def __init__(self):
self.arm_planner = ArmPlanner('right_arm')
self.arm_mover = ArmMover()
self.base_plan_service = rospy.ServiceProxy('/move_base/make_plan',
GetPlan)
self.psi = get_planning_scene_interface()
self.viz_pub = rospy.Publisher('lower_bound', MarkerArray)
self.pose_pub = rospy.Publisher('/initialpose',
PoseWithCovarianceStamped)
def __init__(self):
arms = ['right_arm', 'left_arm']
self.grippers = {}
self.arm_planners = {}
for arm in arms:
self.grippers[arm] = Gripper(arm)
self.arm_planners[arm] = ArmPlanner(arm)
self.arm_mover = ArmMover()
self.arm_tasks = ArmTasks()
self.base = Base()
self.wi = WorldInterface()
self.psi = get_planning_scene_interface()
self.base_action = SimpleActionClient('base_trajectory_action',
BaseTrajectoryAction)
rospy.loginfo('Waiting for base trajectory action')
self.base_action.wait_for_server()
rospy.loginfo('Found base trajectory action')
rospy.loginfo('DARRT trajectory executor successfully initialized!')
