def __init__(self):
rospy.init_node('arm_trajectory')
self.relaxedIK = RelaxedIK.init_from_config(config_file_name)
self.left_js_pub = rospy.Publisher('/left_arm_controller/command',
JointTrajectory,
queue_size=1)
self.weight_array = [0, 0, 0, 0, 0, 1, 1, 1, 1, 50, 1, 1]
for ind, wi in enumerate(self.weight_array):
self.relaxedIK.vars.weight_funcs[ind].set_value(wi)
def __init__(self):
rospy.init_node('multiplex_node')
self.control_state = None
self.weight_array = []
self.right_pose = Pose()
self.left_pose = Pose()
self.relaxedIK = RelaxedIK.init_from_config(config_file_name)
self.left_js_pub = rospy.Publisher('/left_arm_controller/command',
JointTrajectory,
queue_size=1)
self.right_js_pub = rospy.Publisher('/right_arm_controller/command',
JointTrajectory,
queue_size=1)
rospy.Subscriber('/controlState',
String,
self.cb_control_state,
queue_size=1)
rospy.Subscriber('/uiJointPose',
JointState,
self.cb_joint_control,
queue_size=1)
# rospy.Subscriber('/uiJointPose', JointState, self.cb_joint_control, queue_size=1)
rospy.Subscriber('/uiCartesianPose',
Pose,
self.cb_cartesion_control,
queue_size=1)
rospy.Subscriber('/joint_states',
JointState,
self.cb_objective_control,
queue_size=1)
rospy.Subscriber('/gazebo/link_states',
LinkStates,
self.cb_ee_pose_state,
queue_size=1)
rospy.Subscriber('/uiRelaxedIk',
JointState,
self.cb_obj_weight,
queue_size=1)
def __init__(self):
rospy.loginfo("Follower Node started.")
'''
you could put class data variables in here if you wanted to.
current_joint_states = JointState()
#eepg = None
#def eePoseGoals_cb(data):
# global eepg
# eepg = data
'''
rospy.Subscriber('/robot/joint_states', JointState, callback_pose)
angles_pub = rospy.Publisher('/relaxed_ik/joint_angle_solutions',
JointAngles,
queue_size=3)
config_file_name = 'second_victory.config' #rospy.get_param('config_file_name', default='second_victory.config')
my_relaxedIK = RelaxedIK.init_from_config(config_file_name)
num_chains = my_relaxedIK.vars.robot.numChains
rospy.loginfo("rospy.spin()")
rospy.spin()
joint_state_define, collision_file_name, fixed_frame, config_file_name
from RelaxedIK.relaxedIK import RelaxedIK
from RelaxedIK.GROOVE_RelaxedIK.relaxedIK_vars import RelaxedIK_vars
from sensor_msgs.msg import JointState
import rospy
import roslaunch
import os
import tf
import math
if __name__ == '__main__':
# Don't change this code####################################################################################
rospy.init_node('sample_node')
####################################################################################################################
relaxedIK = RelaxedIK.init_from_config(config_file_name)
####################################################################################################################
urdf_file = open(relaxedIK.vars.urdf_path, 'r')
urdf_string = urdf_file.read()
rospy.set_param('robot_description', urdf_string)
js_pub = rospy.Publisher('joint_states', JointState, queue_size=5)
tf_pub = tf.TransformBroadcaster()
rospy.sleep(0.3)
# Don't change this code ###########################################################################################
uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
roslaunch.configure_logging(uuid)
launch_path = os.path.dirname(
__file__) + '/../launch/robot_state_pub.launch'
joint_state_define, collision_file_name, fixed_frame, config_file_name
from RelaxedIK.relaxedIK import RelaxedIK
from RelaxedIK.GROOVE_RelaxedIK.relaxedIK_vars import RelaxedIK_vars
from sensor_msgs.msg import JointState
import rospy
import roslaunch
import os
import tf
import math
if __name__ == '__main__':
# Don't change this code####################################################################################
rospy.init_node('sample_node')
####################################################################################################################
relaxedIK = RelaxedIK.init_from_config('hubo.config')
####################################################################################################################
urdf_file = open(relaxedIK.vars.urdf_path, 'r')
urdf_string = urdf_file.read()
rospy.set_param('robot_description', urdf_string)
js_pub = rospy.Publisher('joint_states', JointState, queue_size=5)
tf_pub = tf.TransformBroadcaster()
rospy.sleep(0.3)
# Don't change this code ###########################################################################################
uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
roslaunch.configure_logging(uuid)
launch_path = os.path.dirname(
__file__) + '/../launch/robot_state_pub.launch'
