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pick_and_place.py
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#!/usr/bin/env python
# -*- coding: utf-8 -*-
################################################################################
# Copyright 2018 ROBOTIS CO., LTD.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
################################################################################
import rospy, roslaunch
import numpy as np
import subprocess
import os
import sys
from enum import Enum
from std_msgs.msg import UInt8, Float32MultiArray
from tf.transformations import *
import tf
from PySide import QtCore, QtGui, QtOpenGL
from sensor_msgs.msg import JointState
from geometry_msgs.msg import PoseStamped, Pose, Point
from math import pow, atan2, sqrt
# Manipulator
from open_manipulator_msgs.msg import JointPosition
from open_manipulator_msgs.msg import KinematicsPose
from open_manipulator_msgs.msg import OpenManipulatorState
from open_manipulator_msgs.srv import SetJointPosition
from open_manipulator_msgs.srv import SetKinematicsPose
from open_manipulator_msgs.srv import GetJointPosition
from open_manipulator_msgs.srv import GetKinematicsPose
from open_manipulator_msgs.srv import SetActuatorState
class PickAndPlace():
def __init__(self):
self.CurrentMode = Enum('CurrentMode',
'idle \
init \
waitObject \
move_to_pick \
close_object \
move_to_place' )
self.listener = tf.TransformListener()
self.jointStates = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
self.kinematicsStates = [0.0, 0.0, 0.0]
self.open_manipulator_moving_state = "STOPPED"
self.current_mode = self.CurrentMode.init.value
self.pickObjectPose = PoseStamped()
self.pickTargetPose = PoseStamped()
self.placeObjectPose = PoseStamped()
self.placeTargetPose = PoseStamped()
self.is_triggered = False
self.currentToolPose = Pose()
self.use_platform = rospy.get_param("~use_platform","true")
self.set_joint_position = rospy.ServiceProxy('goal_joint_space_path', SetJointPosition)
self.set_kinematics_position = rospy.ServiceProxy('goal_task_space_path_position_only', SetKinematicsPose)
self.set_joint_position_from_present = rospy.ServiceProxy('goal_joint_space_path_from_present', SetJointPosition)
self.set_actuator_state = rospy.ServiceProxy('set_actuator_state', SetActuatorState)
self.set_gripper_control = rospy.ServiceProxy('goal_tool_control', SetJointPosition)
self.open_manipulator_joint_states_sub_ = rospy.Subscriber('joint_states', JointState, self.jointStatesCallback)
self.open_manipulator_kinematics_pose_sub_ = rospy.Subscriber('gripper/kinematics_pose', KinematicsPose, self.kinematicsPoseCallback)
self.open_manipulator_states_sub = rospy.Subscriber('states', OpenManipulatorState, self.statesCallback)
self.object_sub = rospy.Subscriber('objects', Float32MultiArray, self.objectCallback)
rospy.sleep(1)
# actuator enable
self.actuatorTorque(True)
self.setInitPose()
loop_rate = rospy.Rate(10) # 10hz
while not rospy.is_shutdown() :
if self.is_triggered == True:
self.fnControlNode()
pass
loop_rate.sleep()
def kinematicsPoseCallback(self, msg):
self.currentToolPose = msg.pose
rospy.logwarn(' currentToolPose x,y,z %.2f , %.2f, %.2f ', \
self.currentToolPose.position.x, self.currentToolPose.position.y, self.currentToolPose.position.z )
def fnControlNode(self):
# lane_following
if self.current_mode == self.CurrentMode.init.value:
rospy.loginfo("init mode")
#if self.setInitPose() :
if self.setBackwardPose() :
self.current_mode = self.CurrentMode.waitObject.value
rospy.loginfo("init pose ok")
elif self.current_mode == self.CurrentMode.waitObject.value:
rospy.loginfo("waitObject mode")
pick_object_detect_duration = rospy.get_rostime().to_sec() - self.pickObjectPose.header.stamp.to_sec()
place_object_detect_duration = rospy.get_rostime().to_sec() - self.placeObjectPose.header.stamp.to_sec()
rospy.logwarn("duration pick %.2f , place %.2f ", pick_object_detect_duration , place_object_detect_duration )
if 1 : #pick_object_detect_duration < 1 and place_object_detect_duration < 1 :
rospy.loginfo(" detect object ")
self.pickTargetPose = self.pickObjectPose
self.placeTargetPose = self.placeObjectPose
self.current_mode = self.CurrentMode.move_to_pick.value
elif self.current_mode == self.CurrentMode.move_to_pick.value:
rospy.loginfo("move_to_pick mode")
if self.moveToObject() :
self.current_mode = self.CurrentMode.close_object.value
rospy.loginfo("init pose ok")
elif self.current_mode == self.CurrentMode.close_object.value:
rospy.loginfo("close_to_pick mode")
if self.closeToObject() :
self.current_mode = self.CurrentMode.move_to_place.value
rospy.loginfo("closeToObject ok")
elif self.current_mode == self.CurrentMode.move_to_place.value:
rospy.loginfo("move_to_place mode")
if self.moveToPlace() :
self.current_mode = self.CurrentMode.idle.value
rospy.loginfo("moveToPlace ok")
elif self.current_mode == self.CurrentMode.idle.value:
rospy.loginfo("reset : idle mode")
rospy.sleep(3)
self.current_mode = self.CurrentMode.init.value
def objectCallback(self,msg):
# init position
pickObejectNumList = [100,101,102,103,104,105,106,107,108,109,110]
placeObejectNumList = [1,2,3,4,5,6,7,8,9,10]
#rospy.logwarn( 'objectCallback' )
data = msg.data
for i in range(0,len(data),12):
id = int(data[i])
# if id in pickObejectNumList :
# pass
# else:
# rospy.loginfo("continue : idle mode ")
# continue
objectWidth = data[i+1]
objectHeight = data[i+2]
qtHomography = QtGui.QTransform(data[i+3], data[i+4], data[i+5],
data[i+6], data[i+7], data[i+8],
data[i+9], data[i+10], data[i+11])
qtTopLeft = qtHomography.map(QtCore.QPointF(0,0));
qtTopRight = qtHomography.map(QtCore.QPointF(objectWidth,0));
qtBottomLeft = qtHomography.map(QtCore.QPointF(0,objectHeight));
qtBottomRight = qtHomography.map(QtCore.QPointF(objectWidth,objectHeight));
centX = int(( qtTopLeft.x() + qtTopRight.x() + qtBottomLeft.x() + qtBottomRight.x() ) / 4)
centY = int(( qtTopLeft.y() + qtTopRight.y() + qtBottomLeft.y() + qtBottomRight.y() ) / 4)
'''rospy.loginfo("Object %d detected, CentX,Y ( %d , %d ) witdh ( %d , %d ),corners point at TopLeft (%.0f,%.0f) TopRight(%.0f,%.0f) BottomLeft(%.0f,%.0f) BottomRight(%.0f,%.0f)\n",
id, centX, centY, objectWidth, objectWidth,
qtTopLeft.x(), qtTopLeft.y(),
qtTopRight.x(), qtTopRight.y(),
qtBottomLeft.x(), qtBottomLeft.y(),
qtBottomRight.x(), qtBottomRight.y())'''
try:
(trans,rot) = self.listener.lookupTransform('link1', 'object_'+str(id), rospy.Time(0))
self.pickObjectPose.header.stamp = rospy.get_rostime()
self.pickObjectPose.pose.position.x = trans[0]
self.pickObjectPose.pose.position.y = trans[1]
self.pickObjectPose.pose.position.z = trans[2]
#rospy.logwarn('ft of object_%s is xyz( %.2f, %.2f, %.2f from link1 %.2f ', str(id), trans[0], trans[1], trans[2],self.pickObjectPose.header.stamp.to_sec())
except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):
rospy.logwarn('there is not tf of pickObject_%s ' , str(id) )
for i in range(0,len(data),12):
id = int(data[i])
# if id in placeObejectNumList :
# pass
# else:
# rospy.loginfo("continue : idle mode")
# continue
objectWidth = data[i+1]
objectHeight = data[i+2]
qtHomography = QtGui.QTransform(data[i+3], data[i+4], data[i+5],
data[i+6], data[i+7], data[i+8],
data[i+9], data[i+10], data[i+11])
qtTopLeft = qtHomography.map(QtCore.QPointF(0,0));
qtTopRight = qtHomography.map(QtCore.QPointF(objectWidth,0));
qtBottomLeft = qtHomography.map(QtCore.QPointF(0,objectHeight));
qtBottomRight = qtHomography.map(QtCore.QPointF(objectWidth,objectHeight));
centX = int(( qtTopLeft.x() + qtTopRight.x() + qtBottomLeft.x() + qtBottomRight.x() ) / 4)
centY = int(( qtTopLeft.y() + qtTopRight.y() + qtBottomLeft.y() + qtBottomRight.y() ) / 4)
'''rospy.loginfo("Object %d detected, CentX,Y ( %d , %d ) witdh ( %d , %d ),corners point at TopLeft (%.0f,%.0f) TopRight(%.0f,%.0f) BottomLeft(%.0f,%.0f) BottomRight(%.0f,%.0f)\n",
id, centX, centY, objectWidth, objectWidth,
qtTopLeft.x(), qtTopLeft.y(),
qtTopRight.x(), qtTopRight.y(),
qtBottomLeft.x(), qtBottomLeft.y(),
qtBottomRight.x(), qtBottomRight.y())'''
try:
(trans,rot) = self.listener.lookupTransform('link1', 'object_'+str(id), rospy.Time(0))
self.placeObjectPose.header.stamp = rospy.get_rostime()
self.placeObjectPose.pose.position.x = trans[0]
self.placeObjectPose.pose.position.y = trans[1]
self.placeObjectPose.pose.position.z = trans[2]
#rospy.logwarn('ft of object_%s is xyz( %.2f, %.2f, %.2f from link1 %.2f ', str(id), trans[0], trans[1], trans[2],self.pickObjectPose.header.stamp.to_sec())
except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):
rospy.logwarn('there is not tf of placeObject_%s ' , str(id) )
def moveToObject(self):
rospy.logwarn("move to object")
resp = False
end_effector_name = "gripper"
kinematics_pose = KinematicsPose()
planning_group = "arm"
kinematics_pose.pose = self.pickTargetPose.pose
kinematics_pose.pose.position = self.forwardObjectPosition( kinematics_pose.pose.position, -0.05 )
kinematics_pose.pose.position.z += 0.03
moveDistance = math.sqrt((kinematics_pose.pose.position.x - self.currentToolPose.position.x)**2
+ (kinematics_pose.pose.position.y - self.currentToolPose.position.y)**2
+ (kinematics_pose.pose.position.z - self.currentToolPose.position.z)**2 )
#distance 0.3 m -> 3 sec operate time
#distance 0.1 m -> 1 sec operate time
operating_time = moveDistance * 10
operating_limit_time = operating_time
if operating_time < 1 :
operating_limit_time = 1
elif operating_time > 3 :
operating_limit_time = 3
rospy.logwarn("go xyz %.2f,%.2f,%.2f , moveDistance %.2f, operate time %.2f ( %.2f )" ,\
kinematics_pose.pose.position.x, kinematics_pose.pose.position.y, kinematics_pose.pose.position.z, \
moveDistance, operating_time , operating_limit_time)
try:
resp = self.set_kinematics_position(planning_group, end_effector_name, kinematics_pose, operating_time)
print 'kinemetics resp1 {} time '.format(resp.is_planned, operating_time)
rospy.sleep(operating_time)
except rospy.ServiceException, e:
print "Service call failed: %s"%e
return False
return resp
def closeToObject(self):
rospy.logwarn("close to object")
resp = False
end_effector_name = "gripper"
kinematics_pose = KinematicsPose()
planning_group = "arm"
kinematics_pose.pose = self.pickTargetPose.pose
kinematics_pose.pose.position = self.forwardObjectPosition( kinematics_pose.pose.position, 0.03 )
if self.use_platform :
rospy.logwarn("??????1")
kinematics_pose.pose.position.z += 0.05
else :
rospy.logwarn("??????2")
kinematics_pose.pose.position.z -= 0.05
kinematics_pose.pose.position.y += 0.005
moveDistance = math.sqrt((kinematics_pose.pose.position.x - self.currentToolPose.position.x)**2
+ (kinematics_pose.pose.position.y - self.currentToolPose.position.y)**2
+ (kinematics_pose.pose.position.z - self.currentToolPose.position.z)**2 )
#distance 0.3 m -> 3 sec operate time
#distance 0.1 m -> 1 sec operate time
operating_time = moveDistance * 10
operating_limit_time = operating_time
if operating_time < 1 :
operating_limit_time = 1
elif operating_time > 3 :
operating_limit_time = 3
rospy.logwarn("go xyz %.2f,%.2f,%.2f , moveDistance %.2f, operate time %.2f ( %.2f )" ,\
kinematics_pose.pose.position.x, kinematics_pose.pose.position.y, kinematics_pose.pose.position.z, \
moveDistance, operating_time , operating_limit_time)
try:
resp = self.set_kinematics_position(planning_group, end_effector_name, kinematics_pose, operating_time)
print 'kinemetics resp1 {} time '.format(resp.is_planned, operating_time)
rospy.sleep(operating_time)
except rospy.ServiceException, e:
print "Service call failed: %s"%e
return False
return resp
def moveToPlace(self):
rospy.logwarn("move_to_place")
# close gripper
joint_position = JointPosition()
joint_position.joint_name = ['gripper']
joint_position.position = [-0.01] #-0.01 0.01
resp = False
try:
path_time = 1
resp = self.set_gripper_control("",joint_position, path_time)
rospy.sleep(path_time)
except rospy.ServiceException, e:
print "Service call failed: %s"%e
if not resp :
return False
# initial pose
self.setBackwardPose2()
# go place position
rospy.logwarn("go to place")
resp = False
end_effector_name = "gripper"
kinematics_pose = KinematicsPose()
planning_group = "arm"
kinematics_pose.pose = self.placeTargetPose.pose
kinematics_pose.pose.position = self.forwardObjectPosition( kinematics_pose.pose.position, 0.03 )
kinematics_pose.pose.position.z += 0.13
kinematics_pose.pose.position.x += 0.015
moveDistance = math.sqrt((kinematics_pose.pose.position.x - self.currentToolPose.position.x)**2
+ (kinematics_pose.pose.position.y - self.currentToolPose.position.y)**2
+ (kinematics_pose.pose.position.z - self.currentToolPose.position.z)**2 )
#distance 0.3 m -> 3 sec operate time
#distance 0.1 m -> 1 sec operate time
operating_time = moveDistance * 10
operating_limit_time = operating_time
if operating_time < 1 :
operating_limit_time = 1
elif operating_time > 3 :
operating_limit_time = 3
rospy.logwarn("go xyz %.2f,%.2f,%.2f , moveDistance %.2f, operate time %.2f ( %.2f )" ,\
kinematics_pose.pose.position.x, kinematics_pose.pose.position.y, kinematics_pose.pose.position.z, \
moveDistance, operating_time , operating_limit_time)
try:
resp = self.set_kinematics_position(planning_group, end_effector_name, kinematics_pose, operating_time)
rospy.logwarn( 'kinemetics resp1 {} time '.format(resp.is_planned, operating_time))
rospy.sleep(operating_time)
except rospy.ServiceException, e:
rospy.logwarn( "Service call failed: %s"%e)
return False
# open gripper
joint_position = JointPosition()
joint_position.joint_name = ['gripper']
joint_position.position = [0.01] #-0.01 0.01
resp = False
try:
path_time = 1
resp = self.set_gripper_control("",joint_position, path_time)
rospy.sleep(path_time)
except rospy.ServiceException, e:
print "Service call failed: %s"%e
if not resp :
return False
return True
def forwardObjectPosition( self, objectPosition, forward_distance ):
resultPoint = Point()
if(abs(objectPosition.x) < 0.001) :
objectPosition.x = 0.001
radian = math.atan(objectPosition.y/objectPosition.x)
degree = math.degrees(radian)
dist = forward_distance
distX = math.cos(radian)*dist
distY = math.sin(radian)*dist
resultPoint.x = objectPosition.x + distX
resultPoint.y = objectPosition.y + distY
resultPoint.z = objectPosition.z
rospy.loginfo("%.2f m forward,so objectposition change xyz(%.2f ,%.2f, %.2f) -> xyz(%.2f ,%.2f, %.2f)",
forward_distance, objectPosition.x, objectPosition.y, objectPosition.z ,
resultPoint.x, resultPoint.y, resultPoint.z)
return resultPoint
def actuatorTorque(self, enable):
rospy.logwarn("actuatorTorque")
joint_name = ['joint1','joint2','joint3','joint4','gripper']
try:
resp = self.set_actuator_state(enable)
rospy.sleep(1)
except rospy.ServiceException, e:
print "Service call failed: %s"%e
return False
if not resp :
rospy.loginfo("set_actuator enable fail")
return resp
def setInitPose(self):
rospy.logwarn("setInitPose")
# init position
joint_position = JointPosition()
joint_position.joint_name = ['joint1','joint2','joint3','joint4']
joint_position.position = [0.5, -1.05, 0.35, 0.70]
#joint_position.position = [0.0, -1.791, 0.507, 1.438]
resp = False
try:
path_time = 2
resp = self.set_joint_position("",joint_position, path_time)
rospy.sleep(path_time)
except rospy.ServiceException, e:
print "Service call failed: %s"%e
if not resp :
return False
def setBackwardPose(self):
rospy.logwarn("setInitPose")
# init position
joint_position = JointPosition()
joint_position.joint_name = ['joint1','joint2','joint3','joint4']
#joint_position.position = [0.0, -1.05, 0.35, 0.70]
joint_position.position = [0.0, -1.791, 0.507, 1.438]
resp = False
try:
path_time = 2
resp = self.set_joint_position("",joint_position, path_time)
rospy.sleep(path_time)
except rospy.ServiceException, e:
print "Service call failed: %s"%e
if not resp :
return False
# open gripper
joint_position = JointPosition()
joint_position.joint_name = ['gripper']
joint_position.position = [0.01] #-0.01 0.01
resp = False
try:
path_time = 1
resp = self.set_gripper_control("",joint_position, path_time)
rospy.sleep(path_time)
except rospy.ServiceException, e:
print "Service call failed: %s"%e
if not resp :
return False
return True
def setBackwardPose2(self):
rospy.logwarn("setInitPose")
# init position
joint_position = JointPosition()
joint_position.joint_name = ['joint1','joint2','joint3','joint4']
#joint_position.position = [0.0, -1.05, 0.35, 0.70]
joint_position.position = [0.0, -1.791, 0.507, 1.438]
resp = False
try:
path_time = 2
resp = self.set_joint_position("",joint_position, path_time)
rospy.sleep(path_time)
except rospy.ServiceException, e:
print "Service call failed: %s"%e
if not resp :
return False
return True
def kinematicsPoseCallback(self, msg):
self.kinematicsStates[0] = msg.pose.position.x
self.kinematicsStates[1] = msg.pose.position.y
self.kinematicsStates[2] = msg.pose.position.z
#rospy.logwarn(' kinematicsPoseCallback %.2f , %.2f, %.2f ', self.kinematicsStates[0], self.kinematicsStates[1], self.kinematicsStates[2] )
def jointStatesCallback(self, msg):
#rospy.logwarn('jointStatesCallback %d ', len(msg.position) )
self.is_triggered = True
for i, pose in enumerate(msg.position):
self.jointStates[i] = pose
#print 'boundingBoxe {} {} '.format(i, pose)
def statesCallback(self, msg):
self.open_manipulator_moving_state = msg.open_manipulator_moving_state
def main(self):
rospy.spin()
if __name__ == '__main__':
rospy.init_node('pick_node_controller')
rospy.loginfo("pick_node_controller")
node = PickAndPlace()
node.main()