Initial commit. Basic teleop working!

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+
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arm_teleop/arm_teleop_node.py

+from geometry_msgs.msg import PoseStamped
+from helper_functions.gamepad_functions import GamepadFunctions
+
+import numpy as np
+import cv2
+import math
+from sensor_msgs.msg import Joy
+
+from .teleop_helper_functions import *
+
+import rclpy
+from rclpy.node import Node
+
+from copy import deepcopy as cp
+
+class ArmTeleopNode(Node):
+
+    def __init__(self):
+        super().__init__('arm_teleop_node')
+
+        # Gamepad
+        self.gp = GamepadFunctions()
+        self.gamepad_subscriber = self.create_subscription(Joy, '/gamepad', self.gamepad_callback, 10)
+
+        # Main loop
+        self.mainloop = self.create_timer(0.001, self.mainloop_callback) 
+
+        # Publisher
+        self.franka_pose_publisher = self.create_publisher(PoseStamped, '/equilibrium_pose', 10)
+
+        # Subscriber
+        self.franka_cartesian_pose_subscriber = self.create_subscription(PoseStamped, '/cartesian_pose', self.cart_pos_callback, 10)
+        self.target_translation_subscriber = self.create_subscription(PoseStamped, '/franka/translation_demand', self.translation_callback, 10)
+        self.target_orientation_subscriber = self.create_subscription(PoseStamped, '/franka/orientation_demand',self.orientation_callback, 10)
+
+        # Variables
+        self.translation_demand = None
+        self.orientation_demand = None
+        self.current_franka_pose = None
+        
+    def translation_callback(self, msg:PoseStamped):
+        self.translation_demand = msg
+
+    def orientation_callback(self, msg:PoseStamped):
+        self.orientation_demand = msg
+
+    def cart_pos_callback(self, msg:PoseStamped):
+        self.current_franka_pose = msg
+
+    def gamepad_callback(self, gamepad_raw_msg:Joy):
+        self.gp.convert_joy_msg_to_dictionary(gamepad_raw_msg)
+
+    def mainloop_callback(self):
+        if self.current_franka_pose is not None:
+            target_pose = cp(self.current_franka_pose)
+            print_msg = ""
+
+            if self.translation_demand is not None:
+                print_msg += "Translation ok -- "
+                target_pose.pose.position = self.translation_demand.pose.position
+                
+            if self.orientation_demand is not None:
+                print_msg += "Orientation ok -- "
+                target_pose.pose.orientation = self.orientation_demand.pose.orientation
+
+            if self.gp.button_data["L1"] == 1:
+                print_msg += "Publish!"
+                self.franka_pose_publisher.publish(target_pose)
+
+            self.get_logger().info(print_msg, throttle_duration_sec = 0.5)
+
+def main():
+    rclpy.init()
+    node = ArmTeleopNode()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+
+    rclpy.shutdown()
+
+

arm_teleop/orientation_node.py

+from geometry_msgs.msg import TransformStamped, PoseStamped
+from helper_functions.gamepad_functions import GamepadFunctions
+
+import numpy as np
+from sensor_msgs.msg import Joy
+
+from std_msgs.msg import Float32MultiArray
+from scipy.spatial.transform import Rotation as R
+from scipy.spatial.transform import Slerp
+
+from .teleop_helper_functions import broadcast_tf
+
+import rclpy
+from rclpy.node import Node
+
+from copy import deepcopy as cp
+
+from tf2_ros import TransformBroadcaster
+from tf2_ros.buffer import Buffer
+from tf2_ros.transform_listener import TransformListener
+
+class OrientationNode(Node):
+
+    def __init__(self):
+        super().__init__('orientation_node')
+
+        # Gamepad
+        self.gp = GamepadFunctions()
+        self.gamepad_subscriber = self.create_subscription(Joy, '/gamepad', self.gamepad_callback, 10)
+
+        # tf related
+        self.tf_broadcaster = TransformBroadcaster(self)
+        self.tf_buffer = Buffer()
+        self.tf_listener = TransformListener(self.tf_buffer, self)
+
+        # Main loop
+        self.mainloop = self.create_timer(0.001, self.mainloop_callback) 
+
+        # Subscriber
+        self.manus_skeleton_subscriber = self.create_subscription(Float32MultiArray, '/manus/imu', self.imu_callback, 10)
+        self.franka_cartesian_pose_subscriber = self.create_subscription(PoseStamped, '/cartesian_pose', self.cart_pos_callback, 10)
+        
+        # Publisher
+        self.target_orientation_publisher = self.create_publisher(PoseStamped, '/franka/orientation_demand', 10)
+
+        # Variables
+        self.calibration_stage = 0
+        self.target_hand_orientation = None
+        self.current_franka_pose = None
+
+        # Parameters
+        self.DAMPING = 0.95
+
+    def cart_pos_callback(self, msg:PoseStamped):
+        self.current_franka_pose = msg
+
+
+    def imu_callback(self, msg:Float32MultiArray):
+        q = msg.data
+        
+        rotate_z = R.from_euler("z", -90, degrees=True)
+        rotate_z_inv = R.from_euler("z", 90, degrees=True)
+        q0 = rotate_z.as_quat()
+
+        broadcast_tf(self, "panda_link8", "hand_frame", [0.0, 0.0, 0.1], q0)
+
+        # Start of calibration
+        if self.calibration_stage == 1:
+            broadcast_tf(self, "hand_frame", "new_base", [0.0, 0.0, 0.0], [q[0], q[1], q[2], q[3]*-1])
+
+            try:
+                t = self.tf_buffer.lookup_transform("world", "new_base", rclpy.time.Time())
+            except:
+                print(".. Waiting for new_base broadcast ..")
+                return
+            
+            self.world_to_glove_root = [t.transform.rotation.x, t.transform.rotation.y, t.transform.rotation.z, t.transform.rotation.w]
+            self.calibration_stage = 2
+
+        # Mid calibration
+        if self.calibration_stage >= 2:
+            broadcast_tf(self, "world", "new_base_wrt_world", [0.0, 0.0, 0.0], self.world_to_glove_root)
+            broadcast_tf(self, "new_base_wrt_world", "imu_wrt_world", [0.2, 0.0, 0.0], q)
+
+            # Interpolate hand orientation
+            if self.target_hand_orientation is None:
+                self.target_hand_orientation = cp(q)
+            else:
+                # Apply damping by linear interpolation
+                slerp = Slerp([0, 1], R.from_quat([q, self.target_hand_orientation]))
+                target_R = slerp([self.DAMPING])
+                target_hand_orientation = target_R.as_quat()[0]
+
+                self.target_hand_orientation = cp(target_hand_orientation)
+
+                # convert hand position back to end effector position
+                conv_mat = R.as_matrix(rotate_z_inv)
+                target_mat = R.as_matrix(R.from_quat(target_hand_orientation))
+                converted = np.matmul(target_mat, conv_mat)
+                target = R.as_quat(R.from_matrix(converted))
+
+                broadcast_tf(self, "new_base_wrt_world", "target_q_wrt_world", [0.2, 0.0, 0.0], target)
+
+                # get end effector position wrt world
+                try:
+                    target_wrt_world = self.tf_buffer.lookup_transform("world", "target_q_wrt_world", rclpy.time.Time())
+                except:
+                    print(".. Waiting for target_q_wrt_world broadcast ..")
+                    return
+                self.calibration_stage = 3
+
+        # If all processes are ready, get the arm position, and update the 
+        if self.calibration_stage == 3:
+            if self.current_franka_pose is not None:
+                target_pose = cp(self.current_franka_pose)
+                target_pose.pose.orientation.x = target_wrt_world.transform.rotation.x
+                target_pose.pose.orientation.y = target_wrt_world.transform.rotation.y
+                target_pose.pose.orientation.z = target_wrt_world.transform.rotation.z
+                target_pose.pose.orientation.w = target_wrt_world.transform.rotation.w
+
+            self.target_orientation_publisher.publish(target_pose)
+            
+
+    def gamepad_callback(self, gamepad_raw_msg:Joy):
+        self.gp.convert_joy_msg_to_dictionary(gamepad_raw_msg)
+
+    def mainloop_callback(self):
+        if self.gp.if_button_pressed("circle") and self.calibration_stage == 0:
+            self.calibration_stage = 1
+            print("\nStart calibration\n")
+
+
+def main():
+    rclpy.init()
+    node = OrientationNode()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+
+    rclpy.shutdown()
+
+

arm_teleop/teleop_helper_functions.py

+import sys
+import pyzed.sl as sl
+from geometry_msgs.msg import TransformStamped
+
+def broadcast_tf(self, base_name, frame_name, position, quaternion):
+    t = TransformStamped()
+    t.header.stamp = self.get_clock().now().to_msg()
+    t.header.frame_id = base_name
+    t.child_frame_id = frame_name
+
+    t.transform.translation.x = position[0]
+    t.transform.translation.y = position[1]
+    t.transform.translation.z = position[2]
+
+    t.transform.rotation.x = quaternion[0]
+    t.transform.rotation.y = quaternion[1]
+    t.transform.rotation.z = quaternion[2]
+    t.transform.rotation.w = quaternion[3]
+
+    self.tf_broadcaster.sendTransform(t)
+    
+    return t
+
+def init_zed_camera():
+    # Create a ZED camera object
+    zed = sl.Camera()
+
+    # Set configuration parameters
+    input_type = sl.InputType()
+    if len(sys.argv) >= 2 :
+        input_type.set_from_svo_file(sys.argv[1])
+    init = sl.InitParameters(input_t=input_type)
+    init.camera_resolution = sl.RESOLUTION.HD1080
+    init.depth_mode = sl.DEPTH_MODE.PERFORMANCE
+    init.coordinate_units = sl.UNIT.MILLIMETER
+
+    # Open the camera
+    err = zed.open(init)
+    if err != sl.ERROR_CODE.SUCCESS :
+        print(repr(err))
+        zed.close()
+        exit(1)
+
+    # Set runtime parameters after opening the camera
+    runtime = sl.RuntimeParameters()
+
+    # Prepare new image size to retrieve half-resolution images
+    image_size = zed.get_camera_information().camera_configuration.resolution
+    image_size.width = image_size.width /2
+    image_size.height = image_size.height /2
+
+    # Declare your sl.Mat matrices
+    image_zed = sl.Mat(image_size.width, image_size.height, sl.MAT_TYPE.U8_C4)
+    depth_image_zed = sl.Mat(image_size.width, image_size.height, sl.MAT_TYPE.U8_C4)
+    point_cloud = sl.Mat()
+
+    return zed, runtime, image_size, image_zed, depth_image_zed, point_cloud
\ No newline at end of file

arm_teleop/translation_node.py

+from geometry_msgs.msg import PoseStamped
+from helper_functions.gamepad_functions import GamepadFunctions
+
+import numpy as np
+import cv2
+import math
+from sensor_msgs.msg import Joy
+
+from .teleop_helper_functions import *
+
+import rclpy
+from rclpy.node import Node
+
+from copy import deepcopy as cp
+
+class TranslationNode(Node):
+
+    def __init__(self):
+        super().__init__('translation_node')
+
+        # Gamepad
+        self.gp = GamepadFunctions()
+        self.gamepad_subscriber = self.create_subscription(Joy, '/gamepad', self.gamepad_callback, 10)
+
+        # Main loop
+        self.mainloop = self.create_timer(0.001, self.mainloop_callback) 
+        self.cameraloop = self.create_timer(0.001, self.camearaloop_callback) 
+
+        # Publisher
+        self.target_translation_publisher = self.create_publisher(PoseStamped, '/franka/translation_demand', 10)
+
+        # Subscriber
+        self.franka_cartesian_pose_subscriber = self.create_subscription(PoseStamped, '/cartesian_pose', self.cart_pos_callback, 10)
+
+        # Variables
+        self.calibration_stage = 0
+        self.raw_positions = [0.0, 0.0, 0.0]
+        self.damped_raw_positions = [0.0, 0.0, 0.0]
+        self.current_franka_pose = None
+
+        # Parameters
+        self.DAMPING = 0.9
+        self.SCALING = [0.8, 0.8, 0.8]
+
+        self.zed, self.runtime, self.image_size, self.image_zed, self.depth_image_zed, self.point_cloud = init_zed_camera()
+
+
+    def is_zed_reading_valid(self):
+        is_valid = False
+        if abs(self.raw_positions[0]) < 600 and abs(self.raw_positions[1]) < 200 and self.raw_positions[2] < 900 and self.raw_positions[2] > 400:
+            is_valid = True
+        return is_valid
+
+
+    def camearaloop_callback(self):
+        err = self.zed.grab(self.runtime)
+        if err == sl.ERROR_CODE.SUCCESS :
+            self.zed.retrieve_image(self.image_zed, sl.VIEW.LEFT, sl.MEM.CPU, self.image_size)
+            self.zed.retrieve_image(self.depth_image_zed, sl.VIEW.DEPTH, sl.MEM.CPU, self.image_size)
+            # Retrieve the RGBA point cloud in half resolution
+            self.zed.retrieve_measure(self.point_cloud, sl.MEASURE.XYZRGBA, sl.MEM.CPU, self.image_size)
+
+
+            # Get image and then blur
+            raw = self.image_zed.get_data()
+            blur = cv2.blur(raw, (6,6))
+
+            # Threshold HSV
+            hsv = cv2.cvtColor(blur, cv2.COLOR_BGR2HSV)
+            lower = np.array([10, 200, 200]) 
+            upper = np.array([40, 255, 255])  
+            mask = cv2.inRange(hsv, lower, upper)
+
+            kernel = np.ones((3, 3), np.uint8)
+            dilate = cv2.dilate(mask, kernel, iterations=1)
+            erode = cv2.erode(dilate, kernel, iterations=1)
+
+            contours,hierarchy = cv2.findContours(erode, 1, 2)
+
+            is_detected = False
+            contour_info = [-10, None]
+            for cnt in contours:
+                if cv2.contourArea(cnt) > 600 and cv2.contourArea(cnt) > contour_info[0]:
+                    contour_info = [cv2.contourArea(cnt), cnt]
+                    is_detected = True
+
+            if is_detected:
+                M = cv2.moments(contour_info[1])
+                cX = int(M["m10"] / M["m00"]);  cY = int(M["m01"] / M["m00"])
+                cv2.circle(raw, (cX, cY), 7, (255, 255, 255), -1)
+            
+                loop = 10
+                count = 0
+                for i in range(2):
+                    for x in range(loop):
+                        for y in range(loop):
+                            pc = self.point_cloud.get_value(cX + (1-i*2) * x, cY + (1-i*2) * y)
+                            point_cloud_value = pc[1]
+                            if math.isnan(point_cloud_value[0]) == False:
+                                for i in range(3):
+                                    self.raw_positions[i] += point_cloud_value[i]
+                                count += 1
+                if count > 0:
+                    for i in range(3):
+                        self.raw_positions[i]= round(self.raw_positions[i] / count)
+
+            
+            # Display the hue objects
+            cv2.imshow('hue', erode)
+            cv2.imshow("raw", raw)
+            cv2.waitKey(1)
+
+    def cart_pos_callback(self, msg:PoseStamped):
+        self.current_franka_pose = msg
+
+    def gamepad_callback(self, gamepad_raw_msg:Joy):
+        self.gp.convert_joy_msg_to_dictionary(gamepad_raw_msg)
+
+    def mainloop_callback(self):
+        if self.calibration_stage == 0:
+            print("raw pos:", self.raw_positions)
+            print("valid:", self.is_zed_reading_valid(), "\n")
+
+        if self.gp.if_button_pressed("square") and self.calibration_stage == 0 and self.is_zed_reading_valid() and (self.current_franka_pose is not None):
+            self.calibration_stage = 1
+            print("\nVision calibration\n")
+
+            self.start_zed_pose = cp(self.raw_positions)
+            temp = cp(self.current_franka_pose)
+            self.start_franka_translation = [temp.pose.position.x, temp.pose.position.y, temp.pose.position.z]
+
+        if self.calibration_stage == 1 and self.is_zed_reading_valid():
+            raw = cp(self.raw_positions)
+            demand_translation = [0.0, 0.0, 0.0]
+
+            for i in range(3):
+                self.damped_raw_positions[i] = self.damped_raw_positions[i] * self.DAMPING + (raw[i] - self.start_zed_pose[i]) * (1-self.DAMPING)
+            
+            demand_translation[0] = round(self.damped_raw_positions[1] * -1 * self.SCALING[0] * 0.001 + self.start_franka_translation[0], 4)
+            demand_translation[1] = round(self.damped_raw_positions[0] * -1 * self.SCALING[1] * 0.001 + self.start_franka_translation[1], 4)
+            demand_translation[2] = round(self.damped_raw_positions[2] * -1 * self.SCALING[2] * 0.001 + self.start_franka_translation[2], 4)
+
+            print("raw:", self.raw_positions)
+            print("starting", self.start_zed_pose)
+            print("to arm:", demand_translation)
+
+            target_pose = cp(self.current_franka_pose)
+            target_pose.pose.position.x = demand_translation[0]
+            target_pose.pose.position.y = demand_translation[1]
+            target_pose.pose.position.z = demand_translation[2]
+
+            self.target_translation_publisher.publish(target_pose)
+            
+def main():
+    rclpy.init()
+    node = TranslationNode()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+
+    rclpy.shutdown()
+
+

package.xml

+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>arm_teleop</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="kai.junge@epfl.ch">kaijunge</maintainer>
+  <license>Apache-2.0</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

setup.cfg

+[develop]
+script_dir=$base/lib/arm_teleop
+[install]
+install_scripts=$base/lib/arm_teleop

setup.py

+from setuptools import find_packages, setup
+
+package_name = 'arm_teleop'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='kaijunge',
+    maintainer_email='kai.junge@epfl.ch',
+    description='TODO: Package description',
+    license='Apache-2.0',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'arm_teleop_node = arm_teleop.arm_teleop_node:main',
+            'orientation_node = arm_teleop.orientation_node:main',
+            'translation_node = arm_teleop.translation_node:main'
+        ],
+    },
+)