From ecbd0c02db476cb0574830566c3ed98f8634d9c6 Mon Sep 17 00:00:00 2001 From: Jacenty00 Date: Tue, 14 Feb 2023 21:34:56 +0100 Subject: [PATCH 1/8] Rewrite script for adding peds to Gazebo worlds --- utils/gazebo_utils/scripts/generate_world.py | 218 +++++++++---------- 1 file changed, 104 insertions(+), 114 deletions(-) diff --git a/utils/gazebo_utils/scripts/generate_world.py b/utils/gazebo_utils/scripts/generate_world.py index 6c19b433..1251dd12 100644 --- a/utils/gazebo_utils/scripts/generate_world.py +++ b/utils/gazebo_utils/scripts/generate_world.py @@ -4,48 +4,19 @@ import rospy from lxml import etree from lxml.etree import Element -from ArenaScenario import * +from ArenaScenario import PedsimAgent from task_generator.constants import TaskMode import numpy as np import math - -START_TIME = 0.0 -# time the actor needs change his orientation to face the next waypoint -ORIENTATION_TIME = 1.5 -STANDART_ORIENTATION = 0.0 -actor_type = "person" # [person, box] - -debug = False -rospy.init_node("generate_world") -rospack = rospkg.RosPack() -sim_setup_path = rospack.get_path("arena-simulation-setup") - -# setting paths -if not debug: - mode = rospy.get_param("task_mode", "random") - world_name = rospy.get_param("~world") - world_file = ( - sim_setup_path + "/worlds/" + world_name + "/worlds/" + world_name + ".world" - ) - -else: - mode = "scenario" - world_file = "/home/elias/catkin_ws/src/arena-rosnav-3D/simulator_setup/worlds/turtlebot3_world/worlds/turtlebot3_world.world" - - -# extract data -parser = etree.XMLParser(remove_blank_text=True) -tree_ = etree.parse(world_file, parser) -world_ = tree_.getroot().getchildren()[0] - -# removing old actor elements from .world file, before creating new ones -for actor in tree_.xpath("//actor"): - actor.getparent().remove(actor) - +import json def get_collision_model(): return '' +def read_scenario_file(scenario_file_path): + with open(scenario_file_path, "r") as file: + content = json.load(file) + return content def create_trajectory_element(time, pose): """creating the element in the sdf actor-syntax""" @@ -98,13 +69,23 @@ def create_trajectory_from_two_waypoints( return traj_time, yaw_old -def add_actor_element_person(j, agent): - actor = Element("actor", name="person_" + str(j) + "_" + str(agent)) +def add_actor_element_person(j, agent=None): + x = y = 0.0 + z = -10.0 + name = str(j) + + if agent is not None: + x = agent.pos[0] + y = agent.pos[1] + z = 0.0 + name = str(j) + "_" + agent.name + + actor = Element("actor", name="person_" + name) skin = Element("skin") # setting start position init_pose = etree.fromstring( - f" {ped.pos[0]} {ped.pos[1]} 0.0 0.0 0.0 0.0 " + f" {x} {y} {z} 0.0 0.0 0.0 " ) actor.append(init_pose) @@ -158,84 +139,93 @@ def add_actor_element_box(j, agent): return actor, script -# In the scenario case we use the gazebo-actor concept to move our dynamic obstacles, therefore we need to script the actors trajectories in the .world file -if mode in ["scenario", "scenario_staged"]: +if __name__ == "__main__": + START_TIME = 0.0 + # time the actor needs change his orientation to face the next waypoint + ORIENTATION_TIME = 1.5 + STANDART_ORIENTATION = 0.0 + actor_type = "person" # [person, box] + + debug = False + rospy.init_node("generate_world") + rospack = rospkg.RosPack() + sim_setup_path = rospack.get_path("arena-simulation-setup") + + # setting paths + + mode = rospy.get_param("task_mode", "random") + world_name = rospy.get_param("~world") + world_file = ( + sim_setup_path + "/worlds/" + world_name + "/worlds/" + world_name + ".world" + ) + + # extract data + parser = etree.XMLParser(remove_blank_text=True) + tree_ = etree.parse(world_file, parser) + world_ = tree_.getroot().getchildren()[0] + + # removing old actor elements from .world file, before creating new ones + for actor in tree_.xpath("//actor"): + actor.getparent().remove(actor) + + # In the scenario case we use the gazebo-actor concept to move our dynamic obstacles, therefore we need to script the actors trajectories in the .world file + if mode in ["scenario", "scenario_staged"]: + + # loading scenario data - # loading scenario data - if not debug: scenario_path = rospy.get_param("/task_generator_node/scenario_json_path") + + scenario = read_scenario_file(scenario_path) + pedsim_agents = [PedsimAgent.fromDict( + a) for a in scenario["obstacles"]["dynamic"]] + + # looping through the data of every individual dynamic obstacle defined in the scenario file + for j, ped in enumerate(pedsim_agents): + for agent in range(ped.number_of_peds): + + # NOTE: check out 'simulator_setup/worlds/small_warehouse/models/actor/meshes' for further actor models + if actor_type == "person": + actor, script = add_actor_element_person(j, agent) + if actor_type == "box": + actor, script = add_actor_element_box(j, agent) + + # creating the the trajectory points + trajectory = Element("trajectory", id=f"{j}_{agent}", type="animation") + waypoint = Element("waypoint") + max_vel = ped.vmax + traj_time = START_TIME + yaw_old = STANDART_ORIENTATION + list_of_waypoints = [*ped.waypoints, ped.waypoints[0]] + + # creating orientation & distance waypoint in the actor format + for pos_1, pos_2 in zip(list_of_waypoints, list_of_waypoints[1:]): + traj_time, yaw_old = create_trajectory_from_two_waypoints( + pos_1, pos_2, traj_time, max_vel, yaw_old + ) + + script.append(trajectory) + + if actor_type == "person": + collision_model = etree.fromstring(get_collision_model()) + actor.append(collision_model) + + actor.append(script) + world_.append(actor) + + # in the case of for example random-mode the trajectory points of dynamic obstacles are determined randomly in the task_generator node. The position of the actors is determined by pedsim. Therefore we include here the actor model without trajectory points else: - scenario_path = "/home/elias/catkin_ws/src/arena-rosnav-3D/simulator_setup/scenarios/turtlebot3_world.json" - scenario = ArenaScenario() - scenario.loadFromFile(scenario_path) - num_of_actors = 0 - - # looping through the data of every individual dynamic obstacle defined in the scenario file - for j, ped in enumerate(scenario.pedsimAgents): - for agent in range(ped.number_of_peds): - - # NOTE: check out 'simulator_setup/worlds/small_warehouse/models/actor/meshes' for further actor models - if actor_type == "person": - actor, script = add_actor_element_person(j, agent) - if actor_type == "box": - actor, script = add_actor_element_box(j, agent) - - # creating the the trajectory points - trajectory = Element("trajectory", id=f"{j}_{agent}", type="animation") - waypoint = Element("waypoint") - max_vel = ped.vmax - traj_time = START_TIME - yaw_old = STANDART_ORIENTATION - list_of_waypoints = [*ped.waypoints, ped.waypoints[0]] - - # creating orientation & distance waypoint in the actor format - for pos_1, pos_2 in zip(list_of_waypoints, list_of_waypoints[1:]): - traj_time, yaw_old = create_trajectory_from_two_waypoints( - pos_1, pos_2, traj_time, max_vel, yaw_old - ) - - script.append(trajectory) - - if actor_type == "person": - collision_model = etree.fromstring(get_collision_model()) - actor.append(collision_model) - - actor.append(script) + num_of_actors = TaskMode.Random.MAX_DYNAMIC_OBS + + for item in range(num_of_actors): + actor, _ = add_actor_element_person(item) + plugin = Element("plugin", name="None", filename="libActorPosePlugin.so") + actor.append(plugin) + + collision_model = etree.fromstring(get_collision_model()) + + actor.append(collision_model) + world_.append(actor) -# in the case of for example random-mode the trajectory points of dynamic obstacles are determined randomly in the task_generator node. The position of the actors is determined by pedsim. Therefore we include here the actor model without trajectory points -else: - num_of_actors = TaskMode.Random.MAX_DYNAMIC_OBS - - for item in range(num_of_actors): - actor = Element("actor", name="person_" + str(item + 1)) - s_pos = etree.fromstring(" -0.46 20.8 -10.0 0.0 0.0 1.18 ") - actor.append(s_pos) - skin = Element("skin") - skin_fn = Element("filename") - skin_fn.text = "moonwalk.dae" - skin_scale = Element("scale") - skin_scale.text = "1" - skin.append(skin_fn) - actor.append(skin) - animation = Element("animation", name="animation") - animate_fn = Element("filename") - animate_fn.text = "walk.dae" - interpolate_x = Element("interpolate_x") - interpolate_x.text = "true" - animate_scale = Element("scale") - animate_scale.text = "1" - animation.append(animate_fn) - animation.append(interpolate_x) - actor.append(animation) - plugin = Element("plugin", name="None", filename="libActorPosePlugin.so") - actor.append(plugin) - - collision_model = etree.fromstring(get_collision_model()) - - actor.append(collision_model) - - world_.append(actor) - - -tree_.write(world_file, pretty_print=True, xml_declaration=True, encoding="utf-8") + + tree_.write(world_file, pretty_print=True, xml_declaration=True, encoding="utf-8") From 02ac0525dd1a85fd2c756e34048c67f28576ca18 Mon Sep 17 00:00:00 2001 From: Jacenty00 Date: Tue, 14 Feb 2023 21:41:44 +0100 Subject: [PATCH 2/8] Adding back pedsim func to Gazebo env --- .../environments/gazebo_environment.py | 32 +++++++++---------- 1 file changed, 16 insertions(+), 16 deletions(-) diff --git a/task_generator/task_generator/environments/gazebo_environment.py b/task_generator/task_generator/environments/gazebo_environment.py index 9720c6cd..f9d02c5d 100644 --- a/task_generator/task_generator/environments/gazebo_environment.py +++ b/task_generator/task_generator/environments/gazebo_environment.py @@ -10,6 +10,7 @@ from std_srvs.srv import Empty, SetBool, Trigger from task_generator.environments.environment_factory import EnvironmentFactory from tf.transformations import quaternion_from_euler +from task_generator.manager.pedsim_manager import PedsimManager from ..constants import Constants from .base_environment import BaseEnvironment @@ -29,9 +30,9 @@ def __init__(self, namespace): rospy.wait_for_service("/gazebo/spawn_urdf_model") rospy.wait_for_service("/gazebo/set_model_state") - # rospy.wait_for_service("/pedsim_simulator/spawn_peds", timeout=T) - # rospy.wait_for_service("/pedsim_simulator/reset_all_peds", timeout=T) - # rospy.wait_for_service("/pedsim_simulator/remove_all_peds", timeout=T) + rospy.wait_for_service("/pedsim_simulator/spawn_peds", timeout=T) + rospy.wait_for_service("/pedsim_simulator/reset_all_peds", timeout=T) + rospy.wait_for_service("/pedsim_simulator/remove_all_peds", timeout=T) self._spawn_model_srv = rospy.ServiceProxy( self._ns_prefix("gazebo", "spawn_urdf_model"), SpawnModel @@ -63,31 +64,30 @@ def after_reset_task(self): pass def remove_all_obstacles(self): - # self._remove_peds_srv(True) + self._remove_peds_srv(True) pass def spawn_pedsim_agents(self, agents): - peds = [agent.getPedMsg() for agent in agents] - # self._spawn_peds_srv(peds) + peds = [PedsimManager.create_pedsim_msg(agent) for agent in agents] + self._spawn_peds_srv(peds) + pass + def reset_pedsim_agents(self): - # self._reset_peds_srv() + self._reset_peds_srv() pass def spawn_obstacle(self, position, yaml_path=""): pass def spawn_random_dynamic_obstacle(self, **args): - # s_pos = args["position"] - # w_pos = self.map_manager.get_random_pos_on_map( - # safe_dist=1, forbidden_zones=[s_pos] - # ) - # ped = self._create_simple_ped([1], [s_pos], [w_pos]) - # agents = [PedsimAgent.fromDict(a) for a in ped] - # self.spawn_pedsim_agents(agents) - + s_pos = args["position"] + w_pos = self.map_manager.get_random_pos_on_map( + safe_dist=1, forbidden_zones=[s_pos] + ) + ped = self._create_simple_ped([1], [s_pos], [w_pos]) + self.spawn_pedsim_agents(ped) pass - def spawn_random_static_obstacle(self, **args): pass From 103b5b38dcf341c425ea25b232091668a1c182e0 Mon Sep 17 00:00:00 2001 From: Jacenty00 Date: Tue, 14 Feb 2023 21:47:52 +0100 Subject: [PATCH 3/8] Add new planers / pedsim to .rosinstall --- .rosinstall | 26 +++++++++++++++++++++++++- 1 file changed, 25 insertions(+), 1 deletion(-) diff --git a/.rosinstall b/.rosinstall index ae265453..1f40207d 100755 --- a/.rosinstall +++ b/.rosinstall @@ -17,7 +17,7 @@ - git: local-name: ../utils/pedsim_ros - uri: https://github.com/ignc-research/pedsim_ros + uri: https://github.com/Arena-Rosnav/pedsim_ros version: master - git: @@ -76,3 +76,27 @@ local-name: ../planners/mpc uri: https://github.com/rst-tu-dortmund/mpc_local_planner version: master +- git: + local-name: ../planners/all_in_one + uri: https://github.com/Arena-Rosnav/all_in_one + version: master +- git: + local-name: ../planners/applr + uri: https://github.com/Arena-Rosnav/applr + version: master +- git: + local-name: ../planners/lflh + uri: https://github.com/Arena-Rosnav/lflh + version: master +- git: + local-name: ../planners/dragon + uri: https://github.com/Arena-Rosnav/dragon + version: master +- git: + local-name: ../planners/trail + uri: https://github.com/Arena-Rosnav/trail + version: master +- git: + local-name: ../planners/cohan + uri: https://github.com/Arena-Rosnav/cohan_planner_multi + version: master From 878ac8f6b61c30452a3da2d1ebae9cba8117ea9f Mon Sep 17 00:00:00 2001 From: Jacenty00 Date: Tue, 14 Feb 2023 22:08:32 +0100 Subject: [PATCH 4/8] Adding new planners' deps to poetry --- poetry.lock | 2238 ++++++++++++++++++++++++++++++++++++++++++++---- pyproject.toml | 15 + 2 files changed, 2100 insertions(+), 153 deletions(-) diff --git a/poetry.lock b/poetry.lock index 98cad4b7..4e482882 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,3 +1,41 @@ +# This file is automatically @generated by Poetry and should not be changed by hand. + +[[package]] +name = "absl-py" +version = "1.4.0" +description = "Abseil Python Common Libraries, see https://github.com/abseil/abseil-py." +category = "main" +optional = false +python-versions = ">=3.6" +files = [ + {file = "absl-py-1.4.0.tar.gz", hash = "sha256:d2c244d01048ba476e7c080bd2c6df5e141d211de80223460d5b3b8a2a58433d"}, + {file = "absl_py-1.4.0-py3-none-any.whl", hash = "sha256:0d3fe606adfa4f7db64792dd4c7aee4ee0c38ab75dfd353b7a83ed3e957fcb47"}, +] + +[[package]] +name = "appdirs" +version = "1.4.4" +description = "A small Python module for determining appropriate platform-specific dirs, e.g. a \"user data dir\"." +category = "main" +optional = false +python-versions = "*" +files = [ + {file = "appdirs-1.4.4-py2.py3-none-any.whl", hash = "sha256:a841dacd6b99318a741b166adb07e19ee71a274450e68237b4650ca1055ab128"}, + {file = "appdirs-1.4.4.tar.gz", hash = "sha256:7d5d0167b2b1ba821647616af46a749d1c653740dd0d2415100fe26e27afdf41"}, +] + +[[package]] +name = "cachetools" +version = "5.3.0" +description = "Extensible memoizing collections and decorators" +category = "main" +optional = false +python-versions = "~=3.7" +files = [ + {file = "cachetools-5.3.0-py3-none-any.whl", hash = "sha256:429e1a1e845c008ea6c85aa35d4b98b65d6a9763eeef3e37e92728a12d1de9d4"}, + {file = "cachetools-5.3.0.tar.gz", hash = "sha256:13dfddc7b8df938c21a940dfa6557ce6e94a2f1cdfa58eb90c805721d58f2c14"}, +] + [[package]] name = "catkin-pkg" version = "0.5.2" @@ -5,14 +43,328 @@ description = "catkin package library" category = "main" optional = false python-versions = "*" +files = [ + {file = "catkin_pkg-0.5.2-py3-none-any.whl", hash = "sha256:4f77ff462261b8f90e170c979ac8b3199e9566fab90667c1736bd9a0ec8e3459"}, + {file = "catkin_pkg-0.5.2.tar.gz", hash = "sha256:5d643eeafbce4890fcceaf9db197eadf2ca5a187d25593f65b6e5c57935f5da2"}, +] [package.dependencies] docutils = "*" pyparsing = "*" python-dateutil = "*" +setuptools = "*" + +[package.extras] +test = ["flake8", "flake8-blind-except", "flake8-builtins", "flake8-class-newline", "flake8-comprehensions", "flake8-deprecated", "flake8-docstrings", "flake8-import-order", "flake8-quotes", "mock", "pytest"] + +[[package]] +name = "certifi" +version = "2022.12.7" +description = "Python package for providing Mozilla's CA Bundle." +category = "main" +optional = false +python-versions = ">=3.6" +files = [ + {file = "certifi-2022.12.7-py3-none-any.whl", hash = "sha256:4ad3232f5e926d6718ec31cfc1fcadfde020920e278684144551c91769c7bc18"}, + {file = "certifi-2022.12.7.tar.gz", hash = "sha256:35824b4c3a97115964b408844d64aa14db1cc518f6562e8d7261699d1350a9e3"}, +] + +[[package]] +name = "charset-normalizer" +version = "3.0.1" +description = "The Real First Universal Charset Detector. 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b/arena_bringup/launch/testing/move_base/move_base_applr.launch @@ -63,7 +63,7 @@ - + diff --git a/arena_bringup/launch/testing/move_base/move_base_dwa.launch b/arena_bringup/launch/testing/move_base/move_base_dwa.launch index 5afc667a..be5f9898 100644 --- a/arena_bringup/launch/testing/move_base/move_base_dwa.launch +++ b/arena_bringup/launch/testing/move_base/move_base_dwa.launch @@ -15,7 +15,7 @@ - + diff --git a/arena_bringup/launch/testing/move_base/move_base_teb.launch b/arena_bringup/launch/testing/move_base/move_base_teb.launch index 34c1a87b..38a414bb 100644 --- a/arena_bringup/launch/testing/move_base/move_base_teb.launch +++ b/arena_bringup/launch/testing/move_base/move_base_teb.launch @@ -20,7 +20,6 @@ - From 0866cdac56254ed54b8fa6006aa3ba9bcb71cb10 Mon Sep 17 00:00:00 2001 From: Jacenty00 Date: Fri, 17 Feb 2023 13:45:28 +0100 Subject: [PATCH 6/8] Auto stash before merge of "adding_planners" and "origin/master" --- poetry.lock | 1 - pyproject.toml | 2 +- 2 files changed, 1 insertion(+), 2 deletions(-) diff --git a/poetry.lock b/poetry.lock index b038e531..aaf040df 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,3 @@ -# This file is automatically @generated by Poetry and should not be changed by hand. 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a/arena_bringup/launch/testing/simulators/gazebo.launch b/arena_bringup/launch/testing/simulators/gazebo.launch index c9aa280c..f3c50dae 100644 --- a/arena_bringup/launch/testing/simulators/gazebo.launch +++ b/arena_bringup/launch/testing/simulators/gazebo.launch @@ -13,9 +13,9 @@ - + @@ -32,6 +32,5 @@ -