diff --git a/.clang-tidy b/.clang-tidy index a6bfad8..d235ad0 100644 --- a/.clang-tidy +++ b/.clang-tidy @@ -15,7 +15,6 @@ Checks: > -misc-non-private-member-variables-in-classes, -modernize-return-braced-init-list, -modernize-use-trailing-return-type, - -performance-move-const-arg, -readability-braces-around-statements, -readability-identifier-length, -readability-magic-numbers, @@ -25,7 +24,8 @@ Checks: > -bugprone-narrowing-conversions, -bugprone-easily-swappable-parameters, -bugprone-implicit-widening-of-multiplication-result, - -modernize-avoid-bind + -clang-diagnostic-error, + -bugprone-exception-escape WarningsAsErrors: "*" CheckOptions: - key: readability-braces-around-statements.ShortStatementLines diff --git a/.devcontainer.json b/.devcontainer/nouveau/devcontainer.json similarity index 80% rename from .devcontainer.json rename to .devcontainer/nouveau/devcontainer.json index 8dd28b6..7f99a41 100644 --- a/.devcontainer.json +++ b/.devcontainer/nouveau/devcontainer.json @@ -1,20 +1,22 @@ { - "dockerFile": ".docker/Dockerfile", - "context": ".", + "dockerFile": "../../.docker/Dockerfile", + "context": "../..", "build": { "args": { "WORKSPACE": "${containerWorkspaceFolder}", - "ROS_DISTRO": "humble" - } + "ROS_DISTRO": "rolling" + }, + "target": "develop" }, - "remoteUser": "dev", + "remoteUser": "angler", "runArgs": [ "--network=host", "--cap-add=SYS_PTRACE", "--security-opt=seccomp:unconfined", "--security-opt=apparmor:unconfined", "--volume=/dev:/dev", - "--privileged" + "--privileged", + "--volume=/run/user/1000:/run/user/1000" ], "containerEnv": { "DISPLAY": "${localEnv:DISPLAY}", @@ -30,12 +32,15 @@ "*.world": "xml", "*.xacro": "xml", "*.srdf": "xml", - "*.rviz": "yaml" + "*.rviz": "yaml", + "*.config": "xml", + "*.sdf": "xml" }, "terminal.integrated.defaultProfile.linux": "bash", "files.insertFinalNewline": true, "files.trimTrailingWhitespace": true, "editor.formatOnSave": true, + "editor.tabSize": 2, "xml.format.maxLineWidth": 100, "json.format.enable": true, "python.linting.enabled": true, @@ -45,14 +50,18 @@ "python.linting.mypyEnabled": true, "python.formatting.provider": "black", "autoDocstring.startOnNewLine": false, - "autoDocstring.docstringFormat": "google", + "autoDocstring.docstringFormat": "google-notypes", "isort.args": ["--profile", "black"], "isort.check": true, "python.autoComplete.extraPaths": [ - "/opt/ros/humble/lib/python3.10/site-packages/" + "/opt/ros/rolling/lib/python3.10/site-packages/", + "/opt/ros/rolling/local/lib/python3.10/dist-packages/", + "${workspaceFolder}/install/" ], "python.analysis.extraPaths": [ - "/opt/ros/humble/lib/python3.10/site-packages/" + "/opt/ros/rolling/lib/python3.10/site-packages/", + "/opt/ros/rolling/local/lib/python3.10/dist-packages/", + "${workspaceFolder}/install/" ], "C_Cpp.default.intelliSenseMode": "linux-gcc-x86", "C_Cpp.clang_format_fallbackStyle": "Google", @@ -84,9 +93,6 @@ "[xml]": { "editor.defaultFormatter": "redhat.vscode-xml" }, - "[yaml]": { - "editor.defaultFormatter": "redhat.vscode-yaml" - }, "[markdown]": { "editor.rulers": [80], "editor.defaultFormatter": "DavidAnson.vscode-markdownlint" @@ -111,7 +117,8 @@ "esbenp.prettier-vscode", "xaver.clang-format", "ms-python.isort", - "ms-python.flake8" + "ms-python.flake8", + "ms-python.black-formatter" ] } } diff --git a/.devcontainer/nvidia/devcontainer.json b/.devcontainer/nvidia/devcontainer.json new file mode 100644 index 0000000..7233730 --- /dev/null +++ b/.devcontainer/nvidia/devcontainer.json @@ -0,0 +1,127 @@ +{ + "dockerFile": "../../.docker/Dockerfile", + "context": "../..", + "build": { + "args": { + "WORKSPACE": "${containerWorkspaceFolder}", + "ROS_DISTRO": "rolling" + }, + "target": "develop-nvidia" + }, + "remoteUser": "angler", + "runArgs": [ + "--network=host", + "--cap-add=SYS_PTRACE", + "--security-opt=seccomp:unconfined", + "--security-opt=apparmor:unconfined", + "--volume=/tmp/.X11-unix:/tmp/.X11-unix", + "--volume=/mnt/wslg:/mnt/wslg", + "--gpus=all" + ], + "containerEnv": { + "DISPLAY": "${localEnv:DISPLAY}", + "WAYLAND_DISPLAY": "${localEnv:WAYLAND_DISPLAY}", + "XDG_RUNTIME_DIR": "${localEnv:XDG_RUNTIME_DIR}", + "PULSE_SERVER": "${localEnv:PULSE_SERVER}", + "LIBGL_ALWAYS_SOFTWARE": "1", + "QT_X11_NO_MITSHM": "1" + }, + "customizations": { + "vscode": { + "settings": { + "files.associations": { + "*.repos": "yaml", + "*.world": "xml", + "*.xacro": "xml", + "*.srdf": "xml", + "*.rviz": "yaml", + "*.config": "xml", + "*.sdf": "xml" + }, + "terminal.integrated.defaultProfile.linux": "bash", + "files.insertFinalNewline": true, + "files.trimTrailingWhitespace": true, + "editor.formatOnSave": true, + "editor.tabSize": 2, + "xml.format.maxLineWidth": 100, + "json.format.enable": true, + "python.linting.enabled": true, + "python.linting.flake8Enabled": true, + "python.linting.pylintEnabled": false, + "python.linting.pydocstyleEnabled": true, + "python.linting.mypyEnabled": true, + "python.formatting.provider": "black", + "autoDocstring.startOnNewLine": false, + "autoDocstring.docstringFormat": "google-notypes", + "isort.args": ["--profile", "black"], + "isort.check": true, + "python.autoComplete.extraPaths": [ + "/opt/ros/rolling/lib/python3.10/site-packages/", + "/opt/ros/rolling/local/lib/python3.10/dist-packages/", + "${workspaceFolder}/install/" + ], + "python.analysis.extraPaths": [ + "/opt/ros/rolling/lib/python3.10/site-packages/", + "/opt/ros/rolling/local/lib/python3.10/dist-packages/", + "${workspaceFolder}/install/" + ], + "C_Cpp.default.intelliSenseMode": "linux-gcc-x86", + "C_Cpp.clang_format_fallbackStyle": "Google", + "C_Cpp.codeAnalysis.clangTidy.enabled": true, + "C_Cpp.codeAnalysis.clangTidy.runAutomatically": true, + "clang-format.executable": "/usr/bin/clang-format-14", + "[cpp]": { + "editor.rulers": [100], + "editor.tabSize": 2, + "editor.defaultFormatter": "xaver.clang-format" + }, + "[python]": { + "editor.tabSize": 4, + "editor.rulers": [90], + "editor.codeActionsOnSave": { + "source.organizeImports": true + } + }, + "[dockerfile]": { + "editor.quickSuggestions": { + "strings": true + }, + "editor.defaultFormatter": "ms-azuretools.vscode-docker", + "editor.tabSize": 4 + }, + "[json]": { + "editor.defaultFormatter": "esbenp.prettier-vscode" + }, + "[xml]": { + "editor.defaultFormatter": "redhat.vscode-xml" + }, + "[markdown]": { + "editor.rulers": [80], + "editor.defaultFormatter": "DavidAnson.vscode-markdownlint" + }, + "search.exclude": { + "**/build": true, + "**/install": true, + "**/log": true + } + }, + "extensions": [ + "ms-azuretools.vscode-docker", + "ms-python.python", + "njpwerner.autodocstring", + "cschlosser.doxdocgen", + "ms-vscode.cpptools", + "redhat.vscode-xml", + "redhat.vscode-yaml", + "josetr.cmake-language-support-vscode", + "smilerobotics.urdf", + "DavidAnson.vscode-markdownlint", + "esbenp.prettier-vscode", + "xaver.clang-format", + "ms-python.isort", + "ms-python.flake8", + "ms-python.black-formatter" + ] + } + } +} diff --git a/.docker/Dockerfile b/.docker/Dockerfile index 6394c2f..5e24afa 100644 --- a/.docker/Dockerfile +++ b/.docker/Dockerfile @@ -1,3 +1,6 @@ +############################################## +# ci: Install core dependencies needed for CI +############################################## ARG ROS_DISTRO=rolling FROM ros:$ROS_DISTRO-ros-base as ci @@ -5,9 +8,6 @@ LABEL maintainer="Evan Palmer" LABEL maintainer-email="evanp922@gmail.com" ENV DEBIAN_FRONTEND=noninteractive -WORKDIR /root/ws_angler - -COPY . src/angler # Install apt packages RUN apt-get -q update \ @@ -21,18 +21,29 @@ RUN apt-get -q update \ clang-format-14 \ clang-tidy \ clang-tools \ + python3-pip \ + python3-dev \ software-properties-common \ && apt-get autoremove -y \ && apt-get clean -y \ && rm -rf /var/lib/apt/lists/* -# Install MAVROS dependencies prior to installing ROS dependencies -RUN [ "/bin/bash" , "-c" , "\ - wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh \ - && chmod +x install_geographiclib_datasets.sh \ - && sudo ./install_geographiclib_datasets.sh" ] +# Configure a new non-root user +ARG USERNAME=angler +ARG USER_UID=1000 +ARG USER_GID=$USER_UID + +RUN groupadd --gid $USER_GID $USERNAME \ + && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \ + && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \ + && chmod 0440 /etc/sudoers.d/$USERNAME \ + && echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc + +# Install all ROS dependencies for testing +# Remove the source code from this stage +WORKDIR /root/ws_angler +COPY . src/angler -# Install all ROS dependencies RUN apt-get -q update \ && apt-get -q -y upgrade \ && rosdep update \ @@ -42,82 +53,256 @@ RUN apt-get -q update \ && apt-get clean -y \ && rm -rf /var/lib/apt/lists/* -FROM ci as source +# Switch to the non-root user to install MAVROS dependencies +USER $USERNAME +ENV USER=$USERNAME -ENV ROS_UNDERLAY /root/ws_angler/install -ENV DEBIAN_FRONTEND=noninteractive -WORKDIR $ROS_UNDERLAY/.. +# Install MAVROS dependencies +WORKDIR /home/$USERNAME +RUN wget https://raw.githubusercontent.com/mavlink/mavros/ros2/mavros/scripts/install_geographiclib_datasets.sh \ + && chmod +x install_geographiclib_datasets.sh \ + && sudo ./install_geographiclib_datasets.sh -COPY . src/angler +# Switch back to root user +USER root +ENV USER=root + +################################################## +# deps: Install all external project dependencies +################################################## +FROM ci as deps +ENV DEBIAN_FRONTEND=noninteractive +ENV GZ_VERSION=garden + +# Install gstreamer RUN apt-get -q update \ && apt-get -q -y upgrade \ - && rosdep update \ - && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false \ + && apt-get -q install --no-install-recommends -y \ + python3-gi \ + gstreamer1.0-tools \ + gir1.2-gstreamer-1.0 \ + gir1.2-gst-plugins-base-1.0 \ + gstreamer1.0-plugins-good \ + gstreamer1.0-plugins-ugly \ + gstreamer1.0-plugins-bad \ + gstreamer1.0-libav \ && apt-get autoremove -y \ && apt-get clean -y \ && rm -rf /var/lib/apt/lists/* -RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \ - && colcon build \ - --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \ - --ament-cmake-args -DCMAKE_BUILD_TYPE=Release \ - --event-handlers desktop_notification- status- \ - # Update /ros_entrypoint.sh to source the new workspace - && sed -i "s#/opt/ros/\$ROS_DISTRO/setup.bash#$ROS_UNDERLAY/setup.sh#g" /ros_entrypoint.sh +# Install the Python requirements that aren't available as rosdeps +COPY requirements-build.txt . +RUN python3 -m pip install -r requirements-build.txt \ + && rm -rf requirements-build.txt -FROM ci as develop +# Switch to the non-root user +# We are going to use this for the rest of the installation +USER $USERNAME +ENV USER=$USERNAME -ENV ROS_UNDERLAY /root/ws_angler/install -ENV DEBIAN_FRONTEND=noninteractive -WORKDIR $ROS_UNDERLAY/.. +# Create a user-level ROS workspace for us to use +ENV USER_WORKSPACE=/home/$USERNAME/ws_angler +WORKDIR $USER_WORKSPACE -COPY . src/angler +# Install the external project requirements +COPY --chown=$USER_UID:$USER_GID angler.repos src/ +RUN sudo apt-get -q update \ + && sudo apt-get -q -y upgrade \ + && vcs import src < src/angler.repos \ + && rosdep update \ + && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} \ + # Install custom version of kinpy + && cd src/kinpy \ + && python3 -m pip install . \ + && cd ../.. \ + && rm -rf angler.repos \ + && sudo apt-get autoremove -y \ + && sudo apt-get clean -y \ + && sudo rm -rf /var/lib/apt/lists/* -RUN apt-get -q update \ - && apt-get -q -y upgrade \ +RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \ + && colcon build \ + # Update .bashrc to source the workspace + && echo "source ${USER_WORKSPACE}/install/setup.sh" >> /home/$USERNAME/.bashrc + +# Now install any remaining Angler rosdeps +COPY --chown=$USER_UID:$USER_GID . src/angler +RUN sudo apt-get -q update \ + && sudo apt-get -q -y upgrade \ && rosdep update \ - && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false \ - && rm -rf src \ - && apt-get autoremove -y \ - && apt-get clean -y \ - && rm -rf /var/lib/apt/lists/* + && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} \ + && rm -rf src/angler \ + && sudo apt-get autoremove -y \ + && sudo apt-get clean -y \ + && sudo rm -rf /var/lib/apt/lists/* -# Install development tools -RUN apt-get -q update \ - && apt-get -q -y upgrade \ - && apt-get -q install --no-install-recommends -y \ - python3-dev \ - python3-pip \ +# Install development tools for testing from the command line +# We install this here so that we can use it in the source and develop stages +RUN sudo apt-get -q update \ + && sudo apt-get -q -y upgrade \ + && sudo apt-get -q install --no-install-recommends -y \ iputils-ping \ net-tools \ gdb \ - && apt-get autoremove -y \ - && apt-get clean -y \ - && rm -rf /var/lib/apt/lists/* + nano \ + htop \ + && sudo apt-get autoremove -y \ + && sudo apt-get clean -y \ + && sudo rm -rf /var/lib/apt/lists/* + + +############################################################## +# robot: Minimal installation needed for operation on a robot +############################################################## +FROM deps as robot + +ENV DEBIAN_FRONTEND=noninteractive + +ENV USER_WORKSPACE=/home/$USERNAME/ws_angler +WORKDIR $USER_WORKSPACE + +# Get the source code and build +# We don't need to update the .bashrc file this time, that was +# done in the previous stage +COPY --chown=$USER_UID:$USER_GID . src/angler +RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \ + && colcon build \ + && . "install/setup.sh" + + +################################################################# +# sim: install Gazebo and the tools needed for Gazebo simulation +################################################################# +FROM deps as sim +# Inspiration for this stage comes from the following source +# https://github.com/clydemcqueen/orca4/blob/77152829e1d65781717ca55379c229145d6006e9/docker/Dockerfile#L1 + +# Install Gazebo Garden: https://gazebosim.org/docs/garden/install_ubuntu +RUN sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \ + && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \ + && sudo apt-get update \ + && sudo apt-get -y --quiet --no-install-recommends install gz-garden \ + && sudo apt-get autoremove -y \ + && sudo apt-get clean -y \ + && sudo rm -rf /var/lib/apt/lists/* + +# Install ArduPilot and ardupilot_gazebo dependencies +RUN sudo apt-get -q update \ + && sudo apt-get -q -y upgrade \ + && sudo apt-get -q install --no-install-recommends -y \ + python3-wxgtk4.0 \ + rapidjson-dev \ + xterm \ + && sudo apt-get autoremove -y \ + && sudo apt-get clean -y \ + && sudo rm -rf /var/lib/apt/lists/* + +# Clone ArduSub +# ArduSub is installed for simulation purposes ONLY +# When deployed onto hardware, the native installation of ArduSub +# (on the FCU) will be used. +WORKDIR /home/$USERNAME +RUN git clone https://github.com/ArduPilot/ardupilot.git --recurse-submodules + +# Install ArduSub dependencies +WORKDIR /home/$USERNAME/ardupilot +ENV SKIP_AP_EXT_ENV=1 SKIP_AP_GRAPHIC_ENV=1 SKIP_AP_COV_ENV=1 SKIP_AP_GIT_CHECK=1 +RUN Tools/environment_install/install-prereqs-ubuntu.sh -y + +# Build ArduSub +WORKDIR /home/$USERNAME/ardupilot +RUN modules/waf/waf-light configure --board sitl \ + && modules/waf/waf-light build --target bin/ardusub + +# Clone ardupilot_gazebo code +WORKDIR /home/$USERNAME +RUN git clone https://github.com/ArduPilot/ardupilot_gazebo.git + +# Install ardupilot_gazebo plugin +RUN [ "/bin/bash" , "-c" , " \ + cd ardupilot_gazebo \ + && mkdir build \ + && cd build \ + && cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo \ + && make -j4" ] + +# Install the external simulation packages +# Most of these dependencies should go away in the future, but they exist +# now because they are either buggy or need to be built from source to support +# Gazebo Garden +ENV USER_WORKSPACE=/home/$USERNAME/ws_angler/ +WORKDIR $USER_WORKSPACE +COPY sim.repos src/ +RUN sudo apt-get -q update \ + && sudo apt-get -q -y upgrade \ + && vcs import src < src/sim.repos \ + && rosdep update \ + && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --skip-keys="gz-transport12 gz-sim7 gz-math7 gz-msgs9 gz-plugin2" \ + && sudo apt-get autoremove -y \ + && sudo apt-get clean -y \ + && sudo rm -rf /var/lib/apt/lists/* + +# Build the external simulation packages +RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \ + && colcon build \ + && . "install/setup.sh" + +# Setup the environment variables needed for simulation +COPY .docker/entrypoints/sim.sh / +RUN echo "if [ -f /sim.sh ]; then source /sim.sh; fi" >> /home/$USERNAME/.bashrc + + +#################################################### +# develop: Setup the image for development purposes +#################################################### +FROM sim as develop + +ENV DEBIAN_FRONTEND=noninteractive # Install debugging/linting Python packages -RUN pip3 install \ - pre-commit \ - mypy \ - isort \ - flake8 \ - black +WORKDIR /home/$USERNAME +COPY requirements-dev.txt . +RUN python3 -m pip install -r requirements-dev.txt \ + && rm -rf requirements-dev.txt -# Configure a new non-root user -ARG USERNAME=dev -ARG USER_UID=1000 -ARG USER_GID=$USER_UID +# Set up the development environment +COPY .docker/entrypoints/dev.sh / +RUN echo "if [ -f /dev.sh ]; then source /dev.sh; fi" >> /home/$USERNAME/.bashrc -RUN groupadd --gid $USER_GID $USERNAME \ - && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \ - && apt-get update && apt-get upgrade -y \ - && apt-get install -y sudo \ - && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \ - && chmod 0440 /etc/sudoers.d/$USERNAME \ - && rm -rf /var/lib/apt/lists/* \ - && echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc \ +# WARNING: This is a temporary solution for disabling the setuputils installation warning +ENV PYTHONWARNINGS="ignore" + +ARG WORKSPACE +RUN echo "if [ -f ${WORKSPACE}/install/setup.bash ]; then source ${WORKSPACE}/install/setup.bash; fi" >> /home/$USERNAME/.bashrc \ && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc + +###################################################################################### +# develop-nvidia: Setup the image for development purposes with NVIDIA driver support +###################################################################################### +FROM sim as develop-nvidia + +ENV DEBIAN_FRONTEND=noninteractive + +# Env vars for the nvidia-container-runtime. +ENV NVIDIA_VISIBLE_DEVICES all +ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute +ENV QT_X11_NO_MITSHM 1 + +# Install debugging/linting Python packages +WORKDIR /home/$USERNAME +COPY requirements-dev.txt . +RUN python3 -m pip install -r requirements-dev.txt \ + && rm -rf requirements-dev.txt + +# Set up the development environment +COPY .docker/entrypoints/dev.sh / +RUN echo "if [ -f /dev.sh ]; then source /dev.sh; fi" >> /home/$USERNAME/.bashrc + +# WARNING: This is a temporary solution for disabling the setuputils installation warning +ENV PYTHONWARNINGS="ignore" + ARG WORKSPACE -RUN echo "if [ -f ${WORKSPACE}/install/setup.bash ]; then source ${WORKSPACE}/install/setup.bash; fi" >> /home/$USERNAME/.bashrc +RUN echo "if [ -f ${WORKSPACE}/install/setup.bash ]; then source ${WORKSPACE}/install/setup.bash; fi" >> /home/$USERNAME/.bashrc \ + && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc diff --git a/.docker/entrypoints/dev.sh b/.docker/entrypoints/dev.sh new file mode 100755 index 0000000..e826d92 --- /dev/null +++ b/.docker/entrypoints/dev.sh @@ -0,0 +1,3 @@ +#!/bin/bash + +export GZ_SIM_RESOURCE_PATH=/workspaces/angler/angler_description/gazebo/models:/workspaces/angler/angler_description/gazebo/worlds:$GZ_SIM_RESOURCE_PATH diff --git a/.docker/entrypoints/sim.sh b/.docker/entrypoints/sim.sh new file mode 100755 index 0000000..627472c --- /dev/null +++ b/.docker/entrypoints/sim.sh @@ -0,0 +1,22 @@ +#!/bin/bash + +# Add results of ArduSub build +export PATH=$HOME/ardupilot/build/sitl/bin:$PATH + +# Add ardupilot_gazebo plugin +export GZ_SIM_SYSTEM_PLUGIN_PATH=$HOME/ardupilot_gazebo/build:$GZ_SIM_SYSTEM_PLUGIN_PATH + +# Optional: add ardupilot_gazebo models and worlds +export GZ_SIM_RESOURCE_PATH=$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH + +# Add alpha meshes +export GZ_SIM_RESOURCE_PATH=$HOME/ws_angler/src/alpha/alpha_description/meshes:$GZ_SIM_RESOURCE_PATH + +# Add blue models and worlds +export GZ_SIM_RESOURCE_PATH=$HOME/ws_angler/src/blue/blue_description/gazebo/models:$HOME/ws_angler/src/blue/blue_description/gazebo/worlds:$GZ_SIM_RESOURCE_PATH + +# Add blue meshes +export GZ_SIM_RESOURCE_PATH=$HOME/ws_angler/src/blue/blue_description/meshes:$GZ_SIM_RESOURCE_PATH + +# Build ros_gz for Gazebo Garden +export GZ_VERSION=garden diff --git a/.dockerignore b/.dockerignore index 4ee7ada..888c12c 100644 --- a/.dockerignore +++ b/.dockerignore @@ -1,2 +1,17 @@ # ignore everything * + +# Except the following +!angler_bringup +!angler_control +!angler_description +!angler_planning +!angler_mux +!angler_utils +!angler_kinematics +!angler_behaviors +!angler.repos +!sim.repos +!.docker/entrypoints +!requirements-build.txt +!requirements-dev.txt diff --git a/.github/ISSUE_TEMPLATE/bug-report.yaml b/.github/ISSUE_TEMPLATE/bug-report.yaml index 32dbb39..8ba16ae 100644 --- a/.github/ISSUE_TEMPLATE/bug-report.yaml +++ b/.github/ISSUE_TEMPLATE/bug-report.yaml @@ -1,7 +1,7 @@ name: Bug Report description: Report a bug. title: "[BUG]: " -labels: [bug] +labels: [bug, needs triage] body: - type: markdown diff --git a/.github/ISSUE_TEMPLATE/documentation.yaml b/.github/ISSUE_TEMPLATE/documentation.yaml index 6203056..2cb41a6 100644 --- a/.github/ISSUE_TEMPLATE/documentation.yaml +++ b/.github/ISSUE_TEMPLATE/documentation.yaml @@ -1,7 +1,7 @@ name: Documentation Improvement description: Report an issue related to the Angler documentation. title: "[DOC]: " -labels: [documentation] +labels: [documentation, needs triage] body: - type: markdown diff --git a/.github/ISSUE_TEMPLATE/feature-request.yaml b/.github/ISSUE_TEMPLATE/feature-request.yaml index 8f20bf1..c134ff0 100644 --- a/.github/ISSUE_TEMPLATE/feature-request.yaml +++ b/.github/ISSUE_TEMPLATE/feature-request.yaml @@ -1,7 +1,7 @@ name: Feature Request description: Suggest a new idea for the project. title: "[FEATURE]: " -labels: [enhancement] +labels: [enhancement, needs triage] body: - type: markdown diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md index 9ab6cbb..d8708a1 100644 --- a/.github/PULL_REQUEST_TEMPLATE.md +++ b/.github/PULL_REQUEST_TEMPLATE.md @@ -19,11 +19,6 @@ toward closing. - Fixes # (issue) -## Files Changed - -Please provide a list of all files changed and a summary of the changes made to -the respective files. - ## Testing Please provide a clear and concise description of the testing performed. diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index 077c642..13a6e77 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -22,6 +22,8 @@ jobs: ROS_DISTRO: rolling - IMAGE: humble-ci ROS_DISTRO: humble + - IMAGE: iron-ci + ROS_DISTRO: iron steps: - name: Checkout repository uses: actions/checkout@v3 @@ -29,7 +31,7 @@ jobs: submodules: recursive - name: Log into registry - uses: docker/login-action@v2.0.0 + uses: docker/login-action@v2.2.0 with: registry: ghcr.io username: ${{ github.actor }} diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml index 65e3a04..4064f04 100644 --- a/.github/workflows/docker.yaml +++ b/.github/workflows/docker.yaml @@ -20,7 +20,7 @@ jobs: strategy: fail-fast: false matrix: - ROS_DISTRO: [humble, rolling] + ROS_DISTRO: [humble, rolling, iron] runs-on: ubuntu-latest permissions: packages: write @@ -31,7 +31,7 @@ jobs: - name: Log into registry if: env.PUSH == 'true' - uses: docker/login-action@v2.0.0 + uses: docker/login-action@v2.2.0 with: registry: ghcr.io username: ${{ github.actor }} @@ -40,14 +40,14 @@ jobs: - name: Extract Docker metadata if: env.PUSH == 'true' id: meta - uses: docker/metadata-action@v4.0.1 + uses: docker/metadata-action@v4.6.0 with: images: ghcr.io/${{ github.repository }} tags: | type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} - name: Build and push Docker image - uses: docker/build-push-action@v3.0.0 + uses: docker/build-push-action@v4.1.1 with: context: . file: .docker/Dockerfile @@ -57,22 +57,28 @@ jobs: labels: ${{ steps.meta.outputs.labels }} push: ${{ env.PUSH }} - source: + robot: strategy: fail-fast: false matrix: - ROS_DISTRO: [humble, rolling] + ROS_DISTRO: [humble, rolling, iron] runs-on: ubuntu-latest permissions: packages: write contents: read steps: - name: Checkout repository - uses: actions/checkout@v3 + uses: actions/checkout@v3.5.3 + + - name: Set up QEMU + uses: docker/setup-qemu-action@v2.2.0 + + - name: Set up Docker Buildx + uses: docker/setup-buildx-action@v2 - name: Log into registry if: env.PUSH == 'true' - uses: docker/login-action@v2.0.0 + uses: docker/login-action@v2.2.0 with: registry: ghcr.io username: ${{ github.actor }} @@ -81,14 +87,14 @@ jobs: - name: Extract Docker metadata if: env.PUSH == 'true' id: meta - uses: docker/metadata-action@v4.0.1 + uses: docker/metadata-action@v4.6.0 with: images: ghcr.io/${{ github.repository }} tags: | type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} - name: Build and push Docker image - uses: docker/build-push-action@v3.0.0 + uses: docker/build-push-action@v4.1.1 with: context: . file: .docker/Dockerfile @@ -97,3 +103,4 @@ jobs: tags: ${{ steps.meta.outputs.tags }} labels: ${{ steps.meta.outputs.labels }} push: ${{ env.PUSH }} + platforms: linux/amd64,linux/arm64 diff --git a/.gitignore b/.gitignore index 259148f..4ed90f2 100644 --- a/.gitignore +++ b/.gitignore @@ -30,3 +30,17 @@ *.exe *.out *.app + +.mypy_cache/ +build +install +log +.vscode +__pycache__ + +# ArduSub SITL +eeprom.bin +mav.parm +mav.tlog +mav.tlog.raw +logs/ diff --git a/README.md b/README.md index 8da37e9..46ed796 100644 --- a/README.md +++ b/README.md @@ -1 +1,70 @@ -# angler +# Angler :fish: + +Angler is a general ROS 2 framework designed to support research, development, +and deployment of underwater vehicle manipulator systems (UVMS). + +## Main Features + +The main features of the project include: + +- Support for developing custom whole-body controllers alongside the existing + control algorithms like Set-Based Task-Priority Inverse Kinematic (TPIK) + control +- Support for developing custom trajectory and motion planning algorithms +- ArduSub + Gazebo SITL integration for evaluating the performance of your + system in a simulation environment +- RViz2 integration for visualization +- Modular design to enable integration of personalized platforms +- Integration of [Blue](https://github.com/evan-palmer/blue) to provide support + for custom vehicle controllers like sliding-mode control + +## Installation + +Angler is currently supported on Linux, and is available for the ROS +distributions Humble, Iron, and Rolling. To install Angler, first clone this +project to the `src` directory of your ROS workspace, replacing `$ROS_DISTRO` +with the desired ROS distribution or `main` for Rolling: + +```bash +git clone -b $ROS_DISTRO git@github.com:evan-palmer/angler.git +``` + +After cloning the project, install all external dependencies using `vcs`: + +```bash +vcs import src < src/angler/angler.repos +``` + +Finally, install the ROS dependencies using `rosdep`, again, replacing +`$ROS_DISTRO` with the desired ROS distribution: + +```bash +rosdep update && \ +rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO +``` + +## Quick start + +ROS 2 launch files have been provided to start the Angler system. To launch +the SITL interface for the BlueROV2 Heavy with a Reach Alpha 5 manipulator, run + +```bash +ros2 launch angler_bringup bluerov2_heavy_alpha.launch.py use_sim:=true +``` + +A full description of the launch arguments and their respective default values +can be obtained by running the following command: + +```bash +ros2 launch angler_bringup bluerov2_heavy_alpha.launch.py --show-args +``` + +## Getting help + +If you have questions regarding usage of Angler or regarding contributing to +this project, please ask a question on our [Discussions](https://github.com/evan-palmer/angler/discussions) +board! + +## License + +Angler is released under the MIT license. diff --git a/angler.repos b/angler.repos new file mode 100644 index 0000000..6162a32 --- /dev/null +++ b/angler.repos @@ -0,0 +1,21 @@ +repositories: + + alpha: + type: git + url: https://github.com/evan-palmer/alpha.git + version: main + + blue: + type: git + url: https://github.com/evan-palmer/blue.git + version: main + + kinpy: + type: git + url: https://github.com/evan-palmer/kinpy.git + version: master + + py_trees_ros_viewer: + type: git + url: https://github.com/splintered-reality/py_trees_ros_viewer.git + version: devel diff --git a/angler_behaviors/LICENSE b/angler_behaviors/LICENSE new file mode 100644 index 0000000..30e8e2e --- /dev/null +++ b/angler_behaviors/LICENSE @@ -0,0 +1,17 @@ +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in +all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +THE SOFTWARE. diff --git a/angler_behaviors/behavior_tree/__init__.py b/angler_behaviors/behavior_tree/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/angler_behaviors/behavior_tree/behaviors/__init__.py b/angler_behaviors/behavior_tree/behaviors/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/angler_behaviors/behavior_tree/behaviors/cleanup.py b/angler_behaviors/behavior_tree/behaviors/cleanup.py new file mode 100644 index 0000000..9df9762 --- /dev/null +++ b/angler_behaviors/behavior_tree/behaviors/cleanup.py @@ -0,0 +1,31 @@ +# Copyright 2023, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +import py_trees + + +def make_on_mission_complete_behavior() -> py_trees.behaviour.Behaviour: + """Make a behavior that initiates a post-mission completion sequence. + + Returns: + A post-mission behavior. + """ + # For now, we just idle on mission completion + return py_trees.behaviours.Running("Idle") diff --git a/angler_behaviors/behavior_tree/behaviors/configure.py b/angler_behaviors/behavior_tree/behaviors/configure.py new file mode 100644 index 0000000..b5b290e --- /dev/null +++ b/angler_behaviors/behavior_tree/behaviors/configure.py @@ -0,0 +1,64 @@ +# Copyright 2023, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +import operator + +import py_trees +from behavior_tree.primitives.arming import make_system_arming_behavior + + +def make_setup_behavior( + setup_finished_flag_key: str, armed_key: str +) -> py_trees.behaviour.Behaviour: + """Make a behavior that sets up the system prior to beginning a mission. + + Args: + setup_finished_flag_key: The key at which the setup flag is stored. + + Returns: + A system setup behavior. + """ + # Don't repeat setup if we have already done it + check_setup_finished = py_trees.behaviours.CheckBlackboardVariableValue( + name="Setup complete?", + check=py_trees.common.ComparisonExpression( + variable=setup_finished_flag_key, value=True, operator=operator.eq + ), + ) + + # Once we have a plan, arm so that we can start trajectory tracking + arming = make_system_arming_behavior( + arm=True, armed_key=armed_key, use_passthrough_mode=True + ) + + # Finish up by indicating that the setup has finished + finished_setup = py_trees.behaviours.SetBlackboardVariable( + "Setup finished!", setup_finished_flag_key, True, overwrite=True + ) + + setup = py_trees.composites.Sequence( + name="Setup the system for a mission", + memory=True, + children=[arming, finished_setup], + ) + + return py_trees.composites.Selector( + name="Run system setup", memory=False, children=[check_setup_finished, setup] + ) diff --git a/angler_behaviors/behavior_tree/behaviors/mission.py b/angler_behaviors/behavior_tree/behaviors/mission.py new file mode 100644 index 0000000..6f3eb8f --- /dev/null +++ b/angler_behaviors/behavior_tree/behaviors/mission.py @@ -0,0 +1,95 @@ +# Copyright 2023, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +import operator + +import py_trees +import py_trees_ros +from behavior_tree.primitives.control import make_execute_multidof_trajectory_behavior +from behavior_tree.primitives.planning import make_high_level_planning_behavior + + +def make_save_start_mission_behavior( + start_mission_key: str, +) -> py_trees.behaviour.Behaviour: + """Make a behavior that saves the "start mission" flag to the blackboard. + + Args: + start_mission_key: The key at which the flag should be saved. + + Returns: + A behavior that saves the key to trigger arming. + """ + return py_trees_ros.subscribers.EventToBlackboard( + name="ROS2BB: Start mission", + topic_name="/angler/cmd/start_mission", + qos_profile=py_trees_ros.utilities.qos_profile_unlatched(), + variable_name=start_mission_key, + ) + + +def make_execute_mission_behavior( + start_mission_key: str, + robot_state_key: str, + planner_id: str, + controller_id: str, +) -> py_trees.behaviour.Behaviour: + """Make a behavior that executes a mission. + + Args: + start_mission_key: The key at which the signal indicating that a mission should + start is stored. + robot_state_key: The key at which the robot state is stored. + planner_id: The key at which the high-level planner ID is stored. + controller_id: The key at which the joint trajectory controller ID is + stored. + + Returns: + A system setup behavior. + """ + # Start by checking whether or not to start the mission + check_start_mission = py_trees.behaviours.CheckBlackboardVariableValue( + name="Start the mission?", + check=py_trees.common.ComparisonExpression( + variable=start_mission_key, value=True, operator=operator.eq + ), + ) + + planning_result_key = "planning_result" + + get_mission_plan = make_high_level_planning_behavior( + robot_state_key=robot_state_key, + planner_id=planner_id, + planning_result_key=planning_result_key, + ) + + execute_mission = make_execute_multidof_trajectory_behavior( + trajectory_key=planning_result_key, controller_id=controller_id + ) + + return py_trees.composites.Sequence( + name="Execute mission", + memory=True, + children=[ + check_start_mission, + get_mission_plan, + execute_mission, + ], + ) diff --git a/angler_behaviors/behavior_tree/primitives/__init__.py b/angler_behaviors/behavior_tree/primitives/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/angler_behaviors/behavior_tree/primitives/arming.py b/angler_behaviors/behavior_tree/primitives/arming.py new file mode 100644 index 0000000..8262e28 --- /dev/null +++ b/angler_behaviors/behavior_tree/primitives/arming.py @@ -0,0 +1,212 @@ +# Copyright 2023, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +import operator + +import py_trees +import py_trees_ros +from behavior_tree.primitives.blackboard import ( + FunctionOfBlackboardVariables, + ToBlackboardNonBlocking, +) +from behavior_tree.primitives.service_clients import FromConstant +from std_msgs.msg import Bool +from std_srvs.srv import SetBool + + +def make_save_armed_behavior(arm_system_key: str) -> py_trees.behaviour.Behaviour: + """Save a command to arm/disarm the system to the blackboard. + + Returns: + A ToBlackboard behavior which saves commands to arm/disarm the system to the + blackboard. + """ + return ToBlackboardNonBlocking( + name="ROS2BB: Arm system", + topic_name="/angler/cmd/arm_autonomy", + topic_type=Bool, + qos_profile=py_trees_ros.utilities.qos_profile_unlatched(), + blackboard_variables={arm_system_key: "data"}, + initialise_variables={arm_system_key: False}, + clearing_policy=py_trees.common.ClearingPolicy.ON_SUCCESS, + ) + + +def make_subsystem_arming_behavior( + arm: bool, subsystem_name: str, arming_topic: str +) -> py_trees.behaviour.Behaviour: + """Make a behavior that arms/disarms a subsystem (e.g., a whole-body controller). + + Args: + arm: True if arming; False if disarming. + subsystem_name: The name of the sub-system to arm. + arming_topic: The topic over which to send the arming request. + + Returns: + A behavior that arms/disarms a subsystem. + """ + + def check_arming_success(response: SetBool.Response) -> bool: + return response.success + + arm_response_key = "arm_request_response" + arm_result_key = "arm_request_result" + + arm_request = FromConstant( + name=f"{subsystem_name}: send arming request", + service_type=SetBool, + service_name=arming_topic, + service_request=SetBool.Request(data=arm), + key_response=arm_response_key, + ) + transform_response = FunctionOfBlackboardVariables( + name=f"{subsystem_name}: transform arming response to bool", + input_keys=[arm_response_key], + output_key=arm_result_key, + function=check_arming_success, + ) + check_response = py_trees.behaviours.CheckBlackboardVariableValue( + name=f"{subsystem_name}: verify response", + check=py_trees.common.ComparisonExpression( + variable=arm_result_key, + value=True, + operator=operator.eq, + ), + ) + + return py_trees.composites.Sequence( + name=f"{subsystem_name}: Arming" if arm else ": Disarming", + memory=True, + children=[arm_request, transform_response, check_response], + ) + + +def make_system_arming_behavior(arm: bool, armed_key: str, use_passthrough_mode: bool): + """Create a behavior that arms/disarms the system. + + The full system arming sequence includes: + 1. Enabling/disabling PWM passthrough mode (if configured) + 2. Arming/disarming the Blue controller + 3. Arming/disarming the Angler controller + + Args: + arm: Set to `True` to arm the system; set to `False` to disarm. + armed_key: The key at which to store the resulting arming status. + use_passthrough_mode: Use the Blue PWM passthrough mode. Take care when using + this mode. All safety checks onboard the system will be disabled. + Furthermore, make sure to leave PWM passthrough mode before shutdown, or + the system parameters will not be restored. + + Returns: + A behavior that runs the full system arming sequence. + """ + set_armed_state = py_trees.behaviours.SetBlackboardVariable( + name="Set the current arming status", + variable_name=armed_key, + variable_value=arm, + overwrite=True, + ) + + # Put everything together + behaviors = [ + make_subsystem_arming_behavior(arm, "Blue Controller", "/blue/cmd/arm"), + make_subsystem_arming_behavior(arm, "Angler Controller", "/angler/cmd/arm"), + set_armed_state, + ] + + if use_passthrough_mode: + behaviors.insert( + 0, + make_subsystem_arming_behavior( + arm, "Passthrough Mode", "/blue/cmd/enable_passthrough" + ), + ) + + check_already_disarmed = py_trees.behaviours.CheckBlackboardVariableValue( + name="Already armed?" if arm else "Already disarmed?", + check=py_trees.common.ComparisonExpression( + variable=armed_key, value=arm, operator=operator.eq + ), + ) + do_arming = py_trees.composites.Sequence( + name="Enable system autonomy" if arm else "Disable system autonomy", + memory=True, + children=behaviors, # type: ignore + ) + + return py_trees.composites.Selector( + "Don't do what has already been done!", + memory=False, + children=[check_already_disarmed, do_arming], + ) + + +def make_block_on_disarm_behavior( + arm_system_key: str, + armed_key: str, + tasks: py_trees.behaviour.Behaviour, + on_disarm_behavior: py_trees.behaviour.Behaviour | None = None, +) -> py_trees.behaviour.Behaviour: + """Make a behavior that blocks when the system is disarmed. + + Args: + arm_system_key: The key at which the arm system flag is stored. + armed_key: The key at which to store the resulting arming status. + tasks: A behavior with the tasks to run. + on_disarm_behavior: An optional behavior to run when a disarm is triggered. This + will be executed as a Sequence behavior following the disarm behavior. + + Returns: + A Selector behavior with the disarm EternalGuard as the highest priority + behavior and the provided tasks as second priority. + """ + + def check_disarm_on_blackboard( + blackboard: py_trees.blackboard.Blackboard, + ) -> bool: + # We want to stop when a user issues a disarm command + return not blackboard.get(arm_system_key) + + # Default to disarming passthrough mode just in case + disarming = make_system_arming_behavior( + False, armed_key=armed_key, use_passthrough_mode=True + ) + + behaviors = [disarming] + + if on_disarm_behavior is not None: + behaviors.append(on_disarm_behavior) # type: ignore + + on_disarm = py_trees.composites.Sequence( + name="Execute disarm sequence", + memory=True, + children=behaviors, # type: ignore + ) + + disarm = py_trees.decorators.EternalGuard( + name="Disarm?", + condition=check_disarm_on_blackboard, + blackboard_keys=[arm_system_key], + child=on_disarm, + ) + + return py_trees.composites.Selector( + name="Block tasks on disarm", memory=False, children=[disarm, tasks] + ) diff --git a/angler_behaviors/behavior_tree/primitives/blackboard.py b/angler_behaviors/behavior_tree/primitives/blackboard.py new file mode 100644 index 0000000..0e4b70c --- /dev/null +++ b/angler_behaviors/behavior_tree/primitives/blackboard.py @@ -0,0 +1,181 @@ +# Copyright 2023, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +import copy +from typing import Any, Callable + +import py_trees +from py_trees_ros.subscribers import Handler +from rclpy.qos import QoSProfile + + +class FunctionOfBlackboardVariables(py_trees.behaviour.Behaviour): + """Apply a function to a set of blackboard variables and save the result. + + This implementation is inspired by some work done by Charles Dawson on a project + that we worked on together. + """ + + def __init__( + self, + name: str, + input_keys: list[str], + output_key: str, + function: Callable[..., Any], + ): + """Create a new FunctionOfBlackboardVariables behavior. + + Args: + name: The name of the behavior. + input_keys: The blackboard keys whose values will be passed as arguments to + the provided function. + output_key: The blackboard key where the result of the function should + be saved. + function: A function to call using the values stored at the input keys as + (positional) arguments. + """ + super().__init__(name) + + self.input_keys = input_keys + self.output_key = output_key + self.function = function + + self.blackboard = self.attach_blackboard_client() + + for key in self.input_keys: + self.blackboard.register_key(key=key, access=py_trees.common.Access.READ) + + self.blackboard.register_key( + key=self.output_key, access=py_trees.common.Access.WRITE + ) + + def initialise(self) -> None: + """Initialize the behavior.""" + self.blackboard.unset(self.output_key) + + def update(self) -> py_trees.common.Status: + """Apply the function to the saved blackboard variables. + + Returns: + `SUCCESS` if the function is able to access all required keys and execute + the provided function; `FAILURE`, otherwise. + """ + for key in self.input_keys: + if not self.blackboard.exists(key): + self.logger.error( + f"Tried to read {key} from the blackboard, but it doesn't exist!" + ) + + return py_trees.common.Status.FAILURE + + args = [self.blackboard.get(key) for key in self.input_keys] + result = None + + try: + result = self.function(*args) + except Exception as e: + self.logger.error( + f"Tried to apply function to {self.input_keys}, but failed: {e}" + ) + return py_trees.common.Status.FAILURE + + self.blackboard.set(self.output_key, result) + + return py_trees.common.Status.SUCCESS + + +class ToBlackboardNonBlocking(Handler): + """Write a ROS message to the blackboard. + + This class is a port of the `py_trees_ros.subscribers.ToBlackboard`, but modifies + it to make the behavior non-blocking. + """ + + def __init__( + self, + name: str, + topic_name: str, + topic_type: Any, + qos_profile: QoSProfile, + blackboard_variables: dict[str, Any], + initialise_variables: dict[str, Any] | None = None, + clearing_policy=py_trees.common.ClearingPolicy.ON_INITIALISE, + ): + """Create a new non-blocking `ToBlackboard` behavior. + + Args: + name: The name of the behavior. + topic_name: The name of the topic to connect to. + topic_type: The class of the message type (e.g., :obj:`std_msgs.msg.String`) + qos_profile: The QoSProfile for the subscriber. + blackboard_variables: The blackboard variable to write to. This should be + formatted as: {names (keys): message subfields (values)}. Use a value of + `None` to indicate that the entire message should be saved. + initialise_variables: Initialize the blackboard variables to some defaults. + clearing_policy: When to clear the data. Defaults to + `py_trees.common.ClearingPolicy.ON_INITIALISE`. + """ + super().__init__( + name=name, + topic_name=topic_name, + topic_type=topic_type, + qos_profile=qos_profile, + clearing_policy=clearing_policy, + ) + self.blackboard = self.attach_blackboard_client(name=self.name) + self.logger = py_trees.logging.Logger(f"{self.name}") + self.blackboard_variable_mapping = blackboard_variables + + # Register the keys + for name in self.blackboard_variable_mapping: + self.blackboard.register_key(key=name, access=py_trees.common.Access.WRITE) + + # Set the keys to some initial values + if initialise_variables is not None: + for k, v in initialise_variables.items(): + self.blackboard.set(k, v) + + def update(self): + """Write the data (if available) to the blackboard. + + Returns: + This behavior always returns `SUCCESS`. + """ + with self.data_guard: + if self.msg is None: + self.feedback_message = "no message received yet" + return py_trees.common.Status.SUCCESS + else: + for k, v in self.blackboard_variable_mapping.items(): + if v is None: + self.blackboard.set(k, self.msg, overwrite=True) + else: + fields = v.split(".") + value = copy.copy(self.msg) + for field in fields: + value = getattr(value, field) + self.blackboard.set(k, value, overwrite=True) + + self.feedback_message = "saved incoming message" + + if self.clearing_policy == py_trees.common.ClearingPolicy.ON_SUCCESS: + self.msg = None + + return py_trees.common.Status.SUCCESS diff --git a/angler_behaviors/behavior_tree/primitives/control.py b/angler_behaviors/behavior_tree/primitives/control.py new file mode 100644 index 0000000..79f2804 --- /dev/null +++ b/angler_behaviors/behavior_tree/primitives/control.py @@ -0,0 +1,116 @@ +# Copyright 2023, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +import py_trees +from behavior_tree.primitives.blackboard import FunctionOfBlackboardVariables +from control_msgs.action import FollowJointTrajectory +from geometry_msgs.msg import Transform +from moveit_msgs.srv import GetMotionPlan +from py_trees_ros.action_clients import FromBlackboard +from trajectory_msgs.msg import MultiDOFJointTrajectoryPoint + + +def make_move_to_end_effector_pose_behavior( + desired_pose_key: str, controller_id: str +) -> py_trees.behaviour.Behaviour: + """Make a behavior that moves the system to a given end-effector pose. + + Args: + desired_pose_key: The blackboard key which holds the desired pose (saved as a + Transform). + controller_id: The ID of the whole-body controller to load. + + Returns: + A behavior that moves the system to a desired end-effector pose. + """ + + def make_move_to_pose_goal(desired_pose: Transform) -> FollowJointTrajectory.Goal: + point = MultiDOFJointTrajectoryPoint() + point.transforms.append(desired_pose) # type: ignore + goal = FollowJointTrajectory.Goal() + goal.multi_dof_trajectory.points.append(point) # type: ignore + return goal + + desired_ee_pose_key = "desired_end_effector_pose" + + get_desired_pose = FunctionOfBlackboardVariables( + name="Get the desired end-effector pose", + input_keys=[desired_pose_key], + output_key=desired_ee_pose_key, + function=make_move_to_pose_goal, + ) + + move_to_pose = FromBlackboard( + name="Move to the desired end-effector pose", + action_type=FollowJointTrajectory, + action_name=f"/angler/{controller_id}/execute_trajectory", + key=desired_ee_pose_key, + ) + + return py_trees.composites.Sequence( + name="Move to end-effector pose", + memory=True, + children=[get_desired_pose, move_to_pose], + ) + + +def make_execute_multidof_trajectory_behavior( + trajectory_key: str, controller_id: str +) -> py_trees.behaviour.Behaviour: + """Make a behavior that executes a multi-DOF joint trajectory. + + Args: + trajectory_key: The blackboard key at which the trajectory is being stored. + controller_id: The ID of the controller to run. + + Returns: + A behavior that executes a multi-DOF joint trajectory. + """ + + def make_follow_trajectory_goal( + response: GetMotionPlan.Response, + ) -> FollowJointTrajectory.Goal: + goal = FollowJointTrajectory.Goal() + goal.multi_dof_trajectory = ( + response.motion_plan_response.trajectory.multi_dof_joint_trajectory + ) + return goal + + desired_trajectory_key = "desired_trajectory" + + get_desired_trajectory = FunctionOfBlackboardVariables( + name="Get the desired trajectory to track", + input_keys=[trajectory_key], + output_key=desired_trajectory_key, + function=make_follow_trajectory_goal, + ) + + follow_trajectory = FromBlackboard( + name="Follow the joint trajectory", + action_type=FollowJointTrajectory, + action_name=f"/angler/{controller_id}/execute_trajectory", + key=desired_trajectory_key, + ) + + return py_trees.composites.Sequence( + name="Load and execute a multi-DOF joint trajectory", + memory=True, + children=[get_desired_trajectory, follow_trajectory], + ) diff --git a/angler_behaviors/behavior_tree/primitives/gripper.py b/angler_behaviors/behavior_tree/primitives/gripper.py new file mode 100644 index 0000000..fb891f5 --- /dev/null +++ b/angler_behaviors/behavior_tree/primitives/gripper.py @@ -0,0 +1,62 @@ +# Copyright 2023, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +import py_trees +import py_trees_ros +from std_msgs.msg import Float64MultiArray + + +def make_alpha_jaws_velocity_control_behavior( + open_gripper: bool, rate: float +) -> py_trees.behaviour.Behaviour: + """Make a behavior that opens/closes the Reach Alpha jaws. + + Args: + open_gripper: Whether or not to open the gripper. + rate: The velocity that the gripper should open at (mm/s). + + Returns: + A behavior that controls the Reach Alpha jaws using the + forward_velocity_controller. + """ + gripper_command_key = "gripper_command" + + if open_gripper: + rate = abs(rate) + else: + rate = -abs(rate) + + set_command = py_trees.behaviours.SetBlackboardVariable( + name="Set gripper command", + variable_name=gripper_command_key, + variable_value=Float64MultiArray(data=[rate, 0.0, 0.0, 0.0, 0.0]), + overwrite=True, + ) + publish_command = py_trees_ros.publishers.FromBlackboard( + name="Publish gripper command", + topic_name="/forward_velocity_controller/commands", + topic_type=Float64MultiArray, + qos_profile=py_trees_ros.utilities.qos_profile_unlatched(), + blackboard_variable=gripper_command_key, + ) + + return py_trees.composites.Sequence( + name="Command the gripper", memory=True, children=[set_command, publish_command] + ) diff --git a/angler_behaviors/behavior_tree/primitives/planning.py b/angler_behaviors/behavior_tree/primitives/planning.py new file mode 100644 index 0000000..31ac8e0 --- /dev/null +++ b/angler_behaviors/behavior_tree/primitives/planning.py @@ -0,0 +1,90 @@ +# Copyright 2023, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +import py_trees +import py_trees_ros +from behavior_tree.primitives.blackboard import FunctionOfBlackboardVariables +from behavior_tree.primitives.service_clients import FromBlackboard +from moveit_msgs.msg import RobotState +from moveit_msgs.srv import GetMotionPlan +from rclpy.qos import qos_profile_sensor_data + + +def make_save_robot_state_behavior( + robot_state_key: str, +) -> py_trees.behaviour.Behaviour: + """Save the current robot state. + + Returns: + A ToBlackboard behavior which saves the robot state. + """ + return py_trees_ros.subscribers.ToBlackboard( + name="ROS2BB: Robot state", + topic_name="/angler/state", + topic_type=RobotState, + qos_profile=qos_profile_sensor_data, + blackboard_variables={robot_state_key: None}, + clearing_policy=py_trees.common.ClearingPolicy.NEVER, + ) + + +def make_high_level_planning_behavior( + robot_state_key: str, planning_result_key: str, planner_id: str +) -> py_trees.behaviour.Behaviour: + """Create a high-level planning behavior. + + Args: + robot_state_key: The key at which the robot state is being stored. + planning_result_key: The key at which the planning result is saved. + planner_id: The ID of the planner to perform high-level planning with. + + Returns: + Behavior that creates a high-level mission plan and saves the result to the + blackboard. + """ + + def make_planning_request(state: RobotState) -> GetMotionPlan.Request: + request = GetMotionPlan.Request() + request.motion_plan_request.start_state = state + request.motion_plan_request.planner_id = planner_id + return request + + planner_request_key = "high_level_planner_request" + + plan_request_behavior = FunctionOfBlackboardVariables( + name="Make high-level planner request", + input_keys=[robot_state_key], + output_key=planner_request_key, + function=make_planning_request, + ) + + plan_behavior = FromBlackboard( + name="Plan a high-level mission", + service_type=GetMotionPlan, + service_name=f"/angler/{planner_id}/plan", + key_request=planner_request_key, + key_response=planning_result_key, + ) + + return py_trees.composites.Sequence( + name="Get high-level plan", + memory=True, + children=[plan_request_behavior, plan_behavior], + ) diff --git a/angler_behaviors/behavior_tree/primitives/service_clients.py b/angler_behaviors/behavior_tree/primitives/service_clients.py new file mode 100644 index 0000000..d787792 --- /dev/null +++ b/angler_behaviors/behavior_tree/primitives/service_clients.py @@ -0,0 +1,279 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- +# +# License: BSD +# https://raw.github.com/splintered-reality/py_trees_ros/license/LICENSE +# +############################################################################## +# Documentation +############################################################################## + +""" +Behaviours for ROS services. + +Note from Evan: This is a direct port from this PR: +https://github.com/splintered-reality/py_trees_ros/pull/215 +I want to use this, but don't feel like building yet another package +from source. This will be removed when the PR is merged. +""" + +############################################################################## +# Imports +############################################################################## + +import typing +import uuid +from asyncio.tasks import wait_for + +import py_trees +from py_trees_ros import exceptions + +############################################################################## +# Behaviours +############################################################################## + + +class FromBlackboard(py_trees.behaviour.Behaviour): + """ + An service client interface that draws requests from the blackboard. The + lifecycle of this behaviour works as follows: + + * :meth:`initialise`: check blackboard for a request and send + * :meth:`update`: if a request was sent, monitor progress + * :meth:`terminate`: if interrupted while running, send a cancel request + + As a consequence, the status of this behaviour can be interpreted as follows: + + * :data:`~py_trees.common.Status.FAILURE`: no request was found to send, + the server was not ready, or it failed while executing + * :data:`~py_trees.common.Status.RUNNING`: a request was sent and is still + executing + * :data:`~py_trees.common.Status.SUCCESS`: sent request has completed with success + + To block on the arrival of a request on the blackboard, use with the + :class:`py_trees.behaviours.WaitForBlackboardVariable` behaviour. e.g. + + Args: + name: name of the behaviour + service_type: spec type for the service + service_name: where you can find the service + key_request: name of the key for the request on the blackboard + key_response: optional name of the key for the response on the blackboard (default: None) + wait_for_server_timeout_sec: use negative values for a blocking but periodic check (default: -3.0) + + .. note:: + The default setting for timeouts (a negative value) will suit + most use cases. With this setting the behaviour will periodically check and + issue a warning if the server can't be found. Actually aborting the setup can + usually be left up to the behaviour tree manager. + """ + + def __init__( + self, + name: str, + service_type: typing.Any, + service_name: str, + key_request: str, + key_response: typing.Optional[str] = None, + wait_for_server_timeout_sec: float = -3.0, + ): + super().__init__(name) + self.service_type = service_type + self.service_name = service_name + self.wait_for_server_timeout_sec = wait_for_server_timeout_sec + self.blackboard = self.attach_blackboard_client(name=self.name) + self.blackboard.register_key( + key="request", + access=py_trees.common.Access.READ, + # make sure to namespace it if not already + remap_to=py_trees.blackboard.Blackboard.absolute_name("/", key_request), + ) + self.write_response_to_blackboard = key_response is not None + if self.write_response_to_blackboard: + self.blackboard.register_key( + key="response", + access=py_trees.common.Access.WRITE, + # make sure to namespace it if not already + remap_to=py_trees.blackboard.Blackboard.absolute_name( + "/", key_response + ), + ) + + self.node = None + self.service_client = None + + def setup(self, **kwargs): + """ + Setup the service client and ensure it is available. + + Args: + **kwargs (:obj:`dict`): distribute arguments to this + behaviour and in turn, all of it's children + + Raises: + :class:`KeyError`: if a ros2 node isn't passed under the key 'node' in kwargs + :class:`~py_trees_ros.exceptions.TimedOutError`: if the service server could not be found + """ + self.logger.debug("{}.setup()".format(self.qualified_name)) + try: + self.node = kwargs["node"] + except KeyError as e: + error_message = "didn't find 'node' in setup's kwargs [{}][{}]".format( + self.qualified_name + ) + raise KeyError(error_message) from e # 'direct cause' traceability + + self.service_client = self.node.create_client( + srv_type=self.service_type, srv_name=self.service_name + ) + + result = None + if self.wait_for_server_timeout_sec > 0.0: + result = self.service_client.wait_for_service( + timeout_sec=self.wait_for_server_timeout_sec + ) + else: + iterations = 0 + period_sec = -1.0 * self.wait_for_server_timeout_sec + while not result: + iterations += 1 + result = self.service_client.wait_for_service(timeout_sec=period_sec) + if not result: + self.node.get_logger().warning( + "waiting for service server ... [{}s][{}][{}]".format( + iterations * period_sec, + self.service_name, + self.qualified_name, + ) + ) + if not result: + self.feedback_message = "timed out waiting for the server [{}]".format( + self.service_name + ) + self.node.get_logger().error( + "{}[{}]".format(self.feedback_message, self.qualified_name) + ) + raise exceptions.TimedOutError(self.feedback_message) + else: + self.feedback_message = "... connected to service server [{}]".format( + self.service_name + ) + self.node.get_logger().info( + "{}[{}]".format(self.feedback_message, self.qualified_name) + ) + + def initialise(self): + """ + Reset the internal variables and kick off a new request request. + """ + self.logger.debug("{}.initialise()".format(self.qualified_name)) + + # initialise some temporary variables + self.service_future = None + + try: + if self.service_client.service_is_ready(): + self.service_future = self.service_client.call_async( + self.blackboard.request + ) + except (KeyError, TypeError): + pass # self.service_future will be None, check on that + + def update(self): + """ + Check only to see whether the underlying service server has + succeeded, is running, or has cancelled/aborted for some reason and + map these to the usual behaviour return states. + + Returns: + :class:`py_trees.common.Status` + """ + self.logger.debug("{}.update()".format(self.qualified_name)) + + if self.service_future is None: + # either there was no request on the blackboard, the request's type + # was wrong, or the service server wasn't ready + return py_trees.common.Status.FAILURE + elif not self.service_future.done(): + # service has been called but hasn't yet returned a result + return py_trees.common.Status.RUNNING + else: + # service has succeeded; get the result + self.response = self.service_future.result() + if self.write_response_to_blackboard: + self.blackboard.response = self.response + return py_trees.common.Status.SUCCESS + + def terminate(self, new_status: py_trees.common.Status): + """ + If running and the current request has not already succeeded, cancel it. + + Args: + new_status: the behaviour is transitioning to this new status + """ + self.logger.debug( + "{}.terminate({})".format( + self.qualified_name, + "{}->{}".format(self.status, new_status) + if self.status != new_status + else "{}".format(new_status), + ) + ) + if (self.service_future is not None) and (not self.service_future.done()): + self.service_client.remove_pending_request(self.service_future) + + def shutdown(self): + """ + Clean up the service client when shutting down. + """ + self.service_client.destroy() + + +class FromConstant(FromBlackboard): + """ + Convenience version of the service client that only ever sends the + same goal. + + .. see-also: :class:`py_trees_ros.service_clients.FromBlackboard` + + Args: + name: name of the behaviour + name: name of the behaviour + service_type: spec type for the service + service_name: where you can find the service + service_request: the request to send + key_response: optional name of the key for the response on the blackboard (default: None) + wait_for_server_timeout_sec: use negative values for a blocking but periodic check (default: -3.0) + + .. note:: + The default setting for timeouts (a negative value) will suit + most use cases. With this setting the behaviour will periodically check and + issue a warning if the server can't be found. Actually aborting the setup can + usually be left up to the behaviour tree manager. + """ + + def __init__( + self, + name: str, + service_type: typing.Any, + service_name: str, + service_request: typing.Any, + key_response: typing.Optional[str] = None, + wait_for_server_timeout_sec: float = -3.0, + ): + unique_id = uuid.uuid4() + key_request = "/goal_" + str(unique_id) + super().__init__( + service_type=service_type, + service_name=service_name, + key_request=key_request, + key_response=key_response, + name=name, + wait_for_server_timeout_sec=wait_for_server_timeout_sec, + ) + # parent already instantiated a blackboard client + self.blackboard.register_key( + key=key_request, + access=py_trees.common.Access.WRITE, + ) + self.blackboard.set(name=key_request, value=service_request) diff --git a/angler_behaviors/behavior_tree/tree.py b/angler_behaviors/behavior_tree/tree.py new file mode 100644 index 0000000..6c745f1 --- /dev/null +++ b/angler_behaviors/behavior_tree/tree.py @@ -0,0 +1,119 @@ +# Copyright 2023, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +import py_trees +import py_trees_ros +import rclpy +from behavior_tree.behaviors.cleanup import make_on_mission_complete_behavior +from behavior_tree.behaviors.configure import make_setup_behavior +from behavior_tree.behaviors.mission import ( + make_execute_mission_behavior, + make_save_start_mission_behavior, +) +from behavior_tree.primitives.arming import ( + make_block_on_disarm_behavior, + make_save_armed_behavior, +) +from behavior_tree.primitives.planning import make_save_robot_state_behavior + + +def make_angler_tree() -> py_trees.behaviour.Behaviour: + """Make a behavior tree that runs the full Angler system. + + Returns: + A behavior tree that provides full-system autonomy. + """ + root = py_trees.composites.Parallel( + name="Angler Autonomy", + policy=py_trees.common.ParallelPolicy.SuccessOnAll(synchronise=False), + ) + + # Add the data gathering behaviors + start_mission_key = "start_mission" + arm_system_key = "arm_system" + armed_key = "armed" + robot_state_key = "robot_state" + + data_gathering = py_trees.composites.Sequence( + name="Data gathering", + memory=True, + children=[ + make_save_start_mission_behavior(start_mission_key), + make_save_armed_behavior(arm_system_key), + make_save_robot_state_behavior(robot_state_key), + ], + ) + + root.add_child(data_gathering) + + setup_finished_flag_key = "setup_finished" + + setup_and_execute_mission = py_trees.composites.Sequence( + name="Setup and execute mission", + memory=True, + children=[ + make_setup_behavior( + setup_finished_flag_key=setup_finished_flag_key, armed_key=armed_key + ), + make_execute_mission_behavior( + start_mission_key=start_mission_key, + robot_state_key=robot_state_key, + planner_id="preplanned_end_effector_waypoint_planner", + controller_id="tpik_joint_trajectory_controller", + ), + make_on_mission_complete_behavior(), + ], + ) + + tasks = make_block_on_disarm_behavior( + arm_system_key=arm_system_key, + armed_key=armed_key, + tasks=setup_and_execute_mission, + on_disarm_behavior=py_trees.behaviours.SetBlackboardVariable( + name="Setup needs to be redone", + variable_name=setup_finished_flag_key, + variable_value=False, + overwrite=True, + ), + ) + + root.add_child(tasks) + + return root + + +def main(args: list[str] | None = None): + """Run the pre-planned waypoint planner.""" + rclpy.init(args=args) + + # Create the behavior tree + root = make_angler_tree() + tree = py_trees_ros.trees.BehaviourTree(root) + + # Setup the tree; this will throw if there is a timeout + tree.setup(timeout=15.0) + + # Run the tree at a rate of 20hz + tree.tick_tock(50) + + rclpy.spin(tree.node) # type: ignore + + tree.shutdown() + rclpy.shutdown() diff --git a/angler_behaviors/launch/behavior_tree.launch.py b/angler_behaviors/launch/behavior_tree.launch.py new file mode 100644 index 0000000..c9dbaa8 --- /dev/null +++ b/angler_behaviors/launch/behavior_tree.launch.py @@ -0,0 +1,53 @@ +# Copyright 2023, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def generate_launch_description() -> LaunchDescription: + """Generate a launch description for the Angler behavior tree. + + Returns: + LaunchDescription: The Angler behavior tree launch description. + """ + args = [ + DeclareLaunchArgument( + "use_sim_time", + default_value="false", + description=("Use the simulated Gazebo clock."), + ), + ] + + nodes = [ + Node( + package="angler_behaviors", + executable="behavior_tree", + name="behavior_tree", + output="screen", + parameters=[ + {"use_sim_time": LaunchConfiguration("use_sim_time")}, + ], + ), + ] + + return LaunchDescription(args + nodes) diff --git a/angler_behaviors/package.xml b/angler_behaviors/package.xml new file mode 100644 index 0000000..c01b7aa --- /dev/null +++ b/angler_behaviors/package.xml @@ -0,0 +1,25 @@ + + + + + angler_behaviors + 0.0.1 + Behavior tree responsible for system autonomy. + + Evan Palmer + MIT + + https://github.com/evan-palmer/blue.git + https://github.com/evan-palmer/blue/issues + + py_trees + py_trees_ros + + ament_copyright + ament_flake8 + python3-pytest + + + ament_python + + diff --git a/angler_behaviors/resource/angler_behaviors b/angler_behaviors/resource/angler_behaviors new file mode 100644 index 0000000..e69de29 diff --git a/angler_behaviors/setup.cfg b/angler_behaviors/setup.cfg new file mode 100644 index 0000000..c9f9c83 --- /dev/null +++ b/angler_behaviors/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/angler_behaviors +[install] +install_scripts=$base/lib/angler_behaviors diff --git a/angler_behaviors/setup.py b/angler_behaviors/setup.py new file mode 100644 index 0000000..b7b1c9b --- /dev/null +++ b/angler_behaviors/setup.py @@ -0,0 +1,47 @@ +# Copyright 2023, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +import os +from glob import glob + +from setuptools import find_packages, setup + +package_name = "angler_behaviors" + +setup( + name=package_name, + version="0.0.1", + packages=find_packages(exclude=["test"]), + data_files=[ + ("share/ament_index/resource_index/packages", ["resource/" + package_name]), + ("share/" + package_name, ["package.xml"]), + (os.path.join("share", package_name), glob("launch/*.launch.py")), + ], + install_requires=["setuptools"], + zip_safe=True, + maintainer="Evan Palmer", + maintainer_email="evanp922gmail.com", + description="Behavior tree responsible for system autonomy.", + license="MIT", + tests_require=["pytest"], + entry_points={ + "console_scripts": ["behavior_tree = behavior_tree.tree:main"], + }, +) diff --git a/angler_behaviors/test/test_copyright.py b/angler_behaviors/test/test_copyright.py new file mode 100644 index 0000000..8f18fa4 --- /dev/null +++ b/angler_behaviors/test/test_copyright.py @@ -0,0 +1,27 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# 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. + +import pytest +from ament_copyright.main import main + + +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip( + reason="No copyright header has been placed in the generated source file." +) +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=[".", "test"]) + assert rc == 0, "Found errors" diff --git a/angler_bringup/CMakeLists.txt b/angler_bringup/CMakeLists.txt new file mode 100644 index 0000000..f832283 --- /dev/null +++ b/angler_bringup/CMakeLists.txt @@ -0,0 +1,19 @@ +cmake_minimum_required(VERSION 3.8) +project(angler_bringup) + +set(THIS_PACKAGE_INCLUDE_DEPENDS + rclcpp + rclpy + ament_cmake +) + +foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) + find_package(${Dependency} REQUIRED) +endforeach() + +install( + DIRECTORY launch + DESTINATION share/${PROJECT_NAME} +) + +ament_package() diff --git a/angler_bringup/LICENSE b/angler_bringup/LICENSE new file mode 100644 index 0000000..30e8e2e --- /dev/null +++ b/angler_bringup/LICENSE @@ -0,0 +1,17 @@ +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in +all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +THE SOFTWARE. diff --git a/angler_bringup/launch/bluerov2_heavy_alpha.launch.py b/angler_bringup/launch/bluerov2_heavy_alpha.launch.py new file mode 100644 index 0000000..8c365fd --- /dev/null +++ b/angler_bringup/launch/bluerov2_heavy_alpha.launch.py @@ -0,0 +1,436 @@ +# Copyright 2023, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +from launch import LaunchDescription +from launch.actions import ( + DeclareLaunchArgument, + IncludeLaunchDescription, + RegisterEventHandler, + TimerAction, +) +from launch.conditions import IfCondition, UnlessCondition +from launch.event_handlers import OnProcessExit, OnProcessStart +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import ( + Command, + FindExecutable, + LaunchConfiguration, + PathJoinSubstitution, + PythonExpression, +) +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description() -> LaunchDescription: + """Generate a launch description to run the BlueROV2 Heavy Alpha system. + + Returns: + The BlueROV2 Heavy Alpha ROS 2 launch description. + """ + # Set some constants for this configuration + description_package = "angler_description" + configuration_type = "bluerov2_heavy_alpha" + description_file = PathJoinSubstitution( + [ + FindPackageShare(description_package), + "xacro", + configuration_type, + "config.xacro", + ] + ) + controllers_file = PathJoinSubstitution( + [ + FindPackageShare(description_package), + "config", + configuration_type, + "controllers.yaml", + ] + ) + tasks_file = PathJoinSubstitution( + [ + FindPackageShare(description_package), + "config", + configuration_type, + "tasks.yaml", + ] + ) + planning_file = PathJoinSubstitution( + [ + FindPackageShare(description_package), + "config", + configuration_type, + "planning.yaml", + ] + ) + mux_file = PathJoinSubstitution( + [ + FindPackageShare(description_package), + "config", + configuration_type, + "mux.yaml", + ] + ) + initial_positions_file = PathJoinSubstitution( + [ + FindPackageShare(description_package), + "config", + configuration_type, + "initial_positions.yaml", + ] + ) + + args = [ + DeclareLaunchArgument( + "use_sim", + default_value="false", + description="Launch the Gazebo + ArduSub simulator.", + ), + DeclareLaunchArgument( + "use_rviz", + default_value="false", + description="Launch RViz2.", + ), + DeclareLaunchArgument( + "prefix", + default_value="", + description=( + "The prefix of the system. This is useful for multi-robot setups." + " Expected format '/'." + ), + ), + DeclareLaunchArgument( + "namespace", + default_value="", + description=( + "The namespace of the launched nodes. This is useful for multi-robot" + " setups. If the namespace is changed, then the namespace in the" + " controller configuration must be updated. Expected format '/'." + ), + ), + DeclareLaunchArgument( + "use_fake_hardware", + default_value="true", + description=( + "Start the Reach Alpha 5 driver using fake hardware mirroring command" + " to its states. If this is set to 'false', the Alpha 5 manipulator" + " serial port should be specified." + ), + ), + DeclareLaunchArgument( + "alpha_serial_port", + default_value="''", + description=( + "The serial port that the Alpha 5 is available at (e.g., /dev/ttyUSB0)." + ), + ), + DeclareLaunchArgument( + "rviz_config", + default_value="view_bluerov2_heavy_alpha.rviz", + description="The RViz2 configuration file.", + ), + DeclareLaunchArgument( + "alpha_controller", + default_value="forward_velocity_controller", + description="The ros2_control controller to use with the manipulator(s).", + choices=[ + "forward_velocity_controller", + "forward_position_controller", + "feedback_joint_position_trajectory_controller", + "feedback_joint_velocity_trajectory_controller", + ], + ), + DeclareLaunchArgument( + "bluerov2_controller", + default_value="ismc", + description=( + "The controller to use; this should be the same name as the" + " controller's executable." + ), + choices=["ismc"], + ), + DeclareLaunchArgument( + "localization_source", + default_value="gazebo", + choices=["mocap", "camera", "gazebo"], + description="The localization source to stream from.", + ), + DeclareLaunchArgument( + "use_camera", + default_value="false", + description=( + "Launch the BlueROV2 camera stream. This is automatically set to true" + " when using the camera for localization." + ), + ), + DeclareLaunchArgument( + "use_mocap", + default_value="false", + description=( + "Launch the Qualisys motion capture stream. This is automatically" + " set to true when using the motion capture system for localization." + ), + ), + DeclareLaunchArgument( + "use_waypoint_planner", + default_value="true", + description="Load a waypoint planner.", + ), + DeclareLaunchArgument( + "use_whole_body_control", + default_value="true", + description="Load a whole-body controller.", + ), + DeclareLaunchArgument( + "gazebo_world_file", + default_value="bluerov2_heavy_alpha_underwater.world", + description="The Gazebo world file to launch.", + ), + DeclareLaunchArgument( + "waypoint_planner", + default_value="preplanned_end_effector_waypoint_planner", + description="The waypoint planner to load.", + choices=["preplanned_end_effector_waypoint_planner"], + ), + DeclareLaunchArgument( + "whole_body_controller", + default_value="tpik_joint_trajectory_controller", + description="The whole-body controller to load.", + choices=["tpik_joint_trajectory_controller"], + ), + ] + + use_sim = LaunchConfiguration("use_sim") + namespace = LaunchConfiguration("namespace") + use_rviz = LaunchConfiguration("use_rviz") + alpha_controller = LaunchConfiguration("alpha_controller") + + robot_description = Command( + [ + PathJoinSubstitution([FindExecutable(name="xacro")]), + " ", + description_file, + " ", + "prefix:=", + LaunchConfiguration("prefix"), + " ", + "use_fake_hardware:=", + LaunchConfiguration("use_fake_hardware"), + " ", + "use_sim:=", + use_sim, + " ", + "serial_port:=", + LaunchConfiguration("alpha_serial_port"), + " ", + "namespace:=", + namespace, + ] + ) + + control_node = Node( + package="controller_manager", + executable="ros2_control_node", + output="both", + namespace=namespace, + parameters=[ + controllers_file, + {"use_sim_time": use_sim}, + ], + condition=UnlessCondition(use_sim), + ) + + joint_state_broadcaster_spawner = Node( + package="controller_manager", + executable="spawner", + output="both", + arguments=[ + "joint_state_broadcaster", + "--controller-manager", + [namespace, "controller_manager"], + ], + parameters=[{"use_sim_time": use_sim}], + ) + + alpha_controller_spawner = Node( + package="controller_manager", + executable="spawner", + output="both", + arguments=[ + alpha_controller, + "--controller-manager", + [namespace, "controller_manager"], + ], + parameters=[{"use_sim_time": use_sim}], + ) + + rviz = Node( + package="rviz2", + executable="rviz2", + name="rviz2", + output="both", + arguments=[ + "-d", + PathJoinSubstitution( + [ + FindPackageShare(description_package), + "rviz", + LaunchConfiguration("rviz_config"), + ] + ), + ], + parameters=[{"use_sim_time": use_sim, "robot_description": robot_description}], + condition=IfCondition(use_rviz), + ) + + nodes = [ + control_node, + rviz, + RegisterEventHandler( + event_handler=OnProcessStart( + target_action=control_node, + on_start=[joint_state_broadcaster_spawner], + ) + ), + # We need to wait for the Gazebo spawner to finish, but + # don't have access to that because it is called from blue + TimerAction( + period=2.0, + actions=[joint_state_broadcaster_spawner], + condition=IfCondition(use_sim), + ), + RegisterEventHandler( + event_handler=OnProcessExit( + target_action=joint_state_broadcaster_spawner, on_exit=[rviz] + ), + condition=IfCondition(use_rviz), + ), + RegisterEventHandler( + event_handler=OnProcessExit( + target_action=joint_state_broadcaster_spawner, + on_exit=[alpha_controller_spawner], + ) + ), + Node( + package="angler_utils", + executable="initial_position_setter", + name="initial_position_setter", + parameters=[ + { + "initial_positions_file": initial_positions_file, + "controller_cmd_topic": "/forward_velocity_controller/commands", + "use_sim_time": use_sim, + } + ], + condition=IfCondition( + PythonExpression( + [ + "'", + use_sim, + "' == 'true' and '", + alpha_controller, + "' == 'forward_velocity_controller'", + ] + ) + ), + ), + ] + + includes = [ + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + PathJoinSubstitution( + [FindPackageShare("blue_bringup"), "launch", "base.launch.py"] + ) + ), + launch_arguments={ + "description_package": description_package, + "configuration_type": "bluerov2_heavy_alpha", + "controller": LaunchConfiguration("bluerov2_controller"), + "localization_source": LaunchConfiguration("localization_source"), + "use_camera": LaunchConfiguration("use_camera"), + "use_mocap": LaunchConfiguration("use_mocap"), + "use_sim": LaunchConfiguration("use_sim"), + "use_rviz": "false", # Use our own version + "gazebo_world_file": LaunchConfiguration("gazebo_world_file"), + "prefix": LaunchConfiguration("prefix"), + "robot_description": robot_description, + }.items(), + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + PathJoinSubstitution( + [ + FindPackageShare("blue_bringup"), + "launch", + "bluerov2_heavy_reach", + "tf.launch.py", + ] + ) + ), + launch_arguments={"prefix": LaunchConfiguration("prefix")}.items(), + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + PathJoinSubstitution( + [FindPackageShare("angler_planning"), "planning.launch.py"] + ) + ), + launch_arguments={ + "use_waypoint_planner": LaunchConfiguration("use_waypoint_planner"), + "waypoint_planner": LaunchConfiguration("waypoint_planner"), + "config_filepath": planning_file, + "use_sim_time": use_sim, + }.items(), + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + PathJoinSubstitution([FindPackageShare("angler_mux"), "mux.launch.py"]) + ), + launch_arguments={ + "config_filepath": mux_file, + "use_sim_time": use_sim, + }.items(), + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + PathJoinSubstitution( + [FindPackageShare("angler_control"), "control.launch.py"] + ) + ), + launch_arguments={ + "controller": LaunchConfiguration("whole_body_controller"), + "config_filepath": controllers_file, + "hierarchy_file": tasks_file, + "use_sim_time": use_sim, + }.items(), + condition=IfCondition(LaunchConfiguration("use_whole_body_control")), + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + PathJoinSubstitution( + [FindPackageShare("angler_behaviors"), "behavior_tree.launch.py"] + ) + ), + launch_arguments={"use_sim_time": use_sim}.items(), + ), + ] + + return LaunchDescription(args + nodes + includes) diff --git a/angler_bringup/package.xml b/angler_bringup/package.xml new file mode 100644 index 0000000..48e57f8 --- /dev/null +++ b/angler_bringup/package.xml @@ -0,0 +1,32 @@ + + + + + angler_bringup + 0.0.1 + Entrypoints for the Angler project + + Evan Palmer + MIT + + https://github.com/evan-palmer/blue.git + https://github.com/evan-palmer/blue/issues + + Evan Palmer + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + mavros + mavros_extras + hardware_interface + velocity_controllers + xacro + foxglove_bridge + + + ament_cmake + + diff --git a/angler_control/LICENSE b/angler_control/LICENSE new file mode 100644 index 0000000..30e8e2e --- /dev/null +++ b/angler_control/LICENSE @@ -0,0 +1,17 @@ +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in +all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +THE SOFTWARE. diff --git a/angler_control/controllers/__init__.py b/angler_control/controllers/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/angler_control/controllers/controller.py b/angler_control/controllers/controller.py new file mode 100644 index 0000000..872b746 --- /dev/null +++ b/angler_control/controllers/controller.py @@ -0,0 +1,153 @@ +# Copyright 2023, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +from abc import ABC, abstractmethod + +from moveit_msgs.msg import RobotState +from rclpy.callback_groups import ReentrantCallbackGroup +from rclpy.node import Node +from rclpy.qos import qos_profile_sensor_data +from std_srvs.srv import SetBool + + +class BaseController(ABC, Node): + """Base class for a whole-body controller.""" + + def __init__(self, controller_name: str) -> None: + """Create a new controller interface. + + Args: + controller_name: The name of the controller. + """ + ABC.__init__(self) + Node.__init__(self, controller_name) + + self.declare_parameter("control_rate", 30.0) + + self.armed = False + self.robot_state = RobotState() + self.dt = 1 / ( + self.get_parameter("control_rate").get_parameter_value().double_value + ) + + # Services + self.arm_controller_srv = self.create_service( + SetBool, "/angler/cmd/arm", self.arm_controller_cb + ) + + # Subscribers + self.robot_state_sub = self.create_subscription( + RobotState, + "/angler/state", + self._robot_state_cb, + qos_profile=qos_profile_sensor_data, + ) + + # Create a new callback group for the control loop timer + # Don't start it automatically though. + self.timer_cb_group = ReentrantCallbackGroup() + self.control_loop_timer = self.create_timer(self.dt, self._update) + + def on_robot_state_update(self, state: RobotState) -> None: + """Execute this function on robot state update. + + Args: + state: The most recent robot state update. + """ + # Don't do anything with the state by default + ... + + def _robot_state_cb(self, state: RobotState) -> None: + """Update the current robot state and run the `on_robot_state` callback. + + Args: + state: The current robot state. + """ + self.on_robot_state_update(state) + self.state = state + + @abstractmethod + def on_update(self) -> None: + """Execute this function on control loop iteration.""" + raise NotImplementedError("This method has not yet been implemented!") + + def _update(self) -> None: + """Run the control loop.""" + if not self.armed: + # Don't do anything if we aren't armed + ... + else: + self.on_update() + + def on_arm(self) -> bool: + """Execute this function on system arming. + + Returns: + Whether or not the arming procedure succeeded. + """ + # Default to indicating success + return True + + def on_disarm(self) -> bool: + """Execute this function on system disarming. + + Returns: + Whether or not the disarming procedure succeeded. + """ + # Default to indicating success + return True + + def arm_controller_cb( + self, request: SetBool.Request, response: SetBool.Response + ) -> SetBool.Response: + """Arm/disarm the controller. + + This can be overridden to support more complex pre-arming checks. + + Args: + request: The arm/disarm request. + response: The request result. + + Returns: + The request result. + """ + if request.data: + result = self.on_arm() + self.armed = self.armed if not result else result + else: + result = self.on_disarm() + self.armed = self.armed if not result else not result + + if not result: + response.success = False + response.message = ( + "Failed to " + + ("arm" if request.data else "disarm") + + " the Angler controller!" + ) + else: + response.success = True + response.message = ( + "Successfully " + + ("armed" if self.armed else "disarmed") + + " the Angler controller!" + ) + + return response diff --git a/angler_control/controllers/robot_trajectory_controller/__init__.py b/angler_control/controllers/robot_trajectory_controller/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/angler_control/controllers/robot_trajectory_controller/base_multidof_joint_trajectory_controller.py b/angler_control/controllers/robot_trajectory_controller/base_multidof_joint_trajectory_controller.py new file mode 100644 index 0000000..cac7960 --- /dev/null +++ b/angler_control/controllers/robot_trajectory_controller/base_multidof_joint_trajectory_controller.py @@ -0,0 +1,307 @@ +# Copyright 2023, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +import threading +from abc import abstractmethod + +import controllers.robot_trajectory_controller.utils as controller_utils +import numpy as np +from control_msgs.action import FollowJointTrajectory +from controllers.controller import BaseController +from controllers.robot_trajectory_controller.trajectory import MultiDOFTrajectory +from geometry_msgs.msg import Quaternion +from rclpy.action import ActionServer, GoalResponse +from rclpy.action.server import ServerGoalHandle +from rclpy.time import Duration +from trajectory_msgs.msg import MultiDOFJointTrajectoryPoint + + +class BaseMultiDOFJointTrajectoryController(BaseController): + """Base interface for a MultiDOFJointTrajectory controller.""" + + def __init__(self, controller_name: str) -> None: + """Create a new multi-DOF joint trajectory controller. + + Args: + controller_name: The unique controller name. + """ + super().__init__(controller_name) + + self.declare_parameters( + namespace="", + parameters=[ # type: ignore + ("goal_position_tolerance", 0.2), + ("goal_orientation_tolerance", 0.1), + ("goal_linear_velocity_tolerance", np.inf), + ("goal_angular_velocity_tolerance", np.inf), + ("goal_time_tolerance", 10.0), + ], + ) + + # Keep track of whether or not a goal is running/preempted to enable transition + # between preempted goals + self.current_uid = 0 + self.execute_trajectory_lock = threading.Lock() + self._running = False + + # Store a command for the child to execute + self.command: MultiDOFJointTrajectoryPoint | None = None + + # Get the tolerances for the controller + self.goal_position_tolerance = ( + self.get_parameter("goal_position_tolerance") + .get_parameter_value() + .double_value + ) + self.goal_orientation_tolerance = ( + self.get_parameter("goal_orientation_tolerance") + .get_parameter_value() + .double_value + ) + self.goal_linear_velocity_tolerance = ( + self.get_parameter("goal_linear_velocity_tolerance") + .get_parameter_value() + .double_value + ) + self.goal_angular_velocity_tolerance = ( + self.get_parameter("goal_angular_velocity_tolerance") + .get_parameter_value() + .double_value + ) + self.goal_time_tolerance = Duration( + seconds=self.get_parameter("goal_time_tolerance") # type: ignore + .get_parameter_value() + .double_value + ) + + self.execute_trajectory_client = ActionServer( + self, + FollowJointTrajectory, + f"/angler/{controller_name}/execute_trajectory", + goal_callback=self.handle_action_request_cb, + execute_callback=self.execute_trajectory_cb, + ) + + def destroy_node(self) -> None: + """Shutdown the node and all clients.""" + self.execute_trajectory_client.destroy() + return super().destroy_node() + + @property + @abstractmethod + def joint_state(self) -> MultiDOFJointTrajectoryPoint: + """Get the current joint state to control. + + Returns: + The joint state. + """ + raise NotImplementedError("This method has not yet been implemented!") + + def handle_action_request_cb(self, goal_handle: ServerGoalHandle) -> GoalResponse: + """Accept or reject the action request. + + Args: + goal_handle: The action goal. + + Returns: + Whether or not the goal has been accepted. + """ + if not self.armed: + return GoalResponse.REJECT + + return GoalResponse.ACCEPT + + def check_joint_at_goal( + self, + current_state: MultiDOFJointTrajectoryPoint, + desired_state: MultiDOFJointTrajectoryPoint, + index: int, + ) -> bool: + """Check whether or not the joint is at its goal state. + + Args: + current_state: The current joint state. + desired_state: The desired joint state. + index: The joint index. + + Returns: + Whether or not the joint is at its goal. + """ + current_pos = controller_utils.convert_tf_to_array( + current_state.transforms[index] # type: ignore + ) + desired_pos = controller_utils.convert_tf_to_array( + desired_state.transforms[index] # type: ignore + ) + + position_at_goal = ( + np.linalg.norm(desired_pos[:3] - current_pos[:3]) + < self.goal_position_tolerance + ) + + def quat_to_array(quat: Quaternion): + return np.array([quat.x, quat.y, quat.z, quat.w]) + + current_rot = quat_to_array( + current_state.transforms[index].rotation # type: ignore + ) + desired_rot = quat_to_array( + desired_state.transforms[index].rotation # type: ignore + ) + + error_eps = ( + current_rot[3] * desired_rot[:3] + - desired_rot[3] * current_rot[:3] + + np.cross(current_rot[:3], desired_rot[:3]) + ) + + rotation_at_goal = ( + np.linalg.norm(np.hstack((error_eps))) < self.goal_orientation_tolerance + ) + + if ( + self.trajectory.trajectory.points[0].velocities # type: ignore + and self.trajectory.trajectory.points[-1].velocities # type: ignore + ): + current_vel = controller_utils.convert_twist_to_array( + current_state.velocities[index] # type: ignore + ) + desired_vel = controller_utils.convert_twist_to_array( + desired_state.velocities[index] # type: ignore + ) + + vel_error = np.linalg.norm(desired_vel - current_vel) # type: ignore + + vel_at_goal = ( + vel_error[:3] < self.goal_linear_velocity_tolerance + and vel_error[3:] < self.goal_angular_velocity_tolerance + ) + + return position_at_goal and rotation_at_goal and vel_at_goal + + return position_at_goal and rotation_at_goal + + def on_update(self) -> None: + """Return if no goal has been received.""" + if not self._running: + return + + sample = self.trajectory.sample(self.get_clock().now()) + + if sample is not None: + self.command = sample + else: + self.get_logger().info( + f"Failed to sample trajectory at time {self.get_clock().now()}" + ) + + async def execute_trajectory_cb( + self, goal_handle: ServerGoalHandle + ) -> FollowJointTrajectory.Result: + """Execute a joint trajectory. + + Args: + goal_handle: The desired trajectory to track. + + Returns: + The result of the trajectory execution. + """ + # Keep track of the current goal UID to handle preemption + uid = self.current_uid + 1 + self.current_uid += 1 + + result = FollowJointTrajectory.Result() + + rate = self.create_rate(1 / self.dt) + + with self.execute_trajectory_lock: + # Update the new trajectory + self.trajectory = MultiDOFTrajectory( + goal_handle.request.multi_dof_trajectory, + self.joint_state, + self.get_clock().now(), + ) + self._running = True + + while not all( + [ + self.check_joint_at_goal( + self.joint_state, + self.trajectory.trajectory.points[-1], # type: ignore + i, + ) + for i in range(len(self.joint_state.transforms)) + ] + ): + # The goal has been flagged as inactive + if not goal_handle.is_active: + self._running = False + result.error_code = FollowJointTrajectory.Result.INVALID_GOAL + result.error_string = "Goal aborted!" + goal_handle.abort() + return result + + end_goal_time = controller_utils.add_ros_time_duration_msg( + self.trajectory.starting_time, + self.trajectory.trajectory.points[-1].time_from_start, # type: ignore # noqa + ) + + # Failed to get to the goal waypoint in the tolerance time + if self.get_clock().now() - end_goal_time > self.goal_time_tolerance: + self._running = False + result.error_code = ( + FollowJointTrajectory.Result.GOAL_TOLERANCE_VIOLATED + ) + result.error_string = ( + "Failed to complete the goal within the provided time" + f" tolerance {self.goal_time_tolerance}" + ) + goal_handle.abort() + return result + + # Goal has been cancelled + if goal_handle.is_cancel_requested: + self._running = False + result.error_code = FollowJointTrajectory.Result.INVALID_GOAL + result.error_string = ( + "The current action was cancelled by a client!" + ) + goal_handle.canceled() + return result + + # Goal has been preempted by another goal + if uid != self.current_uid: + self._running = False + result.error_code = FollowJointTrajectory.Result.INVALID_GOAL + result.error_string = ( + "The current action was cancelled by a new incoming action" + ) + goal_handle.abort() + return result + + rate.sleep() + + # The goal was reached within all tolerances + self._running = False + result.error_code = FollowJointTrajectory.Result.SUCCESSFUL + result.error_string = "Successfully executed the provided trajectory" + goal_handle.succeed() + + return result diff --git a/angler_control/controllers/robot_trajectory_controller/trajectory.py b/angler_control/controllers/robot_trajectory_controller/trajectory.py new file mode 100644 index 0000000..1adf8be --- /dev/null +++ b/angler_control/controllers/robot_trajectory_controller/trajectory.py @@ -0,0 +1,244 @@ +# Copyright 2023, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +import controllers.robot_trajectory_controller.utils as controller_utils +import numpy as np +from geometry_msgs.msg import Transform, Twist +from rclpy.time import Duration, Time +from scipy.interpolate import CubicHermiteSpline, interp1d +from scipy.spatial.transform import Rotation as R +from trajectory_msgs.msg import MultiDOFJointTrajectory, MultiDOFJointTrajectoryPoint + + +class MultiDOFTrajectory: + """Wraps a MultiDOFJointTrajectory for sampling purposes. + + The MultiDOFTrajectory wrapper provides and interface for sampling points between + a discrete set of MultiDOFJointTrajectoryPoint messages. This helps provide + continuity between points. + """ + + def __init__( + self, + trajectory: MultiDOFJointTrajectory, + current_state: MultiDOFJointTrajectoryPoint, + current_time: Time, + ) -> None: + """Create a new MultiDOFJointTrajectory interface. + + Args: + trajectory: The trajectory to create an interface for. + current_state: The current state of the robot prior to beginning the + trajectory. + current_time: The current ROS timestamp. + """ + self.trajectory = trajectory + self.starting_state = current_state + self.starting_time = current_time + + def sample(self, t: Time) -> MultiDOFJointTrajectoryPoint | None: + """Sample the trajectory at a given timestamp. + + Args: + t: The timestamp to sample the trajectory at. + + Returns: + The point at the given timestamp if it exists; None, otherwise. + """ + if len(self.trajectory.points) <= 0: + return None + + # Attempting to sample before the initial state + if t < self.starting_time: + return None + + first_point = self.trajectory.points[0] # type: ignore + first_point_timestamp = controller_utils.add_ros_time_duration_msg( + self.starting_time, first_point.time_from_start + ) + + if t < first_point_timestamp: + return self.interpolate( + self.starting_state, + first_point, + self.starting_time, + first_point_timestamp, + t, + ) + + for i in range(len(self.trajectory.points) - 1): + point = self.trajectory.points[i] # type: ignore + next_point = self.trajectory.points[i + 1] # type: ignore + + t0 = controller_utils.add_ros_time_duration_msg( + self.starting_time, point.time_from_start + ) + t1 = controller_utils.add_ros_time_duration_msg( + self.starting_time, next_point.time_from_start + ) + + if t0 <= t < t1: + return self.interpolate(point, next_point, t0, t1, t) + + # We are sampling past the trajectory now; return the last point in the + # trajectory + return self.trajectory.points[-1] # type: ignore + + def interpolate( + self, + start_point: MultiDOFJointTrajectoryPoint, + end_point: MultiDOFJointTrajectoryPoint, + start_time: Time, + end_time: Time, + sample_time: Time, + ) -> MultiDOFJointTrajectoryPoint: + """Interpolate between two points and sample the resulting function. + + This method currently only supports interpolation between positions and + velocities. Interpolation between points with accelerations is not yet + supported. + + For position-only interfaces, linear interpolation is used. For position + + velocity interfaces, cubic Hermite spline interpolation is used. + + Args: + start_point: The segment starting point. + end_point: The segment end point. + start_time: The timestamp of the first point in the segment. + end_time: The timestamp of the second point in the segment. + sample_time: The timestamp at which to sample. + + Returns: + The identified point at the provided sample time. + """ + duration_from_start: Duration = sample_time - start_time + duration_between_points: Duration = end_time - start_time + + has_velocity = start_point.velocities and end_point.velocities + + # Check if the sample time is before the start point or if the sample time is + # after the end point + if ( + duration_from_start.nanoseconds < 0 + or duration_from_start.nanoseconds > duration_between_points.nanoseconds + ): + has_velocity = False + + result = MultiDOFJointTrajectoryPoint() + result.time_from_start.nanosec = sample_time + + if not has_velocity: + # Perform linear interpolation between points + for i in range(len(start_point.transforms)): + # Get the desired positions + start_tf: Transform = start_point.transforms[i] # type: ignore + end_tf: Transform = end_point.transforms[i] # type: ignore + + tfs = np.array( + [ + controller_utils.convert_tf_to_array(start_tf), + controller_utils.convert_tf_to_array(end_tf), + ] + ).T + t = np.array([start_time.nanoseconds, end_time.nanoseconds]) + + # Perform linear interpolation + interpolation = interp1d(t, tfs, kind="linear") + sample = interpolation(sample_time.nanoseconds) + + # Reconstruct the sample as a ROS message + sample_msg = Transform() + + ( + sample_msg.translation.x, + sample_msg.translation.y, + sample_msg.translation.z, + ) = sample[:3] + + ( + sample_msg.rotation.x, + sample_msg.rotation.y, + sample_msg.rotation.z, + sample_msg.rotation.w, + ) = R.from_euler("xyz", sample[3:]).as_quat() + + result.transforms.append(sample_msg) # type: ignore + elif has_velocity: + for i in range(len(start_point.transforms)): + # Get the desired positions + start_tf: Transform = start_point.transforms[i] # type: ignore + end_tf: Transform = end_point.transforms[i] # type: ignore + + # Get the desired velocities + start_vel = start_point.velocities[i] # type: ignore + end_vel = end_point.velocities[i] # type: ignore + + tfs = np.array( + [ + controller_utils.convert_tf_to_array(start_tf), + controller_utils.convert_tf_to_array(end_tf), + ] + ) + vels = np.array( + [ + controller_utils.convert_twist_to_array(start_vel), + controller_utils.convert_twist_to_array(end_vel), + ] + ) + t = np.array([start_time.nanoseconds, end_time.nanoseconds]) + + # Interpolate using a cubic hermite spline + spline = CubicHermiteSpline(t, tfs, vels) + sample_tf = spline(sample_time.nanoseconds) + sample_vel = spline(sample_time.nanoseconds, 1) + + # Now reconstruct the TF message + sample_tf_msg = Transform() + + ( + sample_tf_msg.translation.x, + sample_tf_msg.translation.y, + sample_tf_msg.translation.z, + ) = sample_tf[:3] + + ( + sample_tf_msg.rotation.x, + sample_tf_msg.rotation.y, + sample_tf_msg.rotation.z, + sample_tf_msg.rotation.w, + ) = R.from_euler("xyz", sample_tf[3:]).as_quat() + + # Reconstruct the velocity message + sample_twist_msg = Twist() + + ( + sample_twist_msg.linear.x, + sample_twist_msg.linear.y, + sample_twist_msg.linear.z, + sample_twist_msg.angular.x, + sample_twist_msg.angular.y, + sample_twist_msg.angular.z, + ) = sample_vel + + # Finish up by saving the samples + result.transforms.append(sample_tf_msg) # type: ignore + result.velocities.append(sample_twist_msg) # type: ignore + + return result diff --git a/angler_control/controllers/robot_trajectory_controller/utils.py b/angler_control/controllers/robot_trajectory_controller/utils.py new file mode 100644 index 0000000..1dc4518 --- /dev/null +++ b/angler_control/controllers/robot_trajectory_controller/utils.py @@ -0,0 +1,82 @@ +# Copyright 2023, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +import numpy as np +from builtin_interfaces.msg import Duration as DurationMsg +from geometry_msgs.msg import Transform, Twist +from rclpy.time import Time +from scipy.spatial.transform import Rotation as R + + +def add_ros_time_duration_msg(time: Time, duration: DurationMsg) -> Time: + """Add a ROS Time and a Duration message together to create a new Time. + + Args: + time: The Time addend. + duration: The Duration message addend. + + Returns: + The resulting sum as a new Time object. + """ + duration_nanoseconds = duration.sec * 10**9 + duration.nanosec + return Time( + nanoseconds=time.nanoseconds + duration_nanoseconds, clock_type=time.clock_type + ) + + +def convert_tf_to_array(tf: Transform) -> np.ndarray: + """Convert a Transform message to a numpy array. + + Args: + tf: The transform to convert. + + Returns: + The resulting numpy array. + """ + return np.array( + [ + tf.translation.x, + tf.translation.y, + tf.translation.z, + *R.from_quat( + [tf.rotation.x, tf.rotation.y, tf.rotation.z, tf.rotation.w] + ).as_euler("xyz"), + ] + ) + + +def convert_twist_to_array(twist: Twist) -> np.ndarray: + """Convert a Twist message to a numpy array. + + Args: + twist: The twist to convert. + + Returns: + The resulting numpy array. + """ + return np.array( + [ + twist.linear.x, + twist.linear.y, + twist.linear.z, + twist.angular.x, + twist.angular.z, + ] + ) diff --git a/angler_control/controllers/tpik_joint_trajectory_controller/__init__.py b/angler_control/controllers/tpik_joint_trajectory_controller/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/angler_control/controllers/tpik_joint_trajectory_controller/constraints.py b/angler_control/controllers/tpik_joint_trajectory_controller/constraints.py new file mode 100644 index 0000000..e96cafc --- /dev/null +++ b/angler_control/controllers/tpik_joint_trajectory_controller/constraints.py @@ -0,0 +1,175 @@ +# Copyright 2023, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +from abc import ABC, abstractmethod +from collections import namedtuple +from typing import Any + +import numpy as np + +Threshold = namedtuple("Threshold", ["lower", "upper"]) + + +class Constraint(ABC): + """Base class for defining a task.""" + + # The name of the task. This is used to reference the task at launch. + name: str = "" + + def __init__( + self, + gain: float, + priority: float, + ) -> None: + """Create a new task. + + Args: + gain: The task gain. + priority: The task priority in the task priority list. + """ + self.gain = gain + self.priority = priority + self.desired_value: Any | None = None # The desired task value + self.current_value: Any | None = None # The current task value + self.desired_value_dot: Any | None = None # The desired task dynamics + + @property + @abstractmethod + def jacobian(self) -> np.ndarray: + """Get the Jacobian for a task. + + Raises: + NotImplementedError: This method has not yet been implemented. + + Returns: + The task Jacobian. + """ + raise NotImplementedError("This method has not yet been implemented!") + + @property + @abstractmethod + def error(self) -> np.ndarray: + """Get the reference signal for a task. + + Raises: + NotImplementedError: This method has not yet been implemented. + + Returns: + The task reference signal. + """ + raise NotImplementedError("This method has not yet been implemented!") + + @abstractmethod + def update(self, *args, **kwargs) -> None: + """Update the task context. + + Raises: + NotImplementedError: This method has not yet been implemented. + """ + raise NotImplementedError("This method has not yet been implemented!") + + @staticmethod + @abstractmethod + def create_task_from_params(*args, **kwargs) -> Any: + """Create a new constraint from a configuration file. + + Raises: + NotImplementedError: This method has not yet been implemented. + + Returns: + A new constraint. + """ + raise NotImplementedError("This method has not yet been implemented!") + + +class EqualityConstraint(Constraint): + """Constraint which drives the system to a single value.""" + + def __init__(self, gain: float, priority: float) -> None: + """Create a new equality task. + + Args: + gain: The task gain to use for closed-loop control. + priority: The task priority. + """ + super().__init__(gain, priority) + + +class SetConstraint(Constraint): + """Constraint which limits a task value to a range.""" + + def __init__( + self, + physical_upper: float, + physical_lower: float, + safety_upper: float, + safety_lower: float, + activation_threshold: float, + gain: float, + priority: float, + ) -> None: + """Create a new set task. + + Args: + name: The name of the task. + physical_upper: The task physical upper bound. + physical_lower: The task physical lower bound. + safety_upper: The upper safety limit used to create a buffer from the + upper physical limit. + safety_lower: The lower safety limit used to create a buffer from the lower + physical limit. + activation_threshold: The distance from safety thresholds at which the task + should become activated. + gain: The task gain to use for closed-loop control. + priority: The task priority. + """ + super().__init__(gain, priority) + + self.physical_threshold = Threshold(physical_lower, physical_upper) + self.safety_threshold = Threshold(safety_lower, safety_upper) + self.activation_threshold = Threshold( + safety_lower + activation_threshold, safety_upper - activation_threshold + ) + self.active = False + + def set_task_active(self, value: float) -> bool: + """Enable/disable the task according to its current state. + + Note that this also sets the desired task value according to the provided + thresholds. + + Args: + value: The current value of the variable which the task applies to. + + Returns: + True if the task was activated; false, otherwise. + """ + active = False + + if value < self.activation_threshold.lower: + self.desired_value = self.safety_threshold.lower + active = True + elif value > self.activation_threshold.upper: + self.desired_value = self.safety_threshold.upper + active = True + + self.active = active + + return self.active diff --git a/angler_control/controllers/tpik_joint_trajectory_controller/hierarchy.py b/angler_control/controllers/tpik_joint_trajectory_controller/hierarchy.py new file mode 100644 index 0000000..c3f12e8 --- /dev/null +++ b/angler_control/controllers/tpik_joint_trajectory_controller/hierarchy.py @@ -0,0 +1,150 @@ +# Copyright 2023, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +import itertools +import os +from typing import Any + +import numpy as np +import yaml # type: ignore +from controllers.tpik_joint_trajectory_controller.constraints import ( + Constraint, + EqualityConstraint, + SetConstraint, +) +from controllers.tpik_joint_trajectory_controller.tasks import task_library + + +class TaskHierarchy: + """Interface for loading and managing a task hierarchy.""" + + def __init__(self, tasks: list[Constraint]) -> None: + """Create a new task hierarchy.""" + # Make sure that the tasks are sorted according to their priority + self.tasks = sorted(tasks, key=lambda task: task.priority) + + @property + def active_task_hierarchy(self) -> list[Constraint]: + """Get the set of activated tasks, ordered from highest priority to lowest. + + Returns: + The active task hierarchy. + """ + return [ + task + for task in self.tasks + if (isinstance(task, SetConstraint) and task.active) + or isinstance(task, EqualityConstraint) + ] + + @property + def hierarchies(self) -> list[list[SetConstraint | EqualityConstraint]]: + """Get the set of all potential mode combinations for the active task hierarchy. + + Returns: + The active task hierarchy modes. + """ + n_set_tasks = len( + [ + set_task + for set_task in self.active_task_hierarchy + if isinstance(set_task, SetConstraint) + ] + ) + + # Get all possible combinations of modes + combinations = list(itertools.product([0, 1], repeat=n_set_tasks)) + + # Sort the combinations according to their restrictiveness: those with the most + # 1's will appear at lower indices + combinations = sorted(combinations, key=lambda row: -np.sum(row)) + + hierarchy_combinations: list[list[SetConstraint | EqualityConstraint]] = [] + + # If there are no set-based tasks active, then just return the equality tasks + if not combinations: + hierarchy_combinations.append( + [ + eq_task + for eq_task in self.tasks + if isinstance(eq_task, EqualityConstraint) + ] + ) + return hierarchy_combinations + + # Generate a set of all potential hierarchy combinations using the mode map + for combination in combinations: + # Keep track of which set-based task we are referencing + set_task_idx = 0 + + hierarchy: list[SetConstraint | EqualityConstraint] = [] + + for task in self.active_task_hierarchy: + if isinstance(task, SetConstraint): + if combination[set_task_idx]: + hierarchy.append(task) + set_task_idx += 1 + elif isinstance(task, EqualityConstraint): + hierarchy.append(task) + + # hierarchy + hierarchy_combinations.append(hierarchy) + + return hierarchy_combinations + + @staticmethod + def load_tasks_from_path(filepath: str): + """Load the desired tasks from a YAML configuration file. + + Args: + filepath: The full path to the YAML configuration file. + + Raises: + ValueError: Invalid file path provide. + ValueError: Invalid task configuration provided. + """ + if not os.path.isfile(filepath): + raise ValueError( + "The provided task configuration file is not valid. Please ensure that" + " the path is defined correctly and is visible to ROS at runtime:" + f" {filepath}" + ) + + with open(filepath, encoding="utf-8") as task_f: + hierarchy: list[dict[str, Any]] = yaml.safe_load(task_f) + + tasks: list[Constraint] = [] + + for task in hierarchy: + name = task.pop("task") + + if name is None or name not in task_library.keys(): + raise ValueError( + "The provided task hierarchy contains an invalid task" + f" type: {name}" + ) + + constraint = task_library[name].create_task_from_params( # type: ignore # noqa + **task, + ) + + tasks.append(constraint) + + return TaskHierarchy(tasks) diff --git a/angler_control/controllers/tpik_joint_trajectory_controller/tasks.py b/angler_control/controllers/tpik_joint_trajectory_controller/tasks.py new file mode 100644 index 0000000..6ccfcc4 --- /dev/null +++ b/angler_control/controllers/tpik_joint_trajectory_controller/tasks.py @@ -0,0 +1,649 @@ +# Copyright 2023, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +from typing import Any + +import numpy as np +from controllers.tpik_joint_trajectory_controller.constraints import ( + EqualityConstraint, + SetConstraint, +) +from geometry_msgs.msg import Quaternion, Transform +from scipy.spatial.transform import Rotation as R + +import angler_kinematics.jacobian as jacobian # type: ignore + + +def calculate_quaternion_error(desired: Quaternion, actual: Quaternion) -> np.ndarray: + """Calculate the error between two quaternions. + + Args: + desired: The desired orientation. + actual: The actual orientation. + + Returns: + The angle between the two quaternions as a quaternion. + """ + + def quat_to_array(quat: Quaternion): + return np.array([quat.x, quat.y, quat.z, quat.w]) + + quat_d = quat_to_array(desired) + quat_a = quat_to_array(actual) + + error_eps = ( + quat_a[3] * quat_d[:3] + - quat_d[3] * quat_a[:3] + + np.cross(quat_a[:3], quat_d[:3]) + ) + error_lambda = quat_d[3] * quat_a[3] + quat_d[:3].T @ quat_a[:3] + + return np.hstack((error_eps, error_lambda)) + + +class VehicleRollPitchTask(EqualityConstraint): + """Control the vehicle roll and pitch angles.""" + + name = "vehicle_roll_pitch_eq" + + def __init__(self, gain: float, priority: float) -> None: + """Create a new vehicle roll pitch task. + + Args: + gain: The task gain. + priority: The task priority. + """ + super().__init__(gain, priority) + + self.desired_value = np.zeros((2, 1)) + self.current_value = np.zeros((2, 1)) + self.n_manipulator_joints = 0 + self.rot_map_to_base = Quaternion() + + @staticmethod + def create_task_from_params( + gain: float, + priority: float, + roll: float | None = None, + pitch: float | None = None, + ) -> Any: + """Create a vehicle roll-pitch task from a set of parameters. + + Args: + gain: The task gain. + priority: The task priority. + roll: The desired roll angle, if known beforehand. Defaults to None. + pitch: The desired pitch angle, if known beforehand. Defaults to None. + + Returns: + A vehicle roll-pitch task. + """ + task = VehicleRollPitchTask(gain, priority) + + if None not in [roll, pitch]: + task.desired_value = np.array([roll, pitch]).reshape((2, 1)) + + return task + + def update( + self, + current_rot: Quaternion, + desired_rot: Quaternion | None = None, + n_manipulator_joints: int | None = None, + ) -> None: + """Update the task context. + + Args: + current_rot: The current vehicle orientation in the inertial (map) + frame. + desired_rot: The desired vehicle orientation. The desired roll and + pitch angles will be extracted from the rotation. Defaults to None. + n_manipulator_joints: The total number of joints that the manipulator has. + Defaults to None. + """ + self.rot_map_to_base = current_rot + + # Remove the yaw from the quaternions and get the roll, pitch angles + cr = R.from_quat( + [ + current_rot.x, + current_rot.y, + current_rot.z, + current_rot.w, + ] + ) + current_roll, current_pitch, _ = cr.as_euler("xyz") + self.current_value = np.array([current_roll, current_pitch]).reshape((2, 1)) + + if desired_rot is not None: + dr = R.from_quat( + [ + desired_rot.x, + desired_rot.y, + desired_rot.z, + desired_rot.w, + ] + ) + desired_roll, desired_pitch, _ = dr.as_euler("xyz") + self.desired_rotation_rotation = np.array( + [desired_roll, desired_pitch] + ).reshape((2, 1)) + + # The number of manipulator joints doesn't need to change every update + if n_manipulator_joints is not None: + self.n_manipulator_joints = n_manipulator_joints + + @property + def jacobian(self) -> np.ndarray: + """Calculate the vehicle roll-pitch task Jacobian. + + Returns: + The Jacobian for a task which controls the vehicle roll and pitch. + """ + J = np.zeros((2, 6 + self.n_manipulator_joints)) + J[:, :6] = jacobian.calculate_vehicle_roll_pitch_jacobian(self.rot_map_to_base) + + return J + + @property + def error(self) -> np.ndarray: + """Calculate the reference signal for the vehicle roll-pitch task. + + Returns: + The reference signal. + """ + return self.desired_value - self.current_value # type: ignore + + +class VehicleYawTask(EqualityConstraint): + """Control the vehicle yaw angle.""" + + name = "vehicle_yaw_eq" + + def __init__(self, gain: float, priority: float) -> None: + """Create a new vehicle yaw task. + + Args: + gain: The task gain. + priority: The task priority. + """ + super().__init__(gain, priority) + + self.current_value = np.zeros((1, 1)) + self.desired_value = np.zeros((1, 1)) + self.rot_map_to_base = Quaternion() + self.n_manipulator_joints = 0 + + @staticmethod + def create_task_from_params( + gain: float, priority: float, yaw: float | None = None + ) -> Any: + """Create a new vehicle yaw task from a set of parameters. + + Args: + gain: The task gain. + priority: The task priority. + yaw: The desired vehicle yaw, if known beforehand. Defaults to None. + """ + task = VehicleYawTask(gain, priority) + + if yaw is not None: + task.desired_value = np.array([yaw]) + + return task + + def update( + self, + current_rot: Quaternion, + desired_rot: Quaternion | None = None, + n_manipulator_joints: int | None = None, + ) -> None: + """Update the context for the yaw task. + + Args: + current_rot: The current vehicle orientation in the inertial (map) + frame. + desired_rot: The desired vehicle orientation--the desired yaw angle + will be extracted from the quaternion. Defaults to None. + n_manipulator_joints: The total number of joints that the manipulator has. + Defaults to None. + """ + self.rot_map_to_base = current_rot + + # Remove the roll, pitch from the quaternion and get the yaw angle + cr = R.from_quat( + [ + current_rot.x, + current_rot.y, + current_rot.z, + current_rot.w, + ] + ) + _, _, current_yaw = cr.as_euler("xyz") + self.current_value = np.array([current_yaw]) + + if desired_rot is not None: + dr = R.from_quat( + [ + desired_rot.x, + desired_rot.y, + desired_rot.z, + desired_rot.w, + ] + ) + _, _, desired_yaw = dr.as_euler("xyz") + self.desired_value = np.array([desired_yaw]) + + # The total number of manipulator joints doesn't need to be updated at each + # iteration + if n_manipulator_joints is not None: + self.n_manipulator_joints = n_manipulator_joints + + @property + def jacobian(self) -> np.ndarray: + """Calculate the vehicle yaw task Jacobian. + + Returns: + The Jacobian for a task which controls the vehicle yaw. + """ + J = np.zeros((1, 6 + self.n_manipulator_joints)) + J[:, :6] = jacobian.calculate_vehicle_yaw_jacobian(self.rot_map_to_base) + + return J + + @property + def error(self) -> np.ndarray: + """Calculate the reference signal for the vehicle yaw task. + + Returns: + The reference signal. + """ + return self.desired_value - self.current_value # type: ignore + + +class EndEffectorPoseTask(EqualityConstraint): + """Control the end-effector pose.""" + + name = "end_effector_pose_eq" + + def __init__(self, gain: float, priority: float) -> None: + """Create a new end-effector pose task. + + Args: + gain: The task gain. + priority: The task priority. + """ + super().__init__(gain, priority) + + self.serial_chain: Any | None = None + self.joint_angles = np.zeros((1, 1)) + self.tf_map_to_base = Transform() + self.tf_base_to_manipulator_base = Transform() + self.tf_manipulator_base_to_ee = Transform() + self.current_value = Transform() + self.desired_value = Transform() + + @staticmethod + def create_task_from_params( + gain: float, + priority: float, + x: float | None = None, + y: float | None = None, + z: float | None = None, + roll: float | None = None, + pitch: float | None = None, + yaw: float | None = None, + ) -> Any: + """Create a new end-effector pose task from a set of parameters. + + Args: + gain: The task gain. + priority: The task priority. + x: The desired end-effector x position in the inertial (map) frame. Defaults + to None. + y: The desired end-effector y position in the inertial (map) frame. Defaults + to None. + z: The desired end-effector z position in the inertial (map) frame. Defaults + to None. + roll: The desired end-effector roll in the inertial (map) frame. Defaults + to None. + pitch: The desired end-effector pitch in the inertial (map) frame. Defaults + to None. + yaw: The desired end-effector yaw in the inertial (map) frame. Defaults + to None. + + Returns: + A new end-effector pose task. + """ + task = EndEffectorPoseTask(gain, priority) + + if None not in [x, y, z, roll, pitch, yaw]: + task.desired_value.translation.x = x # type: ignore + task.desired_value.translation.y = y # type: ignore + task.desired_value.translation.z = z # type: ignore + + ( + task.desired_value.rotation.x, # type: ignore + task.desired_value.rotation.y, # type: ignore + task.desired_value.rotation.z, # type: ignore + task.desired_value.rotation.w, # type: ignore + ) = R.from_euler( + "xyz", [roll, pitch, yaw] # type: ignore + ).as_quat() + + return task + + def update( + self, + joint_angles: np.ndarray, + tf_map_to_ee: Transform, + tf_map_to_base: Transform, + tf_base_to_manipulator_base: Transform, + tf_manipulator_base_to_ee: Transform, + serial_chain: Any | None = None, + desired_pose: Transform | None = None, + ) -> None: + """Update the current context of the end-effector pose task. + + Args: + joint_angles: The current manipulator joint angles. + current_pose: The current vehicle pose in the inertial (map) frame. + tf_map_to_ee: The transformation from the inertial (map) frame to the + end-effector frame. + tf_map_to_base: The transformation from the inertial (map) frame to the + vehicle base frame. + tf_base_to_manipulator_base: The transformation from the vehicle base frame + to the manipulator base frame. + tf_manipulator_base_to_ee: The transformation from the manipulator base + frame to the end-effector frame. + serial_chain: The manipulator kinpy serial chain. Defaults to None. + desired_pose: The desired end-effector pose. Defaults to None. + """ + self.joint_angles = joint_angles + self.current_value = tf_map_to_ee + self.tf_map_to_base = tf_map_to_base + self.tf_base_to_manipulator_base = tf_base_to_manipulator_base + self.tf_manipulator_base_to_ee = tf_manipulator_base_to_ee + + if serial_chain is not None: + self.serial_chain = serial_chain + + if desired_pose is not None: + self.desired_value = desired_pose + + @property + def jacobian(self) -> np.ndarray: + """Calculate the UVMS Jacobian. + + Returns: + The UVMS Jacobian. + """ + return jacobian.calculate_uvms_jacobian( + self.tf_base_to_manipulator_base, + self.tf_manipulator_base_to_ee, + self.tf_map_to_base, + len(self.joint_angles), + self.serial_chain, + self.joint_angles, + ) + + @property + def error(self) -> np.ndarray: + """Calculate the reference signal for the controller. + + Returns: + The reference signal to use to drive the system to the desired end-effector + pose. + """ + pos_error = np.array( + [ + self.desired_value.translation.x - self.current_value.translation.x, # type: ignore # noqa + self.desired_value.translation.y - self.current_value.translation.y, # type: ignore # noqa + self.desired_value.translation.z - self.current_value.translation.z, # type: ignore # noqa + ] + ).reshape((3, 1)) + ori_error = calculate_quaternion_error( + self.desired_value.rotation, self.current_value.rotation # type: ignore + )[:3].reshape((3, 1)) + + return np.vstack((pos_error, ori_error)) + + +class ManipulatorJointLimitTask(SetConstraint): + """Limit a manipulator joint angle to a desired range.""" + + name = "joint_limit_set" + + def __init__( + self, + physical_upper: float, + physical_lower: float, + safety_upper: float, + safety_lower: float, + activation_threshold: float, + gain: float, + priority: float, + joint: int, + ) -> None: + """Create a new joint limit set constraint. + + Args: + physical_upper: The maximum joint angle. + physical_lower: The minimum joint angle. + safety_upper: The upper safety limit used to create a buffer from the + upper physical limit. + safety_lower: The lower safety limit used to create a buffer from the lower + physical limit. + activation_threshold: The distance from safety thresholds at which the task + should become activated. + gain: The constraint gain to use for closed-loop control. + priority: The constraint priority. + joint: The joint that the constraint applies to. + """ + super().__init__( + physical_upper, + physical_lower, + safety_upper, + safety_lower, + activation_threshold, + gain, + priority, + ) + + self.joint = joint + self.n_manipulator_joints = 0 + self.current_value = 0.0 + self.desired_value = 0.0 + + @staticmethod + def create_task_from_params( + physical_upper: float, + physical_lower: float, + safety_upper: float, + safety_lower: float, + activation_threshold: float, + gain: float, + priority: float, + joint: int, + ) -> Any: + """Create a new joint limit task. + + Args: + physical_upper: The maximum joint angle. + physical_lower: The minimum joint angle. + safety_upper: The upper safety limit used to create a buffer from the + upper physical limit. + safety_lower: The lower safety limit used to create a buffer from the lower + physical limit. + activation_threshold: The distance from safety thresholds at which the task + should become activated. + gain: The constraint gain to use for closed-loop control. + priority: The constraint priority. + joint: The joint that the constraint applies to. + """ + return ManipulatorJointLimitTask( + physical_upper, + physical_lower, + safety_upper, + safety_lower, + activation_threshold, + gain, + priority, + joint, + ) + + def update( + self, current_angle: float, n_manipulator_joints: int | None = None + ) -> None: + """Update the current context of the joint limit task. + + Args: + current_angle: The current joint angle. + n_manipulator_joints: The total number of joints that the manipulator has. + Defaults to None. + """ + self.current_value = current_angle + + if n_manipulator_joints is not None: + self.n_manipulator_joints = n_manipulator_joints + + @property + def jacobian(self) -> np.ndarray: + """Calculate the Jacobian for a joint limit. + + Args: + num_manipulator_joints: The total number of joints that the manipulator has. + + Returns: + The joint limit Jacobian. + """ + J = np.zeros((1, 6 + self.n_manipulator_joints)) + J[0, self.joint] = 1 + + return J + + @property + def error(self) -> np.ndarray: + """Calculate the reference signal for the joint limit task. + + Returns: + The reference signal to use to drive the joint back to a safe range. + """ + return np.array([self.desired_value - self.current_value]) # type: ignore + + +class ManipulatorJointConfigurationTask(EqualityConstraint): + """Control the joint angles of the manipulator.""" + + name = "manipulator_configuration_eq" + + def __init__(self, gain: float, priority: float) -> None: + """Create a new manipulator configuration task. + + Args: + gain: The task gain. + priority: The task priority. + """ + super().__init__(gain, priority) + + self.current_value = np.zeros((1, 1)) + self.desired_value = np.zeros((1, 1)) + self.n_manipulator_joints = 0 + + @staticmethod + def create_task_from_params( + gain: float, priority: float, desired_joint_angles: list[float] | None + ) -> Any: + """Create a new manipulator configuration task from a set of parameters. + + Args: + gain: The task gain. + priority: The task priority. + desired_joint_angles: The desired joint angles. Defaults to None. + + Returns: + A new manipulator configuration task. + """ + task = ManipulatorJointConfigurationTask(gain, priority) + + if desired_joint_angles is not None: + task.desired_value = np.array(desired_joint_angles).reshape( + (len(desired_joint_angles), 1) + ) + + return task + + def update( + self, + current_joint_angles: np.ndarray, + desired_joint_angles: np.ndarray | None = None, + n_manipulator_joints: int | None = None, + ) -> None: + """Update the current context for the manipulator configuration task. + + Args: + current_joint_angles: The current joint angles. + desired_joint_angles: The desired joint angles. Defaults to None. + n_manipulator_joints: The total number of joints that the manipulator has. + Defaults to None. + """ + self.current_value = current_joint_angles + + if desired_joint_angles is not None: + self.desired_value = desired_joint_angles + + if n_manipulator_joints is not None: + self.n_manipulator_joints = n_manipulator_joints + + @property + def jacobian(self) -> np.ndarray: + """Calculate the Jacobian for the manipulator joint configuration task. + + Returns: + The joint configuration Jacobian. + """ + J = np.zeros((self.n_manipulator_joints, 6 + self.n_manipulator_joints)) + J[0:, 6:] = jacobian.calculate_joint_configuration_jacobian( + self.n_manipulator_joints + ) + + return J + + @property + def error(self) -> np.ndarray: + """Calculate the reference for the joint configuration task. + + Returns: + The joint configuration reference signal. + """ + return self.desired_value - self.current_value # type: ignore + + +# Maintain a dictionary of tasks so that it's easier to generate them in the hierarchy +task_library = { + task.name: task # type: ignore + for task in [ + EndEffectorPoseTask, + ManipulatorJointLimitTask, + ManipulatorJointConfigurationTask, + VehicleRollPitchTask, + VehicleYawTask, + ] +} diff --git a/angler_control/controllers/tpik_joint_trajectory_controller/tpik_controller.py b/angler_control/controllers/tpik_joint_trajectory_controller/tpik_controller.py new file mode 100644 index 0000000..0277453 --- /dev/null +++ b/angler_control/controllers/tpik_joint_trajectory_controller/tpik_controller.py @@ -0,0 +1,482 @@ +# Copyright 2023, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +import kinpy +import numpy as np +import rclpy +from controllers.robot_trajectory_controller.base_multidof_joint_trajectory_controller import ( # noqa + BaseMultiDOFJointTrajectoryController, +) +from controllers.tpik_joint_trajectory_controller.constraints import ( + EqualityConstraint, + SetConstraint, +) +from controllers.tpik_joint_trajectory_controller.hierarchy import TaskHierarchy +from controllers.tpik_joint_trajectory_controller.tasks import ( + EndEffectorPoseTask, + ManipulatorJointConfigurationTask, + ManipulatorJointLimitTask, + VehicleRollPitchTask, + VehicleYawTask, +) +from geometry_msgs.msg import Transform, Twist +from moveit_msgs.msg import RobotState, RobotTrajectory +from rclpy.duration import Duration +from rclpy.executors import MultiThreadedExecutor +from rclpy.qos import QoSDurabilityPolicy, QoSProfile +from std_msgs.msg import String +from tf2_ros import TransformException # type: ignore +from tf2_ros import Time +from tf2_ros.buffer import Buffer +from tf2_ros.transform_listener import TransformListener +from trajectory_msgs.msg import JointTrajectoryPoint, MultiDOFJointTrajectoryPoint + + +def calculate_nullspace(augmented_jacobian: np.ndarray) -> np.ndarray: + """Calculate the nullspace of the augmented Jacobian. + + Args: + augmented_jacobian: The augmented Jacobian whose nullspace will be projected + into. + + Returns: + The nullspace of the augmented Jacobian. + """ + return ( + np.eye(augmented_jacobian.shape[1]) + - np.linalg.pinv(augmented_jacobian) @ augmented_jacobian + ) + + +def construct_augmented_jacobian(jacobians: list[np.ndarray]) -> np.ndarray: + """Construct an augmented Jacobian matrix. + + The augmented Jacobian matrix is given as: + + J_i^A = [J_1, J_2, ..., J_i]^T + + Args: + jacobians: The Jacobian matrices which should be used to construct the + augmented Jacobian. + + Returns: + The resulting augmented Jacobian. + """ + return np.vstack(tuple(jacobians)) + + +class TpikController(BaseMultiDOFJointTrajectoryController): + """Set-based task-priority inverse kinematic (TPIK) controller. + + The TPIK controller is responsible for calculating kinematically feasible system + velocities subject to equality and set-based constraints. + + Only high-priority set-based tasks have been implemented at the moment. + """ + + def __init__(self) -> None: + """Create a new TPIK node.""" + super().__init__("tpik_joint_trajectory_controller") + + self.declare_parameter("hierarchy_file", "") + self.declare_parameters( + "frames", + parameters=[ # type: ignore + ("inertial_frame", "map"), + ("base_frame", "base_link"), + ("manipulator_base_link", "alpha_base_link"), + ("manipulator_end_link", "alpha_standard_jaws_tool"), + ], + ) + + # Don't run the controller until everything has been properly initialized + self._description_received = False + self._init_state_received = False + + # Keep track of the frames + self.inertial_frame = ( + self.get_parameter("frames.inertial_frame") + .get_parameter_value() + .string_value + ) + self.base_frame = ( + self.get_parameter("frames.base_frame").get_parameter_value().string_value + ) + self.manipulator_base_frame = ( + self.get_parameter("frames.manipulator_base_link") + .get_parameter_value() + .string_value + ) + self.manipulator_ee_frame = ( + self.get_parameter("frames.manipulator_end_link") + .get_parameter_value() + .string_value + ) + + # Get the constraints + self.hierarchy = TaskHierarchy.load_tasks_from_path( + self.get_parameter("hierarchy_file").get_parameter_value().string_value + ) + + # TF2 + self.tf_buffer = Buffer(cache_time=Duration(seconds=1)) + self.tf_listener = TransformListener(self.tf_buffer, self) + + # Subscribers + self.robot_description_sub = self.create_subscription( + String, + "/robot_description", + self.read_robot_description_cb, + QoSProfile(depth=5, durability=QoSDurabilityPolicy.TRANSIENT_LOCAL), + ) + + # Publishers + self.robot_trajectory_pub = self.create_publisher( + RobotTrajectory, "/angler/robot_trajectory", 1 + ) + + @property + def joint_state(self) -> MultiDOFJointTrajectoryPoint: + """Get the end-effector pose in the inertial frame. + + We control the end-effector state with this particular variation of the + controller. + + Returns: + The end-effector pose in the inertial frame. + """ + point = MultiDOFJointTrajectoryPoint() + + # Control the end-effector pose + try: + tf_map_to_ee = self.tf_buffer.lookup_transform( + self.inertial_frame, + self.manipulator_ee_frame, + Time(), + Duration(nanoseconds=10000000), # 10 ms + ) + except TransformException as e: + self.get_logger().warning( + "Failed to get the current transformation from the map to end-effector" + f"frame: {e}" + ) + return point + + point.transforms.append(tf_map_to_ee.transform) # type: ignore + return point + + def on_arm(self) -> bool: + """Make sure that the system has been initialized before enabling arming. + + The controller is considered initialized when the robot description and initial + state have been received. + + Returns: + Whether or not the system has been fully initialized. + """ + return self._description_received and self._init_state_received + + def read_robot_description_cb(self, robot_description: String) -> None: + """Create a kinpy serial chain from the robot description. + + Args: + robot_description: The robot description message. + """ + end_link = ( + self.get_parameter("frames.manipulator_end_link") + .get_parameter_value() + .string_value + ) + start_link = ( + self.get_parameter("frames.manipulator_base_link") + .get_parameter_value() + .string_value + ) + + self.serial_chain = kinpy.build_serial_chain_from_urdf( + robot_description.data, + end_link_name=end_link, + root_link_name=start_link, + ) + + self.n_manipulator_joints = len(self.serial_chain.get_joint_parameter_names()) + + # Set the relevant task properties while we are here so that we don't have to + # do it later + for task in self.hierarchy.tasks: + if hasattr(task, "n_manipulator_joints"): + task.n_manipulator_joints = self.n_manipulator_joints # type: ignore + + if hasattr(task, "serial_chain"): + task.serial_chain = self.serial_chain # type: ignore + + self._description_received = True + self.get_logger().debug("Robot description received!") + + def calculate_system_velocity( + self, hierarchy: list[EqualityConstraint | SetConstraint] + ) -> np.ndarray: + """Calculate the system velocities using TPIK control. + + Args: + hierarchy: The task hierarchy to use when calculating the system velocities. + """ + # Set the initial recursion variables + system_velocities = np.zeros((6 + self.n_manipulator_joints, 1)) + jacobians: list[np.ndarray] = [] + + # The initial nullspace matrix is the identity matrix + # make sure that we use the correct dimensions for it + nullspace = np.eye(hierarchy[0].jacobian.shape[1]) + + def calculate_system_velocity_rec( + hierarchy: list[EqualityConstraint | SetConstraint], + system_velocities: np.ndarray, + jacobians: list[np.ndarray], + nullspace: np.ndarray, + ) -> np.ndarray: + if not hierarchy: + return system_velocities + else: + t = hierarchy[0] + J = t.jacobian + e = t.error + K = t.gain * np.eye(e.shape[0]) + + # Use the desired time derivative if the task is time-varying, + # otherwise use a regularization task + if t.desired_value_dot is not None: + t_dot = t.desired_value_dot + else: + t_dot = np.zeros(e.shape) + + updated_system_velocities = np.linalg.pinv(J @ nullspace) @ ( + t_dot + K @ e - J @ system_velocities + ) + + jacobians.append(J) # type: ignore + updated_nullspace = calculate_nullspace( + construct_augmented_jacobian(jacobians) # type: ignore + ) + + return updated_system_velocities + calculate_system_velocity_rec( + hierarchy[1:], + updated_system_velocities, + jacobians, + updated_nullspace, + ) + + return calculate_system_velocity_rec( + hierarchy, system_velocities, jacobians, nullspace + ) + + def on_update(self) -> None: + """Calculate the desired system velocities using set-based TPIK.""" + # Update the joint command first + super().on_update() + + hierarchies = self.hierarchy.hierarchies + + # Set the desired trajectory value + for hierarchy in hierarchies: + for task in hierarchy: + if isinstance(task, EndEffectorPoseTask) and self.command is not None: + task.desired_value = self.command.transforms[0] # type: ignore + + # Check whether or not the hierarchies have any set tasks + has_set_tasks = any( + [any([isinstance(y, SetConstraint) for y in x]) for x in hierarchies] + ) + + if not has_set_tasks: + # If there are only equality tasks in the hierarchies, then there will + # only be one potential solution + system_velocities = self.calculate_system_velocity(hierarchies[0]) + else: + # Otherwise, we need to check all potential solutions to find the best + solutions = [] + + for hierarchy in hierarchies: + solution = self.calculate_system_velocity(hierarchy) + + set_tasks = [ + set_task + for set_task in self.hierarchy.active_task_hierarchy + if isinstance(set_task, SetConstraint) + ] + + # Check whether or not the solution will drive the system to the safe + # set, this should always have one solution (all set tasks are + # activated) + satisfied = [] + for set_task in set_tasks: + projection = set_task.jacobian @ solution + + if ( + set_task.current_value < set_task.activation_threshold.lower + and projection > 0 + ): + satisfied.append(True) + elif ( + set_task.current_value > set_task.activation_threshold.upper + and projection < 0 + ): + satisfied.append(True) + elif np.isclose(projection, 0.0, atol=0.02): # 1 degree + satisfied.append(True) + else: + satisfied.append(False) + + if all(satisfied): + solutions.append(solution) + + # Select the solution with the highest norm (this is the least conservative + # solution) + try: + system_velocities = solutions[ + np.argmax([np.linalg.norm(x) for x in solutions]) + ] + except Exception as e: + self.get_logger().debug( + "Unable to calculate valid system velocities from the current" + f" hierarchy: {e}" + ) + return + + self.robot_trajectory_pub.publish( + self.get_robot_trajectory_from_velocities(system_velocities) + ) + + def get_robot_trajectory_from_velocities( + self, system_velocities: np.ndarray + ) -> RobotTrajectory: + """Create a RobotTrajectory message from the system velocities. + + Args: + system_velocities: The desired system velocites. + + Returns: + The resulting RobotTrajectory message. + """ + trajectory = RobotTrajectory() + + # Create the vehicle command + vehicle_cmd = MultiDOFJointTrajectoryPoint() + vehicle_vel = Twist() + + ( + vehicle_vel.linear.x, + vehicle_vel.linear.y, + vehicle_vel.linear.z, + vehicle_vel.angular.x, + vehicle_vel.angular.y, + vehicle_vel.angular.z, + ) = system_velocities[:6, 0] + + vehicle_cmd.velocities = [vehicle_vel] + + # Create the manipulator command + arm_cmd = JointTrajectoryPoint() + arm_cmd.velocities = [0.0] + list(system_velocities[6:, 0])[::-1] + + # Create the full system command + trajectory.multi_dof_joint_trajectory.joint_names = ["vehicle"] + # TODO(evan): don't hard-code this + trajectory.joint_trajectory.joint_names = [ + "alpha_axis_a" + ] + self.serial_chain.get_joint_parameter_names()[::-1] + trajectory.multi_dof_joint_trajectory.points = [vehicle_cmd] + trajectory.joint_trajectory.points = [arm_cmd] + + return trajectory + + def on_robot_state_update(self, state: RobotState) -> None: + """Update the current task contexts. + + Args: + state: The current state of the robot. + """ + # Indicate that the initial robot state has been received + if not self._init_state_received: + self._init_state_received = True + + # Get some of the more commonly used state variables + # The joint state includes the linear jaws joint angle. We exclude this, + # because we aren't controlling it within this specific framework. + joint_angles = np.array(state.joint_state.position[1:][::-1]) + vehicle_pose: Transform = state.multi_dof_joint_state.transforms[0] # type: ignore # noqa + + for task in self.hierarchy.tasks: + if isinstance(task, ManipulatorJointLimitTask): + joint_angle = joint_angles[task.joint - 6] + task.update(joint_angle) + task.set_task_active(joint_angle) + elif isinstance(task, VehicleRollPitchTask): + task.update(vehicle_pose.rotation) + elif isinstance(task, ManipulatorJointConfigurationTask): + task.update(joint_angles.reshape((len(joint_angles), 1))) + elif isinstance(task, VehicleYawTask): + task.update(vehicle_pose.rotation) + elif isinstance(task, EndEffectorPoseTask): + # Get the necessary transforms + try: + tf_map_to_ee = self.tf_buffer.lookup_transform( + self.inertial_frame, + self.manipulator_ee_frame, + Time(), + Duration(nanoseconds=10000000), # 10 ms + ) + tf_base_to_manipulator_base = self.tf_buffer.lookup_transform( + self.base_frame, + self.manipulator_base_frame, + Time(), + Duration(nanoseconds=10000000), # 10 ms + ) + tf_manipulator_base_to_ee = self.tf_buffer.lookup_transform( + self.manipulator_base_frame, + self.manipulator_ee_frame, + Time(), + Duration(nanoseconds=10000000), # 10 ms + ) + except TransformException as e: + self.get_logger().error( + f"Unable to update the end-effector pose task: {e}" + ) + continue + + task.update( + joint_angles, + tf_map_to_ee.transform, + vehicle_pose, + tf_base_to_manipulator_base.transform, + tf_manipulator_base_to_ee.transform, + ) + + +def main(args: list[str] | None = None): + """Run the TPIK controller.""" + rclpy.init(args=args) + + node = TpikController() + executor = MultiThreadedExecutor() + rclpy.spin(node, executor) + + node.destroy_node() + rclpy.shutdown() diff --git a/angler_control/launch/control.launch.py b/angler_control/launch/control.launch.py new file mode 100644 index 0000000..24fd30d --- /dev/null +++ b/angler_control/launch/control.launch.py @@ -0,0 +1,82 @@ +# Copyright 2023, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.conditions import IfCondition +from launch.substitutions import LaunchConfiguration, PythonExpression +from launch_ros.actions import Node + + +def generate_launch_description() -> LaunchDescription: + """Generate a launch description for the Angler control interface. + + Returns: + LaunchDescription: The Angler control launch description. + """ + args = [ + DeclareLaunchArgument( + "config_filepath", + default_value=None, + description="The path to the configuration YAML file.", + ), + DeclareLaunchArgument( + "hierarchy_file", + default_value=None, + description="The path to the TPIK task hierarchy.", + ), + DeclareLaunchArgument( + "use_sim_time", + default_value="false", + description=("Use the simulated Gazebo clock."), + ), + DeclareLaunchArgument( + "controller", + default_value="tpik_joint_trajectory_controller", + description="The whole-body controller to load.", + choices=["tpik_joint_trajectory_controller"], + ), + ] + + controller = LaunchConfiguration("controller") + + nodes = [ + # Create a separate node for TPIK because it requires the task hierarchy file + Node( + package="angler_control", + executable=controller, + name=controller, + output="screen", + parameters=[ + { + "config_filepath": LaunchConfiguration("config_filepath"), + "hierarchy_file": LaunchConfiguration("hierarchy_file"), + "use_sim_time": LaunchConfiguration("use_sim_time"), + } + ], + condition=IfCondition( + PythonExpression( + ["'", controller, "' == 'tpik_joint_trajectory_controller'"] + ) + ), + ), + ] + + return LaunchDescription(args + nodes) diff --git a/angler_control/package.xml b/angler_control/package.xml new file mode 100644 index 0000000..965562f --- /dev/null +++ b/angler_control/package.xml @@ -0,0 +1,26 @@ + + + + + angler_control + 0.0.1 + A collection of whole-body controllers. + + Evan Palmer + MIT + + https://github.com/evan-palmer/blue.git + https://github.com/evan-palmer/blue/issues + + python3-scipy + python3-numpy + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/angler_control/resource/angler_control b/angler_control/resource/angler_control new file mode 100644 index 0000000..e69de29 diff --git a/angler_control/setup.cfg b/angler_control/setup.cfg new file mode 100644 index 0000000..9f1f1bc --- /dev/null +++ b/angler_control/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/angler_control +[install] +install_scripts=$base/lib/angler_control diff --git a/angler_control/setup.py b/angler_control/setup.py new file mode 100644 index 0000000..e7ba184 --- /dev/null +++ b/angler_control/setup.py @@ -0,0 +1,49 @@ +# Copyright 2023, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +import os +from glob import glob + +from setuptools import find_packages, setup + +package_name = "angler_control" + +setup( + name=package_name, + version="0.0.1", + packages=find_packages(exclude=["test"]), + data_files=[ + ("share/ament_index/resource_index/packages", ["resource/" + package_name]), + ("share/" + package_name, ["package.xml"]), + (os.path.join("share", package_name), glob("launch/*.launch.py")), + ], + install_requires=["setuptools"], + zip_safe=True, + maintainer="Evan Palmer", + maintainer_email="evanp922@gmail.com", + description="A collection of whole-body controllers.", + license="MIT", + tests_require=["pytest"], + entry_points={ + "console_scripts": [ + "tpik_joint_trajectory_controller = controllers.tpik_joint_trajectory_controller.tpik_controller:main", # noqa + ], + }, +) diff --git a/angler_control/test/test_copyright.py b/angler_control/test/test_copyright.py new file mode 100644 index 0000000..8f18fa4 --- /dev/null +++ b/angler_control/test/test_copyright.py @@ -0,0 +1,27 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# 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. + +import pytest +from ament_copyright.main import main + + +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip( + reason="No copyright header has been placed in the generated source file." +) +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=[".", "test"]) + assert rc == 0, "Found errors" diff --git a/angler_description/CMakeLists.txt b/angler_description/CMakeLists.txt new file mode 100644 index 0000000..ab2bb08 --- /dev/null +++ b/angler_description/CMakeLists.txt @@ -0,0 +1,17 @@ +cmake_minimum_required(VERSION 3.8) +project(angler_description) + +set(THIS_PACKAGE_INCLUDE_DEPENDS + ament_cmake +) + +foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) + find_package(${Dependency} REQUIRED) +endforeach() + +install( + DIRECTORY config gazebo rviz xacro + DESTINATION share/${PROJECT_NAME} +) + +ament_package() diff --git a/angler_description/LICENSE b/angler_description/LICENSE new file mode 100644 index 0000000..30e8e2e --- /dev/null +++ b/angler_description/LICENSE @@ -0,0 +1,17 @@ +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in +all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +THE SOFTWARE. diff --git a/angler_description/config/bluerov2_heavy_alpha/ardusub.parm b/angler_description/config/bluerov2_heavy_alpha/ardusub.parm new file mode 100644 index 0000000..59cc543 --- /dev/null +++ b/angler_description/config/bluerov2_heavy_alpha/ardusub.parm @@ -0,0 +1,79 @@ +# These settings were copied from ardupilot/Tools/autotest/default_params/sub-6dof.parm +BARO_RND 0.02 +BATT_MONITOR 4 +BTN0_FUNCTION 0 +BTN10_SFUNCTION 0 +BTN10_FUNCTION 22 +BTN10_SFUNCTION 0 +BTN11_FUNCTION 42 +BTN11_SFUNCTION 47 +BTN12_FUNCTION 43 +BTN12_SFUNCTION 46 +BTN13_FUNCTION 33 +BTN13_SFUNCTION 45 +BTN14_FUNCTION 32 +BTN14_SFUNCTION 44 +BTN15_FUNCTION 0 +BTN15_SFUNCTION 0 +BTN1_FUNCTION 6 +BTN1_SFUNCTION 0 +BTN2_FUNCTION 8 +BTN2_SFUNCTION 0 +BTN3_FUNCTION 7 +BTN3_SFUNCTION 0 +BTN4_FUNCTION 4 +BTN4_SFUNCTION 0 +BTN5_FUNCTION 1 +BTN5_SFUNCTION 0 +BTN6_FUNCTION 3 +BTN6_SFUNCTION 0 +BTN7_FUNCTION 21 +BTN7_SFUNCTION 0 +BTN8_FUNCTION 48 +BTN8_SFUNCTION 0 +BTN9_FUNCTION 23 +BTN9_SFUNCTION 0 +COMPASS_OFS_X 5 +COMPASS_OFS_Y 13 +COMPASS_OFS_Z -18 +COMPASS_OFS2_X 5 +COMPASS_OFS2_Y 13 +COMPASS_OFS2_Z -18 +COMPASS_OFS3_X 5 +COMPASS_OFS3_Y 13 +COMPASS_OFS3_Z -18 +INS_ACCOFFS_X 0.001 +INS_ACCOFFS_Y 0.001 +INS_ACCOFFS_Z 0.001 +INS_ACCSCAL_X 1.001 +INS_ACCSCAL_Y 1.001 +INS_ACCSCAL_Z 1.001 +INS_ACC2OFFS_X 0.001 +INS_ACC2OFFS_Y 0.001 +INS_ACC2OFFS_Z 0.001 +INS_ACC2SCAL_X 1.001 +INS_ACC2SCAL_Y 1.001 +INS_ACC2SCAL_Z 1.001 +INS_ACC3OFFS_X 0.000 +INS_ACC3OFFS_Y 0.000 +INS_ACC3OFFS_Z 0.000 +INS_ACC3SCAL_X 1.000 +INS_ACC3SCAL_Y 1.000 +INS_ACC3SCAL_Z 1.000 +FRAME_CONFIG 2.000 + +# Enable external visual navigation +EK2_ENABLE 0.000 +EK3_ENABLE 1.000 +AHRS_EKF_TYPE 3.000 + +VISO_TYPE 1.000 +EK3_GPS_TYPE 3.000 +EK3_SRC1_POSXY 6.000 +EK3_SRC1_VELXY 6.000 +EK3_SRC1_POSZ 1.000 +EK3_SRC1_YAW 6.000 +EK3_SRC1_VELZ 6.000 + +# See https://github.com/clydemcqueen/bluerov2_ignition/issues/7 +SIM_BARO_RND 0.01 diff --git a/angler_description/config/bluerov2_heavy_alpha/controllers.yaml b/angler_description/config/bluerov2_heavy_alpha/controllers.yaml new file mode 100644 index 0000000..3ab2305 --- /dev/null +++ b/angler_description/config/bluerov2_heavy_alpha/controllers.yaml @@ -0,0 +1,101 @@ +ismc: + ros__parameters: + mass: 16.61 + buoyancy: 159.91 + weight: 162.74 + inertia_tensor_coeff: [0.24, 0.2, 0.4] + added_mass_coeff: [-12.7, -10.5, -14.57, -0.12, -0.12, -0.12] + linear_damping_coeff: [-28.23, -18.29, -23.51, -0.31, -0.31, -0.31] + quadratic_damping_coeff: [-93.47, -74.28, -168.17, -1.55, -1.55, -1.55] + center_of_gravity: [0.0, 0.005, 0.0] + center_of_buoyancy: [0.0, 0.0, 0.0] + ocean_current: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] + num_thrusters: 8 + tcm: [-0.707, -0.707, 0.707, 0.707, 0.0, 0.0, 0.0, 0.0, + 0.707, -0.707, 0.707, -0.707, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, + 0.0, 0.0, 0.0, 0.0, -0.21805, 0.21805, -0.21805, 0.21805, + 0.0, 0.0, 0.0, 0.0, -0.12, -0.12, 0.12, 0.12, + 0.1888, -0.1888, -0.1888, 0.1888, 0.0, 0.0, 0.0 , 0.0] + msg_ids: [31, 32] + msg_rates: [100.0, 100.0] + control_rate: 200.0 + proportional_gain: [10.0, 10.0, 6.0, 2.0, 6.0, 10.0] + integral_gain: [0.02, 0.02, 0.02, 0.02, 0.02, 0.02] + derivative_gain: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + sliding_gain: 20.0 + boundary_thickness: 200.0 + use_battery_state: false + +controller_manager: + ros__parameters: + update_rate: 225 # Hz + + forward_velocity_controller: + type: forward_command_controller/ForwardCommandController + + forward_position_controller: + type: forward_command_controller/ForwardCommandController + + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + + feedback_joint_position_trajectory_controller: + type: joint_trajectory_controller/JointTrajectoryController + + feedback_joint_velocity_trajectory_controller: + type: joint_trajectory_controller/JointTrajectoryController + +forward_velocity_controller: + ros__parameters: + joints: + - alpha_axis_a + - alpha_axis_b + - alpha_axis_c + - alpha_axis_d + - alpha_axis_e + interface_name: velocity + +forward_position_controller: + ros__parameters: + joints: + - alpha_axis_a + - alpha_axis_b + - alpha_axis_c + - alpha_axis_d + - alpha_axis_e + interface_name: position + +feedback_joint_position_trajectory_controller: + ros__parameters: + joints: + - alpha_axis_a + - alpha_axis_b + - alpha_axis_c + - alpha_axis_d + - alpha_axis_e + command_interfaces: + - position + state_interfaces: + - position + - velocity + +feedback_joint_velocity_trajectory_controller: + ros__parameters: + joints: + - alpha_axis_a + - alpha_axis_b + - alpha_axis_c + - alpha_axis_d + - alpha_axis_e + command_interfaces: + - velocity + state_interfaces: + - position + - velocity + +tpik: + ros__parameters: + frames: + manipulator_base_link: "alpha_base_link" + manipulator_end_link: "alpha_standard_jaws_tool" diff --git a/angler_description/config/bluerov2_heavy_alpha/initial_positions.yaml b/angler_description/config/bluerov2_heavy_alpha/initial_positions.yaml new file mode 100644 index 0000000..26b5824 --- /dev/null +++ b/angler_description/config/bluerov2_heavy_alpha/initial_positions.yaml @@ -0,0 +1,7 @@ +# Default initial positions for alpha's ros2_control fake system +initial_positions: + alpha_axis_a: 0 + alpha_axis_b: 0 + alpha_axis_c: 0 + alpha_axis_d: 0 + alpha_axis_e: 3.14 diff --git a/angler_description/config/bluerov2_heavy_alpha/localization.yaml b/angler_description/config/bluerov2_heavy_alpha/localization.yaml new file mode 100644 index 0000000..9df0e06 --- /dev/null +++ b/angler_description/config/bluerov2_heavy_alpha/localization.yaml @@ -0,0 +1,18 @@ +camera: + ros__parameters: + port: 5600 + +qualisys_mocap: + ros__parameters: + ip: "192.168.0.0" + port: 22223 + version: "1.22" + body: "bluerov" + +qualisys_localizer: + ros__parameters: + body: "bluerov" # This should be the same as the body parameter setting for the qualisys_mocap node + +gazebo_localizer: + ros__parameters: + gazebo_odom_topic: "/model/bluerov2_heavy_alpha/odometry" diff --git a/angler_description/config/bluerov2_heavy_alpha/manager.yaml b/angler_description/config/bluerov2_heavy_alpha/manager.yaml new file mode 100644 index 0000000..ac798c7 --- /dev/null +++ b/angler_description/config/bluerov2_heavy_alpha/manager.yaml @@ -0,0 +1,5 @@ +blue_manager: + ros__parameters: + num_thrusters: 8 + mode_change_timeout: 1.0 + mode_change_retries: 3 diff --git a/angler_description/config/bluerov2_heavy_alpha/mux.yaml b/angler_description/config/bluerov2_heavy_alpha/mux.yaml new file mode 100644 index 0000000..31e5115 --- /dev/null +++ b/angler_description/config/bluerov2_heavy_alpha/mux.yaml @@ -0,0 +1,4 @@ +single_manipulator_velocity_demux: + ros__parameters: + base_cmd_vel_topic: "/blue/ismc/cmd_vel" + manipulator_cmd_vel_topic: "/forward_velocity_controller/commands" diff --git a/angler_description/config/bluerov2_heavy_alpha/planning.yaml b/angler_description/config/bluerov2_heavy_alpha/planning.yaml new file mode 100644 index 0000000..9e479b8 --- /dev/null +++ b/angler_description/config/bluerov2_heavy_alpha/planning.yaml @@ -0,0 +1,3 @@ +preplanned_end_effector_waypoint_planner: + ros__parameters: + trajectory_name: "forward" diff --git a/angler_description/config/bluerov2_heavy_alpha/tasks.yaml b/angler_description/config/bluerov2_heavy_alpha/tasks.yaml new file mode 100644 index 0000000..e5fb1cb --- /dev/null +++ b/angler_description/config/bluerov2_heavy_alpha/tasks.yaml @@ -0,0 +1,37 @@ +- task: "joint_limit_set" + priority: 1 + physical_upper: 1.571 + physical_lower: 0.0 + safety_upper: 1.475 + safety_lower: 0.087 + activation_threshold: 0.087 + gain: 0.3 + joint: 7 # axis d + +- task: "joint_limit_set" + priority: 1 + physical_upper: 3.316 + physical_lower: 1.571 + safety_upper: 3.229 + safety_lower: 1.745 + activation_threshold: 0.087 + gain: 0.3 + joint: 6 # axis e + +# This task is required for trajectory tracking +- task: "end_effector_pose_eq" + priority: 2 + gain: 0.3 + # Set the initial position to move to + # when the controller is armed + x: 0.0 + y: 0.0 + z: -1.0 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + +- task: "vehicle_yaw_eq" + priority: 3 + gain: 0.5 + yaw: 0.0 diff --git a/angler_description/config/mavros.yaml b/angler_description/config/mavros.yaml new file mode 100644 index 0000000..8342e90 --- /dev/null +++ b/angler_description/config/mavros.yaml @@ -0,0 +1,25 @@ +mavros: + ros__parameters: + system_id: 255 + plugin_allowlist: + - sys_status + - command + - imu + - local_position + - rc_io + - param + - vision_pose + +mavros_node: + ros__parameters: + fcu_url: "tcp://localhost" + gcs_url: "udp://@localhost:14550" + +mavros/local_position: + ros__parameters: + frame_id: "map" + tf: + send: false + frame_id: "map" + child_frame_id: "base_link" + send_fcu: false diff --git a/angler_description/gazebo/models/sand_heightmap/materials/flat_normal.png b/angler_description/gazebo/models/sand_heightmap/materials/flat_normal.png new file mode 100644 index 0000000..c6590fb Binary files /dev/null and b/angler_description/gazebo/models/sand_heightmap/materials/flat_normal.png differ diff --git a/angler_description/gazebo/models/sand_heightmap/materials/soil_sand_0045_01.jpg b/angler_description/gazebo/models/sand_heightmap/materials/soil_sand_0045_01.jpg new file mode 100644 index 0000000..1547a5d Binary files /dev/null and b/angler_description/gazebo/models/sand_heightmap/materials/soil_sand_0045_01.jpg differ diff --git a/angler_description/gazebo/models/sand_heightmap/meshes/License and source for textures.txt b/angler_description/gazebo/models/sand_heightmap/meshes/License and source for textures.txt new file mode 100644 index 0000000..a3d2267 --- /dev/null +++ b/angler_description/gazebo/models/sand_heightmap/meshes/License and source for textures.txt @@ -0,0 +1,12 @@ +Texture taken from Texture library © 2013 Dmitriy Chugai, admin@texturelib.com + +Direct links: +http://texturelib.com/texture/?path=/Textures/soil/sand/soil_sand_0045_01 + +License according to http://texturelib.com/license/: + +All images are taken by my own cameras and edited by me. + +They are free for commercial and non-commercial use with the only limitation: you are not allowed to sell or distribute original or slightly modified images alone or in packs. You can only distribute them as an integral part of your product. + +Credit texturelib.com if it is possible. diff --git a/angler_description/gazebo/models/sand_heightmap/meshes/heightmap.dae b/angler_description/gazebo/models/sand_heightmap/meshes/heightmap.dae new file mode 100644 index 0000000..a79df40 --- /dev/null +++ b/angler_description/gazebo/models/sand_heightmap/meshes/heightmap.dae @@ -0,0 +1,222 @@ + + + + + Blender User + Blender 2.76.0 commit date:2015-11-03, commit time:10:56, hash:f337fea + + 2016-04-18T12:33:20 + 2016-04-18T12:33:20 + + Z_UP + + + + + + + 49.13434 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 0 + + + + + + + + + 1 1 1 + 1 + 0 + 2.5e-5 + + + + + 0.000999987 + 1 + 0.1 + 0.1 + 1 + 1 + 1 + 2 + 0 + 1 + 1 + 1 + 1 + 1 + 0 + 2880 + 2 + 30.002 + 1.000799 + 0.04999995 + 200 + 1 + 0 + 0 + 0 + 1 + 1 + 1 + 1 + 12288 + 1 + 1 + 0 + 1 + 1 + 1 + 3 + 0 + 0 + 0 + 0 + 0 + 1 + 1 + 1 + 3 + 0.15 + 75 + 1 + 1 + 0 + 1 + 1 + 0 + + + + + + + soil_sand_0045_01.jpg + + + + + + + + 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3491 2024 10009 3363 1937 10010 3491 2024 10011 3492 2025 10012 3364 1938 10013 3492 2025 10014 3493 2026 10015 3365 1939 10016 3493 2026 10017 3494 2027 10018 3366 1940 10019 3494 2027 10020 3495 0 10021 3367 1941 10022 3495 0 10023 3496 0 10024 3368 0 10025 3496 0 10026 3497 0 10027 3369 0 10028 3497 0 10029 3498 0 10030 3370 0 10031 3498 0 10032 3499 0 10033 3371 0 10034 3499 0 10035 3500 0 10036 3372 0 10037 3500 0 10038 3501 0 10039 3373 0 10040 3501 0 10041 3502 0 10042 3374 0 10043 3502 0 10044 3503 0 10045 3375 0 10046 3503 0 10047 3504 0 10048 3376 1942 10049 3504 0 10050 3505 0 10051 3377 1943 10052 3377 1943 10053 3505 0 10054 3506 2028 10055 3506 2028 10056 3507 0 10057 3379 1945 10058 3507 0 10059 3508 0 10060 3380 0 10061 3508 0 10062 3509 0 10063 3381 0 10064 3509 0 10065 3510 0 10066 3382 1946 10067 3382 1946 10068 3510 0 10069 3511 2029 10070 3383 1947 10071 3511 2029 10072 3512 2030 10073 3384 1948 10074 3512 2030 10075 3513 2031 10076 3385 1949 10077 3513 2031 10078 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3408 0 10145 3536 0 10146 3537 0 10147 3409 1965 10148 3409 1965 10149 3537 0 10150 3538 2048 10151 3410 1966 10152 3538 2048 10153 3539 2049 10154 3539 2049 10155 3540 2050 10156 3412 1968 10157 3540 2050 10158 3541 2051 10159 3413 1969 10160 3541 2051 10161 3542 2052 10162 3414 1970 10163 3542 2052 10164 3543 2053 10165 3415 1971 10166 3415 1971 10167 3543 2053 10168 3544 2054 10169 3544 2054 10170 3545 2055 10171 3417 1973 10172 3545 2055 10173 3546 2056 10174 3418 1974 10175 3418 1974 10176 3546 2056 10177 3547 2057 10178 3419 1975 10179 3547 2057 10180 3548 2058 10181 3420 1976 10182 3548 2058 10183 3549 2059 10184 3421 1977 10185 3549 2059 10186 3550 2060 10187 3422 1978 10188 3550 2060 10189 3551 2061 10190 3551 2061 10191 3552 2062 10192 3424 1980 10193 3552 2062 10194 3553 2063 10195 3425 1981 10196 3425 1981 10197 3553 2063 10198 3554 2064 10199 3554 2064 10200 3555 2065 10201 3427 1983 10202 3427 1983 10203 3555 2065 10204 3556 2066 10205 3556 2066 10206 3557 2067 10207 3429 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2005 10274 3579 0 10275 3580 0 10276 3452 2006 10277 3580 0 10278 3581 0 10279 3453 0 10280 3581 0 10281 3582 0 10282 3454 0 10283 3582 0 10284 3583 0 10285 3455 0 10286 3584 0 10287 3585 2081 10288 3457 0 10289 3585 2081 10290 3586 2082 10291 3458 2007 10292 3586 2082 10293 3587 2083 10294 3459 2008 10295 3459 2008 10296 3587 2083 10297 3588 2084 10298 3460 2009 10299 3588 2084 10300 3589 2085 10301 3589 2085 10302 3590 2086 10303 3462 2011 10304 3590 2086 10305 3591 0 10306 3463 2012 10307 3591 0 10308 3592 0 10309 3464 0 10310 3592 0 10311 3593 0 10312 3465 0 10313 3593 0 10314 3594 0 10315 3466 0 10316 3594 0 10317 3595 0 10318 3467 0 10319 3595 0 10320 3596 0 10321 3468 0 10322 3596 0 10323 3597 0 10324 3469 2013 10325 3597 0 10326 3598 0 10327 3470 0 10328 3598 0 10329 3599 0 10330 3471 0 10331 3599 0 10332 3600 0 10333 3472 0 10334 3600 0 10335 3601 0 10336 3473 0 10337 3601 0 10338 3602 0 10339 3474 0 10340 3602 0 10341 3603 0 10342 3475 0 10343 3603 0 10344 3604 0 10345 3476 0 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1931 58000 3230 1844 58001 3230 1844 58002 3358 1932 58003 3231 1845 58004 3231 1845 58005 3359 1933 58006 3232 1846 58007 3232 1846 58008 3360 1934 58009 3233 1847 58010 3234 1848 58011 3233 1847 58012 3362 1936 58013 3234 1848 58014 3362 1936 58015 3235 1849 58016 3236 1850 58017 3235 1849 58018 3364 1938 58019 3236 1850 58020 3364 1938 58021 3237 1851 58022 3237 1851 58023 3365 1939 58024 3238 1852 58025 3238 1852 58026 3366 1940 58027 3239 1853 58028 3239 1853 58029 3367 1941 58030 3240 1854 58031 3240 1854 58032 3368 0 58033 3241 0 58034 3241 0 58035 3369 0 58036 3242 0 58037 3242 0 58038 3370 0 58039 3243 0 58040 3243 0 58041 3371 0 58042 3244 0 58043 3244 0 58044 3372 0 58045 3245 0 58046 3245 0 58047 3373 0 58048 3246 0 58049 3246 0 58050 3374 0 58051 3247 1855 58052 3248 1856 58053 3247 1855 58054 3376 1942 58055 3248 1856 58056 3376 1942 58057 3249 1857 58058 3250 1858 58059 3249 1857 58060 3378 1944 58061 3250 1858 58062 3378 1944 58063 3251 1859 58064 3251 1859 58065 3379 1945 58066 3252 1860 58067 3252 1860 58068 3380 0 58069 3253 0 58070 3253 0 58071 3381 0 58072 3254 1861 58073 3255 1862 58074 3254 1861 58075 3383 1947 58076 3256 1863 58077 3255 1862 58078 3384 1948 58079 3256 1863 58080 3384 1948 58081 3257 1864 58082 3258 1865 58083 3257 1864 58084 3386 1950 58085 3258 1865 58086 3386 1950 58087 3259 1866 58088 3260 1867 58089 3259 1866 58090 3388 1952 58091 3260 1867 58092 3388 1952 58093 3261 1868 58094 3261 1868 58095 3389 1953 58096 3262 1869 58097 3263 1870 58098 3262 1869 58099 3391 1955 58100 3263 1870 58101 3391 1955 58102 3264 1871 58103 3265 1872 58104 3264 1871 58105 3393 1957 58106 3265 1872 58107 3393 1957 58108 3266 0 58109 3266 0 58110 3394 0 58111 3267 0 58112 3267 0 58113 3395 0 58114 3268 0 58115 3268 0 58116 3396 0 58117 3269 0 58118 3269 0 58119 3397 0 58120 3270 0 58121 3270 0 58122 3398 0 58123 3271 0 58124 3271 0 58125 3399 0 58126 3272 0 58127 3272 0 58128 3400 1958 58129 3273 1873 58130 3273 1873 58131 3401 1959 58132 3274 1874 58133 3274 1874 58134 3402 1960 58135 3275 1875 58136 3275 1875 58137 3403 1961 58138 3276 1876 58139 3276 1876 58140 3404 1962 58141 3277 1877 58142 3278 0 58143 3277 1877 58144 3406 1964 58145 3278 0 58146 3406 1964 58147 3279 0 58148 3279 0 58149 3407 0 58150 3280 1878 58151 3281 1879 58152 3280 1878 58153 3409 1965 58154 3282 1880 58155 3281 1879 58156 3410 1966 58157 3282 1880 58158 3410 1966 58159 3283 1881 58160 3284 1882 58161 3283 1881 58162 3412 1968 58163 3285 1883 58164 3284 1882 58165 3413 1969 58166 3285 1883 58167 3413 1969 58168 3286 1884 58169 3287 1885 58170 3286 1884 58171 3415 1971 58172 3288 1886 58173 3287 1885 58174 3416 1972 58175 3288 1886 58176 3416 1972 58177 3289 1887 58178 3289 1887 58179 3417 1973 58180 3290 1888 58181 3291 1889 58182 3290 1888 58183 3419 1975 58184 3292 1890 58185 3291 1889 58186 3420 1976 58187 3292 1890 58188 3420 1976 58189 3293 1891 58190 3294 1892 58191 3293 1891 58192 3422 1978 58193 3295 1893 58194 3294 1892 58195 3423 1979 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3385 1949 58465 3514 2032 58466 3387 1951 58467 3386 1950 58468 3515 2033 58469 3387 1951 58470 3515 2033 58471 3388 1952 58472 3388 1952 58473 3516 2034 58474 3389 1953 58475 3389 1953 58476 3517 2035 58477 3390 1954 58478 3390 1954 58479 3518 2036 58480 3391 1955 58481 3391 1955 58482 3519 2037 58483 3392 1956 58484 3393 1957 58485 3392 1956 58486 3521 2039 58487 3393 1957 58488 3521 2039 58489 3394 0 58490 3394 0 58491 3522 0 58492 3395 0 58493 3395 0 58494 3523 0 58495 3396 0 58496 3396 0 58497 3524 0 58498 3397 0 58499 3397 0 58500 3525 0 58501 3398 0 58502 3398 0 58503 3526 0 58504 3399 0 58505 3399 0 58506 3527 0 58507 3400 1958 58508 3400 1958 58509 3528 2040 58510 3401 1959 58511 3401 1959 58512 3529 2041 58513 3402 1960 58514 3403 1961 58515 3402 1960 58516 3531 2043 58517 3403 1961 58518 3531 2043 58519 3404 1962 58520 3405 1963 58521 3404 1962 58522 3533 2045 58523 3406 1964 58524 3405 1963 58525 3534 2046 58526 3407 0 58527 3406 1964 58528 3535 2047 58529 3407 0 58530 3535 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58658 3450 2004 58659 3578 2080 58660 3451 2005 58661 3451 2005 58662 3579 0 58663 3452 2006 58664 3452 2006 58665 3580 0 58666 3453 0 58667 3453 0 58668 3581 0 58669 3454 0 58670 3454 0 58671 3582 0 58672 3455 0 58673 3456 0 58674 3584 0 58675 3457 0 58676 3457 0 58677 3585 2081 58678 3458 2007 58679 3458 2007 58680 3586 2082 58681 3459 2008 58682 3460 2009 58683 3459 2008 58684 3588 2084 58685 3461 2010 58686 3460 2009 58687 3589 2085 58688 3461 2010 58689 3589 2085 58690 3462 2011 58691 3462 2011 58692 3590 2086 58693 3463 2012 58694 3463 2012 58695 3591 0 58696 3464 0 58697 3464 0 58698 3592 0 58699 3465 0 58700 3465 0 58701 3593 0 58702 3466 0 58703 3466 0 58704 3594 0 58705 3467 0 58706 3467 0 58707 3595 0 58708 3468 0 58709 3468 0 58710 3596 0 58711 3469 2013 58712 3469 2013 58713 3597 0 58714 3470 0 58715 3470 0 58716 3598 0 58717 3471 0 58718 3471 0 58719 3599 0 58720 3472 0 58721 3472 0 58722 3600 0 58723 3473 0 58724 3473 0 58725 3601 0 58726 3474 0 58727 3474 0 58728 3602 0 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+ + + + + + + + + 0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 + + + + 50 0 0 0 0 50 0 0 0 0 50 0 0 0 0 1 + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + + + + diff --git a/angler_description/gazebo/models/sand_heightmap/meshes/soil_sand_0045_01.jpg b/angler_description/gazebo/models/sand_heightmap/meshes/soil_sand_0045_01.jpg new file mode 100644 index 0000000..1547a5d Binary files /dev/null and b/angler_description/gazebo/models/sand_heightmap/meshes/soil_sand_0045_01.jpg differ diff --git a/angler_description/gazebo/models/sand_heightmap/model.config b/angler_description/gazebo/models/sand_heightmap/model.config new file mode 100644 index 0000000..e055b5a --- /dev/null +++ b/angler_description/gazebo/models/sand_heightmap/model.config @@ -0,0 +1,17 @@ + + + + Sand Heightmap + 1.0 + model.sdf + + Sebastian Scherer + sebastian.scherer2@de.bosch.com + + Sandy sea floor heightmap + diff --git a/angler_description/gazebo/models/sand_heightmap/model.sdf b/angler_description/gazebo/models/sand_heightmap/model.sdf new file mode 100644 index 0000000..e92c282 --- /dev/null +++ b/angler_description/gazebo/models/sand_heightmap/model.sdf @@ -0,0 +1,55 @@ + + + + + true + + + 0 0 0 0 0 0 + + + 0.5 0.5 0.25 + model://sand_heightmap/meshes/sandseabed.dae + + + + + true + 0 0 0 0 0 0 + + + 0.5 0.5 0.25 + model://sand_heightmap/meshes/sandseabed.dae + + + + 1 1 1 1 + 1 1 1 1 + 0.1 0.1 0.1 0.1 + + + materials/soil_sand_0045_01.jpg + materials/flat_normal.png + 0.9 + 0.01 + + + + + + + diff --git a/angler_description/gazebo/worlds/bluerov2_heavy_alpha_underwater.world b/angler_description/gazebo/worlds/bluerov2_heavy_alpha_underwater.world new file mode 100644 index 0000000..4bdfa68 --- /dev/null +++ b/angler_description/gazebo/worlds/bluerov2_heavy_alpha_underwater.world @@ -0,0 +1,50 @@ + + + + + + + + + + + + + + + + + + + + + 1000 + + 0 + 1 + + + + bluerov2_heavy_alpha + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun + + + + model://sand_heightmap + 0 7 -10 0 0 0 + + + + diff --git a/angler_description/package.xml b/angler_description/package.xml new file mode 100644 index 0000000..c353366 --- /dev/null +++ b/angler_description/package.xml @@ -0,0 +1,28 @@ + + + + + angler_description + 0.0.1 + A collection of configuration and description files for angler + + Evan Palmer + MIT + + https://github.com/evan-palmer/angler.git + https://github.com/evan-palmer/angler/issues + + Evan Palmer + + ament_cmake + + ament_lint_auto + + ament_cmake_copyright + ament_cmake_lint_cmake + ament_cmake_xmllint + + + ament_cmake + + diff --git a/angler_description/rviz/view_bluerov2_heavy_alpha.rviz b/angler_description/rviz/view_bluerov2_heavy_alpha.rviz new file mode 100644 index 0000000..41d6537 --- /dev/null +++ b/angler_description/rviz/view_bluerov2_heavy_alpha.rviz @@ -0,0 +1,286 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 725 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + alpha_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alpha_ee_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alpha_m1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alpha_m2_1_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alpha_m2_1_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alpha_m2_joint_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alpha_m3_inline_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alpha_push_rod: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alpha_standard_jaws_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alpha_standard_jaws_rs1_130_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alpha_standard_jaws_rs1_139_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alpha_standard_jaws_tool: + Alpha: 1 + Show Axes: false + Show Trail: false + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + manipulator_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + thruster1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + thruster2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + thruster3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + thruster4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + thruster5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + thruster6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + thruster7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + thruster8: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_default_plugins/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: true + Marker Scale: 0.5 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + {} + Update Interval: 0 + Value: false + Enabled: true + Global Options: + Background Color: 188; 188; 188 + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 1.213224172592163 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.05909405276179314 + Y: -0.017511053010821342 + Z: -0.04699334502220154 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.2953987121582031 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.34541332721710205 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1016 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1920 + X: 1920 + Y: 27 diff --git a/angler_description/xacro/bluerov2_heavy_alpha/config.xacro b/angler_description/xacro/bluerov2_heavy_alpha/config.xacro new file mode 100644 index 0000000..380c36d --- /dev/null +++ b/angler_description/xacro/bluerov2_heavy_alpha/config.xacro @@ -0,0 +1,49 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/angler_description/xacro/bluerov2_heavy_alpha/gazebo.xacro b/angler_description/xacro/bluerov2_heavy_alpha/gazebo.xacro new file mode 100644 index 0000000..6ce3200 --- /dev/null +++ b/angler_description/xacro/bluerov2_heavy_alpha/gazebo.xacro @@ -0,0 +1,27 @@ + + + + + + + + + + + + + + + + + + diff --git a/angler_description/xacro/bluerov2_heavy_alpha/ros2_control.xacro b/angler_description/xacro/bluerov2_heavy_alpha/ros2_control.xacro new file mode 100644 index 0000000..4e0a009 --- /dev/null +++ b/angler_description/xacro/bluerov2_heavy_alpha/ros2_control.xacro @@ -0,0 +1,128 @@ + + + + + + + + + + + + gz_ros2_control/GazeboSimSystem + + + + + + + mock_components/GenericSystem + + + alpha_hardware/AlphaHardware + ${serial_port} + ${state_update_frequency} + + + + + + + 0 + 0.015 + + + -2.5 + 2.5 + + + ${initial_positions['alpha_axis_a']} + + + 0.0 + + + + + + 0 + 3.22 + + + -1.0 + 1.0 + + + ${initial_positions['alpha_axis_b']} + + + 0.0 + + + + + + 0 + 3.22 + + + -1.0 + 1.0 + + + ${initial_positions['alpha_axis_c']} + + + 0.0 + + + + + + 0 + 3.49 + + + -1.0 + 1.0 + + + ${initial_positions['alpha_axis_d']} + + + 0.0 + + + + + + 0 + 6.10 + + + -0.5 + 0.5 + + + ${initial_positions['alpha_axis_e']} + + + 0.0 + + + + + + + diff --git a/angler_description/xacro/bluerov2_heavy_alpha/urdf.xacro b/angler_description/xacro/bluerov2_heavy_alpha/urdf.xacro new file mode 100644 index 0000000..a5d6935 --- /dev/null +++ b/angler_description/xacro/bluerov2_heavy_alpha/urdf.xacro @@ -0,0 +1,95 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/angler_kinematics/LICENSE b/angler_kinematics/LICENSE new file mode 100644 index 0000000..30e8e2e --- /dev/null +++ b/angler_kinematics/LICENSE @@ -0,0 +1,17 @@ +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in +all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +THE SOFTWARE. diff --git a/angler_kinematics/angler_kinematics/__init__.py b/angler_kinematics/angler_kinematics/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/angler_kinematics/angler_kinematics/jacobian.py b/angler_kinematics/angler_kinematics/jacobian.py new file mode 100644 index 0000000..af20253 --- /dev/null +++ b/angler_kinematics/angler_kinematics/jacobian.py @@ -0,0 +1,229 @@ +# Copyright 2023, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +from typing import Any + +import numpy as np +from geometry_msgs.msg import Point, Quaternion, Transform, Vector3 +from scipy.spatial.transform import Rotation as R + + +def quaternion_to_rotation(quat: Quaternion) -> R: + """Convert a Quaternion message into a SciPy Rotation. + + Args: + quat: The Quaternion message to convert. + + Returns: + The resulting SciPy Rotation. + """ + return R.from_quat([quat.x, quat.y, quat.z, quat.w]) + + +def point_to_array(point: Point | Vector3) -> np.ndarray: + """Convert a Point message into a numpy array. + + Args: + point: The Point message to convert. + + Returns: + The resulting point as a 3x1 numpy array. + """ + return np.array([point.x, point.y, point.z]).reshape((3, 1)) + + +def get_skew_matrix(x: np.ndarray) -> np.ndarray: + """Convert a 3x1 matrix of coefficients into a skew-symmetric matrix. + + Args: + x: The matrix to convert. + + Returns: + A skew-symmetric matrix. + """ + return np.array( + [ + [0, -x[2][0], x[1][0]], # type: ignore + [x[2][0], 0, -x[0][0]], + [-x[1][0], x[0][0], 0], + ], + ) + + +def calculate_vehicle_angular_velocity_jacobian( + rot_map_to_base: Quaternion, +) -> np.ndarray: + """Calculate the angular velocity Jacobian for the vehicle. + + This is defined by Gianluca Antonelli in his textbook "Underwater Robotics" in + Equation 2.3, and is denoted there as "J_k,o". + + Args: + rot_map_to_base: The quaternion describing the rotation from the inertial frame + to the vehicle-fixed frame (map -> base_link). + + Returns: + The vehicle's angular velocity Jacobian. + """ + rot = quaternion_to_rotation(rot_map_to_base) + roll, pitch, _ = rot.as_euler("xyz") + + return np.array( + [ + [1, 0, -np.sin(pitch)], + [0, np.cos(roll), np.cos(pitch) * np.sin(roll)], + [0, -np.sin(roll), np.cos(pitch) * np.cos(roll)], + ] # type: ignore + ) + + +def calculate_manipulator_jacobian( + serial_chain: Any, joint_angles: np.ndarray +) -> np.ndarray: + """Generate the manipulator Jacobian using a kinpy serial chain. + + Args: + serial_chain: The kinpy serial chain. + joint_angles: The current joint angles. + + Returns: + The 6xn manipulator Jacobian matrix. + """ + return np.array(serial_chain.jacobian(joint_angles)) + + +def calculate_vehicle_roll_pitch_jacobian(rot_map_to_base: Quaternion) -> np.ndarray: + """Calculate the vehicle roll-pitch Jacobian. + + Args: + rot_map_to_base: A quaternion which defines the rotation from the map frame to + the base frame. + + Returns: + The 2x6 vehicle roll-pitch Jacobian. + """ + J_ko = calculate_vehicle_angular_velocity_jacobian(rot_map_to_base) + + J = np.zeros((2, 6)) + J[:, 3:6] = np.array([[1, 0, 0], [0, 1, 0]]) @ np.linalg.pinv(J_ko) + + return J + + +def calculate_vehicle_yaw_jacobian(rot_map_to_base: Quaternion) -> np.ndarray: + """Calculate the vehicle yaw Jacobian. + + Args: + rot_map_to_base: A quaternion which defines the rotation from the map frame to + the base frame. + + Returns: + The 1x6 vehicle yaw Jacobian. + """ + J_ko = calculate_vehicle_angular_velocity_jacobian(rot_map_to_base) + + J = np.zeros((1, 6)) + J[:, 3:6] = np.array([0, 0, 1]) @ np.linalg.inv(J_ko) + + return J + + +def calculate_vehicle_orientation_jacobian(rot_base_to_map: Quaternion) -> np.ndarray: + """Calculate the vehicle orientation Jacobian. + + Args: + rot_base_to_map: A quaternion which defines the rotation from the base frame to + the map frame. + + Returns: + The 3x6 vehicle orientation Jacobian + """ + J = np.zeros((3, 6)) + J[:, 3:6] = quaternion_to_rotation(rot_base_to_map).as_matrix() + + return J + + +def calculate_uvms_jacobian( + tf_base_to_manipulator_base: Transform, + tf_manipulator_base_to_ee: Transform, + tf_map_to_base: Transform, + n_manipulator_joints: int, + serial_chain: Any, + joint_angles: np.ndarray, +) -> np.ndarray: + """Calculate the full UVMS Jacobian. + + Args: + tf_base_to_manipulator_base: A Transform describing the transformation from the + base frame to the manipulator base frame with respect to the base frame. + tf_manipulator_base_to_ee: A Transform describing the transformation from the + manipulator base frame to the end-effector frame with respect to the + manipulator base frame. + tf_map_to_base: A Transform describing the transformation from the + map frame to the vehicle base frame with respect to the map frame. + n_manipulator_joints: The number of joints that the manipulator has. + serial_chain: The kinpy serial chain. + joint_angles: The current manipulator joint angles. + + Returns: + The 3x6+n UVMS Jacobian. + """ + # Get the transformation translations + # denoted as r_{from frame}{to frame}_{with respect to x frame} + r_B0_B = point_to_array(tf_base_to_manipulator_base.translation) + eta_0ee_0 = point_to_array(tf_manipulator_base_to_ee.translation) + + # Get the transformation rotations + # denoted as R_{from frame}_{to frame} + R_0_B = np.linalg.inv( + quaternion_to_rotation(tf_base_to_manipulator_base.rotation).as_matrix() + ) + R_B_I = np.linalg.inv(quaternion_to_rotation(tf_map_to_base.rotation).as_matrix()) + R_0_I = R_B_I @ R_0_B + + r_B0_I = R_B_I @ r_B0_B + eta_0ee_I = R_0_I @ eta_0ee_0 + + J = np.zeros((6, 6 + n_manipulator_joints)) + J_man = calculate_manipulator_jacobian(serial_chain, joint_angles) + + # Position Jacobian + J[:3, :3] = R_B_I + J[:3, 3:6] = -(get_skew_matrix(r_B0_I) + get_skew_matrix(eta_0ee_I)) @ R_B_I # type: ignore # noqa + J[:3, 6:] = R_0_I @ J_man[:3] + + # Orientation Jacobian + J[3:6, 3:6] = R_B_I + J[3:6, 6:] = R_0_I @ J_man[3:] + + return J + + +def calculate_joint_configuration_jacobian(n_manipulator_joints: int) -> np.ndarray: + """Calculate the joint configuration Jacobian. + + Args: + n_manipulator_joints: The total number of joints that the manipulator has. + + Returns: + The nxn manipulator configuration Jacobian. + """ + return np.eye(n_manipulator_joints) diff --git a/angler_kinematics/package.xml b/angler_kinematics/package.xml new file mode 100644 index 0000000..d90abbb --- /dev/null +++ b/angler_kinematics/package.xml @@ -0,0 +1,27 @@ + + + + + angler_kinematics + 0.0.1 + Interfaces for calculating the system kinematics. + + Evan Palmer + MIT + + https://github.com/evan-palmer/blue.git + https://github.com/evan-palmer/blue/issues + + python3-scipy + python3-numpy + geometry_msgs + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/angler_kinematics/resource/angler_kinematics b/angler_kinematics/resource/angler_kinematics new file mode 100644 index 0000000..e69de29 diff --git a/angler_kinematics/setup.cfg b/angler_kinematics/setup.cfg new file mode 100644 index 0000000..83567c4 --- /dev/null +++ b/angler_kinematics/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/angler_kinematics +[install] +install_scripts=$base/lib/angler_kinematics diff --git a/angler_kinematics/setup.py b/angler_kinematics/setup.py new file mode 100644 index 0000000..81d33a0 --- /dev/null +++ b/angler_kinematics/setup.py @@ -0,0 +1,42 @@ +# Copyright 2023, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. +from setuptools import find_packages, setup + +package_name = "angler_kinematics" + +setup( + name=package_name, + version="0.0.1", + packages=find_packages(exclude=["test"]), + data_files=[ + ("share/ament_index/resource_index/packages", ["resource/" + package_name]), + ("share/" + package_name, ["package.xml"]), + ], + install_requires=["setuptools"], + zip_safe=True, + maintainer="Evan Palmer", + maintainer_email="evanp922gmail.com", + description="Interfaces for calculating the system kinematics.", + license="MIT", + tests_require=["pytest"], + entry_points={ + "console_scripts": [], + }, +) diff --git a/angler_kinematics/test/test_copyright.py b/angler_kinematics/test/test_copyright.py new file mode 100644 index 0000000..8f18fa4 --- /dev/null +++ b/angler_kinematics/test/test_copyright.py @@ -0,0 +1,27 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# 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. + +import pytest +from ament_copyright.main import main + + +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip( + reason="No copyright header has been placed in the generated source file." +) +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=[".", "test"]) + assert rc == 0, "Found errors" diff --git a/angler_mux/LICENSE b/angler_mux/LICENSE new file mode 100644 index 0000000..30e8e2e --- /dev/null +++ b/angler_mux/LICENSE @@ -0,0 +1,17 @@ +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in +all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +THE SOFTWARE. diff --git a/angler_mux/demux/__init__.py b/angler_mux/demux/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/angler_mux/demux/single_manipulator_demux.py b/angler_mux/demux/single_manipulator_demux.py new file mode 100644 index 0000000..7b7bc49 --- /dev/null +++ b/angler_mux/demux/single_manipulator_demux.py @@ -0,0 +1,95 @@ +# Copyright 2023, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +import rclpy +from geometry_msgs.msg import Twist +from moveit_msgs.msg import RobotTrajectory +from rclpy.node import Node +from std_msgs.msg import Float64MultiArray + + +class SingleManipulatorVelocityDemux(Node): + """Demux a RobotTrajectory velocity command to a vehicle and a single manipulator. + + The SingleManipulatorVelocityDemux demuxes the RobotTrajectory into a single vehicle + velocity Twist command and a single manipulator joint velocity Float64MultiArray + command. + """ + + def __init__(self) -> None: + """Create a new demuxer for the vehicle and a manipulator.""" + super().__init__("single_manipulator_velocity_demux") + + self.declare_parameters( + namespace="", + parameters=[ # type: ignore + ("vehicle_control_topic", "/blue/ismc/cmd_vel"), + ("manipulator_control_topic", "/forward_velocity_controller/commands"), + ], + ) + + vehicle_control_topic = ( + self.get_parameter("vehicle_control_topic") + .get_parameter_value() + .string_value + ) + manipulator_control_topic = ( + self.get_parameter("manipulator_control_topic") + .get_parameter_value() + .string_value + ) + + self.vehicle_cmd_pub = self.create_publisher(Twist, vehicle_control_topic, 1) + self.alpha_cmd_pub = self.create_publisher( + Float64MultiArray, manipulator_control_topic, 1 + ) + + self.robot_trajectory_sub = self.create_subscription( + RobotTrajectory, "/angler/robot_trajectory", self.demux_cmd_vel, 1 + ) + + def demux_cmd_vel(self, cmd: RobotTrajectory) -> None: + """Demux the RobotTrajectory into a vehicle cmd and a single manipulator cmd. + + Args: + cmd: The robot control command. + """ + # Proxy the vehicle velocity command + self.vehicle_cmd_pub.publish( + cmd.multi_dof_joint_trajectory.points[0].velocities[0] # type: ignore + ) + + # Now proxy the manipulator joint velocity command + self.alpha_cmd_pub.publish( + Float64MultiArray( + data=cmd.joint_trajectory.points[0].velocities # type: ignore + ) + ) + + +def main_single_manipulator_velocity_demux(args: list[str] | None = None): + """Run the mux for a single manipulator.""" + rclpy.init(args=args) + + node = SingleManipulatorVelocityDemux() + rclpy.spin(node) + + node.destroy_node() + rclpy.shutdown() diff --git a/angler_mux/launch/mux.launch.py b/angler_mux/launch/mux.launch.py new file mode 100644 index 0000000..7e9ac1f --- /dev/null +++ b/angler_mux/launch/mux.launch.py @@ -0,0 +1,84 @@ +# Copyright 2023, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def generate_launch_description() -> LaunchDescription: + """Generate a launch description for the state mux/command demux. + + Returns: + LaunchDescription: The state mux/command demux launch description. + """ + args = [ + DeclareLaunchArgument( + "config_filepath", + default_value=None, + description="The path to the configuration YAML file", + ), + DeclareLaunchArgument( + "demux", + default_value="single_manipulator_velocity_demux", + description="The command demux type to load.", + choices=["single_manipulator_velocity_demux"], + ), + DeclareLaunchArgument( + "mux", + default_value="single_manipulator_velocity_mux", + description="The state mux type to load.", + choices=["single_manipulator_velocity_mux"], + ), + DeclareLaunchArgument( + "use_sim_time", + default_value="false", + description=("Use the simulated Gazebo clock."), + ), + ] + + demux = LaunchConfiguration("demux") + mux = LaunchConfiguration("mux") + use_sim_time = LaunchConfiguration("use_sim_time") + + nodes = [ + Node( + package="angler_mux", + executable=demux, + name=demux, + output="screen", + parameters=[ + LaunchConfiguration("config_filepath"), + {"use_sim_time": use_sim_time}, + ], + ), + Node( + package="angler_mux", + executable=mux, + name=mux, + parameters=[ + LaunchConfiguration("config_filepath"), + {"use_sim_time": use_sim_time}, + ], + ), + ] + + return LaunchDescription(args + nodes) diff --git a/angler_mux/mux/__init__.py b/angler_mux/mux/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/angler_mux/mux/single_manipulator_mux.py b/angler_mux/mux/single_manipulator_mux.py new file mode 100644 index 0000000..ec61cbf --- /dev/null +++ b/angler_mux/mux/single_manipulator_mux.py @@ -0,0 +1,107 @@ +# Copyright 2023, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +import rclpy +from geometry_msgs.msg import Transform +from message_filters import ApproximateTimeSynchronizer, Subscriber +from moveit_msgs.msg import RobotState +from nav_msgs.msg import Odometry +from rclpy.node import Node +from rclpy.qos import QoSDurabilityPolicy, QoSProfile, qos_profile_sensor_data +from sensor_msgs.msg import JointState + + +class SingleManipulatorMux(Node): + """Multiplex the state information for a vehicle with a single manipulator.""" + + def __init__(self) -> None: + """Create a new multiplexer.""" + super().__init__("single_manipulator_velocity_mux") + + self.robot_state = RobotState() + + self.state_pub = self.create_publisher( + RobotState, "/angler/state", qos_profile=qos_profile_sensor_data + ) + + # Get the state using message filter subscribers + self.vehicle_state_sub = Subscriber( + self, + Odometry, + "/mavros/local_position/odom", + qos_profile=qos_profile_sensor_data, + ) + self.manipulator_state_sub = Subscriber( + self, + JointState, + "/joint_states", + qos_profile=QoSProfile( + depth=5, durability=QoSDurabilityPolicy.TRANSIENT_LOCAL + ), + ) + + # Create a message filter to synchronize state messages + self.ts = ApproximateTimeSynchronizer( + [self.vehicle_state_sub, self.manipulator_state_sub], 1, 0.05 + ) + + self.ts.registerCallback(self.update_robot_state_cb) + + def update_robot_state_cb(self, odom: Odometry, joint_state: JointState) -> None: + """Update the current robot state. + + Args: + odom: The current state (pose + velocity) of the base. + joint_state: The current joint state of the manipulator(s). + """ + # Convert the message into a Transform message + transform = Transform() + + # This is the transform from the map frame to the base_link frame + transform.translation.x = odom.pose.pose.position.x + transform.translation.y = odom.pose.pose.position.y + transform.translation.z = odom.pose.pose.position.z + transform.rotation = odom.pose.pose.orientation + + # Update the MultiDOFJointState + self.robot_state.multi_dof_joint_state.header.frame_id = "map" + self.robot_state.multi_dof_joint_state.header.stamp = ( + self.get_clock().now().to_msg() + ) + self.robot_state.multi_dof_joint_state.joint_names = ["vehicle"] + self.robot_state.multi_dof_joint_state.transforms = [transform] + self.robot_state.multi_dof_joint_state.twist = [odom.twist.twist] + + # Update the joint states + self.robot_state.joint_state = joint_state + + # Publish the UVMS state each time we get an update + self.state_pub.publish(self.robot_state) + + +def main_single_manipulator_mux(args: list[str] | None = None): + """Run the mux for a single manipulator.""" + rclpy.init(args=args) + + node = SingleManipulatorMux() + rclpy.spin(node) + + node.destroy_node() + rclpy.shutdown() diff --git a/angler_mux/package.xml b/angler_mux/package.xml new file mode 100644 index 0000000..7936f51 --- /dev/null +++ b/angler_mux/package.xml @@ -0,0 +1,25 @@ + + + + + angler_mux + 0.0.1 + A set of interfaces designed to mux/demux UVMS states and commands + + Evan Palmer + MIT + + https://github.com/evan-palmer/angler.git + https://github.com/evan-palmer/angler/issues + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + moveit_msgs + + + ament_python + + diff --git a/angler_mux/resource/angler_mux b/angler_mux/resource/angler_mux new file mode 100644 index 0000000..e69de29 diff --git a/angler_mux/setup.cfg b/angler_mux/setup.cfg new file mode 100644 index 0000000..02eb7ec --- /dev/null +++ b/angler_mux/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/angler_mux +[install] +install_scripts=$base/lib/angler_mux diff --git a/angler_mux/setup.py b/angler_mux/setup.py new file mode 100644 index 0000000..c34d3f4 --- /dev/null +++ b/angler_mux/setup.py @@ -0,0 +1,50 @@ +# Copyright 2023, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +import os +from glob import glob + +from setuptools import find_packages, setup + +package_name = "angler_mux" + +setup( + name=package_name, + version="0.0.1", + packages=find_packages(exclude=["test"]), + data_files=[ + ("share/ament_index/resource_index/packages", ["resource/" + package_name]), + ("share/" + package_name, ["package.xml"]), + (os.path.join("share", package_name), glob("launch/*.launch.py")), + ], + install_requires=["setuptools"], + zip_safe=True, + maintainer="Evan Palmer", + maintainer_email="evanp922@gmail.com", + description="A set of interfaces designed to mux/demux UVMS states and commands", + license="MIT", + tests_require=["pytest"], + entry_points={ + "console_scripts": [ + "single_manipulator_velocity_mux = mux.single_manipulator_mux:main_single_manipulator_mux", # noqa + "single_manipulator_velocity_demux = demux.single_manipulator_demux:main_single_manipulator_velocity_demux", # noqa + ], + }, +) diff --git a/angler_mux/test/test_copyright.py b/angler_mux/test/test_copyright.py new file mode 100644 index 0000000..8f18fa4 --- /dev/null +++ b/angler_mux/test/test_copyright.py @@ -0,0 +1,27 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# 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. + +import pytest +from ament_copyright.main import main + + +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip( + reason="No copyright header has been placed in the generated source file." +) +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=[".", "test"]) + assert rc == 0, "Found errors" diff --git a/angler_planning/LICENSE b/angler_planning/LICENSE new file mode 100644 index 0000000..30e8e2e --- /dev/null +++ b/angler_planning/LICENSE @@ -0,0 +1,17 @@ +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in +all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +THE SOFTWARE. diff --git a/angler_planning/launch/planning.launch.py b/angler_planning/launch/planning.launch.py new file mode 100644 index 0000000..0ed8834 --- /dev/null +++ b/angler_planning/launch/planning.launch.py @@ -0,0 +1,72 @@ +# Copyright 2023, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.conditions import IfCondition +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def generate_launch_description() -> LaunchDescription: + """Generate a launch description for the Angler planning interface. + + Returns: + LaunchDescription: The Angler planning launch description. + """ + args = [ + DeclareLaunchArgument( + "config_filepath", + default_value=None, + description="The path to the configuration YAML file", + ), + DeclareLaunchArgument( + "use_sim_time", + default_value="false", + description="Use the simulated Gazebo clock.", + ), + DeclareLaunchArgument( + "use_waypoint_planner", + default_value="true", + description="Load the selected waypoint planner.", + ), + DeclareLaunchArgument( + "waypoint_planner", + default_value="preplanned_end_effector_waypoint_planner", + description="The waypoint planner to load.", + choices=["preplanned_end_effector_waypoint_planner"], + ), + ] + + nodes = [ + Node( + package="angler_planning", + executable=LaunchConfiguration("waypoint_planner"), + name=LaunchConfiguration("waypoint_planner"), + output="screen", + parameters=[ + LaunchConfiguration("config_filepath"), + {"use_sim_time": LaunchConfiguration("use_sim_time")}, + ], + condition=IfCondition(LaunchConfiguration("use_waypoint_planner")), + ), + ] + + return LaunchDescription(args + nodes) diff --git a/angler_planning/package.xml b/angler_planning/package.xml new file mode 100644 index 0000000..307978b --- /dev/null +++ b/angler_planning/package.xml @@ -0,0 +1,21 @@ + + + + angler_planning + 0.0.1 + A collection of ROS 2 nodes responsible for trajectory and motion planning. + Evan Palmer + MIT + + python3-scipy + python3-numpy + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/angler_planning/planners/__init__.py b/angler_planning/planners/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/angler_planning/planners/base_planner.py b/angler_planning/planners/base_planner.py new file mode 100644 index 0000000..0fa207a --- /dev/null +++ b/angler_planning/planners/base_planner.py @@ -0,0 +1,60 @@ +# Copyright 2023, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +from abc import ABC, abstractmethod + +from moveit_msgs.srv import GetMotionPlan +from rclpy.node import Node + + +class Planner(Node, ABC): + """Base class for a planner.""" + + def __init__(self, node_name: str) -> None: + """Create a new planner. + + Args: + node_name: The name of the ROS node. + """ + super().__init__(node_name) + Node.__init__(self, node_name) + ABC.__init__(self) + + self.planning_srv = self.create_service( + GetMotionPlan, f"/angler/{node_name}/plan", self.plan + ) + + @abstractmethod + def plan( + self, request: GetMotionPlan.Request, response: GetMotionPlan.Response + ) -> GetMotionPlan.Response: + """Get a motion plan for the robot to follow. + + Args: + request: The motion plan request. + response: The planning response. + + Raises: + NotImplementedError: This method hasn't been implemented. + + Returns: + The planning response. + """ + raise NotImplementedError("This method has not yet been implemented!") diff --git a/angler_planning/planners/waypoint_planners/__init__.py b/angler_planning/planners/waypoint_planners/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/angler_planning/planners/waypoint_planners/preplanned_end_effector_planner/__init__.py b/angler_planning/planners/waypoint_planners/preplanned_end_effector_planner/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/angler_planning/planners/waypoint_planners/preplanned_end_effector_planner/planner.py b/angler_planning/planners/waypoint_planners/preplanned_end_effector_planner/planner.py new file mode 100644 index 0000000..4807f14 --- /dev/null +++ b/angler_planning/planners/waypoint_planners/preplanned_end_effector_planner/planner.py @@ -0,0 +1,105 @@ +# Copyright 2023, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +import os + +import rclpy +from ament_index_python.packages import get_package_share_directory +from moveit_msgs.msg import MoveItErrorCodes +from moveit_msgs.srv import GetMotionPlan +from planners.base_planner import Planner +from planners.waypoint_planners.preplanned_end_effector_planner.trajectories.trajectory_library import ( # noqa + TrajectoryLibrary as tl, +) + + +class PrePlannedEndEffectorPlanner(Planner): + """Planning interface for loading pre-planned end-effector trajectories.""" + + def __init__(self) -> None: + """Create a new planning interface.""" + super().__init__("preplanned_end_effector_waypoint_planner") + + self.declare_parameters( + namespace="", + parameters=[ # type: ignore + ("trajectory_name", ""), + ( + "library_path", + os.path.join( + get_package_share_directory("angler_planning"), + "trajectories", + "library", + ), + ), + ], + ) + + trajectory_name = ( + self.get_parameter("trajectory_name").get_parameter_value().string_value + ) + + if trajectory_name == "": + raise ValueError("Trajectory name not provided.") + + library_path = ( + self.get_parameter("library_path").get_parameter_value().string_value + ) + + # Load the trajectory library + tl.load_library_from_path(library_path) + self.trajectory = tl.select_trajectory(trajectory_name) + + self.get_logger().info(f"Successfully loaded trajectory '{trajectory_name}'") + + def plan( + self, request: GetMotionPlan.Request, response: GetMotionPlan.Response + ) -> GetMotionPlan.Response: + """Create a motion plan from the pre-planned trajectory. + + Args: + request: The motion plan request. + response: The planning response. + + Returns: + The planning response. + """ + # Get the motion plan response + response.motion_plan_response.trajectory = self.trajectory + response.motion_plan_response.planning_time = 0.0 + response.motion_plan_response.error_code = MoveItErrorCodes( + val=MoveItErrorCodes.SUCCESS + ) + response.motion_plan_response.group_name = ( + request.motion_plan_request.group_name + ) + + return response + + +def main(args: list[str] | None = None): + """Run the pre-planned waypoint planner.""" + rclpy.init(args=args) + + node = PrePlannedEndEffectorPlanner() + rclpy.spin(node) + + node.destroy_node() + rclpy.shutdown() diff --git a/angler_planning/planners/waypoint_planners/preplanned_end_effector_planner/trajectories/__init__.py b/angler_planning/planners/waypoint_planners/preplanned_end_effector_planner/trajectories/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/angler_planning/planners/waypoint_planners/preplanned_end_effector_planner/trajectories/library/diagonal_left.json b/angler_planning/planners/waypoint_planners/preplanned_end_effector_planner/trajectories/library/diagonal_left.json new file mode 100644 index 0000000..6ef0c45 --- /dev/null +++ b/angler_planning/planners/waypoint_planners/preplanned_end_effector_planner/trajectories/library/diagonal_left.json @@ -0,0 +1,29 @@ +{ + "name": "diagonal_left", + "parent": "map", + "child": "alpha_standard_jaws_tool", + "waypoints": [ + { + "time_from_start": 5.0, + "transform": { + "x": 0.0, + "y": 0.0, + "z": -1.0, + "rx": 0.0, + "ry": 0.0, + "rz": 0.0 + } + }, + { + "time_from_start": 10.0, + "transform": { + "x": 1.5, + "y": 1.5, + "z": -1.0, + "rx": 0.0, + "ry": 0.0, + "rz": 0.0 + } + } + ] +} diff --git a/angler_planning/planners/waypoint_planners/preplanned_end_effector_planner/trajectories/library/diagonal_right.json b/angler_planning/planners/waypoint_planners/preplanned_end_effector_planner/trajectories/library/diagonal_right.json new file mode 100644 index 0000000..5484bef --- /dev/null +++ b/angler_planning/planners/waypoint_planners/preplanned_end_effector_planner/trajectories/library/diagonal_right.json @@ -0,0 +1,29 @@ +{ + "name": "diagonal_right", + "parent": "map", + "child": "alpha_standard_jaws_tool", + "waypoints": [ + { + "time_from_start": 5.0, + "transform": { + "x": 0.0, + "y": 0.0, + "z": -1.0, + "rx": 0.0, + "ry": 0.0, + "rz": 0.0 + } + }, + { + "time_from_start": 10.0, + "transform": { + "x": 1.5, + "y": -1.5, + "z": -1.0, + "rx": 0.0, + "ry": 0.0, + "rz": 0.0 + } + } + ] +} diff --git a/angler_planning/planners/waypoint_planners/preplanned_end_effector_planner/trajectories/library/forward.json b/angler_planning/planners/waypoint_planners/preplanned_end_effector_planner/trajectories/library/forward.json new file mode 100644 index 0000000..fb94633 --- /dev/null +++ b/angler_planning/planners/waypoint_planners/preplanned_end_effector_planner/trajectories/library/forward.json @@ -0,0 +1,29 @@ +{ + "name": "forward", + "parent": "map", + "child": "alpha_standard_jaws_tool", + "waypoints": [ + { + "time_from_start": 5.0, + "transform": { + "x": 0.0, + "y": 0.0, + "z": -1.0, + "rx": 0.0, + "ry": 0.0, + "rz": 0.0 + } + }, + { + "time_from_start": 10.0, + "transform": { + "x": 2.0, + "y": 0.0, + "z": -1.0, + "rx": 0.0, + "ry": 0.0, + "rz": 0.0 + } + } + ] +} diff --git a/angler_planning/planners/waypoint_planners/preplanned_end_effector_planner/trajectories/library/lawn_mower.json b/angler_planning/planners/waypoint_planners/preplanned_end_effector_planner/trajectories/library/lawn_mower.json new file mode 100644 index 0000000..66934a3 --- /dev/null +++ b/angler_planning/planners/waypoint_planners/preplanned_end_effector_planner/trajectories/library/lawn_mower.json @@ -0,0 +1,95 @@ +{ + "name": "lawn_mower", + "parent": "map", + "child": "alpha_standard_jaws_tool", + "waypoints": [ + { + "time_from_start": 5.0, + "transform": { + "x": 0.0, + "y": 0.0, + "z": -1.0, + "rx": 0.0, + "ry": 0.0, + "rz": 0.0 + } + }, + { + "time_from_start": 10.0, + "transform": { + "x": 0.5, + "y": 0.0, + "z": -1.0, + "rx": 0.0, + "ry": 0.0, + "rz": 0.0 + } + }, + { + "time_from_start": 10.0, + "transform": { + "x": 0.5, + "y": 0.5, + "z": -1.0, + "rx": 0.0, + "ry": 0.0, + "rz": 0.0 + } + }, + { + "time_from_start": 10.0, + "transform": { + "x": 1.0, + "y": 0.5, + "z": -1.0, + "rx": 0.0, + "ry": 0.0, + "rz": 0.0 + } + }, + { + "time_from_start": 10.0, + "transform": { + "x": 1.0, + "y": -0.5, + "z": -1.0, + "rx": 0.0, + "ry": 0.0, + "rz": 0.0 + } + }, + { + "time_from_start": 10.0, + "transform": { + "x": 1.5, + "y": -0.5, + "z": -1.0, + "rx": 0.0, + "ry": 0.0, + "rz": 0.0 + } + }, + { + "time_from_start": 10.0, + "transform": { + "x": 1.5, + "y": 0.0, + "z": -1.0, + "rx": 0.0, + "ry": 0.0, + "rz": 0.0 + } + }, + { + "time_from_start": 10.0, + "transform": { + "x": 2.0, + "y": 0.0, + "z": -1.0, + "rx": 0.0, + "ry": 0.0, + "rz": 0.0 + } + } + ] +} diff --git a/angler_planning/planners/waypoint_planners/preplanned_end_effector_planner/trajectories/library/left.json b/angler_planning/planners/waypoint_planners/preplanned_end_effector_planner/trajectories/library/left.json new file mode 100644 index 0000000..84c59f1 --- /dev/null +++ b/angler_planning/planners/waypoint_planners/preplanned_end_effector_planner/trajectories/library/left.json @@ -0,0 +1,29 @@ +{ + "name": "left", + "parent": "map", + "child": "alpha_standard_jaws_tool", + "waypoints": [ + { + "time_from_start": 5.0, + "transform": { + "x": 0.0, + "y": 0.0, + "z": -1.0, + "rx": 0.0, + "ry": 0.0, + "rz": 0.0 + } + }, + { + "time_from_start": 10.0, + "transform": { + "x": 0.0, + "y": 2.0, + "z": -1.0, + "rx": 0.0, + "ry": 0.0, + "rz": 0.0 + } + } + ] +} diff --git a/angler_planning/planners/waypoint_planners/preplanned_end_effector_planner/trajectories/library/right.json b/angler_planning/planners/waypoint_planners/preplanned_end_effector_planner/trajectories/library/right.json new file mode 100644 index 0000000..edd25da --- /dev/null +++ b/angler_planning/planners/waypoint_planners/preplanned_end_effector_planner/trajectories/library/right.json @@ -0,0 +1,29 @@ +{ + "name": "right", + "parent": "map", + "child": "alpha_standard_jaws_tool", + "waypoints": [ + { + "time_from_start": 5.0, + "transform": { + "x": 0.0, + "y": 0.0, + "z": -1.0, + "rx": 0.0, + "ry": 0.0, + "rz": 0.0 + } + }, + { + "time_from_start": 10.0, + "transform": { + "x": 0.0, + "y": -2.0, + "z": -1.0, + "rx": 0.0, + "ry": 0.0, + "rz": 0.0 + } + } + ] +} diff --git a/angler_planning/planners/waypoint_planners/preplanned_end_effector_planner/trajectories/trajectory_library.py b/angler_planning/planners/waypoint_planners/preplanned_end_effector_planner/trajectories/trajectory_library.py new file mode 100644 index 0000000..c5b9fa6 --- /dev/null +++ b/angler_planning/planners/waypoint_planners/preplanned_end_effector_planner/trajectories/trajectory_library.py @@ -0,0 +1,193 @@ +# Copyright 2023, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +import json +import os + +from geometry_msgs.msg import Transform, Twist +from moveit_msgs.msg import RobotTrajectory +from scipy.spatial.transform import Rotation as R +from trajectory_msgs.msg import MultiDOFJointTrajectory, MultiDOFJointTrajectoryPoint + + +def create_waypoint_msg( + waypoint: dict[str, dict[str, float] | float] +) -> MultiDOFJointTrajectoryPoint: + """Create a new Waypoint message from the JSON data. + + Args: + waypoint: The waypoint definition. + + Returns: + A MultiDOFJointTrajectoryPoint message. + """ + point = MultiDOFJointTrajectoryPoint() + + # Get the time-since-start for the point + point.time_from_start.nanosec = int( + waypoint["time_from_start"] * 1e9 # type: ignore + ) + + # Get the desired pose + tf = Transform() + + tf.translation.x, tf.translation.y, tf.translation.z, rx, ry, rz = waypoint[ + "transform" + ].values() # type: ignore + + tf.rotation.x, tf.rotation.y, tf.rotation.z, tf.rotation.w = R.from_euler( + "xyz", [rx, ry, rz] + ).as_quat() + + point.transforms = [tf] + + # Get the desired velocity + vel = Twist() + + try: + ( + vel.linear.x, + vel.linear.y, + vel.linear.z, + vel.angular.x, + vel.angular.y, + vel.angular.z, + ) = waypoint[ + "velocity" + ].values() # type: ignore + + point.velocities = [vel] + except KeyError: + # If the velocity isn't provided, don't use it + ... + + # Finally, get the acceleration + accel = Twist() + + try: + ( + accel.linear.x, + accel.linear.y, + accel.linear.z, + accel.angular.x, + accel.angular.y, + accel.angular.z, + ) = waypoint[ + "acceleration" + ].values() # type: ignore + + point.accelerations = [accel] + except KeyError: + # Similar to velocity, we don't require acceleration + ... + + return point + + +def create_robot_trajectory_msg( + parent: str, child: str, waypoints: list[dict[str, dict[str, float] | float]] +) -> RobotTrajectory: + """Creata robot trajectory from JSON parameters. + + Args: + frame: The source frame that the waypoints are defined in. + child: The child frame that the waypoints describe the transform to. + waypoints: The collection of waypoints to define. + + Returns: + A RobotTrajectory message. + """ + traj = MultiDOFJointTrajectory() + + traj.header.frame_id = parent + traj.joint_names = [child] + traj.points = [create_waypoint_msg(wp) for wp in waypoints] + + msg = RobotTrajectory() + msg.multi_dof_joint_trajectory = traj + + return msg + + +class TrajectoryLibrary: + """A library of pre-planned end-effector trajectories.""" + + _library: dict[str, RobotTrajectory] = {} + + @classmethod + def add_trajectory(cls, name: str, trajectory: RobotTrajectory) -> None: + """Add a new trajectory to the trajectory library. + + Args: + name: The trajectory name. + trajectory: The RobotTrajectory message. + + Raises: + ValueError: Duplicate trajectory names. + """ + if name not in cls._library: + cls._library[name] = trajectory + else: + raise ValueError( + "Duplicate trajectory names provided in the trajectory library!" + ) + + @classmethod + def load_library_from_path(cls, library_path: str) -> None: + """Load the trajectory library from a path. + + Args: + library_path: The full path to the trajectory library. + + Raises: + ValueError: Invalid filepath provided. + """ + if not os.path.isdir(library_path): + raise ValueError( + "The library path provided is not a valid path. Please make sure that" + " the path is defined correctly and is visible to ROS at runtime" + ) + + # Load all trajectory files in the directory + mission_files = [ + os.path.join(library_path, f) + for f in os.listdir(library_path) + if f.endswith(".json") and os.path.isfile(os.path.join(library_path, f)) + ] + + # Create a new trajectory and save it to the library + for f in mission_files: + with open(f, encoding="utf-8") as trajectory_f: + params = json.load(trajectory_f) + name = params.pop("name") + trajectory = create_robot_trajectory_msg(**params) + cls.add_trajectory(name, trajectory) + + @classmethod + def select_trajectory(cls, name: str) -> RobotTrajectory: + """Retrieve a trajectory from the library. + + Args: + name: The name of the trajectory to retrieve. + + Returns: + The trajectory with the provided name. + """ + return cls._library[name] diff --git a/angler_planning/resource/angler_planning b/angler_planning/resource/angler_planning new file mode 100644 index 0000000..e69de29 diff --git a/angler_planning/setup.cfg b/angler_planning/setup.cfg new file mode 100644 index 0000000..878e036 --- /dev/null +++ b/angler_planning/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/angler_planning +[install] +install_scripts=$base/lib/angler_planning diff --git a/angler_planning/setup.py b/angler_planning/setup.py new file mode 100644 index 0000000..7706180 --- /dev/null +++ b/angler_planning/setup.py @@ -0,0 +1,61 @@ +# Copyright 2023, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +import os +from glob import glob + +from setuptools import find_packages, setup + +package_name = "angler_planning" + +setup( + name=package_name, + version="0.0.1", + packages=find_packages(exclude=["test"]), + data_files=[ + ("share/ament_index/resource_index/packages", ["resource/" + package_name]), + ("share/" + package_name, ["package.xml"]), + (os.path.join("share", package_name), glob("launch/*.launch.py")), + ( + os.path.join("share", package_name, "trajectories", "library"), + glob( + "planners/waypoint_planners/preplanned_end_effector_planner/trajectories/library/*.json" # noqa + ), + ), + ( + os.path.join("share", package_name, "test", "resources"), + glob("test/resources/*"), + ), + ], + install_requires=["setuptools", "scipy"], + zip_safe=True, + maintainer="Evan Palmer", + maintainer_email="evanp922@gmail.com", + description=( + "A collection of ROS 2 nodes responsible for trajectory and motion planning." + ), + license="MIT", + tests_require=["pytest"], + entry_points={ + "console_scripts": [ + "preplanned_end_effector_waypoint_planner = planners.waypoint_planners.preplanned_end_effector_planner.planner:main", # noqa" + ], + }, +) diff --git a/angler_planning/test/test_copyright.py b/angler_planning/test/test_copyright.py new file mode 100644 index 0000000..8f18fa4 --- /dev/null +++ b/angler_planning/test/test_copyright.py @@ -0,0 +1,27 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# 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. + +import pytest +from ament_copyright.main import main + + +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip( + reason="No copyright header has been placed in the generated source file." +) +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=[".", "test"]) + assert rc == 0, "Found errors" diff --git a/angler_utils/LICENSE b/angler_utils/LICENSE new file mode 100644 index 0000000..30e8e2e --- /dev/null +++ b/angler_utils/LICENSE @@ -0,0 +1,17 @@ +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in +all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +THE SOFTWARE. diff --git a/angler_utils/angler_utils/__init__.py b/angler_utils/angler_utils/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/angler_utils/angler_utils/initial_position.py b/angler_utils/angler_utils/initial_position.py new file mode 100644 index 0000000..1a16210 --- /dev/null +++ b/angler_utils/angler_utils/initial_position.py @@ -0,0 +1,192 @@ +# Copyright 2023, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +import os + +import rclpy +import yaml # type: ignore +from ament_index_python.packages import get_package_share_directory +from rclpy.node import Node +from sensor_msgs.msg import JointState +from std_msgs.msg import Float64MultiArray + + +class InitialPositionSetter(Node): + """Interface used to set the initial positions of joints. + + WARNING: This is a temporary hack used specifically for when a velocity controller + has been loaded but the initial position is not properly set in Gazebo. See + https://github.com/ros-controls/gz_ros2_control/issues/167 for more information. Yes + there are probably plenty of bugs in this, but really I just need it to work well + enough until there is a real fix implemented. + """ + + def __init__(self) -> None: + """Create a new initial position setter.""" + super().__init__("initial_position_setter") + + self.declare_parameters( + namespace="", + parameters=[ # type: ignore + ( + "initial_positions_file", + os.path.join( + get_package_share_directory("angler_description"), + "config", + "initial_positions.yaml", + ), + ), + ("controller_cmd_topic", "/forward_velocity_controller/commands"), + ("position_tol", 0.1), + ("joint_velocity", 0.5), + ], + ) + + # Get the desired initial positions + with open( + self.get_parameter("initial_positions_file") + .get_parameter_value() + .string_value, + "r", + ) as file: + self.desired_initial_positions_dict = yaml.safe_load(file)[ + "initial_positions" + ] + + # Publishers + self.cmd_vel_pub = self.create_publisher( + Float64MultiArray, + self.get_parameter("controller_cmd_topic") + .get_parameter_value() + .string_value, + 1, + ) + + # Keep track of the initial states so that we know when to stop + self.actual_initial_positions: list[float] | None = None + self.set_initial_positions = True + + self.get_logger().info( + "Attempting to drive the manipulator to the desired initial positions." + ) + + # Configure how fast to go to the initial positions and when to stop + self.tol = self.get_parameter("position_tol").get_parameter_value().double_value + self.joint_velocity = ( + self.get_parameter("joint_velocity").get_parameter_value().double_value + ) + + # Subscribers + self.create_subscription( + JointState, "/joint_states", self.set_initial_positions_cb, 1 + ) + + @staticmethod + def construct_velocity_command( + distances: list[float], tol: float, joint_velocity: float + ) -> Float64MultiArray: + """Create a velocity command to drive the manipulator to the initial positions. + + Args: + distances: The distances between the desired initial positions and the + actual initial positions. + tol: The minimum distance between the actual joint position and desired + joint position before the system stops sending commands. + joint_velocity: The velocity that the joints should move at while going to + the desired positions. + + Returns: + A joint velocity command to drive the robot to the desired initial + positions. + """ + cmd = Float64MultiArray() + + for distance in distances: + if distance < tol: + cmd.data.append(0.0) + else: + if distance < 0: + cmd.data.append(-1 * abs(joint_velocity)) + else: + cmd.data.append(abs(joint_velocity)) + + return cmd + + def set_initial_positions_cb(self, msg: JointState) -> None: + """Drive the manipulator to the desired initial positions. + + Args: + msg: The current joint state. + """ + # Break early + if not self.set_initial_positions: + return + + desired_initial_positions = [] + + # Get the initial positions as a list + # Make sure that each of the joints exists while we are at it + for joint_name in msg.name: + try: + desired_initial_positions.append( + self.desired_initial_positions_dict[joint_name] + ) + except KeyError as e: + self.get_logger().error( + "Invalid mapping between the desired joint state joint names and" + " the actual joint names. Desired initial position joint names:" + f" {list(self.desired_initial_positions_dict.keys())}; actual joint" + f" names: {msg.name}. {e}" + ) + self.set_initial_positions = False + + # Get the errors + distances = [ + desired - actual + for (desired, actual) in zip( + desired_initial_positions, msg.position # type: ignore + ) + ] + + if any([error > self.tol for error in distances]): + cmd = self.construct_velocity_command( + distances, self.tol, self.joint_velocity + ) + self.cmd_vel_pub.publish(cmd) + else: + self.set_initial_positions = False + + # Stop the arm + cmd = Float64MultiArray() + cmd.data = [0.0 for _ in range(len(distances))] + self.cmd_vel_pub.publish(cmd) + + self.get_logger().info("Successfully set the initial joint positions.") + + +def main(args: list[str] | None = None): + """Run the initial position setter.""" + rclpy.init(args=args) + + node = InitialPositionSetter() + rclpy.spin(node) + + node.destroy_node() + rclpy.shutdown() diff --git a/angler_utils/package.xml b/angler_utils/package.xml new file mode 100644 index 0000000..89d4334 --- /dev/null +++ b/angler_utils/package.xml @@ -0,0 +1,26 @@ + + + + + angler_utils + 0.0.1 + Collection of utility nodes for angler + + Evan Palmer + MIT + + https://github.com/evan-palmer/angler.git + https://github.com/evan-palmer/angler/issues + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + std_msgs + sensor_msgs + + + ament_python + + diff --git a/angler_utils/resource/angler_utils b/angler_utils/resource/angler_utils new file mode 100644 index 0000000..e69de29 diff --git a/angler_utils/scripts/arm.sh b/angler_utils/scripts/arm.sh new file mode 100755 index 0000000..8f146c2 --- /dev/null +++ b/angler_utils/scripts/arm.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env bash + +# This is a simple script used to make your life easier when arming the full system + +ros2 service call /blue/cmd/enable_passthrough std_srvs/srv/SetBool data:\ true\ + +ros2 service call /blue/cmd/arm std_srvs/srv/SetBool data:\ true\ + +ros2 service call /angler/cmd/arm std_srvs/srv/SetBool data:\ true\ diff --git a/angler_utils/scripts/disarm.sh b/angler_utils/scripts/disarm.sh new file mode 100755 index 0000000..c9bba3e --- /dev/null +++ b/angler_utils/scripts/disarm.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env bash + +# This is a simple script used to make your life easier when disarming the full system + +ros2 service call /blue/cmd/enable_passthrough std_srvs/srv/SetBool data:\ false\ + +ros2 service call /blue/cmd/arm std_srvs/srv/SetBool data:\ false\ + +ros2 service call /angler/cmd/arm std_srvs/srv/SetBool data:\ false\ diff --git a/angler_utils/setup.cfg b/angler_utils/setup.cfg new file mode 100644 index 0000000..08dd847 --- /dev/null +++ b/angler_utils/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/angler_utils +[install] +install_scripts=$base/lib/angler_utils diff --git a/angler_utils/setup.py b/angler_utils/setup.py new file mode 100644 index 0000000..ea7895f --- /dev/null +++ b/angler_utils/setup.py @@ -0,0 +1,49 @@ +# Copyright 2023, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +import os +from glob import glob + +from setuptools import find_packages, setup + +package_name = "angler_utils" + +setup( + name=package_name, + version="0.0.1", + packages=find_packages(exclude=["test"]), + data_files=[ + ("share/ament_index/resource_index/packages", ["resource/" + package_name]), + ("share/" + package_name, ["package.xml"]), + (os.path.join("share", package_name), glob("launch/*.launch.py")), + ], + install_requires=["setuptools"], + zip_safe=True, + maintainer="Evan Palmer", + maintainer_email="evanp922@gmail.com", + description="A set of utility nodes for angler.", + license="MIT", + tests_require=["pytest"], + entry_points={ + "console_scripts": [ + "initial_position_setter = angler_utils.initial_position:main", + ], + }, +) diff --git a/angler_utils/test/test_copyright.py b/angler_utils/test/test_copyright.py new file mode 100644 index 0000000..8f18fa4 --- /dev/null +++ b/angler_utils/test/test_copyright.py @@ -0,0 +1,27 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# 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. + +import pytest +from ament_copyright.main import main + + +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip( + reason="No copyright header has been placed in the generated source file." +) +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=[".", "test"]) + assert rc == 0, "Found errors" diff --git a/requirements-build.txt b/requirements-build.txt new file mode 100644 index 0000000..8b2288a --- /dev/null +++ b/requirements-build.txt @@ -0,0 +1,3 @@ +# Requirements unavailable as rosdeps: +# https://github.com/ros/rosdistro/blob/master/rosdep/python.yaml +qtm diff --git a/requirements-dev.txt b/requirements-dev.txt new file mode 100644 index 0000000..48e2641 --- /dev/null +++ b/requirements-dev.txt @@ -0,0 +1,6 @@ +# Development tools that are not required for project installation +pre-commit +mypy +isort +flake8 +black diff --git a/setup.cfg b/setup.cfg index 33e87d6..33bd47b 100644 --- a/setup.cfg +++ b/setup.cfg @@ -12,5 +12,7 @@ ignore = profile=black [pydocstyle] -ignore = D100 -convention = google +ignore = D203,D213,D215,D406,D407,D408,D409,D413,D100,D104 + +[codespell] +ignore-words-list = ardusub,mavros,nochange,rclpy,rclcpp,sitl,parm,srvs,ned diff --git a/sim.repos b/sim.repos new file mode 100644 index 0000000..1480429 --- /dev/null +++ b/sim.repos @@ -0,0 +1,18 @@ +# Many of these dependencies should go away as they have bugs +# resolved and release Gazebo Garden dependencies. +repositories: + + ros_gz: + type: git + url: https://github.com/gazebosim/ros_gz + version: ros2 + + gz-plugin: + type: git + url: https://github.com/gazebosim/gz-plugin.git + version: gz-plugin2 + + gz_ros2_control: + type: git + url: https://github.com/evan-palmer/gz_ros2_control.git + version: patch-rolling-garden