collision_free_arm_cmder.py

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#! /usr/bin/env python
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##\author Kevin Watts
##\brief Sends goals to arm to move it in collision free way

PKG = 'life_test'
import roslib; roslib.load_manifest(PKG)
import rospy
import actionlib
from life_test.commanders.arm_cmder import ArmCmder

from pr2_controllers_msgs.msg import JointTrajectoryAction
from arm_navigation_msgs.srv import SetPlanningSceneDiffRequest, SetPlanningSceneDiff

arm_ranges = {
    'r_shoulder_pan_joint': (-2.0, 0.4),
    'r_shoulder_lift_joint': (-0.4, 1.25),
    'r_upper_arm_roll_joint': (-3.5, 0.3),
    'r_elbow_flex_joint': (-2.0, -0.05) 
}

recovery_positions = {
    'r_shoulder_pan_joint': -0.8,
    'r_shoulder_lift_joint': 0.3,
    'r_upper_arm_roll_joint': 0.0,
    'r_elbow_flex_joint': -0.2
}

if __name__ == '__main__':
    rospy.init_node('arm_cmder_client')
    client = actionlib.SimpleActionClient('collision_free_arm_trajectory_action_right_arm', 
                                          JointTrajectoryAction)
    rospy.loginfo('Waiting for server for collision free arm commander')
    client.wait_for_server()

    rospy.loginfo('Waiting for environment server')

    rospy.wait_for_service('environment_server_right_arm/set_planning_scene_diff')

    set_planning_scene_diff_client = rospy.ServiceProxy('environment_server_right_arm/set_planning_scene_diff',
                                                        SetPlanningSceneDiff)

    # set up empty planning scene?
    planning_scene_diff_request = SetPlanningSceneDiffRequest()
    set_planning_scene_diff_client.call(planning_scene_diff_request)
  
    rospy.loginfo('Sending arm commands')

    my_rate = rospy.Rate(1.0)

    recovery_client = actionlib.SimpleActionClient('r_arm_controller/joint_trajectory_action',
                                                JointTrajectoryAction)

    cmder = ArmCmder(client, arm_ranges, recovery_client, recovery_positions)

    while not rospy.is_shutdown():
        cmder.send_cmd()
        my_rate.sleep()