[Pick and Place using Inception_v3 in ROS] #03. Making open_manipulator_play_recorded_trajectory node

#02까지는 Manipulator의 trajectory를 recording 하는 소스코드를 구현하였다.
#03에서는 인식된 Object에 따라서 각각의 Trajectory를 수행하도록 할 것이다.

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PC Enviroment ( Labtop )
OS : Ubuntu 16.04
ROS : Kinetic
CPU : i8
Graphic Card : RTX 2070

Hardware
OpenManipulator(ROBOTIS)
U2D2 Interface

Software
Inception_v3

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정신없이 진행되어서 소스만 일단 올리겠다.

작업한 내용은 다음과 같다.

1. 기본적으로 텍스트파일을 읽어서 Object 별로 Trajectory를 얻는다.
#02에서 진행한 text parsing 기법 이용.

2. OpenManipulator Class에 Subscriber를 만든다.
http://wiki.ros.org/roscpp_tutorials/Tutorials/UsingClassMethodsAsCallbacks

3. ros_inception_v3 node 로부터 result 받기.
https://suho0515.blogspot.com/2019/10/tensorflow-image-recognition-in-ros-01.html

#01 ~ #04
참고로 publish되는 massege는 /open_manipulator/result로 변경해야 한다.

4. 해당 노드는 서비스 기능만 수행할 것이고, 서비스를 controller에 전달할 것이다.
그러므로 slave와 통신되는 관련 내용들을 지워준다.

아래는 해당 코드다.
CmakeLists 와 Launch 파일은 #02에서와 같이 진행한다.

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/******************************************************************************* * Copyright 2018 ROBOTIS CO., LTD. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * *     http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *******************************************************************************/ /* Authors: Darby Lim, Hye-Jong KIM, Ryan Shim, Yong-Ho Na */ #include "open_manipulator_master_slave/open_manipulator_master.h" #include <fstream> #include <iostream> #include <string> #include <sstream> using namespace std; OpenManipulatorMaster::OpenManipulatorMaster(std::string usb_port, std::string baud_rate)     :node_handle_(""),      priv_node_handle_("~"),      service_call_period_(0.01),      mode_state_(MASTER_SLAVE_MODE),      buffer_index_(0),      obj("") {   service_call_period_  = priv_node_handle_.param<double>("service_call_period", 0.010f);   dxl_id_.push_back(priv_node_handle_.param<int32_t>("joint1_id", 1));   dxl_id_.push_back(priv_node_handle_.param<int32_t>("joint2_id", 2));   dxl_id_.push_back(priv_node_handle_.param<int32_t>("joint3_id", 3));   dxl_id_.push_back(priv_node_handle_.param<int32_t>("joint4_id", 4));   dxl_id_.push_back(priv_node_handle_.param<int32_t>("gripper_id", 5));   goal_joint_position_.resize(NUM_OF_JOINT);   goal_tool_position_ = 0.0;   initOpenManipulator(usb_port, baud_rate, service_call_period_);   initServiceClient(); } OpenManipulatorMaster::~OpenManipulatorMaster() {   delete actuator_;   delete tool_;   if(ros::isStarted()) {     ros::shutdown();     ros::waitForShutdown();   } } void OpenManipulatorMaster::initServiceClient() {   goal_joint_space_path_client_ = node_handle_.serviceClient<open_manipulator_msgs::SetJointPosition>("goal_joint_space_path");   goal_tool_control_client_ = node_handle_.serviceClient<open_manipulator_msgs::SetJointPosition>("goal_tool_control"); } void OpenManipulatorMaster::initOpenManipulator(STRING usb_port, STRING baud_rate, double service_call_period) {   /*****************************************************************************   ** Initialize Manipulator Parameter   *****************************************************************************/   addWorld("world",   // world name            "joint1"); // child name   addJoint("joint1",  // my name            "world",   // parent name            "joint2",  // child name            math::vector3(0.012, 0.0, 0.017),                // relative position            math::convertRPYToRotationMatrix(0.0, 0.0, 0.0), // relative orientation            Z_AXIS,        // axis of rotation            dxl_id_.at(0), // actuator id            M_PI,          // max joint limit (3.14 rad)            -M_PI);        // min joint limit (-3.14 rad)   addJoint("joint2",  // my name            "joint1",  // parent name            "joint3",  // child name            math::vector3(0.0, 0.0, 0.0595),                 // relative position            math::convertRPYToRotationMatrix(0.0, 0.0, 0.0), // relative orientation            Y_AXIS,        // axis of rotation            dxl_id_.at(1), // actuator id            M_PI_2,        // max joint limit (1.67 rad)            -2.05);        // min joint limit (-2.05 rad)   addJoint("joint3",  // my name            "joint2",  // parent name            "joint4",  // child name            math::vector3(0.024, 0.0, 0.128),                // relative position            math::convertRPYToRotationMatrix(0.0, 0.0, 0.0), // relative orientation            Y_AXIS,        // axis of rotation            dxl_id_.at(2), // actuator id            1.53,          // max joint limit (1.53 rad)            -M_PI_2);      // min joint limit (-1.67 rad)   addJoint("joint4",  // my name            "joint3",  // parent name            "gripper", // child name            math::vector3(0.124, 0.0, 0.0),                  // relative position            math::convertRPYToRotationMatrix(0.0, 0.0, 0.0), // relative orientation            Y_AXIS,        // axis of rotation            dxl_id_.at(3), // actuator id            2.0,           // max joint limit (2.0 rad)            -1.8);         // min joint limit (-1.8 rad)   addTool("gripper",  // my name           "joint4",   // parent name           math::vector3(0.126, 0.0, 0.0),                  // relative position           math::convertRPYToRotationMatrix(0.0, 0.0, 0.0), // relative orientation           dxl_id_.at(4),  // actuator id           0.010,          // max gripper limit (0.01 m)           -0.010,         // min gripper limit (-0.01 m)           -0.015);        // Change unit from `meter` to `radian`   /*****************************************************************************   ** Parsing txt File   *****************************************************************************/   // for Reading File     string filePath = "/tmp/glue.txt";   ifstream openFile_glue(filePath.data());   if(openFile_glue.is_open())   {     string line;     record_buffer_glue_.clear();          while(getline(openFile_glue, line)){       //cout << line << endl;       // Parsing text data to record_buffer_              istringstream iss(line);       WaypointBuffer temp;       std::vector<double> goal_joint_position_;       double goal_tool_position_;       goal_joint_position_.resize(NUM_OF_JOINT);       goal_tool_position_ = 0.0;       int count = 0;       do       {         string sub;         iss >> sub;         //cout << "Substring: " << sub << endl;                if(count==0) goal_joint_position_.at(0) = stod(sub);         else if(count==1) goal_joint_position_.at(1) = stod(sub);         else if(count==2) goal_joint_position_.at(2) = stod(sub);         else if(count==3) goal_joint_position_.at(3) = stod(sub);         else if(count==4) goal_tool_position_ = stod(sub);         temp.joint_angle = goal_joint_position_;         temp.tool_position = goal_tool_position_;                  count++;       } while (iss);       record_buffer_glue_.push_back(temp);     }     openFile_glue.close();   }   // for Reading File     filePath = "/tmp/eclipse.txt";   ifstream openFile_eclipse(filePath.data());   if(openFile_eclipse.is_open())   {     string line;     record_buffer_eclipse_.clear();          while(getline(openFile_eclipse, line)){       //cout << line << endl;       // Parsing text data to record_buffer_              istringstream iss(line);       WaypointBuffer temp;       std::vector<double> goal_joint_position_;       double goal_tool_position_;       goal_joint_position_.resize(NUM_OF_JOINT);       goal_tool_position_ = 0.0;       int count = 0;       do       {         string sub;         iss >> sub;         //cout << "Substring: " << sub << endl;                if(count==0) goal_joint_position_.at(0) = stod(sub);         else if(count==1) goal_joint_position_.at(1) = stod(sub);         else if(count==2) goal_joint_position_.at(2) = stod(sub);         else if(count==3) goal_joint_position_.at(3) = stod(sub);         else if(count==4) goal_tool_position_ = stod(sub);         temp.joint_angle = goal_joint_position_;         temp.tool_position = goal_tool_position_;                  count++;       } while (iss);       record_buffer_eclipse_.push_back(temp);     }     openFile_eclipse.close();   } } bool OpenManipulatorMaster::setJointSpacePath(double path_time, std::vector<double> set_goal_joint_position) {   auto joint_name = getManipulator()->getAllActiveJointComponentName();   std::vector<double> joint_value;   if(set_goal_joint_position.size())  {     joint_value = set_goal_joint_position;   }   else   {     joint_value.push_back(record_buffer_.at(0).joint_angle.at(0));     joint_value.push_back(record_buffer_.at(0).joint_angle.at(1));     joint_value.push_back(record_buffer_.at(0).joint_angle.at(2));     joint_value.push_back(record_buffer_.at(0).joint_angle.at(3));   }   open_manipulator_msgs::SetJointPosition srv;   srv.request.joint_position.joint_name = joint_name;   for(int i = 0; i < NUM_OF_JOINT; i ++)   {     if(getManipulator()->checkJointLimit(joint_name.at(i), joint_value.at(i)))       srv.request.joint_position.position.push_back(joint_value.at(i));     else       srv.request.joint_position.position.push_back(goal_joint_position_.at(i));   }   goal_joint_position_ = srv.request.joint_position.position;   srv.request.path_time = path_time;   if(goal_joint_space_path_client_.call(srv))   {     return srv.response.is_planned;   }   return false; } bool OpenManipulatorMaster::setToolPath(double set_goal_tool_position) {   double tool_value;   if(set_goal_tool_position < -0.1)     tool_value = record_buffer_.at(0).tool_position;   else     tool_value = set_goal_tool_position;   open_manipulator_msgs::SetJointPosition srv;   srv.request.joint_position.joint_name.push_back("gripper");   if(getManipulator()->checkJointLimit("gripper", tool_value))     srv.request.joint_position.position.push_back(tool_value);   else     srv.request.joint_position.position.push_back(goal_tool_position_);   goal_tool_position_ = srv.request.joint_position.position.at(0);   if(goal_tool_control_client_.call(srv))   {     return srv.response.is_planned;   }   return false; } void OpenManipulatorMaster::publishCallback(const ros::TimerEvent&) {   static int count = 0;   if(!(count % 5))   {     printText();     if(kbhit())       setModeState(std::getchar());   }   count ++;   receiveAllJointActuatorValue();   receiveAllToolActuatorValue();   if(mode_state_ == PLAY_RECORDED_TRAJECTORY_MODE)   {     if(record_buffer_.size() > buffer_index_)     {       setJointSpacePath(service_call_period_, record_buffer_.at(buffer_index_).joint_angle);       setToolPath(record_buffer_.at(buffer_index_).tool_position);       buffer_index_ ++;     }   } } void OpenManipulatorMaster::setModeState(char ch) {   if(ch == '1')   {     buffer_index_ = 0;     if(obj == "glue") record_buffer_ = record_buffer_glue_;     else if(obj == "eclipse") record_buffer_ = record_buffer_eclipse_;     if(record_buffer_.size()) {       double sync_path_time = 1.0;       receiveAllJointActuatorValue();       receiveAllToolActuatorValue();       setJointSpacePath(sync_path_time);       setToolPath();       ros::WallDuration sleep_time(sync_path_time);       sleep_time.sleep();     }     mode_state_ = PLAY_RECORDED_TRAJECTORY_MODE;   } } void OpenManipulatorMaster::printText() {   system("clear");   printf("\n");   printf("-----------------------------\n");   printf("Control Your OpenManipulator!\n");   printf("-----------------------------\n");   printf("Present Control Mode\n");      if(mode_state_ == PLAY_RECORDED_TRAJECTORY_MODE)   {     printf("Play Recorded Trajectory Mode\n");     printf("Buffer Size : %d\n", (int)(record_buffer_.size()));     printf("Buffer index : %d\n", buffer_index_);   }   printf("-----------------------------\n");   printf("1 : Play Recorded Trajectory\n");   printf("-----------------------------\n");   printf("Present Joint Angle J1: %.3lf J2: %.3lf J3: %.3lf J4: %.3lf\n",          goal_joint_position_.at(0),          goal_joint_position_.at(1),          goal_joint_position_.at(2),          goal_joint_position_.at(3));   printf("Present Tool Position: %.3lf\n", goal_tool_position_);   printf("-----------------------------\n"); } bool OpenManipulatorMaster::kbhit() {   termios term;   tcgetattr(0, &term);   termios term2 = term;   term2.c_lflag &= ~ICANON;   tcsetattr(0, TCSANOW, &term2);   int byteswaiting;   ioctl(0, FIONREAD, &byteswaiting);   tcsetattr(0, TCSANOW, &term);   return byteswaiting > 0; } // custom by suho, for result callback void OpenManipulatorMaster::resultCallback(const std_msgs::String::ConstPtr& msg) {   ROS_INFO("I heard: [%s]", msg->data.c_str());   obj = msg->data.c_str(); } int main(int argc, char **argv) {   // Init ROS node   ros::init(argc, argv, "open_manipulator_play_recorded_trajectory");   ros::NodeHandle node_handle("");      std::string usb_port = "/dev/ttyUSB0";   std::string baud_rate = "1000000";   if (argc < 3)   {     log::error("Please set '-port_name' and  '-baud_rate' arguments for connected Dynamixels");     return 0;   }   else   {     usb_port = argv[1];     baud_rate = argv[2];   }   OpenManipulatorMaster open_manipulator_master(usb_port, baud_rate);   ros::Timer publish_timer = node_handle.createTimer(ros::Duration(open_manipulator_master.getServiceCallPeriod()), &OpenManipulatorMaster::publishCallback, &open_manipulator_master);   ros::NodeHandle nh;   ros::Subscriber open_manipulator_sub = nh.subscribe("result", 100, &OpenManipulatorMaster::resultCallback,&open_manipulator_master);      while (ros::ok())   {      ros::spinOnce();   }   return 0; } Colored by Color Scripter

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