simple_arm_server: simple_arm_server: simple_arm_server

00001 #!/usr/bin/env python
00002 
00003 """
00004   simple_arm_server_test.py - tests the simple_arm_server.py program
00005   Copyright (c) 2011 Michael Ferguson.  All right reserved.
00006 
00007   Redistribution and use in source and binary forms, with or without
00008   modification, are permitted provided that the following conditions are met:
00009       * Redistributions of source code must retain the above copyright
00010         notice, this list of conditions and the following disclaimer.
00011       * Redistributions in binary form must reproduce the above copyright
00012         notice, this list of conditions and the following disclaimer in the
00013         documentation and/or other materials provided with the distribution.
00014       * Neither the name of the copyright holders nor the names of its 
00015         contributors may be used to endorse or promote products derived 
00016         from this software without specific prior written permission.
00017   
00018   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00019   ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00020   WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00021   DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT,
00022   INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
00023   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
00024   OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
00025   LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
00026   OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
00027   ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00028 """
00029 
00030 usage_= "usage: simple_arm_server_test.py x y z wrist_pitch [wrist_roll=0.0 wrist_yaw=0.0 frame_id='base_link' duration=5.0]"
00031 
00032 import roslib; roslib.load_manifest('simple_arm_server')
00033 import rospy, actionlib
00034 import sys
00035 
00036 import tf
00037 from tf.transformations import euler_from_quaternion, quaternion_from_euler
00038 from simple_arm_server.msg import *
00039 
00040 if __name__ == '__main__':
00041     if len(sys.argv) > 4:     
00042         rospy.init_node('simple_arm_server_test')
00043 
00044         client = actionlib.SimpleActionClient('move_arm', MoveArmAction)
00045         client.wait_for_server()
00046 
00047         goal = MoveArmGoal()
00048         goal.header.frame_id = "base_link"
00049         if len(sys.argv) > 7:
00050             goal.header.frame_id = sys.argv[7]
00051 
00052         action = ArmAction()
00053         action.type = ArmAction.MOVE_ARM
00054         action.goal.position.x = float(sys.argv[1])
00055         action.goal.position.y = float(sys.argv[2])
00056         action.goal.position.z = float(sys.argv[3])
00057 
00058         roll = 0.0
00059         if len(sys.argv) > 5:
00060             roll = float(sys.argv[5])
00061         yaw = 0.0
00062         if len(sys.argv) > 6:
00063             yaw = float(sys.argv[6])
00064         q = quaternion_from_euler(roll, float(sys.argv[4]), yaw, 'sxyz')
00065         action.goal.orientation.x = q[0]
00066         action.goal.orientation.y = q[1]
00067         action.goal.orientation.z = q[2]
00068         action.goal.orientation.w = q[3]
00069 
00070         if len(sys.argv) > 8:
00071             action.move_time = rospy.Duration(float(sys.argv[8]))
00072 
00073         try:
00074             goal.motions.append(action)
00075             client.send_goal(goal)
00076             client.wait_for_result()   
00077             r = client.get_result()
00078             print r
00079         except rospy.ServiceException, e:
00080             print "Service did not process request: %s"%str(e)
00081     else:
00082         print usage_
00083