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head_tracker.py
executable file
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/
head_tracker.py
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#!/usr/bin/env python
"""
head_tracker.py - Version 1.1 2013-12-20
Move the head to track a target published on the /roi topic.
Created for the Pi Robot Project: http://www.pirobot.org
Copyright (c) 2010 Patrick Goebel. All rights reserved.
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details at:
http://www.gnu.org/licenses/gpl.html
"""
import rospy
from sensor_msgs.msg import JointState, RegionOfInterest, CameraInfo
from dynamixel_controllers.srv import *
from std_msgs.msg import Float64
from math import radians
import thread
class HeadTracker():
def __init__(self):
rospy.init_node("head_tracker")
rospy.on_shutdown(self.shutdown)
rate = rospy.get_param("~rate", 20)
r = rospy.Rate(rate)
tick = 1.0 / rate
# Keep the speed updates below about 5 Hz; otherwise the servos
# can behave erratically.
speed_update_rate = rospy.get_param("~speed_update_rate", 10)
speed_update_interval = 1.0 / speed_update_rate
# How big a change do we need in speed before we push an update
# to the servos?
self.speed_update_threshold = rospy.get_param("~speed_update_threshold", 0.01)
# What are the names of the pan and tilt joints in the list of dynamixels?
self.head_pan_joint = rospy.get_param('~head_pan_joint', 'head_pan_joint')
self.head_tilt_joint = rospy.get_param('~head_tilt_joint', 'head_tilt_joint')
self.joints = [self.head_pan_joint, self.head_tilt_joint]
# Joint speeds are given in radians per second
self.default_joint_speed = rospy.get_param('~default_joint_speed', 0.3)
self.max_joint_speed = rospy.get_param('~max_joint_speed', 0.5)
# How far ahead or behind the target (in radians) should we aim for?
self.lead_target_angle = rospy.get_param('~lead_target_angle', 1.0)
# The pan/tilt thresholds indicate what percentage of the image window
# the ROI needs to be off-center before we make a movement
self.pan_threshold = rospy.get_param("~pan_threshold", 0.05)
self.tilt_threshold = rospy.get_param("~tilt_threshold", 0.05)
# The gain_pan and gain_tilt parameter determine how responsive the
# servo movements are. If these are set too high, oscillation can result.
self.gain_pan = rospy.get_param("~gain_pan", 1.0)
self.gain_tilt = rospy.get_param("~gain_tilt", 1.0)
# Set limits on the pan and tilt angles
self.max_pan = rospy.get_param("~max_pan", radians(145))
self.min_pan = rospy.get_param("~min_pan", radians(-145))
self.max_tilt = rospy.get_param("~max_tilt", radians(90))
self.min_tilt = rospy.get_param("~min_tilt", radians(-90))
# How long we are willing to wait (in seconds) for a target before re-centering the servos?
self.recenter_timeout = rospy.get_param('~recenter_timeout', 5)
# Monitor the joint states of the pan and tilt servos
self.joint_state = JointState()
rospy.Subscriber('joint_states', JointState, self.update_joint_state, queue_size=1)
# Wait until we actually have joint state values
while self.joint_state == JointState():
rospy.sleep(1)
# Initialize the servo services and publishers
self.init_servos()
# Center the pan and tilt servos at the start
self.center_head_servos()
# Set a flag to indicate when the target has been lost
self.target_visible = False
# Set a timer to determine how long a target is no longer visible
target_lost_timer = 0.0
# Set a timer to track when we do a speed update
speed_update_timer = 0.0
# Initialize the pan and tilt speeds to zero
pan_speed = tilt_speed = 0.0
# Get a lock for updating the self.move_cmd values
self.lock = thread.allocate_lock()
# Wait for messages on the three topics we need to monitor
rospy.loginfo("Waiting for roi and camera_info topics.")
rospy.wait_for_message('camera_info', CameraInfo)
rospy.wait_for_message('joint_states', JointState)
rospy.wait_for_message('roi', RegionOfInterest)
# Subscribe to camera_info topics and set the callback
self.image_width = self.image_height = 0
rospy.Subscriber('camera_info', CameraInfo, self.get_camera_info, queue_size=1)
# Wait until we actually have the camera data
while self.image_width == 0 or self.image_height == 0:
rospy.sleep(1)
# Subscribe to roi topics and set the callback
self.roi_subscriber = rospy.Subscriber('roi', RegionOfInterest, self.set_joint_cmd, queue_size=1)
rospy.loginfo("Ready to track target.")
while not rospy.is_shutdown():
# Acquire the lock
self.lock.acquire()
try:
# If we have lost the target, stop the servos
if not self.target_visible:
self.pan_speed = 0.0
self.tilt_speed = 0.0
# Keep track of how long the target is lost
target_lost_timer += tick
else:
self.target_visible = False
target_lost_timer = 0.0
# If the target is lost long enough, re-center the servos
if target_lost_timer > self.recenter_timeout:
rospy.loginfo("Cannot find target.")
self.center_head_servos()
target_lost_timer = 0.0
else:
# Update the servo speeds at the appropriate interval
if speed_update_timer > speed_update_interval:
if abs(self.last_pan_speed - self.pan_speed) > self.speed_update_threshold:
self.set_servo_speed(self.head_pan_joint, self.pan_speed)
self.last_pan_speed = self.pan_speed
if abs(self.last_tilt_speed - self.tilt_speed) > self.speed_update_threshold:
self.set_servo_speed(self.head_tilt_joint, self.tilt_speed)
self.last_tilt_speed = self.tilt_speed
speed_update_timer = 0.0
# Update the pan position
if self.last_pan_position != self.pan_position:
self.set_servo_position(self.head_pan_joint, self.pan_position)
self.last_pan_position = self.pan_position
# Update the tilt position
if self.last_tilt_position != self.tilt_position:
self.set_servo_position(self.head_tilt_joint, self.tilt_position)
self.last_tilt_position = self.tilt_position
speed_update_timer += tick
finally:
# Release the lock
self.lock.release()
r.sleep()
def set_joint_cmd(self, msg):
# Acquire the lock
self.lock.acquire()
try:
# If we receive an ROI messages with 0 width or height, the target is not visible
if msg.width == 0 or msg.height == 0:
self.target_visible = False
return
# If the ROI stops updating this next statement will not happen
self.target_visible = True
# Compute the displacement of the ROI from the center of the image
target_offset_x = msg.x_offset + msg.width / 2 - self.image_width / 2
target_offset_y = msg.y_offset + msg.height / 2 - self.image_height / 2
try:
percent_offset_x = float(target_offset_x) / (float(self.image_width) / 2.0)
percent_offset_y = float(target_offset_y) / (float(self.image_height) / 2.0)
except:
percent_offset_x = 0
percent_offset_y = 0
# Set the target position ahead or behind the current position
current_pan = self.joint_state.position[self.joint_state.name.index(self.head_pan_joint)]
# Pan the camera only if the x target offset exceeds the threshold
if abs(percent_offset_x) > self.pan_threshold:
# Set the pan speed proportional to the target offset
self.pan_speed = min(self.max_joint_speed, max(0, self.gain_pan * abs(percent_offset_x)))
if target_offset_x > 0:
self.pan_position = max(self.min_pan, current_pan - self.lead_target_angle)
else:
self.pan_position = min(self.max_pan, current_pan + self.lead_target_angle)
else:
self.pan_speed = 0
self.pan_position = current_pan
# Set the target position ahead or behind the current position
current_tilt = self.joint_state.position[self.joint_state.name.index(self.head_tilt_joint)]
# Tilt the camera only if the y target offset exceeds the threshold
if abs(percent_offset_y) > self.tilt_threshold:
# Set the tilt speed proportional to the target offset
self.tilt_speed = min(self.max_joint_speed, max(0, self.gain_tilt * abs(percent_offset_y)))
if target_offset_y < 0:
self.tilt_position = max(self.min_tilt, current_tilt - self.lead_target_angle)
else:
self.tilt_position = min(self.max_tilt, current_tilt + self.lead_target_angle)
else:
self.tilt_speed = 0
self.tilt_position = current_tilt
finally:
# Release the lock
self.lock.release()
def center_head_servos(self):
rospy.loginfo("Centering servos.")
self.servo_speed[self.head_pan_joint](self.default_joint_speed)
self.servo_speed[self.head_tilt_joint](self.default_joint_speed)
current_tilt = self.joint_state.position[self.joint_state.name.index(self.head_tilt_joint)]
current_pan = self.joint_state.position[self.joint_state.name.index(self.head_pan_joint)]
while abs(current_tilt) > 0.05 or abs(current_pan) > 0.05:
self.servo_position[self.head_pan_joint].publish(0)
self.servo_position[self.head_tilt_joint].publish(0)
rospy.sleep(0.1)
current_tilt = self.joint_state.position[self.joint_state.name.index(self.head_tilt_joint)]
current_pan = self.joint_state.position[self.joint_state.name.index(self.head_pan_joint)]
self.servo_speed[self.head_pan_joint](0.0)
self.servo_speed[self.head_tilt_joint](0.0)
def init_servos(self):
# Create dictionaries to hold the speed, position and torque controllers
self.servo_speed = dict()
self.servo_position = dict()
self.torque_enable = dict()
# Connect to the set_speed services and define a position publisher for each servo
rospy.loginfo("Waiting for joint controllers services...")
for joint in sorted(self.joints):
# The set_speed services
set_speed_service = '/' + joint + '/set_speed'
rospy.wait_for_service(set_speed_service)
self.servo_speed[joint] = rospy.ServiceProxy(set_speed_service, SetSpeed, persistent=True)
# Initialize the servo speed to the default_joint_speed
self.servo_speed[joint](self.default_joint_speed)
# The position controllers
self.servo_position[joint] = rospy.Publisher('/' + joint + '/command', Float64, queue_size=5)
# A service to enable/disable servo torque
torque_enable = '/' + joint + '/torque_enable'
rospy.wait_for_service(torque_enable)
self.torque_enable[joint] = rospy.ServiceProxy(torque_enable, TorqueEnable)
self.torque_enable[joint](False)
self.pan_position = 0
self.tilt_position = 0
self.pan_speed = 0
self.tilt_speed = 0
self.last_pan_position = 0
self.last_tilt_position = 0
self.last_tilt_speed = 0
self.last_pan_speed = 0
def set_servo_speed(self, servo, speed):
# Guard against a speed of exactly zero which means
# "move as fast as you can" to a Dynamixel servo.
if speed == 0:
speed = 0.01
self.servo_speed[servo](speed)
def set_servo_position(self, servo, position):
self.servo_position[servo].publish(position)
def update_joint_state(self, msg):
self.joint_state = msg
def get_camera_info(self, msg):
self.image_width = msg.width
self.image_height = msg.height
def shutdown(self):
rospy.loginfo("Shutting down head tracking node.")
# Turn off updates from the /roi subscriber
try:
self.roi_subscriber.unregister()
except:
pass
# Center the servos
self.center_head_servos()
rospy.sleep(2)
# Relax all servos to give them a rest.
rospy.loginfo("Relaxing pan and tilt servos.")
for servo in self.joints:
self.torque_enable[servo](False)
if __name__ == '__main__':
try:
HeadTracker()
rospy.spin()
except rospy.ROSInterruptException:
rospy.loginfo("Head tracking node terminated.")