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refactor env_manager and rbs_gym to work with rbs_runtime

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Ilya Uraev 2024-09-17 20:40:38 +03:00
parent 6ea2eefc42
commit bc8745abe5
95 changed files with 2972 additions and 4304 deletions
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36
env_manager/rbs_runtime/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(rbs_runtime)
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(<dependency> REQUIRED)
ament_python_install_package(${PROJECT_NAME})
install(PROGRAMS
scripts/runtime.py
DESTINATION lib/${PROJECT_NAME}
)
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 launch DESTINATION share/${PROJECT_NAME})
ament_package()

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env_manager/rbs_runtime/LICENSE Normal file
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139
env_manager/rbs_runtime/config/scene_config.yaml Normal file
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robot:
name: rbs_arm
urdf_string: ""
spawn_position:
- 0.0
- 0.0
- 0.0
spawn_quat_xyzw:
- 0.0
- 0.0
- 0.0
- 1.0
joint_positioins:
- 0
- 0
- 0
- 0
- 0
- 0
with_gripper: true
gripper_jont_positions:
- 0
randomizer:
pose: false
spawn_volume:
- 1.0
- 1.0
- 0.0
joint_positions: false
joint_positions_std: 0.1
joint_positions_above_object_spawn: false
joint_positions_above_object_spawn_elevation: 0.2
joint_positions_above_object_spawn_xy_randomness: 0.2
terrain:
type: flat
spawn_position:
- 0
- 0
- 0
spawn_quat_xyzw:
- 0
- 0
- 0
- 1
size:
- 1.5
- 1.5
model_rollouts_num: 1
light:
type: sun
direction:
- 0.5
- -0.25
- -0.75
random_minmax_elevation:
- -0.15
- -0.65
color:
- 1.0
- 1.0
- 1.0
- 1.0
distance: 1000.0
visual: true
radius: 25.0
model_rollouts_num: 1
objects:
- name: bishop
type: ""
relative_to: world
position:
- 0.0
- 0.0
- 0.0
orientation:
- 1.0
- 0.0
- 0.0
- 0.0
static: false
randomize:
count: 0
random_pose: false
random_position: false
random_orientation: false
random_model: false
random_spawn_position_segments: []
random_spawn_position_update_workspace_centre: false
random_spawn_volume:
- 0.5
- 0.5
- 0.5
models_rollouts_num: 0
texture: []
camera:
- name: robot_camera
enable: true
type: rgbd_camera
relative_to: base_link
width: 128
height: 128
image_format: R8G8B8
update_rate: 10
horizontal_fov: 1.0471975511965976
vertical_fov: 1.0471975511965976
clip_color:
- 0.01
- 1000.0
clip_depth:
- 0.05
- 10.0
noise_mean: null
noise_stddev: null
publish_color: false
publish_depth: false
publish_points: false
spawn_position:
- 0
- 0
- 1
spawn_quat_xyzw:
- 0
- 0.70710678118
- 0
- 0.70710678118
random_pose_rollouts_num: 1
random_pose_mode: orbit
random_pose_orbit_distance: 1.0
random_pose_orbit_height_range:
- 0.1
- 0.7
random_pose_orbit_ignore_arc_behind_robot: 0.39269908169872414
random_pose_select_position_options: []
random_pose_focal_point_z_offset: 0.0
random_pose_rollout_counter: 0.0

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env_manager/rbs_runtime/launch/runtime.launch.py Normal file
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import os
import xacro
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import (
DeclareLaunchArgument,
IncludeLaunchDescription,
OpaqueFunction,
TimerAction,
)
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
def launch_setup(context, *args, **kwargs):
# Initialize Arguments
robot_type = LaunchConfiguration("robot_type")
# General arguments
with_gripper_condition = LaunchConfiguration("with_gripper")
cartesian_controllers = LaunchConfiguration("cartesian_controllers")
description_package = LaunchConfiguration("description_package")
description_file = LaunchConfiguration("description_file")
robot_name = LaunchConfiguration("robot_name")
start_joint_controller = LaunchConfiguration("start_joint_controller")
initial_joint_controller = LaunchConfiguration("initial_joint_controller")
launch_simulation = LaunchConfiguration("launch_sim")
launch_moveit = LaunchConfiguration("launch_moveit")
launch_task_planner = LaunchConfiguration("launch_task_planner")
launch_perception = LaunchConfiguration("launch_perception")
moveit_config_package = LaunchConfiguration("moveit_config_package")
moveit_config_file = LaunchConfiguration("moveit_config_file")
use_sim_time = LaunchConfiguration("use_sim_time")
sim_gazebo = LaunchConfiguration("sim_gazebo")
hardware = LaunchConfiguration("hardware")
env_manager = LaunchConfiguration("env_manager")
gazebo_gui = LaunchConfiguration("gazebo_gui")
gripper_name = LaunchConfiguration("gripper_name")
initial_joint_controllers_file_path = os.path.join(
get_package_share_directory("rbs_arm"), "config", "rbs_arm0_controllers.yaml"
)
xacro_file = os.path.join(
get_package_share_directory(description_package.perform(context)),
"urdf",
description_file.perform(context),
)
robot_description_doc = xacro.process_file(
xacro_file,
mappings={
"gripper_name": gripper_name.perform(context),
"hardware": hardware.perform(context),
"simulation_controllers": initial_joint_controllers_file_path,
"namespace": "",
},
)
robot_description_content = robot_description_doc.toprettyxml(indent=" ")
robot_description = {"robot_description": robot_description_content}
single_robot_setup = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[
PathJoinSubstitution(
[FindPackageShare("rbs_bringup"), "launch", "rbs_robot.launch.py"]
)
]
),
launch_arguments={
"env_manager": env_manager,
"with_gripper": with_gripper_condition,
"gripper_name": gripper_name,
"controllers_file": initial_joint_controllers_file_path,
"robot_type": robot_type,
# "controllers_file": controller_paramfile,
"cartesian_controllers": cartesian_controllers,
"description_package": description_package,
"description_file": description_file,
"robot_name": robot_type,
"start_joint_controller": start_joint_controller,
"initial_joint_controller": initial_joint_controller,
"launch_simulation": launch_simulation,
"launch_moveit": launch_moveit,
"launch_task_planner": launch_task_planner,
"launch_perception": launch_perception,
"moveit_config_package": moveit_config_package,
"moveit_config_file": moveit_config_file,
"use_sim_time": use_sim_time,
"sim_gazebo": sim_gazebo,
"hardware": hardware,
"launch_controllers": "true",
"gazebo_gui": gazebo_gui,
"robot_description": robot_description_content,
}.items(),
)
rbs_runtime = Node(
package="rbs_runtime",
executable="runtime.py",
parameters=[robot_description, {"use_sim_time": True}],
)
clock_bridge = Node(
package="ros_gz_bridge",
executable="parameter_bridge",
arguments=["/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock"],
output="screen",
)
delay_robot_control_stack = TimerAction(period=10.0, actions=[single_robot_setup])
nodes_to_start = [rbs_runtime, clock_bridge,
delay_robot_control_stack
]
return nodes_to_start
def generate_launch_description():
declared_arguments = []
declared_arguments.append(
DeclareLaunchArgument(
"robot_type",
description="Type of robot by name",
choices=["rbs_arm", "ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
default_value="rbs_arm",
)
)
# General arguments
declared_arguments.append(
DeclareLaunchArgument(
"controllers_file",
default_value="rbs_arm0_controllers.yaml",
description="YAML file with the controllers configuration.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"description_package",
default_value="rbs_arm",
description="Description package with robot URDF/XACRO files. Usually the argument \
is not set, it enables use of a custom description.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"description_file",
default_value="rbs_arm_modular.xacro",
description="URDF/XACRO description file with the robot.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"robot_name",
default_value="arm0",
description="Name for robot, used to apply namespace for specific robot in multirobot setup",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"start_joint_controller",
default_value="false",
description="Enable headless mode for robot control",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"initial_joint_controller",
default_value="joint_trajectory_controller",
description="Robot controller to start.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"moveit_config_package",
default_value="rbs_arm",
description="MoveIt config package with robot SRDF/XACRO files. Usually the argument \
is not set, it enables use of a custom moveit config.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"moveit_config_file",
default_value="rbs_arm.srdf.xacro",
description="MoveIt SRDF/XACRO description file with the robot.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"use_sim_time",
default_value="true",
description="Make MoveIt to use simulation time.\
This is needed for the trajectory planing in simulation.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"gripper_name",
default_value="rbs_gripper",
choices=["rbs_gripper", ""],
description="choose gripper by name (leave empty if hasn't)",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"with_gripper", default_value="true", description="With gripper or not?"
)
)
declared_arguments.append(
DeclareLaunchArgument(
"sim_gazebo", default_value="true", description="Gazebo Simulation"
)
)
declared_arguments.append(
DeclareLaunchArgument(
"env_manager", default_value="true", description="Launch env_manager?"
)
)
declared_arguments.append(
DeclareLaunchArgument(
"launch_sim",
default_value="true",
description="Launch simulator (Gazebo)?\
Most general arg",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"launch_moveit", default_value="false", description="Launch moveit?"
)
)
declared_arguments.append(
DeclareLaunchArgument(
"launch_perception", default_value="false", description="Launch perception?"
)
)
declared_arguments.append(
DeclareLaunchArgument(
"launch_task_planner",
default_value="false",
description="Launch task_planner?",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"cartesian_controllers",
default_value="true",
description="Load cartesian\
controllers?",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"hardware",
choices=["gazebo", "mock"],
default_value="gazebo",
description="Choose your harware_interface",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"launch_controllers",
default_value="true",
description="Launch controllers?",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"gazebo_gui", default_value="true", description="Launch gazebo with gui?"
)
)
return LaunchDescription(
declared_arguments + [OpaqueFunction(function=launch_setup)]
)

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env_manager/rbs_runtime/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>rbs_runtime</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="ur.narmak@gmail.com">narmak</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

0
env_manager/rbs_runtime/rbs_runtime/__init__.py Normal file
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81
env_manager/rbs_runtime/scripts/runtime.py Executable file
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#!/usr/bin/python3
from rclpy.lifecycle import LifecycleNode, LifecycleState, TransitionCallbackReturn
from rclpy.node import Node
from env_manager.scene import Scene
from env_manager.models.configs import (
CameraData,
SceneData,
RobotData,
ObjectData,
MeshObjectData,
TerrainData,
LightData,
)
import rclpy
from scenario.bindings.gazebo import GazeboSimulator
from env_manager_interfaces.srv import ResetEnv
from rbs_assets_library import get_world_file
DEFAULT_SCENE: SceneData = SceneData(
robot=RobotData(
name="rbs_arm",
with_gripper=True,
joint_positioins=[0, 0, 0, 0, 0, 0, 0],
gripper_jont_positions=[0],
),
objects=[MeshObjectData("bishop", position=(0.0, 1.0, 0.3))],
camera=[CameraData("robot_camera")],
)
class GazeboRuntime(Node):
def __init__(self) -> None:
super().__init__(node_name="rbs_gz_runtime")
self.declare_parameter("robot_description", "")
self.gazebo = GazeboSimulator(step_size=0.001, rtf=1.0, steps_per_run=1)
self.gazebo.insert_world_from_sdf(get_world_file("default"))
if not self.gazebo.initialize():
raise RuntimeError("Gazebo cannot be initialized")
self.scene = Scene(
node=self,
gazebo=self.gazebo,
scene=DEFAULT_SCENE,
robot_urdf_string=self.get_parameter("robot_description")
.get_parameter_value()
.string_value,
)
self.scene.init_scene()
self.reset_env_srv = self.create_service(
ResetEnv, "/env_manager/reset_env", self.reset_env
)
self.is_env_reset = False
self.timer = self.create_timer(self.gazebo.step_size(), self.gazebo_run)
def gazebo_run(self):
if self.is_env_reset:
self.scene.reset_scene()
self.is_env_reset = False
self.gazebo.run()
def reset_env(self, req, res):
self.is_env_reset = True
res.ok = self.is_env_reset
return res
def main(args=None):
rclpy.init(args=args)
runtime_node = GazeboRuntime()
rclpy.spin(runtime_node)
runtime_node.gazebo.close()
runtime_node.destroy_node()
rclpy.shutdown()
if __name__ == "__main__":
main()