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270 lines
12 KiB
270 lines
12 KiB
#!/usr/bin/env python3
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from sensor_msgs.msg import JointState
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from geometry_msgs.msg import Twist
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from nav_msgs.msg import Odometry
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import rospy
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import actionlib
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from control_msgs.msg import FollowJointTrajectoryAction
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from control_msgs.msg import FollowJointTrajectoryGoal
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from trajectory_msgs.msg import JointTrajectoryPoint
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from sensor_msgs.msg import PointCloud2
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from std_srvs.srv import Trigger, TriggerRequest, TriggerResponse
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import math
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import time
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import threading
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import sys
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import tf2_ros
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import argparse as ap
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import numpy as np
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import os
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import hello_helpers.hello_misc as hm
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import stretch_funmap.navigate as nv
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import stretch_funmap.manipulation_planning as mp
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class GraspObjectNode(hm.HelloNode):
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def __init__(self):
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hm.HelloNode.__init__(self)
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self.rate = 10.0
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self.joint_states = None
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self.joint_states_lock = threading.Lock()
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self.move_base = nv.MoveBase(self)
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self.letter_height_m = 0.2
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self.wrist_position = None
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self.lift_position = None
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self.manipulation_view = None
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self.debug_directory = None
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def joint_states_callback(self, joint_states):
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with self.joint_states_lock:
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self.joint_states = joint_states
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wrist_position, wrist_velocity, wrist_effort = hm.get_wrist_state(joint_states)
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self.wrist_position = wrist_position
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lift_position, lift_velocity, lift_effort = hm.get_lift_state(joint_states)
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self.lift_position = lift_position
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self.left_finger_position, temp1, temp2 = hm.get_left_finger_state(joint_states)
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def lower_tool_until_contact(self):
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rospy.loginfo('lower_tool_until_contact')
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trigger_request = TriggerRequest()
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trigger_result = self.trigger_lower_until_contact_service(trigger_request)
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rospy.loginfo('trigger_result = {0}'.format(trigger_result))
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def move_to_initial_configuration(self):
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initial_pose = {'wrist_extension': 0.01,
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'joint_wrist_yaw': 0.0,
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'gripper_aperture': 0.125}
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rospy.loginfo('Move to the initial configuration for drawer opening.')
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self.move_to_pose(initial_pose)
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def look_at_surface(self, scan_time_s=None):
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self.manipulation_view = mp.ManipulationView(self.tf2_buffer, self.debug_directory)
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manip = self.manipulation_view
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head_settle_time_s = 0.02 #1.0
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manip.move_head(self.move_to_pose)
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rospy.sleep(head_settle_time_s)
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if scan_time_s is None:
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manip.update(self.point_cloud, self.tf2_buffer)
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else:
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start_time_s = time.time()
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while ((time.time() - start_time_s) < scan_time_s):
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manip.update(self.point_cloud, self.tf2_buffer)
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if self.debug_directory is not None:
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dirname = self.debug_directory + 'grasp_object/'
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# If the directory does not already exist, create it.
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if not os.path.exists(dirname):
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os.makedirs(dirname)
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filename = 'look_at_surface_' + hm.create_time_string()
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manip.save_scan(dirname + filename)
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else:
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rospy.loginfo('GraspObjectNode: No debug directory provided, so debugging data will not be saved.')
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def drive(self, forward_m):
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tolerance_distance_m = 0.005
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if forward_m > 0:
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at_goal = self.move_base.forward(forward_m, detect_obstacles=False, tolerance_distance_m=tolerance_distance_m)
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else:
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at_goal = self.move_base.backward(forward_m, detect_obstacles=False, tolerance_distance_m=tolerance_distance_m)
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def trigger_grasp_object_callback(self, request):
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actually_move = True
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max_lift_m = 1.09
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min_extension_m = 0.01
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max_extension_m = 0.5
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use_default_mode = False
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if use_default_mode:
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# Set the D435i to Default mode for obstacle detection
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trigger_request = TriggerRequest()
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trigger_result = self.trigger_d435i_default_mode_service(trigger_request)
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rospy.loginfo('trigger_result = {0}'.format(trigger_result))
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if actually_move:
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rospy.loginfo('Retract the tool.')
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pose = {'wrist_extension': 0.01}
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self.move_to_pose(pose)
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rospy.loginfo('Reorient the wrist.')
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pose = {'joint_wrist_yaw': 0.0}
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self.move_to_pose(pose)
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self.look_at_surface(scan_time_s = 3.0)
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grasp_target = self.manipulation_view.get_grasp_target(self.tf2_buffer)
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if grasp_target is not None:
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pregrasp_lift_m = self.manipulation_view.get_pregrasp_lift(grasp_target, self.tf2_buffer)
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if (self.lift_position is None):
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return TriggerResponse(
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success=False,
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message='lift position unavailable'
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)
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if actually_move:
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rospy.loginfo('Raise tool to pregrasp height.')
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lift_to_pregrasp_m = max(self.lift_position + pregrasp_lift_m, 0.1)
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lift_to_pregrasp_m = min(lift_to_pregrasp_m, max_lift_m)
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pose = {'joint_lift': lift_to_pregrasp_m}
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self.move_to_pose(pose)
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pregrasp_yaw = self.manipulation_view.get_pregrasp_yaw(grasp_target, self.tf2_buffer)
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print('pregrasp_yaw = {0:.2f} rad'.format(pregrasp_yaw))
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print('pregrasp_yaw = {0:.2f} deg'.format(pregrasp_yaw * (180.0/np.pi)))
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if actually_move:
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rospy.loginfo('Rotate the gripper for grasping.')
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pose = {'joint_wrist_yaw': pregrasp_yaw}
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self.move_to_pose(pose)
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rospy.loginfo('Open the gripper.')
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pose = {'gripper_aperture': 0.125}
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self.move_to_pose(pose)
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pregrasp_mobile_base_m, pregrasp_wrist_extension_m = self.manipulation_view.get_pregrasp_planar_translation(grasp_target, self.tf2_buffer)
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print('pregrasp_mobile_base_m = {0:.3f} m'.format(pregrasp_mobile_base_m))
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print('pregrasp_wrist_extension_m = {0:.3f} m'.format(pregrasp_wrist_extension_m))
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if actually_move:
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rospy.loginfo('Drive to pregrasp location.')
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self.drive(pregrasp_mobile_base_m)
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if pregrasp_wrist_extension_m > 0.0:
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extension_m = max(self.wrist_position + pregrasp_wrist_extension_m, min_extension_m)
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extension_m = min(extension_m, max_extension_m)
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rospy.loginfo('Extend tool above surface.')
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pose = {'wrist_extension': extension_m}
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self.move_to_pose(pose)
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else:
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print('negative wrist extension for pregrasp, so not extending or retracting.')
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grasp_mobile_base_m, grasp_lift_m, grasp_wrist_extension_m = self.manipulation_view.get_grasp_from_pregrasp(grasp_target, self.tf2_buffer)
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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))
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if actually_move:
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rospy.loginfo('Move the grasp pose from the pregrasp pose.')
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lift_m = max(self.lift_position + grasp_lift_m, 0.1)
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lift_m = min(lift_m, max_lift_m)
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extension_m = max(self.wrist_position + grasp_wrist_extension_m, min_extension_m)
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extension_m = min(extension_m, max_extension_m)
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pose = {'translate_mobile_base': grasp_mobile_base_m,
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'joint_lift': lift_m,
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'wrist_extension': extension_m}
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self.move_to_pose(pose)
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rospy.loginfo('Attempt to close the gripper on the object.')
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gripper_aperture_m = grasp_target['width_m'] - 0.18
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pose = {'gripper_aperture': gripper_aperture_m}
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self.move_to_pose(pose)
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# Lifting appears to happen before the gripper has
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# finished unless there is this sleep. Need to look
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# into this issue.
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rospy.sleep(3.0)
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rospy.loginfo('Attempt to lift the object.')
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object_lift_height_m = 0.1
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lift_m = max(self.lift_position + object_lift_height_m, 0.2)
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lift_m = min(lift_m, max_lift_m)
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pose = {'joint_lift': lift_m}
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self.move_to_pose(pose)
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rospy.loginfo('Open the gripper a little to avoid overtorquing and overheating the gripper motor.')
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pose = {'gripper_aperture': gripper_aperture_m + 0.005}
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self.move_to_pose(pose)
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if actually_move:
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rospy.loginfo('Retract the tool.')
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pose = {'wrist_extension': 0.01}
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self.move_to_pose(pose)
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rospy.loginfo('Reorient the wrist.')
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pose = {'joint_wrist_yaw': 0.0}
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self.move_to_pose(pose)
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return TriggerResponse(
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success=True,
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message='Completed object grasp!'
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)
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def main(self):
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hm.HelloNode.main(self, 'grasp_object', 'grasp_object', wait_for_first_pointcloud=False)
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self.debug_directory = rospy.get_param('~debug_directory')
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rospy.loginfo('Using the following directory for debugging files: {0}'.format(self.debug_directory))
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self.joint_states_subscriber = rospy.Subscriber('/stretch/joint_states', JointState, self.joint_states_callback)
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self.trigger_grasp_object_service = rospy.Service('/grasp_object/trigger_grasp_object',
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Trigger,
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self.trigger_grasp_object_callback)
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rospy.wait_for_service('/funmap/trigger_reach_until_contact')
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rospy.loginfo('Node ' + self.node_name + ' connected to /funmap/trigger_reach_until_contact.')
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self.trigger_reach_until_contact_service = rospy.ServiceProxy('/funmap/trigger_reach_until_contact', Trigger)
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rospy.wait_for_service('/funmap/trigger_lower_until_contact')
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rospy.loginfo('Node ' + self.node_name + ' connected to /funmap/trigger_lower_until_contact.')
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self.trigger_lower_until_contact_service = rospy.ServiceProxy('/funmap/trigger_lower_until_contact', Trigger)
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default_service = '/camera/switch_to_default_mode'
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high_accuracy_service = '/camera/switch_to_high_accuracy_mode'
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rospy.loginfo('Node ' + self.node_name + ' waiting to connect to ' + default_service + ' and ' + high_accuracy_service)
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rospy.wait_for_service(default_service)
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rospy.loginfo('Node ' + self.node_name + ' connected to ' + default_service)
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self.trigger_d435i_default_mode_service = rospy.ServiceProxy(default_service, Trigger)
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rospy.wait_for_service(high_accuracy_service)
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rospy.loginfo('Node ' + self.node_name + ' connected to' + high_accuracy_service)
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self.trigger_d435i_high_accuracy_mode_service = rospy.ServiceProxy(high_accuracy_service, Trigger)
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rate = rospy.Rate(self.rate)
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while not rospy.is_shutdown():
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rate.sleep()
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if __name__ == '__main__':
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try:
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parser = ap.ArgumentParser(description='Grasp Object behavior for stretch.')
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args, unknown = parser.parse_known_args()
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node = GraspObjectNode()
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node.main()
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except KeyboardInterrupt:
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rospy.loginfo('interrupt received, so shutting down')
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