From df40b7128125a7b2d42a2cfa94f538b5fc20d49c Mon Sep 17 00:00:00 2001 From: weijian Date: Wed, 14 Dec 2022 11:16:07 +0800 Subject: [PATCH] update aikit_encode.py and change rviz dae model --- .../aikit_280_pi/config/ai_mycobot_pi.rviz | 226 ++ mycobot_ai/aikit_280_pi/launch/test.launch | 16 + .../aikit_280_pi/launch/vision_m5.launch | 27 - .../aikit_280_pi/launch/vision_pi.launch | 5 +- .../aikit_280_pi/launch/vision_wio.launch | 27 - .../aikit_280_pi/scripts/aikit_encode.py | 40 +- .../mycobot_pi/mycobot_with_vision_v2.urdf | 200 ++ .../urdf/mycobot_pi/suit_env_v2.dae | 2760 +++++++++++++++++ 8 files changed, 3234 insertions(+), 67 deletions(-) create mode 100755 mycobot_ai/aikit_280_pi/config/ai_mycobot_pi.rviz create mode 100644 mycobot_ai/aikit_280_pi/launch/test.launch delete mode 100644 mycobot_ai/aikit_280_pi/launch/vision_m5.launch delete mode 100644 mycobot_ai/aikit_280_pi/launch/vision_wio.launch create mode 100755 mycobot_description/urdf/mycobot_pi/mycobot_with_vision_v2.urdf create mode 100644 mycobot_description/urdf/mycobot_pi/suit_env_v2.dae diff --git a/mycobot_ai/aikit_280_pi/config/ai_mycobot_pi.rviz b/mycobot_ai/aikit_280_pi/config/ai_mycobot_pi.rviz new file mode 100755 index 0000000..9388654 --- /dev/null +++ b/mycobot_ai/aikit_280_pi/config/ai_mycobot_pi.rviz @@ -0,0 +1,226 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + - /TF1 + - /Marker1 + Splitter Ratio: 0.5 + Tree Height: 579 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + env: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint6_flange: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + env: + Value: true + joint1: + Value: true + joint2: + Value: true + joint3: + Value: true + joint4: + Value: true + joint5: + Value: true + joint6: + Value: true + joint6_flange: + Value: true + Marker Alpha: 1 + Marker Scale: 0.30000001192092896 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + joint1: + env: + {} + joint2: + joint3: + joint4: + joint5: + joint6: + joint6_flange: + {} + Update Interval: 0 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: cube + Name: Marker + Namespaces: + {} + Queue Size: 100 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: joint1 + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 1.0433008670806885 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: -0.07064759731292725 + Y: -0.0814988762140274 + Z: 0.10758385062217712 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.3703983426094055 + Target Frame: + Yaw: 0.555390477180481 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 876 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1848 + X: 72 + Y: 27 diff --git a/mycobot_ai/aikit_280_pi/launch/test.launch b/mycobot_ai/aikit_280_pi/launch/test.launch new file mode 100644 index 0000000..2efb18e --- /dev/null +++ b/mycobot_ai/aikit_280_pi/launch/test.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/mycobot_ai/aikit_280_pi/launch/vision_m5.launch b/mycobot_ai/aikit_280_pi/launch/vision_m5.launch deleted file mode 100644 index a8feb9a..0000000 --- a/mycobot_ai/aikit_280_pi/launch/vision_m5.launch +++ /dev/null @@ -1,27 +0,0 @@ - - - - - - - - - - - - - ["joint_states"] - - - - - - - - - - - - - - diff --git a/mycobot_ai/aikit_280_pi/launch/vision_pi.launch b/mycobot_ai/aikit_280_pi/launch/vision_pi.launch index d434d35..cb76ec3 100644 --- a/mycobot_ai/aikit_280_pi/launch/vision_pi.launch +++ b/mycobot_ai/aikit_280_pi/launch/vision_pi.launch @@ -2,8 +2,9 @@ - - + + + diff --git a/mycobot_ai/aikit_280_pi/launch/vision_wio.launch b/mycobot_ai/aikit_280_pi/launch/vision_wio.launch deleted file mode 100644 index 654f540..0000000 --- a/mycobot_ai/aikit_280_pi/launch/vision_wio.launch +++ /dev/null @@ -1,27 +0,0 @@ - - - - - - - - - - - - - ["joint_states"] - - - - - - - - - - - - - - diff --git a/mycobot_ai/aikit_280_pi/scripts/aikit_encode.py b/mycobot_ai/aikit_280_pi/scripts/aikit_encode.py index 8017dd8..ca7aa9f 100644 --- a/mycobot_ai/aikit_280_pi/scripts/aikit_encode.py +++ b/mycobot_ai/aikit_280_pi/scripts/aikit_encode.py @@ -32,8 +32,8 @@ class Detect_marker(Movement): # self.Pin = [20, 21] self.Pin = [2, 5] - for i in self.move_coords: - i[2] -= 20 + # for i in self.move_coords: + # i[2] -= 20 elif "dev" in self.robot_raspi or "dev" in self.robot_jes: import RPi.GPIO as GPIO GPIO.setwarnings(False) @@ -53,6 +53,10 @@ class Detect_marker(Movement): self.cap = cv2.VideoCapture(cap_num) self.cap.set(3, 640) self.cap.set(4, 480) + + # Determine the placement point of the QR code + self.color = 0 + # Get ArUco marker dict that can be detected. self.aruco_dict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_6X6_250) # Get ArUco marker params. @@ -105,8 +109,10 @@ class Detect_marker(Movement): GPIO.output(21, 1) # Grasping motion - def move(self, x, y): - + def move(self, x, y, color): + + print(color) + angles = [ [0.61, 45.87, -92.37, -41.3, 2.02, 9.58], # init to point [18.8, -7.91, -54.49, -23.02, -0.79, -14.76], @@ -114,10 +120,10 @@ class Detect_marker(Movement): coords = [ [145.6, -65.5, 285.1, 178.99, 7.67, 179.9], # 初始化点 init point - [132.2, -136.9, 200.8, -178.24, -3.72, -107.17], # D分拣区 D sorting area - [238.8, -124.1, 204.3, -169.69, -5.52, -96.52], # C分拣区 C sorting area [115.8, 177.3, 210.6, 178.06, -0.92, -6.11], # A分拣区 A sorting area [-6.9, 173.2, 201.5, 179.93, 0.63, 33.83], # B分拣区 B sorting area + [238.8, -124.1, 204.3, -169.69, -5.52, -96.52], # C分拣区 C sorting area + [132.2, -136.9, 200.8, -178.24, -3.72, -107.17], # D分拣区 D sorting area ] # publish marker @@ -134,7 +140,10 @@ class Detect_marker(Movement): #time.sleep(2) self.mc.send_coords([coords[0][0]+x, coords[0][1]+y, 200, 178.99, -3.78, -62.9], 25, 0) time.sleep(2) - self.mc.send_coords([coords[0][0]+x, coords[0][1]+y, 105, 178.99, -3.78, -62.9], 25, 0) + # self.mc.send_coords([coords[0][0]+x, coords[0][1]+y, 105, 178.99, -3.78, -62.9], 25, 0) + # time.sleep(2) + self.mc.send_coords([coords[0][0]+x, coords[0][1]+y, 65.5, 178.99, -3.78, -62.9], 25, 0) + time.sleep(3.5) # open pump @@ -173,7 +182,7 @@ class Detect_marker(Movement): time.sleep(2) # decide whether grab cube - def decide_move(self, x, y): + def decide_move(self, x, y, color): print(x,y) # detect the cube status move or run @@ -183,7 +192,7 @@ class Detect_marker(Movement): else: self.cache_x = self.cache_y = 0 # 调整吸泵吸取位置，y增大,向左移动;y减小,向右移动;x增大,前方移动;x减小,向后方移动 - self.move(x-5, y+145) + self.move(x, y+145, color) # init mycobot def init_mycobot(self): @@ -212,7 +221,16 @@ class Detect_marker(Movement): corners, ids, rejectImaPoint = cv2.aruco.detectMarkers( gray, self.aruco_dict, parameters=self.aruco_params ) - + + # Determine the placement point of the QR code + if ids == np.array([[1]]): + self.color = 1 + elif ids == np.array([[2]]): + self.color = 2 + elif ids == np.array([[3]]): + self.color = 3 + elif ids == np.array([[4]]): + self.color = 4 if len(corners) > 0: if ids is not None: @@ -237,7 +255,7 @@ class Detect_marker(Movement): sum_y += xyz[0] num += 1 elif num ==40 : - self.decide_move(sum_x/40.0, sum_y/40.0) + self.decide_move(sum_x/40.0, sum_y/40.0, self.color) num = sum_x = sum_y = 0 cv2.imshow("encode_image", img) diff --git a/mycobot_description/urdf/mycobot_pi/mycobot_with_vision_v2.urdf b/mycobot_description/urdf/mycobot_pi/mycobot_with_vision_v2.urdf new file mode 100755 index 0000000..64aef37 --- /dev/null +++ b/mycobot_description/urdf/mycobot_pi/mycobot_with_vision_v2.urdf @@ -0,0 +1,200 @@ + + + + + + + + + + + + + + + + + + + + + + + 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262 262 262 277 277 277 145 145 145 42 42 42 36 36 36 42 42 42 145 145 145 366 366 366 42 42 42 365 365 365 364 364 364 42 42 42 364 364 364 144 144 144 365 365 365 42 42 42 366 366 366 276 276 276 374 374 374 373 373 373 146 146 146 263 263 263 373 373 373 275 275 275 375 375 375 374 374 374 274 274 274 147 147 147 375 375 375 275 275 275 274 274 274 375 375 375 97 97 97 274 274 274 273 273 273 147 147 147 274 274 274 97 97 97 145 145 145 36 36 36 146 146 146 144 144 144 143 143 143 42 42 42 278 278 278 262 262 262 261 261 261 260 260 260 278 278 278 261 261 261 279 279 279 278 278 278 260 260 260 262 262 262 373 373 373 263 263 263 280 280 280 279 279 279 259 259 259 36 36 36 264 264 264 263 263 263 279 279 279 260 260 260 259 259 259 280 280 280 259 259 259 258 258 258 258 258 258 281 281 281 280 280 280 278 278 278 277 277 277 262 262 262 248 248 248 272 272 272 271 271 271 249 249 249 271 271 271 270 270 270 247 247 247 246 246 246 272 272 272 250 250 250 270 270 270 269 269 269 290 290 290 289 289 289 268 268 268 269 269 269 268 268 268 289 289 289 281 281 281 258 258 258 257 257 257 249 249 249 270 270 270 250 250 250 248 248 248 271 271 271 249 249 249 248 248 248 247 247 247 272 272 272 273 273 273 272 272 272 246 246 246 288 288 288 251 251 251 250 250 250 35 35 35 264 264 264 36 36 36 43 43 43 143 143 143 369 369 369 367 367 367 150 150 150 344 344 344 344 344 344 150 150 150 345 345 345 132 132 132 368 368 368 367 367 367 134 134 134 149 149 149 372 372 372 149 149 149 134 134 134 133 133 133 133 133 133 345 345 345 150 150 150 346 346 346 134 134 134 372 372 372 132 132 132 369 369 369 368 368 368 367 367 367 344 344 344 343 343 343 369 369 369 132 132 132 131 131 131 131 131 131 342 342 342 138 138 138 132 132 132 367 367 367 343 343 343 371 371 371 346 346 346 372 372 372 139 139 139 340 340 340 130 130 130 129 129 129 140 140 140 139 139 139 340 340 340 363 363 363 341 341 341 350 350 350 358 358 358 351 351 351 341 341 341 362 362 362 342 342 342 131 131 131 43 43 43 369 369 369 148 148 148 231 231 231 96 96 96 348 348 348 370 370 370 96 96 96 96 96 96 370 370 370 148 148 148 231 231 231 147 147 147 232 232 232 348 348 348 347 347 347 371 371 371 97 97 97 246 246 246 245 245 245 97 97 97 245 245 245 244 244 244 273 273 273 246 246 246 97 97 97 147 147 147 97 97 97 233 233 233 232 232 232 147 147 147 233 233 233 244 244 244 243 243 243 97 97 97 148 148 148 147 147 147 231 231 231 229 229 229 350 350 350 349 349 349 95 95 95 128 128 128 127 127 127 128 128 128 95 95 95 230 230 230 349 349 349 128 128 128 230 230 230 228 228 228 360 360 360 229 229 229 349 349 349 230 230 230 229 229 229 350 350 350 229 229 229 359 359 359 102 102 102 174 174 174 228 228 228 127 127 127 348 348 348 96 96 96 347 347 347 346 346 346 371 371 371 68 68 68 102 102 102 101 101 101 143 143 143 43 43 43 42 42 42 113 113 113 266 266 266 265 265 265 291 291 291 257 257 257 256 256 256 267 267 267 266 266 266 310 310 310 293 293 293 255 255 255 254 254 254 256 256 256 255 255 255 292 292 292 255 255 255 293 293 293 292 292 292 292 292 292 291 291 291 256 256 256 267 267 267 293 293 293 254 254 254 291 291 291 290 290 290 257 257 257 293 293 293 267 267 267 294 294 294 253 253 253 252 252 252 286 286 286 252 252 252 251 251 251 287 287 287 240 240 240 253 253 253 285 285 285 251 251 251 288 288 288 287 287 287 253 253 253 286 286 286 285 285 285 285 285 285 284 284 284 241 241 241 286 286 286 252 252 252 287 287 287 112 112 112 98 98 98 284 284 284 35 35 35 155 155 155 154 154 154 113 113 113 310 310 310 266 266 266 295 295 295 294 294 294 309 309 309 265 265 265 35 35 35 113 113 113 267 267 267 310 310 310 294 294 294 35 35 35 94 94 94 318 318 318 153 153 153 35 35 35 154 154 154 35 35 35 153 153 153 152 152 152 152 152 152 151 151 151 35 35 35 151 151 151 94 94 94 35 35 35 114 114 114 113 113 113 35 35 35 294 294 294 310 310 310 309 309 309 309 309 309 308 308 308 295 295 295 282 282 282 308 308 308 112 112 112 284 284 284 283 283 283 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