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unity_robot_controller
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light and fall recovery

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moscowsky 4 weeks ago
parent c900f0abc0
commit 57e146b782
6 changed files with 57 additions and 17 deletions
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2
config/T-29.yaml
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@ -10,6 +10,8 @@ sirius_bot/joy_control:
fe_burst_btn: 2
lights_btn: 1
fall_reset_btn: 3
crosshair_plus_x_btn: -1
crosshair_minus_x_btn: -1

18
config/unity.rviz
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@ -5,7 +5,7 @@ Panels:
Property Tree Widget:
Expanded: ~
Splitter Ratio: 0.5
Tree Height: 652
Tree Height: 348
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
@ -217,25 +217,25 @@ Visualization Manager:
Views:
Current:
Class: rviz_default_plugins/ThirdPersonFollower
Distance: 72.5179443359375
Distance: 11.205231666564941
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 5.716884613037109
Y: 3.2075774669647217
Z: -3.7333018553908914e-05
Focal Shape Fixed Size: true
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: false
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.5053315162658691
Pitch: 0.5403984189033508
Target Frame: base_link
Value: ThirdPersonFollower (rviz_default_plugins)
Yaw: 3.1497514247894287
Yaw: 2.730400323867798
Saved:
- Class: rviz_default_plugins/ThirdPersonFollower
Distance: 2.978720188140869
@ -285,7 +285,7 @@ Window Geometry:
Height: 1008
Hide Left Dock: true
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000330fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000004c00000330000000fd01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000039500000330fc0200000004fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fc0000004c000001980000000000fffffffaffffffff0100000002fb000000060052004100570000000000ffffffff0000005c01000003fb0000000a005600690065007700730000000670000001100000011001000003fb0000001200430072006f007300730068006100690072010000004c000003300000002201000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000004cfc0100000002fb0000000800540069006d0065010000000000000780000002bd01000003fb0000000800540069006d00650100000000000004500000000000000000000003ea0000033000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000330fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000004c00000330000000fd01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000039500000330fc0200000004fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fc0000004c000001100000000000fffffffaffffffff0100000002fb000000060052004100570000000000ffffffff0000005c01000003fb0000000a005600690065007700730000000670000001100000011001000003fb0000001200430072006f007300730068006100690072010000004c000003300000002201000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000004cfc0100000002fb0000000800540069006d0065010000000000000780000002bd01000003fb0000000800540069006d00650100000000000004500000000000000000000003ea0000033000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
RAW:
collapsed: false
Selection:

7
launch/unity.launch.py
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@ -83,18 +83,15 @@ def generate_launch_description():
pkg_gen_location_on_mesh = FindPackageShare(package="").find("gen_locations_on_mesh")
mesh_path = PathJoinSubstitution([pkg_gen_location_on_mesh, "share", "sirius_scene_floor.ply"])
cache_path = PathJoinSubstitution([pkg_gen_location_on_mesh, "share", "cache.pkl"])
mesh_path = PathJoinSubstitution([pkg_gen_location_on_mesh, "share", "sirius_scene_floor_and_objs.ply"])
start_gen_location_on_mesh_cmd = Node(
name='gen_locations_on_mesh',
package='gen_locations_on_mesh',
executable='gen_locations_on_mesh',
parameters=[{'mesh_filename': mesh_path,
'cache_filename': cache_path,
'init_number_of_points': 100,
'max_z_coord': 3.}])
'max_z_coord': 10.}])
return LaunchDescription(
launch_args

10
unity_robot_controller/joy_control_node.py
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@ -23,6 +23,8 @@ class JoyControlNode(Node):
self.declare_parameter('crosshair_minus_y_btn', 4)
self.declare_parameter('fe_burst_btn', 5)
self.declare_parameter('lights_btn', 6)
self.declare_parameter('fall_reset_btn', 7)
self.declare_parameter('crosshair_step', 0.01)
@ -40,6 +42,8 @@ class JoyControlNode(Node):
self.crosshair_minus_y_btn = self.get_parameter('crosshair_minus_y_btn').value
self.fe_burst_btn = self.get_parameter('fe_burst_btn').value
self.lights_btn = self.get_parameter('lights_btn').value
self.fall_reset_btn = self.get_parameter('fall_reset_btn').value
self.crosshair_x_axis = self.get_parameter('crosshair_x_axis').value
self.crosshair_y_axis = self.get_parameter('crosshair_y_axis').value
@ -128,7 +132,13 @@ class JoyControlNode(Node):
if self.was_button_pressed(msg, self.fe_burst_btn):
self.URC.send_fire_ext_burst_cmd()
# lights control
if self.was_button_pressed(msg, self.lights_btn):
self.URC.send_lights_cmd()
# fall reset
if self.was_button_pressed(msg, self.fall_reset_btn):
self.URC.send_fall_reset_cmd()
def main(args=None):
rclpy.init(args=args)

2
unity_robot_controller/robot_controller

@ -1 +1 @@
Subproject commit b34711ebc690cf9199b15bc3074e08f258303003
Subproject commit 730c2417dd700d72506ba9dfdb153649e279e18b

35
unity_robot_controller/unity_robot_controller.py
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@ -24,7 +24,7 @@ class UnityRobotController(RobotController):
self._node.declare_parameter('fire_ext_pixel_speed', 1.0)
self._node.declare_parameter('fire_ext_max_capacity', 5)
self._node.declare_parameter('max_tilt_deg', 15.)
self._node.declare_parameter('max_tilt_deg', 90.)
self._lin_max = self._node.get_parameter('max_linear_speed').value
self._ang_max = self._node.get_parameter('max_angular_speed').value
@ -32,6 +32,8 @@ class UnityRobotController(RobotController):
self._max_tilt = np.deg2rad(self._node.get_parameter('max_tilt_deg').value)
self._FALL = False
self._LIGHTS = False
fire_ext_max_capacity = self._node.get_parameter('fire_ext_max_capacity').value
super().__init__(fire_ext_max_capacity = fire_ext_max_capacity)
@ -46,6 +48,9 @@ class UnityRobotController(RobotController):
self.fe_burst_srv = self._node.create_client(Trigger, 'fe_burst')
self.lights_srv = self._node.create_client(Trigger, '/unity/light_trigger')
self.fall_reset_srv = self._node.create_client(Trigger, '/unity/robot_reset_trigger')
self.start_time = self.get_time_seconds() # TODO save it when first cmd is given
# TODO create collision subscriber from Unity
@ -92,7 +97,7 @@ class UnityRobotController(RobotController):
self._node.get_logger().error("Fire extinguisher is out of fuel!")
return False
self._node.get_logger().error("Fire extingusher burst is performing")
self._node.get_logger().info("Fire extingusher burst is performing")
future = self.fe_burst_srv.call_async(Trigger.Request())
future.add_done_callback(self._fe_burst_done_cb)
return True
@ -153,6 +158,32 @@ class UnityRobotController(RobotController):
self.pub_status()
self._FALL = fall
def send_lights_cmd(self):
future = self.lights_srv.call_async(Trigger.Request())
future.add_done_callback(self._lights_done_cb)
def _lights_done_cb(self, future):
result = future.result()
self._LIGHTS = not self._LIGHTS
self._node.get_logger().info(f"Lights is {'ON' if self._LIGHTS else 'OFF'}")
def send_fall_reset_cmd(self):
if self._FALL:
self._node.get_logger().info("Trying to reset robot...")
future = self.fall_reset_srv.call_async(Trigger.Request())
future.add_done_callback(self._fall_reset_done_cb)
else:
self._node.get_logger().error("Robot didnot fall yet")
def _fall_reset_done_cb(self, future):
result = future.result()
self._FALL = False
self._node.get_logger().info(f"Fall reset done {result.success} {result.message}")

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