rt2_2.ipynb

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    "# Import Libraries and Configure Environment\n",
    "import sys\n",
    "import os\n",
    "\n",
    "# Assuming ROS is installed in the default location\n",
    "ros_path = '/opt/ros/noetic/lib/python3/dist-packages'\n",
    "if ros_path not in sys.path:\n",
    "    sys.path.append(ros_path)\n",
    "\n",
    "# Add your ROS workspace\n",
    "workspace_path = os.path.join(os.environ['HOME'], 'Desktop/RT1_2/catkin_ws/devel/lib/python3/dist-packages')\n",
    "if workspace_path not in sys.path:\n",
    "    sys.path.append(workspace_path)\n",
    "\n",
    "# Importing necessary libraries\n",
    "import rospy\n",
    "from geometry_msgs.msg import Point, Pose, Twist\n",
    "from nav_msgs.msg import Odometry\n",
    "import actionlib\n",
    "from assignment_2_2023.msg import Vel, PlanningAction, PlanningGoal, PlanningResult\n",
    "from actionlib_msgs.msg import GoalStatus\n",
    "import ipywidgets as widgets\n",
    "from IPython.display import display, clear_output\n",
    "import matplotlib.pyplot as plt\n",
    "from matplotlib.animation import FuncAnimation\n"
   ]
  },
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    "# Initialize global variables\n",
    "x_data = []\n",
    "y_data = []\n",
    "reached_goals = 0\n",
    "missed_goals = 0\n",
    "\n",
    "# Define goal handling functions\n",
    "def set_goal(b):\n",
    "    goal_x = goal_x_widget.value\n",
    "    goal_y = goal_y_widget.value\n",
    "    rospy.set_param('/des_pos_x', goal_x)\n",
    "    rospy.set_param('/des_pos_y', goal_y)\n",
    "    new_goal = PlanningGoal()\n",
    "    new_goal.target_pose.pose.position.x = goal_x\n",
    "    new_goal.target_pose.pose.position.y = goal_y\n",
    "    goal_action_client.send_goal(new_goal, done_cb=goal_done_cb)\n",
    "    rospy.loginfo(f\"Set new goal: ({goal_x}, {goal_y})\")\n",
    "\n",
    "def cancel_goal(b):\n",
    "    goal_action_client.cancel_goal()\n",
    "    rospy.loginfo(\"Goal cancelled\")\n",
    "\n",
    "def goal_done_cb(state, result):\n",
    "    global reached_goals, missed_goals\n",
    "    if state == GoalStatus.SUCCEEDED:\n",
    "        reached_goals += 1\n",
    "    else:\n",
    "        missed_goals += 1\n",
    "    update_goal_stats()\n",
    "\n",
    "def update_goal_stats():\n",
    "    goal_stats_text.set_text(f\"Reached Goals: {reached_goals}\\nMissed Goals: {missed_goals}\")\n",
    "    ax2.figure.canvas.draw()\n"
   ]
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   "source": [
    "# Initialize global variables\n",
    "x_data = []\n",
    "y_data = []\n",
    "reached_goals = 0\n",
    "missed_goals = 0\n",
    "\n",
    "# Define goal handling functions\n",
    "def set_goal(b):\n",
    "    goal_x = goal_x_widget.value\n",
    "    goal_y = goal_y_widget.value\n",
    "    rospy.set_param('/des_pos_x', goal_x)\n",
    "    rospy.set_param('/des_pos_y', goal_y)\n",
    "    new_goal = PlanningGoal()\n",
    "    new_goal.target_pose.pose.position.x = goal_x\n",
    "    new_goal.target_pose.pose.position.y = goal_y\n",
    "    goal_action_client.send_goal(new_goal, done_cb=goal_done_cb)\n",
    "    rospy.loginfo(f\"Set new goal: ({goal_x}, {goal_y})\")\n",
    "\n",
    "def cancel_goal(b):\n",
    "    goal_action_client.cancel_goal()\n",
    "    rospy.loginfo(\"Goal cancelled\")\n",
    "\n",
    "def goal_done_cb(state, result):\n",
    "    global reached_goals, missed_goals\n",
    "    if state == GoalStatus.SUCCEEDED:\n",
    "        reached_goals += 1\n",
    "    else:\n",
    "        missed_goals += 1\n",
    "    update_goal_stats()\n",
    "\n",
    "def update_goal_stats():\n",
    "    goal_stats_text.set_text(f\"Reached Goals: {reached_goals}\\nMissed Goals: {missed_goals}\")\n",
    "    ax2.figure.canvas.draw()\n"
   ]
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    "# Initialize ROS node and action client with debug information\n",
    "print(\"Initializing ROS node...\")\n",
    "rospy.init_node('target_goal_manager', anonymous=True)\n",
    "print(\"ROS node initialized.\")\n",
    "\n",
    "print(\"Creating action client...\")\n",
    "goal_action_client = actionlib.SimpleActionClient('/reaching_goal', PlanningAction)\n",
    "print(\"Waiting for action server to start...\")\n",
    "\n",
    "# Wait for the action server to start with a longer timeout\n",
    "server_started = goal_action_client.wait_for_server(timeout=rospy.Duration(30.0))\n",
    "if not server_started:\n",
    "    print(\"Error: Action server not available.\")\n",
    "else:\n",
    "    print(\"Action server started.\")\n"
   ]
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   "source": [
    "# Create widgets for displaying position and velocity\n",
    "pos_x_widget = widgets.FloatText(description='Pos X')\n",
    "pos_y_widget = widgets.FloatText(description='Pos Y')\n",
    "vel_x_widget = widgets.FloatText(description='Vel X')\n",
    "vel_z_widget = widgets.FloatText(description='Vel Z')\n"
   ]
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    "# Create widgets for setting and canceling goals\n",
    "goal_x_widget = widgets.FloatText(description='Goal X')\n",
    "goal_y_widget = widgets.FloatText(description='Goal Y')\n",
    "set_goal_button = widgets.Button(description='Set Goal')\n",
    "cancel_goal_button = widgets.Button(description='Cancel Goal')\n",
    "\n",
    "# Attach functions to buttons\n",
    "set_goal_button.on_click(set_goal)\n",
    "cancel_goal_button.on_click(cancel_goal)\n"
   ]
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   "source": [
    "# Display the widgets\n",
    "display(pos_x_widget, pos_y_widget, vel_x_widget, vel_z_widget)\n",
    "display(goal_x_widget, goal_y_widget, set_goal_button, cancel_goal_button)\n"
   ]
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",
      "text/html": [
       "\n",
       "            <div style=\"display: inline-block;\">\n",
       "                <div class=\"jupyter-widgets widget-label\" style=\"text-align: center;\">\n",
       "                    Figure\n",
       "                </div>\n",
       "                <img 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' width=800.0/>\n",
       "            </div>\n",
       "        "
      ],
      "text/plain": [
       "Canvas(toolbar=Toolbar(toolitems=[('Home', 'Reset original view', 'home', 'home'), ('Back', 'Back to previous …"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "# Set up the plot\n",
    "%matplotlib widget\n",
    "fig, (ax1, ax2) = plt.subplots(2, 1, figsize=(8, 10))\n",
    "ax1.set_xlim(-2, 12)\n",
    "ax1.set_ylim(-2, 12)\n",
    "line, = ax1.plot([], [], 'r-')\n",
    "goal_stats_text = ax2.text(0.5, 0.5, \"\", ha='center', va='center', fontsize=12)\n",
    "ax2.axis('off')\n",
    "\n",
    "# Update the plot with odom data\n",
    "def update_plot(frame):\n",
    "    line.set_xdata(x_data)\n",
    "    line.set_ydata(y_data)\n",
    "    ax1.figure.canvas.draw()\n",
    "\n",
    "# Initialize FuncAnimation\n",
    "ani = FuncAnimation(fig, update_plot, blit=False)\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "id": "2e073d7e-c5c5-4cc3-aa82-6fbc8fbd1479",
   "metadata": {
    "execution": {
     "iopub.execute_input": "2024-05-30T23:59:30.004019Z",
     "iopub.status.busy": "2024-05-30T23:59:30.001680Z",
     "iopub.status.idle": "2024-05-30T23:59:30.049511Z",
     "shell.execute_reply": "2024-05-30T23:59:30.047843Z",
     "shell.execute_reply.started": "2024-05-30T23:59:30.003903Z"
    }
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<rospy.topics.Subscriber at 0x7ffb38155400>"
      ]
     },
     "execution_count": 9,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# Odometry callback\n",
    "def odom_callback(odom_data):\n",
    "    position = odom_data.pose.pose.position\n",
    "    linear_velocity = odom_data.twist.twist.linear\n",
    "    angular_velocity = odom_data.twist.twist.angular\n",
    "\n",
    "    x_data.append(position.x)\n",
    "    y_data.append(position.y)\n",
    "    pos_x_widget.value = position.x\n",
    "    pos_y_widget.value = position.y\n",
    "    vel_x_widget.value = linear_velocity.x\n",
    "    vel_z_widget.value = angular_velocity.z\n",
    "\n",
    "# Subscribe to Odometry data\n",
    "rospy.Subscriber(\"/odom\", Odometry, odom_callback)\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "da17ff68-bd54-4331-bff1-e066f14b3f1f",
   "metadata": {
    "execution": {
     "iopub.execute_input": "2024-05-30T23:59:30.053583Z",
     "iopub.status.busy": "2024-05-30T23:59:30.052383Z"
    }
   },
   "outputs": [],
   "source": [
    "# Keep the node running\n",
    "rospy.spin()\n"
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3 (ipykernel)",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.8.10"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 5
}