00001 #!/usr/bin/env 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 00035 ##\author Kevin Watts 00036 ##\brief Commands upperarm back and forth and rolls forearm 00037 00038 import roslib 00039 roslib.load_manifest('life_test') 00040 00041 from time import sleep 00042 00043 import rospy 00044 from std_msgs.msg import Float64 00045 import random 00046 00047 def main(): 00048 rospy.init_node('ua_cmder') 00049 00050 if len(rospy.myargv()) > 1 and rospy.myargv()[1] == '--low': 00051 low = True 00052 else: 00053 low = False 00054 00055 pan_pos = rospy.Publisher('r_shoulder_pan_position_controller/command', Float64) 00056 lift_pos = rospy.Publisher('r_shoulder_lift_position_controller/command', Float64) 00057 roll_pos = rospy.Publisher('r_upper_arm_roll_position_controller/command', Float64) 00058 00059 my_rate = rospy.Rate(float(rospy.get_param('cycle_rate', 1.0)) * 2) 00060 #my_rate = rospy.Rate(1.0) 00061 00062 even = True 00063 try: 00064 while not rospy.is_shutdown(): 00065 pan_pos.publish(Float64(random.uniform(-2.0, 0.4))) 00066 if low: 00067 even = not even 00068 if even: 00069 lift_pos.publish(Float64(random.uniform(0.8, 0.88))) 00070 else: 00071 lift_pos.publish(Float64(random.uniform(1.17, 1.25))) 00072 else: 00073 lift_pos.publish(Float64(random.uniform(-0.40, 1.25))) 00074 roll_pos.publish(Float64(random.uniform(-3.70, 0.5))) 00075 00076 my_rate.sleep() 00077 00078 except KeyboardInterrupt, e: 00079 pass 00080 except Exception, e: 00081 import traceback 00082 rospy.logerr(traceback.format_exc()) 00083 00084 00085 if __name__ == '__main__': 00086 main()