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 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);
}
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);
}