Restructure the repo, add orchestration package

Signed-off-by: alek-kam-robotec-ai <[email protected]>

kraken_nav/o3de_kraken_orchestration/LICENSE

@@ -0,0 +1,201 @@
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kraken_nav/o3de_kraken_orchestration/o3de_kraken_orchestration/global_kraken_orchestration.py

@@ -0,0 +1,131 @@
+import rclpy
+import time
+from threading import Thread
+
+from nav_msgs.msg import Path
+from geometry_msgs.msg import PoseStamped
+
+from .state_machine import GlobalOrchestrationSM
+from .orchestration_node import KrakenOrchestrationNode
+
+class GlobalOrchestration(GlobalOrchestrationSM, KrakenOrchestrationNode):
+    def __init__(self):
+        rclpy.init()
+
+        GlobalOrchestrationSM.__init__(self)
+        KrakenOrchestrationNode.__init__(self)
+
+        spin_thread = Thread(target=rclpy.spin, args=(self,))
+        spin_thread.start()
+
+        self.poses = []
+        self.current_index = 0
+
+    def get_next_pose(self):
+        if self.current_index >= len(self.poses):
+            print('Invalid index!')
+            return PoseStamped()
+        
+        pose = self.poses[self.current_index]
+        self.current_index += 1
+        return pose
+
+    def __del__(self):
+        self.destroy_node()
+        rclpy.shutdown()
+
+    def on_enter_waiting(self):
+        print('Has the simulation started?')
+        self.send_state("Wait for connection")
+        # Perform a check whether the simulation has started or not.
+        if (self.sim_started):
+            self.started()
+        else:
+            self.sim_started = True
+            self.await_start()
+
+    def on_enter_spawning(self):
+        print('Spawning the robot.')
+        self.send_state("Spawning the robot")
+        if self.spawn_kraken():
+            self.spawned()
+        else:
+            print('Robot spawning failed.')
+
+    def on_spawned(self):
+        print('Robot spawned successfully. Fetching info.')
+        pose = self.get_spawn_point_pose()
+        self.poses = self.get_plan_poses(pose)
+        # Give nav stack a few seconds before we start first goal point
+        print('Waiting for robot sensors to latch...')
+        time.sleep(3)
+        
+    def on_enter_gathering(self):
+        print('Is the robot in a gathering position?')
+        # Perform a check whether the robot is in a gathering position or not.
+        if (self.can_gather):
+            self.gather()
+        else:
+            self.navigate()
+
+    def on_gather(self):
+        print('Gathering the apples.')
+        # Instruct the robot to start gathering apples.
+        self.has_finished = not self.has_finished
+        pass
+
+    def on_enter_finishing(self):
+        print('Has the robot completed its job?')
+        # Perform a check whether the robot has finished its job or not.
+        if (self.current_index >= len(self.poses)):
+            self.finished()
+        else:
+            self.finish()
+
+    def on_navigate(self):
+        self.send_state("Navigating")
+        print('Navigating the robot to a closest gathering position?')
+        self.can_gather = False
+        # Instruct the robot to navigate to the closest gathering position.
+        self.navigate_to_pose(self.get_next_pose())
+
+        while not self.goal_pose_reached:
+            time.sleep(1)
+            
+        self.goal_pose_reached = False
+        self.can_gather = True
+
+    def on_gather(self):
+        print("Requesting gathering...")
+        self.send_state("Gather %.1f "% self.apple_progress)
+        trigger_res = self.trigger_apple_gathering()
+        print(trigger_res.message)
+
+        if trigger_res.success:
+            while not self.gathering_done:
+                self.send_state("Gather %.0f %%"% self.apple_progress)
+                time.sleep(0.2)
+            
+            print("Done gathering apples.")
+        else:
+            print("Freeing up the AppleKraken...")
+            cancel_res = self.cancel_apple_gathering()
+            print(cancel_res.message)
+            time.sleep(2)
+
+    def on_finish(self):
+        # Same action is performed.
+        self.on_navigate()
+
+    def on_finished(self):
+        self.send_state("Completed")
+        print('The robot has completed its job.')
+        # The robot has finished its job.
+        pass
+
+def main():
+    global_orch = GlobalOrchestration()
+    global_orch.run()
+
+if __name__ == '__main__':
+    main()

kraken_nav/o3de_kraken_orchestration/o3de_kraken_orchestration/orchestration_node.py

@@ -0,0 +1,147 @@
+from rclpy.node import Node
+from gazebo_msgs.srv import SpawnEntity
+from gazebo_msgs.srv import GetModelState
+from nav_msgs.srv import GetPlan
+from std_srvs.srv import Trigger, Empty
+from rcl_interfaces.msg import Log
+from geometry_msgs.msg import PoseStamped
+from std_msgs.msg import Header
+from rclpy.qos import QoSProfile, QoSHistoryPolicy, QoSReliabilityPolicy, QoSDurabilityPolicy
+from std_msgs.msg import String
+from std_msgs.msg import Float32
+
+
+
+class KrakenOrchestrationNode(Node):
+    def init_spawn_entity_client(self):
+        self.spawn_entity_client = self.create_client(SpawnEntity, 'spawn_entity')
+        while not self.spawn_entity_client.wait_for_service(timeout_sec=1.0):
+            self.get_logger().info('Spawn entity service not available waiting again...')
+
+    def init_get_spawn_point_info_client(self):
+        self.get_spawn_point_info_client = self.create_client(GetModelState, 'get_spawn_point_info')
+        while not self.get_spawn_point_info_client.wait_for_service(timeout_sec=1.0):
+            self.get_logger().info('Get spawn point info service not available waiting again...')
+    
+    def init_get_plan_client(self):
+        self.get_plan_client = self.create_client(GetPlan, 'get_gathering_plan')
+        while not self.get_plan_client.wait_for_service(timeout_sec=1.0):
+            self.get_logger().info('Get plan service not available waiting again...')
+
+    def apple_gathering_done_callback(self, request, response):
+        print("Received done client msg.")
+        self.gathering_done = True
+        return Empty.Response()
+
+    def apple_progress_callback(self, msg):
+        self.apple_progress = 100.0 * float(msg.data)
+        
+    def init_apple_gathering_srvs(self):
+        self.done_apple_gathering_service = self.create_service(Empty, f'{self.kraken_name}/done_apple_gathering', self.apple_gathering_done_callback)
+
+        self.trigger_apple_gathering_client = self.create_client(Trigger, f'{self.kraken_name}/trigger_apple_gathering')
+        self.cancel_apple_gathering_client = self.create_client(Trigger, f'{self.kraken_name}/cancel_apple_gathering')
+
+        while (not self.trigger_apple_gathering_client.wait_for_service(timeout_sec=1.0)) \
+            and (not self.cancel_apple_gathering_client.wait_for_service(timeout_sec=1.0)):
+            self.get_logger().info('Apple gathering services not available waiting again...')
+
+    def init_apple_subscriptions(self):
+        qos = QoSProfile(
+            depth = 5,
+            history = QoSHistoryPolicy.KEEP_LAST,
+            reliability = QoSReliabilityPolicy.RELIABLE,
+            durability = QoSDurabilityPolicy.VOLATILE
+        )
+        self.progress_apple_gathering_sub = self.create_subscription(Float32, f'{self.kraken_name}/progress_apple_gathering', self.apple_progress_callback, qos)
+
+    def init_goal_pose_publisher(self):
+        qos = QoSProfile(
+            depth = 5,
+            history = QoSHistoryPolicy.KEEP_LAST,
+            reliability = QoSReliabilityPolicy.RELIABLE,
+            durability = QoSDurabilityPolicy.VOLATILE
+        )
+
+        self.goal_pose_publisher = self.create_publisher(PoseStamped, f'{self.kraken_name}/goal_pose', qos)
+
+    def init_status_publisher(self):
+        qos = QoSProfile(
+            depth = 5,
+            history = QoSHistoryPolicy.KEEP_LAST,
+            reliability = QoSReliabilityPolicy.RELIABLE,
+            durability = QoSDurabilityPolicy.VOLATILE
+        )
+        self.status_publisher = self.create_publisher(String, f'{self.kraken_name}/orchestration_status', qos)
+
+    def send_state(self, status_str):
+        msg = String()
+        msg.data = status_str
+        self.status_publisher.publish(msg)
+        
+    def __init__(self):
+        super().__init__('kraken_orchestration_node')
+        
+        self.declare_parameter('robot_name', 'apple_kraken_rusty_1')
+        self.kraken_name = self.get_parameter('robot_name').get_parameter_value().string_value
+        
+        self.declare_parameter('spawn_line', 'line1')
+        self.spawn_point = self.get_parameter('spawn_line').get_parameter_value().string_value
+        
+        self.log_sub = self.create_subscription(Log, "/rosout", self.log_cb, 10)
+        self.goal_pose_reached = False
+        self.gathering_done = False
+        self.apple_progress = 0.0
+
+        self.init_spawn_entity_client()
+        self.init_get_spawn_point_info_client()
+        self.init_get_plan_client()
+        self.init_goal_pose_publisher()
+        self.init_status_publisher()
+        self.init_apple_subscriptions()
+
+    def log_cb(self, msg):
+        if msg.msg == "Goal succeeded" and self.kraken_name in str(self.kraken_name):
+            print("Navigation point reached.")
+            self.goal_pose_reached = True
+
+
+
+    def spawn_kraken(self):
+        req = SpawnEntity.Request()
+        req.name = self.kraken_name[:len(self.kraken_name)-2]
+        req.xml = self.spawn_point
+
+        res = self.spawn_entity_client.call(req) # TODO - Add exception handling
+        if res.success:
+            self.init_apple_gathering_srvs()
+
+        return res.success
+
+    def get_spawn_point_pose(self):
+        req = GetModelState.Request()
+        req.model_name = self.spawn_point
+        
+        res = self.get_spawn_point_info_client.call(req)
+
+        return res.pose # TODO - Add exception handling
+
+    def get_plan_poses(self, pose):
+        req = GetPlan.Request()
+        req.start.pose = pose
+
+        res = self.get_plan_client.call(req)
+        return res.plan.poses
+
+    def trigger_apple_gathering(self):
+        self.gathering_done = False
+        req = Trigger.Request()
+        return self.trigger_apple_gathering_client.call(req)
+
+    def cancel_apple_gathering(self):
+        req = Trigger.Request()
+        return self.cancel_apple_gathering_client.call(req)
+
+    def navigate_to_pose(self, pose):
+        pose.header = Header(stamp = self.get_clock().now().to_msg(), frame_id = 'map')
+        self.goal_pose_publisher.publish(pose)

kraken_nav/o3de_kraken_orchestration/o3de_kraken_orchestration/state_machine.py

@@ -0,0 +1,28 @@
+from statemachine import StateMachine, State
+
+class GlobalOrchestrationSM(StateMachine):
+    #### Members for debug purposes ###
+    sim_started = True # Simplification for now
+    can_gather = False
+    has_finished = True
+    ###################################
+
+    start = State('Start', initial=True)
+    waiting = State('Waiting') # Waiting for the simulation start
+    spawning = State('Spawning') # Spawning the robot
+    gathering = State('Gathering')
+    finishing = State('Finishing')
+    # This state may be removed if the simulation is restarted upon completion.
+    terminating = State('Terminating')
+
+    run = start.to(waiting)
+    await_start = waiting.to(waiting)
+    started = waiting.to(spawning)
+    spawned = spawning.to(gathering)
+    gather = gathering.to(finishing)
+    navigate = gathering.to(gathering)
+    finish = finishing.to(gathering)
+    finished = finishing.to(terminating)
+
+    def __init__(self) -> None:
+        super().__init__()

kraken_nav/o3de_kraken_orchestration/package.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>o3de_kraken_orchestration</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">alekkam</maintainer>
+  <license>TODO: License declaration</license>
+
+  <test_depend>statemachine</test_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

kraken_nav/o3de_kraken_orchestration/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/o3de_kraken_orchestration
+[install]
+install_scripts=$base/lib/o3de_kraken_orchestration

kraken_nav/o3de_kraken_orchestration/setup.py

@@ -0,0 +1,26 @@
+from setuptools import setup
+
+package_name = 'o3de_kraken_orchestration'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='alekkam',
+    maintainer_email='[email protected]',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'kraken_orchestration_node = o3de_kraken_orchestration.global_kraken_orchestration:main'
+        ],
+    },
+)

kraken_nav/o3de_kraken_orchestration/test/test_copyright.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
[email protected]
[email protected]
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

kraken_nav/o3de_kraken_orchestration/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
[email protected]
[email protected]
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

kraken_nav/o3de_kraken_orchestration/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
[email protected]
[email protected]
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'