int ArmMotionCommander::rt_arm_plan_jspace_path_current_to_qgoal(Eigen::VectorXd q_des_vec) {
ROS_INFO("requesting a joint-space motion plan");
cart_goal_.command_code = cwru_action::cwru_baxter_cart_moveGoal::RT_ARM_PLAN_JSPACE_PATH_CURRENT_TO_QGOAL;
cart_goal_.q_goal_right.resize(7);
for (int i=0;i<7;i++) cart_goal_.q_goal_right[i] = q_des_vec[i]; //specify the goal js pose
cart_move_action_client_.sendGoal(cart_goal_, boost::bind(&ArmMotionCommander::doneCb_, this, _1, _2)); // we could also name additional callback functions here, if desired
finished_before_timeout_ = cart_move_action_client_.waitForResult(ros::Duration(2.0));
ROS_INFO("return code: %d",cart_result_.return_code);
if (!finished_before_timeout_) {
ROS_WARN("giving up waiting on result");
return (int) cwru_action::cwru_baxter_cart_moveResult::NOT_FINISHED_BEFORE_TIMEOUT;
}
ROS_INFO("finished before timeout");
if (cart_result_.return_code==cwru_action::cwru_baxter_cart_moveResult::RT_ARM_PATH_NOT_VALID) {
ROS_WARN("right arm plan not valid");
return (int) cart_result_.return_code;
}
if (cart_result_.return_code!=cwru_action::cwru_baxter_cart_moveResult::SUCCESS) {
ROS_WARN("unknown return code... not SUCCESS");
return (int) cart_result_.return_code;
}
//here if success return code
ROS_INFO("returned SUCCESS from planning request");
computed_arrival_time_= cart_result_.computed_arrival_time; //action_client.get_computed_arrival_time();
ROS_INFO("computed move time: %f",computed_arrival_time_);
return (int) cart_result_.return_code;
}
int ArmMotionCommander::rt_arm_plan_path_current_to_goal_pose(geometry_msgs::PoseStamped des_pose) {
ROS_INFO("requesting a cartesian-space motion plan");
cart_goal_.command_code = cwru_action::cwru_baxter_cart_moveGoal::RT_ARM_PLAN_PATH_CURRENT_TO_GOAL_POSE;
cart_goal_.des_pose_gripper_right = des_pose;
cart_move_action_client_.sendGoal(cart_goal_, boost::bind(&ArmMotionCommander::doneCb_, this, _1, _2)); // we could also name additional callback functions here, if desired
finished_before_timeout_ = cart_move_action_client_.waitForResult(ros::Duration(2.0));
ROS_INFO("return code: %d",cart_result_.return_code);
if (!finished_before_timeout_) {
ROS_WARN("giving up waiting on result");
return (int) cwru_action::cwru_baxter_cart_moveResult::NOT_FINISHED_BEFORE_TIMEOUT;
}
ROS_INFO("finished before timeout");
if (cart_result_.return_code==cwru_action::cwru_baxter_cart_moveResult::RT_ARM_PATH_NOT_VALID) {
ROS_WARN("right arm plan not valid");
return (int) cart_result_.return_code;
}
if (cart_result_.return_code!=cwru_action::cwru_baxter_cart_moveResult::SUCCESS) {
ROS_WARN("unknown return code... not SUCCESS");
return (int) cart_result_.return_code;
}
//here if success return code
ROS_INFO("returned SUCCESS from planning request");
computed_arrival_time_= cart_result_.computed_arrival_time; //action_client.get_computed_arrival_time();
ROS_INFO("computed move time: %f",computed_arrival_time_);
return (int) cart_result_.return_code;
}
int ArmMotionCommander::rt_arm_plan_path_current_to_goal_dp_xyz(Eigen::Vector3d dp_displacement) {
ROS_INFO("requesting a cartesian-space motion plan along vector");
cart_goal_.command_code = cwru_action::cwru_baxter_cart_moveGoal::RT_ARM_PLAN_PATH_CURRENT_TO_GOAL_DP_XYZ;
//must fill in desired vector displacement
cart_goal_.arm_dp_right.resize(3);
for (int i=0;i<3;i++) cart_goal_.arm_dp_right[i] = dp_displacement[i];
cart_move_action_client_.sendGoal(cart_goal_, boost::bind(&ArmMotionCommander::doneCb_, this, _1, _2)); // we could also name additional callback functions here, if desired
finished_before_timeout_ = cart_move_action_client_.waitForResult(ros::Duration(2.0));
ROS_INFO("return code: %d",cart_result_.return_code);
if (!finished_before_timeout_) {
ROS_WARN("giving up waiting on result");
return (int) cwru_action::cwru_baxter_cart_moveResult::NOT_FINISHED_BEFORE_TIMEOUT;
}
ROS_INFO("finished before timeout");
if (cart_result_.return_code==cwru_action::cwru_baxter_cart_moveResult::RT_ARM_PATH_NOT_VALID) {
ROS_WARN("right arm plan not valid");
return (int) cart_result_.return_code;
}
if (cart_result_.return_code!=cwru_action::cwru_baxter_cart_moveResult::SUCCESS) {
ROS_WARN("unknown return code... not SUCCESS");
return (int) cart_result_.return_code;
}
//here if success return code
ROS_INFO("returned SUCCESS from planning request");
computed_arrival_time_= cart_result_.computed_arrival_time; //action_client.get_computed_arrival_time();
ROS_INFO("computed move time: %f",computed_arrival_time_);
return (int) cart_result_.return_code;
}
int ArmMotionCommander::rt_arm_request_tool_pose_wrt_torso(void) {
// debug: compare this to output of:
//rosrun tf tf_echo torso yale_gripper_frame
ROS_INFO("requesting right-arm tool pose");
cart_goal_.command_code = cwru_action::cwru_baxter_cart_moveGoal::RT_ARM_GET_TOOL_POSE;
cart_move_action_client_.sendGoal(cart_goal_, boost::bind(&ArmMotionCommander::doneCb_, this, _1, _2)); // we could also name additional callback functions here, if desired
finished_before_timeout_ = cart_move_action_client_.waitForResult(ros::Duration(2.0));
if (!finished_before_timeout_) {
ROS_WARN("did not respond within timeout");
return (int) cwru_action::cwru_baxter_cart_moveResult::NOT_FINISHED_BEFORE_TIMEOUT;
}
if (cart_result_.return_code!=cwru_action::cwru_baxter_cart_moveResult::SUCCESS) {
ROS_WARN("move did not return success; code = %d",cart_result_.return_code);
return (int) cart_result_.return_code;
}
tool_pose_stamped_ = cart_result_.current_pose_gripper_right;
ROS_INFO("move returned success; right arm tool pose: ");
ROS_INFO("origin w/rt torso = %f, %f, %f ",tool_pose_stamped_.pose.position.x,
tool_pose_stamped_.pose.position.y,tool_pose_stamped_.pose.position.z);
ROS_INFO("quaternion x,y,z,w: %f, %f, %f, %f",tool_pose_stamped_.pose.orientation.x,
tool_pose_stamped_.pose.orientation.y,tool_pose_stamped_.pose.orientation.z,
tool_pose_stamped_.pose.orientation.w);
return (int) cart_result_.return_code;
}
MovePlatformAction() :
as_(n_, CARLOS_MOVE_ACTION, false), //movePlatform action SERVER
ac_planner_("/plan_action", true), // Planner action CLIENT
ac_control_("/control_action", true) // Controller action CLIENT
{
n_.param("/move_platform_server/debug", debug_, false);
std::string name = ROSCONSOLE_DEFAULT_NAME; //ros.carlos_motion_action_server
name = name + ".debug";
logger_name_ = "debug";
//logger is ros.carlos_motion_action_server.debug
if (debug_)
{
// if we use ROSCONSOLE_DEFAULT_NAME we'll get a ton of debug messages from actionlib which is annoying!!!
// so for debug we'll use a named logger
if(ros::console::set_logger_level(name, ros::console::levels::Debug)) //name
ros::console::notifyLoggerLevelsChanged();
}
else // if not DEBUG we want INFO
{
if(ros::console::set_logger_level(name, ros::console::levels::Info)) //name
ros::console::notifyLoggerLevelsChanged();
}
ROS_DEBUG_NAMED(logger_name_, "Starting Move Platform Server");
as_.registerGoalCallback(boost::bind(&MovePlatformAction::moveGoalCB, this));
as_.registerPreemptCallback(boost::bind(&MovePlatformAction::movePreemptCB, this));
//start the move server
as_.start();
ROS_DEBUG_NAMED(logger_name_, "Move Platform Action Server Started");
// now wait for the other servers (planner + controller) to start
ROS_WARN_NAMED(logger_name_, "Waiting for planner server to start");
ac_planner_.waitForServer();
ROS_INFO_STREAM_NAMED(logger_name_, "Planner server started: " << ac_planner_.isServerConnected());
ROS_WARN_NAMED(logger_name_, "Waiting for controller server to start");
ac_control_.waitForServer();
ROS_INFO_STREAM_NAMED(logger_name_, "Controller server started: " << ac_control_.isServerConnected());
n_.param("/carlos/fsm_frequency", frequency_, DEFAULT_STATE_FREQ);
state_pub_timer_ = n_.createTimer(frequency_, &MovePlatformAction::state_pub_timerCB, this);
state_pub_ = n_.advertise<mission_ctrl_msgs::hardware_state>(CARLOS_BASE_STATE_MSG,1);
planning_ = false;
controlling_ = false;
//set_terminal_state_;
ctrl_state_sub = n_.subscribe<std_msgs::String>("/oea_controller/controller_state", 5, &MovePlatformAction::control_stateCB, this);
planner_state_sub = n_.subscribe<std_msgs::UInt8>("/oea_planner/state", 5, &MovePlatformAction::planner_stateCB, this);
}
BlockManipulationAction() :
block_detection_action_("block_detection", true),
interactive_manipulation_action_("interactive_manipulation", true),
pick_and_place_action_("pick_and_place", true),
reset_arm_action_("reset_arm", true)
{
// Load parameters
nh_.param<std::string>("/block_manipulation_action_demo/arm_link", arm_link, "/base_link");
nh_.param<double>("/block_manipulation_action_demo/gripper_open", gripper_open, 0.042);
nh_.param<double>("/block_manipulation_action_demo/gripper_closed", gripper_closed, 0.024);
nh_.param<double>("/block_manipulation_action_demo/z_up", z_up, 0.12);
nh_.param<double>("/block_manipulation_action_demo/table_height", z_down, 0.01);
nh_.param<double>("/block_manipulation_action_demo/block_size", block_size, 0.03);
nh_.param<bool>("once", once, false);
ROS_INFO("Block size %f", block_size);
ROS_INFO("Table height %f", z_down);
// Initialize goals
block_detection_goal_.frame = arm_link;
block_detection_goal_.table_height = z_down;
block_detection_goal_.block_size = block_size;
pick_and_place_goal_.frame = arm_link;
pick_and_place_goal_.z_up = z_up;
pick_and_place_goal_.gripper_open = gripper_open;
pick_and_place_goal_.gripper_closed = gripper_closed;
pick_and_place_goal_.topic = pick_and_place_topic;
interactive_manipulation_goal_.block_size = block_size;
interactive_manipulation_goal_.frame = arm_link;
ROS_INFO("Finished initializing, waiting for servers...");
block_detection_action_.waitForServer();
ROS_INFO("Found block detection server.");
interactive_manipulation_action_.waitForServer();
ROS_INFO("Found interactive manipulation.");
pick_and_place_action_.waitForServer();
ROS_INFO("Found pick and place server.");
ROS_INFO("Found servers.");
reset_arm_action_.sendGoal(simple_arm_actions::ResetArmGoal());
ROS_INFO("Reseted arm action.");
detectBlocks();
}
void ArmMotionCommander::send_test_goal(void) {
ROS_INFO("sending a test goal");
cart_goal_.command_code = cwru_action::cwru_baxter_cart_moveGoal::ARM_TEST_MODE;
cart_move_action_client_.sendGoal(cart_goal_, boost::bind(&ArmMotionCommander::doneCb_, this, _1, _2)); // we could also name additional callback functions here, if desired
finished_before_timeout_ = cart_move_action_client_.waitForResult(ros::Duration(2.0));
//bool finished_before_timeout = action_client.waitForResult(); // wait forever...
if (!finished_before_timeout_) {
ROS_WARN("giving up waiting on result");
} else {
ROS_INFO("finished before timeout");
ROS_INFO("return code: %d",cart_result_.return_code);
}
}
int ArmMotionCommander::rt_arm_execute_planned_path(void) {
ROS_INFO("requesting execution of planned path");
cart_goal_.command_code = cwru_action::cwru_baxter_cart_moveGoal::RT_ARM_EXECUTE_PLANNED_PATH;
cart_move_action_client_.sendGoal(cart_goal_, boost::bind(&ArmMotionCommander::doneCb_, this, _1, _2)); // we could also name additional callback functions here, if desired
finished_before_timeout_ = cart_move_action_client_.waitForResult(ros::Duration(computed_arrival_time_+2.0));
if (!finished_before_timeout_) {
ROS_WARN("did not complete move in expected time");
return (int) cwru_action::cwru_baxter_cart_moveResult::NOT_FINISHED_BEFORE_TIMEOUT;
}
if (cart_result_.return_code!=cwru_action::cwru_baxter_cart_moveResult::SUCCESS) {
ROS_WARN("move did not return success; code = %d",cart_result_.return_code);
return (int) cart_result_.return_code;
}
ROS_INFO("move returned success");
return (int) cart_result_.return_code;
}
void turn() {
turtlebot_actions::TurtlebotMoveGoal goal;
goal.forward_distance = 0;
goal.turn_distance = M_PI;
action_client.waitForServer();
action_client.sendGoal(goal);
//wait for the action to return
bool finished_before_timeout = action_client.waitForResult(
ros::Duration(30.0));
if (finished_before_timeout) {
actionlib::SimpleClientGoalState state = action_client.getState();
ROS_INFO("Action finished: %s", state.toString().c_str());
} else
ROS_INFO("Action did not finish before the time out.");
}
//send goal command to request right-arm joint angles; these will be stored in internal variable
int ArmMotionCommander::rt_arm_request_q_data(void) {
ROS_INFO("requesting right-arm joint angles");
cart_goal_.command_code = cwru_action::cwru_baxter_cart_moveGoal::RT_ARM_GET_Q_DATA;
cart_move_action_client_.sendGoal(cart_goal_, boost::bind(&ArmMotionCommander::doneCb_, this, _1, _2)); // we could also name additional callback functions here, if desired
finished_before_timeout_ = cart_move_action_client_.waitForResult(ros::Duration(computed_arrival_time_+2.0));
if (!finished_before_timeout_) {
ROS_WARN("did not respond within timeout");
return (int) cwru_action::cwru_baxter_cart_moveResult::NOT_FINISHED_BEFORE_TIMEOUT;
}
if (cart_result_.return_code!=cwru_action::cwru_baxter_cart_moveResult::SUCCESS) {
ROS_WARN("move did not return success; code = %d",cart_result_.return_code);
return (int) cart_result_.return_code;
}
q_vec_ = cart_result_.q_arm_right;
ROS_INFO("move returned success; right arm angles: ");
ROS_INFO("%f; %f; %f; %f; %f; %f; %f",q_vec_[0],q_vec_[1],q_vec_[2],q_vec_[3],q_vec_[4],q_vec_[5],q_vec_[6]);
return (int) cart_result_.return_code;
}
/**
* @brief Preempt callback for the server, cancels the current running goal and all associated movement actions.
*/
void preemptCb(){
boost::unique_lock<boost::mutex> lock(move_client_lock_);
move_client_.cancelGoalsAtAndBeforeTime(ros::Time::now());
ROS_WARN("Current exploration task cancelled");
if(as_.isActive()){
as_.setPreempted();
}
}
// move platform server receives a new goal
void moveGoalCB()
{
set_terminal_state_ = true;
move_goal_.nav_goal = as_.acceptNewGoal()->nav_goal;
ROS_INFO_STREAM_NAMED(logger_name_, "Received Goal #" <<move_goal_.nav_goal.header.seq);
if (as_.isPreemptRequested() ||!ros::ok())
{
ROS_WARN_STREAM_NAMED(logger_name_, "Preempt Requested on goal #" << move_goal_.nav_goal.header.seq);
if (planning_)
ac_planner_.cancelGoalsAtAndBeforeTime(ros::Time::now());
if (controlling_)
ac_control_.cancelGoalsAtAndBeforeTime(ros::Time::now());
move_result_.result_state = 0;
move_result_.error_string = "Preempt Requested!!!";
as_.setPreempted(move_result_);
return;
}
// Convert move goal to plan goal
pose_goal_.pose_goal = move_goal_.nav_goal;
if (planner_state_sub.getNumPublishers()==0)
{
ROS_WARN_STREAM_NAMED(logger_name_, "Goal #" << move_goal_.nav_goal.header.seq << " not sent - planner is down");
planning_ = false;
move_result_.result_state = 0;
move_result_.error_string = "Planner is down";
as_.setAborted(move_result_);
}
else
{
ac_planner_.sendGoal(pose_goal_, boost::bind(&MovePlatformAction::planningDoneCB, this, _1, _2),
actionlib::SimpleActionClient<oea_planner::planAction>::SimpleActiveCallback(),
actionlib::SimpleActionClient<oea_planner::planAction>::SimpleFeedbackCallback());
planning_ = true;
ROS_DEBUG_STREAM_NAMED(logger_name_, "Goal #" << move_goal_.nav_goal.header.seq << " sent to planner");
}
return;
}
void planningDoneCB(const actionlib::SimpleClientGoalState& state, const oea_planner::planResultConstPtr &result)
{
planning_ = false;
ROS_DEBUG_STREAM_NAMED(logger_name_, "Plan Action finished: " << state.toString());
move_result_.result_state = result->result_state;
if (move_result_.result_state) //if plan OK
{
planned_path_goal_.plan_goal = result->planned_path; // goal for the controller is result of the planner
if (ctrl_state_sub.getNumPublishers()==0)
{
ROS_WARN_STREAM_NAMED(logger_name_, "Goal #" << move_goal_.nav_goal.header.seq << " not sent - Controller is down");
controlling_ = false;
move_result_.result_state = 0;
move_result_.error_string = "Controller is down!!!";
as_.setAborted(move_result_);
}
else
{
ac_control_.sendGoal(planned_path_goal_, boost::bind(&MovePlatformAction::ControlDoneCB, this, _1, _2),
actionlib::SimpleActionClient<oea_controller::controlPlatformAction>::SimpleActiveCallback(),
actionlib::SimpleActionClient<oea_controller::controlPlatformAction>::SimpleFeedbackCallback()); //boost::bind(&MovePlatformAction::ControlFeedbackCB, this,_1));
controlling_ = true;
ROS_DEBUG_STREAM_NAMED(logger_name_,"Goal #" << move_goal_.nav_goal.header.seq << " sent to Controller");
}
}
else //if plan NOT OK
{
ac_control_.cancelGoalsAtAndBeforeTime(ros::Time::now());
move_result_.error_string = "Planning Failed: " + result->error_string;
ROS_WARN_STREAM_NAMED(logger_name_, "Aborting because " << move_result_.error_string);
as_.setAborted(move_result_);
}
return;
}
void movePreemptCB()
{
ROS_WARN_STREAM_NAMED(logger_name_, "Preempt Requested");
if (planning_)
{
ROS_DEBUG_NAMED(logger_name_, "Planning - cancelling all plan goals");
ac_planner_.cancelGoalsAtAndBeforeTime(ros::Time::now());
}
if (controlling_)
{
ROS_DEBUG_NAMED(logger_name_, "Controlling - cancelling all ctrl goals");
ac_control_.cancelGoalsAtAndBeforeTime(ros::Time::now());
}
move_result_.result_state = 0;
move_result_.error_string = "Move Platform Preempt Request!";
as_.setPreempted(move_result_);
set_terminal_state_ = false;
return;
}
void pickAndPlace(const actionlib::SimpleClientGoalState& state, const InteractiveBlockManipulationResultConstPtr& result)
{
ROS_INFO("Got interactive marker callback. Picking and placing.");
if (state == actionlib::SimpleClientGoalState::SUCCEEDED)
ROS_INFO("Succeeded!");
else
{
ROS_INFO("Did not succeed! %s", state.toString().c_str());
ros::shutdown();
}
pick_and_place_action_.sendGoal(pick_and_place_goal_, boost::bind( &BlockManipulationAction::finish, this, _1, _2));
}
void addBlocks(const actionlib::SimpleClientGoalState& state, const BlockDetectionResultConstPtr& result)
{
ROS_INFO("Got block detection callback. Adding blocks.");
geometry_msgs::Pose block;
if (state == actionlib::SimpleClientGoalState::SUCCEEDED)
ROS_INFO("Succeeded!");
else
{
ROS_INFO("Did not succeed! %s", state.toString().c_str());
ros::shutdown();
}
interactive_manipulation_action_.sendGoal(interactive_manipulation_goal_, boost::bind( &BlockManipulationAction::pickAndPlace, this, _1, _2));
}
void ArmMotionInterface::execute_planned_move(void) {
if (!path_is_valid_) {
cart_result_.return_code = cwru_action::cwru_baxter_cart_moveResult::RT_ARM_PATH_NOT_VALID;
ROS_WARN("attempted to execute invalid path!");
cart_move_as_.setAborted(cart_result_); // tell the client we have given up on this goal; send the result message as well
}
// convert path to a trajectory:
//baxter_traj_streamer_.stuff_trajectory(optimal_path_, des_trajectory_); //convert from vector of poses to trajectory message
js_goal_.trajectory = des_trajectory_;
//computed_arrival_time_ = des_trajectory_.points.back().time_from_start.toSec();
ROS_INFO("sending action request to traj streamer node");
ROS_INFO("computed arrival time is %f", computed_arrival_time_);
busy_working_on_a_request_ = true;
traj_streamer_action_client_.sendGoal(js_goal_, boost::bind(&ArmMotionInterface::js_doneCb_, this, _1, _2)); // we could also name additional callback functions here, if desired
finished_before_timeout_ = traj_streamer_action_client_.waitForResult(ros::Duration(computed_arrival_time_ + 2.0));
if (!finished_before_timeout_) {
ROS_WARN("EXECUTE_PLANNED_PATH: giving up waiting on result");
cart_result_.return_code = cwru_action::cwru_baxter_cart_moveResult::NOT_FINISHED_BEFORE_TIMEOUT;
cart_move_as_.setSucceeded(cart_result_); //could say "aborted"
} else {
ROS_INFO("finished before timeout");
cart_result_.return_code = cwru_action::cwru_baxter_cart_moveResult::SUCCESS;
cart_move_as_.setSucceeded(cart_result_);
}
path_is_valid_ = false; // reset--require new path before next move
busy_working_on_a_request_ = false;
//save the last point commanded, for future reference
std::vector <double> last_pt;
last_pt = des_trajectory_.points.back().positions;
int njnts = last_pt.size();
for (int i=0;i<njnts;i++) {
last_arm_jnt_cmd_right_[i] = last_pt[i];
}
}
void move_straight() {
float current_angle = 0;
float desired_angle = 0;
/*
if (map->frames.size() > 0) {
Sophus::SE3f position =
map->frames[map->frames.size() - 1]->get_pos();
Eigen::Vector3f current_heading = position.unit_quaternion()
* Eigen::Vector3f::UnitZ();
current_angle = std::atan2(-current_heading(1), current_heading(0));
desired_angle = std::asin(position.translation()(1)/10.0);
}*/
turtlebot_actions::TurtlebotMoveGoal goal;
goal.forward_distance = 25.0;
goal.turn_distance = current_angle - desired_angle;
action_client.waitForServer();
action_client.sendGoal(goal);
//wait for the action to return
bool finished_before_timeout = action_client.waitForResult(
ros::Duration(500.0));
if (finished_before_timeout) {
actionlib::SimpleClientGoalState state = action_client.getState();
ROS_INFO("Action finished: %s", state.toString().c_str());
} else
ROS_INFO("Action did not finish before the time out.");
map->save("corridor_map");
}
void finish(const actionlib::SimpleClientGoalState& state, const PickAndPlaceResultConstPtr& result)
{
ROS_INFO("Got pick and place callback. Finished!");
if (state == actionlib::SimpleClientGoalState::SUCCEEDED)
ROS_INFO("Succeeded!");
else
ROS_INFO("Did not succeed! %s", state.toString().c_str());
reset_arm_action_.sendGoal(simple_arm_actions::ResetArmGoal());
if (once)
ros::shutdown();
else
detectBlocks();
}
void actualizeGoal(ros::NodeHandle& nh,
actionlib::SimpleActionClient<arm_navigation_msgs::MoveArmAction>& client,
arm_navigation_msgs::MoveArmGoal goal) {
if (nh.ok())
{
bool finished_within_time = false;
client.sendGoal(goal);
finished_within_time = client.waitForResult(ros::Duration(200.0));
if (!finished_within_time)
{
client.cancelGoal();
ROS_INFO("Timed out achieving goal");
}
else
{
actionlib::SimpleClientGoalState state = client.getState();
bool success = (state == actionlib::SimpleClientGoalState::SUCCEEDED);
if(success)
ROS_INFO("Action finished: %s",state.toString().c_str());
else
ROS_INFO("Action failed: %s",state.toString().c_str());
}
}
}
PickAndPlaceServer(const std::string name) :
nh_("~"), as_(name, false), action_name_(name), client_("/move_right_arm", true)
{
//register the goal and feeback callbacks
as_.registerGoalCallback(boost::bind(&PickAndPlaceServer::goalCB, this));
as_.registerPreemptCallback(boost::bind(&PickAndPlaceServer::preemptCB, this));
as_.start();
client_.waitForServer();
ROS_INFO("Connected to server");
gripper = nh_.advertise<std_msgs::Float64>("/parallel_gripper_controller/command", 1, false);
}
void feedback_callback(const visualization_msgs::InteractiveMarkerFeedbackConstPtr& feedback)
{
if (feedback->event_type ==
visualization_msgs::InteractiveMarkerFeedback::MOUSE_UP)
{
geometry_msgs::Pose identity_pose;
identity_pose.orientation.w = 1.0;
server_->setPose( feedback->marker_name, identity_pose);
server_->applyChanges();
if(feedback->marker_name.compare(left_ee_semantics_.get_name()) == 0)
{
// TODO: turn this into a separate function, too
goal_.command.left_ee.goal_pose.header = feedback->header;
goal_.command.left_ee.goal_pose.pose = feedback->pose;
goal_.command.left_ee.type = giskard_msgs::ArmCommand::CARTESIAN_GOAL;
goal_.command.left_ee.convergence_thresholds = left_ee_semantics_.get_thresholds();
goal_.command.right_ee = create_identity_goal(right_ee_semantics_);
}
else if (feedback->marker_name.compare(right_ee_semantics_.get_name()) == 0)
{
// TODO: turn this into a separate function, too
goal_.command.right_ee.goal_pose.header = feedback->header;
goal_.command.right_ee.goal_pose.pose = feedback->pose;
goal_.command.right_ee.type = giskard_msgs::ArmCommand::CARTESIAN_GOAL;
goal_.command.right_ee.convergence_thresholds = right_ee_semantics_.get_thresholds();
goal_.command.left_ee = create_identity_goal(left_ee_semantics_);
}
else
{
ROS_ERROR("Could not associate marker with name '%s' to any bodypart.", feedback->marker_name.c_str());
return;
}
client_.sendGoal(goal_);
}
}
void pickAndPlace(const geometry_msgs::Pose& start_pose, const geometry_msgs::Pose& end_pose)
{
ROS_INFO("[pick and place] Picking. Also placing.");
simple_arm_server::MoveArmGoal goal;
simple_arm_server::ArmAction action;
simple_arm_server::ArmAction grip;
/* open gripper */
grip.type = simple_arm_server::ArmAction::MOVE_GRIPPER;
grip.move_time.sec = 1.0;
grip.command = gripper_open;
goal.motions.push_back(grip);
/* arm straight up */
tf::Quaternion temp;
temp.setRPY(0,1.57,0);
action.goal.orientation.x = temp.getX();
action.goal.orientation.y = temp.getY();
action.goal.orientation.z = temp.getZ();
action.goal.orientation.w = temp.getW();
/* hover over */
action.goal.position.x = start_pose.position.x;
action.goal.position.y = start_pose.position.y;
action.goal.position.z = z_up;
action.move_time.sec = 0.25;
goal.motions.push_back(action);
/* go down */
action.goal.position.z = start_pose.position.z;
action.move_time.sec = 1.5;
goal.motions.push_back(action);
/* close gripper */
grip.type = simple_arm_server::ArmAction::MOVE_GRIPPER;
grip.command = gripper_closed;
grip.move_time.sec = 1.0;
goal.motions.push_back(grip);
/* go up */
action.goal.position.z = z_up;
action.move_time.sec = 1.0;
goal.motions.push_back(action);
/* hover over */
action.goal.position.x = end_pose.position.x;
action.goal.position.y = end_pose.position.y;
action.goal.position.z = z_up;
action.move_time.sec = 1.0;
goal.motions.push_back(action);
/* go down */
action.goal.position.z = end_pose.position.z;
action.move_time.sec = 1.5;
goal.motions.push_back(action);
/* open gripper */
grip.command = gripper_open;
goal.motions.push_back(grip);
/* go up */
action.goal.position.z = z_up;
action.move_time.sec = 1.0;
goal.motions.push_back(action);
goal.header.frame_id = arm_link;
client_.sendGoal(goal);
ROS_INFO("[pick and place] Sent goal. Waiting.");
client_.waitForResult(ros::Duration(30.0));
ROS_INFO("[pick and place] Received result.");
if (client_.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
as_.setSucceeded(result_);
else
{
ROS_INFO("Actual state: %s", client_.getState().toString().c_str());
as_.setAborted(result_);
}
}
void CartMoveActionServer::executeCB(const actionlib::SimpleActionServer<cwru_action::cart_moveAction>::GoalConstPtr& goal) {
ROS_INFO("in executeCB of CartMoveActionServer");
cart_result_.err_code=0;
cart_move_as_.isActive();
//unpack the necessary info:
gripper_ang1_ = goal->gripper_jaw_angle1;
gripper_ang2_ = goal->gripper_jaw_angle2;
arrival_time_ = goal->move_time;
// interpret the desired gripper poses:
geometry_msgs::PoseStamped des_pose_gripper1 = goal->des_pose_gripper1;
geometry_msgs::PoseStamped des_pose_gripper2 = goal->des_pose_gripper2;
// convert the above to affine objects:
des_gripper1_affine_wrt_lcamera_ = transformPoseToEigenAffine3d(des_pose_gripper1.pose);
cout<<"gripper1 desired pose; "<<endl;
cout<<des_gripper1_affine_wrt_lcamera_.linear()<<endl;
cout<<"origin: "<<des_gripper1_affine_wrt_lcamera_.translation().transpose()<<endl;
des_gripper2_affine_wrt_lcamera_ = transformPoseToEigenAffine3d(des_pose_gripper2.pose);
cout<<"gripper2 desired pose; "<<endl;
cout<<des_gripper2_affine_wrt_lcamera_.linear()<<endl;
cout<<"origin: "<<des_gripper2_affine_wrt_lcamera_.translation().transpose()<<endl;
//do IK to convert these to joint angles:
//Eigen::VectorXd q_vec1,q_vec2;
Vectorq7x1 q_vec1,q_vec2;
q_vec1.resize(7);
q_vec2.resize(7);
trajectory_msgs::JointTrajectory des_trajectory; // an empty trajectory
des_trajectory.points.clear(); // can clear components, but not entire trajectory_msgs
des_trajectory.joint_names.clear(); //could put joint names in...but I assume a fixed order and fixed size, so this is unnecessary
// if using wsn's trajectory streamer action server
des_trajectory.header.stamp = ros::Time::now();
trajectory_msgs::JointTrajectoryPoint trajectory_point; //,trajectory_point2;
trajectory_point.positions.resize(14);
ROS_INFO("\n");
ROS_INFO("stored previous command to gripper one: ");
cout<<gripper1_affine_last_commanded_pose_.linear()<<endl;
cout<<"origin: "<<gripper1_affine_last_commanded_pose_.translation().transpose()<<endl;
// first, reiterate previous command:
// this could be easier, if saved previous joint-space trajectory point...
des_gripper_affine1_ = affine_lcamera_to_psm_one_.inverse()*gripper1_affine_last_commanded_pose_; //previous pose
ik_solver_.ik_solve(des_gripper_affine1_); //convert desired pose into equiv joint displacements
q_vec1 = ik_solver_.get_soln();
q_vec1(6) = last_gripper_ang1_; // include desired gripper opening angle
des_gripper_affine2_ = affine_lcamera_to_psm_two_.inverse()*gripper2_affine_last_commanded_pose_; //previous pose
ik_solver_.ik_solve(des_gripper_affine2_); //convert desired pose into equiv joint displacements
q_vec2 = ik_solver_.get_soln();
cout<<"q_vec1 of stored pose: "<<endl;
for (int i=0;i<6;i++) {
cout<<q_vec1[i]<<", ";
}
cout<<endl;
q_vec2(6) = last_gripper_ang2_; // include desired gripper opening angle
for (int i=0;i<7;i++) {
trajectory_point.positions[i] = q_vec1(i);
trajectory_point.positions[i+7] = q_vec2(i);
}
cout<<"start traj pt: "<<endl;
for (int i=0;i<14;i++) {
cout<<trajectory_point.positions[i]<<", ";
}
cout<<endl;
trajectory_point.time_from_start = ros::Duration(0.0); // start time set to 0
// PUSH IN THE START POINT:
des_trajectory.points.push_back(trajectory_point);
// compute and append the goal point, in joint space trajectory:
des_gripper_affine1_ = affine_lcamera_to_psm_one_.inverse()*des_gripper1_affine_wrt_lcamera_;
ROS_INFO("desired gripper one location in base frame: ");
cout<<"gripper1 desired pose; "<<endl;
cout<<des_gripper_affine1_.linear()<<endl;
cout<<"origin: "<<des_gripper_affine1_.translation().transpose()<<endl;
ik_solver_.ik_solve(des_gripper_affine1_); //convert desired pose into equiv joint displacements
q_vec1 = ik_solver_.get_soln();
q_vec1(6) = gripper_ang1_; // include desired gripper opening angle
des_gripper_affine2_ = affine_lcamera_to_psm_two_.inverse()*des_gripper2_affine_wrt_lcamera_;
ik_solver_.ik_solve(des_gripper_affine2_); //convert desired pose into equiv joint displacements
q_vec2 = ik_solver_.get_soln();
cout<<"q_vec1 of goal pose: "<<endl;
for (int i=0;i<6;i++) {
cout<<q_vec1[i]<<", ";
}
cout<<endl;
q_vec2(6) = gripper_ang2_;
for (int i=0;i<7;i++) {
trajectory_point.positions[i] = q_vec1(i);
trajectory_point.positions[i+7] = q_vec2(i);
}
trajectory_point.time_from_start = ros::Duration(arrival_time_);
cout<<"goal traj pt: "<<endl;
for (int i=0;i<14;i++) {
cout<<trajectory_point.positions[i]<<", ";
}
cout<<endl;
des_trajectory.points.push_back(trajectory_point);
js_goal_.trajectory = des_trajectory;
// Need boost::bind to pass in the 'this' pointer
// see example: http://library.isr.ist.utl.pt/docs/roswiki/actionlib_tutorials%282f%29Tutorials%282f%29Writing%2820%29a%2820%29Callback%2820%29Based%2820%29Simple%2820%29Action%2820%29Client.html
// ac.sendGoal(goal,
// boost::bind(&MyNode::doneCb, this, _1, _2),
// Client::SimpleActiveCallback(),
// Client::SimpleFeedbackCallback());
js_action_client_.sendGoal(js_goal_, boost::bind(&CartMoveActionServer::js_doneCb_,this,_1,_2)); // we could also name additional callback functions here, if desired
// action_client.sendGoal(goal, &doneCb, &activeCb, &feedbackCb); //alt--more callback funcs possible
double t_timeout=arrival_time_+2.0; //wait 2 sec longer than expected duration of move
bool finished_before_timeout = js_action_client_.waitForResult(ros::Duration(t_timeout));
//bool finished_before_timeout = action_client.waitForResult(); // wait forever...
if (!finished_before_timeout) {
ROS_WARN("joint-space interpolation result is overdue ");
} else {
ROS_INFO("finished before timeout");
}
ROS_INFO("completed callback" );
cart_move_as_.setSucceeded(cart_result_); // tell the client that we were successful acting on the request, and return the "result" message
//let's remember the last pose commanded, so we can use it as start pose for next move
gripper1_affine_last_commanded_pose_ = des_gripper1_affine_wrt_lcamera_;
gripper2_affine_last_commanded_pose_ = des_gripper2_affine_wrt_lcamera_;
//and the jaw opening angles:
last_gripper_ang1_=gripper_ang1_;
last_gripper_ang2_=gripper_ang2_;
}
bool executeGrasps(const std::vector<manipulation_msgs::Grasp>& possible_grasps,
const geometry_msgs::Pose& block_pose)
{
ROS_INFO_STREAM_NAMED("pick_place_moveit","Creating Pickup Goal");
// ---------------------------------------------------------------------------------------------
// Create PlanningOptions
moveit_msgs::PlanningOptions options;
// The diff to consider for the planning scene (optional)
//PlanningScene planning_scene_diff
// If this flag is set to true, the action
// returns an executable plan in the response but does not attempt execution
options.plan_only = false;
// If this flag is set to true, the action of planning &
// executing is allowed to look around (move sensors) if
// it seems that not enough information is available about
// the environment
options.look_around = false;
// If this value is positive, the action of planning & executing
// is allowed to look around for a maximum number of attempts;
// If the value is left as 0, the default value is used, as set
// with dynamic_reconfigure
//int32 look_around_attempts
// If set and if look_around is true, this value is used as
// the maximum cost allowed for a path to be considered executable.
// If the cost of a path is higher than this value, more sensing or
// a new plan needed. If left as 0.0 but look_around is true, then
// the default value set via dynamic_reconfigure is used
//float64 max_safe_execution_cost
// If the plan becomes invalidated during execution, it is possible to have
// that plan recomputed and execution restarted. This flag enables this
// functionality
options.replan = false;
// The maximum number of replanning attempts
//int32 replan_attempts
// ---------------------------------------------------------------------------------------------
// Create and populate the goal
moveit_msgs::PickupGoal goal;
// An action for picking up an object
// The name of the object to pick up (as known in the planning scene)
goal.target_name = chosen_block_object_.id;
// which group should be used to plan for pickup
goal.group_name = PLANNING_GROUP_NAME;
// which end-effector to be used for pickup (ideally descpending from the group above)
goal.end_effector = EE_NAME;
// a list of possible grasps to be used. At least one grasp must be filled in
goal.possible_grasps.resize(possible_grasps.size());
goal.possible_grasps = possible_grasps;
// the name that the support surface (e.g. table) has in the collision map
// can be left empty if no name is available
//string collision_support_surface_name
// whether collisions between the gripper and the support surface should be acceptable
// during move from pre-grasp to grasp and during lift. Collisions when moving to the
// pre-grasp location are still not allowed even if this is set to true.
goal.allow_gripper_support_collision = true;
// The names of the links the object to be attached is allowed to touch;
// If this is left empty, it defaults to the links in the used end-effector
//string[] attached_object_touch_links
// Optional constraints to be imposed on every point in the motion plan
//Constraints path_constraints
// an optional list of obstacles that we have semantic information about
// and that can be touched/pushed/moved in the course of grasping;
// CAREFUL: If the object name 'all' is used, collisions with all objects are disabled during the approach & lift.
//string[] allowed_touch_objects
// The maximum amount of time the motion planner is allowed to plan for
goal.allowed_planning_time = 10.0; // seconds?
// Planning options
goal.planning_options = options;
//ROS_INFO_STREAM_NAMED("pick_place_moveit","Pause");
//ros::Duration(5.0).sleep();
// ---------------------------------------------------------------------------------------------
// Send the grasp to move_group/Pickup
ROS_INFO_STREAM_NAMED("pick_place_moveit","Sending pick action to move_group/Pickup");
movegroup_action_.sendGoal(goal);
if(!movegroup_action_.waitForResult(ros::Duration(20.0)))
{
ROS_INFO_STREAM_NAMED("pick_place_moveit","Returned early?");
return false;
}
if (movegroup_action_.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
{
ROS_INFO_STREAM_NAMED("pick_place_moveit","Plan successful!");
}
else
{
ROS_ERROR_STREAM_NAMED("pick_place_moveit","FAILED: " << movegroup_action_.getState().toString() << ": " << movegroup_action_.getState().getText());
return false;
}
return true;
}
// Constructor
PickPlaceMoveItServer(const std::string name):
nh_("~"),
movegroup_action_("pickup", true),
clam_arm_client_("clam_arm", true),
ee_marker_is_loaded_(false),
block_published_(false),
action_server_(name, false)
{
base_link_ = "/base_link";
// -----------------------------------------------------------------------------------------------
// Adding collision objects
collision_obj_pub_ = nh_.advertise<moveit_msgs::CollisionObject>(COLLISION_TOPIC, 1);
// -----------------------------------------------------------------------------------------------
// Connect to move_group/Pickup action server
while(!movegroup_action_.waitForServer(ros::Duration(4.0))){ // wait for server to start
ROS_INFO_STREAM_NAMED("pick_place_moveit","Waiting for the move_group/Pickup action server");
}
// ---------------------------------------------------------------------------------------------
// Connect to ClamArm action server
while(!clam_arm_client_.waitForServer(ros::Duration(5.0))){ // wait for server to start
ROS_INFO_STREAM_NAMED("pick_place_moveit","Waiting for the clam_arm action server");
}
// ---------------------------------------------------------------------------------------------
// Create planning scene monitor
planning_scene_monitor_.reset(new planning_scene_monitor::PlanningSceneMonitor(ROBOT_DESCRIPTION));
if (planning_scene_monitor_->getPlanningScene())
{
//planning_scene_monitor_->startWorldGeometryMonitor();
//planning_scene_monitor_->startSceneMonitor("/move_group/monitored_planning_scene");
//planning_scene_monitor_->startStateMonitor("/joint_states", "/attached_collision_object");
}
else
{
ROS_FATAL_STREAM_NAMED("pick_place_moveit","Planning scene not configured");
}
// ---------------------------------------------------------------------------------------------
// Load the Robot Viz Tools for publishing to Rviz
rviz_tools_.reset(new block_grasp_generator::RobotVizTools(RVIZ_MARKER_TOPIC, EE_GROUP, PLANNING_GROUP_NAME, base_link_, planning_scene_monitor_));
// ---------------------------------------------------------------------------------------------
// Register the goal and preempt callbacks
action_server_.registerGoalCallback(boost::bind(&PickPlaceMoveItServer::goalCB, this));
action_server_.registerPreemptCallback(boost::bind(&PickPlaceMoveItServer::preemptCB, this));
action_server_.start();
// Announce state
ROS_INFO_STREAM_NAMED("pick_place_moveit", "Server ready.");
ROS_INFO_STREAM_NAMED("pick_place_moveit", "Waiting for pick command...");
// ---------------------------------------------------------------------------------------------
// Send home
ROS_INFO_STREAM_NAMED("pick_place_moveit","Sending home");
clam_arm_goal_.command = clam_msgs::ClamArmGoal::RESET;
clam_arm_client_.sendGoal(clam_arm_goal_);
while(!clam_arm_client_.getState().isDone() && ros::ok())
ros::Duration(0.1).sleep();
// ---------------------------------------------------------------------------------------------
// Send fake command
fake_goalCB();
}
void detectBlocks()
{
block_detection_action_.sendGoal(block_detection_goal_, boost::bind( &BlockManipulationAction::addBlocks, this, _1, _2));
}
void executeCb(const frontier_exploration::ExploreTaskGoalConstPtr &goal)
{
success_ = false;
moving_ = false;
explore_costmap_ros_->resetLayers();
//create costmap services
ros::ServiceClient updateBoundaryPolygon = private_nh_.serviceClient<frontier_exploration::UpdateBoundaryPolygon>("explore_costmap/explore_boundary/update_boundary_polygon");
ros::ServiceClient getNextFrontier = private_nh_.serviceClient<frontier_exploration::GetNextFrontier>("explore_costmap/explore_boundary/get_next_frontier");
//wait for move_base and costmap services
if(!move_client_.waitForServer() || !updateBoundaryPolygon.waitForExistence() || !getNextFrontier.waitForExistence()){
as_.setAborted();
return;
}
//set region boundary on costmap
if(ros::ok() && as_.isActive()){
frontier_exploration::UpdateBoundaryPolygon srv;
srv.request.explore_boundary = goal->explore_boundary;
if(updateBoundaryPolygon.call(srv)){
ROS_INFO("Region boundary set");
}else{
ROS_ERROR("Failed to set region boundary");
as_.setAborted();
return;
}
}
//loop until all frontiers are explored
ros::Rate rate(frequency_);
while(ros::ok() && as_.isActive()){
frontier_exploration::GetNextFrontier srv;
//placeholder for next goal to be sent to move base
geometry_msgs::PoseStamped goal_pose;
//get current robot pose in frame of exploration boundary
tf::Stamped<tf::Pose> robot_pose;
explore_costmap_ros_->getRobotPose(robot_pose);
//provide current robot pose to the frontier search service request
tf::poseStampedTFToMsg(robot_pose,srv.request.start_pose);
//evaluate if robot is within exploration boundary using robot_pose in boundary frame
geometry_msgs::PoseStamped eval_pose = srv.request.start_pose;
if(eval_pose.header.frame_id != goal->explore_boundary.header.frame_id){
tf_listener_.transformPose(goal->explore_boundary.header.frame_id, srv.request.start_pose, eval_pose);
}
//check if robot is not within exploration boundary and needs to return to center of search area
if(goal->explore_boundary.polygon.points.size() > 0 && !pointInPolygon(eval_pose.pose.position,goal->explore_boundary.polygon)){
//check if robot has explored at least one frontier, and promote debug message to warning
if(success_){
ROS_WARN("Robot left exploration boundary, returning to center");
}else{
ROS_DEBUG("Robot not initially in exploration boundary, traveling to center");
}
//get current robot position in frame of exploration center
geometry_msgs::PointStamped eval_point;
eval_point.header = eval_pose.header;
eval_point.point = eval_pose.pose.position;
if(eval_point.header.frame_id != goal->explore_center.header.frame_id){
geometry_msgs::PointStamped temp = eval_point;
tf_listener_.transformPoint(goal->explore_center.header.frame_id, temp, eval_point);
}
//set goal pose to exploration center
goal_pose.header = goal->explore_center.header;
goal_pose.pose.position = goal->explore_center.point;
goal_pose.pose.orientation = tf::createQuaternionMsgFromYaw( yawOfVector(eval_point.point, goal->explore_center.point) );
}else if(getNextFrontier.call(srv)){ //if in boundary, try to find next frontier to search
ROS_DEBUG("Found frontier to explore");
success_ = true;
goal_pose = feedback_.next_frontier = srv.response.next_frontier;
retry_ = 5;
}else{ //if no frontier found, check if search is successful
ROS_DEBUG("Couldn't find a frontier");
//search is succesful
if(retry_ == 0 && success_){
ROS_WARN("Finished exploring room");
as_.setSucceeded();
boost::unique_lock<boost::mutex> lock(move_client_lock_);
move_client_.cancelGoalsAtAndBeforeTime(ros::Time::now());
return;
}else if(retry_ == 0 || !ros::ok()){ //search is not successful
ROS_ERROR("Failed exploration");
as_.setAborted();
return;
}
ROS_DEBUG("Retrying...");
retry_--;
//try to find frontier again, without moving robot
continue;
}
//if above conditional does not escape this loop step, search has a valid goal_pose
//check if new goal is close to old goal, hence no need to resend
if(!moving_ || !pointsNearby(move_client_goal_.target_pose.pose.position,goal_pose.pose.position,goal_aliasing_*0.5)){
ROS_DEBUG("New exploration goal");
move_client_goal_.target_pose = goal_pose;
boost::unique_lock<boost::mutex> lock(move_client_lock_);
if(as_.isActive()){
move_client_.sendGoal(move_client_goal_, boost::bind(&FrontierExplorationServer::doneMovingCb, this, _1, _2),0,boost::bind(&FrontierExplorationServer::feedbackMovingCb, this, _1));
moving_ = true;
}
lock.unlock();
}
//check if continuous goal updating is enabled
if(frequency_ > 0){
//sleep for specified frequency and then continue searching
rate.sleep();
}else{
//wait for movement to finish before continuing
while(ros::ok() && as_.isActive() && moving_){
ros::WallDuration(0.1).sleep();
}
}
}
//goal should never be active at this point
ROS_ASSERT(!as_.isActive());
}
void TaskActionServer::executeCB(const actionlib::SimpleActionServer<coordinator::ManipTaskAction>::GoalConstPtr& goal) {
ROS_INFO("in executeCB: received manipulation task");
goal_action_code_ = goal->action_code; //verbatim from received goal
action_code_ = goal->action_code; //init: this value changes as state machine advances through steps
ROS_INFO("requested action code is: %d", goal_action_code_);
//if action code is "MANIP_OBJECT", need to go through a sequence of action codes
//otherwise, action code is a simple action code, and can use it as-is
/*
if (goal_action_code_ == coordinator::ManipTaskGoal::MANIP_OBJECT) {
//if command is for manip, then we can expect an object code, perception source and dropoff pose
object_code_ = goal->object_code; //what type of object is this?
perception_source_ = goal->perception_source; //name sensor or provide coords
dropoff_pose_ = goal->dropoff_frame;
ROS_INFO("object code is: %d", object_code_);
ROS_INFO("perception_source is: %d", goal->perception_source);
//if (object_code_ == coordinator::ManipTaskGoal::TOY_BLOCK) {
if (object_code_ == ObjectIdCodes::TOY_BLOCK_ID) {
vision_object_code_ = object_code_; //same code;
ROS_INFO("using object-finder object code %d", vision_object_code_);
pickup_action_code_ = object_grabber::object_grabberGoal::GRAB_TOY_BLOCK;
dropoff_action_code_ = object_grabber::object_grabberGoal::PLACE_TOY_BLOCK;
//start the state machine with perceptual processing task:
action_code_ = coordinator::ManipTaskGoal::GET_PICKUP_POSE;
} else {
ROS_WARN("unknown object type in manipulation action");
as_.setAborted(result_);
}
} else if (goal_action_code_ == coordinator::ManipTaskGoal::DROPOFF_OBJECT) {
object_code_ = goal->object_code; //what type of object is this?
*/
if (goal_action_code_ == coordinator::ManipTaskGoal::DROPOFF_OBJECT) {
object_code_ = goal->object_code; //what type of object is this?
} else if (goal_action_code_ == coordinator::ManipTaskGoal::GRAB_OBJECT) {
object_code_ = goal->object_code; //what type of object is this?
ROS_INFO("object code is: %d", object_code_);
if (goal->perception_source == coordinator::ManipTaskGoal::BLIND_MANIP) {
ROS_INFO("blind manipulation; using provided pick-up pose");
pickup_pose_ = goal->pickup_frame;
}
} else if (goal_action_code_ == coordinator::ManipTaskGoal::GET_PICKUP_POSE) {
ROS_INFO("object code is: %d", object_code_);
ROS_INFO("perception_source is: %d", goal->perception_source);
object_code_ = goal->object_code; //what type of object is this?
perception_source_ = goal->perception_source; //name sensor or provide coords
vision_object_code_ = object_code_; //same code
}
status_code_ = coordinator::ManipTaskFeedback::RECEIVED_NEW_TASK; //coordinator::ManipTaskFeedback::RECEIVED_NEW_TASK;
working_on_task_ = true;
//do work here
while (working_on_task_) { //coordinator::ManipTaskResult::MANIP_SUCCESS) {
feedback_.feedback_status = status_code_;
as_.publishFeedback(feedback_);
//ROS_INFO("executeCB: status_code = %d", status_code_);
// each iteration, check if cancellation has been ordered
if (as_.isPreemptRequested()) {
ROS_WARN("goal cancelled!");
result_.manip_return_code = coordinator::ManipTaskResult::ABORTED;
action_code_ = coordinator::ManipTaskGoal::NO_CURRENT_TASK;
status_code_ = coordinator::ManipTaskFeedback::ABORTED;
working_on_task_ = false;
as_.setAborted(result_); // tell the client we have given up on this goal; send the result message as well
return; // done with callback
}
//here is where we step through states:
switch (action_code_) {
case coordinator::ManipTaskGoal::FIND_TABLE_SURFACE:
ROS_INFO("serving request to find table surface");
found_object_code_ = object_finder::objectFinderResult::OBJECT_FINDER_BUSY;
object_finder_goal_.object_id = ObjectIdCodes::TABLE_SURFACE;
//vision_object_code_;
object_finder_goal_.known_surface_ht = false; //require find table height
//object_finder_goal_.surface_ht = 0.05; //this is ignored for known_surface_ht=false
object_finder_ac_.sendGoal(object_finder_goal_,
boost::bind(&TaskActionServer::objectFinderDoneCb_, this, _1, _2));
action_code_ = coordinator::ManipTaskGoal::WAIT_FIND_TABLE_SURFACE;
ROS_INFO("executeCB: action_code, status_code = %d, %d", action_code_, status_code_);
ROS_INFO("waiting on perception");
break;
case coordinator::ManipTaskGoal::WAIT_FIND_TABLE_SURFACE:
if (found_object_code_ == object_finder::objectFinderResult::OBJECT_FOUND) {
ROS_INFO("surface-finder success");
surface_height_ = pickup_pose_.pose.position.z; // table-top height, as found by object_finder
found_surface_height_ = true;
ROS_INFO("found table ht = %f", surface_height_);
as_.setSucceeded(result_); // return the "result" message to client, along with "success" status
return; //done w/ callback
} else if (found_object_code_ == object_finder::objectFinderResult::OBJECT_FINDER_BUSY) {
//ROS_INFO("waiting on perception"); //do nothing
} else {
ROS_WARN("object-finder failure; aborting");
action_code_ = coordinator::ManipTaskGoal::ABORT;
result_.manip_return_code = coordinator::ManipTaskResult::FAILED_PERCEPTION;
found_surface_height_ = false;
}
break;
case coordinator::ManipTaskGoal::GET_PICKUP_POSE:
ROS_INFO("establishing pick-up pose");
if (perception_source_ == coordinator::ManipTaskGoal::BLIND_MANIP) {
ROS_INFO("blind manipulation; using provided pick-up pose");
pickup_pose_ = goal->pickup_frame;
result_.object_pose = pickup_pose_;
//done with perception, but do fake waiting anyway
//declare victor on finding object
found_object_code_ = object_finder::objectFinderResult::OBJECT_FOUND;
action_code_ = coordinator::ManipTaskGoal::WAIT_FOR_FINDER;
status_code_ = coordinator::ManipTaskFeedback::PERCEPTION_BUSY;
} else if (perception_source_ == coordinator::ManipTaskGoal::PCL_VISION) {
ROS_INFO("invoking object finder");
found_object_code_ = object_finder::objectFinderResult::OBJECT_FINDER_BUSY;
ROS_INFO("instructing finder to locate object %d", vision_object_code_);
object_finder_goal_.object_id = vision_object_code_;
if (found_surface_height_) {
object_finder_goal_.known_surface_ht = true;
object_finder_goal_.surface_ht = surface_height_;
ROS_INFO("using surface ht = %f", surface_height_);
} else {
object_finder_goal_.known_surface_ht = false; //require find table height
//object_finder_goal_.surface_ht = 0.05; //not needed
}
ROS_INFO("sending object-finder goal: ");
object_finder_ac_.sendGoal(object_finder_goal_,
boost::bind(&TaskActionServer::objectFinderDoneCb_, this, _1, _2));
action_code_ = coordinator::ManipTaskGoal::WAIT_FOR_FINDER;
ROS_INFO("waiting on perception");
} else {
ROS_WARN("unrecognized perception mode; quitting");
action_code_ = coordinator::ManipTaskGoal::ABORT;
result_.manip_return_code = coordinator::ManipTaskResult::FAILED_PERCEPTION;
}
ROS_INFO("executeCB: action_code, status_code = %d, %d", action_code_, status_code_);
break;
case coordinator::ManipTaskGoal::WAIT_FOR_FINDER:
if (found_object_code_ == object_finder::objectFinderResult::OBJECT_FOUND) {
ROS_INFO("object-finder success");
//next step: use the pose to grab object:
/* if (goal_action_code_ == coordinator::ManipTaskGoal::MANIP_OBJECT) {
action_code_ = coordinator::ManipTaskGoal::GRAB_OBJECT;
status_code_ = coordinator::ManipTaskFeedback::DROPOFF_PLANNING_BUSY;
} else*/ {
working_on_task_ = false; // test--set to goal achieved
action_code_ = coordinator::ManipTaskGoal::NO_CURRENT_TASK;
status_code_ = coordinator::ManipTaskFeedback::COMPLETED_MOVE;
result_.manip_return_code = coordinator::ManipTaskResult::MANIP_SUCCESS;
//object pose is in result message
as_.setSucceeded(result_); // return the "result" message to client, along with "success" status
return; //done w/ callback
}
//will later test for result code of object grabber, so initialize it to PENDING
//(next step in state machine)
object_grabber_return_code_ = object_grabber::object_grabberResult::PENDING;
} else if (found_object_code_ == object_finder::objectFinderResult::OBJECT_FINDER_BUSY) {
//ROS_INFO("waiting on perception"); //continue waiting
} else {
ROS_WARN("object-finder failure; aborting");
action_code_ = coordinator::ManipTaskGoal::ABORT;
result_.manip_return_code = coordinator::ManipTaskResult::FAILED_PERCEPTION;
}
break;
case coordinator::ManipTaskGoal::GRAB_OBJECT:
status_code_ = coordinator::ManipTaskFeedback::PICKUP_MOTION_BUSY;
ROS_INFO("executeCB: action_code, status_code = %d, %d", action_code_, status_code_);
//ros::Duration(2.0).sleep();
//if here, then presumably have a valid pose for object of interest; grab it!
//send object-grabber action code to grab specified object
object_grabber_goal_.action_code = object_grabber::object_grabberGoal::GRAB_OBJECT;//pickup_action_code_; //specify the object to be grabbed
object_grabber_goal_.object_frame = pickup_pose_; //and the object's current pose
object_grabber_goal_.object_id = object_code_; // = goal->object_code;
object_grabber_goal_.grasp_option = object_grabber::object_grabberGoal::DEFAULT_GRASP_STRATEGY; //from above
ROS_INFO("sending goal to grab object: ");
object_grabber_ac_.sendGoal(object_grabber_goal_,
boost::bind(&TaskActionServer::objectGrabberDoneCb_, this, _1, _2));
action_code_ = coordinator::ManipTaskGoal::WAIT_FOR_GRAB_OBJECT;
status_code_ = coordinator::ManipTaskFeedback::PICKUP_MOTION_BUSY;
//will inspect this status to see if object grasp is eventually successful
object_grabber_return_code_ = object_grabber::object_grabberResult::OBJECT_GRABBER_BUSY;
break;
case coordinator::ManipTaskGoal::WAIT_FOR_GRAB_OBJECT:
if (object_grabber_return_code_ == object_grabber::object_grabberResult::OBJECT_ACQUIRED) { //success!
ROS_INFO("acquired object");
/*if (goal_action_code_ == coordinator::ManipTaskGoal::MANIP_OBJECT) {
//for manip command, have more steps to complete:
action_code_ = coordinator::ManipTaskGoal::DROPOFF_OBJECT;
status_code_ = coordinator::ManipTaskFeedback::PICKUP_SUCCESSFUL;
} else*/ { //if just a grab command, we are now done
working_on_task_ = false; // test--set to goal achieved
action_code_ = coordinator::ManipTaskGoal::NO_CURRENT_TASK;
status_code_ = coordinator::ManipTaskFeedback::COMPLETED_MOVE;
result_.manip_return_code = coordinator::ManipTaskResult::MANIP_SUCCESS;
//object pose is in result message
as_.setSucceeded(result_); // return the "result" message to client, along with "success" status
return; //done w/ callback
}
} else if (object_grabber_return_code_ == object_grabber::object_grabberResult::OBJECT_GRABBER_BUSY) {
// do nothing--just wait patiently
//ROS_INFO("waiting for object grab");
} else {
ROS_WARN("trouble with acquiring object");
action_code_ = coordinator::ManipTaskGoal::ABORT;
result_.manip_return_code = coordinator::ManipTaskResult::FAILED_PICKUP;
}
break;
case coordinator::ManipTaskGoal::DROPOFF_OBJECT:
status_code_ = coordinator::ManipTaskFeedback::DROPOFF_MOTION_BUSY; //coordinator::ManipTaskResult::MANIP_SUCCESS; //code 0
ROS_INFO("executeCB: action_code, status_code = %d, %d", action_code_, status_code_);
object_grabber_goal_.action_code = object_grabber::object_grabberGoal::DROPOFF_OBJECT;//dropoff_action_code_; //specify the object to be grabbed
object_grabber_goal_.object_id = object_code_; // = goal->object_code;
dropoff_pose_= goal->dropoff_frame;
object_grabber_goal_.object_frame = dropoff_pose_; //and the object's current pose
object_grabber_goal_.grasp_option = object_grabber::object_grabberGoal::DEFAULT_GRASP_STRATEGY; //from above
ROS_INFO("sending goal to drop off object: ");
object_grabber_ac_.sendGoal(object_grabber_goal_,
boost::bind(&TaskActionServer::objectGrabberDoneCb_, this, _1, _2));
action_code_ = coordinator::ManipTaskGoal::WAIT_FOR_DROPOFF_OBJECT;
//will inspect this status to see if object grasp is eventually successful
object_grabber_return_code_ = object_grabber::object_grabberResult::OBJECT_GRABBER_BUSY;
break;
case coordinator::ManipTaskGoal::WAIT_FOR_DROPOFF_OBJECT:
//ROS_INFO("object_grabber_return_code_ = %d",object_grabber_return_code_);
if (object_grabber_return_code_ == object_grabber::object_grabberResult::SUCCESS) { //success!
ROS_INFO("switch/case happiness! dropped off object; manip complete");
working_on_task_ = false; // test--set to goal achieved
action_code_ = coordinator::ManipTaskGoal::NO_CURRENT_TASK;
status_code_ = coordinator::ManipTaskFeedback::COMPLETED_DROPOFF;
result_.manip_return_code = coordinator::ManipTaskResult::MANIP_SUCCESS;
as_.setSucceeded(result_); // return the "result" message to client, along with "success" status
return; //done w/ callback
} else if (object_grabber_return_code_ == object_grabber::object_grabberResult::OBJECT_GRABBER_BUSY) {
// do nothing--just wait patiently
//ROS_INFO("waiting for object dropoff");
} else {
ROS_WARN("trouble with acquiring object");
action_code_ = coordinator::ManipTaskGoal::ABORT;
result_.manip_return_code = coordinator::ManipTaskResult::FAILED_DROPOFF;
}
break;
case coordinator::ManipTaskGoal::MOVE_TO_PRE_POSE:
status_code_ = coordinator::ManipTaskFeedback::PREPOSE_MOVE_BUSY;
object_grabber_goal_.action_code = object_grabber::object_grabberGoal::MOVE_TO_WAITING_POSE; //specify the object to be grabbed
ROS_INFO("sending goal to move to pre-pose: ");
object_grabber_ac_.sendGoal(object_grabber_goal_,
boost::bind(&TaskActionServer::objectGrabberDoneCb_, this, _1, _2));
action_code_ = coordinator::ManipTaskGoal::WAIT_FOR_MOVE_TO_PREPOSE;
//will inspect this status to see if object grasp is eventually successful
object_grabber_return_code_ = object_grabber::object_grabberResult::OBJECT_GRABBER_BUSY;
break;
case coordinator::ManipTaskGoal::WAIT_FOR_MOVE_TO_PREPOSE:
if (object_grabber_return_code_ == object_grabber::object_grabberResult::SUCCESS) { //success!
ROS_INFO("completed move to pre-pose");
working_on_task_ = false; // test--set to goal achieved
action_code_ = coordinator::ManipTaskGoal::NO_CURRENT_TASK;
status_code_ = coordinator::ManipTaskFeedback::COMPLETED_MOVE;
result_.manip_return_code = coordinator::ManipTaskResult::MANIP_SUCCESS;
as_.setSucceeded(result_); // return the "result" message to client, along with "success" status
return; //done w/ callback
}
else {
ROS_INFO("object_grabber_return_code_ = %d",object_grabber_return_code_);
ros::Duration(0.5).sleep();
}
break;
case coordinator::ManipTaskGoal::ABORT:
ROS_WARN("aborting goal...");
//retain reason for failure to report back to client
//result_.manip_return_code = coordinator::ManipTaskResult::ABORTED;
action_code_ = coordinator::ManipTaskGoal::NO_CURRENT_TASK;
status_code_ = coordinator::ManipTaskFeedback::ABORTED;
working_on_task_ = false;
as_.setAborted(result_); // tell the client we have given up on this goal; send the result message as well
return; // done with callback
default:
ROS_WARN("executeCB: error--case not recognized");
working_on_task_ = false;
break;
}
}
ROS_INFO("executeCB: I should not be here...");
//if we survive to here, then the goal was successfully accomplished; inform the client
result_.manip_return_code = coordinator::ManipTaskResult::ABORTED;
as_.setAborted(result_); // return the "result" message to client, along with "success" status
return;
}
