hrpsys: samplerobot-virtual-force-sensor.py Source File

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00001 #!/usr/bin/env python
00002 
00003 """
00004  this is example file for SampleRobot robot
00005 
00006  $ roslaunch hrpsys samplerobot.launch CONF_FILE:=`rospack find hrpsys`/share/hrpsys/samples/SampleRobot/SampleRobot.500.vfs.conf
00007  $ rosrun    hrpsys samplerobot-virtual-force-sensor.py
00008 
00009 """
00010 import imp, sys, os
00011 
00012 # set path to hrpsys to use HrpsysConfigurator
00013 try:
00014     imp.find_module('hrpsys') # catkin installed
00015     sys.path.append(imp.find_module('hrpsys')[1])
00016 except: # rosbuild installed
00017     import roslib
00018     roslib.load_manifest('hrpsys')
00019 
00020 sys.path.append(os.path.dirname(os.path.abspath(__file__))+'/../share/hrpsys/samples/SampleRobot/') # set path to SampleRobot
00021 
00022 import samplerobot_virtual_force_sensor
00023 
00024 if __name__ == '__main__':
00025     samplerobot_virtual_force_sensor.demo()
00026 
00027 ## IGNORE ME: this code used for rostest
00028 if [s for s in sys.argv if "--gtest_output=xml:" in s] :
00029     import unittest, rostest
00030     rostest.run('hrpsys', 'samplerobot_virtual_force_sensor', unittest.TestCase, sys.argv)