pointhead.py
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00001 #!/usr/bin/env python
00002 # Copyright (c) 2008, Willow Garage, Inc.
00003 # All rights reserved.
00004 #
00005 # Redistribution and use in source and binary forms, with or without
00006 # modification, are permitted provided that the following conditions are met:
00007 #
00008 #     * Redistributions of source code must retain the above copyright
00009 #       notice, this list of conditions and the following disclaimer.
00010 #     * Redistributions in binary form must reproduce the above copyright
00011 #       notice, this list of conditions and the following disclaimer in the
00012 #       documentation and/or other materials provided with the distribution.
00013 #     * Neither the name of the Willow Garage, Inc. nor the names of its
00014 #       contributors may be used to endorse or promote products derived from
00015 #       this software without specific prior written permission.
00016 #
00017 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020 # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021 # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022 # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023 # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024 # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027 # POSSIBILITY OF SUCH DAMAGE.
00028 
00029 # Author: Melonee Wise
00030 
00031 PKG = "pr2_mechanism_controllers"
00032 
00033 import roslib; roslib.load_manifest(PKG)
00034 
00035 import sys
00036 import os
00037 import string
00038 from time import sleep
00039 
00040 import rospy
00041 from geometry_msgs.msg import PointStamped, Point
00042 from sensor_msgs.msg import JointState
00043 
00044 def point_head_client(pan, tilt):
00045 
00046     head_angles = rospy.Publisher('head_controller/command', JointState)
00047     rospy.init_node('head_commander', anonymous=True)
00048     sleep(1)
00049     js = JointState()
00050     js.name = ['head_pan_joint', 'head_tilt_joint'];
00051     js.position = [pan,tilt];
00052     head_angles.publish(js)
00053     sleep(1)
00054 
00055 def point_head_cart_client(x,y,z,frame):
00056 
00057     head_angles = rospy.Publisher('head_controller/point_head', PointStamped)
00058     rospy.init_node('head_commander', anonymous=True)
00059     sleep(1)
00060     head_angles.publish(PointStamped(rospy.Header(None, rospy.get_rostime(), frame), Point(x, y, z)))
00061     sleep(1)
00062 
00063 
00064 def usage():
00065     return "%s [pan tilt] or [x,y,z,frame]"%sys.argv[0]
00066 
00067 if __name__ == "__main__":
00068 
00069     if len(sys.argv) < 3:
00070         print usage()
00071         sys.exit(1)
00072     elif len(sys.argv) ==3:
00073         point_head_client(float(sys.argv[1]), float(sys.argv[2]))
00074     elif len(sys.argv) ==5:
00075         point_head_cart_client(float(sys.argv[1]), float(sys.argv[2]), float(sys.argv[3]), sys.argv[4])


pr2_mechanism_controllers
Author(s): Sachin Chita, John Hsu, Melonee Wise
autogenerated on Thu Aug 27 2015 14:22:52