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00001 #! /usr/bin/python 00002 # Copyright (c) 2008, Willow Garage, Inc. 00003 # All rights reserved. 00004 # 00005 # Redistribution and use in source and binary forms, with or without 00006 # modification, are permitted provided that the following conditions are met: 00007 # 00008 # * Redistributions of source code must retain the above copyright 00009 # notice, this list of conditions and the following disclaimer. 00010 # * Redistributions in binary form must reproduce the above copyright 00011 # notice, this list of conditions and the following disclaimer in the 00012 # documentation and/or other materials provided with the distribution. 00013 # * Neither the name of the Willow Garage, Inc. nor the names of its 00014 # contributors may be used to endorse or promote products derived from 00015 # this software without specific prior written permission. 00016 # 00017 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 # POSSIBILITY OF SUCH DAMAGE. 00028 00029 # This script brings up an effort controller on your joint of choice 00030 # and allows you to type in the desired efforts. 00031 # 00032 # Author: Stuart Glaser 00033 00034 import random 00035 CONTROLLER_NAME = "quick_effort_controller_%08d" % random.randint(0,10**8-1) 00036 00037 import sys 00038 import signal 00039 import roslib 00040 roslib.load_manifest('robot_mechanism_controllers') 00041 import rospy 00042 from std_msgs.msg import * 00043 from pr2_controller_manager import pr2_controller_manager_interface 00044 00045 prev_handler = None 00046 00047 def shutdown(sig, stackframe): 00048 pr2_controller_manager_interface.stop_controller(CONTROLLER_NAME) 00049 pr2_controller_manager_interface.unload_controller(CONTROLLER_NAME) 00050 if prev_handler is not None: 00051 prev_handler(signal.SIGINT,None) 00052 00053 def load_joint_config(joint_name): 00054 rospy.set_param(CONTROLLER_NAME+'/type', 'JointEffortController') 00055 rospy.set_param(CONTROLLER_NAME+'/joint', joint_name) 00056 00057 def main(): 00058 if len(sys.argv) < 2: 00059 print "Usage: effort.py <joint>" 00060 sys.exit(1) 00061 joint = sys.argv[1] 00062 rospy.init_node('effort', anonymous=True) 00063 00064 # Override rospy's signal handling. We'll invoke rospy's handler after 00065 # we're done shutting down 00066 prev_handler = signal.getsignal(signal.SIGINT) 00067 signal.signal(signal.SIGINT, shutdown) 00068 00069 load_joint_config(joint) 00070 pr2_controller_manager_interface.load_controller(CONTROLLER_NAME) 00071 pr2_controller_manager_interface.start_controller(CONTROLLER_NAME) 00072 00073 pub = rospy.Publisher("%s/command" % CONTROLLER_NAME, Float64) 00074 00075 print "Enter efforts:" 00076 while not rospy.is_shutdown(): 00077 effort = float(sys.stdin.readline().strip()) 00078 pub.publish(Float64(effort)) 00079 00080 if __name__ == '__main__': 00081 main()