close_grippers.py
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00001 #!/usr/bin/env python
00002 # Software License Agreement (BSD License)
00003 #
00004 # Copyright (c) 2009, Willow Garage, Inc.
00005 # All rights reserved.
00006 #
00007 # Redistribution and use in source and binary forms, with or without
00008 # modification, are permitted provided that the following conditions
00009 # are met:
00010 #
00011 #  * Redistributions of source code must retain the above copyright
00012 #    notice, this list of conditions and the following disclaimer.
00013 #  * Redistributions in binary form must reproduce the above
00014 #    copyright notice, this list of conditions and the following
00015 #    disclaimer in the documentation and/or other materials provided
00016 #    with the distribution.
00017 #  * Neither the name of the Willow Garage nor the names of its
00018 #    contributors may be used to endorse or promote products derived
00019 #    from this software without specific prior written permission.
00020 #
00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 # POSSIBILITY OF SUCH DAMAGE.
00033 #
00034 # Author: Bhaskara Marthi
00035 
00036 import roslib; roslib.load_manifest('articulate_cart')
00037 import rospy
00038 import actionlib
00039 from pr2_controllers_msgs.msg import Pr2GripperCommandAction, Pr2GripperCommandGoal
00040 import move_base_msgs.msg
00041 import geometry_msgs.msg
00042 
00043 class CloseGrippers:
00044 
00045     def __init__(self):
00046         self.goal_received = False
00047         self.goal_sub = rospy.Subscriber('move_base/goal', move_base_msgs.msg.MoveBaseActionGoal, self.goal_cb)
00048         self.pose_sub = rospy.Subscriber('/initialpose', geometry_msgs.msg.PoseWithCovarianceStamped, self.pose_cb)
00049 
00050     def goal_cb(self, msg):
00051         if not self.goal_received:
00052             rospy.loginfo('Closing grippers now that a goal has been received')
00053             self.goal_received = True
00054         
00055     def pose_cb(self, msg):
00056         if not self.goal_received:
00057             rospy.loginfo('Closing grippers')
00058             self.goal_received = True
00059 
00060     def spin(self):
00061         l_client = actionlib.SimpleActionClient('l_gripper_controller/gripper_action', Pr2GripperCommandAction)
00062         r_client = actionlib.SimpleActionClient('r_gripper_controller/gripper_action', Pr2GripperCommandAction)
00063         l_client.wait_for_server()
00064         r_client.wait_for_server()
00065 
00066         goal = Pr2GripperCommandGoal()
00067         goal.command.position = 0.0
00068         goal.command.max_effort = 100.0
00069 
00070 
00071         while not rospy.is_shutdown():
00072             if self.goal_received:
00073                 l_client.send_goal(goal)
00074                 r_client.send_goal(goal)
00075                 l_client.wait_for_result()
00076                 r_client.wait_for_result()
00077             rospy.sleep(1)
00078 
00079 
00080 def main():
00081     rospy.init_node('close_grippers')
00082     node = CloseGrippers()
00083     rospy.loginfo('close_grippers initialized')
00084     node.spin()
00085 
00086     
00087 
00088 
00089 if __name__ == "__main__":
00090     main()


articulate_cart
Author(s): Jonathan Scholz
autogenerated on Tue Jan 7 2014 11:10:35