def get_table():
'''
Uses tabletop detection to find a plane which corresponds to the cabinet door
@rtype: tabletop_object_detector/Table
@returns the detected cabinet door
'''
ppm = PickAndPlaceManager()
(things, table) = ppm.call_tabletop_detection(take_static_collision_map=1,
update_table=1)
print table
return table
def __init__(self):
self.place_viz_pub = rospy.Publisher('place_pose', PoseStamped)
self.manager = PickAndPlaceManager()
self.cursor_proxy = rospy.ServiceProxy('get_cursor_stats',
GetCursorStats)
#~ self.cursor_proxy.wait_for_service()
rospy.loginfo("Waiting for polygon service")
self.polygon_proxy = rospy.ServiceProxy('draw_polygon', DrawPolygon)
self.polygon_proxy.wait_for_service()
rospy.loginfo("Waiting for circle inhibit service")
self.circle_inhibit_proxy = rospy.ServiceProxy('circle_inhibit',
CircleInhibit)
self.circle_inhibit_proxy.wait_for_service()
rospy.loginfo("Drawing trash/recycling")
self.polygon_proxy('Recycling', True, RECYCLING)
self.polygon_proxy('Garbage', True, TRASH)
def __init__(self, name):
'''
Begins the action to open the cupboard
'''
rospy.loginfo("IN ACTION")
self._action_name = name
self._as = actionlib.SimpleActionServer(
self._action_name,
opendoors_executive.msg.OpenCupboardAction,
execute_cb=self.main1)
self._as.start()
self.ppm = PickAndPlaceManager()
self.s = rospy.Service('table_status',
opendoors_executive.srv.table_status,
self.table_status)
print "Ready to check table status"
self.result = opendoors_executive.msg.OpenCupboardResult()
'''
def dude():
ppm = PickAndPlaceManager()
(things, table) = ppm.call_tabletop_detection(take_static_collision_map=1,
update_table=1)
def main():
ppm = PickAndPlaceManager()
move_to()
grasp()
open(ppm)
