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https://github.com/davesarmoury/GLaDOS.git
synced 2025-09-26 22:31:26 +08:00
Update to urdf and watcher to make movement nice
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@ -7,13 +7,41 @@ import tf
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import numpy as np
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from zed_interfaces.msg import ObjectsStamped
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import math
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from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
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import copy
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HEAD_DISTANCE = 0.6
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limits = [ [-1.57, 1.57], [1.76, 2.50], [-1.76, -0.50], [0.90, 0.90], [-0.10, 0.10], [-3.14, 3.14] ]
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limits = [ [-1.57, 1.57], [1.76, 2.50], [-1.76, -0.50], [-0.90, -0.90], [-0.10, 0.10], [-3.14, 3.14] ]
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mount = [0, 1.759292, -1.700000, -0.9, 0, 0]
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joint_names = ["joint1", "joint2", "joint3", "joint4", "joint5", "joint6"]
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def arm_command(pos, time):
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msg = JointTrajectory()
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msg.header.stamp = rospy.Time.now()
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msg.joint_names = joint_names
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point_msg = JointTrajectoryPoint()
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point_msg.time_from_start = rospy.Time.from_sec(time)
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point_msg.positions = pos
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msg.points = []
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msg.points.append(point_msg)
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arm_pub.publish(msg)
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def j_limits(values):
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j_values = []
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for i in range(len(values)):
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min_val = limits[i][0]
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max_val = limits[i][1]
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j_values.append(max(min(max_val, values[i]), min_val))
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return j_values
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def det_callback(msg):
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global broadcaster, world_to_cam, view_to_world, world_to_view, last_pos
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global broadcaster, world_to_cam, view_to_world, world_to_view
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if len(msg.objects) > 0:
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min_distance = 99999.0
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@ -25,7 +53,7 @@ def det_callback(msg):
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closest_obj = o
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min_distance = length
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o_mtx = compose_matrix(translate=[o.position[0], o.position[1], o.position[2]])
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o_mtx = compose_matrix(translate=[o.position[0], o.position[1], o.bounding_box_3d.corners[0].kp[2]])
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world_to_o = np.matmul(world_to_cam, o_mtx)
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view_to_o = np.matmul(view_to_world, world_to_o)
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scale, shear, angles, translate, perspective = decompose_matrix(view_to_o)
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@ -36,6 +64,15 @@ def det_callback(msg):
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h_mtx = compose_matrix(translate=[HEAD_DISTANCE, 0, 0])
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t_mtx = compose_matrix(angles=[0,pitch,yaw])
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j_angles = copy.deepcopy(mount)
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j_angles[0] = yaw + 0.25 * yaw
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j_angles[2] = j_angles[2] + pitch + 0.85
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j_angles[4] = -0.25 * yaw
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j_angles[5] = yaw/2.0
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j_angles = j_limits(j_angles)
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arm_command(j_angles, 0.5)
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t_mtx = np.matmul(t_mtx, h_mtx)
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t_mtx = np.matmul(world_to_view, t_mtx)
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@ -49,7 +86,7 @@ def det_callback(msg):
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"world")
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def main():
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global broadcaster, world_to_cam, view_to_world, world_to_view, last_pos
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global broadcaster, world_to_cam, view_to_world, world_to_view, arm_pub
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rospy.init_node('glados_watcher')
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broadcaster = tf.TransformBroadcaster()
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@ -64,14 +101,12 @@ def main():
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world_to_view = compose_matrix(translate=trans, angles=euler_from_quaternion(rot))
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view_to_world = np.linalg.inv(world_to_view)
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# listener.waitForTransform('world', 'eye_link', rospy.Time(0), rospy.Duration(0.5))
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# trans, rot = listener.lookupTransform('world', 'eye_link', rospy.Time(0))
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# last_pos = compose_matrix(translate=trans, angles=euler_from_quaternion(rot))
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# rospy.loginfo(last_pos)
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arm_pub = rospy.Publisher('/z1_joint_traj_controller/command', JointTrajectory, queue_size=10)
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rospy.Subscriber("/zed_node/obj_det/objects", ObjectsStamped, det_callback)
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arm_command(mount, 2.0)
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rospy.sleep(2.0)
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rospy.spin()
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if __name__ == '__main__':
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@ -77,7 +77,7 @@
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<link name="view_link" />
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<joint name="view_joint" type="fixed">
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<origin xyz="0 0 0.4" rpy="0 0 0" />
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<origin xyz="0 0 0.55" rpy="0 0 0" />
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<parent link="world"/>
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<child link="view_link"/>
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</joint>
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