Merge branch 'GEAR_arm_controller' of github.com:EECS-467-W20-RRRobot-Project/RRRobot into GEAR_arm_controller

src/rrrobot_ws/src/rrrobot/src/arm_controller_node.cpp

@@ -6,6 +6,7 @@
 #include <memory>
 
 #include <ros/ros.h>
+#include <ros/console.h>
 
 #include <std_msgs/Float32.h>
 #include <std_msgs/String.h>
@@ -32,9 +33,8 @@
 #include <kdl/chainfksolverpos_recursive.hpp>
 #include <kdl/chainidsolver_recursive_newton_euler.hpp>
 
-#include <ros/console.h>
-
 #include <cstdlib>
+#include <math.h>
 
 using namespace std;
 
@@ -42,7 +42,7 @@ using namespace std;
 class ArmController
 {
 public:
-    ArmController(ros::NodeHandle &node, ArmRepresentation *arm_) : gripper_enabled_(false), item_attached_(false), arm(arm_)
+    ArmController(ros::NodeHandle &node, ArmRepresentation *arm_, double time_per_step, int retry_attempts, double item_attach_z_adjustment) : gripper_enabled_(false), item_attached_(false), arm(arm_), time_per_step(time_per_step), retry_attempts(retry_attempts), item_attach_z_adjustment(item_attach_z_adjustment)
     {
         arm_joint_trajectory_publisher_ = node.advertise<trajectory_msgs::JointTrajectory>(ARM_COMMAND_CHANNEL, 10);
 
@@ -103,65 +103,106 @@ public:
     void arm_destination_callback(const rrrobot::arm_command &target_pose)
     {
         ROS_INFO("Received target pose");
-
+        int attempts = 0;
         int nbr_joints = arm->getChain()->getNrOfJoints();
         vector<double> positions;
-        double time_from_start = 5; // Seconds
+        
-        ros::Rate timeout(1.0/time_from_start);//
+        // Turn on suction
+        while (!gripper_control(true)) {
+            if (attempts == retry_attempts) {
+                ROS_ERROR("STEP 1: Suction failed, not going to target");
+                return;
+            }
+            
+            ros::Duration(1).sleep();
+            attempts++;
+        }
+        
+        ROS_INFO("STEP 1: Suction turned on");
 
         // Move arm to pickup item from conveyor belt
+        attempts = 1;
         positions = calc_joint_positions(target_pose.grab_location);
-        send_joint_trajectory(positions, time_from_start);
+        send_joint_trajectory(positions, arm_action_phase::bin_to_belt);
 
-        // Wait until target position is reached
+        // Check if target has been reached
-        while (!have_reached_target(frame_to_pose(calc_end_effector_pose()), target_pose.grab_location))
+        while(!have_reached_target(frame_to_pose(calc_end_effector_pose()), target_pose.grab_location)) {
-        {
+            if (attempts == retry_attempts) {
-            // TODO: Do something if not able to reach target
+                ROS_ERROR("STEP 2: Did not reach target in allotted time");
-            time_from_start += 5;
+                return;
-            send_joint_trajectory(positions, time_from_start);
+            }
-            timeout.sleep();
+            
-
+            send_joint_trajectory(positions, arm_action_phase::bin_to_belt);
-            // update sleep time_from_start
+            attempts++;
-            timeout = ros::Rate(1.0/time_from_start);
-            continue;
         }
 
-        // Turn on suction
+        ROS_INFO("STEP 2: Reached target conveyor belt position");
-        while (!gripper_enabled_)
+
-        {
+        attempts = 0;
-            gripper_control(true);
+        geometry_msgs::Pose target_location = target_pose.grab_location;
-        }
 
         // Wait until object is attached
         while (!item_attached_)
         {
-            // TODO: Do something if item is not able to attach
+            if (attempts == retry_attempts) {
-            continue;
+                ROS_ERROR("STEP 3: Could not pick up item");
+                return;
+            }
+
+            // If item is not able to attach, adjust z and try again
+            target_location.position.z -= item_attach_z_adjustment; // meters
+            positions = calc_joint_positions(target_location);
+            send_joint_trajectory(positions, arm_action_phase::item_pickup_adjustment);
+            attempts++;
         }
 
+        ROS_INFO("STEP 3: Item picked up");
+
         // Move item to desired position
+        attempts = 1;
         positions = calc_joint_positions(target_pose.drop_location);
-        send_joint_trajectory(positions, time_from_start);
+        send_joint_trajectory(positions, arm_action_phase::belt_to_bin);
 
-        // Wait until target position is reached
+        // Check if target has been reached
-        while (!have_reached_target(frame_to_pose(calc_end_effector_pose()), target_pose.drop_location))
+        while(!have_reached_target(frame_to_pose(calc_end_effector_pose()), target_pose.grab_location)) {
-        {
+            if (attempts == retry_attempts) {
-            // TODO: Do something if not able to reach target
+                ROS_ERROR("STEP 4: Did not reach target in allotted time");
-            continue;
+                return;
+            }
+            
+            send_joint_trajectory(positions, arm_action_phase::belt_to_bin);
+            attempts++;
         }
 
+        ROS_INFO("STEP 4: Reached drop location");
+
         // Turn off suction
-        while (gripper_enabled_)
+        attempts = 0;
-        {
+        while (!gripper_control(false)) {
-            gripper_control(false);
+            if (attempts == retry_attempts) {
+                ROS_ERROR("STEP 5: Suction not turning off... ¯\\_(ツ)_/¯");
+                return;
+            }
+            
+            ros::Duration(1).sleep();
+            attempts++;
         }
 
+        ROS_INFO("STEP 5: Suction turned off");
+
         // Wait until object is detached
+        attempts = 0;
         while (item_attached_)
         {
-            // TODO: Do something if item doesn't detach
+            if (attempts == retry_attempts) {
-            continue;
+                ROS_ERROR("STEP 6: Item not detaching.. ¯\\_(ツ)_/¯");
+            }
+            
+            ros::Duration(0.1).sleep();
+            attempts++;
         }
+
+        ROS_INFO("STEP 6: Dropped item in bin");
     }
 
 private:
@@ -171,6 +212,14 @@ private:
     ros::ServiceClient gripper_;
     KDL::JntArray arm_current_joint_states_;
     ArmRepresentation *arm;
+    enum arm_action_phase {
+        belt_to_bin,
+        bin_to_belt,
+        item_pickup_adjustment
+    };
+    double time_per_step;
+    int retry_attempts;
+    double item_attach_z_adjustment;
 
     vector<double> calc_joint_positions(const geometry_msgs::Pose &pose)
     {
@@ -261,45 +310,82 @@ private:
         return pose;
     }
 
-    void send_joint_trajectory(const vector<double> &positions, double time_from_start)
+    void send_joint_trajectory(const vector<double> &target, arm_action_phase phase)
     {
         // Declare JointTrajectory message
         trajectory_msgs::JointTrajectory msg;
 
+        // Define intermediate joint positions
+        const vector<double> above_conveyor = {0, 0, -M_PI/2, M_PI/2, -M_PI/2, -M_PI/2, 0};
+        const vector<double> above_bins = {0, M_PI, -M_PI/2, M_PI/2, -M_PI/2, -M_PI/2, 0};
+
         // Fill the names of the joints to be controlled
         msg.joint_names = arm->get_joint_names();
 
-        // Create one point in the trajectory
+        int num_points = 3;
-        msg.points.resize(1);
-        msg.points[0].positions.resize(msg.joint_names.size(), 0.0);
 
-        // Set joint positions
+        // Create points in the trajectory
-        for (size_t idx = 0; idx < positions.size(); ++idx)
+        msg.points.resize(num_points);
-        {
+
-            msg.points[0].positions[idx] = positions[idx];
+        for (int i = 0; i < num_points; ++i) {
+            if (i == 0) {
+                if (phase == arm_action_phase::belt_to_bin) {
+                    msg.points[i].positions = above_conveyor;
+                }
+                else if (phase == arm_action_phase::bin_to_belt) {
+                    msg.points[i].positions = above_bins;
+                }
+                else if (phase == arm_action_phase::item_pickup_adjustment) {
+                    num_points = 1;
+                    msg.points.resize(num_points);
+                    msg.points[i].positions = target;
+                    msg.points[i].time_from_start = ros::Duration(time_per_step);
+                    break;
+                }
+
+                msg.points[i].time_from_start = ros::Duration((i+1)*time_per_step);
+            }
+            else if (i == 1) {
+                if (phase == arm_action_phase::belt_to_bin) {
+                    msg.points[i].positions = above_bins;
+                }
+                else if (phase == arm_action_phase::bin_to_belt) {
+                    msg.points[i].positions = above_conveyor;
+                }
+
+                msg.points[i].time_from_start = ros::Duration((i+1)*time_per_step);
+            }
+            else if (i == (num_points - 1)) {
+                msg.points[i].positions = target;
+                msg.points[i].time_from_start = ros::Duration((i+1)*time_per_step);
+            }
         }
 
-        // How long to take getting to the point (floating point seconds)
-        msg.points[0].time_from_start = ros::Duration(time_from_start);
-
-        //ROS_INFO("Sending command: \n%s", msg);
-
         arm_joint_trajectory_publisher_.publish(msg);
+
+        // Wait to reach target
+        ros::Duration((num_points+1)*time_per_step).sleep();
     }
 
-    void gripper_control(bool state)
+    bool gripper_control(bool state)
     {
         osrf_gear::VacuumGripperControl srv;
         srv.request.enable = state;
 
-        gripper_.call(srv);
+        bool success = gripper_.call(srv);
+
+        if(!success) {
+            ROS_ERROR("Could not enable gripper");
+        }
+
+        return success;
     }
 
     bool have_reached_target(geometry_msgs::Pose cur, geometry_msgs::Pose target)
     {
         // TODO: Tune threshold values
-        float pos_thresh = 0.01; // Meters
+        float pos_thresh = 0.1; // Meters
-        float rot_thresh = 0.02; // Radians
+        float rot_thresh = 0.0875; // Radians
 
         float pos_err = fabs(cur.position.x - target.position.x) +
                         fabs(cur.position.y - target.position.y) +
@@ -310,33 +396,38 @@ private:
             return false;
         }
 
-        float qx_err = fabs(cur.orientation.x - target.orientation.x);
+        vector<double> rpy1 = QuatToEuler(cur.orientation);
-        float qy_err = fabs(cur.orientation.y - target.orientation.y);
+        vector<double> rpy2 = QuatToEuler(target.orientation);
-        float qz_err = fabs(cur.orientation.z - target.orientation.z);
-        float qw_err = fabs(cur.orientation.w - target.orientation.w);
 
-        if (qx_err > rot_thresh)
+        float rx_err = fabs(fmod(rpy1[0] - rpy2[0], 2*M_PI));
+        float ry_err = fabs(fmod(rpy1[1] - rpy2[1], 2*M_PI));
+        float rz_err = fabs(fmod(rpy1[2] - rpy2[2], 2*M_PI));
+
+        if (rx_err > rot_thresh)
         {
             return false;
         }
 
-        if (qy_err > rot_thresh)
+        if (ry_err > rot_thresh)
         {
             return false;
         }
 
-        if (qz_err > rot_thresh)
+        if (rz_err > rot_thresh)
-        {
-            return false;
-        }
-
-        if (qw_err > rot_thresh)
         {
             return false;
         }
 
         return true;
     }
+
+    vector<double> QuatToEuler(geometry_msgs::Quaternion q) {
+        KDL::Rotation r = KDL::Rotation::Quaternion(q.x, q.y, q.z, q.w);
+        vector<double> rpy = {0, 0, 0};
+        r.getRPY(rpy[0], rpy[1], rpy[2]);
+        
+        return rpy;
+    }
 };
 
 int main(int argc, char **argv)
@@ -350,7 +441,10 @@ int main(int argc, char **argv)
 
     ArmRepresentation arm;
 
-    ArmController ac(node, &arm);
+    double time_per_step = 3.0; // seconds
+    int retry_attempts = 3;
+    double item_attach_z_adjustment = 0.025; // meters
+    ArmController ac(node, &arm, time_per_step, retry_attempts, item_attach_z_adjustment);
 
     // Subscribe to arm destination and joint states channels
     ros::Subscriber arm_destination_sub = node.subscribe(ARM_DESTINATION_CHANNEL, 1, &ArmController::arm_destination_callback, &ac);

src/rrrobot_ws/src/rrrobot/src/rrrobot_node.cpp

@@ -53,9 +53,9 @@ public:
 class RRRobot
 {
 public:
-	RRRobot()
+	RRRobot(ros::NodeHandle &node)
 		: current_robot_state(RobotState::WAITING_FOR_CLASSIFICATION | RobotState::WAITING_FOR_GRAB_LOCATION),
-		  nh()
+		  nh(node)
 	{
 		cv_classification_sub = nh.subscribe(CV_CLASSIFICATION_CHANNEL, 1000, &RRRobot::cv_classification_callback, this);
 		gripper_state_sub = nh.subscribe(GRIPPER_STATE_CHANNEL, 1000, &RRRobot::gripper_state_callback, this);
@@ -228,7 +228,9 @@ int main(int argc, char **argv)
 {
 	ros::init(argc, argv, "rrrobot");
 
-	RRRobot robot;
+	ros::NodeHandle node;
+
+	RRRobot robot(node);
 	ros::spin(); // This executes callbacks on new data until ctrl-c.
 
 	return 0;