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robot-interface.l
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robot-interface.l
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;;;
;;; robot interface to ROS based pr2 system
;;;
(ros::load-ros-manifest "roseus")
(ros::load-ros-manifest "rosgraph_msgs")
(ros::load-ros-manifest "control_msgs")
;;(ros::roseus-add-msgs "sensor_msgs") ;; roseus depends on sensor_msgs
;;(ros::roseus-add-msgs "visualization_msgs") ;; roseus depends on visualization_msgs
(ros::roseus-add-msgs "move_base_msgs")
(ros::roseus-add-msgs "nav_msgs")
(require :speak "package://pr2eus/speak.l")
(defun shortest-angle (d0 d1)
(atan2 (sin (- d0 d1)) (cos (- d0 d1))))
;; add ros-joint-angle method using meter/radian
(defmethod rotational-joint
(:ros-joint-angle
(&optional v &rest args)
(if v (setq v (rad2deg v)))
(setq v (send* self :joint-angle v args))
(deg2rad v))
)
(defmethod linear-joint
(:ros-joint-angle
(&optional v &rest args)
(if v (setq v (* 1000.0 v)))
(setq v (send* self :joint-angle v args))
(* 0.001 v))
)
(defclass controller-action-client
:super ros::simple-action-client
:slots (time-to-finish last-feedback-msg-stamp
ri angle-vector-sequence timer-sequence current-time current-angle-vector previous-angle-vector scale-angle-vector;; slot for angle-vector-sequence
))
(defmethod controller-action-client
(:init (r &rest args)
(setq ri r) ;; robot-interface
(setq time-to-finish 0)
(setq last-feedback-msg-stamp (ros::time-now)) ;; this is for real robot
(send-super* :init args))
(:last-feedback-msg-stamp () last-feedback-msg-stamp)
(:time-to-finish ()
(ros::ros-debug "[~A] time-to-finish ~A" ros::name-space time-to-finish)
time-to-finish)
(:action-feedback-cb (msg)
(let ((finish-time) (current-time))
(ros::ros-debug "[~A] feedback-cb ~A" ros::name-space msg)
(setq last-feedback-msg-stamp (send msg :header :stamp))
(unless (and (send ros::comm-state :action-goal)
(not (equal (send (class ros::action-spec) :name)
'control_msgs::SingleJointPositionAction)))
(return-from :action-feedback-cb nil))
(cond ((derivedp msg control_msgs::followjointtrajectoryactionfeedback)
(setq current-time (send msg :feedback :error :time_from_start)))
(t
(ros::ros-warn "feedback message type is not control_msgs/FollowJointTrajectoryActionFeedback.")
;; e.g. Type: pr2_controllers_msgs/JointTrajectoryActionFeedback does not have :error
(setq current-time (ros::time- (ros::time-now) (send msg :status :goal_id :stamp)))))
(setq finish-time (send (car (last (send (send ros::comm-state :action-goal) :goal :trajectory :points))) :time_from_start))
(if (string= (send (send ros::comm-state :action-goal) :goal_id :id)
(send msg :status :goal_id :id))
(setq time-to-finish (send (ros::time- finish-time current-time) :to-sec))
(progn
(ros::ros-warn "[~A] feedback-cb ~A received wrong goal" ros::name-space msg)
(setq time-to-finish 0.0)))
))
;; method for simulation-modep
(:push-angle-vector-simulation (av tm &optional prev-av)
(setq previous-angle-vector prev-av)
(setq angle-vector-sequence (append angle-vector-sequence (list av)))
(setq timer-sequence (append timer-sequence (list tm)))
(setq current-time 0)
av)
(:pop-angle-vector-simulation ()
(let ((av (car angle-vector-sequence)) (tm (car timer-sequence)) scale-av)
(when tm
(setq scale-av (send ri :sub-angle-vector av previous-angle-vector))
(setq av (v+ previous-angle-vector (scale (/ current-time tm) scale-av)))
(incf current-time 100.0)
(when (> current-time tm)
(pop timer-sequence)
(pop angle-vector-sequence)
(setq av (v+ previous-angle-vector scale-av))
(setq previous-angle-vector av)
(setq current-time 0)
)
av)))
(:interpolatingp
()
(cond ((send ri :simulation-modep)
(not (null timer-sequence)))
(t ;; real robot
(not (eq ros::simple-state ros::*simple-goal-state-done*)))))
)
(defclass robot-interface
:super propertied-object
:slots (robot objects robot-state joint-action-enable warningp
controller-type controller-actions controller-timeout
namespace controller-table ;; hashtable :type -> (action)
visualization-topic simulation-default-look-all-p
joint-states-topic pub-joint-states-topic
viewer groupname)
:documentation "robot-interface is object for interacting real robot through JointTrajectoryAction servers and JointState topics, this function uses old nervous-style interface for historical reason. If JointTrajectoryAcion server is not found, this instance runs as simulation mode, see \"Kinematics Simulator\" view as simulated robot,
(setq *ri* (instance robot-interface :init))
(send *ri* :angle-vector (send *robot* :joint-angle) 2000)
(send *ri* :wait-interpolation)
(send *ri* :state :potentio-vector)
")
(defmethod robot-interface
(:init
(&rest args &key ((:robot r)) ((:objects objs)) (type :default-controller)
(use-tf2) ((:groupname nh) "robot_multi_queue") ((:namespace ns))
((:joint-states-topic jst) "joint_states")
((:joint-states-queue-size jsq) 1)
((:publish-joint-states-topic pjst) nil)
((:controller-timeout ct) 3)
((:visualization-marker-topic vmt) "robot_interface_marker_array")
((:simulation-look-all sim-look-all) t)
&allow-other-keys)
"Create robot interface
- robot : class name of robot
- objects : objects to be displayed in simulation (only for simulation)
- type : method name for defining controller type
- use-tf2 : use tf2
- groupname : ros nodehandle group name
- namespace : ros nodehandle name space
- joint-states-topic (jst) : name for subscribing joint state topic
- joint-states-queue-size : queue size of joint state topic. if you have two different node publishing joint_state, better to use 2. default is 1
- publish-joint-state-topic : name for publishing joint state topic (only for simulation)
- controller-timeout : timeout seconds for controller look-up
- visualization-marker-topic : topic name for visualize
"
(setq joint-states-topic jst)
(setq pub-joint-states-topic pjst)
(setq joint-action-enable t)
(setq controller-timeout ct)
(setq namespace ns)
(setq robot (cond ((derivedp r metaclass) (instance r :init))
(t r)))
(setq groupname nh)
(unless (ros::ok)
(ros::roseus "default_robot_interface"))
(ros::create-nodehandle groupname)
;;
(setq visualization-topic vmt)
(ros::advertise visualization-topic visualization_msgs::MarkerArray 100)
;;
(let ((start-time (now))
(ros-now (ros::time-now))
(wait-seconds 180)
diff-time)
(when (and (ros::get-param "use_sim_time" nil)
(= 0 (send ros-now :sec))
(= 0 (send ros-now :nsec)))
(ros::ros-debug "[~A] /use_sim_time is TRUE, check if /clock is published" (ros::get-name))
(while (and (= 0 (send ros-now :sec)) (= 0 (send ros-now :nsec)))
(setq diff-time (send (now) :subtract start-time))
(unix:usleep (* 500 1000))
(when (> (send diff-time :second) wait-seconds)
(ros::ros-fatal "[~A] /use_sim_time is TRUE but /clock is NOT PUBLISHED" (ros::get-name))
(ros::ros-fatal "[~A] ~d seconds elapsed. aborting..." (ros::get-name) wait-seconds)
(exit 1))
(ros::ros-warn "[~A] waiting /clock... ~d seconds elapsed." (ros::get-name)
(+ (send diff-time :second) (* 1e-6 (send diff-time :micro))))
(setq ros-now (ros::time-now)))
(ros::ros-info "[~A] /clock is now published." (ros::get-name))))
(cond
(use-tf2
(unless (boundp '*tfl*)
(defvar *tfl* (instance ros::buffer-client :init))))
(t
(unless (boundp '*tfl*)
(defvar *tfl* (instance ros::transform-listener :init)))))
(ros::subscribe (if namespace (format nil "~A/~A" namespace joint-states-topic)
joint-states-topic) sensor_msgs::JointState
#'send self :ros-state-callback jsq :groupname groupname)
;;
(setq controller-table (make-hash-table :size 14 :test #'eq :rehash-size 1.2))
(setq controller-type type)
(setq controller-actions
(send self :add-controller controller-type :joint-enable-check t :create-actions t))
;;
(when (send self :simulation-modep)
(let ((old-viewer user::*viewer*))
(when (and x::*display* (> x::*display* 0))
(setq viewer (get (geo::find-viewer (send robot :name)) :pickviewer))
(unless viewer
(setq viewer (instance x::irtviewer :create :title (format nil "~A Kinematics Simulator" (send robot :name)) :view-name (send robot :name) :draw-floor t)))
(send viewer :objects (list robot))
(send self :draw-objects)
(if old-viewer (setq user::*viewer* old-viewer)))
(send self :objects objs)
(ros::advertise (cond
(pub-joint-states-topic pub-joint-states-topic)
(namespace
(format nil "~A/~A" namespace joint-states-topic))
(t joint-states-topic))
sensor_msgs::JointState)
(setq *top-selector-interval* 0.01)
(setq simulation-default-look-all-p sim-look-all)
;; remove old timer job
(setq *timer-job*
(remove-if #'(lambda (x)
(if (listp x)
(let ((f (caddr x)))
(when (and (>= (length f) 3)
(eq (class (elt f 1)) (class self))
(eq (elt f 2) :robot-interface-simulation-callback))
(warning-message 3 "remove ~A from *timer-job*~%" f)
t))))
*timer-job*))
(pushnew `(lambda () (send ,self :robot-interface-simulation-callback)) *timer-job*)
(warning-message 3 "current *timer-job* is ~A~%" *timer-job*)
))
self)
;;
(:add-controller (ctype &key (joint-enable-check) (create-actions))
(let (tmp-actions)
(cond
(create-actions
(mapcar
#'(lambda (param)
(let* ((controller-action (cdr (assoc :controller-action param)))
(action-type (cdr (assoc :action-type param)))
(action (instance controller-action-client :init self
(if namespace (format nil "~A/~A" namespace controller-action)
controller-action) action-type
:groupname groupname)))
(push action tmp-actions)))
(send self ctype))
(setq tmp-actions (nreverse tmp-actions))
;;
(dolist (action tmp-actions)
(unless controller-timeout
(ros::ros-warn "Waiting for actionlib interface forever because controller-timeout is nil"))
(unless (and joint-action-enable (send action :wait-for-server controller-timeout))
(ros::ros-warn "~A is not respond, ~A-interface is disabled" action (send robot :name))
(ros::ros-warn "~C[3~CmStarting 'Kinematics Simulator'~C[0m" #x1b 49 #x1b)
(ros::ros-warn "~C[3~Cm (If you do not intend to start Kinematics Simulator, make sure that you can run 'rostopic info /~A/goal' and 'rostopic info /~A/cancel' and check whether Subscribers exists. If there is no Subscribers, please check joint_trajectory_action node.)~C[0m" #x1b 52 (send action :name) (send action :name) #x1b)
(ros::ros-warn "~C[3~Cm (Please also check 'rostopic info /~A/feedback' and 'rostopic info /~A/result' and check whether Publishers exists. If there is no Publishers, please check joint_trajectory_action node.)~C[0m" #x1b 52 (send action :name) (send action :name) #x1b)
(ros::ros-warn "~C[3~Cm (If joint_trajectory_action node already exists, you might have a network problem. Please make sure that you can run 'rosnode ping JOINT_TRAJECTORY_ACTION_SERVER_NODE_NAME' and 'rosnode ping ~A')~C[0m" #x1b 52 (ros::get-name) #x1b)
(when joint-enable-check
(setq joint-action-enable nil)
(return))))
;;
(dolist (param (send self ctype))
(let* ((controller-state (cdr (assoc :controller-state param)))
(key (intern (string-upcase controller-state) *keyword-package*)))
(ros::subscribe (if namespace (format nil "~A/~A" namespace controller-state)
controller-state)
control_msgs::JointTrajectoryControllerState
#'send self :set-robot-state1 key :groupname groupname)))
)
(t ;; not creating actions, just search
(mapcar
#'(lambda (param)
(let* ((controller-action (cdr (assoc :controller-action param)))
(action-type (cdr (assoc :action-type param)))
(name (if namespace (format nil "~A/~A" namespace controller-action)
controller-action))
action)
(setq action (find-if #'(lambda (ac) (string= name (send ac :name)))
controller-actions))
(if action (push action tmp-actions))
))
(send self ctype))
(setq tmp-actions (nreverse tmp-actions))
))
;;
(setf (gethash ctype controller-table) tmp-actions)
tmp-actions
))
;;
(:robot-interface-simulation-callback ()
(let* ((joint-list (send robot :joint-list))
(all-joint-names (send-all joint-list :name)))
(dolist (param (send self controller-type)) ;; assuming all actions are stored in controller-type (:default-controller)
;(print (list 'p param))
(let* ((joint-names (cdr (assoc :joint-names param)))
(action-name (cdr (assoc :controller-action param)))
(action-client (find action-name controller-actions :key #'(lambda (x) (send x :name)) :test #'string=))
(av (send action-client :pop-angle-vector-simulation))
)
(when av
(dolist (j joint-names)
(if (find j all-joint-names :test #'string=)
(let ((i (position j all-joint-names :test #'string=)))
(send (elt joint-list i) :joint-angle (elt av i))))))
))
(send self :publish-joint-state)
;;
(if viewer (send self :draw-objects))
))
(:publish-joint-state ;; for simulation mode (joint-action-enable is nil)
(&optional (joint-list (send robot :joint-list)))
(let (msg names positions velocities efforts)
(setq msg (joint-list->joint_state joint-list))
(send msg :header :stamp (ros::time-now))
(when (send self :simulation-modep)
(ros::publish (cond
(pub-joint-states-topic pub-joint-states-topic)
(namespace
(format nil "~A/~A" namespace joint-states-topic))
(t joint-states-topic))
msg))
msg))
(:angle-vector-safe
(av tm &key (simulation) (yes) (wait t) (norm-threshold 120) (angle-threshold 80) (velocity-threshold 240))
"send joint angle to robot with user-level confirmation. This method requires key input"
(let* ((q (send self :state :potentio-vector))
(jlst (send robot :joint-list))
(diff-q (v- av q))
(qv (scale (/ 1000.0 tm) diff-q))
(jqlst (mapcar #'(lambda (ang j) (cons ang (send j :name)))
(coerce diff-q cons) jlst))
(jvlst (mapcar #'(lambda (ang j) (cons ang (send j :name)))
(coerce qv cons) jlst))
warning)
(warn "angle-vector: ~A~%" av)
(when (> (norm diff-q) norm-threshold)
(setq warning t)
(warning-message 1 "WARNING: WARNING: diff angle-vector norm is ~d [deg]~%" (norm diff-q)))
(setq jqlst (sort jqlst #'(lambda (x y) (>= (abs (car x)) (abs (car y))))))
(setq jqlst (remove-if-not #'(lambda (x) (> (abs (car x)) angle-threshold)) jqlst))
(when jqlst
(setq warning t)
(warning-message 1 "WARNING: WARNING: typical diff angles (diff [deg] . Joint) are ~a~%" jqlst))
(setq jvlst (sort jvlst #'(lambda (x y) (>= (abs (car x)) (abs (car y))))))
(setq jvlst (remove-if-not #'(lambda (x) (> (abs (car x)) velocity-threshold)) jvlst))
(when jvlst
(setq warning t)
(warning-message 1 "WARNING: WARNING: typical velocities (velocity [deg/sec] . Joint) are ~a~%" jvlst))
(when (and (not simulation) (or yes (y-or-n-p "Do you send this angles to the robot? ")))
(warn ";; send angle-vector~%")
(send self :angle-vector av tm)
(when wait
(warn ";; wait interpolation~%")
(send self :wait-interpolation))
(warn ";; done~%")
)
warning))
(:angle-vector-duration
(start end &optional (scale 1) (min-time 1.0) (ctype controller-type))
(let* ((unordered-joint-names
(flatten (mapcar #'(lambda (joint-param)
(cdr (assoc :joint-names joint-param)))
(send self ctype))))
(joint-list (send robot :joint-list)))
(let ((diff (coerce (v- end start) cons)))
(let ((time-list (mapcar #'(lambda (d j)
;; check if j is included in unordered-joint-names
(if (find (send j :name) unordered-joint-names
:test #'string=)
;; calculate time to reach the goal for each joint
;; using (scale * (j[m/rad] / max-joint-velocity))
(* scale (/ (if (derivedp j linear-joint) (* 0.001 (abs d)) (deg2rad (abs d)))
(send j :max-joint-velocity)))
0))
diff joint-list)))
;; find maximum time to reach goal for all joint
(let ((max-time (apply #'max time-list)))
(max max-time min-time))))))
(:angle-vector-simulation
(av tm ctype)
(let* ((prev-av (send robot :angle-vector)))
(send-all (gethash ctype controller-table) :push-angle-vector-simulation av tm prev-av)))
(:angle-vector
(av &optional (tm nil) (ctype controller-type) (start-time 0) &key (scale 1) (min-time 1.0) (end-coords-interpolation nil) (end-coords-interpolation-steps 10) (minjerk-interpolation nil) &allow-other-keys)
"Send joint angle to robot, this method returns immediately, so use :wait-interpolation to block until the motion stops.
- av : joint angle vector [deg]
- tm : (time to goal in [msec])
if designated tm is faster than fastest speed, use fastest speed
if not specified, it will use 1/scale of the fastest speed .
if :fast is specified use fastest speed calculated from max speed
- ctype : controller method name
- start-time : time to start moving
- scale : if tm is not specified, it will use 1/scale of the fastest speed
- min-time : minimum time for time to goal
- end-coords-interpolation : set t if you want to move robot in cartesian space interpolation
- end-coords-interpolation-steps : number of divisions when interpolating end-coords
- minjerk-interpolation : set t if you want to move robot with minjerk interpolation
"
(if end-coords-interpolation
(return-from :angle-vector (send self :angle-vector-sequence (list av) (list tm) ctype start-time :scale scale :min-time min-time :end-coords-interpolation t :end-coords-interpolation-steps end-coords-interpolation-steps)))
(setq ctype (or ctype controller-type)) ;; use default controller-type if ctype is nil
(unless (gethash ctype controller-table)
(warn ";; controller-type: ~A not found" ctype)
(return-from :angle-vector))
;;Check and decide tm
(let ((fastest-tm (* 1000 (send self :angle-vector-duration
(send self :state :potentio-vector) av scale min-time ctype))))
(cond
;;Fastest time Mode
((equal tm :fast)
(setq tm fastest-tm))
;;Normal Number designated Mode
((numberp tm)
(if (< tm fastest-tm)
(setq tm fastest-tm)))
;;Safe Mode (Speed will be 5 * fastest-tm)
((null tm)
(setq tm (* 5 fastest-tm)))
;;Error Not Good Input
(t
(ros::ros-error ":angle-vector tm is invalid. args: ~A" tm)
(error ":angle-vector tm is invalid. args: ~A" tm)))
)
;; for simulation mode
(when (send self :simulation-modep)
(if av (send self :angle-vector-simulation av tm ctype)))
;; minjerk interpolation, 0.001 [sec] inverval
(let (r trajpoints)
(if minjerk-interpolation
(progn
(setq r (pos-list-interpolation (list (send robot :angle-vector) av)
(list (/ tm 1000.0))
0.001))
(setq trajpoints
(mapcar #'(lambda (pos vel tim acc) (list pos vel tim acc))
(cadr (memq :data r)) ;; positions
(cadr (memq :velocity r)) ;; velocities
(cadr (memq :time r)) ;; duration
(cadr (memq :acceleration r)))) ;; accelerations
(nreverse trajpoints))
(setq trajpoints
(list
(list av ;; positions
(instantiate float-vector (length av)) ;; velocities
(/ tm 1000.0) ;; duration
(instantiate float-vector (length av)))))) ;; accelerations
(send robot :angle-vector av)
(let ((cacts (gethash ctype controller-table)))
(mapcar
#'(lambda (action param)
(send self :send-ros-controller
action (cdr (assoc :joint-names param)) ;; action server and joint-names
start-time ;; start time
trajpoints))
cacts (send self ctype))))
av)
(:angle-vector-sequence
(avs &optional (tms (list 3000)) (ctype controller-type) (start-time 0.1) &key (scale 1) (min-time 0.0) (end-coords-interpolation nil) (end-coords-interpolation-steps 10) (minjerk-interpolation nil) &allow-other-keys)
"Send sequence of joint angle to robot, this method returns immediately, so use :wait-interpolation to block until the motion stops.
- avs: sequence of joint angles(float-vector) [deg], (list av0 av1 ... avn)
- tms: sequence of duration(float) from previous angle-vector to next goal [msec], (list tm0 tm1 ... tmn)
if tms is atom, then use (list (make-list (length avs) :initial-element tms))) for tms
if designated each tmn is faster than fastest speed, use fastest speed
if tmn is nil, then it will use 1/scale of the fastest speed .
if :fast is specified, use fastest speed calculated from max speed
- ctype : controller method name
- start-time : time to start moving
- scale : if tms is not specified, it will use 1/scale of the fastest speed
- min-time : minimum time for time to goal
- end-coords-interpolation : set t if you want to move robot in cartesian space interpolation
- end-coords-interpolation-steps : number of divisions when interpolating end-coords
- minjerk-interpolation : set t if you want to move robot with minjerk interpolation
"
(setq ctype (or ctype controller-type)) ;; use default controller-type if ctype is nil
(unless (gethash ctype controller-table)
(warn ";; controller-type: ~A not found" ctype)
(return-from :angle-vector-sequence))
(send self :spin-once) ;; for :state :potentio-vector
(let ((st 0) (traj-points nil)
(av-prev (send self :state :potentio-vector)) av av-next
tm tm-next fastest-tm
(vel (instantiate float-vector (length (car avs)))))
(if (atom tms) (setq tms (make-list (length avs) :initial-element tms)))
(cond
((< (length tms) (length avs))
(nconc tms (make-list (- (length avs) (length tms)) :initial-element (car (last tms)))))
((> (length tms) (length avs))
(ros::ros-warn "length of tms should be the same or smaller than avs")
(setq tms (subseq tms 0 (length avs)))))
(when end-coords-interpolation ;; set end-coords interpolation
(setq min-time (/ (float min-time) end-coords-interpolation-steps))
(let ((av-orig (send robot :angle-vector)) ;; initial av, restore at end
(c-orig (send robot :copy-worldcoords)) ;; inital coords, restore at end
(av-prev-orig av-prev) ;; prev-av
(diff-prev (instantiate float-vector (length av-prev))) diff ;; for over 360 deg turns
(limbs '(:larm :rarm :lleg :rleg)) ;; do not move :head and :torso by IK
target-limbs
(minjerk (instance minjerk-interpolator :init))
end-coords-prev end-coords-current ec-prev ec-current
interpolated-avs interpolated-tms
tm pass-tm i p (ret t)) ;; if nil failed to interpolate
;; set prev-av
(send robot :angle-vector av-prev)
(setq end-coords-prev (mapcar #'(lambda (limb) (send robot limb :end-coords :copy-worldcoords)) limbs))
;; choose moved end-coords
(setq i 0)
(dolist (av avs)
(send robot :angle-vector av)
(setq end-coords-current (mapcar #'(lambda (limb) (send robot limb :end-coords :copy-worldcoords)) limbs))
(setq diff (v- (v- av (setq av (v+ av-prev (send self :sub-angle-vector av av-prev)))) diff-prev))
(setq target-limbs nil)
(setq tm (elt tms i))
(if (equal tm :fast)
(setq tm (* 1000 (send self :angle-vector-duration
av-prev av scale min-time ctype))))
(setq pass-tm (/ tm (float end-coords-interpolation-steps)))
(dotimes (l (length limbs))
(setq ec-prev (elt end-coords-prev l) ec-current (elt end-coords-current l))
(when (and ec-prev ec-current
(or (> (norm (send ec-prev :difference-position ec-current)) 1)
(> (norm (send ec-prev :difference-rotation ec-current)) (deg2rad 1))))
(push (elt limbs l) target-limbs)))
(send minjerk :reset :position-list (list #f(0) #f(1)) :time-list (list tm))
(send robot :angle-vector av-prev)
(if target-limbs
(progn
(send minjerk :start-interpolation)
(send minjerk :pass-time pass-tm)
(while (progn (send minjerk :pass-time pass-tm) (send minjerk :interpolatingp))
(setq p (elt (send minjerk :position) 0))
;; set midpoint of av as initial pose of IK
(send robot :angle-vector (midpoint p av-prev av))
(dolist (limb target-limbs)
(setq ec-prev (elt end-coords-prev (position limb limbs))
ec-current (elt end-coords-current (position limb limbs)))
(setq ret (and ret
(send robot limb :inverse-kinematics (midcoords p ec-prev ec-current)))))
(push (v++ diff-prev (scale p diff) (send robot :angle-vector)) interpolated-avs)
(push pass-tm interpolated-tms)
)
(push (v++ diff-prev diff av) interpolated-avs)
(push pass-tm interpolated-tms)
)
(progn
(push av interpolated-avs)
(push tm interpolated-tms)))
(setq end-coords-prev end-coords-current)
(setq av-prev av)
(setq diff-prev diff)
(incf i)) ;; dolist (av avs)
;; restore states
(setq avs (nreverse interpolated-avs) tms (nreverse interpolated-tms))
(send robot :move-to c-orig :world)
(send robot :angle-vector av-orig)
(setq av-prev av-prev-orig)
(unless ret
(warning-message 1 ":angle-vector-sequence failed to generate end-coords-interpolation motion~%")
(return-from :angle-vector-sequence nil))
))
(prog1 ;; angle-vector-sequence returns avs
avs
;; minjerk interpolation, 0.001 [sec] inverval
(if minjerk-interpolation
(let (r)
(setq r (pos-list-interpolation (append (list (send robot :angle-vector)) avs)
(mapcar #'(lambda (x) (/ x 1000.0)) tms)
0.001))
(setq traj-points
(mapcar #'(lambda (pos vel tim acc) (list pos vel tim acc))
(cadr (memq :data r)) ;; positions
(cadr (memq :velocity r)) ;; velocities
(cadr (memq :time r)) ;; duration
(cadr (memq :acceleration r)))) ;; accelerations
(nreverse traj-points))
(while avs
(setq av (pop avs))
(setq fastest-tm (* 1000 (send self :angle-vector-duration av-prev av scale min-time ctype)))
(setq tm (pop tms))
(cond
((equal tm :fast)
(setq tm fastest-tm))
((null tm)
(setq tm (* 5 fastest-tm)))
((numberp tm)
(if (< tm fastest-tm)
(setq tm fastest-tm)))
(t (ros::ros-error ":angle-vector-sequence tm is invalid. args: ~A" tm)
(error ":angle-vector-sequence tm is invalid. args: ~A" tm)))
(if (car tms)
(progn
(setq tm-next ( car tms))
(setq fastest-tm-next (* 1000 (send self :angle-vector-duration av (car avs) scale min-time ctype)))
(cond
((equal tm-next :fast)
(setq tm-next fastest-tm-next))
((null tm)
(setq tm (* 5 fastest-tm)))
((numberp tm-next)
(if (< tm-next fastest-tm-next)
(setq tm-next fastest-tm-next)))
(t (ros::ros-error ":angle-vector-sequence tm is invalid. args: ~A" tm)
(error ":angle-vector-sequence tm is invalid. args: ~A" tm)))
)
(setq tm-next 1)
)
(if (and (setq av-next (car avs)) (> tm 0) (> tm-next 0))
(let ((v0 (send self :sub-angle-vector av av-prev))
(v1 (send self :sub-angle-vector av-next av)))
(dotimes (i (length vel))
(setf (elt vel i)
(if (>= (* (elt v0 i) (elt v1 i)) 0)
(* 0.5 (+ (* (/ 1000.0 tm) (elt v0 i))
(* (/ 1000.0 tm-next) (elt v1 i))))
0.0)))
)
(fill vel 0))
;; for simulation mode
(if (send self :simulation-modep)
(send self :angle-vector-simulation av tm ctype))
;;
;; update only joints with in current controller instead of (send robot :angle-vector av)
(unless (send self :simulation-modep)
(let* ((joint-names (flatten (mapcar #'(lambda (c) (cdr (assoc :joint-names c))) (send self ctype))))
(joint-ids (mapcar #'(lambda (joint-name) (position joint-name (send robot :joint-list) :test #'(lambda (n j) (equal n (send j :name))))) joint-names)))
(mapcar #'(lambda (name id)
(if (and (send robot :joint name) id (> (length av) id))
(send (send robot :joint name) :joint-angle (elt av id))
(warning-message 3 "[robot-interface.l] (angle-vector-sequence) could not find joint-name '~A' (~A) or joint-id ~A (av length ~A)~%" name (send robot :joint name) id (length av))))
joint-names joint-ids)))
; (when (send self :simulation-modep)
; (send self :publish-joint-state)
; (if viewer (send self :draw-objects)))
(push (list av
(copy-seq vel) ;; velocities
(/ (+ st tm) 1000.0) ;; tm + duration
(instantiate float-vector (length av))) ;; accelerations
traj-points)
(setq av-prev av)
(incf st tm)))
;;
(let ((cacts (gethash ctype controller-table)))
(unless cacts
(warn ";; controller-type: ~A not found" ctype)
(return-from :angle-vector-sequence))
(mapcar
#'(lambda (action param)
(send self :send-ros-controller
action (cdr (assoc :joint-names param)) ;; action server and joint-names
start-time ;; start time
traj-points))
cacts (send self ctype)))
)))
(:wait-interpolation (&optional (ctype) (timeout 0)) ;; controller-type
"Wait until last sent motion is finished
- ctype : controller to be waited
- timeout : max time to wait for each controller (so (send *ri* :wait-interpolation nil 0.1) with real PR2 takes up to 0.4 sec because four controllers are registered)
- return values is a list of interpolatingp for all controllers, so (null (some #'identity (send *ri* :wait-interpolation))) -> t if all interpolation has stopped"
(if (send self :simulation-modep)
(while (send self :interpolatingp)
(send self :robot-interface-simulation-callback))
(cond ;; real robot
(ctype
(let ((cacts (gethash ctype controller-table)))
(send-all cacts :wait-for-result :timeout timeout)))
(t (send-all controller-actions :wait-for-result :timeout timeout))))
(send-all controller-actions :interpolatingp))
(:interpolatingp (&optional (ctype)) ;; controller-type ;; check someone is moving
"Check if the last sent motion is executing
return t if interpolating"
(let (cacts)
(cond (ctype
(setq cacts (gethash ctype controller-table)))
(t
(setq cacts controller-actions)))
(send self :spin-once) ;; update interpolatingp
(some #'(lambda (a) (send a :interpolatingp)) cacts)))
(:wait-interpolation-smooth (time-to-finish &optional (ctype))
"Return time-to-finish [msec] before the sent command is finished. Example code are:
(dolist (av (list av1 av2 av3 av4))
(send *ri* :angle-vector av)
(send *ri* :wait-interpolation-smooth 300))
Return value is a list of interpolatingp for all controllers, so (null (some #'identity (send *ri* :wait-interpolation))) -> t if all interpolation has stopped"
(when (not (send self :simulation-modep))
(let ((tm (ros::time-now))
(cacts (cond
(ctype (gethash ctype controller-table))
(t controller-actions))))
(while (some #'(lambda (x)
(and
(<= (send (ros::time- (send x :last-feedback-msg-stamp) tm) :to-sec) 0)
(let ((goal (send (x . ros::comm-state) :action-goal)))
(>= (send (ros::time- (ros::time+ (send goal :header :stamp)
(cond ((derivedp goal control_msgs::singlejointpositionactiongoal)
(send goal :goal :min_duration))
(t
(send (car (last (send goal :goal :trajectory :points))) :time_from_start))))
(ros::time-now)) :to-sec) 0))))
cacts)
(send self :spin-once) ;; need to wait for feedback
(send self :ros-wait 0.005))))
(while (null (send self :interpolating-smoothp time-to-finish ctype))
(send self :ros-wait 0.005)))
(:interpolating-smoothp (time-to-finish &optional (ctype)) ;; controller-type
"Check if the last sent motion will stop for next time-to-finish [msec]"
(when (send self :simulation-modep)
(return-from :interpolating-smoothp t))
(send self :spin-once)
(every #'(lambda (x) (< x (/ time-to-finish 1000.0)))
(cond
(ctype
(let ((cacts (gethash ctype controller-table)))
(send-all cacts :time-to-finish)))
(t
(send-all controller-actions :time-to-finish)))))
(:stop-motion (&key (stop-time 0) (wait t))
"Smoothly stops the motion being executed by sending the current joint state to the joint trajectory action goal in stop-time [ms]. Please note that if stop-time is smaller than the :angle-vector min-time (defaulting to 1000 [ms]) the actual interpolation uses min-time instead. Refer to :cancel-angle-vector for a faster stop"
(when (send self :interpolatingp)
(let ((av (send self :state :potentio-vector)))
(send self :angle-vector av stop-time)
(if wait
(send self :wait-interpolation)
t))))
(:cancel-angle-vector
(&key ((:controller-actions ca))
((:controller-type ct))
(wait))
"Cancels the current joint trajectory action, causing an abrupt stop"
(when (null (or ca ct)) (setq ca controller-actions))
(when ca (send-all ca :cancel-all-goals))
(when ct (send-all (gethash ct controller-table) :cancel-all-goals))
(when wait
(send self :wait-interpolation)
(send self :spin-once))
t)
;;
(:worldcoords () "Returns world coords of robot. This method uses caced data" (send robot :copy-worldcoords))
(:torque-vector
()
"Return torque vector of robot. This method uses caced data"
(coerce (send-all (send robot :joint-list) :joint-torque) float-vector))
(:potentio-vector () "Returns current robot angle vector. This method uses caced data" (send robot :angle-vector))
(:reference-vector () "Returns reference joint angle vector. This method reads current state." (send self :state-vector :desired))
(:actual-vector () "Returns current robot angle vector. This method reads current state." (send self :state-vector :actual))
(:error-vector () "Returns error vector of the robot. This method reads current state." (send self :state-vector :error))
(:state-vector
(type &key ((:controller-actions ca) controller-actions)
((:controller-type ct) controller-type))
(let* ((joint-list (send robot :joint-list))
(av (instantiate float-vector (length joint-list))))
(dolist (param (send self controller-type))
(let* ((ctrl (cdr (assoc :controller-state param)))
(key (intern (string-upcase ctrl) *keyword-package*))
(msg (send self :state key))
(idx 0))
;;(print (list ctrl key msg))
(unless msg (return-from :state-vector nil))
(dolist (jname (send msg :joint_names))
(let ((jangle (elt (send msg type :positions) idx))
(j (find-if #'(lambda (jn) (string= (send jn :name) jname))
joint-list)))
(incf idx)
(when j
(setf (elt av (position j joint-list))
(cond ((derivedp j linear-joint) (* jangle 1000))
((derivedp j rotational-joint) (rad2deg jangle))))))
)))
av))
(:stamp () "Returns the stamp which was read at latest callback" (send self :get-robot-state :stamp))
;;
(:send-ros-controller
(action joint-names starttime trajpoints)
(when (send self :simulation-modep)
(return-from :send-ros-controller nil))
(if (and warningp
(not (yes-or-no-p (format nil "~C[3~CmAre you sure to move the real robot? (~A) ~C[0m" #x1b 49 (send action :name) #x1b))))
(return-from :send-ros-controller nil))
(dolist (name joint-names)
(unless (send robot :joint name)
(warning-message 1 "[robot-interface.l] (send-ros-controller) could not find joint-name '~A' (~A)~%" name (send robot :joint name))
(return-from :send-ros-controller nil)))
(let* ((goal (send action :make-goal-instance))
(goal-points nil)
(st (if (numberp starttime)
(ros::time+ (ros::time-now) (ros::time starttime))
starttime))
(joints (mapcar #'(lambda (x)
(send robot (intern (string-upcase x) *keyword-package*)))
joint-names)))
(send goal :header :seq 1)
(send goal :header :stamp st)
(cond
((equal (class goal) control_msgs::SingleJointPositionActionGoal)
(let* ((joint (car joints))
(id (position joint (send robot :joint-list)))
(pos (deg2rad (elt (elt (car trajpoints) 0) id)))
)
(send goal :goal :position pos)
(send goal :goal :max_velocity 5)
(send self :spin-once)
)
)
(t
(send goal :goal :trajectory :joint_names joint-names)
(send goal :goal :trajectory :header :stamp st)
(dolist (trajpt trajpoints)
(let* ((all-positions (elt trajpt 0))
(all-velocities (elt trajpt 1))
(duration (elt trajpt 2))
(all-accelerations (elt trajpt 3))
(positions (instantiate float-vector (length joint-names)))
(velocities (instantiate float-vector (length joint-names)))
(accelerations (instantiate float-vector (length joint-names))))
(dotimes (i (length joints))
(let* ((joint (elt joints i))
(id (position joint (send robot :joint-list)))
p v a)
(setq p (elt all-positions id)
v (elt all-velocities id)
a (elt all-accelerations id))
(cond
((derivedp joint rotational-joint)
(setq p (deg2rad p))
(setq v (deg2rad v))
(setq a (deg2rad a)))
(t
(setq p (* 0.001 p))
(setq v (* 0.001 v))
(setq a (* 0.001 a))))
(setf (elt positions i) p)
(setf (elt velocities i) v)
(setf (elt accelerations i) a)))
(push (instance trajectory_msgs::JointTrajectoryPoint
:init
:positions positions
:velocities velocities
:accelerations accelerations
:time_from_start (ros::time duration))
goal-points)
))
(send self :spin-once)
(send goal :goal :trajectory :points goal-points)
))
(send action :send-goal goal)
))
;;
(:set-robot-state1
(key msg)
(if (assoc key robot-state)
(setf (cdr (assoc key robot-state)) msg)
(push (cons key msg) robot-state)))
(:get-robot-state
(key)
(cdr (assoc key robot-state)))
(:ros-state-callback
(msg)
(let ((robot-state-names (cdr (assoc :name robot-state))))
;; set joint name
(cond
(robot-state-names
;; merge robot-state name list
(let ((diff (set-difference (send msg :name) robot-state-names :test #'string=)))
(when diff
(setq robot-state-names (append robot-state-names diff))
;; resize joint-state data list
(dolist (key '(:position :velocity :effort))
(setf (cdr (assoc key robot-state))
(concatenate float-vector
(cdr (assoc key robot-state))
(instantiate float-vector (- (length robot-state-names)
(length (cdr (assoc key robot-state))))))))
;; resize stamp-list
(setf (cdr (assoc :stamp-list robot-state))
(concatenate cons
(cdr (assoc :stamp-list robot-state))
(make-list (- (length robot-state-names) (length (cdr (assoc :stamp-list robot-state))))))))
))
(t
(push (cons :name (send msg :name)) robot-state)
(setq robot-state-names (send msg :name))
(dolist (key '(:position :velocity :effort))
(push (cons key (instantiate float-vector (length robot-state-names))) robot-state))
(push (cons :stamp-list (make-list (length robot-state-names))) robot-state)))
;; set joint data
(let ((joint-names (send msg :name))
(stamp-list (cdr (assoc :stamp-list robot-state)))
(idx 0) joint-idx joint-data data-vec)
(dolist (key '(:position :velocity :effort))
(setq joint-data (send msg key) idx 0)
(when (= (length joint-names) (length joint-data))
(setq data-vec (cdr (assoc key robot-state)))
(dolist (jn joint-names)
(setq joint-idx (position jn robot-state-names :test #'string=))
(setf (elt data-vec joint-idx) (elt joint-data idx))
(incf idx)
;; update stamp
(when (eq key :position)
(setf (elt stamp-list joint-idx) (send msg :header :stamp)))
))))
(setf (cdr (assoc :name robot-state)) robot-state-names)
;; (dolist (key '(:name :position :velocity :effort))
;; (send self :set-robot-state1 key (send msg key)))
(send self :set-robot-state1 :stamp (send msg :header :stamp))))
(:wait-until-update-all-joints
(tgt-tm)
(let ((initial-time))
(if (equal (class tgt-tm) (class (ros::time 0)))
(setq initial-time (send tgt-tm :to-nsec))
(setq initial-time (send (send (ros::time) :now) :to-nsec)))
(while t
(when (every #'identity (mapcar #'(lambda (ts) (> (send ts :to-nsec) initial-time)) (cdr (assoc :stamp-list robot-state))))
(return-from nil nil))
(if (send self :simulation-modep) (send self :robot-interface-simulation-callback)) ;; to update robot-state
(send self :spin-once)
)))
(:update-robot-state
(&key (wait-until-update nil))
(let (joint-names positions velocities efforts)
(send self :spin-once)
(when wait-until-update
(send self :wait-until-update-all-joints wait-until-update))
;; (unless joint-action-enable
;; (return-from :update-robot-state (send robot :angle-vector)))
(unless robot-state (return-from :update-robot-state))
(setq joint-names (cdr (assoc :name robot-state))
positions (cdr (assoc :position robot-state))
velocities (cdr (assoc :velocity robot-state))
efforts (cdr (assoc :effort robot-state)))
(let ((joint-num (length joint-names)))
(when (not (eq joint-num (length velocities)))
(setq velocities (instantiate float-vector joint-num)))
(when (not (eq joint-num (length efforts)))
(setq efforts (instantiate float-vector joint-num))))
(mapcar #'(lambda (n p v e)
(let (j (kn (intern (string-upcase n) *keyword-package*)))
(when (and (find-method robot kn) (setq j (send robot kn)))
(send j :ros-joint-angle p)
;; velocity
(send j :joint-velocity v)
;; effort
(send j :joint-torque e))))
(coerce joint-names cons)
(coerce positions cons)
(coerce velocities cons)
(coerce efforts cons))))
(:state
(&rest args)
"Read robot state and update internal robot instance
- :wait-until-update nil wait until joint_state is updated"
(send self :update-robot-state
:wait-until-update (when (position :wait-until-update args) (elt args (+ (position :wait-until-update args) 1))))
;; remove :wait-until-update and its argument
(when (position :wait-until-update args)
(setq args (append (subseq args 0 (position :wait-until-update args))
(cddr (memq :wait-until-update args)))))
(unless args (return-from :state))
(case (car args)
((:potentio-vector :angle-vector)
(send robot :angle-vector))
(:torque-vector
(send self :torque-vector))
(:gripper
(apply #'send self :gripper (cdr args)))
(t
(let ((mm (find (car args) (remove-if-not #'(lambda (x) (substringp "-VECTOR" (string x))) (send self :methods)))))
(if mm ;; if xx-vector method exists
(send* self mm (cdr args))
;; digging arguments in robot-state and return nil if not found
;; (send *ri* :state :odom :pose :x)
(let ((cur robot-state))
(dolist (key args cur)
(setq cur (cdr (assoc key cur))))))
))))
;;
(:default-controller
()
(list
(list
(cons :controller-action "fullbody_controller/follow_joint_trajectory_action")
(cons :controller-state "fullbody_controller/state")
(cons :action-type control_msgs::FollowJointTrajectoryAction)
(cons :joint-names (mapcar #'(lambda (n) (if (symbolp n) (symbol-name n) n)) (send-all (send robot :joint-list) :name))))))
;;
(:sub-angle-vector (v0 v1)
(let ((ret (v- v0 v1))
(joint-list (send robot :joint-list))
(i 0) j)
(while (setq j (pop joint-list))
(when (and (= (send j :min-angle) *-inf*) (= (send j :max-angle) *inf*))
(setf (elt ret i) (mod (elt ret i) 360.0))
(cond ((> (elt ret i) 180.0)
(setf (elt ret i) (- (elt ret i) 360.0)))
((< (elt ret i) -180.0)
(setf (elt ret i) (+ (elt ret i) 360.0)))))
(incf i))
ret))
;;
(:robot (&rest args) (forward-message-to robot args))
(:viewer (&rest args) (forward-message-to viewer args))
(:objects (&optional objs)
(when objs
(setq objects (mapcar #'(lambda (o) (let ((p (send o :parent))) (if p (send p :dissoc o)) (setq o (copy-object o)) (if p (send p :assoc o)) o)) objs))
(mapcar #'(lambda (o) (setf (get o :GL-DISPLAYLIST-ID) nil)) (x::draw-things objects))
(when viewer
(send viewer :objects (append (list robot) objects))
(send self :draw-objects)))