Menu based teleop plugins #721

weiqiyang · 2019-06-18T11:08:47Z

This PR adds several plugins to jsk_teleop_joy that provides functions including base movement, bounding-box selection and end-pose adjustment.

Following is the demo video.
https://drive.google.com/file/d/1WrQpt2VzYSj-bA00aqcJO4Gx3hJAHAHz/view?usp=sharing

…age.

knorth55 · 2019-06-19T12:04:27Z

Can you attach demo video about how to use this plugin?

…gins

weiqiyang · 2019-06-20T08:53:12Z

I add a sample launch file.
There are still several improves that I would like to imply, so I add WIP to the title.

…buttons

…d publisher behaviour.

… file args.

…ck as another plugin in the future). Add command publisher to base_pose.

weiqiyang · 2019-11-01T06:14:42Z

I modified the title and PR comment with a link to a demo video.

k-okada · 2019-11-01T07:30:18Z

Nice video

What is the role of irteus view?
I think latency is very important in this application, Please analyze why the point loud did has latency + low throughput . For example, if we subsmple the cloud, can we speed up? Or did you transfer pointcloud of depthmap ...

weiqiyang · 2019-11-01T07:49:18Z

Thank you.

1. What is the role of irteus view?

The plugins publishs manually adjusted pose and button commands. The irteus view in the demo is an example of the application of the plugins cooperating with euslisp.

2. I think latency is very important in this application, Please analyze why the point cloud did has latency + low throughput . For example, if we subsample the cloud, can we speed up? Or did you transfer pointcloud of depthmap ...

The pointcloud has latency because I was using the raw data while making this video. We tried using compressed data republished by an extra node later, which do speed up the pointcloud display.

k-okada · 2019-11-01T07:58:54Z

If operator only sees Rviz, then I think we do not need irtview in the video. If you use pointlcoud, please consider using depthimage jsk-ros-pkg/jsk_robot#923 2019年11月1日(金) 16:49 Weiqi Yang <[email protected]>:

Thank you. 1. What is the role of irteus view? The plugins publishs manually adjusted pose and button commands. The irteus view in the demo is an example of the application of the plugins cooperating with euslisp. 2. I think latency is very important in this application, Please analyze why the point cloud did has latency + low throughput . For example, if we subsample the cloud, can we speed up? Or did you transfer pointcloud of depthmap ... The pointcloud has latency because I was using the raw data while making this video. We tried using compressed data republished by an extra node later, which do speed up the pointcloud display. — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#721?email_source=notifications&email_token=AADYNXCVDS2LXZNYSLKYLZ3QRPNP7A5CNFSM4HY64MQKYY3PNVWWK3TUL52HS4DFVREXG43VMVBW63LNMVXHJKTDN5WW2ZLOORPWSZGOEC2HRKQ#issuecomment-548698282>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AADYNXD5KWZYTJIMQ4IKYMLQRPNP7ANCNFSM4HY64MQA> .

-- -- ◉ Kei Okada

weiqiyang · 2019-11-01T08:22:44Z

If operator only sees Rviz, then I think we do not need irtview in the video.

The operator sees the irtviewer also, to confirm ik result before executing.
Maybe if we can have an euslisp script that generate a tf topic from joint-angle array, then we can show the result as another robot model, and the irtviewer is no longer needed.

If you use pointlcoud, please consider using depthimage
jsk-ros-pkg/jsk_robot#923

Yes, this is what I mean by "compressed data", and we are using this node now.

k-okada · 2019-11-01T08:38:43Z

You can also use https://github.com/jsk-ros-pkg/jsk_roseus/blob/master/roseus_tutorials/src/robot-publisher.l If you’d like to pursuit UI research , user experience and completeness is very important If you already using image depth , please analyze this it is so slow 2019年11月1日(金) 17:23 Weiqi Yang <[email protected]>:

If operator only sees Rviz, then I think we do not need irtview in the video. The operator sees the irtviewer also, to confirm ik result before executing. Maybe if we can have an euslisp script that generate a tf topic from joint-angle array, then we can show the result as another robot model, and the irtviewer is no longer needed. If you use pointlcoud, please consider using depthimage jsk-ros-pkg/jsk_robot#923 <jsk-ros-pkg/jsk_robot#923> Yes, this is what I mean by "compressed data", and we are using this node now. — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#721?email_source=notifications&email_token=AADYNXEYNJI7I3HXA3LEMGDQRPRNJA5CNFSM4HY64MQKYY3PNVWWK3TUL52HS4DFVREXG43VMVBW63LNMVXHJKTDN5WW2ZLOORPWSZGOEC2JPSA#issuecomment-548706248>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AADYNXGKQRAQXLICFAJLQXLQRPRNJANCNFSM4HY64MQA> .

-- -- ◉ Kei Okada

weiqiyang · 2019-11-04T13:04:54Z

Thank you for the suggestion!

I tried to modified the code to apply it on hsr and successfully published the marker.
However, since the marker topic is presented in points, the topic was very heavy.
(rostopic hz showed a result of less than 0.2Hz.
I also tried to take a log by rostopic echo -n 1, and a single publish was over 15MB)

Now I am using robot_state_publisher.
I will try to come up with a new video this week.

knorth55 · 2019-11-08T20:13:16Z

Can you use 4 spaces for indentation?
Python does not matter, but it is better to use same indentation as other python files.

knorth55 · 2019-11-08T20:15:29Z

There are many changes, so it may take time for review. I'm reviewing now.

weiqiyang · 2019-11-09T05:49:55Z

Can you use 4 spaces for indentation?
Python does not matter, but it is better to use same indentation as other python files.

I checked other python files in the plugin folder, and I think they are all using 2 spaces for indentation.

knorth55 · 2019-12-06T10:38:22Z

jsk_teleop_joy/launch/joy_plugin_sample.launch

@@ -0,0 +1,44 @@
+<launch>


joy_plugin_sample.launch -> sample_joy_plugin.launch

knorth55 · 2019-12-06T10:41:29Z

jsk_teleop_joy/src/jsk_teleop_joy/plugin/base_pose.py

+import imp
+try:
+  imp.find_module("geometry_msgs")
+except:
+  import roslib; roslib.load_manifest('jsk_teleop_joy')


You don't need this for python programs.

knorth55 · 2019-12-06T10:41:43Z

jsk_teleop_joy/src/jsk_teleop_joy/plugin/base_pose.py

@@ -0,0 +1,194 @@
+from joy_rviz_view_controller import RVizViewController


please use 4 space indents.

knorth55 · 2019-12-06T10:43:02Z

jsk_teleop_joy/src/jsk_teleop_joy/plugin/joy_bounding_box_selector.py

+import imp
+try:
+  imp.find_module("geometry_msgs")
+except:
+  import roslib; roslib.load_manifest('jsk_teleop_joy')


You don't need these lines

knorth55 · 2019-12-06T10:43:18Z

jsk_teleop_joy/src/jsk_teleop_joy/plugin/joy_bounding_box_selector.py

@@ -0,0 +1,116 @@
+from joy_rviz_view_controller import RVizViewController


use 4 space indents

knorth55 · 2019-12-06T10:47:34Z

jsk_teleop_joy/src/jsk_teleop_joy/plugin/base_pose.py

+      break
+    rospy.loginfo("End loading base_pose")
+
+  def setPoseCB(self, pose):


use snake case

knorth55 · 2019-12-06T10:48:18Z

jsk_teleop_joy/src/jsk_teleop_joy/plugin/base_pose.py

+import math
+import time
+
+def signedSquare(val):


use snake case for functions

knorth55 · 2019-12-06T10:48:44Z

jsk_teleop_joy/src/jsk_teleop_joy/plugin/joy_bounding_box_selector.py

+from jsk_recognition_msgs.msg import BoundingBox
+from jsk_recognition_msgs.msg import BoundingBoxArray
+
+def signedSquare(val):


use snake case for functions

knorth55 · 2019-12-06T10:49:53Z

jsk_teleop_joy/src/jsk_teleop_joy/plugin/joy_bounding_box_selector.py

+        self.bbox_pub.publish(self.bbox)
+      self.prev_time = now
+
+  def bboxSB(self, msg):


use snake case for functions

knorth55 · 2019-12-06T10:50:16Z

jsk_teleop_joy/src/jsk_teleop_joy/plugin/joy_target_6d.py

+import numpy
+import time
+
+def signedSquare(val):


use snake case for functions

Removed package import that are not needed

weiqiyang added 3 commits June 18, 2019 17:16

Deleted meaningless spaces in joy.py. Fixed typo in joy_pose_6d.py us…

ca0849e

…age.

Made (START+SELECT) function as HOME key for Ipega

127eee9

Add plugin base_pose, which only allows horizontal movements.

9df7e24

k-okada requested review from knorth55 and itohdak June 18, 2019 23:45

Add sample launch file for joy controlled OverlayMenu and several plu…

c2ca9bd

…gins

weiqiyang changed the title ~~Add base_pose plugin~~ [WIP] Add base_pose plugin Jun 20, 2019

weiqiyang added 12 commits July 8, 2019 01:21

Publish base_pos to goal by pressing triangle.

c228a50

Add pose plugin that publishes a command topic when pressing certain …

a565a70

…buttons

add comments

f3437ae

Add joy_bounding_box_selector plugin with a sample launch file.

4110984

Fixed publisher behaviour when publish_pose is false. Modified comman…

17b7920

…d publisher behaviour.

Fixed a bug caused by empty bounding_box_array. Add command topic.

f682b90

Made command text published on button pressing changeable from launch…

e7032e4

… file args.

Remove save/load pose function from joy_target_6d (will be applied ba…

2fe1202

…ck as another plugin in the future). Add command publisher to base_pose.

Add docstring for the plugins

4dac789

Add docstring. Fixed typos

5f8c869

Fixed typo. Optimized selecting algorithm of bbox.

2f57efa

optimized joy_reverse_axis by using toPS3Msg()

da1fdf5

weiqiyang changed the title ~~[WIP] Add base_pose plugin~~ Menu based teleop plugins Nov 1, 2019

Fixed bug in base_pose caused by time sync. Optimized queue_size.

f593931

knorth55 suggested changes Dec 6, 2019

View reviewed changes

weiqiyang added 4 commits December 15, 2019 13:27

Renamed sample launch file.

4f8c56a

Removed package import that are not needed

fixed typo

9304651

fixed typo

c14340d

Change to snake case and 4-space indents

4f7264b

knorth55 approved these changes Mar 23, 2020

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Menu based teleop plugins #721

Menu based teleop plugins #721

weiqiyang commented Jun 18, 2019 •

edited

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knorth55 commented Jun 19, 2019

weiqiyang commented Jun 20, 2019

weiqiyang commented Nov 1, 2019

k-okada commented Nov 1, 2019

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k-okada commented Nov 1, 2019 via email

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k-okada commented Nov 1, 2019 via email

weiqiyang commented Nov 4, 2019

knorth55 commented Nov 8, 2019

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weiqiyang commented Nov 9, 2019

knorth55 Dec 6, 2019

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knorth55 Dec 6, 2019

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knorth55 Dec 6, 2019

		@@ -0,0 +1,194 @@
		from joy_rviz_view_controller import RVizViewController

		@@ -0,0 +1,116 @@
		from joy_rviz_view_controller import RVizViewController

Menu based teleop plugins #721

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Menu based teleop plugins #721

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weiqiyang commented Jun 18, 2019 • edited Loading

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weiqiyang commented Nov 1, 2019

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k-okada commented Nov 1, 2019 via email

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weiqiyang commented Nov 4, 2019

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weiqiyang commented Jun 18, 2019 •

edited

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