Source code for morse.middleware.ros.abstract_ros

import logging; logger = logging.getLogger("morse.ros")
import re
try:
    import roslib
except ImportError as error:
    logger.error("Could not find ROS. source setup.[ba]sh ?")
    logger.error("Please follow the installation instructions at:\n"
        "http://www.openrobots.org/morse/doc/latest/user/installation/mw/ros.html")
    raise error
import rospy

from std_msgs.msg import String, Header
from geometry_msgs.msg import TransformStamped

from morse.middleware.ros.tfMessage import tfMessage
from morse.middleware import AbstractDatastream

from morse.core.blenderapi import persistantstorage

try:
    import mathutils
except ImportError:
    # running outside Blender
    mathutils = None

[docs]class classproperty(object): def __init__(self, fget): self.fget = fget def __get__(self, owner_self, owner_cls): return self.fget(owner_cls)
[docs]class AbstractROS(AbstractDatastream): """ Base class for all ROS Publishers and Subscribers """ ros_class = Header # default @classproperty def _type_name(cls): # returns the standard ROS message name from its Python class return "%s/%s"%(cls.ros_class.__module__.split('.')[0], cls.ros_class.__name__) @classproperty def _type_url(cls): # used to generate documentation return "http://ros.org/doc/api/%s/html/msg/%s.html"%tuple(cls._type_name.split('/'))
[docs] def initialize(self): # Initialize MORSE-ROS-node. If already initialized, does nothing name = 'morse' morse_ps = persistantstorage() # dict if 'node_instance' in morse_ps: name = 'morse_%s' % morse_ps.node_instance.node_name rospy.init_node(name, log_level=rospy.DEBUG, disable_signals=True) logger.info("ROS node %s initialized %s" % (name, self) ) self.topic = None if 'topic' in self.kwargs: self.topic_name = self.kwargs['topic'] else: self.topic_name = self.get_topic_name()
[docs] def get_topic_name(self): # robot.001.sensor.001 = robot001.sensor001 topic_name = re.sub(r'\.([0-9]+)', r'\1', self.component_name) # '/robot001/sensor001' return '/' + topic_name.replace('.', '/')
[docs] def finalize(self): """ Cleaning """ # Unregister the topic if one exists if self.topic: self.topic.unregister() logger.info("ROS datastream finalize %s"%self)
[docs]class ROSPublisher(AbstractROS): """ Base class for all ROS Publishers """ default_frame_id = 'USE_TOPIC_NAME'
[docs] def initialize(self): AbstractROS.initialize(self) topic_name = self.topic_name if 'topic_suffix' in self.kwargs: # used for /robot/camera/image topic_name += self.kwargs['topic_suffix'] # do not create a topic if no ros_class set (for TF publish only) if self.ros_class != Header: # Generate a publisher for the component self.topic = rospy.Publisher(topic_name, self.ros_class) if self.default_frame_id is 'USE_TOPIC_NAME': # morse convention self.frame_id = self.kwargs.get('frame_id', self.topic_name) else: # default_frame_id was overloaded in subclass self.frame_id = self.kwargs.get('frame_id', self.default_frame_id) self.sequence = 0 # for ROS msg Header logger.info('ROS publisher initialized for %s'%self)
[docs] def get_ros_header(self): header = Header() header.stamp = self.get_time() header.seq = self.sequence # http://www.ros.org/wiki/geometry/CoordinateFrameConventions#Multi_Robot_Support header.frame_id = self.frame_id return header
[docs] def get_time(self): return rospy.Time.from_sec(self.data['timestamp']) # Generic publish method
[docs] def publish(self, message): """ Publish the data on the rostopic """ self.topic.publish(message) self.sequence += 1
[docs]class ROSPublisherTF(ROSPublisher): """ Base class for all ROS Publishers with TF support """ topic_tf = None
[docs] def initialize(self): ROSPublisher.initialize(self) if not ROSPublisherTF.topic_tf: ROSPublisherTF.topic_tf = rospy.Publisher("/tf", tfMessage)
[docs] def finalize(self): ROSPublisher.finalize(self) ROSPublisherTF.topic_tf.unregister()
[docs] def get_robot_transform(self): """ Get the transformation relative to the robot origin Return the local position, orientation and scale of this components """ rel_pos = self.component_instance.sensor_to_robot_position_3d() return rel_pos.translation, rel_pos.rotation
[docs] def publish_with_robot_transform(self, message): self.publish(message) self.send_transform_robot(message.header.stamp, message.header.frame_id)
[docs] def send_transform_robot(self, time=None, child=None, parent=None): """ Send the transformation relative to the robot :param time: default now :param child: default topic_name or 'frame_id' in kwargs :param parent: default 'base_link' or 'parent_frame_id' in kwargs """ translation, rotation = self.get_robot_transform() if not time: time = self.get_time() if not child: # our frame_id (component frame) child = self.frame_id if not parent: # get parent frame_id (aka. the robot) parent = self.kwargs.get('parent_frame_id', 'base_link') #rospy.loginfo("t:%s,r:%s"%(str(translation), str(rotation))) # send the transformation self.sendTransform(translation, rotation, time, child, parent) # TF publish method
[docs] def publish_tf(self, message): """ Publish the TF data on the rostopic """ ROSPublisherTF.topic_tf.publish(message)
[docs] def sendTransform(self, translation, rotation, time, child, parent): """ :param translation: the translation of the transformtion as geometry_msgs/Vector3 :param rotation: the rotation of the transformation as a geometry_msgs/Quaternion :param time: the time of the transformation, as a rospy.Time() :param child: child frame in tf, string :param parent: parent frame in tf, string Broadcast the transformation from tf frame child to parent on ROS topic ``"/tf"``. """ t = TransformStamped() t.header.frame_id = parent t.header.stamp = time t.child_frame_id = child t.transform.translation = translation t.transform.rotation = rotation tfm = tfMessage([t]) self.publish_tf(tfm)
[docs]class ROSSubscriber(AbstractROS): """ Base class for all ROS Subscribers """
[docs] def initialize(self): AbstractROS.initialize(self) self.message = None # Generate a subscriber for the component self.topic = rospy.Subscriber(self.topic_name, self.ros_class, self.callback) logger.info('ROS subscriber initialized for %s'%self)
[docs] def callback(self, message): if self.message is None: self.message = message
[docs] def default(self, ci='unused'): # If a new message has been received if self.message: # Update local_data self.update(self.message) # Free message for new reception self.message = None # Tell MORSE that we can apply modifiers return True return False
[docs] def update(self, message): """ Update `local_data` with :param message: Called when component.default_action is triggered and a new message was received """ pass # # Example (String) #
[docs]class StringPublisher(ROSPublisher): """ Publish a string containing a printable representation of the local data. """ ros_class = String
[docs] def default(self, ci='unused'): self.publish(repr(self.data))
[docs]class StringReader(ROSSubscriber): """ Subscribe to a String topic and log its data decoded as UTF-8. """ ros_class = String
[docs] def update(self, message): logger.info("Received String message %s on topic %s" % \ (message.data.decode("utf-8"), # String message decode self.topic_name))