diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml index e1f462b..483fc04 100644 --- a/.gitlab-ci.yml +++ b/.gitlab-ci.yml @@ -13,15 +13,21 @@ build-colcon-job: stage: build script: - apt-get update - - apt-get install -y make wget libgoogle-glog-dev libreadline-dev - - wget http://www.lua.org/ftp/lua-5.3.1.tar.gz && tar zxf lua-5.3.1.tar.gz - - make -C lua-5.3.1 linux && make -C lua-5.3.1 install + - apt-get install wget + - wget https://github.com/nlohmann/json/archive/refs/tags/v3.11.3.tar.gz + - tar -xf v3.11.3.tar.gz + - cd json-3.11.3 + - mkdir build + - cd build + - cmake .. + - make install + - cd ../.. - mkdir -p .src/robossembler-ros2 - mv * .src/robossembler-ros2 - mv .git .src/robossembler-ros2 - mv .src src - - vcs import src < src/robossembler-ros2/rbs.repos + - vcs import src < src/robossembler-ros2/rbs.sim.repos - rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble - - colcon build --packages-skip cartesian_controller_simulation cartesian_controller_tests --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install + - colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release rules: - if: $CI_COMMIT_REF_NAME != $CI_DEFAULT_BRANCH diff --git a/Dockerfile b/Dockerfile new file mode 100644 index 0000000..1ff2dcb --- /dev/null +++ b/Dockerfile @@ -0,0 +1,46 @@ +FROM billf1nger/ros2-humble-cuda:v12.2.2-cudnn8-ubuntu22.04-gz-nvidia + +ARG WSDIR=rbs_ws +ARG config_type=sim + +ENV RBS_ASSEMBLY_DIR=/assembly + +# COPY /home/bill-finger/assembly /assembly +ENV IGN_GAZEBO_RESOURCE_PATH=/${WSDIR}/install/rbs_simulation/share/rbs_simulation/ + +RUN apt update && apt install -y \ + git \ + python3-pip \ + lsb-release \ + wget \ + gnupg + +RUN pip install vcstool + +WORKDIR /libs +RUN wget https://github.com/nlohmann/json/archive/refs/tags/v3.11.3.tar.gz &&\ + tar -xf v3.11.3.tar.gz &&\ + cd json-3.11.3 &&\ + mkdir build &&\ + cd build &&\ + cmake .. &&\ + make &&\ + make install + +RUN git clone https://gitlab.com/robossembler/forks/megapose6d.git &&\ + cd megapose6d &&\ + pip install bokeh joblib pin torch transforms3d webdataset omegaconf tqdm &&\ + pip install -e . +RUN git clone https://github.com/thodan/bop_toolkit &&\ + cd bop_toolkit &&\ + pip install -e . + +WORKDIR /${WSDIR} + +COPY . src/robossembler-ros2/ + +RUN vcs import src/. < src/robossembler-ros2/rbs.${config_type}.repos +RUN apt update && rosdep update && \ + rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble +RUN . /opt/ros/humble/setup.sh && \ + colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1 diff --git a/README.md b/README.md index 48cfdc1..fd10f98 100644 --- a/README.md +++ b/README.md @@ -6,6 +6,7 @@ Repo for ROS2 packages related to Robossembler ### Requirements * OS: Ubuntu 22.04 * ROS 2 Humble +* nlohman/json ### Dependencies These are the primary dependencies required to use this project. @@ -13,6 +14,7 @@ These are the primary dependencies required to use this project. * MoveIt 2 > Install/build a version based on the selected ROS 2 release * Gazebo Fortress +* [nlohman/json](https://github.com/nlohmann/json/releases/tag/v3.11.3) ### Build @@ -24,12 +26,12 @@ Prepare workspace & install dependencies (So far only tested with UR robot arm) ```bash mkdir -p ~/robossembler_ws/src && cd ~/robossembler_ws/src git clone https://gitlab.com/robosphere/robossembler-ros2 -vcs import . < robossembler-ros2/rbs.repos +vcs import . < robossembler-ros2/rbs.sim.repos cd .. rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install ``` -For simulation with Mujoco, pls [ref](https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers/blob/fdaa9a2dd0ce15fc949b127dd1164095504273fb/cartesian_controller_simulation/README.md) build and install section. + ### Set Gazebo enviroment variables Replace `[WS_FOLDER]` with your workspace folder @@ -49,16 +51,11 @@ Launch MoveIt2, Gazebo, RViz: ros2 launch rbs_bringup bringup.launch.py ``` -Load Problem file via ROS2 Service (TMP): +Start BT node in another terminal ``` -ros2 service call /problem_expert/add_problem plansys2_msgs/srv/AddProblem '{problem: (define (problem box_problem)(:domain atomic_domain)(:objects ur_manipulator_gripper - arm workspace1 - zone box1 box2 box3 - part asm0 asm1 asm2 asm3 - assembly)(:init (part_of box1 asm1)(part_of box2 asm2)(part_of box3 asm3)(assembly_order asm0 asm1)(assembly_order asm1 asm2)(assembly_order asm2 asm3)(arm_available ur_manipulator_gripper)(assembly_at asm0 workspace1)(assembled asm0))(:goal (and (assembled asm3))))}' -``` - -Start task planner -``` -ros2 run rbs_task_planner execute_plan +ros2 launch rbs_bt_executor rbs_executor.launch.py ``` ### Links * [bt_v3_cpp](https://www.behaviortree.dev) -* [moveit2](https://moveit.picknik.ai/humble/index.html) \ No newline at end of file +* [moveit2](https://moveit.picknik.ai/humble/index.html) diff --git a/env_components/camera_component/CMakeLists.txt b/env_components/camera_component/CMakeLists.txt deleted file mode 100644 index 13e27e7..0000000 --- a/env_components/camera_component/CMakeLists.txt +++ /dev/null @@ -1,68 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(camera_component) - -if(NOT CMAKE_C_STANDARD) - set(CMAKE_C_STANDARD 99) -endif() - -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) -endif() - -set(CMAKE_CXX_STANDARD_REQUIRED True) - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake REQUIRED) -find_package(ament_cmake_ros REQUIRED) -find_package(image_transport REQUIRED) -find_package(ros_gz_bridge REQUIRED) -find_package(rclcpp REQUIRED) -find_package(rclcpp_components REQUIRED) -find_package(sensor_msgs REQUIRED) -find_package(env_manager REQUIRED) - -find_package(ignition-transport11 REQUIRED) -set(GZ_TRANSPORT_VER ${ignition-transport11_VERSION_MAJOR}) - -find_package(ignition-msgs8 REQUIRED) -set(GZ_MSGS_VER ${ignition-msgs8_VERSION_MAJOR}) - -set(GZ_TARGET_PREFIX ignition) - -add_library(ign_camera_component SHARED - src/ign_camera_component.cpp) -target_compile_definitions(ign_camera_component - PRIVATE "COMPOSITION_BUILDING_DLL") -target_link_libraries(ign_camera_component - ${GZ_TARGET_PREFIX}-msgs${GZ_MSGS_VER}::core - ${GZ_TARGET_PREFIX}-transport${GZ_TRANSPORT_VER}::core - ) -ament_target_dependencies(ign_camera_component - "image_transport" - "ros_gz_bridge" - "rclcpp" - "rclcpp_components" - "sensor_msgs" - "env_manager") -rclcpp_components_register_nodes(ign_camera_component "camera_component::IgnCameraComponent") -set(node_plugins "${node_plugins}camera_component::IgnCameraComponent;$\n") - -install(TARGETS ign_camera_component - DESTINATION lib) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - # the following line skips the linter which checks for copyrights - # comment the line when a copyright and license is added to all source files - set(ament_cmake_copyright_FOUND TRUE) - # the following line skips cpplint (only works in a git repo) - # comment the line when this package is in a git repo and when - # a copyright and license is added to all source files - set(ament_cmake_cpplint_FOUND TRUE) - ament_lint_auto_find_test_dependencies() -endif() - -ament_package() diff --git a/env_components/camera_component/package.xml b/env_components/camera_component/package.xml deleted file mode 100644 index 5f37451..0000000 --- a/env_components/camera_component/package.xml +++ /dev/null @@ -1,30 +0,0 @@ - - - - camera_component - 0.0.0 - TODO: Package description - splinter1984 - TODO: License declaration - - ament_cmake - pkg-config - - image_transport - ros_gz_bridge - rclcpp - rclcpp_components - sensor_msgs - env_manager - - ignition-msgs8 - ignition-transport11 - ignition-msgs8 - ignition-transport11 - - ament_lint_auto - ament_lint_common - - ament_cmake - - diff --git a/env_components/camera_component/src/ign_camera_component.cpp b/env_components/camera_component/src/ign_camera_component.cpp deleted file mode 100644 index bbf7d69..0000000 --- a/env_components/camera_component/src/ign_camera_component.cpp +++ /dev/null @@ -1,42 +0,0 @@ -#include - -#include -#include -#include -#include - -#include -#include -#include -#include - -#include - -namespace camera_component -{ - -class IgnCameraComponent: public env_manager::component_manager::PublisherComponent -{ -public: - explicit IgnCameraComponent(const rclcpp::NodeOptions &options) - : env_manager::component_manager::PublisherComponent(options) - { - auto topic_name = "/camera"; - _ign_node = std::make_shared(); - _ign_node->Subscribe(topic_name, &IgnCameraComponent::on_image, this); - } - -private: - void on_image(const ignition::msgs::Image& img) - { - sensor_msgs::msg::Image rimg; - ros_gz_bridge::convert_gz_to_ros(img, rimg); - populate_publication(rimg); - } - - std::shared_ptr _ign_node; -}; -} // namespace pub_component -#include "rclcpp_components/register_node_macro.hpp" - -RCLCPP_COMPONENTS_REGISTER_NODE(camera_component::IgnCameraComponent) diff --git a/env_components/component_interfaces/CMakeLists.txt b/env_components/component_interfaces/CMakeLists.txt deleted file mode 100644 index 4ad69bf..0000000 --- a/env_components/component_interfaces/CMakeLists.txt +++ /dev/null @@ -1,16 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(component_interfaces) - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake REQUIRED) -find_package(rosidl_default_generators REQUIRED) -find_package(std_msgs REQUIRED) - -rosidl_generate_interfaces(${PROJECT_NAME} - "srv/DetectObject.srv" - DEPENDENCIES std_msgs) - -ament_package() diff --git a/env_components/component_interfaces/srv/DetectObject.srv b/env_components/component_interfaces/srv/DetectObject.srv deleted file mode 100644 index cab64c2..0000000 --- a/env_components/component_interfaces/srv/DetectObject.srv +++ /dev/null @@ -1,10 +0,0 @@ -uint8 DETECT=0 -uint8 FOLLOW=1 -uint8 CANCEL=2 - -string object_name -uint8 req_kind ---- - -bool call_status -string error_msg diff --git a/env_components/scene_component/CMakeLists.txt b/env_components/scene_component/CMakeLists.txt deleted file mode 100644 index e756164..0000000 --- a/env_components/scene_component/CMakeLists.txt +++ /dev/null @@ -1,118 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(scene_component) - -if(NOT CMAKE_C_STANDARD) - set(CMAKE_C_STANDARD 99) -endif() - -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) -endif() - -set(CMAKE_CXX_STANDARD_REQUIRED True) - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake REQUIRED) -find_package(ament_cmake_ros REQUIRED) -find_package(image_transport REQUIRED) -find_package(ros_gz_bridge REQUIRED) -find_package(rclcpp REQUIRED) -find_package(rclcpp_components REQUIRED) -find_package(geometry_msgs REQUIRED) -find_package(env_manager REQUIRED) -find_package(tf2_ros REQUIRED) -find_package(moveit_core REQUIRED) -find_package(moveit_msgs REQUIRED) -find_package(moveit_ros_planning REQUIRED) -find_package(moveit_ros_planning_interface REQUIRED) -find_package(component_interfaces REQUIRED) - -find_package(ignition-transport11 REQUIRED) -set(GZ_TRANSPORT_VER ${ignition-transport11_VERSION_MAJOR}) - -find_package(ignition-msgs8 REQUIRED) -set(GZ_MSGS_VER ${ignition-msgs8_VERSION_MAJOR}) - -set(GZ_TARGET_PREFIX ignition) - -message(STATUS "Compiling against Ignition Fortress") - - -add_library(ign_tf2_broadcaster_component SHARED - src/ign_tf2_broadcaster_component.cpp) -target_compile_definitions(ign_tf2_broadcaster_component - PRIVATE "COMPOSITION_BUILDING_DLL") -target_link_libraries(ign_tf2_broadcaster_component - ${GZ_TARGET_PREFIX}-msgs${GZ_MSGS_VER}::core - ${GZ_TARGET_PREFIX}-transport${GZ_TRANSPORT_VER}::core - ) -ament_target_dependencies(ign_tf2_broadcaster_component - "ros_gz_bridge" - "rclcpp" - "rclcpp_components" - "env_manager" - "geometry_msgs" - "tf2_ros") -rclcpp_components_register_nodes(ign_tf2_broadcaster_component "scene_component::IgnTf2Broadcaster") -set(node_plugins "${node_plugins}scene_component::IgnTf2Broadcaster;$\n") - -add_library(ign_detect_object_component SHARED - src/ign_detect_object_component.cpp) -target_compile_definitions(ign_detect_object_component - PRIVATE "COMPOSITION_BUILDING_DLL") -target_link_libraries(ign_detect_object_component - ${GZ_TARGET_PREFIX}-msgs${GZ_MSGS_VER}::core - ${GZ_TARGET_PREFIX}-transport${GZ_TRANSPORT_VER}::core - ) -ament_target_dependencies(ign_detect_object_component - "ros_gz_bridge" - "rclcpp" - "rclcpp_components" - "env_manager" - "geometry_msgs" - "tf2_ros" - "component_interfaces") - rclcpp_components_register_nodes(ign_detect_object_component "scene_component::IgnDetectOpjectService") - set(node_plugins "${node_plugins}scene_component::IgnDetectObjectService;$\n") - -add_library(moveit_scene_component SHARED - src/moveit_scene_component.cpp) -target_compile_definitions(moveit_scene_component - PRIVATE "COMPOSITION_BUILDING_DLL") -ament_target_dependencies(moveit_scene_component - "rclcpp" - "rclcpp_components" - "env_manager" - "geometry_msgs" - "tf2_ros" - "moveit_core" - "moveit_msgs" - "moveit_ros_planning" - "moveit_ros_planning_interface") -rclcpp_components_register_nodes(moveit_scene_component "scene_component::MoveitSceneComponent") -set(node_plugins "${node_plugins}scene_component::MoveitSceneComponent;$\n") - -install( - TARGETS - ign_detect_object_component - ign_tf2_broadcaster_component - moveit_scene_component - DESTINATION - lib) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - # the following line skips the linter which checks for copyrights - # comment the line when a copyright and license is added to all source files - set(ament_cmake_copyright_FOUND TRUE) - # the following line skips cpplint (only works in a git repo) - # comment the line when this package is in a git repo and when - # a copyright and license is added to all source files - set(ament_cmake_cpplint_FOUND TRUE) - ament_lint_auto_find_test_dependencies() -endif() - -ament_package() diff --git a/env_components/scene_component/package.xml b/env_components/scene_component/package.xml deleted file mode 100644 index 1dd44bd..0000000 --- a/env_components/scene_component/package.xml +++ /dev/null @@ -1,31 +0,0 @@ - - - - scene_component - 0.0.0 - TODO: Package description - splinter1984 - TODO: License declaration - - ament_cmake - pkg-config - - image_transport - ros_gz_bridge - rclcpp - rclcpp_components - geometry_msgs - env_manager - component_interfaces - - ignition-msgs8 - ignition-transport11 - ignition-msgs8 - ignition-transport11 - - ament_lint_auto - ament_lint_common - - ament_cmake - - diff --git a/env_components/scene_component/src/ign_detect_object_component.cpp b/env_components/scene_component/src/ign_detect_object_component.cpp deleted file mode 100644 index bf908d1..0000000 --- a/env_components/scene_component/src/ign_detect_object_component.cpp +++ /dev/null @@ -1,109 +0,0 @@ -#include "component_manager/service_component.hpp" -#include "component_interfaces/srv/detect_object.hpp" - -#include -#include -#include -#include - -#include -#include - -#define IGN_DEFAULT_BASE_FRAME "world" -#define IGN_DEFAULT_WORLD_NAME "mir" - -namespace scene_component -{ - -class IgnDetectObjectService: public - env_manager::component_manager::ServiceComponent -{ - public: - IgnDetectObjectService(const rclcpp::NodeOptions &options) - : env_manager::component_manager::ServiceComponent(options) - { - std::string ign_topic_name = "/world/" + std::string(IGN_DEFAULT_WORLD_NAME) + "/dynamic_pose/info"; - _tf2_broadcaster = std::make_unique(this); - _ign_node = std::make_shared(); - _ign_node->Subscribe(ign_topic_name, &IgnDetectObjectService::on_pose, this); - } - - void callback( - std::shared_ptr request, - std::shared_ptr response) - { - auto kind = static_cast(request->req_kind); - bool status = false; - switch(kind) - { - case DETECT: { - (void) kind; - break; - } case FOLLOW: { - auto ok = std::find(_follow_frames.begin(), _follow_frames.end(), - request->object_name) == _follow_frames.end(); - if (ok) - _follow_frames.push_back(request->object_name); - status = ok; - break; - } case CANCEL: { - auto it = std::find(_follow_frames.begin(), _follow_frames.end(), - request->object_name); - auto ok = it != _follow_frames.end(); - if (ok) - _follow_frames.erase(it); - status = ok; - break; - } - } - response->call_status = status; - } - - private: - enum DetectObjectReqKind - { - DETECT=0, - FOLLOW=1, - CANCEL=2 - }; - - void on_pose(const ignition::msgs::Pose_V &pose_v) - { - auto poses = pose_v.pose(); - for (const auto& obj: _follow_frames) - { - auto it = std::find_if(poses.begin(), poses.end(), - [&obj](const auto& pose){ return pose.name() == obj;}); - if (it == poses.end()) - continue; - - geometry_msgs::msg::PoseStamped rpose; - ros_gz_bridge::convert_gz_to_ros(*it, rpose); - geometry_msgs::msg::TransformStamped t; - - t.header.stamp = this->get_clock()->now(); - t.header.frame_id = IGN_DEFAULT_BASE_FRAME; - t.child_frame_id = it->name(); - t.transform.translation.x = rpose.pose.position.x; - t.transform.translation.y = rpose.pose.position.y; - t.transform.translation.z = rpose.pose.position.z; - t.transform.rotation.x = rpose.pose.orientation.x; - t.transform.rotation.y = rpose.pose.orientation.y; - t.transform.rotation.z = rpose.pose.orientation.z; - t.transform.rotation.w = rpose.pose.orientation.w; - - _tf2_broadcaster->sendTransform(t); - } - } - - std::vector _follow_frames; - std::unique_ptr _tf2_broadcaster; - std::shared_ptr _ign_node; - -}; - -} // namespace scene_component - -#include "rclcpp_components/register_node_macro.hpp" - -RCLCPP_COMPONENTS_REGISTER_NODE(scene_component::IgnDetectObjectService) diff --git a/env_components/scene_component/src/ign_tf2_broadcaster_component.cpp b/env_components/scene_component/src/ign_tf2_broadcaster_component.cpp deleted file mode 100644 index bdd930f..0000000 --- a/env_components/scene_component/src/ign_tf2_broadcaster_component.cpp +++ /dev/null @@ -1,72 +0,0 @@ -#include "component_manager/node_component.hpp" - -#include -#include -#include -#include - -#include -#include - -namespace scene_component -{ - -const std::string DEFAULT_NODE_NAME = "ign_tf2_broadcaster"; -const std::string DEFAULT_IGN_WORLD_NAME = "mir"; -const std::string DEFAULT_BASE_FRAME_NAME = "world"; - -class IgnTf2Broadcaster: public env_manager::component_manager::NodeComponent -{ -public: - IgnTf2Broadcaster(const rclcpp::NodeOptions & options) - : env_manager::component_manager::NodeComponent(options) - { - _follow_frames = {"box1", "box2", "box3", "box4", "box5", "box6"}; - std::string topic_name = "/world/" + DEFAULT_IGN_WORLD_NAME + "/dynamic_pose/info"; - // init broadcaster - _tf2_broadcaster = std::make_unique(*this); - _ign_node = std::make_shared(); - _ign_node->Subscribe(topic_name, &IgnTf2Broadcaster::on_pose, this); - } - -private: - void on_pose(const ignition::msgs::Pose_V& pose_v) - { - for (const auto &it: pose_v.pose()) - { - if (std::find(_follow_frames.begin(), _follow_frames.end(), it.name()) == _follow_frames.end()) - continue; - - geometry_msgs::msg::PoseStamped rpose; - ros_gz_bridge::convert_gz_to_ros(it, rpose); - - geometry_msgs::msg::TransformStamped t; - - t.header.stamp = this->get_clock()->now(); - t.header.frame_id = DEFAULT_BASE_FRAME_NAME; - t.child_frame_id = it.name(); - - t.transform.translation.x = rpose.pose.position.x; - t.transform.translation.y = rpose.pose.position.y; - t.transform.translation.z = rpose.pose.position.z; - - t.transform.rotation.x = rpose.pose.orientation.x; - t.transform.rotation.y = rpose.pose.orientation.y; - t.transform.rotation.z = rpose.pose.orientation.z; - t.transform.rotation.w = rpose.pose.orientation.w; - - RCLCPP_ERROR(get_logger(), "Provide transform for frame: %s", it.name().c_str()); - - _tf2_broadcaster->sendTransform(t); - } - } - - std::unique_ptr _tf2_broadcaster; - std::shared_ptr _ign_node; - std::vector _follow_frames; - -}; -} // namespace scene_component -#include "rclcpp_components/register_node_macro.hpp" - -RCLCPP_COMPONENTS_REGISTER_NODE(scene_component::IgnTf2Broadcaster) diff --git a/env_components/scene_component/src/moveit_scene_component.cpp b/env_components/scene_component/src/moveit_scene_component.cpp deleted file mode 100644 index 44c3d1f..0000000 --- a/env_components/scene_component/src/moveit_scene_component.cpp +++ /dev/null @@ -1,115 +0,0 @@ -#include - -#include - -#include -#include - -#include - -#include -#include -#include "geometry_msgs/msg/transform_stamped.hpp" -#include "geometry_msgs/msg/twist.hpp" -#include "tf2/exceptions.h" -#include "tf2_ros/transform_listener.h" -#include "tf2_ros/buffer.h" - -using namespace std::chrono_literals; - -namespace scene_component -{ - -const std::string DEFAULT_PLANNING_GOUP_NAME = "panda_arm"; -const std::string DEFAULT_SUBNODE_NS = "moveit_cpp_node"; -const std::string DEFAULT_BASE_FRAME = "world"; - -class MoveitSceneComponent: public env_manager::component_manager::NodeComponent -{ -public: - MoveitSceneComponent(const rclcpp::NodeOptions& options) - : env_manager::component_manager::NodeComponent(options) - { - rclcpp::NodeOptions node_options; - node_options.automatically_declare_parameters_from_overrides(true); - - node_ = rclcpp::Node::make_shared(DEFAULT_SUBNODE_NS, "", node_options); - - moveit_cpp_ptr_ = std::make_shared(node_); - moveit_cpp_ptr_->getPlanningSceneMonitor()->providePlanningSceneService(); - planning_components_ = std::make_shared( - DEFAULT_PLANNING_GOUP_NAME, moveit_cpp_ptr_); - robot_model_ptr_ = moveit_cpp_ptr_->getRobotModel(); - - tf_buffer_ = std::make_unique(this->get_clock()); - tf_listener_ = std::make_shared(*tf_buffer_); - timer_ = this->create_wall_timer(1s, std::bind(&MoveitSceneComponent::on_timer, this)); - } - -private: - void on_timer() - { - auto available_frames = tf_buffer_->getAllFrameNames(); - auto robot_link_names = robot_model_ptr_->getLinkModelNames(); - - for (const auto &frame: available_frames) - { - if (std::find(robot_link_names.begin(), robot_link_names.end(), frame) != robot_link_names.end()) - continue; - - geometry_msgs::msg::TransformStamped t; - try { - t = tf_buffer_->lookupTransform( - DEFAULT_BASE_FRAME, frame, - tf2::TimePointZero); - } catch (const tf2::TransformException &ex) - { - RCLCPP_WARN(get_logger(), "Could not transform %s to %s: %s", - frame.c_str(), DEFAULT_BASE_FRAME.c_str(), ex.what()); - } - - moveit_msgs::msg::CollisionObject co; - co.header.frame_id = robot_model_ptr_->getRootLink()->getName(); - co.id = frame; - - //TODO: replace with stl model - shape_msgs::msg::SolidPrimitive obj; - obj.type = obj.BOX; - obj.dimensions = {0.1, 0.1, 0.1}; - - geometry_msgs::msg::Pose obj_pose; - obj_pose.position.x = t.transform.translation.x; - obj_pose.position.y = t.transform.translation.y; - obj_pose.position.z = t.transform.translation.z; - - obj_pose.orientation.x = t.transform.rotation.x; - obj_pose.orientation.y = t.transform.rotation.y; - obj_pose.orientation.z = t.transform.rotation.z; - obj_pose.orientation.w = t.transform.rotation.w; - - co.primitives.push_back(obj); - co.primitive_poses.push_back(obj_pose); - co.operation = co.ADD; - - { - planning_scene_monitor::LockedPlanningSceneRW scene(moveit_cpp_ptr_->getPlanningSceneMonitor()); - scene->processCollisionObjectMsg(co); - } - } - } - - rclcpp::Node::SharedPtr node_; - std::shared_ptr moveit_cpp_ptr_; - moveit::core::RobotModelConstPtr robot_model_ptr_; - std::shared_ptr planning_components_; - std::shared_ptr tf_listener_{nullptr}; - std::unique_ptr tf_buffer_; - rclcpp::TimerBase::SharedPtr timer_{nullptr}; - - -}; -} // namesapce scene_component - -#include "rclcpp_components/register_node_macro.hpp" - -RCLCPP_COMPONENTS_REGISTER_NODE(scene_component::MoveitSceneComponent) diff --git a/env_manager/CMakeLists.txt b/env_manager/CMakeLists.txt deleted file mode 100644 index fa98e56..0000000 --- a/env_manager/CMakeLists.txt +++ /dev/null @@ -1,144 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(env_manager) - -# Default to C99 -if(NOT CMAKE_C_STANDARD) - set(CMAKE_C_STANDARD 99) -endif() - -# Default to C++17 -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) -endif() - -set(CMAKE_CXX_STANDARD_REQUIRED True) - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -set(ENV_MANAGER_CONFIGURATION_FILES_DIRECTORY ${PROJECT_SOURCE_DIR}/config - CACHE PATH ".lua configuration files dir") - -# find dependencies -find_package(ament_cmake REQUIRED) -find_package(ament_cmake_ros REQUIRED) -find_package(Boost REQUIRED) -find_package(rcl REQUIRED) -find_package(rclcpp REQUIRED) -find_package(rclcpp_components REQUIRED) -find_package(rcutils REQUIRED) -find_package(glog 0.4.0 REQUIRED) -find_package(Lua 5.3 REQUIRED) - -add_library(env_manager SHARED - src/component_manager/component_manager.cpp - src/config/config_file_resolver.cpp - src/config/lua_file_resolver.cpp - src/config/options.cpp - ) - -configure_file( - ${PROJECT_SOURCE_DIR}/include/config/config.hpp.cmake - ${PROJECT_BINARY_DIR}/include/config/config.hpp) - -target_include_directories(env_manager PUBLIC - $ - $) -ament_target_dependencies( - env_manager - Boost - rcl - glog - Lua - class_loader - rclcpp - rclcpp_components -) - -target_include_directories(env_manager PUBLIC - $) - -# Causes the visibility macros to use dllexport rather than dllimport, -# which is appropriate when building the dll but not consuming it. -target_compile_definitions(env_manager PRIVATE "COMPONENT_MANAGER_BUILDING_LIBRARY") - -if(NOT WIN32) - ament_environment_hooks( - "${ament_cmake_package_templates_ENVIRONMENT_HOOK_LIBRARY_PATH}") -endif() - -add_executable(env_manager_node - src/main.cpp - ) -target_link_libraries(env_manager_node env_manager lua glog) -ament_target_dependencies( - env_manager_node - Boost - rcl - rclcpp - glog - Lua -) - -install(DIRECTORY config DESTINATION config) - -install( - DIRECTORY include/ - DESTINATION include -) -install( - TARGETS env_manager - EXPORT export_${PROJECT_NAME} - ARCHIVE DESTINATION lib - LIBRARY DESTINATION lib - RUNTIME DESTINATION bin -) - -install( - TARGETS env_manager_node - DESTINATION lib/${PROJECT_NAME} - ) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - - set(ament_cmake_cppcheck_FOUND TRUE) - set(ament_cmake_copyright_FOUND TRUE) - set(ament_cmake_cpplint_FOUND TRUE) - set(ament_cmake_flake8_FOUND TRUE) - set(ament_cmake_uncrustify_FOUND TRUE) - set(ament_cmake_pep257_FOUND TRUE) - set(ament_cmake_lint_cmake_FOUND TRUE) - set(ament_cmake_xmllint_FOUND TRUE) - - ament_lint_auto_find_test_dependencies() - - find_package(ament_cmake_gtest REQUIRED) - - - #include_directories(test) - #ament_add_gtest(env_manager_test test/general.cpp) - #target_link_libraries(env_manager_test env_manager lua glog) - - #set(TEST_TEST_FILES_DIR ${CMAKE_CURRENT_SOURCE_DIR}/test_files) - #set(TEST_LAUNCH_DIR ${CMAKE_CURRENT_SOURCE_DIR}/test_launch_files) - - #install(DIRECTORY - # ${TEST_TEST_FILES_DIR} - # DESTINATION share/${PROJECT_NAME} - #) -endif() - -ament_export_include_directories( - include -) -ament_export_libraries( - env_manager -) -ament_export_targets( - export_${PROJECT_NAME} -) -ament_export_dependencies(rcutils) - -ament_package() diff --git a/env_manager/README.md b/env_manager/README.md deleted file mode 100644 index 17bff87..0000000 --- a/env_manager/README.md +++ /dev/null @@ -1,149 +0,0 @@ -## Environment Manager -Environment Manager is a package that allow you to create custom environments based on *component*, switch between different environments, synchronization of different environments with each other. - -![](docs/assets/env_manager.png) - -### Getting Started -To get a local copy up and running follow these simple example steps. - -#### Prerequisites -```bash -# install glog -sudo apt-get install libgoogle-glog-dev - -#install lua -wget http://www.lua.org/ftp/lua-5.3.1.tar.gz -tar zxf lua-5.3.1.tar.gz -sudo make -C lua-5.3.1 linux && sudo make -C lua-5.3.1 install -``` -### Config -Configuration is done by lua. -```lua - --- require configuration table -ENV_MANAGER = { - -- dictionary of environments - environments = { - -- environment to upload with manager - example_environment = { - -- namespace in which all components will be - namespace = "", - -- dictionary of components needed to upload for current environment - components = { - -- node match one of node in ENV_MANAGER.nodes - example_node = { - -- example libpub_component.so - lib = "" - -- name of class which implement example_node logic - class = "" - } - }, - }, - }, - -- dictionary of nodes, that will be created by env_manager - nodes = { - -- node for initialization by env_manger - example_node = { - -- node name - name = "", - -- one node can produce only one topic/service - type = "", - -- example "std_msgs/String", - msg_type = "", - }, - }, -} - --- return configuration table -return ENV_MANAGER -``` -You can safely use all the feature of `lua` to write configuration. -### Usage -Create component library. -```c++ -#include "component_manager/publisher_component.hpp" -#include -#include -#include -#include - -#include "rclcpp/rclcpp.hpp" -#include - -namespace pub_component -{ -using namespace std::chrono_literals; - -class Publisher: public env_manager::component_manager::PublisherComponent -{ -public: - explicit Publisher(const rclcpp::NodeOptions &options) - : env_manager::component_manager::PublisherComponent(options) - { - timer_ = create_wall_timer(1s, std::bind(&Publisher::on_timer, this)); - } - -protected: - void on_timer() - { - auto msg = std::make_unique(); - msg->data = "Hello World!"; - RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", msg->data.c_str()); - std::flush(std::cout); - - this->populate_publication(*msg.get()); - } - - -private: - rclcpp::TimerBase::SharedPtr timer_; -}; -} // namespace pub_component -#include "rclcpp_components/register_node_macro.hpp" - -RCLCPP_COMPONENTS_REGISTER_NODE(pub_component::Publisher) -``` -```cmake -add_library(pub_component SHARED - src/pub_component.cpp) -target_compile_definitions(pub_component - PRIVATE "COMPOSITION_BUILDING_DLL") -ament_target_dependencies(pub_component - "rclcpp" - "env_manager" - "rclcpp_components" - "std_msgs") -rclcpp_components_register_nodes(pub_component "pub_component::Publisher") -set(node_plugins "${node_plugins}pub_component::Publisher;$\n") -``` -Add component_library to your configuration file. -```lua -ENV_MANAGER = { - environments = { - example_environment = { - namespace = "", - components = { - example_node = { - lib = "libpub_component.so" - class = "pub_component::Publisher" - } - }, - }, - }, - nodes = { - example_node = { - name = "", - type = "Publisher", - msg_type = "std_msgs/String", - }, - }, -} -return ENV_MANAGER -``` -Start env_manager -```bash -source install/setup.bash -ros2 run env_manager env_manager_node -``` -### License -Distributed under the Apache 2.0 License. See LICENSE for more information. diff --git a/env_manager/config/config.lua b/env_manager/config/config.lua deleted file mode 100644 index a778f16..0000000 --- a/env_manager/config/config.lua +++ /dev/null @@ -1,19 +0,0 @@ --- env_manager configuraiton file -include "nodes.lua" -include "utils/utils.lua" - --- include environments configs -include "environments/simulator.lua" -include "environments/ground_true.lua" - --- env_manager configuration -ENV_MANAGER = { - environments = { - GROUND_TRUE - }, - nodes = NODES -} - -check_nodes(ENV_MANAGER) - -return ENV_MANAGER diff --git a/env_manager/config/environments/ground_true.lua b/env_manager/config/environments/ground_true.lua deleted file mode 100644 index 86da26e..0000000 --- a/env_manager/config/environments/ground_true.lua +++ /dev/null @@ -1,14 +0,0 @@ --- environment configuraiton -GROUND_TRUE = { - namespace = "ground_true", - components = { - camera_node = { - lib = "libign_camera_component.so", - class = "camera_component::IgnCameraComponent" - }, - scene_component = { - lib = "libign_detect_object_component.so", - class = "scene_component::IgnDetectObjectService" - }, - } -} diff --git a/env_manager/config/environments/simulator.lua b/env_manager/config/environments/simulator.lua deleted file mode 100644 index 3e36699..0000000 --- a/env_manager/config/environments/simulator.lua +++ /dev/null @@ -1,19 +0,0 @@ --- environment configuration -SIMULATOR = { - namespace = "simulator_env", - components = { - --[[ - talker_node = { - lib = "libpub_component.so", - class = "pub_component::Publisher", - }, - service_node = { - lib = "libsrv_component.so", - class = "srv_component::Service" - },]]-- - camera_node = { - lib = "libign_camera_component.so", - class = "camera_component::IgnCameraComponent" - }, - } -} diff --git a/env_manager/config/nodes.lua b/env_manager/config/nodes.lua deleted file mode 100644 index 9ab33b8..0000000 --- a/env_manager/config/nodes.lua +++ /dev/null @@ -1,12 +0,0 @@ -NODES = { - camera_node = { - name = "camera_node", - type = "Publisher", - msg_type = "sensor_msgs/Image" - }, - scene_component = { - name = "scene_component", - type = "Service", - msg_type = "component_interfaces/DetectObject" - }, -} diff --git a/env_manager/config/utils/utils.lua b/env_manager/config/utils/utils.lua deleted file mode 100644 index ff746d1..0000000 --- a/env_manager/config/utils/utils.lua +++ /dev/null @@ -1,9 +0,0 @@ -function check_nodes(config) - for env, cfg in pairs(config.environments) do - for comp, opt in pairs(cfg.components) do - assert(config.nodes[comp] ~= nil, "not all nodes presented.") - assert(opt.lib ~= nil, "not library provided.") - assert(opt.class ~= nil, "not class provided.") - end - end -end diff --git a/env_manager/docs/assets/env_manager.png b/env_manager/docs/assets/env_manager.png deleted file mode 100644 index 834d492..0000000 Binary files a/env_manager/docs/assets/env_manager.png and /dev/null differ diff --git a/env_manager/env_interface/CMakeLists.txt b/env_manager/env_interface/CMakeLists.txt new file mode 100644 index 0000000..d7789f9 --- /dev/null +++ b/env_manager/env_interface/CMakeLists.txt @@ -0,0 +1,59 @@ +cmake_minimum_required(VERSION 3.8) +project(env_interface) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +set(INCLUDE_DEPENDS + rclcpp_lifecycle + rbs_utils + tf2_ros + tf2_eigen +) + +# find dependencies +find_package(ament_cmake REQUIRED) +foreach(Dependency IN LISTS INCLUDE_DEPENDS) + find_package(${Dependency} REQUIRED) +endforeach() + +add_library(${PROJECT_NAME} SHARED + src/env_interface_base.cpp) + +target_include_directories(${PROJECT_NAME} PUBLIC + $ + $ +) + +ament_target_dependencies(${PROJECT_NAME} PUBLIC ${INCLUDE_DEPENDS}) + +target_compile_definitions(${PROJECT_NAME} PRIVATE "ENVIROMENT_INTERFACE_BUILDING_DLL") + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +install( + DIRECTORY include/ + DESTINATION include/env_interface +) +install(TARGETS ${PROJECT_NAME} + EXPORT export_${PROJECT_NAME} + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin +) + +ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET) +ament_export_dependencies(${INCLUDE_DEPENDS}) + +ament_package() diff --git a/env_manager/LICENSE b/env_manager/env_interface/LICENSE similarity index 99% rename from env_manager/LICENSE rename to env_manager/env_interface/LICENSE index 2431aec..d645695 100644 --- a/env_manager/LICENSE +++ b/env_manager/env_interface/LICENSE @@ -1,3 +1,4 @@ + Apache License Version 2.0, January 2004 http://www.apache.org/licenses/ @@ -186,7 +187,7 @@ same "printed page" as the copyright notice for easier identification within third-party archives. - Copyright 2022 Robossembler + Copyright [yyyy] [name of copyright owner] Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. @@ -199,4 +200,3 @@ 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. - diff --git a/env_manager/env_interface/include/env_interface/env_interface.hpp b/env_manager/env_interface/include/env_interface/env_interface.hpp new file mode 100644 index 0000000..807bdf3 --- /dev/null +++ b/env_manager/env_interface/include/env_interface/env_interface.hpp @@ -0,0 +1,16 @@ +#include "env_interface/env_interface_base.hpp" +#include "rbs_utils/rbs_utils.hpp" +#include +#include + +namespace env_interface +{ +class EnvInterface : public EnvInterfaceBase +{ +public: + EnvInterface() = default; + virtual ~EnvInterface() = default; +protected: + std::shared_ptr> m_env_models; +}; +} // namespace env_interface diff --git a/env_manager/env_interface/include/env_interface/env_interface_base.hpp b/env_manager/env_interface/include/env_interface/env_interface_base.hpp new file mode 100644 index 0000000..5977b71 --- /dev/null +++ b/env_manager/env_interface/include/env_interface/env_interface_base.hpp @@ -0,0 +1,40 @@ +#include "rclcpp/rclcpp.hpp" +#include "rclcpp_lifecycle/lifecycle_node.hpp" +#include +#include + +namespace env_interface +{ + +using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn; + +// template +class EnvInterfaceBase : public rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface +{ +public: + EnvInterfaceBase() = default; + + virtual ~EnvInterfaceBase() = default; + + virtual CallbackReturn init(const std::string& t_env_name, const std::string& t_namespace = "", + const rclcpp::NodeOptions& t_node_options = rclcpp::NodeOptions()); + + const rclcpp_lifecycle::State& configure(); + + virtual CallbackReturn on_init() = 0; + + std::shared_ptr getNode(); + std::shared_ptr getNode() const; + + const rclcpp_lifecycle::State& getState() const; + + // virtual void setActionSpace(const A_space& action, const std::size_t& size); + +protected: + // A_space action_space; + // S_space observation_space; + +private: + std::shared_ptr m_node; +}; +} // namespace env_interface diff --git a/env_components/component_interfaces/package.xml b/env_manager/env_interface/package.xml similarity index 56% rename from env_components/component_interfaces/package.xml rename to env_manager/env_interface/package.xml index b9b61c0..603f2cc 100644 --- a/env_components/component_interfaces/package.xml +++ b/env_manager/env_interface/package.xml @@ -1,18 +1,17 @@ - component_interfaces + env_interface 0.0.0 TODO: Package description - splinter1984 + bill-finger Apache-2.0 ament_cmake - rosidl_default_generators - rosidl_default_runtime - rosidl_interface_packages - std_msgs + rbs_utils + ament_lint_auto + ament_lint_common ament_cmake diff --git a/env_manager/env_interface/src/env_interface.cpp b/env_manager/env_interface/src/env_interface.cpp new file mode 100644 index 0000000..45c7874 --- /dev/null +++ b/env_manager/env_interface/src/env_interface.cpp @@ -0,0 +1,6 @@ +#include "env_interface/env_interface.hpp" + +namespace env_interface { + + +} \ No newline at end of file diff --git a/env_manager/env_interface/src/env_interface_base.cpp b/env_manager/env_interface/src/env_interface_base.cpp new file mode 100644 index 0000000..c4e2d26 --- /dev/null +++ b/env_manager/env_interface/src/env_interface_base.cpp @@ -0,0 +1,45 @@ +#include "env_interface/env_interface_base.hpp" + +namespace env_interface +{ + +CallbackReturn EnvInterfaceBase::init(const std::string& t_env_name, const std::string& t_namespace, + const rclcpp::NodeOptions& t_node_options) +{ + m_node = std::make_shared(t_env_name, t_namespace, t_node_options, false); + + if (on_init() == CallbackReturn::FAILURE) + { + return CallbackReturn::FAILURE; + } + + m_node->register_on_configure(std::bind(&EnvInterfaceBase::on_configure, this, std::placeholders::_1)); + m_node->register_on_activate(std::bind(&EnvInterfaceBase::on_activate, this, std::placeholders::_1)); + m_node->register_on_cleanup(std::bind(&EnvInterfaceBase::on_cleanup, this, std::placeholders::_1)); + m_node->register_on_deactivate(std::bind(&EnvInterfaceBase::on_deactivate, this, std::placeholders::_1)); + m_node->register_on_error(std::bind(&EnvInterfaceBase::on_error, this, std::placeholders::_1)); + m_node->register_on_shutdown(std::bind(&EnvInterfaceBase::on_shutdown, this, std::placeholders::_1)); + + return CallbackReturn::SUCCESS; +} + +const rclcpp_lifecycle::State& EnvInterfaceBase::configure() +{ + return getNode()->configure(); +} + +std::shared_ptr EnvInterfaceBase::getNode() +{ + if (!m_node.get()) + { + throw std::runtime_error("Lifecycle node hasn't been initialized yet"); + } + return m_node; +} + +const rclcpp_lifecycle::State& EnvInterfaceBase::getState() const +{ + return m_node->get_current_state(); +} + +} // namespace env_interface diff --git a/env_manager/env_manager/CMakeLists.txt b/env_manager/env_manager/CMakeLists.txt new file mode 100644 index 0000000..5f2b07c --- /dev/null +++ b/env_manager/env_manager/CMakeLists.txt @@ -0,0 +1,77 @@ +cmake_minimum_required(VERSION 3.8) +project(env_manager) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +set(INCLUDE_DEPENDS + rclcpp + rclcpp_lifecycle + env_manager_interfaces + pluginlib + env_interface +) + +# find dependencies +find_package(ament_cmake REQUIRED) +foreach(Dep IN ITEMS ${INCLUDE_DEPENDS}) + find_package(${Dep} REQUIRED) +endforeach() +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( REQUIRED) + + + +add_library(${PROJECT_NAME} SHARED + src/env_manager.cpp +) +target_include_directories(${PROJECT_NAME} PRIVATE include) +ament_target_dependencies(${PROJECT_NAME} ${INCLUDE_DEPENDS}) +target_compile_definitions(${PROJECT_NAME} PRIVATE "ENVIRONMENT_MANAGER_BUILDING_DLL") + +add_executable(run_env_manager src/run_env_manager.cpp) +target_include_directories(run_env_manager PRIVATE include) +target_link_libraries(run_env_manager ${PROJECT_NAME}) +ament_target_dependencies(run_env_manager ${INCLUDE_DEPENDS}) + +install(TARGETS ${PROJECT_NAME} + RUNTIME DESTINATION bin + LIBRARY DESTINATION lib + ARCHIVE DESTINATION lib +) + +install(TARGETS run_env_manager + RUNTIME DESTINATION lib/${PROJECT_NAME} +) + +install(DIRECTORY include/ + DESTINATION include +) + + + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_export_libraries( + ${PROJECT_NAME} +) +ament_export_include_directories( + include +) +ament_export_dependencies( + ${INCLUDE_DEPENDS} +) + +ament_package() diff --git a/env_manager/env_manager/LICENSE b/env_manager/env_manager/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/env_manager/env_manager/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/env_manager/env_manager/include/env_manager/env_manager.hpp b/env_manager/env_manager/include/env_manager/env_manager.hpp new file mode 100644 index 0000000..2333fbd --- /dev/null +++ b/env_manager/env_manager/include/env_manager/env_manager.hpp @@ -0,0 +1,100 @@ +#ifndef __ENV_MANAGER_HPP__ +#define __ENV_MANAGER_HPP__ + +#include "env_manager_interfaces/srv/configure_env.hpp" +#include "env_manager_interfaces/srv/load_env.hpp" +#include "env_manager_interfaces/srv/unload_env.hpp" +#include "env_manager_interfaces/srv/start_env.hpp" +#include "rclcpp/rclcpp.hpp" +#include "rclcpp_lifecycle/lifecycle_node.hpp" + +#include "env_interface/env_interface.hpp" + +#include "pluginlib/class_loader.hpp" + +namespace env_manager { +using EnvInterface = env_interface::EnvInterface; +using EnvInterfaceSharedPtr = std::shared_ptr; +using EnvStateReturnType = + rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn; + +struct EnvSpec { + std::string name; + std::string type; + EnvInterfaceSharedPtr env_ptr; +}; + +class EnvManager : public rclcpp::Node { +public: + // EnvManager(rclcpp::Executor::SharedPtr executor, + // const std::string &asm_config, + // const std::string &node_name = "env_manager", + // const std::string &node_namespace = "", + // rclcpp::NodeOptions &node_options = + // rclcpp::NodeOptions() + // .allow_undeclared_parameters(true) + // .automatically_declare_parameters_from_overrides(true)); + EnvManager(rclcpp::Executor::SharedPtr executor, + const std::string &node_name = "env_manager", + const std::string &node_namespace = "", + rclcpp::NodeOptions &node_options = + rclcpp::NodeOptions() + .allow_undeclared_parameters(true) + .automatically_declare_parameters_from_overrides(true)); + virtual ~EnvManager() = default; + + // EnvInterfaceSharedPtr loadEnv(const std::string& env_name); + EnvInterfaceSharedPtr loadEnv(const std::string &env_name, + const std::string &env_class_type); + EnvStateReturnType unloadEnv(const std::string &env_name); + EnvStateReturnType configureEnv(const std::string &env_name); + EnvInterfaceSharedPtr addEnv(const EnvSpec &enviment); + + // TODO: Define the input data format + // Set Target for RL enviroment + EnvInterfaceSharedPtr setTarget(); + EnvInterfaceSharedPtr switchTarget(); + EnvInterfaceSharedPtr unsetTarget(); + // Load Constraints for RL enviroment + EnvInterfaceSharedPtr loadConstraints(); + EnvInterfaceSharedPtr switchConstraints(); + EnvInterfaceSharedPtr unloadConstraints(); + +protected: + void initServices(); + rclcpp::Node::SharedPtr getNode(); + void startEnv_cb( + const env_manager_interfaces::srv::StartEnv::Request::SharedPtr request, + env_manager_interfaces::srv::StartEnv::Response::SharedPtr response); + void loadEnv_cb( + const env_manager_interfaces::srv::LoadEnv::Request::SharedPtr request, + env_manager_interfaces::srv::LoadEnv_Response::SharedPtr response); + + void configureEnv_cb( + const env_manager_interfaces::srv::ConfigureEnv::Request::SharedPtr + request, + env_manager_interfaces::srv::ConfigureEnv_Response::SharedPtr response); + + void unloadEnv_cb( + const env_manager_interfaces::srv::UnloadEnv::Request::SharedPtr request, + env_manager_interfaces::srv::UnloadEnv::Response::SharedPtr response); + +private: + rclcpp::Node::SharedPtr m_node; + std::mutex m_env_mutex; + std::vector m_active_envs; + rclcpp::Service::SharedPtr + m_load_env_srv; + rclcpp::Service::SharedPtr + m_configure_env_srv; + rclcpp::Service::SharedPtr + m_unload_env_srv; + rclcpp::Service::SharedPtr m_start_env_srv; + + rclcpp::CallbackGroup::SharedPtr m_callback_group; + rclcpp::Executor::SharedPtr m_executor; + + std::shared_ptr> m_loader; +}; +} // namespace env_manager +#endif // __ENV_MANAGER_HPP__ \ No newline at end of file diff --git a/env_manager/env_manager/package.xml b/env_manager/env_manager/package.xml new file mode 100644 index 0000000..7973f5f --- /dev/null +++ b/env_manager/env_manager/package.xml @@ -0,0 +1,23 @@ + + + + env_manager + 0.0.0 + TODO: Package description + banana + Apache-2.0 + + ament_cmake + + env_interface + env_manager_interfaces + rclcpp + rclcpp_lifecycle + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/env_manager/env_manager/src/env_manager.cpp b/env_manager/env_manager/src/env_manager.cpp new file mode 100644 index 0000000..bb84927 --- /dev/null +++ b/env_manager/env_manager/src/env_manager.cpp @@ -0,0 +1,191 @@ +#include "env_manager/env_manager.hpp" +#include "nlohmann/json.hpp" +#include + +static constexpr const char *ENV_INTERFACE_BASE_CLASS_NAMESPACE = + "env_interface"; +static constexpr const char *ENV_INTERFACE_BASE_CLASS_NAME = + "env_interface::EnvInterface"; + +namespace env_manager { +EnvManager::EnvManager(rclcpp::Executor::SharedPtr executor, + const std::string &node_name, + const std::string &node_namespace, + rclcpp::NodeOptions &options) + : rclcpp::Node(node_name, node_namespace, options), m_executor(executor), + m_loader( + std::make_shared>( + ENV_INTERFACE_BASE_CLASS_NAMESPACE, + ENV_INTERFACE_BASE_CLASS_NAME)) { + initServices(); +} + +// EnvManager::EnvManager(rclcpp::Executor::SharedPtr executor, +// const std::string &asm_config, +// const std::string &node_name, +// const std::string &node_namespace, +// rclcpp::NodeOptions &options) +// : rclcpp::Node(node_name, node_namespace, options), m_executor(executor), +// m_loader( +// std::make_shared>( +// ENV_INTERFACE_BASE_CLASS_NAMESPACE, +// ENV_INTERFACE_BASE_CLASS_NAME)) { +// initServices(); +// } + +void EnvManager::initServices() { + using namespace std::placeholders; + + m_load_env_srv = create_service( + "~/load_env", std::bind(&EnvManager::loadEnv_cb, this, _1, _2)); + m_configure_env_srv = + create_service( + "~/configure_env", + std::bind(&EnvManager::configureEnv_cb, this, _1, _2)); + m_unload_env_srv = create_service( + "~/unload_env", std::bind(&EnvManager::unloadEnv_cb, this, _1, _2)); + m_start_env_srv = create_service( + "~/start_env", std::bind(&EnvManager::startEnv_cb, this, _1, _2)); +} + +rclcpp::Node::SharedPtr EnvManager::getNode() { return m_node; } + +void EnvManager::startEnv_cb( + const env_manager_interfaces::srv::StartEnv::Request::SharedPtr request, + env_manager_interfaces::srv::StartEnv::Response::SharedPtr response) { + + auto it = std::find_if( + m_active_envs.begin(), m_active_envs.end(), + [&request](const EnvSpec &env) { return env.name == request->name; }); + + if (it != m_active_envs.end()) { + RCLCPP_INFO(get_logger(), "Unloading existing environment '%s'", + request->name.c_str()); + unloadEnv(request->name); + } + + auto loadedEnv = loadEnv(request->name, request->type); + auto configuredEnv = configureEnv(request->name); + response->ok = (loadedEnv.get() != nullptr && + configuredEnv == EnvStateReturnType::SUCCESS) + ? true + : false; +} +void EnvManager::loadEnv_cb( + const env_manager_interfaces::srv::LoadEnv::Request::SharedPtr request, + env_manager_interfaces::srv::LoadEnv::Response::SharedPtr response) { + response->ok = loadEnv(request->name, request->type).get() != nullptr; +} + +void EnvManager::configureEnv_cb( + const env_manager_interfaces::srv::ConfigureEnv::Request::SharedPtr request, + env_manager_interfaces::srv::ConfigureEnv::Response::SharedPtr response) { + response->ok = configureEnv(request->name) == EnvStateReturnType::SUCCESS; +} + +void EnvManager::unloadEnv_cb( + const env_manager_interfaces::srv::UnloadEnv::Request::SharedPtr request, + env_manager_interfaces::srv::UnloadEnv::Response::SharedPtr response) { + response->ok = unloadEnv(request->name) == EnvStateReturnType::SUCCESS; +} + +EnvInterfaceSharedPtr EnvManager::addEnv(const EnvSpec &enviroment) { + // generate list of active enviroments + // std::string unique_env_name = enviroment.name;// + "_" + + // std::to_string(m_active_envs.size()); m_active_envs[unique_env_name] = + // enviroment.env_ptr; + if (enviroment.env_ptr->init(enviroment.name, get_namespace()) == + rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface:: + CallbackReturn::ERROR) { + RCLCPP_ERROR(get_logger(), + "Enviroment with name %s cannot been initialized", + enviroment.name.c_str()); + return nullptr; + } + + m_active_envs.push_back(enviroment); + m_executor->add_node( + enviroment.env_ptr->getNode()->get_node_base_interface()); + return enviroment.env_ptr; +} + +EnvInterfaceSharedPtr EnvManager::loadEnv(const std::string &env_name, + const std::string &env_class_type) { + EnvInterfaceSharedPtr loaded_env = nullptr; + RCLCPP_INFO(this->get_logger(), "Loading enviroment '%s'", env_name.c_str()); + try { + if (m_loader->isClassAvailable(env_class_type)) { + loaded_env = m_loader->createSharedInstance(env_class_type); + } else { + RCLCPP_ERROR( + this->get_logger(), + "Loading enviroment is not available '%s' with class type '%s'", + env_name.c_str(), env_class_type.c_str()); + RCLCPP_INFO(this->get_logger(), "Available classes"); + for (const auto &available_class : m_loader->getDeclaredClasses()) { + RCLCPP_INFO(this->get_logger(), "\t%s", available_class.c_str()); + } + return nullptr; + } + } catch (const pluginlib::PluginlibException &e) { + RCLCPP_ERROR( + get_logger(), + "Error happened during creation of enviroment '%s' with type '%s':\n%s", + env_name.c_str(), env_class_type.c_str(), e.what()); + return nullptr; + } + EnvSpec enviroment; + enviroment.name = env_name; + enviroment.type = env_class_type; + enviroment.env_ptr = loaded_env; + return addEnv(enviroment); +} + +EnvStateReturnType EnvManager::unloadEnv(const std::string &env_name) { + auto it = std::find_if( + m_active_envs.begin(), m_active_envs.end(), + [&env_name](const EnvSpec &env) { return env.name == env_name; }); + + if (it != m_active_envs.end()) { + it->env_ptr->getNode()->deactivate(); + it->env_ptr->getNode()->cleanup(); + m_executor->remove_node(it->env_ptr->getNode()->get_node_base_interface()); + m_active_envs.erase(it); + return EnvStateReturnType::SUCCESS; + } else { + RCLCPP_ERROR(this->get_logger(), + "Environment '%s' not found in the active environments list.", + env_name.c_str()); + return EnvStateReturnType::ERROR; + } + return EnvStateReturnType::FAILURE; +} + +// EnvInterfaceSharedPtr +// EnvManager::loadEnv(const std::string env_name) +// { +// std::string env_class_type = "some_default_namespace::" + env_name; + +// return loadEnv(env_name, env_class_type); +// } + +EnvStateReturnType EnvManager::configureEnv(const std::string &env_name) { + RCLCPP_INFO(this->get_logger(), "Configuring enviroment '%s'", env_name.c_str()); + + auto it = std::find_if( + m_active_envs.begin(), m_active_envs.end(), + [&env_name](const EnvSpec &env) { return env.name == env_name; }); + + if (it == m_active_envs.end()) { + RCLCPP_ERROR(this->get_logger(), + "Environment '%s' not found in the active environments list.", + env_name.c_str()); + return EnvStateReturnType::FAILURE; + } + it->env_ptr->configure(); + it->env_ptr->getNode()->activate(); + + return EnvStateReturnType::SUCCESS; +} + +} // namespace env_manager diff --git a/env_manager/env_manager/src/run_env_manager.cpp b/env_manager/env_manager/src/run_env_manager.cpp new file mode 100644 index 0000000..1506122 --- /dev/null +++ b/env_manager/env_manager/src/run_env_manager.cpp @@ -0,0 +1,21 @@ +#include "rclcpp/rclcpp.hpp" +#include "env_manager/env_manager.hpp" + +int main(int argc, char** argv) +{ + rclcpp::init(argc, argv); + std::shared_ptr executor = std::make_shared(); + std::string manager_node_name = "env_manager"; + + auto em = std::make_shared(executor, manager_node_name); + + RCLCPP_INFO(em->get_logger(), "Env manager is starting"); + + em->loadEnv("gz_enviroment", "gz_enviroment::GzEnviroment"); + em->configureEnv("gz_enviroment"); + + executor->add_node(em); + executor->spin(); + rclcpp::shutdown(); + return 0; +} diff --git a/env_manager/env_manager_interfaces/CMakeLists.txt b/env_manager/env_manager_interfaces/CMakeLists.txt new file mode 100644 index 0000000..5839aeb --- /dev/null +++ b/env_manager/env_manager_interfaces/CMakeLists.txt @@ -0,0 +1,37 @@ +cmake_minimum_required(VERSION 3.8) +project(env_manager_interfaces) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(lifecycle_msgs REQUIRED) +find_package(rosidl_default_generators REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( REQUIRED) + +rosidl_generate_interfaces(${PROJECT_NAME} + srv/StartEnv.srv + srv/ConfigureEnv.srv + srv/LoadEnv.srv + srv/UnloadEnv.srv + msg/EnvState.msg + DEPENDENCIES lifecycle_msgs +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/env_manager/env_manager_interfaces/LICENSE b/env_manager/env_manager_interfaces/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/env_manager/env_manager_interfaces/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/env_manager/env_manager_interfaces/msg/EnvState.msg b/env_manager/env_manager_interfaces/msg/EnvState.msg new file mode 100644 index 0000000..fa4c82e --- /dev/null +++ b/env_manager/env_manager_interfaces/msg/EnvState.msg @@ -0,0 +1,4 @@ +string name +string type +string plugin_name +lifecycle_msgs/State state diff --git a/env_manager/env_manager_interfaces/package.xml b/env_manager/env_manager_interfaces/package.xml new file mode 100644 index 0000000..4fb3920 --- /dev/null +++ b/env_manager/env_manager_interfaces/package.xml @@ -0,0 +1,27 @@ + + + + env_manager_interfaces + 0.0.0 + TODO: Package description + solid-sinusoid + Apache-2.0 + + ament_cmake + rosidl_default_generators + + builtin_interfaces + lifecycle_msgs + + builtin_interfaces + lifecycle_msgs + rosidl_default_runtime + + ament_lint_auto + ament_lint_common + + rosidl_interface_packages + + ament_cmake + + diff --git a/env_manager/env_manager_interfaces/srv/ConfigureEnv.srv b/env_manager/env_manager_interfaces/srv/ConfigureEnv.srv new file mode 100644 index 0000000..4292382 --- /dev/null +++ b/env_manager/env_manager_interfaces/srv/ConfigureEnv.srv @@ -0,0 +1,3 @@ +string name +--- +bool ok \ No newline at end of file diff --git a/env_manager/env_manager_interfaces/srv/LoadEnv.srv b/env_manager/env_manager_interfaces/srv/LoadEnv.srv new file mode 100644 index 0000000..d6d46cc --- /dev/null +++ b/env_manager/env_manager_interfaces/srv/LoadEnv.srv @@ -0,0 +1,4 @@ +string name +string type +--- +bool ok \ No newline at end of file diff --git a/env_manager/env_manager_interfaces/srv/StartEnv.srv b/env_manager/env_manager_interfaces/srv/StartEnv.srv new file mode 100644 index 0000000..d6d46cc --- /dev/null +++ b/env_manager/env_manager_interfaces/srv/StartEnv.srv @@ -0,0 +1,4 @@ +string name +string type +--- +bool ok \ No newline at end of file diff --git a/env_manager/env_manager_interfaces/srv/UnloadEnv.srv b/env_manager/env_manager_interfaces/srv/UnloadEnv.srv new file mode 100644 index 0000000..4292382 --- /dev/null +++ b/env_manager/env_manager_interfaces/srv/UnloadEnv.srv @@ -0,0 +1,3 @@ +string name +--- +bool ok \ No newline at end of file diff --git a/env_manager/gz_enviroment/CMakeLists.txt b/env_manager/gz_enviroment/CMakeLists.txt new file mode 100644 index 0000000..bf496f1 --- /dev/null +++ b/env_manager/gz_enviroment/CMakeLists.txt @@ -0,0 +1,72 @@ +cmake_minimum_required(VERSION 3.8) +project(gz_enviroment) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +set(THIS_PACKAGE_INCLUDE_DEPENDS + rclcpp + rclcpp_lifecycle + tf2_ros + tf2_msgs + tf2_eigen + ros_gz + pluginlib + ignition-transport11 + ignition-msgs8 + ros_gz_bridge + env_interface + ignition-gazebo6 +) + +# find dependencies +find_package(ament_cmake REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( REQUIRED) +foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) + find_package(${Dependency} REQUIRED) +endforeach() + +# TODO: generate_parameter_library + + + +add_library(${PROJECT_NAME} SHARED src/gz_enviroment.cpp) +target_include_directories(${PROJECT_NAME} PUBLIC + $ + $ +) +ament_target_dependencies(${PROJECT_NAME} PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) +target_compile_definitions(${PROJECT_NAME} PRIVATE "GZENVIROMENT_BUILDING_DLL") +#TODO: replace rclcpp_lifecycle with custom interface class +pluginlib_export_plugin_description_file(env_interface gz_enviroment.xml) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +install( + DIRECTORY include/ + DESTINATION include/${PROJECT_NAME} +) + +install(TARGETS ${PROJECT_NAME} + EXPORT export_${PROJECT_NAME} + RUNTIME DESTINATION bin + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib +) + +ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET) +# ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) +ament_package() diff --git a/env_manager/gz_enviroment/LICENSE b/env_manager/gz_enviroment/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/env_manager/gz_enviroment/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/env_manager/gz_enviroment/gz_enviroment.xml b/env_manager/gz_enviroment/gz_enviroment.xml new file mode 100644 index 0000000..59d0901 --- /dev/null +++ b/env_manager/gz_enviroment/gz_enviroment.xml @@ -0,0 +1,7 @@ + + + Gazebo enviroment for env_manager + + \ No newline at end of file diff --git a/env_manager/gz_enviroment/include/gz_enviroment/gz_enviroment.hpp b/env_manager/gz_enviroment/include/gz_enviroment/gz_enviroment.hpp new file mode 100644 index 0000000..853b2ec --- /dev/null +++ b/env_manager/gz_enviroment/include/gz_enviroment/gz_enviroment.hpp @@ -0,0 +1,57 @@ +#include "rclcpp/rclcpp.hpp" +#include "rclcpp_lifecycle/lifecycle_node.hpp" +// #include "ros_gz_bridge/convert.hpp" +#include "env_interface/env_interface.hpp" +#include "gz/msgs/pose_v.pb.h" +#include +#include "geometry_msgs/msg/pose_array.hpp" +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +namespace gz_enviroment { +using CallbackReturn = + rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn; + +class GzEnviroment : public env_interface::EnvInterface { +public: + GzEnviroment(); + CallbackReturn on_init() override; + CallbackReturn on_configure(const rclcpp_lifecycle::State &) override; + CallbackReturn on_activate(const rclcpp_lifecycle::State &) override; + CallbackReturn on_deactivate(const rclcpp_lifecycle::State &) override; + CallbackReturn on_cleanup(const rclcpp_lifecycle::State &) override; + +protected: + void onGzPoseSub(const gz::msgs::Pose_V &pose_v); + + bool doGzSpawn(); + +private: + std::unique_ptr m_tf2_broadcaster; + std::unique_ptr m_tf2_broadcaster_target; + std::shared_ptr m_gz_node; + std::vector m_follow_frames; + std::string m_topic_name; + std::string m_service_spawn; + std::string m_world_name; + std::shared_ptr m_config_loader; + tf2_msgs::msg::TFMessage m_transforms; + tf2_msgs::msg::TFMessage m_target_places; + + std::string getGzWorldName(); + std::string createGzModelString(const std::vector &pose, + const std::vector &inertia, + const double &mass, + const std::string &mesh_filepath, + const std::string &name); +}; +} // namespace gz_enviroment diff --git a/env_manager/gz_enviroment/package.xml b/env_manager/gz_enviroment/package.xml new file mode 100644 index 0000000..65f99ad --- /dev/null +++ b/env_manager/gz_enviroment/package.xml @@ -0,0 +1,25 @@ + + + + gz_enviroment + 0.0.0 + TODO: Package description + bill-finger + Apache-2.0 + + ament_cmake + + rclcpp + rclcpp_lifecycle + tf2_ros + tf2_msgs + ros_gz + env_interface + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/env_manager/gz_enviroment/src/gz_enviroment.cpp b/env_manager/gz_enviroment/src/gz_enviroment.cpp new file mode 100644 index 0000000..89432c7 --- /dev/null +++ b/env_manager/gz_enviroment/src/gz_enviroment.cpp @@ -0,0 +1,211 @@ +#include "gz_enviroment/gz_enviroment.hpp" +#include "geometry_msgs/msg/pose_stamped.hpp" +#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" +#include "ros_gz_bridge/convert.hpp" +#include +#include +#include +#include + +#include +#include +#include +#include + +namespace gz_enviroment { + +GzEnviroment::GzEnviroment() : env_interface::EnvInterface() {} + +CallbackReturn GzEnviroment::on_init() { + RCLCPP_INFO(getNode()->get_logger(), "GzEnviroment in on_init()"); + gz::sim::EntityComponentManager ecm; + + const auto modelEntities = + ecm.EntitiesByComponents(gz::sim::components::Model()); + + for (const auto entity : modelEntities) { + const auto modelName = ecm.Component(entity); + if (modelName) { + RCLCPP_INFO_STREAM(getNode()->get_logger(), + "Model Name: " << modelName->Data()); + } + } + return CallbackReturn::SUCCESS; +} + +CallbackReturn GzEnviroment::on_configure(const rclcpp_lifecycle::State &) { + // Configuration of parameters + RCLCPP_INFO(getNode()->get_logger(), "GzEnviroment is on_configure"); + m_gz_node = std::make_shared(); + m_world_name = getGzWorldName(); + m_topic_name = std::string("/world/") + m_world_name + "/dynamic_pose/info"; + m_service_spawn = std::string("/world/") + m_world_name + "/create"; + m_config_loader = std::make_shared( + "asp-example2", getNode()); + m_follow_frames = m_config_loader->getSceneModelNames(); + // m_target_places = std::make_shared(); + m_transforms = m_config_loader->getTfData("bishop"); + // TODO add workspace viewer in Rviz + // m_config_loader->printWorkspace(); + + // if (!doGzSpawn()) + // { + // return CallbackReturn::ERROR; + // } + + return CallbackReturn::SUCCESS; +} + +CallbackReturn GzEnviroment::on_activate(const rclcpp_lifecycle::State &) { + // Setting up the subscribers and publishers + RCLCPP_INFO(getNode()->get_logger(), "GzEnviroment is on_activate"); + + m_gz_node->Subscribe(m_topic_name, &GzEnviroment::onGzPoseSub, this); + m_tf2_broadcaster = + std::make_unique(getNode()); + m_tf2_broadcaster_target = + std::make_unique(getNode()); + + return CallbackReturn::SUCCESS; +} + +CallbackReturn GzEnviroment::on_cleanup(const rclcpp_lifecycle::State &) { + RCLCPP_INFO(getNode()->get_logger(), "GzEnviroment is on_cleanup"); + // Clear variables on_cleanup + m_gz_node.reset(); + m_follow_frames.clear(); + m_topic_name.clear(); + m_service_spawn.clear(); + m_world_name.clear(); + m_config_loader.reset(); + m_transforms = tf2_msgs::msg::TFMessage(); + m_target_places = tf2_msgs::msg::TFMessage(); + + return CallbackReturn::SUCCESS; +} + +CallbackReturn GzEnviroment::on_deactivate(const rclcpp_lifecycle::State &) { + RCLCPP_INFO(getNode()->get_logger(), "GzEnviroment is on_deactivate"); + // What we should use here? + return CallbackReturn::SUCCESS; +} + +// TODO: Check to do this via EntityComponentManager +void GzEnviroment::onGzPoseSub(const gz::msgs::Pose_V &pose_v) { + // TODO: Read from config + // m_follow_frames = {"box1", "box2", "box3", "box4", "box5", "box6"}; + std::vector all_transforms{}; + + for (const auto &it : pose_v.pose()) { + if (std::find(m_follow_frames.begin(), m_follow_frames.end(), it.name()) == + m_follow_frames.end()) + continue; + + geometry_msgs::msg::PoseStamped rpose; + ros_gz_bridge::convert_gz_to_ros(it, rpose); + + geometry_msgs::msg::TransformStamped t; + t.header.stamp = getNode()->get_clock()->now(); + t.header.frame_id = "world"; + t.child_frame_id = it.name(); + + t.transform.translation.x = rpose.pose.position.x; + t.transform.translation.y = rpose.pose.position.y; + t.transform.translation.z = rpose.pose.position.z; + + t.transform.rotation.x = rpose.pose.orientation.x; + t.transform.rotation.y = rpose.pose.orientation.y; + t.transform.rotation.z = rpose.pose.orientation.z; + t.transform.rotation.w = rpose.pose.orientation.w; + + all_transforms.push_back(t); + } + + for (auto &place : m_transforms.transforms) { + all_transforms.push_back(place); + } + + for (auto &transform : all_transforms) { + m_tf2_broadcaster->sendTransform(transform); + } +} + +std::string GzEnviroment::getGzWorldName() { + bool executed{false}; + bool result{false}; + unsigned int timeout{5000}; + std::string service{"/gazebo/worlds"}; + gz::msgs::StringMsg_V worlds_msg; + + while (rclcpp::ok() && !executed) { + RCLCPP_INFO(getNode()->get_logger(), "Requesting list of world names."); + executed = m_gz_node->Request(service, timeout, worlds_msg, result); + } + + if (!executed) { + RCLCPP_INFO(getNode()->get_logger(), "Timed out when getting world names."); + return ""; + } + + if (!result || worlds_msg.data().empty()) { + RCLCPP_INFO(getNode()->get_logger(), "Failed to get world names."); + return ""; + } + RCLCPP_INFO(getNode()->get_logger(), "%s", worlds_msg.data(0).c_str()); + return worlds_msg.data(0); +} + +bool GzEnviroment::doGzSpawn() { + gz::msgs::EntityFactory req; + gz::msgs::Boolean rep; + bool result; + unsigned int timeout = 5000; + bool executed; + + auto env_models = m_config_loader->getEnvModels(); + for (auto &model : *env_models) { + std::string sdf_string = + createGzModelString(model.model_pose, model.model_inertia, model.mass, + model.mesh_path, model.model_name); + req.set_sdf(sdf_string); + executed = m_gz_node->Request(m_service_spawn, req, timeout, rep, result); + } + return executed; +} + +std::string GzEnviroment::createGzModelString( + const std::vector &pose, const std::vector &inertia, + const double &mass, const std::string &mesh_filepath, + const std::string &name) { + std::string model_template = + std::string("") + "" + + "" + "1" + "" + + std::to_string(pose[0]) + " " + std::to_string(pose[1]) + " " + + std::to_string(pose[2]) + " " + std::to_string(pose[3]) + " " + + std::to_string(pose[4]) + " " + std::to_string(pose[5]) + + "" + // + "" + // + "" + // + "" + std::to_string(inertia[0]) + "" + // + "" + std::to_string(inertia[1]) + "" + // + "" + std::to_string(inertia[2]) + "" + // + "" + std::to_string(inertia[3]) + "" + // + "" + std::to_string(inertia[4]) + "" + // + "" + std::to_string(inertia[5]) + "" + // + "" + // + "" + std::to_string(mass) + "" + // + "" + + "" + "file://" + + mesh_filepath + "" + "" + + "" + + "file://" + mesh_filepath + + "" + "" + "" + "" + + ""; + return model_template; +} + +} // namespace gz_enviroment + +#include "pluginlib/class_list_macros.hpp" +PLUGINLIB_EXPORT_CLASS(gz_enviroment::GzEnviroment, + env_interface::EnvInterface); diff --git a/env_manager/include/component_manager/client_component.hpp b/env_manager/include/component_manager/client_component.hpp deleted file mode 100644 index 07e34b2..0000000 --- a/env_manager/include/component_manager/client_component.hpp +++ /dev/null @@ -1,61 +0,0 @@ -#ifndef ENV_MANAGER__COMPONENT_MANAGER__CLIENT_COMPONENT_HPP_ -#define ENV_MANAGER__COMPONENT_MANAGER__CLIENT_COMPONENT_HPP_ - -#include "component_manager/visibility_control.h" - -#include "rclcpp/rclcpp.hpp" - -#include -#include -#include -#include - - -namespace env_manager -{ -namespace component_manager -{ - -using namespace std::chrono_literals; - -const std::string DEFAULT_CLIENT_NODE_NAME = "env_manager_client_node"; -const std::string DEFAULT_CLIENT_NAME = "client"; - -template -class ClientComponent: public rclcpp::Node -{ -public: - explicit ClientComponent(const rclcpp::NodeOptions& options) - : Node(DEFAULT_CLIENT_NODE_NAME, options) - { - _client = create_client(DEFAULT_CLIENT_NAME, 10); - } - - virtual void callback( - typename rclcpp::Client::SharedFuture future) = 0; - - void populate_request( - const std::shared_ptr& request) - { - while (!_client->wait_for_service(1s)) - { - if (rclcpp::ok()) - { - RCLCPP_ERROR(this->get_logger(), - "Client interrupted while waiting for service. Terminating..."); - } - } - - auto result_future = _client->async_send_request( - request, std::bind(&ClientComponent::callback, - this, std::placeholders::_1)); - } - -private: - typename rclcpp::Client::SharedPtr _client; -}; - -} // namespace component_manager -} // namespace env_manager - -#endif // ENV_MANAGER__COMPONENT_MANAGER__CLIENT_COMPONENT_HPP_ diff --git a/env_manager/include/component_manager/component_manager.hpp b/env_manager/include/component_manager/component_manager.hpp deleted file mode 100644 index 815044d..0000000 --- a/env_manager/include/component_manager/component_manager.hpp +++ /dev/null @@ -1,50 +0,0 @@ -#ifndef COMPONENT_MANAGER__COMPONENT_MANAGER_HPP_ -#define COMPONENT_MANAGER__COMPONENT_MANAGER_HPP_ - -#include "component_manager/visibility_control.h" -#include "config/options.hpp" - -#include -#include -#include -#include - -#include - - -namespace env_manager -{ -namespace component_manager -{ - -/** - * This class implements the system for managing and configuring loaded components. - * - * It is assumed that the loaded components are inherited from the classes - * provided in the library for each node type. - */ -class ComponentManager -{ -public: - ComponentManager(std::weak_ptr executor); - - void register_components( - const std::map &comps, - const std::map &nodes, - const std::string& ns); - - void remove_components_from_executor(); - - void remap_components_namespace(const std::string& ns); - -private: - std::weak_ptr _executor; - std::vector _loaders; - std::map _node_wrappers; - std::map _nodes; -}; - -} // namespace env_manager -} // namespace component_manager - -#endif // COMPONENT_MANAGER__COMPONENT_MANAGER_HPP_ diff --git a/env_manager/include/component_manager/node_component.hpp b/env_manager/include/component_manager/node_component.hpp deleted file mode 100644 index 482b698..0000000 --- a/env_manager/include/component_manager/node_component.hpp +++ /dev/null @@ -1,36 +0,0 @@ -#ifndef ENV_MANAGER__COMPONENT_MANAGER__NODE_COMPONENT_HPP__ -#define ENV_MANAGER__COMPONENT_MANAGER__NODE_COMPONENT_HPP__ - -#include "component_manager/visibility_control.h" - -#include "rclcpp/node.hpp" - -namespace env_manager -{ -namespace component_manager -{ - -const std::string DEFAULT_NODE_NODE_NAME = "env_manager_node"; - -//TODO: interhit all another components from this node_component -class NodeComponent: public rclcpp::Node -{ -public: - explicit NodeComponent(const rclcpp::NodeOptions& options) - :Node(DEFAULT_NODE_NODE_NAME, options) - { - auto ret = rcutils_logging_set_logger_level( - get_logger().get_name(), RCUTILS_LOG_SEVERITY_FATAL); - if (ret != RCUTILS_RET_OK) - { - RCLCPP_ERROR(get_logger(), - "Error setting severity: %s", rcutils_get_error_string().str); - rcutils_reset_error(); - } - } -}; - -} // namesapce component_manager -} // namesapce env_manager - -#endif // ENV_MANAGER__COMPONENT_MANAGER__NODE_COMPONENT_HPP__ diff --git a/env_manager/include/component_manager/publisher_component.hpp b/env_manager/include/component_manager/publisher_component.hpp deleted file mode 100644 index 5cec622..0000000 --- a/env_manager/include/component_manager/publisher_component.hpp +++ /dev/null @@ -1,46 +0,0 @@ -#ifndef ENV_MANAGER__COMPONENT_MANAGER__PUBLISHER_COMPONENT_HPP_ -#define ENV_MANAGER__COMPONENT_MANAGER__PUBLISHER_COMPONENT_HPP_ - -#include "component_manager/visibility_control.h" - -#include "rclcpp/rclcpp.hpp" - -namespace env_manager -{ -namespace component_manager -{ - -const std::string DEFAULT_PUB_NODE_NAME = "env_manager_pub_node"; -const std::string DEFAULT_PUB_TOPIC_NAME = "pub_topic"; - -template -class PublisherComponent: public rclcpp::Node -{ -public: - explicit PublisherComponent(const rclcpp::NodeOptions& options) - : Node(DEFAULT_PUB_NODE_NAME, options) - { - _pub = create_publisher(DEFAULT_PUB_TOPIC_NAME, 10); - auto ret = rcutils_logging_set_logger_level( - get_logger().get_name(), RCUTILS_LOG_SEVERITY_FATAL); - if (ret != RCUTILS_RET_OK) - { - RCLCPP_ERROR(get_logger(), - "Error setting severity: %s", rcutils_get_error_string().str); - rcutils_reset_error(); - } - } - - void populate_publication(const MessageT& msg) - { - _pub->publish(std::move(msg)); - } - -private: - typename rclcpp::Publisher::SharedPtr _pub; -}; - -} // namespace component_manager -} // namespace env_manager - -#endif // ENV_MANAGER__COMPONENT_MANAGER__PUBLISHER_COMPONENT_HPP_ diff --git a/env_manager/include/component_manager/service_component.hpp b/env_manager/include/component_manager/service_component.hpp deleted file mode 100644 index 86bac7c..0000000 --- a/env_manager/include/component_manager/service_component.hpp +++ /dev/null @@ -1,39 +0,0 @@ -#ifndef ENV_MANAGER__COMPONENT_MANAGER__SERVICE_COMPONENT_HPP_ -#define ENV_MANAGER__COMPONENT_MANAGER__SERVICE_COMPONENT_HPP_ - -#include "component_manager/visibility_control.h" - -#include - -namespace env_manager -{ -namespace component_manager -{ - -const std::string DEFAULT_SERVICE_NDOE_NAME = "env_manager_service_node"; -const std::string DEFAULT_SERVICE_NAME = "service"; - -template -class ServiceComponent: public rclcpp::Node -{ -public: - explicit ServiceComponent(const rclcpp::NodeOptions& options) - : Node(DEFAULT_SERVICE_NDOE_NAME, options) - { - _service = create_service( - DEFAULT_SERVICE_NAME, std::bind( - &ServiceComponent::callback, this, - std::placeholders::_1, std::placeholders::_2)); - } - - virtual void callback(std::shared_ptr request, - std::shared_ptr response) = 0; - -private: - typename rclcpp::Service::SharedPtr _service; -}; - -} // namespace component_manager -} // namespace env_manager - -#endif // ENV_MANAGER__COMPONENT_MANAGER__SERVICE_COMPONENT_HPP_ diff --git a/env_manager/include/component_manager/subscriber_component.hpp b/env_manager/include/component_manager/subscriber_component.hpp deleted file mode 100644 index 80fb873..0000000 --- a/env_manager/include/component_manager/subscriber_component.hpp +++ /dev/null @@ -1,44 +0,0 @@ -#ifndef ENV_MANAGER_COMPONENT_MANAGER_SUBSCRIBER_COMPONENT_HPP_ -#define ENV_MANAGER_COMPONENT_MANAGER_SUBSCRIBER_COMPONENT_HPP_ - -#include -#include - -#include "rclcpp/rclcpp.hpp" - -namespace env_manager -{ -namespace component_manager -{ - -const std::string DEFAULT_SUB_NODE_NAME = "env_manager_sub_node"; -const std::string DEFAULT_SUB_TOPIC_NAME = "sub_topic"; - -template -class SubscriberComponent : public rclcpp::Node -{ -public: - explicit SubscriberComponent(const rclcpp::NodeOptions& options) - : Node(DEFAULT_SUB_NODE_NAME, options) - { - _sub = create_subscription( - DEFAULT_SUB_TOPIC_NAME, 10, this->callback); - auto ret = rcutils_logging_set_logger_level( - get_logger().get_name(), RCUTILS_LOG_SEVERITY_FATAL); - if (ret != RCUTILS_RET_OK) - { - RCLCPP_ERROR(get_logger(), "Error setting severity: %s", rcutils_get_error_string().str); - rcutils_reset_error(); - } - } - - virtual void callback(const MessageT& msg) = 0; - -private: - typename rclcpp::Subscription::SharedPtr _sub; -}; - -} // namespace component_manager -} // namespace env_manager - -#endif // ENV_MANAGER_COMPONENT_MANAGER_SUBSCRIBER_COMPONENT_HPP_ diff --git a/env_manager/include/component_manager/visibility_control.h b/env_manager/include/component_manager/visibility_control.h deleted file mode 100644 index e26be49..0000000 --- a/env_manager/include/component_manager/visibility_control.h +++ /dev/null @@ -1,35 +0,0 @@ -#ifndef COMPONENT_MANAGER__VISIBILITY_CONTROL_H_ -#define COMPONENT_MANAGER__VISIBILITY_CONTROL_H_ - -// This logic was borrowed (then namespaced) from the examples on the gcc wiki: -// https://gcc.gnu.org/wiki/Visibility - -#if defined _WIN32 || defined __CYGWIN__ - #ifdef __GNUC__ - #define COMPONENT_MANAGER_EXPORT __attribute__ ((dllexport)) - #define COMPONENT_MANAGER_IMPORT __attribute__ ((dllimport)) - #else - #define COMPONENT_MANAGER_EXPORT __declspec(dllexport) - #define COMPONENT_MANAGER_IMPORT __declspec(dllimport) - #endif - #ifdef COMPONENT_MANAGER_BUILDING_LIBRARY - #define COMPONENT_MANAGER_PUBLIC COMPONENT_MANAGER_EXPORT - #else - #define COMPONENT_MANAGER_PUBLIC COMPONENT_MANAGER_IMPORT - #endif - #define COMPONENT_MANAGER_PUBLIC_TYPE COMPONENT_MANAGER_PUBLIC - #define COMPONENT_MANAGER_LOCAL -#else - #define COMPONENT_MANAGER_EXPORT __attribute__ ((visibility("default"))) - #define COMPONENT_MANAGER_IMPORT - #if __GNUC__ >= 4 - #define COMPONENT_MANAGER_PUBLIC __attribute__ ((visibility("default"))) - #define COMPONENT_MANAGER_LOCAL __attribute__ ((visibility("hidden"))) - #else - #define COMPONENT_MANAGER_PUBLIC - #define COMPONENT_MANAGER_LOCAL - #endif - #define COMPONENT_MANAGER_PUBLIC_TYPE -#endif - -#endif // COMPONENT_MANAGER__VISIBILITY_CONTROL_H_ diff --git a/env_manager/include/config/config.hpp.cmake b/env_manager/include/config/config.hpp.cmake deleted file mode 100644 index 708944f..0000000 --- a/env_manager/include/config/config.hpp.cmake +++ /dev/null @@ -1,15 +0,0 @@ -#ifndef ENV_MANAGER_CONFIG_CONFIG_H_ -#define ENV_MANAGER_CONFIG_CONFIG_H_ - -namespace env_manager -{ -namespace config -{ - -constexpr char kConfigurationFilesDirectory[] = "@ENV_MANAGER_CONFIGURATION_FILES_DIRECTORY@"; -constexpr char kSourceDirectory[] = "@PROJECT_SOURCE_DIR@"; - -} // namespace config -} // namespace env_manager - -#endif // ENV_MANAGER_CONFIG_CONFIG_H_ diff --git a/env_manager/include/config/config_file_resolver.hpp b/env_manager/include/config/config_file_resolver.hpp deleted file mode 100644 index 28848d0..0000000 --- a/env_manager/include/config/config_file_resolver.hpp +++ /dev/null @@ -1,28 +0,0 @@ -#ifndef ENV_MANAGER_CONFIG_CONFIG_FILE_RESOLVER_H_ -#define ENV_MANAGER_CONFIG_CONFIG_FILE_RESOLVER_H_ - -#include "lua_file_resolver.hpp" - -namespace env_manager -{ -namespace config -{ - -class ConfigurationFileResolver : public FileResolver -{ -public: - explicit ConfigurationFileResolver( - const std::vector& cfg_files_dirs); - - std::string GetPath(const std::string& basename) const; - std::string GetContent(const std::string& basename) const; - -private: - std::vector _config_files_dirs; - -}; - -} // namespace config -} // namespace env_manager - -#endif // ENV_MANAGER_CONFIG_CONFIG_FILE_RESOLVER_H_ diff --git a/env_manager/include/config/lua_file_resolver.hpp b/env_manager/include/config/lua_file_resolver.hpp deleted file mode 100644 index 2c9d900..0000000 --- a/env_manager/include/config/lua_file_resolver.hpp +++ /dev/null @@ -1,129 +0,0 @@ -#ifndef ENV_MANAGER_CONFIG_LUA_FILE_RESOLVER_H_ -#define ENV_MANAGER_CONFIG_LUA_FILE_RESOLVER_H_ - -#include "lua.hpp" -#include -#include -#include -#include - -namespace env_manager -{ -namespace config -{ - -class FileResolver -{ -public: - virtual ~FileResolver() {} - virtual std::string GetPath(const std::string& basename) const = 0; - virtual std::string GetContent(const std::string& basename) const = 0; -}; - -class LuaParameterDictionary { - public: - // Constructs the dictionary from a Lua Table specification. - LuaParameterDictionary(const std::string& code, - std::unique_ptr file_resolver); - - LuaParameterDictionary(const LuaParameterDictionary&) = delete; - LuaParameterDictionary& operator=(const LuaParameterDictionary&) = delete; - - // Constructs a LuaParameterDictionary without reference counting. - static std::unique_ptr NonReferenceCounted( - const std::string& code, std::unique_ptr file_resolver); - - ~LuaParameterDictionary(); - - // Returns all available keys. - std::vector GetKeys() const; - - // Returns true if the key is in this dictionary. - bool HasKey(const std::string& key) const; - - // These methods CHECK() that the 'key' exists. - std::string GetString(const std::string& key); - double GetDouble(const std::string& key); - int GetInt(const std::string& key); - bool GetBool(const std::string& key); - std::unique_ptr GetDictionary(const std::string& key); - - // Gets an int from the dictionary and CHECK()s that it is non-negative. - int GetNonNegativeInt(const std::string& key); - - // Returns a string representation for this LuaParameterDictionary. - std::string ToString() const; - - // Returns the values of the keys '1', '2', '3' as the given types. - std::vector GetArrayValuesAsDoubles(); - std::vector GetArrayValuesAsStrings(); - std::vector> - GetArrayValuesAsDictionaries(); - - private: - enum class ReferenceCount { YES, NO }; - LuaParameterDictionary(const std::string& code, - ReferenceCount reference_count, - std::unique_ptr file_resolver); - - // For GetDictionary(). - LuaParameterDictionary(lua_State* L, ReferenceCount reference_count, - std::shared_ptr file_resolver); - - // Function that recurses to keep track of indent for ToString(). - std::string DoToString(const std::string& indent) const; - - // Pop the top of the stack and CHECKs that the type is correct. - double PopDouble() const; - int PopInt() const; - bool PopBool() const; - - // Pop the top of the stack and CHECKs that it is a string. The returned value - // is either quoted to be suitable to be read back by a Lua interpretor or - // not. - enum class Quoted { YES, NO }; - std::string PopString(Quoted quoted) const; - - // Creates a LuaParameterDictionary from the Lua table at the top of the - // stack, either with or without reference counting. - std::unique_ptr PopDictionary( - ReferenceCount reference_count) const; - - // CHECK() that 'key' is in the dictionary. - void CheckHasKey(const std::string& key) const; - - // CHECK() that 'key' is in this dictionary and reference it as being used. - void CheckHasKeyAndReference(const std::string& key); - - // If desired, this can be called in the destructor of a derived class. It - // will CHECK() that all keys defined in the configuration have been used - // exactly once and resets the reference counter. - void CheckAllKeysWereUsedExactlyOnceAndReset(); - - // Reads a file into a Lua string. - static int LuaRead(lua_State* L); - - // Handles inclusion of other Lua files and prevents double inclusion. - static int LuaInclude(lua_State* L); - - lua_State* L_; // The name is by convention in the Lua World. - int index_into_reference_table_; - - // This is shared with all the sub dictionaries. - const std::shared_ptr file_resolver_; - - // If true will check that all keys were used on destruction. - const ReferenceCount reference_count_; - - // This is modified with every call to Get* in order to verify that all - // parameters are read exactly once. - std::map reference_counts_; - - // List of all included files in order of inclusion. Used to prevent double - // inclusion. - std::vector included_files_; -}; -} // namespce config -} // namespace env_manager - -#endif // ENV_MANAGER_CONFIG_LUA_FILE_RESOLVER_H_ diff --git a/env_manager/include/config/options.hpp b/env_manager/include/config/options.hpp deleted file mode 100644 index 190c23f..0000000 --- a/env_manager/include/config/options.hpp +++ /dev/null @@ -1,58 +0,0 @@ -#ifndef ENV_MANAGER_CONFIG_OPTIONS_HPP_ -#define ENV_MANAGER_CONFIG_OPTIONS_HPP_ - -#include "config/lua_file_resolver.hpp" - -#include - -namespace env_manager -{ -namespace config -{ - -struct ComponentOption -{ - static ComponentOption create_option( - LuaParameterDictionary* lua_parameter_dictionary); - std::string library; - std::string class_name; -}; - -struct EnvironmentOption -{ - static EnvironmentOption create_option( - LuaParameterDictionary* lua_parameter_dictionary); - std::string ns; - std::map components; -}; - -struct NodeOption -{ - enum NodeType - { - Publisher, - Subscriber, - Service, - Client, - Node - }; - - static NodeOption create_option( - LuaParameterDictionary* lua_parameter_dictionary); - std::string name; - std::string msg_type; - NodeType type; - static const std::unordered_map node_type_remap; -}; - -struct EnvManagerOption -{ - static EnvManagerOption create_option( - LuaParameterDictionary* lua_parameter_dictionary); - std::map environments; - std::map nodes; -}; - -} -} -#endif // ENV_MANAGER_CONFIG_OPTIONS_HPP_ diff --git a/env_manager/include/env_manager/environment_base.hpp b/env_manager/include/env_manager/environment_base.hpp deleted file mode 100644 index e69de29..0000000 diff --git a/env_manager/include/env_manager/environment_manager.hpp b/env_manager/include/env_manager/environment_manager.hpp deleted file mode 100644 index e69de29..0000000 diff --git a/env_manager/include/env_manager/environment_node_manager.hpp b/env_manager/include/env_manager/environment_node_manager.hpp deleted file mode 100644 index cb5bca6..0000000 --- a/env_manager/include/env_manager/environment_node_manager.hpp +++ /dev/null @@ -1,30 +0,0 @@ -#ifndef ENV_MANAGER__ENVIRONMENT_NODE_MANAGER_HPP_ -#define ENV_MANAGER__ENVIRONMENT_NODE_MANAGER_HPP_ - -#include "config/options.hpp" - -#include - -#include -#include - -extern "C" -{ -#include -#include -} - -namespace env_manager -{ - -class EnvironmentNodeManager -{ -public: - EnvironmentNodeManager(); - - ~EnvironmentNodeManager(); -}; - -} // namespace env_manager - -#endif // ENV_MANAGER__ENVIRONMENT_NODE_MANAGER_HPP_ diff --git a/env_manager/planning_scene_manager/CMakeLists.txt b/env_manager/planning_scene_manager/CMakeLists.txt new file mode 100644 index 0000000..4a46988 --- /dev/null +++ b/env_manager/planning_scene_manager/CMakeLists.txt @@ -0,0 +1,26 @@ +cmake_minimum_required(VERSION 3.8) +project(planning_scene_manager) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/env_manager/planning_scene_manager/LICENSE b/env_manager/planning_scene_manager/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/env_manager/planning_scene_manager/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/env_manager/planning_scene_manager/include/planning_scene_manager/planning_scene_manager.hpp b/env_manager/planning_scene_manager/include/planning_scene_manager/planning_scene_manager.hpp new file mode 100644 index 0000000..a3023e8 --- /dev/null +++ b/env_manager/planning_scene_manager/include/planning_scene_manager/planning_scene_manager.hpp @@ -0,0 +1,29 @@ +#ifndef __PLANNING_SCENE_MANAGER_H__ +#define __PLANNING_SCENE_MANAGER_H__ + +#include "rclcpp/rclcpp.hpp" +#include "moveit/planning_scene_monitor/planning_scene_monitor.h" + +namespace planning_scene_manager +{ +class PlanningSceneManager : public planning_scene_monitor::PlanningSceneMonitor +{ +public: + PlanningSceneManager(); + + bool GetPlanningObject(); + bool SetPlanningObject(); + + bool SetPlanningScene(); + bool GetPlanningScene(); + + bool UpdatePlanningScene(); + +private: + +}; + + +} // namespace planning_scene_manager + +#endif // __PLANNING_SCENE_MANAGER_H__ \ No newline at end of file diff --git a/env_manager/package.xml b/env_manager/planning_scene_manager/package.xml similarity index 56% rename from env_manager/package.xml rename to env_manager/planning_scene_manager/package.xml index 4a1128c..ea47535 100644 --- a/env_manager/package.xml +++ b/env_manager/planning_scene_manager/package.xml @@ -1,16 +1,13 @@ - env_manager + planning_scene_manager 0.0.0 - env_manager - splinter1984 - Apache-2.0 + TODO: Package description + Bill Finger + Apache-2.0 - ament_cmake_ros - - boost - rcl + ament_cmake ament_lint_auto ament_lint_common diff --git a/env_manager/planning_scene_manager/src/planning_scene_manager.cpp b/env_manager/planning_scene_manager/src/planning_scene_manager.cpp new file mode 100644 index 0000000..8c9ab4a --- /dev/null +++ b/env_manager/planning_scene_manager/src/planning_scene_manager.cpp @@ -0,0 +1,31 @@ +#include "planning_scene_manager/planning_scene_manager.hpp" +#include "moveit_msgs/msg/collision_object.hpp" +#include "moveit/planning_scene_interface/planning_scene_interface.h" + +namespace planning_scene_manager +{ + +bool PlanningSceneManager::SetPlanningObject() +{ + moveit_msgs::msg::CollisionObject object; + std::shared_ptr pcm_; + planning_scene_monitor::LockedPlanningSceneRW scene(pcm_); + scene->removeAllCollisionObjects(); + RCLCPP_INFO(pnode_->get_logger(), "All object has been delete"); + return true; +} + +} // namespace planning_scene_manager + +int main(int argc, char** argv) +{ + rclcpp::init(argc, argv); + auto node = std::make_shared(); + + // Добавляем объект в сцену коллизии + node->SetPlanningObject(); + + rclcpp::spin(node); + rclcpp::shutdown(); + return 0; +} \ No newline at end of file diff --git a/env_manager/src/component_manager/component_manager.cpp b/env_manager/src/component_manager/component_manager.cpp deleted file mode 100644 index 96bf858..0000000 --- a/env_manager/src/component_manager/component_manager.cpp +++ /dev/null @@ -1,159 +0,0 @@ -#include "component_manager/component_manager.hpp" -#include "component_manager/node_component.hpp" -#include "component_manager/publisher_component.hpp" -#include "component_manager/subscriber_component.hpp" -#include "component_manager/service_component.hpp" -#include "component_manager/client_component.hpp" -#include "glog/logging.h" - -#include "rcl/remap.h" -#include - -namespace env_manager -{ -namespace component_manager -{ - -ComponentManager::ComponentManager(std::weak_ptr executor) - : _executor(executor) -{ -} - -static rclcpp::NodeOptions create_options( - const config::NodeOption &node_opts, - const std::string &node_name, - const std::string &ns) -{ - rclcpp::NodeOptions opts; - std::vector args = {"--ros-args", - "--disable-rosout-logs", - "--disable-stdout-logs", - "--enable-external-lib-logs", - "--log-level", "WARN", - }; - args.push_back("-r"); - args.push_back("__ns:=/" + ns); - args.push_back("-r"); - args.push_back("__node:=" + node_name); - args.push_back("-r"); - - switch (node_opts.type) - { - case config::NodeOption::NodeType::Publisher: - args.push_back(DEFAULT_PUB_TOPIC_NAME + ":=" + node_opts.name); - break; - case config::NodeOption::NodeType::Subscriber: - args.push_back(DEFAULT_SUB_TOPIC_NAME + ":=" + node_opts.name); - break; - case config::NodeOption::NodeType::Service: - args.push_back(DEFAULT_SERVICE_NAME + ":=" + node_opts.name); - break; - case config::NodeOption::NodeType::Client: - args.push_back(DEFAULT_CLIENT_NAME + ":=" + node_opts.name); - break; - case config::NodeOption::NodeType::Node: - args.erase(args.end()); - break; - } - - opts.arguments(args); - - return opts; -} - -static rclcpp::NodeOptions create_default_options(const std::string &ns) -{ - rclcpp::NodeOptions opts; - opts.arguments({ - "--ros-args", "-r", std::string("__ns:=/" + ns), - "--disable-rosout-logs", - "--disable-stdout-logs", - "--enable-external-lib-logs", - "--log-level", "FATAL", - }); - - return opts; -} - -void ComponentManager::register_components( - const std::map &comps, - const std::map &nodes, - const std::string& ns) -{ - if (comps.empty()) - return; - - for (const auto &[name, comp]: comps) - { - auto class_name = "rclcpp_components::NodeFactoryTemplate<" + comp.class_name + ">"; - - LOG(INFO) << "Provide lib: " << comp.library << " namespace: " + ns; - auto loader = new class_loader::ClassLoader(comp.library); - auto classes = - loader->getAvailableClasses(); - - for (auto clazz: classes) - { - if (clazz != class_name) - continue; - rclcpp::NodeOptions opts = create_default_options(ns); - if (clazz == class_name) - { - auto node_opts = nodes.at(name); - opts = create_options(node_opts, name, ns); - } - LOG(INFO) << "Create instance of class: " << clazz; - auto node_factory = - loader->createInstance(clazz); - auto wrapper = node_factory->create_node_instance(opts); - auto node = wrapper.get_node_base_interface(); - - _node_wrappers.insert({name, wrapper}); - _nodes.insert({name, node}); - if (auto exec = _executor.lock()) - exec->add_node(node); - } - - _loaders.push_back(loader); - } -} - -void ComponentManager::remap_components_namespace(const std::string &ns) -{ - char* nms = const_cast(ns.c_str()); - for (auto& [name, wrapper]: _node_wrappers) - { - auto node = (rclcpp::Node*)wrapper.get_node_instance().get(); - auto opts = node->get_node_options(); - auto ret = rcl_remap_node_namespace( - &opts.get_rcl_node_options()->arguments, - NULL, node->get_name(), rcl_get_default_allocator(), - &nms); - - if (ret == RCL_RET_OK) - LOG(INFO) << "Succesfully remap node with ns: " + ns; - } - - //std::logic_error("Not implemented." + ns); -} - -void ComponentManager::remove_components_from_executor() -{ - if (_nodes.empty()) - { - LOG(WARNING) << "Unable to remove nodes from executor."; - return; - } - - if (auto exec = _executor.lock()) - { - for (const auto &[node_name, node]: _nodes) - { - LOG(INFO) << "Remove node '" << node_name << "' from executor."; - exec->remove_node(node); - } - } -} - -} // namespace env_manager -} // namespace component_manager diff --git a/env_manager/src/config/config_file_resolver.cpp b/env_manager/src/config/config_file_resolver.cpp deleted file mode 100644 index f945deb..0000000 --- a/env_manager/src/config/config_file_resolver.cpp +++ /dev/null @@ -1,51 +0,0 @@ -#include "config/config_file_resolver.hpp" - -#include -#include -#include - -#include "config/config.hpp" - -#include - -namespace env_manager -{ -namespace config -{ - -ConfigurationFileResolver::ConfigurationFileResolver( - const std::vector& cfg_files_dirs) - : _config_files_dirs(cfg_files_dirs) -{ - _config_files_dirs.push_back(kConfigurationFilesDirectory); -} - -std::string ConfigurationFileResolver::GetPath( - const std::string &basename) const -{ - for (const auto& path: _config_files_dirs) - { - const std::string filename = path + "/" + basename; - std::ifstream stream(filename.c_str()); - if (stream.good()) - { - LOG(INFO) << "found filename: " << filename; - return filename; - } - } - - LOG(FATAL) << "File '" << basename << "' was not found."; -} - -std::string ConfigurationFileResolver::GetContent( - const std::string &basename) const -{ - CHECK(!basename.empty()) << "File basename cannot be empty." << basename; - const std::string filename = GetPath(basename); - std::ifstream stream(filename.c_str()); - return std::string(std::istreambuf_iterator(stream), - std::istreambuf_iterator()); -} - -} // namespace config -} // namespace env_manager diff --git a/env_manager/src/config/lua_file_resolver.cpp b/env_manager/src/config/lua_file_resolver.cpp deleted file mode 100644 index 71ec231..0000000 --- a/env_manager/src/config/lua_file_resolver.cpp +++ /dev/null @@ -1,446 +0,0 @@ -#include "config/lua_file_resolver.hpp" -#include "glog/logging.h" - -#include -#include -#include -#include - -namespace env_manager -{ -namespace config -{ - -namespace { -// Replace the string at the top of the stack through a quoted version that Lua -// can read back. -void QuoteStringOnStack(lua_State* L) { - CHECK(lua_isstring(L, -1)) << "Top of stack is not a string value."; - int current_index = lua_gettop(L); - - // S: ... string - lua_pushglobaltable(L); // S: ... string globals - lua_getfield(L, -1, "string"); // S: ... string globals - lua_getfield(L, -1, - "format"); // S: ... string globals format - lua_pushstring(L, "%q"); // S: ... string globals format "%q" - lua_pushvalue(L, current_index); // S: ... string globals - // format "%q" string - - lua_call(L, 2, 1); // S: ... string globals quoted - lua_replace(L, current_index); // S: ... quoted globals - - lua_pop(L, 2); // S: ... quoted -} - -// Sets the given 'dictionary' as the value of the "this" key in Lua's registry -// table. -void SetDictionaryInRegistry(lua_State* L, LuaParameterDictionary* dictionary) { - lua_pushstring(L, "this"); - lua_pushlightuserdata(L, dictionary); - lua_settable(L, LUA_REGISTRYINDEX); -} - -// Gets the 'dictionary' from the "this" key in Lua's registry table. -LuaParameterDictionary* GetDictionaryFromRegistry(lua_State* L) { - lua_pushstring(L, "this"); - lua_gettable(L, LUA_REGISTRYINDEX); - void* return_value = lua_isnil(L, -1) ? nullptr : lua_touserdata(L, -1); - lua_pop(L, 1); - CHECK(return_value != nullptr); - return reinterpret_cast(return_value); -} - -// CHECK()s if a Lua method returned an error. -void CheckForLuaErrors(lua_State* L, int status) { - CHECK_EQ(status, 0) << lua_tostring(L, -1); -} - -// Returns 'a' if 'condition' is true, else 'b'. -int LuaChoose(lua_State* L) { - CHECK_EQ(lua_gettop(L), 3) << "choose() takes (condition, a, b)."; - CHECK(lua_isboolean(L, 1)) << "condition is not a boolean value."; - - const bool condition = lua_toboolean(L, 1); - if (condition) { - lua_pushvalue(L, 2); - } else { - lua_pushvalue(L, 3); - } - return 1; -} - -// Pushes a value to the Lua stack. -void PushValue(lua_State* L, const int key) { lua_pushinteger(L, key); } -void PushValue(lua_State* L, const std::string& key) { - lua_pushstring(L, key.c_str()); -} - -// Reads the value with the given 'key' from the Lua dictionary and pushes it to -// the top of the stack. -template -void GetValueFromLuaTable(lua_State* L, const T& key) { - PushValue(L, key); - lua_rawget(L, -2); -} - -// CHECK() that the topmost parameter on the Lua stack is a table. -void CheckTableIsAtTopOfStack(lua_State* L) { - CHECK(lua_istable(L, -1)) << "Topmost item on Lua stack is not a table!"; -} - -// Returns true if 'key' is in the table at the top of the Lua stack. -template -bool HasKeyOfType(lua_State* L, const T& key) { - CheckTableIsAtTopOfStack(L); - PushValue(L, key); - lua_rawget(L, -2); - const bool key_not_found = lua_isnil(L, -1); - lua_pop(L, 1); // Pop the item again. - return !key_not_found; -} - -// Iterates over the integer keys of the table at the top of the stack of 'L• -// and pushes the values one by one. 'pop_value' is expected to pop a value and -// put them into a C++ container. -void GetArrayValues(lua_State* L, const std::function& pop_value) { - int idx = 1; - while (true) { - GetValueFromLuaTable(L, idx); - if (lua_isnil(L, -1)) { - lua_pop(L, 1); - break; - } - pop_value(); - ++idx; - } -} - -} // namespace - -std::unique_ptr -LuaParameterDictionary::NonReferenceCounted( - const std::string& code, std::unique_ptr file_resolver) { - return std::unique_ptr(new LuaParameterDictionary( - code, ReferenceCount::NO, std::move(file_resolver))); -} - -LuaParameterDictionary::LuaParameterDictionary( - const std::string& code, std::unique_ptr file_resolver) - : LuaParameterDictionary(code, ReferenceCount::YES, - std::move(file_resolver)) {} - -LuaParameterDictionary::LuaParameterDictionary( - const std::string& code, ReferenceCount reference_count, - std::unique_ptr file_resolver) - : L_(luaL_newstate()), - index_into_reference_table_(-1), - file_resolver_(std::move(file_resolver)), - reference_count_(reference_count) { - CHECK_NOTNULL(L_); - SetDictionaryInRegistry(L_, this); - - luaL_openlibs(L_); - - lua_register(L_, "choose", LuaChoose); - lua_register(L_, "include", LuaInclude); - lua_register(L_, "read", LuaRead); - - CheckForLuaErrors(L_, luaL_loadstring(L_, code.c_str())); - CheckForLuaErrors(L_, lua_pcall(L_, 0, 1, 0)); - CheckTableIsAtTopOfStack(L_); -} - -LuaParameterDictionary::LuaParameterDictionary( - lua_State* const L, ReferenceCount reference_count, - std::shared_ptr file_resolver) - : L_(lua_newthread(L)), - file_resolver_(std::move(file_resolver)), - reference_count_(reference_count) { - CHECK_NOTNULL(L_); - - // Make sure this is never garbage collected. - CHECK(lua_isthread(L, -1)); - index_into_reference_table_ = luaL_ref(L, LUA_REGISTRYINDEX); - - CHECK(lua_istable(L, -1)) << "Topmost item on Lua stack is not a table!"; - lua_xmove(L, L_, 1); // Moves the table and the coroutine over. - CheckTableIsAtTopOfStack(L_); -} - -LuaParameterDictionary::~LuaParameterDictionary() { - if (reference_count_ == ReferenceCount::YES) { - //CheckAllKeysWereUsedExactlyOnceAndReset(); - } - if (index_into_reference_table_ > 0) { - luaL_unref(L_, LUA_REGISTRYINDEX, index_into_reference_table_); - } else { - lua_close(L_); - } -} - -std::vector LuaParameterDictionary::GetKeys() const { - CheckTableIsAtTopOfStack(L_); - std::vector keys; - - lua_pushnil(L_); // Push the first key - while (lua_next(L_, -2) != 0) { - lua_pop(L_, 1); // Pop value, keep key. - if (!lua_isnumber(L_, -1)) { - keys.emplace_back(lua_tostring(L_, -1)); - } - } - return keys; -} - -bool LuaParameterDictionary::HasKey(const std::string& key) const { - return HasKeyOfType(L_, key); -} - -std::string LuaParameterDictionary::GetString(const std::string& key) { - CheckHasKeyAndReference(key); - GetValueFromLuaTable(L_, key); - return PopString(Quoted::NO); -} - -std::string LuaParameterDictionary::PopString(Quoted quoted) const { - CHECK(lua_isstring(L_, -1)) << "Top of stack is not a string value."; - if (quoted == Quoted::YES) { - QuoteStringOnStack(L_); - } - - const std::string value = lua_tostring(L_, -1); - lua_pop(L_, 1); - return value; -} - -double LuaParameterDictionary::GetDouble(const std::string& key) { - CheckHasKeyAndReference(key); - GetValueFromLuaTable(L_, key); - return PopDouble(); -} - -double LuaParameterDictionary::PopDouble() const { - CHECK(lua_isnumber(L_, -1)) << "Top of stack is not a number value."; - const double value = lua_tonumber(L_, -1); - lua_pop(L_, 1); - return value; -} - -int LuaParameterDictionary::GetInt(const std::string& key) { - CheckHasKeyAndReference(key); - GetValueFromLuaTable(L_, key); - return PopInt(); -} - -int LuaParameterDictionary::PopInt() const { - CHECK(lua_isnumber(L_, -1)) << "Top of stack is not a number value."; - const int value = lua_tointeger(L_, -1); - lua_pop(L_, 1); - return value; -} - -bool LuaParameterDictionary::GetBool(const std::string& key) { - CheckHasKeyAndReference(key); - GetValueFromLuaTable(L_, key); - return PopBool(); -} - -bool LuaParameterDictionary::PopBool() const { - CHECK(lua_isboolean(L_, -1)) << "Top of stack is not a boolean value."; - const bool value = lua_toboolean(L_, -1); - lua_pop(L_, 1); - return value; -} - -std::unique_ptr LuaParameterDictionary::GetDictionary( - const std::string& key) { - CheckHasKeyAndReference(key); - GetValueFromLuaTable(L_, key); - return PopDictionary(reference_count_); -} - -std::unique_ptr LuaParameterDictionary::PopDictionary( - ReferenceCount reference_count) const { - CheckTableIsAtTopOfStack(L_); - std::unique_ptr value( - new LuaParameterDictionary(L_, reference_count, file_resolver_)); - // The constructor lua_xmove()s the value, no need to pop it. - CheckTableIsAtTopOfStack(L_); - return value; -} - -std::string LuaParameterDictionary::DoToString( - const std::string& indent) const { - std::string result = "{"; - bool dictionary_is_empty = true; - - const auto top_of_stack_to_string = [this, indent, - &dictionary_is_empty]() -> std::string { - dictionary_is_empty = false; - - const int value_type = lua_type(L_, -1); - switch (value_type) { - case LUA_TBOOLEAN: - return PopBool() ? "true" : "false"; - break; - case LUA_TSTRING: - return PopString(Quoted::YES); - break; - case LUA_TNUMBER: { - const double value = PopDouble(); - if (std::isinf(value)) { - return value < 0 ? "-math.huge" : "math.huge"; - } else { - return std::to_string(value); - } - } break; - case LUA_TTABLE: { - std::unique_ptr subdict( - PopDictionary(ReferenceCount::NO)); - return subdict->DoToString(indent + " "); - } break; - default: - LOG(FATAL) << "Unhandled type " << lua_typename(L_, value_type); - } - }; - - // Integer (array) keys. - for (int i = 1; i; ++i) { - GetValueFromLuaTable(L_, i); - if (lua_isnil(L_, -1)) { - lua_pop(L_, 1); - break; - } - result.append("\n"); - result.append(indent); - result.append(" "); - result.append(top_of_stack_to_string()); - result.append(","); - } - - // String keys. - std::vector keys = GetKeys(); - if (!keys.empty()) { - std::sort(keys.begin(), keys.end()); - for (const std::string& key : keys) { - GetValueFromLuaTable(L_, key); - result.append("\n"); - result.append(indent); - result.append(" "); - result.append(key); - result.append(" = "); - result.append(top_of_stack_to_string()); - result.append(","); - } - } - result.append("\n"); - result.append(indent); - result.append("}"); - - if (dictionary_is_empty) { - return "{}"; - } - return result; -} - -std::string LuaParameterDictionary::ToString() const { return DoToString(""); } - -std::vector LuaParameterDictionary::GetArrayValuesAsDoubles() { - std::vector values; - GetArrayValues(L_, [&values, this] { values.push_back(PopDouble()); }); - return values; -} - -std::vector> -LuaParameterDictionary::GetArrayValuesAsDictionaries() { - std::vector> values; - GetArrayValues(L_, [&values, this] { - values.push_back(PopDictionary(reference_count_)); - }); - return values; -} - -std::vector LuaParameterDictionary::GetArrayValuesAsStrings() { - std::vector values; - GetArrayValues(L_, - [&values, this] { values.push_back(PopString(Quoted::NO)); }); - return values; -} - -void LuaParameterDictionary::CheckHasKey(const std::string& key) const { - CHECK(HasKey(key)) << "Key '" << key << "' not in dictionary:\n" - << ToString(); -} - -void LuaParameterDictionary::CheckHasKeyAndReference(const std::string& key) { - CheckHasKey(key); - reference_counts_[key]++; -} - -void LuaParameterDictionary::CheckAllKeysWereUsedExactlyOnceAndReset() { - for (const auto& key : GetKeys()) { - CHECK_EQ(1, reference_counts_.count(key)) - << "Key '" << key << "' was used the wrong number of times."; - CHECK_EQ(1, reference_counts_.at(key)) - << "Key '" << key << "' was used the wrong number of times."; - } - reference_counts_.clear(); -} - -int LuaParameterDictionary::GetNonNegativeInt(const std::string& key) { - const int temp = GetInt(key); // Will increase reference count. - CHECK_GE(temp, 0) << temp << " is negative."; - return temp; -} - -// Lua function to run a script in the current Lua context. Takes the filename -// as its only argument. -int LuaParameterDictionary::LuaInclude(lua_State* L) { - CHECK_EQ(lua_gettop(L), 1); - CHECK(lua_isstring(L, -1)) << "include takes a filename."; - - LuaParameterDictionary* parameter_dictionary = GetDictionaryFromRegistry(L); - const std::string basename = lua_tostring(L, -1); - const std::string filename = - parameter_dictionary->file_resolver_->GetPath(basename); - if (std::find(parameter_dictionary->included_files_.begin(), - parameter_dictionary->included_files_.end(), - filename) != parameter_dictionary->included_files_.end()) { - std::string error_msg = - "Tried to include " + filename + - " twice. Already included files in order of inclusion: "; - for (const std::string& filename : parameter_dictionary->included_files_) { - error_msg.append(filename); - error_msg.append("\n"); - } - LOG(FATAL) << error_msg; - } - parameter_dictionary->included_files_.push_back(filename); - lua_pop(L, 1); - CHECK_EQ(lua_gettop(L), 0); - - const std::string content = - parameter_dictionary->file_resolver_->GetContent(basename); - CheckForLuaErrors( - L, luaL_loadbuffer(L, content.c_str(), content.size(), filename.c_str())); - CheckForLuaErrors(L, lua_pcall(L, 0, LUA_MULTRET, 0)); - - return lua_gettop(L); -} - -// Lua function to read a file into a string. -int LuaParameterDictionary::LuaRead(lua_State* L) { - CHECK_EQ(lua_gettop(L), 1); - CHECK(lua_isstring(L, -1)) << "read takes a filename."; - - LuaParameterDictionary* parameter_dictionary = GetDictionaryFromRegistry(L); - const std::string file_content = - parameter_dictionary->file_resolver_->GetContent( - lua_tostring(L, -1)); - lua_pushstring(L, file_content.c_str()); - return 1; -} - -} // namespace config -} // namespace env_manager diff --git a/env_manager/src/config/options.cpp b/env_manager/src/config/options.cpp deleted file mode 100644 index 2fbe53d..0000000 --- a/env_manager/src/config/options.cpp +++ /dev/null @@ -1,83 +0,0 @@ -#include "config/options.hpp" - -#include "glog/logging.h" - -namespace env_manager -{ -namespace config -{ - -ComponentOption ComponentOption::create_option( - LuaParameterDictionary *lua_parameter_dictionary) -{ - return ComponentOption{ - lua_parameter_dictionary->GetString("lib"), - lua_parameter_dictionary->GetString("class"), - }; -} - -EnvironmentOption EnvironmentOption::create_option( - LuaParameterDictionary *lua_parameter_dictionary) -{ - auto comps = - lua_parameter_dictionary->GetDictionary("components"); - std::map components; - for (const auto &comp: comps->GetKeys()) - components.insert({ - comp, ComponentOption::create_option(comps->GetDictionary(comp).get()) - }); - - return EnvironmentOption{ - lua_parameter_dictionary->GetString("namespace"), - components, - }; -} - -NodeOption NodeOption::create_option( - LuaParameterDictionary *lua_parameter_dictionary) -{ - return NodeOption{ - lua_parameter_dictionary->GetString("name"), - lua_parameter_dictionary->GetString("msg_type"), - node_type_remap.at(lua_parameter_dictionary->GetString("type")), - }; -} - -const std::unordered_map -NodeOption::node_type_remap = - { - {"Publisher", NodeOption::NodeType::Publisher}, - {"Subscriber", NodeOption::NodeType::Subscriber}, - {"Service", NodeOption::NodeType::Service}, - {"Client", NodeOption::NodeType::Client}, - {"Node", NodeOption::NodeType::Node}, - }; - -EnvManagerOption EnvManagerOption::create_option( - LuaParameterDictionary *lua_parameter_dictionary) -{ - - auto lua_env_dictionary = lua_parameter_dictionary->GetDictionary("environments"); - auto envs_dict = lua_env_dictionary->GetArrayValuesAsDictionaries(); - std::map environments; - for (const auto& env: envs_dict) - environments.insert({ - env->GetString("namespace"), EnvironmentOption::create_option(env.get()) - }); - - auto lua_node_dictionary = lua_parameter_dictionary->GetDictionary("nodes"); - auto nodes_keys = lua_node_dictionary->GetKeys(); - std::map nodes; - for (const auto& node: nodes_keys) - nodes.insert({ - node, NodeOption::create_option(lua_node_dictionary->GetDictionary(node).get()) - }); - - return EnvManagerOption{ - environments, - nodes, - }; -} - -} // namespace config -} // namespace env_manager diff --git a/env_manager/src/env_manager/environment_node_manager.cpp b/env_manager/src/env_manager/environment_node_manager.cpp deleted file mode 100644 index 7b95a3e..0000000 --- a/env_manager/src/env_manager/environment_node_manager.cpp +++ /dev/null @@ -1,6 +0,0 @@ -#include "env_manager/environment_node_manager.hpp" - -namespace env_manager -{ - -} // namespace env_manager diff --git a/env_manager/src/main.cpp b/env_manager/src/main.cpp deleted file mode 100644 index 88f2456..0000000 --- a/env_manager/src/main.cpp +++ /dev/null @@ -1,60 +0,0 @@ -#include "component_manager/component_manager.hpp" -#include "config/config_file_resolver.hpp" -#include "config/lua_file_resolver.hpp" -#include "config/options.hpp" - -#include "config/config.hpp" - -#include "glog/logging.h" - -int main(int argc, const char* argv[]) -{ - google::InitGoogleLogging(argv[0]); - FLAGS_logtostderr = 1; - - rclcpp::init(argc, argv); - auto exec = std::make_shared(); - - std::vector dirs = {}; - auto cfg_resolver = - ::std::make_unique<::env_manager::config::ConfigurationFileResolver>( - std::vector{ - std::string(env_manager::config::kSourceDirectory) + - "/config" - } - ); - - auto code = cfg_resolver->GetContent("config.lua"); - //LOG(INFO) << code; - ::env_manager::config::LuaParameterDictionary lua_dict( - code, std::move(cfg_resolver) - ); - - auto env_manager_opts = - ::env_manager::config::EnvManagerOption::create_option( - &lua_dict - ); - - std::vector comp_mngrs; - - for (const auto& [env, opts]: env_manager_opts.environments) - { - LOG(INFO) << "Start to initialize environment: " << env; - env_manager::component_manager::ComponentManager cmg(exec); - cmg.register_components(opts.components, env_manager_opts.nodes, opts.ns); - //cmg.upload_components_to_executor(&exec); - comp_mngrs.push_back(std::move(cmg)); - } - - //std::string ns = "/"; - //comp_mngrs.begin()->remap_components_namespace(ns); - - exec->spin(); - - for (auto &cmg: comp_mngrs) - cmg.remove_components_from_executor(); - - rclcpp::shutdown(); - - return 0; -} diff --git a/rbs.real.repos b/rbs.real.repos new file mode 100644 index 0000000..8cc8183 --- /dev/null +++ b/rbs.real.repos @@ -0,0 +1,21 @@ +repositories: + ur_description: + type: git + url: https://github.com/solid-sinusoid/Universal_Robots_ROS2_Description.git + version: cartesian-controllers + ur_driver: + type: git + url: https://github.com/solid-sinusoid/Universal_Robots_ROS2_Driver.git + version: configure-with-gripper + behavior_tree: + type: git + url: https://github.com/solid-sinusoid/behavior_tree.git + version: master + rbs_schunk_40_n_n_b: + type: git + url: https://gitlab.com/robossembler/arm-tools/urdf-model-shrunk-gripper-egp-40-n-n-b.git + version: 2-add-ros2-control + gz_ros2_control: + type: git + url: https://github.com/solid-sinusoid/gz_ros2_control.git + version: ft-sensor-broadcaster \ No newline at end of file diff --git a/rbs.repos b/rbs.sim.repos similarity index 62% rename from rbs.repos rename to rbs.sim.repos index 7941836..17cbd05 100644 --- a/rbs.repos +++ b/rbs.sim.repos @@ -11,15 +11,11 @@ repositories: type: git url: https://github.com/solid-sinusoid/behavior_tree.git version: master - ros2_robotiq_gripper: + rbs_schunk_40_n_n_b: type: git - url: https://github.com/solid-sinusoid/ros2_robotiq_gripper.git - version: dev - # cartesian_controllers: - # type: git - # url: https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers.git - # version: ros2 + url: https://gitlab.com/robossembler/arm-tools/urdf-model-shrunk-gripper-egp-40-n-n-b.git + version: 2-add-ros2-control gz_ros2_control: type: git url: https://github.com/solid-sinusoid/gz_ros2_control.git - version: ft-sensor-broadcaster \ No newline at end of file + version: ft-sensor-broadcaster diff --git a/rbs_bringup/CMakeLists.txt b/rbs_bringup/CMakeLists.txt index 45cf5a8..806658c 100644 --- a/rbs_bringup/CMakeLists.txt +++ b/rbs_bringup/CMakeLists.txt @@ -12,10 +12,14 @@ find_package(ament_cmake REQUIRED) # find_package( REQUIRED) install( - DIRECTORY launch + DIRECTORY launch config DESTINATION share/${PROJECT_NAME} ) +# Install Python modules +ament_python_install_package(rbs_launch_utils) +ament_python_install_module(rbs_launch_utils/launch_common.py) + if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) # the following line skips the linter which checks for copyrights diff --git a/rbs_bringup/config/fork_view.rviz b/rbs_bringup/config/fork_view.rviz new file mode 100644 index 0000000..f1e8c25 --- /dev/null +++ b/rbs_bringup/config/fork_view.rviz @@ -0,0 +1,622 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 87 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /TF1 + - /TF1/Frames1 + Splitter Ratio: 0.49496981501579285 + Tree Height: 778 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MarkerArray + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /display_contacts + Value: true + - Class: moveit_rviz_plugin/PlanningScene + Enabled: true + Move Group Namespace: "" + Name: PlanningScene + Planning Scene Topic: /monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 0.8999999761581421 + Scene Color: 50; 230; 50 + Scene Display Time: 0.009999999776482582 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + box1_place: + Alpha: 1 + Show Axes: false + Show Trail: false + box2_place: + Alpha: 1 + Show Axes: false + Show Trail: false + box3_place: + Alpha: 1 + Show Axes: false + Show Trail: false + box4_place: + Alpha: 1 + Show Axes: false + Show Trail: false + box5_place: + Alpha: 1 + Show Axes: false + Show Trail: false + box6_place: + Alpha: 1 + Show Axes: false + Show Trail: false + flange: + Alpha: 1 + Show Axes: false + Show Trail: false + forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ft_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + inner_rgbd_camera: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + outer_rgbd_camera: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robotiq_85_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robotiq_85_left_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robotiq_85_left_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robotiq_85_left_inner_knuckle_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robotiq_85_left_knuckle_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robotiq_85_right_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robotiq_85_right_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robotiq_85_right_inner_knuckle_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robotiq_85_right_knuckle_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robotiq_grasp_point: + Alpha: 1 + Show Axes: false + Show Trail: false + shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + world: + Alpha: 1 + Show Axes: false + Show Trail: false + wrist_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 1 + Show Robot Collision: false + Show Robot Visual: true + Value: true + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: false + base: + Value: false + base_link: + Value: false + base_link_inertia: + Value: false + box1: + Value: false + box1_place: + Value: false + box2: + Value: false + box2_place: + Value: false + box3: + Value: false + box3_place: + Value: false + box4: + Value: false + box4_place: + Value: false + box5: + Value: false + box5_place: + Value: false + box6: + Value: false + box6_place: + Value: false + flange: + Value: false + forearm_link: + Value: false + fork_gt: + Value: true + ft_frame: + Value: false + inner_rgbd_camera: + Value: false + outer_rgbd_camera: + Value: false + robotiq_85_base_link: + Value: false + robotiq_85_left_finger_link: + Value: false + robotiq_85_left_finger_tip_link: + Value: false + robotiq_85_left_inner_knuckle_link: + Value: false + robotiq_85_left_knuckle_link: + Value: false + robotiq_85_right_finger_link: + Value: false + robotiq_85_right_finger_tip_link: + Value: false + robotiq_85_right_inner_knuckle_link: + Value: false + robotiq_85_right_knuckle_link: + Value: false + robotiq_grasp_point: + Value: false + shoulder_link: + Value: false + tool0: + Value: false + upper_arm_link: + Value: false + world: + Value: false + wrist_1_link: + Value: false + wrist_2_link: + Value: false + wrist_3_link: + Value: false + Marker Scale: 0.4000000059604645 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + world: + base_link: + base: + {} + base_link_inertia: + shoulder_link: + upper_arm_link: + forearm_link: + wrist_1_link: + wrist_2_link: + wrist_3_link: + flange: + tool0: + inner_rgbd_camera: + {} + robotiq_85_base_link: + robotiq_85_left_inner_knuckle_link: + {} + robotiq_85_left_knuckle_link: + robotiq_85_left_finger_link: + robotiq_85_left_finger_tip_link: + {} + robotiq_85_right_inner_knuckle_link: + {} + robotiq_85_right_knuckle_link: + robotiq_85_right_finger_link: + robotiq_85_right_finger_tip_link: + {} + robotiq_grasp_point: + {} + ft_frame: + {} + box1: + {} + box1_place: + {} + box2: + {} + box2_place: + {} + box3: + {} + box3_place: + {} + box4: + {} + box4_place: + {} + box5: + {} + box5_place: + {} + box6: + {} + box6_place: + {} + fork_gt: + {} + outer_rgbd_camera: + {} + Update Interval: 0 + Value: true + - Class: moveit_rviz_plugin/Trajectory + Color Enabled: false + Enabled: true + Interrupt Display: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + box1_place: + Alpha: 1 + Show Axes: false + Show Trail: false + box2_place: + Alpha: 1 + Show Axes: false + Show Trail: false + box3_place: + Alpha: 1 + Show Axes: false + Show Trail: false + box4_place: + Alpha: 1 + Show Axes: false + Show Trail: false + box5_place: + Alpha: 1 + Show Axes: false + Show Trail: false + box6_place: + Alpha: 1 + Show Axes: false + Show Trail: false + flange: + Alpha: 1 + Show Axes: false + Show Trail: false + forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ft_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + inner_rgbd_camera: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + outer_rgbd_camera: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robotiq_85_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robotiq_85_left_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robotiq_85_left_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robotiq_85_left_inner_knuckle_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robotiq_85_left_knuckle_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robotiq_85_right_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robotiq_85_right_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robotiq_85_right_inner_knuckle_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robotiq_85_right_knuckle_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robotiq_grasp_point: + Alpha: 1 + Show Axes: false + Show Trail: false + shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + world: + Alpha: 1 + Show Axes: false + Show Trail: false + wrist_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Loop Animation: false + Name: Trajectory + Robot Alpha: 0.5 + Robot Color: 150; 50; 150 + Robot Description: robot_description + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 3x + Trail Step Size: 1 + Trajectory Topic: /display_planned_path + Use Sim Time: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 6.619869709014893 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.2489434778690338 + Y: -0.013962505385279655 + Z: 0.13800443708896637 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.4353981614112854 + Target Frame: + Value: Orbit (rviz) + Yaw: 2.2503976821899414 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1016 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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 + Selection: + collapsed: false + Tool Properties: + collapsed: false + Trajectory - Trajectory Slider: + collapsed: false + Views: + collapsed: false + Width: 1850 + X: 70 + Y: 27 diff --git a/rbs_bringup/config/rbs.rviz b/rbs_bringup/config/rbs.rviz new file mode 100644 index 0000000..df9e15c --- /dev/null +++ b/rbs_bringup/config/rbs.rviz @@ -0,0 +1,454 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 138 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /TF1/Frames1 + - /MarkerArray2 + Splitter Ratio: 0.49496981501579285 + Tree Height: 981 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MarkerArray + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /display_contacts + Value: true + - Class: moveit_rviz_plugin/PlanningScene + Enabled: true + Move Group Namespace: "" + Name: PlanningScene + Planning Scene Topic: /monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 0.8999999761581421 + Scene Color: 50; 230; 50 + Scene Display Time: 0.009999999776482582 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false + forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ft_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + inner_rgbd_camera: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + outer_rgbd_camera: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + schunk_grasp_point: + Alpha: 1 + Show Axes: false + Show Trail: false + schunk_gripper_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + schunk_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + schunk_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + world: + Alpha: 1 + Show Axes: false + Show Trail: false + wrist_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 1 + Show Robot Collision: false + Show Robot Visual: true + Value: true + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: false + base: + Value: false + base_link: + Value: false + base_link_inertia: + Value: false + flange: + Value: false + forearm_link: + Value: false + ft_frame: + Value: false + inner_rgbd_camera: + Value: false + outer_rgbd_camera: + Value: false + schunk_grasp_point: + Value: true + schunk_gripper_base_link: + Value: true + schunk_l_finger_link: + Value: true + schunk_r_finger_link: + Value: true + shoulder_link: + Value: false + tool0: + Value: false + upper_arm_link: + Value: false + world: + Value: false + wrist_1_link: + Value: false + wrist_2_link: + Value: false + wrist_3_link: + Value: false + Marker Scale: 0.4000000059604645 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + world: + base_link: + base: + {} + base_link_inertia: + shoulder_link: + upper_arm_link: + forearm_link: + wrist_1_link: + wrist_2_link: + wrist_3_link: + flange: + tool0: + inner_rgbd_camera: + {} + schunk_grasp_point: + {} + schunk_gripper_base_link: + schunk_l_finger_link: + {} + schunk_r_finger_link: + {} + ft_frame: + {} + outer_rgbd_camera: + {} + Update Interval: 0 + Value: true + - Class: moveit_rviz_plugin/Trajectory + Color Enabled: false + Enabled: true + Interrupt Display: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false + forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ft_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + inner_rgbd_camera: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + outer_rgbd_camera: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + schunk_grasp_point: + Alpha: 1 + Show Axes: false + Show Trail: false + schunk_gripper_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + schunk_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + schunk_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + world: + Alpha: 1 + Show Axes: false + Show Trail: false + wrist_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Loop Animation: false + Name: Trajectory + Robot Alpha: 0.5 + Robot Color: 150; 50; 150 + Robot Description: robot_description + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 3x + Trail Step Size: 1 + Trajectory Topic: /display_planned_path + Use Sim Time: false + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MarkerArray + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: workspace + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 6.619869709014893 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.2489434778690338 + Y: -0.013962505385279655 + Z: 0.13800443708896637 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.5753980875015259 + Target Frame: + Value: Orbit (rviz) + Yaw: 1.1453965902328491 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1385 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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 + Selection: + collapsed: false + Tool Properties: + collapsed: false + Trajectory - Trajectory Slider: + collapsed: false + Views: + collapsed: false + Width: 2307 + X: 436 + Y: 66 diff --git a/rbs_bringup/launch/bringup.launch.py b/rbs_bringup/launch/bringup.launch.py index 21cbe73..baa2b78 100644 --- a/rbs_bringup/launch/bringup.launch.py +++ b/rbs_bringup/launch/bringup.launch.py @@ -9,6 +9,7 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare +# from rbs_launch_utils.launch_common import load_yaml_abs def generate_launch_description(): declared_arguments = [] @@ -49,6 +50,13 @@ def generate_launch_description(): description="YAML file with the controllers configuration.", ) ) + declared_arguments.append( + DeclareLaunchArgument( + "controllers_with_gripper_file", + default_value="ur_plus_gripper_controllers.yaml", + description="YAML file with the controllers configuration.", + ) + ) declared_arguments.append( DeclareLaunchArgument( "description_package", @@ -146,7 +154,7 @@ def generate_launch_description(): DeclareLaunchArgument("launch_perception", default_value="false", description="Launch perception?") ) declared_arguments.append( - DeclareLaunchArgument("launch_task_planner", default_value="true", description="Launch task_planner?") + DeclareLaunchArgument("launch_task_planner", default_value="false", description="Launch task_planner?") ) declared_arguments.append( DeclareLaunchArgument("cartesian_controllers", default_value="false", description="Load cartesian controllers?") @@ -185,12 +193,9 @@ def generate_launch_description(): ) rviz_config_file = PathJoinSubstitution( - [FindPackageShare(moveit_config_package), "rviz", "view_robot.rviz"] - ) - - mujoco_model = PathJoinSubstitution( - [FindPackageShare("rbs_simulation"), "mujoco_model", "current_mj.xml"] + [FindPackageShare("rbs_bringup"), "config", "rbs.rviz"] ) + robot_description_content = Command( [ @@ -211,7 +216,6 @@ def generate_launch_description(): "sim_fake:=", sim_fake, " ", "simulation_controllers:=", initial_joint_controllers_file_path, " ", "with_gripper:=", with_gripper_condition, " ", - "mujoco_model:=", mujoco_model, ] ) robot_description = {"robot_description": robot_description_content} @@ -303,6 +307,24 @@ def generate_launch_description(): 'robot_description_semantic': robot_description_semantic_content }.items(), condition=IfCondition(launch_moveit)) + + skills = IncludeLaunchDescription( + PythonLaunchDescriptionSource([ + PathJoinSubstitution([ + FindPackageShare('rbs_skill_servers'), + 'launch', + 'skills.launch.py' + ]) + ]), + launch_arguments={ + 'robot_description': robot_description_content, + 'robot_description_semantic': robot_description_semantic_content, + 'robot_description_kinematics': robot_description_kinematics, + 'use_sim_time': use_sim_time, + 'with_gripper_condition': with_gripper_condition, + 'points_params_filepath': "gripperPositions.yaml" + }.items() + ) task_planner = IncludeLaunchDescription( PythonLaunchDescriptionSource([ @@ -336,6 +358,7 @@ def generate_launch_description(): control, simulation, moveit, + skills, task_planner, perception ] diff --git a/env_manager/include/component_manager/component_template.hpp b/rbs_bringup/rbs_launch_utils/__init__.py similarity index 100% rename from env_manager/include/component_manager/component_template.hpp rename to rbs_bringup/rbs_launch_utils/__init__.py diff --git a/rbs_bringup/rbs_launch_utils/launch_common.py b/rbs_bringup/rbs_launch_utils/launch_common.py new file mode 100644 index 0000000..c680e87 --- /dev/null +++ b/rbs_bringup/rbs_launch_utils/launch_common.py @@ -0,0 +1,84 @@ +#!/usr/bin/env python3 + +# Copyright (c) 2021 PickNik, Inc. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# +# * Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in the +# documentation and/or other materials provided with the distribution. +# +# * Neither the name of the {copyright_holder} nor the names of its +# contributors may be used to endorse or promote products derived from +# this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +# +# Author: Lovro Ivanov + +import math +import os +import yaml + +from ament_index_python.packages import get_package_share_directory + + +def construct_angle_radians(loader, node): + """Utility function to construct radian values from yaml.""" + value = loader.construct_scalar(node) + try: + return float(value) + except SyntaxError: + raise Exception("invalid expression: %s" % value) + + +def construct_angle_degrees(loader, node): + """Utility function for converting degrees into radians from yaml.""" + return math.radians(construct_angle_radians(loader, node)) + + +def load_yaml(package_name, file_path): + package_path = get_package_share_directory(package_name) + absolute_file_path = os.path.join(package_path, file_path) + + try: + yaml.SafeLoader.add_constructor("!radians", construct_angle_radians) + yaml.SafeLoader.add_constructor("!degrees", construct_angle_degrees) + except Exception: + raise Exception("yaml support not available; install python-yaml") + + try: + with open(absolute_file_path) as file: + return yaml.safe_load(file) + except OSError: # parent of IOError, OSError *and* WindowsError where available + return None + + +def load_yaml_abs(absolute_file_path): + + try: + yaml.SafeLoader.add_constructor("!radians", construct_angle_radians) + yaml.SafeLoader.add_constructor("!degrees", construct_angle_degrees) + except Exception: + raise Exception("yaml support not available; install python-yaml") + + try: + with open(absolute_file_path) as file: + return yaml.safe_load(file) + except OSError: # parent of IOError, OSError *and* WindowsError where available + return None diff --git a/rbs_bt_executor/CMakeLists.txt b/rbs_bt_executor/CMakeLists.txt index 165ac0c..2f1681c 100644 --- a/rbs_bt_executor/CMakeLists.txt +++ b/rbs_bt_executor/CMakeLists.txt @@ -9,7 +9,6 @@ find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) find_package(rclcpp_action REQUIRED) find_package(geometry_msgs REQUIRED) -find_package(tf2_geometry_msgs REQUIRED) find_package(moveit_msgs REQUIRED) find_package(moveit_core REQUIRED) find_package(moveit_ros_planning REQUIRED) @@ -18,7 +17,12 @@ find_package(ament_index_cpp REQUIRED) find_package(rbs_skill_interfaces REQUIRED) find_package(behavior_tree REQUIRED) find_package(control_msgs REQUIRED) -find_package(component_interfaces REQUIRED) +find_package(lifecycle_msgs REQUIRED) +find_package(rcl_interfaces REQUIRED) +find_package(env_manager_interfaces REQUIRED) +find_package(rbs_utils REQUIRED) +find_package(tf2_eigen REQUIRED) +find_package(tf2_ros REQUIRED) if (NOT CMAKE_CXX_STANDARD) set(CMAKE_CXX_STANDARD 17) @@ -28,7 +32,6 @@ set(dependencies rclcpp rclcpp_action geometry_msgs - tf2_geometry_msgs moveit_msgs moveit_core moveit_ros_planning @@ -36,9 +39,13 @@ set(dependencies ament_index_cpp rbs_skill_interfaces behavior_tree - std_msgs control_msgs - component_interfaces + lifecycle_msgs + rcl_interfaces + env_manager_interfaces + rbs_utils + tf2_ros + tf2_eigen ) include_directories(include) @@ -61,8 +68,14 @@ list(APPEND plugin_libs rbs_add_planning_scene_object) add_library(rbs_assemble_process_state SHARED src/AssembleProcessState.cpp) list(APPEND plugin_libs rbs_assemble_process_state) -add_library(rbs_detect_object SHARED src/DetectObject.cpp) -list(APPEND plugin_libs rbs_detect_object) +add_library(rbs_pose_estimation SHARED src/PoseEstimation.cpp) +list(APPEND plugin_libs rbs_pose_estimation) + +add_library(rbs_env_manager_starter SHARED src/EnvManager.cpp) +list(APPEND plugin_libs rbs_env_manager_starter) + +add_library(rbs_skill_move_topose_array_bt_action_client SHARED src/MoveToPoseArray.cpp) +list(APPEND plugin_libs rbs_skill_move_topose_array_bt_action_client) foreach(bt_plugin ${plugin_libs}) ament_target_dependencies(${bt_plugin} ${dependencies}) diff --git a/rbs_bt_executor/bt_trees/test_gripper.xml b/rbs_bt_executor/bt_trees/test_gripper.xml new file mode 100644 index 0000000..d449ad1 --- /dev/null +++ b/rbs_bt_executor/bt_trees/test_gripper.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + \ No newline at end of file diff --git a/rbs_bt_executor/bt_trees/test_tree.xml b/rbs_bt_executor/bt_trees/test_tree.xml index 256fbc5..8e11ecc 100644 --- a/rbs_bt_executor/bt_trees/test_tree.xml +++ b/rbs_bt_executor/bt_trees/test_tree.xml @@ -1,155 +1,56 @@ + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + - + + + + + + + + + + - - - + + + + + + + + + + + + + + + + + + + + + + - \ No newline at end of file + + diff --git a/rbs_bt_executor/bt_trees/test_tree_env_manager.xml b/rbs_bt_executor/bt_trees/test_tree_env_manager.xml new file mode 100644 index 0000000..9cc366e --- /dev/null +++ b/rbs_bt_executor/bt_trees/test_tree_env_manager.xml @@ -0,0 +1,12 @@ + + + + + + + + \ No newline at end of file diff --git a/rbs_bt_executor/bt_trees/test_tree_main.xml b/rbs_bt_executor/bt_trees/test_tree_main.xml new file mode 100644 index 0000000..82ecb32 --- /dev/null +++ b/rbs_bt_executor/bt_trees/test_tree_main.xml @@ -0,0 +1,160 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/rbs_bt_executor/bt_trees/test_tree_pe_cleanup.xml b/rbs_bt_executor/bt_trees/test_tree_pe_cleanup.xml new file mode 100644 index 0000000..030cd42 --- /dev/null +++ b/rbs_bt_executor/bt_trees/test_tree_pe_cleanup.xml @@ -0,0 +1,17 @@ + + + + + + + + + \ No newline at end of file diff --git a/rbs_bt_executor/bt_trees/test_tree_pe_configure.xml b/rbs_bt_executor/bt_trees/test_tree_pe_configure.xml new file mode 100644 index 0000000..24a4921 --- /dev/null +++ b/rbs_bt_executor/bt_trees/test_tree_pe_configure.xml @@ -0,0 +1,17 @@ + + + + + + + + + \ No newline at end of file diff --git a/rbs_bt_executor/config/params.yaml b/rbs_bt_executor/config/params.yaml index 605319a..8300654 100644 --- a/rbs_bt_executor/config/params.yaml +++ b/rbs_bt_executor/config/params.yaml @@ -1,33 +1,13 @@ -# Here is a nodes which calling from launch for bt_tree -simple_move_bt_nodes: - ros__parameters: - # plugins: - # - rbs_skill_move_topose_bt_action_client - pose1: [ - 0.11724797630931184, #X position - 0.46766635768602544, #Y - 0.5793862343094913, #Z - 0.9987999001314066, #X orientation - 0.041553846820940925, #Y - -0.004693314677006583, #Z - -0.025495295825239704 #W - ] - pose2: [ - -0.11661364861606047, - 0.4492600889665261, - 0.5591700913807053, - 0.9962273179258467, - 0.04057380155886888, - 0.009225849745372298, - 0.07615629548377048 - ] - pose3: [ - -0.07133612047767886, - 0.41038906578748613, - 0.2844649846989331, - 0.999078481789772, - 0.04109234110437432, - 0.006539754292177074, - 0.010527978961032304 - ] - +bt_engine: + ros__parameters: + plugins: [ + "rbs_skill_move_topose_bt_action_client", + "rbs_skill_get_pick_place_pose_service_client", + "rbs_skill_gripper_move_bt_action_client", + "rbs_skill_move_joint_state", + "rbs_add_planning_scene_object", + "rbs_pose_estimation", + "rbs_env_manager_starter", + "rbs_skill_move_topose_array_bt_action_client" + ] + diff --git a/rbs_bt_executor/launch/rbs_executor.launch.py b/rbs_bt_executor/launch/rbs_executor.launch.py index 65444ea..e4c06dc 100644 --- a/rbs_bt_executor/launch/rbs_executor.launch.py +++ b/rbs_bt_executor/launch/rbs_executor.launch.py @@ -1,89 +1,38 @@ from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument from launch_ros.actions import Node -from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution from launch_ros.substitutions import FindPackageShare -from ament_index_python.packages import get_package_share_directory -import os -import yaml -import math - - -def construct_angle_radians(loader, node): - """Utility function to construct radian values from yaml.""" - value = loader.construct_scalar(node) - try: - return float(value) - except SyntaxError: - raise Exception("invalid expression: %s" % value) - -def construct_angle_degrees(loader, node): - """Utility function for converting degrees into radians from yaml.""" - return math.radians(construct_angle_radians(loader, node)) - -def load_yaml(package_name, file_path): - package_path = get_package_share_directory(package_name) - absolute_file_path = os.path.join(package_path, file_path) - - try: - yaml.SafeLoader.add_constructor("!radians", construct_angle_radians) - yaml.SafeLoader.add_constructor("!degrees", construct_angle_degrees) - except Exception: - raise Exception("yaml support not available; install python-yaml") - - try: - with open(absolute_file_path) as file: - return yaml.safe_load(file) - except OSError: # parent of IOError, OSError *and* WindowsError where available - return None - def generate_launch_description(): - bt_config = os.path.join( - get_package_share_directory('rbs_bt_executor'), - 'config', - 'params.yaml' + declared_arguments = [] + declared_arguments.append( + DeclareLaunchArgument( + "bt_file", + default_value="test_tree.xml", + description="BehaviorTree file for run.", + ) ) - points = load_yaml( - package_name="rbs_bt_executor", - file_path="config/points.yaml" + bt_file = LaunchConfiguration("bt_file") + + + btfile_description = PathJoinSubstitution( + [FindPackageShare("rbs_bt_executor"), "bt_trees", bt_file] ) + btfile_param = {"bt_file_path": btfile_description} + bt_skills_param = PathJoinSubstitution([FindPackageShare("rbs_bt_executor"), "config", "params.yaml"]) - gripperPoints = load_yaml( - package_name="rbs_bt_executor", - file_path="config/gripperPositions.yaml") - - robot_description_semantic_content = Command( - [ - PathJoinSubstitution([FindExecutable(name="xacro")]), - " ", - PathJoinSubstitution( - [FindPackageShare("ur_moveit_config"), "srdf", "ur.srdf.xacro"] - ), - " ", - "name:=", - "ur", - " ", - "prefix:=", - "", - " ", - ] - ) - robot_description_semantic = {"robot_description_semantic": robot_description_semantic_content} - - - - return LaunchDescription([ + nodes_to_start = [ Node( package='behavior_tree', - namespace='', executable='bt_engine', - #prefix=['xterm -e gdb -ex run --args'], + # prefix=['gdbserver localhost:3000'], parameters=[ - {'bt_file_path': os.path.join(get_package_share_directory('rbs_bt_executor'), 'bt_trees/test_tree.xml')}, - {'plugins':['rbs_skill_move_topose_bt_action_client', "rbs_skill_get_pick_place_pose_service_client", "rbs_skill_gripper_move_bt_action_client", "rbs_skill_move_joint_state", "rbs_add_planning_scene_object"]}, - gripperPoints, - robot_description_semantic + btfile_param, + bt_skills_param ] ) - ]) + ] + + return LaunchDescription(declared_arguments + nodes_to_start) diff --git a/rbs_bt_executor/package.xml b/rbs_bt_executor/package.xml index e96c0d1..26a2bf5 100644 --- a/rbs_bt_executor/package.xml +++ b/rbs_bt_executor/package.xml @@ -8,9 +8,10 @@ TODO: License declaration ament_cmake - + rbs_utils rbs_skill_interfaces component_interfaces + env_manager_interfaces behavior_tree ament_lint_auto ament_lint_common diff --git a/rbs_bt_executor/src/AddPlanningSceneObject.cpp b/rbs_bt_executor/src/AddPlanningSceneObject.cpp index 6204f2d..ebde704 100644 --- a/rbs_bt_executor/src/AddPlanningSceneObject.cpp +++ b/rbs_bt_executor/src/AddPlanningSceneObject.cpp @@ -1,45 +1,44 @@ -#include "rbs_skill_interfaces/srv/add_planning_scene_object.hpp" -#include "behaviortree_cpp_v3/bt_factory.h" #include "behavior_tree/BtService.hpp" - +#include "behaviortree_cpp_v3/bt_factory.h" +#include "rbs_skill_interfaces/srv/add_planning_scene_object.hpp" using namespace BT; -using AddPlanningSceneObjectClient = rbs_skill_interfaces::srv::AddPlanningSceneObject; +using AddPlanningSceneObjectClient = + rbs_skill_interfaces::srv::AddPlanningSceneObject; -class GetPickPlacePose : public BtService -{ +class GetPickPlacePose : public BtService { public: - GetPickPlacePose(const std::string & name, const BT::NodeConfiguration & config) - : BtService(name, config) { - RCLCPP_INFO(_node->get_logger(), "Start the node"); - } + GetPickPlacePose(const std::string &name, const BT::NodeConfiguration &config) + : BtService(name, config) { + RCLCPP_INFO(_node->get_logger(), "Start the node"); + } - AddPlanningSceneObjectClient::Request::SharedPtr populate_request() override - { - auto request = std::make_shared(); - RCLCPP_INFO(_node->get_logger(), "Start populate_request()"); - object_name_ = getInput("ObjectName").value(); - auto place_pose_ = getInput>("pose").value(); - request->object_id = object_name_; - request->object_pose = place_pose_; + AddPlanningSceneObjectClient::Request::SharedPtr populate_request() override { + auto request = std::make_shared(); + RCLCPP_INFO(_node->get_logger(), "Start populate_request()"); + object_name_ = getInput("ObjectName").value(); + auto place_pose_ = getInput>("pose").value(); + request->object_id = object_name_; + request->object_pose = place_pose_; - return request; - } + return request; + } - BT::NodeStatus handle_response(AddPlanningSceneObjectClient::Response::SharedPtr response) override - { - RCLCPP_INFO(_node->get_logger(), "Response %d", response->success); - return BT::NodeStatus::SUCCESS; - } + BT::NodeStatus handle_response( + AddPlanningSceneObjectClient::Response::SharedPtr response) override { + RCLCPP_INFO(_node->get_logger(), "Response %d", response->success); + return BT::NodeStatus::SUCCESS; + } + + static PortsList providedPorts() { + return providedBasicPorts({ + InputPort("ObjectName"), + InputPort>("pose"), + }); + } - static PortsList providedPorts() { - return providedBasicPorts({ - InputPort("ObjectName"), - InputPort>("pose"), - }); - } private: - std::string object_name_{}; + std::string object_name_{}; }; BT_REGISTER_NODES(factory) { diff --git a/rbs_bt_executor/src/AssembleProcessState.cpp b/rbs_bt_executor/src/AssembleProcessState.cpp index a28419e..14f5eec 100644 --- a/rbs_bt_executor/src/AssembleProcessState.cpp +++ b/rbs_bt_executor/src/AssembleProcessState.cpp @@ -1,22 +1,19 @@ -#include #include #include +#include #include "rbs_skill_interfaces/srv/assemble_state.hpp" using AssembleStateSrv = rbs_skill_interfaces::srv::AssembleState; -class AssembleState : public BtService -{ +class AssembleState : public BtService { public: - AssembleState(const std::string & name, const BT::NodeConfiguration &config) - : BtService(name, config) - { + AssembleState(const std::string &name, const BT::NodeConfiguration &config) + : BtService(name, config) { RCLCPP_INFO_STREAM(_node->get_logger(), "Start node."); } - AssembleStateSrv::Request::SharedPtr populate_request() - { + AssembleStateSrv::Request::SharedPtr populate_request() { auto request = std::make_shared(); auto state_kind = getInput("StateKind").value(); request->req_kind = -1; @@ -39,20 +36,18 @@ public: return request; } - BT::NodeStatus handle_response(AssembleStateSrv::Response::SharedPtr response) - { + BT::NodeStatus + handle_response(AssembleStateSrv::Response::SharedPtr response) { // TODO: return bad status on validate process return false state - return (response->call_status = true)? BT::NodeStatus::SUCCESS: BT::NodeStatus::FAILURE; + return (response->call_status = true) ? BT::NodeStatus::SUCCESS + : BT::NodeStatus::FAILURE; } - static BT::PortsList providedPorts() - { - return providedBasicPorts({ - BT::InputPort("StateKind"), - BT::InputPort("AssembleName"), - BT::InputPort("PartName"), - BT::InputPort("WorkspaceName") - }); + static BT::PortsList providedPorts() { + return providedBasicPorts({BT::InputPort("StateKind"), + BT::InputPort("AssembleName"), + BT::InputPort("PartName"), + BT::InputPort("WorkspaceName")}); } private: @@ -61,7 +56,6 @@ private: #include "behaviortree_cpp_v3/bt_factory.h" -BT_REGISTER_NODES(factory) -{ +BT_REGISTER_NODES(factory) { factory.registerNodeType("AssembleState"); } diff --git a/rbs_bt_executor/src/DetectObject.cpp b/rbs_bt_executor/src/DetectObject.cpp deleted file mode 100644 index 037c0a9..0000000 --- a/rbs_bt_executor/src/DetectObject.cpp +++ /dev/null @@ -1,51 +0,0 @@ -#include -#include -#include - -#include - -using DetectObjectSrv = component_interfaces::srv::DetectObject; -class DetectObject: public BtService -{ -public: - DetectObject(const std::string &name, const BT::NodeConfiguration &config) - : BtService(name, config) - { - RCLCPP_INFO_STREAM(_node->get_logger(), "Start node."); - } - - DetectObjectSrv::Request::SharedPtr populate_request() - { - auto request = std::make_shared(); - auto req_kind = getInput("ReqKind").value(); - if (req_kind == "DETECT") - request->req_kind = 0; - else if (req_kind == "FOLLOW") - request->req_kind = 1; - else - request->req_kind = 2; - request->object_name = getInput("ObjectName").value(); - return request; - } - - BT::NodeStatus handle_response(DetectObjectSrv::Response::SharedPtr response) - { - return response->call_status? BT::NodeStatus::SUCCESS: BT::NodeStatus::FAILURE; - } - - static BT::PortsList providedPorts() - { - return providedBasicPorts({ - BT::InputPort("ReqKind"), - BT::InputPort("ObjectName"), - }); - } -}; - -#include "behaviortree_cpp_v3/bt_factory.h" - -BT_REGISTER_NODES(factory) -{ - factory.registerNodeType("DetectObject"); -} - diff --git a/rbs_bt_executor/src/EnvManager.cpp b/rbs_bt_executor/src/EnvManager.cpp new file mode 100644 index 0000000..8752520 --- /dev/null +++ b/rbs_bt_executor/src/EnvManager.cpp @@ -0,0 +1,59 @@ +#include + +#include +#include +#include +#include +#include +#include +#include "rbs_utils/rbs_utils.hpp" +#include "env_manager_interfaces/srv/start_env.hpp" +#include "env_manager_interfaces/srv/unload_env.hpp" + +using EnvStarterService = env_manager_interfaces::srv::StartEnv; + +class EnvManagerStarter : public BtService { +public: + EnvManagerStarter(const std::string &name, + const BT::NodeConfiguration &config) + : BtService(name, config) { + RCLCPP_INFO_STREAM(_node->get_logger(), "Start node."); + } + + EnvStarterService::Request::SharedPtr populate_request() override { + auto request = std::make_shared(); + std::string env_name = getInput("env_name").value(); + std::string env_class = getInput("env_class").value(); + request->name = env_name; + request->type = env_class; + + return request; + } + + BT::NodeStatus handle_response( + const EnvStarterService::Response::SharedPtr response) override { + if (response->ok) { + // TODO We need better perfomance for call it in another place for all BT nodes + // - Make it via shared_ptr forward throught blackboard + auto t = std::make_shared("asp-example2", _node); + auto p = t->getWorkspaceInspectorTrajectory(); + setOutput("workspace", p); + return BT::NodeStatus::SUCCESS; + } + return BT::NodeStatus::FAILURE; + } + + static BT::PortsList providedPorts() { + return providedBasicPorts({ + BT::InputPort("env_name"), + BT::InputPort("env_class"), + BT::OutputPort("workspace"), + }); + } +}; + +#include "behaviortree_cpp_v3/bt_factory.h" + +BT_REGISTER_NODES(factory) { + factory.registerNodeType("EnvStarter"); +} diff --git a/rbs_bt_executor/src/GetPickPlacePoses.cpp b/rbs_bt_executor/src/GetPickPlacePoses.cpp index 35bb201..7563ea7 100644 --- a/rbs_bt_executor/src/GetPickPlacePoses.cpp +++ b/rbs_bt_executor/src/GetPickPlacePoses.cpp @@ -1,98 +1,102 @@ -#include "rbs_skill_interfaces/srv/get_pick_place_poses.hpp" -#include "behaviortree_cpp_v3/bt_factory.h" #include "behavior_tree/BtService.hpp" +#include "behaviortree_cpp_v3/bt_factory.h" #include "geometry_msgs/msg/pose.hpp" +#include "rbs_skill_interfaces/srv/get_pick_place_poses.hpp" using namespace BT; using GetPickPlacePoseClient = rbs_skill_interfaces::srv::GetPickPlacePoses; -class GetPickPlacePose : public BtService -{ +class GetPickPlacePose : public BtService { public: - GetPickPlacePose(const std::string & name, const BT::NodeConfiguration & config) - : BtService(name, config) { - RCLCPP_INFO(_node->get_logger(), "Start the node"); - } + GetPickPlacePose(const std::string &name, const BT::NodeConfiguration &config) + : BtService(name, config) {} - GetPickPlacePoseClient::Request::SharedPtr populate_request() override - { - auto request = std::make_shared(); - RCLCPP_INFO(_node->get_logger(), "Start populate_request()"); - object_name_ = getInput("ObjectName").value(); - grasp_direction_str_ = getInput("GraspDirection").value(); - place_direction_str_ = getInput("PlaceDirection").value(); - RCLCPP_INFO_STREAM(_node->get_logger(), "Starting process for object: " << object_name_); - grasp_direction_ = convert_direction_from_string(grasp_direction_str_); - place_direction_ = convert_direction_from_string(place_direction_str_); - request->object_name = object_name_; - request->grasp_direction = grasp_direction_; - request->place_direction = place_direction_; - return request; - } + GetPickPlacePoseClient::Request::SharedPtr populate_request() override { + auto request = std::make_shared(); + RCLCPP_INFO(_node->get_logger(), "Start populate_request()"); + object_name_ = getInput("ObjectName").value(); + grasp_direction_str_ = getInput("GraspDirection").value(); + place_direction_str_ = getInput("PlaceDirection").value(); + RCLCPP_INFO_STREAM(_node->get_logger(), + "Starting process for object: " << object_name_); + grasp_direction_ = convert_direction_from_string(grasp_direction_str_); + place_direction_ = convert_direction_from_string(place_direction_str_); + request->object_name = object_name_; + request->grasp_direction = grasp_direction_; + request->place_direction = place_direction_; + return request; + } - BT::NodeStatus handle_response(GetPickPlacePoseClient::Response::SharedPtr response) override - { - RCLCPP_INFO(_node->get_logger(), "\n Pose: \n\t pose.x: %f \n\t pose.y: %f \n\t pose.z: %f \n\n\t opientation.x: %f \n\t orientation.y: %f \n\t orientation.z: %f \n\t orientation.w: %f", - response->grasp[2].position.x, response->grasp[2].position.y, response->grasp[2].position.z, - response->grasp[2].orientation.x, response->grasp[2].orientation.y, response->grasp[2].orientation.z, response->grasp[2].orientation.w); - RCLCPP_INFO(_node->get_logger(), "Start handle_response()"); - setOutput("GraspPose", response->grasp[0]); - setOutput("PreGraspPose", response->grasp[1]); - setOutput("PostGraspPose", response->grasp[3]); - setOutput("PostPostGraspPose", response->grasp[2]); - setOutput("PlacePose", response->place[0]); - setOutput("PrePlacePose", response->place[1]); - setOutput("PostPlacePose", response->place[1]); - return BT::NodeStatus::SUCCESS; - } + BT::NodeStatus handle_response( + GetPickPlacePoseClient::Response::SharedPtr response) override { + // RCLCPP_INFO(_node->get_logger(), + // "\n Pose: \n\t pose.x: %f \n\t pose.y: %f \n\t pose.z: %f " + // "\n\n\t opientation.x: %f \n\t orientation.y: %f \n\t " + // "orientation.z: %f \n\t orientation.w: %f", + // response->grasp[1].position.x, response->grasp[1].position.y, + // response->grasp[1].position.z, response->grasp[1].orientation.x, + // response->grasp[1].orientation.y, + // response->grasp[1].orientation.z, + // response->grasp[1].orientation.w); + RCLCPP_INFO(_node->get_logger(), "Start handle_response()"); + setOutput("GraspPose", response->grasp[0]); + setOutput("PreGraspPose", response->grasp[1]); + setOutput("PostGraspPose", response->grasp[2]); - static PortsList providedPorts() { - return providedBasicPorts({ - InputPort("ObjectName"), - InputPort("GraspDirection"), // x or y or z - InputPort("PlaceDirection"), // x or y or z - OutputPort("GraspPose"), - OutputPort("PreGraspPose"), - OutputPort("PostGraspPose"), - OutputPort("PostPostGraspPose"), //TODO: change to std::vector<> - OutputPort("PlacePose"), - OutputPort("PrePlacePose"), - OutputPort("PostPlacePose"), - }); - } + setOutput("PlacePose", response->place[0]); + setOutput("PrePlacePose", response->place[1]); + setOutput("PostPlacePose", response->place[2]); + return BT::NodeStatus::SUCCESS; + } + + static PortsList providedPorts() { + return providedBasicPorts({ + InputPort("ObjectName"), + InputPort("GraspDirection"), // x or y or z + InputPort("PlaceDirection"), // x or y or z + OutputPort("GraspPose"), + OutputPort("PreGraspPose"), + OutputPort("PostGraspPose"), + // TODO: change to std::vector<> + OutputPort("PostPostGraspPose"), + OutputPort("PlacePose"), + OutputPort("PrePlacePose"), + OutputPort("PostPlacePose"), + }); + } + + geometry_msgs::msg::Vector3 convert_direction_from_string(std::string str) { + std::map directions; + geometry_msgs::msg::Vector3 vector; + directions["x"] = 1; + directions["y"] = 2; + directions["z"] = 3; + switch (directions[str]) { + case 1: + vector.x = 1; + vector.y = 0; + vector.z = 0; + break; + case 2: + vector.x = 0; + vector.y = 1; + vector.z = 0; + break; + case 3: + vector.x = 0; + vector.y = 0; + vector.z = 1; + break; + }; + return vector; + } - geometry_msgs::msg::Vector3 convert_direction_from_string(std::string str) - { - std::map directions; - geometry_msgs::msg::Vector3 vector; - directions["x"] = 1; - directions["y"] = 2; - directions["z"] = 3; - switch(directions[str]){ - case 1: - vector.x = 1; - vector.y = 0; - vector.z = 0; - break; - case 2: - vector.x = 0; - vector.y = 1; - vector.z = 0; - break; - case 3: - vector.x = 0; - vector.y = 0; - vector.z = 1; - break; - }; - return vector; - } private: - std::string object_name_{}; - std::string grasp_direction_str_{}; - std::string place_direction_str_{}; - geometry_msgs::msg::Vector3 grasp_direction_{}; - geometry_msgs::msg::Vector3 place_direction_{}; + std::string object_name_{}; + std::string grasp_direction_str_{}; + std::string place_direction_str_{}; + geometry_msgs::msg::Vector3 grasp_direction_{}; + geometry_msgs::msg::Vector3 place_direction_{}; }; BT_REGISTER_NODES(factory) { diff --git a/rbs_bt_executor/src/MoveToJointStates.cpp b/rbs_bt_executor/src/MoveToJointStates.cpp index 7fc8967..815a427 100644 --- a/rbs_bt_executor/src/MoveToJointStates.cpp +++ b/rbs_bt_executor/src/MoveToJointStates.cpp @@ -1,62 +1,56 @@ #include "rbs_skill_interfaces/action/moveit_send_joint_states.hpp" -#include "behaviortree_cpp_v3/bt_factory.h" #include "behavior_tree/BtAction.hpp" +#include "behaviortree_cpp_v3/bt_factory.h" #include "geometry_msgs/msg/pose_stamped.hpp" #include "moveit_msgs/action/move_group.h" // #include "Eigen/Geometry" #include "rclcpp/parameter.hpp" using namespace BT; -using MoveToJointStateAction = rbs_skill_interfaces::action::MoveitSendJointStates; -static const rclcpp::Logger LOGGER = rclcpp::get_logger("MoveToJointStateActionClient"); +using MoveToJointStateAction = + rbs_skill_interfaces::action::MoveitSendJointStates; +static const rclcpp::Logger LOGGER = + rclcpp::get_logger("MoveToJointStateActionClient"); -class MoveToJointState : public BtAction -{ - public: - MoveToJointState(const std::string & name, const BT::NodeConfiguration & config) - : BtAction(name, config) - { - RCLCPP_INFO(_node->get_logger(), "Start the node"); - } +class MoveToJointState : public BtAction { +public: + MoveToJointState(const std::string &name, const BT::NodeConfiguration &config) + : BtAction(name, config) {} - MoveToJointStateAction::Goal populate_goal() override - { - getInput("robot_name", robot_name_); - getInput>("PrePlaceJointState", joint_values_); + MoveToJointStateAction::Goal populate_goal() override { + getInput("robot_name", robot_name_); + getInput>("JointState", joint_values_); - auto goal = MoveToJointStateAction::Goal(); - RCLCPP_INFO(_node->get_logger(), "Send goal for robot [%s]", robot_name_.c_str()); + auto goal = MoveToJointStateAction::Goal(); + RCLCPP_INFO(_node->get_logger(), "Send goal for robot [%s]", + robot_name_.c_str()); - for (auto joint : joint_values_) - { - RCLCPP_INFO_STREAM(_node->get_logger(), "Joint value " << joint); - } - RCLCPP_INFO_STREAM(_node->get_logger(), "Joint value size " << joint_values_.size()); - goal.robot_name = robot_name_; - goal.joint_values = joint_values_; - - RCLCPP_INFO(_node->get_logger(), "Goal populated"); + for (auto joint : joint_values_) { + RCLCPP_INFO_STREAM(_node->get_logger(), "Joint value " << joint); + } + RCLCPP_INFO_STREAM(_node->get_logger(), + "Joint value size " << joint_values_.size()); + goal.robot_name = robot_name_; + goal.joint_values = joint_values_; - return goal; - } + RCLCPP_INFO(_node->get_logger(), "Goal populated"); - static PortsList providedPorts() - { - return providedBasicPorts({ - InputPort("robot_name"), - InputPort>("PrePlaceJointState") - }); - } + return goal; + } - private: - std::string robot_name_{}; - std::vector joint_values_; + static PortsList providedPorts() { + return providedBasicPorts( + {InputPort("robot_name"), + InputPort>("JointState")}); + } +private: + std::string robot_name_{}; + std::vector joint_values_; }; // class MoveToJointState -BT_REGISTER_NODES(factory) -{ - factory.registerNodeType("MoveToJointState"); +BT_REGISTER_NODES(factory) { + factory.registerNodeType("MoveToJointState"); } \ No newline at end of file diff --git a/rbs_bt_executor/src/MoveToPose.cpp b/rbs_bt_executor/src/MoveToPose.cpp index 2ab0bc4..a2de744 100644 --- a/rbs_bt_executor/src/MoveToPose.cpp +++ b/rbs_bt_executor/src/MoveToPose.cpp @@ -1,68 +1,53 @@ +// Copyright [2023] bill-finger #include "rbs_skill_interfaces/action/moveit_send_pose.hpp" -#include "behaviortree_cpp_v3/bt_factory.h" #include "behavior_tree/BtAction.hpp" -#include "geometry_msgs/msg/pose_stamped.hpp" -#include "moveit_msgs/action/move_group.h" +#include "behaviortree_cpp_v3/bt_factory.h" // #include "Eigen/Geometry" -#include "rclcpp/parameter.hpp" -using namespace BT; using MoveToPoseAction = rbs_skill_interfaces::action::MoveitSendPose; -static const rclcpp::Logger LOGGER = rclcpp::get_logger("MoveToPoseActionClient"); -class MoveToPose : public BtAction -{ - public: - MoveToPose(const std::string & name, const BT::NodeConfiguration & config) - : BtAction(name, config) - { - RCLCPP_INFO(_node->get_logger(), "Start the node"); - } +class MoveToPose : public BtAction { + public: + MoveToPose(const std::string &name, const BT::NodeConfiguration &config) + : BtAction(name, config) {} - MoveToPoseAction::Goal populate_goal() override - { - getInput("robot_name", robot_name_); - getInput("pose", pose_des); - RCLCPP_INFO(_node->get_logger(), "\n Send Pose: \n\t pose.x: %f \n\t pose.y: %f \n\t pose.z: %f \n\n\t opientation.x: %f \n\t orientation.y: %f \n\t orientation.z: %f \n\t orientation.w: %f", - pose_des.position.x, pose_des.position.y, pose_des.position.z, - pose_des.orientation.x, pose_des.orientation.y, pose_des.orientation.z, pose_des.orientation.w); + MoveToPoseAction::Goal populate_goal() override { + getInput("robot_name", robot_name_); + getInput("pose", pose_des); + RCLCPP_INFO(_node->get_logger(), + "\n Send Pose: \n\t pose.x: %f \n\t pose.y: %f \n\t pose.z: %f " + "\n\n\t opientation.x: %f \n\t orientation.y: %f \n\t " + "orientation.z: %f \n\t orientation.w: %f", + pose_des.position.x, pose_des.position.y, pose_des.position.z, + pose_des.orientation.x, pose_des.orientation.y, + pose_des.orientation.z, pose_des.orientation.w); - auto goal = MoveToPoseAction::Goal(); - RCLCPP_INFO(_node->get_logger(), "Send goal to robot [%s]", robot_name_.c_str()); - - goal.robot_name = robot_name_; - goal.target_pose = pose_des; - goal.end_effector_acceleration = 0.5; - goal.end_effector_velocity = 0.5; - - RCLCPP_INFO(_node->get_logger(), "Goal populated"); + auto goal = MoveToPoseAction::Goal(); + RCLCPP_INFO(_node->get_logger(), "Send goal to robot [%s]", + robot_name_.c_str()); - return goal; - } + goal.robot_name = robot_name_; + goal.target_pose = pose_des; + goal.end_effector_acceleration = 0.5; + goal.end_effector_velocity = 0.5; - static PortsList providedPorts() - { - return providedBasicPorts({ - InputPort("robot_name"), - InputPort("pose") - }); - } + RCLCPP_INFO(_node->get_logger(), "Goal populated"); - private: - std::string robot_name_; - //std::vector pose_; - geometry_msgs::msg::Pose pose_des; - //std::map Poses; + return goal; + } - // geometry_msgs::msg::Pose array_to_pose(std::vector pose_array){ + static BT::PortsList providedPorts() { + return providedBasicPorts( + {BT::InputPort("robot_name"), + BT::InputPort("pose")}); + } - // } +private: + std::string robot_name_; + geometry_msgs::msg::Pose pose_des; +}; // class MoveToPose - -}; // class MoveToPose - -BT_REGISTER_NODES(factory) -{ - factory.registerNodeType("MoveToPose"); -} \ No newline at end of file +BT_REGISTER_NODES(factory) { + factory.registerNodeType("MoveToPose"); +} diff --git a/rbs_bt_executor/src/MoveToPoseArray.cpp b/rbs_bt_executor/src/MoveToPoseArray.cpp new file mode 100644 index 0000000..ed7a1ce --- /dev/null +++ b/rbs_bt_executor/src/MoveToPoseArray.cpp @@ -0,0 +1,56 @@ +#include "behavior_tree/BtAction.hpp" +#include "behaviortree_cpp_v3/behavior_tree.h" +#include "geometry_msgs/msg/pose_array.hpp" +#include "rbs_skill_interfaces/action/moveit_send_pose.hpp" +#include "rbs_utils/rbs_utils.hpp" +#include +#include +#include +#include + +using MoveToPoseArrayAction = rbs_skill_interfaces::action::MoveitSendPose; + +class MoveToPoseArray : public BtAction { +public: + MoveToPoseArray(const std::string &name, const BT::NodeConfiguration &config) + : BtAction(name, config) { + RCLCPP_INFO_STREAM(_node->get_logger(), "Start node."); + } + + MoveToPoseArrayAction::Goal populate_goal() override { + auto goal = MoveToPoseArrayAction::Goal(); + getInput("robot_name", robot_name_); + getInput("pose_vec_in", target_pose_vec_); + for (auto &point : target_pose_vec_.poses) { + RCLCPP_INFO(_node->get_logger(), "Pose array: \n %f \n %f \n %f", + point.position.x, point.position.y, point.position.z); + } + if (!target_pose_vec_.poses.empty()) { + goal.robot_name = robot_name_; + goal.target_pose = target_pose_vec_.poses.at(0); + + target_pose_vec_.poses.erase(target_pose_vec_.poses.begin()); + setOutput("pose_vec_out", target_pose_vec_); + } else { + RCLCPP_WARN(_node->get_logger(), "Target pose vector empty"); + } + + return goal; + } + + static BT::PortsList providedPorts() { + return providedBasicPorts({ + BT::InputPort("robot_name"), + BT::InputPort("pose_vec_in"), + BT::OutputPort("pose_vec_out") + }); + } + +private: + std::string robot_name_; + geometry_msgs::msg::PoseArray target_pose_vec_; +}; + +BT_REGISTER_NODES(factory) { + factory.registerNodeType("MoveToPoseArray"); +} diff --git a/rbs_bt_executor/src/PoseEstimation.cpp b/rbs_bt_executor/src/PoseEstimation.cpp new file mode 100644 index 0000000..0a6b183 --- /dev/null +++ b/rbs_bt_executor/src/PoseEstimation.cpp @@ -0,0 +1,124 @@ +#include +#include + +#include +#include +#include + +#include "rcl_interfaces/msg/parameter.hpp" +#include "rcl_interfaces/srv/set_parameters.hpp" + +#include "lifecycle_msgs/msg/transition.hpp" +#include "lifecycle_msgs/srv/change_state.hpp" + +using PoseEstimationSrv = lifecycle_msgs::srv::ChangeState; +class PoseEstimation : public BtService { +public: + PoseEstimation(const std::string &name, const BT::NodeConfiguration &config) + : BtService(name, config) { + RCLCPP_INFO_STREAM(_node->get_logger(), "Start node."); + + _set_params_client = std::make_shared( + _node, "/pose_estimation"); + + while (!_set_params_client->wait_for_service(1s)) { + if (!rclcpp::ok()) { + RCLCPP_ERROR(_node->get_logger(), + "Interrupted while waiting for the service. Exiting."); + break; + } + RCLCPP_WARN(_node->get_logger(), + "service not available, waiting again..."); + } + + _model_name = getInput("ObjectName").value(); + } + + PoseEstimationSrv::Request::SharedPtr populate_request() { + auto request = std::make_shared(); + _req_type = getInput("ReqKind").value(); + request->set__transition(transition_event(_req_type)); + return request; + } + + BT::NodeStatus + handle_response(const PoseEstimationSrv::Response::SharedPtr response) { + if (response->success) { + return BT::NodeStatus::SUCCESS; + } + return BT::NodeStatus::FAILURE; + } + + static BT::PortsList providedPorts() { + return providedBasicPorts({ + BT::InputPort("ReqKind"), + BT::InputPort("ObjectName"), + BT::InputPort("ObjectPath"), + }); + } + +private: + uint8_t transition_id_{}; + std::string _model_name{}; + std::string _model_path{}; + std::string _req_type{}; + std::shared_ptr _set_params_client; + std::vector _params; + rcl_interfaces::msg::Parameter _param; + + lifecycle_msgs::msg::Transition + transition_event(const std::string &req_type) { + lifecycle_msgs::msg::Transition translation{}; + if (req_type == "configure") { + set_mesh_param(); + transition_id_ = lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE; + } else if (req_type == "calibrate") { + set_str_param(); + transition_id_ = lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE; + } else if (req_type == "activate") { + transition_id_ = lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE; + } else if (req_type == "deactivate") { + transition_id_ = lifecycle_msgs::msg::Transition::TRANSITION_DEACTIVATE; + } else if (req_type == "cleanup") { + transition_id_ = lifecycle_msgs::msg::Transition::TRANSITION_CLEANUP; + } + // calibrate + translation.set__id(transition_id_); + return translation; + } + + inline std::string build_model_path(const std::string &model_name, + const std::string &package_path) { + return package_path + "/config/" + model_name + ".ply"; + } + + inline std::string build_model_path(const std::string &model_path) { + return model_path; + } + + void set_str_param() { + RCLCPP_INFO_STREAM(_node->get_logger(), + "Set string parameter: <" + _model_name + ">"); + + std::vector _parameters{ + rclcpp::Parameter("mesh_path", _model_name)}; + _set_params_client->set_parameters(_parameters); + } + + void set_mesh_param() { + auto _package_name = + ament_index_cpp::get_package_share_directory("rbs_perception"); + _model_path = build_model_path(_model_name, _package_name); + RCLCPP_INFO_STREAM(_node->get_logger(), _model_path); + + std::vector _parameters{ + rclcpp::Parameter("mesh_path", _model_name)}; + _set_params_client->set_parameters(_parameters); + } +}; + +#include "behaviortree_cpp_v3/bt_factory.h" + +BT_REGISTER_NODES(factory) { + factory.registerNodeType("PoseEstimation"); +} diff --git a/rbs_bt_executor/src/gripper_move.cpp b/rbs_bt_executor/src/gripper_move.cpp index 9d08191..855bdbf 100644 --- a/rbs_bt_executor/src/gripper_move.cpp +++ b/rbs_bt_executor/src/gripper_move.cpp @@ -1,62 +1,53 @@ #include "rbs_skill_interfaces/action/gripper_command.hpp" -#include "behaviortree_cpp_v3/bt_factory.h" #include "behavior_tree/BtAction.hpp" +#include "behaviortree_cpp_v3/bt_factory.h" #include "rclcpp/parameter.hpp" using namespace BT; using GripperCommand = rbs_skill_interfaces::action::GripperCommand; +class GripperControl : public BtAction { -class GripperControl: public BtAction { +public: + GripperControl(const std::string &name, const BT::NodeConfiguration &config) + : BtAction(name, config) { + if (!_node->has_parameter("open")) { + _node->declare_parameter("open", position.open); + } + if (!_node->has_parameter("close")) { + _node->declare_parameter("close", position.close); + } + } + GripperCommand::Goal populate_goal() override { + getInput("pose", pose); + double targetPose = _node->get_parameter(pose).as_double(); - public: - GripperControl(const std::string & name, const BT::NodeConfiguration & config): BtAction(name, config) { - if(!_node->has_parameter("open")) { - _node->declare_parameter("open",position.open); - } - if(!_node->has_parameter("close")) { - _node->declare_parameter("close",position.close); - } - if(!_node->has_parameter("midPosition")) { - _node->declare_parameter("midPosition",position.closeFull); - } + RCLCPP_INFO(_node->get_logger(), "Send target pose: %f", targetPose); - RCLCPP_INFO(_node->get_logger(),"Init the GripperControl Bt node"); - - } - GripperCommand::Goal populate_goal() override { - getInput("pose",pose); - double targetPose = _node->get_parameter(pose).as_double(); + auto goal = GripperCommand::Goal(); - RCLCPP_INFO(_node->get_logger(), "Send target pose: %f",targetPose); + goal.position = targetPose; - auto goal = GripperCommand::Goal(); - - goal.position = targetPose; + RCLCPP_INFO(_node->get_logger(), "Goal send"); - RCLCPP_INFO(_node->get_logger(),"Goal send"); + return goal; + } - return goal; - } + static PortsList providedPorts() { + return providedBasicPorts({InputPort("pose")}); + } - static PortsList providedPorts() { - return providedBasicPorts({InputPort("pose")}); - } - - - private: - struct { - double open = 0.2; - double closeFull = 0.8; - double close = 0.4; - } position; - - std::string pose; +private: + struct { + double open = 0.008; + double close = 0.000; + } position; + std::string pose; }; BT_REGISTER_NODES(factory) { - factory.registerNodeType("GripperControl"); + factory.registerNodeType("GripperControl"); } \ No newline at end of file diff --git a/rbs_perception/CMakeLists.txt b/rbs_perception/CMakeLists.txt index a5aaf70..8ff4512 100644 --- a/rbs_perception/CMakeLists.txt +++ b/rbs_perception/CMakeLists.txt @@ -15,6 +15,7 @@ find_package(cv_bridge REQUIRED) find_package(sensor_msgs REQUIRED) find_package(std_msgs REQUIRED) find_package(geometry_msgs REQUIRED) +find_package(rbs_skill_interfaces REQUIRED) #find_package(opencv2 REQUIRED) find_package(PCL 1.12 REQUIRED) find_package(pcl_conversions REQUIRED) @@ -33,6 +34,8 @@ ament_python_install_package(${PROJECT_NAME}) install(PROGRAMS scripts/detection_service.py scripts/grasp_marker_publish.py + scripts/pose_estimation.py + scripts/pose_estimation_lifecycle.py DESTINATION lib/${PROJECT_NAME} ) diff --git a/rbs_perception/README.md b/rbs_perception/README.md new file mode 100644 index 0000000..449c3d9 --- /dev/null +++ b/rbs_perception/README.md @@ -0,0 +1,54 @@ +# Оценка 6D положения объекта + +Есть два варианта работы узла по оценке 6D позы объекта. Первый предполагает использование ROS-узла как сервиса, второй - как [lifecycle-узла](https://design.ros2.org/articles/node_lifecycle.html). +Узел с управляемым жизненным циклом (lifecycle) позволяет лучше контролировать состояние системы ROS. Такой подход позволит системе убедиться, что все компоненты были созданы правильно, прежде чем любой компонент сможет начать выполнение своей задачи. Это также позволит перезапускать или заменять узел в режиме онлайн. +Так как задача оценки позиции объекта требует использования больших вычислительных ресурсов, то реализация lifecycle-узла позволяет управлять загрузкой ресурсов при этом. + +## Вариант 1. Сервис по оценке позы объекта + +Запуск узла производится командой: +```bash +ros2 run rbs_perception pose_estimation.py +``` +Запускается узел с именем `image_sub2` по умолчанию. В нём создаётся сервис для распознавания позиции с именем `detect6Dpose`, который ожидает клиентский запрос. +Для получения позиции заданного объекта клиент посылает сервису запрос с параметром ObjectInfo на входе +- `id` - идентификатор, +- `name` - имя объекта, +- `mesh_path` - путь к mesh-файлу в формате *.ply. + +При получении запроса сервис `detect6Dpose` подписывается на Image-сообщения с камеры `/ground_true/camera_node`, которые использует для запуска алгоритма 6D оценки позиции Megapose. После получения результата от Megapose сервис публикует сообщение с позицией (Quaternion) в `pose6D_[obj]` topic. + +## Вариант 2. Lifecycle-узел ROS для получения 6D-позы + +Запуск узла производится командой: +```bash +ros2 run rbs_perception pose_estimation_lifecycle.py +``` +Запускается узел с именем `image_sub2` по умолчанию. Настроечные переменные задаются в файле конфигурации `config/pose_estimation_config.json`. Пример: +```json +{ + "nodeName":"image_sub2", + "topicImage":"/outer_rgbd_camera/image", + "topicCameraInfo":"/outer_rgbd_camera/camera_info", + "topicDepth":"/outer_rgbd_camera/depth_image", + "topicSrv":"/image_sub2/detect6Dpose", + "publishDelay": 3.3, + "tf2_send_pose": 1 +} +``` +- `"nodeName"`- это поле указывает на имя узла в контексте ROS; +- `"topicImage"`- это поле определяет топик, по которому публикуются изображения, полученные с RGBD-камеры; +- `"topicCameraInfo"`- это поле указывает на топик, по которому публикуется информация о камере, такая как параметры калибровки и настройки; +- `"topicDepth"`- это поле определяет топик для изображений глубины, получаемых от RGBD-камеры. Изображения глубины предоставляют информацию о расстоянии до объектов в сцене; +- `"topicSrv"`- это поле определяет топик, по которому публикуется 6D-поза объекта после оценки; +- `"publishDelay"`- это поле, указывает задержку (в секундах) перед публикацией сообщений в топики; +- `"tf2_send_pose"`- это поле связано с отправкой данных о позе (положении и ориентации) в системе tf2, которая используется в ROS для управления координатными преобразованиями. Значение 1 означает включение или активацию данной функции (0 - отключение). + +Первым этапом работы узла будет являться его настройка вызовом `on_configure()`, перед которым необходимо установить параметр узла `"mesh_path"`. Этот строковый параметр должен содержать полный путь к файлу сетчатой модели объекта в формате *.ply. +Если конфигурирование завершено успешно, узел перейдёт в состояние `'inactive'`. Затем нужно узел сделать активным, вызвав `on_activate()`. При этом активируется подписчик на изображения с камеры (`"topicImage"`), в обратном вызове которого будет происходить распознавание позиции объекта (megapose) и его публикация в топике `"topicSrv"`. +Чтобы отключить распознавание нужно вызвать событие `on_deactivate()`. +Для новой настройки узла при необходимости оценки позы другого объекта нужно вызвать событие `on_cleanup()`, а затем повторить процедуру конфигурирования и активации. + +### Важное замечание +--- +Для правильной работы алгоритма Megapose нужно передавать модель объекта с размерами в мм (mesh-файл *.ply). \ No newline at end of file diff --git a/rbs_perception/config/detection_config.json b/rbs_perception/config/detection_config.json index 634cd99..fb0095d 100644 --- a/rbs_perception/config/detection_config.json +++ b/rbs_perception/config/detection_config.json @@ -1,5 +1,5 @@ { "topicName":"image_sub", - "topicImage":"/ground_true/camera_node", + "topicImage":"/outer_rgbd_camera/image", 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38661 +3 28076 28075 38662 +3 38660 38659 31272 +3 31044 31043 38663 +3 38666 42955 42956 +3 42956 42957 38666 +3 42957 42958 38666 +3 42958 38664 38666 +3 38668 42959 38669 +3 38669 42960 42961 +3 42961 38667 38669 +3 38672 42962 42963 +3 42963 42964 38672 +3 42964 42965 38672 +3 42965 38670 38672 +3 33772 33771 38673 +3 28536 40191 31092 +3 28810 42966 38675 +3 30991 30990 38677 +3 28005 28004 38679 +3 38682 42967 38683 +3 38683 42968 38681 +3 42968 42969 42970 +3 42968 42970 38681 +3 37808 37807 38684 +3 38633 38632 38635 +3 36235 36234 38686 diff --git a/rbs_perception/config/pose_estimation_config.json b/rbs_perception/config/pose_estimation_config.json new file mode 100644 index 0000000..6b7d0ba --- /dev/null +++ b/rbs_perception/config/pose_estimation_config.json @@ -0,0 +1,10 @@ +{ + "nodeName":"pose_estimation", + "cameraLink":"inner_rgbd_camera", + "topicImage":"/inner_rgbd_camera/image", + "topicCameraInfo":"/inner_rgbd_camera/camera_info", + "topicDepth":"/inner_rgbd_camera/depth_image", + "publishDelay": 1.3, + "tf2_send_pose": 1, + "mesh_scale": 0.001 +} diff --git a/rbs_perception/config/str_param.json b/rbs_perception/config/str_param.json new file mode 100644 index 0000000..23843a9 --- /dev/null +++ b/rbs_perception/config/str_param.json @@ -0,0 +1,5 @@ +{ + "mesh_path":"/home/shalenikol/assembly/asp-example2/sdf_generation/bishop/meshes/bishop.ply", + "gtpose_0":[1.3,0.0,0.0,0.0,0.0,0.0], + "darknet_path":"/home/shalenikol/test_detection" +} \ No newline at end of file diff --git a/rbs_perception/launch/perception.launch.py b/rbs_perception/launch/perception.launch.py index 8c43c3e..92c594e 100644 --- a/rbs_perception/launch/perception.launch.py +++ b/rbs_perception/launch/perception.launch.py @@ -1,27 +1,15 @@ from launch_ros.actions import Node -from ur_moveit_config.launch_common import load_yaml from launch import LaunchDescription def generate_launch_description(): declared_arguments = [] - points_params = load_yaml("rbs_bt_executor", "config/gripperPositions.yaml") - - grasp_pose_loader = Node( - package="rbs_skill_servers", - executable="pick_place_pose_loader_service_server", - output="screen", - emulate_tty=True, - parameters=[ - points_params - ] - ) - grasp_marker = Node( + pose_estimation = Node( package="rbs_perception", - executable="grasp_marker_publish.py", + executable="pose_estimation_lifecycle.py", ) + nodes_to_start = [ - grasp_pose_loader, - grasp_marker + pose_estimation ] return LaunchDescription(declared_arguments + nodes_to_start) diff --git a/rbs_perception/package.xml b/rbs_perception/package.xml index dc0eb92..7b5aca8 100644 --- a/rbs_perception/package.xml +++ b/rbs_perception/package.xml @@ -3,7 +3,7 @@ rbs_perception 0.0.0 - An image publisher and subscriber node that uses OpenCV + An node for robot perception shalenikol Apache License 2.0 @@ -17,6 +17,7 @@ sensor_msgs std_msgs perception_pcl + rbs_skill_interfaces ament_lint_auto ament_lint_common diff --git a/rbs_perception/scripts/pose_estimation.py b/rbs_perception/scripts/pose_estimation.py new file mode 100755 index 0000000..b6c47a5 --- /dev/null +++ b/rbs_perception/scripts/pose_estimation.py @@ -0,0 +1,252 @@ +#!/usr/bin/env python3 +""" + detection_service + ROS 2 program for 6D Pose Estimation + + @shalenikol release 0.2 +""" + +# Import the necessary libraries +import rclpy # Python library for ROS 2 +from rclpy.node import Node # Handles the creation of nodes +from sensor_msgs.msg import Image # Image is the message type +from geometry_msgs.msg import Quaternion, TransformStamped +from tf2_ros import TransformBroadcaster +from cv_bridge import CvBridge # Package to convert between ROS and OpenCV Images +import cv2 # OpenCV library +from rbs_skill_interfaces.srv import DetectObject +from rbs_skill_interfaces.msg import ObjectInfo +#import subprocess +import os +import shutil +import json +import tempfile +from pathlib import Path +import numpy as np +from ament_index_python.packages import get_package_share_directory +# import megapose +from megapose.scripts.run_inference_on_example import run_inference + +tf2_send_pose = True + +""" +# encoder for numpy array +def np_encoder(object): + if isinstance(object, (np.generic, np.ndarray)): + return object.item() +""" +class ImageSubscriber(Node): + """ + Create an ImageSubscriber class, which is a subclass of the Node class. + """ + def _InitService(self): + # Initialization service data + p = os.path.join(get_package_share_directory("rbs_perception"), "config", "pose_estimation_config.json") + # load config + with open(p, "r") as f: + y = json.load(f) + + for name, val in y.items(): + if name == "nodeName": + self.nodeName = val + elif name == "topicImage": + self.topicImage = val + elif name == "topicPubName": + self.topicPubName = val + elif name == "topicSrv": + self.topicSrv = val + elif name == "tf2_send_pose": + self.tf2_send_pose = val + elif name == "camera_info": + self.K_, self.res_ = self._getCameraParam(val) + + def _getCameraParam(self, info): + """ + Returns the intrinsic matrix and resolution from the provided camera info. + """ + intrinsic_matrix = [ + [info["fx"], 0.0, info["width"] / 2.0], + [0.0, info["fy"], info["height"] / 2.0], + [0.0, 0.0, 1.0] + ] + resolution = [info["height"], info["width"]] + return intrinsic_matrix, resolution + + def __init__(self): + """ + Class constructor to set up the node + """ + self.nodeName = "image_sub2" + self.topicImage = "/outer_rgbd_camera/image" + self.topicPubName = self.nodeName + "/pose6D_images" + self.topicSrv = self.nodeName + "/detect6Dpose" + self._InitService() + + self.tmpdir = tempfile.gettempdir() + self.mytemppath = Path(self.tmpdir) / "rbs_per" + self.mytemppath.mkdir(exist_ok=True) + #os.environ["MEGAPOSE_DATA_DIR"] = str(self.mytemppath) + + # Initiate the Node class's constructor and give it a name + super().__init__(self.nodeName) + + # Initialize the transform broadcaster + self.tf_broadcaster = TransformBroadcaster(self) + + self.subscription = None + self.objName = "" + self.objMeshFile = "" + self.objPath = "" + + # Used to convert between ROS and OpenCV images + self.br = CvBridge() + self.cnt = 0 + #self.get_logger().info(f"__init__ : __file__ = {__file__} tmpdir = {self.tmpdir}") + + self.service = self.create_service(DetectObject, self.topicSrv, self.service_callback) + + def service_callback(self, request, response): + self.get_logger().info(f"Incoming request for pose estimation ObjectInfo(name: {request.object.name}, mesh_path: {request.object.mesh_path})") + + if not os.path.isfile(request.object.mesh_path): + response.call_status = False + response.error_msg = f"{request.object.mesh_path}: no such file" + return response + if request.object.id == -1: + self.subscription = None # ? сброс подпискиpython -m megapose.scripts.download --example_data + + response.call_status = True + return response + + if self.subscription == None: + self.objName = request.object.name + self.objMeshFile = request.object.mesh_path + self.objPath = self.mytemppath / "examples" + self.objPath.mkdir(exist_ok=True) + self.objPath /= self.objName + self.objPath.mkdir(exist_ok=True) + tPath = self.objPath / "inputs" + tPath.mkdir(exist_ok=True) + + #{"label": "fork", "bbox_modal": [329, 189, 430, 270]} + output_fn = tPath / "object_data.json" + output_json_dict = { + "label": self.objName, + "bbox_modal": [2,2,self.res_[1]-4,self.res_[0]-4] + } + data = [] + data.append(output_json_dict) + output_fn.write_text(json.dumps(data)) + + tPath = self.objPath / "meshes" + tPath.mkdir(exist_ok=True) + tPath /= self.objName + tPath.mkdir(exist_ok=True) + shutil.copyfile(self.objMeshFile, str(tPath / (self.objName+".ply"))) + + #{"K": [[25.0, 0.0, 8.65], [0.0, 25.0, 6.5], [0.0, 0.0, 1.0]], "resolution": [480, 640]} + output_fn = self.objPath / "camera_data.json" + output_json_dict = { + "K": self.K_, + "resolution": self.res_ + } + data = [] + data.append(output_json_dict) + output_fn.write_text(json.dumps(output_json_dict)) + + # Create the subscriber. This subscriber will receive an Image from the video_frames topic. The queue size is 3 messages. + self.subscription = self.create_subscription(Image, self.topicImage, self.listener_callback, 3) + # Create the publisher. This publisher will publish an Quaternion to the 'pose6D_' topic. The queue size is 10 messages. + self.publisher = self.create_publisher(Quaternion, "pose6D_"+self.objName, 10) + + response.call_status = True + else: + response.call_status = True + return response + + def load_result(self, example_dir: Path, json_name = "object_data.json"): + f = example_dir / "outputs" / json_name + if os.path.isfile(f): + data = f.read_text() + else: + data = "No result file: '" + str(f) + "'" + return data + + def tf_obj_pose(self,pose): + """ + Передача позиции объекта в tf2 + """ + t = TransformStamped() + # assign pose to corresponding tf variables + t.header.stamp = self.get_clock().now().to_msg() + t.header.frame_id = 'world' + t.child_frame_id = self.objName + # coordinates + tr = pose[1] + t.transform.translation.x = tr[0] + t.transform.translation.y = tr[1] + t.transform.translation.z = tr[2] + # rotation + q = pose[0] + t.transform.rotation.x = q[1] # 0 + t.transform.rotation.y = q[2] # 1 + t.transform.rotation.z = q[3] # 2 + t.transform.rotation.w = q[0] # 3 + # Send the transformation + self.tf_broadcaster.sendTransform(t) + + def listener_callback(self, data): + """ + Callback function. + """ + # Display the message on the console + self.get_logger().info("Receiving video frame") + + # Convert ROS Image message to OpenCV image + current_frame = self.br.imgmsg_to_cv2(data) + + # Save image for Megapose + cv2.imwrite(str(self.objPath / "image_rgb.png"), current_frame) + self.cnt += 1 + + # 6D pose estimation + self.get_logger().info(f"megapose: begin {self.cnt}") + print(self.objPath) + run_inference(self.objPath,"megapose-1.0-RGB-multi-hypothesis") + + # опубликуем результат оценки позы + data = self.load_result(self.objPath) + if data[0] == "[": + y = json.loads(data)[0] + pose = y["TWO"] + quat = pose[0] + #pose[1] - 3D перемещение + self.publisher.publish(Quaternion(x=quat[1],y=quat[2],z=quat[3],w=quat[0])) + if tf2_send_pose: + self.tf_obj_pose(pose) + + self.get_logger().info(f"megapose: end {self.cnt}") + + cv2.waitKey(1) + +def main(args=None): + + # Initialize the rclpy library + rclpy.init(args=args) + + # Create the node + image_subscriber = ImageSubscriber() + + # Spin the node so the callback function is called. + rclpy.spin(image_subscriber) + + # Destroy the node explicitly + # (optional - otherwise it will be done automatically + # when the garbage collector destroys the node object) + image_subscriber.destroy_node() + + # Shutdown the ROS client library for Python + rclpy.shutdown() + +if __name__ == '__main__': + main() diff --git a/rbs_perception/scripts/pose_estimation_lifecycle.py b/rbs_perception/scripts/pose_estimation_lifecycle.py new file mode 100755 index 0000000..4742860 --- /dev/null +++ b/rbs_perception/scripts/pose_estimation_lifecycle.py @@ -0,0 +1,485 @@ +#!/usr/bin/env python3 +""" + pose_estimation_lifecycle_node + ROS 2 program for 6D Pose Estimation + + @shalenikol release 0.3 +""" + +from typing import Optional +import os +import subprocess +import shutil +import json +import tempfile +from pathlib import Path +import transforms3d as t3d + +import rclpy +from rclpy.lifecycle import Node +from rclpy.lifecycle import Publisher +from rclpy.lifecycle import State +from rclpy.lifecycle import TransitionCallbackReturn +from rclpy.timer import Timer + +from ament_index_python.packages import get_package_share_directory +from sensor_msgs.msg import Image, CameraInfo +from geometry_msgs.msg import Pose, TransformStamped +from tf2_ros import TransformBroadcaster, TransformException +from tf2_ros.buffer import Buffer +from tf2_ros.transform_listener import TransformListener + +from cv_bridge import CvBridge # Package to convert between ROS and OpenCV Images +import cv2 # OpenCV library + +class PoseEstimator(Node): + """Our lifecycle node.""" + + def _InitService(self): + # Initialization service data + p = os.path.join(get_package_share_directory("rbs_perception"), "config", "pose_estimation_config.json") + # load config + with open(p, "r") as f: + y = json.load(f) + + for name, val in y.items(): + if name == "nodeName": + self.nodeName = val + elif name == "cameraLink": + self.camera_link = val + elif name == "topicImage": + self.topicImage = val + elif name == "topicCameraInfo": + self.topicCameraInfo = val + elif name == "topicDepth": + self.topicDepth = val + elif name == "publishDelay": + self.publishDelay = val + elif name == "topicSrv": + self.topicSrv = val + elif name == "tf2_send_pose": + self.tf2_send_pose = val + elif name == "mesh_scale": + self.mesh_scale = val + + def __init__(self, node_name, **kwargs): + """Construct the node.""" + self._count: int = 0 + self._pub: Optional[Publisher] = None + self._timer: Optional[Timer] = None + self._image_cnt: int = 0 + self._sub = None + self._sub_info = None + self._sub_depth = None + self._is_camerainfo = False + self._K = [[0., 0., 0.], [0., 0., 0.], [0., 0., 0.]] + self._res = [0, 0] + self._pose = [[1., 0., 0., 0.], [0., 0., 0.]] # pose in format "TWO" (megapose) + self.tf2_send_pose = 0 + self.mesh_scale = 1.0 + self.quat_rotate_xyz = [0.5, 0.5, -0.5, -0.5] + self.megapose_model = None + self.darknet_path = "" + + self.nodeName = node_name + self.camera_link = "outer_rgbd_camera" + self.topicImage = "/outer_rgb_camera/image" + self.topicCameraInfo = "/outer_rgb_camera/camera_info" + self.topicDepth = "/outer_rgbd_camera/depth_image" + self.publishDelay = 2.0 + self.topicSrv = self.nodeName + "/detect6Dpose" + self._InitService() + self.camera_pose = Pose() + + self.tmpdir = tempfile.gettempdir() + self.mytemppath = Path(self.tmpdir) / "rbs_per" + self.mytemppath.mkdir(exist_ok=True) + + # for other nodes + kwargs["allow_undeclared_parameters"] = True + kwargs["automatically_declare_parameters_from_overrides"] = True + super().__init__(self.nodeName, **kwargs) + self.declare_parameter("mesh_path", rclpy.Parameter.Type.STRING) + + self.tf_buffer = Buffer() + self.tf_listener = TransformListener(self.tf_buffer, self) + # Initialize the transform broadcaster + self.tf_broadcaster = TransformBroadcaster(self) + # Used to convert between ROS and OpenCV images + self.br = CvBridge() + + self.objName = "" + self.objMeshFile = "" + self.objPath = "" + + def publish(self): + """Publish a new message when enabled.""" + self._count += 1 + + if self._pub is not None and self._pub.is_activated: + # опубликуем результат оценки позы # publish pose estimation result + q = self._pose[0] + t = self._pose[1] + # transform from View space in World space + # rotate + #q_mir = t3d.quaternions.qmult(self.quat_rotate_xyz, q) + # translate (xyz = +z-x-y) + #t_mir = [t[2], -t[0], -t[1]] + + #cam_p = self.camera_pose.position + #cam_Q = self.camera_pose.orientation + # q_rot = [msgQ.w, msgQ.x, msgQ.y, msgQ.z] + # q = t3d.quaternions.qinverse(q) #q[0] = -q[0] + # q_mir = t3d.quaternions.qmult(q_rot,q) + + #q_mir = q + + p = Pose() + p.position.x = t[0] + p.position.y = t[1] + p.position.z = t[2] + p.orientation.w = q[0] + p.orientation.x = q[1] + p.orientation.y = q[2] + p.orientation.z = q[3] + # p.position.x = t_mir[0] + cam_p.x + # p.position.y = t_mir[1] + cam_p.y + # p.position.z = t_mir[2] + cam_p.z + # p.orientation.w = q_mir[0] + # p.orientation.x = q_mir[1] + # p.orientation.y = q_mir[2] + # p.orientation.z = q_mir[3] + self._pub.publish(p) + + if self.tf2_send_pose: + self.tf_obj_pose(t,q) #(self._pose) + + def tf_obj_pose(self, tr, q): + """ + Передача позиции объекта в tf2 + """ + t = TransformStamped() + # assign pose to corresponding tf variables + t.header.stamp = self.get_clock().now().to_msg() + t.header.frame_id = self.camera_link #'world' + t.child_frame_id = self.objName + "_pp" + # coordinates + #tr = pose[1] + t.transform.translation.x = tr[0] #.x + t.transform.translation.y = tr[1] #.y + t.transform.translation.z = tr[2] #.z + # rotation + #q = pose[0] + t.transform.rotation.w = q[0] + t.transform.rotation.x = q[1] + t.transform.rotation.y = q[2] + t.transform.rotation.z = q[3] + # Send the transformation + self.tf_broadcaster.sendTransform(t) + + def on_configure(self, state: State) -> TransitionCallbackReturn: + """ + Configure the node, after a configuring transition is requested. + + :return: The state machine either invokes a transition to the "inactive" state or stays + in "unconfigured" depending on the return value. + TransitionCallbackReturn.SUCCESS transitions to "inactive". + TransitionCallbackReturn.FAILURE transitions to "unconfigured". + TransitionCallbackReturn.ERROR or any uncaught exceptions to "errorprocessing" + """ + gtpose = None + str_param = self.get_parameter("mesh_path").get_parameter_value().string_value + if str_param[0] == "!": # filename json + json_file = str_param[1:] + if not os.path.isfile(json_file): + self.get_logger().info("not JSon '"+ json_file +"'") + return TransitionCallbackReturn.FAILURE + str_param = Path(json_file).read_text() + try: + y = json.loads(str_param) + except json.JSONDecodeError as e: + self.get_logger().info(f"JSon error: {e}") + return TransitionCallbackReturn.FAILURE + if "mesh_path" not in y: + self.get_logger().info("JSon 'mesh_path' not set") + return TransitionCallbackReturn.FAILURE + mesh_path = y["mesh_path"] + if "gtpose" in y: + gtpose = y["gtpose"] + if "darknet_path" in y: + self.darknet_path = y["darknet_path"] + else: + mesh_path = str_param + + if not os.path.isfile(mesh_path): + self.get_logger().info("Parameter 'mesh_path' not set") + return TransitionCallbackReturn.FAILURE + + data = os.path.basename(mesh_path) + self.objName = os.path.splitext(data)[0] + self.objMeshFile = mesh_path + self.objPath = self.mytemppath / "examples" + self.objPath.mkdir(exist_ok=True) + self.objPath /= self.objName + self.objPath.mkdir(exist_ok=True) + tPath = self.objPath / "inputs" + tPath.mkdir(exist_ok=True) + tPath = self.objPath / "meshes" + tPath.mkdir(exist_ok=True) + tPath /= self.objName + tPath.mkdir(exist_ok=True) + shutil.copyfile(self.objMeshFile, str(tPath / (self.objName+".ply"))) + + # Create the subscribers. + self._sub_info = self.create_subscription(CameraInfo, self.topicCameraInfo, self.listener_camera_info, 2) + self._sub_depth = self.create_subscription(Image, self.topicDepth, self.listener_depth, 3) + + # Create the publisher. + self._pub = self.create_lifecycle_publisher(Pose, self.topicSrv, 10) + self._timer = self.create_timer(self.publishDelay, self.publish) + + if gtpose == None: + # Preload Megapose model + from megapose.scripts.run_inference_on_example import ModelPreload + self.megapose_model = ModelPreload(self.objPath,"megapose-1.0-RGB-multi-hypothesis") + else: + self._pose = [t3d.euler.euler2quat(gtpose[3], gtpose[4], gtpose[5]), gtpose[:3]] + + self.get_logger().info("on_configure() is called.") + return TransitionCallbackReturn.SUCCESS + + def on_activate(self, state: State) -> TransitionCallbackReturn: + # Log + self.get_logger().info('on_activate() is called.') + # Create the main subscriber. + self._sub = self.create_subscription(Image, self.topicImage, self.listener_callback, 3) + return super().on_activate(state) + + def on_deactivate(self, state: State) -> TransitionCallbackReturn: + # Log + self.get_logger().info('on_deactivate() is called.') + # Destroy the main subscriber. + self.destroy_subscription(self._sub) + return super().on_deactivate(state) + + def on_cleanup(self, state: State) -> TransitionCallbackReturn: + """ + Cleanup the node. + + :return: The state machine either invokes a transition to the "unconfigured" state or stays + in "inactive" depending on the return value. + TransitionCallbackReturn.SUCCESS transitions to "unconfigured". + TransitionCallbackReturn.FAILURE transitions to "inactive". + TransitionCallbackReturn.ERROR or any uncaught exceptions to "errorprocessing" + """ + # очистим параметры + node_param = rclpy.parameter.Parameter("mesh_path", rclpy.Parameter.Type.STRING, "") + all_node_param = [node_param] + self.set_parameters(all_node_param) + + self._is_camerainfo = False + + self.destroy_timer(self._timer) + self.destroy_publisher(self._pub) + self.destroy_subscription(self._sub) + self.destroy_subscription(self._sub_info) + self.destroy_subscription(self._sub_depth) + + self.get_logger().info('on_cleanup() is called.') + return TransitionCallbackReturn.SUCCESS + + def on_shutdown(self, state: State) -> TransitionCallbackReturn: + """ + Shutdown the node. + + :return: The state machine either invokes a transition to the "finalized" state or stays + in the current state depending on the return value. + TransitionCallbackReturn.SUCCESS transitions to "unconfigured". + TransitionCallbackReturn.FAILURE transitions to "inactive". + TransitionCallbackReturn.ERROR or any uncaught exceptions to "errorprocessing" + """ + self.destroy_timer(self._timer) + self.destroy_publisher(self._pub) + self.destroy_subscription(self._sub) + self.destroy_subscription(self._sub_info) + self.destroy_subscription(self._sub_depth) + + self.get_logger().info('on_shutdown() is called.') + return TransitionCallbackReturn.SUCCESS + + def listener_camera_info(self, data): + """ + CameraInfo callback function. + """ + if self._is_camerainfo: # повторно инфо камеры не читаем + return + + self._res = [data.height, data.width] + k_ = data.k + # self._K = [ + # [k_[0], k_[1], k_[2]], + # [k_[3], k_[4], k_[5]], + # [k_[6], k_[7], k_[8]] + # ] + self._K = [ + [k_[0]*2.0, k_[1], data.width / 2.0], # k_[2]], # + [k_[3], k_[4]*2.0, data.height / 2.0], # k_[5]], # + [k_[6], k_[7], k_[8]] #self.mesh_scale] + ] + + # *** for test + # tPath = self.objPath / "inputs" + # output_fn = tPath / "object_data.json" + # output_json_dict = { + # "label": self.objName, + # "bbox_modal": [168,173,260,252] # 0.2 0 0 -> [288,170,392,253] + # } + # data = [] + # data.append(output_json_dict) + # output_fn.write_text(json.dumps(data)) + # *** + + #{"K": [[25.0, 0.0, 8.65], [0.0, 25.0, 6.5], [0.0, 0.0, 1.0]], "resolution": [480, 640]} + output_fn = self.objPath / "camera_data.json" + output_json_dict = { + "K": self._K, + "resolution": self._res + } + data = [] + data.append(output_json_dict) + output_fn.write_text(json.dumps(output_json_dict)) + + # установим признак получения инфо камеры + self._is_camerainfo = True + + def listener_depth(self, data): + """ + Depth image callback function. + """ + # Convert ROS Image message to OpenCV image + current_frame = self.br.imgmsg_to_cv2(data) + + # Save depth image for Megapose + cv2.imwrite(str(self.objPath / "image_depth.png"), current_frame) + + def load_result(self, example_dir: Path, json_name = "object_data.json"): + f = example_dir / "outputs" / json_name + if os.path.isfile(f): + data = f.read_text() + else: + data = "No result file: '" + str(f) + "'" + return data + + def rel2bbox(self, rel_coord): + bb_w = rel_coord["width"] + bb_h = rel_coord["height"] + x = int((rel_coord["center_x"] - bb_w/2.) * self._res[1]) + y = int((rel_coord["center_y"] - bb_h/2.) * self._res[0]) + w = int(bb_w * self._res[1]) + h = int(bb_h * self._res[0]) + return [x,y,w,h] + + def yolo2megapose(self, res_json: str, path_to: Path) -> bool: + str_param = Path(res_json).read_text() + y = json.loads(str_param)[0] + conf = 0.5 # threshold of detection + found_coord = None + for detections in y["objects"]: + if detections["name"] == self.objName: + c_conf = detections["confidence"] + if c_conf > conf: + conf = c_conf + found_coord = detections["relative_coordinates"] + + if found_coord: + bbox = self.rel2bbox(found_coord) + else: + bbox = [2, 2, self._res[1]-4, self._res[0]-4] + + #tPath = path_to / "inputs" + output_fn = path_to / "inputs/object_data.json" + output_json_dict = { + "label": self.objName, + "bbox_modal": bbox + } + data = [] + data.append(output_json_dict) + output_fn.write_text(json.dumps(data)) + return bool(found_coord) + + def listener_callback(self, data): + """ + Image Callback function. + """ + if not self._is_camerainfo: + self.get_logger().warning("No data from CameraInfo") + return + # get camera pose + camera_name = self.camera_link #self.topicImage.split('/')[1] + try: + t = self.tf_buffer.lookup_transform("world", camera_name, rclpy.time.Time()) + except TransformException as ex: + self.get_logger().info(f'Could not transform {camera_name} to world: {ex}') + return + self.camera_pose.position.x = t.transform.translation.x + self.camera_pose.position.y = t.transform.translation.y + self.camera_pose.position.z = t.transform.translation.z + self.camera_pose.orientation.w = t.transform.rotation.w + self.camera_pose.orientation.x = t.transform.rotation.x + self.camera_pose.orientation.y = t.transform.rotation.y + self.camera_pose.orientation.z = t.transform.rotation.z + + # self._pose[0] = [t.transform.rotation.w, t.transform.rotation.x, t.transform.rotation.y, t.transform.rotation.z] + # self._pose[1] = [t.transform.translation.x, t.transform.translation.y, t.transform.translation.z] + + # Convert ROS Image message to OpenCV image + current_frame = self.br.imgmsg_to_cv2(data) + + # Save image for Megapose + frame_im = str(self.objPath / "image_rgb.png") + cv2.imwrite(frame_im, current_frame) + self._image_cnt += 1 + + detected = False + darknet_bin = os.path.join(self.darknet_path, "darknet") + if os.path.isfile(darknet_bin): + # object detection (YoloV4 - darknet) + self.get_logger().info(f"darknet: begin {self._image_cnt}") + result_json = str(self.objPath / "res.json") + + subprocess.run([darknet_bin, "detector", "test", + "yolov4_objs2.data", + "yolov4_objs2.cfg", + "yolov4.weights", + "-dont_show", "-ext_output", # -thresh 0.5 + "-out", result_json, frame_im], + cwd = self.darknet_path #, stdout = subprocess.PIPE + ) + detected = self.yolo2megapose(result_json, self.objPath) + self.get_logger().info(f"darknet: end {self._image_cnt}") + + if detected and self.megapose_model: + # 6D pose estimation + self.get_logger().info(f"megapose: begin {self._image_cnt} {self.objPath}") + from megapose.scripts.run_inference_on_example import run_inference_rbs + run_inference_rbs(self.megapose_model) + + data = self.load_result(self.objPath) + if data[0] == "[": + y = json.loads(data)[0] + self._pose = y["TWO"] + self.get_logger().info(f"megapose: end {self._image_cnt}") + +def main(): + rclpy.init() + + executor = rclpy.executors.SingleThreadedExecutor() + lc_node = PoseEstimator("lc_pose_estimator") + executor.add_node(lc_node) + try: + executor.spin() + except (KeyboardInterrupt, rclpy.executors.ExternalShutdownException): + lc_node.destroy_node() + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/rbs_perception/src/perception_filter.cpp b/rbs_perception/src/perception_filter.cpp index fc34add..6b23fe6 100644 --- a/rbs_perception/src/perception_filter.cpp +++ b/rbs_perception/src/perception_filter.cpp @@ -5,7 +5,7 @@ rbs_perception::PCFilter::PCFilter() : Node("pc_filter", rclcpp::NodeOptions()) { publisher_ = this->create_publisher("rgbd_camera/filtered_points", 1); subscriber_ = this->create_subscription( - "rgbd_camera/points", 1, std::bind(&PCFilter::sub_callback, this, std::placeholders::_1) + "inner_rgbd_camera/points", 1, std::bind(&PCFilter::sub_callback, this, std::placeholders::_1) ); tf_buffer_ = std::make_unique(this->get_clock()); tf_listener_ = std::make_shared(*tf_buffer_); @@ -16,7 +16,7 @@ void rbs_perception::PCFilter::sub_callback(const sensor_msgs::msg::PointCloud2 { try { - standform = tf_buffer_->lookupTransform(msg.header.frame_id, world_frame, + standform = tf_buffer_->lookupTransform(world_frame, "inner_rgbd_camera", tf2::TimePointZero, tf2::durationFromSec(3)); } @@ -25,13 +25,13 @@ void rbs_perception::PCFilter::sub_callback(const sensor_msgs::msg::PointCloud2 RCLCPP_ERROR(this->get_logger(), "%s", ex.what()); } sensor_msgs::msg::PointCloud2 transformed_cloud; - pcl_ros::transformPointCloud(world_frame, standform, msg, transformed_cloud); + pcl_ros::transformPointCloud("inner_rgbd_camera", standform, msg, transformed_cloud); pcl::PointCloud cloud; pcl::fromROSMsg(transformed_cloud, cloud); pcl::PointCloud::Ptr cloud_ptr(new pcl::PointCloud(cloud)); pcl::PointCloud::Ptr cloud_voxel_filtered(new pcl::PointCloud()); voxel_filter.setInputCloud(cloud_ptr); - voxel_filter.setLeafSize(0.02, 0.02, 0.02); + voxel_filter.setLeafSize(0.01, 0.01, 0.01); voxel_filter.filter(*cloud_voxel_filtered); pub_callback(publisher_, *cloud_voxel_filtered); } diff --git a/rbs_simulation/launch/get_urdf.launch.py b/rbs_simulation/launch/get_urdf.launch.py index 52f61d6..d034a8d 100644 --- a/rbs_simulation/launch/get_urdf.launch.py +++ b/rbs_simulation/launch/get_urdf.launch.py @@ -20,7 +20,7 @@ def generate_launch_description(): "prefix": "", "sim_mujoco": "true", "simulation_controllers": str(initial_joint_controllers_file_path), - "with_gripper": "false" + "with_gripper": "true" }) robot_desc = doc.toprettyxml(indent=' ') diff --git a/rbs_simulation/launch/simulation.launch.py b/rbs_simulation/launch/simulation.launch.py index 1470229..0f9a52b 100644 --- a/rbs_simulation/launch/simulation.launch.py +++ b/rbs_simulation/launch/simulation.launch.py @@ -34,8 +34,9 @@ def generate_launch_description(): env_manager_cond = LaunchConfiguration("env_manager") gazebo_gui = LaunchConfiguration("gazebo_gui") # FIXME: To args when we'll have different files + # TODO: Use global variable to find world file in robossembler_db world_config_file = PathJoinSubstitution( - [FindPackageShare("rbs_simulation"), "worlds", "mir.sdf"] + [FindPackageShare("rbs_simulation"), "worlds", "asm2.sdf"] ) # Gazebo nodes @@ -63,16 +64,45 @@ def generate_launch_description(): '-topic', '/robot_description'], output='screen', condition=IfCondition(sim_gazebo)) - env_manager = Node(package="env_manager", - executable="env_manager_node", + executable="run_env_manager", condition=IfCondition(env_manager_cond) ) + + # Bridge + rgbd_bridge_out = Node( + package='ros_gz_bridge', + executable='parameter_bridge', + arguments=[ + '/outer_rgbd_camera/image@sensor_msgs/msg/Image@gz.msgs.Image', + '/outer_rgbd_camera/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo', + '/outer_rgbd_camera/depth_image@sensor_msgs/msg/Image@gz.msgs.Image', + '/outer_rgbd_camera/points@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked' + ], + output='screen', + condition=IfCondition(sim_gazebo) + ) + + rgbd_bridge_in = Node( + package='ros_gz_bridge', + executable='parameter_bridge', + arguments=[ + '/inner_rgbd_camera/image@sensor_msgs/msg/Image@gz.msgs.Image', + '/inner_rgbd_camera/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo', + '/inner_rgbd_camera/depth_image@sensor_msgs/msg/Image@gz.msgs.Image', + '/inner_rgbd_camera/points@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked' + ], + output='screen', + ) + + nodes_to_start = [ gazebo, gazebo_server, gazebo_spawn_robot, - env_manager + env_manager, + rgbd_bridge_out, + rgbd_bridge_in ] return LaunchDescription(declared_arguments + nodes_to_start) diff --git a/rbs_simulation/models/fork/meshes/collision/fork.stl b/rbs_simulation/models/fork/meshes/collision/fork.stl new file mode 100644 index 0000000..e6d850c Binary files /dev/null and b/rbs_simulation/models/fork/meshes/collision/fork.stl differ diff --git a/rbs_simulation/models/fork/meshes/visual/fork.dae b/rbs_simulation/models/fork/meshes/visual/fork.dae new file mode 100644 index 0000000..846a8b3 --- /dev/null +++ b/rbs_simulation/models/fork/meshes/visual/fork.dae @@ -0,0 +1,159 @@ + + + + + Blender User + Blender 3.6.1 commit date:2023-07-17, commit time:12:50, hash:8bda729ef4dc + + 2023-10-12T19:14:39 + 2023-10-12T19:14:39 + + Z_UP + + + + + + + + 0 0 0 1 + + + 0.1 0.1 0.1 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0 0 0 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.95 0.95 0.95 1 + + + 1.45 + + + + + + + + + + + + + + + + + + + + + + + -0.04175001 -0.1448087 0.09814488 -0.04075002 -0.144 0.09399998 -0.04075002 -0.1438007 0.09818243 -0.04175001 -0.145 0.09399998 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151798 17246 29554 151799 21525 26182 151809 22507 26183 151810 22833 26179 151811 24544 29380 151815 25086 29379 151816 25084 29377 151817 23931 29607 151818 23929 8431 151819 23271 8433 151820 24748 28874 151824 24726 28838 151825 24725 28837 151826 21276 21899 151827 22694 21898 151828 22693 25951 151829 23933 9526 151836 23931 29607 151837 23273 29608 151838 25075 29617 151848 24390 29616 151849 24388 29614 151850 21165 18042 151854 21436 18041 151855 21434 25717 151856 24753 28884 151872 24751 28880 151873 24752 28883 151874 24743 28868 151875 24742 28864 151876 24721 28833 151877 25126 22731 151878 25127 22730 151879 25125 29213 151880 24598 15584 151917 24838 15583 151918 24839 29810 151919 24720 29814 151929 24729 48667 151930 24728 29815 151931 24838 28977 151932 24852 28976 151933 24853 29817 151934 24670 8190 151947 25240 8189 151948 25241 29820 151949 24656 29822 151950 24660 29918 151951 25242 29823 151952 25286 29826 151956 25289 48672 151957 25292 29827 151958 25236 29830 151962 24686 48674 151963 25235 29831 151964 24686 48674 151965 24693 48675 151966 25235 29831 151967 24695 48676 151968 25225 48677 151969 25234 29832 151970 25225 48677 151971 25236 29830 151972 25234 29832 151973 25234 29832 151974 24692 48678 151975 24695 48676 151976 24636 26815 151989 25253 26814 151990 25254 29841 151991 24220 28523 152004 24219 28522 152005 24221 15053 152006 24599 15375 152019 24601 15355 152020 25250 6446 152021 24185 887 152025 24184 887 152026 25247 887 152027 25247 887 152028 25248 887 152029 24185 887 152030 25248 887 152031 25249 48690 152032 24188 887 152033 25249 48690 152034 25250 48691 152035 24190 48692 152036 25250 48691 152037 24195 48693 152038 24192 48694 152039 24195 48693 152040 24196 48695 152041 24192 48694 152042 24196 48695 152043 24198 29853 152044 25252 29852 152045 24192 48694 152046 24196 48695 152047 25252 29852 152048 24198 29853 152049 24200 48696 152050 25253 29851 152051 24200 48696 152052 24202 48697 152053 25254 48698 152054 25253 29851 152055 24200 48696 152056 25254 48698 152057 24202 48697 152058 25255 887 152059 25254 48698 152060 25248 887 152061 24188 887 152062 24185 887 152063 25250 48691 152064 24192 48694 152065 24190 48692 152066 24190 48692 152067 24188 887 152068 25249 48690 152069 24606 2408 152070 25258 2410 152071 25257 14735 152072 24646 29863 152097 24656 29822 152098 25243 29824 152099 24666 29865 152100 25275 29872 152101 25276 28507 152102 24180 48707 152103 24182 48708 152104 25256 48709 152105 25256 48709 152106 25262 48710 152107 24180 48707 152108 25262 48710 152109 25261 48711 152110 24178 48712 152111 25261 48711 152112 25260 48713 152113 24176 48714 152114 25260 48713 152115 24172 1051 152116 24175 48715 152117 24172 1051 152118 24170 1051 152119 24175 48715 152120 24170 1051 152121 24168 29868 152122 25259 29867 152123 24175 48715 152124 24170 1051 152125 25259 29867 152126 24168 29868 152127 24165 48716 152128 25258 29866 152129 24165 48716 152130 24164 48717 152131 25257 48718 152132 25258 29866 152133 24165 48716 152134 25257 48718 152135 24164 48717 152136 25251 1051 152137 25257 48718 152138 25262 48710 152139 24178 48712 152140 24180 48707 152141 25260 48713 152142 24175 48715 152143 24176 48714 152144 24176 48714 152145 24178 48712 152146 25261 48711 152147 24522 28717 152154 24521 28716 152155 24523 29871 152156 24671 9131 152157 25274 9130 152158 25275 29872 152159 24663 29879 152181 25268 29884 152182 25267 29880 152183 24167 28596 152184 24168 28595 152185 24170 29881 152186 24659 15398 152190 25269 15397 152191 25268 29884 152192 24696 4235 152193 25266 4234 152194 25265 29885 152195 24169 29882 152196 24170 29881 152197 24172 17216 152198 24373 15076 152199 24372 15075 152200 24374 29886 152201 24173 29894 152217 24610 48733 152218 25280 48734 152219 25280 48734 152220 25279 48735 152221 24173 29894 152222 25279 48735 152223 25281 48736 152224 24173 29894 152225 25281 48736 152226 25278 29892 152227 24173 29894 152228 24608 29899 152232 24609 48738 152233 25277 29900 152234 25277 29900 152235 25284 48739 152236 25283 48740 152237 25283 48740 152238 25282 29898 152239 25277 29900 152240 24696 29904 152244 24680 48738 152245 25288 48742 152246 25288 48742 152247 25287 48743 152248 24696 29904 152249 25287 48743 152250 25289 48744 152251 24696 29904 152252 25289 48744 152253 25286 29902 152254 24696 29904 152255 24464 21133 152256 24463 21132 152257 24465 29905 152258 24688 6445 152259 24690 39964 152260 25270 15273 152261 25279 29908 152268 25280 48746 152269 25282 29909 152270 24357 14962 152271 24356 14961 152272 24358 28691 152273 24472 3746 152274 24471 3745 152275 24473 29911 152276 24744 29914 152280 24723 48748 152281 25294 29915 152282 25294 29915 152283 25293 48749 152284 24746 29913 152285 25293 48749 152286 24726 48750 152287 24747 48751 152288 25293 48749 152289 24747 48751 152290 24746 29913 152291 24345 28956 152295 24342 28955 152296 24346 29917 152297 24665 29821 152298 25241 29820 152299 25242 29823 152300 23505 27055 152307 24132 27054 152308 24133 29923 152309

+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/rbs_simulation/models/fork/model.config b/rbs_simulation/models/fork/model.config new file mode 100644 index 0000000..78cbf53 --- /dev/null +++ b/rbs_simulation/models/fork/model.config @@ -0,0 +1,14 @@ + + + fork + model.sdf + + + bill-finger + ur.narmak@gmail.com + + + + The fork link of rbs_arm + + diff --git a/rbs_simulation/models/fork/model.sdf b/rbs_simulation/models/fork/model.sdf new file mode 100644 index 0000000..77213de --- /dev/null +++ b/rbs_simulation/models/fork/model.sdf @@ -0,0 +1,58 @@ + + + + 0 0 0.015 0 0 0 + + + + 0.00004167 + 0.0 + 0.0 + 0.00004167 + 0.0 + 0.00004167 + + 0.1 + + + + + + meshes/collision/fork.stl + + + + + + + + + + + + 0.3 + + + + + 0.2 + 0.2 + + + + + + + + meshes/visual/fork.dae + + + + + + + diff --git a/rbs_simulation/worlds/asm2.sdf b/rbs_simulation/worlds/asm2.sdf new file mode 100644 index 0000000..83d0f58 --- /dev/null +++ b/rbs_simulation/worlds/asm2.sdf @@ -0,0 +1,107 @@ + + + + + 0.001 + 1.0 + 1000 + + + + + + + ogre2 + + 0 0 -9.8 + 6e-06 2.3e-05 -4.2e-05 + + + 0.4 0.4 0.4 1 + 0.7 0.7 0.7 1 + false + + + + + 3D View + false + docked + + ogre2 + scene + 1.0 1.0 1.0 + 0.4 0.6 1.0 + 3.3 2.8 2.8 0 0.5 -2.4 + + + + World stats + false + false + 110 + 290 + 1 + floating + + + + + + true + true + true + true + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + true + + + + + 0 0 1 + + + + + + + 0 0 1 + 100 100 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + + board + model://board + 0.45 0.0 0.0 0.0 0.0 0.0 + + + bishop + model://bishop + 0.35 0.0 0.0 0.0 0.0 0.0 + + + \ No newline at end of file diff --git a/rbs_simulation/worlds/mir.sdf b/rbs_simulation/worlds/mir.sdf index 30eccd0..112b8f1 100644 --- a/rbs_simulation/worlds/mir.sdf +++ b/rbs_simulation/worlds/mir.sdf @@ -55,29 +55,6 @@ true true - true @@ -117,247 +94,46 @@ - - 0 0.7 0 0 0 0 - 1 - - - - - 0.35 0.35 0.35 - model://rack/model/rack.dae - - - - - - - 0.35 0.35 0.35 - model://rack/model/rack.stl - - - 10 - - - - - - - - - - - - - - 0 - 0 - 0 - - - - -0.75 0 0.2 0 0 0 - 1 - - - - - - 0.8 0.8 0.4 - - - - 0.8 0.8 0.8 1 - 0.8 0.8 0.8 1 - 0.8 0.8 0.8 1 - - - - - - - 0.8 0.8 0.4 - - - 10 - - - - - - - - - - - - - - 0 - 0 - 0 - - + model://box1 box1 - 0.25 0.65 0.6515 0 0 0 + 0.25 0.65 0.025 0 0 0 model://box1 box2 - 0 0.65 0.6515 0 0 0 + 0 0.65 0.025 0 0 0 model://box1 box3 - -0.25 0.65 0.6515 0 0 0 + -0.25 0.65 0.025 0 0 0 model://box1 box4 - 0.25 0.65 0.3015 0 0 0 + 0.25 0.75 0.025 0 0 0 model://box1 box5 - 0 0.65 0.3015 0 0 0 + 0 0.75 0.025 0 0 0 model://box1 box6 - -0.25 0.65 0.3015 0 0 0 - + -0.25 0.75 0.025 0 0 0 + - - - - + + model://king + king1 + 1.5 0.2 0.25 0 0 0 + diff --git a/rbs_skill_interfaces/CMakeLists.txt b/rbs_skill_interfaces/CMakeLists.txt index e4fd403..ec4b300 100644 --- a/rbs_skill_interfaces/CMakeLists.txt +++ b/rbs_skill_interfaces/CMakeLists.txt @@ -20,9 +20,11 @@ rosidl_generate_interfaces(${PROJECT_NAME} "action/MoveitSendPose.action" "action/MoveitSendJointStates.action" "action/GripperCommand.action" + "msg/ObjectInfo.msg" "msg/PropertyValuePair.msg" "msg/ActionFeedbackStatusConstants.msg" "msg/ActionResultStatusConstants.msg" + "srv/DetectObject.srv" "srv/BtInit.srv" "srv/AssembleState.srv" "srv/GetPickPlacePoses.srv" diff --git a/rbs_skill_interfaces/action/MoveitSendPoses.action b/rbs_skill_interfaces/action/MoveitSendPoses.action new file mode 100644 index 0000000..4ff8fa8 --- /dev/null +++ b/rbs_skill_interfaces/action/MoveitSendPoses.action @@ -0,0 +1,23 @@ +##Description: Moves robot arm to a specified pose relative to the frame in header.frame_id of target_pose +#goal definition + +#Used to indicate which hardcoded motion constraint to use +#e.g 0 no constraint, 1 keep the same end effector orientation +int32 constraint_mode +#similar to geometry_msgs/PoseStamped but using euler instead of quaternion +#at target_pose->header.frame_id define the tf frame +# which the pose will be calculated relative from +geometry_msgs/Pose[] target_pose +string robot_name +float32 end_effector_velocity +float32 end_effector_acceleration +float32 timeout_seconds #if this action cannot be completed within this time period it should be considered failed. +--- +#result definition +bool success +string status #Use the constants of ActionResultStatusConstants in the status field +--- +#feedback +bool success +uint64 millis_passed +string status #Use the constants of ActionFeedbackStatusConstants in the status field diff --git a/rbs_skill_interfaces/msg/ObjectInfo.msg b/rbs_skill_interfaces/msg/ObjectInfo.msg new file mode 100644 index 0000000..dcd1079 --- /dev/null +++ b/rbs_skill_interfaces/msg/ObjectInfo.msg @@ -0,0 +1,4 @@ +uint8 id +string name +string mesh_path + diff --git a/rbs_skill_interfaces/package.xml b/rbs_skill_interfaces/package.xml index 74fb6eb..38c871e 100644 --- a/rbs_skill_interfaces/package.xml +++ b/rbs_skill_interfaces/package.xml @@ -7,22 +7,20 @@ bill-finger Apache-2.0 - ament_cmake - rosidl_default_generators - rosidl_default_runtime - rosidl_interface_packages - std_msgs geometry_msgs shape_msgs - ament_lint_auto ament_lint_common - - ament_lint_auto - ament_lint_common + ament_cmake_gtest + test_msgs + ament_cmake + rosidl_default_generators + rosidl_default_runtime + rosidl_interface_packages + ament_cmake diff --git a/rbs_skill_interfaces/srv/DetectObject.srv b/rbs_skill_interfaces/srv/DetectObject.srv new file mode 100644 index 0000000..c55f1a5 --- /dev/null +++ b/rbs_skill_interfaces/srv/DetectObject.srv @@ -0,0 +1,5 @@ +ObjectInfo object + +--- +bool call_status +string error_msg diff --git a/rbs_skill_servers/CMakeLists.txt b/rbs_skill_servers/CMakeLists.txt index 7163af5..b28d42b 100644 --- a/rbs_skill_servers/CMakeLists.txt +++ b/rbs_skill_servers/CMakeLists.txt @@ -32,11 +32,15 @@ find_package(tf2_eigen REQUIRED) find_package(tf2_msgs REQUIRED) find_package(tinyxml2_vendor REQUIRED) find_package(TinyXML2 REQUIRED) +find_package(Eigen3 3.3 REQUIRED) +find_package(nlohmann_json 3.2.0 REQUIRED) +find_package(rbs_utils REQUIRED) # Default to Fortress set(SDF_VER 12) -# If the user didn't specify a GZ distribution, pick the one matching the ROS distribution according to REP 2000 +# If the user didn't specify a GZ distribution, pick the one matching the ROS +# distribution according to REP 2000 if(NOT DEFINED ENV{GZ_VERSION} AND DEFINED ENV{ROS_DISTRO}) if("$ENV{ROS_DISTRO}" STREQUAL "humble") set(ENV{GZ_VERSION} "fortress") @@ -52,7 +56,7 @@ elseif("$ENV{GZ_VERSION}" STREQUAL "garden") find_package(sdformat13 REQUIRED) set(SDF_VER ${sdformat13_VERSION_MAJOR}) message(STATUS "Compiling against Gazebo Garden (libSDFormat 13)") -# No GZ distribution specified, find any version of libsdformat we can + # No GZ distribution specified, find any version of libsdformat we can else() foreach(major RANGE 13 9) find_package(sdformat${major} QUIET) @@ -65,114 +69,112 @@ else() endforeach() endif() -include_directories(SYSTEM - ${TINYXML2_INCLUDE_DIR} -) +include_directories(SYSTEM ${TINYXML2_INCLUDE_DIR}) -link_directories( - ${TINYXML2_LIBRARY_DIRS} -) +link_directories(${TINYXML2_LIBRARY_DIRS}) set(deps - rclcpp - rclcpp_action - moveit_core - moveit_ros_planning - moveit_ros_planning_interface - moveit_msgs - geometry_msgs - tf2_ros - rclcpp_components - rbs_skill_interfaces - tf2_eigen - tf2_msgs - tinyxml2_vendor - geometric_shapes - sdformat${SDF_VER} -) + rclcpp + rclcpp_action + moveit_core + moveit_ros_planning + moveit_ros_planning_interface + moveit_msgs + geometry_msgs + tf2_ros + rclcpp_components + rbs_skill_interfaces + tf2_eigen + tf2_msgs + tinyxml2_vendor + geometric_shapes + sdformat${SDF_VER}) if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) ament_lint_auto_find_test_dependencies() endif() +# -- GripperActionServer -- add_library(gripper_action_server SHARED src/gripper_control_action_server.cpp) -add_library(pick_place_pose_loader SHARED src/pick_place_pose_loader.cpp) - -target_include_directories(gripper_action_server PRIVATE - $ - $) - - target_include_directories(pick_place_pose_loader PRIVATE - $ - $) - +target_include_directories( + gripper_action_server + PRIVATE $ + $) target_compile_definitions(gripper_action_server - PRIVATE "GRIPPER_ACTION_SERVER_CPP_BUILDING_DLL") - -target_compile_definitions(pick_place_pose_loader - PRIVATE "PICK_PLACE_POSE_LOADER_CPP_BUILDING_DLL") - + PRIVATE "GRIPPER_ACTION_SERVER_CPP_BUILDING_DLL") ament_target_dependencies(gripper_action_server ${deps}) -ament_target_dependencies(pick_place_pose_loader ${deps}) +rclcpp_components_register_node( + gripper_action_server PLUGIN "rbs_skill_actions::GripperControlActionServer" + EXECUTABLE gripper_control_action_server) -rclcpp_components_register_node(gripper_action_server PLUGIN "rbs_skill_actions::GripperControlActionServer" EXECUTABLE gripper_control_action_server) -rclcpp_components_register_node(pick_place_pose_loader PLUGIN "rbs_skill_actions::GetGraspPickPoseServer" EXECUTABLE pick_place_pose_loader_service_server) +# -- PickPlacePoseLoader -- +add_library(pick_place_pose_loader SHARED src/pick_place_pose_loader.cpp) +target_include_directories( + pick_place_pose_loader + PRIVATE $ + $) +target_compile_definitions(pick_place_pose_loader + PRIVATE "PICK_PLACE_POSE_LOADER_CPP_BUILDING_DLL") +ament_target_dependencies(pick_place_pose_loader ${deps} Eigen3 nlohmann_json + rbs_utils) +rclcpp_components_register_node( + pick_place_pose_loader PLUGIN "rbs_skill_actions::GetGraspPickPoseServer" + EXECUTABLE pick_place_pose_loader_service_server) -add_executable(move_to_joint_states_action_server src/move_to_joint_states_action_server.cpp) +# -- MoveitActionServers -- +add_executable(move_to_joint_states_action_server + src/move_to_joint_states_action_server.cpp) ament_target_dependencies(move_to_joint_states_action_server ${deps}) -#add_executable(pick_place_pose_loader src/get_grasp_pick_pose.cpp) -#ament_target_dependencies(pick_place_pose_loader ${deps}) - add_executable(move_topose_action_server src/move_topose_action_server.cpp) ament_target_dependencies(move_topose_action_server ${deps}) -add_executable(move_cartesian_path_action_server src/move_cartesian_path_action_server.cpp) +add_executable(move_cartesian_path_action_server + src/move_cartesian_path_action_server.cpp) ament_target_dependencies(move_cartesian_path_action_server ${deps}) -add_executable(add_planning_scene_object_service src/add_planning_scene_objects_service.cpp) -ament_target_dependencies(add_planning_scene_object_service ${deps}) +# add_executable(add_planning_scene_object_service +# src/add_planning_scene_objects_service.cpp) +# ament_target_dependencies(add_planning_scene_object_service ${deps}) -add_library(assemble_state_server SHARED src/assemble_state_server.cpp) -target_compile_definitions(assemble_state_server - PRIVATE "ASSEMBLE_STATE_SERVER_CPP_BUILDING_DLL") -ament_target_dependencies(assemble_state_server ${deps}) -target_link_libraries(assemble_state_server ${TINYXML2_LIBRARY}) -rclcpp_components_register_node(assemble_state_server PLUGIN "AssembleStateServer" EXECUTABLE assemble_state_service_server) - -add_library(moveit_update_planning_scene_server SHARED src/moveit_update_planning_scene.cpp) -target_compile_definitions(moveit_update_planning_scene_server - PRIVATE "MOVEIT_UPDATE_PLANNING_SCENE_SERVER_CPP_BUILDING_DLL") -ament_target_dependencies(moveit_update_planning_scene_server ${deps}) -target_link_libraries(moveit_update_planning_scene_server ${TINYXML2_LIBRARY}) -rclcpp_components_register_node(moveit_update_planning_scene_server PLUGIN "UpdatePlanningSceneServer" EXECUTABLE moveit_update_planning_scene_service_server) +# add_library(assemble_state_server SHARED src/assemble_state_server.cpp) +# target_compile_definitions(assemble_state_server +# PRIVATE "ASSEMBLE_STATE_SERVER_CPP_BUILDING_DLL") +# ament_target_dependencies(assemble_state_server ${deps}) +# target_link_libraries(assemble_state_server ${TINYXML2_LIBRARY}) +# rclcpp_components_register_node( +# assemble_state_server PLUGIN "AssembleStateServer" EXECUTABLE +# assemble_state_service_server) +# add_library(moveit_update_planning_scene_server SHARED +# src/moveit_update_planning_scene.cpp) +# target_compile_definitions( +# moveit_update_planning_scene_server +# PRIVATE "MOVEIT_UPDATE_PLANNING_SCENE_SERVER_CPP_BUILDING_DLL") +# ament_target_dependencies(moveit_update_planning_scene_server ${deps}) +# target_link_libraries(moveit_update_planning_scene_server ${TINYXML2_LIBRARY}) +# rclcpp_components_register_node( +# moveit_update_planning_scene_server PLUGIN "UpdatePlanningSceneServer" +# EXECUTABLE moveit_update_planning_scene_service_server) +# +install(DIRECTORY include/ DESTINATION include) +install(DIRECTORY launch config DESTINATION share/${PROJECT_NAME}) install( - DIRECTORY include/ - DESTINATION include -) - -install( - TARGETS - move_topose_action_server - gripper_action_server - pick_place_pose_loader - move_to_joint_states_action_server - move_cartesian_path_action_server - add_planning_scene_object_service - assemble_state_server - moveit_update_planning_scene_server + TARGETS move_topose_action_server + gripper_action_server + pick_place_pose_loader + move_to_joint_states_action_server + move_cartesian_path_action_server + # add_planning_scene_object_service + # assemble_state_server + # moveit_update_planning_scene_server ARCHIVE DESTINATION lib LIBRARY DESTINATION lib - RUNTIME DESTINATION lib/${PROJECT_NAME} -) - -ament_export_include_directories( - include -) + RUNTIME DESTINATION lib/${PROJECT_NAME}) +ament_export_include_directories(include) ament_package() diff --git a/rbs_bt_executor/config/gripperPositions.yaml b/rbs_skill_servers/config/gripperPositions.yaml similarity index 100% rename from rbs_bt_executor/config/gripperPositions.yaml rename to rbs_skill_servers/config/gripperPositions.yaml diff --git a/rbs_skill_servers/include/rbs_skill_servers/pick_place_pose_loader.hpp b/rbs_skill_servers/include/rbs_skill_servers/pick_place_pose_loader.hpp index 2e4a76c..772884d 100644 --- a/rbs_skill_servers/include/rbs_skill_servers/pick_place_pose_loader.hpp +++ b/rbs_skill_servers/include/rbs_skill_servers/pick_place_pose_loader.hpp @@ -1,29 +1,39 @@ -#include -#include "rclcpp_components/register_node_macro.hpp" -#include -#include #include "rbs_skill_interfaces/srv/get_pick_place_poses.hpp" +#include "rbs_utils/rbs_utils.hpp" #include "rclcpp/rclcpp.hpp" -#include "moveit_msgs/msg/grasp.hpp" +#include "rclcpp_components/register_node_macro.hpp" +#include +#include +#include #include #include -namespace rbs_skill_actions -{ - class GetGraspPickPoseServer : public rclcpp::Node - { - public: - explicit GetGraspPickPoseServer(rclcpp::NodeOptions options); - private: - static std::vector collect_pose(const Eigen::Affine3d pose, const geometry_msgs::msg::Vector3 direction, const Eigen::Vector3d scale_vec); - rclcpp::Service::SharedPtr srv_; - std::shared_ptr tf_listener_{nullptr}; - std::unique_ptr tf_buffer_; - geometry_msgs::msg::TransformStamped tf_data; - void handle_server(const rbs_skill_interfaces::srv::GetPickPlacePoses::Request::SharedPtr request, - rbs_skill_interfaces::srv::GetPickPlacePoses::Response::SharedPtr response); - std::vector grasp_param_pose; - Eigen::Affine3d get_Affine_from_arr(const std::vector pose); - }; -} + +namespace rbs_skill_actions { +class GetGraspPickPoseServer : public rclcpp::Node { +public: + explicit GetGraspPickPoseServer(rclcpp::NodeOptions options); + +private: + static std::vector + collectPose(const Eigen::Isometry3d &graspPose, + const geometry_msgs::msg::Vector3 &move_direction, + const Eigen::Vector3d &scale_vec); + rclcpp::Service::SharedPtr srv_; + std::shared_ptr tf_listener_{nullptr}; + std::unique_ptr tf_buffer_; + geometry_msgs::msg::TransformStamped place_pose_tf; + geometry_msgs::msg::TransformStamped grasp_pose_tf; + + std::vector + getPlacePoseJson(const nlohmann::json &json); + void handleServer( + const rbs_skill_interfaces::srv::GetPickPlacePoses::Request::SharedPtr + request, + rbs_skill_interfaces::srv::GetPickPlacePoses::Response::SharedPtr + response); + std::vector grasp_param_pose; + Eigen::Affine3d get_Affine_from_arr(const std::vector pose); +}; +} // namespace rbs_skill_actions RCLCPP_COMPONENTS_REGISTER_NODE(rbs_skill_actions::GetGraspPickPoseServer); \ No newline at end of file diff --git a/rbs_skill_servers/launch/skills.launch.py b/rbs_skill_servers/launch/skills.launch.py new file mode 100644 index 0000000..7ce7872 --- /dev/null +++ b/rbs_skill_servers/launch/skills.launch.py @@ -0,0 +1,117 @@ +import os +from launch import LaunchDescription, LaunchContext +from launch.actions import ( + DeclareLaunchArgument, + IncludeLaunchDescription, + ExecuteProcess, + OpaqueFunction +) +from ament_index_python.packages import get_package_share_directory +from launch.conditions import IfCondition, UnlessCondition +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare +from rbs_launch_utils.launch_common import load_yaml + + +def generate_launch_description(): + + declared_arguments = [] + + declared_arguments.append( + DeclareLaunchArgument( + "robot_description", + default_value="", + description="robot description string", + ) + ) + declared_arguments.append( + DeclareLaunchArgument("robot_description_semantic", default_value="") + ) + declared_arguments.append( + DeclareLaunchArgument("robot_description_kinematics", default_value="") + ) + declared_arguments.append( + DeclareLaunchArgument("use_sim_time", default_value="") + ) + declared_arguments.append( + DeclareLaunchArgument("with_gripper_condition", default_value="") + ) + declared_arguments.append( + DeclareLaunchArgument("points_params_filepath", default_value="") + ) + + robot_description_decl = LaunchConfiguration("robot_description") + robot_description_semantic_decl = LaunchConfiguration("robot_description_semantic") + robot_description_kinematics = LaunchConfiguration("robot_description_kinematics") + use_sim_time = LaunchConfiguration("use_sim_time") + with_gripper_condition = LaunchConfiguration("with_gripper_condition") + points_params_filepath_decl = LaunchConfiguration("points_params_filepath") + robot_description = {"robot_description": robot_description_decl} + robot_description_semantic = {"robot_description_semantic": robot_description_semantic_decl} + + points_params = load_yaml( + "rbs_skill_servers", "config/gripperPositions.yaml" + ) + + move_topose_action_server = Node( + package="rbs_skill_servers", + executable="move_topose_action_server", + parameters=[ + robot_description, + robot_description_semantic, + robot_description_kinematics, + {"use_sim_time": use_sim_time}, + ] + ) + + gripper_control_node = Node( + package="rbs_skill_servers", + executable="gripper_control_action_server", + parameters= [ + robot_description, + robot_description_semantic, + robot_description_kinematics, + {"use_sim_time": use_sim_time}, + ], + condition=IfCondition(with_gripper_condition) + ) + + move_cartesian_path_action_server = Node( + package="rbs_skill_servers", + executable="move_cartesian_path_action_server", + parameters=[ + robot_description, + robot_description_semantic, + robot_description_kinematics, + {"use_sim_time": use_sim_time}, + ] + ) + + move_joint_state_action_server = Node( + package="rbs_skill_servers", + executable="move_to_joint_states_action_server", + parameters=[ + robot_description, + robot_description_semantic, + robot_description_kinematics, + {"use_sim_time": use_sim_time}, + ] + ) + + grasp_pose_loader = Node( + package="rbs_skill_servers", + executable="pick_place_pose_loader_service_server", + output="screen" + ) + + nodes_to_start =[ + move_topose_action_server, + gripper_control_node, + move_cartesian_path_action_server, + move_joint_state_action_server, + grasp_pose_loader + ] + + return LaunchDescription(declared_arguments + nodes_to_start) \ No newline at end of file diff --git a/rbs_skill_servers/package.xml b/rbs_skill_servers/package.xml index 683eb36..05b9c50 100644 --- a/rbs_skill_servers/package.xml +++ b/rbs_skill_servers/package.xml @@ -21,6 +21,7 @@ action_msgs rbs_skill_interfaces tf2_eigen + rbs_utils ament_lint_auto ament_lint_common diff --git a/rbs_skill_servers/src/add_planning_scene_objects_service.cpp b/rbs_skill_servers/src/add_planning_scene_objects_service.cpp index 3ecb596..008107d 100644 --- a/rbs_skill_servers/src/add_planning_scene_objects_service.cpp +++ b/rbs_skill_servers/src/add_planning_scene_objects_service.cpp @@ -1,24 +1,25 @@ +#include "moveit/move_group_interface/move_group_interface.h" +#include "rbs_skill_interfaces/srv/add_planning_scene_object.hpp" +#include #include #include -#include #include -#include "rbs_skill_interfaces/srv/add_planning_scene_object.hpp" -#include "moveit/move_group_interface/move_group_interface.h" #include "rclcpp/rclcpp.hpp" -using AddPlanningSceneObject = rbs_skill_interfaces::srv::AddPlanningSceneObject; +using AddPlanningSceneObject = + rbs_skill_interfaces::srv::AddPlanningSceneObject; rclcpp::Node::SharedPtr g_node = nullptr; void handle_service( const std::shared_ptr request_header, const std::shared_ptr request, - const std::shared_ptr response) -{ - (void)request_header; - // Create collision object for the robot to avoid - auto const collision_object = [frame_id = - "world", object_name=request->object_id, object_pose=request->object_pose] { + const std::shared_ptr response) { + (void)request_header; + // Create collision object for the robot to avoid + auto const collision_object = [frame_id = "world", + object_name = request->object_id, + object_pose = request->object_pose] { moveit_msgs::msg::CollisionObject collision_object; collision_object.header.frame_id = frame_id; collision_object.id = object_name; @@ -40,32 +41,32 @@ void handle_service( box_pose.orientation.y = object_pose[4]; box_pose.orientation.z = object_pose[5]; box_pose.orientation.w = object_pose[6]; - - collision_object.primitives.push_back(primitive); collision_object.primitive_poses.push_back(box_pose); collision_object.operation = collision_object.ADD; return collision_object; - }(); + }(); - // Add the collision object to the scene - moveit::planning_interface::PlanningSceneInterface planning_scene_interface; - planning_scene_interface.applyCollisionObject(collision_object); + // Add the collision object to the scene + moveit::planning_interface::PlanningSceneInterface planning_scene_interface; + planning_scene_interface.applyCollisionObject(collision_object); - response->success = true; + response->success = true; } -int main(int argc, char ** argv) -{ - rclcpp::init(argc, argv); - rclcpp::NodeOptions node_options; - node_options.allow_undeclared_parameters(true).automatically_declare_parameters_from_overrides(true); - g_node = rclcpp::Node::make_shared("add_planing_scene_object", "", node_options); - auto server = g_node->create_service("add_planing_scene_object_service", handle_service); - rclcpp::spin(g_node); - rclcpp::shutdown(); - g_node = nullptr; - return 0; -} \ No newline at end of file +int main(int argc, char **argv) { + rclcpp::init(argc, argv); + rclcpp::NodeOptions node_options; + node_options.allow_undeclared_parameters(true) + .automatically_declare_parameters_from_overrides(true); + g_node = + rclcpp::Node::make_shared("add_planing_scene_object", "", node_options); + auto server = g_node->create_service( + "add_planing_scene_object_service", handle_service); + rclcpp::spin(g_node); + rclcpp::shutdown(); + g_node = nullptr; + return 0; +} diff --git a/rbs_skill_servers/src/assemble_state_server.cpp b/rbs_skill_servers/src/assemble_state_server.cpp index d359528..25ec2c5 100644 --- a/rbs_skill_servers/src/assemble_state_server.cpp +++ b/rbs_skill_servers/src/assemble_state_server.cpp @@ -1,18 +1,18 @@ +#include #include #include #include #include -#include -#include #include +#include -#include -#include #include +#include +#include -#include #include +#include #include #include @@ -24,12 +24,11 @@ #define ASSEMBLE_POSITION_OFFSET 0.5 #define ASSEMBLE_ORIENTATION_OFFSET 0.5 -#define ASSEMBLE_SDF_PATH(package_dir, assemble_name) \ +#define ASSEMBLE_SDF_PATH(package_dir, assemble_name) \ (package_dir) + "/models/" + (assemble_name) + "/model.sdf" -static inline geometry_msgs::msg::Pose get_pose( - const std::vector & tokens) -{ +static inline geometry_msgs::msg::Pose +get_pose(const std::vector &tokens) { geometry_msgs::msg::Pose p; p.position.set__x(std::stod(tokens.at(0))); p.position.set__y(std::stod(tokens.at(1))); @@ -41,23 +40,22 @@ static inline geometry_msgs::msg::Pose get_pose( return p; } -static inline geometry_msgs::msg::PoseStamped get_pose_stamped( - const std::string & pose_string) -{ +static inline geometry_msgs::msg::PoseStamped +get_pose_stamped(const std::string &pose_string) { std::stringstream ss(pose_string); std::istream_iterator begin(ss); std::istream_iterator end; std::vector tokens(begin, end); - + geometry_msgs::msg::PoseStamped ps; ps.set__pose(get_pose(tokens)); return ps; } -static std::vector get_assemble_poses( - const std::string & assemble_name, const std::string & part_name, - const std::string& package_dir, const std::string & assemble_prefix) -{ +static std::vector +get_assemble_poses(const std::string &assemble_name, + const std::string &part_name, const std::string &package_dir, + const std::string &assemble_prefix) { std::vector result; std::filesystem::path sdf_path = package_dir + assemble_name + ".sdf"; @@ -66,12 +64,11 @@ static std::vector get_assemble_poses( auto model = doc.RootElement()->FirstChildElement("model"); auto joint = model->FirstChildElement("joint"); - while (joint) - { + while (joint) { auto frame_id = joint->FirstChildElement("child")->GetText(); if (frame_id != part_name) continue; - auto ps = get_pose_stamped(joint->FirstChildElement("pose")->GetText()); + auto ps = get_pose_stamped(joint->FirstChildElement("pose")->GetText()); ps.header.set__frame_id(assemble_prefix + part_name); result.push_back(ps); joint = joint->NextSiblingElement("joint"); @@ -80,164 +77,167 @@ static std::vector get_assemble_poses( return result; } -class AssembleStateServer: public rclcpp::Node -{ +class AssembleStateServer : public rclcpp::Node { public: - AssembleStateServer(rclcpp::NodeOptions options) - : Node(SERVICE_NAME, options.allow_undeclared_parameters(true).automatically_declare_parameters_from_overrides(true)) - { - assemble_dir_ = get_parameter(ASSEMBLE_DIR_PARAM_NAME).as_string(); - assemble_prefix_ = get_parameter(ASSEMBLE_PREFIX_PARAM_NAME).as_string(); - tf_buffer_ = std::make_unique(get_clock()); - tf_listener_ = std::make_shared(*tf_buffer_); - service_ = create_service( - SERVICE_NAME, std::bind(&AssembleStateServer::callback, this, - std::placeholders::_1, std::placeholders::_2)); + AssembleStateServer(rclcpp::NodeOptions options) + : Node(SERVICE_NAME, + options.allow_undeclared_parameters(true) + .automatically_declare_parameters_from_overrides(true)) { + assemble_dir_ = get_parameter(ASSEMBLE_DIR_PARAM_NAME).as_string(); + assemble_prefix_ = get_parameter(ASSEMBLE_PREFIX_PARAM_NAME).as_string(); + tf_buffer_ = std::make_unique(get_clock()); + tf_listener_ = std::make_shared(*tf_buffer_); + service_ = create_service( + SERVICE_NAME, std::bind(&AssembleStateServer::callback, this, + std::placeholders::_1, std::placeholders::_2)); + } + + void + callback(std::shared_ptr + request, + std::shared_ptr + response) { + auto state = static_cast(request->req_kind); + bool call_status = false; + std::string assemble_name = request->assemble_name; + std::string part_name = request->part_name; + auto assemble = assembles_.find(request->assemble_name); + if (assemble == assembles_.end()) + assembles_.insert(std::make_pair( + request->assemble_name, + Assemble{.part = request->part_name, + .ws = request->workspace, + .state = NONE, + .poses = + get_assemble_poses(assemble_name, part_name, + assemble_dir_, assemble_prefix_)})); + RCLCPP_INFO(get_logger(), "callback call with assemble name: %s", + assemble_name.c_str()); + switch (state) { + case NONE: + call_status = false; + break; + case INITIALIZE: + call_status = (assembles_.at(assemble_name).state == NONE) && + on_initialize(&assembles_.at(assemble_name)); + break; + case VALIDATE: + response->validate_status = + (call_status = (assembles_.at(assemble_name).state == INITIALIZE)) && + on_validate(&assembles_.at(assemble_name)); + break; + case COMPLETE: + call_status = (assembles_.at(assemble_name).state == VALIDATE) && + on_complete(&assembles_.at(assemble_name)); + if (call_status) + assembles_.erase(assemble_name); + break; } - void callback( - std::shared_ptr request, - std::shared_ptr response) - { - auto state = static_cast(request->req_kind); - bool call_status = false; - std::string assemble_name = request->assemble_name; - std::string part_name = request->part_name; - auto assemble = assembles_.find(request->assemble_name); - if (assemble == assembles_.end()) - assembles_.insert(std::make_pair(request->assemble_name, Assemble { - .part=request->part_name, - .ws=request->workspace, - .state=NONE, - .poses=get_assemble_poses(assemble_name, part_name, assemble_dir_, assemble_prefix_) - })); - RCLCPP_INFO(get_logger(), "callback call with assemble name: %s", assemble_name.c_str()); - switch(state) - { - case NONE: - call_status = false; - break; - case INITIALIZE: - call_status = (assembles_.at(assemble_name).state == NONE) && - on_initialize(&assembles_.at(assemble_name)); - break; - case VALIDATE: - response->validate_status = (call_status = (assembles_.at(assemble_name).state == INITIALIZE)) && - on_validate(&assembles_.at(assemble_name)); - break; - case COMPLETE: - call_status = (assembles_.at(assemble_name).state == VALIDATE) && - on_complete(&assembles_.at(assemble_name)); - if (call_status) - assembles_.erase(assemble_name); - break; - } + response->call_status = call_status; + response->assemble_name = assemble_name; + } - response->call_status = call_status; - response->assemble_name = assemble_name; - } - private: - enum AssembleReqState - { - NONE=-1, - INITIALIZE=0, - VALIDATE=1, - COMPLETE=2 - }; + enum AssembleReqState { + NONE = -1, + INITIALIZE = 0, + VALIDATE = 1, + COMPLETE = 2 + }; - struct Assemble - { - std::string part; - std::string ws; - AssembleReqState state; - std::vector poses; - std::unique_ptr tf2_broadcaster; - }; + struct Assemble { + std::string part; + std::string ws; + AssembleReqState state; + std::vector poses; + std::unique_ptr tf2_broadcaster; + }; - bool on_initialize(Assemble* assemble) - { - RCLCPP_INFO(get_logger(), "initialize assemble state for part: %s", assemble->part.c_str()); - try - { - assemble->tf2_broadcaster = std::make_unique(this); - } catch (const tf2::TransformException &ex){ - RCLCPP_WARN(get_logger(), "error while create tf2_broadcaster: %s", ex.what()); - return false; - } - assemble->state = INITIALIZE; - for (const auto& it: assemble->poses) - { - geometry_msgs::msg::TransformStamped t; - t.header.frame_id = assemble->ws; - t.child_frame_id = it.header.frame_id; - auto pose = it.pose; - t.transform.translation.x = pose.position.x; - t.transform.translation.y = pose.position.y; - t.transform.translation.z = pose.position.z; - t.transform.rotation.x = pose.orientation.x; - t.transform.rotation.y = pose.orientation.y; - t.transform.rotation.z = pose.orientation.z; - t.transform.rotation.w = pose.orientation.w; - assemble->tf2_broadcaster->sendTransform(t); - } - - return true; + bool on_initialize(Assemble *assemble) { + RCLCPP_INFO(get_logger(), "initialize assemble state for part: %s", + assemble->part.c_str()); + try { + assemble->tf2_broadcaster = + std::make_unique(this); + } catch (const tf2::TransformException &ex) { + RCLCPP_WARN(get_logger(), "error while create tf2_broadcaster: %s", + ex.what()); + return false; + } + assemble->state = INITIALIZE; + for (const auto &it : assemble->poses) { + geometry_msgs::msg::TransformStamped t; + t.header.frame_id = assemble->ws; + t.child_frame_id = it.header.frame_id; + auto pose = it.pose; + t.transform.translation.x = pose.position.x; + t.transform.translation.y = pose.position.y; + t.transform.translation.z = pose.position.z; + t.transform.rotation.x = pose.orientation.x; + t.transform.rotation.y = pose.orientation.y; + t.transform.rotation.z = pose.orientation.z; + t.transform.rotation.w = pose.orientation.w; + assemble->tf2_broadcaster->sendTransform(t); } - bool on_validate(Assemble* assemble) - { - RCLCPP_INFO(get_logger(), "validate assemble state for part: %s", assemble->part.c_str()); - std::string frame_from = assemble_prefix_ + assemble->part; - std::string frame_to = assemble->part; - geometry_msgs::msg::TransformStamped ts; - try - { - ts = tf_buffer_->lookupTransform(frame_to, frame_from, tf2::TimePointZero); - } catch (const tf2::TransformException &ex) { - return false; - } - auto pos_validate = ts.transform.translation.x < ASSEMBLE_POSITION_OFFSET && - ts.transform.translation.y < ASSEMBLE_POSITION_OFFSET && - ts.transform.translation.z < ASSEMBLE_POSITION_OFFSET; - auto orient_validate = ts.transform.rotation.x < ASSEMBLE_ORIENTATION_OFFSET && - ts.transform.rotation.y < ASSEMBLE_ORIENTATION_OFFSET && - ts.transform.rotation.z < ASSEMBLE_ORIENTATION_OFFSET; + return true; + } - RCLCPP_INFO(get_logger(), "pos_validate: %d, orient_validate: %d", pos_validate, orient_validate); - assemble->state = (pos_validate && orient_validate)? VALIDATE: INITIALIZE; + bool on_validate(Assemble *assemble) { + RCLCPP_INFO(get_logger(), "validate assemble state for part: %s", + assemble->part.c_str()); + std::string frame_from = assemble_prefix_ + assemble->part; + std::string frame_to = assemble->part; + geometry_msgs::msg::TransformStamped ts; + try { + ts = + tf_buffer_->lookupTransform(frame_to, frame_from, tf2::TimePointZero); + } catch (const tf2::TransformException &ex) { + return false; + } + auto pos_validate = ts.transform.translation.x < ASSEMBLE_POSITION_OFFSET && + ts.transform.translation.y < ASSEMBLE_POSITION_OFFSET && + ts.transform.translation.z < ASSEMBLE_POSITION_OFFSET; + auto orient_validate = + ts.transform.rotation.x < ASSEMBLE_ORIENTATION_OFFSET && + ts.transform.rotation.y < ASSEMBLE_ORIENTATION_OFFSET && + ts.transform.rotation.z < ASSEMBLE_ORIENTATION_OFFSET; - return assemble->state == VALIDATE; + RCLCPP_INFO(get_logger(), "pos_validate: %d, orient_validate: %d", + pos_validate, orient_validate); + assemble->state = (pos_validate && orient_validate) ? VALIDATE : INITIALIZE; + + return assemble->state == VALIDATE; + } + + bool on_complete(Assemble *assemble) { + RCLCPP_INFO(get_logger(), "complete assemble state for part: %s", + assemble->part.c_str()); + try { + assemble->tf2_broadcaster.reset(); + assemble->tf2_broadcaster = NULL; + assemble->poses.clear(); + } catch (const std::exception &ex) { + RCLCPP_WARN(get_logger(), "something happen on tf2.reset(): %s", + ex.what()); + return false; } - bool on_complete(Assemble* assemble) - { - RCLCPP_INFO(get_logger(), "complete assemble state for part: %s", assemble->part.c_str()); - try - { - assemble->tf2_broadcaster.reset(); - assemble->tf2_broadcaster = NULL; - assemble->poses.clear(); - } catch (const std::exception &ex) { - RCLCPP_WARN(get_logger(), "something happen on tf2.reset(): %s", ex.what()); - return false; - } + assemble->state = COMPLETE; - assemble->state = COMPLETE; + return true; + } - return true; - } - - private: - std::map assembles_; - std::shared_ptr tf_listener_; - std::unique_ptr tf_buffer_; - std::unique_ptr tf2_broadcaster_; - std::mutex mt; - rclcpp::Service::SharedPtr service_; - std::string assemble_dir_; - std::string assemble_prefix_; + std::map assembles_; + std::shared_ptr tf_listener_; + std::unique_ptr tf_buffer_; + std::unique_ptr tf2_broadcaster_; + std::mutex mt; + rclcpp::Service::SharedPtr service_; + std::string assemble_dir_; + std::string assemble_prefix_; }; #include "rclcpp_components/register_node_macro.hpp" diff --git a/rbs_skill_servers/src/gripper_control_action_server.cpp b/rbs_skill_servers/src/gripper_control_action_server.cpp index 8c6f682..06548a4 100644 --- a/rbs_skill_servers/src/gripper_control_action_server.cpp +++ b/rbs_skill_servers/src/gripper_control_action_server.cpp @@ -7,108 +7,99 @@ #include "rclcpp_components/register_node_macro.hpp" // action libs -#include "rclcpp_action/rclcpp_action.hpp" #include "rbs_skill_interfaces/action/gripper_command.hpp" +#include "rclcpp_action/rclcpp_action.hpp" -#include "std_msgs/msg/float64_multi_array.hpp" #include "sensor_msgs/msg/joint_state.hpp" - - +#include "std_msgs/msg/float64_multi_array.hpp" namespace rbs_skill_actions { - class GripperControlActionServer: public rclcpp::Node { +class GripperControlActionServer : public rclcpp::Node { - public: - using GripperCommand = rbs_skill_interfaces::action::GripperCommand; - explicit GripperControlActionServer(rclcpp::NodeOptions options): Node("gripper_control_action_server", options.allow_undeclared_parameters(true)) - { - this->actionServer_ = rclcpp_action::create_server( - this, - "gripper_control", - std::bind(&GripperControlActionServer::goal_callback, this, std::placeholders::_1, std::placeholders::_2), - std::bind(&GripperControlActionServer::cancel_callback, this, std::placeholders::_1), - std::bind(&GripperControlActionServer::accepted_callback, this, std::placeholders::_1) - ); - publisher = this->create_publisher("/gripper_controller/commands", 10); - join_state_subscriber = this->create_subscription( - "/joint_states",10, std::bind(&GripperControlActionServer::joint_state_callback, this, std::placeholders::_1)); - } +public: + using GripperCommand = rbs_skill_interfaces::action::GripperCommand; + explicit GripperControlActionServer(rclcpp::NodeOptions options) + : Node("gripper_control_action_server", + options.allow_undeclared_parameters(true)) { + this->actionServer_ = rclcpp_action::create_server( + this, "gripper_control", + std::bind(&GripperControlActionServer::goal_callback, this, + std::placeholders::_1, std::placeholders::_2), + std::bind(&GripperControlActionServer::cancel_callback, this, + std::placeholders::_1), + std::bind(&GripperControlActionServer::accepted_callback, this, + std::placeholders::_1)); + publisher = this->create_publisher( + "/gripper_controller/commands", 10); + } +private: + rclcpp_action::Server::SharedPtr actionServer_; + rclcpp::Publisher::SharedPtr publisher; - private: - - rclcpp_action::Server::SharedPtr actionServer_; - rclcpp::Publisher::SharedPtr publisher; - rclcpp::Subscription::SharedPtr join_state_subscriber; - double gripper_joint_state{1.0}; + using ServerGoalHandle = rclcpp_action::ServerGoalHandle; - using ServerGoalHandle = rclcpp_action::ServerGoalHandle; + rclcpp_action::GoalResponse + goal_callback(const rclcpp_action::GoalUUID &uuid, + std::shared_ptr goal) { - void joint_state_callback(const sensor_msgs::msg::JointState & msg) - { - gripper_joint_state = msg.position.back(); - } + RCLCPP_INFO(this->get_logger(), + "goal request recieved for gripper [%.6f m]", goal->position); + (void)uuid; + // if (goal->position > 0.008 or goal->position < 0) { + // return rclcpp_action::GoalResponse::REJECT; + // } + return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE; + } - rclcpp_action::GoalResponse goal_callback(const rclcpp_action::GoalUUID& uuid, std::shared_ptr goal) { - - RCLCPP_INFO(this->get_logger(),"goal request recieved for gripper [%.2f m]", goal->position); - (void)uuid; - if(goal->position > 0.9 or goal->position < 0) { - return rclcpp_action::GoalResponse::REJECT; - } - return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE; - } + rclcpp_action::CancelResponse + cancel_callback(const std::shared_ptr goal_handle) { - rclcpp_action::CancelResponse cancel_callback(const std::shared_ptr goal_handle) { + RCLCPP_INFO(this->get_logger(), "Received request to cancel goal"); + (void)goal_handle; + return rclcpp_action::CancelResponse::ACCEPT; + } - RCLCPP_INFO(this->get_logger(), "Received request to cancel goal"); - (void)goal_handle; - return rclcpp_action::CancelResponse::ACCEPT; - } + void accepted_callback(const std::shared_ptr goal_handle) { + std::thread{std::bind(&GripperControlActionServer::execute, this, + std::placeholders::_1), + goal_handle} + .detach(); + } - void accepted_callback(const std::shared_ptr goal_handle) { - std::thread{std::bind(&GripperControlActionServer::execute, this, std::placeholders::_1), goal_handle}.detach(); - } - - void execute(const std::shared_ptr goal_handle){ + void execute(const std::shared_ptr goal_handle) { - const auto goal = goal_handle->get_goal(); - auto result = std::make_shared(); - auto feedback = std::make_shared(); - - if (goal_handle->is_canceling()) { - goal_handle->canceled(result); - RCLCPP_ERROR(this->get_logger(), "Goal Canceled"); - return; - } - RCLCPP_INFO(this->get_logger(), "Current gripper state %f", gripper_joint_state); + const auto goal = goal_handle->get_goal(); + auto result = std::make_shared(); + auto feedback = std::make_shared(); - std_msgs::msg::Float64MultiArray command; + if (goal_handle->is_canceling()) { + goal_handle->canceled(result); + RCLCPP_ERROR(this->get_logger(), "Goal Canceled"); + return; + } - using namespace std::chrono_literals; + std_msgs::msg::Float64MultiArray command; - command.data.push_back(goal->position); - RCLCPP_INFO(this->get_logger(),"Publishing goal to gripper"); - publisher->publish(command); - std::this_thread::sleep_for(3s); - - - goal_handle->succeed(result); - RCLCPP_INFO(this->get_logger(), "Goal successfully completed"); - - } - }; -} + using namespace std::chrono_literals; + command.data.push_back(goal->position); + RCLCPP_INFO(this->get_logger(), "Publishing goal to gripper"); + publisher->publish(command); + std::this_thread::sleep_for(3s); + goal_handle->succeed(result); + RCLCPP_INFO(this->get_logger(), "Goal successfully completed"); + } +}; +} // namespace rbs_skill_actions RCLCPP_COMPONENTS_REGISTER_NODE(rbs_skill_actions::GripperControlActionServer); - // int main(int argc, char ** argv) { // rclcpp::init(argc, argv); // rbs_skill_actions::GripperControlActionServer server; // rclcpp::spin(server); // return 0; -// } \ No newline at end of file +// } diff --git a/rbs_skill_servers/src/move_cartesian_path_action_server.cpp b/rbs_skill_servers/src/move_cartesian_path_action_server.cpp index c3deb63..f223160 100644 --- a/rbs_skill_servers/src/move_cartesian_path_action_server.cpp +++ b/rbs_skill_servers/src/move_cartesian_path_action_server.cpp @@ -7,9 +7,9 @@ #include "rclcpp_components/register_node_macro.hpp" // action libs -#include "rclcpp_action/rclcpp_action.hpp" -#include "rbs_skill_interfaces/msg/action_feedback_status_constants.hpp" #include "rbs_skill_interfaces/action/moveit_send_pose.hpp" +#include "rbs_skill_interfaces/msg/action_feedback_status_constants.hpp" +#include "rclcpp_action/rclcpp_action.hpp" #include "geometry_msgs/msg/pose_stamped.hpp" #include "geometry_msgs/msg/quaternion.hpp" @@ -26,156 +26,156 @@ #include */ // For Visualization -//#include +// #include +#include "moveit_msgs/action/move_group.hpp" #include "moveit_msgs/msg/display_robot_state.hpp" #include "moveit_msgs/msg/display_trajectory.hpp" #include "moveit_msgs/msg/robot_trajectory.hpp" -#include "moveit_msgs/action/move_group.hpp" -namespace rbs_skill_actions -{ +namespace rbs_skill_actions { -class MoveCartesianActionServer : public rclcpp::Node -{ +class MoveCartesianActionServer : public rclcpp::Node { public: - using MoveitSendPose = rbs_skill_interfaces::action::MoveitSendPose; + using MoveitSendPose = rbs_skill_interfaces::action::MoveitSendPose; - //explicit MoveCartesianActionServer(const rclcpp::Node::SharedPtr& node) - explicit MoveCartesianActionServer(const rclcpp::Node::SharedPtr &node) : Node("move_cartesian_action_server"), node_(node) - { - // using namespace std::placeholders; - // this->action_server_ = rclcpp_action::create_server( - // this->get_node_base_interface(), - // this->get_node_clock_interface(), - // this->get_node_logging_interface(), - // this->get_node_waitables_interface(), - // "move_topose", - // std::bind(&MoveCartesianActionServer::goal_callback, this, _1, _2), - // std::bind(&MoveCartesianActionServer::cancel_callback, this, _1), - // std::bind(&MoveCartesianActionServer::accepted_callback, this, _1)); - } + // explicit MoveCartesianActionServer(const rclcpp::Node::SharedPtr& node) + explicit MoveCartesianActionServer(const rclcpp::Node::SharedPtr &node) + : Node("move_cartesian_action_server"), node_(node) { + // using namespace std::placeholders; + // this->action_server_ = rclcpp_action::create_server( + // this->get_node_base_interface(), + // this->get_node_clock_interface(), + // this->get_node_logging_interface(), + // this->get_node_waitables_interface(), + // "move_topose", + // std::bind(&MoveCartesianActionServer::goal_callback, this, _1, _2), + // std::bind(&MoveCartesianActionServer::cancel_callback, this, _1), + // std::bind(&MoveCartesianActionServer::accepted_callback, this, _1)); + } - void init() - { - - action_server_ = rclcpp_action::create_server( - node_->get_node_base_interface(), - node_->get_node_clock_interface(), - node_->get_node_logging_interface(), - node_->get_node_waitables_interface(), - "move_cartesian", - std::bind(&MoveCartesianActionServer::goal_callback, this, std::placeholders::_1, std::placeholders::_2), - std::bind(&MoveCartesianActionServer::cancel_callback, this, std::placeholders::_1), - std::bind(&MoveCartesianActionServer::accepted_callback, this, std::placeholders::_1) - ); + void init() { - } + action_server_ = rclcpp_action::create_server( + node_->get_node_base_interface(), node_->get_node_clock_interface(), + node_->get_node_logging_interface(), + node_->get_node_waitables_interface(), "move_cartesian", + std::bind(&MoveCartesianActionServer::goal_callback, this, + std::placeholders::_1, std::placeholders::_2), + std::bind(&MoveCartesianActionServer::cancel_callback, this, + std::placeholders::_1), + std::bind(&MoveCartesianActionServer::accepted_callback, this, + std::placeholders::_1)); + } private: - rclcpp::Node::SharedPtr node_; - rclcpp_action::Server::SharedPtr action_server_; + rclcpp::Node::SharedPtr node_; + rclcpp_action::Server::SharedPtr action_server_; - using ServerGoalHandle = rclcpp_action::ServerGoalHandle; + using ServerGoalHandle = rclcpp_action::ServerGoalHandle; - rclcpp_action::GoalResponse goal_callback( - const rclcpp_action::GoalUUID & uuid, - std::shared_ptr goal) - { - RCLCPP_INFO(this->get_logger(), "Received goal request for robot [%s] with Pose [%f, %f, %f, %f, %f, %f, %f]", - goal->robot_name.c_str(), goal->target_pose.position.x, goal->target_pose.position.y, goal->target_pose.position.z, - goal->target_pose.orientation.x, goal->target_pose.orientation.y, goal->target_pose.orientation.z, - goal->target_pose.orientation.w); - (void)uuid; + rclcpp_action::GoalResponse + goal_callback(const rclcpp_action::GoalUUID &uuid, + std::shared_ptr goal) { + RCLCPP_INFO( + this->get_logger(), + "Received goal request for robot [%s] with Pose [%f, %f, %f, %f, %f, " + "%f, %f]", + goal->robot_name.c_str(), goal->target_pose.position.x, + goal->target_pose.position.y, goal->target_pose.position.z, + goal->target_pose.orientation.x, goal->target_pose.orientation.y, + goal->target_pose.orientation.z, goal->target_pose.orientation.w); + (void)uuid; - return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE; + return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE; + } + + rclcpp_action::CancelResponse + cancel_callback(const std::shared_ptr goal_handle) { + RCLCPP_INFO(this->get_logger(), "Received cancel request"); + (void)goal_handle; + return rclcpp_action::CancelResponse::ACCEPT; + } + + void accepted_callback(const std::shared_ptr goal_handle) { + using namespace std::placeholders; + std::thread(std::bind(&MoveCartesianActionServer::execute, this, _1), + goal_handle) + .detach(); + // std::thread( + // [this, goal_handle]() { + // execute(goal_handle); + // }).detach(); + } + + void execute(const std::shared_ptr goal_handle) { + RCLCPP_INFO(this->get_logger(), "Executing action goal"); + const auto goal = goal_handle->get_goal(); + auto result = std::make_shared(); + + moveit::planning_interface::MoveGroupInterface move_group_interface( + node_, goal->robot_name); + move_group_interface.startStateMonitor(); + + moveit::core::RobotState start_state( + *move_group_interface.getCurrentState()); + + std::vector waypoints; + auto current_pose = move_group_interface.getCurrentPose(); + // waypoints.push_back(current_pose.pose); + geometry_msgs::msg::Pose target_pose = goal->target_pose; + // target_pose.position = goal->target_pose.position; + waypoints.push_back(target_pose); + + RCLCPP_INFO(this->get_logger(), "New cartesian target pose [%f, %f, %f]", + target_pose.position.x, target_pose.position.y, + target_pose.position.z); + // waypoints.push_back(start_pose.pose); + moveit_msgs::msg::RobotTrajectory trajectory; + const double jump_threshold = 0.0; + const double eef_step = 0.001; + double fraction = move_group_interface.computeCartesianPath( + waypoints, eef_step, jump_threshold, trajectory); + if (fraction > 0) { + RCLCPP_INFO(this->get_logger(), "Planning success"); + moveit::core::MoveItErrorCode execute_err_code = + move_group_interface.execute(trajectory); + if (execute_err_code == moveit::core::MoveItErrorCode::SUCCESS) { + goal_handle->succeed(result); + RCLCPP_INFO(this->get_logger(), "Successfully executed action goal"); + } else if (execute_err_code == moveit::core::MoveItErrorCode::FAILURE) { + RCLCPP_ERROR(this->get_logger(), "Failure in move:"); + } + + // move_group_interface.move(); + } else { + RCLCPP_WARN(this->get_logger(), "Failed to generate plan"); + goal_handle->abort(result); } - - rclcpp_action::CancelResponse cancel_callback(const std::shared_ptr goal_handle) - { - RCLCPP_INFO(this->get_logger(), "Received cancel request"); - (void)goal_handle; - return rclcpp_action::CancelResponse::ACCEPT; - } - - void accepted_callback(const std::shared_ptr goal_handle) - { - using namespace std::placeholders; - std::thread(std::bind(&MoveCartesianActionServer::execute, this, _1), goal_handle).detach(); - // std::thread( - // [this, goal_handle]() { - // execute(goal_handle); - // }).detach(); - } - - void execute(const std::shared_ptr goal_handle) - { - RCLCPP_INFO(this->get_logger(), "Executing action goal"); - const auto goal = goal_handle->get_goal(); - auto result = std::make_shared(); - - moveit::planning_interface::MoveGroupInterface move_group_interface(node_, goal->robot_name); - move_group_interface.startStateMonitor(); - - moveit::core::RobotState start_state(*move_group_interface.getCurrentState()); - - std::vector waypoints; - auto current_pose = move_group_interface.getCurrentPose(); - //waypoints.push_back(current_pose.pose); - geometry_msgs::msg::Pose target_pose = goal->target_pose; - //target_pose.position = goal->target_pose.position; - waypoints.push_back(target_pose); - - RCLCPP_INFO(this->get_logger(), "New cartesian target pose [%f, %f, %f]", - target_pose.position.x, target_pose.position.y, target_pose.position.z); - //waypoints.push_back(start_pose.pose); - moveit_msgs::msg::RobotTrajectory trajectory; - const double jump_threshold = 0.0; - const double eef_step = 0.001; - double fraction = move_group_interface.computeCartesianPath(waypoints, eef_step, jump_threshold, trajectory); - if(fraction>0) - { - RCLCPP_INFO(this->get_logger(), "Planning success"); - moveit::core::MoveItErrorCode execute_err_code = move_group_interface.execute(trajectory); - if (execute_err_code == moveit::core::MoveItErrorCode::SUCCESS) - { - goal_handle->succeed(result); - RCLCPP_INFO(this->get_logger(), "Successfully executed action goal"); - }else if (execute_err_code == moveit::core::MoveItErrorCode::FAILURE) - { - RCLCPP_ERROR(this->get_logger(), "Failure in move:"); - } - - //move_group_interface.move(); - }else{ - RCLCPP_WARN(this->get_logger(), "Failed to generate plan"); - goal_handle->abort(result); - } - - if (goal_handle->is_canceling()) { - goal_handle->canceled(result); - RCLCPP_ERROR(this->get_logger(), "Action goal canceled"); - return; - } + + if (goal_handle->is_canceling()) { + goal_handle->canceled(result); + RCLCPP_ERROR(this->get_logger(), "Action goal canceled"); + return; } + } }; // class MoveCartesianActionServer -}// namespace rbs_skill_actions +} // namespace rbs_skill_actions -int main(int argc, char ** argv) -{ - rclcpp::init(argc, argv); - rclcpp::NodeOptions node_options; - node_options.automatically_declare_parameters_from_overrides(true); - auto node = rclcpp::Node::make_shared("move_cartesian", "", node_options); +int main(int argc, char **argv) { + rclcpp::init(argc, argv); + rclcpp::NodeOptions node_options; + node_options.automatically_declare_parameters_from_overrides(true); + auto node = rclcpp::Node::make_shared("move_cartesian", "", node_options); - rbs_skill_actions::MoveCartesianActionServer server(node); - std::thread run_server([&server]() { - rclcpp::sleep_for(std::chrono::seconds(3)); - server.init(); - }); + rbs_skill_actions::MoveCartesianActionServer server(node); + std::thread run_server([&server]() { + rclcpp::sleep_for(std::chrono::seconds(3)); + server.init(); + }); - rclcpp::spin(node); - run_server.join(); + rclcpp::spin(node); + run_server.join(); - return 0; -} \ No newline at end of file + return 0; +} diff --git a/rbs_skill_servers/src/move_to_joint_states_action_server.cpp b/rbs_skill_servers/src/move_to_joint_states_action_server.cpp index 9f79472..b7adb84 100644 --- a/rbs_skill_servers/src/move_to_joint_states_action_server.cpp +++ b/rbs_skill_servers/src/move_to_joint_states_action_server.cpp @@ -1,16 +1,15 @@ +#include #include #include #include -#include - #include "rclcpp/rclcpp.hpp" #include "rclcpp/timer.hpp" #include "rclcpp_components/register_node_macro.hpp" // action libs -#include "rclcpp_action/rclcpp_action.hpp" #include "rbs_skill_interfaces/action/moveit_send_joint_states.hpp" +#include "rclcpp_action/rclcpp_action.hpp" #include "geometry_msgs/msg/pose_stamped.hpp" #include "geometry_msgs/msg/quaternion.hpp" @@ -26,143 +25,139 @@ #include */ // For Visualization -//#include +// #include +#include "moveit_msgs/action/move_group.hpp" #include "moveit_msgs/msg/display_robot_state.hpp" #include "moveit_msgs/msg/display_trajectory.hpp" #include "moveit_msgs/msg/robot_trajectory.hpp" -#include "moveit_msgs/action/move_group.hpp" -namespace rbs_skill_actions -{ +namespace rbs_skill_actions { -class MoveToJointStateActionServer : public rclcpp::Node -{ +class MoveToJointStateActionServer : public rclcpp::Node { public: - using MoveitSendJointStates = rbs_skill_interfaces::action::MoveitSendJointStates; + using MoveitSendJointStates = + rbs_skill_interfaces::action::MoveitSendJointStates; - //explicit MoveToPoseActionServer(const rclcpp::Node::SharedPtr& node) - explicit MoveToJointStateActionServer(const rclcpp::Node::SharedPtr &node) : Node("move_to_joint_states_action_server"), node_(node) - { - // using namespace std::placeholders; - // this->action_server_ = rclcpp_action::create_server( - // this->get_node_base_interface(), - // this->get_node_clock_interface(), - // this->get_node_logging_interface(), - // this->get_node_waitables_interface(), - // "move_topose", - // std::bind(&MoveToPoseActionServer::goal_callback, this, _1, _2), - // std::bind(&MoveToPoseActionServer::cancel_callback, this, _1), - // std::bind(&MoveToPoseActionServer::accepted_callback, this, _1)); - } + // explicit MoveToPoseActionServer(const rclcpp::Node::SharedPtr& node) + explicit MoveToJointStateActionServer(const rclcpp::Node::SharedPtr &node) + : Node("move_to_joint_states_action_server"), node_(node) { + // using namespace std::placeholders; + // this->action_server_ = rclcpp_action::create_server( + // this->get_node_base_interface(), + // this->get_node_clock_interface(), + // this->get_node_logging_interface(), + // this->get_node_waitables_interface(), + // "move_topose", + // std::bind(&MoveToPoseActionServer::goal_callback, this, _1, _2), + // std::bind(&MoveToPoseActionServer::cancel_callback, this, _1), + // std::bind(&MoveToPoseActionServer::accepted_callback, this, _1)); + } - void init() - { - - action_server_ = rclcpp_action::create_server( - node_->get_node_base_interface(), - node_->get_node_clock_interface(), - node_->get_node_logging_interface(), - node_->get_node_waitables_interface(), - "move_to_joint_states", - std::bind(&MoveToJointStateActionServer::goal_callback, this, std::placeholders::_1, std::placeholders::_2), - std::bind(&MoveToJointStateActionServer::cancel_callback, this, std::placeholders::_1), - std::bind(&MoveToJointStateActionServer::accepted_callback, this, std::placeholders::_1) - ); + void init() { - } + action_server_ = rclcpp_action::create_server( + node_->get_node_base_interface(), node_->get_node_clock_interface(), + node_->get_node_logging_interface(), + node_->get_node_waitables_interface(), "move_to_joint_states", + std::bind(&MoveToJointStateActionServer::goal_callback, this, + std::placeholders::_1, std::placeholders::_2), + std::bind(&MoveToJointStateActionServer::cancel_callback, this, + std::placeholders::_1), + std::bind(&MoveToJointStateActionServer::accepted_callback, this, + std::placeholders::_1)); + } private: - rclcpp::Node::SharedPtr node_; - rclcpp_action::Server::SharedPtr action_server_; + rclcpp::Node::SharedPtr node_; + rclcpp_action::Server::SharedPtr action_server_; - using ServerGoalHandle = rclcpp_action::ServerGoalHandle; + using ServerGoalHandle = + rclcpp_action::ServerGoalHandle; - rclcpp_action::GoalResponse goal_callback( - const rclcpp_action::GoalUUID & uuid, - std::shared_ptr goal) - { - RCLCPP_INFO(this->get_logger(), "Goal received for robot [%s]", goal->robot_name.c_str()); - (void)uuid; - if (false) { - return rclcpp_action::GoalResponse::REJECT; - } - return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE; + rclcpp_action::GoalResponse + goal_callback(const rclcpp_action::GoalUUID &uuid, + std::shared_ptr goal) { + RCLCPP_INFO(this->get_logger(), "Goal received for robot [%s]", + goal->robot_name.c_str()); + (void)uuid; + if (false) { + return rclcpp_action::GoalResponse::REJECT; } - - rclcpp_action::CancelResponse cancel_callback(const std::shared_ptr goal_handle) - { - RCLCPP_INFO(this->get_logger(), "Received cancel request"); - (void)goal_handle; - return rclcpp_action::CancelResponse::ACCEPT; + return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE; + } + + rclcpp_action::CancelResponse + cancel_callback(const std::shared_ptr goal_handle) { + RCLCPP_INFO(this->get_logger(), "Received cancel request"); + (void)goal_handle; + return rclcpp_action::CancelResponse::ACCEPT; + } + + void accepted_callback(const std::shared_ptr goal_handle) { + using namespace std::placeholders; + std::thread(std::bind(&MoveToJointStateActionServer::execute, this, _1), + goal_handle) + .detach(); + } + + void execute(const std::shared_ptr goal_handle) { + RCLCPP_INFO(this->get_logger(), "Executing action goal"); + const auto goal = goal_handle->get_goal(); + auto result = std::make_shared(); + + moveit::planning_interface::MoveGroupInterface move_group_interface( + node_, goal->robot_name); + move_group_interface.startStateMonitor(); + + std::vector joint_states = goal->joint_values; + for (auto &joint : joint_states) { + RCLCPP_INFO(this->get_logger(), "Joint value %f", joint); } - - void accepted_callback(const std::shared_ptr goal_handle) - { - using namespace std::placeholders; - std::thread(std::bind(&MoveToJointStateActionServer::execute, this, _1), goal_handle).detach(); + + move_group_interface.setJointValueTarget(goal->joint_values); + move_group_interface.setMaxVelocityScalingFactor( + goal->joints_velocity_scaling_factor); + move_group_interface.setMaxAccelerationScalingFactor( + goal->joints_acceleration_scaling_factor); + + moveit::planning_interface::MoveGroupInterface::Plan plan; + bool success = (move_group_interface.plan(plan) == + moveit::core::MoveItErrorCode::SUCCESS); + if (success) { + RCLCPP_INFO(this->get_logger(), "Planning success"); + move_group_interface.execute(plan); + // move_group_interface.move(); + } else { + RCLCPP_WARN(this->get_logger(), "Failed to generate plan"); } - - void execute(const std::shared_ptr goal_handle) - { - RCLCPP_INFO(this->get_logger(), "Executing action goal"); - const auto goal = goal_handle->get_goal(); - auto result = std::make_shared(); - moveit::planning_interface::MoveGroupInterface move_group_interface(node_, goal->robot_name); - move_group_interface.startStateMonitor(); - - std::vector joint_states = goal->joint_values; - for (auto &joint : joint_states) - { - RCLCPP_INFO(this->get_logger(), "Joint value %f", joint); - } - - - move_group_interface.setJointValueTarget(goal->joint_values); - move_group_interface.setMaxVelocityScalingFactor(goal->joints_velocity_scaling_factor); - move_group_interface.setMaxAccelerationScalingFactor(goal->joints_acceleration_scaling_factor); - - - moveit::planning_interface::MoveGroupInterface::Plan plan; - bool success = (move_group_interface.plan(plan) == moveit::core::MoveItErrorCode::SUCCESS); - if(success) - { - RCLCPP_INFO(this->get_logger(), "Planning success"); - move_group_interface.execute(plan); - //move_group_interface.move(); - }else{ - RCLCPP_WARN(this->get_logger(), "Failed to generate plan"); - } - - if (goal_handle->is_canceling()) { - goal_handle->canceled(result); - RCLCPP_ERROR(this->get_logger(), "Action goal canceled"); - return; - } - - - goal_handle->succeed(result); - RCLCPP_INFO(this->get_logger(), "Successfully executed action goal"); + if (goal_handle->is_canceling()) { + goal_handle->canceled(result); + RCLCPP_ERROR(this->get_logger(), "Action goal canceled"); + return; } + + goal_handle->succeed(result); + RCLCPP_INFO(this->get_logger(), "Successfully executed action goal"); + } }; // class MoveToJointStateActionServer -}// namespace rbs_skill_actions +} // namespace rbs_skill_actions -int main(int argc, char ** argv) -{ - rclcpp::init(argc, argv); - rclcpp::NodeOptions node_options; - node_options.automatically_declare_parameters_from_overrides(true); - auto node = rclcpp::Node::make_shared("move_topose", "", node_options); +int main(int argc, char **argv) { + rclcpp::init(argc, argv); + rclcpp::NodeOptions node_options; + node_options.automatically_declare_parameters_from_overrides(true); + auto node = rclcpp::Node::make_shared("move_topose", "", node_options); - rbs_skill_actions::MoveToJointStateActionServer server(node); - std::thread run_server([&server]() { - rclcpp::sleep_for(std::chrono::seconds(3)); - server.init(); - }); + rbs_skill_actions::MoveToJointStateActionServer server(node); + std::thread run_server([&server]() { + rclcpp::sleep_for(std::chrono::seconds(3)); + server.init(); + }); - rclcpp::spin(node); - run_server.join(); + rclcpp::spin(node); + run_server.join(); - return 0; -} \ No newline at end of file + return 0; +} diff --git a/rbs_skill_servers/src/move_topose_action_server.cpp b/rbs_skill_servers/src/move_topose_action_server.cpp index 4bf83ad..aba0780 100644 --- a/rbs_skill_servers/src/move_topose_action_server.cpp +++ b/rbs_skill_servers/src/move_topose_action_server.cpp @@ -7,9 +7,9 @@ #include "rclcpp_components/register_node_macro.hpp" // action libs -#include "rclcpp_action/rclcpp_action.hpp" -#include "rbs_skill_interfaces/msg/action_feedback_status_constants.hpp" #include "rbs_skill_interfaces/action/moveit_send_pose.hpp" +#include "rbs_skill_interfaces/msg/action_feedback_status_constants.hpp" +#include "rclcpp_action/rclcpp_action.hpp" #include "geometry_msgs/msg/pose_stamped.hpp" #include "geometry_msgs/msg/quaternion.hpp" @@ -18,8 +18,8 @@ // moveit libs #include "moveit/move_group_interface/move_group_interface.h" #include "moveit/planning_interface/planning_interface.h" -#include "moveit/robot_model_loader/robot_model_loader.h" #include "moveit/planning_scene_interface/planning_scene_interface.h" +#include "moveit/robot_model_loader/robot_model_loader.h" /* #include @@ -27,148 +27,149 @@ #include */ // For Visualization -//#include -#include +// #include +#include "moveit_msgs/action/move_group.hpp" #include "moveit_msgs/msg/display_robot_state.hpp" #include "moveit_msgs/msg/display_trajectory.hpp" #include "moveit_msgs/msg/robot_trajectory.hpp" -#include "moveit_msgs/action/move_group.hpp" +#include -namespace rbs_skill_actions -{ +namespace rbs_skill_actions { -class MoveToPoseActionServer : public rclcpp::Node -{ +class MoveToPoseActionServer : public rclcpp::Node { public: - using MoveitSendPose = rbs_skill_interfaces::action::MoveitSendPose; + using MoveitSendPose = rbs_skill_interfaces::action::MoveitSendPose; - //explicit MoveToPoseActionServer(const rclcpp::Node::SharedPtr& node) - explicit MoveToPoseActionServer(const rclcpp::Node::SharedPtr &node) : Node("move_topose_action_server"), node_(node) - { - // using namespace std::placeholders; - // this->action_server_ = rclcpp_action::create_server( - // this->get_node_base_interface(), - // this->get_node_clock_interface(), - // this->get_node_logging_interface(), - // this->get_node_waitables_interface(), - // "move_topose", - // std::bind(&MoveToPoseActionServer::goal_callback, this, _1, _2), - // std::bind(&MoveToPoseActionServer::cancel_callback, this, _1), - // std::bind(&MoveToPoseActionServer::accepted_callback, this, _1)); - } + // explicit MoveToPoseActionServer(const rclcpp::Node::SharedPtr& node) + explicit MoveToPoseActionServer(const rclcpp::Node::SharedPtr &node) + : Node("move_topose_action_server"), node_(node) { + // using namespace std::placeholders; + // this->action_server_ = rclcpp_action::create_server( + // this->get_node_base_interface(), + // this->get_node_clock_interface(), + // this->get_node_logging_interface(), + // this->get_node_waitables_interface(), + // "move_topose", + // std::bind(&MoveToPoseActionServer::goal_callback, this, _1, _2), + // std::bind(&MoveToPoseActionServer::cancel_callback, this, _1), + // std::bind(&MoveToPoseActionServer::accepted_callback, this, _1)); + } - void init() - { - - action_server_ = rclcpp_action::create_server( - node_->get_node_base_interface(), - node_->get_node_clock_interface(), - node_->get_node_logging_interface(), - node_->get_node_waitables_interface(), - "move_topose", - std::bind(&MoveToPoseActionServer::goal_callback, this, std::placeholders::_1, std::placeholders::_2), - std::bind(&MoveToPoseActionServer::cancel_callback, this, std::placeholders::_1), - std::bind(&MoveToPoseActionServer::accepted_callback, this, std::placeholders::_1) - ); + void init() { - } + action_server_ = rclcpp_action::create_server( + node_->get_node_base_interface(), node_->get_node_clock_interface(), + node_->get_node_logging_interface(), + node_->get_node_waitables_interface(), "move_topose", + std::bind(&MoveToPoseActionServer::goal_callback, this, + std::placeholders::_1, std::placeholders::_2), + std::bind(&MoveToPoseActionServer::cancel_callback, this, + std::placeholders::_1), + std::bind(&MoveToPoseActionServer::accepted_callback, this, + std::placeholders::_1)); + } private: - rclcpp::Node::SharedPtr node_; - rclcpp_action::Server::SharedPtr action_server_; + rclcpp::Node::SharedPtr node_; + rclcpp_action::Server::SharedPtr action_server_; - using ServerGoalHandle = rclcpp_action::ServerGoalHandle; + using ServerGoalHandle = rclcpp_action::ServerGoalHandle; - rclcpp_action::GoalResponse goal_callback( - const rclcpp_action::GoalUUID & uuid, - std::shared_ptr goal) - { - RCLCPP_INFO(this->get_logger(), "Received goal request for robot [%s] with Pose [%f, %f, %f, %f, %f, %f, %f]", - goal->robot_name.c_str(), goal->target_pose.position.x, goal->target_pose.position.y, goal->target_pose.position.z, - goal->target_pose.orientation.x, goal->target_pose.orientation.y, goal->target_pose.orientation.z, - goal->target_pose.orientation.w); - (void)uuid; - if (false) { - return rclcpp_action::GoalResponse::REJECT; - } - return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE; + rclcpp_action::GoalResponse + goal_callback(const rclcpp_action::GoalUUID &uuid, + std::shared_ptr goal) { + RCLCPP_INFO( + this->get_logger(), + "Received goal request for robot [%s] with Pose [%f, %f, %f, %f, %f, " + "%f, %f]", + goal->robot_name.c_str(), goal->target_pose.position.x, + goal->target_pose.position.y, goal->target_pose.position.z, + goal->target_pose.orientation.x, goal->target_pose.orientation.y, + goal->target_pose.orientation.z, goal->target_pose.orientation.w); + (void)uuid; + if (false) { + return rclcpp_action::GoalResponse::REJECT; } - - rclcpp_action::CancelResponse cancel_callback(const std::shared_ptr goal_handle) - { - RCLCPP_INFO(this->get_logger(), "Received cancel request"); - (void)goal_handle; - return rclcpp_action::CancelResponse::ACCEPT; - } - - void accepted_callback(const std::shared_ptr goal_handle) - { - using namespace std::placeholders; - std::thread(std::bind(&MoveToPoseActionServer::execute, this, _1), goal_handle).detach(); - } - - void execute(const std::shared_ptr goal_handle) - { - RCLCPP_INFO(this->get_logger(), "Executing action goal"); - const auto goal = goal_handle->get_goal(); - auto result = std::make_shared(); - - moveit::planning_interface::MoveGroupInterface move_group_interface(node_, goal->robot_name); - move_group_interface.startStateMonitor(); + return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE; + } - move_group_interface.setPoseTarget(goal->target_pose); - move_group_interface.setMaxVelocityScalingFactor(goal->end_effector_velocity); - move_group_interface.setMaxAccelerationScalingFactor(goal->end_effector_acceleration); - moveit::planning_interface::MoveGroupInterface::Plan plan; - moveit::core::MoveItErrorCode plan_err_code = move_group_interface.plan(plan); - if (plan_err_code == moveit::core::MoveItErrorCode::INVALID_MOTION_PLAN){ - move_group_interface.plan(plan); - } - if(plan_err_code == moveit::core::MoveItErrorCode::SUCCESS) - { - RCLCPP_INFO(this->get_logger(), "Planning success"); - //move_group_interface.execute(plan); - moveit::core::MoveItErrorCode move_err_code = move_group_interface.execute(plan); - if (move_err_code == moveit::core::MoveItErrorCode::SUCCESS) - { - goal_handle->succeed(result); - RCLCPP_INFO(this->get_logger(), "Successfully executed action goal"); - } else if (move_err_code == moveit::core::MoveItErrorCode::FAILURE) - { - RCLCPP_ERROR(this->get_logger(), "Failure in move:"); - } - + rclcpp_action::CancelResponse + cancel_callback(const std::shared_ptr goal_handle) { + RCLCPP_INFO(this->get_logger(), "Received cancel request"); + (void)goal_handle; + return rclcpp_action::CancelResponse::ACCEPT; + } - }else{ - RCLCPP_WARN_STREAM(this->get_logger(), "Failed to generate plan because " << error_code_to_string(plan_err_code)); - goal_handle->abort(result); - } + void accepted_callback(const std::shared_ptr goal_handle) { + using namespace std::placeholders; + std::thread(std::bind(&MoveToPoseActionServer::execute, this, _1), + goal_handle) + .detach(); + } - if (goal_handle->is_canceling()) { - goal_handle->canceled(result); - RCLCPP_ERROR(this->get_logger(), "Action goal canceled"); - return; - } + void execute(const std::shared_ptr goal_handle) { + RCLCPP_INFO(this->get_logger(), "Executing action goal"); + const auto goal = goal_handle->get_goal(); + auto result = std::make_shared(); + + moveit::planning_interface::MoveGroupInterface move_group_interface( + node_, goal->robot_name); + move_group_interface.startStateMonitor(); + + move_group_interface.setPoseTarget(goal->target_pose); + move_group_interface.setMaxVelocityScalingFactor( + goal->end_effector_velocity); + move_group_interface.setMaxAccelerationScalingFactor( + goal->end_effector_acceleration); + moveit::planning_interface::MoveGroupInterface::Plan plan; + moveit::core::MoveItErrorCode plan_err_code = + move_group_interface.plan(plan); + if (plan_err_code == moveit::core::MoveItErrorCode::INVALID_MOTION_PLAN) { + move_group_interface.plan(plan); } + if (plan_err_code == moveit::core::MoveItErrorCode::SUCCESS) { + RCLCPP_INFO(this->get_logger(), "Planning success"); + // move_group_interface.execute(plan); + moveit::core::MoveItErrorCode move_err_code = + move_group_interface.execute(plan); + if (move_err_code == moveit::core::MoveItErrorCode::SUCCESS) { + goal_handle->succeed(result); + RCLCPP_INFO(this->get_logger(), "Successfully executed action goal"); + } else if (move_err_code == moveit::core::MoveItErrorCode::FAILURE) { + RCLCPP_ERROR(this->get_logger(), "Failure in move:"); + } + + } else { + RCLCPP_WARN_STREAM(this->get_logger(), + "Failed to generate plan because " + << error_code_to_string(plan_err_code)); + goal_handle->abort(result); + } + + if (goal_handle->is_canceling()) { + goal_handle->canceled(result); + RCLCPP_ERROR(this->get_logger(), "Action goal canceled"); + return; + } + } }; // class MoveToPoseActionServer -}// namespace rbs_skill_actions +} // namespace rbs_skill_actions -int main(int argc, char ** argv) -{ - rclcpp::init(argc, argv); - rclcpp::NodeOptions node_options; - node_options.automatically_declare_parameters_from_overrides(true); - auto node = rclcpp::Node::make_shared("move_topose", "", node_options); +int main(int argc, char **argv) { + rclcpp::init(argc, argv); + rclcpp::NodeOptions node_options; + node_options.automatically_declare_parameters_from_overrides(true); + auto node = rclcpp::Node::make_shared("move_topose", "", node_options); - rbs_skill_actions::MoveToPoseActionServer server(node); - std::thread run_server([&server]() { - rclcpp::sleep_for(std::chrono::seconds(3)); - server.init(); - }); + rbs_skill_actions::MoveToPoseActionServer server(node); + std::thread run_server([&server]() { + rclcpp::sleep_for(std::chrono::seconds(3)); + server.init(); + }); - rclcpp::spin(node); - run_server.join(); + rclcpp::spin(node); + run_server.join(); - return 0; -} \ No newline at end of file + return 0; +} diff --git a/rbs_skill_servers/src/moveit_update_planning_scene.cpp b/rbs_skill_servers/src/moveit_update_planning_scene.cpp index 366bf35..8840992 100644 --- a/rbs_skill_servers/src/moveit_update_planning_scene.cpp +++ b/rbs_skill_servers/src/moveit_update_planning_scene.cpp @@ -1,20 +1,20 @@ +#include #include #include -#include -#include #include #include -#include #include +#include +#include #include -#include -#include #include +#include +#include -#include #include +#include #include "rbs_skill_interfaces/srv/planning_scene_object_state.hpp" @@ -22,8 +22,8 @@ #define INIT_SCENE_PARAM_NAME "init_scene" #define CUSTOM_MODEL_PATH_PARAM_NAME "models_paths" -static geometry_msgs::msg::Pose pose_from_pose3d(const ignition::math::Pose3d &pose) -{ +static geometry_msgs::msg::Pose +pose_from_pose3d(const ignition::math::Pose3d &pose) { geometry_msgs::msg::Pose result; auto position = pose.Pos(); result.position.set__x(position.X()); @@ -37,129 +37,125 @@ static geometry_msgs::msg::Pose pose_from_pose3d(const ignition::math::Pose3d &p return result; } -static std::string get_correct_mesh_path( - const std::string& uri, const std::vector &resources) -{ +static std::string +get_correct_mesh_path(const std::string &uri, + const std::vector &resources) { std::string result = ""; std::regex reg(R"((?:model|package)(?:\:\/)(.*))"); std::smatch m; - if (std::regex_match(uri, m, reg)) - { + if (std::regex_match(uri, m, reg)) { std::string rel_path = m[1]; - std::for_each(resources.begin(), resources.end(), - [&result, &rel_path](const std::string& res){ - if (result.empty()) - result = std::filesystem::exists(res + rel_path)? std::string(res + rel_path): result; - }); + std::for_each(resources.begin(), resources.end(), + [&result, &rel_path](const std::string &res) { + if (result.empty()) + result = std::filesystem::exists(res + rel_path) + ? std::string(res + rel_path) + : result; + }); } - return "file://" + result; + return "file://" + result; } -static moveit_msgs::msg::CollisionObject -get_object(const sdf::Model *model, const std::vector &resources) -{ +static moveit_msgs::msg::CollisionObject +get_object(const sdf::Model *model, const std::vector &resources) { moveit_msgs::msg::CollisionObject obj; obj.header.frame_id = "world"; obj.id = model->Name(); obj.pose = pose_from_pose3d(model->RawPose()); size_t link_count = model->LinkCount(); - for (size_t i = 0; i < link_count; ++i) - { + for (size_t i = 0; i < link_count; ++i) { auto link = model->LinkByIndex(i); auto collision = link->CollisionByIndex(0); auto link_pose = pose_from_pose3d(link->RawPose()); auto geometry = collision->Geom(); - switch(geometry->Type()) - { - case sdf::GeometryType::MESH: - { - auto path = get_correct_mesh_path(geometry->MeshShape()->Uri(), resources); - shapes::Mesh *m = shapes::createMeshFromResource( - !path.empty()? path: geometry->MeshShape()->Uri()); - auto scale = geometry->MeshShape()->Scale().X(); - m->scale(scale); + switch (geometry->Type()) { + case sdf::GeometryType::MESH: { + auto path = + get_correct_mesh_path(geometry->MeshShape()->Uri(), resources); + shapes::Mesh *m = shapes::createMeshFromResource( + !path.empty() ? path : geometry->MeshShape()->Uri()); + auto scale = geometry->MeshShape()->Scale().X(); + m->scale(scale); - Eigen::Vector3d centroid = {0, 0, 0}; - for (size_t i = 0; i < 3 * m->vertex_count; i += 3) - { - const auto x = m->vertices[i]; - const auto y = m->vertices[i+1]; - const auto z = m->vertices[i+2]; + Eigen::Vector3d centroid = {0, 0, 0}; + for (size_t i = 0; i < 3 * m->vertex_count; i += 3) { + const auto x = m->vertices[i]; + const auto y = m->vertices[i + 1]; + const auto z = m->vertices[i + 2]; - centroid.x() += x*(1-scale); - centroid.y() += y*(1-scale); - centroid.z() += z*(1-scale); - } - - centroid = centroid / m->vertex_count; - for (size_t i = 0; i < 3 * m->vertex_count; i += 3) { - m->vertices[i] -= centroid.x(); - m->vertices[i + 1] -= centroid.y(); - m->vertices[i + 2] -= centroid.z(); - } - - shape_msgs::msg::Mesh mesh; - shapes::ShapeMsg m_msg; - shapes::constructMsgFromShape(m, m_msg); - mesh = boost::get(m_msg); - obj.meshes.push_back(mesh); - obj.mesh_poses.push_back(link_pose); - break; - } case sdf::GeometryType::BOX: { - auto sdf_box = geometry->BoxShape(); - shape_msgs::msg::SolidPrimitive box; - box.type = shape_msgs::msg::SolidPrimitive::BOX; - auto sdf_box_size = sdf_box->Size(); - box.dimensions.push_back(sdf_box_size.X()); - box.dimensions.push_back(sdf_box_size.Y()); - box.dimensions.push_back(sdf_box_size.Z()); - obj.primitives.push_back(box); - obj.primitive_poses.push_back(link_pose); - break; + centroid.x() += x * (1 - scale); + centroid.y() += y * (1 - scale); + centroid.z() += z * (1 - scale); } - case sdf::GeometryType::PLANE: - { - auto sdf_plane = geometry->PlaneShape(); - shape_msgs::msg::Plane plane; - auto normal = sdf_plane->Normal(); - plane.coef[0] = normal.X(); - plane.coef[1] = normal.Y(); - plane.coef[2] = normal.Z(); - obj.planes.push_back(plane); - obj.plane_poses.push_back(link_pose); - break; + + centroid = centroid / m->vertex_count; + for (size_t i = 0; i < 3 * m->vertex_count; i += 3) { + m->vertices[i] -= centroid.x(); + m->vertices[i + 1] -= centroid.y(); + m->vertices[i + 2] -= centroid.z(); } - case sdf::GeometryType::EMPTY: - case sdf::GeometryType::CYLINDER: - case sdf::GeometryType::SPHERE: - case sdf::GeometryType::HEIGHTMAP: - case sdf::GeometryType::CAPSULE: - case sdf::GeometryType::ELLIPSOID: - case sdf::GeometryType::POLYLINE: - break; + + shape_msgs::msg::Mesh mesh; + shapes::ShapeMsg m_msg; + shapes::constructMsgFromShape(m, m_msg); + mesh = boost::get(m_msg); + obj.meshes.push_back(mesh); + obj.mesh_poses.push_back(link_pose); + break; + } + case sdf::GeometryType::BOX: { + auto sdf_box = geometry->BoxShape(); + shape_msgs::msg::SolidPrimitive box; + box.type = shape_msgs::msg::SolidPrimitive::BOX; + auto sdf_box_size = sdf_box->Size(); + box.dimensions.push_back(sdf_box_size.X()); + box.dimensions.push_back(sdf_box_size.Y()); + box.dimensions.push_back(sdf_box_size.Z()); + obj.primitives.push_back(box); + obj.primitive_poses.push_back(link_pose); + break; + } + case sdf::GeometryType::PLANE: { + auto sdf_plane = geometry->PlaneShape(); + shape_msgs::msg::Plane plane; + auto normal = sdf_plane->Normal(); + plane.coef[0] = normal.X(); + plane.coef[1] = normal.Y(); + plane.coef[2] = normal.Z(); + obj.planes.push_back(plane); + obj.plane_poses.push_back(link_pose); + break; + } + case sdf::GeometryType::EMPTY: + case sdf::GeometryType::CYLINDER: + case sdf::GeometryType::SPHERE: + case sdf::GeometryType::HEIGHTMAP: + case sdf::GeometryType::CAPSULE: + case sdf::GeometryType::ELLIPSOID: + case sdf::GeometryType::POLYLINE: + break; } } return obj; } -static std::vector -get_objects(const sdf::World *world, const std::string &model_resources) -{ +static std::vector +get_objects(const sdf::World *world, const std::string &model_resources) { std::vector resources; std::regex reg("\\:+"); - std::sregex_token_iterator begin( - model_resources.begin(), model_resources.end(), reg, -1), end; + std::sregex_token_iterator begin(model_resources.begin(), + model_resources.end(), reg, -1), + end; std::copy(++begin, end, std::back_inserter(resources)); std::vector result; auto models_count = world->ModelCount(); - for (size_t i = 0; i < models_count; ++i) - { - try{ + for (size_t i = 0; i < models_count; ++i) { + try { auto model = world->ModelByIndex(i); result.push_back(get_object(model, resources)); - } catch (std::exception &ex){ + } catch (std::exception &ex) { std::cerr << ex.what() << std::endl; } } @@ -167,81 +163,80 @@ get_objects(const sdf::World *world, const std::string &model_resources) return result; } -class UpdatePlanningSceneServer: public rclcpp::Node -{ +class UpdatePlanningSceneServer : public rclcpp::Node { public: - UpdatePlanningSceneServer(rclcpp::NodeOptions options) - : Node("update_planning_scene_node", options.allow_undeclared_parameters(true).automatically_declare_parameters_from_overrides(true)) - { - std::string scene = get_parameter(INIT_SCENE_PARAM_NAME).as_string(); - std::string model_resources = get_parameter(CUSTOM_MODEL_PATH_PARAM_NAME).as_string(); + UpdatePlanningSceneServer(rclcpp::NodeOptions options) + : Node("update_planning_scene_node", + options.allow_undeclared_parameters(true) + .automatically_declare_parameters_from_overrides(true)) { + std::string scene = get_parameter(INIT_SCENE_PARAM_NAME).as_string(); + std::string model_resources = + get_parameter(CUSTOM_MODEL_PATH_PARAM_NAME).as_string(); - if (!scene.empty()) - { - RCLCPP_INFO(get_logger(), "Init scene from file: %s", scene.c_str()); - init_scene(scene, model_resources); - } - service_ = create_service( - SERVICE_NAME, std::bind(&UpdatePlanningSceneServer::callback, this, - std::placeholders::_1, std::placeholders::_2)); + if (!scene.empty()) { + RCLCPP_INFO(get_logger(), "Init scene from file: %s", scene.c_str()); + init_scene(scene, model_resources); + } + service_ = + create_service( + SERVICE_NAME, + std::bind(&UpdatePlanningSceneServer::callback, this, + std::placeholders::_1, std::placeholders::_2)); + } + + bool init_scene(const std::string &init_scene, + const std::string &model_resources) { + sdf::Root root; + sdf::ParserConfig config; + config.AddURIPath("package://", model_resources); + config.AddURIPath("model://", model_resources); + sdf::Errors errors = root.Load(init_scene, config); + if (!errors.empty()) { + for (auto const &e : errors) + RCLCPP_ERROR(get_logger(), "%s", e.Message().c_str()); + return false; + } + auto world = root.WorldByIndex(0); + auto objects = get_objects(world, model_resources); + planning_scene_.applyCollisionObjects(objects); + return true; + } + + void + callback(std::shared_ptr< + rbs_skill_interfaces::srv::PlanningSceneObjectState::Request> + request, + std::shared_ptr< + rbs_skill_interfaces::srv::PlanningSceneObjectState::Response> + response) { + auto state = + static_cast(request->req_kind); + moveit_msgs::msg::CollisionObject obj; + obj.id = request->frame_name; + switch (state) { + case ADD: + case UPDATE: + obj.meshes.resize(1); + obj.mesh_poses.resize(1); + obj.operation = state == ADD ? moveit_msgs::msg::CollisionObject::ADD + : moveit_msgs::msg::CollisionObject::MOVE; + obj.meshes.at(0) = std::move(request->mesh); + obj.mesh_poses.at(0) = std::move(request->pose.pose); + break; + case REMOVE: + obj.operation = moveit_msgs::msg::CollisionObject::REMOVE; + break; } - bool init_scene(const std::string &init_scene, const std::string &model_resources) - { - sdf::Root root; - sdf::ParserConfig config; - config.AddURIPath("package://", model_resources); - config.AddURIPath("model://", model_resources); - sdf::Errors errors = root.Load(init_scene, config); - if (!errors.empty()) - { - for (auto const &e: errors) - RCLCPP_ERROR(get_logger(), "%s", e.Message().c_str()); - return false; - } - auto world = root.WorldByIndex(0); - auto objects = get_objects(world, model_resources); - planning_scene_.applyCollisionObjects(objects); - return true; - } - - void callback( - std::shared_ptr request, - std::shared_ptr response) - { - auto state = static_cast(request->req_kind); - moveit_msgs::msg::CollisionObject obj; - obj.id = request->frame_name; - switch(state) - { - case ADD: - case UPDATE: - obj.meshes.resize(1); - obj.mesh_poses.resize(1); - obj.operation = state == ADD? - moveit_msgs::msg::CollisionObject::ADD: - moveit_msgs::msg::CollisionObject::MOVE; - obj.meshes.at(0) = std::move(request->mesh); - obj.mesh_poses.at(0) = std::move(request->pose.pose); - break; - case REMOVE: - obj.operation = moveit_msgs::msg::CollisionObject::REMOVE; - break; - } - - response->call_status = planning_scene_.applyCollisionObject(obj); - } + response->call_status = planning_scene_.applyCollisionObject(obj); + } private: - enum UpdatePlanningSceneRequestState - { - ADD=0, - REMOVE=1, - UPDATE=2 - }; + enum UpdatePlanningSceneRequestState { ADD = 0, REMOVE = 1, UPDATE = 2 }; - rclcpp::Service::SharedPtr service_; - moveit::planning_interface::PlanningSceneInterface planning_scene_; + rclcpp::Service< + rbs_skill_interfaces::srv::PlanningSceneObjectState>::SharedPtr service_; + moveit::planning_interface::PlanningSceneInterface planning_scene_; }; #include "rclcpp_components/register_node_macro.hpp" diff --git a/rbs_skill_servers/src/pick_place_pose_loader.cpp b/rbs_skill_servers/src/pick_place_pose_loader.cpp index 423f983..54ef0f9 100644 --- a/rbs_skill_servers/src/pick_place_pose_loader.cpp +++ b/rbs_skill_servers/src/pick_place_pose_loader.cpp @@ -1,110 +1,122 @@ -//#include "rbs_skill_servers" #include "rbs_skill_servers/pick_place_pose_loader.hpp" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include using GetGraspPlacePoseServer = rbs_skill_actions::GetGraspPickPoseServer; using GetGraspPlacePoseService = rbs_skill_interfaces::srv::GetPickPlacePoses; using namespace std::chrono_literals; // rclcpp::Node::SharedPtr g_node = nullptr; - - GetGraspPlacePoseServer::GetGraspPickPoseServer(rclcpp::NodeOptions options) -: Node("grasp_place_pose_loader", options.allow_undeclared_parameters(true).automatically_declare_parameters_from_overrides(true)) -{ - tf_buffer_ = - std::make_unique(this->get_clock()); - tf_listener_ = - std::make_shared(*tf_buffer_); + : Node("grasp_place_pose_loader", + options.allow_undeclared_parameters(true) + .automatically_declare_parameters_from_overrides(true)) { + tf_buffer_ = std::make_unique(this->get_clock()); + tf_listener_ = std::make_shared(*tf_buffer_); - srv_ = create_service("/get_pick_place_pose_service", - std::bind(&GetGraspPickPoseServer::handle_server, this, std::placeholders::_1, std::placeholders::_2)); + srv_ = create_service( + "/get_pick_place_pose_service", + std::bind(&GetGraspPickPoseServer::handleServer, this, + std::placeholders::_1, std::placeholders::_2)); } -void -GetGraspPlacePoseServer::handle_server(const rbs_skill_interfaces::srv::GetPickPlacePoses::Request::SharedPtr request, - rbs_skill_interfaces::srv::GetPickPlacePoses::Response::SharedPtr response) -{ - std::string rrr = "ASSEMBLE_" + request->object_name; // TODO: replace with better name - try { - tf_data = tf_buffer_->lookupTransform( - "world", rrr.c_str(), - tf2::TimePointZero); - } catch (const tf2::TransformException & ex) { - RCLCPP_ERROR( - this->get_logger(), "Could not transform %s to %s: %s", - rrr.c_str(), "world", ex.what()); - return; - } - // TODO: Here need to check the parameter - // We can use another parameter library from PickNik - grasp_param_pose = this->get_parameter(request->object_name + ".GraspPose").as_double_array(); - RCLCPP_INFO(this->get_logger(), "\nGrasp direction \n x: %.2f \n y: %.2f \n z: %.2f", - request->grasp_direction.x, - request->grasp_direction.y, - request->grasp_direction.z); - RCLCPP_INFO(this->get_logger(), "\nPlace direction \n x: %.2f \n y: %.2f \n z: %.2f", - request->place_direction.x, - request->place_direction.y, - request->place_direction.z); - Eigen::Affine3d grasp_pose = get_Affine_from_arr(grasp_param_pose); - Eigen::Affine3d place_pose = tf2::transformToEigen(tf_data); - //std::cout << "grasp_point = " << std::endl << grasp_pose.translation() << std::endl << grasp_pose.linear() << std::endl; - //std::cout << "place_pose = " << std::endl << place_pose.translation() << std::endl << place_pose.linear() << std::endl; - Eigen::Vector3d vec_grasp(0.15,0.15,0.02); - Eigen::Vector3d vec_place(0,0,0.15); - response->grasp = collect_pose(grasp_pose, request->grasp_direction, vec_grasp); - response->place = collect_pose(place_pose, request->place_direction, vec_place); +void GetGraspPlacePoseServer::handleServer( + const rbs_skill_interfaces::srv::GetPickPlacePoses::Request::SharedPtr + request, + rbs_skill_interfaces::srv::GetPickPlacePoses::Response::SharedPtr + response) { + std::string object_name = + request->object_name + "_place"; // TODO: replace with better name + + try { + place_pose_tf = tf_buffer_->lookupTransform("world", object_name.c_str(), + tf2::TimePointZero); + } catch (const tf2::TransformException &ex) { + RCLCPP_ERROR(this->get_logger(), "Could not transform %s to %s: %s", + object_name.c_str(), "world", ex.what()); + return; + } + // Load grasp pose from TF2 + try { + grasp_pose_tf = tf_buffer_->lookupTransform( + "world", request->object_name.c_str(), tf2::TimePointZero); + } catch (const tf2::TransformException &ex) { + RCLCPP_ERROR(this->get_logger(), "Could not transforms %s to %s: %s", + request->object_name.c_str(), "world", ex.what()); + } + + RCLCPP_DEBUG(this->get_logger(), + "Grasp pose from tf \n\tx=%f\n\ty=%f\n\tz=%f", + grasp_pose_tf.transform.translation.x, + grasp_pose_tf.transform.translation.y, + grasp_pose_tf.transform.translation.z); + + RCLCPP_DEBUG(this->get_logger(), + "\nGrasp direction \n x: %.2f \n y: %.2f \n z: %.2f", + request->grasp_direction.x, request->grasp_direction.y, + request->grasp_direction.z); + RCLCPP_DEBUG(this->get_logger(), + "\nPlace direction \n x: %.2f \n y: %.2f \n z: %.2f", + request->place_direction.x, request->place_direction.y, + request->place_direction.z); + + auto grasp_pose = tf2::transformToEigen(grasp_pose_tf); + auto place_pose = tf2::transformToEigen(place_pose_tf); + + Eigen::Vector3d scale_grasp(0, 0, 0.10); + Eigen::Vector3d scale_place(0, 0, 0.15); + + response->grasp = + collectPose(grasp_pose, request->grasp_direction, scale_grasp); + response->place = + collectPose(place_pose, request->place_direction, scale_place); } -std::vector -GetGraspPlacePoseServer::collect_pose( - const Eigen::Affine3d pose, - const geometry_msgs::msg::Vector3 direction, - const Eigen::Vector3d scale_vec) -{ - std::vector pose_v_; - pose_v_.push_back(tf2::toMsg(pose)); - Eigen::Vector3d posedir; - Eigen::Affine3d pose_ = pose; - tf2::fromMsg(direction, posedir); - Eigen::Matrix3d Ixy = Eigen::Matrix3d::Zero();//posedir * posedir.transpose(); - Ixy.diagonal() = posedir; - Eigen::Matrix3d Iz = Eigen::Matrix3d::Zero(); - Iz.diagonal() = Eigen::Vector3d::UnitZ(); +std::vector GetGraspPlacePoseServer::collectPose( + const Eigen::Isometry3d &graspPose, + const geometry_msgs::msg::Vector3 &move_direction, + const Eigen::Vector3d &scale_vec) { + std::vector poses{}; + // Add GraspPose as base point + Eigen::Isometry3d grasp_pose{graspPose}; + Eigen::Quaterniond theGraspOrientation(grasp_pose.linear()); + theGraspOrientation = + theGraspOrientation * Eigen::AngleAxisd(M_PI, Eigen::Vector3d::UnitX()); + grasp_pose.rotate(theGraspOrientation); + poses.push_back(tf2::toMsg(grasp_pose)); + // PreGrasp calculation + Eigen::Vector3d preGraspTranslation = + static_cast(graspPose.translation()) + scale_vec; + Eigen::Quaterniond preGraspOrientation(graspPose.linear()); + preGraspOrientation = + preGraspOrientation * Eigen::AngleAxisd(M_PI, Eigen::Vector3d::UnitX()); + Eigen::Isometry3d preGraspPose = Eigen::Isometry3d::Identity(); + preGraspPose.translate(preGraspTranslation); + preGraspPose.rotate(preGraspOrientation); + poses.push_back(tf2::toMsg(preGraspPose)); - if (posedir.cwiseEqual(Eigen::Vector3d::UnitX()).all()) // IF Direction == [1,0,0] - { - std::cout << "\n TBD" << std::endl; - } - else if (posedir.cwiseEqual(Eigen::Vector3d::UnitY()).all()) // IF Direction == [0,1,0] - { - // Gp -- grasp point frame - pose_.pretranslate(-(Ixy * scale_vec)); // Gp-y - pose_v_.push_back(tf2::toMsg(pose_)); - pose_.pretranslate(Iz * scale_vec); // Gp-y + z - pose_v_.push_back(tf2::toMsg(pose_)); - pose_.pretranslate(Ixy * scale_vec); // Gp+z - pose_v_.push_back(tf2::toMsg(pose_)); - } - else if (posedir.cwiseEqual(Eigen::Vector3d::UnitZ()).all()) // IF Direction == [0,0,1] - { - pose_.pretranslate(Ixy * scale_vec); // Choose Pre Grasp == Post Grasp - pose_v_.push_back(tf2::toMsg(pose_)); // So calculate only Pre Grasp - } - else - { - std::cout << "\n TBD" << std::endl; - } - return pose_v_; -} + // PostGrasp calculation + Eigen::Vector3d postGraspTranslation = + static_cast(graspPose.translation()) + scale_vec; + Eigen::Quaterniond postGraspOrientation(graspPose.linear()); + postGraspOrientation = + postGraspOrientation * Eigen::AngleAxisd(M_PI, Eigen::Vector3d::UnitX()); -Eigen::Affine3d -GetGraspPlacePoseServer::get_Affine_from_arr(const std::vector pose) -{ - Eigen::Vector3d point(std::vector(pose.begin(), pose.begin()+3).data()); - Eigen::Quaterniond quat(std::vector(pose.begin()+3, pose.end()).data()); - Eigen::Affine3d aff; - aff.translation() = point; - aff.linear() = quat.toRotationMatrix(); - return aff; -} + Eigen::Isometry3d postGraspPose = Eigen::Isometry3d::Identity(); + postGraspPose.translate(postGraspTranslation); + postGraspPose.rotate(postGraspOrientation); + poses.push_back(tf2::toMsg(postGraspPose)); + + return poses; +} \ No newline at end of file diff --git a/rbs_task_planner/src/task_planner_controller.cpp b/rbs_task_planner/src/task_planner_controller.cpp index 168fc27..e0603cf 100644 --- a/rbs_task_planner/src/task_planner_controller.cpp +++ b/rbs_task_planner/src/task_planner_controller.cpp @@ -13,47 +13,39 @@ #include "rclcpp/rclcpp.hpp" #include "rclcpp_action/rclcpp_action.hpp" -class TaskPlannerController : public rclcpp::Node -{ - public: - TaskPlannerController() : rclcpp::Node("task_planner_controller") - { - domain_expert_ = std::make_shared(); - planner_client_ = std::make_shared(); - problem_expert_ = std::make_shared(); - executor_client_ = std::make_shared(); - run_plan(); +class TaskPlannerController : public rclcpp::Node { +public: + TaskPlannerController() : rclcpp::Node("task_planner_controller") { + domain_expert_ = std::make_shared(); + planner_client_ = std::make_shared(); + problem_expert_ = std::make_shared(); + executor_client_ = std::make_shared(); + run_plan(); + } + + void run_plan() { + auto domain = domain_expert_->getDomain(); + auto problem = problem_expert_->getProblem(); + + auto plan = planner_client_->getPlan(domain, problem); + if (!plan.has_value()) { + RCLCPP_ERROR(this->get_logger(), "Could not find plan to reach goal %s", + parser::pddl::toString(problem_expert_->getGoal()).c_str()); + } else { + if (executor_client_->start_plan_execution(plan.value())) { + RCLCPP_INFO(this->get_logger(), "Execute plan..."); + } } + } - void run_plan() - { - auto domain = domain_expert_->getDomain(); - auto problem = problem_expert_->getProblem(); - auto plan = planner_client_->getPlan(domain, problem); - if(!plan.has_value()) - { - RCLCPP_ERROR(this->get_logger(), "Could not find plan to reach goal %s", - parser::pddl::toString(problem_expert_->getGoal()).c_str()); - } - else - { - if (executor_client_->start_plan_execution(plan.value())) - { - RCLCPP_INFO(this->get_logger(), "Execute plan..."); - } - } - } - - private: - std::shared_ptr domain_expert_; - std::shared_ptr planner_client_; - std::shared_ptr problem_expert_; - std::shared_ptr executor_client_; - +private: + std::shared_ptr domain_expert_; + std::shared_ptr planner_client_; + std::shared_ptr problem_expert_; + std::shared_ptr executor_client_; }; -int main(int argc, char * argv[]) -{ +int main(int argc, char *argv[]) { rclcpp::init(argc, argv); rclcpp::spin(std::make_shared()); rclcpp::shutdown(); diff --git a/rbs_utils/CMakeLists.txt b/rbs_utils/CMakeLists.txt new file mode 100644 index 0000000..9a06110 --- /dev/null +++ b/rbs_utils/CMakeLists.txt @@ -0,0 +1,73 @@ +cmake_minimum_required(VERSION 3.8) +project(rbs_utils) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(rclcpp_lifecycle REQUIRED) +find_package(tf2_ros REQUIRED) +find_package(tf2_eigen REQUIRED) +find_package(rviz_visual_tools REQUIRED) +find_package(geometry_msgs REQUIRED) + +set(deps + rclcpp + rclcpp_lifecycle + tf2_ros + tf2_eigen + rviz_visual_tools + geometry_msgs +) + + + +add_library(${PROJECT_NAME} SHARED src/rbs_utils.cpp) + +install( + DIRECTORY include/ + DESTINATION include +) + +ament_target_dependencies(${PROJECT_NAME} PUBLIC ${deps}) + +# target_include_directories(asm_folder_process +# PUBLIC +# "$" +# "$") + +target_include_directories(${PROJECT_NAME} + PUBLIC + "$" + "$") + +install( + TARGETS ${PROJECT_NAME} + EXPORT export_${PROJECT_NAME} + LIBRARY DESTINATION lib + ARCHIVE DESTINATION lib + RUNTIME DESTINATION bin +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET) +ament_export_dependencies( + ${deps} +) +ament_package() diff --git a/rbs_utils/LICENSE b/rbs_utils/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/rbs_utils/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/rbs_utils/include/rbs_utils/rbs_utils.hpp b/rbs_utils/include/rbs_utils/rbs_utils.hpp new file mode 100644 index 0000000..e0f5d2e --- /dev/null +++ b/rbs_utils/include/rbs_utils/rbs_utils.hpp @@ -0,0 +1,109 @@ +#include +#include "geometry_msgs/msg/pose.hpp" +#include "rclcpp/rclcpp.hpp" +#include "rclcpp_lifecycle/lifecycle_node.hpp" +#include "rviz_visual_tools/rviz_visual_tools.hpp" +#include "tf2_msgs/msg/tf_message.hpp" +#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp" +#include "tf2_ros/buffer.h" +#include +#include "tf2_ros/static_transform_broadcaster.h" +#include +#include +#include +#include +#include +#include + +const std::string env_dir = std::getenv("RBS_ASSEMBLY_DIR"); + +namespace rbs_utils { + +struct EnvModel { + std::string model_name; + std::string mesh_path; + std::vector model_inertia; + std::vector model_pose; + double mass; +}; + +struct Workspace { + std::string name; + geometry_msgs::msg::PoseArray poses; +}; + +class AssemblyConfigLoader { +public: + template + explicit AssemblyConfigLoader(const std::string &t_assembly_dir, + const NodePtr &t_node) + : AssemblyConfigLoader(t_assembly_dir, + t_node->get_node_logging_interface()) {} + + explicit AssemblyConfigLoader( + const std::string &t_assembly_dir, + const rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr + &t_logger_node_interface); + + inline std::shared_ptr> + getAssemblyFileData() { + return m_env_vars; + } + + tf2_msgs::msg::TFMessage getTfData(const std::string &model_name); + inline std::shared_ptr> getEnvModels() { + return m_env_models; + } + + std::vector getSceneModelNames(); + + void printWorkspace(); + geometry_msgs::msg::PoseArray getWorkspaceInspectorTrajectory(); + geometry_msgs::msg::Pose + transformTrajectory(const geometry_msgs::msg::TransformStamped &pose); + +private: + std::shared_ptr> m_env_vars; + std::vector m_env_files; + std::vector m_env_paths; + std::shared_ptr> m_env_models{}; + std::string m_assembly_dir; + std::unique_ptr m_tf_buffer; + // rviz_visual_tools::RvizVisualToolsPtr m_visual_tools; + rclcpp::Logger m_logger; + void readAssemblyFileData(const std::string &filename, + const std::string &filepath); + + tf2_msgs::msg::TFMessage readWorkspaceJson(const nlohmann::json &json); + + tf2_msgs::msg::TFMessage parseJsonToTFMessage(const nlohmann::json &json, + const std::string &model_name); + + void publishWorkspace(const tf2_msgs::msg::TFMessage &tf_msg); + + void setTfFromDb(const std::string &filename); + double convertToDouble(const nlohmann::json &value); + void readModelConfigs(); + EnvModel parseModelData(const std::string &jsonFilePath); +}; + +class StaticFramePublisher : public rclcpp::Node { +public: + explicit StaticFramePublisher(const tf2_msgs::msg::TFMessage &tfs) + : Node("rbs_static_tf") { + m_tf_static_broadcaster = + std::make_shared(this); + + this->make_transforms(tfs); + } + +private: + void make_transforms(const tf2_msgs::msg::TFMessage &tfs) { + for (const auto &transform : tfs.transforms) { + m_tf_static_broadcaster->sendTransform(transform); + } + } + + std::shared_ptr m_tf_static_broadcaster; +}; +} // namespace rbs_utils diff --git a/rbs_utils/package.xml b/rbs_utils/package.xml new file mode 100644 index 0000000..ad5eb00 --- /dev/null +++ b/rbs_utils/package.xml @@ -0,0 +1,18 @@ + + + + rbs_utils + 0.0.0 + TODO: Package description + bill-finger + Apache-2.0 + + ament_cmake + rviz_visual_tools + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/rbs_utils/src/rbs_utils.cpp b/rbs_utils/src/rbs_utils.cpp new file mode 100644 index 0000000..45db08f --- /dev/null +++ b/rbs_utils/src/rbs_utils.cpp @@ -0,0 +1,386 @@ +#include "rbs_utils/rbs_utils.hpp" +#include +#include +#include +#include +#include +#include + +namespace rbs_utils { +AssemblyConfigLoader::AssemblyConfigLoader( + const std::string &t_assembly_dir, + const rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr + &t_logging_interface) + : m_env_vars( + std::make_shared>()), + m_env_models(std::make_shared>()), + m_assembly_dir(t_assembly_dir), + m_logger(t_logging_interface->get_logger()) { + // m_visual_tools.reset(new + // rviz_visual_tools::RvizVisualTools("world","/rviz_visual_markers", + // m_node)); + if (!m_assembly_dir.empty()) { + std::vector filenames = {"robossembler_db", "sequences"}; + for (auto &filename : filenames) { + std::string filepath = + env_dir + "/" + m_assembly_dir + "/" + filename + ".json"; + + m_env_files.push_back(filepath); + readAssemblyFileData(filename, filepath); + } + readModelConfigs(); + } else { + RCLCPP_ERROR(m_logger, "Assembly dir is not set"); + } +} + +void AssemblyConfigLoader::readAssemblyFileData(const std::string &filename, + const std::string &filepath) { + try { + std::ifstream i(filepath); + if (!i.is_open()) { + RCLCPP_ERROR(m_logger, "Failed to open file: %s", filepath.c_str()); + return; + } + + nlohmann::json json = nlohmann::json::parse(i); + m_env_vars->insert({filename, json}); + } catch (const nlohmann::json::parse_error &e) { + RCLCPP_ERROR(m_logger, "Error parsing JSON in file %s: %s", + filepath.c_str(), e.what()); + } catch (const std::exception &e) { + RCLCPP_ERROR(m_logger, "Exception reading file %s: %s", filepath.c_str(), + e.what()); + } +} + +EnvModel +AssemblyConfigLoader::parseModelData(const std::string &json_file_path) { + nlohmann::json json_content{}; + try { + std::ifstream file(json_file_path); + if (!file.is_open()) { + RCLCPP_ERROR(m_logger, "Failed to open file: %s", json_file_path.c_str()); + return EnvModel{}; + } + json_content = nlohmann::json::parse(file); + } catch (const nlohmann::json::parse_error &e) { + RCLCPP_ERROR(m_logger, "Error parsing JSON in file %s: %s", + json_file_path.c_str(), e.what()); + } catch (const std::exception &e) { + RCLCPP_ERROR(m_logger, "Exception reading file %s: %s", + json_file_path.c_str(), e.what()); + } + EnvModel envModel; + if (!json_content.empty()) { + envModel.model_name = json_content.at("name").get(); + envModel.mesh_path = env_dir + "/" + m_assembly_dir + "/" + + json_content.at("stl").get(); + envModel.model_inertia = {convertToDouble(json_content.at("ixx")), + convertToDouble(json_content.at("ixy")), + convertToDouble(json_content.at("iyy")), + convertToDouble(json_content.at("ixz")), + convertToDouble(json_content.at("izz")), + convertToDouble(json_content.at("iyz"))}; + + envModel.model_pose = {convertToDouble(json_content.at("posX")), + convertToDouble(json_content.at("posY")), + convertToDouble(json_content.at("posZ")), + convertToDouble(json_content.at("eulerX")), + convertToDouble(json_content.at("eulerY")), + convertToDouble(json_content.at("eulerZ"))}; + envModel.mass = convertToDouble(json_content.at("massSDF")); + } + + return envModel; +} + +void AssemblyConfigLoader::readModelConfigs() { + + if (m_env_vars->find("robossembler_db") != m_env_vars->end()) { + const nlohmann::json &db_json = (*m_env_vars)["robossembler_db"]; + const std::string assets_folder = + env_dir + "/" + m_assembly_dir + "/" + + db_json.at("assets_db").get(); + + for (const auto &entry : + std::filesystem::directory_iterator(assets_folder)) { + if (entry.is_regular_file() && entry.path().extension() == ".json") { + EnvModel model = parseModelData(entry.path().string()); + m_env_models->push_back(model); + } + } + } +} + +std::vector AssemblyConfigLoader::getSceneModelNames() { + std::vector model_names; + if (m_env_vars->find("robossembler_db") != m_env_vars->end()) { + const nlohmann::json &json = (*m_env_vars)["robossembler_db"]; + + // Extract names from "relativeParts" + if (json.find("relativeParts") != json.end()) { + const auto &relative_parts = json["relativeParts"]; + for (const auto &part : relative_parts) { + model_names.push_back(part["name"]); + } + } + + // Extract names from "graspPoseModels" + if (json.find("graspPoseModels") != json.end()) { + const auto &grasp_pose_models = json["graspPoseModels"]; + for (const auto &pose_model : grasp_pose_models) { + model_names.push_back(pose_model["name"]); + } + } + } else { + RCLCPP_ERROR(m_logger, "Key 'robossembler_db' not found in m_env_vars."); + return model_names; + } + + // Sort and remove duplicates + std::sort(model_names.begin(), model_names.end()); + model_names.erase(std::unique(model_names.begin(), model_names.end()), + model_names.end()); + + return model_names; +} + +tf2_msgs::msg::TFMessage +AssemblyConfigLoader::getTfData(const std::string &model_name) { + tf2_msgs::msg::TFMessage tf_msg{}; + if (m_env_vars->find("robossembler_db") != m_env_vars->end()) { + const nlohmann::json &json = (*m_env_vars)["robossembler_db"]; + tf_msg = parseJsonToTFMessage(json, model_name); + + // Output position information to console + for (const auto &transform : tf_msg.transforms) { + RCLCPP_INFO_STREAM( + m_logger, + "Frame ID: " << transform.header.frame_id << ", Child Frame ID: " + << transform.child_frame_id << ", Translation: [" + << transform.transform.translation.x << ", " + << transform.transform.translation.y << ", " + << transform.transform.translation.z << "]"); + } + // auto r = std::make_shared(tf_msg); + + } else { + RCLCPP_ERROR(m_logger, "Key 'robossembler_db' not found in m_env_vars."); + } + return tf_msg; +} + +tf2_msgs::msg::TFMessage +AssemblyConfigLoader::parseJsonToTFMessage(const nlohmann::json &json, + const std::string &model_name) { + tf2_msgs::msg::TFMessage tf_msg; + + // Add absolute part to TFMessage + geometry_msgs::msg::TransformStamped absolute_transform; + absolute_transform.header.frame_id = "world"; + absolute_transform.child_frame_id = + json.at("absolutePart").at("name").get(); + absolute_transform.transform.translation.x = + convertToDouble(json.at("absolutePart").at("position").at("x")); + absolute_transform.transform.translation.y = + convertToDouble(json.at("absolutePart").at("position").at("y")); + absolute_transform.transform.translation.z = + convertToDouble(json.at("absolutePart").at("position").at("z")); + absolute_transform.transform.rotation.w = + convertToDouble(json.at("absolutePart").at("quaternion").at("qw")); + absolute_transform.transform.rotation.x = + convertToDouble(json.at("absolutePart").at("quaternion").at("qx")); + absolute_transform.transform.rotation.y = + convertToDouble(json.at("absolutePart").at("quaternion").at("qy")); + absolute_transform.transform.rotation.z = + convertToDouble(json.at("absolutePart").at("quaternion").at("qz")); + tf_msg.transforms.push_back(absolute_transform); + + // Add relative parts to TFMessage + for (const auto &relative_part : json.at("relativeParts")) { + if (relative_part.at("name").get() == model_name) { + geometry_msgs::msg::TransformStamped relative_transform; + relative_transform.header.frame_id = + relative_part.at("relativeAt").get(); + relative_transform.child_frame_id = + relative_part.at("name").get() + "_target"; + relative_transform.transform.translation.x = + convertToDouble(relative_part.at("position").at("x")); + relative_transform.transform.translation.y = + convertToDouble(relative_part.at("position").at("y")); + relative_transform.transform.translation.z = + convertToDouble(relative_part.at("position").at("z")); + relative_transform.transform.rotation.w = + convertToDouble(relative_part.at("quaternion").at("qw")); + relative_transform.transform.rotation.x = + convertToDouble(relative_part.at("quaternion").at("qx")); + relative_transform.transform.rotation.y = + convertToDouble(relative_part.at("quaternion").at("qy")); + relative_transform.transform.rotation.z = + convertToDouble(relative_part.at("quaternion").at("qz")); + tf_msg.transforms.push_back(relative_transform); + } + } + + // Add grasp pose models to TFMessage + for (const auto &grasp_pose : json.at("graspPoseModels")) { + if (grasp_pose.at("name").get() == model_name) { + geometry_msgs::msg::TransformStamped grasp_transform; + grasp_transform.header.frame_id = + grasp_pose.at("name").get() + "_target"; + grasp_transform.child_frame_id = + grasp_pose.at("name").get() + "_target" + "_grasp"; + grasp_transform.transform.translation.x = + convertToDouble(grasp_pose.at("position").at("x")); + grasp_transform.transform.translation.y = + convertToDouble(grasp_pose.at("position").at("y")); + grasp_transform.transform.translation.z = + convertToDouble(grasp_pose.at("position").at("z")); + grasp_transform.transform.rotation.w = + convertToDouble(grasp_pose.at("quaternion").at("qw")); + grasp_transform.transform.rotation.x = + convertToDouble(grasp_pose.at("quaternion").at("qx")); + grasp_transform.transform.rotation.y = + convertToDouble(grasp_pose.at("quaternion").at("qy")); + grasp_transform.transform.rotation.z = + convertToDouble(grasp_pose.at("quaternion").at("qz")); + tf_msg.transforms.push_back(grasp_transform); + } + } + + return tf_msg; +} + +tf2_msgs::msg::TFMessage +AssemblyConfigLoader::readWorkspaceJson(const nlohmann::json &json) { + tf2_msgs::msg::TFMessage tf_msg; + int i{0}; + if (json.contains("workspace") && json.at("workspace").is_array()) { + for (auto &point : json.at("workspace")) { + if (point.contains("position") && point.at("position").is_object()) { + geometry_msgs::msg::TransformStamped workspace_point; + workspace_point.header.frame_id = "world"; + workspace_point.child_frame_id = "bbox_" + std::to_string(i); + i++; + + if (point["position"].contains("x") && + point["position"].contains("y") && + point["position"].contains("z")) { + workspace_point.transform.translation.x = + point["position"]["x"].get(); + workspace_point.transform.translation.y = + point["position"]["y"].get(); + workspace_point.transform.translation.z = + point["position"]["z"].get(); + tf_msg.transforms.push_back(workspace_point); + } else { + RCLCPP_ERROR(m_logger, + "Cannot find key 'x', 'y', 'z' in 'position' or 'name' " + "isn't found in key 'workspace'"); + } + } else { + RCLCPP_ERROR(m_logger, + "Cannot find key 'position', 'name', or 'position' isn't " + "an object in key 'workspace'"); + } + } + } else { + RCLCPP_ERROR(m_logger, "Cannot find key 'workspace' in robossembler_db"); + } + + return tf_msg; +} + +void AssemblyConfigLoader::publishWorkspace( + const tf2_msgs::msg::TFMessage &tf_msg) { + // if (tf_msg.transforms.size() >= 4) { + // auto pose1 = + // Eigen::Vector3d(tf_msg.transforms[0].transform.translation.x, + // tf_msg.transforms[0].transform.translation.y, + // tf_msg.transforms[0].transform.translation.z); + // + // auto pose2 = + // Eigen::Vector3d(tf_msg.transforms[1].transform.translation.x, + // tf_msg.transforms[1].transform.translation.y, + // tf_msg.transforms[1].transform.translation.z); + // + // auto pose3 = + // Eigen::Vector3d(tf_msg.transforms[2].transform.translation.x, + // tf_msg.transforms[2].transform.translation.y, + // tf_msg.transforms[2].transform.translation.z); + // + // auto pose4 = + // Eigen::Vector3d(tf_msg.transforms[3].transform.translation.x, + // tf_msg.transforms[3].transform.translation.y, + // tf_msg.transforms[3].transform.translation.z); + // + // // Connect workspace points as box + // m_visual_tools->publishLine(pose1, pose2, rviz_visual_tools::GREEN); + // m_visual_tools->publishLine(pose2, pose3, rviz_visual_tools::GREEN); + // m_visual_tools->publishLine(pose3, pose4, rviz_visual_tools::GREEN); + // m_visual_tools->publishLine(pose4, pose1, rviz_visual_tools::GREEN); + // } else { + // RCLCPP_ERROR(m_logger, + // "Not enough points to form a square"); + // } +} + +void AssemblyConfigLoader::printWorkspace() { + if (m_env_vars->find("robossembler_db") != m_env_vars->end()) { + const nlohmann::json json = (*m_env_vars)["robossembler_db"]; + if (json.contains("workspace")) { + auto workspace = readWorkspaceJson(json); + publishWorkspace(workspace); + } else { + RCLCPP_WARN(m_logger, "Workspace isn't set in robossembler_db"); + } + } else { + RCLCPP_ERROR(m_logger, "Cannot find robossembler_db"); + } +} + +geometry_msgs::msg::PoseArray +AssemblyConfigLoader::getWorkspaceInspectorTrajectory() { + geometry_msgs::msg::PoseArray pose_array; + pose_array.header.frame_id = "world"; + if (m_env_vars->find("robossembler_db") != m_env_vars->end()) { + const nlohmann::json json = (*m_env_vars)["robossembler_db"]; + if (json.contains("workspace")) { + auto workspace = readWorkspaceJson(json); + for (auto &point : workspace.transforms) { + geometry_msgs::msg::Pose pose; + pose = transformTrajectory(point); + pose_array.poses.push_back(pose); + } + } + } + return pose_array; +} + +geometry_msgs::msg::Pose AssemblyConfigLoader::transformTrajectory( + const geometry_msgs::msg::TransformStamped &pose) { + auto pose_eigen = tf2::transformToEigen(pose.transform); + Eigen::AngleAxisd rotation(M_PI, Eigen::Vector3d::UnitX()); + pose_eigen.rotate(rotation); + pose_eigen.translation().z() += 0.5; + auto pose_msg = tf2::toMsg(pose_eigen); + return pose_msg; +} + +double AssemblyConfigLoader::convertToDouble(const nlohmann::json &value) { + if (value.is_number()) { + return value.get(); + } else if (value.is_string()) { + try { + return std::stod(value.get()); + } catch (const std::exception &e) { + RCLCPP_ERROR(m_logger, "Error converting string to double: %s", e.what()); + throw std::runtime_error("Error converting string to double"); + } + } + + throw std::runtime_error("Invalid JSON type for conversion to double"); +} + +} // namespace rbs_utils