def __init__(self, limb):
self.bc = BaxterController(limb)
self.bc.send_image(self.bc._cheeky_face_path)
class Game(object):
def __init__(self, limb):
self.bc = BaxterController(limb)
self.bc.send_image(self.bc._cheeky_face_path)
def test(self, limb):
print "STARTING TEST!"
self.bc.pick("p1")
self.bc.release("a1")
print "TEST FINISHED!"
def rec_command(self, req):
res = BaxterCommandResponse()
print "Received service!"
print req.pos1 + " " + req.pos2
acceptables = self.bc.acceptable['left'] + self.bc.acceptable['positions']
if req.pos1 == 'neutral' or req.pos2 == 'neutral':
self.bc.go_neutral()
print "Going neutral"
elif req.pos1 in acceptables and req.pos2 in acceptables:
self.bc.pick(req.pos1)
self.bc.release(req.pos2)
print "Going from " + req.pos1 + " to " + req.pos2
else:
print "Aborting, no acceptable targets set"
res.res = False
return True
res.res = True
return True
def command_server(self):
#rospy.init_node('command_server')
s = rospy.Service('baxter_command', BaxterCommand, self.rec_command)
print "Command server ready"
