Publish simulation state in multiple threads

active_grasp/controller.py

@@ -59,7 +59,7 @@ class GraspController:
 
         # Approach grasp pose.
         self.controller.send_target(T_B_G * self.T_G_EE)
-        rospy.sleep(1.0)
+        rospy.sleep(2.0)
 
         # Close the fingers.
         self.gripper.grasp()

active_grasp/simulation.py

@@ -19,7 +19,6 @@ class Simulation(BtSim):
         self.load_table()
         self.load_robot()
         self.load_controller()
-        self.reset()
 
     def configure_visualizer(self):
         # p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)
@@ -45,7 +44,9 @@ class Simulation(BtSim):
         self.camera = BtCamera(320, 240, 1.047, 0.1, 1.0, self.arm.uid, 11)
 
     def load_controller(self):
-        self.controller = CartesianPoseController(self.model, self.arm.ee_frame, None)
+        q, _ = self.arm.get_state()
+        x0 = self.model.pose(self.arm.ee_frame, q)
+        self.controller = CartesianPoseController(self.model, self.arm.ee_frame, x0)
 
     def reset(self):
         self.remove_all_objects()

launch/active_grasp.launch

@@ -1,6 +1,6 @@
 <?xml version="1.0" ?>
 <launch>
-  <arg name="launch_rviz" default="true" />
+  <arg name="launch_rviz" default="false" />
 
   <rosparam command="load" file="$(find active_grasp)launch/active_grasp.yaml" subst_value="true" />
 

launch/active_grasp.yaml

@@ -1,7 +1,6 @@
 bt_sim:
   gui: True
   seed: 12
-  cam_pub_rate: 10
 
 active_grasp:
   frame_id: task
@@ -10,9 +9,9 @@ active_grasp:
   ee_frame_id: panda_hand
   ee_grasp_offset: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.065]
   camera:
-    frame_id: cam_optical_frame
+    frame_id: camera_optical_frame
-    info_topic: /cam/depth/camera_info
+    info_topic: /camera/depth/camera_info
-    depth_topic: /cam/depth/image_raw
+    depth_topic: /camera/depth/image_raw
 
 vgn:
   model: $(find vgn)/assets/models/vgn_conv.pth

scripts/bt_sim_node.py

@@ -1,12 +1,13 @@
 #!/usr/bin/env python3
 
-import actionlib
+from actionlib import SimpleActionServer
 import cv_bridge
-import franka_gripper.msg
+from franka_gripper.msg import *
 from geometry_msgs.msg import PoseStamped
 import numpy as np
 import rospy
 from sensor_msgs.msg import JointState, Image, CameraInfo
+from threading import Thread
 import tf2_ros
 
 from active_grasp.srv import Reset, ResetResponse
@@ -17,31 +18,29 @@ from robot_utils.ros.conversions import *
 
 class BtSimNode:
     def __init__(self):
-        self.load_parameters()
-        rng = self.get_rng()
-        self.sim = Simulation(gui=self.gui, rng=rng)
-        self.robot_state_interface = RobotStateInterface(self.sim.arm, self.sim.gripper)
-        self.arm_interface = ArmInterface(self.sim.arm, self.sim.controller)
-        self.gripper_interface = GripperInterface(self.sim.gripper)
-        self.camera_interface = CameraInterface(self.sim.camera)
-        self.step_cnt = 0
-        self.reset_requested = False
-
-        self.advertise_services()
-        self.broadcast_transforms()
-
-    def load_parameters(self):
         self.gui = rospy.get_param("~gui", True)
-        self.cam_pub_rate = rospy.get_param("~cam_pub_rate")
-
-    def get_rng(self):
         seed = rospy.get_param("~seed", None)
-        return np.random.default_rng(seed) if seed else np.random
 
-    def advertise_services(self):
+        rng = np.random.default_rng(seed) if seed else np.random
+        self.sim = Simulation(gui=self.gui, rng=rng)
+
+        self._init_plugins()
+        self._advertise_services()
+        self._broadcast_transforms()
+
+    def _init_plugins(self):
+        self.plugins = [
+            PhysicsPlugin(self.sim),
+            JointStatePlugin(self.sim.arm, self.sim.gripper),
+            ArmControllerPlugin(self.sim.arm, self.sim.controller),
+            GripperControllerPlugin(self.sim.gripper),
+            CameraPlugin(self.sim.camera),
+        ]
+
+    def _advertise_services(self):
         rospy.Service("reset", Reset, self.reset)
 
-    def broadcast_transforms(self):
+    def _broadcast_transforms(self):
         self.static_broadcaster = tf2_ros.StaticTransformBroadcaster()
         msgs = [
             to_transform_stamped_msg(self.sim.T_W_B, "world", "panda_link0"),
@@ -52,38 +51,63 @@ class BtSimNode:
         self.static_broadcaster.sendTransform(msgs)
 
     def reset(self, req):
-        self.reset_requested = True
+        for plugin in self.plugins:
-        rospy.sleep(1.0)  # wait for the latest sim step to finish
+            plugin.is_running = False
+        rospy.sleep(1.0)  # TODO replace with a read-write lock
+
         bbox = self.sim.reset()
         res = ResetResponse(to_bbox_msg(bbox))
-        self.step_cnt = 0
+
-        self.reset_requested = False
+        for plugin in self.plugins:
+            plugin.is_running = True
         return res
 
     def run(self):
-        rate = rospy.Rate(self.sim.rate)
+        self._start_plugins()
+        rospy.spin()
+
+    def _start_plugins(self):
+        for plugin in self.plugins:
+            plugin.thread.start()
+            plugin.is_running = True
+
+
+class Plugin:
+    """A plugin that spins at a constant rate in its own thread."""
+
+    def __init__(self, rate):
+        self.rate = rate
+        self.thread = Thread(target=self._loop, daemon=True)
+        self.is_running = False
+
+    def _loop(self):
+        rate = rospy.Rate(self.rate)
         while not rospy.is_shutdown():
-            if not self.reset_requested:
+            if self.is_running:
-                self.handle_updates()
+                self._update()
-                self.sim.step()
-                self.step_cnt = (self.step_cnt + 1) % self.sim.rate
             rate.sleep()
 
-    def handle_updates(self):
+    def _update(self):
-        self.robot_state_interface.update()
+        raise NotImplementedError
-        self.arm_interface.update()
-        self.gripper_interface.update(self.sim.dt)
-        if self.step_cnt % int(self.sim.rate / self.cam_pub_rate) == 0:
-            self.camera_interface.update()
 
 
-class RobotStateInterface:
+class PhysicsPlugin(Plugin):
-    def __init__(self, arm, gripper):
+    def __init__(self, sim):
+        super().__init__(sim.rate)
+        self.sim = sim
+
+    def _update(self):
+        self.sim.step()
+
+
+class JointStatePlugin(Plugin):
+    def __init__(self, arm, gripper, rate=30):
+        super().__init__(rate)
         self.arm = arm
         self.gripper = gripper
-        self.joint_pub = rospy.Publisher("joint_states", JointState, queue_size=10)
+        self.pub = rospy.Publisher("joint_states", JointState, queue_size=10)
 
-    def update(self):
+    def _update(self):
         q, _ = self.arm.get_state()
         width = self.gripper.read()
         msg = JointState()
@@ -93,86 +117,93 @@ class RobotStateInterface:
             "panda_finger_joint2",
         ]
         msg.position = np.r_[q, 0.5 * width, 0.5 * width]
-        self.joint_pub.publish(msg)
+        self.pub.publish(msg)
 
 
-class ArmInterface:
+class ArmControllerPlugin(Plugin):
-    def __init__(self, arm, controller):
+    def __init__(self, arm, controller, rate=30):
+        super().__init__(rate)
         self.arm = arm
         self.controller = controller
-        rospy.Subscriber("command", PoseStamped, self.target_cb)
+        rospy.Subscriber("command", PoseStamped, self._target_cb)
 
-    def update(self):
+    def _target_cb(self, msg):
+        assert msg.header.frame_id == self.arm.base_frame
+        self.controller.x_d = from_pose_msg(msg.pose)
+
+    def _update(self):
         q, _ = self.arm.get_state()
         cmd = self.controller.update(q)
         self.arm.set_desired_joint_velocities(cmd)
 
-    def target_cb(self, msg):
-        assert msg.header.frame_id == self.arm.base_frame
-        self.controller.x_d = from_pose_msg(msg.pose)
 
-
+class GripperControllerPlugin(Plugin):
-class GripperInterface:
+    def __init__(self, gripper, rate=10):
-    def __init__(self, gripper):
+        super().__init__(rate)
         self.gripper = gripper
-        self.move_server = actionlib.SimpleActionServer(
+        self.dt = 1.0 / self.rate
-            "/franka_gripper/move",
+        self._init_move_action_server()
-            franka_gripper.msg.MoveAction,
+        self._init_grasp_action_server()
-            auto_start=False,
+
-        )
+    def _init_move_action_server(self):
-        self.move_server.register_goal_callback(self.move_action_goal_cb)
+        name = "/franka_gripper/move"
+        self.move_server = SimpleActionServer(name, MoveAction, auto_start=False)
+        self.move_server.register_goal_callback(self._move_action_goal_cb)
         self.move_server.start()
 
-        self.grasp_server = actionlib.SimpleActionServer(
+    def _init_grasp_action_server(self):
-            "/franka_gripper/grasp",
+        name = "/franka_gripper/grasp"
-            franka_gripper.msg.GraspAction,
+        self.grasp_server = SimpleActionServer(name, GraspAction, auto_start=False)
-            auto_start=False,
+        self.grasp_server.register_goal_callback(self._grasp_action_goal_cb)
-        )
-        self.grasp_server.register_goal_callback(self.grasp_action_goal_cb)
         self.grasp_server.start()
 
-    def move_action_goal_cb(self):
+    def _move_action_goal_cb(self):
         self.elapsed_time_since_move_action_goal = 0.0
         goal = self.move_server.accept_new_goal()
         self.gripper.set_desired_width(goal.width)
 
-    def grasp_action_goal_cb(self):
+    def _grasp_action_goal_cb(self):
         self.elapsed_time_since_grasp_action_goal = 0.0
         goal = self.grasp_server.accept_new_goal()
         self.gripper.set_desired_width(goal.width)
 
-    def update(self, dt):
+    def _update(self):
         if self.move_server.is_active():
-            self.elapsed_time_since_move_action_goal += dt
+            self.elapsed_time_since_move_action_goal += self.dt
             if self.elapsed_time_since_move_action_goal > 1.0:
                 self.move_server.set_succeeded()
         if self.grasp_server.is_active():
-            self.elapsed_time_since_grasp_action_goal += dt
+            self.elapsed_time_since_grasp_action_goal += self.dt
             if self.elapsed_time_since_grasp_action_goal > 1.0:
                 self.grasp_server.set_succeeded()
 
 
-class CameraInterface:
+class CameraPlugin(Plugin):
-    def __init__(self, camera):
+    def __init__(self, camera, name="camera", rate=10):
+        super().__init__(rate)
         self.camera = camera
+        self.name = name
         self.cv_bridge = cv_bridge.CvBridge()
-        self.cam_info_msg = to_camera_info_msg(self.camera.intrinsic)
+        self._init_publishers()
-        self.cam_info_msg.header.frame_id = "cam_optical_frame"
-        self.cam_info_pub = rospy.Publisher(
-            "/cam/depth/camera_info",
-            CameraInfo,
-            queue_size=10,
-        )
-        self.depth_pub = rospy.Publisher("/cam/depth/image_raw", Image, queue_size=10)
 
-    def update(self):
+    def _init_publishers(self):
+        topic = self.name + "/depth/camera_info"
+        self.info_pub = rospy.Publisher(topic, CameraInfo, queue_size=10)
+        topic = self.name + "/depth/image_raw"
+        self.depth_pub = rospy.Publisher(topic, Image, queue_size=10)
+
+    def _update(self):
         stamp = rospy.Time.now()
-        self.cam_info_msg.header.stamp = stamp
+
-        self.cam_info_pub.publish(self.cam_info_msg)
+        msg = to_camera_info_msg(self.camera.intrinsic)
+        msg.header.frame_id = self.name + "_optical_frame"
+        msg.header.stamp = stamp
+        self.info_pub.publish(msg)
+
         img = self.camera.get_image()
-        depth_msg = self.cv_bridge.cv2_to_imgmsg(img.depth)
+        msg = self.cv_bridge.cv2_to_imgmsg(img.depth)
-        depth_msg.header.stamp = stamp
+        msg.header.stamp = stamp
-        self.depth_pub.publish(depth_msg)
+        self.depth_pub.publish(msg)
 
 
 def main():