exec3.py
Go to the documentation of this file.00001 #!/usr/bin/env python 00002 # Software License Agreement (BSD License) 00003 # 00004 # Copyright (c) 2008, 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 Willow Garage, Inc. 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 import roslib; roslib.load_manifest('pr2_calibration_launch') 00035 import rospy 00036 import yaml 00037 import sys 00038 import pr2_calibration_executive.capture_exec 00039 import time 00040 from calibration_msgs.msg import RobotMeasurement 00041 00042 rospy.init_node("capture_executive_node") 00043 executive = pr2_calibration_executive.capture_exec.CaptureExecutive() 00044 time.sleep(1.0) 00045 00046 00047 samples_dir = "/u/vpradeep/ros/pkgs-trunk/wg-ros-pkg/calibration_experimental/pr2_calibration_executive/samples" 00048 #sample_names = ["test_sample_0001", "test_sample_0002"] 00049 sample_names = ["cam_sample_0001"] 00050 00051 #samples_dir = "/u/vpradeep/dataset_port/samples" 00052 #sample_names = [ "%06u_OldRun7"%n for n in range(1,266) ] 00053 00054 pub = rospy.Publisher("robot_measurement", RobotMeasurement) 00055 00056 for sample_name in sample_names: 00057 if rospy.is_shutdown(): 00058 break 00059 00060 print "Running sample [%s]" % sample_name 00061 cur_config = yaml.load(open(samples_dir + "/" + sample_name + ".yaml")) 00062 m_robot = executive.capture(cur_config, rospy.Duration(10)) 00063 if m_robot is None: 00064 print "************** Didn't get a sample *****************" 00065 else: 00066 print "__________ Got a sample! ____________________" 00067 pub.publish(m_robot) 00068 00069 rospy.spin()