//computes new configuration for urTobj
Q computenewQ(Q qin, Transform3D<> Tin, Transform3D<> Tdes, Device::Ptr device, State state,Frame* marker,Frame* bottleframe){
//set device state
//Q home(6, 1.6765, -2.0368, 1.5597, -1.6505, -1.6474, -1.6449);
device->setQ(qin,state);
//compute the small iteration, show error
VelocityScrew6D<> deltau=computeG(Tin,Tdes);
//do while error larger than threshold
while (deltau.norm2()>epsilon && flag==0){
//get Jacobian
Jacobian J=device->baseJframe(marker,state);
//calcultate dq
// Q dq (LinearAlgebra::inverse(J.e())*deltau.e());
Q dq (J.e().inverse()*deltau.e());
//add dq to q
// Q dq(6,1,2,3,4,5,6);
qin=qin+dq;
//qin=0;
//set new q
device->setQ(qin,state);
//get new transform
Transform3D<> bThan = device->baseTframe(marker,state);
Tin=bThan;
//compute and show new deltau, error
deltau=computeG(Tin,Tdes);
T2=clock();
Ttotal=T2-T1;
sec += (Ttotal/CLOCKS_PER_SEC);
if(sec>30)
{
flag=1;
}
}
//return final Q
return(qin);
}
//compute urTcam transform
Transform3D<> find_urTcam(Device::Ptr device, State state,Frame* camera){
tf::TransformListener listen_ucam;
tf::StampedTransform ucam_transform[5];
Transform3D<> urTcam;
bool ucam=true;
int i=0;
try{
listen_ucam.waitForTransform("/arm_base_link", "/head_cam3d_link",ros::Time(0),ros::Duration(5.0));
for(i=0;i<5;i++)
{
listen_ucam.lookupTransform("/arm_base_link", "/head_cam3d_link",ros::Time(0), ucam_transform[i]);
}
}
catch (tf::TransformException ex){
ROS_ERROR("%s",ex.what());
cout<<"Using RW values for urTcam.\n";
ucam=false;
}
if(ucam)
{
float vec_X=0;
float vec_Y=0;
float vec_Z=0;
float rot_X=0;
float rot_Y=0;
float rot_Z=0;
float rot_W=0;
for(i=0;i<5;i++)
{
vec_X+=ucam_transform[i].getOrigin().getX();
vec_Y+=ucam_transform[i].getOrigin().getY();
vec_Z+=ucam_transform[i].getOrigin().getZ();
rot_X+=ucam_transform[i].getRotation().getX();
rot_Y+=ucam_transform[i].getRotation().getY();
rot_Z+=ucam_transform[i].getRotation().getZ();
rot_W+=ucam_transform[i].getRotation().getW();
}
Vector3D<> ucam_vec(vec_X/5,vec_Y/5,vec_Z/5);
Quaternion<>ucam_q (rot_X/5,rot_Y/5,rot_Z/5,rot_W/5);
Rotation3D<> ucam_rot(ucam_q.toRotation3D());
Transform3D<> urcam(ucam_vec,ucam_rot);
urTcam=urcam;
}
else
{
urTcam=device->baseTframe(camera,state);
}
return urTcam;
}
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;
}
