simple_arm_actions: simple_arm_actions: reset_arm

00001 #!/usr/bin/env python
00002 
00003 """
00004   reset_arm_server.py - a simple service to reset the arm
00005   Copyright (c) 2011 Vanadium Labs LLC.  All right reserved.
00006 
00007   Redistribution and use in source and binary forms, with or without
00008   modification, are permitted provided that the following conditions are met:
00009       * Redistributions of source code must retain the above copyright
00010         notice, this list of conditions and the following disclaimer.
00011       * Redistributions in binary form must reproduce the above copyright
00012         notice, this list of conditions and the following disclaimer in the
00013         documentation and/or other materials provided with the distribution.
00014       * Neither the name of the copyright holders nor the names of its 
00015         contributors may be used to endorse or promote products derived 
00016         from this software without specific prior written permission.
00017   
00018   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00019   ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00020   WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00021   DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT,
00022   INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
00023   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
00024   OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
00025   LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
00026   OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
00027   ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00028 """
00029 
00030 import roslib; roslib.load_manifest('simple_arm_actions')
00031 import rospy, actionlib
00032 
00033 from control_msgs.msg import *
00034 from simple_arm_actions.msg import *
00035 from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
00036 
00037 class ResetArmServer:
00038 
00039     def __init__(self):
00040         rospy.init_node("reset_arm_server")
00041         try:
00042             self.joints = rospy.get_param("~joints")
00043         except:
00044             self.joints = rospy.get_param("/simple_arms/joints")
00045 
00046         self.client = actionlib.SimpleActionClient('follow_joint_trajectory', FollowJointTrajectoryAction)
00047         self.client.wait_for_server()
00048 
00049         self.server = actionlib.SimpleActionServer("reset_arm", ResetArmAction, execute_cb=self.actionCb, auto_start=False)
00050         self.server.start()
00051 
00052         rospy.spin()
00053 
00054     def actionCb(self, req):
00055         goal = FollowJointTrajectoryGoal()
00056         msg = JointTrajectory()
00057         msg.joint_names = self.joints
00058         msg.points = list()
00059         point = JointTrajectoryPoint()
00060         point.positions = [ 0.0 for servo in msg.joint_names ]
00061         point.velocities = [ 0.0 for servo in msg.joint_names ]
00062         point.time_from_start = rospy.Duration(2.0)
00063         msg.points.append(point)
00064         msg.header.stamp = rospy.Time.now() + rospy.Duration(0.01)
00065         goal.trajectory = msg
00066 
00067         self.client.send_goal(goal)
00068         self.client.wait_for_result()
00069         self.server.set_succeeded( ResetArmResult() )   
00070 
00071 
00072 if __name__ == '__main__':
00073     try:
00074         ResetArmServer()
00075     except rospy.ROSInterruptException:
00076         rospy.loginfo("And that's all folks...")
00077