-(table.x_min + table.x_max) / 2.0,
(new_pose.pose.position.z / 2.0)
], [
new_pose.pose.orientation.x, new_pose.pose.orientation.y,
new_pose.pose.orientation.z, new_pose.pose.orientation.w
], table.x_max - table.x_min, table.y_max - table.y_min,
new_pose.pose.position.z)
if __name__ == "__main__":
# initialize
rospy.init_node('test_arm_control', anonymous=True)
object_recognizer = ObjectRecognition()
arm_mover = MoveGroupCommander('arm')
arm_mover.go([0, 0, 0, 0, 0, 0, 0])
os.system('rosrun gripper_control lcg_set_pos.py -n low_cost -f 5 -p 0.13')
listener = tf.TransformListener()
planning_scene = PlanningSceneInterface()
object_listener = ObjectListener(planning_scene, listener)
rospy.Subscriber("/table_array", TableArray,
object_listener.table_callback)
while True:
arm_mover.go([0, 0, 0, 0, 0, 0, 0])
print "Looking for objects."
objects = object_recognizer.look_for_objects()
while not objects.recognized_objects.objects:
