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;
}
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;
}
