tuck_arm.py
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00001 #!/usr/bin/env python
00002 
00003 """
00004   Copyright (c) 2011 Vanadium Labs LLC.  
00005   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 Vanadium Labs LLC 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 import roslib; roslib.load_manifest('mini_max_apps')
00031 import rospy
00032 import actionlib
00033 import sys
00034 
00035 from actionlib_msgs.msg import GoalStatus
00036 from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
00037 from control_msgs.msg import *
00038 
00039 servos = ['arm_wrist_flex_joint', 'arm_shoulder_lift_joint', 'arm_shoulder_pan_joint', 'arm_elbow_flex_joint']
00040 tucked = [1.5084144414208807, -0.71585770101329926, 1.4726215563702156, 1.9634954084936207]
00041 utcked = [1.5135277107138327, 0.015339807878856412, 1.5288675185926892, 1.5544338650574498]
00042 
00043 if __name__ == '__main__':
00044     rospy.init_node('tuck_arm')
00045 
00046     # a publisher for arm movement
00047     client = actionlib.SimpleActionClient('follow_joint_trajectory', FollowJointTrajectoryAction)
00048     client.wait_for_server()
00049 
00050     # prepare a joint trajectory
00051     msg = JointTrajectory()
00052     msg.joint_names = servos
00053     msg.points = list()
00054     
00055     # tucking or untucking?
00056     if len(sys.argv) > 1 and sys.argv[1] == "u":
00057         point = JointTrajectoryPoint()
00058         point.positions = utcked
00059         point.velocities = [ 0.0 for servo in msg.joint_names ]
00060         point.time_from_start = rospy.Duration(3.0)
00061         msg.points.append(point)
00062     else:
00063         point = JointTrajectoryPoint()
00064         point.positions = utcked
00065         point.velocities = [ 0.0 for servo in msg.joint_names ]
00066         point.time_from_start = rospy.Duration(5.0)
00067         msg.points.append(point)
00068         point = JointTrajectoryPoint()
00069         point.positions = tucked
00070         point.velocities = [ 0.0 for servo in msg.joint_names ]
00071         point.time_from_start = rospy.Duration(8.0)
00072         msg.points.append(point)
00073     
00074     # execute
00075     msg.header.stamp = rospy.Time.now()
00076     goal = FollowJointTrajectoryGoal()
00077     goal.trajectory = msg
00078     client.send_goal(goal)
00079     client.wait_for_result()
00080 


mini_max_apps
Author(s): Michael Ferguson
autogenerated on Mon Oct 6 2014 02:22:08