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add rbs_utils

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This commit is contained in:
Ilya Uraev 2023-12-11 18:31:12 +03:00
parent f1a6f4d817
commit d84e8ead97
9 changed files with 551 additions and 23 deletions
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8
rbs_skill_servers/CMakeLists.txt
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@ -32,8 +32,9 @@ find_package(tf2_eigen REQUIRED)
find_package(tf2_msgs REQUIRED) find_package(tf2_msgs REQUIRED)
find_package(tinyxml2_vendor REQUIRED) find_package(tinyxml2_vendor REQUIRED)
find_package(TinyXML2 REQUIRED) find_package(TinyXML2 REQUIRED)
find_package (Eigen3 3.3 REQUIRED) find_package(Eigen3 3.3 REQUIRED)
find_package(nlohmann_json 3.2.0 REQUIRED)
find_package(rbs_utils REQUIRED)
# Default to Fortress # Default to Fortress
set(SDF_VER 12) set(SDF_VER 12)
@ -116,7 +117,8 @@ target_compile_definitions(pick_place_pose_loader
PRIVATE "PICK_PLACE_POSE_LOADER_CPP_BUILDING_DLL") PRIVATE "PICK_PLACE_POSE_LOADER_CPP_BUILDING_DLL")
ament_target_dependencies(gripper_action_server ${deps}) ament_target_dependencies(gripper_action_server ${deps})
ament_target_dependencies(pick_place_pose_loader ${deps} Eigen3)
ament_target_dependencies(pick_place_pose_loader ${deps} Eigen3 nlohmann_json rbs_utils)
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) rclcpp_components_register_node(pick_place_pose_loader PLUGIN "rbs_skill_actions::GetGraspPickPoseServer" EXECUTABLE pick_place_pose_loader_service_server)

12
rbs_skill_servers/include/rbs_skill_servers/pick_place_pose_loader.hpp
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@ -1,11 +1,9 @@
#include "rbs_skill_interfaces/srv/get_pick_place_poses.hpp" #include "rbs_skill_interfaces/srv/get_pick_place_poses.hpp"
#include "rbs_utils/rbs_utils.hpp"
#include "rclcpp/rclcpp.hpp" #include "rclcpp/rclcpp.hpp"
#include "rclcpp_components/register_node_macro.hpp" #include "rclcpp_components/register_node_macro.hpp"
#include <Eigen/Core> #include <Eigen/Core>
#include <Eigen/Geometry> #include <nlohmann/json.hpp>
#include <algorithm>
#include <geometry_msgs/msg/detail/transform_stamped__struct.hpp>
#include <memory>
#include <rclcpp/rclcpp.hpp> #include <rclcpp/rclcpp.hpp>
#include <tf2_eigen/tf2_eigen.hpp> #include <tf2_eigen/tf2_eigen.hpp>
#include <tf2_ros/transform_listener.h> #include <tf2_ros/transform_listener.h>
@ -17,7 +15,7 @@ public:
private: private:
static std::vector<geometry_msgs::msg::Pose> static std::vector<geometry_msgs::msg::Pose>
collect_pose(const Eigen::Isometry3d &graspPose, collectPose(const Eigen::Isometry3d &graspPose,
const geometry_msgs::msg::Vector3 &move_direction, const geometry_msgs::msg::Vector3 &move_direction,
const Eigen::Vector3d &scale_vec); const Eigen::Vector3d &scale_vec);
rclcpp::Service<rbs_skill_interfaces::srv::GetPickPlacePoses>::SharedPtr srv_; rclcpp::Service<rbs_skill_interfaces::srv::GetPickPlacePoses>::SharedPtr srv_;
@ -26,7 +24,9 @@ private:
geometry_msgs::msg::TransformStamped place_pose_tf; geometry_msgs::msg::TransformStamped place_pose_tf;
geometry_msgs::msg::TransformStamped grasp_pose_tf; geometry_msgs::msg::TransformStamped grasp_pose_tf;
void handle_server( std::vector<geometry_msgs::msg::Pose>
getPlacePoseJson(const nlohmann::json &json);
void handleServer(
const rbs_skill_interfaces::srv::GetPickPlacePoses::Request::SharedPtr const rbs_skill_interfaces::srv::GetPickPlacePoses::Request::SharedPtr
request, request,
rbs_skill_interfaces::srv::GetPickPlacePoses::Response::SharedPtr rbs_skill_interfaces::srv::GetPickPlacePoses::Response::SharedPtr

1
rbs_skill_servers/package.xml
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@ -21,6 +21,7 @@
<depend>action_msgs</depend> <depend>action_msgs</depend>
<depend>rbs_skill_interfaces</depend> <depend>rbs_skill_interfaces</depend>
<depend>tf2_eigen</depend> <depend>tf2_eigen</depend>
<depend>rbs_utils</depend>
<test_depend>ament_lint_auto</test_depend> <test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend> <test_depend>ament_lint_common</test_depend>

39
rbs_skill_servers/src/pick_place_pose_loader.cpp
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@ -4,15 +4,14 @@
#include <Eigen/src/Geometry/Quaternion.h> #include <Eigen/src/Geometry/Quaternion.h>
#include <Eigen/src/Geometry/Transform.h> #include <Eigen/src/Geometry/Transform.h>
#include <cmath> #include <cmath>
#include <fstream>
#include <geometry_msgs/msg/detail/pose__struct.hpp>
#include <memory>
#include <nlohmann/json_fwd.hpp>
#include <rclcpp/logging.hpp> #include <rclcpp/logging.hpp>
#include <sdf/Geometry.hh>
#include <tf2_eigen/tf2_eigen.hpp> #include <tf2_eigen/tf2_eigen.hpp>
// #include <Eigen/src/Core/Matrix.h> #include <vector>
// #include <Eigen/src/Geometry/Transform.h>
// #include <rclcpp/logging.hpp>
// #include <tf2/LinearMath/Quaternion.h>
// #include <tf2/exceptions.h>
// #include <tf2/time.h>
// #include <tf2_eigen/tf2_eigen.hpp>
using GetGraspPlacePoseServer = rbs_skill_actions::GetGraspPickPoseServer; using GetGraspPlacePoseServer = rbs_skill_actions::GetGraspPickPoseServer;
using GetGraspPlacePoseService = rbs_skill_interfaces::srv::GetPickPlacePoses; using GetGraspPlacePoseService = rbs_skill_interfaces::srv::GetPickPlacePoses;
@ -28,11 +27,11 @@ GetGraspPlacePoseServer::GetGraspPickPoseServer(rclcpp::NodeOptions options)
srv_ = create_service<GetGraspPlacePoseService>( srv_ = create_service<GetGraspPlacePoseService>(
"/get_pick_place_pose_service", "/get_pick_place_pose_service",
std::bind(&GetGraspPickPoseServer::handle_server, this, std::bind(&GetGraspPickPoseServer::handleServer, this,
std::placeholders::_1, std::placeholders::_2)); std::placeholders::_1, std::placeholders::_2));
} }
void GetGraspPlacePoseServer::handle_server( void GetGraspPlacePoseServer::handleServer(
const rbs_skill_interfaces::srv::GetPickPlacePoses::Request::SharedPtr const rbs_skill_interfaces::srv::GetPickPlacePoses::Request::SharedPtr
request, request,
rbs_skill_interfaces::srv::GetPickPlacePoses::Response::SharedPtr rbs_skill_interfaces::srv::GetPickPlacePoses::Response::SharedPtr
@ -40,6 +39,11 @@ void GetGraspPlacePoseServer::handle_server(
std::string object_name = std::string object_name =
request->object_name + "_place"; // TODO: replace with better name request->object_name + "_place"; // TODO: replace with better name
// Load place pose from TF2 // Load place pose from TF2
auto d = std::make_shared<rbs_utils::AssemblyConfigLoader>("asp-example");
d->setTfData();
// rbs_utils::processAsmFolderName("asp-example");
try { try {
place_pose_tf = tf_buffer_->lookupTransform("world", object_name.c_str(), place_pose_tf = tf_buffer_->lookupTransform("world", object_name.c_str(),
tf2::TimePointZero); tf2::TimePointZero);
@ -80,13 +84,15 @@ void GetGraspPlacePoseServer::handle_server(
Eigen::Vector3d scale_grasp(0, 0, 0.10); Eigen::Vector3d scale_grasp(0, 0, 0.10);
Eigen::Vector3d scale_place(0, 0, 0.15); Eigen::Vector3d scale_place(0, 0, 0.15);
auto path = std::getenv("RBS_ASSEMBLY_PATH");
RCLCPP_ERROR_STREAM(this->get_logger(), path);
response->grasp = response->grasp =
collect_pose(grasp_pose, request->grasp_direction, scale_grasp); collectPose(grasp_pose, request->grasp_direction, scale_grasp);
response->place = response->place =
collect_pose(place_pose, request->place_direction, scale_place); collectPose(place_pose, request->place_direction, scale_place);
} }
std::vector<geometry_msgs::msg::Pose> GetGraspPlacePoseServer::collect_pose( std::vector<geometry_msgs::msg::Pose> GetGraspPlacePoseServer::collectPose(
const Eigen::Isometry3d &graspPose, const Eigen::Isometry3d &graspPose,
const geometry_msgs::msg::Vector3 &move_direction, const geometry_msgs::msg::Vector3 &move_direction,
const Eigen::Vector3d &scale_vec) { const Eigen::Vector3d &scale_vec) {
@ -123,3 +129,12 @@ std::vector<geometry_msgs::msg::Pose> GetGraspPlacePoseServer::collect_pose(
return poses; return poses;
} }
// std::vector<geometry_msgs::msg::Pose> GetGraspPlacePoseServer::getPlacePoseJson(const nlohmann::json& json)
// {
// std::vector<geometry_msgs::msg::Pose> place_pose;
// auto env_path = std::getenv("PATH");
// RCLCPP_INFO_STREAM(this->get_logger(), env_path);
// return place_pose;
// }

61
rbs_utils/CMakeLists.txt Normal file
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@ -0,0 +1,61 @@
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(tf2_ros REQUIRED)
find_package(tf2_eigen REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
add_library(${PROJECT_NAME} SHARED src/rbs_utils.cpp)
install(
DIRECTORY include/
DESTINATION include
)
ament_target_dependencies(${PROJECT_NAME} PUBLIC rclcpp tf2_ros tf2_eigen)
# target_include_directories(asm_folder_process
# PUBLIC
# "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
# "$<INSTALL_INTERFACE:include/>")
target_include_directories(${PROJECT_NAME}
PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/>")
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_dependencies()
ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
ament_package()

202
rbs_utils/LICENSE Normal file
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@ -0,0 +1,202 @@
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64
rbs_utils/include/rbs_utils/rbs_utils.hpp Normal file
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@ -0,0 +1,64 @@
#include "rclcpp/rclcpp.hpp"
#include "tf2_msgs/msg/tf_message.hpp"
#include "tf2_ros/buffer.h"
#include "tf2_ros/static_transform_broadcaster.h"
#include <fstream>
#include <memory>
#include <nlohmann/json.hpp>
#include <rclcpp/node.hpp>
#include <string>
#include <tf2_eigen/tf2_eigen.hpp>
#include <tf2_msgs/msg/detail/tf_message__struct.hpp>
#include <unordered_map>
#include <vector>
const std::string env_dir = std::getenv("RBS_ASSEMBLY_DIR");
namespace rbs_utils {
class AssemblyConfigLoader {
public:
AssemblyConfigLoader(const std::string &t_assembly_dir);
inline std::shared_ptr<std::unordered_map<std::string, nlohmann::json>>
getAssemblyFileData();
void setTfData();
private:
std::shared_ptr<std::unordered_map<std::string, nlohmann::json>> m_env_vars;
std::vector<std::string> m_env_files;
std::vector<std::ifstream> m_env_paths;
std::unique_ptr<tf2_ros::Buffer> m_tf_buffer;
void readAssemblyFileData(const std::string &filename,
const std::string &filepath);
tf2_msgs::msg::TFMessage parseJsonToTFMessage(const nlohmann::json &json);
void setTfFromDb(const std::string &filename);
double convertToDouble(const nlohmann::json &value);
};
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<tf2_ros::StaticTransformBroadcaster>(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<tf2_ros::StaticTransformBroadcaster> m_tf_static_broadcaster;
};
} // namespace rbs_utils

18
rbs_utils/package.xml Normal file
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@ -0,0 +1,18 @@
<?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_utils</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="ur.narmak@gmail.com">bill-finger</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>

165
rbs_utils/src/rbs_utils.cpp Normal file
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@ -0,0 +1,165 @@
#include "rbs_utils/rbs_utils.hpp"
#include <fstream>
#include <iostream>
#include <memory>
#include <nlohmann/json_fwd.hpp>
#include <rclcpp/clock.hpp>
#include <rclcpp/logger.hpp>
#include <rclcpp/logging.hpp>
#include <string>
#include <tf2_msgs/msg/detail/tf_message__struct.hpp>
#include <tf2_ros/transform_broadcaster.h>
#include <unordered_map>
namespace rbs_utils {
AssemblyConfigLoader::AssemblyConfigLoader(const std::string &t_assembly_dir)
: m_env_vars(
std::make_shared<std::unordered_map<std::string, nlohmann::json>>()) {
if (!t_assembly_dir.empty()) {
std::vector<std::string> filenames = {"robossembler_db", "sequences"};
for (auto &filename : filenames) {
std::string filepath =
env_dir + "/" + t_assembly_dir + "/" + filename + ".json";
m_env_files.push_back(filepath);
readAssemblyFileData(filename, filepath);
}
}
}
void AssemblyConfigLoader::readAssemblyFileData(const std::string &filename,
const std::string &filepath) {
try {
std::ifstream i(filepath);
if (!i.is_open()) {
RCLCPP_ERROR(rclcpp::get_logger("rbs_utils"), "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(rclcpp::get_logger("rbs_utils"),
"Error parsing JSON in file %s: %s", filepath.c_str(),
e.what());
} catch (const std::exception &e) {
RCLCPP_ERROR(rclcpp::get_logger("rbs_utils"),
"Exception reading file %s: %s", filepath.c_str(), e.what());
}
}
inline std::shared_ptr<std::unordered_map<std::string, nlohmann::json>>
AssemblyConfigLoader::getAssemblyFileData() {
return m_env_vars;
}
void AssemblyConfigLoader::setTfData() {
if (m_env_vars->find("robossembler_db") != m_env_vars->end()) {
const nlohmann::json &json = (*m_env_vars)["robossembler_db"];
tf2_msgs::msg::TFMessage tf_msg = parseJsonToTFMessage(json);
// Output position information to console
for (const auto &transform : tf_msg.transforms) {
RCLCPP_DEBUG_STREAM(
rclcpp::get_logger("rbs_utils"),
"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<StaticFramePublisher>(tf_msg);
} else {
RCLCPP_ERROR(rclcpp::get_logger("rbs_utils"),
"Key 'robossembler_db' not found in m_env_vars.");
}
}
tf2_msgs::msg::TFMessage
AssemblyConfigLoader::parseJsonToTFMessage(const nlohmann::json &json) {
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").get<std::string>();
absolute_transform.transform.translation.x = -1.0;
absolute_transform.transform.translation.y = 0.0;
absolute_transform.transform.translation.z = 0.0;
absolute_transform.transform.rotation.w = 1.0;
absolute_transform.transform.rotation.x = 0.0;
absolute_transform.transform.rotation.y = 0.0;
absolute_transform.transform.rotation.z = 0.0;
tf_msg.transforms.push_back(absolute_transform);
// Add relative parts to TFMessage
for (const auto &relative_part : json.at("relativeParts")) {
geometry_msgs::msg::TransformStamped relative_transform;
relative_transform.header.frame_id =
json.at("absolutePart").get<std::string>();
relative_transform.child_frame_id =
relative_part.at("name").get<std::string>();
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")) {
geometry_msgs::msg::TransformStamped grasp_transform;
grasp_transform.header.frame_id =
json.at("absolutePart").get<std::string>();
grasp_transform.child_frame_id = grasp_pose.at("name").get<std::string>();
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;
}
double AssemblyConfigLoader::convertToDouble(const nlohmann::json &value) {
if (value.is_number()) {
return value.get<double>();
} else if (value.is_string()) {
try {
return std::stod(value.get<std::string>());
} catch (const std::exception &e) {
RCLCPP_ERROR(rclcpp::get_logger("rbs_utils"),
"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