Baxter机器人末端轨迹采集

短命女 2022-06-17 10:06 161阅读 0赞

调用方式为：

rosrun baxter_moveit_config endpoint_recorder.py -f filename  #此处filename为要保存的文件名，后面还可加上采集频率，但是采集频率过高会造成在轨迹复原的时候，机械臂抖动的特别厉害，建议20HZ就可以

代码如下：

#!/usr/bin/env python
    import argparse
    import rospy
    import baxter_interface
    from baxter_interface import CHECK_VERSION
    class JointRecorder(object):
        def __init__(self, filename, rate):
            """
            Records joint data to a file at a specified rate.
            """
            self._filename = filename
            self._raw_rate = rate
            self._rate = rospy.Rate(rate)
            self._start_time = rospy.get_time()
            self._done = False
    
            self._limb_left = baxter_interface.Limb("left")
            self._limb_right = baxter_interface.Limb("right")
    
        def _time_stamp(self):
            return rospy.get_time() - self._start_time
        def stop(self):
            """
            Stop recording.
            """
            self._done = True
    
        def done(self):
            """
            Return whether or not recording is done.
            """
            if rospy.is_shutdown():
                self.stop()
            return self._done
    
        def record(self):
            if self._filename:
                joints_left = self._limb_left.joint_names()
                joints_right = self._limb_right.joint_names()
                with open(self._filename, 'w') as f:
                    f.write('time,')
                    f.write(','.join([j for j in joints_left]) + ',')
                    f.write(','.join([j for j in joints_right]) + '\n')
                    while not self.done():
                        current_pose = self._limb_left.endpoint_pose()
                        endpoint_pose_position_left = [current_pose['position'].x,
                                              current_pose['position'].y,
                                              current_pose['position'].z]
                        endpoint_pose_orientation_left = [current_pose['orientation'].x,
                                               current_pose['orientation'].y,
                                               current_pose['orientation'].z,
                                               current_pose['orientation'].w,]
                        current_pose = self._limb_right.endpoint_pose()                      
                        endpoint_pose_position_right = [current_pose['position'].x,
                                               current_pose['position'].y,
                                               current_pose['position'].z,]
                        endpoint_pose_orientation_right = [current_pose['orientation'].x,
                                               current_pose['orientation'].y,
                                               current_pose['orientation'].z,
                                               current_pose['orientation'].w,]                     
    
                        f.write("%f," % (self._time_stamp(),))
                        f.write(','.join([str(x) for x in endpoint_pose_position_left]) + ',')
                        f.write(','.join([str(x) for x in endpoint_pose_position_right]) + ',')
                        f.write(','.join([str(x) for x in endpoint_pose_orientation_left]) + '\n')
                        f.write(','.join([str(x) for x in endpoint_pose_orientation_right]) + '\n')
                        self._rate.sleep()
    def main():
        epilog = """
    Related examples:
      joint_position_file_playback.py; joint_trajectory_file_playback.py.
        """
        arg_fmt = argparse.RawDescriptionHelpFormatter
        parser = argparse.ArgumentParser(formatter_class=arg_fmt,
                                         description=main.__doc__,
                                         epilog=epilog)
        required = parser.add_argument_group('required arguments')
        required.add_argument(
            '-f', '--file', dest='filename', required=True,
            help='the file name to record to'
        )
        parser.add_argument(
            '-r', '--record-rate', type=int, default=20, metavar='RECORDRATE',
            help='rate at which to record (default: 100)'
        )
        args = parser.parse_args(rospy.myargv()[1:])
        print("Initializing node... ")
        rospy.init_node("rsdk_joint_recorder")
        print("Getting robot state... ")
        rs = baxter_interface.RobotEnable(CHECK_VERSION)
        print("Enabling robot... ")
        rs.enable()
        Recorder = JointRecorder(args.filename, args.record_rate)
        rospy.on_shutdown(Recorder.stop)
        print("Recording. Press Ctrl-C to stop.")
        Recorder.record()
        print("\nDone.")
    if __name__ == '__main__':
        main()