Python for Robotics：如何生成一个用于Pepper rob本地化的应用程序

Question

这些天来，我尝试使用Github项目Jumpstarter（https://github.com/aldebaran/robot-jumpstarter）中的pythonapp模板生成一个应用程序来实现Pepper的本地化。我的基本想法是在生成的应用程序“lokaliserung”（德语本地化）中结合LandmarkDetector模块。

你可以阅读“的全部代码”LandmarkDetector.py","主.py“和”MainLandmarkDetection.py“这里：

“LandmarkDetector.py“：

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

"""Example: Demonstrates a way to localize the robot with ALLandMarkDetection"""

^{pr2}$

"""
We first instantiate a proxy to the ALLandMarkDetection module
Note that this module should be loaded on the robot's 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's 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()

“主.py“：

""" A sample showing how to make a Python script as an app. """

version = "0.0.8"

copyright = "Copyright 2015, Aldebaran Robotics" author = 'YOURNAME' email = 'YOUREMAIL@aldebaran.com'

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

class Activity(object):

"A sample standalone app, that demonstrates simple Python usage" 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's 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)

“米ainLandmarkDetection.py“：

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

"""A sample showing how to make a Python script as an app to localize the robot with ALLandMarkDetection"""

version = "0.0.8"

copyright = "Copyright 2015, Aldebaran Robotics"

author = 'YOURNAME'

email = 'YOUREMAIL@aldebaran.com'

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

class Activity(object):

"A sample standalone app, that demonstrates simple Python usage" 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's 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()

这就是它的工作原理命令提示符：

在程序的最后，我对第157行中“landmark_detector = Activity()”的参数有一个问题，因为图像中的错误，我应该传递这个错误。在阅读了StackoverflowPython: TypeError: __init__() takes exactly 2 arguments (1 given)对类似问题的答案后，我仍然感到困惑。我认为它应该是一个赋予“qiapp”的值，但是什么值呢？在

谨致问候， 弗雷德里克

Answer 1

实际上，当你打电话的时候

stk.runner.run_activity(Activity)

。。。它将为您实例化活动对象，使用正确的参数，您不需要在MainLandmarkDetector.py在

如果这个对象有一个方法在\u start时被调用，那么一旦一切就绪，就会调用该方法（因此您只需要将run（）方法重命名为on_start（）

请注意，不要打电话系统停止（），你可以打电话来自动停止（）或self.qiapp.停止（）（如果您需要取消订阅，那么在停止调用on_中的清理代码方面，这样做更为简洁一些。）

有关的一些文档，请参见here转轮. 在

也要注意的是

^{pr2}$

你可以直接做

transform = self.s.ALMotion.getTransform(self.currentCamera, 2, True)

。。。这（在我看来）使我们更容易看清到底在做什么（并且减少了变量的数量）。在