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@ -24,6 +24,7 @@ from geometry_msgs.msg import Point
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from humanoid_robot_intelligence_control_system_walking_module_msgs.msg import WalkingParam
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from humanoid_robot_intelligence_control_system_walking_module_msgs.srv import GetWalkingParam
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class FaceFollower:
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def __init__(self, ros_version):
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self.ros_version = ros_version
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@ -40,6 +41,7 @@ class FaceFollower:
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self.initialize_parameters()
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self.setup_ros_communication()
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def initialize_parameters(self):
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self.FOV_WIDTH = 35.2 * math.pi / 180
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self.FOV_HEIGHT = 21.6 * math.pi / 180
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@ -233,7 +235,7 @@ class FaceFollower:
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def run(self):
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if self.ros_version == '1':
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rate = rospy.Rate(30) # 30Hz
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rate = rospy.Rate(30)
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while not rospy.is_shutdown():
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if self.on_following:
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self.process_following(self.current_pan, self.current_tilt, 0.1)
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@ -244,6 +246,7 @@ class FaceFollower:
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self.process_following(self.current_pan, self.current_tilt, 0.1)
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rclpy.spin_once(self.node, timeout_sec=0.03)
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def main(ros_version):
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try:
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follower = FaceFollower(ros_version)
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@ -256,15 +259,26 @@ def main(ros_version):
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rclpy.shutdown()
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print(f"An error occurred: {e}")
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if __name__ == '__main__':
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ros_version = os.getenv("ROS_VERSION")
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if ros_version == "1":
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import rospy
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try:
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import rospy
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main(ros_version)
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except rospy.ROSInterruptException:
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print("Error in ROS1 main")
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elif ros_version == "2":
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import rclpy
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from rclpy.node import Node
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try:
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import rclpy
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from rclpy.node import Node
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main(ros_version)
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except KeyboardInterrupt:
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rclpy.shutdown()
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print("Error in ROS1 main")
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else:
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print("Unsupported ROS version. Please set the ROS_VERSION environment variable to '1' for ROS 1 or '2' for ROS 2.")
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sys.exit(1)
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main(ros_version)
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@ -15,17 +15,31 @@
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# You should have received a copy of the GNU General Public License
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# along with this program. If not, see <https://www.gnu.org/licenses/>.
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import rospy
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import os
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import sys
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import math
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from sensor_msgs.msg import JointState
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from std_msgs.msg import String
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from geometry_msgs.msg import Point
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class FaceTracker:
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def __init__(self):
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rospy.init_node('face_tracker')
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def __init__(self, ros_version):
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self.ros_version = ros_version
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if self.ros_version == '1':
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rospy.init_node('face_tracker')
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self.get_param = rospy.get_param
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self.logger = rospy
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else:
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rclpy.init()
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self.node = Node('face_tracker')
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self.get_param = self.node.get_parameter
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self.logger = self.node.get_logger()
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self.initialize_parameters()
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self.setup_ros_communication()
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def initialize_parameters(self):
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self.FOV_WIDTH = 35.2 * math.pi / 180
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self.FOV_HEIGHT = 21.6 * math.pi / 180
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self.NOT_FOUND_THRESHOLD = 50
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@ -39,25 +53,36 @@ class FaceTracker:
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self.y_error_sum = 0
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self.tracking_status = "NotFound"
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self.DEBUG_PRINT = False
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self.p_gain = self.get_param('p_gain', 0.4)
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self.i_gain = self.get_param('i_gain', 0.0)
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self.d_gain = self.get_param('d_gain', 0.0)
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self.p_gain = rospy.get_param('~p_gain', 0.4)
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self.i_gain = rospy.get_param('~i_gain', 0.0)
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self.d_gain = rospy.get_param('~d_gain', 0.0)
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self.logger.info(f"Face tracking Gain : {self.p_gain}, {self.i_gain}, {self.d_gain}")
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rospy.loginfo(f"Face tracking Gain : {self.p_gain}, {self.i_gain}, {self.d_gain}")
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self.head_joint_pub = rospy.Publisher(
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"/humanoid_robot_intelligence_control_system/head_control/set_joint_states", JointState, queue_size=1)
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self.head_scan_pub = rospy.Publisher(
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"/humanoid_robot_intelligence_control_system/head_control/scan_command", String, queue_size=1)
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self.face_position_sub = rospy.Subscriber(
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"/face_detector/face_position", Point, self.face_position_callback)
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self.face_tracking_command_sub = rospy.Subscriber(
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"/face_tracker/command", String, self.face_tracker_command_callback)
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def setup_ros_communication(self):
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if self.ros_version == '1':
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self.head_joint_pub = rospy.Publisher(
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"/humanoid_robot_intelligence_control_system/head_control/set_joint_states", JointState, queue_size=1)
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self.head_scan_pub = rospy.Publisher(
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"/humanoid_robot_intelligence_control_system/head_control/scan_command", String, queue_size=1)
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self.face_position_sub = rospy.Subscriber(
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"/face_detector/face_position", Point, self.face_position_callback)
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self.face_tracking_command_sub = rospy.Subscriber(
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"/face_tracker/command", String, self.face_tracker_command_callback)
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self.prev_time = rospy.Time.now()
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else:
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self.head_joint_pub = self.node.create_publisher(
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JointState, "/humanoid_robot_intelligence_control_system/head_control/set_joint_states", 1)
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self.head_scan_pub = self.node.create_publisher(
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String, "/humanoid_robot_intelligence_control_system/head_control/scan_command", 1)
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self.face_position_sub = self.node.create_subscription(
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Point, "/face_detector/face_position", self.face_position_callback, 10)
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self.face_tracking_command_sub = self.node.create_subscription(
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String, "/face_tracker/command", self.face_tracker_command_callback, 10)
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self.prev_time = self.node.get_clock().now()
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self.face_position = Point()
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self.prev_time = rospy.Time.now()
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def face_position_callback(self, msg):
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self.face_position = msg
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@ -75,12 +100,12 @@ class FaceTracker:
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def start_tracking(self):
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self.on_tracking = True
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rospy.loginfo("Start Face tracking")
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self.logger.info("Start Face tracking")
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def stop_tracking(self):
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self.go_init()
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self.on_tracking = False
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rospy.loginfo("Stop Face tracking")
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self.logger.info("Stop Face tracking")
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self.current_face_pan = 0
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self.current_face_tilt = 0
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self.x_error_sum = 0
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@ -113,8 +138,12 @@ class FaceTracker:
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x_error = -math.atan(self.face_position.x * math.tan(self.FOV_WIDTH))
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y_error = -math.atan(self.face_position.y * math.tan(self.FOV_HEIGHT))
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curr_time = rospy.Time.now()
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delta_time = (curr_time - self.prev_time).to_sec()
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if self.ros_version == '1':
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curr_time = rospy.Time.now()
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delta_time = (curr_time - self.prev_time).to_sec()
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else:
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curr_time = self.node.get_clock().now()
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delta_time = (curr_time - self.prev_time).nanoseconds / 1e9
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self.prev_time = curr_time
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x_error_diff = (x_error - self.current_face_pan) / delta_time
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@ -125,10 +154,10 @@ class FaceTracker:
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y_error_target = y_error * self.p_gain + y_error_diff * self.d_gain + self.y_error_sum * self.i_gain
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if self.DEBUG_PRINT:
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rospy.loginfo(f"Error: {x_error * 180 / math.pi} | {y_error * 180 / math.pi}")
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rospy.loginfo(f"Error diff: {x_error_diff * 180 / math.pi} | {y_error_diff * 180 / math.pi} | {delta_time}")
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rospy.loginfo(f"Error sum: {self.x_error_sum * 180 / math.pi} | {self.y_error_sum * 180 / math.pi}")
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rospy.loginfo(f"Error target: {x_error_target * 180 / math.pi} | {y_error_target * 180 / math.pi}")
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self.logger.info(f"Error: {x_error * 180 / math.pi} | {y_error * 180 / math.pi}")
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self.logger.info(f"Error diff: {x_error_diff * 180 / math.pi} | {y_error_diff * 180 / math.pi} | {delta_time}")
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self.logger.info(f"Error sum: {self.x_error_sum * 180 / math.pi} | {self.y_error_sum * 180 / math.pi}")
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self.logger.info(f"Error target: {x_error_target * 180 / math.pi} | {y_error_target * 180 / math.pi}")
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self.publish_head_joint(x_error_target, y_error_target)
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@ -166,14 +195,43 @@ class FaceTracker:
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self.head_scan_pub.publish(scan_msg)
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def run(self):
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rate = rospy.Rate(30) # 30Hz
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while not rospy.is_shutdown():
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self.process_tracking()
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rate.sleep()
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if self.ros_version == '1':
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rate = rospy.Rate(30) # 30Hz
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while not rospy.is_shutdown():
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self.process_tracking()
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rate.sleep()
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else:
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while rclpy.ok():
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self.process_tracking()
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rclpy.spin_once(self.node, timeout_sec=0.03) # Approximately 30Hz
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def main(ros_version):
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try:
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tracker = FaceTracker(ros_version)
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tracker.run()
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except Exception as e:
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if ros_version == '1':
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rospy.logerr(f"An error occurred: {e}")
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else:
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rclpy.shutdown()
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print(f"An error occurred: {e}")
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if __name__ == '__main__':
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try:
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tracker = FaceTracker()
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tracker.run()
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except rospy.ROSInterruptException:
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pass
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ros_version = os.getenv("ROS_VERSION")
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if ros_version == "1":
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try:
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import rospy
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main(ros_version)
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except rospy.ROSInterruptException:
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print("Error in ROS1 main")
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elif ros_version == "2":
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try:
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import rclpy
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from rclpy.node import Node
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main(ros_version)
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except KeyboardInterrupt:
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rclpy.shutdown()
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print("Error in ROS2 main")
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else:
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print("Unsupported ROS version. Please set the ROS_VERSION environment variable to '1' for ROS 1 or '2' for ROS 2.")
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sys.exit(1)
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