43 from nextage_ros_bridge
import nextage_client
44 from rospy
import ROSInitException
46 from hrpsys
import rtm
49 errormsg_noros =
'No ROS Master found. Without it, you cannot use ROS from' \
50 ' this script, but can use RTM. To use ROS, do not forget' \
51 ' to run rosbridge. How to do so? --> http://wiki.ros.org/rtmros_nextage/Tutorials/Operating%20Hiro%2C%20NEXTAGE%20OPEN' 53 if __name__ ==
'__main__':
54 parser = argparse.ArgumentParser(description=
'hiro command line interpreters')
55 parser.add_argument(
'--host', help=
'corba name server hostname')
56 parser.add_argument(
'--port', help=
'corba name server port number')
57 parser.add_argument(
'--modelfile', help=
'robot model file nmae')
58 parser.add_argument(
'--robot', help=
'robot modlule name (RobotHardware0 for real robot, Robot()')
59 parser.add_argument(
'--dio_ver', help=
"Version of digital I/O. Only users " 60 "whose robot was shipped before Aug 2014 need to " 61 "define this, and the value should be '0.4.2'.")
62 args, unknown = parser.parse_known_args()
65 rtm.nshost = args.host
67 rtm.nsport = args.port
69 args.robot =
"RobotHardware0" if args.host
else "HiroNX(Robot)0" 70 if not args.modelfile:
71 args.modelfile =
"/opt/jsk/etc/NEXTAGE/model/main.wrl" if args.host
else "" 75 args.robot = unknown[0]
76 args.modelfile = unknown[1]
77 robot = nxc = nextage_client.NextageClient()
86 robot.set_hand_version(args.dio_ver)
90 except ROSInitException
as e:
91 print(
'[nextage.py] {}'.format(e))
92 except socket.error
as e:
93 print(
"\033[31m%s\n%s\033[0m" % (e.strerror, errormsg_noros))