task node basic structure

src/interaction_msgs/srv/TaskEvaluation.srv

@@ -1,12 +1,14 @@
 bool user_input
 uint16 number_of_population
+float32 duration
+uint16 number_of_time_steps
 
 # case if user_input is true
 float32[] user_parameters # Length: number_of_dimensions * number_of_parameters_per_dimension
 float32[] user_covariance_diag # Length: number_of_dimensions * number_of_parameters_per_dimension
 float32[] current_cma_mean # Length: number_of_dimensions * number_of_parameters_per_dimension
 float32[] conditional_points # Length: (number_of_dimensions + time_stamp[0,1]) * number_of_conditional_points
-float32 weight_parameter # this parameter sets the weighted average 0 dont trust user 1 completly trust user (it is set by the user or it is decays over time i have to do some experiments on that)
+float32[] weight_parameter # this parameter sets the weighted average 0 dont trust user 1 completly trust user (it is set by the user or it is decays over time i have to do some experiments on that)
 
 # case if user_input is false
 uint16 number_of_dimensions # this is the number of ProMPs * 2 (Position and Velocity)

src/interaction_optimizers/interaction_optimizers/cmaes_optimization_node.py

@@ -48,21 +48,22 @@ class CMAESOptimizationNode(Node):
         self.heartbeat_timeout = 30     # secs
         self.heartbeat_timer = self.create_timer(1.0, self.check_heartbeats)
 
-        # MR Heartbeat
+        # Heartbeat
         self.last_mr_heartbeat_time = None
         self.mr_heartbeat_sub = self.create_subscription(Bool, 'interaction/mr_heartbeat', self.mr_heatbeat_callback)
         self.last_task_heartbeat_time = None
         self.task_heartbeat_sub = self.create_subscription(Bool, 'interaction/task_heartbeat', self.task_heartbeat_callback)
 
-        # Topics
+        # Topic
 
         # Service
-        self.parameter_srv = self.create_service(ParameterChange, 'cmaes_parameter_srv', self.parameter_callback)
+        self.parameter_srv = self.create_service(ParameterChange, 'interaction/cmaes_parameter_srv', self.parameter_callback)
-        self.query_srv = self.create_client(Query, 'query_srv')
+        self.query_srv = self.create_client(Query, 'interaction/query_srv')
-        self.task_srv = self.create_client(TaskEvaluation, 'task_srv')
+        self.task_srv = self.create_client(TaskEvaluation, 'interaction/task_srv')
-        self.user_interface_srv = self.create_client(UserInterface, 'user_interface_srv')
+        self.user_interface_srv = self.create_client(UserInterface, 'interaction/user_interface_srv')
 
-        # Define states
+        # State Machine
+        # States
         self.states = [
             'idle',
             'initialization',
@@ -338,3 +339,14 @@ class CMAESOptimizationNode(Node):
             self.get_logger().error(f'Task service call failed: {e}')
             self.error_trigger()
     # endregion
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = CMAESOptimizationNode()
+    rclpy.spin(node)
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

src/interaction_optimizers/package.xml

@@ -7,6 +7,9 @@
   <maintainer email="nikolaus.feith@unileoben.ac.at">niko</maintainer>
   <license>TODO: License declaration</license>
 
+  <exec_depend>interaction_msgs</exec_depend>
+  <exec_depend>rclpy</exec_depend>
+
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
   <test_depend>ament_pep257</test_depend>

src/interaction_tasks/interaction_tasks/task_node.py

@@ -0,0 +1,63 @@
+import rclpy
+from rclpy.node import Node
+from rclpy.parameter import Parameter
+
+from transitions import Machine
+import yaml
+import numpy as np
+from movement_primitives.promp import ProMP
+from src.interaction_utils.serialization import flatten_population, unflatten_population
+
+from interaction_msgs.srv import TaskEvaluation
+from std_msgs.msg import Bool
+
+
+class TaskNode(Node):
+    def __init__(self):
+        super().__init__('task_node')
+
+        # Task Attributes
+
+        # ROS2 Interfaces
+
+        # Heartbeat
+        self.heartbeat_pub = self.create_publisher(Bool, 'interaction/task_heartbeat', 10)
+        self.heartbeat_timer = self.create_timer(5.0, self.send_heartbeat)
+        # Topic
+
+        # Service
+
+        # Action
+        self._goal_handle = None
+
+        # State Machine
+        # States
+        self.states = [
+            'waiting_for_task_specs',
+            'processing_non_interactive_input',
+            'processing_interactive_inpute',
+            'waiting_for_robot_response',
+            'waiting_for_objective_function_response',
+            'error_recovery'
+        ]
+
+        # initialize state machine
+        self.machine = Machine(self, states=self.states, initial='waiting_for_task_specs')
+
+        self.machine.add_transition(trigger='non_interactive_specs_received', source='waiting_for_task_specs', dest='processing_non_interactive_input')
+        self.machine.add_transition(trigger='interactive_specs_received', source='waiting_for_task_specs', dest='processing_interactive_input')
+        self.machine.add_transition(trigger='non_interactive_to_robot', source='processing_non_interactive_input', dest='waiting_for_robot_response')
+        self.machine.add_transition(trigger='non_interactive_to_obj_fun', source='processing_non_interactive_input', dest='waiting_for_objective_function_response')
+        self.machine.add_transition(trigger='interactive_to_robot', source='processing_interactive_input', dest='waiting_for_robot_response')
+        self.machine.add_transition(trigger='interactive_to_obj_fun', source='processing_interactive_input', dest='waiting_for_objective_function_response')
+        self.machine.add_transition(trigger='sending_robot_results', source='waiting_for_robot_response', dest='waiting_for_task_specs')
+        self.machine.add_transition(trigger='sending_obj_fun_results', source='waiting_for_obj_fun_response', dest='waiting_for_task_specs')
+        self.machine.add_transition(trigger='error_trigger', source='*', dest='error_recovery')
+        self.machine.add_transition(trigger='recovery_complete', source='error_recovery', dest='waiting_for_task_specs')
+
+    # State Methods
+
+    # Callback functions
+    def send_heartbeat(self):
+        msg = Bool()
+        self.heartbeat_pub.publish(msg)

src/interaction_tasks/package.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>interaction_tasks</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="nikolaus.feith@unileoben.ac.at">niko</maintainer>
+  <license>TODO: License declaration</license>
+
+  <exec_depend>interaction_msgs</exec_depend>
+  <exec_depend>rclpy</exec_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

src/interaction_tasks/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/interaction_tasks
+[install]
+install_scripts=$base/lib/interaction_tasks

src/interaction_tasks/setup.py

@@ -0,0 +1,25 @@
+from setuptools import find_packages, setup
+
+package_name = 'interaction_tasks'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='niko',
+    maintainer_email='nikolaus.feith@unileoben.ac.at',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+        ],
+    },
+)

src/interaction_tasks/test/test_copyright.py

@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

src/interaction_tasks/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

src/interaction_tasks/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'