Python RosMidca Examples

Example #1

File: baxter_run_OD_sim.py Project: raveendrameda/MIDCA

MIDCA_ROOT = thisDir + "/../"

myMidca = ros_style_midca()

#myMidca.logger.logOutput()
#myMidca.mem.enableLogging(myMidca.logger)

# calibration

rosMidca = rosrun.RosMidca(
    myMidca,
    incomingMsgHandlers=[
        #rosrun.CalibrationHandler("calibrate_done", myMidca),
        rosrun.threeObjectsLocationHandler("obj_pos", myMidca),
        rosrun.UtteranceHandler("cmds_received", myMidca),
        rosrun.FeedbackHandler(rosrun.FEEDBACK_TOPIC, myMidca)
    ],
    outgoingMsgHandlers=[
        rosrun.OutgoingMsgHandler(asynch.LOC_TOPIC, String),
        rosrun.OutgoingMsgHandler(asynch.GRAB_TOPIC, String),
        rosrun.OutgoingMsgHandler(asynch.RELEASE_TOPIC, String),
        rosrun.OutgoingMsgHandler(asynch.RAISE_TOPIC, String)
    ])

rosMidca.ros_connect()

H = Calibrate.calibrate()
#Z = -0.15113003072395247
#Z = -0.16113003072395247
Z = -0.147
myMidca.mem.set(myMidca.mem.CALIBRATION_MATRIX, H)
myMidca.mem.set(myMidca.mem.CALIBRATION_Z, Z)

Example #2

    myMidca.append_module(
        "Plan",
        planning.AsynchPyhopPlanner(methods.declare_methods,
                                    operators.declare_ops))
    myMidca.append_module("Act", act.AsynchronousAct())
    return myMidca


thisDir = os.path.dirname(
    os.path.abspath(inspect.getfile(inspect.currentframe())))

MIDCA_ROOT = thisDir + "/../"

myMidca = ros_style_midca()

myMidca.logger.logOutput()
myMidca.mem.enableLogging(myMidca.logger)

rosMidca = rosrun.RosMidca(
    myMidca,
    incomingMsgHandlers=[
        rosrun.FixedObjectLocationHandler(OBJ_LOC_TOPIC, "quad", myMidca),
        rosrun.UtteranceHandler(UTTERANCE_TOPIC, myMidca),
        rosrun.FeedbackHandler(rosrun.FEEDBACK_TOPIC, myMidca)
    ],
    outgoingMsgHandlers=[
        rosrun.OutgoingMsgHandler(asynch.POINT_TOPIC, String)
    ])
rosMidca.ros_connect()
rosMidca.run_midca()