def disengage_brakes(self):
rospy.loginfo("Trying to disengage brakes...")
msg_jr = JointReset()
msg_jr.joints_mask = (1 << self.NUMBER_OF_JOINTS) - 1
msg_jr.disengage_steps = 2000
msg_jr.disengage_offset = 3.5
self._joint_reset_command_pub.publish(msg_jr) # /bridge_jnt_reset
rospy.loginfo("Brakes should be disengaged")
def run(self):
print("read worker has started")
publisher = rospy.Publisher('bridge_jnt_reset',
JointReset,
queue_size=2)
try:
while self.running:
msg = self.socket.recv(1024)
if msg == b'':
raise Exception("Client disconnected socket.")
print("Message recieved " + msg.decode())
if msg.decode() == "brake":
# TODO find a way to brake the robot with ROS.
print("breaking the robot -> not implemented")
pass
if msg.decode() == "unbrake":
print("unbreaking the robot")
ros_msg = JointReset(63, 2000, 3.5)
publisher.publish(ros_msg)
except Exception as e:
print(e)
raise e