test_joint_angles.py

Go to the documentation of this file.

#!/usr/bin/env python

import roslib
#from rospy.exceptions import ROSException
roslib.load_manifest('nao_driver')
import rospy
from rospy import Duration


import actionlib
from actionlib_msgs.msg import GoalStatus
import nao_msgs.msg
import trajectory_msgs.msg
from trajectory_msgs.msg import JointTrajectoryPoint
import std_srvs.srv

# go to crouching position
def joint_angle_client():
        #inhibitWalkSrv = rospy.ServiceProxy("inhibit_walk", std_srvs.srv.Empty)
        #uninhibitWalkSrv = rospy.ServiceProxy("uninhibit_walk", std_srvs.srv.Empty)
        
        client = actionlib.SimpleActionClient("joint_trajectory", nao_msgs.msg.JointTrajectoryAction)
        stiffness_client = actionlib.SimpleActionClient("joint_stiffness_trajectory", nao_msgs.msg.JointTrajectoryAction)
        angle_client = actionlib.SimpleActionClient("joint_angles_action", nao_msgs.msg.JointAnglesWithSpeedAction)
        
        rospy.loginfo("Waiting for joint_trajectory and joint_stiffness servers...")
        client.wait_for_server()
        stiffness_client.wait_for_server()
        angle_client.wait_for_server()
        rospy.loginfo("Done.")
        
        #inhibitWalkSrv()
        try:    
                goal = nao_msgs.msg.JointTrajectoryGoal()
                
                # move head: single joint, multiple keypoints
                goal.trajectory.joint_names = ["HeadYaw"]
                goal.trajectory.points.append(JointTrajectoryPoint(time_from_start = Duration(1.0), positions = [1.0]))
                goal.trajectory.points.append(JointTrajectoryPoint(time_from_start = Duration(2.0), positions = [-1.0]))
                goal.trajectory.points.append(JointTrajectoryPoint(time_from_start = Duration(2.5), positions = [0.0]))
        
                
                rospy.loginfo("Sending goal...")
                client.send_goal(goal)
                client.wait_for_result()
                result = client.get_result()
                rospy.loginfo("Results: %s", str(result.goal_position.position))
                
                # Test for preemption
                rospy.loginfo("Sending goal again...")
                client.send_goal(goal)
                rospy.sleep(0.5)
                rospy.loginfo("Preempting goal...")
                client.cancel_goal()
                client.wait_for_result()
                if client.get_state() != GoalStatus.PREEMPTED or client.get_result() == result:
                    rospy.logwarn("Preemption does not seem to be working")
                else:
                    rospy.loginfo("Preemption seems okay")

                # crouching pose: single keypoint, multiple joints:
                goal.trajectory.joint_names = ["Body"]
                point = JointTrajectoryPoint()
                point.time_from_start = Duration(1.5)
                point.positions = [0.0,0.0,                                     # head
                        1.545, 0.33, -1.57, -0.486, 0.0, 0.0,           # left arm
                        -0.3, 0.057, -0.744, 2.192, -1.122, -0.035,     # left leg
                        -0.3, 0.057, -0.744, 2.192, -1.122, -0.035,     # right leg
                        1.545, -0.33, 1.57, 0.486, 0.0, 0.0]            # right arm
                goal.trajectory.points = [point]
        
                rospy.loginfo("Sending goal...")
                client.send_goal(goal)
                client.wait_for_result()
                rospy.loginfo("Getting results...")
                result = client.get_result()    
                print "Result:", ', '.join([str(n) for n in result.goal_position.position])
                
                        
                # multiple joints, multiple keypoints:
                goal.trajectory.joint_names = ["HeadYaw", "HeadPitch"]
                goal.trajectory.points = []
                goal.trajectory.points.append(JointTrajectoryPoint(time_from_start = Duration(0.5), 
                                                                                                                positions = [1.0, 1.0]))
                goal.trajectory.points.append(JointTrajectoryPoint(time_from_start = Duration(1.0), 
                                                                                                                positions = [1.0, 0.0]))
                goal.trajectory.points.append(JointTrajectoryPoint(time_from_start = Duration(1.5), 
                                                                                                                positions = [0.0, 0.0]))
        
                rospy.loginfo("Sending goal...")
                client.send_goal(goal)
                client.wait_for_result()
                rospy.loginfo("Getting results...")
                result = client.get_result()
                print "Result:", ', '.join([str(n) for n in result.goal_position.position])
                
                
                # multiple joints, single keypoint:
                goal.trajectory.joint_names = ["HeadYaw", "HeadPitch"]
                goal.trajectory.points = []
                goal.trajectory.points.append(JointTrajectoryPoint(time_from_start = Duration(0.5), 
                                                                                                                positions = [0.5, 0.5]))
        
                rospy.loginfo("Sending goal...")
                client.send_goal(goal)
                client.wait_for_result()
                rospy.loginfo("Getting results...")
                result = client.get_result()
                print "Result:", ', '.join([str(n) for n in result.goal_position.position])
                
                
                # Control of joints with relative speed
                angle_goal = nao_msgs.msg.JointAnglesWithSpeedGoal()
                angle_goal.joint_angles.relative = False
                angle_goal.joint_angles.joint_names = ["HeadYaw", "HeadPitch"]
                angle_goal.joint_angles.joint_angles = [1.0, 0.0]
                angle_goal.joint_angles.speed = 0.2
                rospy.loginfo("Sending joint angles goal...")
                angle_client.send_goal_and_wait(angle_goal)
                result = angle_client.get_result()
                rospy.loginfo("Angle results: %s", str(result.goal_position.position))
                
                # Test for preemption
                angle_goal.joint_angles.joint_angles = [-1.0, 0.0]
                angle_goal.joint_angles.speed = 0.05
                rospy.loginfo("Sending goal again...")
                angle_client.send_goal(angle_goal)
                rospy.sleep(0.5)
                rospy.loginfo("Preempting goal...")
                angle_client.cancel_goal()
                angle_client.wait_for_result()
                if angle_client.get_state() != GoalStatus.PREEMPTED or angle_client.get_result() == result:
                    rospy.logwarn("Preemption does not seem to be working")
                else:
                    rospy.loginfo("Preemption seems okay")

                # Test stiffness actionlib
                stiffness_goal = nao_msgs.msg.JointTrajectoryGoal()
                stiffness_goal.trajectory.joint_names = ["Body"]
                stiffness_goal.trajectory.points.append(JointTrajectoryPoint(time_from_start = Duration(0.5), positions = [1.0]))
                rospy.loginfo("Sending stiffness goal...")
                stiffness_client.send_goal(stiffness_goal)
                stiffness_client.wait_for_result()
                result = stiffness_client.get_result()
                rospy.loginfo("Stiffness results: %s", str(result.goal_position.position))
                
                # Test for preemption
                stiffness_goal.trajectory.points = [JointTrajectoryPoint(time_from_start = Duration(0.5), positions = [0.0])]
                rospy.loginfo("Sending goal again...")
                stiffness_client.send_goal(stiffness_goal)
                rospy.sleep(0.25)
                rospy.loginfo("Preempting goal...")
                stiffness_client.cancel_goal()
                stiffness_client.wait_for_result()
                if stiffness_client.get_state() != GoalStatus.PREEMPTED or stiffness_client.get_result() == result:
                    rospy.logwarn("Preemption does not seem to be working")
                else:
                    rospy.loginfo("Preemption seems okay")

        finally:
                pass #uninhibitWalkSrv()
        
        
        
if __name__ == '__main__':
        try:
                rospy.init_node('joint_angle_client')
                joint_angle_client()
                
        except rospy.ROSInterruptException:
                print "program interrupted before completion"