void goalCB(GoalHandle gh)
{
// Cancels the currently active goal.
if (has_active_goal_)
{
// Marks the current goal as canceled.
active_goal_.setCanceled();
has_active_goal_ = false;
}
gh.setAccepted();
active_goal_ = gh;
has_active_goal_ = true;
goal_received_ = ros::Time::now();
// update our zero values for 0.25 seconds
if(active_goal_.getGoal()->command.zero_fingertip_sensors)
{
std_srvs::Empty::Request req;
std_srvs::Empty::Response resp;
if(ros::service::exists("zero_fingertip_sensors",true))
{
ROS_INFO("updating zeros!");
ros::service::call("zero_fingertip_sensors",req,resp);
}
}
// Sends the command along to the controller.
pub_controller_command_.publish(active_goal_.getGoal()->command);
last_movement_time_ = ros::Time::now();
action_start_time = ros::Time::now();
}
void cancelCB(GoalHandle gh)
{
if (active_goal_ == gh)
{
/*
// Stops the controller.
if (last_controller_state_)
{
pr2_controllers_msgs::Pr2GripperCommand stop;
stop.position = last_controller_state_->process_value;
stop.max_effort = 0.0;
pub_controller_command_.publish(stop);
}
*/
// stop the real-time motor control
std_srvs::Empty::Request req;
std_srvs::Empty::Response resp;
if(ros::service::exists("stop_motor_output",true))
{
ROS_INFO("Stopping Motor Output");
ros::service::call("stop_motor_output",req,resp);
}
// Marks the current goal as canceled.
active_goal_.setCanceled();
has_active_goal_ = false;
}
}
void cancelCB(GoalHandle gh)
{
std::string nodeName = ros::this_node::getName();
ROS_INFO("%s",(nodeName + ": Canceling current grasp action").c_str());
//gh.setAccepted();
gh.setCanceled();
ROS_INFO("%s",(nodeName + ": Current grasp action has been canceled").c_str());
}
void cancelCB(GoalHandle gh){
if (active_goal_ == gh)
{
// Stops the controller.
if(creato){
ROS_INFO_STREAM("Stop thread");
pthread_cancel(trajectoryExecutor);
creato=0;
}
pub_topic.publish(empty);
// Marks the current goal as canceled.
active_goal_.setCanceled();
has_active_goal_ = false;
}
}
void cancelCB(GoalHandle gh)
{
if (active_goal_ == gh)
{
// stop the real-time motor control
std_srvs::Empty::Request req;
std_srvs::Empty::Response resp;
if(ros::service::exists("stop_motor_output",true))
{
ROS_INFO("Stopping Motor Output");
ros::service::call("stop_motor_output",req,resp);
}
// Marks the current goal as canceled.
active_goal_.setCanceled();
has_active_goal_ = false;
}
}
void goalCB(GoalHandle gh)
{
// Cancels the currently active goal.
if (has_active_goal_)
{
// Marks the current goal as canceled.
active_goal_.setCanceled();
has_active_goal_ = false;
}
gh.setAccepted();
active_goal_ = gh;
has_active_goal_ = true;
goal_received_ = ros::Time::now();
min_error_seen_ = 1e10;
// Sends the command along to the controller.
pub_controller_command_.publish(active_goal_.getGoal()->command);
last_movement_time_ = ros::Time::now();
}
void goalCB(GoalHandle gh)
{
GripperMessage gMsg;
SimpleMessage request;
SimpleMessage reply;
ROS_DEBUG("Received grasping goal");
while (!(robot_->isConnected()))
{
ROS_DEBUG("Reconnecting");
robot_->makeConnect();
}
switch(gh.getGoal()->goal)
{
case GraspHandPostureExecutionGoal::PRE_GRASP:
gh.setAccepted();
ROS_WARN("Pre-grasp is not supported by this gripper");
gh.setSucceeded();
break;
case GraspHandPostureExecutionGoal::GRASP:
case GraspHandPostureExecutionGoal::RELEASE:
gh.setAccepted();
switch(gh.getGoal()->goal)
{
case GraspHandPostureExecutionGoal::GRASP:
ROS_INFO("Executing a gripper grasp");
gMsg.init(GripperOperationTypes::CLOSE);
break;
case GraspHandPostureExecutionGoal::RELEASE:
ROS_INFO("Executing a gripper release");
gMsg.init(GripperOperationTypes::OPEN);
break;
}
gMsg.toRequest(request);
this->robot_->sendAndReceiveMsg(request, reply);
switch(reply.getReplyCode())
{
case ReplyTypes::SUCCESS:
ROS_INFO("Robot gripper returned success");
gh.setSucceeded();
break;
case ReplyTypes::FAILURE:
ROS_ERROR("Robot gripper returned failure");
gh.setCanceled();
break;
}
break;
default:
gh.setRejected();
break;
}
}
void goalCB(GoalHandle gh){
if (has_active_goal_)
{
// Stops the controller.
if(creato){
pthread_cancel(trajectoryExecutor);
creato=0;
}
pub_topic.publish(empty);
// Marks the current goal as canceled.
active_goal_.setCanceled();
has_active_goal_ = false;
}
gh.setAccepted();
active_goal_ = gh;
has_active_goal_ = true;
toExecute = gh.getGoal()->trajectory;
//moveit::planning_interface::MoveGroup group_quad("quad_group");
ROS_INFO_STREAM("Trajectory received, processing");
int n_points = toExecute.points.size();
double meters = 0.0;
double vel_cte = 0.5;
double t = 0.0;
double dt = 0.0;
double traj [n_points][6];
//Get Position of Waypoints
for (int k=0; k<toExecute.points.size(); k++)
{
geometry_msgs::Transform_<std::allocator<void> > punto=toExecute.points[k].transforms[0];
traj[k][0] = punto.translation.x;
traj[k][1] = punto.translation.y;
traj[k][2] = punto.translation.z;
}
//Determine distance between consecutive Waypoints
//to get aproximate path lenght
for (int k=0; k<toExecute.points.size()-1; k++)
{
traj[k][3] = traj[k+1][0] - traj[k][0];
traj[k][4] = traj[k+1][1] - traj[k][1];
traj[k][5] = traj[k+1][2] - traj[k][2];
meters += sqrt(traj[k][3]*traj[k][3]+traj[k][4]*traj[k][4]+traj[k][5]*traj[k][5]);
}
ROS_INFO_STREAM("Aprox distance: "<< meters << " meters");
//Determine time in cte velocity profile
t = meters/vel_cte;
//We suppose equal separation between waypoint, so we
//can get the time we have between each waypoint
dt = t/(toExecute.points.size()-1);
//Determine the velocity between waypoints
double max_vel = 0.3;
double min_vel = -0.3;
for (int k=0; k<toExecute.points.size()-1; k++)
{
//X-Velocity
traj[k][3] /= dt;
if (traj[k][3]>max_vel)
{
traj[k][3] = max_vel;
}
else if (traj[k][3]<min_vel)
{
traj[k][3] = min_vel;
}
//Y-Velocity
traj[k][4] /= dt;
if (traj[k][4]>max_vel)
{
traj[k][4] = max_vel;
}
else if (traj[k][4]<min_vel)
{
traj[k][4] = min_vel;
}
//Z-Velocity
traj[k][5] /= dt;
if (traj[k][5]>max_vel)
{
traj[k][5] = max_vel;
}
else if (traj[k][5]<min_vel)
{
traj[k][5] = min_vel;
}
}
//Post process in narrow edges
std::vector<double> edges;
for(unsigned i=1; i<n_points-1;i++)
{
//Get the angles between two consecutives velocity vectors
//Source:http://de.mathworks.com/matlabcentral/answers/16243-angle-between-two-vectors-in-3d
double cross_i = traj[i][4]*traj[i-1][5] - traj[i][5]*traj[i-1][4];
double cross_j = (-1)*(traj[i][3]*traj[i-1][5] - traj[i][5]*traj[i-1][3]);
double cross_k = traj[i][3]*traj[i-1][4] - traj[i][4]*traj[i-1][3];
double dot = traj[i][3]*traj[i-1][3] + traj[i][4]*traj[i-1][4] + traj[i][5]*traj[i-1][5];
double norm_cross = sqrt(cross_i*cross_i + cross_j*cross_j + cross_k*cross_k);
double angle = atan2(norm_cross,dot)*180/M_PI;
//ROS_INFO_STREAM(angle);
if (angle >= 25)
{
edges.push_back(i);
}
}
for(int i=0; i<edges.size(); i++)
{
ROS_INFO_STREAM(edges[i]);
}
std::string dir = path + "/trajectory_ompl.csv";
//Open file to write trajectory
std::ofstream myFile;
myFile.open(dir.c_str());
//Save all the values separated by comas except the last
for(unsigned i=0; i<n_points-2;i++)
{
myFile << traj[i][0] <<","
<< traj[i][1] <<","
<< traj[i][2] <<","
/*
<< 0.0 <<","
<< 0.0 <<","
<< 0.0 <<",\n";
*/
<< traj[i][3] <<","
<< traj[i][4] <<","
<< traj[i][5] <<",\n";
}
//Which is saved here, but without a coma in the last element.
int i = n_points-1;
myFile << traj[i][0] <<","
<< traj[i][1] <<","
<< traj[i][2] <<","
<< 0.0 <<","
<< 0.0 <<","
<< 0.0 <<",\n";
myFile.close();
/*
//Show trajectory
for (int k=0; k<toExecute.points.size(); k++)
{
ROS_INFO_STREAM(traj[k][0]<<" "<<traj[k][1] <<" "<<traj[k][2] <<" "<<
traj[k][3]<<" "<<traj[k][4] <<" "<<traj[k][5]);
}
*/
//std::string command = "rosrun quad_gazebo trajectory_client ompl";
//system(command.c_str());
active_goal_.setSucceeded();
has_active_goal_=false;
creato=0;
ROS_INFO_STREAM("Calling the client to execute the trajectory, please wait...");
std::string command = "rosrun quad_gazebo trajectory_client ompl";
system(command.c_str());
}
void controllerStateCB(const pr2_controllers_msgs::JointControllerStateConstPtr &msg)
{
last_controller_state_ = msg;
ros::Time now = ros::Time::now();
if (!has_active_goal_)
return;
// grab the goal threshold off the param server
if(!node_.getParam("position_servo_position_tolerance", goal_threshold_))
ROS_ERROR("No position_servo_position_tolerance given in namespace: '%s')", node_.getNamespace().c_str());
// Ensures that the controller is tracking my setpoint.
if (fabs(msg->set_point - active_goal_.getGoal()->command.position) > stall_velocity_threshold_)
{
if (now - goal_received_ < ros::Duration(1.0))
{
return;
}
else
{
ROS_ERROR("Cancelling goal: Controller is trying to achieve a different setpoint.");
active_goal_.setCanceled();
has_active_goal_ = false;
}
}
pr2_controllers_msgs::Pr2GripperCommandFeedback feedback;
feedback.position = msg->process_value;
feedback.effort = msg->command;
feedback.reached_goal = false;
feedback.stalled = false;
pr2_controllers_msgs::Pr2GripperCommandResult result;
result.position = msg->process_value;
result.effort = msg->command;
result.reached_goal = false;
result.stalled = false;
// check if we've reached the goal
if (fabs(msg->process_value - active_goal_.getGoal()->command.position) < goal_threshold_)
{
feedback.reached_goal = true;
result.reached_goal = true;
active_goal_.setSucceeded(result);
has_active_goal_ = false;
}
else
{
// Determines if the gripper has stalled.
if (fabs(msg->process_value_dot) > stall_velocity_threshold_)
{
last_movement_time_ = ros::Time::now();
}
else if ((ros::Time::now() - last_movement_time_).toSec() > stall_timeout_ &&
active_goal_.getGoal()->command.max_effort != 0.0)
{
feedback.stalled = true;
result.stalled = true;
active_goal_.setAborted(result);
has_active_goal_ = false;
}
}
active_goal_.publishFeedback(feedback);
}
