diff --git a/launch/sim/orocos_component_params.launch b/launch/sim/orocos_component_params.launch index 0b3a45e..7323e32 100644 --- a/launch/sim/orocos_component_params.launch +++ b/launch/sim/orocos_component_params.launch @@ -39,10 +39,10 @@ static_deadband: [0.001, 0.001, 0.001, 0.01, 0.01, 0.01, 0.01] static_effort: [4.0, 1.0, 2.0, 1.0, 0.2, 0.2, 0.05] static_eps: 0.020 - #i_gains: [5.0, 5.0, 4.0, 3.0, 0.3, 0.2, 0.2] - #i_clamps: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + i_gains: [5.0, 5.0, 5.0, 5.0, 5.0, 3.0, 3.0] + i_clamps: [0.5, 0.5, 0.5, 0.8, 0.8, 0.5, 0.5] compensate_friction: false - verbose: false + verbose: true p_gains: [350.0, 300.0, 200.0, 170.0, 12.0, 12.0, 1.0] @@ -57,10 +57,10 @@ velocity_tolerance: [2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0] - p_gains: [350.0, 350.0, 350.0, 300.0, 25.0, 25.0, 2.0] - d_gains: [30.0, 30.0, 20.0, 10.0, 4.5, 3.5, 0.8] - position_tolerance: [0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5] - velocity_tolerance: [2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0] + p_gains: [300.0, 250.0, 250.0, 200.0, 25.0, 25.0, 2.0] + d_gains: [18.0, 18.0, 15.0, 15.0, 10.5, 4.5, 3.5] + position_tolerance: [1.0, 1.0, 1.0, 1.0, 0.5, 0.5, 0.5] + velocity_tolerance: [4.0, 3.0, 4.0, 3.0, 4.0, 2.0, 2.0] @@ -93,12 +93,12 @@ max_jerks: [2.5, 2.5, 2.5, 2.5, 5.5, 5.5, 5.0] - position_tolerance: [0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5] - velocity_tolerance: [3.2, 3.2, 3.2, 3.2, 3.0, 3.0, 3.0] + position_tolerance: [1.5, 1.5, 1.5, 1.5, 1.0, 0.5, 0.5] + velocity_tolerance: [5.2, 5.2, 5.2, 4.2, 3.0, 3.0, 3.0] goal_position_tolerance: [0.05, 0.05, 0.05, 0.05, 0.1, 0.1, 0.1] goal_velocity_tolerance: [0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5] - max_velocities: [1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5] - max_accelerations: [1.5, 1.5, 1.5, 4.0, 8.0, 8.0, 8.0] + max_velocities: [2.5, 2.5, 2.5, 3.5, 3.5, 5.5, 5.5] + max_accelerations: [1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5] max_jerks: [2.5, 2.5, 2.5, 2.5, 5.5, 5.5, 5.0] @@ -109,15 +109,15 @@ target_frame: "" #$(arg tf_prefix)/cmd singularity_avoidance_gain: 0.0 joint_center_gain: 0.0 - linear_p_gain: 500.0 + linear_p_gain: 600.0 linear_d_gain: 100.0 angular_p_gain: 5.0 - angular_d_gain: 1.5 + angular_d_gain: 0.7 #angular_p_gain: 5.0 #angular_d_gain: 1.5 - linear_effort_threshold: 50.0 + linear_effort_threshold: 5000.0 linear_position_threshold: 0.1 - angular_effort_threshold: 5.0 + angular_effort_threshold: 500.0 angular_position_threshold: 1.5 nullspace_damping: 0.0 jointspace_damping: 0.0 diff --git a/launch/sim/wam7_sim.launch b/launch/sim/wam7_sim.launch index d6e3b37..82fd619 100644 --- a/launch/sim/wam7_sim.launch +++ b/launch/sim/wam7_sim.launch @@ -10,6 +10,7 @@ --> + @@ -33,7 +34,7 @@ - + @@ -83,7 +84,7 @@ command="$(find xacro)/xacro.py '$(find lcsr_barrett)/models/stage.urdf.xacro'" /> - @@ -115,7 +116,7 @@ # WAM Parameters wam: - velocity_cutoff_frequency: 300 + velocity_cutoff_frequency: 20 # Hand Parameters hand: @@ -123,20 +124,21 @@ admittance_gain: 0.1 trap_vel: 2.0 trap_accel: 10.0 - p_gain: 10.0 + p_gain: 1.7 i_gain: 0.0 i_clamp: 0.0 - d_gain: 0.02 - max_torque: 3.0 + d_gain: 0.0 + max_torque: 5.0 stop_torque: 3.0 spread_p_gain: 5.0 spread_d_gain: 0.0 finger_acceleration: 1.0 + outer_coupling_p_gain: 3.0 + outer_coupling_d_gain: 0.0 + # disabled essentially inner_breakaway_gain: 0.001 - inner_breakaway_torque: 0.5 + inner_breakaway_torque: 1000.0 outer_recouple_velocity: 1.0 - outer_coupling_p_gain: 5.0 - outer_coupling_d_gain: 0.1 diff --git a/launch/sim/wam7_sim.urdf.xacro b/launch/sim/wam7_sim.urdf.xacro index bfd7b3a..c0fe42c 100644 --- a/launch/sim/wam7_sim.urdf.xacro +++ b/launch/sim/wam7_sim.urdf.xacro @@ -12,10 +12,10 @@ $(arg lua_script) - ~ + /gazebo B08 wam - 0.033 + 0.33 raw_planning_scene @@ -27,7 +27,7 @@ - + diff --git a/launch/wam7_planning.launch b/launch/wam7_planning.launch index a2e67ce..ccecc94 100644 --- a/launch/wam7_planning.launch +++ b/launch/wam7_planning.launch @@ -1,4 +1,7 @@ + + + @@ -11,10 +14,15 @@ + + - - + + + + + @@ -24,7 +32,7 @@ - + diff --git a/lua/lcsr_barrett.lua b/lua/lcsr_barrett.lua index c32f789..66c9161 100644 --- a/lua/lcsr_barrett.lua +++ b/lua/lcsr_barrett.lua @@ -15,6 +15,9 @@ function lcsr_barrett(sim, prefix) --[[ set up TF component -]] depl:import("rtt_tf") depl:loadComponent("tf","rtt_tf::RTT_TF") + --depl:setActivity( "tf" 0.01, + --depl:getAttribute("HighestPriority"):get(), + --rtt.globals.ORO_SCHED_OTHER) tf = depl:getPeer("tf") tf:configure() tf:start() diff --git a/lua/load_controllers.lua b/lua/load_controllers.lua index 5ebf8c2..218b115 100644 --- a/lua/load_controllers.lua +++ b/lua/load_controllers.lua @@ -81,6 +81,7 @@ function load_controllers(depl, scheme, prefix) connect(wam, "position_out", ik, "positions_in"); connect( ik, "trajectories_out", traj_rml, "joint_traj_cmd_in"); ik:connectPeers(tf) + ik:connectServices(tf) --[[ Create a cartesian interpolator --]] cart_servo_name = prefix.."cart_servo" @@ -91,6 +92,7 @@ function load_controllers(depl, scheme, prefix) connect(wam, "position_out", cart_servo, "positions_in"); connect( cart_servo, "framevel_out", jtns, "framevel_in"); cart_servo:connectPeers(tf) + cart_servo:connectServices(tf) --[[ Create a coulomb friction compensator --]] coulomb_name = prefix.."coulomb" diff --git a/models/manipulation_platform.material b/models/manipulation_platform.material new file mode 100644 index 0000000..f3edb01 --- /dev/null +++ b/models/manipulation_platform.material @@ -0,0 +1,16 @@ + +material lcsr_barrett/ManipulationPlatform +{ + receive_shadows on + + technique + { + pass main + { + ambient 0.7 0.7 0.7 1.0 + diffuse 0.2 0.2 0.2 1.0 + specular 0.1 0.1 0.1 1.000000 0.00500 + } + } +} + diff --git a/models/manipulation_platform.sdf b/models/manipulation_platform.sdf new file mode 100644 index 0000000..a61e9b8 --- /dev/null +++ b/models/manipulation_platform.sdf @@ -0,0 +1,79 @@ + + + + + 0 0 0.5 0 0 0 + true + + + 10.0 + + + 1.0 + 0.0 + 0.0 + 1.0 + 0.0 + 1.0 + + + + + + 1 1 1 + + + + + + + 1 1 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 50000 + 8 + + + diff --git a/models/manipulation_platform.sdf.xacro b/models/manipulation_platform.sdf.xacro new file mode 100644 index 0000000..19a0cb3 --- /dev/null +++ b/models/manipulation_platform.sdf.xacro @@ -0,0 +1,61 @@ + + + + + true + + true + + 50000 + 8 + + + 10.0 + + 1.0 + 0.0 + 0.0 + 1.0 + 0.0 + 1.0 + + + + + + 1 1 0.1 + + + + + + + 1.0 + + + + + + + + + + + + + + false + + + + + 1 1 0.1 + + + + + + diff --git a/models/manipulation_platform.urdf.xacro b/models/manipulation_platform.urdf.xacro index b85d240..14ebad6 100644 --- a/models/manipulation_platform.urdf.xacro +++ b/models/manipulation_platform.urdf.xacro @@ -21,13 +21,13 @@ - + - + diff --git a/models/meshes/manipulation_platform.blend b/models/meshes/manipulation_platform.blend index 62b5032..2e4e64f 100644 Binary files a/models/meshes/manipulation_platform.blend and b/models/meshes/manipulation_platform.blend differ diff --git a/models/meshes/manipulation_platform.dae b/models/meshes/manipulation_platform.dae index b009d46..98600a1 100644 --- a/models/meshes/manipulation_platform.dae +++ b/models/meshes/manipulation_platform.dae @@ -3,10 +3,10 @@ Blender User - Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b + Blender 2.76.0 commit date:2015-11-03, commit time:10:56, hash:f337fea - 2015-09-07T18:11:28 - 2015-09-07T18:11:28 + 2016-02-22T16:51:21 + 2016-02-22T16:51:21 Z_UP @@ -90,7 +90,7 @@ 1 3 0.15 - 75 + 1.308997 1 1 0 @@ -101,10 +101,24 @@ - + + + canvas.png + + - + + + + canvas_png + + + + + canvas_png-surface + + @@ -114,14 +128,17 @@ 0 0 0 1 - 0.06400918 0.02817589 0.01199546 1 + - 0.1185567 0.03223746 0.01195687 1 + 50 + + + 1 @@ -131,17 +148,17 @@ - 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 @@ -183,10 +210,12 @@ 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 - + - + + + diff --git a/models/meshes/manipulation_platform.stl b/models/meshes/manipulation_platform.stl index 4e0a2db..d3969b5 100644 Binary files a/models/meshes/manipulation_platform.stl and b/models/meshes/manipulation_platform.stl differ diff --git a/models/meshes/platform.blend b/models/meshes/platform.blend new file mode 100644 index 0000000..2e5fa93 Binary files /dev/null and b/models/meshes/platform.blend differ diff --git a/models/meshes/platform.blend1 b/models/meshes/platform.blend1 new file mode 100644 index 0000000..1a2d25b Binary files /dev/null and b/models/meshes/platform.blend1 differ diff --git a/models/meshes/platform.dae b/models/meshes/platform.dae new file mode 100644 index 0000000..40758e7 --- /dev/null +++ b/models/meshes/platform.dae @@ -0,0 +1,220 @@ + + + + + Blender User + Blender 2.76.0 commit date:2015-11-03, commit time:10:56, hash:f337fea + + 2016-02-25T00:21:50 + 2016-02-25T00:21:50 + + Z_UP + + 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929 8 9 930 930 138 26 931 931 0 10 932 932 33 19 933 933 1 33 934 934 137 27 935 935 33 19 936 936 137 27 937 937 8 9 938 938 135 26 939 939 139 26 940 940 133 2 941 941 134 27 942 942 42 15 943 943 140 27 944 944 134 27 945 945 140 27 946 946 135 26 947 947 148 17 948 948 142 17 949 949 150 11 950 950 69 32 951 951 41 32 952 952 149 18 953 953 149 18 954 954 143 18 955 955 148 17 956 956 142 17 957 957 146 17 958 958 144 11 959 959 145 18 960 960 143 18 961 961 57 32 962 962 143 18 963 963 145 18 964 964 142 17 965 965 18 32 966 966 69 32 967 967 32 18 968 968 32 18 969 969 149 18 970 970 22 17 971 971 22 17 972 972 148 17 973 973 19 11 974 974 159 18 975 975 153 18 976 976 158 17 977 977 159 18 978 978 73 32 979 979 153 18 980 980 158 17 981 981 152 17 982 982 157 11 983 983 153 18 984 984 155 18 985 985 152 17 986 986 153 18 987 987 45 32 988 988 155 18 989 989 152 17 990 990 156 17 991 991 151 11 992 992 16 6 993 993 158 17 994 994 4 7 995 995 31 22 996 996 159 18 997 997 16 6 998 998 31 22 999 999 5 31 1000 1000 159 18 1001 1001 164 21 1002 1002 161 21 1003 1003 165 20 1004 1004 165 20 1005 1005 162 20 1006 1006 163 8 1007 1007 68 30 1008 1008 40 30 1009 1009 164 21 1010 1010 30 21 1011 1011 164 21 1012 1012 23 20 1013 1013 23 20 1014 1014 165 20 1015 1015 17 8 1016 1016 15 30 1017 1017 68 30 1018 1018 30 21 1019 1019 161 21 1020 1020 166 21 1021 1021 162 20 1022 1022 162 20 1023 1023 167 20 1024 1024 160 8 1025 1025 166 21 1026 1026 161 21 1027 1027 56 30 1028 1028 175 21 1029 1029 171 21 1030 1030 176 20 1031 1031 175 21 1032 1032 72 30 1033 1033 171 21 1034 1034 176 20 1035 1035 169 20 1036 1036 177 8 1037 1037 171 21 1038 1038 174 21 1039 1039 169 20 1040 1040 171 21 1041 1041 44 30 1042 1042 174 21 1043 1043 169 20 1044 1044 173 20 1045 1045 170 8 1046 1046 29 25 1047 1047 7 29 1048 1048 175 21 1049 1049 13 3 1050 1050 176 20 1051 1051 6 4 1052 1052 29 25 1053 1053 175 21 1054 1054 13 3 1055 1055

+ + + + + + + + + 0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 + + + + 0.5 0 0 0 0 0.5 0 0 0 0 0.5 0 0 0 0 1 + + + + + + + + + + + + + + \ No newline at end of file diff --git a/models/meshes/platform.stl b/models/meshes/platform.stl new file mode 100644 index 0000000..8534689 Binary files /dev/null and b/models/meshes/platform.stl differ diff --git a/scripts/attached_object_visualizer.py b/scripts/attached_object_visualizer.py index 21b0328..8f0f3ff 100755 --- a/scripts/attached_object_visualizer.py +++ b/scripts/attached_object_visualizer.py @@ -56,7 +56,7 @@ def __init__(self): self.attached_marker_arrays = {} - self.marker_pub = rospy.Publisher('markers', MarkerArray) + self.marker_pub = rospy.Publisher('markers', MarkerArray, queue_size=1) self.planning_scene_sub = rospy.Subscriber('attached_collision_object', AttachedCollisionObject, self.aco_cb) diff --git a/scripts/hydra_teleop.py b/scripts/hydra_teleop.py index 40b14e7..c276561 100755 --- a/scripts/hydra_teleop.py +++ b/scripts/hydra_teleop.py @@ -2,6 +2,7 @@ import rospy +from std_msgs.msg import Float64 import sensor_msgs.msg from lcsr_barrett.wam_teleop import * @@ -33,6 +34,7 @@ class HydraTeleop(WAMTeleop): SIDE_MAP = {'left': LEFT, 'right': RIGHT} def __init__(self): + self.last_cmd_time = rospy.Time.now() # Get WAMTeleop params self.side = self.SIDE_MAP.get(rospy.get_param("~side",''), self.RIGHT) @@ -40,19 +42,29 @@ def __init__(self): input_frame_id = rospy.get_param('~input_frame', '/hydra_'+self.SIDE_STR[self.side]+'_grab') super(HydraTeleop, self).__init__(input_ref_frame_id, input_frame_id) + # Alpha pub + self.alpha_pub = rospy.Publisher('/alpha', Float64) + self.opacity = 1.0 + # Get the clutch button # This is the (0-based) index of the button in the clutch joy topic - self.clutch_button = rospy.get_param('~clutch_button', 0) + self.deadman_button = rospy.get_param('~deadman_button', None) + self.augmenter_button = rospy.get_param('~augmenter_button', None) + # Get the clutch duration # This is the time over which the cart command scale is increased self.clutch_duration = rospy.get_param('~clutch_duration', 0.3) + self.gripper_min = 1.0 + self.gripper_max = 0.0 + # Button state self.last_buttons = [0] * 16 - self.clutch_enabled = False + self.deadman_engaged = False self.clutch_enable_time = None - self.cart_scale = None + self.augmenter_engaged = False + self.last_joy_cmd = rospy.Time.now() # Hydra Joy input @@ -62,23 +74,33 @@ def __init__(self): def clutch_cb(self, msg): """Handle clutch joy messages.""" - clutch_enabled_now = msg.buttons[self.clutch_button] + # If the deadman_button isn't set, then assume it's the first button pressed after startup + if self.deadman_button is None or self.augmenter_button is None: + if msg.buttons.count(1) == 1: + try: + button_index = msg.buttons.index(1) + except ValueError: + return + if self.deadman_button is None: + rospy.loginfo("Using clutch button {} for deadman.".format(button_index)) + self.deadman_button = button_index + elif self.augmenter_button is None and button_index != self.deadman_button: + rospy.loginfo("Using clutch button {} for Gugmenter.".format(button_index)) + self.augmenter_button = button_index + return + + # Get the current deadman and augmenter state + deadman_engaged_now = msg.buttons[self.deadman_button] or msg.buttons[self.augmenter_button] + self.augmenter_engaged = msg.buttons[self.augmenter_button] - if self.clutch_enabled != clutch_enabled_now: - # The clutch has changed mode - if clutch_enabled_now: + # Check if the clutch state has changed + if self.deadman_engaged != deadman_engaged_now: + if deadman_engaged_now: # The clutch has been enabled self.clutch_enable_time = rospy.Time.now() - else: - # The clutch has been disabled, so stop the hand - self.hand_cmd.mode = [oro_barrett_msgs.msg.BHandCmd.MODE_VELOCITY] * 4 - self.hand_cmd.cmd = [0.0, 0.0, 0.0, 0.0] - self.hand_pub.publish(self.hand_cmd) - self.last_hand_cmd = rospy.Time.now() - self.deadman_engaged = False # Update the clutch value - self.clutch_enabled = clutch_enabled_now + self.deadman_engaged = deadman_engaged_now def joy_cb(self, msg): """Generate a cart/hand cmd from a hydra joy message""" @@ -90,38 +112,73 @@ def joy_cb(self, msg): self.check_for_backwards_time_jump() + # Get gripper range + gripper_val = msg.axes[self.BOT_TRIGGER[side]] + self.gripper_min = min(self.gripper_min, gripper_val) + self.gripper_max = max(self.gripper_max, gripper_val) + + # Don't run too fast if msg.header.stamp - self.last_joy_cmd < rospy.Duration(0.03): self.last_joy_cmd = msg.header.stamp return - if (rospy.Time.now() - self.last_hand_cmd) < rospy.Duration(0.03): + # Do nothing until gripper range has been established + if self.gripper_max < self.gripper_min or abs(self.gripper_min - self.gripper_max) < 0.5: + rospy.logdebug("Trigger has not yet been calibrated, please move it through it's entire range.") + rospy.logdebug("{} <= {} <= {}".format(self.gripper_min, gripper_val, self.gripper_max)) return - # Update enabled fingers - self.move_f[0] = self.move_f[0] ^ (b[self.B1[side]] and not lb[self.B1[side]]) - self.move_f[1] = self.move_f[1] ^ (b[self.B2[side]] and not lb[self.B2[side]]) - self.move_f[2] = self.move_f[2] ^ (b[self.B3[side]] and not lb[self.B3[side]]) - self.move_spread = self.move_spread ^ (b[self.B4[side]] and not lb[self.B4[side]]) - self.move_all = self.move_all ^ (b[self.B_CENTER[side]] and not lb[self.B_CENTER[side]]) + # Don't run too fast (hydra publishes @ 250Hz) + if (rospy.Time.now() - self.last_cmd_time) < rospy.Duration(0.03): + return + self.last_cmd_time = rospy.Time.now() + + # Publish marker opacity + opacity_increment = 0.1 * msg.axes[self.THUMB_Y[side]] + if abs(opacity_increment) < 0.01: + opacity_increment = 0.0 + self.opacity = min(max(0.0, self.opacity + opacity_increment), 1.0) + self.alpha_pub.publish(Float64(self.opacity)) + + # Check if the clutch is engaged + reset_command = msg.buttons[self.TOP_TRIGGER[side]] == 1 + self.rescue_engaged = b[self.B_CENTER[side]] + + # Normalize and reshape the gripper value + normalized_gripper_val = (gripper_val - self.gripper_min) / (self.gripper_max - 0.04) + normalized_gripper_val = max(0.0, min(normalized_gripper_val, 1.0)) + #grasp_opening = (1.0 - (0.25 + 0.75*pow(normalized_gripper_val,1.0/3.0))) + grasp_opening = 0.4 - math.tan(normalized_gripper_val * 2.35 + 2) / 7 + rospy.logdebug("grasp {} => {} ({}, {})".format(gripper_val, normalized_gripper_val,self.gripper_min, self.gripper_max)) + + if self.deadman_engaged: + self.enable_tracking(reset=reset_command) + + cart_scale = min(1.0, (rospy.Time.now() - self.clutch_enable_time).to_sec() / self.clutch_duration) + + self.update_hand_cmd(grasp_opening, msg.axes[self.THUMB_X[side]]) + self.update_cart_cmd(cart_scale) + else: + self.disable_tracking() + self.hold_hand_cmd() + + # Publish direct and mediated commands + self.publish_hand_cmd(msg.header.stamp) + self.publish_cart_cmd(msg.header.stamp) + self.publish_telemanip_cmd( + self.deadman_engaged, + self.augmenter_engaged, + self.rescue_engaged, + reset_command, + msg.header.stamp) - # Check if the deadman is engaged - if self.clutch_enabled: - self.cart_scale = min(1.0, (rospy.Time.now() - self.clutch_enable_time).to_sec() / self.clutch_duration) - self.handle_hand_cmd(msg.axes[self.BOT_TRIGGER[side]], msg.axes[self.THUMB_X[side]]) - self.handle_cart_cmd(self.cart_scale) + # republish markers + self.publish_cmd_ring_markers(msg.header.stamp) # Update last raw command values self.last_buttons = msg.buttons self.last_axes = msg.axes - # Broadcast the command if it's defined - resync_pose = False - augmenter_engaged = msg.buttons[self.TOP_TRIGGER[side]] == 0 - grasp_opening = 1.0 - msg.axes[self.BOT_TRIGGER[side]] - self.publish_cmd(resync_pose, augmenter_engaged, grasp_opening, msg.header.stamp) - - # republish markers - self.publish_cmd_ring_markers(msg.header.stamp) def main(): diff --git a/src/lcsr_barrett/wam_teleop.py b/src/lcsr_barrett/wam_teleop.py index 207b70e..bf26868 100644 --- a/src/lcsr_barrett/wam_teleop.py +++ b/src/lcsr_barrett/wam_teleop.py @@ -3,6 +3,7 @@ import rospy from std_msgs.msg import ColorRGBA +from std_srvs.srv import Empty, EmptyRequest, EmptyResponse from visualization_msgs.msg import Marker, MarkerArray from telemanip_msgs.msg import TelemanipCommand import oro_barrett_msgs.msg @@ -12,6 +13,10 @@ from tf_conversions.posemath import fromTf, toTf, toMsg import math import time +import colorsys + +import ascent_augmenter.msg +from ascent_augmenter.state import State def sigm(s, r, x): @@ -22,6 +27,7 @@ def sign(v): return (1.0 if v < 0.0 else -1.0) def finger_point(a, r = 0.08, l = 0.025): + """Get the 3D point for the finger identifier""" # a: finger joint angle # r: marker radius # l: finger radius center offset @@ -39,9 +45,20 @@ def finger_point(a, r = 0.08, l = 0.025): return (D*dy + sign(dy) * dx * math.sqrt(desc), -D*dx - abs(dy) * math.sqrt(desc), -0.08) +# TODO: Make the augmenter and this script use the sane numbers for this +FINGER_MAX_POS = 140.0 / 180.0 * math.pi + +def finger_angle(opening): + """Get the finger angle based on the 0-1 grasp opening""" + + # Clip the finger command + return FINGER_MAX_POS*max(0, min(1.0, 1.0 - opening)) + + class WAMTeleop(object): def __init__(self, input_ref_frame_id, input_frame_id): + self.state = State() self.input_ref_frame_id = input_ref_frame_id self.input_frame_id = input_frame_id @@ -49,6 +66,7 @@ def __init__(self, input_ref_frame_id, input_frame_id): # Parameters self.tip_link = rospy.get_param('~tip_link') self.cmd_frame_id = rospy.get_param('~cmd_frame', 'wam/cmd') + self.hand_cmd_frame_id = rospy.get_param('~hand_cmd_base_frame', 'wam/hand_cmd_base') self.scale = rospy.get_param('~scale', 1.0) self.use_hand = rospy.get_param('~use_hand', True) @@ -58,21 +76,38 @@ def __init__(self, input_ref_frame_id, input_frame_id): self.broadcaster = tf.TransformBroadcaster() # State - self.cmd_origin = kdl.Frame() - self.tip_origin = kdl.Frame() + self.tracking = False + self.input_origin = kdl.Frame() + self.tip_origin = None#kdl.Frame() + + self.augmenter_resources = [] + self.augmenter_predicates = dict() # Command state + self.telemanip_cmd = TelemanipCommand() self.cmd_frame = None - self.deadman_engaged = False + self.augmenter_engaged = False + self.send_estop = False self.cmd_scaling = 0.0 + self.finger_pos = None + self.tracking_fingers = False # Command synchronized with actual gripper position + self.fingers_detached = True # Command synchronized with actual gripper position + + self.reset_service = rospy.Service( + 'reset_pose', + Empty, + self.reset_pose_cb) # Hand structures if self.use_hand: # Hand state self.hand_cmd = oro_barrett_msgs.msg.BHandCmd() - self.last_hand_cmd = rospy.Time.now() + self.last_hand_cmd_time = rospy.Time.now() self.hand_position = [0, 0, 0, 0] self.hand_velocity = [0, 0, 0, 0] + self.finger_mean = 0.0 + self.finger_cmd_pos = -1.0 + self.grasp_opening = 1.0 self.move_f = [True, True, True] self.move_spread = True @@ -88,6 +123,8 @@ def __init__(self, input_ref_frame_id, input_frame_id): # ROS generic telemanip command self.telemanip_cmd_pub = rospy.Publisher('telemanip_cmd_out', TelemanipCommand) + self.hand_cmd_joint_states_pub = rospy.Publisher('~hand/cmd_joint_states', sensor_msgs.msg.JointState) + # goal marker self.marker_pub = rospy.Publisher('master_target_markers', MarkerArray) @@ -165,6 +202,56 @@ def __init__(self, input_ref_frame_id, input_frame_id): m.mesh_use_embedded_materials = False self.master_target_markers.markers.append(m) + m = Marker() + m.header.frame_id = self.cmd_frame_id + m.ns = 'grasp_marker' + m.id = 0 + m.type = m.MESH_RESOURCE + m.action = 0 + p = m.pose.position + o = m.pose.orientation + p.x, p.y, p.z = (0,0,0) + o.x, o.y, o.z, o.w = (0, 0, 0, 1.0) + m.color = self.color_gray + m.color.a = 0.5 + m.scale.x = m.scale.y = m.scale.z = 0.01 + m.frame_locked = True + m.mesh_resource = 'package://lcsr_barrett/models/teleop_finger_marker.dae' + m.mesh_use_embedded_materials = False + self.master_target_markers.markers.append(m) + + m = Marker() + m.header.frame_id = self.cmd_frame_id + m.ns = 'palm_marker' + m.id = 0 + m.type = m.MESH_RESOURCE + m.action = 0 + p = m.pose.position + o = m.pose.orientation + p.x, p.y, p.z = (0,0,-0.12) + o.x, o.y, o.z, o.w = (0, 0, 0, 1.0) + m.color = self.color_gray + m.color.a = 0.5 + m.scale.x = m.scale.y = m.scale.z = 1.0 + m.frame_locked = True + m.mesh_resource = 'package://barrett_model/models/sw_meshes/bhand/bhand_palm_link_convex_decomposition.dae' + m.mesh_use_embedded_materials = False + self.master_target_markers.markers.append(m) + + # Augmenter integration + self.augmenter_state_sub = rospy.Subscriber( + 'gazebo/augmenter/state', + ascent_augmenter.msg.AugmenterState, + self.augmenter_state_cb) + + def reset_pose_cb(self, req): + rospy.logwarn('Resetting tip origin') + self.tip_origin = None + self.cmd_frame = fromTf(( + (0.835, 0.567, 0.532), + (0.447, 0.641, 0.486, -0.391))) + return EmptyResponse() + def check_for_backwards_time_jump(self): now = rospy.Time.now() if (now - self.last_time_check).to_sec() < 0.0: @@ -174,22 +261,35 @@ def check_for_backwards_time_jump(self): rospy.sleep(0.05) self.last_time_check = now + def augmenter_state_cb(self, msg): + self.state.assign_from_msg(msg) + + self.augmenter_resources = set(msg.resources + msg.pending_resources)#self.state.get_resources(remote=True) + self.augmenter_predicates = self.state.predicates + + #rospy.logwarn('resources: {}'.format(msg.resources)) + #rospy.logwarn('resources: {}'.format(self.augmenter_resources)) + + if self.augmenter_predicates.get('estop',False): + self.send_estop = False + + # If the gripper is being used, show that as the commanded value + if 'gripper' in self.augmenter_resources: + self.tracking_fingers = False + self.fingers_detached = True + def hand_state_cb(self, msg): - """update the hand state""" + """Process the hand state""" self.hand_position = [msg.position[2], msg.position[3], msg.position[4], msg.position[0]] self.hand_velocity = [msg.velocity[2], msg.velocity[3], msg.velocity[4], msg.velocity[0]] + self.finger_mean = sum(self.hand_position[0:3])/3.0 - def hold_cart_cmd(self): - """""" - - try: - self.cmd_frame.header.stamp = rospy.Time.now() - - except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException) as ex: - rospy.logwarn(str(ex)) + if self.fingers_detached: + self.finger_cmd_pos = self.finger_mean - def handle_cart_cmd(self, scaling): - """""" + # Tracking / realtive offset control + def get_frames_(self): + """Get the TF frames for the teleop input and the end-effector""" try: # Get the current position of the hydra @@ -204,123 +304,225 @@ def handle_cart_cmd(self, scaling): self.tip_link, rospy.Time(0))) - # Capture the current position if we're starting to move - if not self.deadman_engaged: - self.deadman_engaged = True - self.cmd_origin = input_frame + except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException) as ex: + rospy.logwarn(str(ex)) + return None, None + + return input_frame, tip_frame + + def enable_tracking(self, reset=False): + """Initiate tracking the user's cartesian input.""" + + if not self.tracking or reset: + rospy.loginfo("Enabling tracking (reset: {}).".format(reset)) + + # Get the input and tip frames + input_frame, tip_frame = self.get_frames_() + + if not input_frame or not tip_frame: + return + + # Save the input origin when tracking started + self.input_origin = input_frame + + # Save the tip origin when tracking started + # This is either the current tip frame, or the already-integrated cmd_frame + if reset or not self.tip_origin: self.tip_origin = tip_frame else: - self.cart_scaling = scaling - # Update commanded TF frame - cmd_twist = kdl.diff(self.cmd_origin, input_frame) - cmd_twist.vel = self.scale*self.cart_scaling*cmd_twist.vel - rospy.logwarn(cmd_twist) - self.cmd_frame = kdl.addDelta(self.tip_origin, cmd_twist) + self.tip_origin = self.cmd_frame - except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException) as ex: - rospy.logwarn(str(ex)) + self.tracking = True + + + def disable_tracking(self): + """Stop tracking the user's cartesian input.""" + if self.tracking: + rospy.loginfo("Disabling tracking.") + + self.tracking = False + self.tracking_fingers = False + + # Cart command + def update_cart_cmd(self, scaling): + """Integrate the user's input if we're tracking it""" + + # Capture the current position if we're starting to move + if self.tracking and self.input_origin and self.tip_origin: + # Get the input and tip frames + input_frame, tip_frame = self.get_frames_() + + # Update scaling parameter + self.cart_scaling = scaling + + # Update commanded TF frame + cmd_twist = kdl.diff(self.input_origin, input_frame) + cmd_twist.vel = self.scale * self.cart_scaling * cmd_twist.vel + self.cmd_frame = kdl.addDelta(self.tip_origin, cmd_twist) + rospy.logdebug('Offset: {}'.format(cmd_twist)) + + def publish_cart_cmd(self, time): + """publish the raw tf frame and the telemanip command""" + + if not self.cmd_frame: + return + + # Broadcast command frame + cmd_frame_tf = toTf(self.cmd_frame) + self.broadcaster.sendTransform(cmd_frame_tf[0], cmd_frame_tf[1], time, + self.cmd_frame_id, 'world') - def handle_hand_cmd( + # Hand command + def update_hand_cmd( self, - finger_pos=None, + grasp_opening=None, spread_vel=None, spread_pos=None): - """""" - - # Capture the current position if we're starting to move - if self.deadman_engaged: - # Generate bhand command - f_max = 140.0/180.0*math.pi - - # Finger commands - finger_pos = f_max*max(0, min(1.0, finger_pos)) - finger_cmds = [2.0*(finger_pos-cur) for cur in self.hand_position[0:3]] - - # Spread command - if spread_pos is not None: - spread_pos = math.pi*max(0, min(1.0, spread_pos)) - spread_cmd = [(spread_pos-self.hand_position[3])] - elif spread_vel is not None: - spread_cmd = [3.0*(-1.0 + 2.0/(1.0 + math.exp(-4*spread_vel)))] - - new_cmd = finger_cmds + spread_cmd - new_mode = [oro_barrett_msgs.msg.BHandCmd.MODE_VELOCITY] * 4 - - for i in range(3): - if not self.move_f[i] or not self.move_all: - new_cmd[i] = 0.0 - new_mode[i] = oro_barrett_msgs.msg.BHandCmd.MODE_VELOCITY - if not self.move_spread or not self.move_all: - new_cmd[3] = 0.0 - else: - new_cmd = [0,0,0,0] - new_mode = [oro_barrett_msgs.msg.BHandCmd.MODE_VELOCITY] * 4 - - new_finger_cmd = [abs(old-new) > 0.1 - for (old, new) - in zip(self.hand_cmd.cmd[:3], new_cmd[:3])] - new_spread_cmd = [abs(old-new) > 0.1 - for (old, cur, new) - in [(self.hand_cmd.cmd[3], self.hand_velocity[3], new_cmd[3])]] - - # Only send a new command if the goal has changed - # TODO: take advantage of new SAME/IGNORE joint command mode - if True or any(new_finger_cmd) or any(new_spread_cmd): - self.hand_cmd.header.stamp = rospy.Time.now() - self.hand_cmd.mode = new_mode - self.hand_cmd.cmd = new_cmd - rospy.logdebug('hand command: \n'+str(self.hand_cmd)) + """Update the hand command reference.""" + + # Finger commands + finger_cmd_pos = finger_angle(grasp_opening) + finger_cmds = [2.0*(finger_cmd_pos-cur) for cur in self.hand_position[0:3]] + + # Spread command + if spread_pos is not None: + spread_pos = math.pi*max(0, min(1.0, spread_pos)) + spread_cmd = [(spread_pos-self.hand_position[3])] + elif spread_vel is not None: + spread_cmd = [3.0*(-1.0 + 2.0/(1.0 + math.exp(-4*spread_vel)))] + + # Check if the fingers are being tracked + if not self.tracking_fingers: + # If the fingers are commanded closed further than the current + # finger command, then re-sync command + if finger_cmd_pos > self.finger_mean or finger_cmd_pos > 0.95*FINGER_MAX_POS: + rospy.loginfo('Closed more than current mean. Tracking fingers.') + self.fingers_detached = False + self.tracking_fingers = True + + # Construct full command / mode + if self.tracking_fingers: + self.grasp_opening = grasp_opening + self.finger_cmd_pos = finger_cmd_pos + self.hand_cmd.mode = [oro_barrett_msgs.msg.BHandCmd.MODE_VELOCITY] * 4 + self.hand_cmd.cmd = finger_cmds + spread_cmd + + rospy.logdebug('opening: {} / {}'.format(grasp_opening, self.grasp_opening)) + + def hold_hand_cmd(self): + """Hold the hand at its current position.""" + + # Send commands to hold the hand steady + self.hand_cmd.mode = [oro_barrett_msgs.msg.BHandCmd.MODE_VELOCITY] * 4 + self.hand_cmd.cmd = [0,0,0,0] + + def set_hand_cmd(self, mode, cmd): + """Set the low-level hand mode/cmd""" + self.hand_cmd.mode = mode + self.hand_cmd.cmd = cmd + + def publish_hand_cmd(self, time): + """Publish a command to the hand.""" + self.hand_cmd.header.stamp = time + + # Only publish the command if the fingers are synchronized + if self.tracking_fingers: self.hand_pub.publish(self.hand_cmd) - self.last_hand_cmd = rospy.Time.now() + self.last_hand_cmd_time = time + rospy.logdebug('hand command: \n'+str(self.hand_cmd)) + + # Combined cart/hand command + def publish_telemanip_cmd(self, deadman_engaged, augmenter_engaged, resync_pose, send_estop, time): + + if not self.grasp_opening or not self.cmd_frame: + return + + # Broadcast telemanip command + self.telemanip_cmd.header.frame_id = 'world' + self.telemanip_cmd.header.stamp = time + + self.telemanip_cmd.grasp_opening = self.grasp_opening if self.tracking_fingers else -1.0 + self.telemanip_cmd.posetwist.pose = toMsg(self.cmd_frame) + + self.telemanip_cmd.resync_pose = resync_pose + self.telemanip_cmd.deadman_engaged = deadman_engaged or augmenter_engaged + self.telemanip_cmd.augmenter_engaged = augmenter_engaged + self.telemanip_cmd.estop = send_estop + + self.telemanip_cmd_pub.publish(self.telemanip_cmd) def publish_cmd_ring_markers(self, time): """publish wam command ring""" + # Color the master target markers for i,m in enumerate(self.master_target_markers.markers): m.header.stamp = time #rospy.Time.now() - if (i <3 and not self.move_f[i]) or (i==3 and not self.move_spread): - m.color = self.color_orange - elif not self.move_all: - m.color = self.color_red - else: - if self.deadman_engaged: - if self.engage_augmenter: - m.color = self.color_blue - else: - m.color = self.color_green + if i < 3: + if 'gripper' in self.augmenter_resources: + m.color = self.color_orange + elif self.telemanip_cmd.augmenter_engaged: + m.color = self.color_green + elif not self.tracking_fingers: + m.color = self.color_red else: - m.color = self.color_gray + m.color = self.color_blue - if i < 3: if i != 2: p = m.pose.position s = (-1.0 if i == 0 else 1.0) p.x, p.y, p.z = finger_point( self.hand_position[3] * s, l = 0.025 * s) + else: + if 'manipulator' in self.augmenter_resources: + m.color = self.color_orange + elif self.telemanip_cmd.augmenter_engaged: + m.color = self.color_green + elif self.augmenter_predicates.get('detached_command', False): + m.color = self.color_red + else: + m.color = self.color_blue - self.marker_pub.publish(self.master_target_markers) - - def publish_cmd(self, resync_pose, augmenter_engaged, grasp_opening, time): - """publish the raw tf frame and the telemanip command""" - - if not self.cmd_frame: - return + # Dim out the colors if the deadman isn't engaged + if not self.telemanip_cmd.deadman_engaged: + rgb = (m.color.r, m.color.g, m.color.b) + hsv = colorsys.rgb_to_hsv(*rgb) + mrgb = colorsys.hsv_to_rgb(hsv[0], hsv[1]/1.0, hsv[2]/2.0) + m.color = ColorRGBA(mrgb[0],mrgb[1],mrgb[2],1.0) - # Broadcast command frame - tform = toTf(self.cmd_frame) - self.broadcaster.sendTransform(tform[0], tform[1], time, self.cmd_frame_id, 'world') + # Publish the master target markers + self.marker_pub.publish(self.master_target_markers) - # Broadcast telemanip command - telemanip_cmd = TelemanipCommand() - telemanip_cmd.header.frame_id = 'world' - telemanip_cmd.header.stamp = time - telemanip_cmd.posetwist.pose = toMsg(self.cmd_frame) - telemanip_cmd.resync_pose = resync_pose - telemanip_cmd.deadman_engaged = self.deadman_engaged - telemanip_cmd.augmenter_engaged = augmenter_engaged - telemanip_cmd.grasp_opening = grasp_opening - telemanip_cmd.estop = False # TODO: add master estop control - self.telemanip_cmd_pub.publish(telemanip_cmd) + # Broadcast frame for hand state (future date it to frame-lock it) + # TODO: Get this frame from URDF + self.broadcaster.sendTransform( + (0,0,-0.12), + (0,0,0,1), + time+rospy.Duration(1.0), + self.hand_cmd_frame_id, + self.cmd_frame_id) + + # Determine if we should display the commanded or actual finger positions + finger_pos = self.finger_cmd_pos + + # Broadcast joint state for hand command + hand_joint_state = sensor_msgs.msg.JointState() + hand_joint_state.header.stamp = time+rospy.Duration(0.05) + hand_joint_state.name = [ + 'wam_cmd/bhand/finger_1/prox_joint', + 'wam_cmd/bhand/finger_2/prox_joint', + 'wam_cmd/bhand/finger_1/med_joint', + 'wam_cmd/bhand/finger_2/med_joint', + 'wam_cmd/bhand/finger_3/med_joint', + 'wam_cmd/bhand/finger_1/dist_joint', + 'wam_cmd/bhand/finger_2/dist_joint', + 'wam_cmd/bhand/finger_3/dist_joint'] + hand_joint_state.position = ( + 2*[0.0] + # Spread joints + 3*[finger_pos] + # Inner joints + 3*[finger_pos/3.0]) # Outer joints + hand_joint_state.velocity = [0.0] * 8 + hand_joint_state.effort = [0.0] * 8 + self.hand_cmd_joint_states_pub.publish(hand_joint_state)