calibrate_pr2.py

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#!/usr/bin/python
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# Author: Wim Meeussen
# Calibrates the PR-2 in a safe sequence


import roslib
roslib.load_manifest('pr2_bringup')
import rospy
import getopt
import yaml
import sys
from std_msgs.msg import *
from pr2_mechanism_msgs.srv import LoadController, UnloadController, SwitchController, SwitchControllerRequest, ListControllers
from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
from pr2_controllers_msgs.srv import QueryCalibrationState
from std_msgs.msg import Bool
from std_srvs.srv import Empty
from sensor_msgs.msg import *



calibration_params_namespace = "calibration_controllers"
load_controller = rospy.ServiceProxy('pr2_controller_manager/load_controller', LoadController)
unload_controller = rospy.ServiceProxy('pr2_controller_manager/unload_controller', UnloadController)
switch_controller = rospy.ServiceProxy('pr2_controller_manager/switch_controller', SwitchController)
list_controllers = rospy.ServiceProxy('pr2_controller_manager/list_controllers', ListControllers)

hold_position = {'r_shoulder_pan': -0.7, 'l_shoulder_pan': 0.7, 'r_elbow_flex': -2.0, 
                 'l_elbow_flex': -2.0, 'r_upper_arm_roll': 0.0, 'l_upper_arm_roll': 0.0, 
                 'r_shoulder_lift': 1.0, 'l_shoulder_lift': 1.0}

force_calibration = False

def get_controller_name(joint_name):
    return calibration_params_namespace+"/calibrate/cal_%s" % joint_name

def set_force_calibration(joint_name):
    rospy.set_param(calibration_params_namespace+"/calibrate/cal_%s/force_calibration" % joint_name, True)

def get_holding_name(joint_name):
    return "%s/hold/%s_position_controller" % (calibration_params_namespace, joint_name)

def get_service_name(joint_name):
    return '%s/is_calibrated'%get_controller_name(joint_name)

global last_joint_states
last_joint_states = None
def joint_states_cb(msg):
    global last_joint_states
    last_joint_states = msg
rospy.Subscriber('joint_states', JointState, joint_states_cb)
    
global motors_halted
motors_halted = None
def motor_state_cb(msg):
    global motors_halted
    motors_halted = msg.data
    rospy.logdebug("motors halted = %d"%motors_halted)
rospy.Subscriber('pr2_etherCAT/motors_halted', Bool, motor_state_cb)

pub_diag = rospy.Publisher('/diagnostics', DiagnosticArray) 
def diagnostics(level, msg_short, msg_long):
    if level == 0:
        rospy.loginfo(msg_long)        
    elif level == 1:
        rospy.logwarn(msg_long)
    elif level == 2:
        rospy.logerr(msg_long)
    d = DiagnosticArray() 
    d.header.stamp = rospy.Time.now() 
    ds = DiagnosticStatus() 
    ds.level = level
    ds.message = msg_long
    ds.name = msg_short
    d.status = [ds] 
    pub_diag.publish(d) 



class HoldingController:
    def __init__(self, joint_name):
        self.joint_name = joint_name
        rospy.logdebug("Loading holding controller: %s" %get_holding_name(joint_name))
        resp = load_controller(get_holding_name(joint_name)) 
        if resp.ok:
            rospy.logdebug("Starting holding controller for joint %s."%joint_name)
            switch_controller([get_holding_name(joint_name)], [], SwitchControllerRequest.STRICT)
            self.pub_cmd = rospy.Publisher("%s/command" %get_holding_name(joint_name), Float64, latch=True)
        else:
            rospy.logerr("Failed to load holding controller for joint %s."%joint_name)
            raise Exception('Failure to load holding controller')
                                  
    def __del__(self):
        switch_controller([], [get_holding_name(self.joint_name)], SwitchControllerRequest.STRICT)
        unload_controller(get_holding_name(self.joint_name))
        self.pub_cmd.unregister()
                               
    def hold(self, position):
        self.pub_cmd.publish(Float64(position))



class StatusPub:
    def __init__(self):
        self.pub_status = rospy.Publisher('calibration_status', String)
        self.status = {}
        self.status['active'] = []
        self.status['done'] = []
        
    def publish(self, active=None):
        if active:
            self.status['active'] = active
        else:
            self.status['done'].extend(self.status['active'])
            self.status['active'] = []
            
        str = "====\n"
        str += "Calibrating: %s\n"%", ".join(self.status["active"])
        str += "Calibrated: %s\n"%", ".join(self.status["done"])
        self.pub_status.publish(str)



class CalibrateParallel:
    def __init__(self, joints, status):
        self.joints = []
        self.hold_controllers = []
        self.services = {}
        self.status = status

        # spawn calibration controllers for all joints
        for j in joints:
            rospy.logdebug("Loading controller: %s" %get_controller_name(j))
            global force_calibration
            if force_calibration:
                set_force_calibration(j)
            resp = load_controller(get_controller_name(j)) 
            if resp.ok:
                # get service call to calibration controller to check calibration state
                rospy.logdebug("Waiting for service: %s" %get_service_name(j))
                rospy.wait_for_service(get_service_name(j))
                self.services[j] = rospy.ServiceProxy(get_service_name(j), QueryCalibrationState)
                self.joints.append(j)
            else:
                rospy.logerr("Failed to load calibration for joint %s. Skipping this joint"%j)


    def __del__(self):
        # stop controllers that were started
        switch_controller([], [get_controller_name(j) for j in self.joints], SwitchControllerRequest.BEST_EFFORT)        

        # kill controllers that were loaded
        for j in self.joints:
            unload_controller(get_controller_name(j))

    def is_calibrated(self):
        # check if joints are calibrated
        for j in self.joints:
            if self.services[j]().is_calibrated:
                rospy.logdebug("joint %s is already calibrated"%j)
            else:
                rospy.logdebug("joint %s needs to be calibrated"%j)
                return False
        return True


    def calibrate(self):
        # start all calibration controllers
        rospy.logdebug("Start calibrating joints %s"%self.joints)
        switch_controller([get_controller_name(j) for j in self.joints], [], SwitchControllerRequest.STRICT)

        # wait for joints to calibrate
        self.status.publish(self.joints)
        start_time = rospy.Time.now()
        while not self.is_calibrated():
            if motors_halted and motors_halted == 1:
                diagnostics(2, 'Calibration on hold', 'Calibration is on hold because motors are halted. Enable the run-stop')
                start_time = rospy.Time.now()
                rospy.sleep(1.0)
            elif rospy.Time.now() > start_time + rospy.Duration(30.0):  # time for spine to go up is 29 seconds
                diagnostics(2, 'Calibration stuck', 'Joint %s is taking a long time to calibrate. It might be stuck and need some human help'%self.joints)
                rospy.sleep(1.0)                    
            rospy.sleep(0.1)

        rospy.logdebug("Stop calibration controllers for joints %s"%self.joints)
        switch_controller([], [get_controller_name(j) for j in self.joints], SwitchControllerRequest.BEST_EFFORT)

        # hold joints in place
        rospy.logdebug("Loading holding controllers for joints %s"%self.joints)
        self.hold_controllers = []
        for j in self.joints:
            if j in hold_position:
                holder = HoldingController(j)
                holder.hold(hold_position[j])
                self.hold_controllers.append(holder)
        self.status.publish()



class CalibrateSequence:
    def __init__(self, sequence, status):
        self.status = status

        # create CalibrateParallel for all groups in sequence
        self.groups = []
        for s in sequence:
            self.groups.append(CalibrateParallel(s, status))


    def is_calibrated(self):
        # check if all groups in sequence are calibrated
        for g in self.groups:
            if not g.is_calibrated():
                return False
        return True
        

    def calibrate(self):
        # Check if this sequence needs calibration
        if self.is_calibrated():
            return True
        
        # calibrate all groups in sequence
        for g in self.groups:
            g.calibrate()





            
def main():
    try:
        rospy.init_node('calibration', anonymous=True, disable_signals=True)
        calibration_start_time = rospy.Time.now()

        rospy.wait_for_service('pr2_controller_manager/load_controller')
        rospy.wait_for_service('pr2_controller_manager/switch_controller')
        rospy.wait_for_service('pr2_controller_manager/unload_controller')

        
        # parse options
        allowed_flags = ['alpha-casters', 'alpha-head', 'alpha2b-head', 'arms=', 'force_calibration', 'recalibrate']
        opts, args = getopt.gnu_getopt(rospy.myargv(), 'h', allowed_flags)
        caster_list = ['caster_fl', 'caster_fr', 'caster_bl', 'caster_br']
        head_list = ['head_pan', 'head_tilt']
        arms = 'auto'
        recalibrate = False
        global force_calibration
        for o, a in opts:
            if o == '-h':
                rospy.loginfo("Flags:", ' '.join(['--'+f for f in allowed_flags]))
                sys.exit(0)
            elif o == '--alpha-casters':
                caster_list = ['caster_fl_alpha2', 'caster_fr_alpha2', 'caster_bl_alpha2', 'caster_br_alpha2']
            elif o == '--alpha-head':
                head_list = ['head_pan_alpha2', 'head_tilt']
            elif o == '--alpha2b-head':
                head_list = ['head_pan_alpha2', 'head_tilt_alpha2b']
            elif o == '--arms':
                arms = a
            elif o == '--force_calibration':
                force_calibration = True
            elif o == '--recalibrate':
                recalibrate = True
                force_calibration = True

        if arms not in ['both', 'none', 'left', 'right', 'auto']:
            print 'Arms must be "both", "none", "left", "right", or "auto"'
            sys.exit(1)

        # load controller configuration
        rospy.loginfo("Loading controller configuration on parameter server...")
        pr2_controller_configuration_dir = roslib.packages.get_pkg_dir('pr2_controller_configuration')
        calibration_yaml = '%s/pr2_calibration_controllers.yaml' % pr2_controller_configuration_dir
        hold_yaml = '%s/pr2_joint_position_controllers.yaml' % pr2_controller_configuration_dir
        if len(args) < 3:
            rospy.loginfo("No yaml files specified for calibration and holding controllers, using defaults")
        else:
            calibration_yaml = args[1]
            hold_yaml  = args[2]
        rospy.set_param(calibration_params_namespace+"/calibrate", yaml.load(open(calibration_yaml)))
        rospy.set_param(calibration_params_namespace+"/hold", yaml.load(open(hold_yaml)))

        # status publishing
        imustatus = True
        joints_status = False
        if not recalibrate:
            pub_calibrated = rospy.Publisher('calibrated', Bool, latch=True)
            pub_calibrated.publish(False)
        status = StatusPub()

        # Auto arm selection, determined based on which joints exist.
        if arms == 'auto':
            started_waiting = rospy.get_rostime()
            global last_joint_states
            while rospy.get_rostime() <= started_waiting + rospy.Duration(50.0):
                if last_joint_states:
                    break
            js = last_joint_states
            if not js:
                rospy.logwarn('Could not do auto arm selection because no joint state was received')
                arms = 'both'
            else:
                if 'r_shoulder_pan_joint' in js.name and 'l_shoulder_pan_joint' in js.name:
                    arms = 'both'
                elif 'r_shoulder_pan_joint' in js.name:
                    arms = 'right'
                elif 'l_shoulder_pan_joint' in js.name:
                    arms = 'left'
                else:
                    arms = 'none'
            rospy.loginfo("Arm selection was set to \"auto\".  Chose to calibrate using \"%s\"" % arms)

        # define calibration sequence objects
        torso = CalibrateSequence([['torso_lift']], status)
        gripper_list = []
        arm_list = []
        if arms == 'both':
            arm_list = [['r_shoulder_pan', 'l_shoulder_pan'], ['r_elbow_flex', 'l_elbow_flex'],
                        ['r_upper_arm_roll', 'l_upper_arm_roll'], ['r_shoulder_lift', 'l_shoulder_lift'],
                        ['r_forearm_roll', 'r_wrist', 'l_forearm_roll', 'l_wrist']]
            gripper_list = ['r_gripper', 'l_gripper']
        if arms == 'left':
            arm_list = [['l_shoulder_pan'], ['l_elbow_flex'], ['l_upper_arm_roll'], ['l_shoulder_lift'], ['l_forearm_roll', 'l_wrist']]
            gripper_list = ['l_gripper']
        if arms == 'right':
            arm_list = [['r_shoulder_pan'], ['r_elbow_flex'], ['r_upper_arm_roll'], ['r_shoulder_lift'], ['r_forearm_roll', 'r_wrist']]
            gripper_list = ['r_gripper']
        arm = CalibrateSequence(arm_list, status)
        gripper = CalibrateSequence([gripper_list], status)
        head = CalibrateSequence([head_list, ['laser_tilt']], status)
        caster = CalibrateSequence([caster_list], status)

        # if recalibrating, stop all running controllers first
        if recalibrate:
            controller_list = list_controllers()
            def is_running(c) : return c[1]=='running'
            running_controllers = [c[0] for c in filter(is_running, zip(controller_list.controllers, controller_list.state))]
            print "Running controllers : ", running_controllers
            if not switch_controller([], running_controllers, SwitchControllerRequest.STRICT):
                print "Failed to stop controllers"
                sys.exit(1)
        
        # calibrate imu and torso
        if not torso.is_calibrated():
            rospy.loginfo('Calibrating imu')
            status.publish(['imu'])
            imu_calibrate_srv_name = 'torso_lift_imu/calibrate'
            rospy.wait_for_service(imu_calibrate_srv_name)  
            imu_calibrate_srv = rospy.ServiceProxy(imu_calibrate_srv_name, Empty)
            try:
                imu_calibrate_srv()
                status.publish()
                # only calibrate torso when imu calibration succeeds
            except:
                imustatus = False
            rospy.loginfo('Calibrating imu finished')
        else:
            rospy.loginfo('Not calibrating imu')

        # calibrate torso
        torso.calibrate()

        # calibrate arms
        torso_holder = None
        if not arm.is_calibrated():
            torso_holder = HoldingController('torso_lift')
            torso_holder.hold(0.25)
            rospy.sleep(5.0)
            rospy.loginfo('Moving up spine to allow arms to calibrate')
            arm.calibrate()
            rospy.loginfo('Moving down spine after arm calibration')
            torso_holder.hold(0.01)
            rospy.sleep(20.0)

        # calibrate rest of robot
        gripper.calibrate()
        head.calibrate()
        caster.calibrate()

        joints_status = True
        status.publish()

        
    finally:
        rospy.loginfo("Bringing down calibration node")

        rospy.set_param(calibration_params_namespace, "")
        del arm
        del gripper
        del torso
        del torso_holder
        del caster
        del head

        if not imustatus and not joints_status:
            rospy.logerr("Both mechanism and IMU calibration failed")
        elif not joints_status:
            rospy.logerr("IMU calibration complete, but mechanism calibration failed")
        elif not imustatus:
            rospy.logerr("Mechanism calibration complete, but IMU calibration failed.")
        else:
            rospy.loginfo('Calibration completed in %f sec' %(rospy.Time.now() - calibration_start_time).to_sec())

        if recalibrate:
            if not switch_controller(running_controllers, [], SwitchControllerRequest.STRICT):
                print "Could not start previously running controllers"
            
        if not recalibrate:
            if joints_status:
                pub_calibrated.publish(True)
            rospy.spin()
            

if __name__ == '__main__': main()