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Refactor motion sequence handling: remove old test script, update setup, and implement new runner with configuration support

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- Deleted obsolete `test_motion_sequence.py` file.
- Updated `setup.py` to remove references to the old test script and motion configuration file.
- Added `motion_sequence_config.json` to define home position and waypoints for the robot.
- Introduced `motion_sequence_runner.py` to execute motion sequences based on the new configuration format, supporting both joint and pose movements.
This commit is contained in:
Даниил Грабарь
2026-05-26 16:09:41 +10:00
parent a84cfde96c
commit a4d318fceb
6 changed files with 138 additions and 984 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/iiwa_planning/CMakeLists.txt
+11
View File
@@ -43,5 +43,16 @@ install(PROGRAMS
RENAME move_to_pose_server
)
install(PROGRAMS
scripts/motion_sequence_runner.py
DESTINATION lib/${PROJECT_NAME}
RENAME motion_sequence_runner
)
install(FILES
scripts/motion_sequence_config.json
DESTINATION share/${PROJECT_NAME}
)
ament_package()
src/iiwa_planning/scripts/motion_sequence_config.json
+42
View File
@@ -0,0 +1,42 @@
{
"home": {
"joints": [0.0, 0.0, 0.0, -1.57, 0.0, 1.57, 0.0],
"speed": 0.1
},
"waypoints": [
{
"x": 0.6,
"y": 0.1,
"z": 0.55,
"a": 3.14,
"b": 0.3142,
"c": 2.7916,
"speed": 0.4,
"planner": "ptp"
},
{
"x": 0.6,
"y": -0.1,
"z": 0.55,
"a": 3.14,
"b": 0.3142,
"c": 2.7916,
"speed": 0.3,
"planner": "lin"
},
{
"joints": [0.5, 0.3, 0.0, -1.2, 0.0, 1.4, 0.0],
"speed": 0.2
},
{
"x": 0.58,
"y": 0.0,
"z": 0.5,
"a": 3.14,
"b": 0.3665,
"c": 2.8791,
"speed": 0.3,
"planner": "lin"
}
]
}
src/iiwa_utils/iiwa_utils/test_motion_sequence.py → src/iiwa_planning/scripts/motion_sequence_runner.py
+77 -45
View File
@@ -1,4 +1,16 @@
#!/usr/bin/env python3
"""
Запуск заданной последовательности движений манипулятора iiwa.
Каждая точка в конфиге может быть либо суставной (type: joints),
либо декартовой (type: pose). Тип определяется автоматически по наличию
ключа "joints" или координат "x/y/z".
Запуск:
ros2 run iiwa_planning motion_sequence_runner \
--ros-args -p config_path:=/path/to/config.json -p n_iterations:=2
"""
import json
import shutil
import threading
@@ -18,37 +30,45 @@ from rosidl_runtime_py.utilities import get_message
from iiwa_msgs.action import MoveToJoints, MoveToPose
class IiwaTestRunner(Node):
def _is_joints_waypoint(wp: dict) -> bool:
return "joints" in wp
class MotionSequenceRunner(Node):
def __init__(self):
super().__init__('iiwa_test_runner')
super().__init__('motion_sequence_runner')
self.declare_parameter('n_iterations', 3)
self.declare_parameter('bag_path', '')
self.declare_parameter('config_path', '')
self.declare_parameter('topics', [''])
self.declare_parameter("delay_between_iterations", 5.0)
self.declare_parameter('delay_between_iterations', 5.0)
self.declare_parameter('joints_action', 'cobot/move_to_joints')
self.declare_parameter('pose_action', 'cobot/move_to_pose')
self._n_iter = self.get_parameter('n_iterations').value
self._delay_between_iterations = self.get_parameter("delay_between_iterations").value
self._delay = self.get_parameter('delay_between_iterations').value
self._bag_path = self.get_parameter('bag_path').value
topics_param = self.get_parameter('topics').value
# [''] means not specified — record all topics
self._topics_param: list[str] = [t for t in topics_param if t]
config_path = self.get_parameter('config_path').value
joints_action = self.get_parameter('joints_action').value
pose_action = self.get_parameter('pose_action').value
cfg = self._load_config(config_path)
self._home_joints: list[float] = cfg['home_joints']
self._poses: list[dict] = cfg['poses']
self._home: dict = cfg['home']
self._waypoints: list[dict] = cfg['waypoints']
self._cb_group = ReentrantCallbackGroup()
self._joints_client = ActionClient(
self, MoveToJoints, '/iiwa/move_to_joints',
self, MoveToJoints, joints_action,
callback_group=self._cb_group,
)
self._pose_client = ActionClient(
self, MoveToPose, '/iiwa/move_to_pose',
self, MoveToPose, pose_action,
callback_group=self._cb_group,
)
self.get_logger().info(f'joints_action={joints_action} pose_action={pose_action}')
self._writer: rosbag2_py.SequentialWriter | None = None
self._registered_topics: set[str] = set()
@@ -60,14 +80,19 @@ class IiwaTestRunner(Node):
else:
self.get_logger().info('bag_path not set — recording disabled')
# Config
# ── Config ──────────────────────────────────────────────────────────────
def _load_config(self, config_path: str) -> dict:
path = Path(config_path) if config_path else Path(__file__).parent / 'motion_config.json'
path = (
Path(config_path) if config_path
else Path(__file__).parent / 'motion_sequence_config.json'
)
self.get_logger().info(f'Loading config from {path}')
with open(path) as f:
return json.load(f)
# Bag files
# ── Bag recording ────────────────────────────────────────────────────────
def _init_bag(self):
bag_dir = Path(self._bag_path)
if bag_dir.exists():
@@ -90,7 +115,9 @@ class IiwaTestRunner(Node):
topics = self._topics_param if self._topics_param else list(available.keys())
if not self._topics_param:
self.get_logger().info(f'topics not set — recording all {len(topics)} available topics')
self.get_logger().info(
f'topics not set — recording all {len(topics)} available topics'
)
for topic in topics:
if topic not in available:
@@ -132,26 +159,26 @@ class IiwaTestRunner(Node):
if self._writer:
del self._writer
self._writer = None
self.get_logger().info(f'[BAG] closed → {self._bag_path}')
self.get_logger().info(f'Bag closed → {self._bag_path}')
# Action helpers
def _send_joints_goal(self, joints: list[float], speed: float = 0.1) -> bool:
# ── Action helpers ────────────────────────────────────────────────────────
def _send_joints_goal(self, wp: dict) -> bool:
goal = MoveToJoints.Goal()
goal.joints = joints
goal.speed = speed
goal.joints = wp['joints']
goal.speed = float(wp.get('speed', 0.1))
self.get_logger().info(f'[MOVE] joints → {joints}')
self.get_logger().info(f'[JOINTS] → {goal.joints}')
if not self._joints_client.wait_for_server(timeout_sec=10.0):
self.get_logger().error('MoveToJoints server unavailable')
return False
done = threading.Event()
success_holder: list[bool] = [False]
result_holder: list[bool] = [False]
def _on_result(future):
res = future.result().result
success_holder[0] = res.success
self.get_logger().info(f'[MOVE] joints done: success={res.success}')
result_holder[0] = future.result().result.success
self.get_logger().info(f'[JOINTS] done: success={result_holder[0]}')
done.set()
def _on_goal(future):
@@ -164,30 +191,29 @@ class IiwaTestRunner(Node):
self._joints_client.send_goal_async(goal).add_done_callback(_on_goal)
done.wait()
return success_holder[0]
return result_holder[0]
def _send_pose_goal(self, *, x, y, z, a, b, c,
speed: float = 0.1,
planner: str = 'lin',
id: int = None) -> bool:
def _send_pose_goal(self, wp: dict, idx: int | None = None) -> bool:
goal = MoveToPose.Goal()
goal.x, goal.y, goal.z = x, y, z
goal.a, goal.b, goal.c = a, b, c
goal.speed = speed
goal.planner = planner
goal.x, goal.y, goal.z = wp['x'], wp['y'], wp['z']
goal.a, goal.b, goal.c = wp['a'], wp['b'], wp['c']
goal.speed = float(wp.get('speed', 0.1))
goal.planner = wp.get('planner', 'lin')
self.get_logger().info(f'[MOVE] {id if id is not None else ""} pose → x={x} y={y} z={z} planner={planner}')
label = f'#{idx} ' if idx is not None else ''
self.get_logger().info(
f'[POSE] {label}→ x={goal.x} y={goal.y} z={goal.z} planner={goal.planner}'
)
if not self._pose_client.wait_for_server(timeout_sec=10.0):
self.get_logger().error('MoveToPose server unavailable')
return False
done = threading.Event()
success_holder: list[bool] = [False]
result_holder: list[bool] = [False]
def _on_result(future):
res = future.result().result
success_holder[0] = res.success
self.get_logger().info(f'[MOVE] pose done: success={res.success}')
result_holder[0] = future.result().result.success
self.get_logger().info(f'[POSE] done: success={result_holder[0]}')
done.set()
def _on_goal(future):
@@ -200,21 +226,27 @@ class IiwaTestRunner(Node):
self._pose_client.send_goal_async(goal).add_done_callback(_on_goal)
done.wait()
return success_holder[0]
return result_holder[0]
def _send_waypoint(self, wp: dict, idx: int | None = None) -> bool:
if _is_joints_waypoint(wp):
return self._send_joints_goal(wp)
return self._send_pose_goal(wp, idx=idx)
# ── Main sequence ─────────────────────────────────────────────────────────
# Main sequence
def run(self, done_event: threading.Event):
try:
for i in range(self._n_iter):
self.get_logger().info(f'======= Iteration {i + 1}/{self._n_iter} =======')
self._send_joints_goal(self._home_joints)
self._send_waypoint(self._home)
for i, pose in enumerate(self._poses):
self._send_pose_goal(id=i, **pose)
for idx, wp in enumerate(self._waypoints):
self._send_waypoint(wp, idx=idx)
self._send_joints_goal(self._home_joints)
time.sleep(self._delay_between_iterations)
self._send_waypoint(self._home)
time.sleep(self._delay)
self.get_logger().info('======= Sequence complete =======')
finally:
@@ -224,7 +256,7 @@ class IiwaTestRunner(Node):
def main():
rclpy.init()
node = IiwaTestRunner()
node = MotionSequenceRunner()
executor = MultiThreadedExecutor()
executor.add_node(node)
src/iiwa_utils/iiwa_utils/motion_config.json
-913
View File
@@ -1,913 +0,0 @@
{
"home_joints": [
0.0,
0.0,
0.0,
-1.57,
0.0,
1.57,
0.0
],
"poses": [
{
"x": 0.6,
"y": 0.1,
"z": 0.55,
"a": 3.14,
"b": 0.3142,
"c": 2.7916,
"speed": 0.4,
"planner": "ptp"
},
{
"x": 0.6,
"y": -0.1,
"z": 0.55,
"a": 3.14,
"b": 0.3142,
"c": 2.7916,
"speed": 0.3,
"planner": "lin"
},
{
"x": 0.58,
"y": -0.1,
"z": 0.55,
"a": 3.14,
"b": 0.3142,
"c": 2.8791,
"speed": 0.4,
"planner": "lin"
},
{
"x": 0.58,
"y": 0.1,
"z": 0.55,
"a": 3.14,
"b": 0.3142,
"c": 2.8791,
"speed": 0.3,
"planner": "lin"
},
{
"x": 0.56,
"y": 0.1,
"z": 0.55,
"a": 3.14,
"b": 0.3142,
"c": 2.9666,
"speed": 0.4,
"planner": "lin"
},
{
"x": 0.56,
"y": -0.1,
"z": 0.55,
"a": 3.14,
"b": 0.3142,
"c": 2.9666,
"speed": 0.3,
"planner": "lin"
},
{
"x": 0.54,
"y": -0.1,
"z": 0.55,
"a": 3.14,
"b": 0.3142,
"c": 3.0541,
"speed": 0.4,
"planner": "lin"
},
{
"x": 0.54,
"y": 0.1,
"z": 0.55,
"a": 3.14,
"b": 0.3142,
"c": 3.0541,
"speed": 0.3,
"planner": "lin"
},
{
"x": 0.52,
"y": 0.1,
"z": 0.55,
"a": 3.14,
"b": 0.3142,
"c": 3.1416,
"speed": 0.4,
"planner": "lin"
},
{
"x": 0.52,
"y": -0.1,
"z": 0.55,
"a": 3.14,
"b": 0.3142,
"c": 3.1416,
"speed": 0.3,
"planner": "lin"
},
{
"x": 0.5,
"y": -0.1,
"z": 0.55,
"a": 3.14,
"b": 0.3142,
"c": 3.2291,
"speed": 0.4,
"planner": "lin"
},
{
"x": 0.5,
"y": 0.1,
"z": 0.55,
"a": 3.14,
"b": 0.3142,
"c": 3.2291,
"speed": 0.3,
"planner": "lin"
},
{
"x": 0.48,
"y": 0.1,
"z": 0.55,
"a": 3.14,
"b": 0.3142,
"c": 3.3166,
"speed": 0.4,
"planner": "lin"
},
{
"x": 0.48,
"y": -0.1,
"z": 0.55,
"a": 3.14,
"b": 0.3142,
"c": 3.3166,
"speed": 0.3,
"planner": "lin"
},
{
"x": 0.46,
"y": -0.1,
"z": 0.55,
"a": 3.14,
"b": 0.3142,
"c": 3.4041,
"speed": 0.4,
"planner": "lin"
},
{
"x": 0.46,
"y": 0.1,
"z": 0.55,
"a": 3.14,
"b": 0.3142,
"c": 3.4041,
"speed": 0.3,
"planner": "lin"
},
{
"x": 0.44,
"y": 0.1,
"z": 0.55,
"a": 3.14,
"b": 0.3142,
"c": 3.4916,
"speed": 0.4,
"planner": "lin"
},
{
"x": 0.44,
"y": -0.1,
"z": 0.55,
"a": 3.14,
"b": 0.3142,
"c": 3.4916,
"speed": 0.3,
"planner": "lin"
},
{
"x": 0.44,
"y": -0.1,
"z": 0.5,
"a": 3.14,
"b": 0.3665,
"c": 3.4916,
"speed": 0.4,
"planner": "lin"
},
{
"x": 0.44,
"y": 0.1,
"z": 0.5,
"a": 3.14,
"b": 0.3665,
"c": 3.4916,
"speed": 0.3,
"planner": "lin"
},
{
"x": 0.46,
"y": 0.1,
"z": 0.5,
"a": 3.14,
"b": 0.3665,
"c": 3.4041,
"speed": 0.4,
"planner": "lin"
},
{
"x": 0.46,
"y": -0.1,
"z": 0.5,
"a": 3.14,
"b": 0.3665,
"c": 3.4041,
"speed": 0.3,
"planner": "lin"
},
{
"x": 0.48,
"y": -0.1,
"z": 0.5,
"a": 3.14,
"b": 0.3665,
"c": 3.3166,
"speed": 0.4,
"planner": "lin"
},
{
"x": 0.48,
"y": 0.1,
"z": 0.5,
"a": 3.14,
"b": 0.3665,
"c": 3.3166,
"speed": 0.3,
"planner": "lin"
},
{
"x": 0.5,
"y": 0.1,
"z": 0.5,
"a": 3.14,
"b": 0.3665,
"c": 3.2291,
"speed": 0.4,
"planner": "lin"
},
{
"x": 0.5,
"y": -0.1,
"z": 0.5,
"a": 3.14,
"b": 0.3665,
"c": 3.2291,
"speed": 0.3,
"planner": "lin"
},
{
"x": 0.52,
"y": -0.1,
"z": 0.5,
"a": 3.14,
"b": 0.3665,
"c": 3.1416,
"speed": 0.4,
"planner": "lin"
},
{
"x": 0.52,
"y": 0.1,
"z": 0.5,
"a": 3.14,
"b": 0.3665,
"c": 3.1416,
"speed": 0.3,
"planner": "lin"
},
{
"x": 0.54,
"y": 0.1,
"z": 0.5,
"a": 3.14,
"b": 0.3665,
"c": 3.0541,
"speed": 0.4,
"planner": "lin"
},
{
"x": 0.54,
"y": -0.1,
"z": 0.5,
"a": 3.14,
"b": 0.3665,
"c": 3.0541,
"speed": 0.3,
"planner": "lin"
},
{
"x": 0.56,
"y": -0.1,
"z": 0.5,
"a": 3.14,
"b": 0.3665,
"c": 2.9666,
"speed": 0.4,
"planner": "lin"
},
{
"x": 0.56,
"y": 0.1,
"z": 0.5,
"a": 3.14,
"b": 0.3665,
"c": 2.9666,
"speed": 0.3,
"planner": "lin"
},
{
"x": 0.58,
"y": 0.1,
"z": 0.5,
"a": 3.14,
"b": 0.3665,
"c": 2.8791,
"speed": 0.4,
"planner": "lin"
},
{
"x": 0.58,
"y": -0.1,
"z": 0.5,
"a": 3.14,
"b": 0.3665,
"c": 2.8791,
"speed": 0.3,
"planner": "lin"
},
{
"x": 0.6,
"y": -0.1,
"z": 0.5,
"a": 3.14,
"b": 0.3665,
"c": 2.7916,
"speed": 0.4,
"planner": "lin"
},
{
"x": 0.6,
"y": 0.1,
"z": 0.5,
"a": 3.14,
"b": 0.3665,
"c": 2.7916,
"speed": 0.3,
"planner": "lin"
},
{
"x": 0.6,
"y": 0.1,
"z": 0.45,
"a": 3.14,
"b": 0.4189,
"c": 2.7916,
"speed": 0.4,
"planner": "lin"
},
{
"x": 0.6,
"y": -0.1,
"z": 0.45,
"a": 3.14,
"b": 0.4189,
"c": 2.7916,
"speed": 0.3,
"planner": "lin"
},
{
"x": 0.58,
"y": -0.1,
"z": 0.45,
"a": 3.14,
"b": 0.4189,
"c": 2.8791,
"speed": 0.4,
"planner": "lin"
},
{
"x": 0.58,
"y": 0.1,
"z": 0.45,
"a": 3.14,
"b": 0.4189,
"c": 2.8791,
"speed": 0.3,
"planner": "lin"
},
{
"x": 0.56,
"y": 0.1,
"z": 0.45,
"a": 3.14,
"b": 0.4189,
"c": 2.9666,
"speed": 0.4,
"planner": "lin"
},
{
"x": 0.56,
"y": -0.1,
"z": 0.45,
"a": 3.14,
"b": 0.4189,
"c": 2.9666,
"speed": 0.3,
"planner": "lin"
},
{
"x": 0.54,
"y": -0.1,
"z": 0.45,
"a": 3.14,
"b": 0.4189,
"c": 3.0541,
"speed": 0.4,
"planner": "lin"
},
{
"x": 0.54,
"y": 0.1,
"z": 0.45,
"a": 3.14,
"b": 0.4189,
"c": 3.0541,
"speed": 0.3,
"planner": "lin"
},
{
"x": 0.52,
"y": 0.1,
"z": 0.45,
"a": 3.14,
"b": 0.4189,
"c": 3.1416,
"speed": 0.4,
"planner": "lin"
},
{
"x": 0.52,
"y": -0.1,
"z": 0.45,
"a": 3.14,
"b": 0.4189,
"c": 3.1416,
"speed": 0.3,
"planner": "lin"
},
{
"x": 0.5,
"y": -0.1,
"z": 0.45,
"a": 3.14,
"b": 0.4189,
"c": 3.2291,
"speed": 0.4,
"planner": "lin"
},
{
"x": 0.5,
"y": 0.1,
"z": 0.45,
"a": 3.14,
"b": 0.4189,
"c": 3.2291,
"speed": 0.3,
"planner": "lin"
},
{
"x": 0.48,
"y": 0.1,
"z": 0.45,
"a": 3.14,
"b": 0.4189,
"c": 3.3166,
"speed": 0.4,
"planner": "lin"
},
{
"x": 0.48,
"y": -0.1,
"z": 0.45,
"a": 3.14,
"b": 0.4189,
"c": 3.3166,
"speed": 0.3,
"planner": "lin"
},
{
"x": 0.46,
"y": -0.1,
"z": 0.45,
"a": 3.14,
"b": 0.4189,
"c": 3.4041,
"speed": 0.4,
"planner": "lin"
},
{
"x": 0.46,
"y": 0.1,
"z": 0.45,
"a": 3.14,
"b": 0.4189,
"c": 3.4041,
"speed": 0.3,
"planner": "lin"
},
{
"x": 0.44,
"y": 0.1,
"z": 0.45,
"a": 3.14,
"b": 0.4189,
"c": 3.4916,
"speed": 0.4,
"planner": "lin"
},
{
"x": 0.44,
"y": -0.1,
"z": 0.45,
"a": 3.14,
"b": 0.4189,
"c": 3.4916,
"speed": 0.3,
"planner": "lin"
},
{
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},
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{
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},
{
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},
{
"x": 0.44,
"y": 0.1,
"z": 0.35,
"a": 3.14,
"b": 0.5236,
"c": 3.4916,
"speed": 0.4,
"planner": "lin"
},
{
"x": 0.44,
"y": -0.1,
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"c": 3.4916,
"speed": 0.3,
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}
]
}
src/iiwa_utils/setup.py
-2
View File
@@ -10,7 +10,6 @@ setup(
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
('share/' + package_name, ['iiwa_utils/motion_config.json']),
],
install_requires=['setuptools'],
zip_safe=True,
@@ -22,7 +21,6 @@ setup(
'console_scripts': [
"object_spawner = iiwa_utils.object_spawner:main",
"camera_spawner = iiwa_utils.camera_spawner:main",
"test_motion_sequence = iiwa_utils.test_motion_sequence:main",
],
},
)