diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..11cc596 --- /dev/null +++ b/.gitignore @@ -0,0 +1,3 @@ +*.pyc +*.idea +*.swp diff --git a/camera_test.py b/camera_test.py deleted file mode 100755 index 8371b84..0000000 --- a/camera_test.py +++ /dev/null @@ -1,41 +0,0 @@ -#!/usr/bin/env python - -from cv_bridge import CvBridge, CvBridgeError -import numpy as np -import cv2 -import roslib -import rospy -import sensor_msgs -import sys - -def callback(data): - try: - print(10) - br = CvBridge() - cv_image = br.imgmsg_to_cv2(data, "bgr8") - print(cv_image) - rospy.loginfo(rospy.get_caller_id()) - except CvBridgeError as e: - print(e) - - cv2.imshow("Image window", cv_image) - cv2.waitKey(3) - -def main(args): - print(1) - rospy.init_node('camera_test_node', anonymous=True) - print(2) - rospy.Subscriber("/usb_cam/image_raw", sensor_msgs.msg.Image, callback) - print(3) - try: - rospy.spin() - except KeyboardInterrupt: - print("Shutting down") - cv2.destroyAllWindows() - - -if __name__ == '__main__': - print(0) - main(sys.argv) - - diff --git a/eurobot_camera/LICENSE b/eurobot_camera/LICENSE deleted file mode 100644 index f288702..0000000 --- a/eurobot_camera/LICENSE +++ /dev/null @@ -1,674 +0,0 @@ - GNU GENERAL PUBLIC LICENSE - Version 3, 29 June 2007 - - Copyright (C) 2007 Free Software Foundation, Inc. - Everyone is permitted to copy and distribute verbatim copies - of this license document, but changing it is not allowed. - - Preamble - - The GNU General Public License is a free, copyleft license for -software and other kinds of works. - - The licenses for most software and other practical works are designed -to take away your freedom to share and change the works. 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If not, see . - -Also add information on how to contact you by electronic and paper mail. - - If the program does terminal interaction, make it output a short -notice like this when it starts in an interactive mode: - - Copyright (C) - This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. - This is free software, and you are welcome to redistribute it - under certain conditions; type `show c' for details. - -The hypothetical commands `show w' and `show c' should show the appropriate -parts of the General Public License. Of course, your program's commands -might be different; for a GUI interface, you would use an "about box". - - You should also get your employer (if you work as a programmer) or school, -if any, to sign a "copyright disclaimer" for the program, if necessary. -For more information on this, and how to apply and follow the GNU GPL, see -. - - The GNU General Public License does not permit incorporating your program -into proprietary programs. If your program is a subroutine library, you -may consider it more useful to permit linking proprietary applications with -the library. If this is what you want to do, use the GNU Lesser General -Public License instead of this License. But first, please read -. diff --git a/eurobot_camera/launch/undistrort.launch b/eurobot_camera/launch/undistrort.launch deleted file mode 100644 index cf6dceb..0000000 --- a/eurobot_camera/launch/undistrort.launch +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - - - - - - - - - - - diff --git a/eurobot_camera/scripts/calibration.py b/eurobot_camera/scripts/calibration.py deleted file mode 100755 index 4347057..0000000 --- a/eurobot_camera/scripts/calibration.py +++ /dev/null @@ -1,65 +0,0 @@ -import cv2 -import numpy as np -import os -import glob - -CHECKERBOARD = (7,4) - -# termination criteria -subpix_criteria = (cv2.TERM_CRITERIA_EPS+cv2.TERM_CRITERIA_MAX_ITER, 30, 0.1) -calibration_flags = cv2.fisheye.CALIB_RECOMPUTE_EXTRINSIC+cv2.fisheye.CALIB_CHECK_COND+cv2.fisheye.CALIB_FIX_SKEW - -objp = np.zeros((1, CHECKERBOARD[0]*CHECKERBOARD[1], 3), np.float32) -objp[0,:,:2] = np.mgrid[0:CHECKERBOARD[0], 0:CHECKERBOARD[1]].T.reshape(-1, 2) - -_img_shape = None -objpoints = [] # 3d point in real world space -imgpoints = [] # 2d points in image plane. - -images = glob.glob('*.png') - -for fname in images: - img = cv2.imread(fname) - if _img_shape == None: - _img_shape = img.shape[:2] - else: - assert _img_shape == img.shape[:2], "All images must share the same size." - gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY) - # Find the chess board corners - ret, corners = cv2.findChessboardCorners(gray, CHECKERBOARD, None) - # If found, add object points, image points (after refining them) - if ret == True: - print(fname) - objpoints.append(objp) - cv2.cornerSubPix(gray,corners,(3,3),(-1,-1),subpix_criteria) - imgpoints.append(corners) - -N_OK = len(objpoints) -K = np.zeros((3, 3)) -D = np.zeros((4, 1)) -rvecs = [np.zeros((1, 1, 3), dtype=np.float64) for i in range(N_OK)] -tvecs = [np.zeros((1, 1, 3), dtype=np.float64) for i in range(N_OK)] -rms, _, _, _, _ = \ - cv2.fisheye.calibrate( - objpoints, - imgpoints, - gray.shape[::-1], - K, - D, - rvecs, - tvecs, - calibration_flags, - (cv2.TERM_CRITERIA_EPS+cv2.TERM_CRITERIA_MAX_ITER, 30, 1e-6) - ) - -print("Found " + str(N_OK) + " valid images for calibration") -print("DIM=" + str(_img_shape[::-1])) -print("K=np.array(" + str(K.tolist()) + ")") -print("D=np.array(" + str(D.tolist()) + ")") - -config_file = open('config','w') -config_file.write("Found " + str(N_OK) + " valid images for calibration \r\n") -config_file.write("DIM=" + str(_img_shape[::-1]) +'\r\n') -config_file.write("K=np.array(" + str(K.tolist()) + ") \r\n") -config_file.write("D=np.array(" + str(D.tolist()) + ") \r\n") - diff --git a/eurobot_camera/scripts/undistort.py b/eurobot_camera/scripts/undistort.py deleted file mode 100755 index b634ec4..0000000 --- a/eurobot_camera/scripts/undistort.py +++ /dev/null @@ -1,69 +0,0 @@ -#!/usr/bin/env python - -from cv_bridge import CvBridge, CvBridgeError -import numpy as np -import cv2 -import roslib -import rospy -import sensor_msgs -from sensor_msgs.msg import Image -import sys - -#FIXME: get coeff from file -DIM=(2448, 2048) -K=np.array([[677.6729654637016, 0.0, 1235.371481335309], [0.0, 679.4736576804626, 1043.9887347932538], [0.0, 0.0, 1.0]]) -D=np.array([[0.026055346132657364], [0.006035766757842894], [0.005666324884814231], [-0.0015661403498746557]]) - -#FIXME: create class to remove global values -image_pub = rospy.Publisher("MY_IMAGE_TOPIC",Image) - -def distortion(img,balance=0.0, dim2=None, dim3=None): - dim1 = img.shape[:2][::-1] #dim1 is the dimension of input image to un-distort - assert dim1[0]/dim1[1] == DIM[0]/DIM[1], "Image to undistort needs to have same aspect ratio as the ones used in calibration" - if not dim2: - dim2 = dim1 - if not dim3: - dim3 = dim1 - scaled_K = K * dim1[0] / DIM[0] # The values of K is to scale with image dimension. - scaled_K[2][2] = 1.0 # Except that K[2][2] is always 1.0 - # This is how scaled_K, dim2 and balance are used to determine the final K used to un-distort image. OpenCV document failed to make this clear! - new_K = cv2.fisheye.estimateNewCameraMatrixForUndistortRectify(scaled_K, D, dim2, np.eye(3), balance=balance) - map1, map2 = cv2.fisheye.initUndistortRectifyMap(scaled_K, D, np.eye(3), new_K, dim3, cv2.CV_16SC2) - undistorted_img = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR, borderMode=cv2.BORDER_CONSTANT) - return undistorted_img - -def callback(data): - try: - print(10) - br = CvBridge() - cv_image = br.imgmsg_to_cv2(data, "bgr8") - print(cv_image) - rospy.loginfo(rospy.get_caller_id()) - except CvBridgeError as e: - print(e) - - image = distortion(cv_image) - try: - image_pub.publish(br.cv2_to_imgmsg(image, "bgr8")) - except CvBridgeError as e: - print(e) - -def talker(): - pub = rospy.Publisher('chatter', String, queue_size=10) - rospy.init_node('talker', anonymous=True) - rate = rospy.Rate(30) # 30hz - while not rospy.is_shutdown(): - hello_str = "hello world %s" % rospy.get_time() - rospy.loginfo(hello_str) - pub.publish(hello_str) - rate.sleep() - -rospy.init_node('camera_main_node', anonymous=True) -rospy.Subscriber("/usb_cam/image_raw", sensor_msgs.msg.Image, callback) -try: - rospy.spin() -except KeyboardInterrupt: - print("Shutting down") -cv2.destroyAllWindows() - - diff --git a/eurobot_camera/CMakeLists.txt b/eurobot_stm/CMakeLists.txt similarity index 96% rename from eurobot_camera/CMakeLists.txt rename to eurobot_stm/CMakeLists.txt index ce84372..efcd9ac 100644 --- a/eurobot_camera/CMakeLists.txt +++ b/eurobot_stm/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 2.8.3) -project(eurobot_camera) +project(eurobot_stm) ## Compile as C++11, supported in ROS Kinetic and newer # add_compile_options(-std=c++11) @@ -104,7 +104,7 @@ find_package(catkin REQUIRED COMPONENTS ## DEPENDS: system dependencies of this project that dependent projects also need catkin_package( # INCLUDE_DIRS include -# LIBRARIES eurobot_camera +# LIBRARIES eurobot_stm # CATKIN_DEPENDS roscpp rospy std_msgs # DEPENDS system_lib ) @@ -122,7 +122,7 @@ include_directories( ## Declare a C++ library # add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/eurobot_camera.cpp +# src/${PROJECT_NAME}/eurobot_stm.cpp # ) ## Add cmake target dependencies of the library @@ -133,7 +133,7 @@ include_directories( ## Declare a C++ executable ## With catkin_make all packages are built within a single CMake context ## The recommended prefix ensures that target names across packages don't collide -# add_executable(${PROJECT_NAME}_node src/eurobot_camera_node.cpp) +# add_executable(${PROJECT_NAME}_node src/eurobot_stm_node.cpp) ## Rename C++ executable without prefix ## The above recommended prefix causes long target names, the following renames the @@ -190,7 +190,7 @@ include_directories( ############# ## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_eurobot_camera.cpp) +# catkin_add_gtest(${PROJECT_NAME}-test test/test_eurobot_stm.cpp) # if(TARGET ${PROJECT_NAME}-test) # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) # endif() diff --git a/eurobot_stm/configs/stm.yaml b/eurobot_stm/configs/stm.yaml new file mode 100644 index 0000000..11fed12 --- /dev/null +++ b/eurobot_stm/configs/stm.yaml @@ -0,0 +1 @@ +ODOM_RATE: 40 diff --git a/eurobot_stm/launch/STM_node.launch b/eurobot_stm/launch/STM_node.launch new file mode 100644 index 0000000..d0e3213 --- /dev/null +++ b/eurobot_stm/launch/STM_node.launch @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/eurobot_camera/package.xml b/eurobot_stm/package.xml similarity index 94% rename from eurobot_camera/package.xml rename to eurobot_stm/package.xml index c54d4a6..69922ee 100644 --- a/eurobot_camera/package.xml +++ b/eurobot_stm/package.xml @@ -1,8 +1,8 @@ - eurobot_camera + eurobot_stm 0.0.0 - The eurobot_camera package + The eurobot_stm package @@ -19,7 +19,7 @@ - + diff --git a/eurobot_stm/scripts/STM.py b/eurobot_stm/scripts/STM.py new file mode 100755 index 0000000..b012736 --- /dev/null +++ b/eurobot_stm/scripts/STM.py @@ -0,0 +1,50 @@ +#!/usr/bin/env python +import rospy +from std_msgs.msg import String + +import itertools + +from STM_protocol import STMprotocol +from odometry import Odometry +from manipulator import Manipulator + +ODOM_RATE = rospy.get_param("ODOM_RATE") + +class STM(): + def __init__(self, serial_port, baudrate=115200): + rospy.init_node('stm_node', anonymous=True) + rospy.Subscriber("stm_command", String, self.stm_command_callback) + self.response = rospy.Publisher("stm_response", String, queue_size=50) + + self.stm_protocol = STMprotocol(serial_port, baudrate) + self.odometry = Odometry(self.stm_protocol, ODOM_RATE) + + + def stm_command_callback(self, data): + id, cmd, args = self.parse_data(data) + successfully, values = self.stm_protocol.send(cmd, args) + st = "".join(values) + response = str(id) + " " + st + print ("RESPONSE=", values) + self.response.publish(response) + + def parse_data(self, data): + data_splitted = data.data.split() + print (data_splitted) + id = data_splitted[0] + try: + cmd = int(data_splitted[1]) + except ValueError as e: + cmd = int(data_splitted[1], 16) + args_dict = {'c': str, 'B': int, 'f': float} + args = [args_dict[t](s) for t, s in itertools.izip(self.stm_protocol.pack_format[cmd][1:], data_splitted[2:])] + return id, cmd, args + +if __name__ == '__main__': + + + #TODO::search for ports + + serial_port = "/dev/ttyUSB0" + stm = STM(serial_port) + rospy.spin() diff --git a/eurobot_stm/scripts/STM_protocol.py b/eurobot_stm/scripts/STM_protocol.py new file mode 100755 index 0000000..89a7c91 --- /dev/null +++ b/eurobot_stm/scripts/STM_protocol.py @@ -0,0 +1,144 @@ +import serial +import struct +import datetime +import rospy + +from threading import Lock + +class STMprotocol(object): + def __init__(self, serial_port, baudrate=115200): + + self.mutex = Lock() + + self.ser = serial.Serial(serial_port,baudrate=baudrate, timeout = 0.01) + self.pack_format = { + 0x01: "=cccc", + 0x02: "=", + 0x03: "=", + 0x04: "=", + 0x07: "=", + 0x08: "=fff", + 0x09: "=", + 0x0e: "=fff", + 0x0f: "=", + 0x10: "=", + 0x11: "=", + 0x12: "=", + 0x13: "=", + 0x14: "=", + 0x15: "=", + 0x16: "=", + 0x17: "=", + 0x18: "=", + 0x19: "=", + 0x20: "=", + 0x21: "=B", + 0x22: "=", + 0x23: "=", + 0x30: "=B", + 0x31: "=", + 0x32: "=B", + 0x33: "=B", + 0x34: "=B" + } + + self.unpack_format = { + 0x01: "=cccc", + 0x02: "=cc", + 0x03: "=B", + 0x04: "=B", + 0x07: "=fff", + 0x08: "=cc", + 0x09: "=fff", + 0x0e: "=cc", + 0x0f: "=fff", + 0x10: "=cc", + 0x11: "=cc", + 0x12: "=cc", + 0x13: "=cc", + 0x14: "=cc", + 0x15: "=cc", + 0x16: "=cc", + 0x17: "=cc", + 0x18: "=cc", + 0x19: "=cc", + 0x20: "=cc", + 0x21: "=cc", + 0x22: "=cc", + 0x23: "=cc", + 0x30: "=cc", + 0x31: "=cc", + 0x32: "=cc", + 0x33: "=cc", + 0x34: "=cc" + } + + self.response_bytes = { + 0x01: 4, + 0x02: 2, + 0x03: 1, + 0x04: 1, + 0x07: 12, + 0x08: 2, + 0x09: 12, + 0x0e: 2, + 0x0f: 12, + 0x10: 2, + 0x11: 2, + 0x12: 2, + 0x13: 2, + 0x14: 2, + 0x15: 2, + 0x16: 2, + 0x17: 2, + 0x18: 2, + 0x19: 2, + 0x20: 2, + 0x21: 2, + 0x22: 2, + 0x23: 2, + 0x30: 2, + 0x31: 2, + 0x32: 2, + 0x33: 2, + 0x34: 2 + } + + def send(self, cmd, args): + self.mutex.acquire() + successfully, values = self.send_command(cmd, args) + self.mutex.release() + rospy.loginfo('Got response args: '+ str(values)) + return successfully, values + + def pure_send_command(self, cmd, args): + # Clear buffer + self.ser.reset_output_buffer() + self.ser.reset_input_buffer() + # Sending command + print ('msg=', cmd , args) + msg = bytearray([cmd]) + if args : + parameters = bytearray(struct.pack(self.pack_format[cmd], *args)) + msg += parameters + self.ser.write(msg) + response = self.ser.read(self.response_bytes[cmd]) + print (response) + if len(response) == 0: + raise Exception("No data received") + values = struct.unpack(self.unpack_format[cmd], response) + return True, values + + + def send_command(self, cmd, args, n_repeats=5): + for i in range(n_repeats): + try: + return self.pure_send_command(cmd, args) + except Exception as exc: + if i == n_repeats - 1: + rospy.loginfo('Exception:\t' + str(exc)) + rospy.loginfo('At time:\t' + str(datetime.datetime.now())) + rospy.loginfo('cmd:' + str(cmd) + 'args:' + str(args)) + #rospy.loginfo() + rospy.loginfo('--------------------------') + return False, None diff --git a/eurobot_stm/scripts/manipulator.py b/eurobot_stm/scripts/manipulator.py new file mode 100755 index 0000000..b838449 --- /dev/null +++ b/eurobot_stm/scripts/manipulator.py @@ -0,0 +1,342 @@ +#!/usr/bin/env python +import re + +import rospy +from std_msgs.msg import String + + +class Manipulator(object): + def __init__(self): + rospy.init_node("manipulator_node", anonymous=True) + + self.robot_name = rospy.get_param("robot_name") + + self.response_publisher = rospy.Publisher("manipulator/response", String, queue_size=10) + rospy.Subscriber("manipulator/command", String, self.command_callback) + + self.publisher = rospy.Publisher("stm_command", String, queue_size=10) + rospy.Subscriber("stm_response", String, self.response_callback) + self.last_response_id = None + self.last_response_args = None + self.id_command = 1 + rospy.sleep(2) + + def command_callback(self, data): + command = data.data.split() + cmd_id = command[0] + print("CMD_ID=", cmd_id) + cmd = command[1] + print("CMD=", cmd) + if cmd == "default": + self.calibrate() + elif cmd == "manipulator_wall": + self.set_manipulator_wall() + elif cmd == "manipulator_up": + self.set_manipulator_up() + elif cmd == "take_ground": + self.take_ground() + elif cmd == "complete_ground_collect": + self.complete_ground_collect() + elif cmd == "start_collect_wall": + self.start_collect_wall() + elif cmd == "complete_collect_wall": + self.complete_collect_wall() + elif cmd == "collect_ground": + self.collect_small() + + self.response_publisher.publish(cmd_id + " success") + + def response_callback(self, data): + response = data.data.split() + print("RESPONSE=", response) + if re.match(r"manipulator-\d", response[0]): + self.last_response_id = response[0] + self.last_response_args = response[1] + + def send_command(self, cmd, args=None): + if args == None: + message = "manipulator-" + str(self.id_command) + " " + str(cmd) + else: + message = "manipulator-" + str(self.id_command) + " " + str(cmd) + " " + str(args) + while (True): + self.publisher.publish(String(message)) + + rospy.sleep(0.1) + if self.last_response_id == ("manipulator-" + str(self.id_command)): + if self.last_response_args == "OK": + self.id_command += 1 + return self.last_response_args + # if don't get response a lot of time + + def calibrate(self): + if self.robot_name == "main_robot": + self.send_command(33) + self.send_command(48, 1) + + self.send_command(50, 1) + self.send_command(52, 1) + # rospy.sleep(3) + self.send_command(32) + + self.send_command(48, 0) + self.send_command(50, 0) + + self.send_command(50, 0) + self.send_command(52, 0) + self.send_command(25) + return True + elif self.robot_name == "secondary_robot": + self.send_command(48) + self.send_command(21) + self.send_command(25) + return True + + # def calibrate_small(self): + # self.send_command(48) + # self.send_command(20) + # self.send_command(25) + # return True + # + # + # def calibrate_big(self): + # # 1) collector move left + # # 2) start calibration right stepper + # # 3) make step down by right stepper + # # 4) collector move right + # # 5) start calibration left stepper + # # 6) make step down by left stepper + # # 7) make step down by left stepper + # # 9) collector move default + # self.send_command(33) + # self.send_command(48, 1) + # + # self.send_command(50, 1) + # self.send_command(52, 1) + # # rospy.sleep(3) + # self.send_command(32) + # + # self.send_command(48, 0) + # self.send_command(50, 0) + # + # self.send_command(50, 0) + # self.send_command(52, 0) + # self.send_command(25) + # return True + + def collect_big(self, num): + # Release grabber + self.send_command(22) + # Collector move default + self.send_command(25) + # Set pump to the wall + self.send_command(20) + # Set pump to the ground + self.send_command(19) + # Start pump + self.send_command(17) + # Set pump to the platform + self.send_command(21) + # Prop pack + self.send_command(23) + # Stop pump + self.send_command(18) + # Set pump to the wall + self.send_command(20) + # Grab pack + self.send_command(24) + # Collector move right/left + self.send_command(32) + # Make step down left / right collector + self.send_command(50, 1) + # Release grabber + self.send_command(22) + return True + + # def collect_ground_secondary(self): + # # Release grabber + # self.send_command(22) + # # Set pump to the wall + # self.send_command(20) + # # Set pump to the ground + # self.send_command(19) + # # Start pump + # self.send_command(17) + # # Set pump to the platform + # self.send_command(21) + # # Prop pack + # self.send_command(23) + # # Stop pump + # self.send_command(18) + # # Set pump to the wall + # self.send_command(20) + # # Grab pack + # self.send_command(24) + # # Release grabber + # self.send_command(22) + # return True + + def take_ground(self): + if self.robot_name == "main_robot": + pass + if self.robot_name == "secondary_robot": + # Release grabber + self.send_command(22) + # Set pump to the wall + self.send_command(20) + # Set pump to the ground + self.send_command(19) + # Start pump + self.send_command(17) + return True + + def set_manipulator_wall(self): + self.send_command(20) + + def set_manipulator_up(self): + self.send_command(24) + self.send_command(21) + + def complete_ground_collect(self): + if self.robot_name == "main_robot": + pass + if self.robot_name == "secondary_robot": + # Set pump to the platform + self.send_command(21) + # Prop pack + self.send_command(23) + # Stop pump + self.send_command(18) + # Set pump to the wall + self.send_command(20) + # Grab pack + self.send_command(24) + # Release grabber + self.send_command(22) + self.send_command(50) + + return True + + # def collect_wall(self): + # if self.robot_name == "main_robot": + # pass + # if self.robot_name == "secondary_robot": + # # Release grabber + # self.send_command(22) + # # Set pump to the wall + # self.send_command(20) + # rospy.sleep(0.5) + # # Start pump + # self.send_command(17) + # # Set pump to the platform + # self.send_command(21) + # # Prop pack + # self.send_command(23) + # # Stop pump + # self.send_command(18) + # # Set pump to the wall + # self.send_command(20) + # # grab pack + # self.send_command(24) + # + # # Release grabber + # self.send_command(22) + # # Set pump to the platform + # # self.send_command(21) + # + # self.send_command(50) + # return True + + def start_collect_wall(self): + if self.robot_name == "main_robot": + pass + if self.robot_name == "secondary_robot": + # Release grabber + self.send_command(22) + # Set pump to the wall + self.send_command(20) + # rospy.sleep(0.5) + # Start pump + self.send_command(17) + return True + + def complete_collect_wall(self): + if self.robot_name == "main_robot": + pass + if self.robot_name == "secondary_robot": + rospy.sleep(0.3) + + # Set pump to the platform + self.send_command(21) + # Prop pack + self.send_command(23) + # Stop pump + self.send_command(18) + # Set pump to the wall + self.send_command(20) + # grab pack + self.send_command(24) + + # Release grabber + self.send_command(22) + # Set pump to the platform + # self.send_command(21) + + self.send_command(50) + return True + + def release_small(self): + self.send_command(25) + self.send_command(50) + self.send_command(50) + self.send_command(50) + self.send_command(52) + self.send_command(32) + self.send_command(51) + self.send_command(51) + self.send_command(52) + self.send_command(25) + + self.send_command(50) + self.send_command(50) + self.send_command(52) + self.send_command(32) + self.send_command(51) + self.send_command(51) + self.send_command(52) + self.send_command(25) + + self.send_command(50) + self.send_command(50) + self.send_command(52) + self.send_command(32) + self.send_command(51) + self.send_command(51) + self.send_command(52) + self.send_command(25) + + self.send_command(50) + self.send_command(50) + self.send_command(52) + self.send_command(32) + self.send_command(51) + self.send_command(51) + self.send_command(52) + self.send_command(25) + return True + + def release_big(self): + self.send_command(33) + self.send_command(34) + self.send_command(51, 1) + self.send_command(51, 1) + self.send_command(52, 1) + self.send_command(35) + return True + + +if __name__ == '__main__': + try: + manipulator = Manipulator() + rospy.spin() + except rospy.ROSInterruptException: + pass \ No newline at end of file diff --git a/eurobot_stm/scripts/odometry.py b/eurobot_stm/scripts/odometry.py new file mode 100755 index 0000000..0e6d631 --- /dev/null +++ b/eurobot_stm/scripts/odometry.py @@ -0,0 +1,53 @@ +#!/usr/bin/env python +import rospy +import geometry_msgs.msg +import tf_conversions +import tf2_ros + + +class Odometry(): + def __init__(self, stm_protocol, rate): + self.tf2_broad = tf2_ros.TransformBroadcaster() + self.stm_protocol = stm_protocol + + rospy.Timer(rospy.Duration(1. / rate), self.odom_callback) + + + def odom_callback(self, event): + successfully, values = self.stm_protocol.send(0x0F, args=None) + if successfully: + self.send_odometry(values) + + + def send_odometry(self, values): + rospy.loginfo("odom: %.3f %.3f %.3f" % tuple(values)) + t = geometry_msgs.msg.TransformStamped() + t.header.stamp = rospy.Time.now() + t.header.frame_id = "secondary_robot_odom" + t.child_frame_id = "secondary_robot" + t.transform.translation.x = values[0] + t.transform.translation.y = values[1] + t.transform.translation.z = 0.0 + q = tf_conversions.transformations.quaternion_from_euler(0, 0, values[2]) + t.transform.rotation.x = q[0] + t.transform.rotation.y = q[1] + t.transform.rotation.z = q[2] + t.transform.rotation.w = q[3] + + self.tf2_broad.sendTransform(t) + + t = geometry_msgs.msg.TransformStamped() + t.header.stamp = rospy.Time.now() + t.header.frame_id = "secondary_robot" + t.child_frame_id = "secondary_robot_laser" + t.transform.translation.x = 0 + t.transform.translation.y = 0 + t.transform.translation.z = .4 + q = tf_conversions.transformations.quaternion_from_euler(0, 0, 0) + t.transform.rotation.x = q[0] + t.transform.rotation.y = q[1] + t.transform.rotation.z = q[2] + t.transform.rotation.w = q[3] + + self.tf2_broad.sendTransform(t) + diff --git a/eurobot_stm/scripts/tests/calibrate_big.py b/eurobot_stm/scripts/tests/calibrate_big.py new file mode 100644 index 0000000..8afef50 --- /dev/null +++ b/eurobot_stm/scripts/tests/calibrate_big.py @@ -0,0 +1,4 @@ +from manipulator import Manipulator + +man = Manipulator() +man.calibrate_big() \ No newline at end of file diff --git a/eurobot_stm/scripts/tests/calibrate_small.py b/eurobot_stm/scripts/tests/calibrate_small.py new file mode 100644 index 0000000..4716977 --- /dev/null +++ b/eurobot_stm/scripts/tests/calibrate_small.py @@ -0,0 +1,4 @@ +from manipulator import Manipulator + +man = Manipulator() +man.calibrate_small() \ No newline at end of file diff --git a/eurobot_stm/scripts/tests/collect_big.py b/eurobot_stm/scripts/tests/collect_big.py new file mode 100644 index 0000000..5435507 --- /dev/null +++ b/eurobot_stm/scripts/tests/collect_big.py @@ -0,0 +1,4 @@ +from manipulator import Manipulator + +man = Manipulator() +man.collect_big() \ No newline at end of file diff --git a/eurobot_stm/scripts/tests/collect_small.py b/eurobot_stm/scripts/tests/collect_small.py new file mode 100644 index 0000000..2197d04 --- /dev/null +++ b/eurobot_stm/scripts/tests/collect_small.py @@ -0,0 +1,4 @@ +from manipulator import Manipulator + +man = Manipulator() +man.collect_small() \ No newline at end of file diff --git a/eurobot_stm/scripts/tests/manipulator.py b/eurobot_stm/scripts/tests/manipulator.py new file mode 100755 index 0000000..b2c52b5 --- /dev/null +++ b/eurobot_stm/scripts/tests/manipulator.py @@ -0,0 +1,129 @@ +#!/usr/bin/env python +import re + +import rospy +from std_msgs.msg import String + + +class Manipulator(): + def __init__(self): + rospy.init_node("manuipulator_node", anonymous=True) + + self.publisher = rospy.Publisher("/secondary_robot/stm_command", String, queue_size=10) + rospy.Subscriber("/secondary_robot/stm_response", String, self.response_callback) + self.last_response_id = None + self.last_response_args = None + self.id_command = 1 + rospy.sleep(2) + + def response_callback(self, data): + response = data.data.split() + print ("RESPONSE=", response) + if re.match(r"manipulator-\d", response[0]): + self.last_response_id = response[0] + self.last_response_args = response[1] + + def send_command(self, cmd, args=None): + if args == None: + message = "manipulator-" + str(self.id_command) + " " + str(cmd) + else: + message = "manipulator-" + str(self.id_command) + " " + str(cmd) + " " + str(args) + while (True): + self.publisher.publish(String(message)) + + rospy.sleep(0.1) + if self.last_response_id == ("manipulator-" + str(self.id_command)): + if self.last_response_args == "OK": + self.id_command += 1 + return self.last_response_args + # if don't get response a lot of time + + def calibrate_small(self): + self.send_command(48) + + def calibrate_big(self): + # 1) collector move left + # 2) start calibration right stepper + # 3) make step down by right stepper + # 4) collector move right + # 5) start calibration left stepper + # 6) make step down by left stepper + # 7) make step down by left stepper + # 9) collector move default + self.send_command(33) + self.send_command(48, 1) + + self.send_command(50, 1) + self.send_command(52, 1) + # rospy.sleep(3) + self.send_command(32) + + self.send_command(48, 0) + self.send_command(50, 0) + + self.send_command(50, 0) + self.send_command(52, 0) + self.send_command(25) + + def collect_big(self): + # Release grabber + self.send_command(22) + # Collector move default + self.send_command(25) + # Set pump to the wall + self.send_command(20) + # Set pump to the ground + self.send_command(19) + # Start pump + self.send_command(17) + # Set pump to the platform + self.send_command(21) + # Prop pack + self.send_command(23) + # Stop pump + self.send_command(18) + # Set pump to the wall + self.send_command(20) + # Grab pack + self.send_command(24) + # Collector move right/left + self.send_command(32) + # Make step down left / right collector + self.send_command(50, 1) + # Release grabber + self.send_command(22) + + def collect_small(self): + # Release grabber + self.send_command(22) + # Set pump to the wall + self.send_command(20) + # Set pump to the ground + self.send_command(19) + # Start pump + self.send_command(17) + # Set pump to the platform + self.send_command(21) + # Prop pack + self.send_command(23) + # Stop pump + self.send_command(18) + # Set pump to the wall + self.send_command(20) + # Grab pack + self.send_command(24) + # Release grabber + self.send_command(22) + + + def release_big(self): + self.send_command(33) + self.send_command(34) + self.send_command(51, 1) + self.send_command(51, 1) + self.send_command(52, 1) + self.send_command(35) + + def release_small(self): + pass + diff --git a/eurobot_stm/scripts/tests/release_big.py b/eurobot_stm/scripts/tests/release_big.py new file mode 100644 index 0000000..28774b0 --- /dev/null +++ b/eurobot_stm/scripts/tests/release_big.py @@ -0,0 +1,3 @@ +from manipulator import Manipulator +man = Manipulator() +man.release_big() \ No newline at end of file diff --git a/eurobot_stm/scripts/tests/release_small.py b/eurobot_stm/scripts/tests/release_small.py new file mode 100644 index 0000000..aca5880 --- /dev/null +++ b/eurobot_stm/scripts/tests/release_small.py @@ -0,0 +1,3 @@ +from manipulator import Manipulator +man = Manipulator() +man.release_small() \ No newline at end of file