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00001 #!/usr/bin/python 00002 # Software License Agreement (BSD License) 00003 # 00004 # Copyright (c) 2009, Willow Garage, Inc. 00005 # All rights reserved. 00006 # 00007 # Redistribution and use in source and binary forms, with or without 00008 # modification, are permitted provided that the following conditions 00009 # are met: 00010 # 00011 # * Redistributions of source code must retain the above copyright 00012 # notice, this list of conditions and the following disclaimer. 00013 # * Redistributions in binary form must reproduce the above 00014 # copyright notice, this list of conditions and the following 00015 # disclaimer in the documentation and/or other materials provided 00016 # with the distribution. 00017 # * Neither the name of the Willow Garage nor the names of its 00018 # contributors may be used to endorse or promote products derived 00019 # from this software without specific prior written permission. 00020 # 00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 # POSSIBILITY OF SUCH DAMAGE. 00033 # 00034 # author: Kaijen Hsiao 00035 00036 #Pick and place demo: picks objects up from one side of the table and moves 00037 #them to the other, then switches sides 00038 00039 import roslib 00040 roslib.load_manifest('pr2_pick_and_place_demos') 00041 import rospy 00042 import actionlib 00043 from pr2_pick_and_place_demos.pick_and_place_demo import * 00044 from pr2_controllers_msgs.msg import SingleJointPositionAction, SingleJointPositionGoal 00045 00046 if __name__ == '__main__': 00047 00048 rospy.init_node('pick_and_place_demo', anonymous=False) 00049 00050 use_slip_controller = rospy.get_param('/reactive_grasp_node_right/use_slip_controller', 0) 00051 use_slip_detection = rospy.get_param('/reactive_grasp_node_right/use_slip_detection', 0) 00052 just_start = rospy.get_param("~just_start", True) 00053 00054 pick_and_place_demo = PickAndPlaceDemo(use_slip_controller = use_slip_controller, \ 00055 use_slip_detection = use_slip_detection) 00056 if just_start: 00057 #lift the torso all the way up 00058 torso_action_client = actionlib.SimpleActionClient('torso_controller/position_joint_action', SingleJointPositionAction); 00059 rospy.loginfo("run_pick_and_place_demo: waiting for torso action server") 00060 torso_action_client.wait_for_server() 00061 rospy.loginfo("run_pick_and_place_demo: torso action server found") 00062 goal = SingleJointPositionGoal() 00063 goal.position = 0.295 00064 rospy.loginfo("sending command to lift torso") 00065 torso_action_client.send_goal(goal) 00066 torso_action_client.wait_for_result(rospy.Duration(30)) 00067 00068 #start the pick and place demo 00069 rospy.loginfo("starting pick and place demo") 00070 pick_and_place_demo.start_autonomous_thread(True) 00071 rospy.spin() 00072 else: 00073 rospy.loginfo("starting pick and place keyboard interface") 00074 pick_and_place_demo.keyboard_interface()