diff --git a/.devcontainer.json b/.devcontainer/nouveau/devcontainer.json similarity index 97% rename from .devcontainer.json rename to .devcontainer/nouveau/devcontainer.json index dd91f62..7f99a41 100644 --- a/.devcontainer.json +++ b/.devcontainer/nouveau/devcontainer.json @@ -1,11 +1,12 @@ { - "dockerFile": ".docker/Dockerfile", - "context": ".", + "dockerFile": "../../.docker/Dockerfile", + "context": "../..", "build": { "args": { "WORKSPACE": "${containerWorkspaceFolder}", "ROS_DISTRO": "rolling" - } + }, + "target": "develop" }, "remoteUser": "angler", "runArgs": [ diff --git a/.devcontainer/nvidia/devcontainer.json b/.devcontainer/nvidia/devcontainer.json new file mode 100644 index 0000000..7233730 --- /dev/null +++ b/.devcontainer/nvidia/devcontainer.json @@ -0,0 +1,127 @@ +{ + "dockerFile": "../../.docker/Dockerfile", + "context": "../..", + "build": { + "args": { + "WORKSPACE": "${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 949591b..8e199a6 100644 --- a/.docker/Dockerfile +++ b/.docker/Dockerfile @@ -31,10 +31,8 @@ RUN apt-get -q update \ && apt-get clean -y \ && rm -rf /var/lib/apt/lists/* -# Install Qualisys Python SDK -# This isn't available as a rosdep, so we need to install -# it manually -RUN python3 -m pip install qtm +# Install the Python requirements that aren't available as rosdeps +RUN python3 -m pip install -r $(pwd)/src/angler/requirements-build.txt # Install gstreamer RUN apt-get -q update \ @@ -178,7 +176,8 @@ RUN apt-get -q update \ RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \ && colcon build \ # Update /ros_entrypoint.sh to source the workspace - && sed -i "s#/opt/ros/\$ROS_DISTRO/setup.bash#$USER_WORKSPACE/setup.sh#g" /ros_entrypoint.sh + && sed -i "s#/opt/ros/\$ROS_DISTRO/setup.bash#$USER_WORKSPACE/setup.sh#g" /ros_entrypoint.sh \ + && echo "source ${USER_WORKSPACE}/setup.sh" >> /home/$USERNAME/.bashrc #################################################### # develop: Setup the image for development purposes @@ -192,6 +191,9 @@ WORKDIR $ROS_UNDERLAY/.. COPY . src/angler +# Install debugging/linting Python packages +RUN python3 -m pip install -r $(pwd)/src/angler/requirements-dev.txt + RUN apt-get -q update \ && apt-get -q -y upgrade \ && vcs import src < src/angler/angler.repos \ @@ -209,26 +211,84 @@ RUN apt-get -q update \ iputils-ping \ net-tools \ gdb \ + nano \ && apt-get autoremove -y \ && apt-get clean -y \ && rm -rf /var/lib/apt/lists/* +COPY .docker/entrypoints/dev.sh / + +# 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/$USERNAME/.bashrc \ + # Expose the environment variables to the non-root user + && echo "if [ -f /sim.sh ]; then source /sim.sh; fi" >> /home/$USERNAME/.bashrc \ + && echo "if [ -f /dev.sh ]; then source /dev.sh; fi" >> /home/$USERNAME/.bashrc + + +###################################################################################### +# develop-nvidia: Setup the image for development purposes with NVIDIA driver support +###################################################################################### +FROM deps as develop-nvidia + +# Install NVIDIA software +RUN apt-get update \ + && apt-get install -y -qq --no-install-recommends \ + libglvnd0 \ + libgl1 \ + libglx0 \ + libegl1 \ + libxext6 \ + libx11-6 + +# 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 + +ENV GZ_VERSION=garden +ENV ROS_UNDERLAY /root/ws_angler/install +ENV DEBIAN_FRONTEND=noninteractive +WORKDIR $ROS_UNDERLAY/.. + +COPY . src/angler + # Install debugging/linting Python packages -RUN python3 -m pip install \ - pre-commit \ - mypy \ - isort \ - flake8 \ - black \ - setuptools==58.2.0 +RUN python3 -m pip install -r $(pwd)/src/angler/requirements-dev.txt + +RUN apt-get -q update \ + && apt-get -q -y upgrade \ + && vcs import src < src/angler/angler.repos \ + && rosdep update \ + && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false --skip-keys="gz-transport12 gz-sim7 gz-math7 gz-msgs9 gz-plugin2" \ + && rm -rf src \ + && apt-get autoremove -y \ + && apt-get clean -y \ + && 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 \ + iputils-ping \ + net-tools \ + gdb \ + nano \ + && apt-get autoremove -y \ + && apt-get clean -y \ + && rm -rf /var/lib/apt/lists/* COPY .docker/entrypoints/dev.sh / +# 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/$USERNAME/.bashrc \ # Expose the environment variables to the non-root user - && echo "if [ -f /ros_entrypoint.sh ]; then source /ros_entrypoint.sh; fi" >> /home/$USERNAME/.bashrc - -ENTRYPOINT [ "/ros_entrypoint.sh" ] -CMD ["bash"] + && echo "if [ -f /sim.sh ]; then source /sim.sh; fi" >> /home/$USERNAME/.bashrc \ + && echo "if [ -f /dev.sh ]; then source /dev.sh; fi" >> /home/$USERNAME/.bashrc diff --git a/.docker/entrypoints/sim.sh b/.docker/entrypoints/sim.sh index 570ad55..627472c 100755 --- a/.docker/entrypoints/sim.sh +++ b/.docker/entrypoints/sim.sh @@ -9,11 +9,14 @@ export GZ_SIM_SYSTEM_PLUGIN_PATH=$HOME/ardupilot_gazebo/build:$GZ_SIM_SYSTEM_PLU # Optional: add ardupilot_gazebo models and worlds export GZ_SIM_RESOURCE_PATH=$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH -# Add alpha models +# Add alpha meshes export GZ_SIM_RESOURCE_PATH=$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 a94abc5..56c1d11 100644 --- a/.dockerignore +++ b/.dockerignore @@ -5,9 +5,8 @@ !angler_bringup !angler_planning !angler_msgs -<<<<<<< HEAD !angler_mux !angler.repos !.docker/entrypoints -======= ->>>>>>> origin/develop +!requirements-build.txt +!requirements-dev.txt 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..6cfc7d3 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 diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml index de84f3f..ed3eeef 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 diff --git a/README.md b/README.md index b7a68fb..46ed796 100644 --- a/README.md +++ b/README.md @@ -1,19 +1,70 @@ -# angler +# Angler :fish: -Angler is a collection of ROS 2 packages designed to support research and -development of underwater vehicle manipulator systems (UVMS). +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: -- Integration of [blue](https://github.com/evan-palmer/blue) for applying -custom localization and vehicle control algorithms (e.g., sliding mode control) -- Integration of [alpha](https://github.com/evan-palmer/alpha) for developing -custom manipulation algorithms for the [Reach Alpha 5 manipulator](https://reachrobotics.com/products/manipulators/reach-alpha/) -- ArduSub + Gazebo SITL integration including a simplified UVMS hydrodynamics -model for evaluating and testing the performance of your algorithms -- Support for developing custom planning algorithms -- Integration of set-based task priority inverse kinematic control (TPIK) for -whole-body control -- Energy optimal trajectory planning for operation in turbid conditions +- 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_bringup/launch/angler.launch.py b/angler_bringup/launch/angler.launch.py deleted file mode 100644 index 425120f..0000000 --- a/angler_bringup/launch/angler.launch.py +++ /dev/null @@ -1,561 +0,0 @@ -# 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, - ExecuteProcess, - IncludeLaunchDescription, - RegisterEventHandler, -) -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 Angler system. - - Returns: - The Angler ROS 2 launch description. - """ - args = [ - DeclareLaunchArgument( - "description_package", - default_value="angler_description", - description=( - "The description package with the angler configuration files. This is" - " typically not set, but is available in case another description" - " package has been defined." - ), - ), - DeclareLaunchArgument( - "description_file", - default_value="angler.config.xacro", - description="The URDF/XACRO for the UVMS.", - ), - DeclareLaunchArgument( - "planning_file", - default_value="planning.yaml", - description="The Angler planning configuration file.", - ), - DeclareLaunchArgument( - "mux_file", - default_value="mux.yaml", - description="The Angler mux + demux configuration file.", - ), - DeclareLaunchArgument( - "localization_file", - default_value="localization.yaml", - description="The BlueROV2 Heavy localization configuration file.", - ), - DeclareLaunchArgument( - "manager_file", - default_value="manager.yaml", - description="The BlueROV2 Heavy manager configuration file.", - ), - DeclareLaunchArgument( - "mavros_file", - default_value="mavros.yaml", - description="The MAVROS configuration file.", - ), - DeclareLaunchArgument( - "gazebo_world_file", - default_value="angler_underwater.world", - description="The world configuration to load if using Gazebo.", - ), - DeclareLaunchArgument( - "ardusub_params_file", - default_value="angler.parm", - description=( - "The ArduSub parameters that the BlueROV2 should use if running in" - " simulation." - ), - ), - DeclareLaunchArgument( - "controllers_file", - default_value="angler_controllers.yaml", - description="The BlueROV2 Heavy controller configuration file.", - ), - DeclareLaunchArgument( - "manipulator_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( - "base_controller", - default_value="ismc", - description=( - "The ROV 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_rviz", default_value="false", description="Launch RViz2." - ), - DeclareLaunchArgument( - "use_sim", - default_value="false", - description="Launch the Gazebo + ArduSub simulator.", - ), - DeclareLaunchArgument( - "rviz_config", - default_value="view_angler.rviz", - description="The RViz2 configuration file.", - ), - DeclareLaunchArgument( - "manipulator_serial_port", - default_value="''", - description=( - "The serial port that the Alpha 5 is available at (e.g., /dev/ttyUSB0)." - ), - ), - DeclareLaunchArgument( - "initial_positions_file", - default_value="initial_positions.yaml", - description=( - "The configuration file that defines the initial positions used for" - " the Reach Alpha 5 in simulation." - ), - ), - DeclareLaunchArgument( - "prefix", - default_value="", - description=( - "The prefix of the BlueROV2. 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." - ), - ), - ] - - description_package = LaunchConfiguration("description_package") - use_sim = LaunchConfiguration("use_sim") - controllers_file = LaunchConfiguration("controllers_file") - use_rviz = LaunchConfiguration("use_rviz") - namespace = LaunchConfiguration("namespace") - initial_positions_file = LaunchConfiguration("initial_positions_file") - manipulator_controller = LaunchConfiguration("manipulator_controller") - - robot_description = { - "robot_description": Command( - [ - PathJoinSubstitution([FindExecutable(name="xacro")]), - " ", - PathJoinSubstitution( - [ - FindPackageShare(description_package), - "urdf", - LaunchConfiguration("description_file"), - ] - ), - " ", - "prefix:=", - LaunchConfiguration("prefix"), - " ", - "use_fake_hardware:=", - LaunchConfiguration("use_fake_hardware"), - " ", - "use_sim:=", - use_sim, - " ", - "serial_port:=", - LaunchConfiguration("manipulator_serial_port"), - " ", - "controllers_file:=", - controllers_file, - " ", - "initial_positions_file:=", - initial_positions_file, - " ", - "namespace:=", - namespace, - ] - ) - } - - control_node = Node( - package="controller_manager", - executable="ros2_control_node", - output="both", - namespace=namespace, - parameters=[ - robot_description, - PathJoinSubstitution( - [ - FindPackageShare(description_package), - "config", - controllers_file, - ] - ), - ], - 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}], - ) - - manipulator_controller_spawner = Node( - package="controller_manager", - executable="spawner", - output="both", - arguments=[ - manipulator_controller, - "--controller-manager", - [namespace, "controller_manager"], - ], - parameters=[{"use_sim_time": use_sim}], - ) - - gz_spawner = Node( - package="ros_gz_sim", - executable="create", - arguments=[ - "-name", - "angler", - "-topic", - "robot_description", - ], - output="both", - condition=IfCondition(use_sim), - 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=[robot_description, {"use_sim_time": use_sim}], - condition=IfCondition(use_rviz), - ) - - nodes = [ - gz_spawner, - control_node, - RegisterEventHandler( - event_handler=OnProcessStart( - target_action=control_node, - on_start=[joint_state_broadcaster_spawner], - ) - ), - RegisterEventHandler( - event_handler=OnProcessExit( - target_action=gz_spawner, - on_exit=[joint_state_broadcaster_spawner], - ) - ), - RegisterEventHandler( - event_handler=OnProcessExit( - target_action=joint_state_broadcaster_spawner, - on_exit=[manipulator_controller_spawner], - ) - ), - RegisterEventHandler( - event_handler=OnProcessExit( - target_action=joint_state_broadcaster_spawner, on_exit=[rviz] - ), - condition=IfCondition(use_rviz), - ), - Node( - package="mavros", - executable="mavros_node", - output="both", - parameters=[ - PathJoinSubstitution( - [ - FindPackageShare(description_package), - "config", - LaunchConfiguration("mavros_file"), - ] - ), - {"use_sim_time": use_sim}, - ], - ), - Node( - package="ros_gz_bridge", - executable="parameter_bridge", - arguments=[ - # Clock (IGN -> ROS 2) - "/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock", - # Odom (IGN -> ROS 2) - "/model/angler/odometry@nav_msgs/msg/Odometry[gz.msgs.Odometry", - ], - output="screen", - condition=IfCondition(use_sim), - ), - Node( - package="robot_state_publisher", - executable="robot_state_publisher", - output="both", - parameters=[robot_description, {"use_sim_time": use_sim}], - ), - Node( - package="angler_utils", - executable="initial_position_setter", - name="initial_position_setter", - parameters=[ - { - "initial_positions_file": PathJoinSubstitution( - [description_package, "config", initial_positions_file] - ), - "controller_cmd_topic": "/forward_velocity_controller/commands", - } - ], - condition=IfCondition( - PythonExpression( - [ - "'", - use_sim, - "' == 'true' and '", - manipulator_controller, - "' == 'forward_velocity_controller'", - ] - ) - ), - ), - ] - - includes = [ - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - [ - PathJoinSubstitution( - [ - FindPackageShare("ros_gz_sim"), - "launch", - "gz_sim.launch.py", - ] - ) - ] - ), - launch_arguments=[ - ( - "gz_args", - [ - "-v", - "4", - " ", - "-r", - " ", - LaunchConfiguration("gazebo_world_file"), - ], - ) - ], - condition=IfCondition(use_sim), - ), - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - PathJoinSubstitution( - [ - FindPackageShare("angler_bringup"), - "launch", - "static_tf_broadcasters.launch.py", - ] - ) - ), - ), - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - PathJoinSubstitution( - [FindPackageShare("angler_planning"), "planning.launch.py"] - ) - ), - launch_arguments={ - "config_filepath": PathJoinSubstitution( - [ - FindPackageShare(description_package), - "config", - LaunchConfiguration("planning_file"), - ] - ) - }.items(), - ), - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - PathJoinSubstitution([FindPackageShare("angler_mux"), "mux.launch.py"]) - ), - launch_arguments={ - "config_filepath": PathJoinSubstitution( - [ - FindPackageShare(description_package), - "config", - LaunchConfiguration("mux_file"), - ] - ) - }.items(), - ), - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - PathJoinSubstitution( - [FindPackageShare("blue_manager"), "manager.launch.py"] - ) - ), - launch_arguments={ - "config_filepath": PathJoinSubstitution( - [ - FindPackageShare(description_package), - "config", - LaunchConfiguration("manager_file"), - ] - ), - "use_sim_time": use_sim, - }.items(), - ), - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - PathJoinSubstitution( - [FindPackageShare("blue_control"), "launch", "control.launch.py"] - ) - ), - launch_arguments={ - "config_filepath": PathJoinSubstitution( - [ - FindPackageShare(description_package), - "config", - controllers_file, - ] - ), - "controller": LaunchConfiguration("base_controller"), - "use_sim_time": use_sim, - }.items(), - ), - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - PathJoinSubstitution( - [FindPackageShare("blue_localization"), "localization.launch.py"] - ) - ), - launch_arguments={ - "config_filepath": PathJoinSubstitution( - [ - FindPackageShare(description_package), - "config", - LaunchConfiguration("localization_file"), - ] - ), - "localization_source": LaunchConfiguration("localization_source"), - "use_mocap": LaunchConfiguration("use_mocap"), - "use_camera": LaunchConfiguration("use_camera"), - "use_sim_time": use_sim, - }.items(), - ), - ] - - processes = [ - ExecuteProcess( - cmd=[ - "ardusub", - "-S", - "-w", - "-M", - "JSON", - "--defaults", - PathJoinSubstitution( - [ - FindPackageShare(description_package), - "ardusub", - LaunchConfiguration("ardusub_params_file"), - ] - ), - "-I0", - "--home", - "44.65870,-124.06556,0.0,270.0", # my not-so-secret surf spot - ], - output="screen", - condition=IfCondition(use_sim), - ), - ] - - return LaunchDescription(args + nodes + includes + processes) 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..d589511 --- /dev/null +++ b/angler_bringup/launch/bluerov2_heavy_alpha.launch.py @@ -0,0 +1,450 @@ +# 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", + description="The whole-body controller to load.", + choices=["tpik"], + ), + ] + + 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, "robot_description": robot_description}, + ], + 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]), + 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="robot_state_publisher", + executable="robot_state_publisher", + output="both", + parameters=[ + {"use_sim_time": use_sim, "robot_description": robot_description} + ], + ), + 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'", + ] + ) + ), + ), + Node( + package="tf2_ros", + executable="static_transform_publisher", + name="base_link_to_base_footprint", + arguments=[ + "--x", + "-0.0", + "--y", + "0.0", + "--z", + "0.0", + "--frame-id", + ["base_link"], + "--child-frame-id", + ["base_footprint"], + ], + output="screen", + ), + ] + + 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")), + ), + ] + + return LaunchDescription(args + nodes + includes) diff --git a/angler_bringup/launch/static_tf_broadcasters.launch.py b/angler_bringup/launch/static_tf_broadcasters.launch.py deleted file mode 100644 index 2834e03..0000000 --- a/angler_bringup/launch/static_tf_broadcasters.launch.py +++ /dev/null @@ -1,219 +0,0 @@ -# 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_ros.actions import Node - - -def generate_launch_description(): - """Generate a launch description for the static TF broadcasters.""" - # The robot_state_broadcaster doesn't get any state information regarding the - # thruster joint states, so we publish a static transformation to improve the - # visualizations in RViz2. - thrusters = [ - Node( - package="tf2_ros", - executable="static_transform_publisher", - name="base_link_to_thruster1", - arguments=[ - "--x", - "0.088", - "--y", - "-0.102", - "--z", - "-0.04", - "--roll", - "-1.571", - "--pitch", - "1.571", - "--yaw", - "-1.047", - "--frame-id", - "base_link", - "--child-frame-id", - "thruster1", - ], - output="screen", - ), - Node( - package="tf2_ros", - executable="static_transform_publisher", - name="base_link_to_thruster2", - arguments=[ - "--x", - "0.088", - "--y", - "0.102", - "--z", - "-0.04", - "--roll", - "-1.571", - "--pitch", - "1.571", - "--yaw", - "-2.094", - "--frame-id", - "base_link", - "--child-frame-id", - "thruster2", - ], - output="screen", - ), - Node( - package="tf2_ros", - executable="static_transform_publisher", - name="base_link_to_thruster3", - arguments=[ - "--x", - "-0.088", - "--y", - "-0.102", - "--z", - "-0.04", - "--roll", - "-1.571", - "--pitch", - "1.571", - "--yaw", - "1.047", - "--frame-id", - "base_link", - "--child-frame-id", - "thruster3", - ], - output="screen", - ), - Node( - package="tf2_ros", - executable="static_transform_publisher", - name="base_link_to_thruster4", - arguments=[ - "--x", - "-0.088", - "--y", - "0.102", - "--z", - "-0.04", - "--roll", - "-1.571", - "--pitch", - "1.571", - "--yaw", - "2.094", - "--frame-id", - "base_link", - "--child-frame-id", - "thruster4", - ], - output="screen", - ), - Node( - package="tf2_ros", - executable="static_transform_publisher", - name="base_link_to_thruster5", - arguments=[ - "--x", - "0.118", - "--y", - "-0.215", - "--z", - "0.064", - "--frame-id", - "base_link", - "--child-frame-id", - "thruster5", - ], - output="screen", - ), - Node( - package="tf2_ros", - executable="static_transform_publisher", - name="base_link_to_thruster6", - arguments=[ - "--x", - "0.118", - "--y", - "0.215", - "--z", - "0.064", - "--frame-id", - "base_link", - "--child-frame-id", - "thruster6", - ], - output="screen", - ), - Node( - package="tf2_ros", - executable="static_transform_publisher", - name="base_link_to_thruster7", - arguments=[ - "--x", - "-0.118", - "--y", - "-0.215", - "--z", - "0.064", - "--frame-id", - "base_link", - "--child-frame-id", - "thruster7", - ], - output="screen", - ), - Node( - package="tf2_ros", - executable="static_transform_publisher", - name="base_link_to_thruster8", - arguments=[ - "--x", - "-0.118", - "--y", - "0.215", - "--z", - "0.064", - "--frame-id", - "base_link", - "--child-frame-id", - "thruster8", - ], - output="screen", - ), - Node( - package="tf2_ros", - executable="static_transform_publisher", - name="base_link_to_base_footprint", - arguments=[ - "--x", - "-0.0", - "--y", - "0.0", - "--z", - "0.0", - "--frame-id", - "base_link", - "--child-frame-id", - "base_footprint", - ], - output="screen", - ), - ] - - return LaunchDescription(thrusters) diff --git a/angler_msgs/LICENSE b/angler_control/LICENSE similarity index 100% rename from angler_msgs/LICENSE rename to angler_control/LICENSE diff --git a/angler_mux/angler_mux/__init__.py b/angler_control/inverse_kinematic_controllers/__init__.py similarity index 100% rename from angler_mux/angler_mux/__init__.py rename to angler_control/inverse_kinematic_controllers/__init__.py diff --git a/angler_planning/mission_planning/__init__.py b/angler_control/inverse_kinematic_controllers/tpik/__init__.py similarity index 100% rename from angler_planning/mission_planning/__init__.py rename to angler_control/inverse_kinematic_controllers/tpik/__init__.py diff --git a/angler_control/inverse_kinematic_controllers/tpik/constraint.py b/angler_control/inverse_kinematic_controllers/tpik/constraint.py new file mode 100644 index 0000000..e96cafc --- /dev/null +++ b/angler_control/inverse_kinematic_controllers/tpik/constraint.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/inverse_kinematic_controllers/tpik/controller.py b/angler_control/inverse_kinematic_controllers/tpik/controller.py new file mode 100644 index 0000000..7ef38e2 --- /dev/null +++ b/angler_control/inverse_kinematic_controllers/tpik/controller.py @@ -0,0 +1,503 @@ +# 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 geometry_msgs.msg import Transform, Twist +from inverse_kinematic_controllers.tpik.constraint import ( + EqualityConstraint, + SetConstraint, +) +from inverse_kinematic_controllers.tpik.hierarchy import TaskHierarchy +from inverse_kinematic_controllers.tpik.tasks import ( + EndEffectorPoseTask, + ManipulatorJointConfigurationTask, + ManipulatorJointLimitTask, + VehicleOrientationTask, + VehicleRollPitchTask, + VehicleYawTask, +) +from moveit_msgs.msg import RobotState, RobotTrajectory +from rclpy.callback_groups import MutuallyExclusiveCallbackGroup +from rclpy.duration import Duration +from rclpy.executors import MultiThreadedExecutor +from rclpy.node import Node +from rclpy.qos import QoSDurabilityPolicy, QoSProfile, qos_profile_sensor_data +from std_msgs.msg import String +from std_srvs.srv import SetBool +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 TPIK(Node): + """Task-priority inverse kinematic (TPIK) controller. + + The TPIK controller is responsible for calculating kinematically feasible system + velocities subject to equality and set-based constraints. + """ + + def __init__(self) -> None: + """Create a new TPIK node.""" + super().__init__("tpik") + + self.declare_parameter("hierarchy_file", "") + self.declare_parameter("inertial_frame", "map") + self.declare_parameter("base_frame", "base_link") + self.declare_parameter("manipulator_base_link", "alpha_base_link") + self.declare_parameter("manipulator_end_link", "alpha_standard_jaws_tool") + self.declare_parameter("control_rate", 50.0) + + # Keep track of the robot state for the tasks + self.state = RobotState() + + # Don't run the controller until everything has been properly initialized + self._description_received = False + self._init_state_received = False + + # Require a service call to arm the controller + self._armed = False + + # Keep track of the frames + self.inertial_frame = ( + self.get_parameter("inertial_frame").get_parameter_value().string_value + ) + self.base_frame = ( + self.get_parameter("base_frame").get_parameter_value().string_value + ) + self.manipulator_base_frame = ( + self.get_parameter("manipulator_base_link") + .get_parameter_value() + .string_value + ) + self.manipulator_ee_frame = ( + self.get_parameter("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) + + self.manipulator_base_link_frame = ( + self.get_parameter("manipulator_end_link") + .get_parameter_value() + .string_value + ) + self.manipulator_ee_frame = ( + self.get_parameter("manipulator_end_link") + .get_parameter_value() + .string_value + ) + + # Subscribers + self.robot_description_sub = self.create_subscription( + String, + "/robot_description", + self.read_robot_description_cb, + QoSProfile(depth=5, durability=QoSDurabilityPolicy.TRANSIENT_LOCAL), + ) + self.robot_state_sub = self.create_subscription( + RobotState, + "/angler/state", + self.robot_state_cb, + qos_profile=qos_profile_sensor_data, + ) + + # Publishers + self.robot_trajectory_pub = self.create_publisher( + RobotTrajectory, "/angler/robot_trajectory", 1 + ) + + # Services + self.arm_controller_srv = self.create_service( + SetBool, "/angler/tpik/arm", self.arm_controller_cb + ) + + # Create a new callback group for the control loop timer + self.timer_cb_group = MutuallyExclusiveCallbackGroup() + + # Create a timer to run the TPIK controller + self.control_timer = self.create_timer( + 1 / self.get_parameter("control_rate").get_parameter_value().double_value, + self.update, + self.timer_cb_group, + ) + + @property + def initialized(self) -> bool: + """Check whether or not the controller has been fully initialized. + + Returns: + Whether or not the controller has been initialized. + """ + return self._description_received and self._init_state_received + + def arm_controller_cb( + self, request: SetBool.Request, response: SetBool.Response + ) -> SetBool.Response: + """Arm/disarm the TPIK controller. + + Args: + request: The arm/disarm request. + response: The request result. + + Returns: + The request result. + """ + if request.data: + if self.initialized: + self._armed = True + response.success = self._armed + response.message = "Successfully armed the TPIK controller" + else: + self._armed = False + response.success = self._armed + response.message = ( + "Failed to arm the TPIK controller: controller has not" + " yet been initialized" + ) + else: + self._armed = False + response.success = True + response.message = "Successfully disarmed the TPIK controller" + + return response + + 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("manipulator_end_link") + .get_parameter_value() + .string_value + ) + start_link = ( + self.get_parameter("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 update(self) -> None: + """Calculate and send the desired system velocities.""" + if not self._armed: + return + + self.update_context() + + hierarchies = self.hierarchy.hierarchies + + # 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"] + 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 robot_state_cb(self, state: RobotState) -> None: + """Update the current robot state. + + Args: + state: The current robot state. + """ + self.state = state + self._init_state_received = True + self.update_context() + + def update_context(self) -> None: + """Update the current state variables for each task.""" + # 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(self.state.joint_state.position[1:][::-1]) + vehicle_pose: Transform = self.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, VehicleOrientationTask): + 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() + ) + tf_base_to_manipulator_base = self.tf_buffer.lookup_transform( + self.base_frame, self.manipulator_base_frame, Time() + ) + tf_manipulator_base_to_ee = self.tf_buffer.lookup_transform( + self.manipulator_base_frame, self.manipulator_ee_frame, Time() + ) + 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 = TPIK() + executor = MultiThreadedExecutor() + rclpy.spin(node, executor) + + node.destroy_node() + rclpy.shutdown() diff --git a/angler_control/inverse_kinematic_controllers/tpik/hierarchy.py b/angler_control/inverse_kinematic_controllers/tpik/hierarchy.py new file mode 100644 index 0000000..163ed25 --- /dev/null +++ b/angler_control/inverse_kinematic_controllers/tpik/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 inverse_kinematic_controllers.tpik.constraint import ( + Constraint, + EqualityConstraint, + SetConstraint, +) +from inverse_kinematic_controllers.tpik.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/inverse_kinematic_controllers/tpik/tasks.py b/angler_control/inverse_kinematic_controllers/tpik/tasks.py new file mode 100644 index 0000000..b7e78fe --- /dev/null +++ b/angler_control/inverse_kinematic_controllers/tpik/tasks.py @@ -0,0 +1,769 @@ +# 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 inverse_kinematic_controllers.tpik.utils as tpik_utils +import numpy as np +from geometry_msgs.msg import Quaternion, Transform +from inverse_kinematic_controllers.tpik.constraint import ( + EqualityConstraint, + SetConstraint, +) +from scipy.spatial.transform import Rotation as R + + +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_ko = tpik_utils.calculate_vehicle_angular_velocity_jacobian( + self.rot_map_to_base + ) + + J = np.zeros((2, 6 + self.n_manipulator_joints)) + J[:, 3:6] = np.array([[1, 0, 0], [0, 1, 0]]) @ np.linalg.pinv(J_ko) + + 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_ko = tpik_utils.calculate_vehicle_angular_velocity_jacobian( + self.rot_map_to_base + ) + + J = np.zeros((1, 6 + self.n_manipulator_joints)) + J[:, 3:6] = np.array([0, 0, 1]) @ np.linalg.inv(J_ko) + + 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 VehicleOrientationTask(EqualityConstraint): + """Control the vehicle orientation.""" + + name = "vehicle_orientation_eq" + + def __init__(self, gain: float, priority: float) -> None: + """Create a new vehicle orientation task. + + Args: + gain: The task gain. + priority: The task priority. + """ + super().__init__(gain, priority) + + self.current_rot = Quaternion() + self.desired_rot = Quaternion() + self.rot_base_to_map = Quaternion() + self.n_manipulator_joints = 0 + + @staticmethod + def create_task_from_params( + gain: float, + priority: float, + roll: float | None = None, + pitch: float | None = None, + yaw: float | None = None, + ) -> Any: + """Create a new vehicle orientation task. + + Args: + gain: The task gain. + priority: The task priority. + roll: The desired vehicle roll, if known beforehand. Defaults to + None. + pitch: The desired vehicle pitch, if known beforehand. Defaults to None. + yaw: The desired vehicle yaw, if known beforehand. Defaults to None. + """ + task = VehicleOrientationTask(gain, priority) + + if None not in [roll, pitch, yaw]: + dr = R.from_euler("xyz", [roll, pitch, yaw]) # type: ignore + desired_quat = Quaternion() + ( + desired_quat.x, + desired_quat.y, + desired_quat.z, + desired_quat.w, + ) = dr.as_quat(False) + + task.desired_rot = desired_quat + + return task + + def update( + self, + current_rot: Quaternion, + desired_rot: Quaternion | None = None, + n_manipulator_joints: int | None = None, + ) -> None: + """Update the vehicle orientation context. + + Args: + current_rot: The current vehicle orientation. + desired_rot: The desired vehicle orientation. Defaults to None. + n_manipulator_joints: The total number of manipulator joints. Defaults to + None. + """ + self.rot_base_to_map = current_rot + self.current_rot = current_rot + + if desired_rot is not None: + self.desired_rot = desired_rot + + if n_manipulator_joints is not None: + n_manipulator_joints = n_manipulator_joints + + @property + def jacobian(self) -> np.ndarray: + """Calculate the vehicle orientation Jacobian. + + Returns: + The vehicle orientation Jacobian. + """ + J = np.zeros((3, 6 + self.n_manipulator_joints)) + J[:, 3:6] = tpik_utils.quaternion_to_rotation(self.rot_base_to_map).as_matrix() + + return J + + @property + def error(self) -> np.ndarray: + """Calculate the reference signal for the vehicle orientation. + + Returns: + The reference signal needed to move the vehicle to the desired orientation. + """ + return tpik_utils.calculate_quaternion_error( + self.desired_rot, self.current_rot + )[:3].reshape((3, 1)) + + +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( + False + ) + + 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. + """ + # Get the transformation translations + # denoted as r_{from frame}{to frame}_{with respect to x frame} + r_B0_B = tpik_utils.point_to_array(self.tf_base_to_manipulator_base.translation) + eta_0ee_0 = tpik_utils.point_to_array( + self.tf_manipulator_base_to_ee.translation + ) + + # Get the transformation rotations + # denoted as R_{from frame}_{to frame} + R_0_B = np.linalg.inv( + tpik_utils.quaternion_to_rotation( + self.tf_base_to_manipulator_base.rotation + ).as_matrix() + ) + R_B_I = np.linalg.inv( + tpik_utils.quaternion_to_rotation(self.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 + + def get_skew_matrix(x: np.ndarray) -> np.ndarray: + # Expect a 3x1 vector + 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], + ], + ) + + J = np.zeros((6, 6 + len(self.joint_angles))) + J_man = tpik_utils.calculate_manipulator_jacobian( + self.serial_chain, self.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 + + @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 = tpik_utils.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:] = np.eye(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, + VehicleOrientationTask, + VehicleRollPitchTask, + VehicleYawTask, + ] +} diff --git a/angler_control/inverse_kinematic_controllers/tpik/utils.py b/angler_control/inverse_kinematic_controllers/tpik/utils.py new file mode 100644 index 0000000..2831e44 --- /dev/null +++ b/angler_control/inverse_kinematic_controllers/tpik/utils.py @@ -0,0 +1,118 @@ +# 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, 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 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)) + + +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 manipulator Jacobian matrix. + """ + return np.array(serial_chain.jacobian(joint_angles)) diff --git a/angler_control/launch/control.launch.py b/angler_control/launch/control.launch.py new file mode 100644 index 0000000..26d5e61 --- /dev/null +++ b/angler_control/launch/control.launch.py @@ -0,0 +1,78 @@ +# 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", + description="The whole-body controller to load.", + choices=["tpik"], + ), + ] + + 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'"])), + ), + ] + + return LaunchDescription(args + nodes) diff --git a/angler_control/package.xml b/angler_control/package.xml new file mode 100644 index 0000000..e9ea4ca --- /dev/null +++ b/angler_control/package.xml @@ -0,0 +1,21 @@ + + + + angler_control + 0.0.1 + A collection of whole-body controllers. + Evan Palmer + MIT + + python3-scipy + python3-numpy + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/angler_planning/mission_planning/missions/__init__.py b/angler_control/resource/angler_control similarity index 100% rename from angler_planning/mission_planning/missions/__init__.py rename to angler_control/resource/angler_control 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..ac919ed --- /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 = inverse_kinematic_controllers.tpik.controller:main", + ], + }, +) 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_control/test/test_flake8.py b/angler_control/test/test_flake8.py new file mode 100644 index 0000000..f494570 --- /dev/null +++ b/angler_control/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 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_flake8.main import main_with_errors + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, "Found %d code style errors / warnings:\n" % len( + errors + ) + "\n".join(errors) diff --git a/angler_description/CMakeLists.txt b/angler_description/CMakeLists.txt index c1b3c14..ab2bb08 100644 --- a/angler_description/CMakeLists.txt +++ b/angler_description/CMakeLists.txt @@ -1,20 +1,6 @@ cmake_minimum_required(VERSION 3.8) project(angler_description) -# Default to C99 -if(NOT CMAKE_C_STANDARD) - set(CMAKE_C_STANDARD 99) -endif() - -# Default to C++ 17 -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - set(THIS_PACKAGE_INCLUDE_DEPENDS ament_cmake ) @@ -23,13 +9,8 @@ foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) find_package(${Dependency} REQUIRED) endforeach() -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - install( - DIRECTORY gazebo config ardusub meshes urdf rviz + DIRECTORY config gazebo rviz xacro DESTINATION share/${PROJECT_NAME} ) diff --git a/angler_description/ardusub/angler.parm b/angler_description/config/bluerov2_heavy_alpha/ardusub.parm similarity index 97% rename from angler_description/ardusub/angler.parm rename to angler_description/config/bluerov2_heavy_alpha/ardusub.parm index 4f220f3..4cbf404 100644 --- a/angler_description/ardusub/angler.parm +++ b/angler_description/config/bluerov2_heavy_alpha/ardusub.parm @@ -79,3 +79,6 @@ COMPASS_USE 0 # Disable compass 1 COMPASS_USE2 0 # Disable compass 2 COMPASS_USE3 0 # Disable compass 3 EK3_SRC1_YAW 6 # External nav + +# Disable noisy barometer SITL setting +SIM_BARO_RND 0.01 diff --git a/angler_description/config/angler_controllers.yaml b/angler_description/config/bluerov2_heavy_alpha/controllers.yaml similarity index 80% rename from angler_description/config/angler_controllers.yaml rename to angler_description/config/bluerov2_heavy_alpha/controllers.yaml index c4f6f26..ae0a379 100644 --- a/angler_description/config/angler_controllers.yaml +++ b/angler_description/config/bluerov2_heavy_alpha/controllers.yaml @@ -1,13 +1,13 @@ ismc: ros__parameters: - mass: 13.5 - buoyancy: 112.80 - weight: 114.80 - inertia_tensor_coeff: [0.16, 0.16, 0.16] - added_mass_coeff: [-5.50, -12.70, -14.60, -0.12, -0.12, -0.12] - linear_damping_coeff: [-4.03, -6.22, -5.18, -0.07, -0.07, -0.07] - quadratic_damping_coeff: [-18.18, -21.66, -36.99, -1.55, -1.55, -1.55] - center_of_gravity: [0.0, 0.0, 0.0] + 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 @@ -20,8 +20,8 @@ ismc: msg_ids: [31, 32] msg_rates: [100.0, 100.0] control_rate: 200.0 - proportional_gain: [10.0, 10.0, 6.0, 6.0, 6.0, 10.0] - integral_gain: [0.01, 0.01, 0.01, 0.01, 0.01, 0.01] + 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 @@ -93,3 +93,8 @@ feedback_joint_velocity_trajectory_controller: state_interfaces: - position - velocity + +tpik: + ros__parameters: + manipulator_base_link: "alpha_base_link" + manipulator_end_link: "alpha_standard_jaws_tool" diff --git a/angler_description/config/initial_positions.yaml b/angler_description/config/bluerov2_heavy_alpha/initial_positions.yaml similarity index 100% rename from angler_description/config/initial_positions.yaml rename to angler_description/config/bluerov2_heavy_alpha/initial_positions.yaml diff --git a/angler_description/config/localization.yaml b/angler_description/config/bluerov2_heavy_alpha/localization.yaml similarity index 84% rename from angler_description/config/localization.yaml rename to angler_description/config/bluerov2_heavy_alpha/localization.yaml index 14f5f6b..9df0e06 100644 --- a/angler_description/config/localization.yaml +++ b/angler_description/config/bluerov2_heavy_alpha/localization.yaml @@ -15,4 +15,4 @@ qualisys_localizer: gazebo_localizer: ros__parameters: - gazebo_odom_topic: "/model/angler/odometry" + gazebo_odom_topic: "/model/bluerov2_heavy_alpha/odometry" diff --git a/angler_description/config/manager.yaml b/angler_description/config/bluerov2_heavy_alpha/manager.yaml similarity index 100% rename from angler_description/config/manager.yaml rename to angler_description/config/bluerov2_heavy_alpha/manager.yaml diff --git a/angler_description/config/mux.yaml b/angler_description/config/bluerov2_heavy_alpha/mux.yaml similarity index 100% rename from angler_description/config/mux.yaml rename to angler_description/config/bluerov2_heavy_alpha/mux.yaml 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..fd64504 --- /dev/null +++ b/angler_description/config/bluerov2_heavy_alpha/planning.yaml @@ -0,0 +1,3 @@ +preplanned_end_effector_waypoint_planner: + ros__parameters: + trajectory_name: "straight" 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..53bacea --- /dev/null +++ b/angler_description/config/bluerov2_heavy_alpha/tasks.yaml @@ -0,0 +1,34 @@ +- 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 + +- task: "end_effector_pose_eq" + priority: 2 + gain: 0.3 + 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/planning.yaml b/angler_description/config/planning.yaml deleted file mode 100644 index 00bfc7e..0000000 --- a/angler_description/config/planning.yaml +++ /dev/null @@ -1,3 +0,0 @@ -preplanned_mission_planner: - ros__parameters: - mission_name: "straight" diff --git a/angler_description/gazebo/worlds/angler_underwater.world b/angler_description/gazebo/worlds/bluerov2_heavy_alpha_underwater.world similarity index 93% rename from angler_description/gazebo/worlds/angler_underwater.world rename to angler_description/gazebo/worlds/bluerov2_heavy_alpha_underwater.world index ee93053..4bdfa68 100644 --- a/angler_description/gazebo/worlds/angler_underwater.world +++ b/angler_description/gazebo/worlds/bluerov2_heavy_alpha_underwater.world @@ -1,6 +1,6 @@ - + - angler + bluerov2_heavy_alpha diff --git a/angler_description/meshes/bluerov2_heavy_modified.dae b/angler_description/meshes/bluerov2_heavy_modified.dae deleted file mode 100644 index 7642c07..0000000 --- a/angler_description/meshes/bluerov2_heavy_modified.dae +++ /dev/null @@ -1,1555 +0,0 @@ - - - - - Blender User - Blender 3.5.1 commit date:2023-04-24, commit time:18:11, hash:e1ccd9d4a1d3 - - 2023-07-04T20:10:13 - 2023-07-04T20:10:13 - - Z_UP - - - - - - - - 0 0 0 1 - - - 0.290196 0.290196 0.290196 1 - - - 1.45 - - - - - - - - - - - 0 0 0 1 - - - 0.745098 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35311 35312

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2193 4485 14512 1976 3791 14513 1602 3337 14514 1601 3336 14515 2098 4040 14516 2098 4040 14517 1601 3336 14518 2195 4487 14519 2086 3935 14520 2098 4040 14521 2284 4593 14522 2086 3935 14523 2284 4593 14524 2285 4594 14525 2098 4040 14526 2195 4487 14527 2284 4593 14528 2284 4593 14529 2195 4487 14530 2198 4490 14531 2284 4593 14532 2198 4490 14533 2285 4594 14534 2285 4594 14535 2198 4490 14536 2197 4489 14537 2085 3934 14538 2086 3935 14539 2285 4594 14540 2197 4489 14541 2201 4493 14542 2285 4594 14543 2285 4594 14544 2201 4493 14545 2085 3934 14546 2260 4555 14547 2265 4560 14548 2113 4167 14549 2260 4555 14550 2113 4167 14551 2083 3932 14552 1598 3341 14553 1604 3342 14554 2265 4560 14555 2265 4560 14556 1604 3342 14557 2113 4167 14558 2263 4558 14559 2262 4557 14560 2083 3932 14561 2083 3932 14562 2082 3931 14563 2263 4558 14564 2263 4558 14565 2082 3931 14566 2201 4493 14567 2082 3931 14568 2085 3934 14569 2201 4493 14570 2260 4555 14571 2083 3932 14572 2262 4557 14573 1594 3328 14574 1595 3330 14575 2047 3862 14576 1595 3330 14577 1596 3335 14578 1993 3808 14579 1595 3330 14580 1993 3808 14581 2047 3862 14582 2047 3862 14583 1993 3808 14584 1953 3768 14585 1958 3773 14586 1960 3775 14587 2090 3944 14588 2090 3944 14589 1960 3775 14590 2089 3943 14591 2090 3944 14592 2049 3864 14593 1958 3773 14594 1958 3773 14595 2049 3864 14596 1956 3771 14597 2049 3864 14598 2047 3862 14599 1956 3771 14600 1956 3771 14601 2047 3862 14602 1953 3768 14603 1962 3777 14604 2089 3943 14605 1960 3775 14606 2089 3943 14607 1962 3777 14608 2108 3334 14609 2108 3334 14610 1962 3777 14611 1995 3810 14612 1591 3333 14613 2108 3334 14614 2227 4523 14615 2108 3334 14616 1995 3810 14617 2227 4523 14618 2286 4595 14619 1584 3326 14620 1590 3327 14621 2286 4595 14622 1590 3327 14623 1992 3807 14624 2286 4595 14625 1990 3805 14626 2287 4596 14627 2286 4595 14628 2287 4596 14629 2164 4260 14630 1990 3805 14631 1988 3803 14632 2287 4596 14633 1990 3805 14634 2286 4595 14635 1992 3807 14636 2164 4260 14637 1584 3326 14638 2286 4595 14639 2277 4573 14640 2166 4274 14641 2279 4575 14642 2166 4274 14643 2164 4260 14644 2287 4596 14645 2166 4274 14646 2287 4596 14647 2279 4575 14648 2279 4575 14649 2287 4596 14650 1988 3803 14651 2230 4526 14652 2166 4274 14653 2277 4573 14654 2166 4274 14655 2230 4526 14656 2124 4187 14657 2124 4187 14658 2230 4526 14659 1986 3801 14660 2233 4529 14661 1587 3322 14662 1586 3321 14663 2233 4529 14664 1586 3321 14665 2170 4325 14666 2233 4529 14667 2170 4325 14668 1980 3795 14669 2168 4310 14670 2124 4187 14671 1986 3801 14672 2168 4310 14673 1986 3801 14674 1984 3799 14675 2169 4319 14676 1982 3797 14677 2170 4325 14678 1982 3797 14679 1980 3795 14680 2170 4325 14681 1982 3797 14682 2169 4319 14683 1984 3799 14684 2169 4319 14685 2168 4310 14686 1984 3799 14687 2175 4387 14688 2236 4514 14689 2176 4389 14690 2176 4389 14691 2236 4514 14692 2235 4531 14693 2236 4514 14694 2175 4387 14695 1583 3320 14696 1583 3320 14697 2175 4387 14698 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3791 14761 2193 4485 14762 2183 4475 14763 2181 4473 14764 2241 4535 14765 2183 4475 14766 2241 4535 14767 2239 4533 14768 2182 4474 14769 2243 4537 14770 2181 4473 14771 2181 4473 14772 2243 4537 14773 2241 4535 14774 1977 3792 14775 1976 3791 14776 2172 4366 14777 1977 3792 14778 2172 4366 14779 2178 4402 14780 2184 4476 14781 2183 4475 14782 2239 4533 14783 2275 4571 14784 2184 4476 14785 2239 4533 14786 2178 4402 14787 2184 4476 14788 2273 4569 14789 2273 4569 14790 2184 4476 14791 2275 4571 14792 1977 3792 14793 2178 4402 14794 2273 4569 14795 2147 4229 14796 2214 4506 14797 2212 4504 14798 2144 4216 14799 2147 4229 14800 2211 4503 14801 2211 4503 14802 2147 4229 14803 2212 4504 14804 2147 4229 14805 1569 3304 14806 1568 3306 14807 2147 4229 14808 1568 3306 14809 2214 4506 14810 2144 4216 14811 2211 4503 14812 2143 4214 14813 2143 4214 14814 2211 4503 14815 2209 4501 14816 2143 4214 14817 2209 4501 14818 2206 4498 14819 2143 4214 14820 2206 4498 14821 2205 4497 14822 2143 4214 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2167 4363 14886 1969 3784 14887 1971 3786 14888 1965 3780 14889 1967 3782 14890 2167 4363 14891 2171 4333 14892 1965 3780 14893 2167 4363 14894 2179 4414 14895 2253 4547 14896 1963 3778 14897 2185 4477 14898 2187 4479 14899 2266 4561 14900 2185 4477 14901 2266 4561 14902 2259 4554 14903 1561 3298 14904 1566 3302 14905 2187 4479 14906 2187 4479 14907 1566 3302 14908 2266 4561 14909 2137 4208 14910 2138 4209 14911 2264 4559 14912 2264 4559 14913 2138 4209 14914 2261 4556 14915 2261 4556 14916 2138 4209 14917 2259 4554 14918 2138 4209 14919 2185 4477 14920 2259 4554 14921 2200 4492 14922 2137 4208 14923 2264 4559 14924 2133 4202 14925 2137 4208 14926 2196 4488 14927 2196 4488 14928 2137 4208 14929 2200 4492 14930 1567 3303 14931 1564 3300 14932 2194 4486 14933 2194 4486 14934 1564 3300 14935 2135 4206 14936 1563 3299 14937 2135 4206 14938 1564 3300 14939 2133 4202 14940 2196 4488 14941 2134 4203 14942 2134 4203 14943 2196 4488 14944 2199 4491 14945 2134 4203 14946 2199 4491 14947 2135 4206 14948 2135 4206 14949 2199 4491 14950 2194 4486 14951 2146 4221 14952 2042 3857 14953 2148 4233 14954 2148 4233 14955 2042 3857 14956 2039 3854 14957 2038 3853 14958 2149 4235 14959 2148 4233 14960 2038 3853 14961 2148 4233 14962 2039 3854 14963 2289 4597 14964 2043 3858 14965 2042 3857 14966 2289 4597 14967 2042 3857 14968 2146 4221 14969 2145 4219 14970 2289 4597 14971 2146 4221 14972 2149 4235 14973 2038 3853 14974 2224 4520 14975 2149 4235 14976 2224 4520 14977 2152 4238 14978 2152 4238 14979 2224 4520 14980 2036 3851 14981 2043 3858 14982 2289 4597 14983 1997 3812 14984 1997 3812 14985 2289 4597 14986 2145 4219 14987 2155 4244 14988 2152 4238 14989 2036 3851 14990 2036 3851 14991 2035 3850 14992 2155 4244 14993 2003 3818 14994 2001 3816 14995 2140 4211 14996 2003 3818 14997 2140 4211 14998 2139 4210 14999 1997 3812 15000 2145 4219 15001 1999 3814 15002 1999 3814 15003 2145 4219 15004 2140 4211 15005 1999 3814 15006 2140 4211 15007 2001 3816 15008 2136 4207 15009 2290 4598 15010 2139 4210 15011 2226 4522 15012 2003 3818 15013 2139 4210 15014 2290 4598 15015 2226 4522 15016 2139 4210 15017 2005 3820 15018 2226 4522 15019 2290 4598 15020 2136 4207 15021 2005 3820 15022 2290 4598 15023 2160 4253 15024 2159 4250 15025 2029 3844 15026 2160 4253 15027 2029 3844 15028 2027 3842 15029 2155 4244 15030 2035 3850 15031 2033 3848 15032 2155 4244 15033 2033 3848 15034 2159 4250 15035 2159 4250 15036 2033 3848 15037 2031 3846 15038 2159 4250 15039 2031 3846 15040 2029 3844 15041 2132 4197 15042 2007 3822 15043 2005 3820 15044 2132 4197 15045 2005 3820 15046 2136 4207 15047 2014 3829 15048 2163 4257 15049 2222 4518 15050 2222 4518 15051 2163 4257 15052 2291 4599 15053 2222 4518 15054 2291 4599 15055 2027 3842 15056 2027 3842 15057 2291 4599 15058 2160 4253 15059 2291 4599 15060 2163 4257 15061 2162 4256 15062 2291 4599 15063 2162 4256 15064 2160 4253 15065 2119 4174 15066 2116 4170 15067 2163 4257 15068 2119 4174 15069 2163 4257 15070 2014 3829 15071 2119 4174 15072 2014 3829 15073 2016 3831 15074 2016 3831 15075 2019 3834 15076 2119 4174 15077 2119 4174 15078 2019 3834 15079 2121 4179 15080 2119 4174 15081 2121 4179 15082 2120 4177 15083 2121 4179 15084 2019 3834 15085 2021 3836 15086 2125 4188 15087 2023 3838 15088 2024 3839 15089 2125 4188 15090 2123 4185 15091 2023 3838 15092 2023 3838 15093 2123 4185 15094 2122 4182 15095 2023 3838 15096 2122 4182 15097 2021 3836 15098 2122 4182 15099 2121 4179 15100 2021 3836 15101 2007 3822 15102 2132 4197 15103 2009 3824 15104 2009 3824 15105 2132 4197 15106 2010 3825 15107 2010 3825 15108 2132 4197 15109 2128 4193 15110 2010 3825 15111 2128 4193 15112 2013 3828 15113 2013 3828 15114 2128 4193 15115 2127 4192 15116 2125 4188 15117 2024 3839 15118 2127 4192 15119 2127 4192 15120 2024 3839 15121 2220 4516 15122 2127 4192 15123 2220 4516 15124 2013 3828 15125 2100 4045 15126 1985 3800 15127 2229 4525 15128 2100 4045 15129 2292 4600 15130 2099 4043 15131 2100 4045 15132 2229 4525 15133 2292 4600 15134 2292 4600 15135 2229 4525 15136 2231 4527 15137 1983 3798 15138 1985 3800 15139 2100 4045 15140 1983 3798 15141 2100 4045 15142 2094 4003 15143 1981 3796 15144 2095 4006 15145 1979 3794 15146 2095 4006 15147 2101 4048 15148 1979 3794 15149 2095 4006 15150 1981 3796 15151 2094 4003 15152 1981 3796 15153 1983 3798 15154 2094 4003 15155 2292 4600 15156 2231 4527 15157 2276 4572 15158 2278 4574 15159 2293 4601 15160 2276 4572 15161 2293 4601 15162 2091 3945 15163 2099 4043 15164 2293 4601 15165 2099 4043 15166 2276 4572 15167 2276 4572 15168 2099 4043 15169 2292 4600 15170 1987 3802 15171 2293 4601 15172 2278 4574 15173 1979 3794 15174 2101 4048 15175 2232 4528 15176 2294 4602 15177 2091 3945 15178 2293 4601 15179 2294 4602 15180 2293 4601 15181 1987 3802 15182 2294 4602 15183 1987 3802 15184 1989 3804 15185 2294 4602 15186 1991 3806 15187 1559 3294 15188 2294 4602 15189 1559 3294 15190 1560 3296 15191 1991 3806 15192 1554 3295 15193 1559 3294 15194 1991 3806 15195 2294 4602 15196 1989 3804 15197 1560 3296 15198 2091 3945 15199 2294 4602 15200 2232 4528 15201 2101 4048 15202 1557 3290 15203 1557 3290 15204 2101 4048 15205 1558 3291 15206 2126 4191 15207 1549 3284 15208 1548 3283 15209 2126 4191 15210 1954 3769 15211 1549 3284 15212 1549 3284 15213 1954 3769 15214 1550 3285 15215 2131 4196 15216 1961 3776 15217 2130 4195 15218 2130 4195 15219 1961 3776 15220 1959 3774 15221 2130 4195 15222 1959 3774 15223 1957 3772 15224 2130 4195 15225 1957 3772 15226 2129 4194 15227 2129 4194 15228 1957 3772 15229 1955 3770 15230 2129 4194 15231 1955 3770 15232 2126 4191 15233 2126 4191 15234 1955 3770 15235 1954 3769 15236 1547 3282 15237 1546 3289 15238 2165 4267 15239 1546 3289 15240 1553 3288 15241 2228 4524 15242 1961 3776 15243 2131 4196 15244 1994 3809 15245 1994 3809 15246 2131 4196 15247 2165 4267 15248 1546 3289 15249 2228 4524 15250 2165 4267 15251 2165 4267 15252 2228 4524 15253 1994 3809 15254 2080 3929 15255 2295 4603 15256 2296 4604 15257 2296 4604 15258 2295 4603 15259 2257 4552 15260 2202 4494 15261 2296 4604 15262 2257 4552 15263 2080 3929 15264 2296 4604 15265 2079 3928 15266 2296 4604 15267 2202 4494 15268 2204 4496 15269 2296 4604 15270 2204 4496 15271 2079 3928 15272 2079 3928 15273 2204 4496 15274 2207 4499 15275 2252 4546 15276 2254 4548 15277 2097 4020 15278 2257 4552 15279 2295 4603 15280 2255 4550 15281 2255 4550 15282 2295 4603 15283 2112 4166 15284 2255 4550 15285 2112 4166 15286 2254 4548 15287 2295 4603 15288 2080 3929 15289 2112 4166 15290 2254 4548 15291 2112 4166 15292 2097 4020 15293 2079 3928 15294 2207 4499 15295 2208 4500 15296 2079 3928 15297 2208 4500 15298 2104 4055 15299 2104 4055 15300 2208 4500 15301 2210 4502 15302 2252 4546 15303 2097 4020 15304 1964 3779 15305 2104 4055 15306 2210 4502 15307 2213 4505 15308 2213 4505 15309 2105 4058 15310 2104 4055 15311 1966 3781 15312 1964 3779 15313 2097 4020 15314 1966 3781 15315 2097 4020 15316 2096 4017 15317 1974 3789 15318 1972 3787 15319 2093 3983 15320 1974 3789 15321 2093 3983 15322 2107 4091 15323 1970 3785 15324 1968 3783 15325 2092 3957 15326 2092 3957 15327 1968 3783 15328 2096 4017 15329 1968 3783 15330 1966 3781 15331 2096 4017 15332 1972 3787 15333 1970 3785 15334 2092 3957 15335 2093 3983 15336 1972 3787 15337 2092 3957 15338 2105 4058 15339 2213 4505 15340 2215 4507 15341 1974 3789 15342 2107 4091 15343 2250 4544 15344 2215 4507 15345 1542 3281 15346 2105 4058 15347 2105 4058 15348 1542 3281 15349 1544 3280 15350 2105 4058 15351 1544 3280 15352 1545 4060 15353 1543 3279 15354 2244 4538 15355 2110 4160 15356 1543 3279 15357 2110 4160 15358 1544 3280 15359 1544 3280 15360 2110 4160 15361 1545 4060 15362 2250 4544 15363 2107 4091 15364 2248 4542 15365 2248 4542 15366 2107 4091 15367 2297 4605 15368 2248 4542 15369 2297 4605 15370 2246 4540 15371 2246 4540 15372 2297 4605 15373 2244 4538 15374 2244 4538 15375 2297 4605 15376 2110 4160 15377 2107 4091 15378 2110 4160 15379 2297 4605 15380 2192 4484 15381 2066 3899 15382 2190 4482 15383 2190 4482 15384 2066 3899 15385 2065 3898 15386 2190 4482 15387 2065 3898 15388 2188 4480 15389 2217 4509 15390 2188 4480 15391 2069 3905 15392 2069 3905 15393 2188 4480 15394 2065 3898 15395 2067 3901 15396 2066 3899 15397 2298 4606 15398 1975 3790 15399 2298 4606 15400 2192 4484 15401 2298 4606 15402 2066 3899 15403 2192 4484 15404 1975 3790 15405 2067 3901 15406 2298 4606 15407 2299 4566 15408 2069 3905 15409 2070 3906 15410 2111 4161 15411 2242 4536 15412 2267 4562 15413 2111 4161 15414 2267 4562 15415 2070 3906 15416 2070 3906 15417 2267 4562 15418 2269 4564 15419 2070 3906 15420 2269 4564 15421 2299 4566 15422 2069 3905 15423 2299 4566 15424 2217 4509 15425 2067 3901 15426 2300 4607 15427 2106 4073 15428 2067 3901 15429 1975 3790 15430 2300 4607 15431 2300 4607 15432 1975 3790 15433 1978 3793 15434 2238 4532 15435 2240 4534 15436 2114 4168 15437 2238 4532 15438 2114 4168 15439 2115 4169 15440 2242 4536 15441 2111 4161 15442 2240 4534 15443 2240 4534 15444 2111 4161 15445 2114 4168 15446 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10852 40951 4017 10889 40952 4043 10901 40953 3979 10848 40954 3980 10850 40955 4043 10901 40956 3980 10850 40957 4019 10893 40958 4044 10900 40959 4017 10889 40960 3974 10844 40961 3974 10844 40962 3977 10847 40963 4044 10900 40964 4015 10886 40965 3979 10848 40966 3975 10846 40967 3979 10848 40968 4015 10886 40969 3978 10849 40970 3975 10846 40971 3976 10845 40972 4015 10886 40973

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21440 103482 16888 21451 103483 16771 21450 103484 16765 21442 103485 16888 21451 103486 16763 21440 103487 16770 21448 103488 16887 21449 103489 16808 21452 103490 16772 21453 103491 16774 21454 103492 16775 21455 103493 16776 21456 103494 16775 21455 103495 16777 21457 103496 16777 21457 103497 16774 21454 103498 16779 21458 103499 16777 21457 103500 16779 21458 103501 16778 21459 103502 16778 21459 103503 16779 21458 103504 16783 21460 103505 16779 21458 103506 16780 21461 103507 16782 21462 103508 16782 21462 103509 16780 21461 103510 16781 21463 103511 16782 21462 103512 16781 21463 103513 16784 21464 103514 16786 21465 103515 16785 21466 103516 16787 21467 103517 16786 21465 103518 16787 21467 103519 16789 21468 103520 16786 21465 103521 16789 21468 103522 16773 21469 103523 16786 21465 103524 16773 21469 103525 16791 21470 103526 16773 21469 103527 16789 21468 103528 16772 21453 103529 16784 21464 103530 16790 21471 103531 16782 21462 103532 16783 21460 103533 16782 21462 103534 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29449 150210 62894 29228 150211 62893 29227 150212 63370 29576 150213 63101 29429 150214 63366 29580 150215 63366 29580 150216 63101 29429 150217 62900 29230 150218 63366 29580 150219 62900 29230 150220 62891 29222 150221 63366 29580 150222 62891 29222 150223 63367 29581 150224 63367 29581 150225 62891 29222 150226 62892 29224 150227 63367 29581 150228 62892 29224 150229 62899 29226 150230 63367 29581 150231 62899 29226 150232 63368 29582 150233 63368 29582 150234 62899 29226 150235 62894 29228 150236 63368 29582 150237 62894 29228 150238 62895 29579 150239 63368 29582 150240 62895 29579 150241 63369 29583 150242 63369 29583 150243 62895 29579 150244 62896 29578 150245 63369 29583 150246 62896 29578 150247 62897 29577 150248 63369 29583 150249 62897 29577 150250 63370 29576 150251 63370 29576 150252 62897 29577 150253 62898 29575 150254 63377 29584 150255 63237 29585 150256 63378 29586 150257 63378 29587 150258 63237 29587 150259 63249 29587 150260 63379 29588 150261 63239 29588 150262 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29660 150444 10985 29661 150445 10976 29662 150446 10979 29663 150447 10985 29664 150448 10978 29665 150449 10983 29666 150450 10985 29667 150451 10982 29668 150452 10976 29669 150453 10985 29670 150454 10983 29671 150455 10982 29672 150456 10985 29673 150457 10979 29674 150458 10992 29675 150459 10986 29676 150460 10987 29677 150461 10987 29677 150462 10986 29676 150463 10988 29678 150464 10987 29677 150465 10988 29678 150466 10989 29679 150467 10989 29679 150468 10988 29678 150469 10990 29680 150470 10989 29679 150471 10990 29680 150472 10991 29681 150473 10991 29681 150474 10990 29680 150475 10992 29675 150476 10992 29675 150477 10990 29680 150478 10986 29676 150479 10989 29682 150480 10993 29683 150481 10987 29684 150482 10987 29685 150483 10993 29686 150484 10992 29687 150485 10992 29688 150486 10993 29689 150487 10991 29690 150488 10991 29691 150489 10993 29692 150490 10989 29693 150491 11001 29694 150492 10994 29695 150493 10995 29696 150494 10995 29696 150495 10994 29695 150496 10996 29697 150497 10995 29696 150498 10996 29697 150499 10997 29698 150500 10997 29698 150501 10996 29697 150502 10998 29699 150503 10997 29698 150504 10998 29699 150505 10999 29700 150506 10999 29700 150507 10998 29699 150508 11000 29701 150509 10999 29700 150510 11000 29701 150511 11001 29694 150512 11001 29694 150513 11000 29701 150514 10994 29695 150515 10999 29702 150516 11002 29703 150517 10997 29704 150518 10997 29705 150519 11002 29706 150520 10995 29707 150521 10995 29708 150522 11002 29709 150523 11001 29710 150524 11001 29711 150525 11002 29712 150526 10999 29713 150527 11017 29714 150528 11018 29715 150529 11019 29716 150530 11019 29716 150531 11018 29715 150532 11020 29717 150533 11021 29718 150534 11004 29719 150535 11018 29715 150536 11018 29715 150537 11004 29719 150538 11010 29720 150539 11022 29721 150540 11006 29722 150541 11021 29718 150542 11020 29717 150543 11014 29723 150544 11022 29721 150545 11018 29715 150546 11016 29724 150547 11020 29717 150548 11018 29715 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31984 156322 13806 31918 156323 13806 31918 156324 13807 31984 156325 13684 31929 156326 13804 31930 156327 13805 31831 156328 13663 31988 156329 13663 31988 156330 13805 31831 156331 13665 31989 156332 13684 31990 156333 13682 31991 156334 13665 31992 156335 13682 31993 156336 13662 31994 156337 13665 31995 156338 13680 31996 156339 13804 31930 156340 13663 31988 156341 13684 31929 156342 13665 31989 156343 13805 31831 156344 13682 31997 156345 13680 31998 156346 13662 31999 156347 13680 32000 156348 13663 32001 156349 13662 32002 156350 14957 31578 156351 14962 31056 156352 14956 31782 156353 14376 30737 156354 14352 31085 156355 14377 31323 156356 14842 30702 156357 14844 31234 156358 14851 30703 156359 15031 30705 156360 15023 32003 156361 15002 30706 156362 13899 30708 156363 13976 31664 156364 13959 30709 156365 14943 30856 156366 14945 30855 156367 14946 30567 156368 13765 32004 156369 13900 31526 156370 13807 30541 156371 13886 30751 156372 13890 31598 156373 13885 31597 156374 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30895 160588 14634 31855 160589 13923 31599 160590 13924 31383 160591 13925 31456 160592 14893 31901 160593 14894 32581 160594 14892 30669 160595 14970 31745 160596 14975 32582 160597 14982 31746 160598 13782 30945 160599 13796 30944 160600 13788 30668 160601 13795 31409 160602 13690 32583 160603 13689 31751 160604 14889 32584 160605 14890 31871 160606 14888 31816 160607 14088 31377 160608 14089 32099 160609 14087 31378 160610 14855 31447 160611 14857 32585 160612 14856 31641 160613 13690 32583 160614 13691 31864 160615 13689 31751 160616 14857 32250 160617 15002 32249 160618 14858 32258 160619 15002 32249 160620 15006 32586 160621 15004 31331 160622 15006 32586 160623 15025 32587 160624 15007 32588 160625 15025 32587 160626 15009 32589 160627 15007 32588 160628 15009 32590 160629 15010 32591 160630 15011 32592 160631 15010 32593 160632 14933 32594 160633 14869 32595 160634 15007 32588 160635 15009 32589 160636 15008 32596 160637 15006 32586 160638 15005 31648 160639 15004 31331 160640 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226634 42703 45379 226635 42704 45432 226636 42670 45369 226637 42673 45372 226638 42695 45434 226639 42670 45369 226640 42682 45382 226641 42694 45435 226642 42696 45436 226643 42680 45380 226644 42695 45434 226645 42682 45382 226646 42695 45434 226647 42694 45435 226648 42682 45382 226649 42696 45436 226650 42697 45437 226651 42684 45384 226652 42687 45387 226653 42686 45386 226654 42698 45438 226655 42684 45384 226656 42697 45437 226657 42686 45386 226658 42697 45437 226659 42698 45438 226660 42686 45386 226661 42689 45388 226662 42687 45387 226663 42699 45439 226664 42684 45384 226665 42682 45382 226666 42696 45436 226667 42699 45439 226668 42687 45387 226669 42698 45438 226670 42694 45435 226671 42695 45434 226672 42673 45372 226673 42696 45436 226674 42675 45374 226675 42697 45437 226676 42698 45438 226677 42679 45378 226678 42699 45439 226679 42681 45381 226680 42689 45388 226681 42699 45439 226682 42678 45377 226683 42697 45437 226684 42675 45374 226685 42696 45436 226686 42694 45435 226687 42675 45374 226688 42694 45435 226689 42673 45372 226690 42675 45374 226691 42697 45437 226692 42678 45377 226693 42698 45438 226694 42698 45438 226695 42678 45377 226696 42679 45378 226697 42681 45381 226698 42699 45439 226699 42679 45378 226700 42737 45440 226701 42741 45441 226702 42736 45403 226703 42614 45306 226704 42736 45403 226705 42741 45441 226706 42615 45305 226707 42736 45403 226708 42614 45306 226709 42741 45442 226710 42743 45443 226711 42742 45444 226712 42741 45442 226713 42742 45444 226714 42614 45306 226715 42738 45405 226716 42743 45443 226717 42629 45406 226718 42629 45406 226719 42743 45443 226720 42737 45440 226721 42737 45440 226722 42743 45443 226723 42741 45441 226724 42740 45409 226725 42742 45444 226726 42739 45408 226727 42743 45443 226728 42739 45408 226729 42742 45444 226730 42738 45405 226731 42739 45408 226732 42743 45443 226733 42616 45307 226734 42614 45306 226735 42742 45444 226736 42740 45409 226737 42616 45307 226738 42742 45444 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47430 264895 31617 49391 264896 35254 47121 264897 35442 50164 264898 35441 49369 264899 26952 47308 264900 26865 51547 264901 26386 51615 264902 29867 50264 264903 29650 52283 264904 29658 52282 264905 29405 51347 264906 29406 51254 264907 29323 51253 264908 29725 50852 264909 29315 47803 264910 29726 50858 264911 35561 50882 264912 35462 50502 264913 35562 52502 264914 26906 50605 264915 26904 49451 264916 26903 51498 264917 35376 49127 264918 35381 47971 264919 35373 50139 264920 35571 48835 264921 35300 48836 264922 35570 48444 264923 32515 52377 264924 32516 51808 264925 32295 52253 264926 26804 50282 264927 26803 50157 264928 26832 51463 264929 32218 47930 264930 32455 47932 264931 32456 48497 264932 26910 51318 264933 26711 51402 264934 26810 48001 264935 29315 47803 264936 29725 50852 264937 29730 50640 264938 32685 51003 264939 32270 51700 264940 32705 47256 264941 31638 50271 264942 31639 49365 264943 31744 52143 264944 27024 52360 264945 26762 52915 264946 26763 52013 264947 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7728 400499 61648 79297 400500 61688 79297 400501 61650 79297 400502 61671 7728 400503 61617 7728 400504 61673 7728 400505 61673 7728 400506 61617 7728 400507 61615 7728 400508 61673 79298 400509 61615 79298 400510 61607 79298 400511 61607 7728 400512 61615 7728 400513 61613 7728 400514 61607 7728 400515 61613 7728 400516 61597 7728 400517 61597 79299 400518 61613 79299 400519 61611 79299 400520 61681 79300 400521 61626 79300 400522 61671 79300 400523 61671 79301 400524 61626 79301 400525 61624 79301 400526 61671 7728 400527 61624 7728 400528 61619 7728 400529 61626 7728 400530 61681 7728 400531 61628 7728 400532 61628 79302 400533 61681 79302 400534 61679 79302 400535 61628 79303 400536 61679 79303 400537 61637 79303 400538 61650 79304 400539 61659 79304 400540 61669 79304 400541 61650 79305 400542 61669 79305 400543 61652 79305 400544 61652 79306 400545 61669 79306 400546 61667 79306 400547 61638 7728 400548 61647 7728 400549 61640 7728 400550 61645 79307 400551 61630 79307 400552 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61998 79311 400572 61999 79312 400573 62000 79313 400574 62000 79313 400575 61999 79312 400576 62001 79314 400577 62002 79315 400578 62001 79314 400579 62003 79316 400580 62157 79317 400581 62161 79318 400582 62158 79319 400583 62158 79319 400584 62161 79318 400585 62164 79320 400586 62158 79319 400587 62164 79320 400588 62159 79321 400589 62159 79321 400590 62164 79320 400591 62163 79322 400592 62159 79321 400593 62163 79322 400594 62160 79323 400595 62160 79323 400596 62163 79322 400597 62162 79324 400598 62160 79323 400599 62162 79324 400600 62157 79317 400601 62157 79317 400602 62162 79324 400603 62161 79318 400604 62157 79317 400605 62158 79319 400606 62159 79321 400607 62157 79317 400608 62159 79321 400609 62160 79323 400610 63135 79325 400611 63136 79326 400612 63137 79327 400613 63137 79327 400614 63136 79326 400615 63138 79328 400616 63139 79329 400617 63138 79328 400618 63140 79330 400619 63293 79331 400620 63298 79332 400621 63294 79333 400622 63294 79333 400623 63298 79332 400624 63297 79334 400625 63294 79333 400626 63297 79334 400627 63295 79335 400628 63295 79335 400629 63297 79334 400630 63300 79336 400631 63295 79335 400632 63300 79336 400633 63296 79337 400634 63296 79337 400635 63300 79336 400636 63299 79338 400637 63296 79337 400638 63299 79338 400639 63293 79331 400640 63293 79331 400641 63299 79338 400642 63298 79332 400643 63294 79333 400644 63295 79335 400645 63293 79331 400646 63293 79331 400647 63295 79335 400648 63296 79337 400649

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62013 79339 400650 62204 79340 400651 62031 79341 400652 62031 79341 400653 62204 79340 400654 62207 79342 400655 62031 79341 400656 62207 79342 400657 62015 79343 400658 62015 79343 400659 62207 79342 400660 62206 79344 400661 62015 79343 400662 62206 79344 400663 62205 79345 400664 62015 79343 400665 62205 79345 400666 62013 79339 400667 62013 79339 400668 62205 79345 400669 62204 79340 400670 62204 79340 400671 62206 79344 400672 62207 79342 400673 62206 79344 400674 62204 79340 400675 62205 79345 400676 62211 79346 400677 62025 79347 400678 62208 79348 400679 62208 79348 400680 62025 79347 400681 62008 79349 400682 62208 79348 400683 62008 79349 400684 62209 79350 400685 62209 79350 400686 62008 79349 400687 62027 79351 400688 62209 79350 400689 62027 79351 400690 62210 79352 400691 62210 79352 400692 62027 79351 400693 62000 79313 400694 62210 79352 400695 62000 79313 400696 62023 79353 400697 62210 79352 400698 62023 79353 400699 62211 79346 400700 62211 79346 400701 62023 79353 400702 62025 79347 400703 62208 79348 400704 62209 79350 400705 62211 79346 400706 62211 79346 400707 62209 79350 400708 62210 79352 400709 62212 79354 400710 62032 79355 400711 62213 79356 400712 62213 79356 400713 62032 79355 400714 62029 79357 400715 62213 79356 400716 62029 79357 400717 62214 79358 400718 62214 79358 400719 62029 79357 400720 62019 79359 400721 62214 79358 400722 62019 79359 400723 62215 79360 400724 62215 79360 400725 62019 79359 400726 62021 79361 400727 62215 79360 400728 62021 79361 400729 62216 79362 400730 62216 79362 400731 62021 79361 400732 61997 79363 400733 62216 79362 400734 61997 79363 400735 62212 79354 400736 62212 79354 400737 61997 79363 400738 62032 79355 400739 62212 79364 400740 62214 79358 400741 62215 79360 400742 62212 79364 400743 62215 79360 400744 62216 79362 400745 62214 79358 400746 62212 79364 400747 62213 79356 400748 62217 79365 400749 62028 79366 400750 62218 79367 400751 62218 79367 400752 62028 79366 400753 62015 79368 400754 62218 79367 400755 62015 79368 400756 62016 79369 400757 62218 79367 400758 62016 79369 400759 62219 79370 400760 62219 79370 400761 62016 79369 400762 62220 79371 400763 62220 79371 400764 62016 79369 400765 62017 79372 400766 62220 79371 400767 62017 79372 400768 62221 79373 400769 62221 79373 400770 62017 79372 400771 62030 79374 400772 62221 79373 400773 62030 79374 400774 62217 79365 400775 62217 79365 400776 62030 79374 400777 62028 79366 400778 62218 79367 400779 62220 79375 400780 62217 79365 400781 62217 79365 400782 62220 79375 400783 62221 79373 400784 62220 79375 400785 62218 79367 400786 62219 79370 400787 62226 79376 400788 62009 79377 400789 62222 79378 400790 62222 79378 400791 62009 79377 400792 62010 79379 400793 62222 79378 400794 62010 79379 400795 62011 79380 400796 62222 79378 400797 62011 79380 400798 62223 79381 400799 62223 79381 400800 62011 79380 400801 62031 79382 400802 62223 79381 400803 62031 79382 400804 62224 79383 400805 62224 79383 400806 62031 79382 400807 62225 79384 400808 62225 79384 400809 62031 79382 400810 62026 79385 400811 62225 79384 400812 62026 79385 400813 62226 79376 400814 62226 79376 400815 62026 79385 400816 62009 79377 400817 62222 79378 400818 62224 79386 400819 62226 79376 400820 62226 79376 400821 62224 79386 400822 62225 79384 400823 62224 79386 400824 62222 79378 400825 62223 79381 400826 62024 79387 400827 62126 79388 400828 62007 79389 400829 62007 79389 400830 62126 79388 400831 62127 79390 400832 62007 79389 400833 62127 79390 400834 62012 79391 400835 62012 79391 400836 62127 79390 400837 62014 79392 400838 62014 79392 400839 62127 79390 400840 62128 79393 400841 62014 79392 400842 62128 79393 400843 62129 79394 400844 62014 79392 400845 62129 79394 400846 62018 79395 400847 62018 79395 400848 62129 79394 400849 62123 28685 400850 62018 79395 400851 62123 28685 400852 62020 79396 400853 62020 79396 400854 62123 28685 400855 62130 28684 400856 62020 79396 400857 62130 28684 400858 61994 79397 400859 61994 79397 400860 62130 28684 400861 62131 28687 400862 61994 79397 400863 62131 28687 400864 62022 79398 400865 62022 79398 400866 62131 28687 400867 62125 28688 400868 62022 79398 400869 62125 28688 400870 62024 79387 400871 62024 79387 400872 62125 28688 400873 62132 28689 400874 62024 79387 400875 62132 28689 400876 62126 79388 400877 63150 79399 400878 63339 79400 400879 63338 79401 400880 63150 79399 400881 63338 79401 400882 63168 79402 400883 63168 79402 400884 63338 79401 400885 63341 79403 400886 63168 79402 400887 63341 79403 400888 63153 79404 400889 63153 79404 400890 63341 79403 400891 63340 79405 400892 63153 79404 400893 63340 79405 400894 63152 79406 400895 63152 79406 400896 63340 79405 400897 63339 79400 400898 63152 79406 400899 63339 79400 400900 63150 79399 400901 63339 79400 400902 63340 79405 400903 63338 79401 400904 63338 79401 400905 63340 79405 400906 63341 79403 400907 63342 79407 400908 63162 79408 400909 63163 79409 400910 63342 79407 400911 63163 79409 400912 63343 79410 400913 63343 79410 400914 63163 79409 400915 63145 79411 400916 63343 79410 400917 63145 79411 400918 63344 79412 400919 63344 79412 400920 63145 79411 400921 63169 79413 400922 63344 79412 400923 63169 79413 400924 63345 79414 400925 63345 79414 400926 63169 79413 400927 63137 79327 400928 63345 79414 400929 63137 79327 400930 63346 79415 400931 63346 79415 400932 63137 79327 400933 63162 79408 400934 63346 79415 400935 63162 79408 400936 63342 79407 400937 63342 79416 400938 63344 79412 400939 63345 79414 400940 63342 79416 400941 63345 79414 400942 63346 79415 400943 63344 79412 400944 63342 79416 400945 63343 79410 400946 63347 79417 400947 63133 79418 400948 63166 79419 400949 63347 79417 400950 63166 79419 400951 63348 79420 400952 63348 79420 400953 63166 79419 400954 63349 79421 400955 63349 79421 400956 63166 79419 400957 63158 79422 400958 63349 79421 400959 63158 79422 400960 63350 79423 400961 63350 79423 400962 63158 79422 400963 63159 79424 400964 63350 79423 400965 63159 79424 400966 63351 79425 400967 63351 79425 400968 63159 79424 400969 63160 79426 400970 63351 79425 400971 63160 79426 400972 63347 79417 400973 63347 79417 400974 63160 79426 400975 63133 79418 400976 63347 79417 400977 63350 79427 400978 63351 79425 400979 63350 79427 400980 63347 79417 400981 63349 79421 400982 63349 79421 400983 63347 79417 400984 63348 79420 400985 63352 79428 400986 63165 79429 400987 63153 79430 400988 63352 79428 400989 63153 79430 400990 63353 79431 400991 63353 79431 400992 63153 79430 400993 63154 79432 400994 63353 79431 400995 63154 79432 400996 63354 79433 400997 63354 79433 400998 63154 79432 400999 63156 79434 401000 63354 79433 401001 63156 79434 401002 63355 79435 401003 63355 79435 401004 63156 79434 401005 63167 79436 401006 63355 79435 401007 63167 79436 401008 63165 79429 401009 63355 79435 401010 63165 79429 401011 63352 79428 401012 63352 79428 401013 63354 79433 401014 63355 79435 401015 63354 79433 401016 63352 79428 401017 63353 79431 401018 63359 79437 401019 63146 79438 401020 63356 79439 401021 63356 79439 401022 63146 79438 401023 63148 79440 401024 63356 79439 401025 63148 79440 401026 63149 79441 401027 63356 79439 401028 63149 79442 401029 63357 79443 401030 63357 79443 401031 63149 79442 401032 63168 79444 401033 63357 79443 401034 63168 79444 401035 63358 79445 401036 63358 79445 401037 63168 79444 401038 63164 79446 401039 63358 79445 401040 63164 79446 401041 63359 79437 401042 63359 79437 401043 63164 79446 401044 63146 79438 401045 63356 79439 401046 63357 79443 401047 63359 79437 401048 63359 79437 401049 63357 79443 401050 63358 79445 401051 63144 79447 401052 63270 29555 401053 63147 79448 401054 63147 79448 401055 63270 29555 401056 63264 79449 401057 63147 79448 401058 63264 79449 401059 63265 79450 401060 63147 79448 401061 63265 79450 401062 63151 79451 401063 63151 79451 401064 63265 79450 401065 63266 79452 401066 63151 79451 401067 63266 79452 401068 63155 79453 401069 63155 79453 401070 63266 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62007 79462 401106 61989 79463 401107 62024 79464 401108 62024 79464 401109 61989 79463 401110 61992 79465 401111 62024 79464 401112 61992 79465 401113 62025 79466 401114 62025 79466 401115 61992 79465 401116 62008 79467 401117 62008 79467 401118 61992 79465 401119 61990 79468 401120 62008 79467 401121 61990 79468 401122 62009 79469 401123 62009 79469 401124 61990 79468 401125 61991 79470 401126 62009 79469 401127 61991 79470 401128 62007 79462 401129 62007 79462 401130 61991 79470 401131 61989 79463 401132 62009 79469 401133 62007 79462 401134 62010 7728 401135 62010 7728 401136 62007 79462 401137 62011 79471 401138 62011 79471 401139 62007 79462 401140 62012 7728 401141 62011 79471 401142 62012 7728 401143 62013 79339 401144 62013 79339 401145 62012 7728 401146 62014 79472 401147 62013 79339 401148 62014 79472 401149 62015 79368 401150 62015 79368 401151 62014 79472 401152 62016 79369 401153 62016 79369 401154 62014 79472 401155 62017 79473 401156 62017 79473 401157 62014 79472 401158 62018 79474 401159 62017 79473 401160 62018 79474 401161 62006 79475 401162 62006 79475 401163 62018 79474 401164 62005 79476 401165 62005 79476 401166 62018 79474 401167 62019 79477 401168 62019 79477 401169 62018 79474 401170 62020 79478 401171 62019 79477 401172 62020 79478 401173 62021 79479 401174 62021 79479 401175 62020 79478 401176 61994 79480 401177 62021 79479 401178 61994 79480 401179 61997 79481 401180 61993 79482 401181 61994 79480 401182 62004 79483 401183 62004 79483 401184 61994 79480 401185 62003 79316 401186 62003 79316 401187 61994 79480 401188 62022 79484 401189 62003 79316 401190 62022 79484 401191 62002 79315 401192 62002 79315 401193 62022 79484 401194 62023 79353 401195 62002 79315 401196 62023 79353 401197 62000 79313 401198 62002 79315 401199 62000 79313 401200 62001 79314 401201 62023 79353 401202 62022 79484 401203 62024 79464 401204 62023 79353 401205 62024 79464 401206 62025 79466 401207 62009 79469 401208 62026 79485 401209 62008 79467 401210 62008 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61995 79499 401264 61995 79499 401265 62004 79483 401266 62001 79314 401267 61995 79499 401268 62001 79314 401269 61998 79311 401270 61998 79311 401271 62001 79314 401272 61999 79312 401273 62004 79483 401274 62003 79316 401275 62001 79314 401276 61997 79481 401277 61994 79480 401278 61995 79499 401279 61997 79481 401280 61995 79499 401281 61996 79498 401282 61995 79499 401283 61994 79480 401284 61993 79482 401285 61992 79465 401286 61989 79463 401287 61990 79468 401288 62149 79500 401289 62153 79501 401290 62150 79502 401291 62150 79502 401292 62153 79501 401293 62156 79503 401294 62150 79502 401295 62156 79503 401296 62151 79504 401297 62151 79504 401298 62156 79503 401299 62155 79505 401300 62151 79504 401301 62155 79505 401302 62152 79506 401303 62152 79506 401304 62155 79505 401305 62154 79507 401306 62152 79506 401307 62154 79507 401308 62149 79500 401309 62149 79500 401310 62154 79507 401311 62153 79501 401312 62150 79502 401313 62151 79504 401314 62149 79500 401315 62149 79500 401316 62151 79504 401317 62152 79506 401318 61989 79463 401319 61991 79470 401320 61990 79468 401321 63144 79447 401322 63126 79508 401323 63129 79509 401324 63144 79447 401325 63129 79509 401326 63163 79461 401327 63163 79461 401328 63129 79509 401329 63145 79510 401330 63145 79510 401331 63129 79509 401332 63127 79511 401333 63145 79510 401334 63127 79511 401335 63146 79512 401336 63146 79512 401337 63127 79511 401338 63128 79513 401339 63146 79512 401340 63128 79513 401341 63147 79514 401342 63147 79514 401343 63128 79513 401344 63144 79447 401345 63144 79447 401346 63128 79513 401347 63126 79508 401348 63146 79512 401349 63147 79514 401350 63148 7728 401351 63148 7728 401352 63147 79515 401353 63149 7728 401354 63149 79516 401355 63147 79517 401356 63150 79399 401357 63150 79399 401358 63147 79517 401359 63151 79518 401360 63150 79399 401361 63151 79518 401362 63152 79519 401363 63152 79519 401364 63151 79518 401365 63153 79430 401366 63153 79430 401367 63151 79518 401368 63154 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30 30 117 42 42 118 43 43 119 30 30 120 43 43 121 44 44 122 44 44 123 43 43 124 45 45 125 44 44 126 46 46 127 30 30 128 30 30 129 46 46 130 47 47 131 30 30 132 47 47 133 48 48 134 49 49 135 50 50 136 51 51 137 51 51 138 50 50 139 52 52 140 52 52 141 50 50 142 53 53 143 53 53 144 50 50 145 54 54 146 54 54 147 50 50 148 55 55 149 54 54 150 55 55 151 56 56 152 57 57 153 58 58 154 50 50 155 50 50 156 58 58 157 59 59 158 50 50 159 59 59 160 60 60 161 60 60 162 59 59 163 61 61 164 61 61 165 59 59 166 62 62 167 61 61 168 62 62 169 63 63 170 63 63 171 62 62 172 64 64 173 60 60 174 55 55 175 50 50 176 54 54 177 56 56 178 65 65 179 65 65 180 56 56 181 66 66 182 65 65 183 66 66 184 67 67 185 67 67 186 68 68 187 65 65 188 65 65 189 68 68 190 69 69 191 69 69 192 68 68 193 70 70 194 69 69 195 70 70 196 71 71 197 71 71 198 70 70 199 72 72 200 71 71 201 72 72 202 73 73 203 74 74 204 75 75 205 76 76 206 76 76 207 75 75 208 77 77 209 76 76 210 77 77 211 78 78 212 78 78 213 77 77 214 79 79 215 79 79 216 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726 246 246 727 248 248 728 247 247 729 248 248 730 249 249 731 249 249 732 248 248 733 250 250 734 249 249 735 250 250 736 251 251 737 251 251 738 250 250 739 252 252 740 251 251 741 252 252 742 253 253 743 253 253 744 252 252 745 254 254 746 254 254 747 252 252 748 255 255 749 255 255 750 252 252 751 256 256 752 256 256 753 252 252 754 257 257 755 257 257 756 252 252 757 258 258 758 257 257 759 258 258 760 259 259 761 259 259 762 258 258 763 260 260 764 260 260 765 258 258 766 261 261 767 260 260 768 261 261 769 262 262 770 262 262 771 261 261 772 263 263 773 262 262 774 263 263 775 264 264 776 264 264 777 263 263 778 265 265 779 264 264 780 265 265 781 266 266 782 266 266 783 265 265 784 267 267 785 266 266 786 267 267 787 268 268 788 268 268 789 267 267 790 269 269 791 268 268 792 269 269 793 270 270 794 270 270 795 269 269 796 271 271 797 270 270 798 271 271 799 272 272 800 272 272 801 271 271 802 273 273 803 272 272 804 273 273 805 162 162 806 162 162 807 273 273 808 168 168 809 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432 1286 398 430 1287 431 432 1288 400 433 1289 400 433 1290 431 432 1291 432 434 1292 400 433 1293 432 434 1294 402 435 1295 402 435 1296 432 434 1297 433 436 1298 402 435 1299 433 436 1300 434 437 1301 402 435 1302 434 437 1303 350 438 1304 350 438 1305 434 437 1306 435 439 1307 350 438 1308 435 439 1309 436 440 1310 350 438 1311 436 440 1312 352 441 1313 352 441 1314 436 440 1315 437 442 1316 352 441 1317 437 442 1318 438 443 1319 352 441 1320 438 443 1321 354 444 1322 354 444 1323 438 443 1324 439 445 1325 354 444 1326 439 445 1327 440 446 1328 440 446 1329 439 445 1330 441 447 1331 440 446 1332 441 447 1333 442 448 1334 442 448 1335 441 447 1336 443 449 1337 442 448 1338 443 449 1339 444 450 1340 442 448 1341 444 450 1342 445 415 1343 445 415 1344 444 450 1345 446 451 1346 445 415 1347 446 451 1348 447 452 1349 447 452 1350 446 451 1351 448 453 1352 447 452 1353 448 453 1354 449 454 1355 449 454 1356 448 453 1357 450 455 1358 449 454 1359 450 455 1360 451 456 1361 451 456 1362 450 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10688 1781 2132 10689 1039 1326 10690 1040 1327 10691 1774 2125 10692 1778 2129 10693 1780 2131 10694 1439 1755 10695 1039 1326 10696 1782 2133 10697 1782 2133 10698 1039 1326 10699 1781 2132 10700 1782 2133 10701 1781 2132 10702 1779 2130 10703 1779 2130 10704 1069 1360 10705 1782 2133 10706 1782 2133 10707 1069 1360 10708 1385 1700 10709 1782 2133 10710 1385 1700 10711 1783 2134 10712 1783 2134 10713 1385 1700 10714 1784 2135 10715 1783 2134 10716 1784 2135 10717 1437 1753 10718 1437 1753 10719 1784 2135 10720 1390 1705 10721 1437 1753 10722 1390 1705 10723 96 96 10724 1385 1700 10725 1390 1705 10726 1784 2135 10727 1437 1753 10728 1439 1755 10729 1783 2134 10730 1783 2134 10731 1439 1755 10732 1782 2133 10733

- - - - - - - - 1 0 0 0 0 7.54979e-8 -1 0 0 1 7.54979e-8 0 0 0 0 1 - - - - - - - - - - - - - - - - diff --git a/angler_description/rviz/view_angler.rviz b/angler_description/rviz/view_bluerov2_heavy_alpha.rviz similarity index 97% rename from angler_description/rviz/view_angler.rviz rename to angler_description/rviz/view_bluerov2_heavy_alpha.rviz index 371b9c1..41d6537 100644 --- a/angler_description/rviz/view_angler.rviz +++ b/angler_description/rviz/view_bluerov2_heavy_alpha.rviz @@ -69,10 +69,12 @@ Visualization Manager: 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 @@ -102,6 +104,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false + Value: true alpha_standard_jaws_base_link: Alpha: 1 Show Axes: false @@ -117,6 +120,10 @@ Visualization Manager: 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 @@ -130,6 +137,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false + Value: true thruster1: Alpha: 1 Show Axes: false diff --git a/angler_description/urdf/alpha.urdf.xacro b/angler_description/urdf/alpha.urdf.xacro deleted file mode 100644 index ae18de9..0000000 --- a/angler_description/urdf/alpha.urdf.xacro +++ /dev/null @@ -1,298 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/angler_description/urdf/angler.config.xacro b/angler_description/urdf/angler.config.xacro deleted file mode 100644 index a5e1cdc..0000000 --- a/angler_description/urdf/angler.config.xacro +++ /dev/null @@ -1,36 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/angler_description/urdf/angler.gazebo.xacro b/angler_description/urdf/angler.gazebo.xacro deleted file mode 100644 index f70e6b1..0000000 --- a/angler_description/urdf/angler.gazebo.xacro +++ /dev/null @@ -1,323 +0,0 @@ - - - - - - - - - - - - /${namespace[:-1]} - - /${namespace}robot_state_publisher - - $(find angler_description)/config/${controllers_file} - - - - - - - - 127.0.0.1 - 9002 - 5 - 1 - - - 0 0 0 3.142 0 0 - - - 0 0 0 3.142 0 1.571 - - - imu_sensor - - - - thruster1_joint - 1100 - 1900 - COMMAND - /model/angler/joint/thruster1_joint/cmd_thrust - -0.5 - 100 - - - thruster2_joint - 1100 - 1900 - COMMAND - /model/angler/joint/thruster2_joint/cmd_thrust - -0.5 - 100 - - - thruster3_joint - 1100 - 1900 - COMMAND - /model/angler/joint/thruster3_joint/cmd_thrust - -0.5 - 100 - - - thruster4_joint - 1100 - 1900 - COMMAND - /model/angler/joint/thruster4_joint/cmd_thrust - -0.5 - 100 - - - thruster5_joint - 1100 - 1900 - COMMAND - /model/angler/joint/thruster5_joint/cmd_thrust - -0.5 - 100 - - - thruster6_joint - 1100 - 1900 - COMMAND - /model/angler/joint/thruster6_joint/cmd_thrust - -0.5 - 100 - - - thruster7_joint - 1100 - 1900 - COMMAND - /model/angler/joint/thruster7_joint/cmd_thrust - -0.5 - 100 - - - thruster8_joint - 1100 - 1900 - COMMAND - /model/angler/joint/thruster8_joint/cmd_thrust - -0.5 - 100 - - - - - - - - - ${prefix}base_footprint - - 0 - 0 - 0 - 0 - 0 - 0 - - 0 - 0 - 0 - 0 - 0 - 0 - - -58.42 - -55.137 - -124.818 - -4.0 - -4.0 - -4.0 - - - - - - - - 0 0 0 3.142 0 0 - true - 1000.0 - - - - - - - map - ${prefix}base_link - 3 - 100 - - - - - - - angler - thruster1_joint - 0.02 - 1000.0 - 0.1 - true - False - - - - - - angler - thruster2_joint - 0.02 - 1000.0 - 0.1 - true - False - - - - - - angler - thruster3_joint - - -0.02 - 1000.0 - 0.1 - true - False - - - - - - angler - thruster4_joint - - -0.02 - 1000.0 - 0.1 - true - False - - - - - - angler - thruster5_joint - 0.02 - 1000.0 - 0.1 - true - False - - - - - - angler - thruster6_joint - - -0.02 - 1000.0 - 0.1 - true - False - - - - - - angler - thruster7_joint - - -0.02 - 1000.0 - 0.1 - true - False - - - - - - angler - thruster8_joint - 0.02 - 1000.0 - 0.1 - true - False - - - - - - Gazebo/Gray - - - Gazebo/Gray - - - - Gazebo/Gray - - - Gazebo/Gray - - - Gazebo/Gray - - - Gazebo/Gray - - - Gazebo/Gray - - - Gazebo/Gray - - - Gazebo/Gray - - - Gazebo/Gray - - - Gazebo/Gray - - - - - diff --git a/angler_description/urdf/bluerov2_heavy_modified.urdf.xacro b/angler_description/urdf/bluerov2_heavy_modified.urdf.xacro deleted file mode 100644 index c05f2cb..0000000 --- a/angler_description/urdf/bluerov2_heavy_modified.urdf.xacro +++ /dev/null @@ -1,332 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/angler_description/urdf/end_effectors/standard_jaws.urdf.xacro b/angler_description/urdf/end_effectors/standard_jaws.urdf.xacro deleted file mode 100644 index 70ff92a..0000000 --- a/angler_description/urdf/end_effectors/standard_jaws.urdf.xacro +++ /dev/null @@ -1,125 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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/urdf/alpha.ros2_control.xacro b/angler_description/xacro/bluerov2_heavy_alpha/ros2_control.xacro similarity index 74% rename from angler_description/urdf/alpha.ros2_control.xacro rename to angler_description/xacro/bluerov2_heavy_alpha/ros2_control.xacro index 5cacb93..4e0a009 100644 --- a/angler_description/urdf/alpha.ros2_control.xacro +++ b/angler_description/xacro/bluerov2_heavy_alpha/ros2_control.xacro @@ -1,18 +1,28 @@ - + + value="${xacro.load_yaml('$(find angler_description)/config/bluerov2_heavy_alpha/$(arg initial_positions_file)')['initial_positions']}" /> + gz_ros2_control/GazeboSimSystem + @@ -26,7 +36,8 @@ - + + 0 0.015 @@ -38,9 +49,12 @@ ${initial_positions['alpha_axis_a']} - + + 0.0 + - + + 0 3.22 @@ -52,9 +66,12 @@ ${initial_positions['alpha_axis_b']} - + + 0.0 + - + + 0 3.22 @@ -66,9 +83,12 @@ ${initial_positions['alpha_axis_c']} - + + 0.0 + - + + 0 3.49 @@ -80,9 +100,12 @@ ${initial_positions['alpha_axis_d']} - + + 0.0 + - + + 0 6.10 @@ -94,7 +117,9 @@ ${initial_positions['alpha_axis_e']} - + + 0.0 + diff --git a/angler_description/xacro/bluerov2_heavy_alpha/urdf.xacro b/angler_description/xacro/bluerov2_heavy_alpha/urdf.xacro new file mode 100644 index 0000000..a5d6935 --- /dev/null +++ b/angler_description/xacro/bluerov2_heavy_alpha/urdf.xacro @@ -0,0 +1,95 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/angler_msgs/CMakeLists.txt b/angler_msgs/CMakeLists.txt deleted file mode 100644 index 02cbc5e..0000000 --- a/angler_msgs/CMakeLists.txt +++ /dev/null @@ -1,38 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(angler_msgs) - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake REQUIRED) -find_package(std_msgs REQUIRED) -find_package(geometry_msgs REQUIRED) -find_package(action_msgs REQUIRED) -find_package(rosidl_default_generators REQUIRED) -find_package(sensor_msgs REQUIRED) -find_package(nav_msgs REQUIRED) - -set(action_files - "action/PlanMission.action" -) - -set(msg_files - "msg/Waypoint.msg" - "msg/UvmsState.msg" - "msg/UvmsCmd.msg" -) - -rosidl_generate_interfaces(${PROJECT_NAME} - ${msg_files} ${action_files} - DEPENDENCIES builtin_interfaces std_msgs geometry_msgs action_msgs nav_msgs sensor_msgs -) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -ament_export_dependencies(rosidl_default_runtime) - -ament_package() diff --git a/angler_msgs/action/PlanMission.action b/angler_msgs/action/PlanMission.action deleted file mode 100644 index 9925b57..0000000 --- a/angler_msgs/action/PlanMission.action +++ /dev/null @@ -1,18 +0,0 @@ -# Plan a sequence of waypoints for the UVMS to track. - -std_msgs/Header header - -# The maximum amount of time that the planner has to generate a trajectory. -# This can be used by anytime algorithms (e.g., Anytime A*). -float64 timeout - -# The current pose of the UVMS. -geometry_msgs/Pose current_pose - -# The target pose. -geometry_msgs/Pose goal_pose ---- -# Return a task-plan that the UVMS should execute. -angler_msgs/Waypoint[] mission ---- -# No feedback is provided. diff --git a/angler_msgs/msg/UvmsCmd.msg b/angler_msgs/msg/UvmsCmd.msg deleted file mode 100644 index 8e0964e..0000000 --- a/angler_msgs/msg/UvmsCmd.msg +++ /dev/null @@ -1,9 +0,0 @@ -# A system velocity command for an underwater vehicle manipulator system. -# This is comprised of the base velocities intended for the AUV and the -# joint velocities for the manipulator. - -# The desired velocity command for the AUV -geometry_msgs/Twist base - -# The desired velocity command for the manipulator -float64[] manipulator diff --git a/angler_msgs/msg/UvmsState.msg b/angler_msgs/msg/UvmsState.msg deleted file mode 100644 index ea3f9ce..0000000 --- a/angler_msgs/msg/UvmsState.msg +++ /dev/null @@ -1,8 +0,0 @@ -# A representation of the full state of an underwater vehicle manipulator -# system comprised of an AUV and a single manipulator. - -# The AUV pose and velocities -nav_msgs/Odometry base - -# The manipulator joint state -sensor_msgs/JointState manipulator diff --git a/angler_msgs/msg/Waypoint.msg b/angler_msgs/msg/Waypoint.msg deleted file mode 100644 index 75a8158..0000000 --- a/angler_msgs/msg/Waypoint.msg +++ /dev/null @@ -1,10 +0,0 @@ -# A goal pose for the UVMS to navigate to. - -# The goal pose. -geometry_msgs/PoseStamped pose - -# The desired acceleration when passing through the waypoint (m/s^2). -float64 acceleration - -# The desired velocity when passing through the waypoint (m/s). -float64 velocity diff --git a/angler_msgs/package.xml b/angler_msgs/package.xml deleted file mode 100644 index ae0d2e6..0000000 --- a/angler_msgs/package.xml +++ /dev/null @@ -1,28 +0,0 @@ - - - - angler_msgs - 0.0.1 - A collection of custom ROS 2 messages used by Angler. - Evan Palmer - MIT - - ament_cmake - - ament_lint_auto - ament_lint_common - - action_msgs - std_msgs - sensor_msgs - nav_msgs - geometry_msgs - - rosidl_default_generators - rosidl_default_runtime - rosidl_interface_packages - - - ament_cmake - - diff --git a/angler_mux/angler_mux/demux.py b/angler_mux/angler_mux/demux.py deleted file mode 100644 index ac7cdc8..0000000 --- a/angler_mux/angler_mux/demux.py +++ /dev/null @@ -1,113 +0,0 @@ -# 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 rclpy.node import Node -from std_msgs.msg import Float64MultiArray - -from angler_msgs.msg import UvmsCmd - - -class VelocityDemux(Node): - """Base class used to demux system velocity commands. - - The Demux base class is designed to receive a single system velocity command, demux - the command into sub-system velocities, and send the sub-system velocities to their - respective command interfaces. - """ - - def __init__(self, node_name: str = "angler_demux") -> None: - """Create a new demux base object. - - Args: - node_name: The name of the ROS 2 node. Defaults to "angler_demux". - """ - super().__init__(node_name) - - # Parameters - self.declare_parameter("base_cmd_vel_topic", "/blue/ismc/cmd_vel") - - # Publishers - self.base_cmd_vel_pub = self.create_publisher( - Twist, - self.get_parameter("base_cmd_vel_topic").get_parameter_value().string_value, - 1, - ) - - # Subscribers - self.uvms_cmd_vel_sub = self.create_subscription( - UvmsCmd, "/angler/cmd_vel", self.proxy_cmd_vel_cb, 1 - ) - - def proxy_cmd_vel_cb(self, cmd: UvmsCmd) -> None: - """Proxy the base velocity command to its respective topic. - - NOTE: This should be overridden to support one or more manipulators. - - Args: - cmd: The system velocity command. - """ - self.base_cmd_vel_pub.publish(cmd.base) - - -class SingleManipulatorVelocityDemux(VelocityDemux): - """Demux velocities for a single manipulator with a forward velocity controller.""" - - def __init__(self) -> None: - """Create a new single manipulator demuxer.""" - super().__init__("single_manipulator_demux") - - # Parameters - self.declare_parameter( - "manipulator_cmd_vel_topic", "/forward_velocity_controller/commands" - ) - - # Publishers - self.manipulator_cmd_vel_pub = self.create_publisher( - Float64MultiArray, - self.get_parameter("manipulator_cmd_vel_topic") - .get_parameter_value() - .string_value, - 1, - ) - - def proxy_cmd_vel_cb(self, cmd: UvmsCmd) -> None: - """Proxy the manipulator joint velocities. - - Args: - cmd: The system velocity command. - """ - # Proxy the base velocity command - super().proxy_cmd_vel_cb(cmd) - - # Now proxy the manipulator joint velocity command - self.manipulator_cmd_vel_pub.publish(cmd.manipulator.data) - - -def main_single_manipulator_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/angler_mux/mux.py b/angler_mux/angler_mux/mux.py deleted file mode 100644 index 349c29a..0000000 --- a/angler_mux/angler_mux/mux.py +++ /dev/null @@ -1,106 +0,0 @@ -# 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 nav_msgs.msg import Odometry -from rclpy.node import Node -from rclpy.qos import qos_profile_sensor_data -from sensor_msgs.msg import JointState - -from angler_msgs.msg import UvmsState - - -class Mux(Node): - """Base class for an state mux. - - This interface is designed to capture all UVMS state information and proxy it on a - single topic. - """ - - def __init__(self, node_name: str = "angler_mux") -> None: - """Create a new mux base object. - - Args: - node_name: The name of the ROS 2 node. Defaults to "angler_mux". - """ - super().__init__(node_name) - - # Maintain the UVMS state - self.uvms_state = UvmsState() - - # Publishers - self.uvms_state_pub = self.create_publisher(UvmsState, "/angler/state", 1) - - # Subscribers - self.base_state_sub = self.create_subscription( - Odometry, - "/mavros/local_position/odom", - self.update_base_state_cb, - qos_profile_sensor_data, - ) - - def update_base_state_cb(self, odom: Odometry) -> None: - """Update the current AUV state. - - Args: - odom: The current state (pose + velocity) of the base. - """ - self.uvms_state.base = odom - - # Publish the UVMS state each time we get an update - self.uvms_state_pub.publish(self.uvms_state) - - -class SingleManipulatorMux(Mux): - """UVMS state mux for a UVMS with a single Reach Alpha manipulator.""" - - def __init__(self) -> None: - """Create a new mux for a single manipulator.""" - super().__init__(node_name="single_manipulator_mux") - - # Subscribers - self.manipulator_state_sub = self.create_subscription( - JointState, - "/joint_states", - self.update_joint_state_cb, - 1, - ) - - def update_joint_state_cb(self, state: JointState) -> None: - """Update the current joint state information. - - Args: - state: The current Reach Alpha joint state. - """ - self.uvms_state.manipulator = state - - # Publish the UVMS state each time we get an update - self.uvms_state_pub.publish(self.uvms_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_planning/tpik/__init__.py b/angler_mux/demux/__init__.py similarity index 100% rename from angler_planning/tpik/__init__.py rename to angler_mux/demux/__init__.py diff --git a/angler_mux/demux/single_manipulator_demux.py b/angler_mux/demux/single_manipulator_demux.py new file mode 100644 index 0000000..fcbf11e --- /dev/null +++ b/angler_mux/demux/single_manipulator_demux.py @@ -0,0 +1,92 @@ +# 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_parameter("vehicle_control_topic", "/blue/ismc/cmd_vel") + self.declare_parameter( + "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 index 6db3aa0..7e9ac1f 100644 --- a/angler_mux/launch/mux.launch.py +++ b/angler_mux/launch/mux.launch.py @@ -44,14 +44,20 @@ def generate_launch_description() -> LaunchDescription: ), DeclareLaunchArgument( "mux", - default_value="single_manipulator_mux", + default_value="single_manipulator_velocity_mux", description="The state mux type to load.", - choices=["single_manipulator_mux"], + 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( @@ -59,13 +65,19 @@ def generate_launch_description() -> LaunchDescription: executable=demux, name=demux, output="screen", - parameters=[LaunchConfiguration("config_filepath")], + parameters=[ + LaunchConfiguration("config_filepath"), + {"use_sim_time": use_sim_time}, + ], ), Node( package="angler_mux", executable=mux, name=mux, - parameters=[LaunchConfiguration("config_filepath")], + parameters=[ + LaunchConfiguration("config_filepath"), + {"use_sim_time": use_sim_time}, + ], ), ] diff --git a/angler_planning/tpik/constraints.py b/angler_mux/mux/__init__.py similarity index 100% rename from angler_planning/tpik/constraints.py rename to angler_mux/mux/__init__.py 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 index e53dc67..7936f51 100644 --- a/angler_mux/package.xml +++ b/angler_mux/package.xml @@ -12,13 +12,13 @@ https://github.com/evan-palmer/angler.git https://github.com/evan-palmer/angler/issues - angler_msgs - ament_copyright ament_flake8 ament_pep257 python3-pytest + moveit_msgs + ament_python diff --git a/angler_mux/setup.py b/angler_mux/setup.py index e2ccb4b..c34d3f4 100644 --- a/angler_mux/setup.py +++ b/angler_mux/setup.py @@ -43,8 +43,8 @@ tests_require=["pytest"], entry_points={ "console_scripts": [ - "single_manipulator_mux = angler_mux.mux:main_single_manipulator_mux", - "single_manipulator_velocity_demux = angler_mux.demux:main_single_manipulator_demux", # noqa + "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_planning/launch/planning.launch.py b/angler_planning/launch/planning.launch.py index 0bdcd7b..0ed8834 100644 --- a/angler_planning/launch/planning.launch.py +++ b/angler_planning/launch/planning.launch.py @@ -6,10 +6,10 @@ # 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 @@ -20,6 +20,7 @@ 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 @@ -35,16 +36,36 @@ def generate_launch_description() -> LaunchDescription: "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="preplanned_mission_planner", - name="preplanned_mission_planner", + executable=LaunchConfiguration("waypoint_planner"), + name=LaunchConfiguration("waypoint_planner"), output="screen", - parameters=[LaunchConfiguration("config_filepath")], + parameters=[ + LaunchConfiguration("config_filepath"), + {"use_sim_time": LaunchConfiguration("use_sim_time")}, + ], + condition=IfCondition(LaunchConfiguration("use_waypoint_planner")), ), ] diff --git a/angler_planning/mission_planning/mission_planner.py b/angler_planning/mission_planning/mission_planner.py deleted file mode 100644 index edb5689..0000000 --- a/angler_planning/mission_planning/mission_planner.py +++ /dev/null @@ -1,169 +0,0 @@ -# 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 abc import ABC, abstractmethod - -import rclpy -from ament_index_python.packages import get_package_share_directory -from geometry_msgs.msg import PoseStamped -from mission_planning.missions.mission_library import MissionLibrary as ml -from rclpy.action import ActionServer -from rclpy.node import Node - -from angler_msgs.action import PlanMission -from angler_msgs.msg import Waypoint - - -class MissionPlanner(Node, ABC): - """Base class for a high-level mission planner.""" - - def __init__(self, node_name: str = "mission_planner") -> None: - """Create a new mission planner.""" - Node.__init__(self, node_name) - ABC.__init__(self) - - # Instantiate an action server to use for querying a mission - self._planning_server = ActionServer( - self, PlanMission, "/angler/plan/mission", self._get_plan_cb - ) - - def destroy_node(self) -> bool: - """Destroy the node. - - Returns: - Whether or not the node was successfully destroyed. - """ - self._planning_server.destroy() - return super().destroy_node() - - def _get_plan_cb(self, planning_request: PlanMission.Goal) -> PlanMission.Result: - """Proxy the request to the planner and send the result to the client. - - Args: - planning_request: The planning request. - - Returns: - The planning algorithm's result. - """ - result = PlanMission.Result() - - # Plan the mission - mission = self.plan( - planning_request.request.current_pose, - planning_request.request.goal_pose, - planning_request.request.timeout, - ) - - if not mission: - self.get_logger().warning( - "Mission planning failed. No feasible path was found from the" - "current pose to the goal pose." - ) - planning_request.abort() - else: - planning_request.succeed() - result.mission = mission - - return result - - @abstractmethod - def plan( - self, start_pose: PoseStamped, goal_pose: PoseStamped, timeout: float - ) -> list[Waypoint]: - """Plan a sequence of waypoints from the start pose to the goal pose. - - Args: - start_pose: The pose to start planning from. - goal_pose: The desired pose. - timeout: The maximum amount of time allowed for planning. - - Raises: - NotImplementedError: This method has not yet been implemented. - - Returns: - The resulting path found by the algorithm. - """ - raise NotImplementedError("This method has not yet been implemented!") - - -class PrePlannedMissionPlanner(MissionPlanner): - """Mission planner which loads pre-planned missions from a configuration file.""" - - def __init__(self) -> None: - """Create a new pre-planned mission planner. - - Raises: - ValueError: The name of the mission to load was not defined. - """ - super().__init__("preplanned_mission_planner") - - self.declare_parameter("mission_name", "") - self.declare_parameter( - "library_path", - os.path.join( - get_package_share_directory("angler_planning"), - "missions", - "library", - ), - ) - - mission_name = ( - self.get_parameter("mission_name").get_parameter_value().string_value - ) - - if mission_name == "": - raise ValueError("Mission name not provided.") - - library_path = ( - self.get_parameter("library_path").get_parameter_value().string_value - ) - - # Load the missions into the library - ml.load_mission_library_from_path(library_path) - self.mission = ml.select_mission(mission_name) - - self.get_logger().info(f"Successfully loaded mission '{mission_name}'.") - - def plan( - self, start_pose: PoseStamped, goal_pose: PoseStamped, timeout: float - ) -> list[Waypoint]: - """Load a pre-planned mission. - - Args: - start_pose: The pose to start planning from. - goal_pose: The desired pose. - timeout: The maximum amount of time allowed for planning. - - Returns: - The pre-planned mission. - """ - return self.mission.waypoints - - -def main_preplanned(args: list[str] | None = None): - """Run the pre-planned waypoint planner.""" - rclpy.init(args=args) - - node = PrePlannedMissionPlanner() - rclpy.spin(node) - - node.destroy_node() - rclpy.shutdown() diff --git a/angler_planning/mission_planning/missions/library/straight.json b/angler_planning/mission_planning/missions/library/straight.json deleted file mode 100644 index c626524..0000000 --- a/angler_planning/mission_planning/missions/library/straight.json +++ /dev/null @@ -1,26 +0,0 @@ -{ - "name": "straight", - "frame": "map", - "waypoints": [ - { - "x": 0.0, - "y": 0.0, - "z": 0.0, - "roll": 0.0, - "pitch": 0.0, - "yaw": 0.0, - "acceleration": 0.0, - "velocity": 1.0 - }, - { - "x": 1.0, - "y": 0.0, - "z": 0.0, - "roll": 0.0, - "pitch": 0.0, - "yaw": 0.0, - "acceleration": 0.0, - "velocity": 1.0 - } - ] -} diff --git a/angler_planning/mission_planning/missions/mission_library.py b/angler_planning/mission_planning/missions/mission_library.py deleted file mode 100644 index 86dacc1..0000000 --- a/angler_planning/mission_planning/missions/mission_library.py +++ /dev/null @@ -1,171 +0,0 @@ -# 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 scipy.spatial.transform import Rotation as R - -from angler_msgs.msg import Waypoint - - -class Mission: - """A sequence of waypoints for the UVMS to track.""" - - def __init__( - self, name: str, frame: str, waypoints: list[dict[str, float]] - ) -> None: - """Create a new mission. - - Example: - >>> mission = Mission( - ... name="my_awesome_mission", - ... frame="map", - ... waypoints=[ - ... { - ... "x": 0.0, - ... "y": 0.0, - ... "z": 0.0, - ... "roll": 0.0, - ... "pitch": 0.0, - ... "yaw": 0.0, - ... "acceleration": 0.0, - ... "velocity": 1.0, - ... }, - ... ], - ... ) - - Args: - name: The unique mission name. - frame: The coordinate frame that the mission is defined in. - waypoints: The sequence of waypoints that the UVMS should track. - """ - if len(waypoints) <= 0: - raise ValueError( - "All missions must define at least one waypoint. However, mission" - f" '{name}' does not define any waypoints." - ) - - self.name = name - self.waypoints = [ - self._create_waypoint_msg(frame, waypoint) for waypoint in waypoints - ] - - @staticmethod - def _create_waypoint_msg(frame: str, waypoint: dict[str, float]) -> Waypoint: - """Create a new Waypoint message from the JSON data. - - Args: - frame: The coordinate frame that the waypoint is defined in. - waypoint: The waypoint definition. - - Returns: - A Waypoint ROS message. - """ - msg = Waypoint() - - msg.pose.header.frame_id = frame - - msg.pose.pose.position.x = waypoint["x"] - msg.pose.pose.position.y = waypoint["y"] - msg.pose.pose.position.z = waypoint["z"] - - ( - msg.pose.pose.orientation.x, - msg.pose.pose.orientation.y, - msg.pose.pose.orientation.z, - msg.pose.pose.orientation.w, - ) = R.from_euler( - "xyz", (waypoint["roll"], waypoint["pitch"], waypoint["yaw"]) - ).as_quat() - - msg.acceleration = waypoint["acceleration"] - msg.velocity = waypoint["velocity"] - - return msg - - -class MissionLibrary: - """A library of pre-planned missions.""" - - _library: dict[str, Mission] = {} - - @classmethod - def add_mission(cls, mission: Mission) -> None: - """Add a mission to the library. - - Args: - mission: The mission to save to the library. - - Raises: - ValueError: A mission with this name already exists in the library. - """ - if mission.name in cls._library: - raise ValueError( - f"A mission with the name '{mission.name}' already exists in the" - f" library." - ) - - cls._library[mission.name] = mission - - @classmethod - def load_mission_library_from_path(cls, library_path: str) -> None: - """Load a collection of pre-defined missions from a directory. - - All missions must be defined as JSON files. - - Args: - library_path: The full path to the directory to load. - - Raises: - ValueError: The provided library path is invalid/not accessible. - ValueError: Multiple missions share a name. Missions should have unique - names. - """ - 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 mission 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 mission and save it to the library - for f in mission_files: - with open(f, encoding="utf-8") as mission_f: - mission = Mission(**json.load(mission_f)) - cls.add_mission(mission) - - @classmethod - def select_mission(cls, name: str) -> Mission: - """Retrieve a mission from the library. - - Args: - name: The name of the mission to retrieve. - - Returns: - The mission with the provided name. - """ - return cls._library[name] diff --git a/angler_planning/package.xml b/angler_planning/package.xml index 8a353b1..307978b 100644 --- a/angler_planning/package.xml +++ b/angler_planning/package.xml @@ -8,6 +8,7 @@ MIT python3-scipy + python3-numpy ament_copyright ament_flake8 diff --git a/angler_planning/setup.py b/angler_planning/setup.py index 5aa0d76..1d64e50 100644 --- a/angler_planning/setup.py +++ b/angler_planning/setup.py @@ -34,8 +34,14 @@ ("share/" + package_name, ["package.xml"]), (os.path.join("share", package_name), glob("launch/*.launch.py")), ( - os.path.join("share", package_name, "missions", "library"), - glob("mission_planning/missions/library/*.json"), + os.path.join("share", package_name, "trajectories", "library"), + glob( + "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"], @@ -49,7 +55,7 @@ tests_require=["pytest"], entry_points={ "console_scripts": [ - "preplanned_mission_planner = mission_planning.mission_planner:main_preplanned" # noqa + "preplanned_end_effector_waypoint_planner = waypoint_planners.preplanned_end_effector_planner.planner:main", # noqa ], }, ) diff --git a/angler_planning/test/test_mission_library.py b/angler_planning/test/test_mission_library.py deleted file mode 100644 index 4ff2599..0000000 --- a/angler_planning/test/test_mission_library.py +++ /dev/null @@ -1,157 +0,0 @@ -# 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 pytest -from mission_planning.missions.mission_library import Mission -from mission_planning.missions.mission_library import MissionLibrary as ml - - -@pytest.fixture(autouse=True) -def reset_library(monkeypatch) -> None: - """Reset the mission library after each test.""" - monkeypatch.setattr(ml, "_library", {}) - - -def test_create_mission() -> None: - """Test that missions are properly created.""" - mission = Mission( - "my_awesome_mission", - "map", - waypoints=[ - { - "x": 0.0, - "y": 0.0, - "z": 0.0, - "roll": 0.0, - "pitch": 0.0, - "yaw": 0.0, - "acceleration": 0.0, - "velocity": 1.0, - }, - ], - ) - - # Make sure that only one waypoint was created and added - assert len(mission.waypoints) == 1 - - # Select the first waypoint and check to make sure that the Waypoint message was - # populated correctly - waypoint = mission.waypoints[0] - - # Check the coordinate frame - assert waypoint.pose.header.frame_id == "map" - - # Check the position - assert waypoint.pose.pose.position.x == 0.0 - assert waypoint.pose.pose.position.y == 0.0 - assert waypoint.pose.pose.position.z == 0.0 - - # Check the orientation (which is converted to a quaternion) - assert waypoint.pose.pose.orientation.x == 0.0 - assert waypoint.pose.pose.orientation.y == 0.0 - assert waypoint.pose.pose.orientation.z == 0.0 - assert waypoint.pose.pose.orientation.w == 1.0 - - # Check the position and acceleration - assert waypoint.acceleration == 0.0 - assert waypoint.velocity == 1.0 - - -def test_create_mission_with_no_waypoints() -> None: - """Test that mission creation fails when no waypoints are provided.""" - with pytest.raises(ValueError): - Mission("my_awesome_mission", "map", waypoints=[]) - - -def test_add_mission() -> None: - """Test that missions are correctly added to the library.""" - mission = Mission( - "my_awesome_mission", - "map", - waypoints=[ - { - "x": 0.0, - "y": 0.0, - "z": 0.0, - "roll": 0.0, - "pitch": 0.0, - "yaw": 0.0, - "acceleration": 0.0, - "velocity": 1.0, - }, - ], - ) - - # Test adding the mission - ml.add_mission(mission) - - assert mission.name in ml._library - assert mission == ml._library[mission.name] - - -def test_select_mission() -> None: - """Test that missions are correctly retrieved when queried.""" - mission = Mission( - "my_awesome_mission", - "map", - waypoints=[ - { - "x": 0.0, - "y": 0.0, - "z": 0.0, - "roll": 0.0, - "pitch": 0.0, - "yaw": 0.0, - "acceleration": 0.0, - "velocity": 1.0, - }, - ], - ) - - # Save the mission to the library - ml.add_mission(mission) - - # Verify that the mission retrieved is the same as the one created - assert mission == ml.select_mission(mission.name) - - -def test_duplicate_missions() -> None: - """Test that adding duplicate missions to the library fails.""" - mission = Mission( - "my_awesome_mission", - "map", - waypoints=[ - { - "x": 0.0, - "y": 0.0, - "z": 0.0, - "roll": 0.0, - "pitch": 0.0, - "yaw": 0.0, - "acceleration": 0.0, - "velocity": 1.0, - }, - ], - ) - - # Adding duplicate missions should fail - with pytest.raises(ValueError): - ml.add_mission(mission) - ml.add_mission(mission) diff --git a/angler_planning/tpik/controller.py b/angler_planning/waypoint_planners/__init__.py similarity index 100% rename from angler_planning/tpik/controller.py rename to angler_planning/waypoint_planners/__init__.py diff --git a/angler_planning/waypoint_planners/base_planner.py b/angler_planning/waypoint_planners/base_planner.py new file mode 100644 index 0000000..e95e1d3 --- /dev/null +++ b/angler_planning/waypoint_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 WaypointPlanner(Node, ABC): + """Base class for a waypoint planner.""" + + def __init__(self, node_name: str) -> None: + """Create a new waypoint 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}/get_motion_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/waypoint_planners/preplanned_end_effector_planner/__init__.py b/angler_planning/waypoint_planners/preplanned_end_effector_planner/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/angler_planning/waypoint_planners/preplanned_end_effector_planner/planner.py b/angler_planning/waypoint_planners/preplanned_end_effector_planner/planner.py new file mode 100644 index 0000000..d797c49 --- /dev/null +++ b/angler_planning/waypoint_planners/preplanned_end_effector_planner/planner.py @@ -0,0 +1,98 @@ +# 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 waypoint_planners.base_planner import WaypointPlanner +from waypoint_planners.preplanned_end_effector_planner.trajectories.trajectory_library import ( # noqa + TrajectoryLibrary as tl, +) + + +class PrePlannedEndEffectorPlanner(WaypointPlanner): + """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_parameter("trajectory_name", "") + self.declare_parameter( + "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.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/waypoint_planners/preplanned_end_effector_planner/trajectories/__init__.py b/angler_planning/waypoint_planners/preplanned_end_effector_planner/trajectories/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/angler_planning/waypoint_planners/preplanned_end_effector_planner/trajectories/library/straight.json b/angler_planning/waypoint_planners/preplanned_end_effector_planner/trajectories/library/straight.json new file mode 100644 index 0000000..05e4870 --- /dev/null +++ b/angler_planning/waypoint_planners/preplanned_end_effector_planner/trajectories/library/straight.json @@ -0,0 +1,59 @@ +{ + "name": "straight", + "parent": "map", + "child": "alpha_standard_jaws_tool", + "waypoints": [ + { + "transform": { + "x": 0.0, + "y": 0.0, + "z": 0.0, + "rx": 0.0, + "ry": 0.0, + "rz": 0.0 + }, + "velocity": { + "x": 0.5, + "y": 0.0, + "z": 0.0, + "rx": 0.0, + "ry": 0.0, + "rz": 0.0 + }, + "acceleration": { + "x": 0.0, + "y": 0.0, + "z": 0.0, + "rx": 0.0, + "ry": 0.0, + "rz": 0.0 + } + }, + { + "transform": { + "x": 1.0, + "y": 0.0, + "z": 0.0, + "rx": 0.0, + "ry": 0.0, + "rz": 0.0 + }, + "velocity": { + "x": 0.0, + "y": 0.0, + "z": 0.0, + "rx": 0.0, + "ry": 0.0, + "rz": 0.0 + }, + "acceleration": { + "x": 0.0, + "y": 0.0, + "z": 0.0, + "rx": 0.0, + "ry": 0.0, + "rz": 0.0 + } + } + ] +} diff --git a/angler_planning/waypoint_planners/preplanned_end_effector_planner/trajectories/trajectory_library.py b/angler_planning/waypoint_planners/preplanned_end_effector_planner/trajectories/trajectory_library.py new file mode 100644 index 0000000..eeaf85f --- /dev/null +++ b/angler_planning/waypoint_planners/preplanned_end_effector_planner/trajectories/trajectory_library.py @@ -0,0 +1,174 @@ +# 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]] +) -> MultiDOFJointTrajectoryPoint: + """Create a new Waypoint message from the JSON data. + + Args: + waypoint: The waypoint definition. + + Returns: + A MultiDOFJointTrajectoryPoint message. + """ + point = MultiDOFJointTrajectoryPoint() + + # Get the desired pose + tf = Transform() + + tf.translation.x, tf.translation.y, tf.translation.z, rx, ry, rz = waypoint[ + "transform" + ].values() + + tf.rotation.x, tf.rotation.y, tf.rotation.z, tf.rotation.w = R.from_euler( + "xyz", [rx, ry, rz] + ).as_quat(False) + + # Get the desired velocity + vel = Twist() + + ( + vel.linear.x, + vel.linear.y, + vel.linear.z, + vel.angular.x, + vel.angular.y, + vel.angular.z, + ) = waypoint["velocity"].values() + + # Finally, get the acceleration + accel = Twist() + + ( + accel.linear.x, + accel.linear.y, + accel.linear.z, + accel.angular.x, + accel.angular.y, + accel.angular.z, + ) = waypoint["acceleration"].values() + + point.transforms = [point] + point.velocities = [vel] + point.accelerations = [accel] + + return point + + +def create_robot_trajectory_msg( + parent: str, child: str, waypoints: list[dict[str, dict[str, 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_utils/scripts/arm.sh b/angler_utils/scripts/arm.sh new file mode 100755 index 0000000..2981afd --- /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/tpik/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..16a4e0f --- /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/tpik/arm std_srvs/srv/SetBool data:\ false\ diff --git a/requirements-build.txt b/requirements-build.txt new file mode 100644 index 0000000..61992ca --- /dev/null +++ b/requirements-build.txt @@ -0,0 +1,4 @@ +# Requirements unavailable as rosdeps: +# https://github.com/ros/rosdistro/blob/master/rosdep/python.yaml +qtm +kinpy 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