def __init__(self,name):
action_spec=TestAction
ActionServer.__init__(self,name,action_spec,self.goalCallback,self.cancelCallback, False);
self.start()
rospy.loginfo("Creating ActionServer [%s]\n", name);
self.saved_goals=[]
def __init__(self, name):
self.server_name = name
action_spec = Robot_binpickingAction
ActionServer.__init__(
self, name, action_spec, self.goalCallback, self.cancelCallback, False)
self.start() # como metemos o ultimo parametro a False, damos o start aqui
rospy.loginfo("Creating ActionServer [%s]\n", name)
self.saved_goals = []
self._feedback = Robot_binpickingFeedback()
self._result = Robot_binpickingResult()
# Publisher of pointStamped of the grasping point
grasping_point_pub = rospy.Publisher(
'/graspingPoint',
PointStamped,
queue_size=10)
# Publisher of pointStamped of the grasping point
self.io_pub = rospy.Publisher(
'/io_client_messages',
ios,
queue_size=10)
self.continue_move = False #variable to confirm planning for picking
self.cancellAction_var=False
rospy.Subscriber("/joy", Joy, self.joyCallback)
def __init__(self, name):
action_spec = TestAction
ActionServer.__init__(self, name, action_spec, self.goalCallback,
self.cancelCallback, False)
self.start()
rospy.loginfo("Creating ActionServer [%s]\n", name)
self.saved_goals = []
def __init__(self, name):
ActionServer.__init__(self, name, DockAction, self.__goal_callback,
self.__cancel_callback, False)
self.__docked = False
self.__dock_speed = rospy.get_param('~dock/dock_speed', 0.05)
self.__dock_distance = rospy.get_param('~dock/dock_distance', 1.0)
self.__map_frame = rospy.get_param('~map_frame', 'map')
self.__odom_frame = rospy.get_param('~odom_frame', 'odom')
self.__base_frame = rospy.get_param('~base_frame', 'base_footprint')
self.__dock_ready_pose = Pose()
self.__dock_ready_pose.position.x = rospy.get_param('~dock/pose_x')
self.__dock_ready_pose.position.y = rospy.get_param('~dock/pose_y')
self.__dock_ready_pose.position.z = rospy.get_param('~dock/pose_z')
self.__dock_ready_pose.orientation.x = rospy.get_param(
'~dock/orientation_x')
self.__dock_ready_pose.orientation.y = rospy.get_param(
'~dock/orientation_y')
self.__dock_ready_pose.orientation.z = rospy.get_param(
'~dock/orientation_z')
self.__dock_ready_pose.orientation.w = rospy.get_param(
'~dock/orientation_w')
self.__dock_ready_pose_2 = PoseStamped()
rospy.loginfo('param: dock_spped, %s, dock_distance %s' %
(self.__dock_speed, self.__dock_distance))
rospy.loginfo('param: map_frame %s, odom_frame %s, base_frame %s' %
(self.__map_frame, self.__odom_frame, self.__base_frame))
rospy.loginfo('dock_pose:')
rospy.loginfo(self.__dock_ready_pose)
self.__movebase_client = SimpleActionClient('move_base',
MoveBaseAction)
rospy.loginfo('wait for movebase server...')
self.__movebase_client.wait_for_server()
rospy.loginfo('movebase server connected')
self.__cmd_pub = rospy.Publisher('cmd_vel', Twist, queue_size=10)
rospy.Subscriber('dock_pose', PoseStamped, self.__dock_pose_callback)
self.__tf_listener = tf.TransformListener()
self.__docked = False
# self.__saved_goal = MoveBaseGoal()
self.__no_goal = True
self.__current_goal_handle = ServerGoalHandle()
self.__exec_condition = threading.Condition()
self.__exec_thread = threading.Thread(None, self.__exec_loop)
self.__exec_thread.start()
rospy.loginfo('Creating ActionServer [%s]\n', name)
def __init__(self, name):
self.server_name = name
action_spec = Robot_binpickingAction
ActionServer.__init__(self, name, action_spec, self.goalCallback,
self.cancelCallback, False)
self.start(
) # como metemos o ultimo parametro a False, damos o start aqui
rospy.loginfo("Creating ActionServer [%s]\n", name)
self.saved_goals = []
self._feedback = Robot_binpickingFeedback()
self._result = Robot_binpickingResult()
def __init__(self, name):
ActionServer.__init__(self, name, DockAction, self.__goal_callback,
self.__cancel_callback, False)
self.__docked = False
self.__dock_speed = rospy.get_param("~dock/dock_speed", 0.05)
self.__dock_distance = rospy.get_param("~dock/dock_distance", 1.0)
self.__map_frame = rospy.get_param("~map_frame", "map")
self.__odom_frame = rospy.get_param("~odom_frame", "odom")
self.__base_frame = rospy.get_param("~base_frame", "base_footprint")
self.__dock_ready_pose = Pose()
self.__dock_ready_pose.position.x = rospy.get_param("~dock/pose_x")
self.__dock_ready_pose.position.y = rospy.get_param("~dock/pose_y")
self.__dock_ready_pose.position.z = rospy.get_param("~dock/pose_z")
self.__dock_ready_pose.orientation.x = rospy.get_param(
"~dock/orientation_x")
self.__dock_ready_pose.orientation.y = rospy.get_param(
"~dock/orientation_y")
self.__dock_ready_pose.orientation.z = rospy.get_param(
"~dock/orientation_z")
self.__dock_ready_pose.orientation.w = rospy.get_param(
"~dock/orientation_w")
self.__dock_ready_pose_2 = PoseStamped()
rospy.loginfo("param: dock_spped, %s, dock_distance %s" %
(self.__dock_speed, self.__dock_distance))
rospy.loginfo("param: map_frame %s, odom_frame %s, base_frame %s" %
(self.__map_frame, self.__odom_frame, self.__base_frame))
rospy.loginfo("dock_pose:")
rospy.loginfo(self.__dock_ready_pose)
self.__movebase_client = SimpleActionClient('move_base',
MoveBaseAction)
rospy.loginfo("wait for movebase server...")
self.__movebase_client.wait_for_server()
rospy.loginfo("movebase server connected")
self.__cmd_pub = rospy.Publisher('cmd_vel', Twist, queue_size=10)
rospy.Subscriber("dock_pose", PoseStamped, self.__dock_pose_callback)
self.__tf_listener = tf.TransformListener()
self.__docked = False
self.__saved_goal = MoveBaseGoal()
rospy.loginfo("Creating ActionServer [%s]\n", name)
def __init__(self, name):
self.server_name = name
action_spec = Robot_binpickingAction
ActionServer.__init__(self, name, action_spec, self.goalCallback,
self.cancelCallback, False)
self.start(
) # como metemos o ultimo parametro a False, damos o start aqui
rospy.loginfo("Creating ActionServer [%s]\n", name)
self.saved_goals = []
self._feedback = Robot_binpickingFeedback()
self._result = Robot_binpickingResult()
# construtor para moveit
# This RobotCommander object is an interface to the robot as a whole.
robot = moveit_commander.RobotCommander()
# This PlanningSceneInterface object is an interface to the world surrounding the robot.
scene = moveit_commander.PlanningSceneInterface()
# MoveGroupCommander object. This object is an interface to one group of joints.
# In this case the group is the joints in the manipulator. This interface can be used
# to plan and execute motions on the manipulator.
self.group = moveit_commander.MoveGroupCommander("manipulator")
# Publisher of pointStamped of the grasping point
grasping_point_pub = rospy.Publisher('/graspingPoint',
PointStamped,
queue_size=10)
# Publisher of pointStamped of the grasping point
self.io_pub = rospy.Publisher('/io_client_messages',
ios,
queue_size=10)
self.markerPub = rospy.Publisher('robotMarker', Marker, queue_size=1)
self.continue_move = False #variable to confirm planning for picking
self.cancellAction_var = False
rospy.Subscriber("/joy", Joy, self.joyCallback)
def __init__(self, name):
self.server_name = name
action_spec = Robot_statusAction
ActionServer.__init__(
self, name, action_spec, self.goalCallback, self.cancelCallback, False)
self.start() # como metemos o ultimo parametro a False, damos o start aqui
rospy.loginfo("Creating ActionServer [%s]\n", name)
self.saved_goals = []
self._feedback = Robot_statusFeedback()
self._result = Robot_statusResult()
# construtor para moveit
# This RobotCommander object is an interface to the robot as a whole.
robot = moveit_commander.RobotCommander()
# This PlanningSceneInterface object is an interface to the world surrounding the robot.
scene = moveit_commander.PlanningSceneInterface()
# MoveGroupCommander object. This object is an interface to one group of joints.
# In this case the group is the joints in the manipulator. This interface can be used
# to plan and execute motions on the manipulator.
self.group = moveit_commander.MoveGroupCommander("manipulator")