pick_and_place_in_gazebo_example.py

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#! /usr/bin/env python
# -*- coding: utf-8 -*-
 
# Copyright 2019 RT Corporation
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
 
import rospy
import moveit_commander
import actionlib
import math
import random
from geometry_msgs.msg import Point, Pose
from gazebo_msgs.msg import ModelStates
from control_msgs.msg import GripperCommandAction, GripperCommandGoal
from tf.transformations import quaternion_from_euler, euler_from_quaternion
 
gazebo_model_states = ModelStates()
 
def callback(msg):
    global gazebo_model_states
    gazebo_model_states = msg
 
 
def yaw_of(object_orientation):
    # クォータニオンをオイラー角に変換しyaw角度を返す
    euler = euler_from_quaternion(
        (object_orientation.x, object_orientation.y,
        object_orientation.z, object_orientation.w))
 
    return euler[2]
 
 
def main():
    global gazebo_model_states
 
    OBJECT_NAME = "wood_cube_5cm"   # 掴むオブジェクトの名前
    GRIPPER_OPEN = 1.2              # 掴む時のハンド開閉角度
    GRIPPER_CLOSE = 0.42            # 設置時のハンド開閉角度
    APPROACH_Z = 0.15               # 接近時のハンドの高さ
    LEAVE_Z = 0.20                  # 離れる時のハンドの高さ
    PICK_Z = 0.12                   # 掴む時のハンドの高さ
    PLACE_POSITIONS = [             # オブジェクトの設置位置 (ランダムに設置する)
            Point(0.4, 0.0, 0.0),
            Point(0.0, 0.3, 0.0),
            Point(0.0, -0.3, 0.0),
            Point(0.2, 0.2, 0.0),
            Point(0.2, -0.2, 0.0)]
 
    sub_model_states = rospy.Subscriber("gazebo/model_states", ModelStates, callback, queue_size=1)
 
    arm = moveit_commander.MoveGroupCommander("arm")
    arm.set_max_velocity_scaling_factor(0.4)
    arm.set_max_acceleration_scaling_factor(1.0)
    gripper = actionlib.SimpleActionClient("crane_x7/gripper_controller/gripper_cmd", GripperCommandAction)
    gripper.wait_for_server()
    gripper_goal = GripperCommandGoal()
    gripper_goal.command.max_effort = 4.0
 
    rospy.sleep(1.0)
 
    while True:
        # 何かを掴んでいた時のためにハンドを開く
        gripper_goal.command.position = GRIPPER_OPEN
        gripper.send_goal(gripper_goal)
        gripper.wait_for_result(rospy.Duration(1.0))
 
        # SRDFに定義されている"home"の姿勢にする
        arm.set_named_target("home")
        arm.go()
        rospy.sleep(1.0)
 
        # 一定時間待機する
        # この間に、ユーザがgazebo上のオブジェクト姿勢を変更しても良い
        sleep_time = 3.0
        print("Wait " + str(sleep_time) + " secs.")
        rospy.sleep(sleep_time)
        print("Start")
 
        # オブジェクトがgazebo上に存在すれば、pick_and_placeを実行する
        if OBJECT_NAME in gazebo_model_states.name:
            object_index = gazebo_model_states.name.index(OBJECT_NAME)
            # オブジェクトの姿勢を取得
            object_position = gazebo_model_states.pose[object_index].position
            object_orientation = gazebo_model_states.pose[object_index].orientation
            object_yaw = yaw_of(object_orientation)
 
            # オブジェクトに接近する
            target_pose = Pose()
            target_pose.position.x = object_position.x
            target_pose.position.y = object_position.y
            target_pose.position.z = APPROACH_Z
            q = quaternion_from_euler(-math.pi, 0.0, object_yaw)
            target_pose.orientation.x = q[0]
            target_pose.orientation.y = q[1]
            target_pose.orientation.z = q[2]
            target_pose.orientation.w = q[3]
            arm.set_pose_target(target_pose)
            if arm.go() is False:
                print("Failed to approach an object.")
                continue
            rospy.sleep(1.0)
 
            # 掴みに行く
            target_pose.position.z = PICK_Z
            arm.set_pose_target(target_pose)
            if arm.go() is False:
                print("Failed to grip an object.")
                continue
            rospy.sleep(1.0)
            gripper_goal.command.position = GRIPPER_CLOSE
            gripper.send_goal(gripper_goal)
            gripper.wait_for_result(rospy.Duration(1.0))
 
            # 持ち上げる
            target_pose.position.z = LEAVE_Z
            arm.set_pose_target(target_pose)
            if arm.go() is False:
                print("Failed to pick up an object.")
                continue
            rospy.sleep(1.0)
            
            # 設置位置に移動する
            place_position = random.choice(PLACE_POSITIONS) # 設置位置をランダムに選択する
            target_pose.position.x = place_position.x
            target_pose.position.y = place_position.y
            q = quaternion_from_euler(-math.pi, 0.0, -math.pi/2.0)
            target_pose.orientation.x = q[0]
            target_pose.orientation.y = q[1]
            target_pose.orientation.z = q[2]
            target_pose.orientation.w = q[3]
            arm.set_pose_target(target_pose)
            if arm.go() is False:
                print("Failed to approach target position.")
                continue
            rospy.sleep(1.0)
 
            # 設置する
            target_pose.position.z = PICK_Z
            arm.set_pose_target(target_pose)
            if arm.go() is False:
                print("Failed to place an object.")
                continue
            rospy.sleep(1.0)
            gripper_goal.command.position = GRIPPER_OPEN
            gripper.send_goal(gripper_goal)
            gripper.wait_for_result(rospy.Duration(1.0))
 
            # ハンドを上げる
            target_pose.position.z = LEAVE_Z
            arm.set_pose_target(target_pose)
            if arm.go() is False:
                print("Failed to leave from an object.")
                continue
            rospy.sleep(1.0)
 
            # SRDFに定義されている"home"の姿勢にする
            arm.set_named_target("home")
            if arm.go() is False:
                print("Failed to go back to home pose.")
                continue
            rospy.sleep(1.0)
 
            print("Done")
 
        else:
            print("No objects")
 
 
if __name__ == '__main__':
    rospy.init_node("pick_and_place_in_gazebo_example")
 
    try:
        if not rospy.is_shutdown():
            main()
    except rospy.ROSInterruptException:
        pass