def main():
ros_node_name = rospy.get_param("/TCP_NODE_NAME", 'TCPServer')
tcp_server = TcpServer(ros_node_name)
rospy.init_node(ros_node_name, anonymous=True)
# Start the Server Endpoint with a ROS communication objects dictionary for routing messages
tcp_server.start({
#"/unity/ECM/base_frame/": RosPublisher('/dvrk/ECM/set_base_frame/', Pose, queue_size=10),
#"/unity/PSM1/base_frame/": RosPublisher('/dvrk/PSM1/set_base_frame/', Pose, queue_size=10),
#"/unity/PSM2/base_frame/": RosPublisher('/dvrk/PSM2/set_base_frame/', Pose, queue_size=10),
"/unity/ECM/base_frame/": RosPublisher('/unity/ECM/base_frame_output/', Pose, queue_size=10),
"/unity/PSM1/base_frame/": RosPublisher('/unity/PSM1/base_frame_output/', Pose, queue_size=10),
"/unity/PSM2/base_frame/": RosPublisher('/unity/PSM2/base_frame_output/', Pose, queue_size=10),
'/unity/Left_Controller/pose/': RosPublisher('/unity/PSM1/set_pose', Pose, queue_size=10),
'/unity/Right_Controller/pose/': RosPublisher('/unity/PSM2/set_pose', Pose, queue_size=10),
'/unity/XYZCloud': RosPublisher('/unity/XYZCloud', XYZcloud, queue_size = 10),
'/dvrk/PSM1/joint_states/': RosSubscriber('/dvrk/PSM1/joint_states/', JointState, tcp_server),
'/dvrk/PSM2/joint_states/': RosSubscriber('/dvrk/PSM2/joint_states/', JointState, tcp_server),
'/dvrk/ECM/joint_states/': RosSubscriber('/dvrk/ECM/joint_states/', JointState, tcp_server),
})
rospy.spin()
def main():
ros_node_name = rospy.get_param("/TCP_NODE_NAME", 'TCPServer')
buffer_size = rospy.get_param("/TCP_BUFFER_SIZE", 1024)
connections = rospy.get_param("/TCP_CONNECTIONS", 10)
tcp_server = TcpServer(ros_node_name, buffer_size, connections)
rospy.init_node(ros_node_name, anonymous=True)
tcp_server.start({
'rosbridge_msgs_publisher/robot_pos':
RosSubscriber('rosbridge_msgs_publisher/robot_pos', PosData,
tcp_server),
'rosbridge_msgs_publisher/map':
RosSubscriber('rosbridge_msgs_publisher/map', MapData, tcp_server),
'rosbridge_msgs_unity/nav_goals':
RosPublisher('rosbridge_msgs_unity/nav_goals',
Nav2Waypoints,
queue_size=10),
'rosbridge_msgs_unity/interactive_map':
RosPublisher('rosbridge_msgs_unity/interactive_map',
MapData,
queue_size=10),
'rosbridge_msgs_unity/point_groups':
RosPublisher('rosbridge_msgs_unity/point_groups',
PointGroups,
queue_size=10),
'rosbridge_msgs_publisher/point_groups':
RosSubscriber('rosbridge_msgs_publisher/point_groups', PointGroups,
tcp_server),
'rosbridge_msgs_publisher/current_target':
RosSubscriber('rosbridge_msgs_publisher/current_target', PosData,
tcp_server)
})
rospy.spin()
def main():
tcp_server = TcpServer("tcp_server", 1024, 10)
rospy.init_node("tcp_server", anonymous=True)
tcp_server.start({
# subscribers
"base_pose": RosPublisher("base_pose", BasePose, queue_size=1),
"target_pose": RosPublisher("target_pose", BasePose, queue_size=1),
"grip_goal_pose": RosPublisher("grip_goal_pose", Pose, queue_size=1),
"arm_pose": RosPublisher("arm_pose", ArmPose, queue_size=1),
"dropbox_pose": RosPublisher("dropbox_pose", BasePose, queue_size=1),
"trajectory_status": RosPublisher("trajectory_status", TrajectoryStatus, queue_size=10),
"release_pose": RosPublisher("release_pose", Pose, queue_size=1),
"range_sensor": RosPublisher("range_sensor", Bool, queue_size=1),
#publishers
"command": RosSubscriber("command", Command, tcp_server),
"arm_trajectories": RosSubscriber("arm_trajectories", Trajectories, tcp_server),
#services
"trajectory_planner": RosService("trajectory_planner", TrajectoryPlanner),
"forward_kinematics": RosService("forward_kinematics", ForwardKinematics),
"inverse_kinematics": RosService("inverse_kinematics", InverseKinematics),
"start_system": RosService("start_system", StartSystem)
})
rospy.spin()
def main():
ros_node_name = rospy.get_param("/TCP_NODE_NAME", 'TCPServer')
buffer_size = rospy.get_param("/TCP_BUFFER_SIZE", 1024)
connections = rospy.get_param("/TCP_CONNECTIONS", 10)
tcp_server = TcpServer(ros_node_name, buffer_size, connections)
rospy.init_node(ros_node_name, anonymous=True)
tcp_server.start({
'index_1Pose':
RosSubscriber('index_1Pose', geometry_msgs.msg.PoseStamped,
tcp_server),
'index_2Pose':
RosSubscriber('index_2Pose', geometry_msgs.msg.PoseStamped,
tcp_server),
})
rospy.spin()
def main():
ros_node_name = rospy.get_param("/TCP_NODE_NAME", 'TCPServer')
buffer_size = rospy.get_param("/TCP_BUFFER_SIZE", 1024)
connections = rospy.get_param("/TCP_CONNECTIONS", 10)
tcp_server = TcpServer(ros_node_name, buffer_size, connections)
# tcp_server = TcpServer(ros_node_name)
rospy.init_node(ros_node_name, anonymous=True)
tcp_server.start({
'String':
RosSubscriber('HelloWorld', Text, tcp_server),
'SubJoints':
RosPublisher('JointsSub', UR10eJoints, queue_size=10),
'MoveJoints':
RosSubscriber('JointsMover', UR10eJoints, tcp_server)
})
rospy.spin()
def main():
ros_node_name = rospy.get_param("/TCP_NODE_NAME", 'TCPServer')
tcp_server = TcpServer(ros_node_name)
rospy.init_node(ros_node_name, anonymous=True)
# Start the Server Endpoint with a ROS communication objects dictionary for routing messages
tcp_server.start({
'SourceDestination_input':
RosPublisher('SourceDestination', NiryoMoveitJoints, queue_size=10),
'NiryoTrajectory':
RosSubscriber('NiryoTrajectory', NiryoTrajectory, tcp_server),
'niryo_moveit':
RosService('niryo_moveit', MoverService),
'niryo_one/commander/robot_action/goal':
RosSubscriber('niryo_one/commander/robot_action/goal',
RobotMoveActionGoal, tcp_server),
'sim_real_pnp':
RosPublisher('sim_real_pnp', MoverServiceRequest)
})
rospy.spin()
def main():
ros_node_name = rospy.get_param("/TCP_NODE_NAME", 'TCPServer')
buffer_size = rospy.get_param("/TCP_BUFFER_SIZE", 1024)
connections = rospy.get_param("/TCP_CONNECTIONS", 10)
tcp_server = TcpServer(ros_node_name, buffer_size, connections)
rospy.init_node(ros_node_name, anonymous=True)
tcp_server.start({
'joint_states': RosPublisher('joint_states', JointState, queue_size=10),
'joint_command': RosSubscriber('joint_command', JointState, tcp_server)
})
rospy.spin()
def main():
ros_node_name = rospy.get_param("/TCP_NODE_NAME", 'TCPServer')
buffer_size = rospy.get_param("/TCP_BUFFER_SIZE", 1024)
connections = rospy.get_param("/TCP_CONNECTIONS", 10)
tcp_server = TcpServer(ros_node_name, buffer_size, connections)
rospy.init_node(ros_node_name, anonymous=True)
tcp_server.start({
'pos_srv': RosService('position_service', PositionService),
'pos_rot': RosPublisher('pos_rot', PosRot, queue_size=10),
'color': RosSubscriber('color', UnityColor, tcp_server)
})
rospy.spin()
def main():
ros_node_name = rospy.get_param("/TCP_NODE_NAME", 'TCPServer')
tcp_server = TcpServer(ros_node_name)
rospy.init_node(ros_node_name, anonymous=True)
# Start the Server Endpoint with a ROS communication objects dictionary for routing messages
tcp_server.start({
'SourceDestination_input':
RosPublisher('SourceDestination', ViperMoveitJoints, queue_size=10),
'ViperTrajectory':
RosSubscriber('ViperTrajectory', ViperTrajectory, tcp_server),
'interbotix_moveit':
RosService('interbotix_moveit', MoverService),
})
rospy.spin()
def main():
ros_node_name = rospy.get_param("/TCP_NODE_NAME", 'TCPServer')
tcp_server = TcpServer(ros_node_name)
rospy.init_node(ros_node_name, anonymous=True)
# Start the Server Endpoint with a ROS communication objects dictionary for routing messages
tcp_server.start({
'UR3Trajectory':
RosSubscriber('UR3Trajectory', UR3Trajectory, tcp_server),
'ur3_moveit':
RosService('ur3_moveit', MoverService),
'pose_estimation_srv':
RosService('pose_estimation_service', PoseEstimationService)
})
rospy.spin()
def setup_kinematic_server():
"""
Setup a unity TCP server which proxy the messages from and to Unity.
It automatically setup a list of proxies for kinematic relevant ROS topics.
/joint_states is used as the default joint configuration publisher for all controllers
For each controller which is configured in the unity_moveit_controller_manager
it sets up a controller topic with the following path
/move_group/unity_trajectory/<CONTROLLER_NAME>
This script is intended to work with unity_moveit_manager.cpp
"""
ros_node_name = rospy.get_param(TCP_NODE_NAME_PARAM, 'TCPServer')
buffer_size = rospy.get_param(TCP_BUFFER_SIZE_PARAM, 1024)
connections = rospy.get_param(TCP_CONNECTIONS_PARAM, 10)
tcp_server = TcpServer(ros_node_name, buffer_size, connections)
rospy.init_node(ros_node_name, anonymous=True, log_level=rospy.INFO)
rospy.loginfo('Advertising /joint_states for the joint configuration')
topics = {
'joint_states': RosPublisher(ROS_JOINT_STATES_TOPIC, JointState),
}
for controller in rosparam.get_param(UNITY_CONTROLLER_LIST_PARAM):
controller_name = controller['name']
topics[controller_name] = RosSubscriber(UNITY_CONTROLLER_BASE + controller_name,
JointTrajectory,
tcp_server)
rospy.loginfo(f'Listening to {UNITY_CONTROLLER_BASE + controller_name} '
f'for the trajectory execution')
tcp_server.start(topics)
rospy.spin()