122 lines
4.0 KiB
Python
Executable File
122 lines
4.0 KiB
Python
Executable File
#!/usr/bin/env python3
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import argparse
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import actionlib
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import cv_bridge
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import numpy as np
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import rospy
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import franka_gripper.msg
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from geometry_msgs.msg import Pose
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from sensor_msgs.msg import JointState, Image, CameraInfo
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import std_srvs.srv
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from robot_utils.controllers import CartesianPoseController
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from robot_utils.ros.conversions import *
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from robot_utils.ros.tf import TransformTree
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from simulation import BtPandaEnv
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CONTROLLER_UPDATE_RATE = 60
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JOINT_PUBLISH_RATE = 60
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CAM_PUBLISH_RATE = 5
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class BtSimNode:
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def __init__(self, gui):
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self.sim = BtPandaEnv(gui=gui, sleep=False)
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self.controller = CartesianPoseController(self.sim.arm)
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self.cv_bridge = cv_bridge.CvBridge()
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self.tf_tree = TransformTree()
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self.reset_server = rospy.Service("reset", std_srvs.srv.Trigger, self.reset)
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self.move_server = actionlib.SimpleActionServer(
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"move",
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franka_gripper.msg.MoveAction,
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self.move,
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False,
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)
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self.joint_pub = rospy.Publisher("joint_states", JointState, queue_size=10)
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self.cam_info_pub = rospy.Publisher(
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"/cam/depth/camera_info", CameraInfo, queue_size=10
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)
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self.cam_info_msg = to_camera_info_msg(self.sim.camera.info)
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self.cam_info_msg.header.frame_id = "cam_optical_frame"
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self.depth_pub = rospy.Publisher("/cam/depth/image_raw", Image, queue_size=10)
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rospy.Subscriber("target", Pose, self.target_pose_cb)
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self.step_cnt = 0
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self.reset_requested = False
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self.move_server.start()
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T_base_task = Transform(Rotation.identity(), np.r_[0.2, -0.15, 0.1])
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self.tf_tree.broadcast_static(T_base_task, "panda_link0", "task")
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def reset(self, req):
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self.reset_requested = True
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rospy.sleep(1.0) # wait for the latest sim step to finish
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self.sim.reset()
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self.controller.set_target(self.sim.arm.pose())
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self.step_cnt = 0
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self.reset_requested = False
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return std_srvs.srv.TriggerResponse(success=True)
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def run(self):
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rate = rospy.Rate(self.sim.rate)
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while not rospy.is_shutdown():
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if not self.reset_requested:
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self.handle_updates()
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self.sim.step()
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self.step_cnt = (self.step_cnt + 1) % self.sim.rate
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rate.sleep()
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def handle_updates(self):
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if self.step_cnt % int(self.sim.rate / CONTROLLER_UPDATE_RATE) == 0:
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self.controller.update()
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if self.step_cnt % int(self.sim.rate / JOINT_PUBLISH_RATE) == 0:
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self.publish_joint_state()
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if self.step_cnt % int(self.sim.rate / CAM_PUBLISH_RATE) == 0:
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self.publish_cam_info()
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self.publish_cam_imgs()
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def publish_joint_state(self):
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q, dq = self.sim.arm.get_state()
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width = self.sim.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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msg.velocity = dq
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self.joint_pub.publish(msg)
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def publish_cam_info(self):
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self.cam_info_msg.header.stamp = rospy.Time.now()
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self.cam_info_pub.publish(self.cam_info_msg)
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def publish_cam_imgs(self):
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_, depth = self.sim.camera.update()
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depth_msg = self.cv_bridge.cv2_to_imgmsg(depth)
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depth_msg.header.stamp = rospy.Time.now()
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self.depth_pub.publish(depth_msg)
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def move(self, goal):
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self.sim.gripper.move(goal.width)
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self.move_server.set_succeeded()
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def target_pose_cb(self, msg):
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self.controller.set_target(from_pose_msg(msg))
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def main(args):
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rospy.init_node("bt_sim")
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server = BtSimNode(args.gui)
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server.run()
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if __name__ == "__main__":
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parser = argparse.ArgumentParser()
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parser.add_argument("--gui", action="store_true")
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args, _ = parser.parse_known_args()
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main(args)
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