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https://github.com/dptech-corp/Uni-Lab-OS.git
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4991 lines
138 KiB
Python
4991 lines
138 KiB
Python
import time
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import rclpy,json
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from rclpy.node import Node
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from std_msgs.msg import String,Header
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import numpy as np
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from moveit_msgs.srv import GetPlanningScene, ApplyPlanningScene
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from rclpy.callback_groups import ReentrantCallbackGroup
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from rclpy.qos import QoSProfile, QoSDurabilityPolicy, QoSReliabilityPolicy, QoSHistoryPolicy
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from moveit_msgs.msg import CollisionObject, AttachedCollisionObject, AllowedCollisionEntry
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from shape_msgs.msg import Mesh, MeshTriangle, SolidPrimitive
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from geometry_msgs.msg import Pose, PoseStamped, Point, Quaternion, TransformStamped
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from rclpy.callback_groups import ReentrantCallbackGroup
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from rclpy.qos import QoSProfile, QoSDurabilityPolicy, QoSReliabilityPolicy, QoSHistoryPolicy
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from rclpy.task import Future
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import copy
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from typing import Tuple, Optional, Union, Any, List
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from tf_transformations import quaternion_from_euler
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from tf2_ros import TransformBroadcaster, Buffer, TransformListener
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from rclpy.action import ActionServer
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from unilabos_msgs.action import SendCmd
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from rclpy.action.server import ServerGoalHandle
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from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode,DeviceNodeResourceTracker
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class ResourceMeshManager(BaseROS2DeviceNode):
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def __init__(self, resource_model: dict, resource_config: list,resource_tracker, device_id: str = "resource_mesh_manager"):
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"""初始化资源网格管理器节点
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Args:
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resource_model (dict): 资源模型字典,包含资源的3D模型信息
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resource_config (dict): 资源配置字典,包含资源的配置信息
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device_id (str): 节点名称
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"""
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super().__init__(
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driver_instance=self,
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device_id=device_id,
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status_types={},
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action_value_mappings={},
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hardware_interface={},
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print_publish=False,
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resource_tracker=resource_tracker,
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)
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self.resource_model = resource_model
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self.resource_config_dict = {item['id']: item for item in resource_config}
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self.move_group_ready = False
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self.resource_tf_dict = {}
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self.tf_broadcaster = TransformBroadcaster(self)
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self.tf_buffer = Buffer()
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self.tf_listener = TransformListener(self.tf_buffer, self)
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self.old_resource_pose = {}
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self.__planning_scene = None
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self.__old_planning_scene = None
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self.__old_allowed_collision_matrix = None
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callback_group = ReentrantCallbackGroup()
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self._get_planning_scene_service = self.create_client(
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srv_type=GetPlanningScene,
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srv_name="/get_planning_scene",
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qos_profile=QoSProfile(
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durability=QoSDurabilityPolicy.VOLATILE,
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reliability=QoSReliabilityPolicy.RELIABLE,
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history=QoSHistoryPolicy.KEEP_LAST,
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depth=1,
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),
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callback_group=callback_group,
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)
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# Create a service for applying the planning scene
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self._apply_planning_scene_service = self.create_client(
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srv_type=ApplyPlanningScene,
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srv_name="/apply_planning_scene",
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qos_profile=QoSProfile(
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durability=QoSDurabilityPolicy.VOLATILE,
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reliability=QoSReliabilityPolicy.RELIABLE,
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history=QoSHistoryPolicy.KEEP_LAST,
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depth=1,
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),
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callback_group=callback_group,
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)
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self.resource_pose_publisher = self.create_publisher(
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String, f"resource_pose", 10
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)
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self.__collision_object_publisher = self.create_publisher(
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CollisionObject, "/collision_object", 10
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)
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self.__attached_collision_object_publisher = self.create_publisher(
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AttachedCollisionObject, "/attached_collision_object", 10
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)
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# 创建一个Action Server用于修改resource_tf_dict
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self._action_server = ActionServer(
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self,
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SendCmd,
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f"tf_update",
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self.tf_update,
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callback_group=callback_group
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)
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self.resource_mesh_setup()
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self.create_timer(0.02, self.publish_resource_tf)
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self.create_timer(1, self.check_resource_pose_changes)
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def check_move_group_ready(self):
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"""检查move_group节点是否已初始化完成"""
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# 获取当前可用的节点列表
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tf_ready = self.tf_buffer.can_transform("world", next(iter(self.resource_tf_dict.keys())), rclpy.time.Time(),rclpy.duration.Duration(seconds=2))
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# if tf_ready:
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if self._get_planning_scene_service.service_is_ready() and self._apply_planning_scene_service.service_is_ready() and tf_ready:
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self.move_group_ready = True
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self.add_resource_collision_meshes()
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# time.sleep(1)
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def resource_mesh_setup(self):
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"""move_group初始化完成后的设置"""
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self.get_logger().info('开始设置资源网格管理器')
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#遍历resource_config中的资源配置，判断panent是否在resource_model中，
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for resource_id, resource_config in self.resource_config_dict.items():
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parent = resource_config['parent']
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parent_link = 'world'
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if parent in self.resource_model:
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parent_link = parent
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elif parent is None and resource_id in self.resource_model:
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pass
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elif parent not in self.resource_model and parent is not None:
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parent_link = f"{self.resource_config_dict[parent]['parent']}{parent}_device_link".replace("None","")
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else:
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continue
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# 提取位置信息并转换单位
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position = {
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"x": float(resource_config['position']['x'])/1000,
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"y": float(resource_config['position']['y'])/1000,
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"z": float(resource_config['position']['z'])/1000
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}
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rotation_dict = {
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"x": 0,
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"y": 0,
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"z": 0
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}
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if 'rotation' in resource_config['config']:
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rotation_dict = resource_config['config']['rotation']
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# 从欧拉角转换为四元数
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q = quaternion_from_euler(
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float(rotation_dict['x']),
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float(rotation_dict['y']),
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float(rotation_dict['z'])
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)
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# print("-"*20)
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# print(f"resource_id: {resource_id}")
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# print(f"parent: {parent}")
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# print(f"resource_config: {self.resource_model}")
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# print(f"parent_link: {parent_link}")
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# print("-"*20)
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rotation = {
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"x": q[0],
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"y": q[1],
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"z": q[2],
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"w": q[3]
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}
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# 更新资源TF字典
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self.resource_tf_dict[resource_id] = {
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"parent": parent_link,
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"position": position,
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"rotation": rotation
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}
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def publish_resource_tf(self):
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"""
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发布资源之间的TF关系
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遍历self.resource_tf_dict中的每个元素，根据key，parent，以及position和rotation，
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发布key和parent之间的tf关系
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"""
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transforms = []
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# 遍历资源TF字典
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resource_tf_dict = copy.deepcopy(self.resource_tf_dict)
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for resource_id, tf_info in resource_tf_dict.items():
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parent = tf_info['parent']
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position = tf_info['position']
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rotation = tf_info['rotation']
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# 创建静态变换消息
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transform = TransformStamped()
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transform.header.stamp = self.get_clock().now().to_msg()
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transform.header.frame_id = parent
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transform.child_frame_id = resource_id
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# 设置位置
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transform.transform.translation.x = float(position['x'])
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transform.transform.translation.y = float(position['y'])
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transform.transform.translation.z = float(position['z'])
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# 设置旋转
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transform.transform.rotation.x = rotation['x']
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transform.transform.rotation.y = rotation['y']
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transform.transform.rotation.z = rotation['z']
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transform.transform.rotation.w = rotation['w']
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transforms.append(transform)
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# 一次性发布所有静态变换
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if transforms:
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self.tf_broadcaster.sendTransform(transforms)
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# self.check_resource_pose_changes()
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# self.get_logger().info(f'已发布 {len(transforms)} 个资源TF关系')
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def check_resource_pose_changes(self):
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"""
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遍历资源TF字典，计算每个资源相对于world的变换，
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与旧的位姿比较，记录发生变化的资源，并更新旧位姿记录。
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Returns:
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dict: 包含发生位姿变化的资源ID及其新位姿
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"""
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if not self.move_group_ready:
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self.check_move_group_ready()
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return
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changed_poses = {}
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resource_tf_dict = copy.deepcopy(self.resource_tf_dict)
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for resource_id in resource_tf_dict.keys():
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try:
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# 获取从resource_id到world的转换
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transform = self.tf_buffer.lookup_transform(
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"world",
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resource_id,
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rclpy.time.Time(),
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rclpy.duration.Duration(seconds=5)
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)
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# 提取当前位姿信息
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current_pose = {
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"position": {
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"x": transform.transform.translation.x,
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"y": transform.transform.translation.y,
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"z": transform.transform.translation.z
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},
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"rotation": {
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"x": transform.transform.rotation.x,
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"y": transform.transform.rotation.y,
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"z": transform.transform.rotation.z,
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"w": transform.transform.rotation.w
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}
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}
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# 检查是否存在旧位姿记录
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if resource_id not in self.old_resource_pose:
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# 如果没有旧记录，则认为是新资源，记录变化
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changed_poses[resource_id] = current_pose
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self.old_resource_pose[resource_id] = current_pose
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else:
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# 比较当前位姿与旧位姿
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old_pose = self.old_resource_pose[resource_id]
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if (not self._is_pose_equal(current_pose, old_pose)):
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# 如果位姿发生变化，记录新位姿
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changed_poses[resource_id] = current_pose
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self.old_resource_pose[resource_id] = current_pose
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except Exception as e:
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self.get_logger().warning(f"获取资源 {resource_id} 的世界坐标变换失败: {e}")
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changed_poses_msg = String()
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changed_poses_msg.data = json.dumps(changed_poses)
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self.resource_pose_publisher.publish(changed_poses_msg)
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def _is_pose_equal(self, pose1, pose2, tolerance=1e-5):
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"""
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比较两个位姿是否相等（考虑浮点数精度）
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Args:
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pose1: 第一个位姿
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pose2: 第二个位姿
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tolerance: 浮点数比较的容差
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Returns:
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bool: 如果位姿相等返回True，否则返回False
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"""
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# 比较位置
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pos1 = pose1["position"]
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pos2 = pose2["position"]
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if (abs(pos1["x"] - pos2["x"]) > tolerance or
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abs(pos1["y"] - pos2["y"]) > tolerance or
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abs(pos1["z"] - pos2["z"]) > tolerance):
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return False
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# 比较旋转
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rot1 = pose1["rotation"]
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rot2 = pose2["rotation"]
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if (abs(rot1["x"] - rot2["x"]) > tolerance or
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abs(rot1["y"] - rot2["y"]) > tolerance or
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abs(rot1["z"] - rot2["z"]) > tolerance or
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abs(rot1["w"] - rot2["w"]) > tolerance):
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return False
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return True
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def tf_update(self, goal_handle : ServerGoalHandle):
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tf_update_msg = goal_handle.request
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try:
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cmd_dict = json.loads(tf_update_msg.command.replace("'",'"'))
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for resource_id, target_parent in cmd_dict.items():
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# 获取从resource_id到target_parent的转换
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transform = self.tf_buffer.lookup_transform(
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target_parent,
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resource_id,
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rclpy.time.Time()
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)
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# 提取转换中的位置和旋转信息
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position = {
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"x": transform.transform.translation.x,
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"y": transform.transform.translation.y,
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"z": transform.transform.translation.z
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}
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rotation = {
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"x": transform.transform.rotation.x,
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"y": transform.transform.rotation.y,
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"z": transform.transform.rotation.z,
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"w": transform.transform.rotation.w
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}
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self.resource_tf_dict[resource_id] = {
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"parent": target_parent,
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"position": position,
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"rotation": rotation
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}
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self.attach_collision_object(id=resource_id,link_name=target_parent)
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self.publish_resource_tf()
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except Exception as e:
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self.get_logger().error(f"更新资源TF字典失败: {e}")
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goal_handle.abort()
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return SendCmd.Result(success=False)
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goal_handle.succeed()
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return SendCmd.Result(success=True)
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def publish_resource_tf(self):
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"""
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发布资源之间的TF关系
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遍历self.resource_tf_dict中的每个元素，根据key，parent，以及position和rotation，
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发布key和parent之间的tf关系
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"""
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transforms = []
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# 遍历资源TF字典
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resource_tf_dict = copy.deepcopy(self.resource_tf_dict)
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for resource_id, tf_info in resource_tf_dict.items():
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parent = tf_info['parent']
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position = tf_info['position']
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rotation = tf_info['rotation']
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# 创建静态变换消息
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transform = TransformStamped()
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transform.header.stamp = self.get_clock().now().to_msg()
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transform.header.frame_id = parent
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transform.child_frame_id = resource_id
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# 设置位置
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transform.transform.translation.x = float(position['x'])
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transform.transform.translation.y = float(position['y'])
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transform.transform.translation.z = float(position['z'])
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# 设置旋转
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transform.transform.rotation.x = rotation['x']
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transform.transform.rotation.y = rotation['y']
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transform.transform.rotation.z = rotation['z']
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transform.transform.rotation.w = rotation['w']
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transforms.append(transform)
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# 一次性发布所有静态变换
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if transforms:
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self.tf_broadcaster.sendTransform(transforms)
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# self.get_logger().info(f'已发布 {len(transforms)} 个资源TF关系')
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def add_resource_collision_meshes(self):
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"""
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遍历资源配置字典，为每个在resource_model中有对应模型的资源添加碰撞网格
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该方法检查每个资源ID是否在self.resource_model中有对应的3D模型文件路径，
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如果有，则调用add_collision_mesh方法将其添加到碰撞环境中。
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"""
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self.get_logger().info('开始添加资源碰撞网格')
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for resource_id, tf_info in self.resource_tf_dict.items():
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if resource_id in self.resource_model:
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# 获取位置信息
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position = [
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float(self.resource_model[resource_id]['mesh_tf'][0]),
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float(self.resource_model[resource_id]['mesh_tf'][1]),
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float(self.resource_model[resource_id]['mesh_tf'][2])
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]
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# 获取旋转信息并转换为四元数
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q = quaternion_from_euler(
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float(self.resource_model[resource_id]['mesh_tf'][3]),
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float(self.resource_model[resource_id]['mesh_tf'][4]),
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float(self.resource_model[resource_id]['mesh_tf'][5])
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)
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# 添加碰撞网格
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self.add_collision_mesh(
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filepath=self.resource_model[resource_id]['mesh'],
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id=resource_id,
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position=position,
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quat_xyzw=q,
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frame_id=resource_id
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)
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elif f"{tf_info['parent']}_" in self.resource_model:
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# 获取资源的父级框架ID
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id_ = f"{tf_info['parent']}_"
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# 获取位置信息
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position = [
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float(self.resource_model[id_]['mesh_tf'][0]),
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float(self.resource_model[id_]['mesh_tf'][1]),
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float(self.resource_model[id_]['mesh_tf'][2])
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]
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# 获取旋转信息并转换为四元数
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q = quaternion_from_euler(
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float(self.resource_model[id_]['mesh_tf'][3]),
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float(self.resource_model[id_]['mesh_tf'][4]),
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float(self.resource_model[id_]['mesh_tf'][5])
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)
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# 添加碰撞网格
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self.add_collision_mesh(
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filepath=self.resource_model[id_]['mesh'],
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id=resource_id,
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position=position,
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quat_xyzw=q,
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frame_id=resource_id
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)
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time.sleep(0.02)
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self.get_logger().info('资源碰撞网格添加完成')
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def add_collision_primitive(
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self,
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id: str,
|
||
primitive_type: int,
|
||
dimensions: Tuple[float, float, float],
|
||
pose: Optional[Union[PoseStamped, Pose]] = None,
|
||
position: Optional[Union[Point, Tuple[float, float, float]]] = None,
|
||
quat_xyzw: Optional[
|
||
Union[Quaternion, Tuple[float, float, float, float]]
|
||
] = None,
|
||
frame_id: Optional[str] = None,
|
||
operation: int = CollisionObject.ADD,
|
||
):
|
||
"""
|
||
Add collision object with a primitive geometry specified by its dimensions.
|
||
|
||
`primitive_type` can be one of the following:
|
||
- `SolidPrimitive.BOX`
|
||
- `SolidPrimitive.SPHERE`
|
||
- `SolidPrimitive.CYLINDER`
|
||
- `SolidPrimitive.CONE`
|
||
"""
|
||
|
||
if (pose is None) and (position is None or quat_xyzw is None):
|
||
raise ValueError(
|
||
"Either `pose` or `position` and `quat_xyzw` must be specified!"
|
||
)
|
||
|
||
if isinstance(pose, PoseStamped):
|
||
pose_stamped = pose
|
||
elif isinstance(pose, Pose):
|
||
pose_stamped = PoseStamped(
|
||
header=Header(
|
||
stamp=self.get_clock().now().to_msg(),
|
||
frame_id=(
|
||
frame_id if frame_id is not None else self.__base_link_name
|
||
),
|
||
),
|
||
pose=pose,
|
||
)
|
||
else:
|
||
if not isinstance(position, Point):
|
||
position = Point(
|
||
x=float(position[0]), y=float(position[1]), z=float(position[2])
|
||
)
|
||
if not isinstance(quat_xyzw, Quaternion):
|
||
quat_xyzw = Quaternion(
|
||
x=float(quat_xyzw[0]),
|
||
y=float(quat_xyzw[1]),
|
||
z=float(quat_xyzw[2]),
|
||
w=float(quat_xyzw[3]),
|
||
)
|
||
pose_stamped = PoseStamped(
|
||
header=Header(
|
||
stamp=self.get_clock().now().to_msg(),
|
||
frame_id=(
|
||
frame_id if frame_id is not None else self.__base_link_name
|
||
),
|
||
),
|
||
pose=Pose(position=position, orientation=quat_xyzw),
|
||
)
|
||
|
||
msg = CollisionObject(
|
||
header=pose_stamped.header,
|
||
id=id,
|
||
operation=operation,
|
||
pose=pose_stamped.pose,
|
||
)
|
||
|
||
msg.primitives.append(
|
||
SolidPrimitive(type=primitive_type, dimensions=dimensions)
|
||
)
|
||
|
||
self.__collision_object_publisher.publish(msg)
|
||
|
||
def add_collision_box(
|
||
self,
|
||
id: str,
|
||
size: Tuple[float, float, float],
|
||
pose: Optional[Union[PoseStamped, Pose]] = None,
|
||
position: Optional[Union[Point, Tuple[float, float, float]]] = None,
|
||
quat_xyzw: Optional[
|
||
Union[Quaternion, Tuple[float, float, float, float]]
|
||
] = None,
|
||
frame_id: Optional[str] = None,
|
||
operation: int = CollisionObject.ADD,
|
||
):
|
||
"""
|
||
Add collision object with a box geometry specified by its size.
|
||
"""
|
||
|
||
assert len(size) == 3, "Invalid size of the box!"
|
||
|
||
self.add_collision_primitive(
|
||
id=id,
|
||
primitive_type=SolidPrimitive.BOX,
|
||
dimensions=size,
|
||
pose=pose,
|
||
position=position,
|
||
quat_xyzw=quat_xyzw,
|
||
frame_id=frame_id,
|
||
operation=operation,
|
||
)
|
||
|
||
def add_collision_sphere(
|
||
self,
|
||
id: str,
|
||
radius: float,
|
||
pose: Optional[Union[PoseStamped, Pose]] = None,
|
||
position: Optional[Union[Point, Tuple[float, float, float]]] = None,
|
||
quat_xyzw: Optional[
|
||
Union[Quaternion, Tuple[float, float, float, float]]
|
||
] = None,
|
||
frame_id: Optional[str] = None,
|
||
operation: int = CollisionObject.ADD,
|
||
):
|
||
"""
|
||
Add collision object with a sphere geometry specified by its radius.
|
||
"""
|
||
|
||
if quat_xyzw is None:
|
||
quat_xyzw = Quaternion(x=0.0, y=0.0, z=0.0, w=1.0)
|
||
|
||
self.add_collision_primitive(
|
||
id=id,
|
||
primitive_type=SolidPrimitive.SPHERE,
|
||
dimensions=[
|
||
radius,
|
||
],
|
||
pose=pose,
|
||
position=position,
|
||
quat_xyzw=quat_xyzw,
|
||
frame_id=frame_id,
|
||
operation=operation,
|
||
)
|
||
|
||
def add_collision_cylinder(
|
||
self,
|
||
id: str,
|
||
height: float,
|
||
radius: float,
|
||
pose: Optional[Union[PoseStamped, Pose]] = None,
|
||
position: Optional[Union[Point, Tuple[float, float, float]]] = None,
|
||
quat_xyzw: Optional[
|
||
Union[Quaternion, Tuple[float, float, float, float]]
|
||
] = None,
|
||
frame_id: Optional[str] = None,
|
||
operation: int = CollisionObject.ADD,
|
||
):
|
||
"""
|
||
Add collision object with a cylinder geometry specified by its height and radius.
|
||
"""
|
||
|
||
self.add_collision_primitive(
|
||
id=id,
|
||
primitive_type=SolidPrimitive.CYLINDER,
|
||
dimensions=[height, radius],
|
||
pose=pose,
|
||
position=position,
|
||
quat_xyzw=quat_xyzw,
|
||
frame_id=frame_id,
|
||
operation=operation,
|
||
)
|
||
|
||
def add_collision_cone(
|
||
self,
|
||
id: str,
|
||
height: float,
|
||
radius: float,
|
||
pose: Optional[Union[PoseStamped, Pose]] = None,
|
||
position: Optional[Union[Point, Tuple[float, float, float]]] = None,
|
||
quat_xyzw: Optional[
|
||
Union[Quaternion, Tuple[float, float, float, float]]
|
||
] = None,
|
||
frame_id: Optional[str] = None,
|
||
operation: int = CollisionObject.ADD,
|
||
):
|
||
"""
|
||
Add collision object with a cone geometry specified by its height and radius.
|
||
"""
|
||
|
||
self.add_collision_primitive(
|
||
id=id,
|
||
primitive_type=SolidPrimitive.CONE,
|
||
dimensions=[height, radius],
|
||
pose=pose,
|
||
position=position,
|
||
quat_xyzw=quat_xyzw,
|
||
frame_id=frame_id,
|
||
operation=operation,
|
||
)
|
||
|
||
def add_collision_mesh(
|
||
self,
|
||
filepath: Optional[str],
|
||
id: str,
|
||
pose: Optional[Union[PoseStamped, Pose]] = None,
|
||
position: Optional[Union[Point, Tuple[float, float, float]]] = None,
|
||
quat_xyzw: Optional[
|
||
Union[Quaternion, Tuple[float, float, float, float]]
|
||
] = None,
|
||
frame_id: Optional[str] = None,
|
||
operation: int = CollisionObject.ADD,
|
||
scale: Union[float, Tuple[float, float, float]] = 1.0,
|
||
mesh: Optional[Any] = None,
|
||
):
|
||
"""
|
||
Add collision object with a mesh geometry. Either `filepath` must be
|
||
specified or `mesh` must be provided.
|
||
Note: This function required 'trimesh' Python module to be installed.
|
||
"""
|
||
|
||
# Load the mesh
|
||
try:
|
||
import trimesh
|
||
except ImportError as err:
|
||
raise ImportError(
|
||
"Python module 'trimesh' not found! Please install it manually in order "
|
||
"to add collision objects into the MoveIt 2 planning scene."
|
||
) from err
|
||
|
||
# Check the parameters
|
||
if (pose is None) and (position is None or quat_xyzw is None):
|
||
raise ValueError(
|
||
"Either `pose` or `position` and `quat_xyzw` must be specified!"
|
||
)
|
||
if (filepath is None and mesh is None) or (
|
||
filepath is not None and mesh is not None
|
||
):
|
||
raise ValueError("Exactly one of `filepath` or `mesh` must be specified!")
|
||
if mesh is not None and not isinstance(mesh, trimesh.Trimesh):
|
||
raise ValueError("`mesh` must be an instance of `trimesh.Trimesh`!")
|
||
|
||
if isinstance(pose, PoseStamped):
|
||
pose_stamped = pose
|
||
elif isinstance(pose, Pose):
|
||
pose_stamped = PoseStamped(
|
||
header=Header(
|
||
stamp=self.get_clock().now().to_msg(),
|
||
frame_id=(
|
||
frame_id if frame_id is not None else self.__base_link_name
|
||
),
|
||
),
|
||
pose=pose,
|
||
)
|
||
else:
|
||
if not isinstance(position, Point):
|
||
position = Point(
|
||
x=float(position[0]), y=float(position[1]), z=float(position[2])
|
||
)
|
||
if not isinstance(quat_xyzw, Quaternion):
|
||
quat_xyzw = Quaternion(
|
||
x=float(quat_xyzw[0]),
|
||
y=float(quat_xyzw[1]),
|
||
z=float(quat_xyzw[2]),
|
||
w=float(quat_xyzw[3]),
|
||
)
|
||
pose_stamped = PoseStamped(
|
||
header=Header(
|
||
stamp=self.get_clock().now().to_msg(),
|
||
frame_id=(
|
||
frame_id if frame_id is not None else self.__base_link_name
|
||
),
|
||
),
|
||
pose=Pose(position=position, orientation=quat_xyzw),
|
||
)
|
||
|
||
msg = CollisionObject(
|
||
header=pose_stamped.header,
|
||
id=id,
|
||
operation=operation,
|
||
pose=pose_stamped.pose,
|
||
)
|
||
|
||
if filepath is not None:
|
||
mesh = trimesh.load(filepath)
|
||
|
||
# Scale the mesh
|
||
if isinstance(scale, float):
|
||
scale = (scale, scale, scale)
|
||
if not (scale[0] == scale[1] == scale[2] == 1.0):
|
||
# If the mesh was passed in as a parameter, make a copy of it to
|
||
# avoid transforming the original.
|
||
if filepath is not None:
|
||
mesh = mesh.copy()
|
||
# Transform the mesh
|
||
transform = np.eye(4)
|
||
np.fill_diagonal(transform, scale)
|
||
mesh.apply_transform(transform)
|
||
|
||
msg.meshes.append(
|
||
Mesh(
|
||
triangles=[MeshTriangle(vertex_indices=face) for face in mesh.faces],
|
||
vertices=[
|
||
Point(x=vert[0], y=vert[1], z=vert[2]) for vert in mesh.vertices
|
||
],
|
||
)
|
||
)
|
||
|
||
self.__collision_object_publisher.publish(msg)
|
||
|
||
def remove_collision_object(self, id: str):
|
||
"""
|
||
Remove collision object specified by its `id`.
|
||
"""
|
||
|
||
msg = CollisionObject()
|
||
msg.id = id
|
||
msg.operation = CollisionObject.REMOVE
|
||
msg.header.stamp = self.get_clock().now().to_msg()
|
||
self.__collision_object_publisher.publish(msg)
|
||
|
||
def remove_collision_mesh(self, id: str):
|
||
"""
|
||
Remove collision mesh specified by its `id`.
|
||
Identical to `remove_collision_object()`.
|
||
"""
|
||
|
||
self.remove_collision_object(id)
|
||
|
||
def attach_collision_object(
|
||
self,
|
||
id: str,
|
||
link_name: Optional[str] = None,
|
||
touch_links: List[str] = [],
|
||
weight: float = 0.0,
|
||
):
|
||
"""
|
||
Attach collision object to the robot.
|
||
"""
|
||
|
||
if link_name is None:
|
||
link_name = self.__end_effector_name
|
||
|
||
msg = AttachedCollisionObject(
|
||
object=CollisionObject(id=id, operation=CollisionObject.ADD)
|
||
)
|
||
msg.link_name = link_name
|
||
msg.touch_links = touch_links
|
||
msg.weight = weight
|
||
|
||
self.__attached_collision_object_publisher.publish(msg)
|
||
|
||
def detach_collision_object(self, id: int):
|
||
"""
|
||
Detach collision object from the robot.
|
||
"""
|
||
|
||
msg = AttachedCollisionObject(
|
||
object=CollisionObject(id=id, operation=CollisionObject.REMOVE)
|
||
)
|
||
self.__attached_collision_object_publisher.publish(msg)
|
||
|
||
def detach_all_collision_objects(self):
|
||
"""
|
||
Detach collision object from the robot.
|
||
"""
|
||
|
||
msg = AttachedCollisionObject(
|
||
object=CollisionObject(operation=CollisionObject.REMOVE)
|
||
)
|
||
self.__attached_collision_object_publisher.publish(msg)
|
||
|
||
def move_collision(
|
||
self,
|
||
id: str,
|
||
position: Union[Point, Tuple[float, float, float]],
|
||
quat_xyzw: Union[Quaternion, Tuple[float, float, float, float]],
|
||
frame_id: Optional[str] = None,
|
||
):
|
||
"""
|
||
Move collision object specified by its `id`.
|
||
"""
|
||
|
||
msg = CollisionObject()
|
||
|
||
if not isinstance(position, Point):
|
||
position = Point(
|
||
x=float(position[0]), y=float(position[1]), z=float(position[2])
|
||
)
|
||
if not isinstance(quat_xyzw, Quaternion):
|
||
quat_xyzw = Quaternion(
|
||
x=float(quat_xyzw[0]),
|
||
y=float(quat_xyzw[1]),
|
||
z=float(quat_xyzw[2]),
|
||
w=float(quat_xyzw[3]),
|
||
)
|
||
|
||
pose = Pose()
|
||
pose.position = position
|
||
pose.orientation = quat_xyzw
|
||
msg.pose = pose
|
||
msg.id = id
|
||
msg.operation = CollisionObject.MOVE
|
||
msg.header.frame_id = (
|
||
frame_id if frame_id is not None else self.__base_link_name
|
||
)
|
||
msg.header.stamp = self.get_clock().now().to_msg()
|
||
|
||
self.__collision_object_publisher.publish(msg)
|
||
|
||
def update_planning_scene(self) -> bool:
|
||
"""
|
||
Gets the current planning scene. Returns whether the service call was
|
||
successful.
|
||
"""
|
||
|
||
if not self._get_planning_scene_service.service_is_ready():
|
||
self.get_logger().warn(
|
||
f"Service '{self._get_planning_scene_service.srv_name}' is not yet available. Better luck next time!"
|
||
)
|
||
return False
|
||
self.__planning_scene = self._get_planning_scene_service.call(
|
||
GetPlanningScene.Request()
|
||
).scene
|
||
return True
|
||
|
||
def allow_collisions(self, id: str, allow: bool) -> Optional[Future]:
|
||
"""
|
||
Takes in the ID of an element in the planning scene. Modifies the allowed
|
||
collision matrix to (dis)allow collisions between that object and all other
|
||
object.
|
||
|
||
If `allow` is True, a plan will succeed even if the robot collides with that object.
|
||
If `allow` is False, a plan will fail if the robot collides with that object.
|
||
Returns whether it successfully updated the allowed collision matrix.
|
||
|
||
Returns the future of the service call.
|
||
"""
|
||
# Update the planning scene
|
||
if not self.update_planning_scene():
|
||
return None
|
||
allowed_collision_matrix = self.__planning_scene.allowed_collision_matrix
|
||
self.__old_allowed_collision_matrix = copy.deepcopy(allowed_collision_matrix)
|
||
|
||
# Get the location in the allowed collision matrix of the object
|
||
j = None
|
||
if id not in allowed_collision_matrix.entry_names:
|
||
allowed_collision_matrix.entry_names.append(id)
|
||
else:
|
||
j = allowed_collision_matrix.entry_names.index(id)
|
||
# For all other objects, (dis)allow collisions with the object with `id`
|
||
for i in range(len(allowed_collision_matrix.entry_values)):
|
||
if j is None:
|
||
allowed_collision_matrix.entry_values[i].enabled.append(allow)
|
||
elif i != j:
|
||
allowed_collision_matrix.entry_values[i].enabled[j] = allow
|
||
# For the object with `id`, (dis)allow collisions with all other objects
|
||
allowed_collision_entry = AllowedCollisionEntry(
|
||
enabled=[allow for _ in range(len(allowed_collision_matrix.entry_names))]
|
||
)
|
||
if j is None:
|
||
allowed_collision_matrix.entry_values.append(allowed_collision_entry)
|
||
else:
|
||
allowed_collision_matrix.entry_values[j] = allowed_collision_entry
|
||
|
||
# Apply the new planning scene
|
||
if not self._apply_planning_scene_service.service_is_ready():
|
||
self.get_logger().warn(
|
||
f"Service '{self._apply_planning_scene_service.srv_name}' is not yet available. Better luck next time!"
|
||
)
|
||
return None
|
||
return self._apply_planning_scene_service.call_async(
|
||
ApplyPlanningScene.Request(scene=self.__planning_scene)
|
||
)
|
||
|
||
def process_allow_collision_future(self, future: Future) -> bool:
|
||
"""
|
||
Return whether the allow collision service call is done and has succeeded
|
||
or not. If it failed, reset the allowed collision matrix to the old one.
|
||
"""
|
||
if not future.done():
|
||
return False
|
||
|
||
# Get response
|
||
resp = future.result()
|
||
|
||
# If it failed, restore the old planning scene
|
||
if not resp.success:
|
||
self.__planning_scene.allowed_collision_matrix = (
|
||
self.__old_allowed_collision_matrix
|
||
)
|
||
|
||
return resp.success
|
||
|
||
def clear_all_collision_objects(self) -> Optional[Future]:
|
||
"""
|
||
Removes all attached and un-attached collision objects from the planning scene.
|
||
|
||
Returns a future for the ApplyPlanningScene service call.
|
||
"""
|
||
# Update the planning scene
|
||
if not self.update_planning_scene():
|
||
return None
|
||
self.__old_planning_scene = copy.deepcopy(self.__planning_scene)
|
||
|
||
# Remove all collision objects from the planning scene
|
||
self.__planning_scene.world.collision_objects = []
|
||
self.__planning_scene.robot_state.attached_collision_objects = []
|
||
|
||
# Apply the new planning scene
|
||
if not self._apply_planning_scene_service.service_is_ready():
|
||
self.get_logger().warn(
|
||
f"Service '{self._apply_planning_scene_service.srv_name}' is not yet available. Better luck next time!"
|
||
)
|
||
return None
|
||
return self._apply_planning_scene_service.call_async(
|
||
ApplyPlanningScene.Request(scene=self.__planning_scene)
|
||
)
|
||
|
||
if __name__ == '__main__':
|
||
model_s = '''
|
||
{'Plate1': {'mesh': '/home/z43/git_pj/Uni-Lab-OS/unilabos/device_mesh/resources/tecan_nested_tip_rack/meshes/plate.stl', 'mesh_tf': [0.064, 0.043, 0, -1.5708, 0, 1.5708]},
|
||
'Plate1_': {'mesh': '/home/z43/git_pj/Uni-Lab-OS/unilabos/device_mesh/resources/generic_labware_tube_10_75/meshes/0_base.stl', 'mesh_tf': [0.0018, 0.0018, 0, -1.5708,0, 0]}}
|
||
'''
|
||
resource_model = json.loads(model_s.replace("'",'"'))
|
||
|
||
config_s = '''
|
||
[
|
||
{
|
||
"id": "Gripper1",
|
||
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"id": "Plate1_E11",
|
||
"name": "Plate1_E11",
|
||
"sample_id": null,
|
||
"children": [],
|
||
"parent": "Plate1",
|
||
"type": "device",
|
||
"class": "",
|
||
"position": {
|
||
"x": 102.492,
|
||
"y": 36.352,
|
||
"z": 0.92
|
||
},
|
||
"config": {
|
||
"type": "Well",
|
||
"size_x": 3.776,
|
||
"size_y": 3.776,
|
||
"size_z": 14.78,
|
||
"rotation": {
|
||
"x": 0,
|
||
"y": 0,
|
||
"z": 0,
|
||
"type": "Rotation"
|
||
},
|
||
"category": "well",
|
||
"model": null,
|
||
"max_volume": 100,
|
||
"material_z_thickness": null,
|
||
"compute_volume_from_height": null,
|
||
"compute_height_from_volume": null,
|
||
"bottom_type": "unknown",
|
||
"cross_section_type": "circle"
|
||
},
|
||
"data": {
|
||
"liquids": [],
|
||
"pending_liquids": [],
|
||
"liquid_history": []
|
||
}
|
||
},
|
||
{
|
||
"id": "Plate1_F11",
|
||
"name": "Plate1_F11",
|
||
"sample_id": null,
|
||
"children": [],
|
||
"parent": "Plate1",
|
||
"type": "device",
|
||
"class": "",
|
||
"position": {
|
||
"x": 102.492,
|
||
"y": 27.352,
|
||
"z": 0.92
|
||
},
|
||
"config": {
|
||
"type": "Well",
|
||
"size_x": 3.776,
|
||
"size_y": 3.776,
|
||
"size_z": 14.78,
|
||
"rotation": {
|
||
"x": 0,
|
||
"y": 0,
|
||
"z": 0,
|
||
"type": "Rotation"
|
||
},
|
||
"category": "well",
|
||
"model": null,
|
||
"max_volume": 100,
|
||
"material_z_thickness": null,
|
||
"compute_volume_from_height": null,
|
||
"compute_height_from_volume": null,
|
||
"bottom_type": "unknown",
|
||
"cross_section_type": "circle"
|
||
},
|
||
"data": {
|
||
"liquids": [],
|
||
"pending_liquids": [],
|
||
"liquid_history": []
|
||
}
|
||
},
|
||
{
|
||
"id": "Plate1_G11",
|
||
"name": "Plate1_G11",
|
||
"sample_id": null,
|
||
"children": [],
|
||
"parent": "Plate1",
|
||
"type": "device",
|
||
"class": "",
|
||
"position": {
|
||
"x": 102.492,
|
||
"y": 18.352,
|
||
"z": 0.92
|
||
},
|
||
"config": {
|
||
"type": "Well",
|
||
"size_x": 3.776,
|
||
"size_y": 3.776,
|
||
"size_z": 14.78,
|
||
"rotation": {
|
||
"x": 0,
|
||
"y": 0,
|
||
"z": 0,
|
||
"type": "Rotation"
|
||
},
|
||
"category": "well",
|
||
"model": null,
|
||
"max_volume": 100,
|
||
"material_z_thickness": null,
|
||
"compute_volume_from_height": null,
|
||
"compute_height_from_volume": null,
|
||
"bottom_type": "unknown",
|
||
"cross_section_type": "circle"
|
||
},
|
||
"data": {
|
||
"liquids": [],
|
||
"pending_liquids": [],
|
||
"liquid_history": []
|
||
}
|
||
},
|
||
{
|
||
"id": "Plate1_H11",
|
||
"name": "Plate1_H11",
|
||
"sample_id": null,
|
||
"children": [],
|
||
"parent": "Plate1",
|
||
"type": "device",
|
||
"class": "",
|
||
"position": {
|
||
"x": 102.492,
|
||
"y": 9.352,
|
||
"z": 0.92
|
||
},
|
||
"config": {
|
||
"type": "Well",
|
||
"size_x": 3.776,
|
||
"size_y": 3.776,
|
||
"size_z": 14.78,
|
||
"rotation": {
|
||
"x": 0,
|
||
"y": 0,
|
||
"z": 0,
|
||
"type": "Rotation"
|
||
},
|
||
"category": "well",
|
||
"model": null,
|
||
"max_volume": 100,
|
||
"material_z_thickness": null,
|
||
"compute_volume_from_height": null,
|
||
"compute_height_from_volume": null,
|
||
"bottom_type": "unknown",
|
||
"cross_section_type": "circle"
|
||
},
|
||
"data": {
|
||
"liquids": [],
|
||
"pending_liquids": [],
|
||
"liquid_history": []
|
||
}
|
||
},
|
||
{
|
||
"id": "Plate1_A12",
|
||
"name": "Plate1_A12",
|
||
"sample_id": null,
|
||
"children": [],
|
||
"parent": "Plate1",
|
||
"type": "device",
|
||
"class": "",
|
||
"position": {
|
||
"x": 111.492,
|
||
"y": 72.352,
|
||
"z": 0.92
|
||
},
|
||
"config": {
|
||
"type": "Well",
|
||
"size_x": 3.776,
|
||
"size_y": 3.776,
|
||
"size_z": 14.78,
|
||
"rotation": {
|
||
"x": 0,
|
||
"y": 0,
|
||
"z": 0,
|
||
"type": "Rotation"
|
||
},
|
||
"category": "well",
|
||
"model": null,
|
||
"max_volume": 100,
|
||
"material_z_thickness": null,
|
||
"compute_volume_from_height": null,
|
||
"compute_height_from_volume": null,
|
||
"bottom_type": "unknown",
|
||
"cross_section_type": "circle"
|
||
},
|
||
"data": {
|
||
"liquids": [],
|
||
"pending_liquids": [],
|
||
"liquid_history": []
|
||
}
|
||
},
|
||
{
|
||
"id": "Plate1_B12",
|
||
"name": "Plate1_B12",
|
||
"sample_id": null,
|
||
"children": [],
|
||
"parent": "Plate1",
|
||
"type": "device",
|
||
"class": "",
|
||
"position": {
|
||
"x": 111.492,
|
||
"y": 63.352,
|
||
"z": 0.92
|
||
},
|
||
"config": {
|
||
"type": "Well",
|
||
"size_x": 3.776,
|
||
"size_y": 3.776,
|
||
"size_z": 14.78,
|
||
"rotation": {
|
||
"x": 0,
|
||
"y": 0,
|
||
"z": 0,
|
||
"type": "Rotation"
|
||
},
|
||
"category": "well",
|
||
"model": null,
|
||
"max_volume": 100,
|
||
"material_z_thickness": null,
|
||
"compute_volume_from_height": null,
|
||
"compute_height_from_volume": null,
|
||
"bottom_type": "unknown",
|
||
"cross_section_type": "circle"
|
||
},
|
||
"data": {
|
||
"liquids": [],
|
||
"pending_liquids": [],
|
||
"liquid_history": []
|
||
}
|
||
},
|
||
{
|
||
"id": "Plate1_C12",
|
||
"name": "Plate1_C12",
|
||
"sample_id": null,
|
||
"children": [],
|
||
"parent": "Plate1",
|
||
"type": "device",
|
||
"class": "",
|
||
"position": {
|
||
"x": 111.492,
|
||
"y": 54.352,
|
||
"z": 0.92
|
||
},
|
||
"config": {
|
||
"type": "Well",
|
||
"size_x": 3.776,
|
||
"size_y": 3.776,
|
||
"size_z": 14.78,
|
||
"rotation": {
|
||
"x": 0,
|
||
"y": 0,
|
||
"z": 0,
|
||
"type": "Rotation"
|
||
},
|
||
"category": "well",
|
||
"model": null,
|
||
"max_volume": 100,
|
||
"material_z_thickness": null,
|
||
"compute_volume_from_height": null,
|
||
"compute_height_from_volume": null,
|
||
"bottom_type": "unknown",
|
||
"cross_section_type": "circle"
|
||
},
|
||
"data": {
|
||
"liquids": [],
|
||
"pending_liquids": [],
|
||
"liquid_history": []
|
||
}
|
||
},
|
||
{
|
||
"id": "Plate1_D12",
|
||
"name": "Plate1_D12",
|
||
"sample_id": null,
|
||
"children": [],
|
||
"parent": "Plate1",
|
||
"type": "device",
|
||
"class": "",
|
||
"position": {
|
||
"x": 111.492,
|
||
"y": 45.352,
|
||
"z": 0.92
|
||
},
|
||
"config": {
|
||
"type": "Well",
|
||
"size_x": 3.776,
|
||
"size_y": 3.776,
|
||
"size_z": 14.78,
|
||
"rotation": {
|
||
"x": 0,
|
||
"y": 0,
|
||
"z": 0,
|
||
"type": "Rotation"
|
||
},
|
||
"category": "well",
|
||
"model": null,
|
||
"max_volume": 100,
|
||
"material_z_thickness": null,
|
||
"compute_volume_from_height": null,
|
||
"compute_height_from_volume": null,
|
||
"bottom_type": "unknown",
|
||
"cross_section_type": "circle"
|
||
},
|
||
"data": {
|
||
"liquids": [],
|
||
"pending_liquids": [],
|
||
"liquid_history": []
|
||
}
|
||
},
|
||
{
|
||
"id": "Plate1_E12",
|
||
"name": "Plate1_E12",
|
||
"sample_id": null,
|
||
"children": [],
|
||
"parent": "Plate1",
|
||
"type": "device",
|
||
"class": "",
|
||
"position": {
|
||
"x": 111.492,
|
||
"y": 36.352,
|
||
"z": 0.92
|
||
},
|
||
"config": {
|
||
"type": "Well",
|
||
"size_x": 3.776,
|
||
"size_y": 3.776,
|
||
"size_z": 14.78,
|
||
"rotation": {
|
||
"x": 0,
|
||
"y": 0,
|
||
"z": 0,
|
||
"type": "Rotation"
|
||
},
|
||
"category": "well",
|
||
"model": null,
|
||
"max_volume": 100,
|
||
"material_z_thickness": null,
|
||
"compute_volume_from_height": null,
|
||
"compute_height_from_volume": null,
|
||
"bottom_type": "unknown",
|
||
"cross_section_type": "circle"
|
||
},
|
||
"data": {
|
||
"liquids": [],
|
||
"pending_liquids": [],
|
||
"liquid_history": []
|
||
}
|
||
},
|
||
{
|
||
"id": "Plate1_F12",
|
||
"name": "Plate1_F12",
|
||
"sample_id": null,
|
||
"children": [],
|
||
"parent": "Plate1",
|
||
"type": "device",
|
||
"class": "",
|
||
"position": {
|
||
"x": 111.492,
|
||
"y": 27.352,
|
||
"z": 0.92
|
||
},
|
||
"config": {
|
||
"type": "Well",
|
||
"size_x": 3.776,
|
||
"size_y": 3.776,
|
||
"size_z": 14.78,
|
||
"rotation": {
|
||
"x": 0,
|
||
"y": 0,
|
||
"z": 0,
|
||
"type": "Rotation"
|
||
},
|
||
"category": "well",
|
||
"model": null,
|
||
"max_volume": 100,
|
||
"material_z_thickness": null,
|
||
"compute_volume_from_height": null,
|
||
"compute_height_from_volume": null,
|
||
"bottom_type": "unknown",
|
||
"cross_section_type": "circle"
|
||
},
|
||
"data": {
|
||
"liquids": [],
|
||
"pending_liquids": [],
|
||
"liquid_history": []
|
||
}
|
||
},
|
||
{
|
||
"id": "Plate1_G12",
|
||
"name": "Plate1_G12",
|
||
"sample_id": null,
|
||
"children": [],
|
||
"parent": "Plate1",
|
||
"type": "device",
|
||
"class": "",
|
||
"position": {
|
||
"x": 111.492,
|
||
"y": 18.352,
|
||
"z": 0.92
|
||
},
|
||
"config": {
|
||
"type": "Well",
|
||
"size_x": 3.776,
|
||
"size_y": 3.776,
|
||
"size_z": 14.78,
|
||
"rotation": {
|
||
"x": 0,
|
||
"y": 0,
|
||
"z": 0,
|
||
"type": "Rotation"
|
||
},
|
||
"category": "well",
|
||
"model": null,
|
||
"max_volume": 100,
|
||
"material_z_thickness": null,
|
||
"compute_volume_from_height": null,
|
||
"compute_height_from_volume": null,
|
||
"bottom_type": "unknown",
|
||
"cross_section_type": "circle"
|
||
},
|
||
"data": {
|
||
"liquids": [],
|
||
"pending_liquids": [],
|
||
"liquid_history": []
|
||
}
|
||
},
|
||
{
|
||
"id": "Plate1_H12",
|
||
"name": "Plate1_H12",
|
||
"sample_id": null,
|
||
"children": [],
|
||
"parent": "Plate1",
|
||
"type": "device",
|
||
"class": "",
|
||
"position": {
|
||
"x": 111.492,
|
||
"y": 9.352,
|
||
"z": 0.92
|
||
},
|
||
"config": {
|
||
"type": "Well",
|
||
"size_x": 3.776,
|
||
"size_y": 3.776,
|
||
"size_z": 14.78,
|
||
"rotation": {
|
||
"x": 0,
|
||
"y": 0,
|
||
"z": 0,
|
||
"type": "Rotation"
|
||
},
|
||
"category": "well",
|
||
"model": null,
|
||
"max_volume": 100,
|
||
"material_z_thickness": null,
|
||
"compute_volume_from_height": null,
|
||
"compute_height_from_volume": null,
|
||
"bottom_type": "unknown",
|
||
"cross_section_type": "circle"
|
||
},
|
||
"data": {
|
||
"liquids": [],
|
||
"pending_liquids": [],
|
||
"liquid_history": []
|
||
}
|
||
}
|
||
]
|
||
|
||
'''
|
||
resource_config = json.loads(config_s.replace("'",'"'))
|
||
rclpy.init()
|
||
resource_mesh_manager = ResourceMeshManager(resource_model, resource_config, DeviceNodeResourceTracker())
|
||
# resource_mesh_manager.resource_mesh_setup()
|
||
# resource_mesh_manager.check_move_group_ready()
|
||
# resource_mesh_manager.publish_resource_tf()
|
||
# resource_mesh_manager.clear_all_collision_objects()
|
||
# print(json.dumps(resource_mesh_manager.resource_tf_dict, indent=4, ensure_ascii=False))
|
||
|
||
rclpy.spin(resource_mesh_manager) |