void init_poses() {
ROS_INFO("getting transforms from camera to PSMs");
//tf::TransformListener tfListener;
tf::StampedTransform tfResult_one, tfResult_two;
g_tfListener_ptr = new tf::TransformListener;
bool tferr = true;
int ntries = 0;
ROS_INFO("waiting for tf between base and camera...");
while (tferr) {
if (ntries > 5) break; //give up and accept default after this many tries
tferr = false;
try {
//The direction of the transform returned will be from the target_frame to the source_frame.
//Which if applied to data, will transform data in the source_frame into the target_frame. See tf/CoordinateFrameConventions#Transform_Direction
g_tfListener_ptr->lookupTransform("left_camera_optical_frame", "one_psm_base_link", ros::Time(0), tfResult_one);
g_tfListener_ptr->lookupTransform("left_camera_optical_frame", "two_psm_base_link", ros::Time(0), tfResult_two);
} catch (tf::TransformException &exception) {
ROS_WARN("%s", exception.what());
tferr = true;
ros::Duration(0.5).sleep(); // sleep for half a second
ros::spinOnce();
ntries++;
}
}
//default transform: need to match this up to camera calibration!
if (tferr) {
g_affine_lcamera_to_psm_one.translation() << -0.155, -0.03265, 0.0;
Eigen::Vector3d nvec, tvec, bvec;
nvec << -1, 0, 0;
tvec << 0, 1, 0;
bvec << 0, 0, -1;
Eigen::Matrix3d R;
R.col(0) = nvec;
R.col(1) = tvec;
R.col(2) = bvec;
g_affine_lcamera_to_psm_one.linear() = R;
g_affine_lcamera_to_psm_two.linear() = R;
g_affine_lcamera_to_psm_two.translation() << 0.145, -0.03265, 0.0;
ROS_WARN("using default transform");
} else {
ROS_INFO("tf is good");
//g_affine_lcamera_to_psm_one is the position/orientation of psm1 base frame w/rt left camera link frame
// need to extend this to camera optical frame
g_affine_lcamera_to_psm_one = transformTFToEigen(tfResult_one);
g_affine_lcamera_to_psm_two = transformTFToEigen(tfResult_two);
}
ROS_INFO("transform from left camera to psm one:");
cout << g_affine_lcamera_to_psm_one.linear() << endl;
cout << g_affine_lcamera_to_psm_one.translation().transpose() << endl;
ROS_INFO("transform from left camera to psm two:");
cout << g_affine_lcamera_to_psm_two.linear() << endl;
cout << g_affine_lcamera_to_psm_two.translation().transpose() << endl;
//now get initial poses:
ROS_INFO("waiting for tf between base and grippers...");
while (tferr) {
if (ntries > 5) break; //give up and accept default after this many tries
tferr = false;
try {
//The direction of the transform returned will be from the target_frame to the source_frame.
//Which if applied to data, will transform data in the source_frame into the target_frame. See tf/CoordinateFrameConventions#Transform_Direction
g_tfListener_ptr->lookupTransform("left_camera_optical_frame", "one_tool_tip_link", ros::Time(0), tfResult_one);
g_tfListener_ptr->lookupTransform("left_camera_optical_frame", "two_tool_tip_link", ros::Time(0), tfResult_two);
} catch (tf::TransformException &exception) {
ROS_WARN("%s", exception.what());
tferr = true;
ros::Duration(0.5).sleep(); // sleep for half a second
ros::spinOnce();
ntries++;
}
}
//default start pose, if can't get tf:
if (tferr) {
g_psm1_start_pose.translation() << -0.02, 0, 0.04;
g_psm2_start_pose.translation() << 0.02, 0, 0.04;
Eigen::Vector3d nvec, tvec, bvec;
nvec << -1, 0, 0;
tvec << 0, 1, 0;
bvec << 0, 0, -1;
Eigen::Matrix3d R;
R.col(0) = nvec;
R.col(1) = tvec;
R.col(2) = bvec;
g_psm1_start_pose.linear() = R;
g_psm2_start_pose.linear() = R;
ROS_WARN("using default start poses");
} else {
ROS_INFO("tf is good");
//g_affine_lcamera_to_psm_one is the position/orientation of psm1 base frame w/rt left camera link frame
// need to extend this to camera optical frame
g_psm1_start_pose = transformTFToEigen(tfResult_one);
g_psm2_start_pose = transformTFToEigen(tfResult_two);
}
ROS_INFO("psm1 gripper start pose:");
cout << g_psm1_start_pose.linear() << endl;
cout << g_psm1_start_pose.translation().transpose() << endl;
ROS_INFO("psm2 gripper start pose:");
cout << g_psm2_start_pose.linear() << endl;
cout << g_psm2_start_pose.translation().transpose() << endl;
//just to be safe:
g_O_entry_point(0) = 0.0;
g_O_entry_point(1) = 0.0;
g_O_entry_point(2) = 0.12;
g_O_exit_point = g_O_entry_point;
g_O_exit_point(0) += 0.02;
}
void poseTFToEigen(const tf::Pose &t, Eigen::Affine3d &e)
{
transformTFToEigen(t, e);
}
int main(int argc, char** argv) {
// ROS set-ups:
ros::init(argc, argv, "needle_planner_test_main"); //node name
ros::NodeHandle nh; // create a node handle; need to pass this to the class constructor
Eigen::Vector3d entrance_pt, exit_pt, tissue_normal;
tissue_normal << 0, 0, -1; //antiparallel to optical axis
entrance_pt << -0.1, 0.05, 0.1; //100mm under camera; slightly forward, to avoid jnt lims should be OK
exit_pt << -0.09, 0.05, 0.1; // exit pt is shifted along camera-frame +x axis relative to entrance pt
vector <Eigen::Affine3d> gripper_affines_wrt_camera; //put answers here
vector <Eigen::Affine3d> gripper2_affines_wrt_camera;
vector <Eigen::Affine3d> vetted_gripper_affines_wrt_camera;
ROS_INFO("instantiating forward solver and an ik_solver");
Davinci_fwd_solver davinci_fwd_solver; //instantiate a forward-kinematics solver
Davinci_IK_solver ik_solver;
ofstream outfile;
outfile.open ("best_poses.dat");
ROS_INFO("main: instantiating an object of type NeedlePlanner");
NeedlePlanner needlePlanner;
//compute the tissue frame in camera coords, based on point-cloud selections:
needlePlanner.compute_tissue_frame_wrt_camera(entrance_pt, exit_pt, tissue_normal);
//optional: manually set the needle grasp pose, else accept default from constructor
//needlePlanner.set_affine_needle_frame_wrt_gripper_frame(affine);
//optional: set the initial needle frame w/rt tissue frame (or accept default in constructor)
//needlePlanner.set_affine_needle_frame_wrt_tissue(Eigen::Affine3d affine)
// given grasp transform, tissue transform and initial needle pose w/rt tissue,
// compute needle-drive path as rotation about needle-z axis:
ROS_INFO("getting transforms from camera to PSMs");
tf::TransformListener tfListener;
tf::StampedTransform tfResult_one, tfResult_two;
Eigen::Affine3d affine_lcamera_to_psm_one, affine_lcamera_to_psm_two, affine_gripper_wrt_base;
bool tferr = true;
int ntries = 0;
ROS_INFO("waiting for tf between base and right_hand...");
while (tferr) {
if (ntries > 5) break; //give up and accept default after this many tries
tferr = false;
try {
//The direction of the transform returned will be from the target_frame to the source_frame.
//Which if applied to data, will transform data in the source_frame into the target_frame. See tf/CoordinateFrameConventions#Transform_Direction
tfListener.lookupTransform("left_camera_optical_frame", "one_psm_base_link", ros::Time(0), tfResult_one);
tfListener.lookupTransform("left_camera_optical_frame", "two_psm_base_link", ros::Time(0), tfResult_two);
} catch (tf::TransformException &exception) {
ROS_WARN("%s", exception.what());
tferr = true;
ros::Duration(0.5).sleep(); // sleep for half a second
ros::spinOnce();
ntries++;
}
}
//default transform: need to match this up to camera calibration!
if (tferr) {
affine_lcamera_to_psm_one.translation() << -0.155, -0.03265, 0.0;
Eigen::Vector3d nvec, tvec, bvec;
nvec << -1, 0, 0;
tvec << 0, 1, 0;
bvec << 0, 0, -1;
Eigen::Matrix3d R;
R.col(0) = nvec;
R.col(1) = tvec;
R.col(2) = bvec;
affine_lcamera_to_psm_one.linear() = R;
affine_lcamera_to_psm_two.linear() = R;
affine_lcamera_to_psm_two.translation() << 0.145, -0.03265, 0.0;
ROS_WARN("using default transform");
} else {
ROS_INFO("tf is good");
//affine_lcamera_to_psm_one is the position/orientation of psm1 base frame w/rt left camera link frame
// need to extend this to camera optical frame
affine_lcamera_to_psm_one = transformTFToEigen(tfResult_one);
affine_lcamera_to_psm_two = transformTFToEigen(tfResult_two);
}
ROS_INFO("transform from left camera to psm one:");
cout << affine_lcamera_to_psm_one.linear() << endl;
cout << affine_lcamera_to_psm_one.translation().transpose() << endl;
ROS_INFO("transform from left camera to psm two:");
cout << affine_lcamera_to_psm_two.linear() << endl;
cout << affine_lcamera_to_psm_two.translation().transpose() << endl;
//try grabbing needle w/ bvec_needle = -bvec_gripper
//needlePlanner.set_grab_needle_plus_minus_z(GRASP_W_NEEDLE_NEGATIVE_GRIPPER_Z);
//needlePlanner.compute_grasp_transform();
double ang_to_exit, phi_x, phi_y, tilt;
Eigen::Vector3d nvec_tissue;
vector <int> valid_ik_samps;
double best_phi_x = 0.0;
double best_phi_y = 0.0;
double best_tilt = 0.0;
int best_drive_score = 0;
int drive_score = 0;
int best_run = 0;
Eigen::VectorXi ik_ok_array(40); //Add by DLC 5-26-2016 also in test_main, test_main_v2
int ik_score=0;
//while (ros::ok())
{
cout << "entrance point at: " << entrance_pt.transpose() << endl;
cout << "enter angle to exit point (0-2pi): ";
cin >> ang_to_exit;
//cout << "enter needle-grasp phi_x: ";
//cin >> phi_x;
for (phi_x = 0.0; phi_x < 6.28; phi_x += 0.1) {
for (phi_y = 0.0; phi_y < 6.28; phi_y += 0.1) {
ROS_INFO("phi_x, phi_y = %f, %f",phi_x,phi_y);
for (tilt = -1.2; tilt < 1.21; tilt += 0.1) {
drive_score = 0;
//cout << "enter needle-grasp phi_y: ";
//cin >> phi_y;
needlePlanner.compute_grasp_transform(phi_x, phi_y);
//cout<< "enter tilt of needle z-axis w/rt tissue: ";
//cin>> tilt;
needlePlanner.set_psi_needle_axis_tilt_wrt_tissue(tilt);
//for (ang_to_exit = 0; ang_to_exit < 6.28; ang_to_exit += 1.0)
{
//cout << "angle to exit pt on tissue surface: " << ang_to_exit << endl;
//cin>>ang_to_exit;
nvec_tissue << cos(ang_to_exit), sin(ang_to_exit), 0.0;
exit_pt = entrance_pt + nvec_tissue;
needlePlanner.compute_tissue_frame_wrt_camera(entrance_pt, exit_pt, tissue_normal);
gripper_affines_wrt_camera.clear();
gripper2_affines_wrt_camera.clear();
vetted_gripper_affines_wrt_camera.clear();
needlePlanner.compute_needle_drive_gripper_affines(gripper_affines_wrt_camera, gripper2_affines_wrt_camera, ik_ok_array, ik_score);
int nposes = gripper_affines_wrt_camera.size();
//ROS_INFO("computed %d gripper poses w/rt camera", nposes);
Eigen::Affine3d affine_pose, affine_gripper_wrt_base_frame, affine_gripper_wrt_base_fk;
Eigen::Vector3d origin_err;
Eigen::Matrix3d R_err;
Vectorq7x1 q_vec1;
q_vec1.resize(7);
valid_ik_samps.clear();
for (int i = 0; i < nposes; i++) {
if (test_debug) ROS_INFO("pose %d", i);
affine_pose = gripper_affines_wrt_camera[i];
if (test_debug) cout << affine_pose.linear() << endl;
if (test_debug) cout << "origin: " << affine_pose.translation().transpose() << endl;
affine_gripper_wrt_base_frame = affine_lcamera_to_psm_one.inverse() * affine_pose;
if (test_debug) ROS_INFO("pose %d w/rt PSM1 base:", i);
if (test_debug) cout << affine_gripper_wrt_base_frame.linear() << endl;
if (test_debug) cout << "origin: " << affine_gripper_wrt_base_frame.translation().transpose() << endl;
if (ik_solver.ik_solve(affine_gripper_wrt_base_frame)) { //convert desired pose into equiv joint displacements
valid_ik_samps.push_back(1);
drive_score++;
vetted_gripper_affines_wrt_camera.push_back(affine_pose); //accept this one
q_vec1 = ik_solver.get_soln();
q_vec1(6) = 0.0;
if (test_debug) cout << "qvec1: " << q_vec1.transpose() << endl;
if (test_debug) ROS_INFO("FK of IK soln: ");
affine_gripper_wrt_base_fk = davinci_fwd_solver.fwd_kin_solve(q_vec1);
if (test_debug) cout << "affine linear (R): " << endl;
if (test_debug) cout << affine_gripper_wrt_base_fk.linear() << endl;
if (test_debug) cout << "origin: ";
if (test_debug) cout << affine_gripper_wrt_base_fk.translation().transpose() << endl;
origin_err = affine_gripper_wrt_base_frame.translation() - affine_gripper_wrt_base_fk.translation();
R_err = affine_gripper_wrt_base_frame.linear() - affine_gripper_wrt_base_fk.linear();
if (test_debug) ROS_WARN("error test: %f", origin_err.norm());
if (test_debug) cout << "IK/FK origin err: " << origin_err.transpose() << endl;
if (test_debug) cout << "R err: " << endl;
if (test_debug) cout << R_err << endl;
} else {
if (test_debug) ROS_WARN("GRIPPER 1: NO VALID IK SOLN!!");
valid_ik_samps.push_back(0);
}
} //end loop through needle-drive poses
drive_score = runlength_ones(valid_ik_samps);
ROS_INFO("drive_score: %d",drive_score);
} //end loop ang_to_exit
if (drive_score == best_drive_score) {
best_drive_score = drive_score;
best_phi_x = phi_x;
best_phi_y = phi_y;
best_tilt = tilt;
cout << "valid samples status:" << endl;
for (int i = 0; i < valid_ik_samps.size(); i++) {
cout << valid_ik_samps[i] << " ";
}
cout << endl;
ROS_INFO("phi_x, phi_y, tilt = %f, %f, %f",phi_x,phi_y,tilt);
ROS_WARN("tied best strategy; score = %d; enter 1: ",best_drive_score);
int ans;
//cin>>ans;
//needlePlanner.write_needle_drive_affines_to_file(vetted_gripper_affines_wrt_camera);
}
if (drive_score > best_drive_score) {
best_drive_score = drive_score;
best_phi_x = phi_x;
best_phi_y = phi_y;
best_tilt = tilt;
cout << "valid samples status:" << endl;
for (int i = 0; i < valid_ik_samps.size(); i++) {
cout << valid_ik_samps[i] << " ";
}
cout << endl;
ROS_INFO("phi_x, phi_y, tilt = %f, %f, %f",phi_x,phi_y,tilt);
ROS_WARN("new best strategy; score = %d; enter 1: ",best_drive_score);
int ans;
//cin>>ans;
needlePlanner.write_needle_drive_affines_to_file(vetted_gripper_affines_wrt_camera);
}
if (drive_score==21) { // save best solns to file
outfile<<phi_x<<", "<<phi_y<<", "<<tilt<<endl;
}
}
}
}
}
//needlePlanner.write_needle_drive_affines_to_file(vetted_gripper_affines_wrt_camera);
ROS_INFO("best drive score: %d", best_drive_score);
ROS_INFO("best phi_x, phi_y, tilt = %f, %f, %f", best_phi_x, best_phi_y, best_tilt);
outfile.close();
return 0;
}
int do_inits() {
Eigen::Matrix3d R;
Eigen::Vector3d nvec, tvec, bvec, tip_pos;
bvec << 0, 0, 1; //default for testing: gripper points "down"
nvec << 1, 0, 0;
tvec = bvec.cross(nvec);
R.col(0) = nvec;
R.col(1) = tvec;
R.col(2) = bvec;
g_des_gripper_affine1.linear() = R;
tip_pos << -0.15, -0.03, 0.07;
g_des_gripper_affine1.translation() = tip_pos; //will change this, but start w/ something legal
//hard-coded camera-to-base transform, useful for simple testing/debugging
g_affine_lcamera_to_psm_one.translation() << -0.155, -0.03265, 0.0;
nvec << -1, 0, 0;
tvec << 0, 1, 0;
bvec << 0, 0, -1;
//Eigen::Matrix3d R;
R.col(0) = nvec;
R.col(1) = tvec;
R.col(2) = bvec;
g_affine_lcamera_to_psm_one.linear() = R;
g_q_vec1_start.resize(7);
g_q_vec1_goal.resize(7);
g_q_vec2_start.resize(7);
g_q_vec2_goal.resize(7);
g_des_gripper1_wrt_base = g_affine_lcamera_to_psm_one.inverse() * g_des_gripper_affine1;
g_ik_solver.ik_solve(g_des_gripper1_wrt_base); // compute IK:
g_q_vec1_goal = g_ik_solver.get_soln();
g_q_vec1_start = g_q_vec1_goal;
g_q_vec2_start << 0, 0, 0, 0, 0, 0, 0; //just put gripper 2 at home position
g_q_vec2_goal << 0, 0, 0, 0, 0, 0, 0;
//repackage q's into a trajectory;
//populate a goal message for action server;
// initialize with 2 poses that are identical
g_trajectory_point1.positions.clear();
g_trajectory_point2.positions.clear();
//resize these:
for (int i=0;i<14;i++) {
g_trajectory_point1.positions.push_back(0.0);
g_trajectory_point2.positions.push_back(0.0);
}
for (int i = 0; i < 7; i++) {
g_trajectory_point1.positions[i] = g_q_vec1_start[i];
g_trajectory_point1.positions[i + 7] = g_q_vec2_start[i];
//should fix up jaw-opening values...do this later
}
g_trajectory_point1.time_from_start = ros::Duration(0.0);
g_trajectory_point2.time_from_start = ros::Duration(2.0);
g_des_trajectory.points.clear(); // can clear components, but not entire trajectory_msgs
g_des_trajectory.joint_names.clear();
// des_trajectory.joint_names.push_back("right_s0"); //yada-yada should fill in names
g_des_trajectory.header.stamp = ros::Time::now();
g_des_trajectory.points.push_back(g_trajectory_point1); // first point of the trajectory
g_des_trajectory.points.push_back(g_trajectory_point2);
// copy traj to goal:
g_goal.trajectory = g_des_trajectory;
g_got_new_pose = true; //send robot to start pose
ROS_INFO("getting transforms from camera to PSMs");
tf::TransformListener tfListener;
tf::StampedTransform tfResult_one, tfResult_two;
bool tferr = true;
int ntries = 0;
ROS_INFO("waiting for tf between base and right_hand...");
while (tferr) {
if (ntries > 5) break; //give up and accept default after this many tries
tferr = false;
try {
//The direction of the transform returned will be from the target_frame to the source_frame.
//Which if applied to data, will transform data in the source_frame into the target_frame. See tf/CoordinateFrameConventions#Transform_Direction
tfListener.lookupTransform("left_camera_optical_frame", "one_psm_base_link", ros::Time(0), tfResult_one);
//tfListener.lookupTransform("left_camera_optical_frame", "two_psm_base_link", ros::Time(0), tfResult_two);
} catch (tf::TransformException &exception) {
ROS_WARN("%s", exception.what());
tferr = true;
ros::Duration(0.5).sleep(); // sleep for half a second
ros::spinOnce();
ntries++;
}
}
//default transform: need to match this up to camera calibration!
if (tferr) {
g_affine_lcamera_to_psm_one.translation() << -0.155, -0.03265, 0.0;
Eigen::Vector3d nvec, tvec, bvec;
nvec << -1, 0, 0;
tvec << 0, 1, 0;
bvec << 0, 0, -1;
Eigen::Matrix3d R;
R.col(0) = nvec;
R.col(1) = tvec;
R.col(2) = bvec;
g_affine_lcamera_to_psm_one.linear() = R;
g_affine_lcamera_to_psm_one.linear() = R;
g_affine_lcamera_to_psm_one.translation() << 0.145, -0.03265, 0.0;
ROS_WARN("using default transform");
} else {
ROS_INFO("tf is good");
//affine_lcamera_to_psm_one is the position/orientation of psm1 base frame w/rt left camera link frame
// need to extend this to camera optical frame
g_affine_lcamera_to_psm_one = transformTFToEigen(tfResult_one);
//affine_lcamera_to_psm_two = transformTFToEigen(tfResult_two);
}
ROS_INFO("transform from left camera to psm one:");
cout << g_affine_lcamera_to_psm_one.linear() << endl;
cout << g_affine_lcamera_to_psm_one.translation().transpose() << endl;
//ROS_INFO("transform from left camera to psm two:");
//cout << affine_lcamera_to_psm_two.linear() << endl;
//cout << affine_lcamera_to_psm_two.translation().transpose() << endl;
ROS_INFO("done w/ inits");
return 0;
}
