samplerobot-terrain-walk.py

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#!/usr/bin/env python

"""
 this is example file for SampleRobot robot terrain walking

 for SlopeUpDown
 $ roslaunch hrpsys samplerobot.launch CONTROLLER_PERIOD:=200 PROJECT_FILE:=`rospack find hrpsys`/share/hrpsys/samples/SampleRobot/SampleRobot.TerrainFloor.SlopeUpDown.xml
 $ rosrun hrpsys samplerobot-terrain-walk.py --SlopeUpDown

 for StairUp
 $ roslaunch hrpsys samplerobot.launch CONTROLLER_PERIOD:=200 PROJECT_FILE:=`rospack find hrpsys`/share/hrpsys/samples/SampleRobot/SampleRobot.TerrainFloor.StairUp.xml
 $ rosrun hrpsys samplerobot-terrain-walk.py --StairUp

 for StairDown
 $ roslaunch hrpsys samplerobot.launch CONTROLLER_PERIOD:=200 PROJECT_FILE:=`rospack find hrpsys`/share/hrpsys/samples/SampleRobot/SampleRobot.TerrainFloor.StairDown.xml
 $ rosrun hrpsys samplerobot-terrain-walk.py --StairDown

"""

import imp, sys, os

# set path to hrpsys to use HrpsysConfigurator
try:
    imp.find_module('hrpsys') # catkin installed
    sys.path.append(imp.find_module('hrpsys')[1])
except: # rosbuild installed
    import roslib
    roslib.load_manifest('hrpsys')

sys.path.append(os.path.dirname(os.path.abspath(__file__))+'/../share/hrpsys/samples/SampleRobot/') # set path to SampleRobot

import samplerobot_terrain_walk

if __name__ == '__main__':
    samplerobot_terrain_walk.demo()
    import sys
    if len(sys.argv) != 2:
        print "Usage:"
        print " ",sys.argv[0]," --StairUp or --StairDown or --SlopeUpDown"
    else:
        if sys.argv[1] == "--StairUp":
            samplerobot_terrain_walk.demoStairUp()
        elif sys.argv[1] == "--StairDown":
            samplerobot_terrain_walk.demoStairDown()
        elif sys.argv[1] == "--SlopeUpDown":
            samplerobot_terrain_walk.demoSlopeUpDown()
        else:
            print "Usage:"
            print " ",sys.argv[0]," --StairUp or --StairDown or --SlopeUpDown"


## IGNORE ME: this code used for rostest
if [s for s in sys.argv if "--gtest_output=xml:" in s] :
    import unittest, rostest
    rostest.run('hrpsys', 'samplerobot_terrain_walk', unittest.TestCase, sys.argv)