tidy_up_follower.py

#! /usr/bin/env python3

import rospy
import actionlib
import kinova_msgs.msg
import geometry_msgs.msg
import std_msgs.msg
from kinova_msgs.srv import *
from sensor_msgs.msg import JointState
import argparse
import sys, os
import math
import geometry_msgs.msg
from geometry_msgs.msg import PoseStamped
from sensor_msgs.msg import JointState
import tf, math
import tf2_ros
import tf.transformations
import pdb
import moveit_commander
import moveit_msgs.msg
import geometry_msgs.msg
from math import pi
from std_msgs.msg import String
from std_msgs.msg import Bool

from moveit_commander.conversions import pose_to_list
from moveit_msgs.msg import RobotState, PlanningScene, PlanningSceneComponents, AllowedCollisionEntry, \
    AllowedCollisionMatrix
from moveit_msgs.srv import GetPlanningScene, ApplyPlanningScene
import numpy as np
import copy
from tf.transformations import quaternion_from_euler
from actionlib_msgs.msg import *
from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
from nav_msgs.msg import Path
from geometry_msgs.msg import PoseWithCovarianceStamped
from tf_conversions import transformations
from std_msgs.msg import Bool
import threading
import true_follower


bin = [1.68, 4.59, 0]
global ray
ray=False

def bool_callback(msg):
    global ray
    if msg.data:
        ray=True
    else:
        ray=False


class MoveRobot():

    def __init__(self):
        self.tfBuffer = tf2_ros.Buffer()
        self.listener = tf2_ros.TransformListener(self.tfBuffer)
        # Initialize moveit commander and ros node for moveit

        # To read from redirected ROS Topic
        joint_state_topic = ['joint_states:=/j2s7s300_driver/out/joint_state']
        moveit_commander.roscpp_initialize(joint_state_topic)
        moveit_commander.roscpp_initialize(sys.argv)

        # Define robot using RobotCommander. Provided robot info such as
        # kinematic model and current joint state
        self.robot = moveit_commander.RobotCommander()

        # Setting the world
        self.scene = moveit_commander.PlanningSceneInterface()

        # Define the planning group for the arm you are using
        # You can easily look it up on rviz under the MotionPlanning tab
        self.move_group = moveit_commander.MoveGroupCommander("arm")
        self.move_gripper = moveit_commander.MoveGroupCommander("gripper")

        self.move_group.set_goal_position_tolerance(0.1)
        self.move_group.set_goal_orientation_tolerance(0.1)
        # Set the precision of the robot
        self.client = actionlib.SimpleActionClient(
            '/j2s7s300_driver/pose_action/tool_pose',
            kinova_msgs.msg.ArmPoseAction)
        self.client.wait_for_server()
        self.fin_client = actionlib.SimpleActionClient(
            '/j2s7s300_driver/fingers_action/finger_positions',
            kinova_msgs.msg.SetFingersPositionAction)
        self.fin_client.wait_for_server()
        rospy.set_param(
            '/move_group/trajectory_execution/allowed_start_tolerance', 0.3)

        rospy.wait_for_service("/apply_planning_scene", 10.0)
        rospy.wait_for_service("/get_planning_scene", 10.0)
        rospy.wait_for_service('/j2s7s300_driver/in/home_arm')
        self.apply_scene = rospy.ServiceProxy('/apply_planning_scene',
                                              ApplyPlanningScene)
        self.get_scene = rospy.ServiceProxy('/get_planning_scene',
                                            GetPlanningScene)
        self.move_group.allow_replanning(1)
        rospy.sleep(2)
        rospy.Subscriber('/apf_shutdown', Bool, bool_callback)
        self.set_pose_pub = rospy.Publisher('/initialpose',
                                            PoseWithCovarianceStamped,
                                            queue_size=5)
        self.move_base = actionlib.SimpleActionClient("move_base",
                                                      MoveBaseAction)
        self.move_base.wait_for_server(rospy.Duration(60))
        self.tf_listener = tf.TransformListener()
        try:
            self.tf_listener.waitForTransform('/map',
                                              '/base_link', rospy.Time(),
                                              rospy.Duration(1.0))
        except (tf.Exception, tf.ConnectivityException, tf.LookupException):
            pass

        self.object_list = [
            'Biscuit', 'Orange juice', 'Cola', 'Water', 'Lays', 'Bread',
            'Cookie', 'Chip', 'Shampoo', 'Dishsoap', 'Handwash', 'Sprite',
            'Biscuit0', 'Orange juice0', 'Cola0', 'Water0', 'Lays0', 'Bread0',
            'Cookie0', 'Chip0', 'Shampoo0', 'Dishsoap0', 'Handwash0',
            'Sprite0', 'bottle','cup','remote'
        ]#只需要修改标签，标记不属于此房间的物品，从而均执行垃圾桶动作
        self.door_list=['open_door']
      
        self.target_list = []

    def get_position(self):#导航到达目标点后尝试获取周围物体的信息，判断成功后进行tf转换，并将信息存储至target_list
        self.target_list = []
        flag = 0
        for i in self.object_list:
            try:
                self.trans = self.tfBuffer.lookup_transform(             #机器人末端执行器
                    "j2s7s300_link_base", i, rospy.Time())
                if (self.trans.transform.translation.z > 0
                        and abs(self.trans.transform.translation.y) < 0.5
                        and abs(self.trans.transform.translation.x) < 1):

                    self.target_list = [
                        self.trans.transform.translation.x,
                        self.trans.transform.translation.y,
                        self.trans.transform.translation.z
                    ]
                    return 1
            except (tf2_ros.LookupException, tf2_ros.ConnectivityException,
                    tf2_ros.ExtrapolationException):
                flag += flag
                if (flag == len(self.object_list)):
                    return 0
                pass

    def set_pose(self, p):
        if self.move_base is None:
            return False

        x, y, th = p

        pose = PoseWithCovarianceStamped()
        pose.header.stamp = rospy.Time.now()
        pose.header.frame_id = 'map'
        pose.pose.pose.position.x = x
        pose.pose.pose.position.y = y
        q = transformations.quaternion_from_euler(0.0, 0.0, th / 180.0 * pi)
        pose.pose.pose.orientation.x = q[0]
        pose.pose.pose.orientation.y = q[1]
        pose.pose.pose.orientation.z = q[2]
        pose.pose.pose.orientation.w = q[3]

        self.set_pose_pub.publish(pose)
        return True

    def _done_cb(self, status, result):#处理导航运行状态和反馈信息的回调
        rospy.loginfo("goal reached! ")

    def _active_cb(self):
        rospy.loginfo("navigation has be actived")

    def _feedback_cb(self, feedback):
        #rospy.loginfo("[Navi] navigation feedback\r\n%s"%feedback)
        pass

    def goto(self, p):#机器人导航至目标点
        global xc, yc, zc
        rospy.loginfo("[Navi] goto %s" % p)
        x, y, th = p
        goal = MoveBaseGoal()

        goal.target_pose.header.frame_id = 'map'
        goal.target_pose.header.stamp = rospy.Time.now()
        goal.target_pose.pose.position.x = p[0]
        goal.target_pose.pose.position.y = p[1]
        q = transformations.quaternion_from_euler(0.0, 0.0, p[2] / 180.0 * pi)
        goal.target_pose.pose.orientation.x = q[0]
        goal.target_pose.pose.orientation.y = q[1]
        goal.target_pose.pose.orientation.z = q[2]
        goal.target_pose.pose.orientation.w = q[3]
        self.move_base.send_goal(goal, self._done_cb, self._active_cb,
                                 self._feedback_cb)
        result = self.move_base.wait_for_result(rospy.Duration(60))
        if not result:
            self.move_base.cancel_goal()
            rospy.loginfo("Timed out achieving goal")
        else:
            state = self.move_base.get_state()
            if state == GoalStatus.SUCCEEDED:
                rospy.loginfo("reach goal %s succeeded!" % p)
        return True

    def cancel(self):
        self.move_base.cancel_all_goals()
        return True

    def throw(self):#抛掷动作
        self.cartesian_pose_client(
            [0.34682925939559937, -0.4026565641164779663, 0.5062717616558075], [
                -0.4489893615245819, -0.5633678436279297, -0.6183913946151733,
                -0.31403425335884094
            ], "j2s7s300_link_base")
        rospy.sleep(10)
        self.cartesian_pose_client(
            [0.34682925939559937, -0.4026565641164779663, 0.3362717616558075], [
                -0.4489893615245819, -0.5633678436279297, -0.6183913946151733,
                -0.31403425335884094
            ], "j2s7s300_link_base")
        rospy.sleep(20)
        self.go_to_finger_state('Open')
        rospy.sleep(0.1)
        self.go_to_Wait()

    def gripper_client(self, finger_positions):
        """Send a gripper goal to the action server."""
        goal = kinova_msgs.msg.SetFingersPositionGoal()
        goal.fingers.finger1 = float(finger_positions[0])
        goal.fingers.finger2 = float(finger_positions[1])
        goal.fingers.finger3 = float(finger_positions[2])
        self.fin_client.send_goal(goal)
        if self.fin_client.wait_for_result(rospy.Duration(50.0)):
            return self.fin_client.get_result()
        else:
            self.fin_client.cancel_all_goals()
            rospy.logwarn('        the gripper action timed-out')
            return None

    def cartesian_pose_client(self, position, orientation, my_frame_id):
        """Send a cartesian goal to the action server."""
        goal = kinova_msgs.msg.ArmPoseGoal()
        goal.pose.header = std_msgs.msg.Header(frame_id=my_frame_id)
        goal.pose.pose.position = geometry_msgs.msg.Point(x=position[0],
                                                          y=position[1],
                                                          z=position[2])
        goal.pose.pose.orientation = geometry_msgs.msg.Quaternion(
            x=orientation[0],
            y=orientation[1],
            z=orientation[2],
            w=orientation[3])

        print('goal.pose in client 1: {}'.format(goal.pose.pose))  # debug

        self.client.send_goal(goal)

        if self.client.wait_for_result(rospy.Duration(10.0)):
            return self.client.get_result()
        else:
            self.client.cancel_all_goals()
            print('        the cartesian action timed-out')
            return None

    def homeRobot(self):
        try:
            home = rospy.ServiceProxy('/j2s7s300_driver/in/home_arm', HomeArm)
            home()
            return None
        except rospy.ServiceException as e:
            print("Service call failed: {}".format(e))
            home()

    def clear_all_object(self):
        self.scene.remove_world_object('ground')
        self.scene.remove_world_object('top_obstacle')
        self.scene.remove_world_object('bot_obstacle')
        self.scene.remove_world_object('table')

    def clear_table(self):
        self.scene.remove_world_object('table')

    def add_table(self, heigh=-100):
        self.scene.remove_world_object('table')
        table_size = [1, 0.6, 0.001]
        table_pose = PoseStamped()
        table_pose.header.frame_id = 'root'
        table_pose.pose.position.x = 0.0
        table_pose.pose.position.y = 0.0
        table_pose.pose.position.z = heigh
        self.scene.add_box('table', table_pose, table_size)

    def add_object(self):
        self.scene.remove_world_object('ground')
        self.scene.remove_world_object('top_obstacle')
        self.scene.remove_world_object('bot_obstacle')

        # 设置table的三维尺寸
        ground_size = [3, 3, 0.001]
        top_obstacle_size = [0.12, 0.15, 2]
        bot_obstacle_size = [0.45, 0.45, 0.41]

        # 将table加入场景当中
        ground_pose = PoseStamped()
        ground_pose.header.frame_id = 'root'
        ground_pose.pose.position.x = 0.0
        ground_pose.pose.position.y = 0.0
        ground_pose.pose.position.z = -0.4

        top_obstacle_pose = PoseStamped()
        top_obstacle_pose.header.frame_id = 'root'
        top_obstacle_pose.pose.position.x = 0
        top_obstacle_pose.pose.position.y = 0.24
        top_obstacle_pose.pose.position.z = 0.92

        bot_obstacle_pose = PoseStamped()
        bot_obstacle_pose.header.frame_id = 'root'
        bot_obstacle_pose.pose.position.x = 0
        bot_obstacle_pose.pose.position.y = 0.12
        bot_obstacle_pose.pose.position.z = -0.41 / 2 - 0.03

        self.scene.add_box('ground', ground_pose, ground_size)
        self.scene.add_box('top_obstacle', top_obstacle_pose,
                           top_obstacle_size)
        self.scene.add_box('bot_obstacle', bot_obstacle_pose,
                           bot_obstacle_size)

        rospy.sleep(0.5)

    def set_planner_type(self, planner_name):
        if planner_name == "RRT":
            self.move_group.set_planner_id("RRTConnectkConfigDefault")
        if planner_name == "RRT*":
            self.move_group.set_planner_id("RRTstarkConfigDefault")
        if planner_name == "PRM*":
            self.move_group.set_planner_id("PRMstarkConfigDefault")

    def go_to_joint_state(self, joint_state):
        joint_goal = JointState()
        joint_goal.position = joint_state
        self.move_group.set_joint_value_target(joint_goal.position)

        self.plan = self.move_group.plan()
        self.move_group.go(wait=True)
        self.move_group.execute(self.plan, wait=True)

        self.move_group.stop()
        self.move_group.clear_pose_targets()
        rospy.sleep(2)

    def go_to_goal(self, ee_pose):#将机械臂移动到指定位置
        pose_goal = geometry_msgs.msg.Pose()
        pose_goal.position.x = ee_pose[0]
        pose_goal.position.y = ee_pose[1]
        pose_goal.position.z = ee_pose[2]

        if len(ee_pose) == 6:
            quat = tf.transformations.quaternion_from_euler(
                math.radians(ee_pose[3]), math.radians(ee_pose[4]),
                math.radians(ee_pose[5]))
            pose_goal.orientation.x = quat[0]
            pose_goal.orientation.y = quat[1]
            pose_goal.orientation.z = quat[2]
            pose_goal.orientation.w = quat[3]

        else:
            pose_goal.orientation.x = ee_pose[3]
            pose_goal.orientation.y = ee_pose[4]
            pose_goal.orientation.z = ee_pose[5]
            pose_goal.orientation.w = ee_pose[6]

        self.move_group.set_pose_target(pose_goal)
        self.move_group.set_planning_time(20)
        rospy.sleep(2)
        self.move_group.go(wait=True)
        self.move_group.stop()

        self.move_group.clear_pose_targets()
        rospy.sleep(2)

    def move_gripper(self, cmd):
        if cmd == "Close":
            self.move_gripper.set_named_target("Close")
        elif cmd == "Open":
            self.move_gripper.set_named_target("Open")
        else:
            self.move_gripper.set_joint_value_target(cmd)
        self.move_gripper.go(wait=True)
        rospy.sleep(2)

    def go_to_finger_state(self, cmd):
        if cmd == "Close":
            self.move_gripper.set_named_target("Close")
        elif cmd == "CurlClose":
            self.move_gripper.set_named_target("CurlClose")
        elif cmd == "Open":
            self.move_gripper.set_named_target("Open")
        else:
            """gripper_goal = JointState()
            gripper_goal.position = cmd"""
            self.move_gripper.set_joint_value_target(cmd)
        # self.plan_gripper = self.move_gripper.plan()

        self.move_gripper.go(wait=True)
        """self.move_gripper.execute(self.plan_gripper, wait=True)"""
        # self.move_gripper.stop()
        self.move_gripper.clear_pose_targets()
        rospy.sleep(1)

    def go_to_Wait(self):
        self.move_group.set_named_target('Wait')
        self.move_group.go(wait=True)

    def go_to_finger_joint_state(self, joint_values):
        try:
            gripper_states = JointState()
            gripper_states.position = joint_values
            self.move_gripper.set_joint_value_target(gripper_states.position)
            self.move_gripper.go(wait=True)
            # self.move_gripper.execute(self.plan_gripper, wait=True)
            self.move_gripper.stop()
            self.move_gripper.clear_pose_targets()
            rospy.sleep(0.1)
            return True
        except:
            return False

    def go_to_arm_joint_state(self, joint_values):
        try:
            arm_states = JointState()
            arm_states.position = joint_values
            # try:
            self.move_group.set_joint_value_target(arm_states.position)
            # except Exception as e:
            #     rospy.loginfo(e)
            self.move_group.go(wait=True)
            """self.move_gripper.execute(self.plan_gripper, wait=True)"""
            self.move_group.stop()
            self.move_group.clear_pose_targets()
            rospy.sleep(2)
            return True
        except:
            return False

    def main(self, target):#
        self.add_object()#向场景中添加物体
        # Set up path here

        # Pick planner
        self.set_planner_type("RRT")#设置路径归器的类型为RRT
        # self.move_group.set_named_target('Home')
        # self.move_group.go(wait=True)
        self.homeRobot()#预设的初始位置

        ################ Pre-grasp ###################

        # Open the Gripper打开夹爪
        rospy.loginfo('opening the gripper')
        self.go_to_finger_state('Open')

        rospy.loginfo('PRE-Grasp')
        # self.go_to_goal(target)抓取物体的待抓取位置，参数由target给出
        self.cartesian_pose_client(
            [target[0], target[1], target[2]],
            [target[3], target[4], target[5], target[6]],
            "/j2s7s300_link_base")

        rospy.sleep(1)
        ################# Grasp ###################
        rospy.loginfo('Grasp')
        cpose = self.move_group.get_current_pose().pose#获取机器人当前位姿，并且通过循环使得机械臂逐渐靠近目标
        for i in range(0, 6):
            cpose.position.y -= i * 0.01
            self.cartesian_pose_client(
                [cpose.position.x, cpose.position.y, cpose.position.z], [
                    cpose.orientation.x, cpose.orientation.y,
                    cpose.orientation.z, cpose.orientation.w
                ], "world")
        rospy.sleep(2)
        ###### Get Waypoints ###########

        ###### Plan path ##########

        # waypoints = []
        # # rospy.loginfo('current pose: ')
        # wpose = self.move_group.get_current_pose().pose
        # wx = wpose.position.x
        # for i in (0, 15):
        #     wpose.position.x += 0.01
        #     waypoints.append(copy.deepcopy(wpose))

        # rospy.loginfo('waypoints: ', waypoints)

        # fraction = 0.0  #路径规划覆盖率
        # maxtries = 100  #最大尝试规划次数
        # attempts = 0  #已经尝试规划次数

        # # 设置机器臂当前的状态作为运动初始状态
        # self.move_group.set_start_state_to_current_state()

        # while fraction < 1.0 and attempts < maxtries:
        #     (plan, fraction) = self.move_group.compute_cartesian_path(
        #         waypoints,  # waypoint poses，路点列表
        #         0.01,  # eef_step，终端步进值
        #         0.0,  # jump_threshold，跳跃阈值
        #         True)  # avoid_collisions，避障规划

        #     # 尝试次数累加
        #     attempts += 1

        #     # 打印运动规划进程
        #     if attempts % 10 == 0:
        #         rospy.loginfo("Still trying after " + str(attempts) +
        #                       " attempts...")

        # # 如果路径规划成功（覆盖率100%）,则开始控制机械臂运动
        # if fraction == 1.0:
        #     rospy.loginfo("Path computed successfully. Moving the arm.")
        #     self.move_group.execute(plan, wait=True)
        #     rospy.loginfo("Path execution complete.")
        # # 如果路径规划失败，则打印失败信息
        # else:
        #     rospy.loginfo("Path planning failed with only " + str(fraction) +
        #                   " success after " + str(maxtries) + " attempts.")

        # self.go_to_finger_state('Close')
        self.gripper_client([6800,6800,6800])#关闭夹爪
        rospy.sleep(1)
        rospy.loginfo("Go home.")
        # self.move_group.set_named_target('Home')
        # self.move_group.go(wait=True)


if __name__ == '__main__':

    rospy.init_node('navigation_demo', anonymous=True)
    navi = MoveRobot()
    rospy.sleep(2)
    
    while(True):
        rospy.sleep(20)
        if ray:
            print('dongray is ture and cute')
            while True:
                    rospy.sleep(10)
                    navi.go_to_Wait()
                    rospy.sleep(10)
                    navi.get_position()#检测周围物体信息
                    print(navi.target_list)

                    if len(navi.target_list) != 0:
                        navi.main([                #调用navi.main()函数执行抓取
                            navi.target_list[0]-0.1622062022090129, navi.target_list[1]-0.0639,#分别是目标物体的xyz信息和旋转四元数，通过加减来微调 
                            navi.target_list[2]+0.00229, 0.46103304624557495, 0.5499841570854187,0.44626110792160034,0.5346184372901917

                        ])#很多magic number
                    
                        navi.throw()#执行；前往垃圾桶的抛掷动作
                    else:
                        navi.get_position()
                        if len(navi.target_list) != 0:
                            navi.main([                #调用navi.main()函数执行抓取
                            navi.target_list[0]-0.1622062022090129, navi.target_list[1]-0.0639,#分别是目标物体的xyz信息和旋转四元数，通过加减来微调 
                            navi.target_list[2]+0.00129, 0.46103304624557495, 0.5499841570854187,0.44626110792160034,0.5346184372901917

                            ])#很多magic number
                            #rospy.sleep(10)
                    
                            navi.throw()#执行；前往垃圾桶的抛掷动作
        else:
            print('false')
            continue