245 lines
7.3 KiB
Python
Executable File
245 lines
7.3 KiB
Python
Executable File
#!/usr/bin/env python3
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from actionlib import SimpleActionServer
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import cv_bridge
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from franka_gripper.msg import *
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from geometry_msgs.msg import Twist
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import numpy as np
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import rospy
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from sensor_msgs.msg import JointState, Image, CameraInfo
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import skimage.transform
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from threading import Thread
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from active_grasp.bbox import to_bbox_msg
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from active_grasp.srv import *
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from active_grasp.simulation import Simulation
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from robot_helpers.ros.conversions import *
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class BtSimNode:
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def __init__(self):
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self.gui = rospy.get_param("~gui", True)
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self.sim = Simulation(gui=self.gui)
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self.init_plugins()
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self.advertise_services()
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def init_plugins(self):
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self.plugins = [
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PhysicsPlugin(self.sim),
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JointStatePlugin(self.sim.arm, self.sim.gripper),
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CartesianVelocityControllerPlugin(self.sim.arm, self.sim.model),
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MoveActionPlugin(self.sim.gripper),
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GraspActionPlugin(self.sim.gripper),
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CameraPlugin(self.sim.camera),
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]
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def advertise_services(self):
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rospy.Service("seed", Seed, self.seed)
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rospy.Service("reset", Reset, self.reset)
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def seed(self, req):
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self.sim.seed(req.seed)
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return SeedResponse()
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def reset(self, req):
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for plugin in self.plugins:
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plugin.is_running = False
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rospy.sleep(1.0) # TODO replace with a read-write lock
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bbox = self.sim.reset()
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self.plugins[2].dx_d = np.zeros(6)
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res = ResetResponse(to_bbox_msg(bbox))
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for plugin in self.plugins:
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plugin.is_running = True
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return res
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def run(self):
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self.start_plugins()
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rospy.spin()
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def start_plugins(self):
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for plugin in self.plugins:
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plugin.thread.start()
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plugin.is_running = True
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class Plugin:
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"""A plugin that spins at a constant rate in its own thread."""
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def __init__(self, rate):
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self.rate = rate
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self.thread = Thread(target=self.loop, daemon=True)
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self.is_running = False
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def loop(self):
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rate = rospy.Rate(self.rate)
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while not rospy.is_shutdown():
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if self.is_running:
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self.update()
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rate.sleep()
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def update(self):
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raise NotImplementedError
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class PhysicsPlugin(Plugin):
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def __init__(self, sim):
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super().__init__(sim.rate)
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self.sim = sim
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def update(self):
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self.sim.step()
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class JointStatePlugin(Plugin):
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def __init__(self, arm, gripper, rate=30):
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super().__init__(rate)
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self.arm = arm
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self.gripper = gripper
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self.pub = rospy.Publisher("joint_states", JointState, queue_size=10)
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def update(self):
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q, _ = self.arm.get_state()
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width = self.gripper.read()
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msg = JointState()
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msg.header.stamp = rospy.Time.now()
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msg.name = ["panda_joint{}".format(i) for i in range(1, 8)] + [
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"panda_finger_joint1",
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"panda_finger_joint2",
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]
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msg.position = np.r_[q, 0.5 * width, 0.5 * width]
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self.pub.publish(msg)
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class CartesianVelocityControllerPlugin(Plugin):
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def __init__(self, arm, model, rate=30):
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super().__init__(rate)
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self.arm = arm
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self.model = model
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self.max_linear_vel = 0.1
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self.max_angular_vel = 1.57
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self.dx_d = np.zeros(6)
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rospy.Subscriber("command", Twist, self.target_cb)
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def target_cb(self, msg):
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self.dx_d = from_twist_msg(msg)
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def update(self):
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q, _ = self.arm.get_state()
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dx = self.limit_rate(self.dx_d)
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J_pinv = np.linalg.pinv(self.model.jacobian(q))
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cmd = np.dot(J_pinv, dx)
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self.arm.set_desired_joint_velocities(cmd)
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def limit_rate(self, dx):
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linear, angular = dx[:3], dx[3:]
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linear = np.clip(linear, -self.max_linear_vel, self.max_linear_vel)
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angular = np.clip(angular, -self.max_angular_vel, self.max_angular_vel)
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return np.r_[linear, angular]
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class MoveActionPlugin(Plugin):
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def __init__(self, gripper, rate=10):
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super().__init__(rate)
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self.gripper = gripper
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self.dt = 1.0 / self.rate
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self.init_action_server()
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def init_action_server(self):
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name = "/franka_gripper/move"
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self.action_server = SimpleActionServer(name, MoveAction, auto_start=False)
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self.action_server.register_goal_callback(self.action_goal_cb)
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self.action_server.start()
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def action_goal_cb(self):
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self.elapsed_time = 0.0
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goal = self.action_server.accept_new_goal()
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self.gripper.set_desired_width(goal.width)
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def update(self):
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if self.action_server.is_active():
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self.elapsed_time += self.dt
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if self.elapsed_time > 1.0:
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self.action_server.set_succeeded()
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class GraspActionPlugin(Plugin):
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def __init__(self, gripper, rate=10):
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super().__init__(rate)
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self.gripper = gripper
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self.dt = 1.0 / self.rate
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self.init_action_server()
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def init_action_server(self):
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name = "/franka_gripper/grasp"
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self.action_server = SimpleActionServer(name, GraspAction, auto_start=False)
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self.action_server.register_goal_callback(self.action_goal_cb)
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self.action_server.start()
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def action_goal_cb(self):
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self.elapsed_time = 0.0
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goal = self.action_server.accept_new_goal()
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self.gripper.set_desired_width(goal.width)
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def update(self):
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if self.action_server.is_active():
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self.elapsed_time += self.dt
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if self.elapsed_time > 1.0:
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self.action_server.set_succeeded()
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class CameraPlugin(Plugin):
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def __init__(self, camera, name="camera", rate=5):
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super().__init__(rate)
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self.camera = camera
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self.name = name
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self.cam_noise = rospy.get_param("~cam_noise", True)
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if rospy.get_param("~calib_error"):
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self.camera.calib_error = Transform(
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Rotation.from_euler("xyz", [0.27, 0.034, 0.18], degrees=True),
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np.r_[0.002, 0.0018, 0.0007],
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)
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self.cv_bridge = cv_bridge.CvBridge()
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self.init_publishers()
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def init_publishers(self):
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topic = self.name + "/depth/camera_info"
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self.info_pub = rospy.Publisher(topic, CameraInfo, queue_size=10)
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topic = self.name + "/depth/image_raw"
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self.depth_pub = rospy.Publisher(topic, Image, queue_size=10)
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def update(self):
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stamp = rospy.Time.now()
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msg = to_camera_info_msg(self.camera.intrinsic)
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msg.header.frame_id = self.name + "_optical_frame"
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msg.header.stamp = stamp
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self.info_pub.publish(msg)
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_, depth, _ = self.camera.get_image()
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if self.cam_noise:
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depth = apply_noise(depth)
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msg = self.cv_bridge.cv2_to_imgmsg(depth)
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msg.header.stamp = stamp
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self.depth_pub.publish(msg)
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def apply_noise(img, k=1000, theta=0.001, sigma=0.005, l=4.0):
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# Multiplicative and additive noise
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img *= np.random.gamma(k, theta)
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h, w = img.shape
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noise = np.random.randn(int(h / l), int(w / l)) * sigma
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img += skimage.transform.resize(noise, img.shape, order=1, mode="constant")
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return img
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def main():
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rospy.init_node("bt_sim")
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server = BtSimNode()
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server.run()
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if __name__ == "__main__":
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main()
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