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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,109 @@ | ||
| #!/usr/bin/env python3 | ||
|
|
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| import smach | ||
| from smach_ros import SimpleActionState | ||
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| from geometry_msgs.msg import Pose, PoseStamped | ||
| from std_msgs.msg import Header | ||
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| from typing import List | ||
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| from lasr_skills import Detect3D, LookToPoint, GoToPerson | ||
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| from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal | ||
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| class FindPerson(smach.StateMachine): | ||
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| class HandleDetections(smach.State): | ||
| def __init__(self): | ||
| smach.State.__init__( | ||
| self, | ||
| outcomes=["succeeded", "failed"], | ||
| input_keys=["detections_3d"], | ||
| output_keys=["point"], | ||
| ) | ||
|
|
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| def execute(self, userdata): | ||
| if len(userdata.detections_3d.detected_objects) == 0: | ||
| return "failed" | ||
|
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| userdata.point = userdata.detections_3d.detected_objects[0].point | ||
| return "succeeded" | ||
|
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| def __init__(self, waypoints: List[Pose]): | ||
| smach.StateMachine.__init__(self, outcomes=["succeeded", "failed"]) | ||
| self.waypoints = waypoints | ||
|
|
||
| with self: | ||
| waypoint_iterator = smach.Iterator( | ||
| outcomes=["succeeded", "failed"], | ||
| it=self.waypoints, | ||
| it_label="location", | ||
| input_keys=[], | ||
| output_keys=[], | ||
| exhausted_outcome="failed", | ||
| ) | ||
|
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| with waypoint_iterator: | ||
|
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| container_sm = smach.StateMachine( | ||
| outcomes=["succeeded", "failed", "continue"], | ||
| input_keys=["location"], | ||
| ) | ||
|
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| with container_sm: | ||
|
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| smach.StateMachine.add( | ||
| "GO_TO_LOCATION", | ||
| SimpleActionState( | ||
| "move_base", | ||
| MoveBaseAction, | ||
| goal_cb=lambda ud, _: MoveBaseGoal( | ||
| target_pose=PoseStamped( | ||
| pose=ud.location, header=Header(frame_id="map") | ||
| ) | ||
| ), | ||
| input_keys=["location"], | ||
| ), | ||
| transitions={ | ||
| "succeeded": "DETECT3D", | ||
| "preempted": "continue", | ||
| "aborted": "continue", | ||
| }, | ||
| ) | ||
| smach.StateMachine.add( | ||
| "DETECT3D", | ||
| Detect3D(filter=["person"]), | ||
| transitions={ | ||
| "succeeded": "HANDLE_DETECTIONS", | ||
| "failed": "failed", | ||
| }, | ||
| ) | ||
| smach.StateMachine.add( | ||
| "HANDLE_DETECTIONS", | ||
| self.HandleDetections(), | ||
| transitions={ | ||
| "succeeded": "LOOK_AT_PERSON", | ||
| "failed": "continue", | ||
| }, | ||
| ) | ||
| smach.StateMachine.add( | ||
| "GO_TO_PERSON", | ||
| GoToPerson(), | ||
| transitions={"succeeded": "LOOK_AT_PERSON", "failed": "failed"}, | ||
| ) | ||
| smach.StateMachine.add( | ||
| "LOOK_AT_PERSON", | ||
| LookToPoint(), | ||
| transitions={"succeeded": "succeeded"}, | ||
| ) | ||
| # TODO: use deepface to recognize the person | ||
| waypoint_iterator.set_contained_state( | ||
| "CONTAINER_STATE", container_sm, loop_outcomes=["continue"] | ||
| ) | ||
| smach.StateMachine.add( | ||
| "WAYPOINT_ITERATOR", | ||
| waypoint_iterator, | ||
| {"succeeded": "succeeded", "failed": "failed"}, | ||
| ) |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,134 @@ | ||
| #!/usr/bin/env python3 | ||
|
|
||
| import smach | ||
| from smach_ros import SimpleActionState | ||
|
|
||
| from geometry_msgs.msg import Pose, PoseStamped | ||
| from std_msgs.msg import Header | ||
|
|
||
| from typing import List | ||
|
|
||
| from lasr_skills import Detect3D, LookToPoint, GoToPerson | ||
|
|
||
| from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal | ||
|
|
||
|
|
||
| class FindPerson(smach.StateMachine): | ||
|
|
||
| class HandleDetections(smach.State): | ||
| def __init__(self): | ||
| smach.State.__init__( | ||
| self, | ||
| outcomes=["succeeded", "failed"], | ||
| input_keys=["detections_3d"], | ||
| output_keys=["point"], | ||
| ) | ||
|
|
||
| def execute(self, userdata): | ||
| if len(userdata.detections_3d.detected_objects) == 0: | ||
| return "failed" | ||
|
|
||
| userdata.point = userdata.detections_3d.detected_objects[0].point | ||
| return "succeeded" | ||
|
|
||
| def __init__(self, waypoints: List[Pose], target_person: str): | ||
| smach.StateMachine.__init__(self, outcomes=["succeeded", "failed"]) | ||
| self.waypoints = waypoints | ||
|
|
||
| with self: | ||
| waypoint_iterator = smach.Iterator( | ||
| outcomes=["succeeded", "failed"], | ||
| it=self.waypoints, | ||
| it_label="location", | ||
| input_keys=[], | ||
| output_keys=[], | ||
| exhausted_outcome="failed", | ||
| ) | ||
|
|
||
| with waypoint_iterator: | ||
|
|
||
| container_sm = smach.StateMachine( | ||
| outcomes=["succeeded", "failed", "continue"], | ||
| input_keys=["location"], | ||
| ) | ||
|
|
||
| with container_sm: | ||
|
|
||
| smach.StateMachine.add( | ||
| "GO_TO_LOCATION", | ||
| SimpleActionState( | ||
| "move_base", | ||
| MoveBaseAction, | ||
| goal_cb=lambda ud, _: MoveBaseGoal( | ||
| target_pose=PoseStamped( | ||
| pose=ud.location, header=Header(frame_id="map") | ||
| ) | ||
| ), | ||
| input_keys=["location"], | ||
| ), | ||
| transitions={ | ||
| "succeeded": "DETECT3D", | ||
| "preempted": "continue", | ||
| "aborted": "continue", | ||
| }, | ||
| ) | ||
| smach.StateMachine.add( | ||
| "DETECT3D", | ||
| Detect3D(filter=["person"]), | ||
| transitions={ | ||
| "succeeded": "HANDLE_DETECTIONS", | ||
| "failed": "failed", | ||
| }, | ||
| ) | ||
| smach.StateMachine.add( | ||
| "HANDLE_DETECTIONS", | ||
| self.HandleDetections(), | ||
| transitions={ | ||
| "succeeded": "LOOK_AT_PERSON", | ||
| "failed": "continue", | ||
| }, | ||
| ) | ||
| smach.StateMachine.add( | ||
| "GO_TO_PERSON", | ||
| GoToPerson(), | ||
| transitions={"succeeded": "LOOK_AT_PERSON", "failed": "failed"}, | ||
| ) | ||
| smach.StateMachine.add( | ||
| "LOOK_AT_PERSON", | ||
| LookToPoint(), | ||
| transitions={"succeeded": "succeeded"}, | ||
| ) | ||
| # TODO: Ask name of person | ||
| waypoint_iterator.set_contained_state( | ||
| "CONTAINER_STATE", container_sm, loop_outcomes=["continue"] | ||
| ) | ||
| smach.StateMachine.add( | ||
| "WAYPOINT_ITERATOR", | ||
| waypoint_iterator, | ||
| {"succeeded": "succeeded", "failed": "failed"}, | ||
| ) | ||
|
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||
|
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| if __name__ == "__main__": | ||
| import rospy | ||
| from smach_ros import IntrospectionServer | ||
| from geometry_msgs.msg import Pose, Point, Quaternion | ||
|
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| rospy.init_node("find_person") | ||
| sm = FindPerson( | ||
| [ | ||
| Pose( | ||
| position=Point(4.5, 6.4, 0.0), | ||
| orientation=Quaternion(0.0, 0.0, 0.759, 0.650), | ||
| ), | ||
| Pose( | ||
| position=Point(3.2, 5.0, 0.0), | ||
| orientation=Quaternion(0.0, 0.0, -0.992, 0.121), | ||
| ), | ||
| ] | ||
| ) | ||
| sis = IntrospectionServer("find_person", sm, "/FIND_PERSON") | ||
| sis.start() | ||
| sm.execute() | ||
| rospy.spin() | ||
| sis.stop() |