Path::Path() {
ros::NodeHandle nh;
XmlRpc::XmlRpcValue pathCfg;
nh.getParam("/path", pathCfg);
try {
int i = 0;
do {
char pointName[256];
sprintf(pointName, "point%d", i);
if (!pathCfg.hasMember(pointName))
break;
XmlRpc::XmlRpcValue pointCfg = pathCfg[std::string(pointName)];
geometry_msgs::Point p;
if (!(pointCfg.hasMember("x") && pointCfg.hasMember("y")))
continue;
p.x = FLOAT_PARAM(pointCfg["x"]);
p.y = FLOAT_PARAM(pointCfg["y"]);
p.z = 0;
points.push_back(p);
} while ((++i) != 0);
} catch (XmlRpc::XmlRpcException& e) {
ROS_ERROR("Unable to parse path parameter. (%s)", e.getMessage().c_str());
}
}
void checkAndSetFeature(CamData& cd, string param_name, dc1394feature_t feature)
{
string p = cd.name + string("/") + param_name;
if (has_param(p))
{
XmlRpc::XmlRpcValue val;
get_param(p, val);
if (val.getType() == XmlRpc::XmlRpcValue::TypeString)
if (val == string("auto"))
cd.cam->setFeatureMode(feature, DC1394_FEATURE_MODE_AUTO);
else
cd.cam->setFeatureMode(feature, DC1394_FEATURE_MODE_MANUAL);
if (val.getType() == XmlRpc::XmlRpcValue::TypeInt)
{
cd.cam->setFeatureMode(feature, DC1394_FEATURE_MODE_MANUAL);
cd.cam->setFeature(feature, (int)(val));
}
if (val.getType() == XmlRpc::XmlRpcValue::TypeDouble)
{
cd.cam->setFeatureMode(feature, DC1394_FEATURE_MODE_MANUAL);
cd.cam->setFeatureAbsolute(feature, (double)(val));
}
}
}
void checkAndSetWhitebalance(CamData& cd, string param_name, dc1394feature_t feature)
{
string p = cd.name + string("/") + param_name;
string p_b = cd.name + string("/") + param_name + string("_b");
string p_r = cd.name + string("/") + param_name + string("_r");
if (has_param(p_b) && has_param(p_r))
{
XmlRpc::XmlRpcValue val;
XmlRpc::XmlRpcValue val_b;
XmlRpc::XmlRpcValue val_r;
get_param(p, val);
get_param(p_b, val_b);
get_param(p_r, val_r);
if (val.getType() == XmlRpc::XmlRpcValue::TypeString && val == string("auto"))
cd.cam->setFeatureMode(feature, DC1394_FEATURE_MODE_AUTO);
else if (val_b.getType() == XmlRpc::XmlRpcValue::TypeInt && val_r.getType() == XmlRpc::XmlRpcValue::TypeInt)
{
cd.cam->setFeatureMode(feature, DC1394_FEATURE_MODE_MANUAL);
cd.cam->setFeature(feature, (int)(val_b), (int)(val_r));
}
}
}
bool set(std::string key, XmlRpc::XmlRpcValue val)
{
try
{
if (val.getType() == XmlRpc::XmlRpcValue::TypeBoolean){
bool value = static_cast<bool>(val);
return (set(key,value));
}
if (val.getType() == XmlRpc::XmlRpcValue::TypeDouble){
double value = static_cast<double>(val);
return (set(key,value));
}
if (val.getType() == XmlRpc::XmlRpcValue::TypeString){
std::string value = static_cast<std::string>(val);
return (set(key,value));
}
if (val.getType() == XmlRpc::XmlRpcValue::TypeInt){
int value = static_cast<int>(val);
return (set(key,value));
}
}
catch (...)
{
return false;
}
return false;
}
bool get(std::string key, XmlRpc::XmlRpcValue& val)
{
try
{
bool v;
if (get(key,v)){
XmlRpc::XmlRpcValue vb(v);
val = vb;
return (val.valid());
}
double vd;
if (get(key,vd)){
val = vd;
return (val.valid());
}
int vi;
if (get(key,vi)){
val=vi;
return (val.valid());
}
std::string vs;
if (get(key, vs)){
val=vs.c_str();
return (val.valid());
}
}
catch (...)
{
return false;
}
return false;
}
void applySetupCallback::execute (XmlRpc::XmlRpcValue& params, XmlRpc::XmlRpcValue& result)
{
if(params.valid()) {
if(params.size() != 1) {
result = -1;
return;
}
XmlRpc::XmlRpcValue p = params[0];
if(p.size() % 2 != 0) {
result = -1;
fflush(stdout);
return;
}
for(int i=0; i<p.size(); i+= 2) {
if(0 > ctrl_xmlrpc->addModule(p[i], p[i+1])) {
result = i+1;
fflush(stdout);
return;
}
}
}
result = 0;
fflush(stdout);
return;
}
void TeleopCOB::getConfigurationFromParameters()
{
//std::map<std::string,joint_module> joint_modules; //std::vector<std::string> module_names;
if(n_.hasParam("modules"))
{
XmlRpc::XmlRpcValue modules;
ROS_DEBUG("modules found ");
n_.getParam("modules", modules);
if(modules.getType() == XmlRpc::XmlRpcValue::TypeStruct)
{
ROS_DEBUG("modules are of type struct with size %d",(int)modules.size());
for(std::map<std::string,XmlRpc::XmlRpcValue>::iterator p=modules.begin();p!=modules.end();++p)
{
std::string mod_name = p->first;
ROS_DEBUG("module name: %s",mod_name.c_str());
XmlRpc::XmlRpcValue mod_struct = p->second;
if(mod_struct.getType() != XmlRpc::XmlRpcValue::TypeStruct)
ROS_WARN("invalid module, name: %s",mod_name.c_str());
// search for joint_name parameter in current module struct to determine which type of module
// only joint mods or wheel mods supported
// which mens that is no joint names are found, then the module is a wheel module
// TODO replace with build in find, but could not get it to work
if(!assign_joint_module(mod_name, mod_struct))
{
// add wheel module struct
ROS_DEBUG("wheel module found");
assign_base_module(mod_struct);
}
}
}
}
}
bool getImpl(const std::string& key, int& i, bool use_cache)
{
XmlRpc::XmlRpcValue v;
if (!getImpl(key, v, use_cache))
{
return false;
}
if (v.getType() == XmlRpc::XmlRpcValue::TypeDouble)
{
double d = v;
if (fmod(d, 1.0) < 0.5)
{
d = floor(d);
}
else
{
d = ceil(d);
}
i = d;
}
else if (v.getType() != XmlRpc::XmlRpcValue::TypeInt)
{
return false;
}
else
{
i = v;
}
return true;
}
bool DepthImageOccupancyMapUpdater::setParams(XmlRpc::XmlRpcValue ¶ms)
{
try
{
sensor_type_ = (std::string) params["sensor_type"];
if (params.hasMember("image_topic"))
image_topic_ = (std::string) params["image_topic"];
if (params.hasMember("queue_size"))
queue_size_ = (int)params["queue_size"];
readXmlParam(params, "near_clipping_plane_distance", &near_clipping_plane_distance_);
readXmlParam(params, "far_clipping_plane_distance", &far_clipping_plane_distance_);
readXmlParam(params, "shadow_threshold", &shadow_threshold_);
readXmlParam(params, "padding_scale", &padding_scale_);
readXmlParam(params, "padding_offset", &padding_offset_);
readXmlParam(params, "skip_vertical_pixels", &skip_vertical_pixels_);
readXmlParam(params, "skip_horizontal_pixels", &skip_horizontal_pixels_);
}
catch (XmlRpc::XmlRpcException &ex)
{
ROS_ERROR("XmlRpc Exception: %s", ex.getMessage().c_str());
return false;
}
return true;
}
bool PointCloudMoveitFilter::setParams(XmlRpc::XmlRpcValue ¶ms)
{
try
{
if (!params.hasMember("point_cloud_topic"))
return false;
point_cloud_topic_ = static_cast<const std::string&>(params["point_cloud_topic"]);
readXmlParam(params, "max_range", &max_range_);
readXmlParam(params, "padding_offset", &padding_);
readXmlParam(params, "padding_scale", &scale_);
readXmlParam(params, "point_subsample", &point_subsample_);
if (!params.hasMember("filtered_cloud_topic")) {
ROS_ERROR("filtered_cloud_topic is required");
return false;
}
else {
filtered_cloud_topic_ = static_cast<const std::string&>(params["filtered_cloud_topic"]);
}
if (params.hasMember("filtered_cloud_use_color")) {
use_color_ = (bool)params["filtered_cloud_use_color"];
}
if (params.hasMember("filtered_cloud_keep_organized")) {
keep_organized_ = (bool)params["filtered_cloud_keep_organized"];
}
}
catch (XmlRpc::XmlRpcException& ex)
{
ROS_ERROR("XmlRpc Exception: %s", ex.getMessage().c_str());
return false;
}
return true;
}
bool FTParamsInternal::getDoubleArray(XmlRpc::XmlRpcValue params, const char* name, double *results, unsigned len)
{
if(!params.hasMember(name))
{
ROS_ERROR("Expected ft_param to have '%s' element", name);
return false;
}
XmlRpc::XmlRpcValue values = params[name];
if (values.getType() != XmlRpc::XmlRpcValue::TypeArray)
{
ROS_ERROR("Expected FT param '%s' to be list type", name);
return false;
}
if (values.size() != int(len))
{
ROS_ERROR("Expected FT param '%s' to have %d elements", name, len);
return false;
}
for (unsigned i=0; i<len; ++i)
{
if (values[i].getType() != XmlRpc::XmlRpcValue::TypeDouble)
{
ROS_ERROR("Expected FT param %s[%d] to be floating point type", name, i);
return false;
} else {
results[i] = static_cast<double>(values[i]);
}
}
return true;
}
/*generateConfigVector stores the pinging sensors, to which pinging sensor is a listening
* sensor bound to in a cycle and which sensors are not used at all.
* In the output, the pinging sensors are represented by PINGING_SENSOR, location of
* each listening sensor holds the address of its corresponding pinging sensor
* and the sensors not used at all are represented by SENSOR_NOT_USED.
*/
std::vector <std::vector<int> > generateConfigVector(XmlRpc::XmlRpcValue config_list)
{
std::vector<std::vector<int> > config;
XmlRpc::XmlRpcValue current_cycle;
ROS_ASSERT(config_list.getType() == XmlRpc::XmlRpcValue::TypeArray);
for(int i = 0; i < config_list.size(); i++)
{
ROS_ASSERT(config_list[i].getType() == XmlRpc::XmlRpcValue::TypeStruct);
std::vector<int> cycle_vector; //For holding configuration for each cycle.
cycle_vector.resize(MAX_SENSORS);
for (int j=0; j<MAX_SENSORS; j++)
cycle_vector[j]=SENSOR_NOT_USED;
//better to keep it dynamic
for (int j = 0; j<MAX_SENSORS; j++){
char str_index[3] = {'\0','\0', '\0'}; // for storing int to hex conv.
sprintf(str_index,"%d", j); // Unsure if yamlcpp parser reads hexadecimal values
if(config_list[i].hasMember(str_index))
{
cycle_vector[j]=PINGING_SENSOR; //Set -1 for pinging sensor
current_cycle = (config_list[i]).operator[](str_index);
ROS_ASSERT(current_cycle.getType() == XmlRpc::XmlRpcValue::TypeArray);
ROS_ASSERT(current_cycle.size()>0);
//Assign address of pinging sensor to each listening sensor
for (int k = 0; k<current_cycle.size(); k++){
cycle_vector[static_cast<int>(current_cycle[k])]=((static_cast<int>(current_cycle[k])!=j)?j:PINGING_AND_LISTENING_SENSOR);
}
}
}
config.push_back(cycle_vector);
}
return config;
}
void CRTLXmlrpc::getProcState(XmlRpc::XmlRpcValue& result)
{
result.setSize(3);
result[1] = 0.0;
result[2] = 0.0;
if(eegmanager == NULL) {
result[0] = std::string("IDLE");
return;
}
// update local state variable
if(!eegmanager->isRunning()) started = false;
if(eegmanager->isRunning()) {
result.setSize(eegmanager->bandwidth.size()*2 + 1);
result[0] = std::string("RUNNING");
result.setSize(eegmanager->bandwidth.size());
for(uint32_t i=0; i<eegmanager->bandwidth.size(); i++) {
result[(i*2)+1] = eegmanager->bandwidth[i];
result[(i*2)+2] = eegmanager->fill[i];
}
return;
}
if(eegmanager->current_setup().size() > 0) {
result[0] = std::string("CONFIGURED");
return;
}
result[0] = std::string("IDLE");
return;
}
void startWorkingCallback::execute (XmlRpc::XmlRpcValue& params, XmlRpc::XmlRpcValue& result)
{
// if no arguments were received
if (!params.valid())
{
result = ctrl_xmlrpc->startProcessing();
}
else
{
switch(params.size())
{
// start the server in online mode with port and blocksize
case 2:
ctrl_xmlrpc->startEegServer((int) params[0], (int) params[1]);
result = 0;
break;
case 3:
ctrl_xmlrpc->startEegServer((std::string) params[0], (int) params[1], (int) params[2]);
result = 0;
break;
default:
OMG("WARNING! Server got wrong number of arguments!");
break;
}
}
fflush(stdout);
}
bool TestCollisionWorld::readDoubleArray(XmlRpc::XmlRpcValue& list, std::vector<double>& array)
{
if (list.getType() != XmlRpc::XmlRpcValue::TypeArray)
{
ROS_ERROR("Parameter needs to be an *array* of doubles");
return false;
}
array.clear();
for (int32_t i = 0; i < list.size(); ++i)
{
if (list[i].getType() != XmlRpc::XmlRpcValue::TypeDouble &&
list[i].getType() != XmlRpc::XmlRpcValue::TypeInt)
{
ROS_ERROR("Parameter needs to be an array of *doubles*");
return false;
}
double value=0.0;
if (list[i].getType() == XmlRpc::XmlRpcValue::TypeInt)
value = static_cast<double>(static_cast<int>(list[i]));
else value = static_cast<double>(list[i]);
array.push_back(value);
}
return true;
}
/**
* Tries to read joint module configurations from XmlRpcValue object.
* If the module is a joint module, it contains a joint name array.
* A typical joint module has the following configuration structure:
* struct {
* joint_names: ['head_pan_joint','head_tilt_joint'],
* joint_step: 0.075
* }
* @param mod_struct configuration object struct
* @return true if the configuration object hols a joint module config, else false
*/
bool TeleopCOB::assign_joint_module(std::string mod_name, XmlRpc::XmlRpcValue mod_struct)
{
// search for joint_name parameter in current module struct to determine which type of module
// only joint mods or wheel mods supported
// which mens that is no joint names are found, then the module is a wheel module
// TODO replace with build in find, but could not get it to work
bool is_joint_module = false;
joint_module tempModule;
for(std::map<std::string,XmlRpc::XmlRpcValue>::iterator ps=mod_struct.begin();ps!=mod_struct.end();++ps)
{
std::string par_name = ps->first;
ROS_DEBUG("par name: %s",par_name.c_str());
if(par_name.compare("joint_names")==0)
{
ROS_DEBUG("joint names found");
XmlRpc::XmlRpcValue joint_names = ps->second;
ROS_ASSERT(joint_names.getType() == XmlRpc::XmlRpcValue::TypeArray);
ROS_DEBUG("joint_names.size: %d \n", joint_names.size());
for(int i=0;i<joint_names.size();i++)
{
ROS_ASSERT(joint_names[i].getType() == XmlRpc::XmlRpcValue::TypeString);
std::string s((std::string)joint_names[i]);
ROS_DEBUG("joint_name found = %s",s.c_str());
tempModule.joint_names.push_back(s);
}
// set size of other vectors according to the joint name vector
tempModule.req_joint_pos_.resize(joint_names.size());
tempModule.req_joint_vel_.resize(joint_names.size());
is_joint_module = true;
//break; // no need to continue searching if joint names are found
}else if(par_name.compare("joint_step")==0){
ROS_DEBUG("joint steps found");
XmlRpc::XmlRpcValue joint_steps = ps->second;
ROS_ASSERT(joint_steps.getType() == XmlRpc::XmlRpcValue::TypeArray);
ROS_DEBUG("joint_steps.size: %d \n", joint_steps.size());
for(int i=0;i<joint_steps.size();i++)
{
ROS_ASSERT(joint_steps[i].getType() == XmlRpc::XmlRpcValue::TypeDouble);
double step((double)joint_steps[i]);
ROS_DEBUG("joint_step found = %f",step);
tempModule.steps.push_back(step);
}
}
}
if(is_joint_module)
{
// assign publisher
tempModule.module_publisher_ = n_.advertise<trajectory_msgs::JointTrajectory>(("/"+mod_name+"_controller/command"),1);
tempModule.module_publisher_brics_ = n_.advertise<brics_actuator::JointVelocities>(("/"+mod_name+"_controller/command_vel"),1);
// store joint module in collection
ROS_DEBUG("head module stored");
joint_modules_.insert(std::pair<std::string,joint_module>(mod_name,tempModule));
}
return is_joint_module;
}
bool PTPFollowJointTrajectoryController::init(hardware_interface::PositionJointInterface* hw, ros::NodeHandle &root_nh, ros::NodeHandle& controller_nh)
{
nh_ = controller_nh;
// get all joint states from the hardware interface
const std::vector<std::string>& joint_names = hw->getNames();
for (unsigned i = 0; i < joint_names.size(); i++)
ROS_DEBUG_NAMED("PTPFollowJointController", "Got joint %s", joint_names[i].c_str());
XmlRpc::XmlRpcValue joints;
if (!controller_nh.getParam("joints", joints))
{
ROS_ERROR("No joints array setting");
return false;
}
if (joints.getType() != XmlRpc::XmlRpcValue::TypeArray)
{
ROS_ERROR("Joints array setting setting type mismatched");
return false;
}
for (size_t i = 0; i < joints.size(); i++)
{
std::string joint_name;
ROS_ASSERT(joints[i].getType() == XmlRpc::XmlRpcValue::TypeString);
joint_name = static_cast<std::string>(joints[i]);
for(size_t j = 0; j < joint_names.size(); j++)
{
if(joint_name == joint_names[i])
{
ROS_DEBUG("Add joint %s to PTPFollowJointController", joint_name.c_str());
joints_.push_back(hw->getHandle(joint_name));
break;
}
}
}
q.resize(joints_.size());
qd.resize(joints_.size());
qdd.resize(joints_.size());
// Creates a dummy trajectory
boost::shared_ptr<SpecifiedTrajectory> traj_ptr(new SpecifiedTrajectory(1));
SpecifiedTrajectory &traj = *traj_ptr;
traj[0].duration = 0.0;
traj[0].splines.resize(joints_.size());
for (size_t j = 0; j < joints_.size(); ++j)
traj[0].splines[j].coef[0] = 0.0;
current_trajectory_box_.set(traj_ptr);
action_server_follow_.reset(new FJTAS(controller_nh, "ptp_follow_joint_trajectory",
boost::bind(&PTPFollowJointTrajectoryController::goalCBFollow, this, _1),
boost::bind(&PTPFollowJointTrajectoryController::cancelCBFollow, this, _1),
false));
action_server_follow_->start();
return true;
}
void
onInit()
{
n_ = getNodeHandle();
ros::NodeHandle pn = getPrivateNodeHandle();
pn.getParam("target_frame_id", target_frame_id_);
pn.getParam("table_frame_id", table_frame_id_);
pn.getParam("height_min", height_min_);
pn.getParam("height_max", height_max_);
XmlRpc::XmlRpcValue v;
pn.getParam("table_dimensions", v);
if( v.size() < 3)
{
ROS_ERROR("Hull points not set correctly, nodelet will not work");
return;
}
double x ,y, z;
x = (double)v[0];
y = (double)v[1];
z = (double)v[2];
Eigen::Vector3d p;
p << -x/2, -y/2, z;
hull_points_[0] = p;
p << -x/2, y/2, z;
hull_points_[1] = p;
p << x/2, y/2, z;
hull_points_[2] = p;
p << x/2, -y/2, z;
hull_points_[3] = p;
tf::StampedTransform trf_table;
try
{
tf_listener_.waitForTransform(target_frame_id_, table_frame_id_, ros::Time(), ros::Duration(2));
tf_listener_.lookupTransform(target_frame_id_, table_frame_id_, ros::Time(), trf_table);
}
catch (tf::TransformException& ex) {
ROS_ERROR("[transform region crop] : %s",ex.what());
return;
}
Eigen::Affine3d ad;
tf::transformTFToEigen(trf_table, ad);
for(int i = 0; i < hull_points_.size(); i++)
{
Point p;
p.getVector3fMap() = (ad*hull_points_[i]).cast<float>();
hull_->points[i] = p;
}
pc_sub_ = n_.subscribe<PointCloud>("point_cloud_in", 1, boost::bind(&TableRegionCropNodelet::topicCallback, this, _1));
pc_pub_ = n_.advertise<PointCloud>("point_cloud_out", 1);
eppd_.setInputPlanarHull(hull_);
eppd_.setHeightLimits(height_min_, height_max_);
eppd_.setViewPoint(0,0,5);
}
int main(int argc, char* argv[])
{
std::vector<ros::Subscriber> subs;
ros::init(argc, argv, "Navi2");
ros::NodeHandle nh;
XmlRpc::XmlRpcValue topicList;
ros::param::get("~inputTopics", topicList);
ROS_ASSERT(topicList.size() > 0);
ROS_ASSERT(topicList.getType() == XmlRpc::XmlRpcValue::TypeArray);
for (int i = 0; i < topicList.size(); ++i)
{
ROS_ASSERT(topicList[i].getType() == XmlRpc::XmlRpcValue::TypeString);
std::string topic = static_cast<std::string>(topicList[i]);
maps.push_back(nav_msgs::OccupancyGrid());
flags.push_back(0);
subs.push_back(nh.subscribe<nav_msgs::OccupancyGrid>(topic, 1, boost::bind(mapCallback, _1, i)));
}
ros::Publisher mapPub = nh.advertise<nav_msgs::OccupancyGrid>("output", 1);
ros::Rate rate(20);
while (ros::ok())
{
rate.sleep();
ros::spinOnce();
//Everyone ready?
if ((unsigned int)std::count(flags.begin(), flags.end(), 1) == flags.size())
{
//merge
nav_msgs::OccupancyGrid map;
map.info = maps.front().info;
for (unsigned int i = 0; i < map.info.height * map.info.width; ++i)
{
map.data.push_back(-1);
for (std::vector<nav_msgs::OccupancyGrid>::iterator j = maps.begin(); j != maps.end(); ++j)
{
map.data[i] = std::max(map.data[i], j->data[i]);
}
}
mapPub.publish(map);
//Make not ready
std::fill(flags.begin(), flags.end(), 0);
}
}
}
bool getImpl(const std::string& key, bool& b, bool use_cache)
{
XmlRpc::XmlRpcValue v;
if (!getImpl(key, v, use_cache))
return false;
if (v.getType() != XmlRpc::XmlRpcValue::TypeBoolean)
return false;
b = v;
return true;
}
bool getImpl(const std::string& key, std::string& s, bool use_cache)
{
XmlRpc::XmlRpcValue v;
if (!getImpl(key, v, use_cache))
return false;
if (v.getType() != XmlRpc::XmlRpcValue::TypeString)
return false;
s = std::string(v);
return true;
}
// Replacement "shutdown" XMLRPC callback
void shutdownCallback( XmlRpc::XmlRpcValue& params, XmlRpc::XmlRpcValue& result )
{
if( (params.getType() == XmlRpc::XmlRpcValue::TypeArray)
&& (params.size() > 1) ) {
std::string reason = params[1];
ROS_WARN( "Shutdown request received. Reason: [%s]", reason.c_str() );
g_request_shutdown = 1;
}
result = ros::xmlrpc::responseInt( 1, "", 0 );
}
/**
* Tries to read base module configurations from XmlRpcValue object.
* A base module is supposed to contain vectors 3 element vectors (x,y,th)
* with max acceleration and velocity. Example:
* struct {
* max_velocity: [0.3, 0.2, 0.3],
* max_acceleration: [0.5, 0.5, 0.7]
* }
* @param mod_struct configuration object struct
* @return true no check is currently performed TODO check
*/
bool TeleopCOB::assign_base_module(XmlRpc::XmlRpcValue mod_struct)
{
for(std::map<std::string,XmlRpc::XmlRpcValue>::iterator ps=mod_struct.begin();ps!=mod_struct.end();++ps)
{
std::string par_name = ps->first;
ROS_DEBUG("par name: %s",par_name.c_str());
if(par_name.compare("max_velocity")==0)
{
ROS_DEBUG("max vel found");
XmlRpc::XmlRpcValue max_vel = ps->second;
ROS_ASSERT(max_vel.getType() == XmlRpc::XmlRpcValue::TypeArray);
if(max_vel.size()!=3){ROS_WARN("invalid base parameter size");}
ROS_DEBUG("max_vel.size: %d \n", max_vel.size());
for(int i=0;i<max_vel.size();i++)
{
ROS_ASSERT(max_vel[i].getType() == XmlRpc::XmlRpcValue::TypeDouble);
double val = (double)max_vel[i];
ROS_DEBUG("max vel value = %f",val);
base_module_.max_vel_.push_back(val);
}
}
else if(par_name.compare("max_acceleration")==0)
{
ROS_DEBUG("max acc found");
XmlRpc::XmlRpcValue max_acc = ps->second;
ROS_ASSERT(max_acc.getType() == XmlRpc::XmlRpcValue::TypeArray);
if(max_acc.size()!=3){ROS_DEBUG("invalid base parameter size");}
ROS_DEBUG("max_acc.size: %d \n", max_acc.size());
for(int i=0;i<max_acc.size();i++)
{
ROS_ASSERT(max_acc[i].getType() == XmlRpc::XmlRpcValue::TypeDouble);
double val = (double)max_acc[i];
ROS_DEBUG("max acc value = %f", val);
base_module_.max_acc_.push_back(val);
}
}
else
{
ROS_WARN("unsupported base module parameter read");
}
}
// make all the vectors the same length
// the vector size is not completely safe since only warning is
// issued if max value arrays has the wrong length
base_module_.req_vel_.resize(base_module_.max_acc_.size());
base_module_.vel_old_.resize(base_module_.max_acc_.size());
base_module_.base_publisher_ = n_.advertise<geometry_msgs::Twist>("/base_controller/command",1);
ROS_DEBUG("base module stored");
has_base_module_ = true;
return true;
}
QLearner::QLearner(ros::NodeHandle nh)
{
n_ = nh;
ros::NodeHandle n_private("~");
n_private.param("num_states", num_states_, 8);
n_private.param("num_actions", num_actions_, 3);
n_private.param("learning_rate", learning_rate_, 0.3);
n_private.param("discount_factor", discount_factor_, 0.5);
n_private.param("temp_const", temp_const_, 5.0);
n_private.param("temp_alpha", temp_alpha_, 0.85);
temp_cnt_ = 0;
temp_ = temp_const_ * pow(temp_alpha_, temp_cnt_);
size_array_ = num_actions_ * num_states_;
srand ( time(NULL) );
Init();
if (n_private.hasParam("qarray"))
{
learn_ = false;
// Get the qtable
XmlRpc::XmlRpcValue qtable;
n_private.getParam("qarray", qtable);
if (qtable.getType() != XmlRpc::XmlRpcValue::TypeArray)
ROS_ERROR("Error reading footsteps/x from config file.");
int size;
try
{
size = qtable.size();
if (size != (num_states_ * num_actions_))
{
ROS_ERROR("Size of array does not match num_states * num_actions = %d,\
exiting.", num_states_ * num_actions_);
exit(0);
}
}
catch (const XmlRpc::XmlRpcException e)
{
ROS_ERROR("No table available, exiting.");
exit(0);
}
// create qarray set
for(int i=0; i < size; i++)
{
q_array_.push_back((double)qtable[i]);
}
}
/*
parameter format is:
polygon_array: [[[0, 0, 0], [0, 0, 1], [1, 0, 0]], ...]
*/
bool StaticPolygonArrayPublisher::readPolygonArray(const std::string& param_name)
{
if (pnh_->hasParam(param_name)) {
XmlRpc::XmlRpcValue v;
pnh_->param(param_name, v, v);
if (v.getType() == XmlRpc::XmlRpcValue::TypeArray) {
for (size_t toplevel_i = 0; toplevel_i < v.size(); toplevel_i++) { // polygons
XmlRpc::XmlRpcValue polygon_v = v[toplevel_i];
geometry_msgs::PolygonStamped polygon;
if (polygon_v.getType() == XmlRpc::XmlRpcValue::TypeArray &&
polygon_v.size() >= 3) {
for (size_t secondlevel_i = 0; secondlevel_i < polygon_v.size(); secondlevel_i++) { // each polygon, vertices
XmlRpc::XmlRpcValue vertex_v = polygon_v[secondlevel_i];
if (vertex_v.getType() == XmlRpc::XmlRpcValue::TypeArray &&
vertex_v.size() == 3 ) { // vertex_v := [x, y, z]
double x = getXMLDoubleValue(vertex_v[0]);
double y = getXMLDoubleValue(vertex_v[1]);
double z = getXMLDoubleValue(vertex_v[2]);
geometry_msgs::Point32 point;
point.x = x;
point.y = y;
point.z = z;
polygon.polygon.points.push_back(point);
}
else {
JSK_NODELET_FATAL("%s[%lu][%lu] is not array or the length is not 3",
param_name.c_str(), toplevel_i, secondlevel_i);
return false;
}
}
polygons_.polygons.push_back(polygon);
// estimate model coefficients
coefficients_.coefficients.push_back(polygonToModelCoefficients(polygon));
}
else {
JSK_NODELET_FATAL("%s[%lu] is not array or not enough points", param_name.c_str(), toplevel_i);
return false;
}
}
return true;
}
else {
JSK_NODELET_FATAL("%s is not array", param_name.c_str());
return false;
}
}
else {
JSK_NODELET_FATAL("no %s is available on parameter server", param_name.c_str());
return false;
}
return true;
}
void PoseTracker::parseParameters(const XmlRpc::XmlRpcValue &leds)
{
ROS_ASSERT(leds.getType() == XmlRpc::XmlRpcValue::TypeArray);
// if parameters is good, resize the matrix to account for number of leds used to track
// 4 = id + 3Dposition
local_points_=Eigen::MatrixXd::Zero(leds.size(),4);
Nleds_ = leds.size();
for( int i = 0; i < Nleds_; ++i)
{
XmlRpc::XmlRpcValue current_led = leds[i];
// parse ID
ROS_ASSERT(current_led.getType() == XmlRpc::XmlRpcValue::TypeStruct);
if( current_led.hasMember("id") )
{
ROS_ASSERT(current_led["id"].getType() == XmlRpc::XmlRpcValue::TypeInt);
int id = current_led["id"];
local_points_(i, 0) = (double) id;
}
else
{
ROS_ERROR("No id value for the current led. Check the yaml configuration for this object");
return;
}
// parse position
std::vector<double> position;
if( current_led.hasMember("position") )
{
for (int j = 0; j < current_led["position"].size(); ++j)
{
ROS_ASSERT(current_led["position"][j].getType() == XmlRpc::XmlRpcValue::TypeDouble);
position.push_back( current_led["position"][j] );
}
local_points_(i, 1) = position[0];
local_points_(i, 2) = position[1];
local_points_(i, 3) = position[2];
}
else
{
ROS_ERROR("No double value for the position current led. Check the yaml configuration for this object, remember to use . dots to ensure double format");
return;
}
}
ROS_INFO("Succesfully parsed all LED parameters!");
// std::cout << local_points_ << std::endl;
return;
}
double getNumberFromXMLRPC(XmlRpc::XmlRpcValue& value, const std::string& full_param_name)
{
// Make sure that the value we're looking at is either a double or an int.
if (value.getType() != XmlRpc::XmlRpcValue::TypeInt &&
value.getType() != XmlRpc::XmlRpcValue::TypeDouble)
{
std::string& value_string = value;
ROS_FATAL("Values in the footprint specification (param %s) must be numbers. Found value %s.",
full_param_name.c_str(), value_string.c_str());
throw std::runtime_error("Values in the footprint specification must be numbers");
}
return value.getType() == XmlRpc::XmlRpcValue::TypeInt ? (int)(value) : (double)(value);
}
// Class constructor
PanosContactPoints::PanosContactPoints(ModelPlane * parent) : GroundReaction(parent)
{
XmlRpc::XmlRpcValue list;
int i, j, points;
char paramMsg[50];
double temp[6];
// Read contact points number from parameter server
if(!ros::param::getCached("airframe/contactPtsNo", contactPtsNo)) {ROS_FATAL("Invalid parameters for -/airframe/contactPtsNo- in param server!"); ros::shutdown();}
// Create an appropriately sized matrix to contain contact point information
pointCoords = (double*)malloc(sizeof(double) * contactPtsNo*3); // contact points coordinates in the body frame
materialIndex = (double*)malloc(sizeof(double) * contactPtsNo*1); // contact points material type index
springIndex = (double*)malloc(sizeof(double) * contactPtsNo*2); // contact points spring characteristics
len=0.2;
// Set coefficient of friction for each material
frictForw[0] = 0.7; frictSide[0] = 0.7;
frictForw[1] = 0.4; frictSide[1] = 0.4;
frictForw[2] = 0.1; frictSide[2] = 1.0;
frictForw[3] = 0.4; frictSide[3] = 0.4; //To update composite to ground firction coefficients!
// Read contact points location and material from parameter server
for (j = 0; j<contactPtsNo; j++) { //Distribute the data
sprintf(paramMsg, "airframe/contactPoint%i", j+1);
if(!ros::param::getCached(paramMsg, list)) {ROS_FATAL("Invalid parameters for -/airframe/contactPoint- in param server!"); ros::shutdown();}
for (i = 0; i < list.size(); ++i) {
ROS_ASSERT(list[i].getType() == XmlRpc::XmlRpcValue::TypeDouble);
temp[i]=list[i];
}
pointCoords[j] = temp[0]; // Save body frame contact point coordinates
pointCoords[j + contactPtsNo] = temp[1];
pointCoords[j + contactPtsNo*2] = temp[2];
materialIndex[j] = temp[3]; // A separate contact point material index array
springIndex[j] = temp[4]; // And the spring constants
springIndex[j + contactPtsNo] = temp[5];
}
// Create and initialize spring contraction container
spp = (double*)malloc(sizeof(double) * contactPtsNo);
memset(spp, 0, sizeof(spp));
// Create and initialize previous spring contraction container
sppprev = (double*)malloc(sizeof(double) * contactPtsNo);
memset(sppprev, 0, sizeof(sppprev));
contact = false;
// Create other matrices needed for calculations
cpi_up = (double*)malloc(sizeof(double) * contactPtsNo*3); // upper spring end matrix
cpi_down = (double*)malloc(sizeof(double) * contactPtsNo*3); // lower spring end matrix
spd = (double*)malloc(sizeof(double) * contactPtsNo); // spring contraction speed
}
void FootstepMarker::readPoseParam(ros::NodeHandle& pnh, const std::string param,
tf::Transform& offset) {
XmlRpc::XmlRpcValue v;
geometry_msgs::Pose pose;
if (pnh.hasParam(param)) {
pnh.param(param, v, v);
// check if v is 7 length Array
if (v.getType() == XmlRpc::XmlRpcValue::TypeArray &&
v.size() == 7) {
// safe parameter access by getXMLDoubleValue
pose.position.x = getXMLDoubleValue(v[0]);
pose.position.y = getXMLDoubleValue(v[1]);
pose.position.z = getXMLDoubleValue(v[2]);
pose.orientation.x = getXMLDoubleValue(v[3]);
pose.orientation.y = getXMLDoubleValue(v[4]);
pose.orientation.z = getXMLDoubleValue(v[5]);
pose.orientation.w = getXMLDoubleValue(v[6]);
// converst the message as following: msg -> eigen -> tf
//void poseMsgToEigen(const geometry_msgs::Pose &m, Eigen::Affine3d &e);
Eigen::Affine3d e;
tf::poseMsgToEigen(pose, e); // msg -> eigen
tf::transformEigenToTF(e, offset); // eigen -> tf
}
else {
ROS_ERROR_STREAM(param << " is malformed, which should be 7 length array");
}
}
else {
ROS_WARN_STREAM("there is no parameter on " << param);
}
}
bool getNodes(V_string& nodes)
{
XmlRpc::XmlRpcValue args, result, payload;
args[0] = this_node::getName();
if (!execute("getSystemState", args, result, payload, true))
{
return false;
}
S_string node_set;
for (int i = 0; i < payload.size(); ++i)
{
for (int j = 0; j < payload[i].size(); ++j)
{
XmlRpc::XmlRpcValue val = payload[i][j][1];
for (int k = 0; k < val.size(); ++k)
{
std::string name = payload[i][j][1][k];
node_set.insert(name);
}
}
}
nodes.insert(nodes.end(), node_set.begin(), node_set.end());
return true;
}