l_arm_min.py

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#!/usr/bin/env python
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## Gazebo tug arms for navigation

PKG = 'pr2_arm_gazebo'
NAME = 'l_arm_setting'

import math
import roslib
roslib.load_manifest(PKG)
roslib.load_manifest('rostest')


import sys, unittest
import os, os.path, threading, time
import rospy, rostest
from std_msgs.msg import *
from pr2_mechanism_controllers.msg import *

PI = 3.14159

CMD_SH_PAN      = 1.0*( PI/4-1.5   ) #range [ PI/4-1.5   PI/4+1.5 ]
CMD_SH_LFT      = 1.0*( -0.4       ) #range [ -0.4       1.5 ]
CMD_UA_ROL      = 1.0*( 1.55-2.35 ) #range [ -1.55-2.35  -1.55+2.35 ] (+1.55 for right arm)
CMD_EL_FLX      = 1.0*( -2.3       ) #range [ -2.3       0.1 ]
CMD_FA_ROL      = 1.0*( 0*PI       ) #range [  ]
CMD_WR_FLX      = 1.0*( -0.1       ) #range [ -0.1       2.2 ]
CMD_WR_ROL      = 1.0*( 0*PI       ) #range [  ]
CMD_GR_POS      = 1.0*( 0.0        ) #range [ 0          0.548 ]

if __name__ == '__main__':
    pub_l_shoulder_pan   = rospy.Publisher("l_shoulder_pan_controller/set_command", Float64)
    pub_l_shoulder_lift  = rospy.Publisher("l_shoulder_lift_controller/set_command", Float64)
    pub_l_upper_arm_roll = rospy.Publisher("l_upper_arm_roll_controller/set_command", Float64)
    pub_l_elbow_flex     = rospy.Publisher("l_elbow_flex_controller/set_command", Float64)
    pub_l_elbow_roll     = rospy.Publisher("l_elbow_roll_controller/set_command", Float64)
    pub_l_wrist_flex     = rospy.Publisher("l_wrist_flex_controller/set_command", Float64)
    pub_l_wrist_roll     = rospy.Publisher("l_wrist_roll_controller/set_command", Float64)
    pub_l_gripper        = rospy.Publisher("l_gripper_controller/set_command", Float64)
    rospy.init_node(NAME, anonymous=True)
    timeout_t = time.time() + 10.0 #publish for 10 seconds then stop
    while time.time() < timeout_t:
        pub_l_shoulder_pan   .publish(Float64(CMD_SH_PAN))
        pub_l_shoulder_lift  .publish(Float64(CMD_SH_LFT))
        pub_l_upper_arm_roll .publish(Float64(CMD_UA_ROL))
        pub_l_elbow_flex     .publish(Float64(CMD_EL_FLX))
        pub_l_elbow_roll     .publish(Float64(CMD_FA_ROL))
        pub_l_wrist_flex     .publish(Float64(CMD_WR_FLX))
        pub_l_wrist_roll     .publish(Float64(CMD_WR_ROL))
        pub_l_gripper        .publish(Float64(CMD_GR_POS))
        time.sleep(0.2)