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run_init.py
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import time
import argparse
import subprocess
import os
from os.path import join
import numpy as np
import rospy
import rospkg
from gazebo_simulation import GazeboSimulation
INIT_POSITION = [-2, 3, 1.57] # in world frame
GOAL_POSITION = [0, 10] # relative to the initial position
def compute_distance(p1, p2):
return ((p1[0] - p2[0]) ** 2 + (p1[1] - p2[1]) ** 2) ** 0.5
def path_coord_to_gazebo_coord(x, y):
RADIUS = 0.075
r_shift = -RADIUS - (30 * RADIUS * 2)
c_shift = RADIUS + 5
gazebo_x = x * (RADIUS * 2) + r_shift
gazebo_y = y * (RADIUS * 2) + c_shift
return (gazebo_x, gazebo_y)
if __name__ == "__main__":
parser = argparse.ArgumentParser(description = 'test BARN navigation challenge')
parser.add_argument('--world_idx', type=int, default=0)
parser.add_argument('--gui', action="store_true")
parser.add_argument('--out', type=str, default="out.txt")
parser.add_argument('--type',type=str, default="mlda")
parser.add_argument('--rviz', action="store_true")
args = parser.parse_args()
planner_type = args.type
if planner_type == "dwa":
planner_type = "DWA"
elif planner_type == "kul":
planner_type = "motion_tube"
else:
planner_type = "mlda"
##########################################################################################
## 0. Launch Gazebo Simulation
##########################################################################################
os.environ["JACKAL_LASER"] = "1"
os.environ["JACKAL_LASER_MODEL"] = "ust10"
os.environ["JACKAL_LASER_OFFSET"] = "-0.065 0 0.01"
world_name = "BARN/world_%d.world" %(args.world_idx)
print(">>>>>>>>>>>>>>>>>> Gazebo of World {} using {} <<<<<<<<<<<<<<<<<<".format(world_name,planner_type))
time.sleep(1)
rospack = rospkg.RosPack()
base_path = rospack.get_path('jackal_helper')
launch_file = join(base_path, 'launch', 'gazebo_launch.launch')
world_name = join(base_path, "worlds", world_name)
gazebo_process = subprocess.Popen([
'roslaunch',
launch_file,
'world_name:=' + world_name,
'gui:=' + ("true" if args.gui else "false")
])
time.sleep(5) # sleep to wait until the gazebo being created
rospy.init_node('gym', anonymous=True) #, log_level=rospy.FATAL)
rospy.set_param('/use_sim_time', True)
# GazeboSimulation provides useful interface to communicate with gazebo
gazebo_sim = GazeboSimulation(init_position=INIT_POSITION)
init_coor = (INIT_POSITION[0], INIT_POSITION[1])
goal_coor = (INIT_POSITION[0] + GOAL_POSITION[0], INIT_POSITION[1] + GOAL_POSITION[1])
pos = gazebo_sim.get_model_state().pose.position
curr_coor = (pos.x, pos.y)
collided = True
# check whether the robot is reset, the collision is False
while compute_distance(init_coor, curr_coor) > 0.1 or collided:
gazebo_sim.reset() # Reset to the initial position
pos = gazebo_sim.get_model_state().pose.position
curr_coor = (pos.x, pos.y)
collided = gazebo_sim.get_hard_collision()
time.sleep(1)
if args.rviz == True:
## Open RVIz
rviz_launch = join(base_path, '..', 'jackal_helper/launch/rviz_launch.launch')
rviz_launch_process = subprocess.Popen([
'roslaunch',
rviz_launch,
])
##########################################################################################
## 1. Launch your navigation stack
## (Customize this block to add your own navigation stack)
##########################################################################################
launch_file = join(base_path, '..', 'jackal_helper/launch/move_base_{}.launch'.format(planner_type))
nav_stack_process = subprocess.Popen([
'roslaunch',
launch_file,
])
# Make sure your navigation stack recives a goal of (0, 10, 0), which is 10 meters away
# along postive y-axis.
import actionlib
from geometry_msgs.msg import Quaternion
from move_base_msgs.msg import MoveBaseGoal, MoveBaseAction
nav_as = actionlib.SimpleActionClient('/move_base', MoveBaseAction)
mb_goal = MoveBaseGoal()
mb_goal.target_pose.header.frame_id = 'odom'
mb_goal.target_pose.pose.position.x = GOAL_POSITION[0]
mb_goal.target_pose.pose.position.y = GOAL_POSITION[1]
mb_goal.target_pose.pose.position.z = 0
mb_goal.target_pose.pose.orientation = Quaternion(0, 0, 0, 1)
##########################################################################################
## 2. Start navigation
##########################################>################################################
# curr_time = rospy.get_time()
# pos = gazebo_sim.get_model_state().pose.position
# curr_coor = (pos.x, pos.y)
# # check whether the robot started to move
# while compute_distance(init_coor, curr_coor) < 0.1:
# curr_time = rospy.get_time()
# pos = gazebo_sim.get_model_state().pose.position
# curr_coor = (pos.x, pos.y)
# time.sleep(0.01)
# # start navigation, check position, time and collision
# start_time = curr_time
# start_time_cpu = time.time()
# collided = False
# while compute_distance(goal_coor, curr_coor) > 1 and not collided and curr_time - start_time < 100:
# curr_time = rospy.get_time()
# pos = gazebo_sim.get_model_state().pose.position
# curr_coor = (pos.x, pos.y)
# print("Time: %.2f (s), x: %.2f (m), y: %.2f (m)" %(curr_time - start_time, *curr_coor), end="\r")
# collided = gazebo_sim.get_hard_collision()
# while rospy.get_time() - curr_time < 0.1:
# time.sleep(0.01)
##########################################################################################
## 3. Report metrics and generate log
##########################################################################################
# print(">>>>>>>>>>>>>>>>>> Test finished! <<<<<<<<<<<<<<<<<<")
# success = False
# if collided:
# status = "collided"
# elif curr_time - start_time >= 100:
# status = "timeout"
# else:
# status = "succeeded"
# success = True
# print("Navigation %s with time %.4f (s)" %(status, curr_time - start_time))
# path_file_name = join(base_path, "worlds/BARN/path_files", "path_%d.npy" %args.world_idx)
# path_array = np.load(path_file_name)
# path_array = [path_coord_to_gazebo_coord(*p) for p in path_array]
# path_array = np.insert(path_array, 0, (INIT_POSITION[0], INIT_POSITION[1]), axis=0)
# path_array = np.insert(path_array, len(path_array), (INIT_POSITION[0] + GOAL_POSITION[0], INIT_POSITION[1] + GOAL_POSITION[1]), axis=0)
# path_length = 0
# for p1, p2 in zip(path_array[:-1], path_array[1:]):
# path_length += compute_distance(p1, p2)
# # Navigation metric: 1_success * optimal_time / clip(actual_time, 4 * optimal_time, 8 * optimal_time)
# optimal_time = path_length / 2
# actual_time = curr_time - start_time
# nav_metric = int(success) * optimal_time / np.clip(actual_time, 4 * optimal_time, 8 * optimal_time)
# print("Navigation metric: %.4f" %(nav_metric))
# with open(args.out, "a") as f:
# f.write("%d %d %d %d %.4f %.4f\n" %(args.world_idx, success, collided, (curr_time - start_time)>=100, curr_time - start_time, nav_metric))
while(input("Press q/Q to quit").lower() != "q"):
pass
gazebo_process.terminate()
gazebo_process.wait()
nav_stack_process.terminate()
nav_stack_process.wait()
if args.rviz == True:
rviz_launch_process.terminate()
rviz_launch_process.wait()