play_motion.py

#!/usr/bin/env python
# Copyright 2020 CNRS - Airbus SAS
# Author: Florent Lamiraux
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are
# met:

# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.

# 2. Redistributions in binary form must reproduce the above copyright
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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from csv import writer
import roslib
import rospy
import math
import tf2_ros
from std_msgs.msg import Float64
from sensor_msgs.msg import JointState
from dynamic_graph_bridge_msgs.msg import Vector
import geometry_msgs.msg
from sensor_msgs.msg import JointState
from smach_msgs.msg import SmachContainerStatus
from std_msgs.msg import Bool, UInt32, String
from hpp.corbaserver import Client as HppClient

## Control calibration motions on Talos robot
#
#  iteratively
#    - trigger motions planned by HPP by publishing in "/agimus/start_path"
#      topic,
#    - wait for end of motion by listening "/agimus/status/running" topic,
#    - record tf transformation between camera (topic ) and gripper
#    - record joint values (topic ).
class CalibrationControl (object):
    maxDelay = rospy.Duration (1,0)
    def __init__ (self) :
        rospy.init_node ('calibration_control')
        self.tfBuffer = tf2_ros.Buffer(rospy.Duration (1,0))
        self.tf2Listener = tf2_ros.TransformListener(self.tfBuffer)
        self.pubStartPath = rospy.Publisher ("/agimus/start_path", UInt32,
                                             queue_size=1)
        self.subRunning = rospy.Subscriber ("/agimus/status/running", Bool,
                                            self.runningCallback)
        self.subStatus = rospy.Subscriber \
                         ("/agimus/agimus/smach/container_status",
                          SmachContainerStatus, self.statusCallback)
        self.subStatusDescription = rospy.Subscriber\
            ("/agimus/status/description", String, self.statusDescriptionCallback)
        self.subReleaseContact = rospy.Subscriber\
            ("/agimus/release_contact", Float64, self.collectDataCallback)
        self.running = False
        self.rosJointStates = None
        self.jointNames = None
        self.pathId = 0
        self.hppClient = HppClient ()
        self.count = 0
        self.measurements = list ()
        self.gripper = None
        self.handle = None

    def playPath (self, pathId):
        nbPaths = self.hppClient.problem.numberPaths ()
        if pathId >= nbPaths:
            raise RuntimeError ("pathId ({}) is bigger than number paths {}"
                                .format (pathId, nbPaths - 1))
        self.errorOccured = False
        self.pubStartPath.publish (pathId)
        self.waitForEndOfMotion ()

    def collectData (self, gripper, handle):
        # Subscribe to joint_state only for collecting data
        self.rosJointStates = None
        self.subRosJointState = rospy.Subscriber ("/joint_states", JointState,
                                                  self.rosJointStateCallback)
        # Wait for callback to be called
        while not self.rosJointStates:
            rospy.sleep(1e-3)
        self.subRosJointState.unregister()
        self.subRosJointState = None
        measurement = dict ()
        measurement["gripper"] = gripper
        measurement["handle"] = handle
        # Get joint values
        measurement ["joint_states"] = self.rosJointStates
        print("Saved joint states.")
        self.measurements.append (measurement)

    def save (self, filename):
        with open (filename, "w") as f:
            # Write joint names
            if self.jointNames:
                w = writer (f)
                w.writerow (['joint_names'] + self.jointNames)
            # write measurements
            for measurement in self.measurements:
                line = ""
                # gripper
                line += "gripper,"
                line += measurement["gripper"]
                # handle
                line += ",handle,"
                line += measurement["handle"]
                # joint_states
                assert measurement.has_key ("joint_states")
                line += ",joint_states,"
                for jv in measurement ["joint_states"]:
                    line += "{},".format (jv)
                line = line [:-1] + "\n"
                f.write (line)

    def waitForEndOfMotion (self):
        rate = rospy.Rate(2) # 2hz
        # wait for motion to start
        rospy.loginfo ("wait for motion to start")
        while not self.running:
            rate.sleep ()
            if rospy.is_shutdown (): raise RuntimeError ("rospy shutdown.")
        # wait for motion to end
        rospy.loginfo ("wait for motion to end")
        while self.running:
            rate.sleep ()
            if rospy.is_shutdown (): raise RuntimeError ("rospy shutdown.")
        # wait for one more second
        rospy.loginfo ("motion stopped")
        for i in range (2):
            rate.sleep ()

    def runningCallback (self, msg):
        self.running = msg.data

    def statusCallback (self, msg):
        if msg.active_states [0] == 'Error':
            self.errorOccured = True
            rospy.loginfo ('Error occured.')

    def rosJointStateCallback (self, msg):
        self.rosJointStates = msg.position
        if not self.jointNames:
            self.jointNames = msg.name

    def statusDescriptionCallback(self, msg):
        text = msg.data
        if text[:21] != "Executing pre-action ": return
        text = text[21:]
        i = text.find(' > ')
        if i == -1: return
        gripper = text[:i]
        text = text[i+3:]
        i = text.find(' | ')
        if i == -1: return
        handle = text[:i]
        text = text[i+3:]
        if text.find('_12') != -1:
            self.gripper = gripper
            self.handle = handle
            print("gripper: {}, handle: {}".format(self.gripper, self.handle))
                     
    def collectDataCallback(self, msg):
        if self.gripper and self.handle:
            self.collectData(self.gripper, self.handle)
        else:
            print('no gripper or no handle')

def playAllPaths (startIndex):
    i = startIndex
    while i < nbPaths:
        cc.playPath (i)
        if not cc.errorOccured:
            print("Ran {}".format(i))
            i+=1
        rospy.sleep (1)

if __name__ == '__main__':
    cc = CalibrationControl ()
    nbPaths = cc.hppClient.problem.numberPaths ()
    # playAllPaths (0)