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January 21, 2019 12:04
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#!/usr/bin/python | |
################################################################# | |
##\file | |
# | |
# \note | |
# Copyright (c) 2010 \n | |
# Fraunhofer Institute for Manufacturing Engineering | |
# and Automation (IPA) \n\n | |
# | |
################################################################# | |
# | |
# \note | |
# Project name: Care-O-bot Research | |
# \note | |
# ROS stack name: cob_environments | |
# \note | |
# ROS package name: cob_gazebo_objects | |
# | |
# \author | |
# Author: Florian Weisshardt, email:florian.weisshardt@ipa.fhg.de | |
# \author | |
# Supervised by: Florian Weisshardt, email:florian.weisshardt@ipa.fhg.de | |
# | |
# \date Date of creation: Feb 2012 | |
# | |
# \brief | |
# Implements script server functionalities. | |
# | |
################################################################# | |
# | |
# Redistribution and use in source and binary forms, with or without | |
# modification, are permitted provided that the following conditions are met: | |
# | |
# - Redistributions of source code must retain the above copyright | |
# notice, this list of conditions and the following disclaimer. \n | |
# - 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. \n | |
# - Neither the name of the Fraunhofer Institute for Manufacturing | |
# Engineering and Automation (IPA) nor the names of its | |
# contributors may be used to endorse or promote products derived from | |
# this software without specific prior written permission. \n | |
# | |
# This program is free software: you can redistribute it and/or modify | |
# it under the terms of the GNU Lesser General Public License LGPL as | |
# published by the Free Software Foundation, either version 3 of the | |
# License, or (at your option) any later version. | |
# | |
# This program is distributed in the hope that it will be useful, | |
# but WITHOUT ANY WARRANTY; without even the implied warranty of | |
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | |
# GNU Lesser General Public License LGPL for more details. | |
# | |
# You should have received a copy of the GNU Lesser General Public | |
# License LGPL along with this program. | |
# If not, see < http://www.gnu.org/licenses/>. | |
# | |
################################################################# | |
import sys | |
import roslib | |
roslib.load_manifest('cob_bringup_sim') | |
import rospy | |
import os | |
from gazebo.srv import * | |
from geometry_msgs.msg import * | |
import tf.transformations as tft | |
from std_msgs.msg import Empty as EmptyMsg | |
if __name__ == "__main__": | |
if len(sys.argv) < 2: | |
print '[spawn_object.py] Please specify the names of the objects to be loaded' | |
sys.exit() | |
rospy.init_node("object_spawner") | |
# this was missing.... | |
rospy.sleep(5) | |
rospy.wait_for_service("/gazebo/spawn_urdf_model") | |
# check for all objects on parameter server | |
if not rospy.has_param("/objects"): | |
rospy.logerr("No objects uploaded to /objects") | |
sys.exit() | |
all_object_names = rospy.get_param("/objects").keys() | |
# if keyword all is in list of object names we'll load all models uploaded to parameter server | |
if "all" in sys.argv: | |
object_names = all_object_names | |
else: | |
object_names = sys.argv | |
object_names.pop(0) # remove first element of sys.argv which is file name | |
rospy.loginfo("Trying to spawn %s",object_names) | |
for name in object_names: | |
# check for object on parameter server | |
if not rospy.has_param("/objects/%s" % name): | |
rospy.logerr("No description for " + name + " found at /objects/" + name) | |
continue | |
# check for model | |
if not rospy.has_param("/objects/%s/model" % name): | |
rospy.logerr("No model for " + name + " found at /objects/" + name + "/model") | |
continue | |
model = rospy.get_param("/objects/%s/model" % name) | |
# check for model_type | |
if not rospy.has_param("/objects/%s/model_type" % name): | |
rospy.logerr("No model_type for " + name + " found at /objects/" + name + "/model_type") | |
continue | |
model_type = rospy.get_param("/objects/%s/model_type" % name) | |
# check for position | |
if not rospy.has_param("/objects/%s/position" % name): | |
rospy.logerr("No position for " + name + " found at /objects/" + name + "/position") | |
continue | |
position = rospy.get_param("/objects/%s/position" % name) | |
# check for orientation | |
if not rospy.has_param("/objects/%s/orientation" % name): | |
rospy.logerr("No orientation for " + name + " found at /objects/" + name + "/orientation") | |
continue | |
# convert rpy to quaternion for Pose message | |
orientation = rospy.get_param("/objects/%s/orientation" % name) | |
quaternion = tft.quaternion_from_euler(orientation[0], orientation[1], orientation[2]) | |
object_pose = Pose() | |
object_pose.position.x = float(position[0]) | |
object_pose.position.y = float(position[1]) | |
object_pose.position.z = float(position[2]) | |
object_pose.orientation.x = quaternion[0] | |
object_pose.orientation.y = quaternion[1] | |
object_pose.orientation.z = quaternion[2] | |
object_pose.orientation.w = quaternion[3] | |
try: | |
file_localition = roslib.packages.get_pkg_dir('cob_gazebo_objects') + '/objects/' + model + '.' + model_type | |
except: | |
print "File not found: cob_gazebo_objects" + "/objects/" + model + "." + model_type | |
continue | |
# call gazebo service to spawn model (see http://ros.org/wiki/gazebo) | |
if model_type == "urdf": | |
srv_spawn_model = rospy.ServiceProxy('/gazebo/spawn_urdf_model', SpawnModel) | |
file_xml = open(file_localition) | |
xml_string=file_xml.read() | |
elif model_type == "urdf.xacro": | |
p = os.popen("rosrun xacro xacro.py " + file_localition) | |
xml_string = p.read() | |
p.close() | |
srv_spawn_model = rospy.ServiceProxy('/gazebo/spawn_urdf_model', SpawnModel) | |
elif model_type == "model": | |
srv_spawn_model = rospy.ServiceProxy('/gazebo/spawn_gazebo_model', SpawnModel) | |
file_xml = open(file_localition) | |
xml_string=file_xml.read() | |
else: | |
rospy.logerr('Model type not know. model_type = ' + model_type) | |
continue | |
# check if object is already spawned | |
srv_delete_model = rospy.ServiceProxy('gazebo/delete_model', DeleteModel) | |
req = DeleteModelRequest() | |
req.model_name = name | |
exists = True | |
try: | |
res = srv_delete_model(name) | |
except rospy.ServiceException, e: | |
exists = False | |
rospy.logdebug("Model %s does not exist in gazebo.", name) | |
if exists: | |
rospy.loginfo("Model %s already exists in gazebo. Model will be updated.", name) | |
# spawn new model | |
req = SpawnModelRequest() | |
req.model_name = name # model name from command line input | |
req.model_xml = xml_string | |
req.initial_pose = object_pose | |
res = srv_spawn_model(req) | |
# evaluate response | |
if res.success == True: | |
rospy.loginfo(res.status_message + " " + name) | |
else: | |
print "Error: model %s not spawn. error message = "% name + res.status_message | |
sim = rospy.get_param('/use_sim_time') | |
if sim is True: | |
rospy.loginfo('Running in simulation, publishing to /sim_spawned topic') | |
pub = rospy.Publisher('/sim_spawned', EmptyMsg,latch=True) | |
pub.publish(EmptyMsg()) | |
pub.publish(EmptyMsg()) | |
pub.publish(EmptyMsg()) | |
rospy.spin() |
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