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fix rbs_utils

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This commit is contained in:
Ilya Uraev 2024-05-07 14:07:08 +03:00
parent 44b927f9a9
commit fa03887099
3 changed files with 93 additions and 80 deletions
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10
env_manager/gz_enviroment/src/gz_enviroment.cpp
View file

@ -51,10 +51,9 @@ CallbackReturn GzEnviroment::on_configure(const rclcpp_lifecycle::State &) {
m_service_spawn = std::string("/world/") + m_world_name + "/create"; m_service_spawn = std::string("/world/") + m_world_name + "/create";
m_config_loader = std::make_shared<rbs_utils::AssemblyConfigLoader>( m_config_loader = std::make_shared<rbs_utils::AssemblyConfigLoader>(
"asp-example", getNode()); "asp-example", getNode());
m_follow_frames = m_config_loader->getSceneModelNames(); m_follow_frames = m_config_loader->getUniqueSceneModelNames();
m_transforms = m_config_loader->getTfDataAllPossible(); m_transforms = m_config_loader->getGraspTfData("bishop");
m_timer = getNode()->create_wall_timer( // m_transforms = m_config_loader->getAllPossibleTfData();
100ms, std::bind(&GzEnviroment::broadcast_timer_callback, this));
return CallbackReturn::SUCCESS; return CallbackReturn::SUCCESS;
} }
@ -63,9 +62,9 @@ CallbackReturn GzEnviroment::on_activate(const rclcpp_lifecycle::State &) {
// Setting up the subscribers and publishers // Setting up the subscribers and publishers
RCLCPP_INFO(getNode()->get_logger(), "GzEnviroment is on_activate"); RCLCPP_INFO(getNode()->get_logger(), "GzEnviroment is on_activate");
// Initialize tf broadcaster before use in subscriber
m_tf2_broadcaster = m_tf2_broadcaster =
std::make_unique<tf2_ros::TransformBroadcaster>(getNode()); std::make_unique<tf2_ros::TransformBroadcaster>(getNode());
m_gz_node->Subscribe(m_topic_name, &GzEnviroment::onGzPoseSub, this); m_gz_node->Subscribe(m_topic_name, &GzEnviroment::onGzPoseSub, this);
return CallbackReturn::SUCCESS; return CallbackReturn::SUCCESS;
@ -121,6 +120,7 @@ void GzEnviroment::onGzPoseSub(const gz::msgs::Pose_V &pose_v) {
} }
for (auto &place : m_transforms.transforms) { for (auto &place : m_transforms.transforms) {
place.header.stamp = getNode()->get_clock()->now();
all_transforms.push_back(place); all_transforms.push_back(place);
} }

6
rbs_utils/rbs_utils/include/rbs_utils/rbs_utils.hpp
View file

@ -53,11 +53,11 @@ public:
const rclcpp::node_interfaces::NodeClockInterface::SharedPtr const rclcpp::node_interfaces::NodeClockInterface::SharedPtr
&t_clock_node_interface); &t_clock_node_interface);
tf2_msgs::msg::TFMessage getAllPossibleTfData();
tf2_msgs::msg::TFMessage getTfData(const std::string &model_name); tf2_msgs::msg::TFMessage getTfData(const std::string &model_name);
tf2_msgs::msg::TFMessage getTfDataAllPossible(); tf2_msgs::msg::TFMessage getGraspTfData(const std::string &model_name);
std::vector<std::string> getUniqueSceneModelNames();
std::vector<std::string> getSceneModelNames();
void printWorkspace(); void printWorkspace();
geometry_msgs::msg::PoseArray getWorkspaceInspectorTrajectory(); geometry_msgs::msg::PoseArray getWorkspaceInspectorTrajectory();

155
rbs_utils/rbs_utils/src/rbs_utils.cpp
View file

@ -55,12 +55,7 @@ void AssemblyConfigLoader::parseRbsDb(const std::string &filepath) {
void *ros_msg = reinterpret_cast<void *>(&m_assembly_config); void *ros_msg = reinterpret_cast<void *>(&m_assembly_config);
dynmsg::cpp::yaml_and_typeinfo_to_rosmsg(rosmsg.type_info, dynmsg::cpp::yaml_and_typeinfo_to_rosmsg(rosmsg.type_info,
asm_config_string, ros_msg); asm_config_string, ros_msg);
// auto file_cont = rbs_utils_interfaces::msg::to_yaml(m_assembly_config);
// std::ofstream file("rbs_db.yaml");
// if (file.is_open()) {
// file << file_cont;
// file.close();
// }
} catch (const std::exception &e) { } catch (const std::exception &e) {
RCLCPP_ERROR(m_logger, "Exception reading file %s: %s", filepath.c_str(), RCLCPP_ERROR(m_logger, "Exception reading file %s: %s", filepath.c_str(),
e.what()); e.what());
@ -69,7 +64,7 @@ void AssemblyConfigLoader::parseRbsDb(const std::string &filepath) {
[[deprecated("Not Implemented")]] void AssemblyConfigLoader::saveRbsConfig() {} [[deprecated("Not Implemented")]] void AssemblyConfigLoader::saveRbsConfig() {}
std::vector<std::string> AssemblyConfigLoader::getSceneModelNames() { std::vector<std::string> AssemblyConfigLoader::getUniqueSceneModelNames() {
std::vector<std::string> model_names; std::vector<std::string> model_names;
if (m_assembly_config.relative_part.size() != 0) { if (m_assembly_config.relative_part.size() != 0) {
for (auto &t : m_assembly_config.relative_part) { for (auto &t : m_assembly_config.relative_part) {
@ -86,66 +81,78 @@ std::vector<std::string> AssemblyConfigLoader::getSceneModelNames() {
return model_names; return model_names;
} }
tf2_msgs::msg::TFMessage AssemblyConfigLoader::getAdditionalPoses() { tf2_msgs::msg::TFMessage AssemblyConfigLoader::getAllPossibleTfData() {
tf2_msgs::msg::TFMessage tp; tf2_msgs::msg::TFMessage tp;
if (m_assembly_config.extra_poses.empty()) { // Get absolute parts
RCLCPP_ERROR(m_logger, "Extra poses is empty"); for (auto &abs_poses : m_assembly_config.absolute_part) {
return tp; geometry_msgs::msg::TransformStamped tmp;
tmp.transform = createTransform(abs_poses.pose);
tmp.child_frame_id = abs_poses.name;
tmp.header.frame_id = "world";
tmp.header.stamp = m_clock->now();
tp.transforms.push_back(tmp);
} }
// Get relative parts
for (auto &point : m_assembly_config.extra_poses) { for (const auto &relative_part : m_assembly_config.relative_part) {
tp.transforms.emplace_back().child_frame_id = point.name; geometry_msgs::msg::TransformStamped tmp;
tp.transforms.emplace_back().transform = createTransform(point.pose); tmp.transform = createTransform(relative_part.pose);
tp.transforms.emplace_back().header.stamp = m_clock->now(); tmp.child_frame_id = relative_part.name;
tp.transforms.emplace_back().header.frame_id = "world"; tmp.header.frame_id = relative_part.relative_at;
tmp.header.stamp = m_clock->now();
tp.transforms.push_back(tmp);
RCLCPP_INFO(m_logger, "Model name [%s]", relative_part.name.c_str());
}
// Get grasp poses
for (const auto &grasp_pose : m_assembly_config.grasp_pose) {
geometry_msgs::msg::TransformStamped tmp;
tmp.transform = createTransform(grasp_pose.pose);
tmp.child_frame_id = grasp_pose.name;
tmp.header.frame_id = grasp_pose.relative_at;
tmp.header.stamp = m_clock->now();
tp.transforms.push_back(tmp);
} }
return tp; return tp;
} }
tf2_msgs::msg::TFMessage AssemblyConfigLoader::getTfDataAllPossible() { tf2_msgs::msg::TFMessage
AssemblyConfigLoader::getGraspTfData(const std::string &model_name) {
tf2_msgs::msg::TFMessage tp; tf2_msgs::msg::TFMessage tp;
if (!m_assembly_config.absolute_part.empty()) { bool found_grasp_pose = false;
for (auto &abs_part : m_assembly_config.absolute_part) { if (!m_assembly_config.relative_part.empty()) {
geometry_msgs::msg::TransformStamped abs_transrorm_stamped; for (auto &abs_poses : m_assembly_config.absolute_part) {
abs_transrorm_stamped.transform = createTransform(abs_part.pose); geometry_msgs::msg::TransformStamped tmp;
abs_transrorm_stamped.child_frame_id = abs_part.name; tmp.transform = createTransform(abs_poses.pose);
abs_transrorm_stamped.header.frame_id = "world"; tmp.child_frame_id = abs_poses.name;
abs_transrorm_stamped.header.stamp = m_clock->now(); tmp.header.frame_id = "world";
tp.transforms.push_back(abs_transrorm_stamped); tmp.header.stamp = m_clock->now();
tp.transforms.push_back(tmp);
} }
} else { } else {
RCLCPP_ERROR(m_logger, "Absolute parts is empty size: %zu", RCLCPP_ERROR(m_logger, "Relative parts is empty size: %zu",
m_assembly_config.absolute_part.size()); m_assembly_config.relative_part.size());
} }
if (!m_assembly_config.relative_part.empty()) {
for (const auto &relative_part : m_assembly_config.relative_part) {
geometry_msgs::msg::TransformStamped relative_transform_stamped;
relative_transform_stamped.transform =
createTransform(relative_part.pose);
relative_transform_stamped.child_frame_id = relative_part.name;
relative_transform_stamped.header.frame_id = relative_part.relative_at;
relative_transform_stamped.header.stamp = m_clock->now();
tp.transforms.push_back(relative_transform_stamped);
RCLCPP_INFO(m_logger, "Model name [%s]",
relative_part.relative_at.c_str());
}
}
if (!m_assembly_config.grasp_pose.empty()) {
for (const auto &grasp_pose : m_assembly_config.grasp_pose) { for (const auto &grasp_pose : m_assembly_config.grasp_pose) {
geometry_msgs::msg::TransformStamped grasp_transform_stamped; if (grasp_pose.relative_at == model_name) {
grasp_transform_stamped.transform = createTransform(grasp_pose.pose); geometry_msgs::msg::TransformStamped tmp;
grasp_transform_stamped.child_frame_id = grasp_pose.name; tmp.transform = createTransform(grasp_pose.pose);
grasp_transform_stamped.header.stamp = m_clock->now(); tmp.child_frame_id = grasp_pose.name;
grasp_transform_stamped.header.frame_id = grasp_pose.relative_at; tmp.header.frame_id = grasp_pose.relative_at;
tp.transforms.push_back(grasp_transform_stamped); tmp.header.stamp = m_clock->now();
tp.transforms.push_back(tmp);
found_grasp_pose = true;
} }
} }
if (!found_grasp_pose) {
RCLCPP_ERROR(m_logger, "Grasp pose not found for model %s",
model_name.c_str());
}
return tp; return tp;
} }
tf2_msgs::msg::TFMessage tf2_msgs::msg::TFMessage
@ -169,16 +176,24 @@ AssemblyConfigLoader::getTfData(const std::string &model_name) {
bool found_model = false; bool found_model = false;
bool found_grasp_pose = false; bool found_grasp_pose = false;
if (!m_assembly_config.relative_part.empty()) { if (!m_assembly_config.relative_part.empty()) {
for (auto &abs_poses : m_assembly_config.absolute_part) {
geometry_msgs::msg::TransformStamped tmp;
tmp.transform = createTransform(abs_poses.pose);
tmp.child_frame_id = abs_poses.name;
tmp.header.frame_id = "world";
tmp.header.stamp = m_clock->now();
tp.transforms.push_back(tmp);
}
for (const auto &relative_part : m_assembly_config.relative_part) { for (const auto &relative_part : m_assembly_config.relative_part) {
// Find our model data // Find our model data
if (relative_part.name == model_name) { if (relative_part.name == model_name) {
geometry_msgs::msg::TransformStamped relative_transform_stamped; geometry_msgs::msg::TransformStamped tmp;
relative_transform_stamped.transform = tmp.transform = createTransform(relative_part.pose);
createTransform(relative_part.pose); tmp.child_frame_id = relative_part.name;
relative_transform_stamped.child_frame_id = relative_part.name; tmp.header.frame_id = relative_part.relative_at;
relative_transform_stamped.header.frame_id = relative_part.relative_at; tmp.header.stamp = m_clock->now();
relative_transform_stamped.header.stamp = m_clock->now(); tp.transforms.push_back(tmp);
tp.transforms.push_back(relative_transform_stamped);
found_model = true; found_model = true;
} }
RCLCPP_INFO(m_logger, "Model name [%s]", RCLCPP_INFO(m_logger, "Model name [%s]",
@ -189,20 +204,17 @@ AssemblyConfigLoader::getTfData(const std::string &model_name) {
m_assembly_config.relative_part.size()); m_assembly_config.relative_part.size());
} }
if (!m_assembly_config.grasp_pose.empty()) {
for (const auto &grasp_pose : m_assembly_config.grasp_pose) { for (const auto &grasp_pose : m_assembly_config.grasp_pose) {
if (grasp_pose.name == model_name) { if (grasp_pose.relative_at == model_name) {
geometry_msgs::msg::TransformStamped grasp_transform_stamped; geometry_msgs::msg::TransformStamped tmp;
grasp_transform_stamped.transform = createTransform(grasp_pose.pose); tmp.transform = createTransform(grasp_pose.pose);
grasp_transform_stamped.child_frame_id = grasp_pose.name + "_grasp"; tmp.child_frame_id = grasp_pose.name;
grasp_transform_stamped.header.stamp = m_clock->now(); tmp.header.frame_id = grasp_pose.relative_at;
grasp_transform_stamped.header.frame_id = grasp_pose.name; tmp.header.stamp = m_clock->now();
tp.transforms.push_back(grasp_transform_stamped); tp.transforms.push_back(tmp);
found_grasp_pose = true; found_grasp_pose = true;
} }
} }
}
if (!found_model) { if (!found_model) {
RCLCPP_ERROR(m_logger, "Model %s not found in config", model_name.c_str()); RCLCPP_ERROR(m_logger, "Model %s not found in config", model_name.c_str());
@ -261,17 +273,18 @@ geometry_msgs::msg::PoseArray
AssemblyConfigLoader::getWorkspaceInspectorTrajectory() { AssemblyConfigLoader::getWorkspaceInspectorTrajectory() {
geometry_msgs::msg::PoseArray pose_array; geometry_msgs::msg::PoseArray pose_array;
pose_array.header.frame_id = "world"; pose_array.header.frame_id = "world";
auto workspace = getWorkspace();
for (auto &point : workspace.poses) { auto workspace_poses = getWorkspace();
auto pose = transformTrajectory(point);
pose_array.poses.push_back(pose); for (const auto &pose : workspace_poses.poses) {
pose_array.poses.push_back(transformTrajectory(pose));
} }
return pose_array; return pose_array;
} }
geometry_msgs::msg::Pose AssemblyConfigLoader::transformTrajectory( geometry_msgs::msg::Pose AssemblyConfigLoader::transformTrajectory(
const geometry_msgs::msg::Pose &pose) { const geometry_msgs::msg::Pose &pose) {
Eigen::Isometry3d pose_eigen; Eigen::Isometry3d pose_eigen;
tf2::fromMsg(pose, pose_eigen); tf2::fromMsg(pose, pose_eigen);