Functions | |
| def | msgRobotState_cb_r1 (msg) |
| def | msgRobotState_cb_r2 (msg) |
| def | shutdown () |
| def | thread_subscriber_r1 (robot_id, robot_model) |
| def | thread_subscriber_r2 (robot_id, robot_model) |
Variables | |
| acc | |
| list | acc_spi = [150, 150] |
| list | accx = [0, 0] |
| list | amp = [0, 0, 0, 30, 30, 0] |
| angle | |
| atime | |
| axis | |
| daemon | |
| dont_write_bytecode | |
| DR_AXIS_X | |
| DR_TOOL | |
| dREL1 = posx(0, 0, 350, 0, 0, 0) | |
| dREL2 = posx(0, 0, -350, 0, 0, 0) | |
| J00 = posj(-180, 0, -145, 0, -35, 0) | |
| J01r = posj(-180.0, 71.4, -145.0, 0.0, -9.7, 0.0) | |
| J02r = posj(-180.0, 67.7, -144.0, 0.0, 76.3, 0.0) | |
| J03r = posj(-180.0, 0.0, 0.0, 0.0, 0.0, 0.0) | |
| J04r = posj(-90.0, 0.0, 0.0, 0.0, 0.0, 0.0) | |
| J04r1 = posj(-90.0, 30.0, -60.0, 0.0, 30.0, -0.0) | |
| J04r2 = posj(-90.0, -45.0, 90.0, 0.0, -45.0, -0.0) | |
| J04r3 = posj(-90.0, 60.0, -120.0, 0.0, 60.0, -0.0) | |
| J04r4 = posj(-90.0, 0.0, -0.0, 0.0, 0.0, -0.0) | |
| J05r = posj(-144.0, -4.0, -84.8, -90.9, 54.0, -1.1) | |
| J07r = posj(-152.4, 12.4, -78.6, 18.7, -68.3, -37.7) | |
| J08r = posj(-90.0, 30.0, -120.0, -90.0, -90.0, 0.0) | |
| J1 = posj(81.2, 20.8, 127.8, 162.5, 56.1, -37.1) | |
| JEnd = posj(0.0, -12.6, 101.1, 0.0, 91.5, -0.0) | |
| JReady = posj(0, -20, 110, 0, 60, 0) | |
| lmax | |
| list | period = [0, 0, 0, 3, 6, 0] |
| pub_stop_r1 = rospy.Publisher('/'+ robot_id1 + robot_model1 +'/stop', RobotStop, queue_size=10) | |
| pub_stop_r2 = rospy.Publisher('/'+ robot_id2 + robot_model2 +'/stop', RobotStop, queue_size=10) | |
| r | |
| r1 = CDsrRobot("dsr01","m1013") | |
| r2 = CDsrRobot("dsr02","m1013") | |
| ref | |
| repeat | |
| rev | |
| rmax | |
| string | robot_id1 = "dsr01" |
| string | robot_id2 = "dsr02" |
| robot_model1 | |
| robot_model2 | |
| t1 = threading.Thread(target=thread_subscriber_r1, args=(robot_id1, robot_model1)) | |
| t2 = threading.Thread(target=thread_subscriber_r2, args=(robot_id2, robot_model2)) | |
| time | |
| vel | |
| list | vel_spi = [400, 400] |
| list | velx = [0, 0] |
| X0 = posx(-88.7, 799.0, 182.3, 95.7, 93.7, 133.9) | |
| list | x01 = [423.6, 334.5, 651.2, 84.7, -180.0, 84.7] |
| list | x02 = [423.6, 34.5, 951.2, 68.2, -180.0, 68.2] |
| list | x03 = [423.6, -265.5, 651.2, 76.1, -180.0, 76.1] |
| list | x04 = [423.6, 34.5, 351.2, 81.3, -180.0, 81.3] |
| X1 = posx(304.2, 871.8, 141.5, 99.5, 84.9, 133.4) | |
| X2 = posx(437.1, 876.9, 362.1, 99.6, 84.0, 132.1) | |
| X3 = posx(-57.9, 782.4, 478.4, 99.6, 84.0, 132.1) | |
| def m1013x2.msgRobotState_cb_r1 | ( | msg | ) |
Definition at line 33 of file m1013x2.py.
| def m1013x2.msgRobotState_cb_r2 | ( | msg | ) |
Definition at line 54 of file m1013x2.py.
| def m1013x2.shutdown | ( | ) |
Definition at line 24 of file m1013x2.py.
| def m1013x2.thread_subscriber_r1 | ( | robot_id, | |
| robot_model | |||
| ) |
Definition at line 75 of file m1013x2.py.
| def m1013x2.thread_subscriber_r2 | ( | robot_id, | |
| robot_model | |||
| ) |
Definition at line 80 of file m1013x2.py.
| m1013x2.acc |
Definition at line 254 of file m1013x2.py.
| list m1013x2.acc_spi = [150, 150] |
Definition at line 136 of file m1013x2.py.
| list m1013x2.accx = [0, 0] |
Definition at line 133 of file m1013x2.py.
| list m1013x2.amp = [0, 0, 0, 30, 30, 0] |
Definition at line 144 of file m1013x2.py.
| m1013x2.angle |
Definition at line 278 of file m1013x2.py.
| m1013x2.atime |
Definition at line 250 of file m1013x2.py.
| m1013x2.axis |
Definition at line 254 of file m1013x2.py.
| m1013x2.daemon |
Definition at line 99 of file m1013x2.py.
| m1013x2.dont_write_bytecode |
Definition at line 11 of file m1013x2.py.
| m1013x2.DR_AXIS_X |
Definition at line 254 of file m1013x2.py.
| m1013x2.DR_TOOL |
Definition at line 230 of file m1013x2.py.
| m1013x2.dREL1 = posx(0, 0, 350, 0, 0, 0) |
Definition at line 129 of file m1013x2.py.
| m1013x2.dREL2 = posx(0, 0, -350, 0, 0, 0) |
Definition at line 130 of file m1013x2.py.
| m1013x2.J00 = posj(-180, 0, -145, 0, -35, 0) |
Definition at line 109 of file m1013x2.py.
| m1013x2.J01r = posj(-180.0, 71.4, -145.0, 0.0, -9.7, 0.0) |
Definition at line 112 of file m1013x2.py.
| m1013x2.J02r = posj(-180.0, 67.7, -144.0, 0.0, 76.3, 0.0) |
Definition at line 113 of file m1013x2.py.
| m1013x2.J03r = posj(-180.0, 0.0, 0.0, 0.0, 0.0, 0.0) |
Definition at line 114 of file m1013x2.py.
| m1013x2.J04r = posj(-90.0, 0.0, 0.0, 0.0, 0.0, 0.0) |
Definition at line 116 of file m1013x2.py.
| m1013x2.J04r1 = posj(-90.0, 30.0, -60.0, 0.0, 30.0, -0.0) |
Definition at line 117 of file m1013x2.py.
| m1013x2.J04r2 = posj(-90.0, -45.0, 90.0, 0.0, -45.0, -0.0) |
Definition at line 118 of file m1013x2.py.
| m1013x2.J04r3 = posj(-90.0, 60.0, -120.0, 0.0, 60.0, -0.0) |
Definition at line 119 of file m1013x2.py.
| m1013x2.J04r4 = posj(-90.0, 0.0, -0.0, 0.0, 0.0, -0.0) |
Definition at line 120 of file m1013x2.py.
| m1013x2.J05r = posj(-144.0, -4.0, -84.8, -90.9, 54.0, -1.1) |
Definition at line 122 of file m1013x2.py.
| m1013x2.J07r = posj(-152.4, 12.4, -78.6, 18.7, -68.3, -37.7) |
Definition at line 124 of file m1013x2.py.
| m1013x2.J08r = posj(-90.0, 30.0, -120.0, -90.0, -90.0, 0.0) |
Definition at line 125 of file m1013x2.py.
| m1013x2.J1 = posj(81.2, 20.8, 127.8, 162.5, 56.1, -37.1) |
Definition at line 138 of file m1013x2.py.
| m1013x2.JEnd = posj(0.0, -12.6, 101.1, 0.0, 91.5, -0.0) |
Definition at line 127 of file m1013x2.py.
| m1013x2.JReady = posj(0, -20, 110, 0, 60, 0) |
Definition at line 107 of file m1013x2.py.
| m1013x2.lmax |
Definition at line 254 of file m1013x2.py.
| list m1013x2.period = [0, 0, 0, 3, 6, 0] |
Definition at line 145 of file m1013x2.py.
| m1013x2.pub_stop_r1 = rospy.Publisher('/'+ robot_id1 + robot_model1 +'/stop', RobotStop, queue_size=10) |
Definition at line 95 of file m1013x2.py.
| m1013x2.pub_stop_r2 = rospy.Publisher('/'+ robot_id2 + robot_model2 +'/stop', RobotStop, queue_size=10) |
Definition at line 96 of file m1013x2.py.
| m1013x2.r |
Definition at line 166 of file m1013x2.py.
| m1013x2.r1 = CDsrRobot("dsr01","m1013") |
Definition at line 92 of file m1013x2.py.
| m1013x2.r2 = CDsrRobot("dsr02","m1013") |
Definition at line 93 of file m1013x2.py.
| m1013x2.ref |
Definition at line 230 of file m1013x2.py.
| m1013x2.repeat |
Definition at line 250 of file m1013x2.py.
| m1013x2.rev |
Definition at line 254 of file m1013x2.py.
| m1013x2.rmax |
Definition at line 254 of file m1013x2.py.
| string m1013x2.robot_id1 = "dsr01" |
Definition at line 89 of file m1013x2.py.
| string m1013x2.robot_id2 = "dsr02" |
Definition at line 90 of file m1013x2.py.
| m1013x2.robot_model1 |
Definition at line 89 of file m1013x2.py.
| m1013x2.robot_model2 |
Definition at line 90 of file m1013x2.py.
| m1013x2.t1 = threading.Thread(target=thread_subscriber_r1, args=(robot_id1, robot_model1)) |
Definition at line 98 of file m1013x2.py.
| m1013x2.t2 = threading.Thread(target=thread_subscriber_r2, args=(robot_id2, robot_model2)) |
Definition at line 102 of file m1013x2.py.
| m1013x2.time |
Definition at line 157 of file m1013x2.py.
| m1013x2.vel |
Definition at line 254 of file m1013x2.py.
| list m1013x2.vel_spi = [400, 400] |
Definition at line 135 of file m1013x2.py.
| list m1013x2.velx = [0, 0] |
Definition at line 132 of file m1013x2.py.
| m1013x2.X0 = posx(-88.7, 799.0, 182.3, 95.7, 93.7, 133.9) |
Definition at line 139 of file m1013x2.py.
| m1013x2.x01 = [423.6, 334.5, 651.2, 84.7, -180.0, 84.7] |
Definition at line 147 of file m1013x2.py.
| m1013x2.x02 = [423.6, 34.5, 951.2, 68.2, -180.0, 68.2] |
Definition at line 148 of file m1013x2.py.
| m1013x2.x03 = [423.6, -265.5, 651.2, 76.1, -180.0, 76.1] |
Definition at line 149 of file m1013x2.py.
| m1013x2.x04 = [423.6, 34.5, 351.2, 81.3, -180.0, 81.3] |
Definition at line 150 of file m1013x2.py.
| m1013x2.X1 = posx(304.2, 871.8, 141.5, 99.5, 84.9, 133.4) |
Definition at line 140 of file m1013x2.py.
| m1013x2.X2 = posx(437.1, 876.9, 362.1, 99.6, 84.0, 132.1) |
Definition at line 141 of file m1013x2.py.
| m1013x2.X3 = posx(-57.9, 782.4, 478.4, 99.6, 84.0, 132.1) |
Definition at line 142 of file m1013x2.py.