This repository has been archived by the owner on Oct 26, 2020. It is now read-only.
-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathrun_state_machine_vins_mono_gt.py
156 lines (142 loc) · 6.53 KB
/
run_state_machine_vins_mono_gt.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
"""Execute the state machine with ground truth information."""
import argparse
import numpy as np
import rospy
from controller.basic_controller import PDController
from controller.basic_controller import PIDController
from env_interface.ground_truth_env import GroundTruthEnv
from env_interface.fg_vins_env import FgVinsEnv
from planner.heuristic_planner import HeuristicPlanner
from planner.fast_trajectory_planner import FastTrajectoryPlanner
import time
GATE_ORDER = [10, 21, 2, 13, 9, 14, 1, 22, 15, 23, 6]
TARGET_PSi = [np.pi / 2, np.pi / 2, -np.pi / 2, -np.pi / 2, -np.pi / 2, -np.pi / 2, 0, np.pi / 2, np.pi / 2, np.pi / 2,
np.pi / 2, np.pi / 2]
parser = argparse.ArgumentParser()
parser.add_argument("--gate_yaml", default=None, type=str, help="Gate location yaml file")
class SystemState(object):
START = 0
HOVERING = 1
EXPLORING = 2
GATE_FOUND = 3
GATE_TRACKING = 4
GATE_PASSING = 5
GATE_ADJUST_POSE = 6
GATE_PASSED = 7
STOP = 8
class StateMachine(object):
def __init__(self, env_interface, controller_node, planner_node, localizer_node, explorer_node):
self._env = env_interface
self._controller = controller_node
self._planner = planner_node
self._localizer = localizer_node
self._explorer = explorer_node
self._sys_state = SystemState.START
self._cur_gate_id = 0
self.hovering_height = 5
self._cur_psi = 0
def gate_searching(self):
pass
def gate_tracking(self):
pass
def spin(self):
if self._sys_state == SystemState.START:
self.try_state_transition(SystemState.HOVERING)
elif self._sys_state == SystemState.HOVERING:
self.try_state_transition(SystemState.GATE_FOUND)
elif self._sys_state == SystemState.GATE_FOUND:
self.try_state_transition(SystemState.GATE_TRACKING)
elif self._sys_state == SystemState.GATE_TRACKING:
self.try_state_transition(SystemState.GATE_PASSING)
elif self._sys_state == SystemState.GATE_PASSING:
self.try_state_transition(SystemState.GATE_ADJUST_POSE)
elif self._sys_state == SystemState.GATE_ADJUST_POSE:
self.try_state_transition(SystemState.GATE_PASSED)
def try_state_transition(self, target_sys_state):
if target_sys_state == SystemState.HOVERING:
"""
From start to hovering
"""
if np.abs(self._env.states[2] - self.hovering_height) < 0.5:
self._sys_state = SystemState.HOVERING
desired_states = np.array([0, 0, self.hovering_height, 0, 0, 0, 0, 0, 0, 0, 0, 0])
elif target_sys_state == SystemState.GATE_FOUND:
"""
Explorer only activates after passing the gate or at hovering state.
"""
gate_found = True # should interact with gate detector / env
if gate_found:
self._sys_state = SystemState.GATE_FOUND
# reset planner for gate tracking
# self._planner.reset()
return
else:
# exploring
pass
elif target_sys_state == SystemState.GATE_TRACKING:
if self._cur_gate_id < len(GATE_ORDER):
self._sys_state = SystemState.GATE_TRACKING
self._planner._start_time = time.time()
return
else:
self._sys_state = SystemState.STOP
print('Passing all the gates')
raise rospy.ROSInterruptException('Stop program')
elif target_sys_state == SystemState.GATE_PASSING:
"""
if it is close enough to gate, transit to gate passing, otherwise stay
"""
gate_center = self._planner.gate_map.get(GATE_ORDER[self._cur_gate_id], None)
gate_vec_loc = self._planner.vec_map.get(GATE_ORDER[self._cur_gate_id], None)
gate_loc = gate_center - gate_vec_loc * 2 * np.sign(TARGET_PSi[self._cur_gate_id]) * np.sign(gate_center[1])
if np.linalg.norm(np.array(self._env.states[0:3]) - np.array(gate_loc)) < 3:
self._sys_state = SystemState.GATE_PASSING
desired_states = self._planner.get_desired_state(self._env.states, next_gate_loc=gate_loc, next_gate_yaw=TARGET_PSi[self._cur_gate_id], cur_gate_yaw=self._cur_psi)
#desired_states = np.array([gate_loc[0], gate_loc[1], gate_loc[2], 0, 0, 0, 0, 0, 0, 0, 0, 0])
#desired_states[5] = self._cur_psi
print('passing', self._cur_gate_id, gate_loc, desired_states[0:3])
elif target_sys_state == SystemState.GATE_ADJUST_POSE:
gate_center = self._planner.gate_map.get(GATE_ORDER[self._cur_gate_id], None)
gate_vec_loc = self._planner.vec_map.get(GATE_ORDER[self._cur_gate_id], None)
gate_loc = gate_center - gate_vec_loc * 1.25 * np.sign(TARGET_PSi[self._cur_gate_id]) * np.sign(gate_center[1])
if np.linalg.norm(np.array(self._env.states[0:3]) - np.array(gate_loc)) < 0.5:
self._cur_psi = TARGET_PSi[self._cur_gate_id + 1]
self._sys_state = SystemState.GATE_ADJUST_POSE
print('adjust pose', self._cur_gate_id, gate_loc, self._env.states[5], TARGET_PSi[self._cur_gate_id])
desired_states = np.array([gate_loc[0], gate_loc[1], gate_loc[2], 0, 0, 0, 0, 0, 0, 0, 0, 0])
desired_states[5] = TARGET_PSi[self._cur_gate_id]
elif target_sys_state == SystemState.GATE_PASSED:
"""
if it is close enough to gate, transit to gate passing, otherwise stay
"""
gate_center = self._planner.gate_map.get(GATE_ORDER[self._cur_gate_id], None)
gate_vec_loc = self._planner.vec_map.get(GATE_ORDER[self._cur_gate_id], None)
gate_loc = gate_center + 4 * gate_vec_loc * np.sign(TARGET_PSi[self._cur_gate_id]) * np.sign(gate_center[1])
#desired_states = self._planner.get_desired_state(self._env.states, next_gate_loc=gate_loc)
desired_states = np.array([gate_loc[0], gate_loc[1], gate_loc[2], 0, 0, 0, 0, 0, 0, 0, 0, 0])
desired_states[5] = self._cur_psi
print('passed', self._cur_gate_id, gate_loc)
if np.linalg.norm(np.array(self._env.states[0:3]) - np.array(gate_loc)) < 1:
self._planner.reset()
self._cur_gate_id += 1
self._sys_state = SystemState.GATE_FOUND
actions = self._controller.compute_action(self._env.states, desired_states)
print('states', self._env.states[0:3], desired_states[0:3], self._env.states[9:12])
self._env.step(actions)
#self._env.plot_gate()
if __name__ == '__main__':
args = parser.parse_args()
start_time = time.time()
controller = PDController() # controller should be independent of time
env = FgVinsEnv(start_time)
env.spin_listeners()
planner = FastTrajectoryPlanner(start_time)
localizer = None
explorer = None
state_machine = StateMachine(env, controller, planner, localizer, explorer)
while True:
rospy.sleep(0.01)
try:
state_machine.spin()
except rospy.ROSInterruptException:
break