Reproduce of PR2 Subway Fetch Demo.#1321

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knorth55 wants to merge 422 commits intojsk-ros-pkg:masterfrom knorth55:forum_button

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Commits on Oct 5, 2022

Call wait-interpolation after torso down

YutoUchimi
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knorth55
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Fix sleep

YutoUchimi
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knorth55
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Reset pose before looking at panel

YutoUchimi
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Unsafe go-pos during ready-to-outside

YutoUchimi
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Set line_buffer_length

YutoUchimi
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Do not reset head pose in each look-button loop

YutoUchimi
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Loosen tolerance before turning left in elevator

YutoUchimi
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Draw rectangle not with matplotlib but with cv2 in match_template.py

YutoUchimi
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Do not show probability in debug image of match_template.py

YutoUchimi
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Move speak code to move-inside-elevator.l for check-elevator-open func

YutoUchimi
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Look ahead as much as possible when moving base

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Change push depth: 30mm -> 20mm

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Reset *change-pc* at the beginning of each calling check-elevator-open

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Look front before checking if elevator open

YutoUchimi
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Reduce unnecessary multiple angle-vector and subscribing

YutoUchimi
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Wait for interpolation of look-forward-in-nav.l

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Wait at most 6 min when receiving sandwich at subway

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Subscribe more to get stable point cloud

YutoUchimi
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Show quarter and throttled point cloud in rviz

YutoUchimi
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Fix typo: row-info -> ros-info

YutoUchimi
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Set after-stamp to (ros::time-now) while checking if forum door is open

YutoUchimi
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Push forum door button only 10mm

YutoUchimi
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Fix resetting pose before pushing forum door button

YutoUchimi
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Update text visualization

YutoUchimi
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Fix state name

YutoUchimi
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Fix unbound variable timeout while checking if forum door open

YutoUchimi
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Fix too fast angle-vector

YutoUchimi
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Send angle-vector of looking at button only when PR2 is not looking at it

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Set after-stamp to 0.5sec later from request

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Remove duplicated ros-info at elevator-smach-initial

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Re-push elevator inside button when check-elevator-open failed

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Refactor euslisp files

YutoUchimi
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fix tests
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Fix roseus-add-srvs for nav_msgs

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Fix for parsing :timeout in check-elevator-open

YutoUchimi
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Speed up check-elevator-open

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Move only head first, then move arms when looking at panel

YutoUchimi
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Speed up check-elevator-open

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Add Passthrough filter to fcn output in order to subscribe only when requested

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Move Passthrough to before FCN

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Fix typo in push-forum-door-button func

YutoUchimi
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Speed up check-elevator-open more

YutoUchimi
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Fix for euslint

YutoUchimi
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Set push offset to 20mm

YutoUchimi
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Remove unnecessary :angle-vector in push-elevator-button.l

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Remove unused add-msg-pgsql.l

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Fix scope for logging with mongo-logger

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Remove unused visualization with *node-debug*

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Clean up loading elevator-buttons.l

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Move args to the same line as function name

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Rename: elevator-buttons.l -> utils.l

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Remove unused eng2-through-door-nav.l

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Move call-service function to utils.l

YutoUchimi
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Modify loading roseus_smach

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Add make-scene-by-tf func in utils.l

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Do not use global variable in posedetectiondb-client.l

YutoUchimi
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Move tolerance functions to utils.l

YutoUchimi
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Move check-elevator-open func to check-elevator-open.l

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Remove logf function since it can be achieved by ROSCONSOLE_FORMAT env

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Parse tfl and scene from upper level function

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Disable mongo logging

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Move update-robot-position func to utils.l

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Move functions for pushing elevator button to push-elevator-button.l

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Move coords->movebaseactiongoal to utils.l

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Rename state machine

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Rename: elevator-move-base-main.l -> state-machine-main.l

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Fix not to use defvar for global variable

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Fix loading file for test-modules-insidepanel

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Fix returning from look-button-state/check-button-state func

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Do not launch 2 ros-callback-object for 1 subscriber

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Use function of utils.l in fetch-sandwich.l

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Avoid getting stuckon braille block on 2F

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Send via-av after target-av as well when pushing forum door button

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Enable checking if elevator is moving during check-target-floor-arrived

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Correct checking timeout in check-button-light-state

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Implement after-stamp for subscriber of octree_change_publisher topic

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Update parameter for point_pose_extractor

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Use nodelet for lightweight_throttle

YutoUchimi
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Fix typo: ros:time+ -> ros::time+

YutoUchimi
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Fix posedetection callback for multiple detection by point_pose_extractor

YutoUchimi
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Use Passthrough for heavy detection (point_pose_extractor)

YutoUchimi
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Increase timeout of check-target-floor-arrived a bit

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Add sanity-check.l

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Start with sanity-check

YutoUchimi
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Fix missing parentheses

YutoUchimi
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Fix timeout calculation: not sec but msec

YutoUchimi
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Update rviz config

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Fix TF tree for elevator panels: parent is msg.header.frame_id

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Update rviz config to use group

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Use PassThrough for template matching as well to reduce CPU load

YutoUchimi
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Fix remapping since virtual_camera_mono uses image_transport::subscribeCamera

YutoUchimi
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Fix argument of sanity-check

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Reset pose anyway even when arm is selected

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Revert "Fix TF tree for elevator panels: parent is msg.header.frame_id"

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Pass through /wide_stereo/left/image_rect_color as well

YutoUchimi
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Fix Passthrough filter so that virtual_camera_mono correctly gets TF with low CPU load

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Fix test-panel-pose-detection for Passthrough

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Fix test-modules-insidepanel

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Set default change threshold of octree_change_publisher to 500

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Add launch files for collecting data from cameras

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Remove redundant dependency: image_view from test_depend

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Fix string comparison of panel-name

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Remove non relevant launch

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Refactor arm selecting process

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Confirm panel-moved by 3 times, but remove wait-interpolation from moving arm back from button for faster speed

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Remove unused arg-keys ':cancel'

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Print matched template result as loginfo

YutoUchimi
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Request Passthrough a bit faster for virtual_camera_mono

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Loosen error_threshold for inside panel since TF is rarely broadcasted

YutoUchimi
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Update elevator_inside_panel position

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Wait 500 msec before starting subscribing result of octree_change_publisher

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Move to 20cm in front of subway register first not to hit PR2's arm to wall

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Update mid-point to forum-door-inside to avoid braille block

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Force to move to in front of forum-door/subway-register by using :go-pos

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Force to look at elevator_call_panel even after look-forward-in-nav.l sends angle-vector

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Re-look at elevator_inside_panel during ready-to-outside

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Skip 0.5 sec even when octree change result is subscribed instead of merely sleep 0.5 sec before subscribing

YutoUchimi
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Add comment on handling sandwich in hand

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Add look-at-human.l

YutoUchimi
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Fix 'array index out of range' error

YutoUchimi
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Start/stop look-at-human from service call

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Look for clerk when ordering sandwich at subway

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Use go-pos-unsafe for approaching register

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Use go-pos-unsafe for approaching forum-door-front without getting stuck on braille block

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Minor update of parameters

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Do not end with :fail in push-state-machine

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Check if look-person-idx and look-limb-idx are both set before setting look-person

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Update human tracking parameters

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Try to find human when passing sandwich from PR2

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Return nil when IK failed in push-forum-door-button

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Fix looking at human found before passing sandwich

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Move state funcs to state/ dir

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Move match_template.py to node_scripts/

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Add coral TPU output and FCN output to sanity check

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Publish debug images of 2 point_pose_extractor to the same topic for visualization

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Update rviz config

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Check if pushed button is still lit during ready-to-outside

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Fix sanity checking type of coral output

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Update inside panel each time during check-target-floor-arrived

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Remove unused local variable start-tm

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Show info of find_elevator_button on rviz as well

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Remove unused arg-keys 'front-coords from push-state-machine

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Fix missing reference to 'button in check-target-floor-arrived

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Update ros-info in posedetectiondb-client

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Test only if result of match_template is published in test-number-recognition.l

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Wait for service server (0.1sec) after ros::roseus for stable test-panel-pose-detection

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Remove unused and redundant button_state_marker.l

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Explicitly declare global variables

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Update mid-coords position to forum-door-inside

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Look a bit right before finding human at subway

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Fix initialization of look-at-human

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Update parameters for speed up

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Update rviz config

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Use filter-type: least-median

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Wait until panel is found 3 times

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Check if elevator is needed before sanity check for faster execution when elevator not needed

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Decrease push offsets

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Push with larm in default

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Define push-arm as userdata of state machine

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Wait only 0.1 sec for publisher to be ready in change-floor

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Earlier timeout of check-target-floor-arrived

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Explicitly skip moving arm and torso during look-state when inside elevator

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Log result of sanity-check

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Decrease offset from button: 60mm -> 50mm

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Send angle-vectors together when pushing button

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Fix to work sanity-check standalone

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Decrease timeout of look-button

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Send angle-vector softly

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Make sure to look at button

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Use until instead of while not

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Pass through SIFT features just before update func

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See 10 degrees more right at the beginning of find-clerk

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Store and restore parameters

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Add find_human_in_mirror node and corresponding state

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Add sanity check for find_human_in_mirror

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Fix typo

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Update rviz config

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Add debug info for find_human_in_mirror

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Fix typo of parentheses in speak-to-human-behind

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Launch all nodes except 2 FCN on c2 machine

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Fix param name

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Show log for find_human_in_mirror in rviz as well

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Speak another sentence when human outside mirror found

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Decrease queue_size for label_image_decomposer of door_button fcn

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Fix topic names for inside/outside mirror

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Refactor sanity-check

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Use fcn_depth_prediction.py in jsk_perception

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Subscribe result of mirror recognition twice in speak-to-human-behind.l

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Avoid fastest angle-vector

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Set shorter timeout during speak-to-human

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Light weight throttle for coral output image

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Update rviz config

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Speak even when timeout reached

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Allow approximate_sync in find_human_in_mirror because input topics are hard to synchronize in oneshot

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Wait more before moving into elevator

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Initialize torso height before starting subway demo

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Wait 1.2sec before finding human

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Use no_sync in find_human_in_mirror.py

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Reduce wait time

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Reduce timeout of some state

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Clear costmap before moving into elevator

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Subscribe in/outside_mirror 3 times

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Use :move-to, not send goal directly to move_base

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Stop look-forward-in-nav.l during take-elevator

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Fix return value in ready-to-outside

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Decrease timeout of speak-to-human-behind

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Wait for door opening before moving outside

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Use move_base action in :go-to

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Wait for door opening

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Wait for transform between target-frame and scene

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Show info at the beginning of check-elevator-needed

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Use latest data since old data is a result of closed elevator

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Wait for transform during check-current-floor

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Show debug info earlier

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Revert "Use move_base action in :go-to"

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Return to elevator_inside_panel-front when move-outside fails

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Fix success-state

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Update rviz config

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Decrease timeout of speak-to-human-behind

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Fix return value in move-outside

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Fix speaking word

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Wait for transform after 'now'

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Disable correction during move-elevator-front and move-inside

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Update sleep seconds before finding mirror

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Update elevator-front-coords

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Update ordering sandwich

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Update rviz config

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Add speaking 'leave it to the clerk' at the end of ordering

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Refactor wait-for-hand-over

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Decrease timeout of speak-to-human-behind

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Update rviz config

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Disable correction at the end of :go-to since this is a wrapper of move_base action

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Disable look_at_human while taking elevator

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Refactor find_human_in_mirror.py

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Look at human until order is finished

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Disable tilt_scan observation before moving elevator front

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Update pick-bag-pose

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Launch demo from app_manager

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Prepare for executing demo from dialogflow

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Update ordering saidwich for applying reduced comsumption tax

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Lookup price from sandwich name

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Fix for dialogflow

YutoUchimi
authored and
knorth55
committed
Add mid-point while coming back to initial pose since previous point is in the way of traffic

YutoUchimi
authored and
knorth55
committed
Avoid buying 'nil'

YutoUchimi
authored and
knorth55
committed
Add .rosinstall for elevator_move_base_pr2

YutoUchimi
authored and
knorth55
committed
move look-at-human.l to node_scripts
knorth55
committed
add launch_find_elevator_button arg
knorth55
committed
fix test-button-light test
knorth55
committed
fix test-modules-callpanel test
knorth55
committed
enable all tests
knorth55
committed