diff --git a/src/dcaiti_control/CMakeLists.txt b/src/dcaiti_control/CMakeLists.txt index abe6f7e..96da4cb 100644 --- a/src/dcaiti_control/CMakeLists.txt +++ b/src/dcaiti_control/CMakeLists.txt @@ -33,7 +33,7 @@ if(BUILD_TESTING) endif() install( - DIRECTORY config description launch worlds + DIRECTORY config description launch worlds tracks DESTINATION share/${PROJECT_NAME} ) diff --git a/src/dcaiti_control/description/assets/blue_cone.dae b/src/dcaiti_control/description/assets/blue_cone.dae new file mode 100644 index 0000000..401b585 --- /dev/null +++ b/src/dcaiti_control/description/assets/blue_cone.dae @@ -0,0 +1,326 @@ + + + + + Blender User + Blender 3.3.11 commit date:2023-09-21, commit time:06:07, hash:6a3240da1dc8 + + 2023-10-29T19:28:02 + 2023-10-29T19:28:02 + + Z_UP + + + + + + + 39.59775 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 10 + + + + + + + + 39.59775 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 10 + + + + + + + + 39.59775 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 10 + 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+ + + + + + + + -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.055189 0.6045247 0.7946723 5.903862 0 0 0 1 + + + + 0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1 + + + + 9.86784e-4 0 0 0 0 9.86784e-4 0 0 0 0 0.001 0 0 0 0 1 + + + + + + + + + + + 0.07677899 0.1474173 -0.9860898 -27.50253 -0.9967403 0.03592319 -0.07223785 -6.925791 0.02477439 0.9884218 0.1496949 4.958309 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183911 1.005454 -0.05518897 0.6045246 0.7946723 5.903862 0 0 0 1 + + + + 0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 + + + + + + + + \ No newline at end of file diff --git a/src/dcaiti_control/description/assets/yellow_cone.dae b/src/dcaiti_control/description/assets/yellow_cone.dae index 5807b0a..702a937 100644 --- a/src/dcaiti_control/description/assets/yellow_cone.dae +++ b/src/dcaiti_control/description/assets/yellow_cone.dae @@ -5,8 +5,8 @@ Blender User Blender 3.3.11 commit date:2023-09-21, commit time:06:07, hash:6a3240da1dc8 - 2023-10-29T16:28:48 - 2023-10-29T16:28:48 + 2023-10-29T19:26:22 + 2023-10-29T19:26:22 Z_UP diff --git a/src/dcaiti_control/description/blue_cone.xacro b/src/dcaiti_control/description/blue_cone.xacro new file mode 100644 index 0000000..8fd54e3 --- /dev/null +++ b/src/dcaiti_control/description/blue_cone.xacro @@ -0,0 +1,24 @@ + + + + + + + + true + + + + + + + + + + + + + \ No newline at end of file diff --git a/src/dcaiti_control/description/yellow_cone.xacro b/src/dcaiti_control/description/yellow_cone.xacro index 81864ba..e1ecf39 100644 --- a/src/dcaiti_control/description/yellow_cone.xacro +++ b/src/dcaiti_control/description/yellow_cone.xacro @@ -3,12 +3,12 @@ + + + true + + - - - - - diff --git a/src/dcaiti_control/launch/launch_sim.py b/src/dcaiti_control/launch/launch_sim.py index 3f202da..e7ae612 100644 --- a/src/dcaiti_control/launch/launch_sim.py +++ b/src/dcaiti_control/launch/launch_sim.py @@ -1,4 +1,5 @@ import os +from pathlib import Path from ament_index_python.packages import get_package_share_directory @@ -16,6 +17,139 @@ from launch_ros.actions import Node from launch.actions import RegisterEventHandler from launch.event_handlers import OnProcessExit +from pathlib import Path +from typing import List, Tuple, Union, cast, Dict +from struct import Struct +from enum import IntEnum + +import numpy as np + + + +class ConeTypes(IntEnum): + """ + Enum for all possible cone types + """ + + UNKNOWN = 0 + YELLOW = 1 + RIGHT = 1 + BLUE = 2 + LEFT = 2 + ORANGE_SMALL = 3 + START_FINISH_AREA = 3 + ORANGE_BIG = 4 + START_FINISH_LINE = 4 + + +HEADER_STRUCT = Struct("6sBBhBB") +BLOCK_STRUCT = Struct("2h4B") + +LytObjectIndexToConeType: Dict[int, ConeTypes] = { + 25: ConeTypes.UNKNOWN, + 29: ConeTypes.YELLOW, + 30: ConeTypes.YELLOW, + 23: ConeTypes.BLUE, + 24: ConeTypes.BLUE, + 27: ConeTypes.ORANGE_BIG, + 20: ConeTypes.ORANGE_SMALL, +} + +def split_header_blocks(data: bytes) -> Tuple[bytes, bytes]: + """ + Split the content of the lyt file into header and block. This split is easy because + the header has a fixed size + + Args: + data (bytes): The content of the lyt file + + Returns: + Tuple[bytes, bytes]: The header and the block + """ + return data[: HEADER_STRUCT.size], data[HEADER_STRUCT.size :] + + +def verify_lyt_header(header_data: bytes) -> None: + """ + Parse the header and perform some sanity checks suggested by the LFS documentation + + Args: + header_data (bytes): The header bytes of the `.lyt` file + """ + + header = cast( + Tuple[bytes, int, int, int, int, int], HEADER_STRUCT.unpack(header_data) + ) + + file_type, version, revision, _, _, _ = header + assert file_type == b"LFSLYT" + assert version <= 0, version + # revision allowed up to 252 + # https://www.lfs.net/forum/thread/96153-LYT-revision-252-in-W-patch + assert revision <= 252, revision + + +def extract_cone_lists(blocks_data: bytes) -> List[List[Tuple[float, float]]]: + """ + Extract the cone object positions from the object blocks bytes of a lyt file + + Args: + blocks_data (bytes): The data in the lyt file that is not the header + + Returns: + List[List[Tuple[int, int]]]: The cone positions split by cone type + """ + decoded_blocks = BLOCK_STRUCT.iter_unpack(blocks_data) + all_cones_per_type: List[List[Tuple[float, float]]] = [[] for _ in ConeTypes] + + # cone_info: + for cone_info in decoded_blocks: + obj_x, obj_y, _, _, lyt_obj_idx, _ = cast( + Tuple[int, int, int, int, int, int], cone_info + ) + + try: + cone_type = LytObjectIndexToConeType[lyt_obj_idx] + except KeyError: + # not a cone + continue + + # the stored x,y pos is multiplied by + # 16 in the file so we need to convert it back + # (and cast to a float by using real div) + obj_x_meters = obj_x / 16 + obj_y_meters = obj_y / 16 + all_cones_per_type[cone_type].append((obj_x_meters, obj_y_meters)) + return all_cones_per_type + + +def load_lyt_file(filename: Union[Path, str]) -> List[np.ndarray]: + """ + Load a `.lyt` file and return the positions of the cone objects inside it split + according to `ConeTypes` + + Args: + filename (Path): The path to the `.lyt` file + + Returns: + List[np.ndarray]: A list of 2d np.ndarrays representing the cone positions of + for all cone types + """ + if isinstance(filename, str): + filename = Path(filename) + assert filename.is_file(), filename + assert filename.suffix == ".lyt", filename + data = filename.read_bytes() + header_data, blocks_data = split_header_blocks(data) + verify_lyt_header(header_data) + + all_cones_per_type = extract_cone_lists(blocks_data) + + all_cones_per_type_arrays = [ + np.array(cone_list) for cone_list in all_cones_per_type + ] + + return all_cones_per_type_arrays def generate_launch_description(): @@ -25,15 +159,17 @@ def generate_launch_description(): package_name='dcaiti_control' #<--- CHANGE ME use_ros2_control = LaunchConfiguration('use_ros2_control') + track = LaunchConfiguration('track') rsp = IncludeLaunchDescription( PythonLaunchDescriptionSource([os.path.join( get_package_share_directory(package_name),'launch','rsp.launch.py' )]), launch_arguments={'use_sim_time': 'true', 'use_ros2_control': use_ros2_control}.items() ) - gazebo_params_path = os.path.join(get_package_share_directory(package_name),'config','gazebo_config.yml') - world_path = os.path.join(get_package_share_directory(package_name),'worlds') - description_path = os.path.join(get_package_share_directory(package_name),'description') + base_path = Path(get_package_share_directory(package_name)) + world_path = base_path / 'worlds' + description_path = base_path /'description' + # Include the Gazebo launch file, provided by the gazebo_ros package gazebo = IncludeLaunchDescription( @@ -48,20 +184,54 @@ def generate_launch_description(): '-topic', 'robot_description', '-name', 'spawn_robot', '-z', '0.5', + '-x', '-7', ], output='screen' ) - cone_xacro = f'{description_path}/yellow_cone.xacro' - cone_config = Command(['xacro ', cone_xacro]) - spawn_cone = Node(package='ros_gz_sim', executable='create', - arguments=[ - '-string', cone_config, - '-name', 'spawned_cone', - '-z', '10', - ], - output='screen' - ) + cone_positions = [x.reshape(-1,2) for x in load_lyt_file(base_path / 'tracks' / 'AU2_skidpad.lyt')] + center = np.mean(cone_positions[ConeTypes.ORANGE_BIG], axis=0) + + cone_positions_centered = [x - center for x in cone_positions] + + + cones_dict = { + "unknown": cone_positions_centered[ConeTypes.UNKNOWN].tolist(), + "yellow": cone_positions_centered[ConeTypes.YELLOW].tolist(), + "blue": cone_positions_centered[ConeTypes.BLUE].tolist(), + "orange_small": cone_positions_centered[ConeTypes.ORANGE_SMALL].tolist(), + "orange_big": cone_positions_centered[ConeTypes.ORANGE_BIG].tolist(), + } + + yellow_cone_xacro = f'{description_path}/yellow_cone.xacro' + yellow_cone_config = Command(['xacro ', yellow_cone_xacro]) + blue_cone_xacro = f'{description_path}/blue_cone.xacro' + blue_cone_config = Command(['xacro ', blue_cone_xacro]) + cone_spawner = [] + for i, (x,y) in enumerate(cones_dict['yellow']): + spawn_cone = Node(package='ros_gz_sim', executable='create', + arguments=[ + '-string', yellow_cone_config, + '-name', f'yellow_cone_{i}', + '-z', '0.3', + '-y', str(y), + '-x', str(x), + ], + output='screen' + ) + cone_spawner.append(spawn_cone) + for i, (x,y) in enumerate(cones_dict['blue']): + spawn_cone = Node(package='ros_gz_sim', executable='create', + arguments=[ + '-string', blue_cone_config, + '-name', f'blue_cone_{i}', + '-z', '0.3', + '-y', str(y), + '-x', str(x), + ], + output='screen' + ) + cone_spawner.append(spawn_cone) # Bridge bridge = Node( @@ -111,11 +281,14 @@ def generate_launch_description(): 'use_ros2_control', default_value='true', description='Use ros2_control if true'), + DeclareLaunchArgument( + 'track', + default_value='AU2_skidpad.lyt', + description='Which track to load'), bridge, rsp, gazebo, spawn_entity, - spawn_cone, delayed_diff_drive_spawner, delayed_joint_broad_spawner, - ]) + ]+ cone_spawner ) diff --git a/src/dcaiti_control/track/readlyt.py b/src/dcaiti_control/track/readlyt.py deleted file mode 100644 index 6b1d734..0000000 --- a/src/dcaiti_control/track/readlyt.py +++ /dev/null @@ -1,176 +0,0 @@ -#!/usr/bin/env python3 -# -*- coding:utf-8 -*- -""" -Description: Based on https://www.lfs.net/programmer/lyt -""" - -from pathlib import Path -from typing import List, Tuple, Union, cast, Dict -from struct import Struct -from enum import IntEnum - -import numpy as np - - - -class ConeTypes(IntEnum): - """ - Enum for all possible cone types - """ - - UNKNOWN = 0 - YELLOW = 1 - RIGHT = 1 - BLUE = 2 - LEFT = 2 - ORANGE_SMALL = 3 - START_FINISH_AREA = 3 - ORANGE_BIG = 4 - START_FINISH_LINE = 4 - - -HEADER_STRUCT = Struct("6sBBhBB") -BLOCK_STRUCT = Struct("2h4B") - -LytObjectIndexToConeType: Dict[int, ConeTypes] = { - 25: ConeTypes.UNKNOWN, - 29: ConeTypes.YELLOW, - 30: ConeTypes.YELLOW, - 23: ConeTypes.BLUE, - 24: ConeTypes.BLUE, - 27: ConeTypes.ORANGE_BIG, - 20: ConeTypes.ORANGE_SMALL, -} - -def split_header_blocks(data: bytes) -> Tuple[bytes, bytes]: - """ - Split the content of the lyt file into header and block. This split is easy because - the header has a fixed size - - Args: - data (bytes): The content of the lyt file - - Returns: - Tuple[bytes, bytes]: The header and the block - """ - return data[: HEADER_STRUCT.size], data[HEADER_STRUCT.size :] - - -def verify_lyt_header(header_data: bytes) -> None: - """ - Parse the header and perform some sanity checks suggested by the LFS documentation - - Args: - header_data (bytes): The header bytes of the `.lyt` file - """ - - header = cast( - Tuple[bytes, int, int, int, int, int], HEADER_STRUCT.unpack(header_data) - ) - - file_type, version, revision, _, _, _ = header - assert file_type == b"LFSLYT" - assert version <= 0, version - # revision allowed up to 252 - # https://www.lfs.net/forum/thread/96153-LYT-revision-252-in-W-patch - assert revision <= 252, revision - - -def extract_cone_lists(blocks_data: bytes) -> List[List[Tuple[float, float]]]: - """ - Extract the cone object positions from the object blocks bytes of a lyt file - - Args: - blocks_data (bytes): The data in the lyt file that is not the header - - Returns: - List[List[Tuple[int, int]]]: The cone positions split by cone type - """ - decoded_blocks = BLOCK_STRUCT.iter_unpack(blocks_data) - all_cones_per_type: List[List[Tuple[float, float]]] = [[] for _ in ConeTypes] - - # cone_info: - for cone_info in decoded_blocks: - obj_x, obj_y, _, _, lyt_obj_idx, _ = cast( - Tuple[int, int, int, int, int, int], cone_info - ) - - try: - cone_type = LytObjectIndexToConeType[lyt_obj_idx] - except KeyError: - # not a cone - continue - - # the stored x,y pos is multiplied by - # 16 in the file so we need to convert it back - # (and cast to a float by using real div) - obj_x_meters = obj_x / 16 - obj_y_meters = obj_y / 16 - all_cones_per_type[cone_type].append((obj_x_meters, obj_y_meters)) - return all_cones_per_type - - -def load_lyt_file(filename: Union[Path, str]) -> List[np.ndarray]: - """ - Load a `.lyt` file and return the positions of the cone objects inside it split - according to `ConeTypes` - - Args: - filename (Path): The path to the `.lyt` file - - Returns: - List[np.ndarray]: A list of 2d np.ndarrays representing the cone positions of - for all cone types - """ - if isinstance(filename, str): - filename = Path(filename) - assert filename.is_file(), filename - assert filename.suffix == ".lyt", filename - data = filename.read_bytes() - header_data, blocks_data = split_header_blocks(data) - verify_lyt_header(header_data) - - all_cones_per_type = extract_cone_lists(blocks_data) - - all_cones_per_type_arrays = [ - np.array(cone_list) for cone_list in all_cones_per_type - ] - - return all_cones_per_type_arrays - - -def main(): - # parse arguments - import argparse - import json - - # one argument for the lyt file - parser = argparse.ArgumentParser(description="Parse a lyt file") - parser.add_argument("lyt_file", type=str, help="The lyt file to parse") - - args = parser.parse_args() - - # load the lyt file - lyt_file = Path(args.lyt_file) - cone_positions = [x.reshape(-1,2) for x in load_lyt_file(lyt_file)] - - - center = np.mean(cone_positions[ConeTypes.ORANGE_BIG], axis=0) - - cone_positions_centered = [x - center for x in cone_positions] - - - cones_dict = { - "unknown": cone_positions_centered[ConeTypes.UNKNOWN].tolist(), - "yellow": cone_positions_centered[ConeTypes.YELLOW].tolist(), - "blue": cone_positions_centered[ConeTypes.BLUE].tolist(), - "orange_small": cone_positions_centered[ConeTypes.ORANGE_SMALL].tolist(), - "orange_big": cone_positions_centered[ConeTypes.ORANGE_BIG].tolist(), - } - - # print the cones as json - print(json.dumps(cones_dict, indent=1)) - -if __name__ == "__main__": - main() - diff --git a/src/dcaiti_control/track/AU2_skidpad.lyt b/src/dcaiti_control/tracks/AU2_skidpad.lyt similarity index 100% rename from src/dcaiti_control/track/AU2_skidpad.lyt rename to src/dcaiti_control/tracks/AU2_skidpad.lyt