw_skeleton(self, image, body): + landmark_dict = body['landmarks'] + for name, xy in landmark_dict.items(): + landmark_x, landmark_y = xy + radius = 5 + thickness = 2 + color = [0, 0, 255] + cv2.circle(image, (landmark_x, landmark_y), radius, color, thickness) + font_scale = 1.0 #2.0 + line_color = [255, 0, 0] + line_width = 1 #2 + font = cv2.FONT_HERSHEY_PLAIN + cv2.putText(image, '{0}'.format(name), (landmark_x, landmark_y), font, font_scale, line_color, line_width, cv2.LINE_AA) + + +class HandoffPositionDetector(BodyLandmarkDetector): + def __init__(self, models_directory, use_neural_compute_stick=False): + self.landmarks_to_detect = ['neck', 'nose', 'right_shoulder', 'left_shoulder'] + BodyLandmarkDetector.__init__(self, models_directory, + landmarks_to_detect=self.landmarks_to_detect, + use_neural_compute_stick=use_neural_compute_stick) + + def apply_to_image(self, rgb_image, draw_output=False): + if draw_output: + output_image = rgb_image.copy() + else: + output_image = None + + bodies, unused = BodyLandmarkDetector.apply_to_image(self, rgb_image) + box_scale = 0.3 + new_bodies = [] + for b in bodies: + landmarks = b['landmarks'] + neck_xy = landmarks.get('neck') + nose_xy = landmarks.get('nose') + right_shoulder_xy = landmarks.get('right_shoulder') + left_shoulder_xy = landmarks.get('left_shoulder') + front = True + box = None + box_width_pix = None + if neck_xy is not None: + neck_xy = np.array(neck_xy) + if right_shoulder_xy is not None: + right_shoulder_xy = np.array(right_shoulder_xy) + box_width_pix = 2.0 * (box_scale * np.linalg.norm(right_shoulder_xy - neck_xy)) + if nose_xy is not None: + nose_xy = np.array(nose_xy) + neck_to_nose = nose_xy - neck_xy + neck_to_right_shoulder = right_shoulder_xy - neck_xy + cross_sign = np.sign(np.cross(neck_to_right_shoulder, neck_to_nose)) + if cross_sign > 0: + front = True + else: + front = False + + if left_shoulder_xy is not None: + left_shoulder_xy = np.array(left_shoulder_xy) + left_box_width_pix = 2.0 * (box_scale * np.linalg.norm(left_shoulder_xy - neck_xy)) + if box_width_pix is not None: + box_width_pix = (left_box_width_pix + box_width_pix) / 2.0 + else: + box_width_pix = left_box_width_pix + if nose_xy is not None: + nose_xy = np.array(nose_xy) + neck_to_nose = nose_xy - neck_xy + neck_to_left_shoulder = left_shoulder_xy - neck_xy + cross_sign = np.sign(np.cross(neck_to_left_shoulder, neck_to_nose)) + if cross_sign > 0: + front = False + else: + front = True + + + if box_width_pix is not None: + x_min = neck_xy[0] - (box_width_pix/2.0) + x_max = neck_xy[0] + (box_width_pix/2.0) + y_min = neck_xy[1] - (box_width_pix/2.0) + y_max = neck_xy[1] + (box_width_pix/2.0) + box = (x_min, y_min, x_max, y_max) + new_bodies.append({'box':box, 'ypr':None, 'landmarks':landmarks, 'front':front}) + + + if draw_output: + print('bodies =', bodies) + for body in new_bodies: + print('body =', body) + self.draw_skeleton(output_image, body) + + return new_bodies, output_image diff --git a/stretch_deep_perception/nodes/deep_learning_model_options.py b/stretch_deep_perception/nodes/deep_learning_model_options.py new file mode 100644 index 0000000..2e93405 --- /dev/null +++ b/stretch_deep_perception/nodes/deep_learning_model_options.py @@ -0,0 +1,11 @@ +#!/usr/bin/env python3 +import os + +def get_directory(): + return os.environ['HELLO_FLEET_PATH'] + '/stretch_deep_perception_models/' + +def use_neural_compute_stick(): + # Currently this only work for two models: object and face + # detection. Currently it does not work with head pose + # estimation, facial landmarks, and body landmarks. + return False diff --git a/stretch_deep_perception/nodes/deep_models_shared_python3.py b/stretch_deep_perception/nodes/deep_models_shared_python3.py new file mode 100644 index 0000000..d961baa --- /dev/null +++ b/stretch_deep_perception/nodes/deep_models_shared_python3.py @@ -0,0 +1,28 @@ +#!/usr/bin/env python3 + +def print_model_info(model, text_name): + + layer_names = model.getLayerNames() + print('{0}.getLayerNames() ='.format(text_name), layer_names) + output_layer_indices = model.getUnconnectedOutLayers() + print('{0}.getUnconnectedOutLayers() ='.format(text_name), output_layer_indices) + output_layer_names = [layer_names[i[0] - 1] for i in output_layer_indices] + print('{0} output layer names ='.format(text_name), output_layer_names) + output_layer_names = model.getUnconnectedOutLayersNames() + print('{0} output layer names ='.format(text_name), output_layer_names) + + # "Each net always has special own the network input pseudo layer + # with id=0. This layer stores the user blobs only and don't make + # any computations. In fact, this layer provides the only way to + # pass user data into the network. As any other layer, this layer + # can label its outputs and this function provides an easy way to + # do this." - + # https://docs.opencv.org/4.1.2/db/d30/classcv_1_1dnn_1_1Net.html#a5e74adacffd6aa53d56046581de7fcbd + input_layer = model.getLayer(0) + print('{0} input layer ='.format(text_name), input_layer) + input_layer_name = layer_names[0] + print('{0} input layer name ='.format(text_name), input_layer_name) + + for layer_name in output_layer_names: + out_layer = model.getLayer(layer_name) + print('{0} out_layer ='.format(text_name), out_layer) diff --git a/stretch_deep_perception/nodes/detect_body_landmarks_python3.py b/stretch_deep_perception/nodes/detect_body_landmarks_python3.py new file mode 100755 index 0000000..274e3af --- /dev/null +++ b/stretch_deep_perception/nodes/detect_body_landmarks_python3.py @@ -0,0 +1,32 @@ +#!/usr/bin/env python3 + +import cv2 +import sys +import rospy +import body_landmark_detector_python3 as bl +import detection_node_python3 as dn +import deep_learning_model_options as do + +if __name__ == '__main__': + print('cv2.__version__ =', cv2.__version__) + print('Python version (must be > 3.0):', sys.version) + assert(int(sys.version[0]) >= 3) + + models_directory = do.get_directory() + print('Using the following directory for deep learning models:', models_directory) + use_neural_compute_stick = do.use_neural_compute_stick() + + detector = bl.BodyLandmarkDetector(models_directory, + use_neural_compute_stick=use_neural_compute_stick) + + default_marker_name = 'body_landmarks' + node_name = 'DetectBodyLandmarksNode' + topic_base_name = 'body_landmarks' + fit_plane = True + node = dn.DetectionNode(detector, default_marker_name, node_name, topic_base_name, fit_plane) + node.main() + try: + rospy.spin() + except KeyboardInterrupt: + print('interrupt received, so shutting down') + diff --git a/stretch_deep_perception/nodes/detect_faces_python3.py b/stretch_deep_perception/nodes/detect_faces_python3.py new file mode 100755 index 0000000..c41f042 --- /dev/null +++ b/stretch_deep_perception/nodes/detect_faces_python3.py @@ -0,0 +1,62 @@ +#!/usr/bin/env python3 + +import cv2 +import sys +import rospy +import head_estimator_python3 as he +import detection_node_python3 as dn +import deep_learning_model_options as do + + +if __name__ == '__main__': + print('cv2.__version__ =', cv2.__version__) + print('Python version (must be > 3.0):', sys.version) + assert(int(sys.version[0]) >= 3) + + ############################################## + # Perform coarse filtering of 3D points using anthropometry + # + # 30cm should be significantly over the maximum dimensions of a human head + # 10cm should be significantly smaller than the dimensions of an adult head + # https://en.wikipedia.org/wiki/Human_head + + # children "attain 30% of adult head width by the middle of + # prenatal life, 60% by birth, 80% by 6 postnatal months, 90% + # by 3 years and 95% by 9 years" - GROWTH IN HEAD WIDTH DURING + # THE FIRST TWELVE YEARS OF LIFE HOWARD V. MEREDITH, copyright + # 1953 by the American Academy of Pediatrics + # https://pediatrics.aappublications.org/content/12/4/411 + + # Filtering for depths corresponding with heads with heights + # or widths from 8cm to 40cm should be conservative. + min_head_m = 0.08 + max_head_m = 0.4 + ############################################## + + models_directory = do.get_directory() + print('Using the following directory for deep learning models:', models_directory) + use_neural_compute_stick = do.use_neural_compute_stick() + if use_neural_compute_stick: + print('Attempt to use an Intel Neural Compute Stick 2.') + else: + print('Not attempting to use an Intel Neural Compute Stick 2.') + + detector = he.HeadPoseEstimator(models_directory, + use_neural_compute_stick=use_neural_compute_stick) + default_marker_name = 'face' + node_name = 'DetectFacesNode' + topic_base_name = 'faces' + fit_plane = False + node = dn.DetectionNode(detector, + default_marker_name, + node_name, + topic_base_name, + fit_plane, + min_box_side_m=min_head_m, + max_box_side_m=max_head_m) + node.main() + try: + rospy.spin() + except KeyboardInterrupt: + print('interrupt received, so shutting down') + diff --git a/stretch_deep_perception/nodes/detect_nearest_mouth_python3.py b/stretch_deep_perception/nodes/detect_nearest_mouth_python3.py new file mode 100755 index 0000000..ba4a4a2 --- /dev/null +++ b/stretch_deep_perception/nodes/detect_nearest_mouth_python3.py @@ -0,0 +1,106 @@ +#!/usr/bin/env python3 + +import cv2 +import sys +import rospy +import numpy as np +import head_estimator_python3 as he +import detection_node_python3 as dn +import deep_learning_model_options as do + +def faces_3d_to_nearest_mouth_position(detections_3d): + for d in detections_3d: + landmarks_3d = d['landmarks_3d'] + box_3d = d['box_3d'] + if landmarks_3d is not None: + width_vec = np.array(landmarks_3d['mouth_left']) - np.array(landmarks_3d['mouth_right']) + width_m = np.linalg.norm(width_vec) + height_vec = np.array(landmarks_3d['mouth_top']) - np.array(landmarks_3d['mouth_bottom']) + height_m = np.linalg.norm(height_vec) + + mouth_landmarks = ['mouth_right', 'mouth_left', 'mouth_top', 'mouth_bottom'] + mouth_sum = np.array([0.0, 0.0, 0.0]) + for mouth_point in mouth_landmarks: + mouth_sum += np.array(landmarks_3d[mouth_point]) + mouth_center = mouth_sum / 4.0 + + if box_3d is not None: + box_3d['width_m'] = width_m + box_3d['height_m'] = height_m + z_axis = np.array(box_3d['z_axis']) + z_axis = z_axis / np.linalg.norm(z_axis) + safety_m = 0.0 #-0.05 + new_center = mouth_center + (safety_m * z_axis) + box_3d['center_xyz'] = (new_center[0], new_center[1], new_center[2]) + nearest_mouth_detection = None + nearest_mouth_depth = None + for d in detections_3d: + box_3d = d['box_3d'] + if box_3d is not None: + if nearest_mouth_detection is None: + nearest_mouth_detection = d + nearest_mouth_depth = box_3d['center_xyz'][2] + else: + depth = box_3d['center_xyz'][2] + if depth < nearest_mouth_depth: + nearest_mouth_detection = d + nearest_mouth_depth = box_3d['center_xyz'][2] + if nearest_mouth_detection is not None: + detections_3d = [nearest_mouth_detection] + else: + detections_3d = [] + return detections_3d + + +if __name__ == '__main__': + print('cv2.__version__ =', cv2.__version__) + print('Python version (must be > 3.0):', sys.version) + assert(int(sys.version[0]) >= 3) + + models_directory = do.get_directory() + print('Using the following directory for deep learning models:', models_directory) + use_neural_compute_stick = do.use_neural_compute_stick() + if use_neural_compute_stick: + print('Attempt to use an Intel Neural Compute Stick 2.') + else: + print('Not attempting to use an Intel Neural Compute Stick 2.') + + ############################################## + # Perform coarse filtering of 3D points using anthropometry + # + # 30cm should be significantly over the maximum dimensions of a human head + # 10cm should be significantly smaller than the dimensions of an adult head + # https://en.wikipedia.org/wiki/Human_head + + # children "attain 30% of adult head width by the middle of + # prenatal life, 60% by birth, 80% by 6 postnatal months, 90% + # by 3 years and 95% by 9 years" - GROWTH IN HEAD WIDTH DURING + # THE FIRST TWELVE YEARS OF LIFE HOWARD V. MEREDITH, copyright + # 1953 by the American Academy of Pediatrics + # https://pediatrics.aappublications.org/content/12/4/411 + + # Filtering for depths corresponding with heads with heights + # or widths from 8cm to 40cm should be conservative. + min_head_m = 0.08 + max_head_m = 0.4 + ############################################## + + detector = he.HeadPoseEstimator(models_directory, + use_neural_compute_stick=use_neural_compute_stick) + default_marker_name = 'mouth' + node_name = 'DetectFacesNode' + topic_base_name = 'nearest_mouth' + fit_plane = False + node = dn.DetectionNode(detector, + default_marker_name, + node_name, + topic_base_name, + fit_plane, + modify_3d_detections=faces_3d_to_nearest_mouth_position, + min_box_side_m=min_head_m, + max_box_side_m=max_head_m) + node.main() + try: + rospy.spin() + except KeyboardInterrupt: + print('interrupt received, so shutting down') diff --git a/stretch_deep_perception/nodes/detect_objects_python3.py b/stretch_deep_perception/nodes/detect_objects_python3.py new file mode 100755 index 0000000..7296b32 --- /dev/null +++ b/stretch_deep_perception/nodes/detect_objects_python3.py @@ -0,0 +1,44 @@ +#!/usr/bin/env python3 + +import cv2 +import sys +import rospy +import object_detector_python3 as od +import detection_node_python3 as dn +import deep_learning_model_options as do + +if __name__ == '__main__': + print('cv2.__version__ =', cv2.__version__) + print('Python version (must be > 3.0):', sys.version) + assert(int(sys.version[0]) >= 3) + + + models_directory = do.get_directory() + print('Using the following directory for deep learning models:', models_directory) + use_neural_compute_stick = do.use_neural_compute_stick() + if use_neural_compute_stick: + print('Attempt to use an Intel Neural Compute Stick 2.') + else: + print('Not attempting to use an Intel Neural Compute Stick 2.') + + use_tiny = True + if use_tiny: + confidence_threshold = 0.0 + else: + confidence_threshold = 0.5 + + detector = od.ObjectDetector(models_directory, + use_tiny_yolo3=use_tiny, + confidence_threshold=confidence_threshold, + use_neural_compute_stick=use_neural_compute_stick) + default_marker_name = 'object' + node_name = 'DetectObjectsNode' + topic_base_name = 'objects' + fit_plane = False + node = dn.DetectionNode(detector, default_marker_name, node_name, topic_base_name, fit_plane) + node.main() + try: + rospy.spin() + except KeyboardInterrupt: + print('interrupt received, so shutting down') + diff --git a/stretch_deep_perception/nodes/detection_2d_to_3d_python3.py b/stretch_deep_perception/nodes/detection_2d_to_3d_python3.py new file mode 100644 index 0000000..88e38ea --- /dev/null +++ b/stretch_deep_perception/nodes/detection_2d_to_3d_python3.py @@ -0,0 +1,380 @@ +#!/usr/bin/env python3 + +import cv2 +import numpy as np +import rospy +from scipy.spatial.transform import Rotation +import hello_helpers.hello_ros_viz as hr +from numba_image_to_pointcloud import numba_image_to_pointcloud +import hello_helpers.fit_plane as fp + + +def filter_points(points_array, camera_matrix, box_2d, min_box_side_m, max_box_side_m): + # Decompose the camera matrix. + f_x = camera_matrix[0,0] + c_x = camera_matrix[0,2] + f_y = camera_matrix[1,1] + c_y = camera_matrix[1,2] + + # These need to be flipped with respect to the basic update + # function to account for the rotation applied as part of the + # head orientation estimation. + x0, y0, x1, y1 = box_2d + detection_box_width_pix = y1 - y0 + detection_box_height_pix = x1 - x0 + + z_min = min_box_side_m * min(f_x/detection_box_width_pix, f_y/detection_box_height_pix) + z_max = max_box_side_m * max(f_x/detection_box_width_pix, f_y/detection_box_height_pix) + + z = points_array[:,2] + mask_z = (z > z_min) & (z < z_max) + + # TODO: Handle situations when the cropped rectangle contains no + # reasonable depth values. + + # Second, filter for depths that are within one maximum head + # length away from the median depth. + remaining_z = z[mask_z] + out_points = np.empty((0,3), dtype=np.float32) + if len(remaining_z) > 0: + median_z = np.median(remaining_z) + min_z = median_z - max_box_side_m + max_z = median_z + max_box_side_m + mask_z = (z > min_z) & (z < max_z) + remaining_z = z[mask_z] + if len(remaining_z) > 0: + out_points = points_array[mask_z] + + return out_points + + +def landmarks_2d_to_3d(landmarks, camera_matrix, depth_image, default_z_3d): + + f_x = camera_matrix[0,0] + c_x = camera_matrix[0,2] + f_y = camera_matrix[1,1] + c_y = camera_matrix[1,2] + + landmarks_3d = {} + for name, xy in landmarks.items(): + x, y = xy + z = depth_image[y,x] + if z > 0: + z_3d = z / 1000.0 + else: + z_3d = default_z_3d + x_3d = ((x - c_x) / f_x) * z_3d + y_3d = ((y - c_y) / f_y) * z_3d + landmarks_3d[name] = (x_3d, y_3d, z_3d) + + return landmarks_3d + + +def bounding_box_2d_to_3d(points_array, box_2d, camera_matrix, head_to_camera_mat=None, fit_plane=False): + + x0, y0, x1, y1 = box_2d + + f_x = camera_matrix[0,0] + c_x = camera_matrix[0,2] + f_y = camera_matrix[1,1] + c_y = camera_matrix[1,2] + + center_xy_pix = np.array([0.0, 0.0]) + center_xy_pix[0] = (x0 + x1)/2.0 + center_xy_pix[1] = (y0 + y1)/2.0 + # These need to be flipped with respect to the basic update + # function to account for the rotation applied as part of the + # head orientation estimation. + detection_box_width_pix = y1 - y0 + detection_box_height_pix = x1 - x0 + + num_points = points_array.shape[0] + if num_points >= 1: + box_depth = np.median(points_array, axis=0)[2] + else: + print('WARNING: No reasonable depth image points available in the detected rectangle. No work around currently implemented for lack of depth estimate.') + return None + + # Convert to 3D point in meters using the camera matrix. + center_z = box_depth + center_x = ((center_xy_pix[0] - c_x) / f_x) * center_z + center_y = ((center_xy_pix[1] - c_y) / f_y) * center_z + + detection_box_width_m = (detection_box_width_pix / f_x) * box_depth + detection_box_height_m = (detection_box_height_pix / f_y) * box_depth + + if head_to_camera_mat is None: + R = np.identity(3) + quaternion = Rotation.from_dcm(R).as_quat() + x_axis = R[:3,0] + y_axis = R[:3,1] + z_axis = R[:3,2] + else: + quaternion = Rotation.from_dcm(head_to_camera_mat).as_quat() + x_axis = head_to_camera_mat[:3,0] + y_axis = head_to_camera_mat[:3,1] + z_axis = head_to_camera_mat[:3,2] + + plane = None + + # Find suitable 3D points within the Face detection box. If there + # are too few points, do not proceed with fitting a plane. + num_points = points_array.shape[0] + min_number_of_points_for_plane_fitting = 16 + enough_points = (num_points >= min_number_of_points_for_plane_fitting) + if fit_plane and (not enough_points): + print('WARNING: There are too few points from the depth image for plane fitting. number of points =', num_points) + elif fit_plane: + plane = fp.FitPlane() + plane.fit_svd(points_array, verbose=False) + + ##################################### + # Find the points on the fit plane corresponding with the + # four Face rectangle corners. Then, use the mean of the 4 + # points as the 3D center for the marker. + d = plane.d + n = plane.n + + def pix_to_plane(pix_x, pix_y): + z = 1.0 + x = ((pix_x - c_x) / f_x) * z + y = ((pix_y - c_y) / f_y) * z + point = np.array([x, y, z]) + ray = point/np.linalg.norm(point) + point = ((d / np.matmul(n.transpose(), ray)) * ray).flatten() + return point + + corners = [[x0, y0], [x1, y0], [x1, y1], [x0, y1]] + corner_points = [] + total_corner = np.array([0.0, 0.0, 0.0]) + for (pix_x, pix_y) in corners: + corner_point = pix_to_plane(pix_x, pix_y) + total_corner += corner_point + corner_points.append(corner_point) + center_x, center_y, center_z = total_corner / 4.0 + + # Use the corners on the fit plane to estimate the x and y + # axes for the marker. + top_left, top_right, bottom_right, bottom_left = corner_points + + y_axis = (top_left + top_right) - (bottom_left + bottom_right) + y_length = np.linalg.norm(y_axis) + if y_length > 0.0: + y_axis = y_axis/y_length + else: + y_axis = None + + x_axis = (top_right + bottom_right) - (top_left + bottom_left) + x_length = np.linalg.norm(x_axis) + if x_length > 0.0: + x_axis = x_axis/x_length + else: + x_axis = None + + ##################################### + + plane_normal = plane.get_plane_normal() + + if x_axis is not None: + old_x_axis = np.reshape(x_axis, (3,1)) + else: + old_x_axis = np.array([1.0, 0.0, 0.0]) + + if y_axis is not None: + old_y_axis = np.reshape(y_axis, (3,1)) + else: + old_y_axis = np.array([0.0, 1.0, 0.0]) + + new_z_axis = plane_normal + # The following methods directly use the z axis from the + # plane fit. + if (x_axis is not None) and (y_axis is None): + # For tests with the two wrist markers, this method + # appeared to be the best. It showed the most + # stability. In particular, it showed the least + # rotation around the normal to the marker. + new_x_axis = old_x_axis - (np.matmul(new_z_axis.transpose(), old_x_axis) * new_z_axis) + new_x_axis = new_x_axis/np.linalg.norm(new_x_axis) + new_y_axis = np.reshape(np.cross(new_z_axis.flatten(), new_x_axis.flatten()), (3,1)) + elif (x_axis is None) and (y_axis is not None): + new_y_axis = old_y_axis - (np.matmul(new_z_axis.transpose(), old_y_axis) * new_z_axis) + new_y_axis = new_y_axis/np.linalg.norm(new_y_axis) + new_x_axis = np.reshape(np.cross(new_y_axis.flatten(), new_z_axis.flatten()), (3,1)) + elif False: + # Attempt to reduce bias due to selecting one of the + # old axes by averaging the results from both axes. + new_x_axis_1 = old_x_axis - (np.matmul(new_z_axis.transpose(), old_x_axis) * new_z_axis) + new_x_axis_1 = new_x_axis_1/np.linalg.norm(new_x_axis_1) + + new_y_axis_1 = np.reshape(np.cross(new_z_axis.flatten(), new_x_axis_1.flatten()), (3,1)) + + new_y_axis_2 = old_y_axis - (np.matmul(new_z_axis.transpose(), old_y_axis) * new_z_axis) + new_y_axis_2 = new_y_axis_2/np.linalg.norm(new_y_axis_2) + + new_y_axis = (new_y_axis_1 + new_y_axis_2)/2.0 + new_y_axis = new_y_axis/np.linalg.norm(new_y_axis) + new_x_axis = np.reshape(np.cross(new_y_axis.flatten(), new_z_axis.flatten()), (3,1)) + else: + if (x_axis is None) and (y_axis is None): + print('WARNING: The detected corners did not project to reasonable 3D points on the fit plane.') + #print(' corners[0] =', corners[0]) + new_y_axis = old_y_axis + new_x_axis = old_x_axis + else: + # Attempt to reduce bias due to selecting one of the + # old axes by averaging the results from both axes. + new_y_axis_1 = old_y_axis - (np.matmul(new_z_axis.transpose(), old_y_axis) * new_z_axis) + new_y_axis_1 = new_y_axis_1/np.linalg.norm(new_y_axis_1) + + new_x_axis_1 = np.reshape(np.cross(new_y_axis_1.flatten(), new_z_axis.flatten()), (3,1)) + + new_x_axis_2 = old_x_axis - (np.matmul(new_z_axis.transpose(), old_x_axis) * new_z_axis) + new_x_axis_2 = new_x_axis_2/np.linalg.norm(new_x_axis_2) + + new_x_axis = (new_x_axis_1 + new_x_axis_2)/2.0 + new_x_axis = new_x_axis/np.linalg.norm(new_x_axis) + new_y_axis = np.reshape(np.cross(new_z_axis.flatten(), new_x_axis.flatten()), (3,1)) + + x_axis = new_x_axis.flatten() + y_axis = new_y_axis.flatten() + z_axis = new_z_axis.flatten() + + R = np.identity(3) + R[:3,0] = x_axis + R[:3,1] = y_axis + R[:3,2] = z_axis + + quaternion = Rotation.from_dcm(R).as_quat() + + if plane is not None: + simple_plane = {'n': plane.n, 'd': plane.d} + else: + simple_plane = None + + box_3d = {'center_xyz': (center_x, center_y, center_z), + 'quaternion': quaternion, + 'x_axis': x_axis, 'y_axis': y_axis, 'z_axis': z_axis, + 'width_m': detection_box_width_m, + 'height_m': detection_box_height_m, + 'width_pix': detection_box_width_pix, + 'height_pix': detection_box_height_pix, + 'plane': simple_plane} + + return box_3d + + +def detections_2d_to_3d(detections_2d, rgb_image, camera_info, depth_image, fit_plane=False, min_box_side_m=None, max_box_side_m=None): + + orig_h, orig_w, c = rgb_image.shape + + def clip_xy(x_in, y_in): + x_out = x_in + y_out = y_in + x_out = max(0, x_out) + x_out = min(orig_w - 1, x_out) + y_out = max(0, y_out) + y_out = min(orig_h - 1, y_out) + return x_out, y_out + + camera_matrix = np.reshape(camera_info.K, (3,3)) + distortion_coefficients = np.array(camera_info.D) + + def clockwise_rotate_bounding_box(box_2d): + x0, y0, x1, y1 = box_2d + orig_x0 = (orig_w - 1) - y1 + orig_y0 = x0 + orig_x1 = (orig_w - 1) - y0 + orig_y1 = x1 + return (orig_x0, orig_y0, orig_x1, orig_y1) + + def counterclockwise_rotate_bounding_box(box_2d): + x0, y0, x1, y1 = box_2d + orig_x0 = y0 + orig_y0 = (orig_h - 1) - x1 + orig_x1 = y1 + orig_y1 = (orig_h - 1) - x0 + return (orig_x0, orig_y0, orig_x1, orig_y1) + + def clockwise_rotate_xy(x, y): + return ((orig_w - 1) - y), x + + def counterclockwise_rotate_xy(x, y): + return y, (orig_h - 1) - x + + rotvec = np.array([0.0, 0.0, 1.0]) * (-np.pi/2.0) + counterclockwise_rotate_mat = Rotation.from_rotvec(rotvec).as_dcm() + + detections_3d = [] + + for h in detections_2d: + box_3d = None + landmarks_3d = None + box_2d = h.get('box') + label = h.get('label') + ypr = h.get('ypr') + landmarks_2d = h.get('landmarks') + points_3d = None + front = h.get('front') + + if box_2d is not None: + box_2d = counterclockwise_rotate_bounding_box(box_2d) + x0, y0, x1, y1 = box_2d + x0, y0 = clip_xy(x0, y0) + x1, y1 = clip_xy(x1, y1) + + if ((x0 < 0) or (y0 < 0) or (x1 < 0) or (y1 < 0) or + (x0 >= orig_w) or (y0 >= orig_h) or (x1 >= orig_w) or (y1 >= orig_h) or + (x0 >= x1) or (y0 >= y1)): + print('---------------') + print('WARNING: detection bounding box goes outside of the original image dimensions or has other issues, so ignoring detection.') + print('box_2d =', box_2d) + print('rgb_image.shape =', rgb_image.shape) + print('---------------') + box_2d = None + + if landmarks_2d is not None: + rotated_landmarks_2d = {} + for name, xy in landmarks_2d.items(): + rotated_xy = counterclockwise_rotate_xy(xy[0], xy[1]) + x0, y0 = rotated_xy + x0, y0 = clip_xy(x0, y0) + rotated_landmarks_2d[name] = (x0, y0) + landmarks_2d = rotated_landmarks_2d + + if ypr is not None: + yaw, pitch, roll = ypr + head_ypr = np.array([-yaw, pitch, roll]) + rotation_mat = Rotation.from_euler('yxz', head_ypr).as_dcm() + head_to_camera_mat = np.matmul(counterclockwise_rotate_mat, rotation_mat) + else: + head_to_camera_mat = counterclockwise_rotate_mat + + if (box_2d is not None) or (landmarks_2d is not None) or (ypr is not None): + + box_depth_m = 0.0 + if box_2d is not None: + points_3d = numba_image_to_pointcloud(depth_image, box_2d, camera_matrix) + if (min_box_side_m is not None) and (max_box_side_m is not None): + points_3d = filter_points(points_3d, camera_matrix, box_2d, min_box_side_m, max_box_side_m) + box_3d = bounding_box_2d_to_3d(points_3d, box_2d, camera_matrix, head_to_camera_mat=head_to_camera_mat, fit_plane=fit_plane) + if box_3d is None: + box_depth_m = None + else: + box_depth_m = box_3d['center_xyz'][2] + + if landmarks_2d is not None: + if box_depth_m is None: + landmarks_3d = None + else: + landmarks_3d = landmarks_2d_to_3d(landmarks_2d, camera_matrix, depth_image, box_depth_m) + + detections_3d.append({'box_3d':box_3d, + 'landmarks_3d':landmarks_3d, + 'box_2d':box_2d, + 'label':label, + 'ypr':ypr, + 'landmarks_2d':landmarks_2d, + 'points_3d':points_3d, + 'front':front}) + + return detections_3d diff --git a/stretch_deep_perception/nodes/detection_node_python3.py b/stretch_deep_perception/nodes/detection_node_python3.py new file mode 100644 index 0000000..de7531f --- /dev/null +++ b/stretch_deep_perception/nodes/detection_node_python3.py @@ -0,0 +1,167 @@ +#!/usr/bin/env python3 + +import sys +import cv2 +import numpy as np +import math + +import rospy + +from std_msgs.msg import Header +from sensor_msgs.msg import Image +from sensor_msgs.msg import CameraInfo +from sensor_msgs import point_cloud2 +from sensor_msgs.msg import PointCloud2, PointField +from visualization_msgs.msg import Marker +from visualization_msgs.msg import MarkerArray +from geometry_msgs.msg import Point +from scipy.spatial.transform import Rotation + +import ros_numpy +import message_filters + +import struct + +import body_landmark_detector_python3 as bl + +import detection_ros_markers_python3 as dr +import detection_2d_to_3d_python3 as d2 + + +class DetectionNode: + def __init__(self, detector, default_marker_name, node_name, + topic_base_name, fit_plane, min_box_side_m=None, + max_box_side_m=None, modify_3d_detections=None): + self.rgb_image = None + self.rgb_image_timestamp = None + self.depth_image = None + self.depth_image_timestamp = None + self.camera_info = None + self.all_points = [] + self.publish_marker_point_clouds = True + + self.detector = detector + + self.marker_collection = dr.DetectionBoxMarkerCollection(default_marker_name) + + self.landmark_color_dict = self.detector.get_landmark_color_dict() + self.topic_base_name = topic_base_name + self.node_name = node_name + self.fit_plane = fit_plane + self.min_box_side_m = min_box_side_m + self.max_box_side_m = max_box_side_m + self.modify_3d_detections = modify_3d_detections + self.image_count = 0 + + + def image_callback(self, ros_rgb_image, ros_depth_image, rgb_camera_info): + self.rgb_image = ros_numpy.numpify(ros_rgb_image) + self.rgb_image_timestamp = ros_rgb_image.header.stamp + self.depth_image = ros_numpy.numpify(ros_depth_image) + self.depth_image_timestamp = ros_depth_image.header.stamp + self.camera_info = rgb_camera_info + self.image_count = self.image_count + 1 + + # OpenCV expects bgr images, but numpify by default returns rgb images. + self.rgb_image = cv2.cvtColor(self.rgb_image, cv2.COLOR_RGB2BGR) + + # Copy the depth image to avoid a change to the depth image + # during the update. + time_diff = self.rgb_image_timestamp - self.depth_image_timestamp + time_diff = abs(time_diff.to_sec()) + if time_diff > 0.0001: + print('WARNING: The rgb image and the depth image were not taken at the same time.') + print(' The time difference between their timestamps =', closest_time_diff, 's') + + # Rotate the image by 90deg to account for camera + # orientation. In the future, this may be performed at the + # image source. + detection_box_image = cv2.rotate(self.rgb_image, cv2.ROTATE_90_CLOCKWISE) + + debug_input = False + if debug_input: + print('DetectionNode.image_callback: received an image!') + print('DetectionNode.image_callback: detection_box_image.shape =', detection_box_image.shape) + cv2.imwrite('./output_images/deep_learning_input_' + str(self.image_count).zfill(4) + '.png', detection_box_image) + + debug_output = False + detections_2d, output_image = self.detector.apply_to_image(detection_box_image, draw_output=debug_output) + if debug_output: + print('DetectionNode.image_callback: processed image with deep network!') + print('DetectionNode.image_callback: output_image.shape =', output_image.shape) + cv2.imwrite('./output_images/deep_learning_output_' + str(self.image_count).zfill(4) + '.png', output_image) + + detections_3d = d2.detections_2d_to_3d(detections_2d, self.rgb_image, self.camera_info, self.depth_image, fit_plane=self.fit_plane, min_box_side_m=self.min_box_side_m, max_box_side_m=self.max_box_side_m) + + if self.modify_3d_detections is not None: + detections_3d = self.modify_3d_detections(detections_3d) + + self.marker_collection.update(detections_3d, self.rgb_image_timestamp) + + marker_array = self.marker_collection.get_ros_marker_array(self.landmark_color_dict) + include_axes = True + include_z_axes = False + axes_array = None + if include_axes or include_z_axes: + axes_array = self.marker_collection.get_ros_axes_array(include_z_axes, include_axes) + + if self.publish_marker_point_clouds: + for marker in self.marker_collection: + marker_points = marker.get_marker_point_cloud() + self.add_point_array_to_point_cloud(marker_points) + publish_plane_points = False + if publish_plane_points: + plane_points = marker.get_plane_fit_point_cloud() + self.add_point_array_to_point_cloud(plane_points) + self.publish_point_cloud() + self.visualize_markers_pub.publish(marker_array) + if axes_array is not None: + self.visualize_axes_pub.publish(axes_array) + + + def add_to_point_cloud(self, x_mat, y_mat, z_mat, mask): + points = [[x, y, z] for x, y, z, m in zip(x_mat.flatten(), y_mat.flatten(), z_mat.flatten(), mask.flatten()) if m > 0] + self.all_points.extend(points) + + def add_point_array_to_point_cloud(self, point_array): + if point_array is not None: + self.all_points.extend(list(point_array)) + + def publish_point_cloud(self): + header = Header() + header.frame_id = '/camera_color_optical_frame' + header.stamp = rospy.Time.now() + fields = [PointField('x', 0, PointField.FLOAT32, 1), + PointField('y', 4, PointField.FLOAT32, 1), + PointField('z', 8, PointField.FLOAT32, 1), + PointField('rgba', 12, PointField.UINT32, 1)] + r = 255 + g = 0 + b = 0 + a = 128 + rgba = struct.unpack('I', struct.pack('BBBB', b, g, r, a))[0] + points = [[x, y, z, rgba] for x, y, z in self.all_points] + point_cloud = point_cloud2.create_cloud(header, fields, points) + self.visualize_point_cloud_pub.publish(point_cloud) + self.all_points = [] + + def main(self): + rospy.init_node(self.node_name) + name = rospy.get_name() + rospy.loginfo("{0} started".format(name)) + + self.rgb_topic_name = '/camera/color/image_raw' #'/camera/infra1/image_rect_raw' + self.rgb_image_subscriber = message_filters.Subscriber(self.rgb_topic_name, Image) + + self.depth_topic_name = '/camera/aligned_depth_to_color/image_raw' + self.depth_image_subscriber = message_filters.Subscriber(self.depth_topic_name, Image) + + self.camera_info_subscriber = message_filters.Subscriber('/camera/color/camera_info', CameraInfo) + + self.synchronizer = message_filters.TimeSynchronizer([self.rgb_image_subscriber, self.depth_image_subscriber, self.camera_info_subscriber], 10) + self.synchronizer.registerCallback(self.image_callback) + + self.visualize_markers_pub = rospy.Publisher('/' + self.topic_base_name + '/marker_array', MarkerArray, queue_size=1) + self.visualize_axes_pub = rospy.Publisher('/' + self.topic_base_name + '/axes', MarkerArray, queue_size=1) + self.visualize_point_cloud_pub = rospy.Publisher('/' + self.topic_base_name + '/point_cloud2', PointCloud2, queue_size=1) + diff --git a/stretch_deep_perception/nodes/detection_ros_markers_python3.py b/stretch_deep_perception/nodes/detection_ros_markers_python3.py new file mode 100644 index 0000000..9355f23 --- /dev/null +++ b/stretch_deep_perception/nodes/detection_ros_markers_python3.py @@ -0,0 +1,301 @@ +#!/usr/bin/env python3 + +import cv2 +import numpy as np + +import rospy + +from visualization_msgs.msg import Marker +from visualization_msgs.msg import MarkerArray +from geometry_msgs.msg import Point +from scipy.spatial.transform import Rotation + +import hello_helpers.fit_plane as fp +import hello_helpers.hello_ros_viz as hr + + +class DetectionBoxMarker: + def __init__(self, detection_box_id, marker_base_name): + self.detection_box_id = 4 * detection_box_id + + colormap = cv2.COLORMAP_HSV + offset = 0 + i = (offset + (self.detection_box_id * 29)) % 255 + image = np.uint8([[[i]]]) + id_color_image = cv2.applyColorMap(image, colormap) + bgr = id_color_image[0,0] + self.id_color = [bgr[2], bgr[1], bgr[0]] + + self.frame_id = '/camera_color_optical_frame' + + self.name = marker_base_name + + self.marker = Marker() + self.marker.type = self.marker.CUBE + self.marker.action = self.marker.ADD + self.lifetime_s = 2.0 + self.marker.lifetime = rospy.Duration(self.lifetime_s) + # although useful, this causes a warning and rviz and goes + # against the documentation "NOTE: only used for text markers + # string text" + self.marker.text = self.name + + self.frame_number = None + self.timestamp = None + self.plane = None + self.points_array = None + self.ready = False + + self.box_3d = None + self.x_axis = None + self.y_axis = None + self.z_axis = None + + self.detection_box_width_m = None + self.detection_box_height_m = None + + self.landmarks_xyz = None + self.depth = None + + + def get_marker_point_cloud(self): + return self.points_array + + def get_plane_fit_point_cloud(self): + if self.plane is None: + return None + origin = np.array(self.marker_position) + side_length = max(self.detection_box_width_m, self.detection_box_height_m) + sample_spacing = 0.001 + points = self.plane.get_points_on_plane(origin, side_length, sample_spacing) + return points + + def update(self, detection_3d, timestamp, frame_number): + + self.timestamp = timestamp + self.frame_number = frame_number + self.points_array = detection_3d['points_3d'] + self.landmarks_xyz = detection_3d['landmarks_3d'] + + self.box_3d = detection_3d['box_3d'] + if self.box_3d is not None: + self.marker_position = self.box_3d['center_xyz'] + self.marker_quaternion = self.box_3d['quaternion'] + self.x_axis = self.box_3d['x_axis'] + self.y_axis = self.box_3d['y_axis'] + self.z_axis = self.box_3d['z_axis'] + self.detection_box_width_m = self.box_3d['width_m'] + self.detection_box_height_m = self.box_3d['height_m'] + plane = self.box_3d['plane'] + if plane is not None: + n = plane['n'] + d = plane['d'] + self.plane = fp.FitPlane() + self.plane.set_plane(n,d) + + self.ready = True + + + def get_landmarks_marker(self, landmark_color_dict=None): + marker = None + if self.landmarks_xyz is not None: + id_num = (4 * self.detection_box_id) + 3 + marker = hr.create_points_marker(self.landmarks_xyz, id_num, + self.frame_id, self.timestamp, + points_rgba=landmark_color_dict, + duration_s=self.lifetime_s, + point_width=0.02) + return marker + + + def get_ros_marker(self): + if (not self.ready) or (self.box_3d is None): + return None + + self.marker.header.frame_id = self.frame_id + self.marker.header.stamp = self.timestamp + self.marker.id = self.detection_box_id + + # scale of 1,1,1 would result in a 1m x 1m x 1m cube + self.marker.scale.x = self.detection_box_width_m + self.marker.scale.y = self.detection_box_height_m + self.marker.scale.z = 0.01 # 1 cm tall + + # make as bright as possible + den = float(np.max(self.id_color)) + self.marker.color.r = self.id_color[2]/den + self.marker.color.g = self.id_color[1]/den + self.marker.color.b = self.id_color[0]/den + self.marker.color.a = 0.5 + + self.marker.pose.position.x = self.marker_position[0] + self.marker.pose.position.y = self.marker_position[1] + self.marker.pose.position.z = self.marker_position[2] + + q = self.marker_quaternion + self.marker.pose.orientation.x = q[0] + self.marker.pose.orientation.y = q[1] + self.marker.pose.orientation.z = q[2] + self.marker.pose.orientation.w = q[3] + + return self.marker + + + def create_axis_marker(self, axis, id_num, rgba=None, name=None): + marker = Marker() + marker.header.frame_id = self.frame_id + marker.header.stamp = self.timestamp + marker.id = id_num + marker.type = marker.ARROW + marker.action = marker.ADD + marker.lifetime = rospy.Duration(1.0) + if name is not None: + # although useful, this causes a warning and rviz and goes + # against the documentation "NOTE: only used for text markers + # string text" + marker.text = name + axis_arrow = {'head_diameter': 0.02, + 'shaft_diameter': 0.012, + 'head_length': 0.012, + 'length': 0.08} + + # "scale.x is the shaft diameter, and scale.y is the + # head diameter. If scale.z is not zero, it specifies + # the head length." - + # http://wiki.ros.org/rviz/DisplayTypes/Marker#Arrow_.28ARROW.3D0.29 + marker.scale.x = axis_arrow['shaft_diameter'] + marker.scale.y = axis_arrow['head_diameter'] + marker.scale.z = axis_arrow['head_length'] + + if rgba is None: + # make as bright as possible + den = float(np.max(self.id_color)) + marker.color.r = self.id_color[2]/den #1.0 + marker.color.g = self.id_color[1]/den #0.0 + marker.color.b = self.id_color[0]/den #0.0 + marker.color.a = 0.5 + else: + c = marker.color + c.r, c.g, c.b, c.a = rgba + + start_point = Point() + x = self.marker_position[0] + y = self.marker_position[1] + z = self.marker_position[2] + start_point.x = x + start_point.y = y + start_point.z = z + end_point = Point() + length = axis_arrow['length'] + end_point.x = x + (axis[0] * length) + end_point.y = y + (axis[1] * length) + end_point.z = z + (axis[2] * length) + marker.points = [start_point, end_point] + return marker + + def get_ros_z_axis_marker(self): + if (not self.ready) or (self.z_axis is None): + return None + + id_num = 4 * self.detection_box_id + rgba = [0.0, 0.0, 1.0, 0.5] + name = base_name = '_z_axis' + return self.create_axis_marker(self.z_axis, id_num, rgba, name) + + def get_ros_axes_markers(self): + markers = [] + + if not self.ready: + return markers + + # ROS color convention + # x axis is red + # y axis is green + # z axis is blue + + base_name = self.name + + if self.z_axis is not None: + id_num = 4 * self.detection_box_id + rgba = [0.0, 0.0, 1.0, 0.5] + name = base_name = '_z_axis' + markers.append(self.create_axis_marker(self.z_axis, id_num, rgba, name)) + if self.x_axis is not None: + id_num = (4 * self.detection_box_id) + 1 + rgba = [1.0, 0.0, 0.0, 0.5] + name = base_name = '_x_axis' + markers.append(self.create_axis_marker(self.x_axis, id_num, rgba, name)) + if self.y_axis is not None: + id_num = (4 * self.detection_box_id) + 2 + rgba = [0.0, 1.0, 0.0, 0.5] + name = base_name = '_y_axis' + markers.append(self.create_axis_marker(self.y_axis, id_num, rgba, name)) + + return markers + + + +class DetectionBoxMarkerCollection: + def __init__(self, default_marker_base_name='detection_box'): + self.collection = {} + self.frame_number = 0 + self.default_marker_base_name = default_marker_base_name + + def __iter__(self): + # iterates through currently visible DetectionBox markers + keys = self.collection.keys() + for k in keys: + marker = self.collection[k] + if marker.frame_number == self.frame_number: + yield marker + + def update(self, detections_3d, timestamp=None): + self.frame_number += 1 + self.timestamp = timestamp + + self.collection.clear() + self.detection_box_id = 0 + + for detection_3d in detections_3d: + box_3d = detection_3d['box_3d'] + landmarks_3d = detection_3d['landmarks_3d'] + label = detection_3d['label'] + + if (box_3d is not None) or (landmarks_3d is not None): + self.detection_box_id += 1 + if label is None: + marker_label = self.default_marker_base_name + else: + marker_label = label + new_marker = DetectionBoxMarker(self.detection_box_id, marker_label) + self.collection[self.detection_box_id] = new_marker + self.collection[self.detection_box_id].update(detection_3d, self.timestamp, self.frame_number) + + + def get_ros_marker_array(self, landmark_color_dict=None): + marker_array = MarkerArray() + for key in self.collection: + marker = self.collection[key] + if marker.frame_number == self.frame_number: + ros_marker = marker.get_ros_marker() + if ros_marker is not None: + marker_array.markers.append(ros_marker) + + landmarks_marker = marker.get_landmarks_marker(landmark_color_dict) + if landmarks_marker is not None: + marker_array.markers.append(landmarks_marker) + return marker_array + + def get_ros_axes_array(self, include_z_axes=True, include_axes=True): + marker_array = MarkerArray() + for key in self.collection: + marker = self.collection[key] + if marker.frame_number == self.frame_number: + if include_z_axes: + ros_z_axis_marker = marker.get_ros_z_axis_marker() + if ros_z_axis_marker is not None: + marker_array.markers.append(ros_z_axis_marker) + if include_axes: + ros_axes_markers= marker.get_ros_axes_markers() + marker_array.markers.extend(ros_axes_markers) + return marker_array diff --git a/stretch_deep_perception/nodes/head_estimator_python3.py b/stretch_deep_perception/nodes/head_estimator_python3.py new file mode 100644 index 0000000..14cdead --- /dev/null +++ b/stretch_deep_perception/nodes/head_estimator_python3.py @@ -0,0 +1,308 @@ +#!/usr/bin/env python3 + +import cv2 +import numpy as np +from scipy.spatial.transform import Rotation +import deep_models_shared_python3 as dm + +class HeadPoseEstimator: + def __init__(self, models_directory, use_neural_compute_stick=False): + # Load the models + models_dir = models_directory + print('Using the following directory to load object detector models:', models_dir) + + # file with network architecture and other information + head_detection_model_prototxt_filename = models_dir + '/head_detection/deploy.prototxt' + # file with network weights + head_detection_model_caffemodel_filename = models_dir + '/head_detection/res10_300x300_ssd_iter_140000.caffemodel' + self.face_confidence_threshold = 0.2 + + print('attempting to load neural network from files') + print('prototxt file =', head_detection_model_prototxt_filename) + print('caffemodel file =', head_detection_model_caffemodel_filename) + self.head_detection_model = cv2.dnn.readNetFromCaffe(head_detection_model_prototxt_filename, head_detection_model_caffemodel_filename) + dm.print_model_info(self.head_detection_model, 'head_detection_model') + + # attempt to use Neural Compute Stick 2 + if use_neural_compute_stick: + print('HeadPoseEstimator.__init__: Attempting to use an Intel Neural Compute Stick 2 using the following command: self.head_detection_model.setPreferableTarget(cv2.dnn.DNN_TARGET_MYRIAD)') + self.head_detection_model.setPreferableTarget(cv2.dnn.DNN_TARGET_MYRIAD) + + head_pose_model_dir = models_dir + '/open_model_zoo/head-pose-estimation-adas-0001/FP32/' + head_pose_weights_filename = head_pose_model_dir + 'head-pose-estimation-adas-0001.bin' + head_pose_config_filename = head_pose_model_dir + 'head-pose-estimation-adas-0001.xml' + self.head_pose_model = cv2.dnn.readNet(head_pose_weights_filename, head_pose_config_filename) + + if use_neural_compute_stick: + print('Not attempting to use a Intel Neural Compute Stick 2 for head pose estimation due to potential errors.') + + dm.print_model_info(self.head_pose_model, 'head_pose_model') + + landmarks_model_dir = models_dir + '/open_model_zoo/facial-landmarks-35-adas-0002/FP32/' + landmarks_weights_filename = landmarks_model_dir + 'facial-landmarks-35-adas-0002.bin' + landmarks_config_filename = landmarks_model_dir + 'facial-landmarks-35-adas-0002.xml' + self.landmarks_model = cv2.dnn.readNet(landmarks_weights_filename, landmarks_config_filename) + + if use_neural_compute_stick: + print('Not attempting to use a Intel Neural Compute Stick 2 for facial landmarks due to potential errors.') + + dm.print_model_info(self.head_pose_model, 'head_pose_model') + + + dm.print_model_info(self.landmarks_model, 'landmarks_model') + + self.landmark_names = ['right_eye_left', 'right_eye_right', + 'left_eye_right', 'left_eye_left', 'nose_tip', + 'nose_bottom', 'nose_right', 'nose_left', 'mouth_right', + 'mouth_left', 'mouth_top', 'mouth_bottom', + 'right_eyebrow_right', 'right_eyebrow_middle', 'right_eyebrow_left', + 'left_eyebrow_right', 'left_eyebrow_middle', 'left_eyebrow_left', + 'right_cheek_18', 'right_cheek_19', 'right_cheek_20', 'right_cheek_21', + 'right_cheek_22', 'right_cheek_23', 'right_cheek_24', + 'chin_right', 'chin_middle', 'chin_left', + 'left_cheek_28', 'left_cheek_29', 'left_cheek_30', 'left_cheek_31', + 'left_cheek_32', 'left_cheek_33', 'left_cheek_34'] + + + def get_landmark_names(self): + return self.landmark_names + + def get_landmark_colors(self): + return None + + def get_landmark_color_dict(self): + return None + + def detect_faces(self, rgb_image): + orig_h, orig_w, c = rgb_image.shape + face_image = rgb_image + rot_h, rot_w, c = face_image.shape + # Assumes that the width is smaller than the height, and crop + # a width x width square image from the top. + square_face_image = face_image[:rot_w, :, :] + sqr_h, sqr_w, c = square_face_image.shape + network_image = cv2.resize(square_face_image, (300, 300)) + # Some magic numbers came from + # https://www.pyimagesearch.com/2018/02/26/face-detection-with-opencv-and-deep-learning/ + face_image_blob = cv2.dnn.blobFromImage(network_image, 1.0, (300, 300), (104.0, 177.0, 123.0)) + self.head_detection_model.setInput(face_image_blob) + face_detections = self.head_detection_model.forward()[0,0,:,:] + confidence_mask = face_detections[:, 2] > self.face_confidence_threshold + face_detections = face_detections[confidence_mask] + coordinates = face_detections[:, 3:7] + # Scale and rotate coordinates to the original image + coordinates = coordinates * np.array([sqr_w, sqr_h, sqr_w, sqr_h]) + + face_id = 0 + boxes = [] + + for x0, y0, x1, y1 in coordinates: + orig_y0 = y0 + orig_y1 = y1 + orig_x0 = x0 + orig_x1 = x1 + face_id += 1 + bounding_box = [orig_x0, orig_y0, orig_x1, orig_y1] + boxes.append(bounding_box) + + return boxes + + + def get_sub_image(self, rgb_image, bounding_box, enlarge_box=True, enlarge_scale=1.15): + if enlarge_box: + scale = enlarge_scale + orig_h, orig_w, c = rgb_image.shape + + x0 = bounding_box[0] + y0 = bounding_box[1] + x1 = bounding_box[2] + y1 = bounding_box[3] + + m_x = (x1 + x0) / 2.0 + m_y = (y1 + y0) / 2.0 + + b_w = x1 - x0 + b_h = y1 - y0 + + b_w = scale * b_w + b_h = scale * b_h + + x0 = int(round(m_x - (b_w/2.0))) + x1 = int(round(m_x + (b_w/2.0))) + y0 = int(round(m_y - (b_h/2.0))) + y1 = int(round(m_y + (b_h/2.0))) + + x0 = max(0, x0) + x1 = min(orig_w, x1) + y0 = max(0, y0) + y1 = min(orig_h, y1) + else: + x0 = int(round(bounding_box[0])) + y0 = int(round(bounding_box[1])) + x1 = int(round(bounding_box[2])) + y1 = int(round(bounding_box[3])) + + actual_bounding_box = [x0, y0, x1, y1] + image_to_crop = rgb_image + sub_image = image_to_crop[y0:y1, x0:x1, :] + return sub_image, actual_bounding_box + + + def estimate_head_pose(self, rgb_image, bounding_box, enlarge_box=True, enlarge_scale=1.15): + face_crop_image, actual_bounding_box = self.get_sub_image(rgb_image, bounding_box, enlarge_box=enlarge_box, enlarge_scale=enlarge_scale) + sqr_h, sqr_w, c = face_crop_image.shape + + if (sqr_h > 0) and (sqr_w > 0): + head_pose_image_blob = cv2.dnn.blobFromImage(face_crop_image, + size=(60, 60), + swapRB=False, + crop=False, + ddepth=cv2.CV_32F) + self.head_pose_model.setInput(head_pose_image_blob) + head_pose_out = self.head_pose_model.forward(['angle_r_fc', 'angle_p_fc', 'angle_y_fc']) + rpy = head_pose_out + roll = rpy[0][0][0] + pitch = rpy[1][0][0] + yaw = rpy[2][0][0] + pitch = pitch * np.pi/180.0 + roll = roll * np.pi/180.0 + yaw = yaw * np.pi/180.0 + + return yaw, pitch, roll + + return None, None, None + + + def detect_facial_landmarks(self, rgb_image, bounding_box, enlarge_box=True, enlarge_scale=1.15): + face_crop_image, actual_bounding_box = self.get_sub_image(rgb_image, bounding_box, enlarge_box=enlarge_box, enlarge_scale=enlarge_scale) + sqr_h, sqr_w, c = face_crop_image.shape + + if (sqr_h > 0) and (sqr_w > 0): + landmarks_image_blob = cv2.dnn.blobFromImage(face_crop_image, + size=(60, 60), + swapRB=False, + crop=False, + ddepth=cv2.CV_32F) + self.landmarks_model.setInput(landmarks_image_blob) + landmarks_out = self.landmarks_model.forward() + + s = landmarks_out.shape + out = np.reshape(landmarks_out[0], (s[1]//2, 2)) + x0, y0, x1, y1 = actual_bounding_box + + landmarks = {} + for n, v in enumerate(out): + x = int(round((v[0] * sqr_w) + x0)) + y = int(round((v[1] * sqr_h) + y0)) + name = self.landmark_names[n] + landmarks[name] = (x,y) + + return landmarks, self.landmark_names.copy() + return None, None + + + def draw_bounding_box(self, image, bounding_box): + x0 = int(round(bounding_box[0])) + y0 = int(round(bounding_box[1])) + x1 = int(round(bounding_box[2])) + y1 = int(round(bounding_box[3])) + color = (0, 0, 255) + thickness = 2 + cv2.rectangle(image, (x0, y0), (x1, y1), color, thickness) + + + def draw_head_pose(self, image, yaw, pitch, roll, bounding_box): + x0, y0, x1, y1 = bounding_box + face_x = (x1 + x0) / 2.0 + face_y = (y1 + y0) / 2.0 + # + # opencv uses right-handed coordinate system + # x points to the right of the image + # y points to the bottom of the image + # z points into the image + # + + h, w, c = image.shape + camera_center = (w/2.0, h/2.0) + #For rendering with an unknown camera + focal_length = 50.0 + camera_matrix = np.array([[focal_length, 0.0, camera_center[0]], + [0.0, focal_length, camera_center[1]], + [0.0, 0.0, 1.0]]) + face_translation = np.array([0.0, 0.0, 3000.0]) + distortion_coefficients = np.array([0.0, 0.0, 0.0, 0.0]) + # negate the directions of the y and z axes + axes = np.array([[2000.0, 0.0, 0.0 ], + [0.0, -2000.0, 0.0 ], + [0.0, 0.0, -2000.0], + [0.0, 0.0, 0.0 ]]) + head_ypr = np.array([-yaw, pitch, roll]) + rotation_mat = Rotation.from_euler('yxz', head_ypr).as_dcm() + rotation_vec, jacobian = cv2.Rodrigues(rotation_mat) + image_points, jacobian = cv2.projectPoints(axes, rotation_vec, face_translation, camera_matrix, distortion_coefficients) + face_pix = np.array([face_x, face_y]) + + origin = image_points[3].ravel() + x_axis = (image_points[0].ravel() - origin) + face_pix + y_axis = (image_points[1].ravel() - origin) + face_pix + z_axis = (image_points[2].ravel() - origin) + face_pix + + p0 = tuple(np.int32(np.round(face_pix))) + p1 = tuple(np.int32(np.round(x_axis))) + cv2.line(image, p0, p1, (0, 0, 255), 2) + p1 = tuple(np.int32(np.round(y_axis))) + cv2.line(image, p0, p1, (0, 255, 0), 2) + p1 = tuple(np.int32(np.round(z_axis))) + cv2.line(image, p0, p1, (255, 0, 0), 2) + + + def draw_landmarks(self, image, landmarks): + for name, xy in landmarks.items(): + x = xy[0] + y = xy[1] + if 'mouth' in name: + color = (255, 0, 0) + elif 'nose' in name: + color = (0, 255, 0) + elif 'eyebrow' in name: + color = (0, 0, 0) + elif 'right_eye' in name: + color = (255, 255, 0) + elif 'left_eye' in name: + color = (0, 255, 255) + elif 'chin' in name: + color = (255, 0, 255) + else: + color = (0, 0, 255) + cv2.circle(image, (x,y), 2, color, 1) + font_scale = 1.0 + line_color = [0, 0, 0] + line_width = 1 + font = cv2.FONT_HERSHEY_PLAIN + + + def apply_to_image(self, rgb_image, draw_output=False): + if draw_output: + output_image = rgb_image.copy() + else: + output_image = None + + heads = [] + boxes = self.detect_faces(rgb_image) + facial_landmark_names = self.landmark_names.copy() + for bounding_box in boxes: + if draw_output: + self.draw_bounding_box(output_image, bounding_box) + yaw, pitch, roll = self.estimate_head_pose(rgb_image, bounding_box, enlarge_box=True, enlarge_scale=1.15) + if yaw is not None: + ypr = (yaw, pitch, roll) + if draw_output: + self.draw_head_pose(output_image, yaw, pitch, roll, bounding_box) + else: + ypr = None + landmarks, landmark_names = self.detect_facial_landmarks(rgb_image, bounding_box, enlarge_box=True, enlarge_scale=1.15) + if (landmarks is not None) and draw_output: + self.draw_landmarks(output_image, landmarks) + heads.append({'box':bounding_box, 'ypr':ypr, 'landmarks':landmarks}) + + return heads, output_image diff --git a/stretch_deep_perception/nodes/numba_image_to_pointcloud.py b/stretch_deep_perception/nodes/numba_image_to_pointcloud.py new file mode 100644 index 0000000..57f1f65 --- /dev/null +++ b/stretch_deep_perception/nodes/numba_image_to_pointcloud.py @@ -0,0 +1,41 @@ +from numba import jit, njit +import numpy as np + +@njit(fastmath=True) +def numba_image_to_pointcloud(depth_image, bounding_box, camera_matrix): + x_min, y_min, x_max, y_max = bounding_box + h, w = depth_image.shape + + # check and correct the bounding box to be within the rgb_image + x_min = int(round(max(0, x_min))) + y_min = int(round(max(0, y_min))) + x_max = int(round(min(w-1, x_max))) + y_max = int(round(min(h-1, y_max))) + if x_max < x_min: + x_max = x_min + if y_max < y_min: + y_max = y_min + + f_x = camera_matrix[0,0] + c_x = camera_matrix[0,2] + f_y = camera_matrix[1,1] + c_y = camera_matrix[1,2] + + out_w = (x_max - x_min) + 1 + out_h = (y_max - y_min) + 1 + points = np.empty((out_h * out_w, 3), dtype=np.float32) + + i = 0 + x = x_min + while x <= x_max: + y = y_min + while y <= y_max: + z_3d = depth_image[y,x] / 1000.0 + x_3d = ((x - c_x) / f_x) * z_3d + y_3d = ((y - c_y) / f_y) * z_3d + points[i] = (x_3d, y_3d, z_3d) + i += 1 + y += 1 + x += 1 + + return points diff --git a/stretch_deep_perception/nodes/object_detector_python3.py b/stretch_deep_perception/nodes/object_detector_python3.py new file mode 100644 index 0000000..c7d38f9 --- /dev/null +++ b/stretch_deep_perception/nodes/object_detector_python3.py @@ -0,0 +1,197 @@ +#!/usr/bin/env python3 + +import cv2 +import numpy as np +from scipy.spatial.transform import Rotation + +import deep_models_shared_python3 as dm + + +class ObjectDetector: + def __init__(self, models_directory, use_tiny_yolo3 = True, confidence_threshold=0.2, use_neural_compute_stick=False): + # Load the models + models_dir = models_directory + 'darknet/' + print('Using the following directory to load object detector models:', models_dir) + + if use_tiny_yolo3: + model_filename = models_dir + 'tiny_yolo_v3/yolov3-tiny.weights' + config_filename = models_dir + 'tiny_yolo_v3/yolov3-tiny.cfg' + classes_filename = models_dir + 'tiny_yolo_v3/object_detection_classes_yolov3.txt' + input_width = 416 + input_height = 416 + else: + model_filename = models_dir + 'yolo_v3/yolov3.weights' + config_filename = models_dir + 'yolo_v3/yolov3.cfg' + classes_filename = models_dir + 'yolo_v3/object_detection_classes_yolov3.txt' + input_width = 608 + input_height = 608 + + self.input_width = input_width + self.input_height = input_height + + self.confidence_threshold = confidence_threshold + self.non_maximal_suppression = 0.01 + self.scale = 0.00392 + self.rgb = True + self.mean = (0.0, 0.0, 0.0) + + if use_tiny_yolo3: + print('using YOLO V3 Tiny') + else: + print('using YOLO V3') + + print('models_dir =', models_dir) + print('model_filename =', model_filename) + print('config_filename =', config_filename) + print('classes_filename =', classes_filename) + + classes_file = open(classes_filename, 'rt') + raw_classes_text = classes_file.read() + classes_file.close() + self.object_class_labels = raw_classes_text.rstrip('\n').split('\n') + self.num_object_classes = len(self.object_class_labels) + self.object_detection_model = cv2.dnn.readNet(model_filename, config_filename, 'darknet') + + # attempt to use Neural Compute Stick 2 + if use_neural_compute_stick: + print('ObjectDetector.__init__: Attempting to use an Intel Neural Compute Stick 2 using the following command: self.object_detection_model.setPreferableTarget(cv2.dnn.DNN_TARGET_MYRIAD)') + self.object_detection_model.setPreferableTarget(cv2.dnn.DNN_TARGET_MYRIAD) + + dm.print_model_info(self.object_detection_model, 'object_detection_model') + + self.output_layer_names = self.object_detection_model.getUnconnectedOutLayersNames() + + def get_landmark_names(self): + return None + + def get_landmark_colors(self): + return None + + def get_landmark_color_dict(self): + return None + + def apply_to_image(self, rgb_image, draw_output=False): + + original_height, original_width, num_color = rgb_image.shape + + object_image_blob = cv2.dnn.blobFromImage(rgb_image, + 1.0, + size=(self.input_width, self.input_height), + swapRB=self.rgb, + ddepth=cv2.CV_8U) + + self.object_detection_model.setInput(object_image_blob, scalefactor=self.scale, mean=self.mean) + object_detections = self.object_detection_model.forward(self.output_layer_names) + + # object_detections is a list + + # YOLO v3 Tiny + # object_detections = [ array with shape (507, 85), + # array with shape (2028, 85) ] + + # YOLO v3 + # object_detections = [ array with shape (1083, 85), + # array with shape (4332, 85), + # array with shape (17328, 85) ] + + # each element of the list has a constant shape RxC + + # Each of the R rows represents a detection + + # [0:5] (the first 4 numbers) specify a bounding box + # [box_center_x, box_center_y, box_width, box_height], where + # each element is a scalar between 0.0 and 1.0 that can be + # multiplied by the original input image dimensions to recover + # the bounding box in the original image. + + # [5:] (the remaining 81 numbers) represent the confidence + # that a particular class was detected in the bounding box (80 + # COCO object classes) plus one class that represents the + # background and hence no detection (most likely - my + # interpretation without really looking closely at it). + + def bound_x(x_in): + x_out = max(x_in, 0) + x_out = min(x_out, original_width - 1) + return x_out + + def bound_y(y_in): + y_out = max(y_in, 0) + y_out = min(y_out, original_height - 1) + return y_out + + results = [] + for detections in object_detections: + object_class_confidences = detections[:,5:] + best_object_classes = np.argmax(object_class_confidences, axis=1) + + # only consider non-background classes + non_background_selector = best_object_classes < self.num_object_classes + detected_objects = detections[non_background_selector] + best_object_classes = best_object_classes[non_background_selector] + + # collect and prepare detected objects + for detection, object_class_id in zip(detected_objects, best_object_classes): + confidence = detection[5:][object_class_id] + if confidence > self.confidence_threshold: + class_label = self.object_class_labels[object_class_id] + + box_center_x, box_center_y, box_width, box_height = detection[:4] + + x_min = (box_center_x - (box_width / 2.0)) * original_width + y_min = (box_center_y - (box_height / 2.0)) * original_height + x_max = x_min + (box_width * original_width) + y_max = y_min + (box_height * original_height) + + x_min = bound_x(int(round(x_min))) + y_min = bound_y(int(round(y_min))) + x_max = bound_x(int(round(x_max))) + y_max = bound_y(int(round(y_max))) + + box = (x_min, y_min, x_max, y_max) + + print(class_label, ' detected') + + results.append({'class_id': object_class_id, + 'label': class_label, + 'confidence': confidence, + 'box': box}) + + output_image = None + if draw_output: + output_image = rgb_image.copy() + for detection_dict in results: + self.draw_detection(output_image, detection_dict) + + return results, output_image + + + def draw_detection(self, image, detection_dict): + font_scale = 0.75 + line_color = [0, 0, 0] + line_width = 1 + font = cv2.FONT_HERSHEY_PLAIN + class_label = detection_dict['label'] + confidence = detection_dict['confidence'] + box = detection_dict['box'] + x_min, y_min, x_max, y_max = box + output_string = '{0}, {1:.2f}'.format(class_label, confidence) + color = (0, 0, 255) + rectangle_line_thickness = 2 #1 + cv2.rectangle(image, (x_min, y_min), (x_max, y_max), color, rectangle_line_thickness) + + # see the following page for a helpful reference + # https://stackoverflow.com/questions/51285616/opencvs-gettextsize-and-puttext-return-wrong-size-and-chop-letters-with-low + + label_background_border = 2 + (label_width, label_height), baseline = cv2.getTextSize(output_string, font, font_scale, line_width) + label_x_min = x_min + label_y_min = y_min + label_x_max = x_min + (label_width + (2 * label_background_border)) + label_y_max = y_min + (label_height + baseline + (2 * label_background_border)) + + text_x = label_x_min + label_background_border + text_y = (label_y_min + label_height) + label_background_border + + cv2.rectangle(image, (label_x_min, label_y_min), (label_x_max, label_y_max), (255, 255, 255), cv2.FILLED) + cv2.putText(image, output_string, (text_x, text_y), font, font_scale, line_color, line_width, cv2.LINE_AA) diff --git a/stretch_deep_perception/nodes/test_body_landmark_detection_with_images_python3.py b/stretch_deep_perception/nodes/test_body_landmark_detection_with_images_python3.py new file mode 100755 index 0000000..bca08da --- /dev/null +++ b/stretch_deep_perception/nodes/test_body_landmark_detection_with_images_python3.py @@ -0,0 +1,53 @@ +#!/usr/bin/env python3 + +import sys +import cv2 +import numpy as np +import math +import glob +import body_landmark_detector_python3 as bl +import deep_learning_model_options as do + + +if __name__ == '__main__': + + print('cv2.__version__ =', cv2.__version__) + print('Python version =', sys.version) + assert(int(sys.version[0]) >= 3) + + models_directory = do.get_directory() + print('Using the following directory for deep learning models:', models_directory) + use_neural_compute_stick = do.use_neural_compute_stick() + if use_neural_compute_stick: + print('Attempt to use an Intel Neural Compute Stick 2.') + else: + print('Not attempting to use an Intel Neural Compute Stick 2.') + + only_display_result_images = True + + input_dir = './test_images/' + output_dir = './output_images/' + filenames = glob.glob(input_dir + '*') + filenames.sort() + + print('Will attempt to load the following files:') + for f in filenames: + print(f) + + detector = bl.BodyLandmarkDetector(models_directory, + use_neural_compute_stick=use_neural_compute_stick) + + for i, f in enumerate(filenames): + print('loading image =', f) + rgb_image = cv2.imread(f) + if rgb_image is not None: + bodies, ignore = detector.apply_to_image(rgb_image) + + out_rgb = rgb_image.copy() + print('bodies =', bodies) + for body in bodies: + print('body =', body) + detector.draw_skeleton(out_rgb, body) + + cv2.imwrite(output_dir + 'skeleton_' + str(i) + '.png', out_rgb) + diff --git a/stretch_deep_perception/nodes/test_head_estimation_with_images_python3.py b/stretch_deep_perception/nodes/test_head_estimation_with_images_python3.py new file mode 100755 index 0000000..6c4f278 --- /dev/null +++ b/stretch_deep_perception/nodes/test_head_estimation_with_images_python3.py @@ -0,0 +1,44 @@ +#!/usr/bin/env python3 + +import sys +import glob +import head_estimator_python3 as he +import cv2 +import deep_learning_model_options as do + +def pix_xy(x_float, y_float): + return (int(round(x_float)), int(round(y_float))) + +if __name__ == '__main__': + + print('cv2.__version__ =', cv2.__version__) + print('Python version =', sys.version) + assert(int(sys.version[0]) >= 3) + + models_directory = do.get_directory() + print('Using the following directory for deep learning models:', models_directory) + use_neural_compute_stick = do.use_neural_compute_stick() + if use_neural_compute_stick: + print('Attempt to use an Intel Neural Compute Stick 2.') + else: + print('Not attempting to use an Intel Neural Compute Stick 2.') + + only_display_result_images = True + + input_dir = './test_images/' + output_dir = './output_images/' + filenames = glob.glob(input_dir + '*') + filenames.sort() + + print('Will attempt to load the following files:') + for f in filenames: + print(f) + + estimator = he.HeadPoseEstimator(models_directory, + use_neural_compute_stick=use_neural_compute_stick) + + for i, f in enumerate(filenames): + rgb_image = cv2.imread(f) + if rgb_image is not None: + heads, output_image = estimator.apply_to_image(rgb_image, draw_output=True) + cv2.imwrite(output_dir + 'face_detection_and_pose_estimation_' + str(i) + '.png', output_image) diff --git a/stretch_deep_perception/nodes/test_object_detection_with_images_python3.py b/stretch_deep_perception/nodes/test_object_detection_with_images_python3.py new file mode 100755 index 0000000..891fff5 --- /dev/null +++ b/stretch_deep_perception/nodes/test_object_detection_with_images_python3.py @@ -0,0 +1,53 @@ +#!/usr/bin/env python3 + +import sys +import glob +import object_detector_python3 as jd +import cv2 +import deep_learning_model_options as do + + +if __name__ == '__main__': + + print('cv2.__version__ =', cv2.__version__) + print('Python version =', sys.version) + assert(int(sys.version[0]) >= 3) + + models_directory = do.get_directory() + print('Using the following directory for deep learning models:', models_directory) + use_neural_compute_stick = do.use_neural_compute_stick() + if use_neural_compute_stick: + print('Attempt to use an Intel Neural Compute Stick 2.') + else: + print('Not attempting to use an Intel Neural Compute Stick 2.') + + only_display_result_images = True + + input_dir = './test_images/' + output_dir = './output_images/' + filenames = glob.glob(input_dir + '*') + filenames.sort() + + print('Will attempt to load the following files:') + for f in filenames: + print(f) + + use_tiny = True + if use_tiny: + confidence_threshold = 0.0 + else: + confidence_threshold = 0.5 + + object_detector = jd.ObjectDetector(models_directory, + use_tiny_yolo3=use_tiny, + use_neural_compute_stick=use_neural_compute_stick) + + for i, f in enumerate(filenames): + rgb_image = cv2.imread(f) + if rgb_image is not None: + output_image = rgb_image.copy() + results, output_image = object_detector.apply_to_image(rgb_image, draw_output=True) + out_filename = output_dir + 'object_detection_' + str(i) + '.png' + print('writing', out_filename) + cv2.imwrite(out_filename, output_image) + diff --git a/stretch_deep_perception/package.xml b/stretch_deep_perception/package.xml new file mode 100644 index 0000000..c4caa3d --- /dev/null +++ b/stretch_deep_perception/package.xml @@ -0,0 +1,90 @@ + + + stretch_deep_perception + 0.0.1 + The stretch_deep_perception package + + + + + Hello Robot Inc. + + + + + Apache License 2.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + actionlib + actionlib_msgs + geometry_msgs + nav_msgs + control_msgs + trajectory_msgs + rospy + std_msgs + std_srvs + tf + tf2 + actionlib + actionlib_msgs + geometry_msgs + nav_msgs + control_msgs + trajectory_msgs + rospy + std_msgs + std_srvs + tf + tf2 + actionlib + actionlib_msgs + geometry_msgs + nav_msgs + control_msgs + trajectory_msgs + rospy + std_msgs + std_srvs + tf + tf2 + + + + + + + + diff --git a/stretch_deep_perception/rviz/body_landmark_detection.rviz b/stretch_deep_perception/rviz/body_landmark_detection.rviz new file mode 100644 index 0000000..82cda5f --- /dev/null +++ b/stretch_deep_perception/rviz/body_landmark_detection.rviz @@ -0,0 +1,377 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.5 + Tree Height: 728 + - 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: PointCloud2 +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 + - Alpha: 0.75 + 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 + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_bottom_screw_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_color_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_color_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_infra1_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_infra1_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_infra2_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_infra2_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_inner_wrist: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_left_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_right_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_shoulder: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_top_wrist: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_grasp_center: + Alpha: 1 + Show Axes: false + Show Trail: false + link_gripper: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_finger_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_finger_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_fingertip_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_fingertip_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head_pan: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head_tilt: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_lift: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_mast: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_wrist_yaw: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + respeaker_base: + 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/MarkerArray + Enabled: true + Marker Topic: /body_landmarks/marker_array + Name: MarkerArray + Namespaces: + "": true + Queue Size: 100 + Value: true + - Alpha: 0.20000000298023224 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: -9999 + Min Value: 9999 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + 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: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: /body_landmarks/point_cloud2 + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 0.05000000074505806 + 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: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: /camera/depth/color/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: 2.6330795288085938 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.5651246905326843 + Y: 0.03958197310566902 + Z: 0.9671560525894165 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.2347964197397232 + Target Frame: + Value: Orbit (rviz) + Yaw: 2.8940157890319824 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1025 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1853 + X: 67 + Y: 27 diff --git a/stretch_deep_perception/rviz/face_detection.rviz b/stretch_deep_perception/rviz/face_detection.rviz new file mode 100644 index 0000000..e284a14 --- /dev/null +++ b/stretch_deep_perception/rviz/face_detection.rviz @@ -0,0 +1,377 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.5 + Tree Height: 728 + - 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: PointCloud2 +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 + - Alpha: 0.75 + 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 + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_bottom_screw_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_color_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_color_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_infra1_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_infra1_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_infra2_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_infra2_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_inner_wrist: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_left_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_right_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_shoulder: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_top_wrist: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_grasp_center: + Alpha: 1 + Show Axes: false + Show Trail: false + link_gripper: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_finger_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_finger_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_fingertip_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_fingertip_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head_pan: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head_tilt: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_lift: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_mast: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_wrist_yaw: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + respeaker_base: + 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/MarkerArray + Enabled: true + Marker Topic: /faces/marker_array + Name: MarkerArray + Namespaces: + "": true + Queue Size: 100 + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 1.395917534828186 + Min Value: 1.2229540348052979 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + 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: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /faces/point_cloud2 + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 0.20000000298023224 + 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: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: /camera/depth/color/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: 2.8597252368927 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.005380935501307249 + Y: -0.1247834712266922 + Z: 0.8427212238311768 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.15979667007923126 + Target Frame: + Value: Orbit (rviz) + Yaw: 2.399024724960327 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1025 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1853 + X: 67 + Y: 27 diff --git a/stretch_deep_perception/rviz/nearest_mouth_detection.rviz b/stretch_deep_perception/rviz/nearest_mouth_detection.rviz new file mode 100644 index 0000000..2977fe4 --- /dev/null +++ b/stretch_deep_perception/rviz/nearest_mouth_detection.rviz @@ -0,0 +1,378 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /MarkerArray1/Namespaces1 + Splitter Ratio: 0.5 + Tree Height: 728 + - 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: PointCloud2 +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 + - Alpha: 0.75 + 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 + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_bottom_screw_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_color_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_color_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_infra1_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_infra1_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_infra2_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_infra2_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_inner_wrist: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_left_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_right_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_shoulder: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_top_wrist: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_grasp_center: + Alpha: 1 + Show Axes: false + Show Trail: false + link_gripper: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_finger_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_finger_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_fingertip_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_fingertip_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head_pan: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head_tilt: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_lift: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_mast: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_wrist_yaw: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + respeaker_base: + 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/MarkerArray + Enabled: true + Marker Topic: /nearest_mouth/axes + Name: MarkerArray + Namespaces: + "": true + Queue Size: 100 + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 1.2828482389450073 + Min Value: 1.061728596687317 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + 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: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /nearest_mouth/point_cloud2 + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 0.20000000298023224 + 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: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: /camera/depth/color/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: 2.90765380859375 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.2077728509902954 + Y: -0.1184672936797142 + Z: 0.7149072885513306 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.31979691982269287 + Target Frame: + Value: Orbit (rviz) + Yaw: 2.437215566635132 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1025 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1853 + X: 67 + Y: 27 diff --git a/stretch_deep_perception/rviz/object_detection.rviz b/stretch_deep_perception/rviz/object_detection.rviz new file mode 100644 index 0000000..2aeb1e9 --- /dev/null +++ b/stretch_deep_perception/rviz/object_detection.rviz @@ -0,0 +1,377 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.5 + Tree Height: 728 + - 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: PointCloud2 +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 + - Alpha: 0.75 + 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 + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_bottom_screw_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_color_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_color_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_infra1_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_infra1_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_infra2_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_infra2_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_inner_wrist: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_left_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_right_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_shoulder: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_top_wrist: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_grasp_center: + Alpha: 1 + Show Axes: false + Show Trail: false + link_gripper: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_finger_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_finger_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_fingertip_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_fingertip_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head_pan: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head_tilt: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_lift: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_mast: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_wrist_yaw: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + respeaker_base: + 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/MarkerArray + Enabled: true + Marker Topic: /objects/marker_array + Name: MarkerArray + Namespaces: + "": true + Queue Size: 100 + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 1.963841438293457 + Min Value: 0.322287917137146 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + 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: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /objects/point_cloud2 + 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: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /camera/depth/color/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: 2.772624969482422 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.3544025421142578 + Y: -0.027158798649907112 + Z: 0.7108649611473083 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.33979636430740356 + Target Frame: + Value: Orbit (rviz) + Yaw: 2.7690253257751465 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1025 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1853 + X: 67 + Y: 27 diff --git a/stretch_demos/CMakeLists.txt b/stretch_demos/CMakeLists.txt new file mode 100644 index 0000000..7925a0b --- /dev/null +++ b/stretch_demos/CMakeLists.txt @@ -0,0 +1,206 @@ +cmake_minimum_required(VERSION 2.8.3) +project(stretch_demos) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## 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 COMPONENTS + actionlib + actionlib_msgs + geometry_msgs + nav_msgs + control_msgs + trajectory_msgs + rospy + std_msgs + std_srvs + tf + tf2 +) + +## 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 exec_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 exec_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 +# actionlib_msgs# geometry_msgs# nav_msgs# std_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 exec_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 your 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 stretch_demos +# CATKIN_DEPENDS actionlib actionlib_msgs geometry_msgs nav_msgs rospy std_msgs tf tf2 +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/stretch_demos.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/stretch_demos_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_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 +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_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_stretch_demos.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/stretch_demos/LICENSE.md b/stretch_demos/LICENSE.md new file mode 100644 index 0000000..c45b1e2 --- /dev/null +++ b/stretch_demos/LICENSE.md @@ -0,0 +1,11 @@ +The following license applies to the entire contents of this directory (the "Contents"), which contains software for use with the Stretch RE1 mobile manipulator, which is a robot produced and sold by Hello Robot Inc. + +Copyright 2020 Hello Robot Inc. + +The Contents are licensed under the Apache License, Version 2.0 (the "License"). You may not use the Contents 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, the Contents are distributed under the License are 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. + +For further information about the Contents including inquiries about dual licensing, please contact Hello Robot Inc. diff --git a/stretch_demos/README.md b/stretch_demos/README.md new file mode 100644 index 0000000..74be7a0 --- /dev/null +++ b/stretch_demos/README.md @@ -0,0 +1,59 @@ +![](../images/HelloRobotLogoBar.png) + +## Overview + +*stretch_demos* provides simple demonstrations for the Stretch RE1 mobile manipulator from Hello Robot Inc. + +## Getting Started Demos + +**Please be aware that these demonstrations typically do not perform careful collision avoidance. Instead, they expect to operate in freespace and detect contact through motor current if an obstacle gets in the way. Please be careful when trying out these demonstrations.** + +### Handover Object Demo + +First, place the robot near you so that it can freely move back and forth and reach near your body. Then, launch the handover object demo using the following command: + +``` +roslaunch stretch_demos handover_object.launch +``` + +For this demonstration, the robot will pan its head back and forth looking for a face. It will remember the 3D location of the mouth of the nearest face that it has detected. If you press "y" or "Y" on the keyboard in the terminal, the robot will move the grasp region of its gripper toward a handover location below and away from the mouth. + +The robot will restrict itself to Cartesian motion to do this. Specifically, it will move its mobile base backward and forward, its lift up and down, and its arm in and out. If you press "y" or "Y" again, it will retract its arm and then move to the most recent mouth location it has detected. + +At any time, you can also use the keyboard teleoperation commands in the terminal window. With this, you can adjust the gripper, including pointing it straight out and making it grasp an object to be handed over. + +### Grasp Object Demo + +For this demonstration, the robot will look for the nearest elevated surface, look for an object on it, and then attempt to grasp the largest object using Cartesian motions. Prior to running the demo, you should move the robot so that its workspace will be able to move its gripper over the surface while performing Cartesian motions. + +Once the robot is in position, retract and lower the arm so that the robot can clearly see the surface when looking out in the direction of its arm. + +Now that the robot is ready, launch the demo with the following command: + +``` +roslaunch stretch_demos grasp_object.launch +``` + +Then, press the key with ‘ and “ on it while in the terminal to initiate a grasp attempt. + +While attempting the grasp the demo will save several images under the ./stretch_user/debug/ directory within various grasping related directories. You can view these images to see some of what the robot did to make its decisions. + +### Clean Surface Demo + +For this demonstration, the robot will look for the nearest elevated surface, look for clear space on it, and then attempt to wipe the clear space using Cartesian motions. Prior to running the demo, you should move the robot so that its workspace will be able to move its gripper over the surface while performing Cartesian motions. + +**You should also place a soft cloth in the robot's gripper.** + +Once the robot is in position with a cloth in its gripper, retract and lower the arm so that the robot can clearly see the surface when looking out in the direction of its arm. + +Now that the robot is ready, launch the demo with the following command: + +``` +roslaunch stretch_demos clean_surface.launch +``` + +Then, press the key with the / and ? on it while in the terminal to initiate a surface cleaning attempt. + +## License + +For license information, please see the LICENSE files. diff --git a/stretch_demos/launch/clean_surface.launch b/stretch_demos/launch/clean_surface.launch new file mode 100644 index 0000000..8a68d9e --- /dev/null +++ b/stretch_demos/launch/clean_surface.launch @@ -0,0 +1,50 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/stretch_demos/launch/grasp_object.launch b/stretch_demos/launch/grasp_object.launch new file mode 100644 index 0000000..6998ff1 --- /dev/null +++ b/stretch_demos/launch/grasp_object.launch @@ -0,0 +1,50 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/stretch_demos/launch/handover_object.launch b/stretch_demos/launch/handover_object.launch new file mode 100644 index 0000000..c1e5c03 --- /dev/null +++ b/stretch_demos/launch/handover_object.launch @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/stretch_demos/nodes/clean_surface b/stretch_demos/nodes/clean_surface new file mode 100755 index 0000000..9fad242 --- /dev/null +++ b/stretch_demos/nodes/clean_surface @@ -0,0 +1,226 @@ +#!/usr/bin/env python + +from __future__ import print_function + +from sensor_msgs.msg import JointState +from geometry_msgs.msg import Twist +from nav_msgs.msg import Odometry + +import rospy +import actionlib +from control_msgs.msg import FollowJointTrajectoryAction +from control_msgs.msg import FollowJointTrajectoryGoal +from trajectory_msgs.msg import JointTrajectoryPoint + +from sensor_msgs.msg import PointCloud2 + +from control_msgs.msg import GripperCommandAction +from control_msgs.msg import GripperCommandGoal + +from std_srvs.srv import Trigger, TriggerRequest, TriggerResponse + +import math +import time +import threading +import sys +import os +import tf2_ros +import argparse as ap + +import hello_helpers.hello_misc as hm +import stretch_funmap.navigate as nv +import stretch_funmap.manipulation_planning as mp + + +class CleanSurfaceNode(hm.HelloNode): + + def __init__(self): + hm.HelloNode.__init__(self) + self.rate = 10.0 + self.joint_states = None + self.joint_states_lock = threading.Lock() + self.move_base = nv.MoveBase(self) + self.letter_height_m = 0.2 + self.wrist_position = None + self.lift_position = None + self.manipulation_view = None + self.debug_directory = None + + def joint_states_callback(self, joint_states): + with self.joint_states_lock: + self.joint_states = joint_states + wrist_position, wrist_velocity, wrist_effort = hm.get_wrist_state(joint_states) + self.wrist_position = wrist_position + lift_position, lift_velocity, lift_effort = hm.get_lift_state(joint_states) + self.lift_position = lift_position + + def lower_tool_until_contact(self): + rospy.loginfo('lower_tool_until_contact') + trigger_request = TriggerRequest() + trigger_result = self.trigger_lower_until_contact_service(trigger_request) + rospy.loginfo('trigger_result = {0}'.format(trigger_result)) + + def wipe_in(self): + rospy.loginfo('wipe_in') + if self.wrist_position is not None: + wrist_target_m = self.wrist_position - 0.2 + pose = {'wrist_extension': wrist_target_m} + self.move_to_pose(pose) + return True + else: + rospy.logerr('wipe_in: self.wrist_position is None!') + return False + + def wipe_out(self): + rospy.loginfo('wipe_out') + if self.wrist_position is not None: + wrist_target_m = self.wrist_position + 0.22 + pose = {'wrist_extension': wrist_target_m} + self.move_to_pose(pose) + return True + else: + rospy.logerr('wipe_out: self.wrist_position is None!') + return False + + def look_at_surface(self): + self.manipulation_view = mp.ManipulationView(self.tf2_buffer, self.debug_directory) + manip = self.manipulation_view + manip.move_head(self.move_to_pose) + manip.update(self.point_cloud, self.tf2_buffer) + if self.debug_directory is not None: + dirname = self.debug_directory + 'clean_surface/' + # If the directory does not already exist, create it. + if not os.path.exists(dirname): + os.makedirs(dirname) + filename = 'look_at_surface_' + hm.create_time_string() + manip.save_scan(dirname + filename) + else: + rospy.loginfo('CleanSurfaceNode: No debug directory provided, so debugging data will not be saved.') + + def trigger_clean_surface_callback(self, request): + + self.look_at_surface() + strokes, simple_plan, lift_to_surface_m = self.manipulation_view.get_surface_wiping_plan(self.tf2_buffer) + + print('********* lift_to_surface_m = {0} **************'.format(lift_to_surface_m)) + + tool_width_m = 0.03 + safety_from_edge = 0.03 + tool_length_m = 0.03 + + if True and (strokes is not None) and (len(strokes) > 5): + + if (self.lift_position is not None) and (self.wrist_position is not None): + + lift_above_surface_m = self.lift_position + lift_to_surface_m + 0.1 + pose = {'joint_lift': lift_above_surface_m} + rospy.loginfo('Raise tool above surface.') + self.move_to_pose(pose) + + start = simple_plan[0] + forward_m = start['mobile_base_forward_m'] + pose = {'translate_mobile_base': forward_m} + rospy.loginfo('Drive to the start of the cleaning region.') + self.move_to_pose(pose) + + initial_wrist_position = self.wrist_position + extension_m = start['start_wrist_extension_m'] + + start_extension_m = initial_wrist_position + extension_m + (tool_length_m/2.0) + pose = {'wrist_extension': start_extension_m} + rospy.loginfo('Extend tool above surface.') + self.move_to_pose(pose) + + self.lower_tool_until_contact() + + extension_m = start['end_wrist_extension_m'] + end_extension_m = initial_wrist_position + extension_m - (tool_length_m/2.0) - safety_from_edge + pose = {'wrist_extension': end_extension_m} + rospy.loginfo('Extend tool to end of surface.') + self.move_to_pose(pose) + + extension_m = start['start_wrist_extension_m'] + pose = {'wrist_extension': start_extension_m} + rospy.loginfo('Retract tool to beginning.') + self.move_to_pose(pose) + + for m in simple_plan[1:]: + forward_m = m['mobile_base_forward_m'] + pose = {'translate_mobile_base': forward_m} + rospy.loginfo('Drive to the start of the cleaning region.') + self.move_to_pose(pose) + + extension_m = m['start_wrist_extension_m'] + start_extension_m = initial_wrist_position + extension_m + (tool_length_m/2.0) + pose = {'wrist_extension': start_extension_m} + rospy.loginfo('Extend tool above surface.') + self.move_to_pose(pose) + + extension_m = m['end_wrist_extension_m'] + end_extension_m = initial_wrist_position + extension_m - (tool_length_m/2.0) - safety_from_edge + pose = {'wrist_extension': end_extension_m} + rospy.loginfo('Extend tool to end of surface.') + self.move_to_pose(pose) + + extension_m = m['start_wrist_extension_m'] + pose = {'wrist_extension': start_extension_m} + rospy.loginfo('Retract tool to beginning.') + self.move_to_pose(pose) + + pose = {'joint_lift': lift_above_surface_m} + rospy.loginfo('Raise tool above surface.') + self.move_to_pose(pose) + + pose = {'wrist_extension': initial_wrist_position} + rospy.loginfo('Retract tool to initial position.') + self.move_to_pose(pose) + + return TriggerResponse( + success=True, + message='Completed surface cleaning!' + ) + + + def main(self): + hm.HelloNode.main(self, 'clean_surface', 'clean_surface', wait_for_first_pointcloud=False) + + self.debug_directory = rospy.get_param('~debug_directory') + rospy.loginfo('Using the following directory for debugging files: {0}'.format(self.debug_directory)) + + self.joint_states_subscriber = rospy.Subscriber('/stretch/joint_states', JointState, self.joint_states_callback) + + self.trigger_clean_surface_service = rospy.Service('/clean_surface/trigger_clean_surface', + Trigger, + self.trigger_clean_surface_callback) + + rospy.wait_for_service('/funmap/trigger_reach_until_contact') + rospy.loginfo('Node ' + self.node_name + ' connected to /funmap/trigger_reach_until_contact.') + self.trigger_reach_until_contact_service = rospy.ServiceProxy('/funmap/trigger_reach_until_contact', Trigger) + + rospy.wait_for_service('/funmap/trigger_lower_until_contact') + rospy.loginfo('Node ' + self.node_name + ' connected to /funmap/trigger_lower_until_contact.') + self.trigger_lower_until_contact_service = rospy.ServiceProxy('/funmap/trigger_lower_until_contact', Trigger) + + default_service = '/camera/switch_to_default_mode' + high_accuracy_service = '/camera/switch_to_high_accuracy_mode' + rospy.loginfo('Node ' + self.node_name + ' waiting to connect to ' + default_service + ' and ' + high_accuracy_service) + rospy.wait_for_service(default_service) + rospy.loginfo('Node ' + self.node_name + ' connected to ' + default_service) + self.trigger_d435i_default_mode_service = rospy.ServiceProxy(default_service, Trigger) + rospy.wait_for_service(high_accuracy_service) + rospy.loginfo('Node ' + self.node_name + ' connected to' + high_accuracy_service) + self.trigger_d435i_high_accuracy_mode_service = rospy.ServiceProxy(high_accuracy_service, Trigger) + + rate = rospy.Rate(self.rate) + while not rospy.is_shutdown(): + rate.sleep() + + +if __name__ == '__main__': + try: + parser = ap.ArgumentParser(description='Clean Surface behavior for stretch.') + args, unknown = parser.parse_known_args() + node = CleanSurfaceNode() + node.main() + except KeyboardInterrupt: + rospy.loginfo('interrupt received, so shutting down') diff --git a/stretch_demos/nodes/grasp_object b/stretch_demos/nodes/grasp_object new file mode 100755 index 0000000..9b28adb --- /dev/null +++ b/stretch_demos/nodes/grasp_object @@ -0,0 +1,273 @@ +#!/usr/bin/env python + +from __future__ import print_function + +from sensor_msgs.msg import JointState +from geometry_msgs.msg import Twist +from nav_msgs.msg import Odometry + +import rospy +import actionlib +from control_msgs.msg import FollowJointTrajectoryAction +from control_msgs.msg import FollowJointTrajectoryGoal +from trajectory_msgs.msg import JointTrajectoryPoint + +from sensor_msgs.msg import PointCloud2 + +from control_msgs.msg import GripperCommandAction +from control_msgs.msg import GripperCommandGoal + +from std_srvs.srv import Trigger, TriggerRequest, TriggerResponse + +import math +import time +import threading +import sys +import tf2_ros +import argparse as ap +import numpy as np +import os + +import hello_helpers.hello_misc as hm +import stretch_funmap.navigate as nv +import stretch_funmap.manipulation_planning as mp + + +class GraspObjectNode(hm.HelloNode): + + def __init__(self): + hm.HelloNode.__init__(self) + self.rate = 10.0 + self.joint_states = None + self.joint_states_lock = threading.Lock() + self.move_base = nv.MoveBase(self) + self.letter_height_m = 0.2 + self.wrist_position = None + self.lift_position = None + self.manipulation_view = None + self.debug_directory = None + + def joint_states_callback(self, joint_states): + with self.joint_states_lock: + self.joint_states = joint_states + wrist_position, wrist_velocity, wrist_effort = hm.get_wrist_state(joint_states) + self.wrist_position = wrist_position + lift_position, lift_velocity, lift_effort = hm.get_lift_state(joint_states) + self.lift_position = lift_position + self.left_finger_position, temp1, temp2 = hm.get_left_finger_state(joint_states) + + def lower_tool_until_contact(self): + rospy.loginfo('lower_tool_until_contact') + trigger_request = TriggerRequest() + trigger_result = self.trigger_lower_until_contact_service(trigger_request) + rospy.loginfo('trigger_result = {0}'.format(trigger_result)) + + def move_to_initial_configuration(self): + initial_pose = {'wrist_extension': 0.01, + 'joint_wrist_yaw': 0.0, + 'gripper_aperture': 0.125} + + rospy.loginfo('Move to the initial configuration for drawer opening.') + self.move_to_pose(initial_pose) + + def look_at_surface(self, scan_time_s=None): + self.manipulation_view = mp.ManipulationView(self.tf2_buffer, self.debug_directory) + manip = self.manipulation_view + head_settle_time_s = 1.0 + manip.move_head(self.move_to_pose) + rospy.sleep(head_settle_time_s) + if scan_time_s is None: + manip.update(self.point_cloud, self.tf2_buffer) + else: + start_time_s = time.time() + while ((time.time() - start_time_s) < scan_time_s): + manip.update(self.point_cloud, self.tf2_buffer) + if self.debug_directory is not None: + dirname = self.debug_directory + 'grasp_object/' + # If the directory does not already exist, create it. + if not os.path.exists(dirname): + os.makedirs(dirname) + filename = 'look_at_surface_' + hm.create_time_string() + manip.save_scan(dirname + filename) + else: + rospy.loginfo('GraspObjectNode: No debug directory provided, so debugging data will not be saved.') + + def drive(self, forward_m): + tolerance_distance_m = 0.005 + if forward_m > 0: + at_goal = self.move_base.forward(forward_m, detect_obstacles=False, tolerance_distance_m=tolerance_distance_m) + else: + at_goal = self.move_base.backward(forward_m, detect_obstacles=False, tolerance_distance_m=tolerance_distance_m) + + def trigger_grasp_object_callback(self, request): + actually_move = True + + use_default_mode = False + if use_default_mode: + # Set the D435i to Default mode for obstacle detection + trigger_request = TriggerRequest() + trigger_result = self.trigger_d435i_default_mode_service(trigger_request) + rospy.loginfo('trigger_result = {0}'.format(trigger_result)) + + if actually_move: + rospy.loginfo('Retract the tool.') + pose = {'wrist_extension': 0.01} + self.move_to_pose(pose) + + rospy.loginfo('Reorient the wrist.') + pose = {'joint_wrist_yaw': 0.0} + self.move_to_pose(pose) + + # sleep to make sure the joint poses are up to date - this + # should be changed to look at time stamps of the joints... + rospy.sleep(1.0) + + self.look_at_surface(scan_time_s = 3.0) + + grasp_target = self.manipulation_view.get_grasp_target(self.tf2_buffer) + + if grasp_target is not None: + pregrasp_lift_m = self.manipulation_view.get_pregrasp_lift(grasp_target, self.tf2_buffer) + + if (self.lift_position is None): + return TriggerResponse( + success=False, + message='lift position unavailable' + ) + + if actually_move: + rospy.loginfo('Raise tool to pregrasp height.') + lift_to_pregrasp_m = self.lift_position + pregrasp_lift_m + pose = {'joint_lift': lift_to_pregrasp_m} + self.move_to_pose(pose) + + pregrasp_yaw = self.manipulation_view.get_pregrasp_yaw(grasp_target, self.tf2_buffer) + print('pregrasp_yaw = {0:.2f} rad'.format(pregrasp_yaw)) + print('pregrasp_yaw = {0:.2f} deg'.format(pregrasp_yaw * (180.0/np.pi))) + + if actually_move: + rospy.loginfo('Rotate the gripper for grasping.') + lift_to_pregrasp_m = self.lift_position + pregrasp_lift_m + pose = {'joint_wrist_yaw': pregrasp_yaw} + self.move_to_pose(pose) + + rospy.loginfo('Open the gripper.') + pose = {'gripper_aperture': 0.125} + self.move_to_pose(pose) + + # sleep to make sure the joint poses are up to date - this + # should be changed to look at time stamps of the joints... + rospy.sleep(1.0) + pregrasp_mobile_base_m, pregrasp_wrist_extension_m = self.manipulation_view.get_pregrasp_planar_translation(grasp_target, self.tf2_buffer) + + print('pregrasp_mobile_base_m = {0:.3f} m'.format(pregrasp_mobile_base_m)) + print('pregrasp_wrist_extension_m = {0:.3f} m'.format(pregrasp_wrist_extension_m)) + + if actually_move: + rospy.loginfo('Drive to pregrasp location.') + self.drive(pregrasp_mobile_base_m) + + if pregrasp_wrist_extension_m > 0.0: + rospy.loginfo('Extend tool above surface.') + pose = {'wrist_extension': self.wrist_position + pregrasp_wrist_extension_m} + self.move_to_pose(pose) + else: + print('negative wrist extension for pregrasp, so not extending or retracting.') + + + # sleep to make sure the joint poses are up to date - this + # should be changed to look at time stamps of the joints... + rospy.sleep(1.0) + grasp_mobile_base_m, grasp_lift_m, grasp_wrist_extension_m = self.manipulation_view.get_grasp_from_pregrasp(grasp_target, self.tf2_buffer) + print('grasp_mobile_base_m = {0:3f} m, grasp_lift_m = {1:3f} m, grasp_wrist_extension_m = {2:3f} m'.format(grasp_mobile_base_m, grasp_lift_m, grasp_wrist_extension_m)) + + if actually_move: + rospy.loginfo('Move the grasp pose from the pregrasp pose.') + pose = {'translate_mobile_base': grasp_mobile_base_m, + 'joint_lift': self.lift_position + grasp_lift_m, + 'wrist_extension': self.wrist_position + grasp_wrist_extension_m} + self.move_to_pose(pose) + + rospy.loginfo('Attempt to close the gripper on the object.') + gripper_aperture_m = grasp_target['width_m'] - 0.18 + pose = {'gripper_aperture': gripper_aperture_m} + self.move_to_pose(pose) + + # Lifting appears to happen before the gripper has + # finished unless there is this sleep. Need to look + # into this issue. + rospy.sleep(3.0) + + rospy.loginfo('Attempt to lift the object.') + object_lift_height_m = 0.1 + lift_height_m = self.lift_position + object_lift_height_m + if lift_height_m > 0.94: + lift_height_m = 0.94 + pose = {'joint_lift': lift_height_m} + self.move_to_pose(pose) + + rospy.loginfo('Open the gripper a little to avoid overtorquing and overheating the gripper motor.') + pose = {'gripper_aperture': gripper_aperture_m + 0.005} + self.move_to_pose(pose) + + + if actually_move: + rospy.loginfo('Retract the tool.') + pose = {'wrist_extension': 0.01} + self.move_to_pose(pose) + + rospy.loginfo('Reorient the wrist.') + pose = {'joint_wrist_yaw': 0.0} + self.move_to_pose(pose) + + return TriggerResponse( + success=True, + message='Completed object grasp!' + ) + + + def main(self): + hm.HelloNode.main(self, 'grasp_object', 'grasp_object', wait_for_first_pointcloud=False) + + self.debug_directory = rospy.get_param('~debug_directory') + rospy.loginfo('Using the following directory for debugging files: {0}'.format(self.debug_directory)) + + + self.joint_states_subscriber = rospy.Subscriber('/stretch/joint_states', JointState, self.joint_states_callback) + + self.trigger_grasp_object_service = rospy.Service('/grasp_object/trigger_grasp_object', + Trigger, + self.trigger_grasp_object_callback) + + rospy.wait_for_service('/funmap/trigger_reach_until_contact') + rospy.loginfo('Node ' + self.node_name + ' connected to /funmap/trigger_reach_until_contact.') + self.trigger_reach_until_contact_service = rospy.ServiceProxy('/funmap/trigger_reach_until_contact', Trigger) + + rospy.wait_for_service('/funmap/trigger_lower_until_contact') + rospy.loginfo('Node ' + self.node_name + ' connected to /funmap/trigger_lower_until_contact.') + self.trigger_lower_until_contact_service = rospy.ServiceProxy('/funmap/trigger_lower_until_contact', Trigger) + + default_service = '/camera/switch_to_default_mode' + high_accuracy_service = '/camera/switch_to_high_accuracy_mode' + rospy.loginfo('Node ' + self.node_name + ' waiting to connect to ' + default_service + ' and ' + high_accuracy_service) + rospy.wait_for_service(default_service) + rospy.loginfo('Node ' + self.node_name + ' connected to ' + default_service) + self.trigger_d435i_default_mode_service = rospy.ServiceProxy(default_service, Trigger) + rospy.wait_for_service(high_accuracy_service) + rospy.loginfo('Node ' + self.node_name + ' connected to' + high_accuracy_service) + self.trigger_d435i_high_accuracy_mode_service = rospy.ServiceProxy(high_accuracy_service, Trigger) + + rate = rospy.Rate(self.rate) + while not rospy.is_shutdown(): + rate.sleep() + + +if __name__ == '__main__': + try: + parser = ap.ArgumentParser(description='Grasp Object behavior for stretch.') + args, unknown = parser.parse_known_args() + node = GraspObjectNode() + node.main() + except KeyboardInterrupt: + rospy.loginfo('interrupt received, so shutting down') + diff --git a/stretch_demos/nodes/handover_object b/stretch_demos/nodes/handover_object new file mode 100755 index 0000000..a7ac99c --- /dev/null +++ b/stretch_demos/nodes/handover_object @@ -0,0 +1,216 @@ +#!/usr/bin/env python + +from __future__ import print_function + +from sensor_msgs.msg import JointState +from geometry_msgs.msg import Twist +from nav_msgs.msg import Odometry + +import rospy +import actionlib +from control_msgs.msg import FollowJointTrajectoryAction +from control_msgs.msg import FollowJointTrajectoryGoal +from trajectory_msgs.msg import JointTrajectoryPoint + +from visualization_msgs.msg import MarkerArray, Marker + +from geometry_msgs.msg import PointStamped + +from sensor_msgs.msg import PointCloud2 + +from control_msgs.msg import GripperCommandAction +from control_msgs.msg import GripperCommandGoal + +from std_srvs.srv import Trigger, TriggerRequest, TriggerResponse + +import math +import time +import threading +import sys + +import tf2_ros +import argparse as ap +import numpy as np +import threading +import ros_numpy as rn + +import hello_helpers.hello_misc as hm +import stretch_funmap.navigate as nv + + +class HandoverObjectNode(hm.HelloNode): + + def __init__(self): + hm.HelloNode.__init__(self) + self.rate = 10.0 + self.joint_states = None + self.joint_states_lock = threading.Lock() + self.move_base = nv.MoveBase(self) + self.letter_height_m = 0.2 + self.wrist_position = None + self.lift_position = None + self.manipulation_view = None + + marker = Marker() + self.mouth_marker_type = marker.CUBE + self.mouth_point = None + + num_pan_angles = 5 + + # looking out along the arm + middle_pan_angle = -math.pi/2.0 + + look_around_range = math.pi/3.0 + min_pan_angle = middle_pan_angle - (look_around_range / 2.0) + max_pan_angle = middle_pan_angle + (look_around_range / 2.0) + pan_angle = min_pan_angle + pan_increment = look_around_range / float(num_pan_angles - 1.0) + self.pan_angles = [min_pan_angle + (i * pan_increment) + for i in range(num_pan_angles)] + self.pan_angles = self.pan_angles + self.pan_angles[1:-1][::-1] + self.prev_pan_index = 0 + + self.move_lock = threading.Lock() + + with self.move_lock: + self.handover_goal_ready = False + + def joint_states_callback(self, joint_states): + with self.joint_states_lock: + self.joint_states = joint_states + wrist_position, wrist_velocity, wrist_effort = hm.get_wrist_state(joint_states) + self.wrist_position = wrist_position + lift_position, lift_velocity, lift_effort = hm.get_lift_state(joint_states) + self.lift_position = lift_position + + def look_around_callback(self): + # Cycle the head back and forth looking for a person to whom + # to handout the object. + with self.move_lock: + pan_index = (self.prev_pan_index + 1) % len(self.pan_angles) + pan_angle = self.pan_angles[pan_index] + pose = {'joint_head_pan': pan_angle} + self.move_to_pose(pose) + self.prev_pan_index = pan_index + + def mouth_position_callback(self, marker_array): + with self.move_lock: + + for marker in marker_array.markers: + if marker.type == self.mouth_marker_type: + mouth_position = marker.pose.position + self.mouth_point = PointStamped() + self.mouth_point.point = mouth_position + header = self.mouth_point.header + header.stamp = marker.header.stamp + header.frame_id = marker.header.frame_id + header.seq = marker.header.seq + print('******* new mouth point received *******') + + lookup_time = rospy.Time(0) # return most recent transform + timeout_ros = rospy.Duration(0.1) + + old_frame_id = self.mouth_point.header.frame_id[1:] + new_frame_id = 'base_link' + stamped_transform = self.tf2_buffer.lookup_transform(new_frame_id, old_frame_id, lookup_time, timeout_ros) + points_in_old_frame_to_new_frame_mat = rn.numpify(stamped_transform.transform) + camera_to_base_mat = points_in_old_frame_to_new_frame_mat + + grasp_center_frame_id = 'link_grasp_center' + stamped_transform = self.tf2_buffer.lookup_transform(new_frame_id, grasp_center_frame_id, lookup_time, timeout_ros) + grasp_center_to_base_mat = rn.numpify(stamped_transform.transform) + + mouth_camera_xyz = np.array([0.0, 0.0, 0.0, 1.0]) + mouth_camera_xyz[:3] = rn.numpify(self.mouth_point.point)[:3] + + mouth_xyz = np.matmul(camera_to_base_mat, mouth_camera_xyz)[:3] + fingers_xyz = grasp_center_to_base_mat[:,3][:3] + + handoff_object = True + + if handoff_object: + # attempt to handoff the object at a location below + # the mouth with respect to the world frame (i.e., + # gravity) + target_offset_xyz = np.array([0.0, 0.0, -0.2]) + else: + object_height_m = 0.1 + target_offset_xyz = np.array([0.0, 0.0, -object_height_m]) + target_xyz = mouth_xyz + target_offset_xyz + + fingers_error = target_xyz - fingers_xyz + print('fingers_error =', fingers_error) + + delta_forward_m = fingers_error[0] + delta_extension_m = -fingers_error[1] + delta_lift_m = fingers_error[2] + + max_lift_m = 1.0 + lift_goal_m = self.lift_position + delta_lift_m + lift_goal_m = min(max_lift_m, lift_goal_m) + self.lift_goal_m = lift_goal_m + + self.mobile_base_forward_m = delta_forward_m + + max_wrist_extension_m = 0.5 + wrist_goal_m = self.wrist_position + delta_extension_m + + if handoff_object: + # attempt to handoff the object by keeping distance + # between the object and the mouth distance + #wrist_goal_m = wrist_goal_m - 0.3 # 30cm from the mouth + wrist_goal_m = wrist_goal_m - 0.25 # 25cm from the mouth + wrist_goal_m = max(0.0, wrist_goal_m) + + self.wrist_goal_m = min(max_wrist_extension_m, wrist_goal_m) + + self.handover_goal_ready = True + + + def trigger_handover_object_callback(self, request): + with self.move_lock: + # First, retract the wrist in preparation for handing out an object. + pose = {'wrist_extension': 0.005} + self.move_to_pose(pose) + + if self.handover_goal_ready: + pose = {'joint_lift': self.lift_goal_m} + self.move_to_pose(pose) + tolerance_distance_m = 0.01 + at_goal = self.move_base.forward(self.mobile_base_forward_m, detect_obstacles=False, tolerance_distance_m=tolerance_distance_m) + pose = {'wrist_extension': self.wrist_goal_m} + self.move_to_pose(pose) + self.handover_goal_ready = False + + return TriggerResponse( + success=True, + message='Completed object handover!' + ) + + + def main(self): + hm.HelloNode.main(self, 'handover_object', 'handover_object', wait_for_first_pointcloud=False) + + self.joint_states_subscriber = rospy.Subscriber('/stretch/joint_states', JointState, self.joint_states_callback) + + self.trigger_deliver_object_service = rospy.Service('/deliver_object/trigger_deliver_object', + Trigger, + self.trigger_handover_object_callback) + + self.mouth_position_subscriber = rospy.Subscriber('/nearest_mouth/marker_array', MarkerArray, self.mouth_position_callback) + + # This rate determines how quickly the head pans back and forth. + rate = rospy.Rate(0.5) + while not rospy.is_shutdown(): + self.look_around_callback() + rate.sleep() + + +if __name__ == '__main__': + try: + parser = ap.ArgumentParser(description='Handover an object.') + args, unknown = parser.parse_known_args() + node = HandoverObjectNode() + node.main() + except KeyboardInterrupt: + rospy.loginfo('interrupt received, so shutting down') diff --git a/stretch_demos/package.xml b/stretch_demos/package.xml new file mode 100644 index 0000000..e55b70f --- /dev/null +++ b/stretch_demos/package.xml @@ -0,0 +1,90 @@ + + + stretch_demos + 0.0.1 + The stretch_demos package + + + + + Hello Robot Inc. + + + + + Apache License 2.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + actionlib + actionlib_msgs + geometry_msgs + nav_msgs + control_msgs + trajectory_msgs + rospy + std_msgs + std_srvs + tf + tf2 + actionlib + actionlib_msgs + geometry_msgs + nav_msgs + control_msgs + trajectory_msgs + rospy + std_msgs + std_srvs + tf + tf2 + actionlib + actionlib_msgs + geometry_msgs + nav_msgs + control_msgs + trajectory_msgs + rospy + std_msgs + std_srvs + tf + tf2 + + + + + + + + diff --git a/stretch_demos/rviz/handover_object.rviz b/stretch_demos/rviz/handover_object.rviz new file mode 100644 index 0000000..8cc15df --- /dev/null +++ b/stretch_demos/rviz/handover_object.rviz @@ -0,0 +1,347 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.5 + Tree Height: 728 + - 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: PointCloud2 +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 + - Alpha: 0.75 + 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 + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_bottom_screw_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_color_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_color_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_infra1_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_infra1_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_infra2_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_infra2_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_inner_wrist: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_left_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_right_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_shoulder: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_top_wrist: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_grasp_center: + Alpha: 1 + Show Axes: false + Show Trail: false + link_gripper: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_finger_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_finger_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_fingertip_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_fingertip_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head_pan: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head_tilt: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_lift: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_mast: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_wrist_yaw: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + respeaker_base: + 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 + - Alpha: 0.20000000298023224 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 3.660540819168091 + Min Value: -0.17842411994934082 + 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: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: /camera/depth/color/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /nearest_mouth/axes + Name: MarkerArray + Namespaces: + "": true + Queue Size: 100 + 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: 2.8908777236938477 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.28927484154701233 + Y: -0.1668422967195511 + Z: 0.5967711806297302 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.3497966527938843 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.9340142011642456 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1025 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 000000ff00000000fd0000000400000000000001c900000363fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000363000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002edfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002ed000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000056e0000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1853 + X: 67 + Y: 27 diff --git a/stretch_description/CMakeLists.txt b/stretch_description/CMakeLists.txt new file mode 100644 index 0000000..afda34e --- /dev/null +++ b/stretch_description/CMakeLists.txt @@ -0,0 +1,220 @@ + + +# find_package(catkin REQUIRED COMPONENTS +# rospy +# std_msgs +# nav_msgs +# geometry_msgs +# ) + +# find_package(roslaunch) + +# foreach(dir config launch meshes urdf) +# install(DIRECTORY ${dir}/ +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) +# endforeach(dir) + + +################################################################## +## initial file generated by the following command on Dec 20, 2018 +## catkin_create_pkg stretch_description message_generation message_runtime rospy + +cmake_minimum_required(VERSION 2.8.3) +project(stretch_description) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## 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 COMPONENTS + message_generation + message_runtime + rospy +) + +## 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 exec_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 exec_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 exec_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 your 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 stretch_description +# CATKIN_DEPENDS message_generation message_runtime rospy +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/stretch_description.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/stretch_description_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_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 ${PROJECT_NAME} ${PROJECT_NAME}_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_stretch_description.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/stretch_description/LICENSE.md b/stretch_description/LICENSE.md new file mode 100644 index 0000000..beef7eb --- /dev/null +++ b/stretch_description/LICENSE.md @@ -0,0 +1,13 @@ +The following license applies to the entire contents of this directory (the "Contents"). The Contents consist of software and data used with the Stretch RE1 mobile manipulator, which is a robot produced and sold by Hello Robot Inc. + +Copyright 2020 Hello Robot Inc. + +The Contents are licensed under the Creative Commons Attribution-NonCommercial-ShareAlike-4.0-International (CC BY-NC-SA 4.0) license (the "License"); you may not use the Contents except in compliance with the License. You may obtain a copy of the License at + +https://creativecommons.org/licenses/by-nc-sa/4.0/ + +Unless required by applicable law or agreed to in writing, the Contents distributed under the License are 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. + +Patents pending and trademark rights cover the Contents. As stated by the detailed License, "Patent and trademark rights are not licensed under this Public License." + +For further information about the Contents including inquiries about dual licensing, please contact Hello Robot Inc. diff --git a/stretch_description/README.md b/stretch_description/README.md new file mode 100644 index 0000000..1824e9f --- /dev/null +++ b/stretch_description/README.md @@ -0,0 +1,35 @@ +![](../images/HelloRobotLogoBar.png) + +## Overview + +*stretch_description* provides materials for a [URDF](http://wiki.ros.org/urdf) kinematic model of the Stretch RE1 mobile manipulator from Hello Robot Inc. + +## Details + +The *meshes directory* contains [STL mesh files](https://en.wikipedia.org/wiki/STL_(file_format)) representing the exterior geometry of various parts of the robot. + +The *urdf directory* contains [xacro files](http://wiki.ros.org/xacro) representing various parts of the robot that are used to generate the robot's URDF. + +stretch_ros expects a URDF with the name stretch.urdf to reside within the urdf directory. The file stretch.urdf serves as the URDF for the robot and must be generated. Typically, it is a calibrated urdf file for the particular Stretch RE1 robot being used. To generate this file, please read the documentation within stretch_ros/stretch_calibration. + +The xacro_to_urdf.sh will usually only be indirectly run as part of various scripts and launch files within stretch_ros/stretch_calibration. + +Sometimes a stretch_uncalibrated.urdf file will reside with the urdf directory. This file is typically generated directly from the xacro files without any alterations. + +## Exporting a URDF + +Sometimes a URDF is useful outside of ROS, such as for simulations and analysis. Running the *export_urdf.sh* script in the urdf directory will export a full URDF model of the robot based on stretch.urdf. + +The exported URDF will be found within an exported_urdf directory. It is also copied to a directory for your specific robot found under ~/stretch_user. The exported URDF includes meshes and controller calibration YAML files. The exported URDF can be visualized using stretch_urdf_show.py, which is part of the stretch_body Python code. + +## Changing the Tool + +If you wish to remove the default gripper and add a different tool, you will typically edit /stretch_description/urdf/stretch_desciption.xacro. Specifically, you will replace the following line in order to include the xacro for the new tool and then follow directions within stretch_ros/stretch_calibration to generate a new calibrated urdf file (stretch.urdf) that includes the new tool. + +`` + +## License and Patents + +Patents are pending that cover aspects of the Stretch RE1 mobile manipulator. + +For license information, please see the LICENSE files. diff --git a/stretch_description/meshes/base_link.STL b/stretch_description/meshes/base_link.STL new file mode 100644 index 0000000000000000000000000000000000000000..eea6a772a8f651f125925638e5f90943962ef354 GIT binary patch literal 1333184 zcmb@vdDtaYb-vxmAczbCiUNuQMu{;PBPyTWyha5C1ZltlQ4tjYhEx^rD${{ic&weJ0_z4qQU zoqDSlEcpNT-(S6n?R86c-0WNP|9ZzC&Odqm%NMSE;5X;bJM~Y+{_X+auXZH<^q#j) zzJBVR^CA|U^@dx9(4NtlPh<?Z8%r$NWAP_2QFOv^=Yl1b>V>vUAKk%{Zq9g zaoKt+Eqv=`zb+c<+_Pzo+VAdPJjZk-o_){Gli$AnVTDl7cRuCe)!ymuwTm5zvwyT; za^1EoFH-J%+_zxzk)u~F_PKw&W!`oqF242B`A`1n&Jv}W@wr#tQSH8N#g4>p|FpYm 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International) + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + message_generation + rospy + rospy + message_runtime + rospy + + std_msgs + geometry_msgs + roslaunch + + robot_state_publisher + rviz + joint_state_publisher + + + + + + + + diff --git a/stretch_description/urdf/export_urdf.sh b/stretch_description/urdf/export_urdf.sh new file mode 100755 index 0000000..40fc6e7 --- /dev/null +++ b/stretch_description/urdf/export_urdf.sh @@ -0,0 +1,59 @@ +#!/bin/bash + +# Prior to running this script make sure you have used stretch_calibration to create a calibrated URDF. This script also requires rpl, which can be installed with "sudo apt install rpl". +echo "Prior to running this script make sure you have used stretch_calibration to create a calibrated URDF. This script also requires rpl, which can be installed with sudo apt install rpl." +echo "" + +# Move previous exported_urdf to exported_urdf_previous. +echo "Move previous exported_urdf to exported_urdf_previous." +echo "mv ./exported_urdf ./exported_urdf_previous" +mv ./exported_urdf ./exported_urdf_previous +echo "" + +# Create new exported URDF directories. +echo "Create new exported URDF directories." +echo "mkdir ./exported_urdf/" +mkdir ./exported_urdf/ +echo "mkdir ./exported_urdf/meshes/" +mkdir ./exported_urdf/meshes/ +echo "" + +# Copy the mesh files and the original calibrated URDF file to the exported URDF. +echo "Copy the mesh files and the current calibrated URDF file to the exported URDF." +echo "cp ../meshes/* ./exported_urdf/meshes/" +cp ../meshes/* ./exported_urdf/meshes/ +echo "cp ./stretch.urdf ./exported_urdf/" +cp ./stretch.urdf ./exported_urdf/ +echo "" + +# Replace the mesh file locations in the original URDF with local directories." +echo "Replace the mesh file locations in the exported URDF with local directories." +OLD_NAME="package://stretch_description/" +NEW_NAME="./" +echo "rpl -Ri $OLD_NAME $NEW_NAME ./exported_urdf/stretch.urdf" +rpl -Ri $OLD_NAME $NEW_NAME ./exported_urdf/stretch.urdf +echo "" + +# Copy D435i mesh from the realsense2_description ROS package to the exported URDF. +echo "Copy D435i mesh from the realsense2_description ROS package to the exported URDF." +echo "cp `rospack find realsense2_description`/meshes/d435.dae ./exported_urdf/meshes/" +cp `rospack find realsense2_description`/meshes/d435.dae ./exported_urdf/meshes/ +echo "rpl -Ri "package://realsense2_description/" "./" ./exported_urdf/stretch.urdf" +rpl -Ri "package://realsense2_description/" "./" ./exported_urdf/stretch.urdf +echo "" + +# copy controller calibration file used by stretch ROS +echo "Copy the current controller parameter yaml file to the exported URDF." +echo "cp `rospack find stretch_core`/config/controller_calibration_head.yaml ./exported_urdf/" +cp `rospack find stretch_core`/config/controller_calibration_head.yaml ./exported_urdf/ +echo "" + +# copy license file +echo "Copy license file to exported URDF" +echo "cp export_urdf_license_template.md ./exported_urdf/LICENSE.md" +cp export_urdf_license_template.md ./exported_urdf/LICENSE.md + +echo "Copy the exported URDF to the standard Stretch directory." +echo "cp -rf exported_urdf/* $HELLO_FLEET_PATH/$HELLO_FLEET_ID/exported_urdf" +cp -rf exported_urdf/* $HELLO_FLEET_PATH/$HELLO_FLEET_ID/exported_urdf +echo "" diff --git a/stretch_description/urdf/export_urdf_license_template.md b/stretch_description/urdf/export_urdf_license_template.md new file mode 100644 index 0000000..fb7ae66 --- /dev/null +++ b/stretch_description/urdf/export_urdf_license_template.md @@ -0,0 +1,23 @@ +The following license applies to the entire contents of this directory (the "Contents") except where otherwise noted. The Contents consist of software and data used with the Stretch RE1 mobile manipulator, which is a robot produced and sold by Hello Robot Inc. + +Copyright 2020 Hello Robot Inc. + +The Contents are licensed under the Creative Commons Attribution-NonCommercial-ShareAlike-4.0-International (CC BY-NC-SA 4.0) license (the "License"); you may not use the Contents except in compliance with the License. You may obtain a copy of the License at + +https://creativecommons.org/licenses/by-nc-sa/4.0/ + +Unless required by applicable law or agreed to in writing, the Contents distributed under the License are 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. + +Patents pending and trademark rights cover the Contents. As stated by the detailed License, "Patent and trademark rights are not licensed under this Public License." + +The Contents may incorporate some parts of the "RealSense Camera description package for Intel 3D D400 cameras" released with an Apache 2.0 license and Copyright 2017 Intel Corporation. The details of the Apache 2.0 license can be found via the following link: + +https://www.apache.org/licenses/LICENSE-2.0 + +Specifically, the Contents may include the d435.dae mesh file and content generated by the \_d435.urdf.xacro found within the GitHub repository available for download via the following link as of May 4, 2020: + +https://github.com/IntelRealSense/realsense-ros/tree/development/realsense2_description + +These specific materials are subject to the requirements of their original Apache 2.0 license. + +For further information about the Contents including inquiries about dual licensing, please contact Hello Robot Inc. diff --git a/stretch_description/urdf/stretch_aruco.xacro b/stretch_description/urdf/stretch_aruco.xacro new file mode 100644 index 0000000..602f60c --- /dev/null +++ b/stretch_description/urdf/stretch_aruco.xacro @@ -0,0 +1,283 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/stretch_description/urdf/stretch_d435i.xacro b/stretch_description/urdf/stretch_d435i.xacro new file mode 100644 index 0000000..921e1e1 --- /dev/null +++ b/stretch_description/urdf/stretch_d435i.xacro @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + diff --git a/stretch_description/urdf/stretch_description.xacro b/stretch_description/urdf/stretch_description.xacro new file mode 100644 index 0000000..1f9f2e1 --- /dev/null +++ b/stretch_description/urdf/stretch_description.xacro @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/stretch_description/urdf/stretch_gripper.xacro b/stretch_description/urdf/stretch_gripper.xacro new file mode 100644 index 0000000..14615d8 --- /dev/null +++ b/stretch_description/urdf/stretch_gripper.xacro @@ -0,0 +1,305 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/stretch_description/urdf/stretch_laser_range_finder.xacro b/stretch_description/urdf/stretch_laser_range_finder.xacro new file mode 100644 index 0000000..af62fb6 --- /dev/null +++ b/stretch_description/urdf/stretch_laser_range_finder.xacro @@ -0,0 +1,62 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/stretch_description/urdf/stretch_main.xacro b/stretch_description/urdf/stretch_main.xacro new file mode 100644 index 0000000..7d878f2 --- /dev/null +++ b/stretch_description/urdf/stretch_main.xacro @@ -0,0 +1,786 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/stretch_description/urdf/stretch_respeaker.xacro b/stretch_description/urdf/stretch_respeaker.xacro new file mode 100644 index 0000000..428b84f --- /dev/null +++ b/stretch_description/urdf/stretch_respeaker.xacro @@ -0,0 +1,62 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/stretch_description/urdf/xacro_to_urdf.sh b/stretch_description/urdf/xacro_to_urdf.sh new file mode 100755 index 0000000..c0cc33b --- /dev/null +++ b/stretch_description/urdf/xacro_to_urdf.sh @@ -0,0 +1,5 @@ +#!/bin/bash + +rosrun xacro xacro `rospack find stretch_description`/urdf/stretch_description.xacro use_nominal_extrinsics:=true > `rospack find stretch_description`/urdf/stretch_uncalibrated.urdf + +cp `rospack find stretch_description`/urdf/stretch_uncalibrated.urdf `rospack find stretch_description`/urdf/stretch.urdf diff --git a/stretch_funmap/CMakeLists.txt b/stretch_funmap/CMakeLists.txt new file mode 100644 index 0000000..22ee6b2 --- /dev/null +++ b/stretch_funmap/CMakeLists.txt @@ -0,0 +1,197 @@ +cmake_minimum_required(VERSION 2.8.3) +project(stretch_funmap) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## 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 COMPONENTS + rospy +) + +## 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 exec_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 exec_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 exec_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 your 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 stretch_funmap +# CATKIN_DEPENDS rospy +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/stretch_funmap.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/stretch_funmap_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_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 ${PROJECT_NAME} ${PROJECT_NAME}_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_stretch_funmap.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/stretch_funmap/LICENSE.md b/stretch_funmap/LICENSE.md new file mode 100644 index 0000000..ff0b1e7 --- /dev/null +++ b/stretch_funmap/LICENSE.md @@ -0,0 +1,11 @@ +The following license applies to the entire contents of this directory (the "Contents"), which contains software for use with the Stretch RE1 mobile manipulator, which is a robot produced and sold by Hello Robot Inc. + +Copyright 2020 Hello Robot Inc. + +This software is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License v3.0 (GNU LGPLv3) as published by the Free Software Foundation. + +This software is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License v3.0 (GNU LGPLv3) for more details, which can be found via the following link: + +https://www.gnu.org/licenses/lgpl-3.0.en.html + +For further information about the Contents including inquiries about dual licensing, please contact Hello Robot Inc. diff --git a/stretch_funmap/README.md b/stretch_funmap/README.md new file mode 100644 index 0000000..1ccc877 --- /dev/null +++ b/stretch_funmap/README.md @@ -0,0 +1,144 @@ +![](../images/HelloRobotLogoBar.png) + +## Overview + +*stretch_funmap* is an implementation of Fast Unified Navigation, Manipulation And Planning (FUNMAP). FUNMAP provides navigation, manipulation, and planning capabilities for the Stretch RE1 mobile manipulator. *stretch_funmap* includes examples of efficient ways to take advantage of the Stretch RE1's unique properties. + +Previous commercially-available mobile manipulators have consisted of a serial manipulator (i.e., links connected by rotary joints) placed on a mobile base [1]. Widely used software (e.g., the Robot Operating System (ROS)) [1] typically expects a velocity-controlled mobile base that can be held still while the arm manipulates [3, 4]. + +In contrast, the Stretch RE1's mobile base is integral to manipulation and typically moves throughout a task. It can also perform high-fidelity position control with its mobile base. FUNMAP uses approximate geometric models and computer-vision algorithms to efficiently find plans that take advantage of its prismatic joints (e.g., telescoping arm) and Cartesian structure. In contrast to typical approaches that treat navigation (e.g., ROS Navigation Stack ) and manipulation (e.g., MoveIt! [5, 6]) separately, FUNMAP does both. + +## Getting Started Demo + +First, make sure that your Stretch RE1 has clearance to rotate in place and will rotate without straining any cables connected to the trunk. Ideally, you should have the robot untethered. + +Next, run the following launch file: + +``` +roslaunch stretch_funmap mapping.launch +``` + +Now, you will take a head scan, which will involve the head panning around, the base rotating, and the head panning around again to overcome the blindspot due to the mast. + +``` +While in the terminal in which you ran roslaunch, press the space bar to initiate the head scan. +``` + +At this point, you should see a 3D map resulting from the head scan in RViz. You can rotate it around and look at it. It has been created by merging many 3D scans. + +If you have the robot untethered, you can now specify a navigation goal for the robot. If the robot finds a navigation plan to the goal, it will attempt to navigate to it. While navigating, it will look down with its 3D camera in an attempt to stop if it detects an obstacle. + +``` +In RViz, press the "2D Nav Goal" button on the top bar with a green arrow icon. +Specify a nearby navigation goal pose on the floor of the map by clicking and drawing a green arrow. +``` +For this to work, the navigation goal must be in a place that the robot can reach and that the robot has scanned well. For example, the robot will only navigate across floor regions that it has in its map. + +If the robot finds a path, you should see green lines connecting white spheres in RViz that display its plan as it attempts to navigate to the goal. + +Once the robot has reached the goal, you can take another head scan. + +``` +While in the terminal, press the space bar to initiate another head scan. +``` + +The robot should take the head scan and merge it with the previous scans. If all goes well, the merged 3D map will be visible in RViz. + +You can also have the robot automatically drive to a place that it thinks is a good place for it to take a head scan in order to map the environment. + + +``` +While in the terminal, press the key with \ and | on it. +This should work even if caps lock is enabled or the shift key is pressed. +``` + +If the robot reached it's goal, then you can now take another head scan. + + +``` +While in the terminal, press the space bar to initiate another head scan. +``` + +By repeating this process, you can create a 3D map of the environment. FUNMAP uses images to represent the environment with each pixel value representing the highest observed 3D point at a planar location. By default, all of the merged maps are saved to the following directory: + + +``` +./stretch_user/debug/merged_maps/ + +``` + +You can see the image representations by looking at files with the following naming pattern: + + +``` +./stretch_user/debug/merged_maps/merged_map_DATETIME_mhi_visualization.png +``` + +You can also click on a reaching goal for the Stretch RE1 by clicking on "Publish Point" in Rviz and then selecting a 3D point on the map. FUNMAP will attempt to generate a navigation and manipulation plan to reach close to the selected 3D location with Stretch's gripper. + + +``` +In RViz, select a reach goal by clicking on "Publish Point" on the top bar with a red map location icon). +Then, click on a 3D location on the map to specify a reaching target for the robot's gripper. +``` + +That concludes the demonstration. Have fun with FUNMAP! + + +## More FUNMAP + +![](./images/living_room_map_image.png) +![](./images/living_room_map.png) +![](./images/living_room_map_perspective.png) + +FUNMAP represents human environments with Max Height Images (MHIs). An MHI is an image for which each pixel typically represents the height of the robot’s environment. Given a volume of interest (VOI) with its z-axis aligned with gravity, an MHI, I, maps locations to heights. Specifically, I(x,y)=z, where (x,y) represents a discretized planar location within the VOI and z represents the discretized height of the maximum occupied voxel within the VOI at that planar location (see Figure 1 above). + +The placement of the Stretch RE1 3D camera at a human head height enables it to capture MHIs that represent the horizontal surfaces with which humans frequently interact, such as table tops, countertops, and chairs. The orientation of its 3D camera enables the robot to quickly scan an environment to create a room-scale MHI by panning its head at a constant tilt angle. + +In contrast to other environment representations, such as point clouds and 3D mesh models, MHIs support fast, efficient operations through optimized image processing and are compatible with deep learning methods for images. Related representations have primarily been used for navigation, including for legged robots on rough terrain, but have not emphasized elevated surfaces in human environments nor incorporated manipulation [7, 8]. Object grasping systems for bin picking have used related representations, but have only considered small areas with objects and not incorporated navigation [9, 10]. + +During development, we have used FUNMAP to create MHIs for which each pixel represents a 6mm x 6mm region of the environment’s floor and has a height resolution of less than 6mm per unit. This allows a single 2000 x 2000 pixel, 8-bit image to represent a 12m x 12m environment from 10cm below the estimated floor plane to 1.2m above the floor plane, which captures the great majority of open horizontal surfaces in human environments with which people interact. MHIs also have the potential to represent enclosed surfaces (e.g., surfaces in shelves and cabinets) and vertical surfaces (e.g., doors) by defining new VOIs with different orientations and heights, which is a capability that merits future exploration. + +For navigation and planning, FUNMAP uses fast distance transforms and morphological operators to efficiently create cost functions for robust optimization-based planning. For example, a high value of a distance transform at a floor location implies that the mobile base will be farther from obstacles. Similarly, a high value of a distance transform for a location on an elevated surface implies that the robot’s end effector will be farther from obstacles. + +![](./images/reach_plan_1.png) +![](./images/reach_plan_2.png) + +Figure 3: Left: The cyan lines represent achievable driving goals on the floor from which the robot can reach the target (red circle) on the table (dark blue). Right: When the target (red circle) is farther back near obstacles on the table (dark blue), the robot can reach the target from fewer locations (cyan lines). + +![](./images/navigation_1.png) +![](./images/reach_1.png) + +Figure 4: Left: Example of a piecewise linear navigation plan (green line segments and white spheres) being executed. Right: Example of a successfully executed plan to reach a target location on a table (light blue) while avoiding a wall with shelves (dark blue and purple). + +The Stretch RE1’s slender links and Cartesian kinematics support rapid optimization of plans due to the simplified geometry of the robot’s motions. FUNMAP uses piecewise linear paths on the cost image for fast navigation and manipulation planning. + +FUNMAP enables the Stretch RE1 to reach a 3D target position. FUNMAP models the linear motion of the telescoping arm as it extends to reach a target as a line in a manipulation cost image (see Figure 2). FUNMAP uses a navigation cost image and Djikstra’s algorithm with a priority queue to efficiently estimate the cost of navigating to all floor locations (see Figure 3 left). FUNMAP then combines these results to find a minimum cost plan that increases the distance to obstacles and the manipulable workspace of the robot (see Figure 3 right). + + +## References + +[1] Bostelman, Roger, Tsai Hong, and Jeremy Marvel. "Survey of research for performance measurement of mobile manipulators." Journal of Research of the National Institute of Standards and Technology 121, no. 3 (2016): 342-366. + +[2] Quigley, Morgan, Ken Conley, Brian Gerkey, Josh Faust, Tully Foote, Jeremy Leibs, Rob Wheeler, and Andrew Y. Ng. "ROS: an open-source Robot Operating System." In ICRA workshop on open source software, vol. 3, no. 3.2, p. 5. 2009. + +[3] Sachin Chitta, Eitan Marder-Eppstein, Wim Meeussen, Vijay Pradeep, Adolfo Rodríguez Tsouroukdissian, et al.. ros_control: A generic and simple control framework for ROS. The Journal of Open Source Software, 2017, 2 (20), pp.456 - 456. + +[4] Guimarães, Rodrigo Longhi, André Schneider de Oliveira, João Alberto Fabro, Thiago Becker, and Vinícius Amilgar Brenner. "ROS navigation: Concepts and tutorial." In Robot Operating System (ROS), pp. 121-160. Springer, Cham, 2016. + +[5] Chitta, Sachin, Ioan Sucan, and Steve Cousins. "Moveit! [ros topics]." IEEE Robotics & Automation Magazine 19, no. 1 (2012): 18-19. + +[6] Chitta, Sachin. "MoveIt!: an introduction." In Robot Operating System (ROS), pp. 3-27. Springer, Cham, 2016. + +[7] Fankhauser, Péter, and Marco Hutter. "A universal grid map library: Implementation and use case for rough terrain navigation." In Robot Operating System (ROS), pp. 99-120. Springer, Cham, 2016. + +[8] Lu, David V., Dave Hershberger, and William D. Smart. "Layered costmaps for context-sensitive navigation." In 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 709-715. IEEE, 2014. + +[9] Zeng, Andy, Shuran Song, Johnny Lee, Alberto Rodriguez, and Thomas Funkhouser. "Tossingbot: Learning to throw arbitrary objects with residual physics." arXiv preprint arXiv:1903.11239 (2019). + +[10] Zeng, Andy, Shuran Song, Kuan-Ting Yu, Elliott Donlon, Francois R. Hogan, Maria Bauza, Daolin Ma et al. "Robotic pick-and-place of novel objects in clutter with multi-affordance grasping and cross-domain image matching." In 2018 IEEE international conference on robotics and automation (ICRA), pp. 1-8. IEEE, 2018. + + +## License + +For license information, please see the LICENSE files. diff --git a/stretch_funmap/images/living_room_map.png b/stretch_funmap/images/living_room_map.png new file mode 100644 index 0000000000000000000000000000000000000000..b2312175e78e475a429533875f3c8e12391542db GIT binary patch literal 48320 zcmV)7K*zs{P)004R>004l5008;`004mK004C`008P>0026e000+ooVrmw00006 zVoOIv0RI600RN!9r;`8x00(qQO+^Rf1r`hv0%LQWoB#lT07*naRCwC#y?3}=S9vb} zerxSIeNHbrM_ra=xyf?H4Gb7eH@!m$HxR-F5|Z4IMj+*;Hxg2TBtR&^bem!u_ijm6 z?>f@yefq9zeZN0u_Gn~WB%6E5?>;O)kDt+;nKf(g{jRUR-?!+(3opd89a`&bHX8&% z6h%bz>?R?iOeRyQRG#$=T5H#Jg%I_6T?p~)CSm4mHtTs_9LLXYCCn_POr=uQYW2BX zODdHD&}cNC+qL8xjk?zQSbOO66HELu;K*re`x#+ zkv|*%y~a-fkpv<YcNgL2KRo)^l-6m|5%Q|MgSc)u&$= zHNUGhC(C&9&p*xe5s^|#C*#cThSBuw&Ukd}VNi(RD*u{y9DDn1#oN9x@`Y@iRTQ7) z?Sl}MN~M|gvqmH{+qOeQLP#N=wUf)~bVf=;spsTtyRM7VC>)?v{tE9T5DyR=9%2mCSr|hwfbyU42~)4iv~Wn z|6@g+FVym1cW<6B$Fn-Cai({nDVc;2TI=T+F>&3f8U2w`K09gG)O4QbDW#qZBDL1F zTJ71*Ktzc|VbAk~5bbL@^9h@iNNF@0jVDFq8BQgoK?L7FZ5d}iS#ueNVQ8&`ARrRY zxTBhL8E19x2qYk4iUxz>IcsjCzbUWtbFz_(`~PC>FTT@t%U627Ym&*fU;*ofo!X%YE!Lu+jqCct4Bo_SEy zIJ@6~3WZk_^=C8H5NENHvp^(+ZS7vZcvIau_MYkY?oRK!z#pBI<(kT5NGrhBskBN* z6d7!2(q{tA=PuHIHvW%}wwLxCW&ktJe2z0kq+n4qs+U!-_`UJpty$w`C;$3|Esj)= znbUThjUWS3tAmvn)i1awcVCE5vb5NGM)mz1gA^U}`~;lk|5wIYyHo$I#+hn&0%@?x zW~;4aHy2`32Ic^jR*m3UR^KPSvP1M8n`G$KGl0^64_V(?TXt zAi|fGUKokSM@Bv|SbD)sYR_VL(Y(LH-5td+CkPJ{D7F2r^zL=xP)22^?34e0G_lXh zG5l{b2yujNCTm6frw$#Bk@@d)=Lyin1}LL5U2)HteT+aRn@<&rIVHmwNNe56yl}N{ zKN=>sw6!m_|ATAaU$1RjHTkQSyHjkstFkeO*X&7W?={6^|1$Eycb@Z(KUn!2W6sz} zFlw>$i~*pZ`Nuzr!3@jhu@(CFO`1{2{r7<*nqrQrKOB@Sk2r@UWYd~_s?UqgSAw}S zr&|}I{XGqxQMtb#`tvz|!zBx^pOl^%7IW5}@_ZpK-C6!n$-3!N)m0BuY-M$BI2;@f z2kWBtjK21BjCK8NbPU0;n1ivuGHsB?vFTURj#?d{=!RA#}94z^IwW6YEYm_NeB?0-dSt&Wq#WC z?f;GO-|;r4RC?B!k&pu7Op+$2*^$pAuUKk#v2e$Cs(0p=pQnUU%Gq%IFT92yY+DZ-z$z~+$Y}2Ga;U%0V1)H~y|2s#;D@Iv_;>?3c zXXguRf~|#L+_yi6(#p*>_i`tkw`xnd+?&<#-8!u)4g^F=G?rxT!s?~}dhp9#ad$-j zFGM8;L`30}UQ5S2&*m}(%P0LJfdtD_ld~j>g{T8W%?C#@K@%H_LQSf35(0>cnA!~g zpVlJ~d`6fNDk=&`n+yfe3;D38_d`jZ#EG)B7h`(b}G#`OVp-cd#sJ2*d@B1~l7+a3~cQ zHO0xyq)7)N2!tO}5K#nBe5TaZpD=LGR&<{oBB|-t$)g6mr`ZYxiZqk7z%cf)W1T;4vTYJK$fg)KpUpJp< zL?J^pUq8KsXn(hJNu6>3~@O6a!#q$3_E~VVIZ`vVqi$5trE*Vmoxd-j#n*Epp&p zL)K@>Eu=Ckr=TCoK0Is9*xDu*ilT;Sq;yI`HtTYTNka)11P}{Bl#co%x$KEhL5DIR zP)cPKDT5_(^FL9OHJeR?WlSodP>V>!Mr4JCGRv}@K}L}p3`VN55(+OCp=3j{sSp!H z)1nn11=V~!by1Hga(T^ z1~x6f`h;`r&C|cwFKfTK`XdUlWXa&NEE#NGRNK1NUw2>b?qkl;tCnB7t-ke31OHf( zH4*i~oEM~qy$v6j`Gswz7kz%HEUvcb_m9Z}blR{)xXH35x6=H7V9e)Y*^fU?a~Vy z=JJ$%q9)7Rvya@9yNjM$1~G)>y6>)*aaG0@;EClf|98yjvqdBT0@DiT6Jnn)JcIgB zA7FQ0+VR}5Ju`DbRi=r^a&$^SJeqxQ(V8J`*Nk!@?!LBm-D9bT8&pdnSCh36fg7iU zj0k2!mTleDH~yP1QrU&>uiuxw|Ki$Z8tU%+Z8?=$Hp-!h9JZ=v>FsmxIb9y>!`{D;x7^orx)o zMMG%Y6JbWBV+u8JQGM&?`j!Lfy^p0HHiZ#WWUyQv4&OBYmc6OnJJP$0arbrQYpyR} zFSIjd&cA=^Ba7Dbk<{KL7ALgRUB76Q&2#D(#rD`re{?*xP&cX|e&yn8FRNUA$UP8= zhN)8@82|Y7OE14W^H_iFlFgOp-PqXljsAbReCgG%s9d#DWp8&6-dMSc*m&{68y$0I zMyw zPUQo+e5tqb9|!)vqzYFb|KID0FET1Q<-{WR$m$Po4$nVkoH&$v{G$5#hpdTVZ)Fq| z)-C?Rql15Uu9E+2>i0aOadY7-7dN(!`l|=y{B7C$G-o~S&N_Qt?Os{Ea(C|j|LXqQ zACCX_cIU|N4E=>^&35u~;-Waf71!jirO;;ssEbG`1YGCqCczS;s#&=LGA^!x6+l zT#zb1Bm6>KxH9THU@TAQ)LLy%P?$>Z4!rd&!afQs6pg!wX6^CkFTXg}g(B5{qo?mn zcCgL;AIjYC%k!80w?yh%Hmbg5Y}9xB&WWpUEElGYN?%-*z%umDt@+}C!e4Lk*S~%G zy%*Jd2lL@Bo{t6wR8 z>&Cg)mN@kK=4SiV&Q$Kb+b{b4H+=1td(VC0Ll<}R@@lMz&BmNcDb)Jl8XS9OsmR?m zRr!AIwwtQ2m?f_mTSa6J$c4Y%@Rj*~{=K_??&kcD?1FoM_CK2Y+*)t#VqyB+(#0#w zm!uja8@#Qv&dh~=HcLDl7j`-a&1mQWYvz)0a8al0<~YlEQX9_;R$joyF89!)v2b1W z$`eM(((XwL&(+Qpn+=Lq3NHd8QY+%D0pqX;8iGJ3tY?|-lhKS^S}lg> z+;9KQibF@lN9#*ilYP}f?;CvMT~sO6k+;?HIPl(HyZ3KTygj2+Aw>_TANkTnJBE+E z&GLc~xm3$WZ<;tyYh*M^h8Gj%A~PUuvGJqaJ%66PE;U#UM?Ie&{^I9Gzg;tq9s9t~W7~^YzyB2@(?j}|zq9kg>FzIVS!sTz zciwsJBX1ZkOzrAXSM0y!VBg*2=6Ghs1)C;&mj-fMw`WZ^ef#Q1E?8c7(eZ&jLsbX4 z;VEu_42c6q`Go!8>nk_xE-b$9x!=hLwj@t`t$ zXVo|dIZhd(VX?W-Ii^K$QDaNlSeg}$fp91XlE4vb>W>Eh;pgVwagjfITmI38GB;E% zW76GVP4Hw`R}@nyMPNsL-Gn}Fk!?H?KI-m|qW-PXKuqBb^a|6Tw-(k{*TI0&db@q> zzT(60SiG?o%Rps%fm?(Y&eHFl`>jc1$hNoiL@SQfW*z5frSEy<`LwLqNCS+34(&xA zrTxb8=CFGrwREUozx>3?R76b=Rf7d65Rs)#0%9tGH^{!K^xA(N{DOD;)u$jGyb zS2J^_koBj+=!z4wzxSr4fq7Ax{rJn?@XPnVt6^$VYA(I>m)pKLs5TB58y81cUH4cx zvHSzKVGWs^3{xIj(^nmNU^(9Lmb>0CEhoE6Lq>{ca)By~-pCZnUUI^8$<=n&PfZQ` zqtgl{>{!Y~DmN10dv>MYUrJr-TzC69-`%)#?WMF4F(T1eau!m4x0ed+R9rXH1Jmg# zW7*=^f(2zQxzjr1j?NBx!gJUXV3Umqs8XC~W8R$Wj`|d|geb{Io=s1iU(OyJ@P>!t zbOvKccWPl^?o;z23>Z23CydY|YU`I_3Gp)Gz3akSPX@!jl z?<#g_+stL3U;Ei{_e3Vn>8Iot5-}+e3O0xZ5k(x>DNAY#HM1)isaZ>_m#zZGskobB zasQfs5)e;h_W(v1hW-ukCx}ioS61 z&9evg_SWQhX+|!O=GGwRjgC%M$5v5cQF$ZBoUxv`5S#N8<{XQzk={l%8p=_)v2ng< zO)j_xkJ(489L+DT-x?I>-D8`=!AzVh!Kjg%t#4WpXR5%Weey2wef~hNN|%kw`s_nP zQStG@jzf)$Uo!khn}zz#u|MvK3p=doBhKNaaNv-8blEk(zWltMrFFZ8{&D8m2ZQ{# z9`ZgsGXDBQaw%prFRQo8+8R6j;pRS1Uq~(*xwtZ|plw_T>JF`?X_ZN%Ay`?xd++_n zoQ8GI+a}fbvXgJ9_uTF7$=i!FJ%KyhbxpkPSBL(kE9!l1`2{0-MVGcEDTAdZwZl0! 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