joint_recorder.py

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#!/usr/bin/env python

# Copyright (c) 2013-2014, Rethink Robotics
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
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#    this list of conditions and the following disclaimer.
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import argparse

import rospy

import baxter_interface
from baxter_examples import JointRecorder

from baxter_interface import CHECK_VERSION


def main():
    """RSDK Joint Recorder Example

    Record timestamped joint and gripper positions to a file for
    later play back.

    Run this example while moving the robot's arms and grippers
    to record a time series of joint and gripper positions to a
    new csv file with the provided *filename*. This example can
    be run in parallel with any other example or standalone
    (moving the arms in zero-g mode while pressing the cuff
    buttons to open/close grippers).

    You can later play the movements back using one of the
    *_file_playback examples.
    """
    epilog = """
Related examples:
  joint_position_file_playback.py; joint_trajectory_file_playback.py.
    """
    arg_fmt = argparse.RawDescriptionHelpFormatter
    parser = argparse.ArgumentParser(formatter_class=arg_fmt,
                                     description=main.__doc__,
                                     epilog=epilog)
    required = parser.add_argument_group('required arguments')
    required.add_argument(
        '-f', '--file', dest='filename', required=True,
        help='the file name to record to'
    )
    parser.add_argument(
        '-r', '--record-rate', type=int, default=100, metavar='RECORDRATE',
        help='rate at which to record (default: 100)'
    )
    args = parser.parse_args(rospy.myargv()[1:])

    print("Initializing node... ")
    rospy.init_node("rsdk_joint_recorder")
    print("Getting robot state... ")
    rs = baxter_interface.RobotEnable(CHECK_VERSION)
    print("Enabling robot... ")
    rs.enable()

    recorder = JointRecorder(args.filename, args.record_rate)
    rospy.on_shutdown(recorder.stop)

    print("Recording. Press Ctrl-C to stop.")
    recorder.record()

    print("\nDone.")

if __name__ == '__main__':
    main()