init
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# Модуль Д — складской кейс RMC1 + RMC2
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Один запускаемый скрипт координирует два ровера в сценарии из конкурсного
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задания:
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1. RMC2 едет к стеллажу, поднимает его и отвозит в точку комплектации.
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2. RMC2 опускает стеллаж и отъезжает на соседнюю свободную точку.
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3. RMC1 подъезжает к стеллажу, YOLO находит заданную деталь, ARM95 берёт её.
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4. RMC1 отвозит деталь к полке сдачи и кладёт её.
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5. RMC2 возвращается под стеллаж и отвозит его на хранение.
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6. Оба ровера последовательно возвращаются на свои стартовые точки.
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7. В терминал и JSONL-лог выводится `MISSION_FINISHED`.
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Решение специально последовательное: это медленнее параллельного управления,
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зато уменьшает риск столкновения RMC1 и RMC2. Маршруты строятся BFS по графу
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ArUco 6 × 6, занятые клетки исключаются. Движение замыкается по odometry,
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`scan_front` вызывает остановку перед препятствием, команды скорости сглаживаются.
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Соседняя парковочная точка RMC2 автоматически берётся из построенного пути к
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комплектации, отдельный параметр для неё не нужен.
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## Учебный сценарий симулятора
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Дефолты образуют тренировочный сценарий на штатной геометрии `module5.launch.py`.
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Стартовые позиции, стеллаж и стол взяты из сцены; свободная точка комплектации
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выбрана нами для теста:
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| Объект | ArUco ID | Координата поля |
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| --- | ---: | --- |
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| старт RMC2 | 0 | `(0, 0)` |
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| старт RMC1 | 15 | `(-2, 3)` |
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| выбранный стеллаж | 34 | `(-5, 4)` |
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| комплектация | 16 | `(-2, 4)` |
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| подход RMC1 к стеллажу | 10 | `(-1, 4)` |
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| полка сдачи | 5 | `(0, 5)` |
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| подход RMC1 к полке | 4 | `(0, 4)` |
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| другие стеллажи | 31, 35 | занятые клетки |
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Это только удобный тренировочный пресет. На зачётной попытке ID точек сообщает
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эксперт — передайте их аргументами, не редактируя код. Подход RMC1 должен быть
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соседней свободной клеткой с рабочей стороны стеллажа/полки.
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## Запуск
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Терминал 1:
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```bash
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source /opt/ros/jazzy/setup.bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch ar_webots_fms_ros2 module5.launch.py
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```
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Терминал 2. Используется уже настроенная venv модуля В с YOLO и `numpy<2`:
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```bash
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cd ~/scripts/mvch
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git pull --ff-only
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source /opt/ros/jazzy/setup.bash
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source ~/ros2_ws/install/setup.bash
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source module3/.venv/bin/activate
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python3 module5/module5.py --target 1
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```
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Перед движением программа показывает все точки и маршруты. После проверки
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нажмите Enter. Классы цели: `1=hammer`, `2=wrench`, `3=pliers`.
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Пример с точками эксперта:
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```bash
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python3 module5/module5.py --target wrench \
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--rmc1-start 15 --rmc2-start 0 \
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--rack 34 --assembly 16 --assembly-approach 10 \
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--delivery 5 --delivery-approach 4 --blocked 31,35
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```
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Только маршруты, без ROS и движения:
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```bash
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python3 module5/module5.py --dry-run --target pliers
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```
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Тест платформ и лифта без YOLO/MoveIt:
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```bash
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python3 module5/module5.py --target hammer --skip-arm
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```
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`--auto` убирает только начальное подтверждение. На первой тренировке его не
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использовать.
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## Аварийная остановка
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В терминале скрипта доступны `stop`, `resume`, `abort`. Внешнее управление:
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```bash
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ros2 topic pub /mvch/module5/emergency_stop std_msgs/msg/Bool '{data: true}' --once
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ros2 topic pub /mvch/module5/emergency_stop std_msgs/msg/Bool '{data: false}' --once
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ros2 topic pub /mvch/module5/command std_msgs/msg/String '{data: abort}' --once
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```
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Ctrl+C и `abort` публикуют нулевую скорость обоим роверам. Штатный драйвер
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Webots не имеет аппаратного watchdog: после SIGKILL дополнительно остановите
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симуляцию вручную.
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## Калибровка ARM95
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Захват переиспользует проверенный код `module3/module3.py` и веса
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`module3/models/latest.pt`. При подходе к полке RMC1 разворачивается к её центру,
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а точка выкладки задаётся относительно `Base_link`:
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```text
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--drop-arm-x 0.55
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--drop-arm-y 0.0
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--drop-arm-z 0.220
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--drop-arm-yaw 1.5708
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```
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Эти четыре значения обязательно проверить в симуляторе и затем на реальном
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поле: геометрия полки может отличаться. Если ARM95 пока не откалиброван,
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`--skip-arm` позволяет отдельно проверить всю логистику RMC1/RMC2.
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## Логи и критерии
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Логи сохраняются в `module5/logs/module5_*.jsonl` и не попадают в Git. В них
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есть старт/конец, маршруты, достигнутые маркеры, остановки по лидару, команды
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лифта, класс/confidence YOLO и этапы манипулятора.
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Практически закрываются: все перемещения двух РМК, подъём/возврат стеллажа,
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захват/сдача детали, один запускаемый скрипт, безопасность, логирование, Git и
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README. Результат физического захвата, отсутствие падения детали и время до
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трёх минут подтверждаются только контрольным заездом.
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@@ -0,0 +1,2 @@
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*
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!.gitignore
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@@ -0,0 +1,921 @@
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#!/usr/bin/env python3
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"""Модуль Д: один скрипт для складского кейса RMC1 + RMC2."""
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import argparse
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import json
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import math
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import os
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import sys
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import threading
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import time
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from collections import deque
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from dataclasses import dataclass
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from datetime import datetime
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from pathlib import Path
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from tempfile import NamedTemporaryFile
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from types import SimpleNamespace
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HERE = Path(__file__).resolve().parent
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ROOT = HERE.parent
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ROWS = 6
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COLS = 6
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MARKER_SPACING = 1.0
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ROBOT_NAMES = ("RMC1", "RMC2")
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def clamp(value, limit):
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return max(-limit, min(limit, value))
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def wrap_angle(value):
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return math.atan2(math.sin(value), math.cos(value))
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def marker_xy(marker_id):
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"""Координаты поля: 0=(0,0), 6=(-1,0), 1=(0,1)."""
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row, column = divmod(marker_id, COLS)
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return -row * MARKER_SPACING, column * MARKER_SPACING
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def neighbours(marker_id):
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row, column = divmod(marker_id, COLS)
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result = []
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for dr, dc in ((-1, 0), (0, -1), (0, 1), (1, 0)):
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nr, nc = row + dr, column + dc
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if 0 <= nr < ROWS and 0 <= nc < COLS:
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result.append(nr * COLS + nc)
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return result
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def shortest_path(start, goal, blocked=()):
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"""BFS по регулярному графу ArUco."""
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forbidden = set(blocked) - {start, goal}
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queue = deque([start])
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previous = {start: None}
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while queue:
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current = queue.popleft()
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if current == goal:
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break
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for candidate in neighbours(current):
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if candidate not in forbidden and candidate not in previous:
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previous[candidate] = current
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queue.append(candidate)
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if goal not in previous:
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raise ValueError(f"Нет маршрута {start} -> {goal}; занято: {sorted(forbidden)}")
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route = []
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current = goal
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while current is not None:
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route.append(current)
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current = previous[current]
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return list(reversed(route))
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def face_marker(position, target):
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x1, y1 = marker_xy(position)
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x2, y2 = marker_xy(target)
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return math.atan2(y2 - y1, x2 - x1)
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def parse_markers(value):
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if not value.strip():
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return set()
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try:
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return {int(item.strip()) for item in value.split(",")}
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except ValueError as error:
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raise argparse.ArgumentTypeError("Нужны ID через запятую, например 31,35") from error
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class EventLog:
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def __init__(self):
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directory = HERE / "logs"
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directory.mkdir(parents=True, exist_ok=True)
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self.path = directory / f"module5_{datetime.now():%Y%m%d_%H%M%S}.jsonl"
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self.lock = threading.Lock()
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def write(self, event, **fields):
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record = {"time": datetime.now().isoformat(timespec="milliseconds"), "event": event}
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record.update(fields)
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line = json.dumps(record, ensure_ascii=False)
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with self.lock:
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print(line, flush=True)
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with self.path.open("a", encoding="utf-8") as stream:
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stream.write(line + "\n")
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stream.flush()
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os.fsync(stream.fileno())
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@dataclass
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class Scenario:
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rmc1_start: int
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rmc2_start: int
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rack: int
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assembly: int
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assembly_approach: int
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delivery: int
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delivery_approach: int
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blocked: set
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def validate(self):
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points = {
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"rmc1-start": self.rmc1_start,
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"rmc2-start": self.rmc2_start,
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"rack": self.rack,
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"assembly": self.assembly,
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"assembly-approach": self.assembly_approach,
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"delivery": self.delivery,
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"delivery-approach": self.delivery_approach,
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}
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for name, marker in points.items():
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if marker not in range(ROWS * COLS):
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raise ValueError(f"{name}: ID {marker} вне диапазона 0..35")
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if self.assembly_approach not in neighbours(self.assembly):
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raise ValueError("assembly-approach должен быть соседней ячейкой")
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if self.delivery_approach not in neighbours(self.delivery):
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raise ValueError("delivery-approach должен быть соседней ячейкой")
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if self.assembly in self.blocked or self.rack in self.blocked:
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raise ValueError("Активный стеллаж и точка комплектации не должны быть в --blocked")
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if self.rack == self.assembly:
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raise ValueError("Стеллаж и точка комплектации должны отличаться")
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def routes(self):
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# Полка сдачи и чужие стеллажи считаются препятствиями для RMC2.
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rmc2_blocked = self.blocked | {self.delivery}
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# Для RMC1 стеллаж уже стоит в комплектации, а полка занята физически.
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rmc1_blocked = self.blocked | {self.assembly, self.delivery}
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to_assembly = shortest_path(self.rack, self.assembly, rmc2_blocked)
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parking = to_assembly[-2]
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return {
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"rmc2_to_rack": shortest_path(self.rmc2_start, self.rack, rmc2_blocked),
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"rmc2_to_assembly": to_assembly,
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"rmc2_clear_assembly": [self.assembly, parking],
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"rmc2_back_to_assembly": [parking, self.assembly],
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"rmc1_to_assembly": shortest_path(
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self.rmc1_start, self.assembly_approach, rmc1_blocked
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),
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"rmc1_to_delivery": shortest_path(
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self.assembly_approach, self.delivery_approach, rmc1_blocked
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),
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"rmc2_return_rack": shortest_path(self.assembly, self.rack, rmc2_blocked),
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"rmc1_return": shortest_path(
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self.delivery_approach, self.rmc1_start, rmc1_blocked
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),
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"rmc2_return": shortest_path(self.rack, self.rmc2_start, rmc2_blocked),
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}
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@dataclass
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class Anchor:
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world_x: float
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world_y: float
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world_yaw: float
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odom_x: float
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odom_y: float
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odom_yaw: float
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def to_odom(self, world_x, world_y, world_yaw):
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dx, dy = world_x - self.world_x, world_y - self.world_y
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rotation = self.odom_yaw - self.world_yaw
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cosine, sine = math.cos(rotation), math.sin(rotation)
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return (
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self.odom_x + cosine * dx - sine * dy,
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self.odom_y + sine * dx + cosine * dy,
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wrap_angle(self.odom_yaw + world_yaw - self.world_yaw),
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)
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def arguments():
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parser = argparse.ArgumentParser(description=__doc__)
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parser.add_argument("--target", help="1/hammer, 2/wrench, 3/pliers")
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parser.add_argument("--rmc1-start", type=int, default=15)
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parser.add_argument("--rmc2-start", type=int, default=0)
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parser.add_argument("--rack", type=int, default=34)
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parser.add_argument("--assembly", type=int, default=16)
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parser.add_argument("--assembly-approach", type=int, default=10)
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parser.add_argument("--delivery", type=int, default=5)
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parser.add_argument("--delivery-approach", type=int, default=4)
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parser.add_argument("--blocked", type=parse_markers, default={31, 35})
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parser.add_argument("--rmc1-start-yaw", type=float, default=math.pi)
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parser.add_argument("--rmc2-start-yaw", type=float, default=math.pi)
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parser.add_argument("--rack-yaw", type=float, default=math.pi)
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parser.add_argument("--auto", action="store_true", help="Не ждать Enter перед стартом")
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parser.add_argument("--dry-run", action="store_true", help="Показать сценарий без ROS")
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parser.add_argument("--skip-arm", action="store_true", help="Только роверы и лифт")
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parser.add_argument("--weights", default="module3/models/latest.pt")
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parser.add_argument(
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"--camera-topic", default="/RMC1/arm95/camera_gripper/image_color"
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)
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parser.add_argument("--conf", type=float, default=0.20)
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parser.add_argument("--vision-timeout", type=float, default=60.0)
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parser.add_argument("--plane-z", type=float, default=0.128)
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parser.add_argument("--pick-z", type=float, default=0.210)
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parser.add_argument("--approach-z", type=float, default=0.38)
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parser.add_argument("--drop-arm-x", type=float, default=0.55)
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parser.add_argument("--drop-arm-y", type=float, default=0.0)
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parser.add_argument("--drop-arm-z", type=float, default=0.220)
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parser.add_argument("--drop-arm-yaw", type=float, default=math.pi / 2)
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parser.add_argument("--sensor-timeout", type=float, default=3.0)
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parser.add_argument("--waypoint-timeout", type=float, default=35.0)
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args = parser.parse_args()
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if not 0.0 <= args.conf <= 1.0:
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parser.error("--conf должен быть от 0 до 1")
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if args.approach_z <= max(args.pick_z, args.drop_arm_z):
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parser.error("--approach-z должен быть выше pick/drop")
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if min(args.sensor_timeout, args.waypoint_timeout, args.vision_timeout) <= 0:
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parser.error("таймауты должны быть положительными")
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return args
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def make_scenario(args):
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scenario = Scenario(
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args.rmc1_start,
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args.rmc2_start,
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args.rack,
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args.assembly,
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args.assembly_approach,
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args.delivery,
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args.delivery_approach,
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set(args.blocked),
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)
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scenario.validate()
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return scenario
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def print_plan(scenario, routes, target):
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print("\n=== МОДУЛЬ Д: ПЛАН ДО ЗАПУСКА ===")
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print(f"Целевая деталь: {target}")
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print(
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f"RMC2: {scenario.rmc2_start} -> стеллаж {scenario.rack} -> "
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||||
f"комплектация {scenario.assembly} -> {scenario.rack} -> {scenario.rmc2_start}"
|
||||
)
|
||||
print(
|
||||
f"RMC1: {scenario.rmc1_start} -> подход {scenario.assembly_approach} -> "
|
||||
f"сдача через {scenario.delivery_approach} -> {scenario.rmc1_start}"
|
||||
)
|
||||
for name, route in routes.items():
|
||||
print(f"{name}: {route}")
|
||||
print("Приоритет: STOP -> безопасность -> точность -> скорость")
|
||||
print("Команды: stop, resume, abort. Внешний стоп: /mvch/module5/emergency_stop")
|
||||
print("====================================\n")
|
||||
|
||||
|
||||
def build_ros_node(args, event_log):
|
||||
import rclpy
|
||||
from geometry_msgs.msg import Twist
|
||||
from nav_msgs.msg import Odometry
|
||||
from rclpy.executors import MultiThreadedExecutor
|
||||
from rclpy.node import Node
|
||||
from rclpy.qos import qos_profile_sensor_data
|
||||
from sensor_msgs.msg import LaserScan
|
||||
from std_msgs.msg import Bool, Float64, String
|
||||
|
||||
if not rclpy.ok():
|
||||
rclpy.init()
|
||||
|
||||
class WarehouseNode(Node):
|
||||
def __init__(self):
|
||||
super().__init__("mvch_module5")
|
||||
self.lock = threading.Lock()
|
||||
self.poses = {name: None for name in ROBOT_NAMES}
|
||||
self.odom_seen = {name: 0.0 for name in ROBOT_NAMES}
|
||||
self.front_distance = {name: math.inf for name in ROBOT_NAMES}
|
||||
self.scan_seen = {name: 0.0 for name in ROBOT_NAMES}
|
||||
self.last_command = {name: (0.0, 0.0, 0.0, time.monotonic()) for name in ROBOT_NAMES}
|
||||
self.emergency = threading.Event()
|
||||
self.abort = threading.Event()
|
||||
self.lift_status = "unknown"
|
||||
self.lift_updates = 0
|
||||
self.cmd_publishers = {
|
||||
name: self.create_publisher(Twist, f"/{name}/cmd_vel", 10)
|
||||
for name in ROBOT_NAMES
|
||||
}
|
||||
self.lift_publisher = self.create_publisher(Float64, "/RMC2/lift", 10)
|
||||
for name in ROBOT_NAMES:
|
||||
self.create_subscription(
|
||||
Odometry,
|
||||
f"/{name}/odometry",
|
||||
lambda message, robot=name: self.on_odom(robot, message),
|
||||
qos_profile_sensor_data,
|
||||
)
|
||||
self.create_subscription(
|
||||
LaserScan,
|
||||
f"/{name}/scan_front",
|
||||
lambda message, robot=name: self.on_scan(robot, message),
|
||||
qos_profile_sensor_data,
|
||||
)
|
||||
self.create_subscription(String, "/RMC2/lift_status", self.on_lift, 10)
|
||||
self.create_subscription(Bool, "/mvch/module5/emergency_stop", self.on_stop, 10)
|
||||
self.create_subscription(String, "/mvch/module5/command", self.on_command, 10)
|
||||
|
||||
def on_odom(self, robot, message):
|
||||
orientation = message.pose.pose.orientation
|
||||
siny = 2.0 * (orientation.w * orientation.z + orientation.x * orientation.y)
|
||||
cosy = 1.0 - 2.0 * (orientation.y**2 + orientation.z**2)
|
||||
pose = (
|
||||
float(message.pose.pose.position.x),
|
||||
float(message.pose.pose.position.y),
|
||||
math.atan2(siny, cosy),
|
||||
)
|
||||
with self.lock:
|
||||
self.poses[robot] = pose
|
||||
self.odom_seen[robot] = time.monotonic()
|
||||
|
||||
def on_scan(self, robot, message):
|
||||
distances = []
|
||||
for index, distance in enumerate(message.ranges):
|
||||
angle = message.angle_min + index * message.angle_increment
|
||||
if abs(angle) <= math.radians(24) and math.isfinite(distance):
|
||||
if message.range_min <= distance <= message.range_max:
|
||||
distances.append(float(distance))
|
||||
with self.lock:
|
||||
self.front_distance[robot] = min(distances, default=math.inf)
|
||||
self.scan_seen[robot] = time.monotonic()
|
||||
|
||||
def on_lift(self, message):
|
||||
with self.lock:
|
||||
self.lift_status = str(message.data)
|
||||
self.lift_updates += 1
|
||||
|
||||
def on_stop(self, message):
|
||||
if message.data:
|
||||
self.emergency.set()
|
||||
event_log.write("EMERGENCY_STOP", source="topic")
|
||||
else:
|
||||
self.emergency.clear()
|
||||
event_log.write("RESUME", source="topic")
|
||||
|
||||
def on_command(self, message):
|
||||
command = message.data.strip().lower()
|
||||
if command == "stop":
|
||||
self.emergency.set()
|
||||
event_log.write("EMERGENCY_STOP", source="command")
|
||||
elif command == "resume":
|
||||
self.emergency.clear()
|
||||
event_log.write("RESUME", source="command")
|
||||
elif command in {"abort", "quit"}:
|
||||
self.abort.set()
|
||||
|
||||
def pose(self, robot):
|
||||
with self.lock:
|
||||
return self.poses[robot], self.odom_seen[robot]
|
||||
|
||||
def scan(self, robot):
|
||||
with self.lock:
|
||||
return self.front_distance[robot], self.scan_seen[robot]
|
||||
|
||||
def command(self, robot, x=0.0, y=0.0, yaw=0.0, immediate=False):
|
||||
now = time.monotonic()
|
||||
old_x, old_y, old_yaw, old_time = self.last_command[robot]
|
||||
if immediate:
|
||||
next_x, next_y, next_yaw = x, y, yaw
|
||||
else:
|
||||
dt = min(0.15, max(0.02, now - old_time))
|
||||
linear_step, angular_step = 0.65 * dt, 1.2 * dt
|
||||
next_x = old_x + clamp(x - old_x, linear_step)
|
||||
next_y = old_y + clamp(y - old_y, linear_step)
|
||||
next_yaw = old_yaw + clamp(yaw - old_yaw, angular_step)
|
||||
message = Twist()
|
||||
message.linear.x = next_x
|
||||
message.linear.y = next_y if robot == "RMC1" else 0.0
|
||||
message.angular.z = next_yaw
|
||||
self.cmd_publishers[robot].publish(message)
|
||||
self.last_command[robot] = (next_x, next_y, next_yaw, now)
|
||||
|
||||
def stop_all(self):
|
||||
for _ in range(3):
|
||||
for robot in ROBOT_NAMES:
|
||||
self.command(robot, immediate=True)
|
||||
time.sleep(0.04)
|
||||
|
||||
def set_lift(self, raised, allow_already=False):
|
||||
height = 0.1 if raised else 0.0
|
||||
event_log.write("LIFT_COMMAND", state="up" if raised else "down", height=height)
|
||||
with self.lock:
|
||||
updates_before = self.lift_updates
|
||||
for _ in range(5):
|
||||
self.lift_publisher.publish(Float64(data=height))
|
||||
time.sleep(0.1)
|
||||
started = time.monotonic()
|
||||
success = False
|
||||
while time.monotonic() - started < 6.0:
|
||||
with self.lock:
|
||||
status = self.lift_status
|
||||
received_update = self.lift_updates > updates_before
|
||||
# Драйвер публикует status только при его изменении. Если лифт уже
|
||||
# был внизу до нашей подписки, команда down не создаст сообщения.
|
||||
if time.monotonic() - started >= 1.1 and received_update and "success" in status.lower():
|
||||
success = True
|
||||
break
|
||||
if time.monotonic() - started >= 1.3 and allow_already and not received_update:
|
||||
event_log.write(
|
||||
"LIFT_ALREADY_AT_TARGET",
|
||||
state="up" if raised else "down",
|
||||
status=status,
|
||||
)
|
||||
success = True
|
||||
break
|
||||
time.sleep(0.1)
|
||||
if not success:
|
||||
raise RuntimeError(f"RMC2: лифт не завершил движение, status={status}")
|
||||
event_log.write("LIFT_DONE", state="up" if raised else "down", status=status)
|
||||
|
||||
return WarehouseNode(), rclpy, MultiThreadedExecutor
|
||||
|
||||
|
||||
class Motion:
|
||||
def __init__(self, node, args, event_log, anchors):
|
||||
self.node = node
|
||||
self.args = args
|
||||
self.log = event_log
|
||||
self.anchors = anchors
|
||||
|
||||
def wait_ready(self):
|
||||
deadline = time.monotonic() + 20.0
|
||||
while time.monotonic() < deadline:
|
||||
odometry_ready = all(
|
||||
self.node.pose(robot)[0] is not None for robot in ROBOT_NAMES
|
||||
)
|
||||
lidar_ready = all(self.node.scan(robot)[1] > 0.0 for robot in ROBOT_NAMES)
|
||||
if odometry_ready and lidar_ready:
|
||||
return
|
||||
time.sleep(0.1)
|
||||
missing_odom = [robot for robot in ROBOT_NAMES if self.node.pose(robot)[0] is None]
|
||||
missing_lidar = [robot for robot in ROBOT_NAMES if self.node.scan(robot)[1] == 0.0]
|
||||
raise RuntimeError(
|
||||
f"Датчики не готовы; odometry={missing_odom or 'ok'}, "
|
||||
f"scan_front={missing_lidar or 'ok'}"
|
||||
)
|
||||
|
||||
def wait_if_stopped(self):
|
||||
announced = False
|
||||
while self.node.emergency.is_set():
|
||||
self.node.stop_all()
|
||||
if not announced:
|
||||
self.log.write("PAUSED")
|
||||
announced = True
|
||||
if self.node.abort.is_set():
|
||||
raise RuntimeError("Остановлено оператором")
|
||||
time.sleep(0.1)
|
||||
|
||||
def drive_route(
|
||||
self, robot, name, route, final_world_yaw, carrying=False,
|
||||
rack_entry=False, rack_exit=False,
|
||||
):
|
||||
self.log.write("ROUTE", robot=robot, stage=name, markers=route, carrying=carrying)
|
||||
for index, marker in enumerate(route[1:], start=1):
|
||||
x, y = marker_xy(marker)
|
||||
if index == len(route) - 1:
|
||||
world_yaw = final_world_yaw
|
||||
else:
|
||||
nx, ny = marker_xy(route[index + 1])
|
||||
world_yaw = math.atan2(ny - y, nx - x)
|
||||
target = self.anchors[robot].to_odom(x, y, world_yaw)
|
||||
self.drive_to(
|
||||
robot,
|
||||
marker,
|
||||
target,
|
||||
carrying=carrying,
|
||||
allow_rack_entry=(rack_entry and index == len(route) - 1)
|
||||
or (rack_exit and index == 1),
|
||||
)
|
||||
self.log.write("ROUTE_DONE", robot=robot, stage=name, marker=route[-1])
|
||||
|
||||
def drive_to(self, robot, marker, target, carrying=False, allow_rack_entry=False):
|
||||
started = time.monotonic()
|
||||
obstacle_since = None
|
||||
while time.monotonic() - started < self.args.waypoint_timeout:
|
||||
if self.node.abort.is_set():
|
||||
raise RuntimeError("Остановлено оператором")
|
||||
self.wait_if_stopped()
|
||||
pose, seen = self.node.pose(robot)
|
||||
if pose is None or time.monotonic() - seen > self.args.sensor_timeout:
|
||||
self.node.command(robot, immediate=True)
|
||||
raise RuntimeError(f"{robot}: потеря odometry")
|
||||
x, y, yaw = pose
|
||||
tx, ty, target_yaw = target
|
||||
dx, dy = tx - x, ty - y
|
||||
distance = math.hypot(dx, dy)
|
||||
front, scan_seen = self.node.scan(robot)
|
||||
fresh_scan = time.monotonic() - scan_seen <= self.args.sensor_timeout
|
||||
stop_distance = 0.34 if robot == "RMC2" else 0.30
|
||||
# Стеллаж имеет размер около 0.95 м и стоит центром на ArUco.
|
||||
# На финальном въезде RMC2 штатно едет под его платформу.
|
||||
rack_zone = allow_rack_entry and distance < 1.10
|
||||
blocked = fresh_scan and front < stop_distance and not rack_zone
|
||||
if blocked:
|
||||
self.node.command(robot, immediate=True)
|
||||
if obstacle_since is None:
|
||||
obstacle_since = time.monotonic()
|
||||
self.log.write(
|
||||
"OBSTACLE_STOP", robot=robot, marker=marker, distance=round(front, 3)
|
||||
)
|
||||
if time.monotonic() - obstacle_since > 12.0:
|
||||
raise RuntimeError(f"{robot}: препятствие не освободило путь")
|
||||
time.sleep(0.08)
|
||||
continue
|
||||
obstacle_since = None
|
||||
|
||||
yaw_error = wrap_angle(target_yaw - yaw)
|
||||
if distance < 0.09:
|
||||
if abs(yaw_error) < 0.10:
|
||||
self.node.command(robot, immediate=True)
|
||||
self.log.write(
|
||||
"WAYPOINT", robot=robot, marker=marker, error=round(distance, 3)
|
||||
)
|
||||
return
|
||||
self.node.command(robot, yaw=clamp(yaw_error * 1.5, 0.42 if carrying else 0.55))
|
||||
time.sleep(0.05)
|
||||
continue
|
||||
|
||||
if robot == "RMC1":
|
||||
cosine, sine = math.cos(yaw), math.sin(yaw)
|
||||
body_x = cosine * dx + sine * dy
|
||||
body_y = -sine * dx + cosine * dy
|
||||
speed = 0.23 if carrying else 0.32
|
||||
self.node.command(
|
||||
robot,
|
||||
x=clamp(body_x * 0.75, speed),
|
||||
y=clamp(body_y * 0.75, speed),
|
||||
yaw=clamp(yaw_error * 1.2, 0.40),
|
||||
)
|
||||
else:
|
||||
heading_error = wrap_angle(math.atan2(dy, dx) - yaw)
|
||||
if abs(heading_error) > 0.18:
|
||||
self.node.command(
|
||||
robot, yaw=clamp(heading_error * 1.45, 0.42 if carrying else 0.58)
|
||||
)
|
||||
else:
|
||||
maximum = 0.18 if carrying else 0.27
|
||||
self.node.command(
|
||||
robot,
|
||||
x=min(maximum, max(0.07, distance * 0.55)),
|
||||
yaw=clamp(heading_error * 1.2, 0.30),
|
||||
)
|
||||
time.sleep(0.05)
|
||||
self.node.command(robot, immediate=True)
|
||||
raise RuntimeError(f"{robot}: таймаут движения к marker {marker}")
|
||||
|
||||
|
||||
class ArmWorkflow:
|
||||
"""Тонкая обвязка проверенного зрения и MoveIt из модуля В."""
|
||||
|
||||
def __init__(self, args, event_log, executor, target):
|
||||
if str(ROOT) not in sys.path:
|
||||
sys.path.insert(0, str(ROOT))
|
||||
try:
|
||||
import cv2
|
||||
import numpy as np
|
||||
import yaml
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from cv_bridge import CvBridge
|
||||
from geometry_msgs.msg import PoseStamped
|
||||
from moveit.planning import MoveItPy
|
||||
from moveit_configs_utils import MoveItConfigsBuilder
|
||||
from rclpy.duration import Duration
|
||||
from rclpy.node import Node
|
||||
from rclpy.qos import qos_profile_sensor_data
|
||||
from rclpy.time import Time
|
||||
from sensor_msgs.msg import CameraInfo, Image
|
||||
from tf2_ros import Buffer, TransformListener
|
||||
from tf_transformations import quaternion_from_euler
|
||||
from ultralytics import YOLO
|
||||
from module3.module3 import (
|
||||
Arm,
|
||||
build_vision_node,
|
||||
card_near_center,
|
||||
choose_target,
|
||||
estimate_pose,
|
||||
find_targets,
|
||||
)
|
||||
except ImportError as error:
|
||||
raise RuntimeError(
|
||||
f"Нет зависимости {error.name}: запустите из module3/.venv "
|
||||
"после source ROS или используйте --skip-arm"
|
||||
) from error
|
||||
|
||||
if int(np.__version__.split(".", 1)[0]) >= 2:
|
||||
raise RuntimeError("Для cv_bridge нужен numpy<2 в module3/.venv")
|
||||
weights = Path(args.weights).expanduser()
|
||||
if not weights.is_absolute():
|
||||
weights = ROOT / weights
|
||||
if not weights.is_file():
|
||||
raise RuntimeError(f"Не найдены веса YOLO: {weights}")
|
||||
|
||||
self.args = args
|
||||
self.log = event_log
|
||||
self.executor = executor
|
||||
self.target = target
|
||||
self.cv2 = cv2
|
||||
self.np = np
|
||||
self.find_targets = find_targets
|
||||
self.choose_target = choose_target
|
||||
self.estimate_pose = estimate_pose
|
||||
self.card_near_center = card_near_center
|
||||
imports = (
|
||||
Node,
|
||||
CvBridge,
|
||||
Image,
|
||||
CameraInfo,
|
||||
qos_profile_sensor_data,
|
||||
Buffer,
|
||||
TransformListener,
|
||||
Duration,
|
||||
Time,
|
||||
)
|
||||
self.vision = build_vision_node(SimpleNamespace(topic=args.camera_topic), imports)
|
||||
executor.add_node(self.vision)
|
||||
self.model = YOLO(str(weights))
|
||||
self.log.write("VISION_READY", target=target, weights=str(weights))
|
||||
|
||||
package_dir = Path(get_package_share_directory("ar_webots_fms_ros2"))
|
||||
moveit_config = (
|
||||
MoveItConfigsBuilder("arm95")
|
||||
.robot_description(file_path=str(package_dir / "resource/urdf/arm95_webots.urdf"))
|
||||
.trajectory_execution(
|
||||
file_path=str(package_dir / "resource/config/moveit_controllers.yaml")
|
||||
)
|
||||
.moveit_cpp(file_path=str(package_dir / "resource/config/moveit_cpp.yaml"))
|
||||
.to_moveit_configs()
|
||||
.to_dict()
|
||||
)
|
||||
moveit_config["use_sim_time"] = True
|
||||
with NamedTemporaryFile("w", suffix=".yaml", delete=False) as stream:
|
||||
yaml.safe_dump({"/**": {"ros__parameters": moveit_config}}, stream)
|
||||
params_file = stream.name
|
||||
try:
|
||||
self.arm = Arm(
|
||||
MoveItPy,
|
||||
params_file,
|
||||
PoseStamped,
|
||||
quaternion_from_euler,
|
||||
event_log,
|
||||
)
|
||||
finally:
|
||||
Path(params_file).unlink(missing_ok=True)
|
||||
self.log.write("MOVEIT_READY")
|
||||
|
||||
def detect(self):
|
||||
started = time.monotonic()
|
||||
last_report = 0.0
|
||||
seen = {}
|
||||
while time.monotonic() - started < self.args.vision_timeout:
|
||||
frame = self.vision.latest_frame()
|
||||
if frame is None:
|
||||
time.sleep(0.05)
|
||||
continue
|
||||
result = self.model.predict(
|
||||
source=frame,
|
||||
conf=self.args.conf,
|
||||
imgsz=512,
|
||||
device="cpu",
|
||||
verbose=False,
|
||||
)[0]
|
||||
if result.boxes is not None:
|
||||
for box in result.boxes:
|
||||
name = str(result.names[int(box.cls.item())]).lower()
|
||||
seen[name] = max(seen.get(name, 0.0), float(box.conf.item()))
|
||||
detections = self.find_targets(
|
||||
result, frame, self.target, self.cv2, self.np
|
||||
)
|
||||
detection = self.choose_target(self.vision, detections, self.args.plane_z)
|
||||
if detection is not None:
|
||||
self.log.write(
|
||||
"DETECTION",
|
||||
target=self.target,
|
||||
confidence=round(detection.confidence, 4),
|
||||
)
|
||||
return detection
|
||||
if time.monotonic() - last_report > 5.0:
|
||||
self.log.write(
|
||||
"VISION_WAIT",
|
||||
target=self.target,
|
||||
seen={key: round(value, 3) for key, value in seen.items()},
|
||||
)
|
||||
last_report = time.monotonic()
|
||||
raise RuntimeError(
|
||||
f"Класс {self.target} не найден за {self.args.vision_timeout:.0f} с; "
|
||||
f"видел: {seen or 'ничего'}"
|
||||
)
|
||||
|
||||
def pick(self):
|
||||
self.log.write("ARM_STAGE", stage="pick_start")
|
||||
self.arm.open()
|
||||
self.arm.initial("транспортировочное положение перед захватом")
|
||||
detection = self.detect()
|
||||
x, y, yaw = self.estimate_pose(self.vision, detection, self.args.plane_z)
|
||||
self.log.write("PICK_TARGET", x=round(x, 4), y=round(y, 4), yaw=round(yaw, 4))
|
||||
self.arm.pose(x, y, self.args.approach_z, yaw, "подход над деталью")
|
||||
|
||||
# Камера приблизилась: уточняем положение по контуру карточки.
|
||||
time.sleep(0.6)
|
||||
frame = self.vision.latest_frame()
|
||||
if frame is not None:
|
||||
try:
|
||||
close = self.card_near_center(frame, self.target, self.cv2, self.np)
|
||||
refined_x, refined_y, refined_yaw = self.estimate_pose(
|
||||
self.vision, close, self.args.plane_z
|
||||
)
|
||||
correction = math.hypot(refined_x - x, refined_y - y)
|
||||
if correction <= 0.12:
|
||||
x, y, yaw = refined_x, refined_y, refined_yaw
|
||||
self.log.write("PICK_REFINED", correction=round(correction, 4))
|
||||
except Exception as error:
|
||||
self.log.write("PICK_REFINE_SKIPPED", reason=str(error))
|
||||
|
||||
self.arm.pose(x, y, self.args.approach_z, yaw, "точный подход")
|
||||
self.arm.pose(x, y, self.args.pick_z, yaw, "опустить схват")
|
||||
self.arm.close()
|
||||
self.arm.pose(x, y, self.args.approach_z, yaw, "поднять деталь")
|
||||
self.arm.initial("транспортировочное положение с деталью")
|
||||
self.log.write("DETAIL_PICKED", target=self.target)
|
||||
|
||||
def place(self):
|
||||
self.log.write("ARM_STAGE", stage="place_start")
|
||||
x, y = self.args.drop_arm_x, self.args.drop_arm_y
|
||||
yaw = self.args.drop_arm_yaw
|
||||
self.arm.pose(x, y, self.args.approach_z, yaw, "подход к полке сдачи")
|
||||
self.arm.pose(x, y, self.args.drop_arm_z, yaw, "опустить деталь на полку")
|
||||
self.arm.open()
|
||||
self.arm.pose(x, y, self.args.approach_z, yaw, "отойти от детали")
|
||||
self.arm.initial("транспортировочное положение без детали")
|
||||
self.log.write("DETAIL_PLACED", target=self.target)
|
||||
|
||||
def close(self):
|
||||
try:
|
||||
self.executor.remove_node(self.vision)
|
||||
self.vision.destroy_node()
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
|
||||
def terminal_commands(node):
|
||||
while not node.abort.is_set():
|
||||
try:
|
||||
command = input().strip().lower()
|
||||
except EOFError:
|
||||
return
|
||||
if command == "stop":
|
||||
node.emergency.set()
|
||||
elif command == "resume":
|
||||
node.emergency.clear()
|
||||
elif command in {"abort", "quit"}:
|
||||
node.abort.set()
|
||||
return
|
||||
|
||||
|
||||
def resolve_target(value):
|
||||
names = {"1": "hammer", "2": "wrench", "3": "pliers"}
|
||||
value = (value or "").strip().lower()
|
||||
return names.get(value, value)
|
||||
|
||||
|
||||
def run(args):
|
||||
target = resolve_target(args.target)
|
||||
if not target and not args.dry_run:
|
||||
target = resolve_target(input("Цель (1 hammer, 2 wrench, 3 pliers): "))
|
||||
if not target:
|
||||
target = "hammer"
|
||||
if target not in {"hammer", "wrench", "pliers"}:
|
||||
raise ValueError(f"Неизвестная цель: {target}")
|
||||
|
||||
scenario = make_scenario(args)
|
||||
routes = scenario.routes()
|
||||
print_plan(scenario, routes, target)
|
||||
if args.dry_run:
|
||||
return 0
|
||||
if not args.auto:
|
||||
input("Проверьте точки и маршруты. Enter — начать: ")
|
||||
|
||||
event_log = EventLog()
|
||||
event_log.write("MISSION_START", target=target, log=str(event_log.path))
|
||||
mission_started = time.monotonic()
|
||||
node, rclpy, MultiThreadedExecutor = build_ros_node(args, event_log)
|
||||
executor = MultiThreadedExecutor(num_threads=3)
|
||||
executor.add_node(node)
|
||||
spin_thread = threading.Thread(target=executor.spin, daemon=True)
|
||||
spin_thread.start()
|
||||
exit_code = 0
|
||||
arm_workflow = None
|
||||
try:
|
||||
initial_motion = Motion(node, args, event_log, {})
|
||||
initial_motion.wait_ready()
|
||||
anchors = {}
|
||||
for robot, start_marker, start_yaw in (
|
||||
("RMC1", scenario.rmc1_start, args.rmc1_start_yaw),
|
||||
("RMC2", scenario.rmc2_start, args.rmc2_start_yaw),
|
||||
):
|
||||
pose, _ = node.pose(robot)
|
||||
world_x, world_y = marker_xy(start_marker)
|
||||
anchors[robot] = Anchor(world_x, world_y, start_yaw, *pose)
|
||||
event_log.write("LOCALIZED", robot=robot, marker=start_marker, odom=pose)
|
||||
motion = Motion(node, args, event_log, anchors)
|
||||
threading.Thread(target=terminal_commands, args=(node,), daemon=True).start()
|
||||
parking = routes["rmc2_clear_assembly"][-1]
|
||||
assembly_entry_yaw = face_marker(parking, scenario.assembly)
|
||||
|
||||
node.set_lift(False, allow_already=True)
|
||||
motion.drive_route(
|
||||
"RMC2", "to_rack", routes["rmc2_to_rack"], args.rack_yaw, rack_entry=True
|
||||
)
|
||||
node.set_lift(True)
|
||||
motion.drive_route(
|
||||
"RMC2",
|
||||
"rack_to_assembly",
|
||||
routes["rmc2_to_assembly"],
|
||||
assembly_entry_yaw,
|
||||
carrying=True,
|
||||
rack_exit=True,
|
||||
)
|
||||
node.set_lift(False)
|
||||
motion.drive_route(
|
||||
"RMC2",
|
||||
"clear_assembly",
|
||||
routes["rmc2_clear_assembly"],
|
||||
face_marker(parking, scenario.assembly),
|
||||
rack_exit=True,
|
||||
)
|
||||
|
||||
assembly_yaw = face_marker(scenario.assembly_approach, scenario.assembly)
|
||||
motion.drive_route(
|
||||
"RMC1", "to_assembly", routes["rmc1_to_assembly"], assembly_yaw
|
||||
)
|
||||
if args.skip_arm:
|
||||
event_log.write("ARM_SKIPPED", stage="pick", reason="--skip-arm")
|
||||
else:
|
||||
arm_workflow = ArmWorkflow(args, event_log, executor, target)
|
||||
arm_workflow.pick()
|
||||
|
||||
delivery_yaw = face_marker(scenario.delivery_approach, scenario.delivery)
|
||||
motion.drive_route(
|
||||
"RMC1",
|
||||
"to_delivery",
|
||||
routes["rmc1_to_delivery"],
|
||||
delivery_yaw,
|
||||
carrying=not args.skip_arm,
|
||||
)
|
||||
if args.skip_arm:
|
||||
event_log.write("ARM_SKIPPED", stage="place", reason="--skip-arm")
|
||||
else:
|
||||
arm_workflow.place()
|
||||
|
||||
motion.drive_route(
|
||||
"RMC2",
|
||||
"back_to_assembly",
|
||||
routes["rmc2_back_to_assembly"],
|
||||
assembly_entry_yaw,
|
||||
rack_entry=True,
|
||||
)
|
||||
node.set_lift(True)
|
||||
motion.drive_route(
|
||||
"RMC2",
|
||||
"assembly_to_rack",
|
||||
routes["rmc2_return_rack"],
|
||||
args.rack_yaw,
|
||||
carrying=True,
|
||||
rack_entry=True,
|
||||
rack_exit=True,
|
||||
)
|
||||
node.set_lift(False)
|
||||
motion.drive_route(
|
||||
"RMC1", "return_start", routes["rmc1_return"], args.rmc1_start_yaw
|
||||
)
|
||||
motion.drive_route(
|
||||
"RMC2", "return_start", routes["rmc2_return"], args.rmc2_start_yaw,
|
||||
rack_exit=True,
|
||||
)
|
||||
event_log.write(
|
||||
"MISSION_FINISHED",
|
||||
target=target,
|
||||
elapsed_seconds=round(time.monotonic() - mission_started, 2),
|
||||
)
|
||||
print("\nMISSION FINISHED: оба РМК вернулись на старт")
|
||||
except KeyboardInterrupt:
|
||||
event_log.write("MISSION_ABORTED", reason="Ctrl+C")
|
||||
exit_code = 130
|
||||
except Exception as error:
|
||||
event_log.write("MISSION_FAILED", reason=str(error))
|
||||
exit_code = 1
|
||||
finally:
|
||||
node.abort.set()
|
||||
node.stop_all()
|
||||
if arm_workflow is not None:
|
||||
arm_workflow.close()
|
||||
if not executor.shutdown(timeout_sec=2.0):
|
||||
event_log.write("SHUTDOWN_TIMEOUT", component="ROS executor")
|
||||
# rclpy/MoveItPy Jazzy иногда зависают или падают в C++-деструкторах.
|
||||
# Нулевые скорости и логи уже отправлены; ОС безопасно освободит ресурсы.
|
||||
sys.stdout.flush()
|
||||
sys.stderr.flush()
|
||||
os._exit(exit_code)
|
||||
return exit_code
|
||||
|
||||
|
||||
def main():
|
||||
try:
|
||||
raise SystemExit(run(arguments()))
|
||||
except (ValueError, ImportError) as error:
|
||||
raise SystemExit(str(error)) from error
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
Reference in New Issue
Block a user