void executeCB(const tilting_servo::servoGoalConstPtr &goal)
{
if(start == true)
{
servo_move(Comport, servo_id, goal->angle, goal->speed);
prev_goal = goal->angle;
start = false;
}
if(as_.isNewGoalAvailable())
as_.acceptNewGoal();
if(goal->angle != prev_goal || goal->speed != prev_speed)
{
servo_move(Comport, servo_id, goal->angle, goal->speed);
prev_goal = goal->angle;
prev_speed = goal->speed;
}
while((as_.isNewGoalAvailable() == false) && ros::ok())
{
feedback_.angle = read_angle(Comport, servo_id);
if(feedback_.angle >= min_angle - 10 && feedback_.angle <= max_angle + 10)
as_.publishFeedback(feedback_);
}
// check that preempt has not been requested by the client
if (as_.isPreemptRequested() || !ros::ok())
{
// set the action state to preempted
as_.setPreempted();
}
}
/*!
* \brief Executes the callback from the actionlib
*
* Set the current goal to aborted after receiving a new goal and write new goal to a member variable. Wait for the goal to finish and set actionlib status to succeeded.
* \param goal JointTrajectoryGoal
*/
void executeCB(const pr2_controllers_msgs::JointTrajectoryGoalConstPtr &goal)
{
ROS_INFO("sdh: executeCB");
if (!isInitialized_)
{
ROS_ERROR("%s: Rejected, sdh not initialized", action_name_.c_str());
as_.setAborted();
return;
}
while (hasNewGoal_ == true ) usleep(10000);
// \todo TODO: use joint_names for assigning values
targetAngles_.resize(DOF_);
targetAngles_[0] = goal->trajectory.points[0].positions[2]*180.0/pi_; // sdh_knuckle_joint
targetAngles_[1] = goal->trajectory.points[0].positions[5]*180.0/pi_; // sdh_finger22_joint
targetAngles_[2] = goal->trajectory.points[0].positions[6]*180.0/pi_; // sdh_finger23_joint
targetAngles_[3] = goal->trajectory.points[0].positions[0]*180.0/pi_; // sdh_thumb2_joint
targetAngles_[4] = goal->trajectory.points[0].positions[1]*180.0/pi_; // sdh_thumb3_joint
targetAngles_[5] = goal->trajectory.points[0].positions[3]*180.0/pi_; // sdh_finger12_joint
targetAngles_[6] = goal->trajectory.points[0].positions[4]*180.0/pi_; // sdh_finger13_joint
ROS_INFO("received new position goal: [['sdh_thumb_2_joint', 'sdh_thumb_3_joint', 'sdh_knuckle_joint', 'sdh_finger_12_joint', 'sdh_finger_13_joint', 'sdh_finger_22_joint', 'sdh_finger_23_joint']] = [%f,%f,%f,%f,%f,%f,%f,%f]",goal->trajectory.points[0].positions[0],goal->trajectory.points[0].positions[1],goal->trajectory.points[0].positions[2],goal->trajectory.points[0].positions[3],goal->trajectory.points[0].positions[4],goal->trajectory.points[0].positions[5],goal->trajectory.points[0].positions[6]);
hasNewGoal_ = true;
usleep(500000); // needed sleep until sdh starts to change status from idle to moving
bool finished = false;
while(finished == false)
{
if (as_.isNewGoalAvailable())
{
ROS_WARN("%s: Aborted", action_name_.c_str());
as_.setAborted();
return;
}
for ( size_t i = 0; i < state_.size(); i++ )
{
ROS_DEBUG("state[%d] = %d",i,state_[i]);
if (state_[i] == 0)
{
finished = true;
}
else
{
finished = false;
}
}
usleep(10000);
//feedback_ =
//as_.send feedback_
}
// set the action state to succeeded
ROS_INFO("%s: Succeeded", action_name_.c_str());
//result_.result.data = "succesfully received new goal";
//result_.success = 1;
//as_.setSucceeded(result_);
as_.setSucceeded();
}
void timer_callback(const ros::TimerEvent &) {
if (!c3trajectory) return;
ros::Time now = ros::Time::now();
if (actionserver.isPreemptRequested()) {
current_waypoint = c3trajectory->getCurrentPoint();
current_waypoint.r.qdot = subjugator::Vector6d::Zero(); // zero velocities
current_waypoint_t = now;
// don't try to make output c3 continuous when cancelled - instead stop as quickly as possible
c3trajectory.reset(new subjugator::C3Trajectory(current_waypoint.r, limits));
c3trajectory_t = now;
}
if (actionserver.isNewGoalAvailable()) {
boost::shared_ptr<const uf_common::MoveToGoal> goal = actionserver.acceptNewGoal();
current_waypoint = subjugator::C3Trajectory::Waypoint(
Point_from_PoseTwist(goal->posetwist.pose, goal->posetwist.twist), goal->speed,
!goal->uncoordinated);
current_waypoint_t = now; // goal->header.stamp;
this->linear_tolerance = goal->linear_tolerance;
this->angular_tolerance = goal->angular_tolerance;
c3trajectory_t = now;
}
while ((c3trajectory_t + traj_dt < now) and ros::ok()) {
// ROS_INFO("Acting");
c3trajectory->update(traj_dt.toSec(), current_waypoint,
(c3trajectory_t - current_waypoint_t).toSec());
c3trajectory_t += traj_dt;
}
PoseTwistStamped msg;
msg.header.stamp = c3trajectory_t;
msg.header.frame_id = fixed_frame;
msg.posetwist = PoseTwist_from_PointWithAcceleration(c3trajectory->getCurrentPoint());
trajectory_pub.publish(msg);
PoseStamped posemsg;
posemsg.header.stamp = c3trajectory_t;
posemsg.header.frame_id = fixed_frame;
posemsg.pose = Pose_from_Waypoint(current_waypoint);
waypoint_pose_pub.publish(posemsg);
if (actionserver.isActive() &&
c3trajectory->getCurrentPoint().is_approximately(
current_waypoint.r, max(1e-3, linear_tolerance), max(1e-3, angular_tolerance)) &&
current_waypoint.r.qdot == subjugator::Vector6d::Zero()) {
actionserver.setSucceeded();
}
}
/*!
* \brief Executes the callback from the actionlib.
*
* Set the current goal to aborted after receiving a new goal and write new goal to a member variable. Wait for the goal to finish and set actionlib status to succeeded.
* \param goal JointTrajectoryGoal
*/
void executeCB(const pr2_controllers_msgs::JointTrajectoryGoalConstPtr &goal)
{
ROS_INFO("Received new goal trajectory with %d points",goal->trajectory.points.size());
if (!isInitialized_)
{
ROS_ERROR("%s: Rejected, powercubes not initialized", action_name_.c_str());
as_.setAborted();
return;
}
// saving goal into local variables
traj_ = goal->trajectory;
traj_point_nr_ = 0;
traj_point_ = traj_.points[traj_point_nr_];
finished_ = false;
// stoping arm to prepare for new trajectory
std::vector<double> VelZero;
VelZero.resize(ModIds_param_.size());
PCube_->MoveVel(VelZero);
// check that preempt has not been requested by the client
if (as_.isPreemptRequested())
{
ROS_INFO("%s: Preempted", action_name_.c_str());
// set the action state to preempted
as_.setPreempted();
}
usleep(500000); // needed sleep until powercubes starts to change status from idle to moving
while(finished_ == false)
{
if (as_.isNewGoalAvailable())
{
ROS_WARN("%s: Aborted", action_name_.c_str());
as_.setAborted();
return;
}
usleep(10000);
//feedback_ =
//as_.send feedback_
}
// set the action state to succeed
//result_.result.data = "executing trajectory";
ROS_INFO("%s: Succeeded", action_name_.c_str());
// set the action state to succeeded
as_.setSucceeded(result_);
}
//void executeCB(const pr2_controllers_msgs::JointTrajectoryGoalConstPtr &goal) {
void executeCB(const control_msgs::FollowJointTrajectoryGoalConstPtr &goal) {
if(isInitialized_) {
ROS_INFO("Received new goal trajectory with %d points",goal->trajectory.points.size());
// saving goal into local variables
traj_ = goal->trajectory;
traj_point_nr_ = 0;
traj_point_ = traj_.points[traj_point_nr_];
GoalPos_ = traj_point_.positions[0];
finished_ = false;
// stoping axis to prepare for new trajectory
CamAxis_->Stop();
// check that preempt has not been requested by the client
if (as_.isPreemptRequested())
{
ROS_INFO("%s: Preempted", action_name_.c_str());
// set the action state to preempted
as_.setPreempted();
}
usleep(2000000); // needed sleep until drive starts to change status from idle to moving
while (not finished_)
{
if (as_.isNewGoalAvailable())
{
ROS_WARN("%s: Aborted", action_name_.c_str());
as_.setAborted();
return;
}
usleep(10000);
//feedback_ =
//as_.send feedback_
}
// set the action state to succeed
//result_.result.data = "executing trajectory";
ROS_INFO("%s: Succeeded", action_name_.c_str());
// set the action state to succeeded
as_.setSucceeded(result_);
} else {
as_.setAborted();
ROS_WARN("Camera_axis not initialized yet!");
}
}
void timer_callback(const ros::TimerEvent &)
{
mil_msgs::MoveToResult actionresult;
// Handle disabled, killed, or no odom before attempting to produce trajectory
std::string err = "";
if (disabled)
err = "c3 disabled";
else if (kill_listener.isRaised())
err = "killed";
else if (!c3trajectory)
err = "no odom";
if (!err.empty())
{
if (c3trajectory)
c3trajectory.reset(); // On revive/enable, wait for odom before station keeping
// Cancel all goals while killed/disabled/no odom
if (actionserver.isNewGoalAvailable())
actionserver.acceptNewGoal();
if (actionserver.isActive())
{
actionresult.error = err;
actionresult.success = false;
actionserver.setAborted(actionresult);
}
return;
}
ros::Time now = ros::Time::now();
auto old_waypoint = current_waypoint;
if (actionserver.isNewGoalAvailable())
{
boost::shared_ptr<const mil_msgs::MoveToGoal> goal = actionserver.acceptNewGoal();
current_waypoint =
subjugator::C3Trajectory::Waypoint(Point_from_PoseTwist(goal->posetwist.pose, goal->posetwist.twist),
goal->speed, !goal->uncoordinated, !goal->blind);
current_waypoint_t = now;
this->linear_tolerance = goal->linear_tolerance;
this->angular_tolerance = goal->angular_tolerance;
waypoint_validity_.pub_size_ogrid(Pose_from_Waypoint(current_waypoint), (int)OGRID_COLOR::GREEN);
// Check if waypoint is valid
std::pair<bool, WAYPOINT_ERROR_TYPE> checkWPResult = waypoint_validity_.is_waypoint_valid(
Pose_from_Waypoint(current_waypoint), current_waypoint.do_waypoint_validation);
actionresult.error = WAYPOINT_ERROR_TO_STRING.at(checkWPResult.second);
actionresult.success = checkWPResult.first;
if (checkWPResult.first == false && waypoint_check_) // got a point that we should not move to
{
waypoint_validity_.pub_size_ogrid(Pose_from_Waypoint(current_waypoint), (int)OGRID_COLOR::RED);
if (checkWPResult.second ==
WAYPOINT_ERROR_TYPE::UNKNOWN) // if unknown, check if there's a huge displacement with the new waypoint
{
auto a_point = Pose_from_Waypoint(current_waypoint);
auto b_point = Pose_from_Waypoint(old_waypoint);
// If moved more than .5m, then don't allow
if (abs(a_point.position.x - b_point.position.x) > .5 || abs(a_point.position.y - b_point.position.y) > .5)
{
ROS_ERROR("can't move there! - need to rotate");
current_waypoint = old_waypoint;
}
}
// if point is occupied, reject move
if (checkWPResult.second == WAYPOINT_ERROR_TYPE::OCCUPIED)
{
ROS_ERROR("can't move there! - waypoint is occupied");
current_waypoint = old_waypoint;
}
// if point is above water, reject move
if (checkWPResult.second == WAYPOINT_ERROR_TYPE::ABOVE_WATER)
{
ROS_ERROR("can't move there! - waypoint is above water");
current_waypoint = old_waypoint;
}
if (checkWPResult.second == WAYPOINT_ERROR_TYPE::NO_OGRID)
{
ROS_ERROR("WaypointValidity - Did not recieve any ogrid");
}
}
}
if (actionserver.isPreemptRequested())
{
current_waypoint = c3trajectory->getCurrentPoint();
current_waypoint.do_waypoint_validation = false;
current_waypoint.r.qdot = subjugator::Vector6d::Zero(); // zero velocities
current_waypoint_t = now;
// don't try to make output c3 continuous when cancelled - instead stop as quickly as possible
c3trajectory.reset(new subjugator::C3Trajectory(current_waypoint.r, limits));
c3trajectory_t = now;
}
// Remember the previous trajectory
auto old_trajectory = c3trajectory->getCurrentPoint();
while (c3trajectory_t + traj_dt < now)
{
c3trajectory->update(traj_dt.toSec(), current_waypoint, (c3trajectory_t - current_waypoint_t).toSec());
c3trajectory_t += traj_dt;
}
// Check if we will hit something while in trajectory the new trajectory
geometry_msgs::Pose traj_point; // Convert messages to correct type
auto p = c3trajectory->getCurrentPoint();
traj_point.position = vec2xyz<Point>(p.q.head(3));
quaternionTFToMsg(tf::createQuaternionFromRPY(p.q[3], p.q[4], p.q[5]), traj_point.orientation);
std::pair<bool, WAYPOINT_ERROR_TYPE> checkWPResult =
waypoint_validity_.is_waypoint_valid(Pose_from_Waypoint(p), c3trajectory->do_waypoint_validation);
if (checkWPResult.first == false && checkWPResult.second == WAYPOINT_ERROR_TYPE::OCCUPIED && waypoint_check_)
{ // New trajectory will hit an occupied goal, so reject
ROS_ERROR("can't move there! - bad trajectory");
current_waypoint = old_trajectory;
current_waypoint.do_waypoint_validation = false;
current_waypoint.r.qdot = subjugator::Vector6d::Zero(); // zero velocities
current_waypoint_t = now;
c3trajectory.reset(new subjugator::C3Trajectory(current_waypoint.r, limits));
c3trajectory_t = now;
actionresult.success = false;
actionresult.error = WAYPOINT_ERROR_TO_STRING.at(WAYPOINT_ERROR_TYPE::OCCUPIED_TRAJECTORY);
}
PoseTwistStamped msg;
msg.header.stamp = c3trajectory_t;
msg.header.frame_id = fixed_frame;
msg.posetwist = PoseTwist_from_PointWithAcceleration(c3trajectory->getCurrentPoint());
trajectory_pub.publish(msg);
waypoint_validity_.pub_size_ogrid(Pose_from_Waypoint(c3trajectory->getCurrentPoint()), 200);
PoseStamped msgVis;
msgVis.header = msg.header;
msgVis.pose = msg.posetwist.pose;
trajectory_vis_pub.publish(msgVis);
PoseStamped posemsg;
posemsg.header.stamp = c3trajectory_t;
posemsg.header.frame_id = fixed_frame;
posemsg.pose = Pose_from_Waypoint(current_waypoint);
waypoint_pose_pub.publish(posemsg);
if (actionserver.isActive() &&
c3trajectory->getCurrentPoint().is_approximately(current_waypoint.r, max(1e-3, linear_tolerance),
max(1e-3, angular_tolerance)) &&
current_waypoint.r.qdot == subjugator::Vector6d::Zero())
{
actionresult.error = "";
actionresult.success = true;
actionserver.setSucceeded(actionresult);
}
}
