Python для робототехники: как создать приложение для локализации робота Pepper

В эти дни я попытался создать приложение, используя шаблон pythonapp из проекта Jumpstarter Github (https://github.com/aldebaran/robot-jumpstarter), чтобы выполнить локализацию Pepper. Моя основная идея - объединить модуль LandmarkDetector в созданном приложении "Lokalisierung" (локализация немецкого языка).

Вы можете прочитать весь код "LandmarkDetector.py", "main.py" и "MainLandmarkDetection.py" здесь:

"LandmarkDetector.py":

#! /usr/bin/env python
# -*- encoding: UTF-8 -*-

Пример "Демонстрирует способ локализации робота с помощью ALLandMarkDetection" ""

import qi
import time
import sys
import argparse
import math
import almath


class LandmarkDetector(object):

"""
We first instantiate a proxy to the ALLandMarkDetection module
Note that this module should be loaded on the robot naoqi.
The module output its results in ALMemory in a variable
called "LandmarkDetected".
We then read this ALMemory value and check whether we get
interesting things.
After that we get the related position of the landmark compared to robot.
"""

def __init__(self, app):
    """
    Initialisation of qi framework and event detection.
    """
    super(LandmarkDetector, self).__init__()

    app.start()
    session = app.session
    # Get the service ALMemory.
    self.memory = session.service("ALMemory")
    # Connect the event callback.

    # Get the services ALMotion & ALRobotPosture.

    self.motion_service = session.service("ALMotion")
    self.posture_service = session.service("ALRobotPosture")

    self.subscriber = self.memory.subscriber("LandmarkDetected")
    print "self.subscriber = self.memory.subscriber(LandmarkDetected)"
    self.subscriber.signal.connect(self.on_landmark_detected)
    print "self.subscriber.signal.connect(self.on_landmark_detected)"
    # Get the services ALTextToSpeech, ALLandMarkDetection and ALMotion.
    self.tts = session.service("ALTextToSpeech")
    self.landmark_detection = session.service("ALLandMarkDetection")
  #  print "self.landmark_detection" is repr(self.landmark_detection)
    self.motion_service = session.service("ALMotion")
    self.landmark_detection.subscribe("LandmarkDetector", 500, 0.0 )
    print "self.landmark_detection.subscribe(LandmarkDetector, 500, 0.0 )"
    self.got_landmark = False
    # Set here the size of the landmark in meters.
    self.landmarkTheoreticalSize = 0.06 #in meters 0  #.05 or 0.06?
    # Set here the current camera ("CameraTop" or "CameraBottom").
    self.currentCamera = "CameraTop"

def on_landmark_detected(self, markData):
    """
    Callback for event LandmarkDetected.
    """
    while markData == [] :  # empty value when the landmark disappears
        self.got_landmark = False
        self.motion_service.moveTo(0, 0, 0.1 * math.pi)

    if not self.got_landmark:  # only speak the first time a landmark appears
        self.got_landmark = True

#stop.motion_service.moveTo

        print "Ich sehe eine Landmarke! "
        self.tts.say("Ich sehe eine Landmarke! ")

        # Retrieve landmark center position in radians.
        wzCamera = markData[1][0][0][1]
        wyCamera = markData[1][0][0][2]

        # Retrieve landmark angular size in radians.
        angularSize = markData[1][0][0][3]

        # Compute distance to landmark.
        distanceFromCameraToLandmark = self.landmarkTheoreticalSize / ( 2 * math.tan( angularSize / 2))

        # Get current camera position in NAO space.
        transform = self.motion_service.getTransform(self.currentCamera, 2, True)
        transformList = almath.vectorFloat(transform)
        robotToCamera = almath.Transform(transformList)

        # Compute the rotation to point towards the landmark.
        cameraToLandmarkRotationTransform = almath.Transform_from3DRotation(0, wyCamera, wzCamera)

        # Compute the translation to reach the landmark.
        cameraToLandmarkTranslationTransform = almath.Transform(distanceFromCameraToLandmark, 0, 0)

        # Combine all transformations to get the landmark position in NAO space.
        robotToLandmark = robotToCamera * cameraToLandmarkRotationTransform *cameraToLandmarkTranslationTransform

#    robotTurnAroundAngle = almath.rotationFromAngleDirection(0, 1, 1, 1)
#        print "robotTurnAroundAngle = ", robotTurnAroundAngle

        print "x " + str(robotToLandmark.r1_c4) + " (in meters)"
        print "y " + str(robotToLandmark.r2_c4) + " (in meters)"
        print "z " + str(robotToLandmark.r3_c4) + " (in meters)"

def run(self):
    """
    Loop on, wait for events until manual interruption.
    """

    # Wake up robot
    self.motion_service.wakeUp()

    # Send robot to Pose Init
    self.posture_service.goToPosture("StandInit", 0.5)

    # Example showing how to get a simplified robot position in world.
    useSensorValues = False
    result = self.motion_service.getRobotPosition(useSensorValues)
    print "Robot Position", result

    # Example showing how to use this information to know the robot diplacement.
    useSensorValues = False
    #   initRobotPosition = almath.Pose2D(self.motion_service.getRobotPosition(useSensorValues))

    # Make the robot move
    for i in range(1, 12, 1):
        self.motion_service.moveTo(0, 0, 0.1 * math.pi)
        print "self.motion_service.moveTo(0, 0, (0.1)*math.pi)"

    print "Starting LandmarkDetector"
    try:
        while True:
            time.sleep(1)
    except KeyboardInterrupt:
        print "Interrupted by user, stopping LandmarkDetector"
        self.landmark_detection.unsubscribe("LandmarkDetector")
        #stop
        sys.exit(0)


if __name__ == "__main__":


    parser = argparse.ArgumentParser()
    parser.add_argument("--ip", type=str, default="10.0.0.10",
                    help="Robot IP address. On robot or Local Naoqi: use 
'10.0.0.10'.")
    parser.add_argument("--port", type=int, default=9559,
                    help="Naoqi port number")

    args = parser.parse_args()
    try:
        # Initialize qi framework.
        connection_url = "tcp://" + args.ip + ":" + str(args.port)
        app = qi.Application(["LandmarkDetector", "--qi-url=" + connection_url])
    except RuntimeError:
        print ("Can't connect to Naoqi at ip \"" + args.ip + "\" on port " + str(args.port) +".\n"
               "Please check your script arguments. Run with -h option for help.")
        sys.exit(1)
    landmark_detector = LandmarkDetector(app)
    landmark_detector.run()

"main.py":

"" Пример, показывающий, как сделать скрипт Python в качестве приложения. "" "

version= "0.0.8"

copyright= "Copyright 2015, Aldebaran Robotics" author= 'YOURNAME' email= '[email protected]'

import stk.runner
import stk.events
import stk.services
import stk.logging

class Activity(object):

"Пример отдельного приложения, демонстрирующего простое использование Python" APP_ID = "com.aldebaran.lokalisierung"

def __init__(self, qiapp):
    self.qiapp = qiapp
    self.events = stk.events.EventHelper(qiapp.session)
    self.s = stk.services.ServiceCache(qiapp.session)
    self.logger = stk.logging.get_logger(qiapp.session, self.APP_ID)

def on_touched(self, *args):
    "Callback for tablet touched."
    if args:
        self.events.disconnect("ALTabletService.onTouchDown")
        self.logger.info("Tablet touched: " + str(args))
        self.s.ALTextToSpeech.say("Yay!")
        self.stop()

def on_start(self):
    "Ask to be touched, waits, and exits."
    # Two ways of waiting for events
    # 1) block until it called

    self.s.ALTextToSpeech.say("Touch my forehead.")
    self.logger.warning("Listening for touch...")
    while not self.events.wait_for("FrontTactilTouched"):
        pass

    # 2) explicitly connect a callback
    if self.s.ALTabletService:
        self.events.connect("ALTabletService.onTouchDown", self.on_touched)
        self.s.ALTextToSpeech.say("okay, now touch my tablet.")
        # (this allows to simltaneously speak and watch an event)
    else:
        self.s.ALTextToSpeech.say("touch my tablet ... oh. " + \
            "I don't haave one.")
        self.stop()

def stop(self):
    "Standard way of stopping the application."
    self.qiapp.stop()

def on_stop(self):
    "Cleanup"
    self.logger.info("Application finished.")
    self.events.clear()

if __name__ == "__main__":


    stk.runner.run_activity(Activity)

"MainLandmarkDetection.py":

#! /usr/bin/env python
# -*- encoding: UTF-8 -*-

"" "Пример, показывающий, как сделать скрипт Python в качестве приложения для локализации робота с ALLandMarkDetection" ""

version= "0.0.8"

copyright= "Copyright 2015, Aldebaran Robotics"

author= 'YOURNAME'

email= '[email protected]'

import stk.runner
import stk.events
import stk.services
import stk.logging
import time
import sys
import math
import almath

class Activity(object):

"Пример отдельного приложения, демонстрирующего простое использование Python" APP_ID = "com.aldebaran.lokalisierung"

def __init__(self, qiapp):

    self.qiapp = qiapp
    self.events = stk.events.EventHelper(qiapp.session)
    self.s = stk.services.ServiceCache(qiapp.session)
    self.logger = stk.logging.get_logger(qiapp.session, self.APP_ID)
    self.qiapp.start()
    session = qiapp.session
    # Get the service ALMemory.
    self.memory = session.service("ALMemory")
    # Connect the event callback.

    # Get the services ALMotion & ALRobotPosture.

    self.motion_service = session.service("ALMotion")
    self.posture_service = session.service("ALRobotPosture")

    self.subscriber = self.memory.subscriber("LandmarkDetected")
    print "self.subscriber = self.memory.subscriber(LandmarkDetected)"
    self.subscriber.signal.connect(self.on_landmark_detected)
    print "self.subscriber.signal.connect(self.on_landmark_detected)"
    # Get the services ALTextToSpeech, ALLandMarkDetection and ALMotion.
    self.tts = session.service("ALTextToSpeech")
    self.landmark_detection = session.service("ALLandMarkDetection")
    #  print "self.landmark_detection" is repr(self.landmark_detection)
    self.motion_service = session.service("ALMotion")
    self.landmark_detection.subscribe("Activity", 500, 0.0)
    print "self.landmark_detection.subscribe(Activity, 500, 0.0 )"
    self.got_landmark = False
    # Set here the size of the landmark in meters.
    self.landmarkTheoreticalSize = 0.06  # in meters 0  #.05 or 0.06?
    # Set here the current camera ("CameraTop" or "CameraBottom").
    self.currentCamera = "CameraTop"

def on_landmark_detected(self, markData):
    """
    Callback for event LandmarkDetected.
    """
    while markData == []:  # empty value when the landmark disappears
        self.got_landmark = False
    #           self.motion_service.moveTo(0, 0, 0.1 * math.pi)

    if not self.got_landmark:  # only speak the first time a landmark appears
        self.got_landmark = True

        # stop.motion_service.moveTo

        print "Ich sehe eine Landmarke! "
        #          self.tts.say("Ich sehe eine Landmarke! ")

        # Retrieve landmark center position in radians.
        wzCamera = markData[1][0][0][1]
        wyCamera = markData[1][0][0][2]

        # Retrieve landmark angular size in radians.
        angularSize = markData[1][0][0][3]

        # Compute distance to landmark.
        distanceFromCameraToLandmark = self.landmarkTheoreticalSize / (2 * math.tan(angularSize / 2))

        # Get current camera position in NAO space.
        transform = self.motion_service.getTransform(self.currentCamera, 2, True)
        transformList = almath.vectorFloat(transform)
        robotToCamera = almath.Transform(transformList)

        # Compute the rotation to point towards the landmark.
        cameraToLandmarkRotationTransform = almath.Transform_from3DRotation(0, wyCamera, wzCamera)

        # Compute the translation to reach the landmark.
        cameraToLandmarkTranslationTransform = almath.Transform(distanceFromCameraToLandmark, 0, 0)

        # Combine all transformations to get the landmark position in NAO space.
        robotToLandmark = robotToCamera * cameraToLandmarkRotationTransform * cameraToLandmarkTranslationTransform

        #    robotTurnAroundAngle = almath.rotationFromAngleDirection(0, 1, 1, 1)
        #        print "robotTurnAroundAngle = ", robotTurnAroundAngle

        print "x " + str(robotToLandmark.r1_c4) + " (in meters)"
        print "y " + str(robotToLandmark.r2_c4) + " (in meters)"
        print "z " + str(robotToLandmark.r3_c4) + " (in meters)"

def run(self):
    """
    Loop on, wait for events until manual interruption.
    """

    # Wake up robot
    self.motion_service.wakeUp()

    # Send robot to Pose Init
    self.posture_service.goToPosture("StandInit", 0.5)

    # Example showing how to get a simplified robot position in world.
    useSensorValues = False
    result = self.motion_service.getRobotPosition(useSensorValues)
    print "Robot Position", result

    # Example showing how to use this information to know the robot diplacement.
    useSensorValues = False
    #   initRobotPosition = almath.Pose2D(self.motion_service.getRobotPosition(useSensorValues))

    # Make the robot move
    for i in range(1, 20, 1):
        self.motion_service.moveTo(0, 0, 0.1 * math.pi)
        print "self.motion_service.moveTo(0, 0, (0.1)*math.pi)"

    print "Starting Activity"
    try:
        while True:
            time.sleep(1)
    except KeyboardInterrupt:
        print "Interrupted by user, stopping Activity"
        self.landmark_detection.unsubscribe("Activity")
        # stop
        sys.exit(0)

    def stop(self):
        "Standard way of stopping the application."
        self.qiapp.stop()

    def on_stop(self):
        "Cleanup"
        self.logger.info("Application finished.")
        self.events.clear()

if __name__ == "__main__":



    stk.runner.run_activity(Activity)

    landmark_detector = Activity()

    landmark_detector.run()

Вот как это работает в cmd.exe:

И у меня вопрос к параметру " landmark_detector = Activity() " в строке 157 почти в конце программы из-за ошибки в изображении, которую я должен передать. После прочтения ответов на аналогичный вопрос здесь Stackoverflow Python: TypeError: __init __() принимает ровно 2 аргумента (1 данный), я все еще запутался. Я думаю, что это должно быть значение, которое дается "qiapp", но какое значение?

С уважением, Фредерик