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unity_robot_controller
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Merge branch 'main' of https://git.robofob.ru/sirius/unity_robot_controller into main

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main
Eliza Moscovskaya 4 weeks ago
parent 387c8175e0 1519f2cb29
commit 93d67fe870
5 changed files with 108 additions and 16 deletions
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24
config/unity.rviz
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@ -5,7 +5,7 @@ Panels:
Property Tree Widget:
Expanded: ~
Splitter Ratio: 0.5
Tree Height: 348
Tree Height: 652
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
@ -60,7 +60,7 @@ Visualization Manager:
Value: /sirius_bot/camera/image_view
Value: false
- Class: rviz_default_plugins/Image
Enabled: true
Enabled: false
Max Value: 1
Median window: 5
Min Value: 0
@ -72,7 +72,7 @@ Visualization Manager:
History Policy: Keep Last
Reliability Policy: Reliable
Value: /sirius_bot/crosshair_image
Value: true
Value: false
- Class: rviz_default_plugins/TF
Enabled: true
Filter (blacklist): ""
@ -171,6 +171,20 @@ Visualization Manager:
Radius: 1
Reference Frame: <Fixed Frame>
Value: false
- Class: rviz_default_plugins/Image
Enabled: true
Max Value: 1
Median window: 5
Min Value: 0
Name: STATUS
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /sirius_bot/status_image
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
@ -285,9 +299,11 @@ Window Geometry:
Height: 1008
Hide Left Dock: true
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000330fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000004c00000330000000fd01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000039500000330fc0200000004fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fc0000004c000001100000000000fffffffaffffffff0100000002fb000000060052004100570000000000ffffffff0000005c01000003fb0000000a005600690065007700730000000670000001100000011001000003fb0000001200430072006f007300730068006100690072010000004c000003300000002201000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000004cfc0100000002fb0000000800540069006d0065010000000000000780000002bd01000003fb0000000800540069006d00650100000000000004500000000000000000000003ea0000033000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000330fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000004c00000330000000fd01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000039500000330fc0200000005fb0000000c005300540041005400550053010000004c000003300000002201000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fc0000004c000001100000000000fffffffaffffffff0100000002fb000000060052004100570000000000ffffffff0000005c01000003fb0000000a005600690065007700730000000670000001100000011001000003fb0000001200430072006f007300730068006100690072000000004c000003300000002201000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000004cfc0100000002fb0000000800540069006d0065010000000000000780000002bd01000003fb0000000800540069006d00650100000000000004500000000000000000000003ea0000033000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
RAW:
collapsed: false
STATUS:
collapsed: false
Selection:
collapsed: false
Time:

2
unity_robot_controller/fire_extinguisher_emulator.py
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@ -112,7 +112,7 @@ class FireExtinguisherEmulatorNode(Node):
print_f = self.get_logger().info
)
self.get_logger().info(f"{intersected_spheres}")
#self.get_logger().info(f"{intersected_spheres}")
if len(intersected_spheres):
res.success = True

11
unity_robot_controller/joy_control_node.py
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@ -144,11 +144,20 @@ def main(args=None):
rclpy.init(args=args)
node = JoyControlNode(UnityRobotController)
try:
# Keep the node running until an interrupt occurs
rclpy.spin(node)
except KeyboardInterrupt:
# Catch Ctrl+C and log a clean exit message
node.get_logger().info('KeyboardInterrupt received, shutting down gracefully...')
path = node.URC.dump_stats()
node.get_logger().info(f"Saved data to {path}")
finally:
# Clean up resources safely
node.destroy_node()
rclpy.shutdown()
if __name__ == "__main__":
main()

2
unity_robot_controller/robot_controller

@ -1 +1 @@
Subproject commit 730c2417dd700d72506ba9dfdb153649e279e18b
Subproject commit a8efe38aaf3916aebd956d73831b95292a9afa23

81
unity_robot_controller/unity_robot_controller.py
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@ -9,6 +9,9 @@ from std_srvs.srv import Trigger
from std_msgs.msg import Bool, String
import numpy as np
from tf2_ros import Buffer, TransformListener
from cv_bridge import CvBridge
from sensor_msgs.msg import Image
import cv2
class UnityRobotController(RobotController):
@ -26,9 +29,16 @@ class UnityRobotController(RobotController):
self._node.declare_parameter('max_tilt_deg', 90.)
self._node.declare_parameter('discharge_speed_base', 0.0)
self._node.declare_parameter('discharge_speed_lights', 0.5)
self._lin_max = self._node.get_parameter('max_linear_speed').value
self._ang_max = self._node.get_parameter('max_angular_speed').value
self._discharge_speed_base = self._node.get_parameter('discharge_speed_base').value
self._discharge_speed_lights = self._node.get_parameter('discharge_speed_lights').value
self._max_tilt = np.deg2rad(self._node.get_parameter('max_tilt_deg').value)
self._FALL = False
@ -38,6 +48,8 @@ class UnityRobotController(RobotController):
super().__init__(fire_ext_max_capacity = fire_ext_max_capacity)
self._bridge = CvBridge()
self._tf_buffer = Buffer()
self._tf_listener = TransformListener(self._tf_buffer, self._node)
@ -45,19 +57,60 @@ class UnityRobotController(RobotController):
self._target_point_pub = self._node.create_publisher(Point, 'target_point', 10)
self._status_str_pub = self._node.create_publisher(String, 'status', 10)
self._status_image_pub = self._node.create_publisher(Image, 'status_image', 10)
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
#self.start_time = self.get_time_seconds() # TODO save it when first cmd is given
self.t_prev = self.get_time_seconds()
# TODO create collision subscriber from Unity
self._prev_collision = False
self._node.create_subscription(Bool, 'collision_detection', self.collision_cb, 10)
self.fall_timer = self._node.create_timer(0.1, self.fall_timer_cb)
self.proc_timer = self._node.create_timer(0.1, self.proc_timer_cb)
self._node.create_subscription(Image, 'crosshair_image', self.ch_image_cb, 10)
def ch_image_cb(self, msg):
try:
cv_image = self._bridge.imgmsg_to_cv2(msg, desired_encoding='bgr8')
except Exception as e:
self._node.get_logger().error(f"Failed to convert image: {e}")
return
fh = 22
scale = 0.5
cv2.putText(cv_image, f"CHARGE: {round(self._charge_points/self._start_charge * 100 ,1)}%", (1, int(5 + fh * scale)), cv2.FONT_HERSHEY_SIMPLEX, scale, (255, 255, 255), thickness=None, lineType=None, bottomLeftOrigin=None)
cv2.putText(cv_image, f"HP: {round(self._hit_points/self._start_hp * 100 ,1)}%", (int(cv_image.shape[1]/4), int(5 + fh * scale)), cv2.FONT_HERSHEY_SIMPLEX, scale, (255, 255, 255), thickness=None, lineType=None, bottomLeftOrigin=None)
cv2.putText(cv_image, f"SCORE: {round(self.get_score(),1)}", (int(cv_image.shape[1]/4*2), int(5 + fh * scale)), cv2.FONT_HERSHEY_SIMPLEX, scale, (255, 255, 255), thickness=None, lineType=None, bottomLeftOrigin=None)
cv2.putText(cv_image, f"F.E. left: {self._fire_ext_capacity}", (int(cv_image.shape[1]/4*3), int(5 + fh * scale)), cv2.FONT_HERSHEY_SIMPLEX, scale, (255, 255, 255), thickness=None, lineType=None, bottomLeftOrigin=None)
if self._FALL:
text = "FALLEN"
scale = 5
(text_w, text_h), _ = cv2.getTextSize(text, cv2.FONT_HERSHEY_SIMPLEX, scale, None)
x = int((cv_image.shape[1] - text_w) / 2)
y = int((cv_image.shape[0] + text_h) / 2)
cv2.putText(cv_image, "FALLEN", (x, y), cv2.FONT_HERSHEY_SIMPLEX, scale, (0, 0, 255), thickness=None, lineType=None, bottomLeftOrigin=None)
try:
ros_image = self._bridge.cv2_to_imgmsg(cv_image, encoding='bgr8')
ros_image.header = msg.header
self._status_image_pub.publish(ros_image)
except Exception as e:
self.get_logger().error(f"Failed to publish image: {e}")
def pub_status(self):
msg = String()
@ -70,7 +123,7 @@ class UnityRobotController(RobotController):
def collision_cb(self, msg):
if msg.data and not self._prev_collision:
self._register_collision(self.get_relative_time())
self._register_collision()#self.get_relative_time())
self.pub_status()
self._prev_collision = msg.data
@ -105,7 +158,7 @@ class UnityRobotController(RobotController):
def _fe_burst_done_cb(self, future):
result = future.result()
if result.success:
self._register_exted_sof(self.get_relative_time(), {'id': result.message})
self._register_exted_sof({'id': result.message})
self.pub_status()
def send_fire_ext_pose_cmd(self, horisontal_pose, vertical_pose):
@ -120,7 +173,19 @@ class UnityRobotController(RobotController):
def send_unfall_cmd(self):
self._FALL = False
def fall_timer_cb(self):
def proc_timer_cb(self):
# LIGHT + CHARGE PROCESS
t = self.get_time_seconds()
discharge_speed = self._discharge_speed_base
if self._LIGHTS:
discharge_speed += self._discharge_speed_lights
self._decrease_charge(discharge_speed, t - self.t_prev)
self.t_prev = t
if self._charge_points == 0:
self._node.get_logger().info('Robot is dischadged!', throttle_duration_sec=2.5)
# FALL PROCESS
try:
robot_transform = self._tf_buffer.lookup_transform(
"map", # target frame
@ -154,11 +219,12 @@ class UnityRobotController(RobotController):
fall = cos_angle >= cos_thresh
if not self._FALL and fall:
self._FALL = fall
self._register_fall(self.get_relative_time())
self._register_fall()#self.get_relative_time())
self.pub_status()
self._FALL = fall
def send_lights_cmd(self):
super(UnityRobotController, self).send_lights_cmd()
future = self.lights_srv.call_async(Trigger.Request())
future.add_done_callback(self._lights_done_cb)
@ -169,6 +235,7 @@ class UnityRobotController(RobotController):
self._node.get_logger().info(f"Lights is {'ON' if self._LIGHTS else 'OFF'}")
def send_fall_reset_cmd(self):
super(UnityRobotController, self).send_fall_reset_cmd()
if self._FALL:
self._node.get_logger().info("Trying to reset robot...")
future = self.fall_reset_srv.call_async(Trigger.Request())

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