if rospy.has_param('root_frame'): root_frame = rospy.get_param('root_frame') else: rospy.logwarn('Could not find parameter root_frame.') exit(-3) t = time.localtime() launch_time_stamp = time.strftime("%Y%m%d_%H_%M_%S", t) command = 'rosbag play ' + base_dir + 'arm_left_to_head_internal_motions.bag' data_krakens = [ JointStateDataKraken(base_dir + 'internal_motion_joint_state_data_' + launch_time_stamp + '.csv'), ObstacleDistanceDataKraken(base_dir + 'internal_motion_obst_dist_data_' + launch_time_stamp + '.csv'), TwistDataKraken(base_dir + 'internal_motion_twist_data_' + launch_time_stamp + '.csv'), JointVelocityDataKraken(base_dir + 'internal_motion_joint_vel_data_' + launch_time_stamp + '.csv'), FrameTrackingDataKraken(base_dir + 'internal_motion_frame_tracking_data_' + launch_time_stamp + '.csv', root_frame, chain_tip_link, tracking_frame), ] init_pos() init_dyn_recfg() # exit() status_open = True for data_kraken in data_krakens: status_open = status_open and data_kraken.open() if status_open: rospy.loginfo('Subscribers started for data collection ... \nPress CTRL+C to stop program and write data to the file.') pid = subprocess.Popen(command, stdin = subprocess.PIPE, cwd = base_dir, shell = True)
command = 'rosbag play ' + base_dir + 'careobot_st_jla_ca.bag' data_krakens = [ JointStateDataKraken(base_dir + 'careobot_GPM_jla_ca_joint_state_data_' + launch_time_stamp + '.csv'), ObstacleDistanceDataKraken(base_dir + 'careobot_GPM_jla_ca_obst_dist_data_' + launch_time_stamp + '.csv'), TwistDataKraken(base_dir + 'careobot_GPM_jla_ca_twist_data_' + launch_time_stamp + '.csv'), JointVelocityDataKraken(base_dir + 'careobot_GPM_jla_ca_joint_vel_data_' + launch_time_stamp + '.csv'), FrameTrackingDataKraken( base_dir + 'careobot_GPM_jla_ca_frame_tracking_data_' + launch_time_stamp + '.csv', root_frame, chain_tip_link, tracking_frame), ] init_pos() init_dyn_recfg() status_open = True for data_kraken in data_krakens: status_open = status_open and data_kraken.open() if status_open: rospy.loginfo( 'Subscribers started for data collection ... \nPress CTRL+C to stop program and write data to the file.' ) traj_marker_command = 'rosrun cob_twist_controller debug_trajectory_marker_node __ns:=' + rospy.get_namespace(
t = time.localtime() launch_time_stamp = time.strftime("%Y%m%d_%H_%M_%S", t) command = 'rosbag play ' + base_dir + 'raw31_sca.bag' data_krakens = [ JointStateDataKraken(base_dir + 'raw31_sca_joint_state_data_' + launch_time_stamp + '.csv'), ObstacleDistanceDataKraken(base_dir + 'raw31_sca_obst_dist_data_' + launch_time_stamp + '.csv'), TwistDataKraken(base_dir + 'raw31_sca_twist_controller_commanded_twist_data_' + launch_time_stamp + '.csv'), JointVelocityDataKraken(base_dir + 'raw31_sca_joint_vel_data_' + launch_time_stamp + '.csv'), FrameTrackingDataKraken( base_dir + 'raw31_sca_frame_tracking_data_' + launch_time_stamp + '.csv', root_frame, chain_tip_link, tracking_frame) ] init_pos() init_dyn_recfg() status_open = True for data_kraken in data_krakens: status_open = status_open and data_kraken.open() if status_open: rospy.loginfo( 'Subscribers started for data collection ... \nPress CTRL+C to stop program and write data to the file.' ) pid = subprocess.Popen(command,