joy_footstep_marker.py

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import rospy

import imp
try:
  imp.find_module("actionlib")
except:
  import roslib; roslib.load_manifest('jsk_teleop_joy')

import actionlib
from jsk_rviz_plugins.msg import OverlayMenu
from joy_pose_6d import JoyPose6D
from jsk_interactive_marker.srv import GetTransformableMarkerPose
from jsk_interactive_marker.srv import SetPose
from geometry_msgs.msg import PoseStamped
from std_srvs.srv import Empty
import copy
import time
import tf

def isSamePose(pose1, pose2):
  return all([getattr(pose1.position, attr) == getattr(pose2.position, attr) for attr in ["x", "y", "z"]]) and all ([getattr(pose1.orientation, attr) == getattr(pose2.orientation, attr) for attr in ["x", "y", "z", "w"]])

class JoyFootstepMarker(JoyPose6D):
  '''
Usage:
Refer JoyPose6D
circle: execute footstep
cross: reset marker
triangle: stack footstep (only used in stack mode)
start: toggle footstep marker mode (single -> continuous -> stack)

Args:
use_tf [Boolean, default: True]: update marker pose using tf
publish_pose : forced False
frame_id [String, default: map]: frame_id of publishing pose, this is overwritten by parameter, ~frame_id
pose [String, default: pose]: topic name for publishing pose
set_pose [String, default: set_pose]: topic name for setting pose by topic
  '''
  def __init__(self, name, args):
    args['publish_pose'] = False # supress publishing pose of joy_pose_6d
    JoyPose6D.__init__(self, name, args)
    self.pose_pub = rospy.Publisher(self.getArg('pose', 'pose'), PoseStamped)
    self.current_goal_pose = None
    self.use_tf = self.getArg('use_tf', True)
    self.pose_updated = False

    # make publisher
    self.pub = rospy.Publisher("joy_footstep_menu", OverlayMenu)
    self.menu = None

    # make service proxy
    rospy.wait_for_service('/footstep_marker/reset_marker')
    self.reset_marker_srv = rospy.ServiceProxy('/footstep_marker/reset_marker', Empty)
    rospy.wait_for_service('/footstep_marker/toggle_footstep_marker_mode')
    self.toggle_footstep_marker_mode_srv = rospy.ServiceProxy('/footstep_marker/toggle_footstep_marker_mode', Empty)
    rospy.wait_for_service('/footstep_marker/execute_footstep')
    self.execute_footstep_srv = rospy.ServiceProxy('/footstep_marker/execute_footstep', Empty)
    rospy.wait_for_service('/footstep_marker/get_footstep_marker_pose')
    self.get_footstep_marker_pose_srv = rospy.ServiceProxy('/footstep_marker/get_footstep_marker_pose', GetTransformableMarkerPose)
    rospy.wait_for_service('/footstep_marker/stack_marker_pose')
    self.get_stack_marker_pose_srv = rospy.ServiceProxy('/footstep_marker/stack_marker_pose', SetPose)

    # initialize maker pose
    marker_pose = self.getCurrentMarkerPose("movable_footstep_marker")
    if marker_pose != None:
      self.pre_pose = marker_pose

  def joyCB(self, status, history):
    now = rospy.Time.from_sec(time.time())
    latest = history.latest()
    if not latest:
      return

    # menu mode
    if self.menu != None:
      if status.up and not latest.up:
        self.menu.current_index = (self.menu.current_index - 1) % len(self.menu.menus)
        self.pub.publish(self.menu)
      elif status.down and not latest.down:
        self.menu.current_index = (self.menu.current_index + 1) % len(self.menu.menus)
        self.pub.publish(self.menu)
      elif status.circle and not latest.circle:
        self.menu.action = OverlayMenu.ACTION_CLOSE
        if self.menu.current_index == self.menu.menus.index("Yes"):
          try:
            self.execute_footstep_srv()
          except rospy.ServiceException as e:
            rospy.logwarn("Execute Footsteps failed: %s", e)
        self.pub.publish(self.menu)
        self.menu = None
      elif status.cross and not latest.cross:
        self.menu.action = OverlayMenu.ACTION_CLOSE
        self.pub.publish(self.menu)
        self.menu = None
      else:
        self.pub.publish(self.menu)
      return

    # control mode
    JoyPose6D.joyCB(self, status, history)
    if status.circle and not latest.circle: # go into execute footsteps menu
      self.menu = OverlayMenu()
      self.menu.title = "Execute Footsteps?"
      self.menu.menus = ["Yes", "No"]
      self.menu.current_index = 1
      self.pub.publish(self.menu)
    elif status.cross and not latest.cross: # reset marker
      self.reset_marker_srv()
      marker_pose = self.getCurrentMarkerPose("initial_footstep_marker")
      if marker_pose != None:
        self.pre_pose = marker_pose
      else:
        self.pre_pose = PoseStamped()
        self.pre_pose.pose.orientation.w = 1
    elif status.triangle and not latest.triangle:
      #req = SetPoseRequest(self.pre_pose)
      res = self.get_stack_marker_pose_srv(self.pre_pose, [])
    elif status.start and not latest.start: # toggle footstep_marker mode
      self.toggle_footstep_marker_mode_srv()

    # synchronize marker_pose, which may be modified by interactive marker
    if self.current_goal_pose == None or not isSamePose(self.current_goal_pose.pose, self.pre_pose.pose):
      if self.pose_updated == False:
        marker_pose = self.getCurrentMarkerPose("movable_footstep_marker") # synchronize marker_pose only at first of pose update
        if marker_pose != None and not isSamePose(self.pre_pose.pose, marker_pose.pose):
          self.pre_pose = marker_pose
        self.pose_updated = True
      if (now - self.prev_time).to_sec() > 1 / 30.0:
        self.pose_pub.publish(self.pre_pose)
        self.prev_time = now
        self.current_goal_pose = copy.deepcopy(self.pre_pose)
    else:
      self.pose_updated = False

  def getCurrentMarkerPose(self, marker_name):
    try:
      marker_pose = self.get_footstep_marker_pose_srv(marker_name).pose_stamped
      if self.use_tf:
        marker_pose = self.tf_listener.transformPose(self.frame_id, marker_pose)
      return marker_pose
    except rospy.ServiceException as e:
      rospy.logwarn("Failed to get initial marker pose: %s", e)
      return None
    except tf.LookupException as e:
      rospy.logwarn("Failed to lookup tf: %s", e)
      return None