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from robomaster import robot |
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from time import sleep |
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from dora import Node |
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import numpy as np |
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import pyarrow as pa |
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def wait(event): |
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if event is not None and not (event._event.isSet() and event.is_completed): |
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sleep(1) |
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ep_robot = robot.Robot() |
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assert ep_robot.initialize(conn_type="ap"), "Could not initialize ep_robot" |
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assert ep_robot.camera.start_video_stream(display=False), "Could not start video stream" |
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ep_robot.gimbal.recenter().wait_for_completed() |
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node = Node() |
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current_location = "HOME" |
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LOCATION = { |
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"HOME": { |
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"KITCHEN": np.array([[0.5, 0.0, 0.0, 0.8, 0.0, 0.0, 0.0]]), |
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"OFFICE": np.array([[0.5, 0.0, 0.0, 0.8, 0.0, 0.0, 0.0]]), |
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}, |
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"KITCHEN": { |
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"OFFICE": np.array([[-0.5, 0.0, 0.0, 0.8, 0.0, 0.0, -180.0]]), |
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}, |
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"OFFICE": { |
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"KITCHEN": np.array([[-0.5, 0.0, 0.0, 0.8, 0.0, 0.0, -180.0]]), |
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}, |
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} |
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for dora_event in node: |
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if dora_event["type"] == "INPUT" and dora_event["id"] == "control": |
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[x, y, z, xy_speed, z_speed, pitch, yaw] = dora_event["value"].to_numpy() |
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print(dora_event["value"].to_numpy(), flush=True) |
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if any([pitch, yaw]): |
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event = ep_robot.gimbal.moveto( |
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pitch=pitch, yaw=yaw, pitch_speed=60.0, yaw_speed=50.0 |
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) |
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wait(event) |
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sleep(2) |
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if any([x, y, z]): |
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event = ep_robot.chassis.move( |
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x=x, y=y, z=z, xy_speed=xy_speed, z_speed=z_speed |
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) |
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wait(event) |
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sleep(6) |
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if dora_event["type"] == "INPUT" and dora_event["id"] == "go_to": |
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destination = dora_event["value"][0].as_py() |
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commands = LOCATION[current_location][destination] |
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for command in commands: |
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[x, y, z, xy_speed, z_speed, pitch, yaw] = command |
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if any([pitch, yaw]): |
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event = ep_robot.gimbal.moveto( |
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pitch=pitch, yaw=yaw, pitch_speed=60.0, yaw_speed=50.0 |
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) |
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wait(event) |
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sleep(2) |
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if any([x, y, z]): |
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event = ep_robot.chassis.move( |
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x=x, y=y, z=z, xy_speed=xy_speed, z_speed=z_speed |
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) |
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wait(event) |
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sleep(3) |
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node.send_output(f"reached_{destination.lower()}", pa.array([])) |
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current_location = destination |
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