//computes new configuration for urTobj
Q computenewQ(Q qin, Transform3D<> Tin, Transform3D<> Tdes, Device::Ptr device, State state,Frame* marker,Frame* bottleframe){
//set device state
//Q home(6, 1.6765, -2.0368, 1.5597, -1.6505, -1.6474, -1.6449);
device->setQ(qin,state);
//compute the small iteration, show error
VelocityScrew6D<> deltau=computeG(Tin,Tdes);
//do while error larger than threshold
while (deltau.norm2()>epsilon && flag==0){
//get Jacobian
Jacobian J=device->baseJframe(marker,state);
//calcultate dq
// Q dq (LinearAlgebra::inverse(J.e())*deltau.e());
Q dq (J.e().inverse()*deltau.e());
//add dq to q
// Q dq(6,1,2,3,4,5,6);
qin=qin+dq;
//qin=0;
//set new q
device->setQ(qin,state);
//get new transform
Transform3D<> bThan = device->baseTframe(marker,state);
Tin=bThan;
//compute and show new deltau, error
deltau=computeG(Tin,Tdes);
T2=clock();
Ttotal=T2-T1;
sec += (Ttotal/CLOCKS_PER_SEC);
if(sec>30)
{
flag=1;
}
}
//return final Q
return(qin);
}
bool receiveXYZRPY(kinematics::KinXYZRPY::Request &req, kinematics::KinXYZRPY::Response &res){
//ROS_INFO("xyz (%0.2f, %0.2f, %0.2f), RPY (%0.2f, %0.2f, %0.2f)", req.x, req.y, req.z, req.R, req.P, req.Y);
if (req.from_current){
device->setQ(positions, state);
}
Transform3D<double> Tcurrent, Tdesired;
Tcurrent = device->baseTend(state);
Tdesired.P() = Vector3D<double>(req.x, req.y, req.z);
Tdesired.R() = RPY<double>(req.R*Pi/180, req.P*Pi/180, req.Y*Pi/180).toRotation3D();
res.success = sendConfigurations(Tcurrent, Tdesired, state, req.interpolate, req.force_angle, req.angle);
return true;
}
void posCallback(const pa10_controller::Positions::ConstPtr& msg){
//ROS_INFO("I HEARD: %0.2f %0.2f %0.2f %0.2f %0.2f %0.2f %0.2f", msg->positions[0],msg->positions[1],msg->positions[2],msg->positions[3],msg->positions[4],msg->positions[5],msg->positions[6]);
if (positions.size() == 0){
positions = Q(7,0,0,0,0,0,0,0);
for (int i = 0; i < (int) msg->positions.size(); i ++){
positions[i] = msg->positions[i]*Pi/180;
}
device->setQ(positions, state);
}else{
for (int i = 0; i < (int) msg->positions.size(); i ++){
positions[i] = msg->positions[i]*Pi/180;
}
}
calculatePose(positions);
}
bool checkCollisions(Device::Ptr device, const State &state, const CollisionDetector &detector, const Q &q) {
State testState;
CollisionDetector::QueryResult data;
bool colFrom;
testState = state;
device->setQ(q,testState);
colFrom = detector.inCollision(testState,&data);
if (colFrom) {
cerr << "Configuration in collision: " << q << endl;
cerr << "Colliding frames: " << endl;
FramePairSet fps = data.collidingFrames;
for (FramePairSet::iterator it = fps.begin(); it != fps.end(); it++) {
cerr << (*it).first->getName() << " " << (*it).second->getName() << endl;
}
return false;
}
return true;
}
void calculatePose(Q q){
State tmpState = wc->getDefaultState();
device->setQ(q, tmpState);
Transform3D<double> cPose = device->baseTend(tmpState);
RPY<double> rpy(cPose.R());
pose.x = cPose.P()[0];
pose.y = cPose.P()[1];
pose.z = cPose.P()[2];
pose.R = rpy(0)*180/Pi;
pose.P = rpy(1)*180/Pi;
pose.Y = rpy(2)*180/Pi;
//cout << "POOOOOSE: " << cPose.P() << "\n";
kinematics::Pose msg;
msg.x = cPose.P()[0];
msg.y = cPose.P()[1];
msg.z = cPose.P()[2];
msg.R = rpy(0)*180/Pi;
msg.P = rpy(1)*180/Pi;
msg.Y = rpy(2)*180/Pi;
pose_pub.publish(msg);
}
bool receiveJog(kinematics::KinXYZRPY::Request &req, kinematics::KinXYZRPY::Response &res){
device->setQ(positions, state);
cout << "POSITIONS: " << positions << "\n";
Transform3D<double> Tcurrent = device->baseTend(state);
Transform3D<double> Tdesired = device->baseTend(state);
Tdesired.P() += Vector3D<double>(req.x, req.y, req.z);
//Rotation3D<double> rot = RPY<double>(req.R, req.P, req.Y).toRotation3D();
/*
Tdesired.R() = Rotation3D<double>(
Tcurrent.R(0,0)+rot(0,0),
Tcurrent.R(0,1)+rot(0,1),
Tcurrent.R(0,2)+rot(0,2),
Tcurrent.R(1,0)+rot(1,0),
Tcurrent.R(1,1)+rot(1,1),
Tcurrent.R(1,2)+rot(1,2),
Tcurrent.R(2,0)+rot(2,0),
Tcurrent.R(2,1)+rot(2,1),
Tcurrent.R(2,1)+rot(2,2),
);
*/
res.success = sendConfigurations(Tcurrent, Tdesired, state, req.interpolate);
return true;
}
int main(int argc, char **argv){
ros::init(argc, argv, "kinematics_node");
ROS_INFO("kinematics_node started");
ros::NodeHandle n, nh("~");
//string wcFile = "/home/ege/ros/sandbox/kinematics/Scene/Scene.wc.xml";
//string deviceName = "PA10";
string wcFile, deviceName, xyzrpyService, qService, posTopic, jogService, poseTopic;
nh.param<string>("workcell", wcFile, "/home/ege/ros/sandbox/kinematics/Scene/Scene.wc.xml");
nh.param<string>("device", deviceName, "PA10");
nh.param<string>("xyzrpy_service", xyzrpyService, "/pa10_xyzRPY");
nh.param<string>("jog_service", jogService, "/pa10_jog");
nh.param<string>("q_service", qService, "/pa10_Qs");
nh.param<string>("pos_topic", posTopic, "/pa10_positions");
nh.param<string>("pose_topic", poseTopic, "/pa10_pose");
nh.param<double>("interpolate_stepsize", interpolateStepSize, 0.1);
ROS_INFO("Trying to use workcell: %s and device %s" , wcFile.c_str(), deviceName.c_str());
wc=WorkCellLoader::load(wcFile);
device=wc->findDevice(deviceName);
state = wc->getDefaultState();
Q qStart(7,0,0,0,0,0,0,0);
device->setQ(qStart, state);
ros::Subscriber sub = n.subscribe(posTopic, 1, posCallback);
pose_pub = n.advertise<kinematics::Pose>(poseTopic, 10);
ros::service::waitForService(qService, ros::Duration(1.0));
serviceClient = n.serviceClient<pa10_controller::PA10Qs>(qService);
ros::ServiceServer service = n.advertiseService(xyzrpyService, receiveXYZRPY);
ros::ServiceServer jService = n.advertiseService(jogService, receiveJog);
ROS_INFO("kinematics_node ready");
ros::spin();
return 0;
}
int main(int argc, char** argv) {
//get wcFile and device name
string wcFile = "/home/sdsuvei/robwork/RobWorkStudio/scenes/COBLab/KitchenScene.wc.xml";
string robotName = "UR";
string gripperName = "SDH";
std::string connectorName = "URConnector";
cout << "Trying to use workcell: " << wcFile << " and device " << robotName << endl;
//load work cell
WorkCell::Ptr wc = WorkCellFactory::load(wcFile);
Device::Ptr UR = wc->findDevice(robotName);
Device::Ptr gripper = wc->findDevice(gripperName);
Device::Ptr connector = wc->findDevice(connectorName);
if (UR == NULL) {
cerr << "Device: " << robotName << " not found!" << endl;
return 0;
}
//default state of the RobWork Workcell
State state = wc->getDefaultState();
//load the collision detector
CollisionDetector cd(wc,ProximityStrategyFactory::makeDefaultCollisionStrategy());
//ROS initialization
ros::init(argc, argv, "listener");
ros::NodeHandle nh;
ros::Rate loop_rate(5);
sub = nh.subscribe ("/joint_states", 1, jointCallback);
while(ros::ok())
{
if(itHappened)
{
//RobWork robot model initialization
//starting configuration of the UR5 arm
// Q pos(6,0.0785, -1.7667, 2.037, -2.1101, -2.1724, -1.8505);
// Q pos(6,-0.3946, -1.8944, 1.9378, -1.3807, -1.1023, -2.4439);
Q pos(6, joint_pos[0], joint_pos[1], joint_pos[2], joint_pos[3], joint_pos[4], joint_pos[5]);
cout<<"Initial arm configuration:\n"<<pos<<"\n";
//set the initial position of the UR5 arm
UR->setQ(pos,state);
//starting configuration of the SDH gripper
Q grip(7,-1.047,0.000,0.000,-0.765,-0.282,-0.846,0);
//set the initial position of the gripper
gripper->setQ(grip,state);
//half-away configuration of the URconnector
Q conn(1,-1.597);
//set the half-away configuration of the URconnector
connector->setQ(conn,state);
//RobWork Workcell frame definitions
// Frame* bottle = wc->findFrame("BottleTray"); //bootle frame
MovableFrame* bottle = (MovableFrame*)wc->findFrame("BottleTray");
Frame* marker=wc->findFrame("SDH.Marker"); //marker frame
Frame* camera=wc->findFrame("Camera3D"); //camera frame
Frame* pregrasp=wc->findFrame("Pregrasp"); // pregrasping frame
if(cd.inCollision(state))
{
cout<<"Before change: In collision!\n";
}
//update the bottle frame with the value from the tracker
Transform3D<> camTobj_rw=rw_camTobj(UR,state,bottle,camera);
//change the object frame in the RobWork scene
bottle->setTransform(camTobj_rw,state);
if(cd.inCollision(state))
{
cout<<"After change: In collision!\n";
}
//store the kinematic values, from the RobWork workcell
Transform3D<> kinematic_camTobj=Kinematics::frameTframe(camera,bottle,state);
Transform3D<> kinematic_camTmrk=Kinematics::frameTframe(camera,marker,state);
//compute the intermediate transforms
// 1)URbase -> MARKER transform
Transform3D<> urTmrk = UR->baseTframe(marker,state);
// 2)CAMERA -> OBJECT transform
Transform3D<> camTobj=find_camTobj(UR,state,bottle,camera,kinematic_camTobj);
// 3)CAMERA -> MARKER transform
Transform3D<> camTmrk=find_camTmrk(UR,state,marker,camera,kinematic_camTmrk);
// 4)MARKER -> OBJECT transform
Transform3D<> mrkTobj=inverse(camTmrk)*camTobj;
// 5)OBJECT -> PREGRASP transform
// Transform3D<> objTpg=Kinematics::frameTframe(bottle,pregrasp,state);
// 6)URbase -> PreGrasping frame
Transform3D<> objTpg=Kinematics::frameTframe(bottle,pregrasp,state);
Transform3D<> urTcam=find_urTcam(UR,state,camera);
Transform3D<> urTpg=urTcam*camTobj_rw*objTpg; //take initial rotation of object as pregrasping rotation
// Transform3D<> urTpg=urTcam*camTobj_rw;
// 7)URbase -> OBJECT transform
Transform3D<> urTobj((urTmrk*mrkTobj*objTpg).P(),urTpg.R());
// Transform3D<> urTobj((urTmrk*mrkTobj).P(),urTpg.R());
//determine initial distance between the gripper-marker and the object
Vector3D<> dist=(urTobj.P()-urTmrk.P());
cout<<"Initial distance is: "<<dist.norm2()<<endl;
cout<<endl;
//set the admissible threshold - distance between gripper-marker and object
double tresh=0.01;
//store the current value
kinematic_camTmrk=camTmrk;
kinematic_camTobj=camTobj;
//start servoing method
while (!cd.inCollision(state)){
//compute current distance between gripper-marker and object
Vector3D<> cur_dist=(urTobj.P()-urTmrk.P());
cout<<"Current distance: "<<cur_dist.norm2()<<"\n";
//stop program if threshold limit is exceeded
if(cur_dist.norm2()<tresh)
{
cout<<"Threshold limit exceeded!"<<endl;
ros::shutdown();
break;
}
//compute the new urTmrk transform by performing interpolation between urTmrk & urTobj
Transform3D<> urTmrk_new=computeinterpolation(urTmrk,urTobj,deltatess);
//compute the new UR5 configuration which moves the gripper-marker closer to the object
T1=clock();
Q new_pos=computenewQ(pos,urTmrk,urTmrk_new,UR,state,marker,bottle); //new configuration
//Bring robot in new configuration
UR->setQ(new_pos,state); //set device
cout<<"new_pos:"<<new_pos;
cout<<endl;
//store the new urTmrk transform
urTmrk=urTmrk_new;
//store the new UR5 arm configuration
pos=new_pos;
//recompute the intermediate transforms
// 1)CAMERA -> OBJECT transform
Transform3D<> camTobj=find_camTobj(UR,state,bottle,camera,kinematic_camTobj);
// 2)CAMERA -> MARKER transform
Transform3D<> camTmrk=find_camTmrk(UR,state,marker,camera,kinematic_camTmrk);
// 3)MARKER -> OBJECT transform
Transform3D<> mrkTobj=inverse(camTmrk)*camTobj;
// 4)URbase -> OBJECT transform
// Transform3D<> urTobj((urTmrk*mrkTobj*objTpg).P(),urTpg.R()); //use the pregrasping rotation
Transform3D<> urTobj((urTmrk*mrkTobj).P(),urTpg.R());
//store kinematic values for camTobj & camTmrk
kinematic_camTobj=camTobj;
kinematic_camTmrk=camTmrk;
//execute robot movement
//open file to write the script
std::ofstream myfile;
cout << "Generating script ... ";
myfile.open ("/home/sdsuvei/workspace/PythonScripts/armQ.py");
if (myfile.is_open()){
myfile << "#!/usr/bin/python \n \n" <<
"import roslib \n" <<
"roslib.load_manifest('cob_script_server') \n" <<
"import rospy \n \n" <<
"from simple_script_server import * \n" <<
"sss = simple_script_server() \n \n" <<
"if __name__ == \"__main__\": \n" <<
" rospy.init_node(\"asd\") \n" <<
" sss.move(\"arm\", [["<<pos[0]<<","<<pos[1]<<","<<pos[2]<<","<<pos[3]<<","<<pos[4]<<","<<pos[5]<<"]]) \n";
myfile.close();
cout << "Done!" << endl;
}
else{
cout << "myfile not open!" << endl;
}
int val1;
cout<<"\n Press key to allow movement: ";
cin>>val1;
cout<<"\n";
cout << "Executing movement..." << endl;
system("python /home/sdsuvei/workspace/PythonScripts/armQ.py");
cout << "Movement done!" << endl;
int val;
cout<<"\n Press any key to continue ";
cin>>val;
cout<<"\n";
}
itHappened=false;
}
ros::spinOnce();
loop_rate.sleep();
}
cout<<"After While";
cout<<endl;
if(flag)
{
cout<<"\nOrientation impossible! Try a different grasping approach!\n"<< endl;
}
else
{
cout<<"\nDone!\n\n";
}
return 0;
}
int main(int argc, char** argv) {
const string wcFile = "Kr16WallWorkCell/Scene.wc.xml";
const string deviceName = "KukaKr16";
cout << "Trying to use workcell " << wcFile << " and device " << deviceName << endl;
WorkCell::Ptr wc = WorkCellLoader::Factory::load(wcFile);
Device::Ptr device = wc->findDevice(deviceName);
if (device == NULL) {
cerr << "Device: " << deviceName << " not found!" << endl;
return 0;
}
const char* stats_str;
double extend;
if (argc > 1) {
stats_str = argv[1];
extend = atof(argv[2]);
}else {
stats_str = "stat.txt";
extend = 0.1;
}
cout << extend << endl << stats_str <<endl;
Math::seed();
State state = wc->getDefaultState();
Q start(6,-3.142,-0.827,-3.002,-3.143,0.099,-1.573);
device->setQ(start,state);
MovableFrame* bottle = wc->findFrame<MovableFrame>("Bottle");
Kinematics::gripFrame(bottle,device->getEnd(),state);
CollisionDetector detector(wc, ProximityStrategyFactory::makeDefaultCollisionStrategy());
PlannerConstraint constraint = PlannerConstraint::make(&detector,device,state);
/** Most easy way: uses default parameters based on given device
sampler: QSampler::makeUniform(device)
metric: PlannerUtil::normalizingInfinityMetric(device->getBounds())
extend: 0.05 */
//QToQPlanner::Ptr planner = RRTPlanner::makeQToQPlanner(constraint, device, RRTPlanner::RRTConnect);
/** More complex way: allows more detailed definition of parameters and methods */
QSampler::Ptr sampler = QSampler::makeConstrained(QSampler::makeUniform(device),constraint.getQConstraintPtr());
QMetric::Ptr metric = MetricFactory::makeEuclidean<Q>();
//double extend = 0.1;
Q from(6,-3.142,-0.827,-3.002,-3.143,0.099,-1.573);
//Q to(6,1.7,0.6,-0.8,0.3,0.7,-0.5); // Very difficult for planner
Q to(6,1.571,0.006,0.030,0.153,0.762,4.490);
if (!checkCollisions(device, state, detector, from))
return 0;
if (!checkCollisions(device, state, detector, to))
return 0;
cout << "Planning from " << from << " to " << to << endl;
ofstream stat;
stat.open(stats_str);
stat << "Path length,Time" << endl;
QPath path;
Timer t;
while (extend <= 0.5) {
QToQPlanner::Ptr planner = RRTPlanner::makeQToQPlanner(constraint, sampler, metric, extend, RRTPlanner::RRTConnect);
t.resetAndResume();
planner->query(from,to,path,MAXTIME);
t.pause();
stat << path.size() << "," << t.getTime() << "," << extend << endl;
for (int x=1; x<100; x++) {
QPath path2;
t.resetAndResume();
planner->query(from,to,path2,MAXTIME);
t.pause();
stat << path2.size() << "," << t.getTime() << "," << extend << endl;
if (path2.size() < path.size()) {
path = path2;
}
}
extend += 0.01;
}
if (t.getTime() >= MAXTIME) {
cout << "Notice: max time of " << MAXTIME << " seconds reached." << endl;
}
ofstream LUA; //create file object
LUA.open("LUA.txt"); //open the file
//write the LUA "header"
LUA << "wc = rws.getRobWorkStudio():getWorkCell()\n";
LUA << "state = wc:getDefaultState() \ndevice = wc:findDevice(\"KukaKr16\")\n";
LUA << "bottle = wc:findFrame(\"Bottle\")\n";
LUA << "function setQ(q)\n";
LUA << " qq = rw.Q(#q,q[1],q[2],q[3],q[4],q[5],q[6])\n";
LUA << " device:setQ(qq,state)\n";
LUA << " rws.getRobWorkStudio():setState(state)\n";
LUA << " rw.sleep(0.1)\n";
LUA << "end\n";
LUA << "setQ({-3.142, -0.827, -3.002, -3.143, 0.099, -1.573})\n";
LUA << "rw.gripFrame(bottle,device:getEnd(),state)\n";
for (QPath::iterator it = path.begin(); it < path.end(); it++) {
//cout << *it << endl; //output path to Terminal
ostringstream out;
out << *it; //write path to ostring
string out2 = out.str(); //convert to string
LUA << "setQ(" << out2.substr(4,out2.length()) << ")" << endl; // write path to LUA file.
}
LUA.close(); //close file
cout << "Program done." << endl;
return 0;
}
bool sendConfigurations(Transform3D<double> Tcurrent, Transform3D<double> Tdesired, State& curState, bool interpolate=false, bool force_angle=false, double angle=0.0){
ROS_INFO("MAKING XYZ RPY");
transformToText("From", Tcurrent);
transformToText("To", Tdesired);
//cout << "From " << Tcurrent.P() << "\n";
//cout << "To " << Tdesired.P() << "\n";
rw::invkin::JacobianIKSolver solver(device, curState);
solver.setCheckJointLimits(true);
solver.setClampToBounds(true);
Q qDesired;
vector<Q> path;
double length = (Tdesired.P()-Tcurrent.P()).norm2();
if (interpolate && length > interpolateStepSize){
solver.setEnableInterpolation(true);
double stepSize = interpolateStepSize;
cout << "Norm2: " << length << endl;
rw::trajectory::LinearInterpolator<Transform3D<double> > interpolator(Tcurrent,Tdesired,length);
double while_t = 0;
while(while_t <= length){
double t = while_t;
//for (double t=stepSize; t <= length; t+=stepSize){
cout << "T at: " << t << " : " << interpolator.x(t).P() << "\n";
vector<Q> newQs = solver.solve(interpolator.x(t), curState);
if (newQs.size()>0){
qDesired = newQs[0] *180 / Pi;
path.push_back(qDesired);
device->setQ(newQs[0], curState);
cout << "Q at: " << t << " : " << qDesired << "\n";
}else{
cout << "Couldn't interpolate " << Tdesired << "\n";
break;
}
while_t += stepSize;
}
}
vector<Q> newQs = solver.solve(Tdesired, curState);
cout << "Last T: " << Tdesired.P() << "\n";
if (newQs.size()>0){
qDesired = newQs[0] * 180 / Pi;
//cout << "Q: " << qDesired << " - " << newQs[0] << "\n";
path.push_back(qDesired);
device->setQ(newQs[0], curState);
cout << "last Q: " << qDesired << "\n";
//cout << "AFTER: " << endl;
//transformToText("After: ", device->baseTend(curState));
//cout << "AFTER : " << device->baseTend(curState).P() << "\n";
//cout << "AFTER : " << device->baseTend(state).P() << "\n";
}
if (path.size() > 0){
for (int i = 0; i < (int) path.size(); i++){
if (force_angle){
path[i][6] += angle;
}
sendQs(path[i]);
}
return true;
}else{
return false;
}
}
tuple<double, double, double> pathPlannerFunc(double extend){
const string wcFile = "/home/student/ROVI/Mand2/Kr16WallWorkCell/Scene.wc.xml";
const string deviceName = "KukaKr16";
const string bottle = "Bottle";
Q from(6,-3.142,-0.827,-3.002,-3.143,0.099,-1.573);
Q to(6,1.571,0.006,0.030,0.153,0.762,4.490);
WorkCell::Ptr wc = WorkCellLoader::Factory::load(wcFile);
Device::Ptr device = wc->findDevice(deviceName);
rw::kinematics::Frame *deviceB = wc->findFrame(bottle);
if (device == NULL) {
cerr << "Device: " << deviceName << " not found!" << endl;
exit(-1);
}
if (deviceB == NULL) {
cerr << "Device: " << bottle << " not found!" << endl;
exit(-1);
}
rw::kinematics::State state = wc->getDefaultState();
device->setQ(from, state);
Kinematics::gripFrame(deviceB,device->getEnd(),state);
CollisionDetector detector(wc, ProximityStrategyFactory::makeDefaultCollisionStrategy());
PlannerConstraint constraint = PlannerConstraint::make(&detector,device,state);
QSampler::Ptr sampler = QSampler::makeConstrained(QSampler::makeUniform(device),constraint.getQConstraintPtr());
QMetric::Ptr metric = MetricFactory::makeEuclidean<Q>();
QToQPlanner::Ptr planner = RRTPlanner::makeQToQPlanner(constraint, sampler, metric, extend, RRTPlanner::RRTConnect);
if (!checkCollisions(device, state, detector, from))
exit(-1);
if (!checkCollisions(device, state, detector, to))
exit(-1);
PathAnalyzer::CartesianAnalysis distance_traveled;
double path_length = 0;
PathAnalyzer path_analyse(device,state);
QPath path;
Timer t;
t.resetAndResume();
planner->query(from,to,path,MAXTIME);
t.pause();
distance_traveled = path_analyse.analyzeCartesian(path,deviceB);
path_length += distance_traveled.length;
cout << extend<< "\tPath of length " << path.size() << " found in " << t.getTime() << " seconds." << endl;
if (t.getTime() >= MAXTIME) {
cout << "Notice: max time of " << MAXTIME << " seconds reached." << endl;
}
for (QPath::iterator it = path.begin(); it < path.end(); it++) {
cout << "set" << *it << endl;//"setQ" << bins.substr(3,bins.length()) << endl;
}
auto tmp = make_tuple(extend, path_length,t.getTime());
return tmp;
}