Not able to run the demo #19
Comments
|
Hey @amodpatil1, have you source ( |
|
Yes, I did source the workspace before the running the command and I tried it multiple times and I also tried doing from start as well, but it did not work. |
|
I think there is some problem with the action_client_demo.py |
|
Have you colcon all the yasmin packages (yasmin, yasmin_msgs, yasmin_demo, yasmin_ros, yasmin_viewe) or only yasmin? |
|
I did it for yasmin only. Shouldn't the entire package get built when I do Colcon build? |
|
No, since they are different packages. |
|
okay I will try that. |
Starting >>> yasmin_demo
|
|
That is a problem with the ROS 2 distro. Foxy EOL was on June 20th, 2023. Thus, yasmin was updated to Humble. |
|
I have just added support for Foxy. It should work now. |
|
okay I will try |
--- stderr: yasmin_demo
|
|
Pull and try again. I have done another update. |
|
It is working now. But now there is this ros2 run demo_nodes_py add_two_ints_servers |
|
The service demo is not running |
|
Both the commands are not executable |
|
You have to install the ROS 2 demo packages (ros-humble-demo-nodes-py, ros-humble-demo-nodes-cpp, ros-humble-action-tutorials-py, ros-humble-action-tutorials-cpp). |
|
I am able to find the demos for foxy, can you please help me out? |
|
Have you tried to install them with |
|
Yes it started working but I am not able to understand how can I build a custom FSM on yasmin. Could we please have a call on this where you can explain me the implementation of yasmin on my project? |
|
@amodpatil1, you have several examples in the README that includes basic states, ROS 2-based states and a demo with Nav2. If you want further explanations, you can send me an email. |
|
Do I need to have a separate package for my state machine? |
|
Yes, you should create a new package with your code. |
|
do I need to add the dependencies from yasmin into my package.xml as well? |
|
No, but you can add them to the package.xml. |
|
What would be the effieicent way to implement yasmin? Would it be via creating a package or a YAML file? |
|
Can I use this as a reference for my custom machine? Copyright (C) 2023 Miguel Ángel González SantamartaThis program is free software: you can redistribute it and/or modifyit under the terms of the GNU General Public License as published bythe Free Software Foundation, either version 3 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 ofMERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See theGNU General Public License for more details.You should have received a copy of the GNU General Public Licensealong with this program. If not, see https://www.gnu.org/licenses/.from typing import Dict, List, Union class StateMachine(State): |
I prefer using new packages. What do you mean by a YAML file?
What do you mean by reference? |
|
I mean can I write my state machine using the one you wrote as a base for mine custom state machine |
|
states:
This is the example for the yaml file |
|
Can you send me the screenshot of it? |
|
Here you have a video. I am pushing msgs in different topics and different tabs. Is this what you want? Screencast.2024-06-17.18.18.58.mp4 |
|
Yes this is what I want. Did you do any changes in the yasmin_node? |
|
No, I haven't changed anything. I have just executed it as you gave me. |
|
Now I just want to listen to multiple topics simultaneously when the state machine is running, after this my state machine will complete |
|
I am not able to listen to a single node as well. |
Isn't it what I just showed you in the video?
What do you mean by listening to a node? |
|
Yes, I tried the same approach as you did but there was no change in the states. |
|
I don't know what could be happening. Put some logs in the subscriber callbacks to check if your node is receiving msgs. It may also be a problem with the ROS 2 distro, I am using Humble. |
|
It ran It was my mistake it was executing the wrong executable. |
|
#!/usr/bin/env python3 Copyright (C) 2023 Miguel Ángel González SantamartaThis program is free software: you can redistribute it and/or modifyit under the terms of the GNU General Public License as published bythe Free Software Foundation, either version 3 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 ofMERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See theGNU General Public License for more details.You should have received a copy of the GNU General Public Licensealong with this program. If not, see https://www.gnu.org/licenses/.import time class FSMNode(Node): define state Idleclass IdleState(State): define state Drivingclass DrivingState(State): define state StopObstacleclass StopObstacleState(State): define state StopNearParkclass StopNearParkState(State): define state Parkclass ParkState(State): maindef main(): if name == "main": This is the code and now I am not able to run the viewer node. |
|
It was running before |
|
I have just run it and everything works. Which environment are you using (Ubuntu version, ROS 2 distro, etc)? |
|
ubuntu 20.04 and ros2 foxy |
|
I am able to see all the state changes |
Untitled.video.-.Made.with.Clipchamp.mp4 |
|
Update yasmin by using git pull and try it again. |
|
Okay |
|
I will try now |
|
|
|
There is no change |
|
I will try by cloning it again |
|
Not working even after cloning it again |
|
Have you used colcon and source after updating? |
|
Yes |
|
I have just found an error with the transitions of your state machine. You are trying to move to a state/outcome named "PARKED" that does not exist. Changing it to an existing outcome or state solves your error. Here you have an example: #!/usr/bin/env python3
import threading
import time
import math
import rclpy
from rclpy.node import Node
from std_msgs.msg import Bool
from geometry_msgs.msg import Pose
from yasmin import State
from yasmin import Blackboard
from yasmin import StateMachine
from yasmin_viewer import YasminViewerPub
class FSMNode(Node):
def __init__(self, blackboard):
super().__init__('fsm_node')
self.blackboard = blackboard
self.create_subscription(Bool, '/vi_start', self.vi_start_callback, 10)
self.create_subscription(Pose, '/loc_pose', self.loc_pose_callback, 10)
self.create_subscription(Bool, '/stop', self.stop_callback, 10)
self.create_subscription(Pose, '/route', self.route_callback, 10)
self.create_subscription(Bool, '/trajpf', self.trajpf_callback, 10)
self.create_subscription(Bool, '/trajpr', self.trajpr_callback, 10)
print("init")
def vi_start_callback(self, msg):
self.blackboard.adapt_vi_start_trigger = msg.data
def loc_pose_callback(self, msg):
self.blackboard.adapt_loc = (msg.position.x, msg.position.y)
def stop_callback(self, msg):
self.blackboard.adapt_envmod = msg.data
# If an obstacle is detected, inform adapt_trajp to stop
if msg.data: # Assuming True means obstacle detected
stop_msg = Bool()
stop_msg.data = True
self.blackboard.adapt_trajp_publisher.publish(stop_msg)
def route_callback(self, msg):
self.blackboard.adapt_roucomp = (msg.position.x, msg.position.y)
def trajpf_callback(self, msg):
self.blackboard.trajpf_complete = msg.data
def trajpr_callback(self, msg):
self.blackboard.trajpr_complete = msg.data
class IdleState(State):
def __init__(self) -> None:
super().__init__(["driving_state"])
self.logger = rclpy.logging.get_logger('IdleState')
def execute(self, blackboard: Blackboard) -> str:
print("Executing state IDLE")
# Wait for start trigger from adapt_vi
while not blackboard.adapt_vi_start_trigger:
self.logger.info('going to sleep')
time.sleep(0.1)
return "driving_state"
class DrivingState(State):
def __init__(self) -> None:
super().__init__(["drive", "stop_obstacle", "stop_near_park"])
def execute(self, blackboard: Blackboard) -> str:
print("Executing state DRIVING")
time.sleep(3)
# Check for obstacle detection
if blackboard.adapt_envmod:
print("Obstacle detected by adapt_envmod")
return "stop_obstacle"
# Calculate distance to parking spot
vehicle_location = blackboard.adapt_loc
parking_spot_location = blackboard.adapt_roucomp
distance_to_parking_spot = math.sqrt(
(parking_spot_location[0] - vehicle_location[0]) ** 2 +
(parking_spot_location[1] - vehicle_location[1]) ** 2
)
if distance_to_parking_spot < blackboard.parking_threshold:
print("Near parking spot")
blackboard.adapt_trajp = True
return "stop_near_park"
return "drive"
class StopObstacleState(State):
def __init__(self) -> None:
super().__init__(["stop"])
def execute(self, blackboard: Blackboard) -> str:
print("Executing state STOP_OBSTACLE")
time.sleep(2)
# Check if adapt_envmod detects an obstacle (assuming adapt_envmod is True means obstacle detected)
if blackboard.adapt_envmod:
print("Obstacle detected by adapt_envmod")
# Inform adapt_trajp to stop
stop_msg = Bool()
stop_msg.data = True
blackboard.adapt_trajp_publisher.publish(stop_msg)
return "stop"
class StopNearParkState(State):
def __init__(self) -> None:
super().__init__(["park"])
def execute(self, blackboard: Blackboard) -> str:
print("Executing state STOP_NEAR_PARK")
time.sleep(2)
# Trigger parking procedure
blackboard.adapt_trajp = True
return "park"
class ParkState(State):
def __init__(self) -> None:
super().__init__(["parked"])
def execute(self, blackboard: Blackboard) -> str:
print("Executing state PARK")
while not blackboard.trajpf_complete:
time.sleep(0.1)
while not blackboard.trajpr_complete:
time.sleep(0.1)
print("Vehicle parked")
return "parked"
def main():
print("yasmin_demo")
# init ROS 2
rclpy.init()
# create a FSM
sm = StateMachine(outcomes=["finished"])
# create and set blackboard
blackboard = Blackboard()
blackboard.obstacle_detected = False
blackboard.near_parking_spot = False
blackboard.adapt_vi_start_trigger = False # Initial state of the start trigger
# Initialize adapt_loc with a tuple representing coordinates
blackboard.adapt_loc = (0, 0)
blackboard.adapt_obj = None # Initialize adapt_obj
blackboard.adapt_livtrac = None # Initialize adapt_livtrac
# Initialize adapt_roucomp with a dummy parking spot location
blackboard.adapt_roucomp = (10, 10)
blackboard.adapt_trajp = False # Initialize adapt_trajp
blackboard.adapt_envmod = False # Initialize adapt_envmod as no obstacle detected
# Distance threshold for parking spot detection
blackboard.parking_threshold = 1.0
blackboard.trajpf_complete = False # Initialize trajpf_complete
blackboard.trajpr_complete = False # Initialize trajpr_complete
# init ROS 2 node
fsm_node = FSMNode(blackboard)
blackboard.adapt_trajp_publisher = fsm_node.create_publisher(
Bool, '/adapt_trajp', 10)
# add states
sm.add_state(
"IDLE",
IdleState(),
transitions={
"driving_state": "DRIVING"
}
)
sm.add_state(
"DRIVING",
DrivingState(),
transitions={
"drive": "DRIVING",
"stop_obstacle": "STOP_OBSTACLE",
"stop_near_park": "STOP_NEAR_PARK"
}
)
sm.add_state(
"STOP_OBSTACLE",
StopObstacleState(),
transitions={
"stop": "STOP_OBSTACLE" # Ensure outcome is "stop" when obstacle detected
}
)
sm.add_state(
"STOP_NEAR_PARK",
StopNearParkState(),
transitions={
"park": "PARK"
}
)
sm.add_state(
"PARK",
ParkState(),
transitions={
"parked": "finished" # Changed outcome to "parked"
}
)
# pub FSM info
YasminViewerPub("YASMIN_DEMO", sm)
# execute FSM
def execute_fsm():
outcome = sm.execute(blackboard)
print(outcome)
fsm_thread = threading.Thread(target=execute_fsm)
fsm_thread.start()
# Spin ROS 2 node
rclpy.spin(fsm_node)
# Shutdown
fsm_thread.join()
rclpy.shutdown()
if __name__ == "__main__":
main() |
|
Hi, I have one issue that I want to stay one state only and that state should not have a transition. How do I do that? |
|
Hey @amodpatil1, all states should have transitions and a path to your state machine's final outcome. You can also make a transition from a state to itself, creating a loop and staying in that state till the transition to another state or a final outcome triggers. |
|
Okay |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
colcon build --packages-select yasmin
ros2 run yasmin_demo yasmin_demo.py
Package 'yasmin_demo' not found
not able to run the command. please help me out.
The text was updated successfully, but these errors were encountered: