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ipab-slmc · May 12, 2023 · 9427414 · 9427414
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -0,0 +1,213 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(chonk_pushing)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  xacro
+  pushing_msgs
+  kdl_parser
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES chonk_pushing
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+# ${catkin_INCLUDE_DIRS}
+)
+
+file(GLOB xacro_files urdf/*.urdf.xacro)
+xacro_add_files(${xacro_files} TARGET urdf INSTALL)
+
+install(DIRECTORY urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/chonk_pushing.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/chonk_pushing_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_chonk_pushing.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/launch/action_servers_4tasks.launch b/launch/action_servers_4tasks.launch
@@ -0,0 +1,79 @@
+<?xml version="1.0"?>
+
+<launch>
+    <!-- set global arguments -->
+    <arg name="robot_name" default="chonk"/>
+    <!-- Launch a mux to send commands to the robot only from one source/controller -->
+    <node
+        name="mux_joint_position"
+        pkg="topic_tools"
+        type="mux" 
+        ns="/$(arg robot_name)"
+        args="streaming_controller/command
+            DefaultPositionController/command
+            ActionCmdPosePositionController/command
+            ActionCmdConfigPositionController/command
+            ActionTeleop2DPositionController/command
+            mux:=mux_joint_position"
+    />
+    <!-- Action Service Node for commanding end-effector poses -->
+    <node
+        name="action_server_cmd_config"
+        pkg="chonk_pushing"
+        ns="/$(arg robot_name)"
+        type="action_server_cmd_config.py"
+        output="screen"
+        >
+        <param name="cmd_topic_name" type="string" value="/$(arg robot_name)/ActionCmdConfigPositionController/command"/>
+        <remap from="/joint_states" to="/$(arg robot_name)/joint_states"/>
+        <remap from="/mux_selected" to="/$(arg robot_name)/mux_joint_position/selected"/>
+    </node>
+    <!-- Action Service Node for commanding joint positions -->
+    <node
+        name="action_server_cmd_pose_4tasks"
+        pkg="chonk_pushing"
+        ns="/$(arg robot_name)"
+        type="action_server_cmd_pose_4tasks.py"
+        output="screen"
+        >
+        <param name="link_donkey" type="string" value="donkey_base"/>
+        <param name="link_ee_right" type="string" value="RARM_END_EFFECTOR_finger"/>
+        <param name="link_ee_left" type="string" value="LARM_END_EFFECTOR_finger"/>
+        <param name="link_head" type="string" value="CAMERA_HEAD_HEADING_Link"/>
+        <param name="link_gaze" type="string" value="gaze_ref"/>
+        <param name="cmd_topic_name" type="string" value="/$(arg robot_name)/ActionCmdPosePositionController/command"/>
+        <remap from="/joint_states" to="/$(arg robot_name)/joint_states"/>
+        <remap from="/mux_selected" to="/$(arg robot_name)/mux_joint_position/selected"/>
+    </node>
+    <!-- Action Service Node for teleoperating robot in 2D -->
+    <node
+        name="action_server_teleop_2d"
+        pkg="chonk_pushing"
+        ns="/$(arg robot_name)"
+        type="action_server_teleop_2d.py"
+        output="screen"
+        >
+        <param name="link_ee_right" type="string" value="RARM_END_EFFECTOR_finger"/>
+        <param name="link_ee_left" type="string" value="LARM_END_EFFECTOR_finger"/>
+        <param name="link_head" type="string" value="CAMERA_HEAD_HEADING_Link"/>
+        <param name="link_ref" type="string" value="teleop_ref"/>
+        <param name="link_gaze" type="string" value="gaze_ref"/>
+        <param name="cmd_topic_name" type="string" value="/$(arg robot_name)/ActionTeleop2DPositionController/command"/>
+        <param name="x_min" type="double" value="0.2"/>
+        <param name="x_max" type="double" value="0.8"/>
+        <param name="y_min" type="double" value="-0.5"/>
+        <param name="y_max" type="double" value="0.5"/>
+        <!-- <param name="roll_min" type="double" value="-25"/>
+        <param name="roll_max" type="double" value="25"/>
+        <param name="pitch_min" type="double" value="-20"/>
+        <param name="pitch_max" type="double" value="70"/> -->
+        <param name="roll_min" type="double" value="0"/>
+        <param name="roll_max" type="double" value="0"/>
+        <param name="pitch_min" type="double" value="0"/>
+        <param name="pitch_max" type="double" value="0"/>
+        <param name="yaw_min" type="double" value="-120"/>
+        <param name="yaw_max" type="double" value="120"/>
+        <remap from="/joint_states" to="/$(arg robot_name)/joint_states"/>
+        <remap from="/mux_selected" to="/$(arg robot_name)/mux_joint_position/selected"/>
+    </node>
+</launch>
diff --git a/launch/action_servers_MPC.launch b/launch/action_servers_MPC.launch
@@ -0,0 +1,79 @@
+<?xml version="1.0"?>
+
+<launch>
+    <!-- set global arguments -->
+    <arg name="robot_name" default="chonk"/>
+    <!-- Launch a mux to send commands to the robot only from one source/controller -->
+    <node
+        name="mux_joint_position"
+        pkg="topic_tools"
+        type="mux"
+        ns="/$(arg robot_name)"
+        args="streaming_controller/command
+            DefaultPositionController/command
+            ActionCmdPosePositionController/command
+            ActionCmdConfigPositionController/command
+            ActionTeleop2DPositionController/command
+            mux:=mux_joint_position"
+    />
+    <!-- Action Service Node for commanding end-effector poses -->
+    <node
+        name="action_server_cmd_config"
+        pkg="chonk_pushing"
+        ns="/$(arg robot_name)"
+        type="action_server_cmd_config.py"
+        output="screen"
+        >
+        <param name="cmd_topic_name" type="string" value="/$(arg robot_name)/ActionCmdConfigPositionController/command"/>
+        <remap from="/joint_states" to="/$(arg robot_name)/joint_states"/>
+        <remap from="/mux_selected" to="/$(arg robot_name)/mux_joint_position/selected"/>
+    </node>
+    <!-- Action Service Node for planning joint positions and build MPC to track the planning results -->
+    <node
+        name="action_server_cmd_pose_MPC"
+        pkg="chonk_pushing"
+        ns="/$(arg robot_name)"
+        type="action_server_cmd_pose_MPC.py"
+        output="screen"
+        >
+        <param name="link_donkey" type="string" value="link_donkey"/>
+        <param name="link_ee_right" type="string" value="RARM_END_EFFECTOR_finger"/>
+        <param name="link_ee_left" type="string" value="LARM_END_EFFECTOR_finger"/>
+        <param name="link_head" type="string" value="CAMERA_HEAD_HEADING_Link"/>
+        <param name="link_gaze" type="string" value="gaze_ref"/>
+        <param name="cmd_topic_name" type="string" value="/$(arg robot_name)/ActionCmdPosePositionController/command"/>
+        <remap from="/joint_states" to="/$(arg robot_name)/joint_states"/>
+        <remap from="/mux_selected" to="/$(arg robot_name)/mux_joint_position/selected"/>
+    </node>
+    <!-- Action Service Node for teleoperating robot in 2D -->
+    <node
+        name="action_server_teleop_2d"
+        pkg="chonk_pushing"
+        ns="/$(arg robot_name)"
+        type="action_server_teleop_2d.py"
+        output="screen"
+        >
+        <param name="link_ee_right" type="string" value="RARM_END_EFFECTOR_finger"/>
+        <param name="link_ee_left" type="string" value="LARM_END_EFFECTOR_finger"/>
+        <param name="link_head" type="string" value="CAMERA_HEAD_HEADING_Link"/>
+        <param name="link_ref" type="string" value="teleop_ref"/>
+        <param name="link_gaze" type="string" value="gaze_ref"/>
+        <param name="cmd_topic_name" type="string" value="/$(arg robot_name)/ActionTeleop2DPositionController/command"/>
+        <param name="x_min" type="double" value="0.2"/>
+        <param name="x_max" type="double" value="0.8"/>
+        <param name="y_min" type="double" value="-0.5"/>
+        <param name="y_max" type="double" value="0.5"/>
+        <!-- <param name="roll_min" type="double" value="-25"/>
+        <param name="roll_max" type="double" value="25"/>
+        <param name="pitch_min" type="double" value="-20"/>
+        <param name="pitch_max" type="double" value="70"/> -->
+        <param name="roll_min" type="double" value="0"/>
+        <param name="roll_max" type="double" value="0"/>
+        <param name="pitch_min" type="double" value="0"/>
+        <param name="pitch_max" type="double" value="0"/>
+        <param name="yaw_min" type="double" value="-120"/>
+        <param name="yaw_max" type="double" value="120"/>
+        <remap from="/joint_states" to="/$(arg robot_name)/joint_states"/>
+        <remap from="/mux_selected" to="/$(arg robot_name)/mux_joint_position/selected"/>
+    </node>
+</launch>