IROS 2019 比赛记录

IROS 2019 比赛记录--题目更新了

  • 2019-12-5
  • IROS比赛内容更新(2019-10-17)
    • 目前准备进展
    • 仍需准备的工作及问题
  • IROS 比赛准备(2019-09-27)
    • 任务二:把杯子放在碟子上,再同时移动盘子与碟子
    • 调试代码
      • Bugs
      • Bug 原因
      • 解决办法
    • 代码优化

2019-12-5

比赛内容由之前的10个独立小任务,升级为一个大任务–制作一杯包含十道工序的抹茶冷饮。详情参考:
2019IROS比赛抹茶冷饮制作

IROS比赛内容更新(2019-10-17)

比赛任务由之前10个互不相干的小任务升级为一个大任务—做一杯抹茶冷饮。其中包含了10个子任务。

目前准备进展

  1. 道具尚未到齐,只进行了瓶盖的开合并用机械臂操作杆进行了倒水动作。
  2. 手眼关系进行了确定。
  3. 在ROS上完成了识别算法。

仍需准备的工作及问题

  1. 将物体识别与机械臂结合起来,实现定位与抓取。
  2. 在给Kinova输入位姿时,机械臂运动经常遇到Trajectory command failed,而输入关节角时则可以运动到指定位姿。中间进行了一个很奇异的变化,预测可能是位姿控制时,经常容易碰到奇异点。-----拟解决方案
    1)学习Moveit,实现路径规划。
    2)将位姿信息转换为关节角再进行控制。
    3)使用插值法,在起止位姿中间多次差值实现运动控制
  3. 目前的手眼关系验算的缺点有以下几点
    1)摄像头只能在特定位置观察,即也就是只知道该点的手眼关系
    2)摄像头的图像显示必须与机械臂底座坐标系的XY平行。
    3)无法将机械臂准确的移动到标记物的正上方(这一步耗时尤其的多)
  4. 利用之前用于Kinect2手眼标定的工具包重新标定
  5. 设定任务完成时间表,预期的达到的任务完成程度,权衡10个子任务,确定优先级以得到尽量多的分数
  6. 准备备用物品

IROS 比赛准备(2019-09-27)

任务二:把杯子放在碟子上,再同时移动盘子与碟子

  1. 先实现无视觉的抓取与摆放,任务用的杯子与工件,Mark几个关键点的位置坐标
    IROS 2019 比赛记录_第1张图片1)抓取杯子的位姿
    IROS 2019 比赛记录_第2张图片IROS 2019 比赛记录_第3张图片在这里插入图片描述
    闭合夹抓
    2)移动到碟子上方
    IROS 2019 比赛记录_第4张图片
    3)抬高手抓并且轻微闭合双指
    IROS 2019 比赛记录_第5张图片
    4)移动到待定位置准备抓取碟子
    IROS 2019 比赛记录_第6张图片5)插到盘子底部
    IROS 2019 比赛记录_第7张图片6)闭合二指
    在这里插入图片描述
  1. 略微提高盘子
    IROS 2019 比赛记录_第8张图片8)翘起手腕
    IROS 2019 比赛记录_第9张图片9)移动到目标位置上方
    IROS 2019 比赛记录_第10张图片10)准备开爪
    IROS 2019 比赛记录_第11张图片在这里插入图片描述

11)移动到home位置

调试代码

#include "ros/ros.h"

#include //C++标准输入输出库 
#include 
#include "std_msgs/String.h"
#include "geometry_msgs/PoseStamped.h"
#include  // 注意格式源文件名字为ArmPose.action
#include 
#include 

#include 
#include 
#include 
#include 
#include 

const int FINGER_MAX1 = 6714;
const int FINGER_MAX2 = 6924;
const int FINGER_MAX3 = 7332;


bool cartesian_pose_client(double x, double y, double z, double qx, double qy, double qz, double qw)//四元数
{


    actionlib::SimpleActionClient <kinova_msgs::ArmPoseAction> *client = new actionlib::SimpleActionClient<kinova_msgs::ArmPoseAction>(
            "/j2n6s300_driver/pose_action/tool_pose");//取的主题

    client->waitForServer();

    kinova_msgs::ArmPoseGoal pose_goal;//注意形式ArmPose.action
    pose_goal.pose.header.frame_id = "j2n6s300_link_base";

    pose_goal.pose.pose.position.x = x;
    pose_goal.pose.pose.position.y = y;
    pose_goal.pose.pose.position.z = z;

    pose_goal.pose.pose.orientation.x = qx;
    pose_goal.pose.pose.orientation.y = qy;
    pose_goal.pose.pose.orientation.z = qz;
    pose_goal.pose.pose.orientation.w = qw;


    client->sendGoal(pose_goal);


    if (client->waitForResult(ros::Duration(200.0)))//延时得高机械臂不会发送,只能自己检测坐标,奇异值也不会告诉所有信息都通过主题反馈
    {
        client->getResult();
        return true;
    } else {
        client->cancelAllGoals();
        ROS_WARN_STREAM("The gripper action timed-out");
        return false;
    }

}

bool finger_control_client(float finger1, float finger2, float finger3)//0-1
{


    actionlib::SimpleActionClient <kinova_msgs::SetFingersPositionAction> *finger_client = new actionlib::SimpleActionClient<kinova_msgs::SetFingersPositionAction>(
            "j2n6s300_driver/fingers_action/finger_positions");

    finger_client->waitForServer();

    kinova_msgs::SetFingersPositionGoal finger_goal;

    finger_goal.fingers.finger1 = finger1 * FINGER_MAX1;
    finger_goal.fingers.finger2 = finger2 * FINGER_MAX2;
    finger_goal.fingers.finger3 = finger3 * FINGER_MAX3;


    finger_client->sendGoal(finger_goal);


    if (finger_client->waitForResult(ros::Duration(150.0))) {
        finger_client->getResult();
        return true;
    } else {
        finger_client->cancelAllGoals();
        ROS_WARN_STREAM("The gripper action timed-out");
        return false;
    }

}

int main(int argc, char **argv) {


    ros::init(argc, argv, "paragram1");
    ros::NodeHandle node_handle;

    ros::ServiceClient start_to_home = node_handle.serviceClient<kinova_msgs::HomeArm>("j2n6s300_driver/in/home_arm");

    kinova_msgs::HomeArm srv;

    try {

        start_to_home.call(srv);
        ROS_INFO("go to home");

    }
    catch (ros::Exception) {
        ROS_INFO("Failed to HOme.");
    }
//    double Tf_Mat[4][4];



//    const double tf[16] = {0.9998, -0.0143, 0.0161, -0.002768, -0.0149, -0.9991, 0.0402, -0.56808, 0.0155, -0.0404, -0.9991, 1.09819, 0, 0, 0, 1};
//    for (int i = 0; i < 4; ++i) {
//        for (int j = 0; j < 4; ++j) {
//            Tf_Mat[i][j] = tf[i*4+j];

//        }
//    }
//    ROS_INFO("TF_mat is %f , %f, %f", Tf_Mat[0][3],Tf_Mat[1][2],Tf_Mat[2][0]);
    double x, y, z, qx, qy, qz, qw; /*p[4], pm[4] = {-0.07286, -0.091444, 0.5683, 1};*///, joint1, joint2, joint3, joint4, joint5, joint6;
//    ROS_INFO("the marker pose with pm position(x,y,z) is %f , %f, %f", pm[0], pm[1], pm[2]);

    float finger1,finger2,finger3;


//    for (int i = 0; i < 4; ++i) {
//        p[i] = Tf_Mat[i][0]*pm[0]+Tf_Mat[i][1]*pm[1]+Tf_Mat[i][2]*pm[2]+Tf_Mat[i][3]*pm[3];
//    }

 /*
  * zhua qu bei zi
  */

    double p[3] = {-0.14919, -0.3655, 0.01362};
    x=-0.14919;
    y=-0.3655;//y可能需要补偿4cm y的原值为-0.528081440518
    z=0.01362+0.2;
    qx=-0.9959;
    qy=-0.0295;
    qz=-0.06;
    qw=0.05955;


    finger1 = finger2 = 0;
    finger3 = 0;
   
   ROS_INFO("Final xyz is %f , %f, %f", x,y,z);

try{

    bool result=cartesian_pose_client(x,y,z,qx,qy,qz,qw);
    if(result)
    {
      bool finger_re= finger_control_client(finger1,finger2,finger3);
      ROS_INFO("Cartesian pose sent!.");
if(finger_re)ROS_INFO("finger move!.");
    }
}
catch(ros::Exception)
     {

      ROS_INFO("program interrupted before completion.");
     }


   /*
    * jiazhu beizi
    */

    x=p[0];
    y=p[1];//y可能需要补偿4cm y的原值为-0.528081440518
    z=p[2];
    qx=-0.9959;
    qy=-0.0295;
    qz=-0.06;
    qw=0.05955;

    finger1 = finger2 = 1;
    finger3 = 0;
   
   ROS_INFO("Final xyz is %f , %f, %f", x,y,z);

try{

    bool result=cartesian_pose_client(x,y,z,qx,qy,qz,qw);
    if(result)
    {
      bool finger_re= finger_control_client(finger1,finger2,finger3);
      ROS_INFO("Cartesian pose sent!.");
if(finger_re)ROS_INFO("finger move!.");
    }
}
catch(ros::Exception)
     {

      ROS_INFO("program interrupted before completion.");
     }


   /*
    * yidong dao die zi shangfang
    */
    x=0.20618;
    y=-0.4486;//y可能需要补偿4cm y的原值为-0.528081440518
    z=0.020756+0.1;
    qx=-0.9059;
    qy=-0.41956;
    qz=-0.0513;
    qw=0.024217;



   ROS_INFO("Final xyz is %f , %f, %f", x,y,z);

try{

    bool result=cartesian_pose_client(x,y,z,qx,qy,qz,qw);
    if(result)
    {
      ROS_INFO("Cartesian pose sent!.");
    }
}
catch(ros::Exception)
     {

      ROS_INFO("program interrupted before completion.");
     }



    /*
     *put cup on the plate
     */
     x=0.20618;
     y=-0.4486;//y可能需要补偿4cm y的原值为-0.528081440518
     z=0.020756;
     qx=-0.9059;
     qy=-0.41956;
     qz=-0.0513;
     qw=0.024217;

     finger1 = finger2 = 0;
     finger3 = 0;

    ROS_INFO("Final xyz is %f , %f, %f", x,y,z);

 try{

     bool result=cartesian_pose_client(x,y,z,qx,qy,qz,qw);
     if(result)
     {
       bool finger_re= finger_control_client(finger1,finger2,finger3);
       ROS_INFO("Cartesian pose sent!.");
 if(finger_re)ROS_INFO("finger move!.");
     }
 }
 catch(ros::Exception)
      {

       ROS_INFO("program interrupted before completion.");
      }

     /*
      *抬高手抓并且轻微闭合双指
      */

      x=0.20618;
      y=-0.4486;//y可能需要补偿4cm y的原值为-0.528081440518
      z=0.020756+0.2;
      qx=-0.9059;
      qy=-0.41956;
      qz=-0.0513;
      qw=0.024217;

      finger1 = 0.73279;
      finger2 = 0.63;
      finger3 = 0;

     ROS_INFO("Final xyz is %f , %f, %f", x,y,z);

  try{

      bool result=cartesian_pose_client(x,y,z,qx,qy,qz,qw);
      if(result)
      {
        bool finger_re= finger_control_client(finger1,finger2,finger3);
        ROS_INFO("Cartesian pose sent!.");
  if(finger_re)ROS_INFO("finger move!.");
      }
  }
  catch(ros::Exception)
       {

        ROS_INFO("program interrupted before completion.");
       }

      /*
       * 移动到待定位置准备抓取碟子
       */

       x=0.098768;
       y=-0.47316;//y可能需要补偿4cm y的原值为-0.528081440518
       z=-0.0153;
       qx=0.0673;
       qy=0.84026;
       qz=0.011;
       qw=0.537868;


      ROS_INFO("Final xyz is %f , %f, %f", x,y,z);

   try{

       bool result=cartesian_pose_client(x,y,z,qx,qy,qz,qw);
       if(result)
       {
         ROS_INFO("Cartesian pose sent!.");
       }
   }
   catch(ros::Exception)
        {

         ROS_INFO("program interrupted before completion.");
        }

       /*
        * 插到盘子底部
        */

        x=0.1286;
        y=-0.474747;//y可能需要补偿4cm y的原值为-0.528081440518
        z=-0.01588;
        qx=0.04118;
        qy=0.8429;
        qz=0.02414;
        qw=0.53594;


        finger1 = 1;
        finger2 = 1;
        finger3 = 0;
       ROS_INFO("Final xyz is %f , %f, %f", x,y,z);

    try{

        bool result=cartesian_pose_client(x,y,z,qx,qy,qz,qw);
        if(result)
        {
          ros::Duration(5).sleep();

          ROS_INFO("Sleep 5s!.");

          bool finger_re= finger_control_client(finger1,finger2,finger3);

          ROS_INFO("Cartesian pose sent!.");
          if(finger_re)ROS_INFO("finger move!.");

        }

    }
    catch(ros::Exception)
         {

          ROS_INFO("program interrupted before completion.");
         }


        /*
         * 略微提高盘子
         */

        x=0.1286;
        y=-0.474747;//y可能需要补偿4cm y的原值为-0.528081440518
        z=-0.010698;
        qx=0.04118;
        qy=0.8429;
        qz=0.02414;
        qw=0.53594;



        ROS_INFO("Final xyz is %f , %f, %f", x,y,z);

     try{

         bool result=cartesian_pose_client(x,y,z,qx,qy,qz,qw);
         if(result)
         {
           ROS_INFO("Cartesian pose sent!.");
         }
     }
     catch(ros::Exception)
          {

           ROS_INFO("program interrupted before completion.");
          }

         /*
          * 翘起手腕
          */

         x=0.1313;
         y=-0.4735;//y可能需要补偿4cm y的原值为-0.528081440518
         z=-0.0034;
         qx=0.08016;
         qy=0.76014;
         qz=-0.0528;
         qw=0.6426;



         ROS_INFO("Final xyz is %f , %f, %f", x,y,z);

      try{

          bool result=cartesian_pose_client(x,y,z,qx,qy,qz,qw);
          if(result)
          {
            ROS_INFO("Cartesian pose sent!.");
          }
      }
      catch(ros::Exception)
           {

            ROS_INFO("program interrupted before completion.");
           }


          /*
           * 移动到目标位置上方
           */

          x=-0.21857;
          y=-0.30814;//y可能需要补偿4cm y的原值为-0.528081440518
          z=0.024688;
          qx=0.39678;
          qy=0.65087;
          qz=-0.32664;
          qw=0.55877;



          ROS_INFO("Final xyz is %f , %f, %f", x,y,z);

       try{

           bool result=cartesian_pose_client(x,y,z,qx,qy,qz,qw);
           if(result)
           {
             ROS_INFO("Cartesian pose sent!.");
           }
       }
       catch(ros::Exception)
            {

             ROS_INFO("program interrupted before completion.");
            }

           /*
            * kaizhua
            */

            x=-0.21664;
            y=-0.3057;//能需要补偿4cm y的原值为-0.528081440518
            z=-0.0099;
            qx=0.433;
            qy=0.7418;
            qz=-0.2441;
            qw=0.45;

            finger1 = 0.459;
            finger2 = 0;
            finger3 = 0;
           ROS_INFO("Final xyz is %f , %f, %f", x,y,z);

        try{

            bool result=cartesian_pose_client(x,y,z,qx,qy,qz,qw);
            if(result)
            {
              bool finger_re= finger_control_client(finger1,finger2,finger3);
              ROS_INFO("Cartesian pose sent!.");
        if(finger_re)ROS_INFO("finger move!.");
            }
        }
        catch(ros::Exception)
             {

              ROS_INFO("program interrupted before completion.");
             }



            /*
             * 移动sui ji weizhi
             */

            x=-0.21857-0.05;
            y=-0.30814;//y可能需要补偿4cm y的原值为-0.528081440518
            z=0.224688;
            qx=0.39678;
            qy=0.65087;
            qz=-0.32664;
            qw=0.55877;



            ROS_INFO("Final xyz is %f , %f, %f", x,y,z);

         try{

             bool result=cartesian_pose_client(x,y,z,qx,qy,qz,qw);
             if(result)
             {
               ROS_INFO("Cartesian pose sent!.");
             }
         }
         catch(ros::Exception)
              {

               ROS_INFO("program interrupted before completion.");
              }


             try {

                 start_to_home.call(srv);
                 ROS_INFO("go to home");

             }
             catch (ros::Exception) {
                 ROS_INFO("Failed to HOme.");
             }

                 return 0;

}

基本实现了杯子的叠放,并且移动带杯子的碟子

Bugs

在执行夹取碟子时,夹抓总是先关闭了,然而当debug的时候却运行正常!!!玄学,亟需解决!!!
Situation:

  1. 当把这段代码后面的部分注释掉后发现,只有爪子闭合,机械臂不动
  2. 即使单独只有机械臂移动的代码,依然不动。
        x=0.1286;
        y=-0.474747;//y可能需要补偿4cm y的原值为-0.528081440518
        z=-0.01588;
        qx=0.04118;
        qy=0.8429;
        qz=0.02414;
        qw=0.53594;


        finger1 = 1;
        finger2 = 1;
        finger3 = 0;
       ROS_INFO("Final xyz is %f , %f, %f", x,y,z);

    try{

        bool result=cartesian_pose_client(x,y,z,qx,qy,qz,qw);
        if(result)
        {
          ros::Duration(5).sleep();

          ROS_INFO("Sleep 5s!.");

          bool finger_re= finger_control_client(finger1,finger2,finger3);

          ROS_INFO("Cartesian pose sent!.");
          if(finger_re)ROS_INFO("finger move!.");

        }

    }
    catch(ros::Exception)
         {

          ROS_INFO("program interrupted before completion.");
         }

Bug 原因

  1. Trajectory command failed,轨迹规划失败,导致不能运行,但是后续操作却可以依然进行,需要改进机械臂是否到达指定位置的判断代码,确保机械臂到达了指定位置!

解决办法

1.针对bug1,博主利用了个漏洞,通过预先塞进去一个相同的操作,虽然这个操作机械臂不能运行,但是后面的操作可以正常运行,于是重复了机械臂塞进盘子底部的操作,保障了第二次的正常运行,虽然利用了trick,可还是治标不治本,还需要找时间好好研究具体出现的问题。

代码优化

  1. 把hand move only 与hand and gripper封装成了两个函数,简化了代码。
  2. 需要定义一些类,作为函数参数的引入,要不然单个写太繁琐。
  3. 写一个能真正检测机械臂是否达到了预定的位置。
  4. 研究callback,将一系列机械臂操作压入堆栈,按次序执行。

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