Example #1
0
#!/usr/bin/python
import roslib
roslib.load_manifest('action_cmdr')
import rospy
import action_cmdr
action_cmdr.load(["generic_actions", "youbot_actions"])
from geometry_msgs.msg import PoseStamped

if __name__ == "__main__":
    rospy.init_node(
        'test'
    )  # needed to add this so I could make trajectory messages, require timestamp
    rospy.sleep(2)

    action_cmdr.move_base(target="S1", blocking=True)

    action_cmdr.prepare_perception()

    det_objects = action_cmdr.execute_perception(wait_time=1,
                                                 retries=10,
                                                 blocking=True)
    if len(det_objects) > 0:
        print("Got: %s", det_objects)
        obj = det_objects[0]
        ret = action_cmdr.pick_up(target=obj, blocking=True)
        print("Got: %s", ret)
        action_cmdr.move_base(target="D1", blocking=True)
        action_cmdr.move_gripper(target="open", blocking=True)
    else:
        print("didn't find anything!")
roslib.load_manifest(PKG)
import rospy
import smach
import smach_ros
import actionlib
import raw_base_placement.msg

from os import getenv
robot_platform = getenv("ROBOT")
# yes, this is a hack, a better solution is known and has been discussed,
# cf. the Lua-based Behavior Engine, but is pending implementation after RC5
if robot_platform == "cob3-3":
    robot_platform = "cob"

import action_cmdr
action_cmdr.load(["generic_actions", robot_platform + "_actions"])


class approach_pose(smach.State):
    def __init__(self, pose=""):
        smach.State.__init__(self,
                             outcomes=['succeeded', 'failed'],
                             input_keys=['base_pose_to_approach'])

        self.pose = pose

    def execute(self, userdata):

        if (self.pose == ""):
            self.pose2 = userdata.base_pose_to_approach
        else:
roslib.load_manifest('raw_generic_states')
import rospy
import smach
import smach_ros
import math


from os import getenv
robot_platform = getenv("ROBOT")
# yes, this is a hack, a better solution is known and has been discussed,
# cf. the Lua-based Behavior Engine, but is pending implementation after RC5
if robot_platform == "cob3-3":
    robot_platform = "cob"

import action_cmdr
action_cmdr.load(["generic_actions", robot_platform + "_actions"])

class grasp_random_object(smach.State):

    def __init__(self):
        smach.State.__init__(self, outcomes=['succeeded', 'failed'], input_keys=['object_list'])
        
    def execute(self, userdata):
        action_cmdr.move_gripper("open")
        action_cmdr.move_arm("zeroposition")
        
        for object in userdata.object_list:         
                
            sss.move_arm("zeroposition")                             

            ##object.pose.pose.position.z = object.pose.pose.position.z + 0.02
Example #4
0
#!/usr/bin/python
import roslib
roslib.load_manifest('action_cmdr')
import rospy
import action_cmdr
action_cmdr.load(["generic_actions","youbot_actions"])
from geometry_msgs.msg import PoseStamped

if __name__ == "__main__":
    rospy.init_node('test') # needed to add this so I could make trajectory messages, require timestamp
    rospy.sleep(2)

    action_cmdr.move_base(target="S1",blocking=True)
    
    action_cmdr.prepare_perception()
    
    det_objects = action_cmdr.execute_perception(wait_time=1,retries=10,blocking=True)
    if len(det_objects) > 0:
        print("Got: %s",det_objects);
	obj = det_objects[0]
	ret = action_cmdr.pick_up(target=obj,blocking=True)
        print("Got: %s",ret);
	action_cmdr.move_base(target="D1",blocking=True)
	action_cmdr.move_gripper(target="open",blocking=True)
    else:
	print("didn't find anything!")

    #action_cmdr.test("foo")
    
    
    #action_cmdr.move_gripper(target="cylopen", blocking=True)