From e6aecabde68b2d3d4ac53c21e34e7ffb915a88af Mon Sep 17 00:00:00 2001 From: Splinter1984 Date: Mon, 21 Mar 2022 23:20:15 +0800 Subject: [PATCH] correct merge --- .gitignore | 2 + rasms.repos | 2 +- .../printer/include/printer_base.hpp | 33 +++ .../printer/src/gz_printer_plugin.cpp | 15 ++ .../scene_monitor/CMakeLists.txt | 14 +- .../config/component_state_node.param.yaml | 11 + .../scene_monitor/include/component.hpp | 5 +- .../include/component_pose_estimation.hpp | 23 ++ .../include/component_spawner.hpp | 36 ++++ .../include/component_state_monitor.hpp | 28 ++- .../launch/scene_monitor.launch.py | 27 ++- .../scene_monitor/package.xml | 7 +- .../include/pose_estimation.hpp | 0 .../pose_estimation/src/pose_estimation.cpp | 0 .../scene_monitor/src/component.cpp | 1 - .../src/component_pose_estimation.cpp | 55 +++++ .../scene_monitor/src/component_spawner.cpp | 109 ++++++++++ .../src/component_state_monitor.cpp | 203 +++++++++++++++++- .../src/component_state_monitor_node.cpp | 2 +- .../printer/printer_component_base.hpp | 31 +++ .../src/printer_component.cpp | 36 ++++ .../scene_monitor_interfaces/CMakeLists.txt | 8 +- .../scene_monitor_interfaces/package.xml | 2 + .../srv/PrintPart.srv | 6 + .../models/output_shaft_211118/frames.json | 36 ++++ .../meshes/output_shaft_211118.dae | 51 +++++ .../models/output_shaft_211118/model.config | 11 + .../models/output_shaft_211118/model.sdf | 39 ++++ sdf_models/models/pin_13d007/frames.json | 36 ++++ .../models/pin_13d007/meshes/pin_13d007.dae | 51 +++++ sdf_models/models/pin_13d007/model.config | 11 + sdf_models/models/pin_13d007/model.sdf | 39 ++++ sdf_models/models/pin_13d008/frames.json | 36 ++++ .../models/pin_13d008/meshes/pin_13d008.dae | 51 +++++ sdf_models/models/pin_13d008/model.config | 11 + sdf_models/models/pin_13d008/model.sdf | 39 ++++ 36 files changed, 1040 insertions(+), 27 deletions(-) create mode 100644 .gitignore create mode 100644 robossembler_scene_monitor/printer/include/printer_base.hpp create mode 100644 robossembler_scene_monitor/printer/src/gz_printer_plugin.cpp create mode 100644 robossembler_scene_monitor/scene_monitor/config/component_state_node.param.yaml create mode 100644 robossembler_scene_monitor/scene_monitor/include/component_pose_estimation.hpp create mode 100644 robossembler_scene_monitor/scene_monitor/include/component_spawner.hpp rename robossembler_scene_monitor/scene_monitor/{utils => plugins}/pose_estimation/include/pose_estimation.hpp (100%) rename robossembler_scene_monitor/scene_monitor/{utils => plugins}/pose_estimation/src/pose_estimation.cpp (100%) create mode 100644 robossembler_scene_monitor/scene_monitor/src/component_pose_estimation.cpp create mode 100644 robossembler_scene_monitor/scene_monitor/src/component_spawner.cpp create mode 100644 robossembler_scene_monitor/scene_monitor_components/include/printer/printer_component_base.hpp create mode 100644 robossembler_scene_monitor/scene_monitor_components/src/printer_component.cpp create mode 100644 robossembler_scene_monitor/scene_monitor_interfaces/srv/PrintPart.srv create mode 100644 sdf_models/models/output_shaft_211118/frames.json create mode 100644 sdf_models/models/output_shaft_211118/meshes/output_shaft_211118.dae create mode 100644 sdf_models/models/output_shaft_211118/model.config create mode 100644 sdf_models/models/output_shaft_211118/model.sdf create mode 100644 sdf_models/models/pin_13d007/frames.json create mode 100644 sdf_models/models/pin_13d007/meshes/pin_13d007.dae create mode 100644 sdf_models/models/pin_13d007/model.config create mode 100644 sdf_models/models/pin_13d007/model.sdf create mode 100644 sdf_models/models/pin_13d008/frames.json create mode 100644 sdf_models/models/pin_13d008/meshes/pin_13d008.dae create mode 100644 sdf_models/models/pin_13d008/model.config create mode 100644 sdf_models/models/pin_13d008/model.sdf diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..8408aba --- /dev/null +++ b/.gitignore @@ -0,0 +1,2 @@ +ref +*.blend1 diff --git a/rasms.repos b/rasms.repos index 5ea5a83..f6542c5 100644 --- a/rasms.repos +++ b/rasms.repos @@ -10,4 +10,4 @@ repositories: plansys2: type: git url: https://github.com/IntelligentRoboticsLabs/ros2_planning_system - version: foxy-devel \ No newline at end of file + version: master \ No newline at end of file diff --git a/robossembler_scene_monitor/printer/include/printer_base.hpp b/robossembler_scene_monitor/printer/include/printer_base.hpp new file mode 100644 index 0000000..82a96ee --- /dev/null +++ b/robossembler_scene_monitor/printer/include/printer_base.hpp @@ -0,0 +1,33 @@ +#pragma once + +#include +#include +// #include + +namespace printer +{ + +template +class PrinterBase: public rclcpp::Node +{ + + inline const Derived& derived() const& noexcept + { + return *static_cast(this); + } + +public: + explicit PrinterBase(const rclcpp::NodeOptions& options); + virtual ~PrinterBase() = default; + // virtual void print(const std::string& frame_name, + // const geometry_msgs::msg::Pose& placement_pose, + // const std::string& package_name); + // virtual ~Printer(); + +protected: + std::string _printer_name; + // geometry_msgs::msg::Pose _printer_pose; + +}; + +} // namespace printer \ No newline at end of file diff --git a/robossembler_scene_monitor/printer/src/gz_printer_plugin.cpp b/robossembler_scene_monitor/printer/src/gz_printer_plugin.cpp new file mode 100644 index 0000000..b8beabd --- /dev/null +++ b/robossembler_scene_monitor/printer/src/gz_printer_plugin.cpp @@ -0,0 +1,15 @@ +#include "printer_base.hpp" + +namespace printer_plugins +{ + +class GZPrinter : public printer_base::Printer +{ +public: + void init(const std::string &printer_name) override + { + this->_printer_name = printer_name; + } +}; + +}// namespace printer_plugins \ No newline at end of file diff --git a/robossembler_scene_monitor/scene_monitor/CMakeLists.txt b/robossembler_scene_monitor/scene_monitor/CMakeLists.txt index 2ae81e6..ce4f3d4 100644 --- a/robossembler_scene_monitor/scene_monitor/CMakeLists.txt +++ b/robossembler_scene_monitor/scene_monitor/CMakeLists.txt @@ -13,12 +13,21 @@ endif() find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) find_package(ament_index_cpp REQUIRED) -# find_package(tf2_ros REQUIRED) +# find_package(visualization_msgs REQUIRED) +find_package(gazebo_msgs REQUIRED) find_package(geometry_msgs REQUIRED) +find_package(tf2 REQUIRED) +find_package(std_msgs REQUIRED) +find_package(tf2_ros REQUIRED) find_package(scene_monitor_interfaces REQUIRED) find_package(nlohmann_json REQUIRED) set(dependencies + # visualization_msgs + std_msgs + tf2 + tf2_ros + gazebo_msgs rclcpp geometry_msgs ament_index_cpp @@ -29,6 +38,8 @@ set(dependencies include_directories(include) add_library(component_state_lib SHARED + src/component_pose_estimation.cpp + src/component_spawner.cpp src/component.cpp src/component_state_monitor.cpp ) @@ -41,6 +52,7 @@ ament_target_dependencies(component_state_monitor_node ${dependencies}) install(DIRECTORY launch + config DESTINATION share/${PROJECT_NAME} ) diff --git a/robossembler_scene_monitor/scene_monitor/config/component_state_node.param.yaml b/robossembler_scene_monitor/scene_monitor/config/component_state_node.param.yaml new file mode 100644 index 0000000..7e7853d --- /dev/null +++ b/robossembler_scene_monitor/scene_monitor/config/component_state_node.param.yaml @@ -0,0 +1,11 @@ +component_state_monitor_node: + ros__parameters: + models-package: "sdf_models" + printers_names: ["printerA"] + printers: + printerA: + position: [0.5, 0.5, 0.0] + orientation: [0.0, 0.0, 0.0, 0.0] + # printerB: + # position: [2.0, 2.0, 2.0] + # orientation: [2.0, 2.0, 2.0, 2.0] \ No newline at end of file diff --git a/robossembler_scene_monitor/scene_monitor/include/component.hpp b/robossembler_scene_monitor/scene_monitor/include/component.hpp index 4fd2d9f..b2800a5 100644 --- a/robossembler_scene_monitor/scene_monitor/include/component.hpp +++ b/robossembler_scene_monitor/scene_monitor/include/component.hpp @@ -1,7 +1,9 @@ #pragma once #include +#include #include + #include "scene_monitor_interfaces/msg/grasp_pose.hpp" #include "nlohmann_json/json.hpp" @@ -19,6 +21,7 @@ Description: Posted: - model is posted with another */ + enum ComponentState { Initialized, @@ -45,7 +48,6 @@ public: void updateState(const ComponentState &state); - private: std::string _frame_name; @@ -53,6 +55,7 @@ private: geometry_msgs::msg::Pose _placement; std::map _grasp_poses; + geometry_msgs::msg::Pose _current_pose; }; } \ No newline at end of file diff --git a/robossembler_scene_monitor/scene_monitor/include/component_pose_estimation.hpp b/robossembler_scene_monitor/scene_monitor/include/component_pose_estimation.hpp new file mode 100644 index 0000000..eaa79a7 --- /dev/null +++ b/robossembler_scene_monitor/scene_monitor/include/component_pose_estimation.hpp @@ -0,0 +1,23 @@ +#pragma once + +#include +#include + +namespace component_state_monitor +{ + +using GetEntityStateSrv = gazebo_msgs::srv::GetEntityState; + +class ComponentPoseEstimation: public rclcpp::Node +{ + +public: + ComponentPoseEstimation(); + geometry_msgs::msg::Pose framePose(const std::string& frame_id); + +private: + rclcpp::Client::SharedPtr _client; + geometry_msgs::msg::Pose _pose; +}; + +}// end namespace component_state_monitor \ No newline at end of file diff --git a/robossembler_scene_monitor/scene_monitor/include/component_spawner.hpp b/robossembler_scene_monitor/scene_monitor/include/component_spawner.hpp new file mode 100644 index 0000000..d590717 --- /dev/null +++ b/robossembler_scene_monitor/scene_monitor/include/component_spawner.hpp @@ -0,0 +1,36 @@ +#pragma once + +#include +#include + +#include +#include + +#include "component.hpp" + +namespace component_state_monitor +{ + +using SpawnEntitySrv = gazebo_msgs::srv::SpawnEntity; + +class ComponentSpawner: public rclcpp::Node +{ + +public: + ComponentSpawner(); + ~ComponentSpawner(); + + bool spawnComponent(const component_state_monitor::Component& component, + const geometry_msgs::msg::Pose& printer_pose, + const std::string& printer_name); + + void handleResponse(SpawnEntitySrv::Response::SharedPtr response); + +private: + rclcpp::Client::SharedPtr _spawn_component_client; + bool _result; + +}; + + +} // namespace component_state_monitor \ No newline at end of file diff --git a/robossembler_scene_monitor/scene_monitor/include/component_state_monitor.hpp b/robossembler_scene_monitor/scene_monitor/include/component_state_monitor.hpp index 9858517..3b1cf2c 100644 --- a/robossembler_scene_monitor/scene_monitor/include/component_state_monitor.hpp +++ b/robossembler_scene_monitor/scene_monitor/include/component_state_monitor.hpp @@ -4,18 +4,28 @@ #include #include #include +#include +#include +#include +#include +#include #include "scene_monitor_interfaces/srv/get_part.hpp" #include "scene_monitor_interfaces/srv/get_grasp_pose.hpp" #include "scene_monitor_interfaces/srv/get_grasp_poses.hpp" +#include "scene_monitor_interfaces/srv/print_part.hpp" #include "component.hpp" +#include "component_spawner.hpp" +#include "component_pose_estimation.hpp" namespace component_state_monitor { -using GetPartSrv = scene_monitor_interfaces::srv::GetPart; + +using GetPartSrv = scene_monitor_interfaces::srv::GetPart; using GetGraspPoseSrv = scene_monitor_interfaces::srv::GetGraspPose; using GetGraspPosesSrv = scene_monitor_interfaces::srv::GetGraspPoses; +using PrintPartSrv = scene_monitor_interfaces::srv::PrintPart; class ComponentStateMonitor: public rclcpp::Node { @@ -35,13 +45,29 @@ private: std::shared_ptr response); void getGraspPose(const std::shared_ptr request, std::shared_ptr response); + void printComponent(const std::shared_ptr request, + std::shared_ptr response); + + void makeTransform(const Component& component, const std::string& parent); + void makeTransform(const std::string& frame_name, const geometry_msgs::msg::Pose& frame_pose, + const std::string& parent); + void updateVizMarker(const Component& component); + void updateComponents(); std::map _loaded_components; rclcpp::Service::SharedPtr _get_part_service; rclcpp::Service::SharedPtr _get_grasp_pose_service; rclcpp::Service::SharedPtr _get_grasp_poses_service; + rclcpp::Service::SharedPtr _print_part_service; std::string _models_package; + std::map _loaded_printers; + ComponentSpawner _component_spawner_node; + ComponentPoseEstimation _pose_estimation_node; + + std::shared_ptr _tf2_broadcaster; + std::shared_ptr _transform_listener; + std::unique_ptr _tf2_buffer; rclcpp::TimerBase::SharedPtr _timer; }; diff --git a/robossembler_scene_monitor/scene_monitor/launch/scene_monitor.launch.py b/robossembler_scene_monitor/scene_monitor/launch/scene_monitor.launch.py index 8e69521..f10f4a0 100644 --- a/robossembler_scene_monitor/scene_monitor/launch/scene_monitor.launch.py +++ b/robossembler_scene_monitor/scene_monitor/launch/scene_monitor.launch.py @@ -1,17 +1,26 @@ +import os +from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch_ros.actions import Node def generate_launch_description(): ld = LaunchDescription() + + component_state_params = os.path.join( + get_package_share_directory('robossembler_scene_monitor'), + 'config', 'component_state_node.param.yaml') + component_state_monitor_node = Node( - package="robossembler_scene_monitor", - executable="component_state_monitor_node", - name="component_state_monitor_node", - output="screen", - emulate_tty=True, - parameters=[ - {"models-package": "sdf_models"} - ] - ) + package="robossembler_scene_monitor", + executable="component_state_monitor_node", + name="component_state_monitor_node", + output="screen", + emulate_tty=True, + parameters=[ + component_state_params + ] + ) + ld.add_action(component_state_monitor_node) + return ld \ No newline at end of file diff --git a/robossembler_scene_monitor/scene_monitor/package.xml b/robossembler_scene_monitor/scene_monitor/package.xml index 66e74a0..d3e02cc 100644 --- a/robossembler_scene_monitor/scene_monitor/package.xml +++ b/robossembler_scene_monitor/scene_monitor/package.xml @@ -10,12 +10,15 @@ ament_cmake rclcpp - - + tf2 + tf2_ros + std_msgs + geometry_msgs scene_monitor_interfaces nlohmann_json + printer_plugins ament_lint_auto ament_lint_common diff --git a/robossembler_scene_monitor/scene_monitor/utils/pose_estimation/include/pose_estimation.hpp b/robossembler_scene_monitor/scene_monitor/plugins/pose_estimation/include/pose_estimation.hpp similarity index 100% rename from robossembler_scene_monitor/scene_monitor/utils/pose_estimation/include/pose_estimation.hpp rename to robossembler_scene_monitor/scene_monitor/plugins/pose_estimation/include/pose_estimation.hpp diff --git a/robossembler_scene_monitor/scene_monitor/utils/pose_estimation/src/pose_estimation.cpp b/robossembler_scene_monitor/scene_monitor/plugins/pose_estimation/src/pose_estimation.cpp similarity index 100% rename from robossembler_scene_monitor/scene_monitor/utils/pose_estimation/src/pose_estimation.cpp rename to robossembler_scene_monitor/scene_monitor/plugins/pose_estimation/src/pose_estimation.cpp diff --git a/robossembler_scene_monitor/scene_monitor/src/component.cpp b/robossembler_scene_monitor/scene_monitor/src/component.cpp index 7cc87ea..d6ba169 100644 --- a/robossembler_scene_monitor/scene_monitor/src/component.cpp +++ b/robossembler_scene_monitor/scene_monitor/src/component.cpp @@ -95,7 +95,6 @@ namespace component_state_monitor return; } - _frame_name = input.at("label"); _placement = construct_pose(input.at("placement")); auto grasp_poses = input.at("features").at("grasp-poses"); diff --git a/robossembler_scene_monitor/scene_monitor/src/component_pose_estimation.cpp b/robossembler_scene_monitor/scene_monitor/src/component_pose_estimation.cpp new file mode 100644 index 0000000..9aec13e --- /dev/null +++ b/robossembler_scene_monitor/scene_monitor/src/component_pose_estimation.cpp @@ -0,0 +1,55 @@ +#include "component_pose_estimation.hpp" + +namespace component_state_monitor +{ + +using namespace std::chrono_literals; + +ComponentPoseEstimation::ComponentPoseEstimation(): Node("component_pose_estimation_node") +{ + _client = create_client("/get_entity_state"); + while (!_client->wait_for_service(1s)) + { + if (!rclcpp::ok()) + { + RCLCPP_WARN(this->get_logger(), "Interruped while waiting for the server."); + rclcpp::shutdown(); + return; + } + + RCLCPP_WARN(this->get_logger(), "Server not available, waiting again..."); + } +} + +geometry_msgs::msg::Pose ComponentPoseEstimation::framePose(const std::string& frame_id) +{ + auto request = std::make_shared(); + request->name = frame_id; + RCLCPP_INFO(this->get_logger(), "Provided service call with frame name [%s]", request->name.c_str()); + + auto future = _client->async_send_request(request); + + if (rclcpp::spin_until_future_complete(this->get_node_base_interface(), future) != rclcpp::executor::FutureReturnCode::SUCCESS) + { + RCLCPP_ERROR(this->get_logger(), "Could not build future"); + return geometry_msgs::msg::Pose(); + } + + auto result = future.get(); + if (!result->success) + { + RCLCPP_WARN(this->get_logger(), "Get bad response from service call"); + return geometry_msgs::msg::Pose(); + } + + _pose = result->state.pose; + + RCLCPP_INFO(this->get_logger(), "Get success response status"); + RCLCPP_INFO(this->get_logger(), "update frame (%s) with \npose.x: %f pose.y: %f pose.z: \n%f opientation.x: %f orientation.y: %f orientation.z: %f orientation.w: %f", + frame_id.c_str(), _pose.position.x, _pose.position.y, _pose.position.z, + _pose.orientation.x, _pose.orientation.y, _pose.orientation.z, _pose.orientation.w); + + return _pose; +} + +}// end namespace component_state_monitor \ No newline at end of file diff --git a/robossembler_scene_monitor/scene_monitor/src/component_spawner.cpp b/robossembler_scene_monitor/scene_monitor/src/component_spawner.cpp new file mode 100644 index 0000000..eedc471 --- /dev/null +++ b/robossembler_scene_monitor/scene_monitor/src/component_spawner.cpp @@ -0,0 +1,109 @@ +#include "component_spawner.hpp" + +#include +#include +#include + +#include + +namespace component_state_monitor +{ + +using namespace std::chrono_literals; + +ComponentSpawner::ComponentSpawner(): Node("component_spawner_node") +{ + _spawn_component_client = create_client("/spawn_entity"); + + while (!_spawn_component_client->wait_for_service(1s)) + { + if (!rclcpp::ok()) + { + RCLCPP_WARN(this->get_logger(), "Interruped while waiting for the server."); + rclcpp::shutdown(); + return; + } + + RCLCPP_WARN(this->get_logger(), "Server not available, waiting again..."); + } +} + +ComponentSpawner::~ComponentSpawner() {} + +bool ComponentSpawner::spawnComponent(const component_state_monitor::Component& component, + const geometry_msgs::msg::Pose& printer_pose, + const std::string& package_name) +{ + auto request = std::make_shared(); + request->name = component.getFrameName(); + RCLCPP_INFO(this->get_logger(), "Provided service call with frame name (%s)", request->name.c_str()); + + std::string package_share_directory = ament_index_cpp::get_package_share_directory(package_name); + std::filesystem::path sdf_path = package_share_directory + "/models/" + component.getFrameName() + "/model.sdf"; + + RCLCPP_INFO(this->get_logger(), "Start read frame (%s) frame_path (%s)", component.getFrameName().c_str(), sdf_path.c_str()); + + std::ifstream sdf_file(sdf_path); + std::stringstream buffer; + + if (sdf_file.is_open()) { + buffer << sdf_file.rdbuf(); + sdf_file.close(); + } else { + + RCLCPP_WARN(this->get_logger(), "Failed while try to open file (%s)", sdf_path.c_str()); + _result = false; + return _result; + } + + std::string xml = buffer.str(); + + geometry_msgs::msg::Pose spawn_pose; + auto placement_pose = component.getPlacementPose(); + + spawn_pose.position.x = printer_pose.position.x + placement_pose.position.x; + spawn_pose.position.y = printer_pose.position.y + placement_pose.position.y; + spawn_pose.position.z = printer_pose.position.z + placement_pose.position.z; + + spawn_pose.orientation.x = printer_pose.orientation.x + placement_pose.orientation.x; + spawn_pose.orientation.y = printer_pose.orientation.y + placement_pose.orientation.y; + spawn_pose.orientation.z = printer_pose.orientation.z + placement_pose.orientation.z; + spawn_pose.orientation.w = printer_pose.orientation.w + placement_pose.orientation.w; + + request->initial_pose = spawn_pose; + request->xml = xml; + RCLCPP_INFO(this->get_logger(), "Connecting to '/spawn_entity' service..."); + + auto future = _spawn_component_client->async_send_request(request); + if (rclcpp::spin_until_future_complete(this->get_node_base_interface(), future) != rclcpp::executor::FutureReturnCode::SUCCESS) + { + RCLCPP_ERROR(this->get_logger(), "Could not build future"); + return false; + } + + auto result = future.get(); + if (!result->success) + { + RCLCPP_WARN(this->get_logger(), "Get bad response from service call"); + return false; + } + + return true; +} + +void ComponentSpawner::handleResponse(SpawnEntitySrv::Response::SharedPtr response) +{ + RCLCPP_INFO(this->get_logger(), "Handle Response call"); + + if (!response->success) + { + RCLCPP_WARN(this->get_logger(), "Get failure response from service with msg: `%s`", response->status_message.c_str()); + _result = false; + return; + } + + RCLCPP_INFO(this->get_logger(), "Get success response status with msg: `%s`", response->status_message.c_str()); + _result= true; +} + +} \ No newline at end of file diff --git a/robossembler_scene_monitor/scene_monitor/src/component_state_monitor.cpp b/robossembler_scene_monitor/scene_monitor/src/component_state_monitor.cpp index 68f7ca7..e895a27 100644 --- a/robossembler_scene_monitor/scene_monitor/src/component_state_monitor.cpp +++ b/robossembler_scene_monitor/scene_monitor/src/component_state_monitor.cpp @@ -13,6 +13,7 @@ namespace component_state_monitor ComponentStateMonitor::ComponentStateMonitor(): Node("component_state_monitor_node") { this->declare_parameter("models-package", "sdf_models"); + this->declare_parameter>("printers_names", std::vector{}); RCLCPP_INFO(this->get_logger(), "Initialize [get_part] service"); _get_part_service = this->create_service("scene_monitor/get_part", @@ -29,15 +30,124 @@ namespace component_state_monitor std::bind(&ComponentStateMonitor::getGraspPose, this, std::placeholders::_1, std::placeholders::_2)); + RCLCPP_INFO(this->get_logger(), "Initialize [print_part] service"); + _print_part_service = this->create_service("scene_monitor/print_part", + std::bind(&ComponentStateMonitor::printComponent, this, + std::placeholders::_1, std::placeholders::_2)); + + _tf2_broadcaster = std::make_shared(this); + + _tf2_buffer = std::make_unique(this->get_clock()); + _transform_listener = std::make_shared(*_tf2_buffer); + initializeParameters(); initializeComponents(_models_package); + // _viz_marker_pub = this->create_publisher("scene_monitor_viz_markers", 10); + + _timer = this->create_wall_timer( + 20ms, std::bind(&ComponentStateMonitor::updateComponents, this) + ); + } + + void ComponentStateMonitor::updateComponents() + { + for (const auto& component: _loaded_components) + { + if (component.second.getCurrentState() == ComponentState::Printed) + { + makeTransform(component.second, "world"); + auto grasp_poses = component.second.getGraspPoses(); + for (const auto& grasp_pose: grasp_poses) + { + makeTransform(grasp_pose.label, grasp_pose.placement_pose, component.first); + } + } + } + } + + void ComponentStateMonitor::makeTransform(const Component& component, const std::string& parent) + { + rclcpp::Time now = this->get_clock()->now(); + geometry_msgs::msg::TransformStamped t; + + t.header.stamp = now; + t.header.frame_id = parent; + t.child_frame_id = component.getFrameName(); + + auto fp = _pose_estimation_node.framePose(component.getFrameName()); + + t.transform.translation.x = fp.position.x; + t.transform.translation.y = fp.position.y; + t.transform.translation.z = fp.position.z; + + t.transform.rotation.x = fp.orientation.x; + t.transform.rotation.y = fp.orientation.y; + t.transform.rotation.z = fp.orientation.z; + t.transform.rotation.w = fp.orientation.w; + + _tf2_broadcaster->sendTransform(t); + } + + void ComponentStateMonitor::makeTransform(const std::string& frame_name, const geometry_msgs::msg::Pose& frame_pose, + const std::string& parent) + { + rclcpp::Time now = this->get_clock()->now(); + geometry_msgs::msg::TransformStamped t; + + t.header.stamp = now; + t.header.frame_id = parent; + t.child_frame_id = frame_name; + + t.transform.translation.x = frame_pose.position.x; + t.transform.translation.y = frame_pose.position.y; + t.transform.translation.z = frame_pose.position.z; + + t.transform.rotation.x = frame_pose.orientation.x; + t.transform.rotation.y = frame_pose.orientation.y; + t.transform.rotation.z = frame_pose.orientation.z; + t.transform.rotation.w = frame_pose.orientation.w; + + _tf2_broadcaster->sendTransform(t); } void ComponentStateMonitor::initializeParameters() { this->get_parameter("models-package", _models_package); RCLCPP_INFO(this->get_logger(), "Initialize with models-package (%s)", _models_package.c_str()); + + std::vector printers; + this->get_parameter("printers_names", printers); + + for (const auto& printer: printers) + { + std::vector position; + std::vector orientation; + + this->declare_parameter>("printers." + printer + ".position", std::vector{0.0, 0.0, 0.0}); + this->declare_parameter>("printers." + printer + ".orientation", std::vector{0.0, 0.0, 0.0, 0.0}); + + this->get_parameter("printers." + printer + ".position", position); + RCLCPP_INFO(this->get_logger(), "Initialize with printer (%s) position (%f, %f, %f)", + printer.c_str(), position.at(0), position.at(1), position.at(2)); + + this->get_parameter("printers." + printer + ".orientation", orientation); + RCLCPP_INFO(this->get_logger(), "Initialize with printer (%s) orientation (%f, %f, %f, %f)", + printer.c_str(), orientation.at(0), orientation.at(1), orientation.at(2), orientation.at(3)); + + geometry_msgs::msg::Pose tmp_pose; + tmp_pose.position.x = position.at(0); + tmp_pose.position.y = position.at(1); + tmp_pose.position.z = position.at(2); + + tmp_pose.orientation.x = orientation.at(0); + tmp_pose.orientation.y = orientation.at(1); + tmp_pose.orientation.y = orientation.at(2); + tmp_pose.orientation.z = orientation.at(3); + + _loaded_printers.insert({printer, tmp_pose}); + // makeTransform(printer, tmp_pose, "world"); + } } ComponentStateMonitor::~ComponentStateMonitor() {} @@ -70,6 +180,7 @@ namespace component_state_monitor std::shared_ptr response) { RCLCPP_INFO(this->get_logger(), "[get_grasp_poses] Incoming request"); + if (_loaded_components.find(request->frame_id) != _loaded_components.end()) { auto component = _loaded_components.at(request->frame_id); @@ -90,22 +201,100 @@ namespace component_state_monitor std::shared_ptr response) { RCLCPP_INFO(this->get_logger(), "[get_grasp_pose] Incoming request"); + if (_loaded_components.find(request->frame_id) != _loaded_components.end()) { auto component = _loaded_components.at(request->frame_id); - response->grasp_pose = component.getGraspPose(request->grasp_pose_name); - response->success = true; - response->message = "succesfully received a response from service [get_grasp_pose]"; + + if (component.getCurrentState() == ComponentState::Printed) + { + // std_msgs::msg::Header header; + // header.frame_id = request->frame_id; + + // geometry_msgs::msg::PoseStamped target_pose; + // target_pose.header = header; + // target_pose.pose = component.getGraspPose(header.frame_id).placement_pose; + + // std::string world = "world"; + // geometry_msgs::msg::PoseStamped target_pose_req = + // _tf2_buffer->transform(target_pose, world); + geometry_msgs::msg::TransformStamped transformStamped = _tf2_buffer->lookupTransform( + "world", request->grasp_pose_name, tf2::TimePointZero + ); + + auto grasp_pose = component.getGraspPose(request->grasp_pose_name); + + grasp_pose.placement_pose.position.x = transformStamped.transform.translation.x; + grasp_pose.placement_pose.position.y = transformStamped.transform.translation.y; + grasp_pose.placement_pose.position.z = transformStamped.transform.translation.z; + + grasp_pose.placement_pose.orientation.x = transformStamped.transform.rotation.x; + grasp_pose.placement_pose.orientation.y = transformStamped.transform.rotation.y; + grasp_pose.placement_pose.orientation.z = transformStamped.transform.rotation.z; + grasp_pose.placement_pose.orientation.w = transformStamped.transform.rotation.w; + + response->grasp_pose = grasp_pose; + response->success = true; + response->message = "succesfully received a response from service [get_grasp_pose]"; + } else { + + RCLCPP_WARN(this->get_logger(), "[get_grasp_pose] Frame with name (%s) not printed", request->frame_id.c_str()); + response->success = false; + response->message = "Frame not printed"; + } } else { RCLCPP_WARN(this->get_logger(), "[get_grasp_pose] Frame with name (%s) not loaded in component_state_monitor", request->frame_id.c_str()); response->success = false; - response->message = "could not found frame (%s) in component_state_monitor"; + response->message = "could not found frame in component_state_monitor"; } RCLCPP_INFO(this->get_logger(), "[get_grasp_pose] Sending back response"); } + void ComponentStateMonitor::printComponent(const std::shared_ptr request, + std::shared_ptr response) + { + RCLCPP_INFO(this->get_logger(), "[print_part] Incoming request"); + + if (_loaded_components.find(request->frame_id) != _loaded_components.end()) + { + auto component = _loaded_components.at(request->frame_id); + if (_loaded_printers.find(request->printer_id) != _loaded_printers.end()) + { + auto printer_pose = _loaded_printers.at(request->printer_id); + + if (_component_spawner_node.spawnComponent(component, printer_pose, _models_package)) + { + RCLCPP_INFO(this->get_logger(), "[print_part] Succesfully spawn frame (%s) at printer (%s)", + request->frame_id.c_str(), request->printer_id.c_str()); + response->success = true; + response->message = "succesfully received a response from service [print_part]"; + + _loaded_components.at(request->frame_id).updateState(ComponentState::Printed); + + } else { + RCLCPP_WARN(this->get_logger(), "[print_part] Failed to spawn frame (%s) at printer (%s)", + request->frame_id.c_str(), request->printer_id.c_str()); + response->success = false; + response->message = "printer not available"; + } + } else { + RCLCPP_WARN(this->get_logger(), "[print_part] Failed to spawn frame (%s) at printer (%s)", + request->frame_id.c_str(), request->printer_id.c_str()); + response->success = false; + response->message = "could not found printer in component_state_monitor"; + } + } else { + RCLCPP_WARN(this->get_logger(), "[print_part] Failed to spawn frame (%s) at printer (%s)", + request->frame_id.c_str(), request->printer_id.c_str()); + response->success = false; + response->message = "could not found frame in component_state_monitor"; + } + + RCLCPP_INFO(this->get_logger(), "[print_part] Sending back response"); + } + void ComponentStateMonitor::initializeComponents(const std::string& package_name) { RCLCPP_INFO(this->get_logger(), "Start read package (%s)", package_name.c_str()); @@ -129,10 +318,9 @@ namespace component_state_monitor std::string frame_directory_name = entry.path().string(); std::string frame_name = frame_directory_name.substr(frame_directory_name.find_last_of("/")+1, frame_directory_name.size()-1); - RCLCPP_INFO(this->get_logger(), "Start read frame (%s)", frame_name.c_str()); std::filesystem::path json_path = entry.path().string() + "/frames.json"; - Component component; + Component component(frame_name); if (!std::filesystem::exists(json_path)) { @@ -150,9 +338,10 @@ namespace component_state_monitor component.initializeFromJson(input); } + component.updateState(ComponentState::Initialized); _loaded_components.insert({component.getFrameName(), component}); RCLCPP_INFO(this->get_logger(), "Successfully initialize component (%s)", component.getFrameName().c_str()); } } -} \ No newline at end of file +} // end namespace component_state_monitor \ No newline at end of file diff --git a/robossembler_scene_monitor/scene_monitor/src/component_state_monitor_node.cpp b/robossembler_scene_monitor/scene_monitor/src/component_state_monitor_node.cpp index f3a4764..fe91579 100644 --- a/robossembler_scene_monitor/scene_monitor/src/component_state_monitor_node.cpp +++ b/robossembler_scene_monitor/scene_monitor/src/component_state_monitor_node.cpp @@ -6,7 +6,7 @@ int main(int argc, char **argv) { rclcpp::init(argc, argv); - rclcpp::executors::SingleThreadedExecutor exec; + rclcpp::executors::MultiThreadedExecutor exec; auto component_state_monitor_node = std::make_shared(); diff --git a/robossembler_scene_monitor/scene_monitor_components/include/printer/printer_component_base.hpp b/robossembler_scene_monitor/scene_monitor_components/include/printer/printer_component_base.hpp new file mode 100644 index 0000000..4a42672 --- /dev/null +++ b/robossembler_scene_monitor/scene_monitor_components/include/printer/printer_component_base.hpp @@ -0,0 +1,31 @@ +#pragma once + +#include +#include + +#include + +namespace printer +{ + +using SpawnEntitySrv = gazebo_msgs::srv::SpawnEntity; +class PrinterBase: public rclcpp::Node +{ + +public: + explicit PrinterBase(const rclcpp::NodeOptions& options); + // virtual ~PrinterBase() = default; + + void PrintComponent(const std::string& printer_id, + const std::string& component_id); + + void handleResponse(SpawnEntitySrv::Response::SharedPtr& response); + +protected: + + rclcpp::Client::SharedPtr _client; + rclcpp::TimerBase::SharedPtr _timer; + +}; + +}// end namespace printer \ No newline at end of file diff --git a/robossembler_scene_monitor/scene_monitor_components/src/printer_component.cpp b/robossembler_scene_monitor/scene_monitor_components/src/printer_component.cpp new file mode 100644 index 0000000..6c05ba8 --- /dev/null +++ b/robossembler_scene_monitor/scene_monitor_components/src/printer_component.cpp @@ -0,0 +1,36 @@ +#include "printer/printer_component_base.hpp" + +namespace printer +{ + +using namespace std::chrono_literals; +PrinterBase::PrinterBase(const rclcpp::NodeOptions& options): Node("printer_component", options) +{ + _client = create_client("printer_client"); + while (!_client->wait_for_service(1s)) + { + if (!rclcpp::ok()) + { + RCLCPP_WARN(this->get_logger(), "Interruped while waiting for the server."); + rclcpp::shutdown(); + return; + } + + RCLCPP_WARN(this->get_logger(), "Server not available, waiting again..."); + } +} + +void PrinterBase::PrintComponent(const std::string& printer_id, + const std::string& component_id) +{ + +} + +} // end namespace printer + +#include "rclcpp_components/register_node_macro.hpp" + +// Register the component with class_loader. +// This acts as a sort of entry point, allowing the component to be discoverable when its library +// is being loaded into a running process. +RCLCPP_COMPONENTS_REGISTER_NODE(printer::PrinterBase) \ No newline at end of file diff --git a/robossembler_scene_monitor/scene_monitor_interfaces/CMakeLists.txt b/robossembler_scene_monitor/scene_monitor_interfaces/CMakeLists.txt index 7160727..a2d72bc 100644 --- a/robossembler_scene_monitor/scene_monitor_interfaces/CMakeLists.txt +++ b/robossembler_scene_monitor/scene_monitor_interfaces/CMakeLists.txt @@ -6,9 +6,9 @@ if(NOT CMAKE_C_STANDARD) set(CMAKE_C_STANDARD 99) endif() -# Default to C++14 +# Default to C++17 if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD 14) endif() if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") @@ -19,12 +19,14 @@ endif() find_package(ament_cmake REQUIRED) find_package(rosidl_default_generators REQUIRED) find_package(geometry_msgs REQUIRED) +find_package(std_msgs REQUIRED) set(msg_files "msg/GraspPose.msg" ) set(srv_files + "srv/PrintPart.srv" "srv/GetGraspPose.srv" "srv/GetGraspPoses.srv" "srv/GetPart.srv" @@ -33,7 +35,7 @@ set(srv_files rosidl_generate_interfaces(${PROJECT_NAME} ${msg_files} ${srv_files} - DEPENDENCIES geometry_msgs + DEPENDENCIES geometry_msgs std_msgs ) if(BUILD_TESTING) diff --git a/robossembler_scene_monitor/scene_monitor_interfaces/package.xml b/robossembler_scene_monitor/scene_monitor_interfaces/package.xml index ac2a21e..49f90e8 100644 --- a/robossembler_scene_monitor/scene_monitor_interfaces/package.xml +++ b/robossembler_scene_monitor/scene_monitor_interfaces/package.xml @@ -11,6 +11,8 @@ rosidl_default_generators rosidl_default_runtime + geometry_msgs + std_msgs ament_lint_auto ament_lint_common diff --git a/robossembler_scene_monitor/scene_monitor_interfaces/srv/PrintPart.srv b/robossembler_scene_monitor/scene_monitor_interfaces/srv/PrintPart.srv new file mode 100644 index 0000000..aaa2397 --- /dev/null +++ b/robossembler_scene_monitor/scene_monitor_interfaces/srv/PrintPart.srv @@ -0,0 +1,6 @@ +string frame_id +string printer_id +--- +#result definition +bool success # indicate successful run of triggered service +string message # informational, e.g. for error messages \ No newline at end of file diff --git a/sdf_models/models/output_shaft_211118/frames.json b/sdf_models/models/output_shaft_211118/frames.json new file mode 100644 index 0000000..692d1a2 --- /dev/null +++ b/sdf_models/models/output_shaft_211118/frames.json @@ -0,0 +1,36 @@ +{ + "features": { + "grasp-poses": { + "Gripper_for_Part__Feature057": { + "placement": { + "position": { + "x": -7.2e-18, + "y": -0.0405, + "z": 3.9e-18 + }, + "orientation": { + "x": -0.1745956924081881, + "y": 0.1745956924081881, + "z": -0.969036990204714, + "w": 1.6022436365319073 + } + }, + "distance": 42.78237402995835 + } + } + }, + "label": "output_shaft_211118", + "placement": { + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "orientation": { + "x": 0.0, + "y": 0.0, + "z": 1.0, + "w": 0.0 + } + } +} \ No newline at end of file diff --git a/sdf_models/models/output_shaft_211118/meshes/output_shaft_211118.dae b/sdf_models/models/output_shaft_211118/meshes/output_shaft_211118.dae new file mode 100644 index 0000000..e3ca157 --- /dev/null +++ b/sdf_models/models/output_shaft_211118/meshes/output_shaft_211118.dae @@ -0,0 +1,51 @@ + + + 2022-03-09T21:43:30.158515 + 2022-03-09T21:43:30.158515 + Z_UP + + + + + + 0.028 1e-18 -0.009 0.026 1e-18 -0.011 0.028 -0.002153841 -0.008738476 0.026 -0.002632472 -0.01068036 0.028 -0.004182509 -0.007969104 0.026 -0.005111955 -0.009740016 0.028 -0.005968104 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