private static void GetArmsPosition()
{
TimeMsg currentTime = ROSTimeHelper.GetCurrentTime();
TFSubscriptionActionGoalMsg msg = new TFSubscriptionActionGoalMsg(new HeaderMsg(1, currentTime, ""),
new GoalIDMsg(currentTime, ROSActionHelper.GenerateUniqueGoalID("robot_radius", ROSTimeHelper.ToSec(currentTime))),
new TFSubscriptionGoalMsg(new List <string>()
{
leftArm.BaseLink, rightArm.BaseLink
}, "marker", 0f, 0f, 1f));
ROSCommunicationManager.Instance.ros.Publish(TF2WebRepublisherGoalPublisher.GetMessageTopic(), msg);
}
// Update is called once per frame
public void UpdatePlacePose(Vector3 placePosition, Quaternion placeOrientation)
{
if (ROSUnityCoordSystemTransformer.AlmostEqual(currentPlacePosition, placePosition, 0.001f) &&
ROSUnityCoordSystemTransformer.AlmostEqual(currentPlaceOrientation, placeOrientation, 0.001f))
{
return;
}
currentPlacePosition = placePosition;
currentPlaceOrientation = placeOrientation;
if (learning)
{
TimeMsg currentTime = ROSTimeHelper.GetCurrentTime();
InterfaceStateMsg msg = new InterfaceStateMsg(
"HOLOLENS",
InterfaceStateMsg.SystemState.STATE_LEARNING,
currentTime,
interfaceStateMsg.GetProgramID(),
interfaceStateMsg.GetBlockID(),
new ProgramItemMsg(
programItemMsg.GetID(),
programItemMsg.GetOnSuccess(),
programItemMsg.GetOnFailure(),
programItemMsg.GetIType(),
programItemMsg.GetName(),
new List <string>(),
new List <PoseStampedMsg>()
{
new PoseStampedMsg(new HeaderMsg(0, currentTime, "marker"),
new PoseMsg(new PointMsg(ROSUnityCoordSystemTransformer.ConvertVector(currentPlacePosition)),
new QuaternionMsg(ROSUnityCoordSystemTransformer.ConvertQuaternion(currentPlaceOrientation))))
},
new List <PolygonStampedMsg>(),
programItemMsg.GetRefID(),
programItemMsg.GetFlags(),
programItemMsg.GetDoNotClear(),
programItemMsg.GetLabels()),
interfaceStateMsg.GetFlags(),
true,
InterfaceStateMsg.ErrorSeverity.NONE,
InterfaceStateMsg.ErrorCode.ERROR_UNKNOWN);
ROSCommunicationManager.Instance.ros.Publish(InterfaceStatePublisher.GetMessageTopic(), msg);
}
}
// Update is called once per frame
void Update()
{
if (SystemStarter.Instance.calibrated)
{
//Vector3 relativePositionToParent = gameObject.transform.InverseTransformPoint(parentGameObject.transform.position);
Vector3 relativePositionToParent = parentGameObject.transform.InverseTransformPoint(gameObject.transform.position);
Quaternion relativeRotationToParent = Quaternion.Inverse(parentGameObject.transform.rotation) * gameObject.transform.rotation;
tfMsg = new TFMessageMsg(new List <TransformStampedMsg>()
{
new TransformStampedMsg(new HeaderMsg(0, ROSTimeHelper.GetCurrentTime(), frame_id), child_frame_id,
new TransformMsg(new Vector3Msg(relativePositionToParent.x, -relativePositionToParent.y, relativePositionToParent.z),
new QuaternionMsg(-relativeRotationToParent.x, relativeRotationToParent.y, -relativeRotationToParent.z, relativeRotationToParent.w)))
});
ROSCommunicationManager.Instance.ros.Publish(TFPublisher.GetMessageTopic(), tfMsg, debug_log: false);
}
}
private static void CancelTF2Action()
{
GoalIDMsg msg = new GoalIDMsg(ROSTimeHelper.GetCurrentTime(), "");
ROSCommunicationManager.Instance.ros.Publish(TF2WebRepublisherCancelPublisher.GetMessageTopic(), msg);
}
public IEnumerator SaveToROS()
{
ROSActionHelper.OnLearningActionResult += OnLearningActionResult;
//save instruction to ROS
Debug.Log("PLACE TO POSE SAVED");
TimeMsg currentTime = ROSTimeHelper.GetCurrentTime();
InterfaceStateMsg msg = new InterfaceStateMsg(
"HOLOLENS",
InterfaceStateMsg.SystemState.STATE_LEARNING,
currentTime,
interfaceStateMsg.GetProgramID(),
interfaceStateMsg.GetBlockID(),
new ProgramItemMsg(
programItemMsg.GetID(),
programItemMsg.GetOnSuccess(),
programItemMsg.GetOnFailure(),
programItemMsg.GetIType(),
programItemMsg.GetName(),
new List <string>(),
new List <PoseStampedMsg>()
{
new PoseStampedMsg(new HeaderMsg(0, currentTime, "marker"),
new PoseMsg(new PointMsg(ROSUnityCoordSystemTransformer.ConvertVector(PlacePosition)),
new QuaternionMsg(ROSUnityCoordSystemTransformer.ConvertQuaternion(PlaceOrientation))))
},
new List <PolygonStampedMsg>(),
programItemMsg.GetRefID(),
programItemMsg.GetFlags(),
programItemMsg.GetDoNotClear(),
programItemMsg.GetLabels()),
interfaceStateMsg.GetFlags(),
true,
InterfaceStateMsg.ErrorSeverity.NONE,
InterfaceStateMsg.ErrorCode.ERROR_UNKNOWN);
ROSCommunicationManager.Instance.ros.Publish(InterfaceStatePublisher.GetMessageTopic(), msg);
yield return(new WaitForSecondsRealtime(0.1f));
currentTime = ROSTimeHelper.GetCurrentTime();
currentRequestID = ROSActionHelper.GenerateUniqueGoalID((int)learning_request_goal.DONE, ROSTimeHelper.ToSec(currentTime));
LearningRequestActionGoalMsg requestMsg = new LearningRequestActionGoalMsg(new HeaderMsg(0, currentTime, ""),
new GoalIDMsg(currentTime, currentRequestID),
new LearningRequestGoalMsg(learning_request_goal.DONE));
ROSCommunicationManager.Instance.ros.Publish(LearningRequestActionGoalPublisher.GetMessageTopic(), requestMsg);
waiting_for_action_response = true;
//Wait for action server response
yield return(new WaitWhile(() => waiting_for_action_response == true));
Debug.Log("SERVER RESPONDED!");
yield return(new WaitForSecondsRealtime(0.1f));
ROSActionHelper.OnLearningActionResult -= OnLearningActionResult;
//if(InteractiveProgrammingManager.Instance.followedLearningPlacePoseOverride) {
// InteractiveProgrammingManager.Instance.followedLearningPlacePoseOverride = false;
// InteractiveProgrammingManager.Instance.CurrentState = InteractiveProgrammingManager.ProgrammingManagerState.place_to_pose_vis;
// Visualize();
//}
yield return(null);
}
private IEnumerator SaveToROS()
{
robotArm.GetComponent <PR2GripperController>().SetArmActive(false);
ROSActionHelper.OnLearningActionResult += OnLearningActionResult;
Debug.Log("PICK FROM FEEDER SAVED");
//Save parameters for PICK_FROM_FEEDER
TimeMsg currentTime = ROSTimeHelper.GetCurrentTime();
InterfaceStateMsg i_msg = new InterfaceStateMsg(
"HOLOLENS",
InterfaceStateMsg.SystemState.STATE_LEARNING,
currentTime,
interfaceStateMsg.GetProgramID(),
interfaceStateMsg.GetBlockID(),
new ProgramItemMsg(
programItemMsg.GetID(),
programItemMsg.GetOnSuccess(),
programItemMsg.GetOnFailure(),
programItemMsg.GetIType(),
programItemMsg.GetName(),
new List <string>()
{
objectTypeToPick
},
new List <PoseStampedMsg>()
{
new PoseStampedMsg(new HeaderMsg(0, currentTime, "marker"),
new PoseMsg(new PointMsg(ROSUnityCoordSystemTransformer.ConvertVector(robotArmPosition)),
new QuaternionMsg(ROSUnityCoordSystemTransformer.ConvertQuaternion(robotArmRotation))))
},
new List <PolygonStampedMsg>(),
programItemMsg.GetRefID(),
programItemMsg.GetFlags(),
programItemMsg.GetDoNotClear(),
programItemMsg.GetLabels()),
interfaceStateMsg.GetFlags(),
true,
InterfaceStateMsg.ErrorSeverity.NONE,
InterfaceStateMsg.ErrorCode.ERROR_UNKNOWN);
ROSCommunicationManager.Instance.ros.Publish(InterfaceStatePublisher.GetMessageTopic(), i_msg);
yield return(new WaitForSecondsRealtime(0.1f));
//Request brain for goal DONE
currentTime = ROSTimeHelper.GetCurrentTime();
currentRequestID = ROSActionHelper.GenerateUniqueGoalID((int)learning_request_goal.DONE, ROSTimeHelper.ToSec(currentTime));
LearningRequestActionGoalMsg requestMsg = new LearningRequestActionGoalMsg(new HeaderMsg(0, currentTime, ""),
new GoalIDMsg(ROSTimeHelper.GetCurrentTime(), currentRequestID),
new LearningRequestGoalMsg(learning_request_goal.DONE));
ROSCommunicationManager.Instance.ros.Publish(LearningRequestActionGoalPublisher.GetMessageTopic(), requestMsg);
waiting_for_action_response = true;
//Wait for action server response
yield return(new WaitWhile(() => waiting_for_action_response == true));
Debug.Log("SERVER RESPONDED!");
yield return(new WaitForSecondsRealtime(0.1f));
//Switch to next instruction (should be PLACE_TO_POSE)
//InteractiveProgrammingManager.Instance.PlaceToPoseLearningOverride = true;
currentTime = ROSTimeHelper.GetCurrentTime();
i_msg = new InterfaceStateMsg(
"HOLOLENS",
InterfaceStateMsg.SystemState.STATE_LEARNING,
currentTime,
interfaceStateMsg.GetProgramID(),
interfaceStateMsg.GetBlockID(),
ProgramHelper.GetProgramItemById(interfaceStateMsg.GetBlockID(), programItemMsg.GetOnSuccess()),
interfaceStateMsg.GetFlags(),
false,
InterfaceStateMsg.ErrorSeverity.NONE,
InterfaceStateMsg.ErrorCode.ERROR_UNKNOWN);
ROSCommunicationManager.Instance.ros.Publish(InterfaceStatePublisher.GetMessageTopic(), i_msg);
yield return(new WaitForSecondsRealtime(0.1f));
//Request brain for goal GET_READY for learning PLACE_TO_POSE
currentTime = ROSTimeHelper.GetCurrentTime();
currentRequestID = ROSActionHelper.GenerateUniqueGoalID((int)learning_request_goal.GET_READY_WITHOUT_ROBOT, ROSTimeHelper.ToSec(currentTime));
requestMsg = new LearningRequestActionGoalMsg(new HeaderMsg(0, currentTime, ""),
new GoalIDMsg(currentTime, currentRequestID),
new LearningRequestGoalMsg(learning_request_goal.GET_READY_WITHOUT_ROBOT));
ROSCommunicationManager.Instance.ros.Publish(LearningRequestActionGoalPublisher.GetMessageTopic(), requestMsg);
waiting_for_action_response = true;
//Wait for action server response
yield return(new WaitWhile(() => waiting_for_action_response == true));
Debug.Log("SERVER RESPONDED!");
yield return(new WaitForSecondsRealtime(0.1f));
ROSActionHelper.OnLearningActionResult -= OnLearningActionResult;
yield return(null);
//robotArm.transform.parent = world_anchor.transform;
robotArm.GetComponent <FollowTransform>().enabled = false;
robotArm.GetComponent <PR2GripperController>().CloseGripperInstantly();
robotArm.GetComponent <PR2GripperController>().PlaceGripperToInit();
robotArm.GetComponent <PR2GripperController>().SetCollidersActive(true);
robotArm.GetComponent <PR2GripperController>().SetArmActive(false);
spatial_mapping.SetActive(true);
}
private void PublishClick()
{
click_counter++;
if (ROSCommunicationManager.Instance.ros._connected)
{
ROSCommunicationManager.Instance.ros.Publish(HoloLensClickPublisher.GetMessageTopic(), new HeaderMsg(click_counter, ROSTimeHelper.GetCurrentTime(), "hololens"));
}
}