l_arm_test_random.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
import random
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 *

TEST_DURATION = 1000.0
COMMAND_INTERVAL = 5.0
PI = 3.14159

CMD_SH_PAN_MIN     =  PI/4-1.5   #range [ PI/4-1.5   PI/4+1.5 ]
CMD_SH_LFT_MIN     =  -0.4       #range [ -0.4       1.5 ]
CMD_UA_ROL_MIN     =  1.55-2.35  #range [ 1.55-2.35  1.55+2.35 ]
CMD_EL_FLX_MIN     =  -2.3       #range [ -2.3       0.1 ]
CMD_FA_ROL_MIN     =  0*PI         #range [  ]
CMD_WR_FLX_MIN     =  -0.1       #range [ -0.1       2.2 ]
CMD_WR_ROL_MIN     =  0*PI         #range [  ]
CMD_GR_POS_MIN     =  0.0        #range [ 0          0.548 ]

CMD_SH_PAN_MAX     =  PI/4+1.5    #range [ PI/4-1.5   PI/4+1.5 ]
CMD_SH_LFT_MAX     =  1.5         #range [ -0.4       1.5 ]
CMD_UA_ROL_MAX     =  1.55+2.35   #range [ 1.55-2.35  1.55+2.35 ]
CMD_EL_FLX_MAX     =  0.1         #range [ -2.3       0.1 ]
CMD_FA_ROL_MAX     =  -0*PI         #range [  ]
CMD_WR_FLX_MAX     =  2.2         #range [ -0.1       2.2 ]
CMD_WR_ROL_MAX     =  -0*PI         #range [  ]
CMD_GR_POS_MAX     =  0.548       #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() + TEST_DURATION
    while time.time() < timeout_t:
        CMD_SH_PAN     = random.random() *( CMD_SH_PAN_MAX     -CMD_SH_PAN_MIN  ) + CMD_SH_PAN_MIN
        CMD_SH_LFT     = random.random() *( CMD_SH_LFT_MAX     -CMD_SH_LFT_MIN  ) + CMD_SH_LFT_MIN
        CMD_UA_ROL     = random.random() *( CMD_UA_ROL_MAX     -CMD_UA_ROL_MIN  ) + CMD_UA_ROL_MIN
        CMD_EL_FLX     = random.random() *( CMD_EL_FLX_MAX     -CMD_EL_FLX_MIN  ) + CMD_EL_FLX_MIN
        CMD_FA_ROL     = random.random() *( CMD_FA_ROL_MAX     -CMD_FA_ROL_MIN  ) + CMD_FA_ROL_MIN
        CMD_WR_FLX     = random.random() *( CMD_WR_FLX_MAX     -CMD_WR_FLX_MIN  ) + CMD_WR_FLX_MIN
        CMD_WR_ROL     = random.random() *( CMD_WR_ROL_MAX     -CMD_WR_ROL_MIN  ) + CMD_WR_ROL_MIN
        CMD_GR_POS     = random.random() *( CMD_GR_POS_MAX     -CMD_GR_POS_MIN  ) + CMD_GR_POS_MIN
        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(COMMAND_INTERVAL)