Only released in EOL distros:   electric fuerte groovy

Overview

GUI Primitives for HRI are designed to visualize and ilustrate objects detected by the robot. Primitives will also add means to interact with particular objects and give commands to the robot throw them. Primitives consists of Interactive Markers and are visualized in RViz.

Primitives have context menu, which allow some interaction and settings of the visualization (e.g., ability to show descrition of the primitive, add or remove manipulators for rotation or translation, ...).

Types of the primitives followed and are specified in srs_env_model/PrimitiveType message.

Billboard

• Billboard represents real world object detected around robot, which is hard to describe with some mesh.

• Billboard is view facing and iẗ́'s types are specified in srs_env_model/BillboardType message.

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

Bounding Box

• Bounding Box ilustrates the smallest dimensions of the object.
• Bounding Box can visualize object's dimensions.
• Bounding Box can be translated or rotated.

Object

• Object is representation of detected object, which has it's mesh in object database.
• Around object can be shown pre-grasp positions, which aids operator to move gripper to correct position for grasping.
• Object can show it's Bounding Box (if specified)
• Object can be rotated, translated and scaled.

Unknown Object

• Unknown Object will show some obstacles, unreachable objects or dangerous places in the scene, some the operator will be able to avoid collisions or crash of the robot.
• Unknown Object can be rotated, translated and scaled.

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 with planar polygon.
• It's shown as transparent plane and polygon inside it.

ROS API

Nodes

Services

All services starts with prefix /but_interaction_primitives

Messages

Published topics

All topics starts with prefix but_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 programatically

   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->setScale(scale); // scale of the billboard
  10 billboard->setDirection(direction); // actual movement direction
  11 billboard->setVelocity(velocity); // actual movement velocity
  12 billboard->setDescription("This is me!"); // description
  13 billboard->insert(); // creates interaction primitive a inserts it into IMS
  14 

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: "", 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}, 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: "", 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", 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: "", 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", 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   but_gui::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.position.x = 1.0;
  22   bboxSrv.request.pose.position.y = 1.0;
  23   bboxSrv.request.pose.position.z = 1.0;
  24   bboxSrv.request.pose.orientation.x = 0.0;
  25   bboxSrv.request.pose.orientation.y = 0.0;
  26   bboxSrv.request.pose.orientation.z = 0.0;
  27   bboxSrv.request.pose.orientation.w = 1.0;
  28   bboxSrv.request.scale.x = 2.0;
  29   bboxSrv.request.scale.y = 3.0;
  30   bboxSrv.request.scale.z = 4.0;
  31   bboxSrv.request.color.r = 1.0;
  32   bboxSrv.request.color.g = 0.0;
  33   bboxSrv.request.color.b = 1.0;
  34   bboxSrv.request.color.a = 1.0;
  35 
  36   // Call service with specified parameters
  37   bboxClient.call(bboxSrv);
  38 
  39   ros::spinOnce(); // Call all the callbacks waiting to be called
  40 
  41   return 0;
  42 }