diff --git a/misc/run_headless_sim.sh b/misc/run_headless_sim.sh index 7b98db5a..8327ad2b 100755 --- a/misc/run_headless_sim.sh +++ b/misc/run_headless_sim.sh @@ -54,7 +54,7 @@ startGazeboClient() { } #end startGazeboClient addCollectionZone() { - $spawn\collection_disk/model.sdf -model collection_disk -x 0 -y 0 -z 0 -R 0 -P 0 -Y 0 + $spawn\collection_disk/model.sdf -model collection_disk -x 1.308 -y 0 -z 0 -R 0 -P 0 -Y 0 echo -e "$cyan Attempted to add collection_zone: name=collection_disk, x=0, y=0, z=0, roll=0, pitch=0, yaw=0 $reset" } #end addCollectionZone @@ -155,7 +155,7 @@ addRovers(){ # Delays between adding rovers and starting their nodes in seconds MODEL_ADD_INTERVAL=3s # Specify rover start coordinates - ROVER_POSITIONS_X=( -1.308 0.000 1.308 0.000 1.072 -1.072 -1.072 1.072 ) + ROVER_POSITIONS_X=( 0 0.000 1.308 0.000 1.072 -1.072 -1.072 1.072 ) ROVER_POSITIONS_Y=( 0.000 -1.308 0.000 1.308 1.072 -1.072 1.072 -1.072 ) # In this case, the yaw is the value that turns rover "left" and "right" */ ROVER_YAWS=( 0.000 1.571 -3.142 -1.571 -2.356 0.785 -0.785 2.356 ) diff --git a/simulation/models/red_light/model.config b/simulation/models/red_light/model.config new file mode 100644 index 00000000..1370d8a6 --- /dev/null +++ b/simulation/models/red_light/model.config @@ -0,0 +1,16 @@ + + + + red_light + 1.0 + model.sdf + + + Carter Frost + git@carterfrost.com + + + + A red light. + + diff --git a/simulation/models/red_light/model.sdf b/simulation/models/red_light/model.sdf new file mode 100644 index 00000000..d18b672e --- /dev/null +++ b/simulation/models/red_light/model.sdf @@ -0,0 +1,21 @@ + + + + 2 2 0.55 0 -0 0 + 1 0 0 1 + 0.1 0.1 0.1 1 + 0 0 -1 + + 20 + 0.2 + 0.01 + 0.001 + + 0 + + .5 + 1 + 1 + + + diff --git a/simulation/models/square_pot/model.sdf b/simulation/models/square_pot/model.sdf index afc2cd41..a6d14bc0 100644 --- a/simulation/models/square_pot/model.sdf +++ b/simulation/models/square_pot/model.sdf @@ -99,6 +99,97 @@ + + -0.011441 -0.008338 0.308474 0 -0 0 + + 0.000736153 + + 2.11165e-06 + 0 + 0 + 2.64382e-06 + 0 + 4.70976e-06 + + 0 0 0 0 -0 0 + + + 0 0 0 0 -0 0 + + + 0.206678 0.18452 0.019291 + + + + 1 + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + 1 + 0 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.206678 0.18452 0.019291 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + 1 1 diff --git a/simulation/worlds/NASA-MINDS.world b/simulation/worlds/NASA-MINDS.world index b260745c..0dc93550 100644 --- a/simulation/worlds/NASA-MINDS.world +++ b/simulation/worlds/NASA-MINDS.world @@ -116,7 +116,7 @@ - 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Do pickup.') self.current_state = Task.STATE_PICKUP else: - self.print_state('water_plants failed. Going back home.') + self.print_state('water_plants: Out of water! Going back home.') self.current_state = Task.STATE_GOHOME elif self.current_state == Task.STATE_PICKUP: @@ -222,6 +222,7 @@ def run_next(self): def main() : swarmie.start(node_name='task') + swarmie.plants_init() taskman = Task() while not rospy.is_shutdown(): taskman.run_next() diff --git a/src/mobility/src/mobility/behavior/water_plants.py b/src/mobility/src/mobility/behavior/water_plants.py index f8725627..fafc3ca5 100644 --- a/src/mobility/src/mobility/behavior/water_plants.py +++ b/src/mobility/src/mobility/behavior/water_plants.py @@ -9,38 +9,90 @@ import math import random -from geometry_msgs.msg import Point, PointStamped, PoseStamped, Twist, Pose2D +from geometry_msgs.msg import Point, PointStamped, PoseStamped, Twist, Pose2D, Pose from swarmie_msgs.msg import Obstacle from mobility.planner import Planner from mobility.swarmie import swarmie, TagException, HomeException, ObstacleException, PathException, AbortException, MoveResult - +from moisture_sensors.msg import moisture_msg def plant_walk(num_moves): """Do a plant walk `num_moves` times.""" for move in range(num_moves): if rospy.is_shutdown(): water_plants_exit(-1) - # @TODO: get thirstiest plant also weigh in distance + rospy.sleep(1) + # get thirstiest plant also weigh in distance + plant_ids = [ plant_id for plant_id in range(len(swarmie.plants)) if swarmie.plants[plant_id]['pot_imp'] > moisture_msg.DRY_SOIL or swarmie.plants[plant_id]['plant_imp'] > moisture_msg.DRY_PLANT ] + while not plant_ids: + rospy.loginfo("Waiting for plants to water") + rospy.sleep(5) + plant_ids = [ plant_id for plant_id in range(len(swarmie.plants)) if swarmie.plants[plant_id]['pot_imp'] > moisture_msg.DRY_SOIL or swarmie.plants[plant_id]['plant_imp'] > moisture_msg.DRY_PLANT ] + + cur_pose = swarmie.get_odom_location().get_pose() + # get the closest plant + plant_id = min(plant_ids, key=lambda k: math.sqrt((swarmie.plants[k]['point'].x - cur_pose.x) ** 2 + (swarmie.plants[k]['point'].y - cur_pose.y) ** 2)) try: - swarmie.drive_to_plant(random.randint(0,143)) - except: - pass + drive_to_plant(plant_id) + rospy.loginfo("Watering plant #" + str(plant_id)) + rospy.sleep(2) + swarmie.plants[plant_id]['pot_imp'] = 10 + swarmie.plants[plant_id]['plant_imp'] = 10 + swarmie.delete_light("plant_light_"+str(plant_id)) + swarmie.plants[plant_id]['light'] = False + except rospy.ServiceException,e: + rospy.loginfo("plant_walk: ServiceException%s"%e) + except PathException: + rospy.loginfo("plant_walk: PathException") + except TagException: + rospy.loginfo("plant_walk: TagException") + except HomeException: + rospy.loginfo("plant_walk: HomeException") + except ObstacleException: + rospy.loginfo("plant_walk: ObstacleException") + except Exception, e: + rospy.loginfo("exception: %s"%e) +def drive_to_plant(plant_num): + global planner, use_waypoints + rospy.loginfo("drive_to_plant: #"+str(plant_num)) + plant_point = swarmie.plants[plant_num]['point'] + drive_result = None + counter = 0 + while (counter < 2 and drive_result != MoveResult.SUCCESS): + try: + drive_result = planner.drive_to( + plant_point, + tolerance=0.5+counter, + tolerance_step=0.5+counter, + use_waypoints=use_waypoints, + **swarmie.speed_fast + ) + except rospy.ServiceException: + use_waypoints = False # fallback if map service fails + except PathException as e: + if counter < 3: + pass + else: + water_plants_exit(-1) # FAIL + counter += 1 + try: + swarmie.drive_to(plant_point, claw_offset=0.4, ignore=Obstacle.VISION_SAFE | Obstacle.IS_SONAR, timeout=3,**swarmie.speed_slow) #get a bit closer + except ObstacleException: + pass def water_plants_exit(code): sys.exit(code) def main(**kwargs): - global planner, found_tag + global planner, use_waypoints + use_waypoints = True try: planner except NameError: from mobility.planner import Planner planner = Planner(use_rviz_nav_goal=True) - if not swarmie.planner_publisher: - swarmie.planner_publisher = rospy.Publisher('/move_base_simple/goal', PoseStamped, queue_size=10, latch=True) if not swarmie.plants: swarmie.plants_init() swarmie.fingers_open() diff --git a/src/mobility/src/mobility/planner.py b/src/mobility/src/mobility/planner.py index 8cb07273..19adec90 100755 --- a/src/mobility/src/mobility/planner.py +++ b/src/mobility/src/mobility/planner.py @@ -494,7 +494,7 @@ def _rviz_nav_goal_cb(self, msg, args): avoid_targets = args[0] avoid_home = args[1] goal = Pose2D(x=msg.pose.position.x, y=msg.pose.position.y) - tolerance = 0.0 + tolerance = 0.5 self.drive_to(goal, tolerance, avoid_targets=avoid_targets, avoid_home=avoid_home) diff --git a/src/mobility/src/mobility/swarmie.py b/src/mobility/src/mobility/swarmie.py index 0f0ffa12..42a0d89b 100644 --- a/src/mobility/src/mobility/swarmie.py +++ b/src/mobility/src/mobility/swarmie.py @@ -16,12 +16,13 @@ from mapping.srv import GetNavPlan, GetNavPlanRequest from mobility.msg import MoveResult, MoveRequest from swarmie_msgs.msg import Obstacle +from moisture_sensors.msg import moisture_msg from std_srvs.srv import Empty from std_msgs.msg import UInt8, String, Float32 from nav_msgs.msg import Odometry from control_msgs.srv import QueryCalibrationState, QueryCalibrationStateRequest -from geometry_msgs.msg import Point, PointStamped, PoseStamped, Twist, Pose2D, Pose +from geometry_msgs.msg import Point, PointStamped, PoseStamped, Twist, Pose2D, Pose, Quaternion from apriltags2to1.msg import AprilTagDetection, AprilTagDetectionArray import threading @@ -34,7 +35,7 @@ #@TODO clean up imports import random from std_msgs.msg import Float64MultiArray -from gazebo_msgs.srv import GetModelState, DeleteModel, SpawnModel +from gazebo_msgs.srv import GetModelState, SpawnModel, GetModelProperties, GetWorldProperties, DeleteLight import rospkg class DriveException(Exception): @@ -166,7 +167,9 @@ def __init__(self): self.xform = None self.plants=list() - self.planner_publisher = None + self.spawn_model = None + self.delete_light = None + self.red_light = None def start(self, **kwargs): @@ -245,8 +248,8 @@ def start(self, **kwargs): self._start_gyro_scale_calibration = rospy.ServiceProxy('start_gyro_scale_calibration', Empty) self._store_imu_calibration = rospy.ServiceProxy('store_imu_calibration', Empty) self.model_state = rospy.ServiceProxy('/gazebo/get_model_state', GetModelState) - self.delete_model = rospy.ServiceProxy('/gazebo/delete_model', DeleteModel) self.spawn_model = rospy.ServiceProxy('/gazebo/spawn_sdf_model', SpawnModel) + self.delete_light = rospy.ServiceProxy('/gazebo/delete_light', DeleteLight) # Transform listener. Use this to transform between coordinate spaces. # Transform messages must predate any sensor messages so initialize this first. @@ -260,7 +263,7 @@ def start(self, **kwargs): rospy.Subscriber('home_point', PointStamped, self._home_point) rospy.Subscriber('home_point/approx', PointStamped, self._home_point, callback_args=True) - # rospy.Subscriber('/plants', Plant, self._plant) # @TODO: create msg and comment in + rospy.Subscriber('/moisture', moisture_msg, self._plant) # Wait for Odometry messages to come in. # Don't wait for messages on /obstacle because it's published infrequently try: @@ -278,11 +281,9 @@ def start(self, **kwargs): rospy.logwarn(self.rover_name + ': timed out waiting for /targets data.') - # read some model files - with open (rospkg.RosPack().get_path('swarmie')+'/../../simulation/models/square_pot_thirst/model.sdf', 'r') as sdf_file: - self.thirst_model = sdf_file.read().replace('\n', '') - with open (rospkg.RosPack().get_path('swarmie')+'/../../simulation/models/square_pot/model.sdf', 'r') as sdf_file: - self.pot_model = sdf_file.read().replace('\n', '') + # read the red_light model files + with open (rospkg.RosPack().get_path('swarmie')+'/../../simulation/models/red_light/model.sdf', 'r') as sdf_file: + self.red_light = sdf_file.read().replace('\n', '') print ('Welcome', self.rover_name, 'to the world of the future.') @@ -324,15 +325,23 @@ def _targets(self, msg): @sync(swarmie_lock) def _plant(self, msg): + if not self.plants: + rospy.loginfo("Callback called before plants_init, so calling") + self.plants_init() + if msg.id >= len(self.plants): + rospy.logwarn_throttle(5, "_plant: could not find plant_"+str(msg.id)+"in plants") + return self.plants[msg.id]['temp'] = msg.temp self.plants[msg.id]['pot_imp'] = msg.pot_imp self.plants[msg.id]['plant_imp'] = msg.plant_imp - if msg.pot_imp > 40: # @TODO get actul values possibly store as a ros param - pose = self.model_state("plant_"+str(msg.id), "world").pose - self.delete_model("plant_"+str(msg.id)) - self.spawn_model("plant_"+str(msg.id), self.thirst_model, "", pose,"world") - #else: self.spawn_model("square_pot_"+str(msg.id), self.pot_model, "", pose,"world") - + if msg.plant_imp > moisture_msg.DRY_PLANT or msg.pot_imp > moisture_msg.DRY_SOIL: + rospy.loginfo("Wilting Chili Detected!!! plant #" + str(msg.id)) + if not self.red_light: + rospy.loginfo("red_light not defined waiting") + rospy.sleep(3) + if self.plants[msg.id]['light'] == False: + self.spawn_model("plant_light_"+str(msg.id), self.red_light.replace("2 2", str(self.plants[msg.id]['point'].x)+" "+str(self.plants[msg.id]['point'].y)) ,"", Pose(), "world") + self.plants[msg.id]['light'] = True def __drive(self, request, **kwargs): request.obstacles = ~0 @@ -357,8 +366,11 @@ def __drive(self, request, **kwargs): if 'angular' in kwargs: request.angular = kwargs['angular'] - - value = self.control([request]).result.result + value = 0 + try: + value = self.control([request]).result.result + except rospy.ServiceException: + rospy.loginfo("__drive: rospy.ServiceException") # Always raise AbortExceptions when the service response is USER_ABORT, # even if throw=False was passed as a keyword argument. @@ -932,17 +944,9 @@ def plants_init(self): rospy.loginfo("Populating plant coordinates and offsets") for plant_num in range(0,143): plant_point=self.model_state("plant_"+str(plant_num), "world").pose.position - self.plants.append({'point':plant_point, 'temp':0, 'pot_imp':0, 'plant_imp':0}) + self.plants.append({'point':plant_point, 'temp':0, 'pot_imp':0, 'plant_imp':0,'light':False}) rospy.loginfo("Done populating plant coordinates and offsets") - def drive_to_plant(self, plant_num, **kwargs): - self.planner_publisher.publish(PoseStamped(pose=Pose(position=self.plants[plant_num]['point']))) - while not swarmie.get_odom_location().at_goal(self.plants[plant_num]['point'], 1.1) and not rospy.is_shutdown(): - rospy.sleep(1) # @TODO add a timeout incase the planer fails - rospy.sleep(1) - # @TODO: might use the offset and ignore sonar - self.drive_to(self.plants[plant_num]['point']) #get a bit closer - def drive_to(self, place, claw_offset=0, **kwargs): '''Drive directly to a particular point in space. The point must be in the odometry reference frame. diff --git a/src/moisture_sensors/msg/moisture_msg.msg b/src/moisture_sensors/msg/moisture_msg.msg index 1c33995a..4359845a 100644 --- a/src/moisture_sensors/msg/moisture_msg.msg +++ b/src/moisture_sensors/msg/moisture_msg.msg @@ -1,4 +1,7 @@ +float32 DRY_SOIL = 50 # The higher the value the higher the impedance(more dry) +float32 DRY_PLANT = 60 # The higher the value the higher the impedance(more dry) + uint32 id float32 temp float32 pot_imp -float32 plant_imp \ No newline at end of file +float32 plant_imp diff --git a/src/moisture_sensors/src/talker.py b/src/moisture_sensors/src/talker.py index 0ab04c96..82e44a18 100755 --- a/src/moisture_sensors/src/talker.py +++ b/src/moisture_sensors/src/talker.py @@ -3,17 +3,16 @@ import rospy import random from moisture_sensors.msg import moisture_msg -from std_msgs.msg import Float64 class MoistureSensor: # decay rate for plant # need to chagnge this value to real decay rate moisture_decay_rate = 1 moisture_arr = [] - pots=[{ 'z_value_plant':random.randint(50, 100), - 'z_value_soil': random.randint(0, 45), + pots=[{ 'z_value_plant':random.randint(30, 70), + 'z_value_soil': random.randint(30, 55), 'z_value_temp':random.randint(0, 10)} - for num in range(0,10)] + for num in range(0,142)] # gets the moisture level from the pots and @@ -34,7 +33,7 @@ def get_pot_moisture(self): # decreases each moisture level by moisture_decay value def moisture_decay(self, event=None): for x in range(len(self.pots)): - self.moisture_arr[x] = self.moisture_arr[x] - self.moisture_decay_rate + self.moisture_arr[x] = self.moisture_arr[x] + self.moisture_decay_rate # Every 1 second publishes moisture of pot @@ -68,4 +67,4 @@ def publish_pot_moisture(self, event=None): ms.get_pot_moisture() ms.publish_pot_moisture() - \ No newline at end of file + diff --git a/src/swarmie/launch/swarmie.xml b/src/swarmie/launch/swarmie.xml index 93627f78..da0bd286 100644 --- a/src/swarmie/launch/swarmie.xml +++ b/src/swarmie/launch/swarmie.xml @@ -35,6 +35,8 @@ + + @@ -47,15 +49,15 @@ - - - + + + - - - - + + + +