hrpsys: samplerobot-remove-force-offset.py Source File

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00001 #!/usr/bin/env python
00002 
00003 """
00004  this is example file for SampleRobot robot and RemoveForceSensorLinkOffset RTC
00005 
00006  $ roslaunch hrpsys samplerobot.launch
00007  $ rosrun    hrpsys samplerobot-remove-force-offset.py
00008 
00009 """
00010 
00011 import imp, sys, os
00012 
00013 # set path to hrpsys to use HrpsysConfigurator
00014 try:
00015     imp.find_module('hrpsys') # catkin installed
00016     sys.path.append(imp.find_module('hrpsys')[1])
00017 except: # rosbuild installed
00018     import roslib
00019     roslib.load_manifest('hrpsys')
00020 
00021 sys.path.append(os.path.dirname(os.path.abspath(__file__))+'/../share/hrpsys/samples/SampleRobot/') # set path to SampleRobot
00022 
00023 import samplerobot_remove_force_offset
00024 
00025 if __name__ == '__main__':
00026     samplerobot_remove_force_offset.demo()
00027 
00028 ## IGNORE ME: this code used for rostest
00029 if [s for s in sys.argv if "--gtest_output=xml:" in s] :
00030     import unittest, rostest
00031     rostest.run('hrpsys', 'samplerobot_remove_force_offset', unittest.TestCase, sys.argv)