cob_cartesian_controller: test_move_circ

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00001 #!/usr/bin/env python
00002 #
00003 # Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
00004 #
00005 # Licensed under the Apache License, Version 2.0 (the "License");
00006 # you may not use this file except in compliance with the License.
00007 # You may obtain a copy of the License at
00008 #
00009 #   http://www.apache.org/licenses/LICENSE-2.0
00010 #
00011 # Unless required by applicable law or agreed to in writing, software
00012 # distributed under the License is distributed on an "AS IS" BASIS,
00013 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00014 # See the License for the specific language governing permissions and
00015 # limitations under the License.
00016 
00017 
00018 import math
00019 import rospy
00020 
00021 from geometry_msgs.msg import Pose
00022 from cob_cartesian_controller.msg import Profile
00023 import simple_cartesian_interface as sci
00024 
00025 if __name__ == '__main__':
00026     rospy.init_node('test_move_circ_interface')
00027 
00028     pose = sci.gen_pose(pos=[0.0, 0.7, 1.0], rpy=[0.0, 0.0, 0.0])
00029     start_angle = 0.0 * math.pi / 180.0
00030     end_angle = 90.0 * math.pi / 180.0
00031     profile = Profile()
00032     profile.vel = 0.2
00033     profile.accl = 0.1
00034     #profile.profile_type = Profile.SINOID
00035     profile.profile_type = Profile.RAMP
00036 
00037     success, message = sci.move_circ(pose, "world", start_angle, end_angle, 0.3, profile)
00038     if success:
00039         rospy.loginfo(message)
00040     else:
00041         rospy.logerr(message)