BRSRI/bellande_humanoid_robot_intelligence_control_system_architecture
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This commit is contained in:
Ronaldson Bellande 2024-07-23 12:52:27 -04:00
parent 8fb6ddc86e
commit b2271c014a
4 changed files with 168 additions and 65 deletions
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28
humanoid_robot_intelligence_control_system_configure/launch/face_follower.launch.py
View File

@ -13,9 +13,6 @@
# You should have received a copy of the GNU General Public License
# along with this program. If not, see <https://www.gnu.org/licenses/>.
#!/usr/bin/env python3
#!/usr/bin/env python3
import os
import sys
@ -28,7 +25,7 @@ def ros1_launch_description():
args = sys.argv[1:]
# Construct the ROS 1 launch command
roslaunch_command = ["roslaunch", "humanoid_robot_intelligence_control_system_object_detector", "object_follow.launch"] + args
roslaunch_command = ["roslaunch", "humanoid_robot_intelligence_control_system_configure", "face_follow.launch"] + args
roslaunch_command.extend([
"usb_cam", "usb_cam_node", "name:=camera",
@ -41,21 +38,22 @@ def ros1_launch_description():
])
roslaunch_command.extend([
"humanoid_robot_intelligence_control_system_object_detector", "object_detection_processor.py", "name:=object_detection_processor_node"
"humanoid_robot_intelligence_control_system_face_detector", "face_detection_processor.py", "name:=face_detection_processor_node"
])
roslaunch_command.extend([
"humanoid_robot_intelligence_control_system_object_detector", "object_follower.py", "name:=object_follower_node"
"humanoid_robot_intelligence_control_system_configure", "face_follower.py", "name:=face_follower_node"
])
roslaunch_command.extend([
"rviz", "rviz", "name:=rviz",
"args:=-d $(find humanoid_robot_intelligence_control_system_object_detector)/rviz/object_follow_visualization.rviz"
"args:=-d $(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz"
])
# Execute the launch command
subprocess.call(roslaunch_command)
def ros2_launch_description():
nodes_to_launch = []
@ -75,17 +73,17 @@ def ros2_launch_description():
))
nodes_to_launch.append(Node(
package='humanoid_robot_intelligence_control_system_object_detector',
executable='object_detection_processor.py',
name='object_detection_processor_node',
package='humanoid_robot_intelligence_control_system_face_detector',
executable='face_detection_processor.py',
name='face_detection_processor_node',
output='screen',
parameters=[{'yaml_path': '$(find humanoid_robot_intelligence_control_system_object_detector)/config/object_detection_params.yaml'}]
parameters=[{'yaml_path': '$(find ros_web_api_bellande_2d_computer_vision)/yaml/face_detection_params.yaml'}]
))
nodes_to_launch.append(Node(
package='humanoid_robot_intelligence_control_system_object_detector',
executable='object_follower.py',
name='object_follower_node',
package='humanoid_robot_intelligence_control_system_configure',
executable='face_follower.py',
name='face_follower_node',
output='screen',
parameters=[{
'p_gain': 0.4,
@ -98,7 +96,7 @@ def ros2_launch_description():
package='rviz2',
executable='rviz2',
name='rviz',
arguments=['-d', '$(find humanoid_robot_intelligence_control_system_object_detector)/rviz/object_follow_visualization.rviz']
arguments=['-d', '$(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz']
))
return LaunchDescription(nodes_to_launch)

30
humanoid_robot_intelligence_control_system_configure/launch/object_follower.launch.py
View File

@ -13,20 +13,19 @@
# You should have received a copy of the GNU General Public License
# along with this program. If not, see <https://www.gnu.org/licenses/>.
import os
import sys
import subprocess
from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
def ros1_launch_description():
# Get command-line arguments
args = sys.argv[1:]
# Construct the ROS 1 launch command
roslaunch_command = ["roslaunch", "humanoid_robot_intelligence_control_system_object_detector", "object_detector_processor.launch"] + args
roslaunch_command = ["roslaunch", "humanoid_robot_intelligence_control_system_configure", "object_follow.launch"] + args
roslaunch_command.extend([
"usb_cam", "usb_cam_node", "name:=camera",
@ -39,11 +38,11 @@ def ros1_launch_description():
])
roslaunch_command.extend([
"ros_web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_object_detection.py", "name:=object_detection_node"
"humanoid_robot_intelligence_control_system_object_detector", "object_detection_processor.py", "name:=object_detection_processor_node"
])
roslaunch_command.extend([
"humanoid_robot_intelligence_control_system_ball_detector", "object_detection_processor.py", "name:=object_detection_processor_node"
"humanoid_robot_intelligence_control_system_configure", "object_follower.py", "name:=object_follower_node"
])
roslaunch_command.extend([
@ -54,6 +53,7 @@ def ros1_launch_description():
# Execute the launch command
subprocess.call(roslaunch_command)
def ros2_launch_description():
nodes_to_launch = []
@ -72,14 +72,6 @@ def ros2_launch_description():
}]
))
nodes_to_launch.append(Node(
package='ros_web_api_bellande_2d_computer_vision',
executable='bellande_2d_computer_vision_object_detection.py',
name='object_detection_node',
output='screen',
remappings=[('camera/image_raw', '/usb_cam/image_raw')]
))
nodes_to_launch.append(Node(
package='humanoid_robot_intelligence_control_system_object_detector',
executable='object_detection_processor.py',
@ -88,6 +80,18 @@ def ros2_launch_description():
parameters=[{'yaml_path': '$(find ros_web_api_bellande_2d_computer_vision)/yaml/object_detection_params.yaml'}]
))
nodes_to_launch.append(Node(
package='humanoid_robot_intelligence_control_system_configure',
executable='object_follower.py',
name='object_follower_node',
output='screen',
parameters=[{
'p_gain': 0.4,
'i_gain': 0.0,
'd_gain': 0.0
}]
))
nodes_to_launch.append(Node(
package='rviz2',
executable='rviz2',

32
humanoid_robot_intelligence_control_system_configure/launch/object_tracker.launch.py
View File

@ -13,20 +13,19 @@
# You should have received a copy of the GNU General Public License
# along with this program. If not, see <https://www.gnu.org/licenses/>.
import os
import sys
import subprocess
from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
def ros1_launch_description():
# Get command-line arguments
args = sys.argv[1:]
# Construct the ROS 1 launch command
roslaunch_command = ["roslaunch", "humanoid_robot_intelligence_control_system_object_detector", "object_detector_processor.launch"] + args
roslaunch_command = ["roslaunch", "humanoid_robot_intelligence_control_system_configure", "object_follow.launch"] + args
roslaunch_command.extend([
"usb_cam", "usb_cam_node", "name:=camera",
@ -39,11 +38,11 @@ def ros1_launch_description():
])
roslaunch_command.extend([
"ros_web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_object_detection.py", "name:=object_detection_node"
"humanoid_robot_intelligence_control_system_object_tracker", "object_detection_processor.py", "name:=object_detection_processor_node"
])
roslaunch_command.extend([
"humanoid_robot_intelligence_control_system_ball_detector", "object_detection_processor.py", "name:=object_detection_processor_node"
"humanoid_robot_intelligence_control_system_configure", "object_follower.py", "name:=object_follower_node"
])
roslaunch_command.extend([
@ -54,6 +53,7 @@ def ros1_launch_description():
# Execute the launch command
subprocess.call(roslaunch_command)
def ros2_launch_description():
nodes_to_launch = []
@ -73,21 +73,25 @@ def ros2_launch_description():
))
nodes_to_launch.append(Node(
package='ros_web_api_bellande_2d_computer_vision',
executable='bellande_2d_computer_vision_object_detection.py',
name='object_detection_node',
output='screen',
remappings=[('camera/image_raw', '/usb_cam/image_raw')]
))
nodes_to_launch.append(Node(
package='humanoid_robot_intelligence_control_system_object_detector',
package='humanoid_robot_intelligence_control_system_object_tracker',
executable='object_detection_processor.py',
name='object_detection_processor_node',
output='screen',
parameters=[{'yaml_path': '$(find ros_web_api_bellande_2d_computer_vision)/yaml/object_detection_params.yaml'}]
))
nodes_to_launch.append(Node(
package='humanoid_robot_intelligence_control_system_configure',
executable='object_follower.py',
name='object_follower_node',
output='screen',
parameters=[{
'p_gain': 0.4,
'i_gain': 0.0,
'd_gain': 0.0
}]
))
nodes_to_launch.append(Node(
package='rviz2',
executable='rviz2',

143
humanoid_robot_intelligence_control_system_configure/src/face_follower.py
View File

@ -15,18 +15,32 @@
# You should have received a copy of the GNU General Public License
# along with this program. If not, see <https://www.gnu.org/licenses/>.
import rospy
import os
import sys
import math
from std_msgs.msg import String
from sensor_msgs.msg import JointState
from std_msgs.msg import String, Bool
from geometry_msgs.msg import Point
from humanoid_robot_intelligence_control_system_walking_module_msgs.msg import WalkingParam
from humanoid_robot_intelligence_control_system_walking_module_msgs.srv import GetWalkingParam
class FaceFollower:
def __init__(self):
rospy.init_node('face_follower')
def __init__(self, ros_version):
self.ros_version = ros_version
if self.ros_version == '1':
rospy.init_node('face_follower')
self.get_param = rospy.get_param
self.logger = rospy
else:
rclpy.init()
self.node = rclpy.create_node('face_follower')
self.get_param = self.node.get_parameter
self.logger = self.node.get_logger()
self.initialize_parameters()
self.setup_ros_communication()
def initialize_parameters(self):
self.FOV_WIDTH = 35.2 * math.pi / 180
self.FOV_HEIGHT = 21.6 * math.pi / 180
self.count_not_found = 0
@ -54,24 +68,37 @@ class FaceFollower:
self.accum_period_time = 0.0
self.DEBUG_PRINT = False
self.current_joint_states_sub = rospy.Subscriber(
"/humanoid_robot_intelligence_control_system/goal_joint_states", JointState, self.current_joint_states_callback)
self.set_walking_command_pub = rospy.Publisher(
"/humanoid_robot_intelligence_control_system/walking/command", String, queue_size=1)
self.set_walking_param_pub = rospy.Publisher(
"/humanoid_robot_intelligence_control_system/walking/set_params", WalkingParam, queue_size=1)
self.get_walking_param_client = rospy.ServiceProxy(
"/humanoid_robot_intelligence_control_system/walking/get_params", GetWalkingParam)
def setup_ros_communication(self):
if self.ros_version == '1':
self.current_joint_states_sub = rospy.Subscriber(
"/humanoid_robot_intelligence_control_system/goal_joint_states", JointState, self.current_joint_states_callback)
self.set_walking_command_pub = rospy.Publisher(
"/humanoid_robot_intelligence_control_system/walking/command", String, queue_size=1)
self.set_walking_param_pub = rospy.Publisher(
"/humanoid_robot_intelligence_control_system/walking/set_params", WalkingParam, queue_size=1)
self.get_walking_param_client = rospy.ServiceProxy(
"/humanoid_robot_intelligence_control_system/walking/get_params", GetWalkingParam)
self.face_position_sub = rospy.Subscriber(
"/face_detector/face_position", Point, self.face_position_callback)
self.prev_time = rospy.Time.now()
else:
self.current_joint_states_sub = self.node.create_subscription(
JointState, "/humanoid_robot_intelligence_control_system/goal_joint_states", self.current_joint_states_callback, 10)
self.set_walking_command_pub = self.node.create_publisher(
String, "/humanoid_robot_intelligence_control_system/walking/command", 1)
self.set_walking_param_pub = self.node.create_publisher(
WalkingParam, "/humanoid_robot_intelligence_control_system/walking/set_params", 1)
self.get_walking_param_client = self.node.create_client(
GetWalkingParam, "/humanoid_robot_intelligence_control_system/walking/get_params")
self.face_position_sub = self.node.create_subscription(
Point, "/face_detector/face_position", self.face_position_callback, 10)
self.prev_time = self.node.get_clock().now()
self.face_position_sub = rospy.Subscriber(
"/face_detector/face_position", Point, self.face_position_callback)
self.prev_time = rospy.Time.now()
self.current_walking_param = WalkingParam()
def start_following(self):
self.on_following = True
rospy.loginfo("Start Face following")
self.logger.info("Start Face following")
self.set_walking_command("start")
result = self.get_walking_param()
if result:
@ -84,7 +111,7 @@ class FaceFollower:
def stop_following(self):
self.on_following = False
self.count_to_approach = 0
rospy.loginfo("Stop Face following")
self.logger.info("Stop Face following")
self.set_walking_command("stop")
def current_joint_states_callback(self, msg):
@ -126,14 +153,18 @@ class FaceFollower:
return fb_move, rl_angle
def process_following(self, x_angle, y_angle, face_size):
curr_time = rospy.Time.now()
delta_time = (curr_time - self.prev_time).to_sec()
if self.ros_version == '1':
curr_time = rospy.Time.now()
delta_time = (curr_time - self.prev_time).to_sec()
else:
curr_time = self.node.get_clock().now()
delta_time = (curr_time - self.prev_time).nanoseconds / 1e9
self.prev_time = curr_time
self.count_not_found = 0
if self.current_tilt == -10 and self.current_pan == -10:
rospy.logerr("Failed to get current angle of head joints.")
self.logger.error("Failed to get current angle of head joints.")
self.set_walking_command("stop")
self.on_following = False
self.approach_face_position = "NotFound"
@ -170,4 +201,70 @@ class FaceFollower:
self.set_walking_param(self.IN_PLACE_FB_STEP, 0, 0, True)
msg = String()
msg.data = command
self.set_walking_command_pub.
self.set_walking_command_pub.publish(msg)
def set_walking_param(self, x_move, y_move, rotation_angle, balance=False):
self.current_walking_param.balance_enable = balance
self.current_walking_param.x_move_amplitude = x_move + self.SPOT_FB_OFFSET
self.current_walking_param.y_move_amplitude = y_move + self.SPOT_RL_OFFSET
self.current_walking_param.angle_move_amplitude = rotation_angle + self.SPOT_ANGLE_OFFSET
self.set_walking_param_pub.publish(self.current_walking_param)
self.current_x_move = x_move
self.current_r_angle = rotation_angle
def get_walking_param(self):
if self.ros_version == '1':
try:
response = self.get_walking_param_client()
self.current_walking_param = response.parameters
return True
except rospy.ServiceException as e:
self.logger.error("Failed to get walking parameters: %s" % e)
return False
else:
future = self.get_walking_param_client.call_async(GetWalkingParam.Request())
rclpy.spin_until_future_complete(self.node, future)
if future.result() is not None:
self.current_walking_param = future.result().parameters
return True
else:
self.logger.error('Service call failed %r' % (future.exception(),))
return False
def run(self):
if self.ros_version == '1':
rate = rospy.Rate(30) # 30Hz
while not rospy.is_shutdown():
if self.on_following:
self.process_following(self.current_pan, self.current_tilt, 0.1)
rate.sleep()
else:
while rclpy.ok():
if self.on_following:
self.process_following(self.current_pan, self.current_tilt, 0.1)
rclpy.spin_once(self.node, timeout_sec=0.03)
def main(ros_version):
try:
follower = FaceFollower(ros_version)
follower.start_following()
follower.run()
except Exception as e:
if ros_version == '1':
rospy.logerr(f"An error occurred: {e}")
else:
rclpy.shutdown()
print(f"An error occurred: {e}")
if __name__ == '__main__':
ros_version = os.getenv("ROS_VERSION")
if ros_version == "1":
import rospy
elif ros_version == "2":
import rclpy
from rclpy.node import Node
else:
print("Unsupported ROS version. Please set the ROS_VERSION environment variable to '1' for ROS 1 or '2' for ROS 2.")
sys.exit(1)
main(ros_version)