simple_robot_control: torso.py Source File

00001 #!/usr/bin/env python
00002 #
00003 # Copyright (c) 2010, Bosch LLC
00004 # All rights reserved.
00005 #
00006 # Redistribution and use in source and binary forms, with or without
00007 # modification, are permitted provided that the following conditions are met:
00008 #
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 Bosch LLC nor the names of its
00015 #       contributors may be used to endorse or promote products derived from
00016 #       this software without specific prior written permission.
00017 #
00018 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00019 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00020 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00021 # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00022 # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00023 # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00024 # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00025 # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00026 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00027 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00028 # POSSIBILITY OF SUCH DAMAGE.
00029 #
00030 # Authors:  Christian Bersch Bosch LLC
00031 
00032 import roslib
00033 roslib.load_manifest("simple_robot_control")
00034 import rospy
00035 
00036 from pr2_controllers_msgs.msg import *
00037 import actionlib
00038 
00039 class Torso:
00040     def __init__(self):
00041         
00042         self.torsoClient = actionlib.SimpleActionClient("torso_controller/position_joint_action", pr2_controllers_msgs.msg.SingleJointPositionAction)
00043         
00044         if not self.torsoClient.wait_for_server(rospy.Duration(10.0)):
00045             rospy.logerr("Could not connect to head_traj_controller/point_head_action")
00046             exit(1)
00047         
00048     def move(self, position = 0.3, wait = True):
00049         if position > 0.3 or position < 0.0:
00050             print "torso position must be in [0.0 , 0.3]"
00051             return False
00052         goal = pr2_controllers_msgs.msg.SingleJointPositionGoal()
00053         goal.position = position
00054         goal.min_duration = rospy.Duration(2.0)
00055         goal.max_velocity = 1.0
00056         if wait:
00057             self.torsoClient.send_goal_and_wait(goal)
00058         else:
00059             self.torsoClient.send_goal(goal)
00060         
00061     
00062