'''Action controller for F651
Copyright (C) 2018, CPS2018 Challenge by Team Halmstad. All rights reserved.
BSD license:
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions
are met:
1. Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
3. Neither the name of the copyright holder nor the names of
contributors to this software may be used to endorse or promote
products derived from this software without specific prior written
permission.
THIS SOFTWARE IS PROVIDED BY THE AUTHORS AND CONTRIBUTORS ``AS IS''
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
HOLDER OR THE CONTRIBUTORS TO THIS SOFTWARE BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE
GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
'''
#!/usr/bin/env python
import roslib
roslib.load_manifest('simulation_control')
import rospy
import actionlib
import mavros_state
import time
from simulation_control.msg import center_on_objectAction, center_on_objectGoal, descend_on_objectAction, descend_on_objectGoal, detect_objectAction, detect_objectGoal, goto_positionAction, goto_positionGoal, short_grippersAction, short_grippersGoal, long_grippersAction, long_grippersGoal
from std_msgs.msg import Float32
if __name__ == '__main__':
rospy.init_node('action_controller')
mv_state = mavros_state.mavros_state()
print 'Setting offboard'
mv_state.set_mode('OFFBOARD')
print 'Arming vehicle'
mv_state.arm(True)
rospy.loginfo("Taking off")
goto_position_client = actionlib.SimpleActionClient('goto_position', goto_positionAction)
goto_position_client.wait_for_server()
goto_position_goal = goto_positionGoal()
goto_position_goal.destination.pose.position.z = 5
goto_position_client.send_goal(goto_position_goal)
goto_position_client.wait_for_result()
rospy.loginfo("Takeoff succeded")
# Close legs
long_grippers_client = actionlib.SimpleActionClient('long_grippers', long_grippersAction)
long_grippers_client.wait_for_server()
rospy.loginfo("Moving legs to pickup position")
long_grippers_goal = long_grippersGoal(grip_rad_goal=Float32(0.5000000000))
long_grippers_client.send_goal(long_grippers_goal)
long_grippers_client.wait_for_result()
if long_grippers_client.get_result().goal_reached.data:
rospy.loginfo("Legs moved to pickup position")
else:
rospy.loginfo("Error with moving legs to pickup position")
# /Close legs
goto_position_goal.destination.pose.position.x = -105
goto_position_goal.destination.pose.position.y = 0
goto_position_goal.destination.pose.position.z = 3
goto_position_client.send_goal(goto_position_goal)
goto_position_client.wait_for_result()
rospy.loginfo("Arrived at search position.")
rospy.loginfo("Searching...")
detect_object_client = actionlib.SimpleActionClient('detect_object', detect_objectAction)
detect_object_client.wait_for_server()
detect_object_goal = detect_objectGoal()
detect_object_client.send_goal(detect_object_goal)
detect_object_client.wait_for_result()
print(detect_object_client.get_result())
rospy.loginfo("Going to detected position")
goto_position_goal.destination.pose.position.x = detect_object_client.get_result().detected_position.pose.position.x
goto_position_goal.destination.pose.position.y = detect_object_client.get_result().detected_position.pose.position.y
goto_position_goal.destination.pose.position.z = detect_object_client.get_result().detected_position.pose.position.z
goto_position_client.send_goal(goto_position_goal)
goto_position_client.wait_for_result()
rospy.loginfo("Is at position (x,y,z)=({}, {}, {})".format(detect_object_client.get_result().detected_position.pose.position.x,
detect_object_client.get_result().detected_position.pose.position.y,
detect_object_client.get_result().detected_position.pose.position.z))
rospy.loginfo("Descending on object")
descend_on_object_client = actionlib.SimpleActionClient('descend_on_object', descend_on_objectAction)
descend_on_object_client.wait_for_server()
rospy.loginfo("Descending server started")
descend_on_object_goal = descend_on_objectGoal()
descend_on_objectGoal = 2.0
descend_on_object_client.send_goal(descend_on_object_goal)
descend_on_object_client.wait_for_result()
if descend_on_object_client.get_result().position_reached.data:
print("landing")
mv_state.arm(False)
else:
rospy.loginfo("Couldnt land exiting")
time.sleep(3)
# Grip object
short_grippers_client = actionlib.SimpleActionClient('short_grippers', short_grippersAction)
short_grippers_client.wait_for_server()
rospy.loginfo("Closing short grippers")
short_grippers_goal = short_grippersGoal(grip_rad_goal=Float32(1.22000000000))
short_grippers_client.send_goal(short_grippers_goal)
short_grippers_client.wait_for_result()
if short_grippers_client.get_result().goal_reached.data:
rospy.loginfo("Short grippers closed")
else:
rospy.loginfo("Error when closing short grippers")
# /Grip object
time.sleep(3)
print 'Setting offboard'
mv_state.set_mode('OFFBOARD')
print 'Arming vehicle'
mv_state.arm(True)
time.sleep(1)
rospy.loginfo("Lifting")
goto_position_goal.destination.pose.position.x = -105
goto_position_goal.destination.pose.position.y = 0
goto_position_goal.destination.pose.position.z = 1.5
goto_position_client.send_goal(goto_position_goal)
goto_position_client.wait_for_result()
time.sleep(1)
# Close legs
rospy.loginfo("Closing legs around object")
long_grippers_goal = long_grippersGoal(grip_rad_goal=Float32(1.57000000000))
long_grippers_client.send_goal(long_grippers_goal)
long_grippers_client.wait_for_result()
if long_grippers_client.get_result().goal_reached.data:
print("Legs closed")
else:
rospy.loginfo("Error with closing legs")
# /Close legs
time.sleep(1)
rospy.loginfo("Going to drop off position")
goto_position_goal.destination.pose.position.x = 0
goto_position_goal.destination.pose.position.y = 105
goto_position_goal.destination.pose.position.z = 5
goto_position_client.send_goal(goto_position_goal)
goto_position_client.wait_for_result()
time.sleep(3)
rospy.loginfo("Deceding prior to drop off")
goto_position_goal.destination.pose.position.x = 0
goto_position_goal.destination.pose.position.y = 105
goto_position_goal.destination.pose.position.z = 0.5
goto_position_client.send_goal(goto_position_goal)
goto_position_client.wait_for_result()
time.sleep(3)
# Open legs
rospy.loginfo("Opening legs around object")
long_grippers_goal = long_grippersGoal(grip_rad_goal=Float32(0.00000000000))
long_grippers_client.send_goal(long_grippers_goal)
long_grippers_client.wait_for_result()
if long_grippers_client.get_result().goal_reached.data:
print("Legs opened")
else:
rospy.loginfo("Error with leg opening")
# /Open legs
time.sleep(1)
# Release object
rospy.loginfo("short_grippers")
short_grippers_goal = short_grippersGoal(grip_rad_goal=Float32(0.00000000000))
short_grippers_client.send_goal(short_grippers_goal)
short_grippers_client.wait_for_result()
if short_grippers_client.get_result().goal_reached.data:
print("Grip position reached")
else:
rospy.loginfo("Grip position not reached")
# /Release object
time.sleep(3)
rospy.loginfo("Going Home")
goto_position_goal.destination.pose.position.x = 0
goto_position_goal.destination.pose.position.y = -105
goto_position_goal.destination.pose.position.z = 5
goto_position_client.send_goal(goto_position_goal)
goto_position_client.wait_for_result()
mv_state.land(0.0)