def ik_solver_init(self):
# Params
self.poses = None
# Reference frame for the trajectory
self.reference_frame = 'base_link'
# Joint names of the arm
self.joint_names = [
'arm_joint_1', 'arm_joint_2', 'arm_joint_3', 'arm_joint_4',
'arm_joint_5'
]
# Move group for MoveIt!
move_group = 'move_group'
client = actionlib.SimpleActionClient(move_group,
moveit_msgs.msg.MoveGroupAction)
rospy.loginfo("Waiting for '{0}' server".format(move_group))
client.wait_for_server()
rospy.loginfo("Found server '{0}'".format(move_group))
# Name of the group to compute the inverse kinematics
self.arm = 'arm_1'
self.group = moveit_commander.MoveGroupCommander(self.arm)
# Kinematics class to compute the inverse kinematics
self.kinematics = kinematics.Kinematics(self.arm)
def __init__(self):
# params
self.event = None
self.goal_pose = None
self.goal_pose_array = None
# node cycle rate (in hz)
self.loop_rate = rospy.Rate(rospy.get_param('~loop_rate', 10.0))
# publishers
self.event_out = rospy.Publisher("~event_out",
std_msgs.msg.String,
queue_size=1)
self.selected_pose = rospy.Publisher("~selected_pose",
geometry_msgs.msg.PoseStamped,
queue_size=1)
self.joint_configuration = rospy.Publisher(
"~joint_configuration",
brics_actuator.msg.JointPositions,
queue_size=1)
# subscribers
rospy.Subscriber("~event_in", std_msgs.msg.String, self.event_in_cb)
rospy.Subscriber("~goal_pose", geometry_msgs.msg.PoseStamped,
self.goal_pose_cb)
rospy.Subscriber("~goal_pose_array", geometry_msgs.msg.PoseArray,
self.goal_pose_array_cb)
# wait for MoveIt!
move_group = rospy.get_param('~move_group', None)
assert move_group is not None, "Move group must be specified."
client = actionlib.SimpleActionClient(move_group,
moveit_msgs.msg.MoveGroupAction)
rospy.loginfo("Waiting for '{0}' server".format(move_group))
client.wait_for_server()
rospy.loginfo("Found server '{0}'".format(move_group))
# name of the group to compute the inverse kinematics
self.arm = rospy.get_param('~arm', None)
assert self.arm is not None, "Group to move (e.g. arm) must be specified."
group = moveit_commander.MoveGroupCommander(self.arm)
# joints to compute the inverse kinematics
self.joint_uris = group.get_joints()
# units of the joint position values
self.units = rospy.get_param('~units', 'rad')
# linear offset for the X, Y and Z axis.
self.linear_offset = rospy.get_param('~linear_offset', None)
# kinematics class to compute the inverse kinematics
self.kinematics = kinematics.Kinematics(self.arm)
# Time allowed for the IK solver to find a solution (in seconds).
self.ik_timeout = rospy.get_param('~ik_timeout', 0.5)
def __init__(self):
# Params
self.event = None
self.poses = None
# Maximum amount of poses to compute a trajectory for
self.max_poses = rospy.get_param('~max_poses', 10)
# Reference frame for the trajectory
self.reference_frame = rospy.get_param('~reference_frame', None)
assert self.reference_frame is not None, "Reference frame must be specified."
# Joint names of the arm
self.joint_names = rospy.get_param('~joint_names', None)
assert self.joint_names is not None, "Joint names must be specified."
# Move group for MoveIt!
move_group = rospy.get_param('~move_group', None)
assert move_group is not None, "Move group must be specified."
client = actionlib.SimpleActionClient(move_group,
moveit_msgs.msg.MoveGroupAction)
rospy.loginfo("Waiting for '{0}' server".format(move_group))
client.wait_for_server()
rospy.loginfo("Found server '{0}'".format(move_group))
# Name of the group to compute the inverse kinematics
self.arm = rospy.get_param('~arm', None)
assert self.arm is not None, "Group to move (e.g. arm) must be specified."
# Kinematics class to compute the inverse kinematics
self.kinematics = kinematics.Kinematics(self.arm)
# Node cycle rate (in hz)
self.loop_rate = rospy.Rate(rospy.get_param('~loop_rate', 10.0))
# publishers
self.event_out = rospy.Publisher("~event_out",
std_msgs.msg.String,
queue_size=1)
self.trajectory = rospy.Publisher("~trajectory",
trajectory_msgs.msg.JointTrajectory,
queue_size=1)
# subscribers
rospy.Subscriber("~event_in", std_msgs.msg.String, self.event_in_cb)
rospy.Subscriber("~poses", geometry_msgs.msg.PoseArray, self.poses_cb)