def start_cb(self, req):
# Run manipulation tasks
if self.run():
return None_BoolResponse(True)
else:
return None_BoolResponse(False)
def autobed_occ_cb(self, req):
print "Autobed Data Sampled"
total_weight = np.sum(np.asarray(self.pressure_map))
print "Total Weight on the mat:{}".format(total_weight)
if total_weight >= 2000:
return None_BoolResponse(True)
else:
return None_BoolResponse(False)
def mech_anal_en_cb(self, req):
# Run analyse tasks
if req.data is True:
self.mech_anal_flag = True
else:
self.mech_anal_flag = False
return None_BoolResponse(True)
def initArmsCallback(self, req):
self.haptic('enabled')
l_joint_state = [
1.7013504719569787, -0.2846619162464899, 1.0247881430005377,
-1.0400059974175215, 0.7408476425758285, -0.9261340129014745,
-0.8541080908968821
]
r_joint_state = [
-1.3805018627854437, -0.3065720013305438, -0.6643104933210333,
-1.6377642647201074, -0.014866701346294675, -0.9982517431192833,
2.579269529149009
]
print "Initializing both arm configurations!!"
self.setPostureGoal(l_joint_state, arm='l')
self.setPostureGoal(r_joint_state, arm='r')
rospy.sleep(10.0)
return None_BoolResponse(True)
def scoopingStepsTimesCallback(self, data):
self.scooping_steps_times.append(rospy.get_time() - self.init_time)
return None_BoolResponse(True)