def _ros(self):
""" ROS Interface, current options are rosHelper(stable) and rosMulti(incomplete) """
# Wait to configure/initROS ROS till it's actually needed
if self._rs == None:
import rosHelper
self._rs = rosHelper.ROS()
return self._rs
def __init__(self):
self._ros = rosHelper.ROS()
self._ros.configureROS(packageName='cob_map_pose')
import tf, rospy
self._rospy = rospy
self._tf = tf
self._ros.initROS()
self._listener = None
def __init__(self, robot=None):
super(PoseUpdater, self).__init__()
if robot == None:
robot = CareOBot()
self._robot = robot
self._ros = rosHelper.ROS()
self._sensors = Sensors().findSensors()
self._channels = {}
self._warned = []
def __init__(self):
self._ros = rosHelper.ROS()
self._ros.configureROS(packageName='actionlib_interface')
import actionlib, cob_script_server.msg
self._ssMsgs = cob_script_server.msg
self._ros.initROS()
self._client = actionlib.SimpleActionClient('/script_server',
self._ssMsgs.ScriptAction)
self._client.wait_for_server()
def __init__(self):
self._ros = rosHelper.ROS()
self._ros.configureROS(packageName='accompany_user_tests_year2')
import actionlib, accompany_user_tests_year2.msg
self._ssMsgs = accompany_user_tests_year2.msg
self._ros.initROS()
self._client = actionlib.SimpleActionClient(
'/unload_tray', self._ssMsgs.UnloadTrayAction)
print "Waiting for unload_tray"
self._client.wait_for_server()
print "Connected to unload_tray"
def __init__(self):
self._ros = rosHelper.ROS()
self._ros.configureROS(packageName='accompany_user_tests_year2')
import actionlib, accompany_user_tests_year2.msg
self._ssMsgs = accompany_user_tests_year2.msg
self._ros.initROS()
self._client = actionlib.SimpleActionClient(
'/take_object_server', self._ssMsgs.TakeObjectShelfAction)
print "Waiting for take_object_server"
self._client.wait_for_server()
print "Connected to take_object_server"
def __init__(self):
self._ros = rosHelper.ROS()
self._ros.configureROS(packageName='actionlib_interface')
import actionlib, cob_script_server.msg
self._ssMsgs = cob_script_server.msg
self._ros.initROS()
self._doneState = actionlib.SimpleGoalState.DONE
self._client = actionlib.SimpleActionClient('/script_server',
self._ssMsgs.ScriptAction)
print "Waiting for script_server"
self._client.wait_for_server()
print "Connected to script_server"
def run(self):
#everthing inside here is run in a separate process space
os.environ = rosHelper.ROS.parseRosBash('electric', False)
rosHelper.ROS.configureROS(version=self._version,
rosMaster=self._rosMaster,
overlayPath=self._overlayPath)
self._ros = rosHelper.ROS()
while True:
try:
msg = self._pipe.recv()
except EOFError:
break
try:
func = getattr(self._ros, msg.funcName)
ret = func(*(), **msg.kwargs)
except Exception as e:
ret = e
self._pipe.send(ret)
def __init__(self):
import rosHelper
self._ros = rosHelper.ROS()
self._ros.configureROS(packageName='sf_controller')
self._ros.configureROS(packageName='sf_lights')
import actionlib, sf_controller_msgs.msg, sf_lights_msgs.msg
self._sfMsgs = sf_controller_msgs.msg
self._sfLights = sf_lights_msgs.msg
self._ros.initROS()
self._sfClient = actionlib.SimpleActionClient(
'/sf_controller', self._sfMsgs.SunflowerAction)
print "Waiting for sf_controller..."
self._sfClient.wait_for_server()
print "Connected to sf_controller"
self._sfLight = actionlib.SimpleActionClient(
'/lights', self._sfLights.LightsAction)
print "Waiting for sf_lights..."
self._sfLight.wait_for_server()
print "Connected to sf_lights"
def _ros(self):
if self._rs == None:
# Wait to configure/initROS ROS till it's actually needed
self._rs = rosHelper.ROS()
return self._rs
def __init__(self):
self._ros = rosHelper.ROS()
self._ros.configureROS(packageName='cob_script_server')
import simple_script_server
self._ros.initROS()
self._ss = simple_script_server.simple_script_server()