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task04_hand_tea.py
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task04_hand_tea.py
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#!/usr/bin/env python
# coding=utf-8
from __future__ import print_function
from collections import Iterable
import threading
import math
import cv2 as cv
from mpl_toolkits.mplot3d import Axes3D # 空间三维画图
import matplotlib.pyplot as plt
import numpy as np
from cv_bridge import CvBridge, CvBridgeError
from sensor_msgs.msg import Image
from lss_roban.motion_control import *
import time
import rospy
import sys
import rospkg
sys.path.append(rospkg.RosPack().get_path('lss_roban'))
x, y, w, h = 320, 240, 0, 0
see_mat = False
#cup_bias = [0, 0.01, -0.06]
mask = np.zeros((480, 640), dtype='uint8')
stable = False
bridge = CvBridge()
def D435Colorcallback(data):
try:
cv_image = bridge.imgmsg_to_cv2(data, "bgr8")
except CvBridgeError as e:
print(e)
lower_white = np.array([195, 210, 225])
upper_white = np.array([215, 230, 245])
global mask
blur = cv.blur(cv_image, (5, 5))
mask = cv.inRange(blur, lower_white, upper_white)
opened = cv.morphologyEx(mask, cv.MORPH_OPEN, np.ones((3, 3), np.uint8))
closing = cv.morphologyEx(opened, cv.MORPH_CLOSE,
np.ones((3, 3), np.uint8))
ret, thresh = cv.threshold(closing, 127, 255, cv.THRESH_BINARY)
im2, contours, hierarchy = cv.findContours(
thresh, cv.RETR_TREE, cv.CHAIN_APPROX_SIMPLE)
copy = cv_image.copy()
global see_mat
if(len(contours) > 0):
contours.sort(key=lambda cnt: cv.contourArea(cnt), reverse=True)
cnt = contours[0]
if(cv.contourArea(cnt) < 25):
return
cv.drawContours(copy, contours, 0, (0, 255, 0), 3)
see_mat = True
global x, y, w, h
x, y, w, h = cv.boundingRect(cnt)
cv.rectangle(copy, (x, y), (x+w, y+h), (0, 255, 0), 5)
roi = cv.rectangle(np.zeros((480, 640), dtype='uint8'),
(x, y), (x+w, y+h), (255), -1)
mask = cv.bitwise_and(mask, roi)
# print("area=%d, cx=%f, cy=%f" % (cv.contourArea(cnt), cx, cy))
else:
see_mat = 0
cv.imshow("Image window", copy)
cv.waitKey(25)
def getMatPos():
'''
返回shape=(3)的ndarray
'''
if(not see_mat):
return None
t0 = rospy.get_time()
cloud = []
w_x = []
w_y = []
# er = cv.erode(mask,np.ones((5,5), dtype='uint8'),iterations = 1)
if(w < 50):
xs = range(x, x+w)
else:
xs = [x+(w-1)*i/50 for i in range(51)]
if(h < 50):
ys = range(y, y+h)
else:
ys = [y+(h-1)*i/50 for i in range(51)]
# print(xs)
# print(ys)
for xi in xs:
for yi in ys:
if(mask[yi][xi] > 0):
w_x.append(xi)
w_y.append(yi)
cloud = getCoordinatesFromDepthImage(w_x, w_y)
if(len(cloud[0])==0):
return None
BETWEEN = np.median(cloud, axis=1)
mat = cloud[:, (np.abs(cloud[1]-BETWEEN[1]) < 0.1) & (np.abs(cloud[2]-BETWEEN[2]) < 0.02)
& (np.abs(cloud[0]-BETWEEN[0]) < 0.1)]
mat_pos = np.median(mat, axis=1)
# 绘制散点图
'''
fig = plt.figure()
ax = Axes3D(fig)
ax.scatter(mat[0], mat[1], mat[2], color='red', s=1)
ax.scatter(BETWEEN[0], BETWEEN[1], BETWEEN[2], color='green', s=3)
ax.scatter(mat_pos[0], mat_pos[1], mat_pos[2], color='blue', s=3)
ax.set_zlabel('Z', fontdict={'size': 15, 'color': 'red'})
ax.set_ylabel('Y', fontdict={'size': 15, 'color': 'red'})
ax.set_xlabel('X', fontdict={'size': 15, 'color': 'red'})
plt.show()
'''
t = rospy.get_time()
print("计算耗时%f s" % (t-t0))
return mat_pos
class TrackingThread(threading.Thread):
def __init__(self, pause, over):
threading.Thread.__init__(self)
self.pause = pause
self.over = over
def run(self):
rate = rospy.Rate(4)
rospy.loginfo("视觉追踪线程就绪")
while(not rospy.is_shutdown()):
if(self.over.is_set()):
break
if(not self.pause.is_set()):
mat_pos = getCoordinateFromDepthImage(x+w/2, 479-(y+h/2))
if(isinstance(mat_pos, Iterable)):
visualTrack(mat_pos)
rate.sleep()
rospy.loginfo("视觉追踪线程结束")
class UpdateThread(threading.Thread):
def __init__(self):
threading.Thread.__init__(self)
self.daemon = True
def run(self):
rate = rospy.Rate(15)
matQ = []
rospy.loginfo("自身稳态检测线程就绪")
while(not rospy.is_shutdown()):
mat_pos = getCoordinateFromDepthImage(x+w/2, 479-(y+h/2))
if(isinstance(mat_pos, Iterable)):
matQ.append(mat_pos)
if(len(matQ)>20):
matQ.pop(0)
global stable
if(np.amax(np.ptp(matQ, axis=0))>0.006):
stable=False
else:
stable=True
rate.sleep()
rospy.loginfo("稳态检测线程结束")
def main():
rospy.loginfo("开始了")
rospy.Subscriber("/sim/camera/D435/colorImage", Image, D435Colorcallback)
setBodyhubNoStand(1)
setArmMode(0)
# motionInit()
walkingInit()
#首先找到垫子的位置
if(not see_mat):
headCtrl(yaw=-30, pitch=15)
waitForActionExecute()
if(not see_mat):
headCtrl(yaw=30, pitch=15)
waitForActionExecute()
pause = threading.Event()
over = threading.Event()
tracking = TrackingThread(pause, over)
tracking.start()
updating = UpdateThread()
updating.start()
rospy.sleep(1)#暂停ros
UpdateTargets()
#--------------------------------------------------------------------------------------------------------------------------
cup_in_hand = (-0.07,-0.05,-0.016)#很重要
while(not over.is_set()):
pause.set()
yaw0 = measures[20]
pitch0 = measures[21]
if(not see_mat):
headCtrl(yaw=yaw0, pitch=pitch0+30)
waitForActionExecute()
if(not see_mat):
headCtrl(yaw=yaw0+30, pitch=pitch0+30)
waitForActionExecute()
if(not see_mat):
headCtrl(yaw=yaw0+30, pitch=pitch0-30)
waitForActionExecute()
if(not see_mat):
headCtrl(yaw=yaw0-30, pitch=pitch0-30)
waitForActionExecute()
if(not see_mat):
headCtrl(yaw=yaw0-30, pitch=pitch0+30)
waitForActionExecute()
pause.clear()
pause.set()
mat_pos = getMatPos()
pause.clear()
print("mat_pos:"+str(mat_pos))
angles1 = ikRightArm(mat_pos +
np.array([-0.03, -0.04, 0.06]), cup_in_hand)
angles2 = ikRightArm(mat_pos, cup_in_hand)
if((isinstance(angles1, Iterable) and len(angles1) == 3) and (isinstance(angles2, Iterable) and len(angles2) == 3)):
#等稳定下来再测一次
while(not stable):
print('等不晃了')
rospy.sleep(0.2)
angles = ikRightArm(mat_pos, cup_in_hand)
if(isinstance(angles, Iterable) and len(angles) == 3):
over.set()
break
else:
print('看来还是有点问题，再挪一挪')
arm_prepare = [0.14, -0.18, mat_pos[2]+0.06]
walk_dist = (mat_pos[0]-0.16, mat_pos[1]-(-0.14))
print("walk_dist:"+str(walk_dist))
w_thread = WalkingThread(walk_dist[0], walk_dist[1], 0)
w_thread.start()
bodyMoveTo(right_arm=[arm_prepare, cup_in_hand], count=30)
w_thread.join()
tracking.join()
'''
rospy.loginfo("伸手")
# raw_input("伸手...")
mat_pos = getMatPos()
linearTrajMoveTo(
right_arm=[mat_pos-np.array(cup_bias)+np.array([0, 0, 0.02]), cup_in_hand], divide=100)
'''
mat_pos = getMatPos()
rospy.loginfo("放杯子")
linearTrajMoveTo(
right_arm=[mat_pos, cup_in_hand], divide=10)
rospy.loginfo("松手")
gripperCtrl(right=45)
rospy.loginfo("抽手")
#raw_input("抽手...")
linearTrajMove(right_arm=[(0, 0, 0.06), cup_in_hand], divide=10)
linearTrajMove(right_arm=[(-0.03, -0.04, 0), cup_in_hand], divide=10)
gripperCtrl(right=-25)
stupid = np.zeros((22,))
stupid[12:15] = (0, -70, -15)
ra = getTfMat('RH_FE', joints=stupid)[:3,3]
linearTrajMoveTo(right_arm=[ra], divide=10)
#raw_input("完成了...")
if __name__ == '__main__':
def rosShutdownHook():
setBodyhubNoStand(0)
setArmMode(1)
resetBodyhub()
rospy.signal_shutdown('node_close')
rospy.init_node('test_motion_control', anonymous=True)
rospy.on_shutdown(rosShutdownHook)
main()