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cv_plus_assemble.py
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cv_plus_assemble.py
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#!/usr/bin/python
import rospy, cv_bridge, cv2
import cv2.cv as cv
import numpy as np
import time
import struct
import baxter_interface
import baxter_external_devices
from baxter_interface import (
DigitalIO,
Gripper,
Navigator,
CHECK_VERSION,
)
from geometry_msgs.msg import (
Point,
Quaternion,
PoseStamped,
Pose,
)
from std_msgs.msg import Header
from sensor_msgs.msg import Image
from sensor_msgs.msg import Range
from baxter_core_msgs.srv import (
SolvePositionIK,
SolvePositionIKRequest,
)
bridge = cv_bridge.CvBridge()
x1 = 0
y1 = 0
rad1 = 0
fgbg = cv2.BackgroundSubtractorMOG2(history=10, varThreshold=7000,bShadowDetection=False)
def image_callback_mog2(ros_img1):
global fgbg
img = bridge.imgmsg_to_cv2(ros_img1, desired_encoding="passthrough")
fgmask = fgbg.apply(img)
img = fgmask
img = cv2.GaussianBlur(img,(3,3),cv2.BORDER_DEFAULT)
global x1,y1,rad1
circles = cv2.HoughCircles(img,cv.CV_HOUGH_GRADIENT,1.3,50,param1=50,param2=34,minRadius=20,maxRadius=30)
if circles is not None:
circles = np.uint16(np.around(circles))
for i in circles[0,:]:
if x1 == 0:
x1=i[0]
y1=i[1]
rad1 = i[2]
if (x1 >= 260 or (((x1 >= 230) and (x1 <=300)) and ((y1 >= 0) and (y1 <=80)))):
x1=0
y1=0
rad1=0
else:
if x1 < i[0]:
x1 = i[0]
y1 = i[1]
rad1 = i[2]
print('x = ',x1,'; y = ', y1)
cv2.circle(img,(x1,y1),rad1,(0,255,0),2)
cv2.circle(img,(x1,y1),2,(0,0,255),3)
else:
x1 = 0
y1 = 0
rad1 = 0
if ((y1 == 0) or (((x1 >= 230) and (x1 <=300)) and ((y1 >= 0) and (y1 <=80)))):
return 0
else :
return 1
def image_callback_TFD(ros_img1, ros_img2, ros_img3):
img1 = bridge.imgmsg_to_cv2(ros_img1, desired_encoding="passthrough")
img2 = bridge.imgmsg_to_cv2(ros_img2, desired_encoding="passthrough")
img3 = bridge.imgmsg_to_cv2(ros_img3, desired_encoding="passthrough")
img = frame_diff(img1, img2, img3)
img = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)
global x1,y1,rad1
circles = cv2.HoughCircles(img,cv.CV_HOUGH_GRADIENT,1.3,30,param1=50,param2=20,minRadius=22,maxRadius=26)
if circles is not None:
circles = np.uint16(np.around(circles))
for i in circles[0,:]:
if x1 == 0:
x1=i[0]
y1=i[1]
rad1 = i[2]
if (x1 >= 260 or (((x1 >= 230) and (x1 <=300)) and ((y1 >= 0) and (y1 <=80)))):
x1=0
y1=0
rad1=0
else:
if x1 < i[0]:
x1 = i[0]
y1 = i[1]
rad1 = i[2]
print('x = ',x1,'; y = ', y1)
cv2.circle(img,(x1,y1),rad1,(0,255,0),2)
cv2.circle(img,(x1,y1),2,(0,0,255),3)
else:
x1 = 0
y1 = 0
rad1 = 0
if ((y1 == 0) or (((x1 >= 230) and (x1 <=300)) and ((y1 >= 0) and (y1 <=80)))):
return 0
else :
return 1
def frame_diff(prev_frame, cur_frame, next_frame):
diff_frames_1 = cv2.absdiff(next_frame, cur_frame)
diff_frames_2 = cv2.absdiff(cur_frame, prev_frame)
return cv2.bitwise_and(diff_frames_1, diff_frames_2)
cv2.waitKey(1)
def ik_move_hand1(limb, id):
print("hmm")
time.sleep(1)
ns = "ExternalTools/" + limb + "/PositionKinematicsNode/IKService"
iksvc = rospy.ServiceProxy(ns, SolvePositionIK)
ikreq = SolvePositionIKRequest()
hdr = Header(stamp=rospy.Time.now(), frame_id='base')
global y1
if y1 != 0:
delta = 119-y1
else:
delta = 0
print(delta)
delta1 = 1.0/87.0
print(delta1)
delta1 = delta * delta1
print(delta1)
delta1 = delta1 / 10.0
print(delta1)
if id == 1:
pose = {
'right': PoseStamped(
header=hdr,
pose=Pose(
position=Point(
x=0.7 + delta1,
y=-0.2,
z=-0.03,
),
orientation=Quaternion(
x=0,
y=1,
z=0,
w=0,
),
),
),
}
ikreq.pose_stamp.append(pose[limb])
try:
rospy.wait_for_service(ns, 5.0)
resp = iksvc(ikreq)
except (rospy.ServiceException, rospy.ROSException), e:
rospy.logerr("Service call failed: %s" % (e,))
return 1
# Check if result valid, and type of seed ultimately used to get solution
# convert rospy's string representation of uint8[]'s to int's
resp_seeds = struct.unpack('<%dB' % len(resp.result_type),
resp.result_type)
if (resp_seeds[0] != resp.RESULT_INVALID):
seed_str = {
ikreq.SEED_USER: 'User Provided Seed',
ikreq.SEED_CURRENT: 'Current Joint Angles',
ikreq.SEED_NS_MAP: 'Nullspace Setpoints',
}.get(resp_seeds[0], 'None')
print("SUCCESS - Valid Joint Solution Found from Seed Type: %s" %
(seed_str,))
# Format solution into Limb API-compatible dictionary
limb_joints = dict(zip(resp.joints[0].name, resp.joints[0].position))
right = baxter_interface.Limb(limb)
right.move_to_joint_positions(limb_joints)
print "\nIK Joint Solution:\n", limb_joints
print "------------------"
print "Response Message:\n", resp
else:
print("INVALID POSE - No Valid Joint Solution Found.")
return 0
def ik_move_hand(limb, id):
ns = "ExternalTools/" + limb + "/PositionKinematicsNode/IKService"
iksvc = rospy.ServiceProxy(ns, SolvePositionIK)
ikreq = SolvePositionIKRequest()
hdr = Header(stamp=rospy.Time.now(), frame_id='base')
if id == 1:
pose = {
'right': PoseStamped(
header=hdr,
pose=Pose(
position=Point(
x=0.45036923630096765,
y=-0.6029034213165805,
z=-0.0946448076956774,
),
orientation=Quaternion(
x=-0.0054052860719728795,
y=0.9997779868892971,
z=0.020354369689796925,
w=0.000677826376040635,
),
),
),
}
elif id == 2:
pose = {
'right': PoseStamped(
header=hdr,
pose=Pose(
position=Point(
x=0.4552564328301657,
y=-0.6133778381085472,
z=0.015164699598485848,
),
orientation=Quaternion(
x=-0.010288648924110909,
y=0.9998536033926507,
z=0.00027905464896251197,
w=0.01366885564161323,
),
),
),
}
else:
pose = {
'right': PoseStamped(
header=hdr,
pose=Pose(
position=Point(
x=0.7,
y=-0.2,
z=0.05,
),
orientation=Quaternion(
x=0,
y=1,
z=0,
w=0,
),
),
),
}
ikreq.pose_stamp.append(pose[limb])
try:
rospy.wait_for_service(ns, 5.0)
resp = iksvc(ikreq)
except (rospy.ServiceException, rospy.ROSException), e:
rospy.logerr("Service call failed: %s" % (e,))
return 1
# Check if result valid, and type of seed ultimately used to get solution
# convert rospy's string representation of uint8[]'s to int's
resp_seeds = struct.unpack('<%dB' % len(resp.result_type),
resp.result_type)
if (resp_seeds[0] != resp.RESULT_INVALID):
seed_str = {
ikreq.SEED_USER: 'User Provided Seed',
ikreq.SEED_CURRENT: 'Current Joint Angles',
ikreq.SEED_NS_MAP: 'Nullspace Setpoints',
}.get(resp_seeds[0], 'None')
print("SUCCESS - Valid Joint Solution Found from Seed Type: %s" %
(seed_str,))
# Format solution into Limb API-compatible dictionary
limb_joints = dict(zip(resp.joints[0].name, resp.joints[0].position))
right = baxter_interface.Limb(limb)
right.move_to_joint_positions(limb_joints)
print "\nIK Joint Solution:\n", limb_joints
print "------------------"
print "Response Message:\n", resp
else:
print("INVALID POSE - No Valid Joint Solution Found.")
return 0
def fk_move_hand(limb, id):
right = baxter_interface.Limb(limb)
if id == 1:
pose = {'right_s0': -0.27650003701634585, 'right_s1': -0.820296226321725, 'right_w0': -0.44715539966859813, 'right_w1': 0.5748593002600588, 'right_w2': -0.37697577862284043, 'right_e0': 0.400368985638093, 'right_e1': 1.9320488023416786}
elif id == 2:
pose = {'right_s0': -0.2500388684253224, 'right_s1': -1.10791762405024, 'right_w0': -0.21705828148578604, 'right_w1': 0.705247667230319, 'right_w2': -0.5583690067902906, 'right_e0': 0.36393694192581444, 'right_e1': 1.9918740530692098}
else:
pose = {'right_s0': 0.7800292306397328, 'right_s1': -0.972160324322381, 'right_w0': -0.08168447695489828, 'right_w1': 0.9832816850345502, 'right_w2': 0.1491796316218565, 'right_e0': 0.12118448224294769, 'right_e1': 1.5612089468703798}
right.move_to_joint_positions(pose)
def main():
time.sleep(15)
global fgbg
fgbg = cv2.BackgroundSubtractorMOG2(history=10, varThreshold=7000,bShadowDetection=False)
rospy.init_node('hmmm')
right = baxter_interface.Limb('right')
rightGripper = baxter_interface.Gripper('right')
pose = right.endpoint_pose()
print "current pose quaternion: ", pose
print ""
print "current pose angles: ", right.joint_angles()
right.set_joint_position_speed(1.0)
rightGripper = Gripper('right', False)
if rightGripper.calibrate():
print "Calibration success"
else:
print "Calibration failed"
rightGripper.open()
for x in range(10):
ik_move_hand('right',2)
ik_move_hand('right',1)
rightGripper.close()
ik_move_hand('right',2)
ik_move_hand('right',3)
image1 = rospy.wait_for_message('/cameras/right_hand_camera/image', Image)
image2 = rospy.wait_for_message('/cameras/right_hand_camera/image', Image)
image3 = rospy.wait_for_message('/cameras/right_hand_camera/image', Image)
img = bridge.imgmsg_to_cv2(image1, desired_encoding="passthrough")
fgmask = fgbg.apply(img)
while(not image_callback_mog2(image1)):
image1 = rospy.wait_for_message('/cameras/right_hand_camera/image', Image)
'''
while(not image_callback_TFD(image1,image2,image3)):
image1 = image2
image2 = image3
image3 = rospy.wait_for_message('/cameras/right_hand_camera/image', Image)
'''
ik_move_hand1('right',1)
rangeSensor = rospy.wait_for_message('/robot/range/right_hand_range/state', Range)
while (rangeSensor.range > 65.0) or (rangeSensor.range < 0.2):
rangeSensor = rospy.wait_for_message('/robot/range/right_hand_range/state', Range)
rightGripper.open()
if __name__ == '__main__':
main()