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added option to dynamically initialize grid and robots and added support for arbitrary grid orientation w.r.t. camera

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This commit is contained in:
Simon Pirkelmann 2020-10-18 18:03:33 +02:00
parent 056d91da52
commit e93ae65e0f
4 changed files with 158 additions and 108 deletions
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9
remote_control/mpc_controller.py
View File

@ -17,7 +17,7 @@ class MPCController:
# integrator # integrator
self.omega_max = 5.0 self.omega_max = 5.0
self.control_scaling = 0.2 self.control_scaling = 0.4
def move_to_pos(self, target_pos, robot, near_target_counter=5): def move_to_pos(self, target_pos, robot, near_target_counter=5):
near_target = 0 near_target = 0
@ -59,6 +59,7 @@ class MPCController:
x_pred = self.get_measurement(robot.id) x_pred = self.get_measurement(robot.id)
if x_pred is not None:
error_pos = np.linalg.norm(x_pred[0:2] - target_pos[0:2]) error_pos = np.linalg.norm(x_pred[0:2] - target_pos[0:2])
angles_unwrapped = np.unwrap([x_pred[2], target_pos[2]]) # unwrap angle to avoid jump in data angles_unwrapped = np.unwrap([x_pred[2], target_pos[2]]) # unwrap angle to avoid jump in data
error_ang = np.abs(angles_unwrapped[0] - angles_unwrapped[1]) error_ang = np.abs(angles_unwrapped[0] - angles_unwrapped[1])
@ -66,7 +67,7 @@ class MPCController:
#print("error_pos = {}, error_ang = {}".format(error_pos, error_ang)) #print("error_pos = {}, error_ang = {}".format(error_pos, error_ang))
#if error_pos > 0.075 or error_ang > 0.35: #if error_pos > 0.075 or error_ang > 0.35:
if error_pos > 0.05 or error_ang > 0.2: if error_pos > 0.05 or error_ang > 0.1:
# solve mpc open loop problem # solve mpc open loop problem
res = self.ols.solve(x_pred, target_pos) res = self.ols.solve(x_pred, target_pos)
@ -95,6 +96,8 @@ class MPCController:
if i < self.mstep: if i < self.mstep:
time.sleep(self.dt) time.sleep(self.dt)
self.t = time.time() # save time the most recent control was applied self.t = time.time() # save time the most recent control was applied
else:
print("robot not detected yet!")
def interactive_control(self, robots): def interactive_control(self, robots):
controlled_robot_number = 0 controlled_robot_number = 0
@ -169,4 +172,4 @@ class MPCController:
self.t = time.time() # save time the most recent control was applied self.t = time.time() # save time the most recent control was applied
def get_measurement(self, robot_id): def get_measurement(self, robot_id):
return np.array(self.estimator.get_robot_state_estimate(robot_id)) return self.estimator.get_robot_state_estimate(robot_id)

13
remote_control/opencv_viewer_example.py
View File

@ -6,8 +6,6 @@ from shapely.geometry import LineString
from queue import Queue from queue import Queue
class ArucoEstimator: class ArucoEstimator:
grid_columns = 10
grid_rows = 8
corner_marker_ids = { corner_marker_ids = {
'a': 0, 'a': 0,
'b': 1, 'b': 1,
@ -24,7 +22,10 @@ class ArucoEstimator:
'd': {'pixel_coordinate': None, 'real_world_estimate': None, 'n_estimates': 0 }, 'd': {'pixel_coordinate': None, 'real_world_estimate': None, 'n_estimates': 0 },
} }
def __init__(self, robot_marker_ids=None, use_realsense=True): def __init__(self, robot_marker_ids=None, use_realsense=True, grid_columns=8, grid_rows=8):
self.grid_columns = grid_columns
self.grid_rows = grid_rows
if robot_marker_ids is None: if robot_marker_ids is None:
robot_marker_ids = [] robot_marker_ids = []
self.robot_marker_ids = robot_marker_ids self.robot_marker_ids = robot_marker_ids
@ -248,7 +249,7 @@ class ArucoEstimator:
elif orientation == 'v': elif orientation == 'v':
angle = x_frac * angle_ad + (1 - x_frac) * angle_bc angle = x_frac * angle_ad + (1 - x_frac) * angle_bc
elif orientation == '^': elif orientation == '^':
angle = - (x_frac * angle_ad + (1 - x_frac) * angle_bc) angle = x_frac * angle_ad + (1 - x_frac) * angle_bc + np.pi
return np.array((point_of_intersection[0], point_of_intersection[1], angle)) return np.array((point_of_intersection[0], point_of_intersection[1], angle))
else: else:
@ -315,11 +316,13 @@ class ArucoEstimator:
def get_robot_state_estimate(self, id): def get_robot_state_estimate(self, id):
if id in self.robot_marker_estimates: if id in self.robot_marker_estimates:
if self.robot_marker_estimates[id] is not None: if self.robot_marker_estimates[id] is not None:
return self.robot_marker_estimates[id] return np.array(self.robot_marker_estimates[id])
else: else:
print(f"error: no estimate available for robot {id}") print(f"error: no estimate available for robot {id}")
return None
else: else:
print(f"error: invalid robot id {id}") print(f"error: invalid robot id {id}")
return None
def draw_robot_pos(self, frame, corners, ids): def draw_robot_pos(self, frame, corners, ids):
# draws information about the robot positions onto the given frame # draws information about the robot positions onto the given frame

172
remote_control/roborally.py
View File

@ -4,10 +4,12 @@ import threading
import time import time
from mpc_controller import MPCController from mpc_controller import MPCController
from robot import Robot
import opencv_viewer_example import opencv_viewer_example
MSGLEN = 64 MSGLEN = 64
def myreceive(sock): def myreceive(sock):
chunks = [] chunks = []
bytes_recd = 0 bytes_recd = 0
@ -24,7 +26,7 @@ def myreceive(sock):
return b''.join(chunks) return b''.join(chunks)
class Robot: class RoboRallyRobot(Robot):
# dictionary mapping the current orientation and a turn command to the resulting orientation # dictionary mapping the current orientation and a turn command to the resulting orientation
resulting_orientation = { resulting_orientation = {
'^': {'turn left': '<', 'turn right': '>', 'turn around': 'v'}, '^': {'turn left': '<', 'turn right': '>', 'turn around': 'v'},
@ -36,94 +38,65 @@ class Robot:
# dictionary mapping an orientation to its opposite # dictionary mapping an orientation to its opposite
opposites = {'^': 'v', '>': '<', 'v': '^', '<': '>'} opposites = {'^': 'v', '>': '<', 'v': '^', '<': '>'}
def __init__(self, id, ip, x=0, y=0, orientation='>'): def __init__(self, id, ip, x, y, orientation):
self.x = x super().__init__(id, ip)
self.y = y
self.orientation = orientation
self.id = id self.grid_x = x
self.grid_y = y
self.pos = None self.grid_orientation = orientation
self.euler = None
self.ip = ip
self.socket = socket.socket()
# currently active control
self.u1 = 0.0
self.u2 = 0.0
def get_neighbor_coordinates(self, direction): def get_neighbor_coordinates(self, direction):
# get the coordinates of the neighboring tile in the given direction # get the coordinates of the neighboring tile in the given direction
if direction == '^': if direction == '^':
return (self.x, self.y - 1) return self.grid_x, self.grid_y - 1
elif direction == '>': elif direction == '>':
return (self.x + 1, self.y) return self.grid_x + 1, self.grid_y
elif direction == 'v': elif direction == 'v':
return (self.x, self.y + 1) return self.grid_x, self.grid_y + 1
elif direction == '<': elif direction == '<':
return (self.x - 1, self.y) return self.grid_x - 1, self.grid_y
else: else:
print("error: unknown direction") print("error: unknown direction")
sys.exit(1) sys.exit(1)
def move(self, type): def move(self, move_type):
if type == 'forward': if move_type == 'forward':
target_tile = self.get_neighbor_coordinates(self.orientation) target_tile = self.get_neighbor_coordinates(self.grid_orientation)
self.x = target_tile[0] self.grid_x = target_tile[0]
self.y = target_tile[1] self.grid_y = target_tile[1]
elif type == 'backward': elif move_type == 'backward':
opposite_orientation = Robot.opposites[self.orientation] opposite_orientation = RoboRallyRobot.opposites[self.grid_orientation]
target_tile = self.get_neighbor_coordinates(opposite_orientation) target_tile = self.get_neighbor_coordinates(opposite_orientation)
self.x = target_tile[0] self.grid_x = target_tile[0]
self.y = target_tile[1] self.grid_y = target_tile[1]
elif 'turn' in type: elif 'turn' in move_type:
self.orientation = Robot.resulting_orientation[self.orientation][type] self.grid_orientation = RoboRallyRobot.resulting_orientation[self.grid_orientation][move_type]
elif 'nop' in move_type:
pass # nop command -> robot grid position does not change (used e.g. for driving the robot to initial
# position)
else: else:
print("error: invalid move") print("error: invalid move")
sys.exit(1) sys.exit(1)
def connect(self):
# connect to robot
try:
print("connecting to robot {} with ip {} ...".format(self.id, self.ip))
#self.socket.connect((self.ip, 1234)) # connect to robot
print("connected!")
except socket.error:
print("could not connect to robot {} with ip {}".format(self.id, self.ip))
sys.exit(1)
def send_cmd(self, u1=0.0, u2=0.0):
if self.socket:
try:
self.socket.send(f'({u1},{u2})\n'.encode())
except BrokenPipeError:
#print(f"error: connection to robot {self.id} with ip {self.ip} lost")
pass
def __str__(self): def __str__(self):
return self.__repr__() return self.__repr__()
def __repr__(self): def __repr__(self):
return f"x: {self.x}, y: {self.y}, orienation: {self.orientation}" return f"grid x: {self.grid_x}, grid y: {self.grid_y}, grid orientation: {self.grid_orientation}"
class RemoteController: class RemoteController:
valid_cmds = ['forward', 'backward', 'turn left', 'turn right', 'turn around', 'nop', 'get position',
'set position', 'initialize_robot', 'initialize_grid']
def __init__(self): def __init__(self):
# self.robots = #[Robot(11, '192.168.1.11', (6, -3, np.pi)), Robot(12, '192.168.1.12', (6, -3, np.pi)), self.robots = []
# Robot(13, '192.168.1.13', (6, -3, np.pi)), Robot(14, '192.168.1.14', (6, -2, np.pi))] self.robots = [RoboRallyRobot(12, '192.168.1.12', x=1, y=1, orientation='>')]
#self.robots = [Robot(13, '192.168.1.13', (6, -3, np.pi))]
#self.robots = []
#self.robots = [Robot(11, '192.168.1.11', (6,-3,0)), Robot(14, '192.168.1.14', (6,3,0))]
#self.robots = [Robot(11, '192.168.1.11'), Robot(14, '192.168.1.14')]
self.robots = [Robot(12, '192.168.1.12')]
self.robot_ids = {} self.robot_ids = {}
for r in self.robots: for r in self.robots:
self.robot_ids[r.id] = r self.robot_ids[r.id] = r
self.valid_cmds = ['forward', 'backward', 'turn left', 'turn right', 'turn around', 'get position', 'set position']
# socket for movement commands # socket for movement commands
self.comm_socket = socket.socket() self.comm_socket = socket.socket()
self.comm_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) self.comm_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
@ -143,6 +116,14 @@ class RemoteController:
self.controller = MPCController(self.estimator) self.controller = MPCController(self.estimator)
print("waiting for corner and robot detection..")
while not self.estimator.all_robots_detected() or not self.estimator.all_corners_detected():
pass
print("everything detected!")
# drive robots to initial position
for robot_id in self.robot_ids:
self.grid_control(robot_id, 'nop')
def run(self): def run(self):
print("waiting until all markers are detected...") print("waiting until all markers are detected...")
while not self.estimator.all_corners_detected(): while not self.estimator.all_corners_detected():
@ -165,10 +146,28 @@ class RemoteController:
cmd = cmd.strip().decode() cmd = cmd.strip().decode()
if len(inputs) > 1: if len(inputs) > 1:
if cmd in self.valid_cmds: if cmd in RemoteController.valid_cmds:
if cmd == 'initialize_grid':
try:
grid_columns = int(inputs[1])
grid_rows = int(inputs[2])
self.estimator.grid_columns = grid_columns
self.estimator.grid_rows = grid_rows
clientsocket.sendall(b'OK\n')
except ValueError:
print("could not initialize grid!")
clientsocket.sendall(b'"could not initialize grid!\n'
b'expected: initialize_robot, <grid columns>, <grid rows>')
except IndexError:
print("could not initialize grid!")
clientsocket.sendall(b'"could not initialize grid!\n'
b'expected: initialize_robot, <grid columns>, <grid rows>')
else: # robot command
try: try:
robot_id = int(inputs[1]) robot_id = int(inputs[1])
except ValueError: except ValueError:
robot_id = None
print("could not read robot id!") print("could not read robot id!")
clientsocket.sendall(b'Could not read robot id!\n') clientsocket.sendall(b'Could not read robot id!\n')
@ -178,7 +177,8 @@ class RemoteController:
elif cmd == b'set position': elif cmd == b'set position':
try: try:
pos_data = ",".join(inputs[2:]) pos_data = ",".join(inputs[2:])
new_grid_pos = tuple(map(lambda x: int(x[1]) if x[0] < 2 else float(x[1]), enumerate(pos_data.strip().strip('()').split(',')))) new_grid_pos = tuple(map(lambda x: int(x[1]) if x[0] < 2 else float(x[1]),
enumerate(pos_data.strip().strip('()').split(','))))
self.robot_ids[robot_id].grid_pos = new_grid_pos self.robot_ids[robot_id].grid_pos = new_grid_pos
clientsocket.sendall(b'OK\n') clientsocket.sendall(b'OK\n')
except IndexError as e: except IndexError as e:
@ -188,14 +188,55 @@ class RemoteController:
self.robot_ids[robot_id].grid_pos))) self.robot_ids[robot_id].grid_pos)))
except ValueError as e: except ValueError as e:
print("could not set grid position!") print("could not set grid position!")
clientsocket.sendall(bytes('could not set grid position! (invalid format)\n'.format(self.robot_ids[robot_id].grid_pos))) clientsocket.sendall(bytes(
'could not set grid position! (invalid format)\n'.format(
self.robot_ids[robot_id].grid_pos)))
else: else:
self.grid_control(robot_id, cmd) self.grid_control(robot_id, cmd)
clientsocket.sendall(b'OK\n') clientsocket.sendall(b'OK\n')
elif cmd == 'initialize_robot':
# add a new robot to the game
try:
id = int(inputs[1])
ip = inputs[2].decode().strip()
x = int(inputs[3])
y = int(inputs[4])
orientation = inputs[5].decode().strip()
print(f"initializing new robot with id {id} and ip {ip} at pos ({x},{y}) with "
f"orientation '{orientation}'")
new_robot = RoboRallyRobot(id=id, ip=ip, x=x, y=y, orientation=orientation)
new_robot.connect()
if new_robot.connected:
print("created new robot and successfully connected to it!")
# store the new robot in the list of robots
self.robots.append(new_robot)
self.robot_ids[new_robot.id] = new_robot # this also means the estimator
# will track the new robot because
# it got a reference to the list of
# robot ids to keep an eye out for
while not self.estimator.all_robots_detected(): # wait until the robot gets detected
pass
# drive the new robot to its starting position
self.grid_control(new_robot.id, 'nop')
clientsocket.sendall(b'OK\n')
else:
clientsocket.sendall(f"error: could not connect to new robot {new_robot}".encode())
except IndexError:
print("could not initialize a new robot")
clientsocket.sendall('could not initialize a new robot: invalid command format\n'
'expected: initialize_robot, <id>, <ip>, <x>, <y>, <orientation>\n'.encode())
except ValueError:
print("could not initialize a new robot")
clientsocket.sendall('could not initialize a new robot: invalid command format\n'
'expected: initialize_robot, <id>, <ip>, <x>, <y>, <orientation>\n'.encode())
else: else:
print("invalid robot id!") print("invalid robot id!")
clientsocket.sendall(b'Invalid robot id!\n') clientsocket.sendall(b'Invalid robot id!\n')
else: else:
clientsocket.sendall(b'Invalid command!\n') clientsocket.sendall(b'Invalid command!\n')
else: # len(inputs) <= 1 else: # len(inputs) <= 1
@ -220,14 +261,15 @@ class RemoteController:
robot.move(cmd) robot.move(cmd)
print("robot grid pos after move: ", robot) print("robot grid pos after move: ", robot)
target = self.estimator.get_pos_from_grid_point(robot.x, robot.y, robot.orientation) target = self.estimator.get_pos_from_grid_point(robot.grid_x, robot.grid_y, robot.grid_orientation)
self.controller.move_to_pos(target, robot) self.controller.move_to_pos(target, robot)
def main(args): def main(args):
rc = RemoteController() rc = RemoteController()
rc.run() rc.run()
if __name__ == '__main__': if __name__ == '__main__':
main(sys.argv) main(sys.argv)

6
remote_control/robot.py
View File

@ -15,21 +15,23 @@ class Robot:
self.u1 = 0.0 self.u1 = 0.0
self.u2 = 0.0 self.u2 = 0.0
self.connected = False
def connect(self): def connect(self):
# connect to robot # connect to robot
try: try:
print("connecting to robot {} with ip {} ...".format(self.id, self.ip)) print("connecting to robot {} with ip {} ...".format(self.id, self.ip))
self.socket.connect((self.ip, 1234)) # connect to robot self.socket.connect((self.ip, 1234)) # connect to robot
print("connected!") print("connected!")
self.connected = True
except socket.error: except socket.error:
print("could not connect to robot {} with ip {}".format(self.id, self.ip)) print("could not connect to robot {} with ip {}".format(self.id, self.ip))
sys.exit(1)
def send_cmd(self, u1=0.0, u2=0.0): def send_cmd(self, u1=0.0, u2=0.0):
if self.socket: if self.socket:
try: try:
self.socket.send(f'({u1},{u2})\n'.encode()) self.socket.send(f'({u1},{u2})\n'.encode())
except BrokenPipeError: except BrokenPipeError:
# print(f"error: connection to robot {self.id} with ip {self.ip} lost") print(f"error: connection to robot {self.id} with ip {self.ip} lost")
pass pass