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281 lines
9.7 KiB
281 lines
9.7 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 hello_helpers.hello_misc as hm
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import stretch_funmap.navigate as nv
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class HelloWorldNode(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.letter_top_lift_m = 1.08
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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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def align_to_surface(self):
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rospy.loginfo('align_to_surface')
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trigger_request = TriggerRequest()
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trigger_result = self.trigger_align_with_nearest_cliff_service(trigger_request)
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rospy.loginfo('trigger_result = {0}'.format(trigger_result))
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def backoff_after_contact(self):
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rospy.loginfo('backoff after contact')
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with self.joint_states_lock:
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wrist_position, wrist_velocity, wrist_effort = hm.get_wrist_state(self.joint_states)
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if wrist_position is not None:
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wrist_target_m = wrist_position - 0.005
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pose = {'wrist_extension': wrist_target_m}
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self.move_to_pose(pose)
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return True
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else:
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rospy.logerr('backoff_from_surface: self.wrist_position is None!')
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return False
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def pen_down(self):
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rospy.loginfo('pen_down')
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max_extension_m = 0.5
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max_reach_m = 0.4
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with self.joint_states_lock:
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wrist_position, wrist_velocity, wrist_effort = hm.get_wrist_state(self.joint_states)
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extension_m = wrist_position + max_reach_m
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extension_m = min(extension_m, max_extension_m)
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extension_contact_effort = 45.0
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pose = {'wrist_extension': (extension_m, extension_contact_effort)}
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self.move_to_pose(pose, custom_contact_thresholds=True)
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def pen_up(self):
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rospy.loginfo('pen_up')
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with self.joint_states_lock:
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wrist_position, wrist_velocity, wrist_effort = hm.get_wrist_state(self.joint_states)
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max_extension_m = 0.5
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min_extension_m = 0.01
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backoff_m = 0.1
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extension_m = wrist_position - backoff_m
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extension_m = min(extension_m, max_extension_m)
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extension_m = max(min_extension_m, extension_m)
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extension_contact_effort = 80.0 # to avoid stopping due to contact
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pose = {'wrist_extension': (extension_m, extension_contact_effort)}
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self.move_to_pose(pose, custom_contact_thresholds=True)
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rospy.sleep(1.0) # Give it time to backoff before the next move. Otherwise it may not backoff.
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def vertical_line(self, move_down, half=False):
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if move_down:
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rospy.loginfo('vertical_line moving down')
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else:
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rospy.loginfo('vertical_line moving up')
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with self.joint_states_lock:
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i = self.joint_states.name.index('joint_lift')
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lift_position = self.joint_states.position[i]
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if not half:
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length_m = self.letter_height_m
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else:
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length_m = self.letter_height_m / 2.0
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if move_down:
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new_lift_position = lift_position - length_m
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else:
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new_lift_position = lift_position + length_m
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pose = {'joint_lift': new_lift_position}
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self.move_to_pose(pose)
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def horizontal_line(self, move_right, half=False):
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if move_right:
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rospy.loginfo('horizontal_line moving right')
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else:
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rospy.loginfo('horizontal_line moving left')
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length_m = self.letter_height_m / 2.0
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if half:
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length_m = length_m / 2.0
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if move_right:
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length_m = -length_m
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use_simple_move = False
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if use_simple_move:
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pose = {'translate_mobile_base': length_m}
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self.move_to_pose(pose)
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else:
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if length_m > 0:
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at_goal = self.move_base.forward(length_m, detect_obstacles=False)
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else:
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at_goal = self.move_base.backward(length_m, detect_obstacles=False)
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rospy.sleep(1.0) # Give it time to finish the base move before the next move.
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def space(self):
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rospy.loginfo('space')
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self.align_to_surface()
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self.horizontal_line(move_right=True, half=True)
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def move_arm_out_of_the_way(self):
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initial_pose = {'wrist_extension': 0.01,
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'joint_lift': 0.8,
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'joint_wrist_yaw': 0.0}
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rospy.loginfo('Move arm out of the way of the camera.')
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self.move_to_pose(initial_pose)
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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_lift': self.letter_top_lift_m,
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'joint_wrist_yaw': 0.0}
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rospy.loginfo('Move to initial arm pose for writing.')
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self.move_to_pose(initial_pose)
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def letter_h(self):
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rospy.loginfo('Letter H')
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#write a letter "H" down and to the right
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self.align_to_surface()
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self.pen_down()
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self.vertical_line(move_down=True)
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self.pen_up()
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self.vertical_line(move_down=False, half=True)
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self.pen_down()
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self.horizontal_line(move_right=True)
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self.pen_up()
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self.vertical_line(move_down=False, half=True)
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self.pen_down()
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self.vertical_line(move_down=True)
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self.pen_up()
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self.vertical_line(move_down=False)
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def letter_e(self):
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rospy.loginfo('Letter E')
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# write a letter "E" down and to the right
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self.align_to_surface()
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self.pen_down()
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self.vertical_line(move_down=True)
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self.pen_up()
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self.pen_down()
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self.horizontal_line(move_right=True)
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self.pen_up()
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self.vertical_line(move_down=False)
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self.pen_down()
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self.horizontal_line(move_right=False)
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self.pen_up()
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self.vertical_line(move_down=True, half=True)
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self.pen_down()
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self.horizontal_line(move_right=True)
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self.pen_up()
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self.vertical_line(move_down=False, half=True)
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def letter_l(self):
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rospy.loginfo('Letter L')
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# write a letter "L" down and to the right
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self.align_to_surface()
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self.pen_down()
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self.vertical_line(move_down=True)
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self.pen_up()
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self.pen_down()
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self.horizontal_line(move_right=True)
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self.pen_up()
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self.vertical_line(move_down=False)
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def letter_o(self):
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rospy.loginfo('Letter O')
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# write a letter "O" down and to the right
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self.align_to_surface()
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self.pen_down()
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self.vertical_line(move_down=True)
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self.pen_up()
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self.pen_down()
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self.horizontal_line(move_right=True)
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self.pen_up()
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self.pen_down()
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self.vertical_line(move_down=False)
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self.pen_up()
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self.pen_down()
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self.horizontal_line(move_right=False)
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self.pen_up()
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self.horizontal_line(move_right=True)
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def trigger_write_hello_callback(self, request):
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#self.move_arm_out_of_the_way()
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self.move_to_initial_configuration()
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self.align_to_surface()
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self.letter_h()
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self.space()
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self.letter_e()
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self.space()
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self.letter_l()
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self.space()
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self.letter_l()
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self.space()
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self.letter_o()
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self.space()
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return TriggerResponse(
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success=True,
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message='Completed writing hello!'
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)
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def main(self):
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hm.HelloNode.main(self, 'hello_world', 'hello_world', wait_for_first_pointcloud=False)
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self.joint_states_subscriber = rospy.Subscriber('/stretch/joint_states', JointState, self.joint_states_callback)
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self.trigger_write_hello_service = rospy.Service('/hello_world/trigger_write_hello',
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Trigger,
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self.trigger_write_hello_callback)
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rospy.wait_for_service('/funmap/trigger_align_with_nearest_cliff')
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rospy.loginfo('Node ' + self.node_name + ' connected to /funmap/trigger_align_with_nearest_cliff.')
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self.trigger_align_with_nearest_cliff_service = rospy.ServiceProxy('/funmap/trigger_align_with_nearest_cliff', Trigger)
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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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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='Hello World demo for stretch.')
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args, unknown = parser.parse_known_args()
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node = HelloWorldNode()
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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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# except rospy.ROSInterruptException:
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# pass
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#rospy.loginfo('keyboard_teleop was interrupted', file=sys.stderr)
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