def __init__(self):
self.ell_space = EllipsoidSpace(1)
self.ell_sub = rospy.Subscriber("/ellipsoid_params", EllipsoidParams,
self.read_params)
self.head_pose_srv = rospy.Service("/get_head_pose", GetHeadPose,
self.get_head_pose_srv)
self.lock_ell = False
self.found_params = False
def __init__(self, arm):
self.time_step = 1. / 20.
self.gripper_rot = np.pi
self.arm = arm
self.ell_traj_behavior = EPC("ellipsoid_traj")
self.ell_space = EllipsoidSpace(1)
self.tf_list = tf.TransformListener()
self.found_params = False
self.ell_sub = rospy.Subscriber("/ellipsoid_params", EllipsoidParams,
self.read_params)
self.start_pub = rospy.Publisher("/start_pose", PoseStamped)
self.end_pub = rospy.Publisher("/end_pose", PoseStamped)
self.ctrl_switcher = ControllerSwitcher()
self.ell_cmd_lock = Lock()
self.params_lock = Lock()
self.ell_ep = None
self.action_preempted = False
self.ell_move_act = actionlib.SimpleActionServer(
"/ellipsoid_move", EllipsoidMoveAction, self.command_move_exec,
False)
self.ell_move_act.start()
def __init__(self):
self.ell_space = EllipsoidSpace(1)
self.ell_sub = rospy.Subscriber("/ellipsoid_params", EllipsoidParams,
self.read_params)
self.found_params = False
