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Azure camera integration on to the UR3e arm (#47)
* feat: add cam mount + aruco pose changes * fix: add missing file * fix: use one hande for all + spelling + PR fixes * fix: remove duplicate urdfs * refac: remove comments * fix: remove tab spaces from new line * Update src/ur3e_hande_robot_description/urdf/hande.xacro --------- Co-authored-by: Dr. Phil Maffettone <[email protected]>
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src/aruco_pose/config/fiducial_marker_param_fixed_cam.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,23 @@ | ||
| aruco_pose: | ||
| ros__parameters: | ||
| cam_translation: | ||
| x: 0.549 # robot location w.r.t to camera in 4 | ||
| y: -0.392 | ||
| z: 0.08 | ||
| cam_rotation: # These are expressed in RPY angles | ||
| cam_alpha: 270.0 | ||
| cam_beta: 0.0 | ||
| cam_gamma: 90.0 | ||
| camera_tf_frame: 'camera_base' | ||
| sample_name: 'sample_1' | ||
| pre_pickup_location: # Define x, y, z adjustments with respect to tag's coordinate reference frame for pre-pickup | ||
| name: 'pre_pickup' | ||
| x_adj: 0.0 | ||
| y_adj: 0.0 | ||
| z_adj: 0.08 | ||
| offset_on_marker_x: -0.005 | ||
| offset_on_marker_y: 0.0 | ||
| fiducial_marker_family: 'DICT_APRILTAG_36h11' | ||
| physical_marker_size: 0.02665 # | ||
| image_topic: "/rgb/image_raw" | ||
| number_of_observations: 10 # size of the moving window for the median filter |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,232 @@ | ||
| /*Copyright 2024 Brookhaven National Laboratory | ||
| BSD 3 Clause License. See LICENSE.txt for details.*/ | ||
| #include <aruco_pose/aruco_pose.hpp> | ||
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| using std::placeholders::_1; | ||
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| ArucoPose::ArucoPose() | ||
| : Node("aruco_pose"), | ||
| static_broadcaster_(this), tf_broadcaster_(this), | ||
| LOGGER(this->get_logger()) | ||
| { | ||
| // Construct the camera K matrix and the distortion matrix | ||
| // // In OpenCV, the distortion coefficients are usually represented as a 1x8 matrix: | ||
| // // distCoeffs_= [k1, k2, p1, p2, k3, k4, k5, k6] where | ||
| // // k1, k2, k3, k3, k4, k5, k6 = radial distortion coefficients | ||
| // // p1, p2 = tangential distortion coefficients | ||
| // // For Azure kinect, they can be found when running the ROS2 camera node and | ||
| // // explained in the following: | ||
| // // https://microsoft.github.io/Azure-Kinect-Sensor-SDK/master/structk4a__calibration__intrinsic__parameters__t_1_1__param.html | ||
| // // These matrices are already available in the topic '/rgb/camera_info', | ||
| // // But it doesn't make sense to have two subscribers running to get static parameters. | ||
| // // Plus this avoids a situation of a different topic name being used by another vendor | ||
|
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||
| // Declare parameters | ||
| for (const auto & param : double_params_) { | ||
| this->declare_parameter<double>(param, 0.0); | ||
| } | ||
| for (const auto & param : string_params_) { | ||
| this->declare_parameter<std::string>(param, ""); | ||
| } | ||
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| this->declare_parameter<int>("number_of_observations", 10); | ||
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| cameraMatrix_ = | ||
| (cv::Mat_<double>(3, 3) << this->get_parameter("intrinsics.fx").as_double(), 0.0, | ||
| this->get_parameter("intrinsics.cx").as_double(), 0.0, | ||
| this->get_parameter("intrinsics.fy").as_double(), | ||
| this->get_parameter("intrinsics.cy").as_double(), 0, 0, 1.0); | ||
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| distCoeffs_ = | ||
| (cv::Mat_<double>(8, 1) << this->get_parameter("dist_coeffs.k1").as_double(), | ||
| this->get_parameter("dist_coeffs.k2").as_double(), | ||
| this->get_parameter("dist_coeffs.p1").as_double(), | ||
| this->get_parameter("dist_coeffs.p2").as_double(), | ||
| this->get_parameter("dist_coeffs.k3").as_double(), | ||
| this->get_parameter("dist_coeffs.k4").as_double(), | ||
| this->get_parameter("dist_coeffs.k5").as_double(), | ||
| this->get_parameter("dist_coeffs.k6").as_double()); | ||
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| physical_marker_size_ = this->get_parameter("physical_marker_size").as_double(); | ||
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| double cam_alpha = this->get_parameter("cam_rotation.cam_alpha").as_double() / 180 * M_PI; | ||
| double cam_beta = this->get_parameter("cam_rotation.cam_beta").as_double() / 180 * M_PI; | ||
| double cam_gamma = this->get_parameter("cam_rotation.cam_gamma").as_double() / 180 * M_PI; | ||
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| // Add the camera to tf server | ||
| camera_quaternion_.setRPY(cam_alpha, cam_beta, cam_gamma); | ||
|
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| // Define the transform | ||
| geometry_msgs::msg::TransformStamped transformStamped; | ||
| transformStamped.header.stamp = this->now(); | ||
| transformStamped.header.frame_id = "world"; | ||
| transformStamped.child_frame_id = this->get_parameter("camera_tf_frame").as_string(); | ||
| transformStamped.transform.translation.x = this->get_parameter("cam_translation.x").as_double(); | ||
| transformStamped.transform.translation.y = this->get_parameter("cam_translation.y").as_double(); | ||
| transformStamped.transform.translation.z = this->get_parameter("cam_translation.z").as_double(); | ||
| transformStamped.transform.rotation.x = this->camera_quaternion_.x(); | ||
| transformStamped.transform.rotation.y = this->camera_quaternion_.y(); | ||
| transformStamped.transform.rotation.z = this->camera_quaternion_.z(); | ||
| transformStamped.transform.rotation.w = this->camera_quaternion_.w(); | ||
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| static_broadcaster_.sendTransform(transformStamped); | ||
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| camera_subscription_ = this->create_subscription<sensor_msgs::msg::Image>( | ||
| this->get_parameter("image_topic").as_string(), 5, | ||
| std::bind(&ArucoPose::image_raw_callback, this, std::placeholders::_1)); | ||
|
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||
| // Assign parameters for ArUco tag detection | ||
| parameters_ = cv::aruco::DetectorParameters::create(); | ||
| parameters_->cornerRefinementMethod = cv::aruco::CORNER_REFINE_APRILTAG; | ||
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| auto it = dictionary_map_.find(this->get_parameter("fiducial_marker_family").as_string()); | ||
| if (it != dictionary_map_.end()) { | ||
| dictionary_ = cv::aruco::getPredefinedDictionary(it->second); | ||
| } else { | ||
| RCLCPP_ERROR( | ||
| LOGGER, "Invalid dictionary name: %s", this->get_parameter( | ||
| "fiducial_marker_family").as_string().c_str()); | ||
| throw std::runtime_error("Invalid dictionary name"); | ||
| } | ||
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| RCLCPP_INFO(LOGGER, "Pose estimator node started!"); | ||
| } | ||
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| void ArucoPose::image_raw_callback( | ||
| const sensor_msgs::msg::Image::ConstSharedPtr & rgb_msg) | ||
| { | ||
| // Convert ROS image message to cv::Mat | ||
| cv_bridge::CvImagePtr cv_ptr_rgb = | ||
| cv_bridge::toCvCopy(rgb_msg, sensor_msgs::image_encodings::BGR8); | ||
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| // Detect the markers from the incoming image | ||
| cv::aruco::detectMarkers( | ||
| cv_ptr_rgb->image, dictionary_, markerCorners_, markerIds_, parameters_, | ||
| rejectedCandidates_); | ||
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| // Exclude instances where no markers are detected | ||
| try { | ||
| if (!markerIds_.empty()) { | ||
| // rvecs: rotational vector | ||
| // tvecs: translation vector | ||
| std::vector<cv::Vec3d> rvecs, tvecs; | ||
|
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| // Pose estimation happens here | ||
| cv::aruco::estimatePoseSingleMarkers( | ||
| markerCorners_, physical_marker_size_, cameraMatrix_, distCoeffs_, rvecs, tvecs); | ||
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| cv::Mat R; | ||
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| // Convert the rvecs to a rotation matrix | ||
| for (size_t i = 0; i < rvecs.size(); ++i) { | ||
| cv::Rodrigues(rvecs[i], R); | ||
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| int id = markerIds_[i]; | ||
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| // If a unseen ID is found, add it to the filter map | ||
| if (median_filters_map_.find(id) == median_filters_map_.end()) { | ||
| RCLCPP_INFO(this->LOGGER, "New ID found : %d ", id); | ||
| median_filters_map_[id] = std::make_shared<filters::MultiChannelMedianFilter<double>>(); | ||
|
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||
| // Configure the median filter. 6 refers to the number of | ||
| // channels in the multi-channel filter | ||
| // Note: it is necessary to have/declare a parameter named 'number_of_observations' | ||
| // in the parameter server. | ||
| median_filters_map_[id]->configure( | ||
| 6, "", "number_of_observations", | ||
| this->get_node_logging_interface(), this->get_node_parameters_interface()); | ||
| median_filtered_rpyxyz_map_.insert_or_assign( | ||
| id, std::vector<double> | ||
| {0.0, 0.0, 0.0, 0.0, 0.0, 0.0}); | ||
| } | ||
|
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||
| // Access each element of the R matrix for easy rpy calculations | ||
| double r11 = R.at<double>(0, 0), r21 = R.at<double>(1, 0), r31 = R.at<double>(2, 0), | ||
| r32 = R.at<double>(2, 1), r33 = R.at<double>(2, 2); | ||
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| double roll, pitch, yaw; | ||
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| // rpy calculation | ||
| roll = std::atan2(r32, r33); | ||
| pitch = std::asin(-r31); | ||
| yaw = std::atan2(r21, r11); | ||
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| auto tranlsation = tvecs[i]; | ||
|
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| // Construct the raw rpy_xyz of the marker | ||
| std::vector<double> raw_rpyxyz = | ||
| {roll, pitch, yaw, tranlsation[0], tranlsation[1], tranlsation[2]}; | ||
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| std::vector<double> median_filtered_rpyxyz = median_filtered_rpyxyz_map_[id]; | ||
| // Median filter gets applied | ||
| median_filters_map_[id]->update(raw_rpyxyz, median_filtered_rpyxyz); | ||
|
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| // Add to the tf frame here for the sample | ||
| geometry_msgs::msg::TransformStamped transformStamped_tag; | ||
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| transformStamped_tag.header.stamp = this->now(); | ||
| transformStamped_tag.header.frame_id = this->get_parameter("camera_tf_frame").as_string(); | ||
| transformStamped_tag.child_frame_id = std::to_string(id); | ||
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| transformStamped_tag.transform.translation.x = median_filtered_rpyxyz[3] + | ||
| this->get_parameter("offset_on_marker_x").as_double(); | ||
| transformStamped_tag.transform.translation.y = median_filtered_rpyxyz[4] + | ||
| this->get_parameter("offset_on_marker_y").as_double(); | ||
| transformStamped_tag.transform.translation.z = median_filtered_rpyxyz[5]; | ||
| transformStamped_tag.transform.rotation = toQuaternion( | ||
| median_filtered_rpyxyz[0], | ||
| median_filtered_rpyxyz[1], | ||
| median_filtered_rpyxyz[2]); | ||
|
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||
| // Add a pre-pickup tf | ||
| geometry_msgs::msg::TransformStamped transformStamped_pre_pickup; | ||
| transformStamped_pre_pickup.header.stamp = this->now(); | ||
| transformStamped_pre_pickup.header.frame_id = std::to_string(id); | ||
| transformStamped_pre_pickup.child_frame_id = | ||
| std::to_string(id) + "_" + this->get_parameter("pre_pickup_location.name").as_string(); | ||
|
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| transformStamped_pre_pickup.transform.translation.x = this->get_parameter( | ||
| "pre_pickup_location.x_adj").as_double(); | ||
| transformStamped_pre_pickup.transform.translation.y = this->get_parameter( | ||
| "pre_pickup_location.y_adj").as_double(); | ||
| transformStamped_pre_pickup.transform.translation.z = this->get_parameter( | ||
| "pre_pickup_location.z_adj").as_double(); | ||
| transformStamped_pre_pickup.transform.rotation = toQuaternion(0, 0, 0); | ||
|
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| static_broadcaster_.sendTransform(transformStamped_pre_pickup); | ||
| static_broadcaster_.sendTransform(transformStamped_tag); | ||
| } | ||
| } | ||
|
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| // Inner try-catch | ||
| } catch (const std::invalid_argument & e) { | ||
| RCLCPP_ERROR(this->LOGGER, "Invalid argument in inner try: %s ", e.what() ); | ||
| throw; | ||
| } | ||
| } | ||
|
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| geometry_msgs::msg::Quaternion ArucoPose::toQuaternion(double roll, double pitch, double yaw) | ||
| { | ||
| tf2::Quaternion quaternion; | ||
| quaternion.setRPY(roll, pitch, yaw); | ||
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| geometry_msgs::msg::Quaternion msg_quat; | ||
| msg_quat.x = quaternion.x(); | ||
| msg_quat.y = quaternion.y(); | ||
| msg_quat.z = quaternion.z(); | ||
| msg_quat.w = quaternion.w(); | ||
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| return msg_quat; | ||
| } | ||
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| int main(int argc, char ** argv) | ||
| { | ||
| rclcpp::init(argc, argv); | ||
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| auto aruco_pose_node = std::make_shared<ArucoPose>(); | ||
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| rclcpp::spin(aruco_pose_node); | ||
| rclcpp::shutdown(); | ||
|
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| return 0; | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,5 +1,6 @@ | ||
| pdf_beamtime_server: | ||
| ros__parameters: | ||
| home_angles: [-0.11536, -1.783732, 0.38816, -1.75492, 0.11484, 3.14159] #For real robot | ||
| pickup_approach_angles: [5.1180035, -1.3447762, 2.08776285, -0.76043996, 3.48838958, 3.14159] | ||
| pickup_approach_angles: [4.089481, -0.987856, 2.167873, -1.174083, 0.899019, 3.141593] | ||
| gripper_present: true | ||
| joint_acc_vel_scaling_factor: 0.1 |
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