def __init__(self, ip, joy_topic="/cmd_vel", scale = 0.005):
self.robot = robot_controller.Ur3(ip, 30003, 30002)
self.sub = message_filters.Subscriber(joy_topic, Twist)
self.cache = message_filters.Cache(self.sub, cache_size=1, allow_headerless=True)
self.scale = scale
self.last_pose = self.robot.get_pose()
self.bounds_x = (0.225, -0.225)
self.bounds_y = (0.315, -0.315)
def __init__(self,
robot_ip,
joy_topic="/joy",
gripper_topic="/gripper/command",
scale=0.001):
print('Connecting to {}'.format(robot_ip))
self.robot = robot_controller.Ur3(robot_ip, 30003, 30002)
self.sub = message_filters.Subscriber(joy_topic, Joy)
self.cache = message_filters.Cache(self.sub,
cache_size=1,
allow_headerless=False)
self.pub = rospy.Publisher(gripper_topic, String, queue_size=2)
self.scale = scale
self.orient_scale = 0.01
self.last_pose = self.robot.get_pose()
self.last_data_h_seq = None
self.dead_zone = 0.2
self.update_count = 20
self.update_counter = 0
#! /usr/bin/env python
import tools
import rospy
from geometry_msgs.msg import PoseStamped
from std_msgs.msg import Float32MultiArray
import time
import robot_controller
rospy.init_node('move')
manipulator = robot_controller.Ur3("192.168.1.211", 30003, 30002)
time.sleep(5)
last_z = 1000
ok = False
box = tools.set_box(manipulator)
table_z = tools.set_table_z(manipulator)
start = tools.set_start(manipulator)
tools.check_joints(manipulator)
def convert_pose():
pose = PoseStamped()
pose.pose.position.z = tools.get_pose(manipulator)[2]
return pose
def move(pose_g):
global last_z
global ok
# Execute a trajetory in a force mode.
# Author: Michal Bednarek
# Force mode example
import robot_controller
# communicate with a robot
manipulator = robot_controller.Ur3("150.254.47.160", 30003, 30002)
force_traj = list()
pose = manipulator.get_pose()
pose[2] -= 0.1
for i in range(3):
pose[1] += 0.05
pt = manipulator.create_move_command(pose, is_movej=False, a=0.2, v=0.2)
force_traj.append(pt)
print manipulator.execute_in_force_mode(force_traj)