angle_action_client.py
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00001 #!/usr/bin/env python
00002 
00003 import roslib; roslib.load_manifest('jaco_driver')
00004 import rospy
00005 
00006 import actionlib
00007 
00008 import jaco_msgs.msg
00009 
00010 import sys
00011 
00012 
00013 def pose_client():
00014     client = actionlib.SimpleActionClient('/jaco/arm_joint_angles', jaco_msgs.msg.ArmJointAnglesAction)
00015 
00016     goal = jaco_msgs.msg.ArmJointAnglesGoal()
00017 
00018     if len(sys.argv) < 7:
00019         goal.angles.joint1 = 1.5285271406173706 
00020         goal.angles.joint2 = -1.3800612688064575
00021         goal.angles.joint3 = -0.1439174860715866
00022         goal.angles.joint4 = 0.15510250627994537
00023         goal.angles.joint5 = 0.6960597634315491
00024         goal.angles.joint6 = 3.3098342418670654
00025 
00026         rospy.logwarn("Using test goal: \n%s", goal)
00027     else:
00028         goal.angles.joint1 = float(sys.argv[1])
00029         goal.angles.joint2 = float(sys.argv[2])
00030         goal.angles.joint3 = float(sys.argv[3])
00031         goal.angles.joint4 = float(sys.argv[4])
00032         goal.angles.joint5 = float(sys.argv[5])
00033         goal.angles.joint6 = float(sys.argv[6])
00034 
00035 
00036     client.wait_for_server()
00037     rospy.loginfo("Connected to Pose server")
00038 
00039     client.send_goal(goal)
00040 
00041     try:
00042         client.wait_for_result()
00043     except KeyboardInterrupt:
00044         rospy.loginfo("Program interrupted, pre-empting goal")
00045         client.cancel_all_goals()
00046 
00047     return client.get_result()
00048 
00049 if __name__ == '__main__':
00050     try:
00051         rospy.init_node('arm_pose_client')
00052         result = pose_client()
00053         rospy.loginfo("Result: %s", result)
00054     except rospy.ROSInterruptException: 
00055         rospy.loginfo("Program interrupted before completion")
00056         


jaco_driver
Author(s): Ilia Baranov (Clearpath) , Jeff Schmidt (Clearpath) , Alex Bencz (Clearpath) , Matt DeDonato (WPI), Braden Stenning
autogenerated on Mon Mar 2 2015 16:21:03