Only released in EOL distros:   electric fuerte groovy

Overview

This package introduces GUI Primitives for HRI that are designed to visualize and illustrate objects detected by the robot. These primitives also allow to interact with particular objects and give commands to the robot via them. The primitives consists of Interactive Markers and are visualized in RViz.

All primitives have a context menu which allows some interaction and setting of the visualization (ability to show description of the primitive, add/remove manipulators for rotation and translation, etc.).

Following predefined types of primitives and are specified in srs_env_model/PrimitiveType message.

Interaction Primitives

Billboard

• Billboard represents a real world object which is hard to describe with some mesh.

• The billboard is view facing and iẗ́s type is specified in srs_interaction_primitives/BillboardType message.

• The billboard can also illustrate movement of the represented object, e.g. walking person.

Bounding Box

• Bounding Box illustrates dimensions of the object.
• The bounding box is able visualize its dimensions as text labels.
• The bounding box can be manually translated or rotated.

Object

• Object represents a detected or real-world object which has its mesh in an object database.
• Possible pre-grasp positions can be shown around the object. The visualization of pre-grasp positions aids operator to move gripper to a correct position for the grasping.
• The object can show its bounding box (if specified).
• The object can be manually rotated, translated and scaled in the scene.

Unknown Object

• Unknown Object represents obstacles, unreachable objects or dangerous places in the scene so that the operator will be able to avoid collisions or crashes of the robot.
• The unknown object can be manually rotated, translated and scaled in the scene.

Plane

• Plane shows only a simple plane which can be tagged as table desk, wall, etc.

Plane Polygon

• It's a variation of the Plane which is defined as a planar polygon.
• The plane polygon is shown as a transparent plane with the polygon inside it.

Others

Clickable positions

Clickable positions can be added to the scene using /clickable_positions service or ClickablePositions action.

By clicking on the position are it's coordinates published on the specified topic.

Robot's pose prediction

For visualization of robot's predicted movement positions is provided service /robot_pose_prediction. Position are visualized using Markers.

Service takes 2 arguments:

• geometry_msgs/Pose[] positions - predicted positions

• ttl - markers lifetime

ROS API

Nodes

Services

All services starts with prefix /interaction_primitives

Messages

Published topics

All topics starts with prefix interaction_primitives.

Installation

Both components are in srs git in srs_interaction_primitives package and can be compiled with ROS standard tool rosmake

 rosmake srs_interaction_primitives

Usage

Adding primitives from C++

   1 // Create Interactive Marker Server 
   2 InteractiveMarkerServerPtr server;
   3 server.reset(new InteractiveMarkerServer("test_primitives", "", false));
   4 
   5 // Create billboard - /world is frame and my_billboard is primitives unique name
   6 Billboard *billboard = new Billboard(server, "/world", "my_billboard");
   7 billboard->setType(srs_interaction_primitives::BillboardType::PERSON); // type PERSON
   8 billboard->setPose(pose); // actual position of the billboard
   9 billboard->setPoseType(srs_interaction_primitives::PoseType::POSE_CENTER); // coordinates are int the center of the primitive
  10 billboard->setScale(scale); // scale of the billboard
  11 billboard->setDirection(direction); // actual movement direction
  12 billboard->setVelocity(velocity); // actual movement velocity
  13 billboard->setDescription("This is me!"); // description
  14 billboard->insert(); // creates interaction primitive a inserts it into IMS
  15 

Using predefined services

• Run service server

rosrun srs_interaction_primitives interaction_primitives_service_server

• Run RViz

rosrun rviz rviz

• Add Interactive Marker Display and set Update Topic to /interaction_primitives/update.

Now you can call services and add or update Primitives.

Calling services from bash

Add Bounding Box

rosservice call /interaction_primitives/add_bounding_box '{frame_id: /world, name: bbox, object_name: obj, description: "", 0, pose: { position: { x: -1, y: 0, z: 0 }, orientation: { x: 0, y: 0, z: 0, w: 1 } }, scale: { x: 1, y: 1, z: 1 }, color: { r: 1, g: 0, b: 0 }}'

Add Billboard

rosservice call /interaction_primitives/add_billboard '{frame_id: /world, name: billboard, type: 2, description: "this is billboard", velocity: 5.6, direction: {x: 1, y: 1, z: 0, w: 1}, 0, pose: {position: { x: -1, y: 0, z: 0 }, orientation: { x: 0, y: 0, z: 0, w: 1 } }, scale: { x: 1, y: 1, z: 1 }}'

Add Plane

rosservice call /interaction_primitives/add_plane '{frame_id: /world, name: plane, description: "", 0, pose: { position: { x: -1, y: 0, z: 5 }, orientation: { x: 0, y: 1, z: 0, w: 1 } }, scale: { x: 1, y: 1, z: 1 }, color: { r: 1, g: 0.3, b: 0, a: 1.0 }}'

Add Object

rosservice call /interaction_primitives/add_object '{frame_id: /world, name: table_obj, description: "My table", 0, pose: { position: { x: -1, y: 0, z: 0 }, orientation: { x: 0, y: 0, z: 0, w: 1 } }, scale: { x: 1, y: 1, z: 1 }, resource: "package://gazebo_worlds/Media/models/table.dae", use_material: false, color: {r: 1, g: 0, b: 1, a: 1 }}'

Add Unknown Object

rosservice call /interaction_primitives/add_unknown_object '{frame_id: /world, name: uobj, description: "", 0, pose: { position: { x: -1, y: 0, z: 0 }, orientation: { x: 0, y: 0, z: 0, w: 1 } }, scale: { x: 1, y: 1, z: 1 } }' 

Add Object

rosservice call /interaction_primitives/add_object '{frame_id: /world, name: milk, description: "Detected milk", 0, pose: { position: { x: -1, y: 0, z: 0 }, orientation: { x: 0, y: 0, z: 0, w: 1 } }, bounding_box_lwh: {x: 1.0, y: 0.2, z: 0.1}, color: {r: 1, g: 1, b: 0}, resource: package://cob_gazebo_worlds/Media/models/milk_box.dae, use_material: True}'

Change pose

rosservice call /interaction_primitives/change_pose '{name: plane, pose: { position: { x: -1, y: 0, z: 0 }, orientation: { x: 0, y: 0, z: 0, w: 1 } }}'

Change scale

rosservice call /interaction_primitives/change_scale '{name: plane, scale: { x: 1.2, y: 2, z: 0.5 }}'

Change color

rosservice call /interaction_primitives/change_color '{name: plane, color: { r: 1, g: 0, b: 1, a: 0.5}}'

Change description

rosservice call /interaction_primitives/change_description '{name: plane, description: "something"}'

Set pre-grasp position

rosservice call /interaction_primitives/set_pregrasp_position '{name: object_name, pos_id: 1, position: {x: 0.2, y: 0.1, z: -0.5}}'

Remove pre-grasp position

rosservice call /interaction_primitives/remove_pregrasp_position '{name: object_name, pos_id: 1}'

Remove object

rosservice call /interaction_primitives/remove_object '{name: object_name}'

Calling services from C++

   1 #include <ros/ros.h>
   2 #include <srs_interaction_primitives/AddBoundingBox.h>
   3 
   4 int main(int argc, char **argv)
   5 {
   6   // ROS initialization (the last argument is the name of the node)
   7   ros::init(argc, argv, "interaction_primitives_client");
   8 
   9   // NodeHandle is the main access point to communications with the ROS system
  10   ros::NodeHandle n;
  11 
  12   // Create a client for the add_bounding_box service
  13   ros::ServiceClient bboxClient = n.serviceClient<srs_interaction_primitives::AddBoundingBox>("interaction_primitives/add_bounding_box");
  14 
  15   // Set parameters to new Bounding Box
  16   srs_interaction_primitives::AddBoundingBox bboxSrv;
  17   bboxSrv.request.name = "Bounding box";
  18   bboxSrv.request.object_name = "attached_object_name";
  19   bboxSrv.request.frame_id = "/world";
  20   bboxSrv.request.description = "This is Bounding Box";
  21   bboxSrv.request.pose_type = srs_interaction_primitives::PoseType::POSE_BASE;
  22   bboxSrv.request.pose.position.x = 1.0;
  23   bboxSrv.request.pose.position.y = 1.0;
  24   bboxSrv.request.pose.position.z = 1.0;
  25   bboxSrv.request.pose.orientation.x = 0.0;
  26   bboxSrv.request.pose.orientation.y = 0.0;
  27   bboxSrv.request.pose.orientation.z = 0.0;
  28   bboxSrv.request.pose.orientation.w = 1.0;
  29   bboxSrv.request.scale.x = 2.0;
  30   bboxSrv.request.scale.y = 3.0;
  31   bboxSrv.request.scale.z = 4.0;
  32   bboxSrv.request.color.r = 1.0;
  33   bboxSrv.request.color.g = 0.0;
  34   bboxSrv.request.color.b = 1.0;
  35   bboxSrv.request.color.a = 1.0;
  36 
  37   // Call service with specified parameters
  38   bboxClient.call(bboxSrv);
  39 
  40   ros::spinOnce(); // Call all the callbacks waiting to be called
  41 
  42   return 0;
  43 }