diff --git a/.gitignore b/.gitignore index d6ae2c0..c6fd6f1 100644 --- a/.gitignore +++ b/.gitignore @@ -34,3 +34,5 @@ *.txt.user* *kdev4* *.autosave + +build diff --git a/LICENSE b/LICENSE deleted file mode 100644 index 7a4a3ea..0000000 --- a/LICENSE +++ /dev/null @@ -1,202 +0,0 @@ - - Apache License - Version 2.0, January 2004 - http://www.apache.org/licenses/ - - TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION - - 1. Definitions. - - "License" shall mean the terms and conditions for use, reproduction, - and distribution as defined by Sections 1 through 9 of this document. - - "Licensor" shall mean the copyright owner or entity authorized by - the copyright owner that is granting the License. - - "Legal Entity" shall mean the union of the acting entity and all - other entities that control, are controlled by, or are under common - control with that entity. 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We also recommend that a - file or class name and description of purpose be included on the - same "printed page" as the copyright notice for easier - identification within third-party archives. - - Copyright [yyyy] [name of copyright owner] - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. \ No newline at end of file diff --git a/OpenMORE.rosinstall b/OpenMORE.rosinstall index ed92d20..5e3c78b 100644 --- a/OpenMORE.rosinstall +++ b/OpenMORE.rosinstall @@ -4,7 +4,7 @@ version: master - git: local-name: motion_planners - uri: https://github.com/JRL-CARI-CNR-UNIBS/graph_core.git + uri: https://github.com/JRL-CARI-CNR-UNIBS/cari_motion_planning.git version: replanning_strategies_devel - git: local-name: utils/binary_logger diff --git a/README.md b/README.md index 9521649..6f74c22 100644 --- a/README.md +++ b/README.md @@ -123,6 +123,17 @@ BibTex: doi={10.1109/ETFA54631.2023.10275365}} ``` +## Disclaimer +Copyright (c) 2023, Cesare Tonola CNR-STIIMA cesare.tonola@stiima.cnr.it. +All rights reserved. + +Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: +1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. +2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. +3. Neither the name of the nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + ## Developer Contact ### **Authors** - Cesare Tonola () diff --git a/replanners_benchmark/.vscode/settings.json b/replanners_benchmark/.vscode/settings.json new file mode 100644 index 0000000..84c720f --- /dev/null +++ b/replanners_benchmark/.vscode/settings.json @@ -0,0 +1,73 @@ +{ + "files.associations": { + "iostream": "cpp", + "vector": "cpp", + "cctype": "cpp", + "clocale": "cpp", + "cmath": "cpp", + "csignal": "cpp", + "cstdarg": "cpp", + "cstddef": "cpp", + "cstdio": "cpp", + "cstdlib": "cpp", + "cstring": "cpp", + "ctime": "cpp", + "cwchar": "cpp", + "cwctype": "cpp", + "array": "cpp", + "atomic": "cpp", + "strstream": "cpp", + "*.tcc": "cpp", + "bitset": "cpp", + "chrono": "cpp", + "complex": "cpp", + "condition_variable": "cpp", + "cstdint": "cpp", + "deque": "cpp", + "forward_list": "cpp", + "list": "cpp", + "unordered_map": "cpp", + "unordered_set": "cpp", + "exception": "cpp", + "algorithm": "cpp", + "functional": "cpp", + "iterator": "cpp", + "map": "cpp", + "memory": "cpp", + "memory_resource": "cpp", + "numeric": "cpp", + "optional": "cpp", + "random": "cpp", + "ratio": "cpp", + "set": "cpp", + "string": "cpp", + "string_view": "cpp", + "system_error": "cpp", + "tuple": "cpp", + "type_traits": "cpp", + "utility": "cpp", + "hash_map": "cpp", + "hash_set": "cpp", + "fstream": "cpp", + "future": "cpp", + "initializer_list": "cpp", + "iomanip": "cpp", + "iosfwd": "cpp", + "istream": "cpp", + "limits": "cpp", + "mutex": "cpp", + "new": "cpp", + "ostream": "cpp", + "shared_mutex": "cpp", + "sstream": "cpp", + "stdexcept": "cpp", + "streambuf": "cpp", + "thread": "cpp", + "cfenv": "cpp", + "cinttypes": "cpp", + "typeindex": "cpp", + "typeinfo": "cpp", + "variant": "cpp", + "bit": "cpp" + } +} \ No newline at end of file diff --git a/replanners_benchmark/CMakeLists.txt b/replanners_benchmark/CMakeLists.txt index b6884cc..03652d1 100644 --- a/replanners_benchmark/CMakeLists.txt +++ b/replanners_benchmark/CMakeLists.txt @@ -4,6 +4,7 @@ add_compile_options(-std=c++17 -funroll-loops -Wall -Ofast) set(CMAKE_BUILD_TYPE Release) #set(CMAKE_BUILD_TYPE Debug) +find_package(yaml-cpp REQUIRED) find_package(catkin REQUIRED COMPONENTS replanners_lib ) @@ -19,6 +20,8 @@ include_directories( add_executable(replanners_benchmark src/replanners_benchmark.cpp) add_dependencies(replanners_benchmark ${catkin_EXPORTED_TARGETS}) -target_link_libraries(replanners_benchmark -${catkin_LIBRARIES} -) +target_link_libraries(replanners_benchmark ${catkin_LIBRARIES} yaml-cpp) + +add_executable(replanners_benchmark_random src/replanners_benchmark_random.cpp) +add_dependencies(replanners_benchmark_random ${catkin_EXPORTED_TARGETS}) +target_link_libraries(replanners_benchmark_random ${catkin_LIBRARIES} yaml-cpp) \ No newline at end of file diff --git a/replanners_benchmark/config/planar_10dof.yaml b/replanners_benchmark/config/planar_10dof.yaml new file mode 100644 index 0000000..7512cc7 --- /dev/null +++ b/replanners_benchmark/config/planar_10dof.yaml @@ -0,0 +1,59 @@ +#TEST CONFIGURATIONS: +n_query_start: 0 +n_query: 1000 +n_iter_per_query: 1 +bench_name: "10d" + +#PLANNING CONFIGURATIONS: +group_name: "planar_10dof" +utopia_tolerance: 0.01 +extend: false +max_distance: 0.1 +checker_resolution: 0.01 +parallel_checker_n_threads: 20 +max_solver_time: 30 + +#REPLANNER CONFIGURATIONS: + +# Available replanners: +# - MPRRT +# - DRRTStar +# - DRRT +# - anytimeDRRT +# - MARS + +replanner_type_vector: ["MARS"] +dt_replan: 0.200 +trj_execution_thread_frequency: 500 +collision_checker_thread_frequency: 30 +benchmark: true +scaling: 0.6 +read_safe_scaling: false +joint_target_topic: "/joint_target" +unscaled_joint_target_topic: "/unscaled_joint_target" +virtual_obj: + spawn_objs: true + obj_type: ["long_box"] + max_ws_dist: 10 + dt_move: 0.005 + obs_pose_topic: "/poses" + +MPRRT: + n_threads_replan: 5 + +MARS: + n_other_paths: 2 + reverse_start_nodes: true + full_net_search: false + dt_replan_relaxed: 0.200 + verbosity_level: 2 + display_other_paths: false + +#VERBOSITY: +replanner_verbosity: false +display_timing_warning: false +display_replanning_success: true +display_replan_trj_point: false +display_replan_config: true +display_current_trj_point: false +display_current_config: true diff --git a/replanners_benchmark/config/random_scenarios.yaml b/replanners_benchmark/config/random_scenarios.yaml new file mode 100644 index 0000000..4091608 --- /dev/null +++ b/replanners_benchmark/config/random_scenarios.yaml @@ -0,0 +1,630015 @@ +scenario_0: + 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1.38533, -0.924116, -2.91171] + goal: [-1.73475, 1.78283, 2.78545, 0.250749, 0.197637, 1.42186, -1.49908, -3.0538, 0.942061, -2.27044, -0.338296, -1.5109, 2.58971, 1.52618, 2.05593, 1.28095, -0.0207, 0.284137, -1.55371, 0.85209, -0.0325239, -0.120153] + object_0: + pos: [0.615501, 0.462995, 1.31829] + vel: [0.0633627, 0.1721, -0.137453] + object_1: + pos: [0.520323, -0.439831, 1.08384] + vel: [0.0034976, -0.0316173, 0.0470885] + object_2: + pos: [-0.656177, 0.4728, 1.16912] + vel: [0.00379527, -0.123034, -0.0693707] + object_3: + pos: [0.152258, 0.679137, 0.593059] + vel: [-0.00327901, 0.0525952, -0.0822457] + object_4: + pos: [-0.252723, -0.570948, 0.0460849] + vel: [0.0347865, -0.03637, 0.0141935] diff --git a/replanners_benchmark/config/replanners_bench_xarm6.yaml b/replanners_benchmark/config/replanners_bench_xarm6.yaml new file mode 100644 index 0000000..95201a3 --- /dev/null +++ b/replanners_benchmark/config/replanners_bench_xarm6.yaml @@ -0,0 +1,62 @@ +#TEST CONFIGURATIONS: +n_query_start: 0 +n_query: 1000 +n_iter_per_query: 1 +bench_name: "6d" +num_obstacles: [10] #[0,1,2,3,4,5,6,7,8,9,10,20,30,40,50] + +#PLANNING CONFIGURATIONS: +group_name: "xarm6" +utopia_tolerance: 0.01 +extend: false +max_distance: 0.1 +checker_resolution: 0.01 +parallel_checker_n_threads: 20 +max_solver_time: 10 + +#REPLANNER CONFIGURATIONS: + +# Available replanners: +# - MPRRT +# - DRRTStar +# - DRRT +# - anytimeDRRT +# - MARS + +replanner_type_vector: ["MARS"] +dt_replan: 0.200 +trj_execution_thread_frequency: 500 +collision_checker_thread_frequency: 30 +benchmark: true +scaling: 0.6 +read_safe_scaling: false +joint_target_topic: "/joint_target" +unscaled_joint_target_topic: "/unscaled_joint_target" +virtual_obj: + spawn_objs: true + obj_type: ["random_box"] + # obj_type: ["big_box","big_box","big_box","big_box"] + # obj_type: ["big_box1","big_box1","big_box1","big_box1", "big_box2","big_box2","big_box2","big_box2"] + max_ws_dist: 10 + dt_move: 0.005 + obs_pose_topic: "/poses" + +MPRRT: + n_threads_replan: 5 + +MARS: + n_other_paths: 2 + reverse_start_nodes: true + full_net_search: false + dt_replan_relaxed: 0.200 + verbosity_level: 2 + display_other_paths: false + +#VERBOSITY: +replanner_verbosity: false +display_timing_warning: false +display_replanning_success: true +display_replan_trj_point: false +display_replan_config: true +display_current_trj_point: false +display_current_config: true diff --git a/replanners_benchmark/config/scenario1.yaml b/replanners_benchmark/config/scenario1.yaml new file mode 100644 index 0000000..ab4385c --- /dev/null +++ b/replanners_benchmark/config/scenario1.yaml @@ -0,0 +1,22 @@ +environment: + - box: + dim: [0.5, 0.5, 1] + pos: [0.55, 0.55, 0.5] + - box: + dim: [0.5, 0.5, 1] + pos: [-0.55, 0.55, 0.5] + - box: + dim: [0.5, 0.5, 1] + pos: [0.55, -0.55, 0.5] + - box: + dim: [0.5, 0.5, 1] + pos: [-0.55, -0.55, 0.5] + +robot: + start: [0, 0.7854, -2.3562, 0, 0, 0] + goal: [3.14159, 0.7854, -2.3562, 3.14159, 0, 3.14159] + +testing: + max_num: 1000 # Maximal number of tests that should be carried out + max_vel_obs: 0.3 # Maximal velocity for each obstacle from "environment" + \ No newline at end of file diff --git a/replanners_benchmark/config/scenario2.yaml b/replanners_benchmark/config/scenario2.yaml new file mode 100644 index 0000000..b3ecc63 --- /dev/null +++ b/replanners_benchmark/config/scenario2.yaml @@ -0,0 +1,33 @@ +environment: + - box: + dim: [0.1, 0.4, 0.7] + pos: [-0.3, 0.8, 0.35] + - box: + dim: [0.1, 0.4, 0.7] + pos: [0.3, 0.8, 0.35] + - box: + dim: [0.1, 0.4, 0.7] + pos: [-0.3, -0.8, 0.35] + - box: + dim: [0.1, 0.4, 0.7] + pos: [0.3, -0.8, 0.35] + - box: + dim: [0.5, 0.4, 0.1] + pos: [0, 0.8, 0.65] + - box: + dim: [0.5, 0.4, 0.1] + pos: [0, 0.8, 0.05] + - box: + dim: [0.5, 0.4, 0.1] + pos: [0, -0.8, 0.65] + - box: + dim: [0.5, 0.4, 0.1] + pos: [0, -0.8, 0.05] + +robot: + start: [1.5708, 1.3849, -2.9557, 1.5708, 0, 0] + goal: [-1.5708, 1.3849, -2.9557, 1.5708, 0, 0] + +testing: + max_num: 1000 # Maximal number of tests that should be carried out + max_vel_obs: 0.3 # Maximal velocity for each obstacle from "environment" \ No newline at end of file diff --git a/replanners_benchmark/config/scenario3.yaml b/replanners_benchmark/config/scenario3.yaml new file mode 100644 index 0000000..98e9243 --- /dev/null +++ b/replanners_benchmark/config/scenario3.yaml @@ -0,0 +1,25 @@ +environment: + - box: + dim: [0.5, 0.5, 1] + pos: [0.55, 0.55, 0.5] + - box: + dim: [0.5, 0.5, 1] + pos: [-0.55, 0.55, 0.5] + - box: + dim: [0.5, 0.5, 1] + pos: [0.55, -0.55, 0.5] + - box: + dim: [0.5, 0.5, 1] + pos: [-0.55, -0.55, 0.5] + +robot: + # start: [0, 1.57, 0, 0, 0, 0, 0, 0, 0, 0] + # goal: [3.14, 1.57, 0, 0, 0, 0, 0, 0, 0, 0] + # start: [0, 1.57, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] + # goal: [3.14, 1.57, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] + start: [0, 1.57, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] + goal: [3.14, 1.57, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] + +testing: + max_num: 1000 # Maximal number of tests that should be carried out + max_vel_obs: 0.3 # Maximal velocity for each obstacle from "environment" \ No newline at end of file diff --git a/replanners_benchmark/config/spatial_Ndof.yaml b/replanners_benchmark/config/spatial_Ndof.yaml new file mode 100644 index 0000000..deebd47 --- /dev/null +++ b/replanners_benchmark/config/spatial_Ndof.yaml @@ -0,0 +1,60 @@ +#TEST CONFIGURATIONS: +n_query_start: 0 +n_query: 1000 +n_iter_per_query: 1 +bench_name: "22d" +num_obstacles: [5] + +#PLANNING CONFIGURATIONS: +group_name: "spatial_22dof" +utopia_tolerance: 0.01 +extend: false +max_distance: 0.1 +checker_resolution: 0.01 +parallel_checker_n_threads: 20 +max_solver_time: 30 + +#REPLANNER CONFIGURATIONS: + +# Available replanners: +# - MPRRT +# - DRRTStar +# - DRRT +# - anytimeDRRT +# - MARS + +replanner_type_vector: ["MARS"] +dt_replan: 0.200 +trj_execution_thread_frequency: 500 +collision_checker_thread_frequency: 30 +benchmark: true +scaling: 0.6 +read_safe_scaling: false +joint_target_topic: "/joint_target" +unscaled_joint_target_topic: "/unscaled_joint_target" +virtual_obj: + spawn_objs: true + obj_type: ["random_box"] + max_ws_dist: 0.3 + dt_move: 0.005 + obs_pose_topic: "/poses" + +MPRRT: + n_threads_replan: 5 + +MARS: + n_other_paths: 2 + reverse_start_nodes: true + full_net_search: false + dt_replan_relaxed: 0.200 + verbosity_level: 2 + display_other_paths: false + +#VERBOSITY: +replanner_verbosity: false +display_timing_warning: false +display_replanning_success: true +display_replan_trj_point: false +display_replan_config: true +display_current_trj_point: false +display_current_config: true diff --git a/replanners_benchmark/launch/replanners_benchmark_planar_10dof.launch b/replanners_benchmark/launch/replanners_benchmark_planar_10dof.launch new file mode 100644 index 0000000..b17b646 --- /dev/null +++ b/replanners_benchmark/launch/replanners_benchmark_planar_10dof.launch @@ -0,0 +1,14 @@ + + + + + + + + + + diff --git a/replanners_benchmark/launch/replanners_benchmark_spatial_10dof.launch b/replanners_benchmark/launch/replanners_benchmark_spatial_10dof.launch new file mode 100644 index 0000000..60a60d0 --- /dev/null +++ b/replanners_benchmark/launch/replanners_benchmark_spatial_10dof.launch @@ -0,0 +1,14 @@ + + + + + + + + + + diff --git a/replanners_benchmark/launch/replanners_benchmark_spatial_14dof.launch b/replanners_benchmark/launch/replanners_benchmark_spatial_14dof.launch new file mode 100644 index 0000000..ff561ae --- /dev/null +++ b/replanners_benchmark/launch/replanners_benchmark_spatial_14dof.launch @@ -0,0 +1,14 @@ + + + + + + + + + + diff --git a/replanners_benchmark/launch/replanners_benchmark_spatial_18dof.launch b/replanners_benchmark/launch/replanners_benchmark_spatial_18dof.launch new file mode 100644 index 0000000..dcc392b --- /dev/null +++ b/replanners_benchmark/launch/replanners_benchmark_spatial_18dof.launch @@ -0,0 +1,14 @@ + + + + + + + + + + diff --git a/replanners_benchmark/launch/replanners_benchmark_spatial_22dof.launch b/replanners_benchmark/launch/replanners_benchmark_spatial_22dof.launch new file mode 100644 index 0000000..c2e7ba5 --- /dev/null +++ b/replanners_benchmark/launch/replanners_benchmark_spatial_22dof.launch @@ -0,0 +1,14 @@ + + + + + + + + + + diff --git a/replanners_benchmark/launch/replanners_benchmark_xarm6.launch b/replanners_benchmark/launch/replanners_benchmark_xarm6.launch new file mode 100644 index 0000000..5ca6572 --- /dev/null +++ b/replanners_benchmark/launch/replanners_benchmark_xarm6.launch @@ -0,0 +1,14 @@ + + + + + + + + + + diff --git a/replanners_benchmark/src/replanners_benchmark.cpp b/replanners_benchmark/src/replanners_benchmark.cpp index 7e7dddf..c650c9b 100755 --- a/replanners_benchmark/src/replanners_benchmark.cpp +++ b/replanners_benchmark/src/replanners_benchmark.cpp @@ -6,19 +6,46 @@ #include #include +#include + int main(int argc, char **argv) { ros::init(argc, argv, "replanners_benchmark"); ros::AsyncSpinner spinner(4); spinner.start(); + ros::Duration(5).sleep(); ros::NodeHandle nh; + ros::ServiceClient ps_client = nh.serviceClient("/get_planning_scene"); + ros::ServiceClient add_obj = nh.serviceClient("/add_object_to_scene"); + ros::ServiceClient move_obj = nh.serviceClient("/move_object_in_scene"); + ros::ServiceClient remove_obj = nh.serviceClient("/remove_object_from_scene"); + ros::Publisher text_overlay_pub = nh.advertise("/rviz_text_overlay", 1); + + object_loader_msgs::AddObjects srv_add_object; + object_loader_msgs::MoveObjects srv_move_objects; + object_loader_msgs::RemoveObjects srv_remove_object; + std::vector spawned_objects; + std::vector obj_ids; - ros::Duration(5).sleep(); + if (!ps_client.waitForExistence(ros::Duration(10))) + { + ROS_ERROR("unable to connect to /get_planning_scene"); + return 1; + } - ros::ServiceClient ps_client=nh.serviceClient("/get_planning_scene"); - ros::Publisher text_overlay_pub = nh.advertise("/rviz_text_overlay",1); + if(!add_obj.waitForExistence(ros::Duration(10))) + { + ROS_ERROR("unable to connect to /add_object_to_scene"); + return 1; + } + if(!remove_obj.waitForExistence(ros::Duration(10))) + { + ROS_ERROR("unable to connect to /remove_object_to_scene"); + return 1; + } + // ////////////////////////////////////////// GETTING ROS PARAM /////////////////////////////////////////////// int n_query = 1; nh.getParam("n_query",n_query); @@ -49,32 +76,6 @@ int main(int argc, char **argv) return 0; } - std::vector start_configuration; - if (!nh.getParam("start_configuration",start_configuration)) - { - ROS_ERROR("start_configuration not set, exit"); - return 0; - } - - std::vector stop_configuration; - if (!nh.getParam("stop_configuration",stop_configuration)) - { - ROS_ERROR("stop_configuration not set, exit"); - return 0; - } - - std::vector end_start_configuration; - if (!nh.getParam("end_start_configuration",end_start_configuration)) - { - end_start_configuration = stop_configuration; - } - - std::vector end_stop_configuration; - if (!nh.getParam("end_stop_configuration",end_stop_configuration)) - { - end_stop_configuration = start_configuration; - } - double max_distance; if(!nh.getParam("max_distance",max_distance)) { @@ -91,9 +92,36 @@ int main(int argc, char **argv) double max_solver_time; if (!nh.getParam("max_solver_time",max_solver_time)) { - max_solver_time = 20; + max_solver_time = 10; } + std::string obs_pose_topic; + if(!nh.getParam("virtual_obj/obs_pose_topic", obs_pose_topic)) + obs_pose_topic = "/poses"; + ros::Publisher obj_pose_pub = nh.advertise(obs_pose_topic, 10); + + std_msgs::ColorRGBA fg_color, bg_color; + fg_color.r = 0; + fg_color.g = 0; + fg_color.b = 1; + fg_color.a = 0.8; + + bg_color.r = 0; + bg_color.g = 0; + bg_color.b = 0; + bg_color.a = 0; + + jsk_rviz_plugins::OverlayText overlayed_text; + overlayed_text.font = "FreeSans"; + overlayed_text.bg_color = bg_color; + overlayed_text.fg_color = fg_color; + overlayed_text.height = 70; + overlayed_text.left = 10; + overlayed_text.top = 10; + overlayed_text.width = 1000; + overlayed_text.line_width = 2; + overlayed_text.text_size = 20; + // ///////////////////////////////////UPLOADING THE ROBOT ARM///////////////////////////////////////////////////////////// moveit::planning_interface::MoveGroupInterface move_group(group_name); robot_model_loader::RobotModelLoader robot_model_loader("robot_description"); @@ -117,91 +145,181 @@ int main(int argc, char **argv) } } - // /////////////////////////////////////UPDATING THE PLANNING STATIC SCENE//////////////////////////////////// - moveit_msgs::GetPlanningScene ps_srv; - if (!ps_client.waitForExistence(ros::Duration(10))) - { - ROS_ERROR("unable to connect to /get_planning_scene"); - return 1; - } + std::string project_path(__FILE__); + for (size_t i = 0; i < 3; i++) { // This depends on how deep is this file located + project_path = project_path.substr(0, project_path.find_last_of("/\\")); + } + YAML::Node node { YAML::LoadFile(project_path + "/replanners_benchmark/config/scenario1.yaml") }; + std::cout << "Scenarios file path: " << project_path + "/replanners_benchmark/config/scenario1.yaml" << "\n"; - if (!ps_client.call(ps_srv)) + for(const std::string replanner_type : replanner_type_vector) { - ROS_ERROR("call to srv not ok"); - return 1; - } + size_t num_obs = node["environment"].size(); + ROS_INFO("Number of obstacles: %d", num_obs); + std::vector spawn_instants(num_obs, 0); + nh.setParam("virtual_obj/spawn_instants", spawn_instants); + nh.setParam("replanner_type",replanner_type); - if (!planning_scene->setPlanningSceneMsg(ps_srv.response.scene)) - { - ROS_ERROR("unable to update planning scene"); - return 1; - } + int n_query_start; + nh.getParam("n_query_start", n_query_start); - // ///////////////////////////////////////////////////////////////////////////////////////////////////////// - std::string last_link=planning_scene->getRobotModel()->getJointModelGroup(group_name)->getLinkModelNames().back(); + // ------------------------------------------------------------------------------- // - pathplan::DisplayPtr disp = std::make_shared(planning_scene,group_name,last_link); - ros::Duration(0.1).sleep(); + if (!srv_remove_object.request.obj_ids.empty()) + { + if (not remove_obj.call(srv_remove_object)) + ROS_ERROR("call to remove obj srv not ok"); + if(not srv_remove_object.response.success) + ROS_ERROR("remove obj srv error"); + } - Eigen::VectorXd init_start_conf = Eigen::Map(start_configuration.data(), start_configuration.size()); - Eigen::VectorXd init_goal_conf = Eigen::Map(stop_configuration .data(), stop_configuration .size()); + geometry_msgs::Quaternion q; + q.x = 0.0; q.y = 0.0; q.z = 0.0; q.w = 1.0; - Eigen::VectorXd end_start_conf = Eigen::Map(end_start_configuration.data(), end_start_configuration.size()); - Eigen::VectorXd end_goal_conf = Eigen::Map(end_stop_configuration .data(), end_stop_configuration .size()); + std::vector object_type_vector; + nh.getParam("virtual_obj/obj_type", object_type_vector); + object_loader_msgs::Object new_obj; + new_obj.pose.header.frame_id = "world"; + new_obj.pose.pose.orientation = q; - Eigen::VectorXd delta_start = (end_start_conf - init_start_conf)/(std::max(n_query-1,1)); - Eigen::VectorXd delta_goal = (end_goal_conf - init_goal_conf )/(std::max(n_query-1,1)); + srv_add_object.request.objects.clear(); + srv_remove_object.request.obj_ids.clear(); + + for (size_t ii = 0; ii < num_obs; ii++) + { + if (object_type_vector.size() > 1) + new_obj.object_type = object_type_vector[ii]; + else + new_obj.object_type = object_type_vector.front(); + + new_obj.pose.pose.position.x = 0; + new_obj.pose.pose.position.y = 0; + new_obj.pose.pose.position.z = 0; + srv_add_object.request.objects.push_back(new_obj); + spawned_objects.push_back(new_obj); + } - Eigen::VectorXd start_conf, goal_conf; + if(not srv_add_object.request.objects.empty()) + { + if(not add_obj.call(srv_add_object)) + { + ROS_ERROR("call to add obj srv not ok"); + return 1; + } - std_msgs::ColorRGBA fg_color, bg_color; - fg_color.r = 0; - fg_color.g = 0; - fg_color.b = 1; - fg_color.a = 0.8; + if(not srv_add_object.response.success) + ROS_ERROR("add obj srv error"); + else + { + ROS_BOLDMAGENTA_STREAM("Initial obstacles spawned!"); + for (const std::string &str : srv_add_object.response.ids) + { + obj_ids.push_back(str); + srv_remove_object.request.obj_ids.push_back(str); + } + } + } + + geometry_msgs::PoseArray pose_array; + pose_array.header.frame_id = "world"; + pose_array.header.stamp = ros::Time::now(); - bg_color.r = 0; - bg_color.g = 0; - bg_color.b = 0; - bg_color.a = 0; + geometry_msgs::Pose pose; + pose.orientation = q; - jsk_rviz_plugins::OverlayText overlayed_text; - overlayed_text.font = "FreeSans"; - overlayed_text.bg_color = bg_color; - overlayed_text.fg_color = fg_color; - overlayed_text.height = 70; - overlayed_text.left = 10; - overlayed_text.top = 10; - overlayed_text.width = 1000; - overlayed_text.line_width = 2; - overlayed_text.text_size = 20; + for (size_t ii = 0; ii < num_obs; ii++) + { + pose.position.x = srv_add_object.request.objects[ii].pose.pose.position.x; + pose.position.y = srv_add_object.request.objects[ii].pose.pose.position.y; + pose.position.z = srv_add_object.request.objects[ii].pose.pose.position.z; + pose_array.poses.push_back(pose); + } - for(const std::string replanner_type:replanner_type_vector) - { - start_conf = init_start_conf; - goal_conf = init_goal_conf; + obj_pose_pub.publish(pose_array); //publish poses for SSM node - nh.setParam("replanner_type",replanner_type); + // ------------------------------------------------------------------------------- // - pathplan::MetricsPtr metrics; - pathplan::CollisionCheckerPtr checker; - pathplan::SamplerPtr sampler; - pathplan::RRTPtr solver; - pathplan::PathPtr current_path, new_path; - std::vector other_paths; - pathplan::ReplannerManagerBasePtr replanner_manager; - pathplan::TrajectoryPtr trajectory = std::make_shared(nh,planning_scene,group_name); - - int id_start,id_goal; - disp->changeNodeSize(); - id_start = disp->displayNode(std::make_shared(start_conf),"pathplan",{1.0,0.0,0.0,1.0}); - id_goal = disp->displayNode(std::make_shared(goal_conf),"pathplan",{1.0,0.0,0.0,1.0}); - disp->defaultNodeSize(); - - double distance; - for(int i=0; i(); + goal_conf(ii) = node["robot"]["goal"][ii].as(); + } + std::cout << "start_conf: " << start_conf.transpose() << "\n"; + std::cout << "goal_conf: " << goal_conf.transpose() << "\n"; + + pathplan::ReplannerManagerBase::InitObstacles init_obstacles; + Eigen::Vector3d pos {}, dim {}; + for (size_t j = 0; j < num_obs; j++) + { + YAML::Node obstacle = node["environment"][j]; + YAML::Node d = obstacle["box"]["dim"]; + YAML::Node p = obstacle["box"]["pos"]; + + dim = Eigen::Vector3d(d[0].as(), d[1].as(), d[2].as()); + pos = Eigen::Vector3d(p[0].as(), p[1].as(), p[2].as()); + + init_obstacles.dimensions.emplace_back(dim); + init_obstacles.positions.emplace_back(pos); + init_obstacles.velocities.emplace_back(Eigen::Vector3d::Zero()); + + spawned_objects.at(j).pose.pose.position.x = pos.x(); + spawned_objects.at(j).pose.pose.position.y = pos.y(); + spawned_objects.at(j).pose.pose.position.z = pos.z(); + spawned_objects.at(j).pose.pose.orientation = q; + + srv_move_objects.request.obj_ids.push_back(obj_ids.at(j)); + srv_move_objects.request.poses.push_back(spawned_objects.at(j).pose); + } + + init_obstacles.max_vel = float(rand()) / RAND_MAX * node["testing"]["max_vel_obs"].as(); + + if(not srv_move_objects.request.poses.empty()) + { + if(not move_obj.call(srv_move_objects)) + ROS_ERROR("call to move obj srv not ok"); + + if(not srv_move_objects.response.success) + ROS_ERROR("move obj srv error"); + } + + // /////////////////////////////////////UPDATING THE PLANNING STATIC SCENE//////////////////////////////////// + moveit_msgs::GetPlanningScene ps_srv; + if (!ps_client.call(ps_srv)) + { + ROS_ERROR("call to srv not ok"); + return 1; + } + + if (!planning_scene->setPlanningSceneMsg(ps_srv.response.scene)) + { + ROS_ERROR("unable to update planning scene"); + return 1; + } + + // ///////////////////////////////////////////////////////////////////////////////////////////////////////// + std::string last_link = planning_scene->getRobotModel()->getJointModelGroup(group_name)->getLinkModelNames().back(); + pathplan::DisplayPtr disp = std::make_shared(planning_scene,group_name,last_link); + ros::Duration(0.1).sleep(); + pathplan::MetricsPtr metrics; + pathplan::CollisionCheckerPtr checker; + pathplan::SamplerPtr sampler; + pathplan::RRTPtr solver; + pathplan::PathPtr current_path, new_path; + std::vector other_paths; + pathplan::ReplannerManagerBasePtr replanner_manager; + pathplan::TrajectoryPtr trajectory = std::make_shared(nh,planning_scene,group_name); + pathplan::MoveitUtils moveit_utils(planning_scene, group_name); + + int id_start, id_goal; + disp->changeNodeSize(); + id_start = disp->displayNode(std::make_shared(start_conf),"pathplan",{1.0,0.0,0.0,1.0}); + id_goal = disp->displayNode(std::make_shared(goal_conf),"pathplan",{1.0,0.0,0.0,1.0}); + disp->defaultNodeSize(); disp->clearMarker(id_start); disp->clearMarker(id_goal); @@ -211,11 +329,33 @@ int main(int argc, char **argv) id_goal = disp->displayNode(std::make_shared(goal_conf),"pathplan",{1.0,0.0,0.0,1.0}); disp->defaultNodeSize(); - for(int j=0;jsetPlanningSceneMsg(ps_srv.response.scene)) { - ROS_ERROR("unable to update planning scene"); + ROS_ERROR("Unable to update planning scene"); + file << "success:\n" << "0" << "\n"; + file << "Reason: Unable to update planning scene\n"; + file << "----------------------------------------------------\n"; + file.close(); return 1; } @@ -247,7 +395,13 @@ int main(int argc, char **argv) current_path = trajectory->computePath(start_conf,goal_conf,solver,true,max_solver_time); if(not current_path) + { + file << "success:\n" << "0" << "\n"; + file << "Reason: Could not compute initial path!\n"; + file << "----------------------------------------------------\n"; + file.close(); continue; + } else ROS_INFO_STREAM("current path cost "<cost()); @@ -278,8 +432,12 @@ int main(int argc, char **argv) n_other_paths = 1; } - for(unsigned int i=0;i max_solver_time) + break; + std::srand(std::time(NULL)); solver = std::make_shared(metrics,checker,sampler); new_path = trajectory->computePath(start_conf,goal_conf,solver,true,max_solver_time); @@ -299,6 +457,7 @@ int main(int argc, char **argv) solver = std::make_shared(metrics,checker,sampler); solver->config(nh); replanner_manager = std::make_shared(current_path,solver,nh,other_paths); + } else { @@ -306,15 +465,48 @@ int main(int argc, char **argv) return 0; } + // Update planning scene again + if (!ps_client.call(ps_srv)) + { + ROS_ERROR("call to srv not ok"); + return 1; + } + + if (!planning_scene->setPlanningSceneMsg(ps_srv.response.scene)) + { + ROS_ERROR("unable to update planning scene"); + return 1; + } + + init_duration_offset = (ros::WallTime::now() - tic_init_path).toSec(); + ROS_INFO("Elapsed time for planning initial path(s): %f [s]", init_duration_offset); + if (init_duration_offset > max_solver_time) + { + ROS_ERROR("Maximal time for planning initial path(s) exceeded!"); + file << "success:\n" << "0" << "\n"; + file << "Reason: Maximal time for planning initial path(s) exceeded!\n"; + file << "----------------------------------------------------\n"; + file.close(); + continue; + } + file.close(); + // //////////////////////////////REPLANNING/////////////////////////////////////////////////// + replanner_manager->setInitObstacles(init_obstacles); + replanner_manager->setInitDurationOffset(init_duration_offset); + replanner_manager->setObjIds(obj_ids); + replanner_manager->setSpawnedObjects(spawned_objects); replanner_manager->start(); //std::system("clear"); //clear terminal } - - start_conf = start_conf+delta_start; - goal_conf = goal_conf +delta_goal ; } + + if (not remove_obj.call(srv_remove_object)) + ROS_ERROR("call to remove obj srv not ok"); + if(not srv_remove_object.response.success) + ROS_ERROR("remove obj srv error"); + } return 0; diff --git a/replanners_benchmark/src/replanners_benchmark_random.cpp b/replanners_benchmark/src/replanners_benchmark_random.cpp new file mode 100755 index 0000000..202e8de --- /dev/null +++ b/replanners_benchmark/src/replanners_benchmark_random.cpp @@ -0,0 +1,507 @@ +#include +#include +#include +#include +#include +#include +#include + +#include + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "replanners_benchmark"); + ros::AsyncSpinner spinner(4); + spinner.start(); + ros::Duration(5).sleep(); + + ros::NodeHandle nh; + ros::ServiceClient ps_client = nh.serviceClient("/get_planning_scene"); + ros::ServiceClient add_obj = nh.serviceClient("/add_object_to_scene"); + ros::ServiceClient move_obj = nh.serviceClient("/move_object_in_scene"); + ros::ServiceClient remove_obj = nh.serviceClient("/remove_object_from_scene"); + ros::Publisher text_overlay_pub = nh.advertise("/rviz_text_overlay", 1); + + object_loader_msgs::AddObjects srv_add_object; + object_loader_msgs::MoveObjects srv_move_objects; + object_loader_msgs::RemoveObjects srv_remove_object; + std::vector spawned_objects; + std::vector obj_ids; + + if (!ps_client.waitForExistence(ros::Duration(10))) + { + ROS_ERROR("unable to connect to /get_planning_scene"); + return 1; + } + + if(!add_obj.waitForExistence(ros::Duration(10))) + { + ROS_ERROR("unable to connect to /add_object_to_scene"); + return 1; + } + + if(!remove_obj.waitForExistence(ros::Duration(10))) + { + ROS_ERROR("unable to connect to /remove_object_to_scene"); + return 1; + } + + // ////////////////////////////////////////// GETTING ROS PARAM /////////////////////////////////////////////// + int n_query = 1; + nh.getParam("n_query",n_query); + + int n_iter_per_query = 1; + nh.getParam("n_iter_per_query",n_iter_per_query); + + std::vector replanner_type_vector; + nh.getParam("replanner_type_vector",replanner_type_vector); + + if(replanner_type_vector.empty()) + { + ROS_INFO("replanner_type_vector not set"); + return 0; + } + + std::string bench_name; + if (!nh.getParam("bench_name",bench_name)) + { + ROS_INFO("bench_name not set"); + return 0; + } + + std::string group_name; + if (!nh.getParam("group_name",group_name)) + { + ROS_ERROR("group_name not set, exit"); + return 0; + } + + double max_distance; + if(!nh.getParam("max_distance",max_distance)) + { + ROS_ERROR("max_distance not set, set 0.5"); + max_distance = 0.5; + } + + bool display; + if (!nh.getParam("display",display)) + { + display = false; + } + + double max_solver_time; + if (!nh.getParam("max_solver_time",max_solver_time)) + { + max_solver_time = 10; + } + + std::string obs_pose_topic; + if(!nh.getParam("virtual_obj/obs_pose_topic", obs_pose_topic)) + obs_pose_topic = "/poses"; + ros::Publisher obj_pose_pub = nh.advertise(obs_pose_topic, 10); + + std_msgs::ColorRGBA fg_color, bg_color; + fg_color.r = 0; + fg_color.g = 0; + fg_color.b = 1; + fg_color.a = 0.8; + + bg_color.r = 0; + bg_color.g = 0; + bg_color.b = 0; + bg_color.a = 0; + + jsk_rviz_plugins::OverlayText overlayed_text; + overlayed_text.font = "FreeSans"; + overlayed_text.bg_color = bg_color; + overlayed_text.fg_color = fg_color; + overlayed_text.height = 70; + overlayed_text.left = 10; + overlayed_text.top = 10; + overlayed_text.width = 1000; + overlayed_text.line_width = 2; + overlayed_text.text_size = 20; + + // ///////////////////////////////////UPLOADING THE ROBOT ARM///////////////////////////////////////////////////////////// + moveit::planning_interface::MoveGroupInterface move_group(group_name); + robot_model_loader::RobotModelLoader robot_model_loader("robot_description"); + robot_model::RobotModelPtr kinematic_model = robot_model_loader.getModel(); + planning_scene::PlanningScenePtr planning_scene = std::make_shared(kinematic_model); + + const robot_state::JointModelGroup* joint_model_group = move_group.getCurrentState()->getJointModelGroup(group_name); + std::vector joint_names = joint_model_group->getActiveJointModelNames(); + + unsigned int dof = joint_names.size(); + Eigen::VectorXd lb(dof); + Eigen::VectorXd ub(dof); + + for (unsigned int idx = 0; idx < dof; idx++) + { + const robot_model::VariableBounds& bounds = kinematic_model->getVariableBounds(joint_names.at(idx)); + if (bounds.position_bounded_) + { + lb(idx) = bounds.min_position_; + ub(idx) = bounds.max_position_; + } + } + + std::vector num_obstacles; + nh.getParam("num_obstacles", num_obstacles); + + std::string project_path(__FILE__); + for (size_t i = 0; i < 3; i++) { // This depends on how deep is this file located + project_path = project_path.substr(0, project_path.find_last_of("/\\")); + } + YAML::Node node { YAML::LoadFile(project_path + "/replanners_benchmark/config/random_scenarios_spatial_22dof.yaml") }; + std::cout << "Random scenarios file path: " << project_path + "/replanners_benchmark/config/random_scenarios_spatial_22dof.yaml" << "\n"; + + for(const std::string replanner_type : replanner_type_vector) + { + for (size_t num_obs : num_obstacles) + { + ROS_INFO("Number of random obstacles: %d", num_obs); + std::vector spawn_instants(num_obs, 0); + nh.setParam("virtual_obj/spawn_instants", spawn_instants); + nh.setParam("replanner_type",replanner_type); + + int n_query_start; + nh.getParam("n_query_start", n_query_start); + if (num_obs != num_obstacles.front()) + n_query_start = 0; + + // ------------------------------------------------------------------------------- // + + geometry_msgs::Quaternion q; + q.x = 0.0; q.y = 0.0; q.z = 0.0; q.w = 1.0; + + object_loader_msgs::Object new_obj; + new_obj.object_type = "random_box"; + new_obj.pose.header.frame_id = "world"; + new_obj.pose.pose.orientation = q; + + srv_add_object.request.objects.clear(); + srv_remove_object.request.obj_ids.clear(); + obj_ids.clear(); + spawned_objects.clear(); + + for (size_t ii = 0; ii < num_obs; ii++) + { + new_obj.pose.pose.position.x = 0; + new_obj.pose.pose.position.y = 0; + new_obj.pose.pose.position.z = 0; + srv_add_object.request.objects.push_back(new_obj); + spawned_objects.push_back(new_obj); + } + + if(not srv_add_object.request.objects.empty()) + { + if(not add_obj.call(srv_add_object)) + { + ROS_ERROR("call to add obj srv not ok"); + return 1; + } + + if(not srv_add_object.response.success) + ROS_ERROR("add obj srv error"); + else + { + ROS_BOLDMAGENTA_STREAM("Initial obstacles spawned!"); + for (const std::string &str : srv_add_object.response.ids) + { + obj_ids.push_back(str); + srv_remove_object.request.obj_ids.push_back(str); + } + } + } + + geometry_msgs::PoseArray pose_array; + pose_array.header.frame_id = "world"; + pose_array.header.stamp = ros::Time::now(); + + geometry_msgs::Pose pose; + pose.orientation = q; + + for (size_t ii = 0; ii < num_obs; ii++) + { + pose.position.x = srv_add_object.request.objects[ii].pose.pose.position.x; + pose.position.y = srv_add_object.request.objects[ii].pose.pose.position.y; + pose.position.z = srv_add_object.request.objects[ii].pose.pose.position.z; + pose_array.poses.push_back(pose); + } + + obj_pose_pub.publish(pose_array); //publish poses for SSM node + + // ------------------------------------------------------------------------------- // + + for(int i = n_query_start; i < n_query; i++) + { + // Nermin added reading from a yaml file: + Eigen::VectorXd start_conf { Eigen::VectorXd::Zero(dof) }; + Eigen::VectorXd goal_conf { Eigen::VectorXd::Zero(dof) }; + for (size_t ii = 0; ii < dof; ii++) + { + start_conf(ii) = node["scenario_" + std::to_string(num_obs)]["run_" + std::to_string(i)]["start"][ii].as(); + goal_conf(ii) = node["scenario_" + std::to_string(num_obs)]["run_" + std::to_string(i)]["goal"][ii].as(); + } + std::cout << "start_conf: " << start_conf.transpose() << "\n"; + std::cout << "goal_conf: " << goal_conf.transpose() << "\n"; + + srv_move_objects.request.poses.clear(); + srv_move_objects.request.obj_ids.clear(); + pathplan::ReplannerManagerBase::InitObstacles init_obstacles; + Eigen::Vector3d pos {}, vel {}; + for (size_t j = 0; j < num_obs; j++) + { + for (size_t ii = 0; ii < 3; ii++) + { + pos(ii) = node["scenario_" + std::to_string(num_obs)]["run_" + std::to_string(i)] + ["object_" + std::to_string(j)]["pos"][ii].as(); + vel(ii) = node["scenario_" + std::to_string(num_obs)]["run_" + std::to_string(i)] + ["object_" + std::to_string(j)]["vel"][ii].as(); + } + init_obstacles.positions.emplace_back(pos); + init_obstacles.velocities.emplace_back(vel); + + spawned_objects.at(j).pose.pose.position.x = pos.x(); + spawned_objects.at(j).pose.pose.position.y = pos.y(); + spawned_objects.at(j).pose.pose.position.z = pos.z(); + spawned_objects.at(j).pose.pose.orientation = q; + + srv_move_objects.request.obj_ids.push_back(obj_ids.at(j)); + srv_move_objects.request.poses.push_back(spawned_objects.at(j).pose); + } + + if(not srv_move_objects.request.poses.empty()) + { + if(not move_obj.call(srv_move_objects)) + ROS_ERROR("call to move obj srv not ok"); + + if(not srv_move_objects.response.success) + ROS_ERROR("move obj srv error"); + } + + // /////////////////////////////////////UPDATING THE PLANNING STATIC SCENE//////////////////////////////////// + moveit_msgs::GetPlanningScene ps_srv; + if (!ps_client.call(ps_srv)) + { + ROS_ERROR("call to srv not ok"); + return 1; + } + + if (!planning_scene->setPlanningSceneMsg(ps_srv.response.scene)) + { + ROS_ERROR("unable to update planning scene"); + return 1; + } + + // ///////////////////////////////////////////////////////////////////////////////////////////////////////// + std::string last_link = planning_scene->getRobotModel()->getJointModelGroup(group_name)->getLinkModelNames().back(); + pathplan::DisplayPtr disp = std::make_shared(planning_scene,group_name,last_link); + ros::Duration(0.1).sleep(); + pathplan::MetricsPtr metrics; + pathplan::CollisionCheckerPtr checker; + pathplan::SamplerPtr sampler; + pathplan::RRTPtr solver; + pathplan::PathPtr current_path, new_path; + std::vector other_paths; + pathplan::ReplannerManagerBasePtr replanner_manager; + pathplan::TrajectoryPtr trajectory = std::make_shared(nh,planning_scene,group_name); + pathplan::MoveitUtils moveit_utils(planning_scene, group_name); + + int id_start, id_goal; + disp->changeNodeSize(); + id_start = disp->displayNode(std::make_shared(start_conf),"pathplan",{1.0,0.0,0.0,1.0}); + id_goal = disp->displayNode(std::make_shared(goal_conf),"pathplan",{1.0,0.0,0.0,1.0}); + disp->defaultNodeSize(); + + disp->clearMarker(id_start); + disp->clearMarker(id_goal); + + disp->changeNodeSize(); + id_start = disp->displayNode(std::make_shared(start_conf),"pathplan",{1.0,0.0,0.0,1.0}); + id_goal = disp->displayNode(std::make_shared(goal_conf),"pathplan",{1.0,0.0,0.0,1.0}); + disp->defaultNodeSize(); + + double distance = (goal_conf-start_conf).norm(); + + for(int j = 0; j < n_iter_per_query; j++) + { + ROS_INFO("---------------------------------------------------------------------------------------------------------"); + ROS_INFO_STREAM(replanner_type<<": query: "<nextButton(); + + if (!ps_client.call(ps_srv)) + { + ROS_ERROR("Call to srv not ok"); + file << "success:\n" << "0" << "\n"; + file << "Reason: Call to srv not ok\n"; + file << "----------------------------------------------------\n"; + file.close(); + return 1; + } + + if (!planning_scene->setPlanningSceneMsg(ps_srv.response.scene)) + { + ROS_ERROR("Unable to update planning scene"); + file << "success:\n" << "0" << "\n"; + file << "Reason: Unable to update planning scene\n"; + file << "----------------------------------------------------\n"; + file.close(); + return 1; + } + + metrics = std::make_shared(); + checker = std::make_shared(planning_scene, group_name); + sampler = std::make_shared(start_conf,goal_conf,lb,ub); + solver = std::make_shared(metrics,checker,sampler); + solver->setMaxDistance(max_distance); + + std::srand(std::time(NULL)); + current_path = trajectory->computePath(start_conf,goal_conf,solver,true,max_solver_time); + + if(not current_path) + { + file << "success:\n" << "0" << "\n"; + file << "Reason: Could not compute initial path!\n"; + file << "----------------------------------------------------\n"; + file.close(); + continue; + } + else + ROS_INFO_STREAM("current path cost "<cost()); + + // //////////////////////////////////////////DEFINING THE REPLANNER////////////////////////////////////////////// + replanner_manager.reset(); + if(replanner_type == "MPRRT") + { + replanner_manager.reset(new pathplan::ReplannerManagerMPRRT(current_path,solver,nh)); + } + else if(replanner_type == "DRRTStar") + { + replanner_manager.reset(new pathplan::ReplannerManagerDRRTStar(current_path,solver,nh)); + } + else if(replanner_type == "DRRT") + { + replanner_manager.reset(new pathplan::ReplannerManagerDRRT(current_path,solver,nh)); + } + else if(replanner_type == "anytimeDRRT") + { + replanner_manager.reset(new pathplan::ReplannerManagerAnytimeDRRT(current_path,solver,nh)); + } + else if(replanner_type == "MARS") + { + int n_other_paths; + if (!nh.getParam("/MARS/n_other_paths",n_other_paths)) + { + ROS_ERROR("n_other_paths not set, set 1"); + n_other_paths = 1; + } + + for(unsigned int i = 0; i < n_other_paths; i++) + { + // Nermin added: Find other paths if there is enough remaining time + if ((ros::WallTime::now() - tic_init_path).toSec() > max_solver_time) + break; + + std::srand(std::time(NULL)); + solver = std::make_shared(metrics,checker,sampler); + new_path = trajectory->computePath(start_conf,goal_conf,solver,true,max_solver_time); + + other_paths.clear(); + if(new_path) + { + other_paths.push_back(new_path); + ROS_INFO_STREAM("other path cost "<cost()); + assert(new_path->getTree()); + } + else + ROS_INFO("other path not found"); + } + + std::srand(std::time(NULL)); + solver = std::make_shared(metrics,checker,sampler); + solver->config(nh); + replanner_manager = std::make_shared(current_path,solver,nh,other_paths); + + } + else + { + ROS_ERROR("Replanner manager %s does not exist",replanner_type.c_str()); + return 0; + } + + // Update planning scene again + if (!ps_client.call(ps_srv)) + { + ROS_ERROR("call to srv not ok"); + return 1; + } + + if (!planning_scene->setPlanningSceneMsg(ps_srv.response.scene)) + { + ROS_ERROR("unable to update planning scene"); + return 1; + } + + init_duration_offset = (ros::WallTime::now() - tic_init_path).toSec(); + ROS_INFO("Elapsed time for planning initial path(s): %f [s]", init_duration_offset); + if (init_duration_offset > max_solver_time) + { + ROS_ERROR("Maximal time for planning initial path(s) exceeded!"); + file << "success:\n" << "0" << "\n"; + file << "Reason: Maximal time for planning initial path(s) exceeded!\n"; + file << "----------------------------------------------------\n"; + file.close(); + continue; + } + file.close(); + + // //////////////////////////////REPLANNING/////////////////////////////////////////////////// + replanner_manager->setInitObstacles(init_obstacles); + replanner_manager->setInitDurationOffset(init_duration_offset); + replanner_manager->setObjIds(obj_ids); + replanner_manager->setSpawnedObjects(spawned_objects); + replanner_manager->start(); + + //std::system("clear"); //clear terminal + } + } + + if (not remove_obj.call(srv_remove_object)) + ROS_ERROR("call to remove obj srv not ok"); + if(not srv_remove_object.response.success) + ROS_ERROR("remove obj srv error"); + + } + } + + return 0; +} diff --git a/replanners_cells/.vscode/settings.json b/replanners_cells/.vscode/settings.json new file mode 100644 index 0000000..04c9560 --- /dev/null +++ b/replanners_cells/.vscode/settings.json @@ -0,0 +1,3 @@ +{ + "cmake.sourceDirectory": "/home/spear/replanning_ws/src/OpenMORE/replanners_cells/replanners_bench_cells" +} \ No newline at end of file diff --git a/replanners_cells/replanners_bench_cells/config/object_test_replanner.yaml b/replanners_cells/replanners_bench_cells/config/object_test_replanner.yaml index f299239..c2ec161 100644 --- a/replanners_cells/replanners_bench_cells/config/object_test_replanner.yaml +++ b/replanners_cells/replanners_bench_cells/config/object_test_replanner.yaml @@ -1,15 +1,21 @@ object_geometries: sphere02 : {sphere: 0.2, color: [1,0.0,0.0,0.5], position: [0.0,0.0,0.0], quaternion: [0, 0, 0, 1]} sphere : {sphere: 0.1, color: [1,0.0,0.0,0.5], position: [0.0,0.0,0.0], quaternion: [0, 0, 0, 1]} + # random_box : {box: [0.05, 0.05, 0.05], color: [1.00,0.00,0.00,1], position: [0.0,0.0,0.0], quaternion: [0, 0, 0, 1]} + random_box : {box: [0.4, 0.4, 0.4 ], color: [1.00,0.00,0.00,1], position: [0.0,0.0,0.0], quaternion: [0, 0, 0, 1]} red_box : {box: [0.2, 0.2, 0.45], color: [1.00,0.00,0.00,1], position: [0.0,0.0,0.0], quaternion: [0, 0, 0, 1]} box : {box: [0.2, 0.2, 0.45], color: [0.75,0.75,0.75,1], position: [0.0,0.0,0.0], quaternion: [0, 0, 0, 1]} little_box : {box: [0.1, 0.1, 0.10], color: [0.75,0.75,0.75,1], position: [0.0,0.0,0.0], quaternion: [0, 0, 0, 1]} mid_box : {box: [0.4, 0.4, 0.50], color: [0.75,0.75,0.75,1], position: [0.0,0.0,0.0], quaternion: [0, 0, 0, 1]} mid_red_box: {box: [0.6, 0.6, 0.60], color: [1.00,0.00,0.00,1], position: [0.0,0.0,0.0], quaternion: [0, 0, 0, 1]} short_box : {box: [0.5, 0.5, 0.50], color: [0.75,0.75,0.75,1], position: [0.0,0.0,0.0], quaternion: [0, 0, 0, 1]} - big_box : {box: [0.5, 0.5, 3.00], color: [0.75,0.75,0.75,1], position: [0.0,0.0,0.0], quaternion: [0, 0, 0, 1]} - huge_box : {box: [0.8, 0.8, 3.00], color: [0.75,0.75,0.75,1], position: [0.0,0.0,0.0], quaternion: [0, 0, 0, 1]} + big_box : {box: [0.5, 0.5, 1.00], color: [1.00,0.00,0.00,1], position: [0.0,0.0,0.0], quaternion: [0, 0, 0, 1]} + big_box1 : {box: [0.1, 0.4, 0.7 ], color: [1.00,0.00,0.00,1], position: [0.0,0.0,0.0], quaternion: [0, 0, 0, 1]} + big_box2 : {box: [0.5, 0.4, 0.1 ], color: [1.00,0.00,0.00,1], position: [0.0,0.0,0.0], quaternion: [0, 0, 0, 1]} + huge_box : {box: [0.5, 0.5, 2.00], color: [1.00,0.00,0.00,1], position: [0.0,0.0,0.0], quaternion: [0, 0, 0, 1]} + long_box : {box: [5.0, 1.0, 1.0 ], color: [1.00,0.00,0.00,1], position: [0.0,0.0,0.0], quaternion: [0, 0, 0, 1]} plane : {box: [5.0, 5.0, 0.10], color: [0.75,0.75,0.75,1], position: [0.0,0.0,0.0], quaternion: [0, 0, 0, 1]} + table : {box: [1.4, 1.4, 0.10], color: [0.00,1.00,0.00,1], position: [0.0,0.0,0.0], quaternion: [0, 0, 0, 1]} # sphere02 : {sphere: 0.2, color: [1,0.0,0.0,0.5]} # sphere : {sphere: 0.1, color: [1,0.0,0.0,0.5]} # red_box : {box: [0.2, 0.2, 0.45], color: [1.00,0.00,0.00,1]} diff --git a/replanners_cells/replanners_bench_cells/config/static_scene_replanners_bench_high_dof.yaml b/replanners_cells/replanners_bench_cells/config/static_scene_replanners_bench_high_dof.yaml index 7c75a3a..d146f49 100644 --- a/replanners_cells/replanners_bench_cells/config/static_scene_replanners_bench_high_dof.yaml +++ b/replanners_cells/replanners_bench_cells/config/static_scene_replanners_bench_high_dof.yaml @@ -1,7 +1,8 @@ scene_objects: - - {type: "plane", frame: "world", position: [0,0,0], quaternion: [0, 0, 0, 1]} - - {type: "mid_box", frame: "world", position: [0.7,0.7,1.2], quaternion: [0, 0, 0, 1]} - - {type: "mid_box", frame: "world", position: [-0.7,0.7,1.5], quaternion: [0, 0, 0, 1]} - - {type: "mid_box", frame: "world", position: [-0.7,-0.7,1.2], quaternion: [0, 0, 0, 1]} - - {type: "mid_box", frame: "world", position: [0.7,-0.7,1.5], quaternion: [0, 0, 0, 1]} - - {type: "mid_box", frame: "world", position: [0,0,2], quaternion: [0, 0, 0, 1]} + - {type: "table", frame: "world", position: [0,0,-0.05], quaternion: [0, 0, 0, 1]} +# - {type: "plane", frame: "world", position: [0,0,0], quaternion: [0, 0, 0, 1]} +# - {type: "mid_box", frame: "world", position: [0.7,0.7,1.2], quaternion: [0, 0, 0, 1]} +# - {type: "mid_box", frame: "world", position: [-0.7,0.7,1.5], quaternion: [0, 0, 0, 1]} +# - {type: "mid_box", frame: "world", position: [-0.7,-0.7,1.2], quaternion: [0, 0, 0, 1]} +# - {type: "mid_box", frame: "world", position: [0.7,-0.7,1.5], quaternion: [0, 0, 0, 1]} +# - {type: "mid_box", frame: "world", position: [0,0,2], quaternion: [0, 0, 0, 1]} diff --git a/replanners_cells/replanners_bench_cells/launch/load_cell_planar_10dof.launch b/replanners_cells/replanners_bench_cells/launch/load_cell_planar_10dof.launch new file mode 100644 index 0000000..3293e12 --- /dev/null +++ b/replanners_cells/replanners_bench_cells/launch/load_cell_planar_10dof.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/replanners_cells/replanners_bench_cells/launch/load_cell_spatial_10dof.launch b/replanners_cells/replanners_bench_cells/launch/load_cell_spatial_10dof.launch new file mode 100644 index 0000000..2bd4995 --- /dev/null +++ b/replanners_cells/replanners_bench_cells/launch/load_cell_spatial_10dof.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/replanners_cells/replanners_bench_cells/launch/load_cell_spatial_14dof.launch b/replanners_cells/replanners_bench_cells/launch/load_cell_spatial_14dof.launch new file mode 100644 index 0000000..dd21798 --- /dev/null +++ b/replanners_cells/replanners_bench_cells/launch/load_cell_spatial_14dof.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/replanners_cells/replanners_bench_cells/launch/load_cell_spatial_18dof.launch b/replanners_cells/replanners_bench_cells/launch/load_cell_spatial_18dof.launch new file mode 100644 index 0000000..a76c4cf --- /dev/null +++ b/replanners_cells/replanners_bench_cells/launch/load_cell_spatial_18dof.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/replanners_cells/replanners_bench_cells/launch/load_cell_spatial_22dof.launch b/replanners_cells/replanners_bench_cells/launch/load_cell_spatial_22dof.launch new file mode 100644 index 0000000..87d2df8 --- /dev/null +++ b/replanners_cells/replanners_bench_cells/launch/load_cell_spatial_22dof.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/replanners_cells/replanners_bench_cells/launch/load_cell_xarm6.launch b/replanners_cells/replanners_bench_cells/launch/load_cell_xarm6.launch new file mode 100644 index 0000000..8a1f6e2 --- /dev/null +++ b/replanners_cells/replanners_bench_cells/launch/load_cell_xarm6.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/replanners_lib/.vscode/settings.json b/replanners_lib/.vscode/settings.json new file mode 100644 index 0000000..035a234 --- /dev/null +++ b/replanners_lib/.vscode/settings.json @@ -0,0 +1,74 @@ +{ + "files.associations": { + "cctype": "cpp", + "clocale": "cpp", + "cmath": "cpp", + "csignal": "cpp", + "cstdarg": "cpp", + "cstddef": "cpp", + "cstdio": "cpp", + "cstdlib": "cpp", + "cstring": "cpp", + "ctime": "cpp", + "cwchar": "cpp", + "cwctype": "cpp", + "array": "cpp", + "atomic": "cpp", + "strstream": "cpp", + "*.tcc": "cpp", + "bitset": "cpp", + "chrono": "cpp", + "complex": "cpp", + "condition_variable": "cpp", + "cstdint": "cpp", + "deque": "cpp", + "forward_list": "cpp", + "list": "cpp", + "unordered_map": "cpp", + "unordered_set": "cpp", + "vector": "cpp", + "exception": "cpp", + "algorithm": "cpp", + "functional": "cpp", + "iterator": "cpp", + "map": "cpp", + "memory": "cpp", + "memory_resource": "cpp", + "numeric": "cpp", + "optional": "cpp", + "random": "cpp", + "ratio": "cpp", + "set": "cpp", + "string": "cpp", + "string_view": "cpp", + "system_error": "cpp", + "tuple": "cpp", + "type_traits": "cpp", + "utility": "cpp", + "hash_map": "cpp", + "hash_set": "cpp", + "fstream": "cpp", + "future": "cpp", + "initializer_list": "cpp", + "iomanip": "cpp", + "iosfwd": "cpp", + "iostream": "cpp", + "istream": "cpp", + "limits": "cpp", + "mutex": "cpp", + "new": "cpp", + "ostream": "cpp", + "shared_mutex": "cpp", + "sstream": "cpp", + "stdexcept": "cpp", + "streambuf": "cpp", + "thread": "cpp", + "cfenv": "cpp", + "cinttypes": "cpp", + "typeindex": "cpp", + "typeinfo": "cpp", + "variant": "cpp", + "bit": "cpp", + "*.ipp": "cpp" + } +} \ No newline at end of file diff --git a/replanners_lib/include/replanners_lib/replanner_managers/replanner_manager_base.h b/replanners_lib/include/replanners_lib/replanner_managers/replanner_manager_base.h index 8a93703..9fbad3a 100644 --- a/replanners_lib/include/replanners_lib/replanner_managers/replanner_manager_base.h +++ b/replanners_lib/include/replanners_lib/replanner_managers/replanner_manager_base.h @@ -63,7 +63,7 @@ class ReplannerManagerBase: public std::enable_shared_from_this previous_vel_; // Nermin added + unsigned int num_obstacles_; // Nermin added + + ros::WallTime tic_alg_; // Nermin added + ros::WallTime tic_obj_; // Nermin added ros::WallTime tic_trj_; ReplannerBasePtr replanner_ ; @@ -97,10 +105,11 @@ class ReplannerManagerBase: public std::enable_shared_from_this obj_type_ ; std::vector spawn_instants_ ; std::vector obj_ids_ ; std::vector obj_pos_; + std::vector spawned_objects_; std::thread display_thread_ ; std::thread trj_exec_thread_ ; @@ -226,12 +235,41 @@ class ReplannerManagerBase: public std::enable_shared_from_this positions; + std::vector dimensions; + std::vector velocities; + float max_vel; + } + init_obstacles_; // Nermin added + + void setInitObstacles(const InitObstacles &init_obstacles) + { + init_obstacles_ = init_obstacles; + } + + void setInitDurationOffset(double init_duration_offset) + { + init_duration_offset_ = init_duration_offset; + } + + void setObjIds(const std::vector &obj_ids) + { + obj_ids_ = obj_ids; + } + + void setSpawnedObjects(const std::vector &spawned_objects) + { + spawned_objects_ = spawned_objects; + } + virtual bool joinThreads(); virtual bool stop(); virtual bool run(); virtual bool start(); - virtual void startReplannedPathFromNewCurrentConf(const Eigen::VectorXd& configuration) = 0; + virtual void startReplannedPathFromNewCurrentConf(const Eigen::VectorXd &configuration) = 0; }; } diff --git a/replanners_lib/src/replanner_managers/replanner_manager_base.cpp b/replanners_lib/src/replanner_managers/replanner_manager_base.cpp index 0d5e3d9..c0f041a 100644 --- a/replanners_lib/src/replanner_managers/replanner_manager_base.cpp +++ b/replanners_lib/src/replanner_managers/replanner_manager_base.cpp @@ -12,6 +12,9 @@ ReplannerManagerBase::ReplannerManagerBase(const PathPtr ¤t_path, nh_ = nh ; replanning_enabled_ = true; + max_vel_recorded_ = 0; + max_acc_recorded_ = 0; + previous_vel_ = std::vector(current_path->getGoalNode()->getConfiguration().size(), 0); fromParam(); subscribeTopicsAndServices(); @@ -105,6 +108,9 @@ void ReplannerManagerBase::fromParam() which_link_display_path_ = ""; if(!nh_.getParam("benchmark",benchmark_)) benchmark_ = false; + if(!nh_.getParam("max_solver_time", max_solver_time_)) + max_solver_time_ = 10.0; + if(!nh_.getParam("virtual_obj/spawn_objs",spawn_objs_)) spawn_objs_ = false; else @@ -114,10 +120,10 @@ void ReplannerManagerBase::fromParam() spawn_instants_.push_back(0.5); if(!nh_.getParam("virtual_obj/obj_type",obj_type_)) - obj_type_ = "little_box"; + obj_type_ = {"little_box"}; - if(!nh_.getParam("virtual_obj/obj_max_size",obj_max_size_)) - obj_max_size_ = 0.07; + if(!nh_.getParam("virtual_obj/max_ws_dist",max_ws_dist_)) + max_ws_dist_ = 0.07; if(!nh_.getParam("virtual_obj/obj_vel",obj_vel_)) obj_vel_ = 0.0; @@ -139,7 +145,7 @@ void ReplannerManagerBase::attributeInitialization() goal_reached_ = false; download_scene_info_ = true ; current_path_sync_needed_ = false; - spline_order_ = 3 ; + spline_order_ = 2 ; replanning_time_ = 0.0 ; scaling_ = 1.0 ; real_time_ = 0.0 ; @@ -208,8 +214,6 @@ void ReplannerManagerBase::attributeInitialization() initReplanner(); replanner_->setVerbosity(replanner_verbosity_); - obj_ids_.clear(); - new_joint_state_.position = pnt_.positions ; new_joint_state_.velocity = pnt_.velocities ; new_joint_state_.name = joint_names ; @@ -719,7 +723,8 @@ double ReplannerManagerBase::readScalingTopics() void ReplannerManagerBase::trajectoryExecutionThread() { - double duration; + tic_alg_ = ros::WallTime::now(); + double duration; ros::WallTime tic,toc; PathPtr path2project_on; Eigen::VectorXd point2project(pnt_.positions.size()); @@ -738,9 +743,14 @@ void ReplannerManagerBase::trajectoryExecutionThread() if(read_safe_scaling_) scaling_ = scaling_*readScalingTopics(); - real_time_ += dt_; - t_+= scaling_*dt_; + duration = (ros::WallTime::now() - tic_alg_).toSec(); + tic_alg_ = ros::WallTime::now(); + real_time_ += duration; + t_+= scaling_ * duration; + // real_time_ += dt_; // Cannot execute in real-time if trj_exec_thread_frequency_ is very high + // t_+= scaling_*dt_; t_replan_ = t_+time_shift_*scaling_; + ROS_INFO("real_time: %f", real_time_); interpolator_.interpolate(ros::Duration(t_),pnt_ ,scaling_ ); interpolator_.interpolate(ros::Duration(t_),pnt_unscaled_,scaling_from_param_); @@ -776,6 +786,35 @@ void ReplannerManagerBase::trajectoryExecutionThread() target_pub_ .publish(new_joint_state_) ; unscaled_target_pub_.publish(new_joint_state_unscaled_); + // ROS_INFO("Nermin publishes configuration: "); + for (int i = 0; i < pnt_.velocities.size(); i++) + { + // std::cout << pnt_.positions[i] << "\t"; + // std::cout << pnt_.velocities[i] << "\t"; + if (pnt_.velocities[i] > max_vel_recorded_) + max_vel_recorded_ = pnt_.velocities[i]; + + double acc = std::abs(pnt_.velocities[i] - previous_vel_[i]) / duration; + // std::cout << "acc: " << acc << "\t"; + if (acc > max_acc_recorded_) + max_acc_recorded_ = acc; + } + // std::cout << "\n"; + previous_vel_ = pnt_.velocities; + + // std::ofstream file; + // file.open("/home/spear/.ros/replanners_benchmark/6d/MARS/configs.log", std::ofstream::app); + // file << "time in [s]:\n"; + // file << ros::Time::now() << "\n"; + // file << "position:\n"; + // file << pnt_.positions[0] << "\t" << pnt_.positions[1] << "\t" << pnt_.positions[2] << "\t" + // << pnt_.positions[3] << "\t" << pnt_.positions[4] << "\t" << pnt_.positions[5] << "\n"; + // file << "velocity:\n"; + // file << pnt_.velocities[0] << "\t" << pnt_.velocities[1] << "\t" << pnt_.velocities[2] << "\t" + // << pnt_.velocities[3] << "\t" << pnt_.velocities[4] << "\t" << pnt_.velocities[5] << "\n"; + // file << "----------------------------------------------------------------------------------\n"; + // file.close(); + toc = ros::WallTime::now(); duration = (toc-tic).toSec(); if(duration>(1/trj_exec_thread_frequency_) && display_timing_warning_) @@ -888,171 +927,147 @@ void ReplannerManagerBase::displayThread() void ReplannerManagerBase::spawnObjectsThread() { - object_loader_msgs::AddObjects srv_add_object; - object_loader_msgs::MoveObjects srv_move_objects; - object_loader_msgs::RemoveObjects srv_remove_object; - - CollisionCheckerPtr checker = checker_cc_->clone(); - planning_scene::PlanningScenePtr planning_scene = planning_scene::PlanningScene::clone(planning_scn_cc_); - - MoveitUtils moveit_utils(planning_scene,group_name_); - std::string last_link = planning_scene->getRobotModel()->getJointModelGroup(group_name_)->getLinkModelNames().back(); - - PathPtr current_path; - Eigen::VectorXd obj_conf, replan_conf; - Eigen::VectorXd goal_conf = current_path_shared_->getGoalNode()->getConfiguration(); - - Eigen::Vector3d replan_pose, obj_pose; - Eigen::Vector3d goal_pose = forwardIk(goal_conf,last_link,moveit_utils); + num_obstacles_ = spawn_instants_.size(); + ROS_INFO("Num of obstacles: %ld", num_obstacles_); + + const Eigen::Vector3d WS_center = Eigen::Vector3d(0.0, 0.0, 0.267); + const double WS_radius = 1.5; + const double robot_max_vel = 3.14159; + const double base_radius = 0.047; + const float path_len_max = 0.2; + // const float path_len_max = init_obstacles_.dimensions.front().x() / 2; + Eigen::VectorXi sign = Eigen::VectorXi::Ones(num_obstacles_); + Eigen::VectorXd path_len = Eigen::VectorXd::Zero(num_obstacles_); + bool obs_update; - std::vector ids; - std::vector moving_time; std::vector n_move; + std::vector moving_time; std::vector velocities; std::vector objects_locations; - std::vector spawned_objects; + object_loader_msgs::MoveObjects srv_move_objects; - bool obs_update; + for (size_t i = 0; i < num_obstacles_; i++) + { + n_move.push_back(0); + moving_time.push_back(real_time_); + velocities.push_back(init_obstacles_.velocities[i]); + objects_locations.push_back(init_obstacles_.positions[i]); + } geometry_msgs::Quaternion q; q.x = 0.0; q.y = 0.0; q.z = 0.0; q.w = 1.0; - std::random_device rseed; - std::mt19937 gen(rseed()); - std::uniform_real_distribution random_vel(-1.0,1.0); - std::uniform_real_distribution random_abs(0.2,0.8); - - object_loader_msgs::Object new_obj; - new_obj.object_type = obj_type_; - new_obj.pose.header.frame_id = "world"; - new_obj.pose.pose.orientation = q; - - std::reverse(spawn_instants_.begin(),spawn_instants_.end()); - ros::WallRate lp(100); + ros::WallRate lp(1/dt_move_); while(not stop_ && ros::ok()) { obs_update = false; - srv_add_object.request.objects.clear(); srv_move_objects.request.poses.clear(); srv_move_objects.request.obj_ids.clear(); - if(not spawn_instants_.empty()) + float delta_time = (ros::WallTime::now() - tic_obj_).toSec(); + tic_obj_ = ros::WallTime::now(); + // ROS_INFO("delta_time: %f", delta_time); + + for(unsigned int i = 0; i < num_obstacles_; i++) { - if(real_time_>=spawn_instants_.back()) + if(real_time_ > moving_time.at(i) + delta_time) { - spawn_instants_.pop_back(); - - replanner_mtx_.lock(); - paths_mtx_.lock(); - - current_path = current_path_shared_->clone(); - replan_conf = configuration_replan_; - - paths_mtx_.unlock(); - replanner_mtx_.unlock(); - - current_path->setChecker(checker); - current_path = current_path->getSubpathFromConf(replan_conf,true); - - replan_pose = forwardIk(replan_conf,last_link,moveit_utils); - - double obj_abscissa = 0.0; - while(not stop_ && ros::ok()) + // Nermin added to reflect random obstacles according to the principle of light reflecting + // ROS_INFO("Moving obstacle: %ld", i); + float tol_radius = std::max(velocities.at(i).norm() / robot_max_vel, base_radius); + Eigen::Vector3d pos_next = objects_locations.at(i) + delta_time * velocities.at(i); + Eigen::Vector3d vec_normal; + bool change = true; + + if (pos_next.z() < 0) + vec_normal << 0, 0, 1; + else if ((pos_next - WS_center).norm() > WS_radius) + vec_normal << -pos_next.x(), -pos_next.y(), -(pos_next.z() - WS_center.z()); + else if (pos_next.head(2).norm() < tol_radius && pos_next.z() < WS_center.z()) + vec_normal << pos_next.x(), pos_next.y(), 0; + else if ((pos_next - WS_center).norm() < tol_radius) + vec_normal << pos_next.x(), pos_next.y(), pos_next.z() - WS_center.z(); + else { - obj_abscissa = random_abs(gen); //0.2~0.8 - - obj_conf = current_path->pointOnCurvilinearAbscissa(obj_abscissa); - obj_pose = forwardIk(obj_conf,last_link,moveit_utils); - - // to no collide with the robot or the goal - if((obj_pose-replan_pose).norm()>obj_max_size_ && (obj_conf-replan_conf).norm()>obj_max_size_ && - (obj_pose-goal_pose ).norm()>obj_max_size_ && (obj_conf-goal_conf ).norm()>obj_max_size_ ) - break; + objects_locations.at(i) = pos_next; + change = false; } - new_obj.pose.pose.position.x = obj_pose[0]; - new_obj.pose.pose.position.y = obj_pose[1]; - new_obj.pose.pose.position.z = obj_pose[2]; - - srv_add_object.request.objects.push_back(new_obj); - - if(stop_ || not ros::ok()) - break; - } - } - - if(not objects_locations.empty() && obj_vel_>0.0) - { - for(unsigned int i=0;i(moving_time.at(i)+dt_move_)) + if (change) { - if(n_move.at(i)>direction_change_) //change direction of motion - { - Eigen::Vector3d v; - v << (random_vel(gen)),(random_vel(gen)),(random_vel(gen)); - v = (v/v.norm())*obj_vel_; - - velocities.at(i) = v; - n_move.at(i) = 0; - } - - objects_locations.at(i) = objects_locations.at(i) + dt_move_*velocities.at(i); - spawned_objects.at(i).pose.pose.position.x = objects_locations.at(i)[0]; - spawned_objects.at(i).pose.pose.position.y = objects_locations.at(i)[1]; - spawned_objects.at(i).pose.pose.position.z = objects_locations.at(i)[2]; - spawned_objects.at(i).pose.pose.orientation = q; - - n_move.at(i) = n_move.at(i)+1; - moving_time.at(i) = real_time_; - - srv_move_objects.request.obj_ids.push_back(ids.at(i)); - srv_move_objects.request.poses.push_back(spawned_objects.at(i).pose); + float t_param = (pos_next - objects_locations.at(i)).dot(vec_normal) / vec_normal.squaredNorm(); + objects_locations.at(i) = 2*pos_next - objects_locations.at(i) - 2*t_param * vec_normal; + velocities.at(i) = (objects_locations.at(i) - pos_next) / delta_time; } - if(stop_ || not ros::ok()) - break; + // -------------------------------------------------------------------------------------------------------- // + + // Nermin added. Circular motion (for scenario 1 & 3) + // ROS_INFO("Moving obstacle: %ld", i); + // float radius = objects_locations.at(i).head(2).norm(); + // float delta_phi = init_obstacles_.max_vel / radius * delta_time; + // float phi = std::atan2(objects_locations.at(i).y(), objects_locations.at(i).x()); + // Eigen::Vector3d pos_prev = objects_locations.at(i); + // objects_locations.at(i).x() = radius * std::cos(phi + delta_phi); + // objects_locations.at(i).y() = radius * std::sin(phi + delta_phi); + // velocities.at(i) = (objects_locations.at(i) - pos_prev) / delta_time; + + // -------------------------------------------------------------------------------------------------------- // + + // Nermin added. Tunnel motion (for scenario 2) + // ROS_INFO("Moving obstacle: %ld", i); + // if (path_len(i) > path_len_max) + // { + // sign(i) *= -1; + // path_len(i) = -path_len_max; + // } + + // if (objects_locations.at(i).y() > 0) + // velocities.at(i) = Eigen::Vector3d::UnitX() * sign(i) * init_obstacles_.max_vel; // Move along x-axis + // else + // velocities.at(i) = Eigen::Vector3d::UnitY() * sign(i) * init_obstacles_.max_vel; // Move along y-axis + + // path_len(i) += velocities.at(i).norm() * delta_time; + // objects_locations.at(i) += velocities.at(i) * delta_time; + + // -------------------------------------------------------------------------------------------------------- // + + // Nermin added. Jaws motion (for scenario 3) + // ROS_INFO("Moving obstacle: %ld", i); + // if (path_len(i) > path_len_max) + // { + // sign(i) *= -1; + // path_len(i) = -path_len_max; + // } + + // if (objects_locations.at(i).x() > 0) + // velocities.at(i) = Eigen::Vector3d::UnitX() * sign(i) * init_obstacles_.max_vel; // Move along x-axis + // else + // velocities.at(i) = -Eigen::Vector3d::UnitX() * sign(i) * init_obstacles_.max_vel; // Move along y-axis + + // path_len(i) += velocities.at(i).norm() * delta_time; + // objects_locations.at(i) += velocities.at(i) * delta_time; + + // -------------------------------------------------------------------------------------------------------- // + + spawned_objects_.at(i).pose.pose.position.x = objects_locations.at(i)[0]; + spawned_objects_.at(i).pose.pose.position.y = objects_locations.at(i)[1]; + spawned_objects_.at(i).pose.pose.position.z = objects_locations.at(i)[2]; + spawned_objects_.at(i).pose.pose.orientation = q; + + n_move.at(i) = n_move.at(i)+1; + moving_time.at(i) = real_time_; + + srv_move_objects.request.obj_ids.push_back(obj_ids_.at(i)); + srv_move_objects.request.poses.push_back(spawned_objects_.at(i).pose); } if(stop_ || not ros::ok()) break; } - if(not srv_add_object.request.objects.empty()) - { - if(not add_obj_.call(srv_add_object)) - { - ROS_ERROR("call to add obj srv not ok"); - - stop_ = true; - break; - } - - if(not srv_add_object.response.success) - ROS_ERROR("add obj srv error"); - else - { - ROS_BOLDMAGENTA_STREAM("Obstacle spawned!"); - obs_update = true; - - Eigen::Vector3d v; - v << (random_vel(gen)),(random_vel(gen)),(random_vel(gen)); - v = (v/v.norm())*obj_vel_; - - n_move.push_back(0); - velocities.push_back(v); - moving_time.push_back(real_time_); - spawned_objects.push_back(new_obj); - objects_locations.push_back(obj_pose); - ids.push_back(srv_add_object.response.ids.front()); - - for (const std::string& str:srv_add_object.response.ids) - srv_remove_object.request.obj_ids.push_back(str); - } - } - if(not srv_move_objects.request.poses.empty()) { if(not move_obj_.call(srv_move_objects)) @@ -1074,8 +1089,6 @@ void ReplannerManagerBase::spawnObjectsThread() pose.orientation = q; bench_mtx_.lock(); - obj_ids_ = ids; //also contains the new added obj - obj_pos_.clear(); for(const Eigen::Vector3d& ol: objects_locations) //also contains the new added obj { @@ -1095,11 +1108,6 @@ void ReplannerManagerBase::spawnObjectsThread() lp.sleep(); } - if (not remove_obj_.call(srv_remove_object)) - ROS_ERROR("call to remove obj srv not ok"); - if(not srv_remove_object.response.success) - ROS_ERROR("remove obj srv error"); - ROS_BOLDCYAN_STREAM("Spawn objects thread is over"); } @@ -1194,6 +1202,9 @@ void ReplannerManagerBase::benchmarkThread() for(unsigned int i=0; i0.3) - { - //current_configuration = old_current_configuration; - ROS_BOLDRED_STREAM("Skipping path length increment! Distance: "<obj_max_size_)) - { - it = std::find(already_collided_obj.begin(),already_collided_obj.end(),obj_ids[i]); - if(it>=already_collided_obj.end()) - { + // if((current_configuration_3d - obj_pos[i]).norm() < max_ws_dist_) + // { + // it = std::find(already_collided_obj.begin(),already_collided_obj.end(),obj_ids[i]); + // if(it>=already_collided_obj.end()) + // { scene_mtx_.lock(); checker->setPlanningSceneMsg(planning_scene_msg_benchmark_); scene_mtx_.unlock(); @@ -1234,8 +1239,8 @@ void ReplannerManagerBase::benchmarkThread() { current_conn = current_path->findConnection(current_configuration); - if(current_conn && (current_conn->getCost() != std::numeric_limits::infinity())) - throw std::runtime_error("current conn cost should be infinite! "); + // if(current_conn && (current_conn->getCost() != std::numeric_limits::infinity())) + // throw std::runtime_error("current conn cost should be infinite! "); n_collisions++; already_collided_obj.push_back(obj_ids[i]); @@ -1248,8 +1253,8 @@ void ReplannerManagerBase::benchmarkThread() break; } - } - } + // } + // } } toc = ros::WallTime::now(); @@ -1275,21 +1280,17 @@ void ReplannerManagerBase::benchmarkThread() else max_replanning_time = 0.0; - bench_mtx_.lock(); - unsigned int number_of_objects = obj_ids_.size(); - bench_mtx_.unlock(); - std::string replanner_type = "replanner"; nh_.getParam("replanner_type",replanner_type); - std::string test_name = "test"; - nh_.getParam("test_name",test_name); + std::string test_name = "test_" + std::to_string(num_obstacles_); + // nh_.getParam("test_name",test_name); std::string bench_name = "bench"; nh_.getParam("bench_name",bench_name); std::string path = "./replanners_benchmark"; - std::string file_name = path+"/"+bench_name+"/"+replanner_type+"/"+test_name+".bin"; + std::string file_name = path+"/"+bench_name+"/"+replanner_type+"/"+test_name+".log"; boost::filesystem::path dir(path); if(not (boost::filesystem::exists(dir))) @@ -1303,31 +1304,31 @@ void ReplannerManagerBase::benchmarkThread() if(not (boost::filesystem::exists(dir3))) boost::filesystem::create_directory(dir3); + // Nermin added: + if (real_time_ + init_duration_offset_ > max_solver_time_) + success = false; + std::ofstream file; - file.open(file_name,std::ios::out | std::ios::binary); - - const size_t bufsize = 1024 * 1024; - std::unique_ptr buf; - buf.reset(new char[bufsize]); - - file.rdbuf()->pubsetbuf(buf.get(), bufsize); - - file.write((char*) &success, sizeof(success )); - file.write((char*) &number_of_objects, sizeof(number_of_objects )); - file.write((char*) &n_collisions, sizeof(n_collisions )); - file.write((char*) &path_length, sizeof(path_length )); - file.write((char*) &distance_start_goal, sizeof(distance_start_goal)); - file.write((char*) &initial_path_length, sizeof(initial_path_length)); - file.write((char*) &real_time_, sizeof(real_time_ )); - file.write((char*) &mean, sizeof(mean )); - file.write((char*) &std_dev, sizeof(std_dev )); - file.write((char*) &max_replanning_time, sizeof(max_replanning_time)); - - file.flush(); + file.open(file_name, std::ofstream::app); + file << "success:\n" << success << "\n"; + if (success) + { + file << "path length [rad]:\n" << path_length << "\n"; + file << "time for initial paths [s]:\n" << init_duration_offset_ << "\n"; + file << "time for algorithm [s]:\n" << real_time_ << "\n"; + file << "max vel [rad/s]:\n" << max_vel_recorded_ << "\n"; + file << "max acc [rad/s^2]:\n" << max_acc_recorded_ << "\n"; + } + else if (real_time_ + init_duration_offset_ > max_solver_time_) + file << "Reason: Maximal planning time exceeded!\n"; + else + file << "Reason: Collision occurred!\n"; + + file << "----------------------------------------------------\n"; file.close(); ROS_BOLDBLUE_STREAM("\nFile "<