00001 #!/usr/bin/env python 00002 # Software License Agreement (BSD License) 00003 # 00004 # Copyright (c) 2009, Willow Garage, Inc. 00005 # All rights reserved. 00006 # 00007 # Redistribution and use in source and binary forms, with or without 00008 # modification, are permitted provided that the following conditions 00009 # are met: 00010 # 00011 # * Redistributions of source code must retain the above copyright 00012 # notice, this list of conditions and the following disclaimer. 00013 # * Redistributions in binary form must reproduce the above 00014 # copyright notice, this list of conditions and the following 00015 # disclaimer in the documentation and/or other materials provided 00016 # with the distribution. 00017 # * Neither the name of the Willow Garage nor the names of its 00018 # contributors may be used to endorse or promote products derived 00019 # from this software without specific prior written permission. 00020 # 00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 # POSSIBILITY OF SUCH DAMAGE. 00033 # 00034 # Author Melonee Wise 00035 00036 import roslib; roslib.load_manifest('joint_trajectory_action_tools') 00037 import rospy 00038 00039 from pr2_controllers_msgs.msg import * 00040 from trajectory_msgs.msg import JointTrajectoryPoint 00041 00042 def get_action_goal(ns): 00043 joint_space_goal = JointTrajectoryGoal() 00044 joint_names = rospy.get_param(ns +"/joint_names") 00045 joint_space_goal.trajectory.joint_names = joint_names 00046 waypoints = rospy.get_param(ns +"/waypoints") 00047 for waypoint in waypoints: 00048 joint_space_goal.trajectory.points.append(JointTrajectoryPoint(positions = waypoint[0], velocities = waypoint[1], accelerations = waypoint[2], time_from_start = rospy.Duration(waypoint[3]))) 00049 00050 return joint_space_goal 00051 00052