acceptancetest_ros.py
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00001 # -*- coding: utf-8 -*-
00002 
00003 # Software License Agreement (BSD License)
00004 #
00005 # Copyright (c) 2014, TORK (Tokyo Opensource Robotics Kyokai Association)
00006 # All rights reserved.
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00008 # Redistribution and use in source and binary forms, with or without
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00012 #  * Redistributions of source code must retain the above copyright
00013 #    notice, this list of conditions and the following disclaimer.
00014 #  * Redistributions in binary form must reproduce the above
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00034 
00035 import rospy
00036 
00037 from hironx_ros_bridge.testutil.abst_acceptancetest import AbstAcceptanceTest
00038 
00039 
00040 class AcceptanceTestROS(AbstAcceptanceTest):
00041 
00042     def __init__(self, robot_client):
00043         '''
00044         @type robot_client: hironx_ros_bridge.ros_client.ROS_Client
00045         '''
00046         self._robotclient = robot_client
00047 
00048     def go_initpos(self, default_task_duration=7.0):
00049         self._robotclient.go_init(task_duration = default_task_duration)
00050 
00051     def set_joint_angles(self, joint_group, joint_angles, msg_tasktitle=None,
00052                          task_duration=7.0, do_wait=True):
00053         '''
00054         @see: AbstAcceptanceTest.move_armbyarm_impl
00055         '''
00056         rospy.loginfo("'''{}'''".format(msg_tasktitle))
00057         self._robotclient.set_joint_angles_deg(
00058                          joint_group, joint_angles, task_duration, do_wait)
00059 
00060     def set_pose(self, joint_group, posision, rpy, msg_tasktitle=None,
00061                  task_duration=7.0, do_wait=True, ref_frame_name=None):
00062         '''
00063         @see: AbstAcceptanceTest.set_pose
00064         '''
00065         rospy.loginfo('ROS {}'.format(msg_tasktitle))
00066         self._robotclient.set_pose(joint_group, posision, rpy, task_duration,
00067                                    do_wait, ref_frame_name)
00068 
00069     def set_pose_relative(
00070                         self, joint_group, dx=0, dy=0, dz=0, dr=0, dp=0, dw=0,
00071                         msg_tasktitle=None, task_duration=7.0, do_wait=True):
00072         rospy.logerr('AcceptanceTestROS; set_pose_relative is not implemented yet')
00073         pass


hironx_ros_bridge
Author(s): Kei Okada , Isaac I.Y. Saito
autogenerated on Thu Feb 21 2019 03:42:37