Python PoseConv.to_twist_stamped_msg Exemples

Exemple #1

Fichier : cartesian_manager.py Projet : gt-ros-pkg/hrl-assistive

def main():
    rospy.init_node("cartesian_manager")
    arm_char = sys.argv[1]
    assert arm_char in ['r', 'l']
    cart_man = CartesianControllerManager(arm_char)
    if False:
        cart_man.enable_controller(
            end_link="%s_gripper_tool_frame" % arm_char, 
            ctrl_name="%s_cart_jt_task_tool" % arm_char,
            ctrl_params="$(find hrl_face_adls)/params/%s_jt_task_tool.yaml" % arm_char,
            frame_rot=FLIP_PERSPECTIVE_ROT)
        rospy.sleep(1)
        #t = PoseConv.to_twist_stamped_msg("l_gripper_tool_frame", (-0.15, 0, 0), (0, 0, 0))
        #t = PoseConv.to_twist_stamped_msg("torso_lift_link", (0, 0, 0), (-np.pi/6, 0, 0))
        t = PoseConv.to_twist_stamped_msg("torso_lift_link", (0, 0.1, 0), (0, 0, 0))
        cart_man.command_move_cb(t)
        return

    rospy.spin()

Exemple #2

Fichier : cartesian_manager.py Projet : kavikode/hrl-assistive

def main():
    rospy.init_node("cartesian_manager")
    arm_char = sys.argv[1]
    assert arm_char in ['r', 'l']
    cart_man = CartesianControllerManager(arm_char)
    if False:
        cart_man.enable_controller(
            end_link="%s_gripper_tool_frame" % arm_char,
            ctrl_name="%s_cart_jt_task_tool" % arm_char,
            ctrl_params="$(find hrl_face_adls)/params/%s_jt_task_tool.yaml" %
            arm_char,
            frame_rot=FLIP_PERSPECTIVE_ROT)
        rospy.sleep(1)
        #t = PoseConv.to_twist_stamped_msg("l_gripper_tool_frame", (-0.15, 0, 0), (0, 0, 0))
        #t = PoseConv.to_twist_stamped_msg("torso_lift_link", (0, 0, 0), (-np.pi/6, 0, 0))
        t = PoseConv.to_twist_stamped_msg("torso_lift_link", (0, 0.1, 0),
                                          (0, 0, 0))
        cart_man.command_move_cb(t)
        return

    rospy.spin()