def setUpClass(cls):
modelfile = '/opt/jsk/etc/HIRONX/model/main.wrl'
rtm.nshost = 'hiro024'
robotname = "RobotHardware0"
cls.robot = hironx.HIRONX()
cls.robot.init(robotname=robotname, url=modelfile)
def setUpClass(self):
self.listener = tf.TransformListener()
hiro = hironx_client.HIRONX()
hiro.init()
self.larm = actionlib.SimpleActionClient(
"/larm_controller/joint_trajectory_action", JointTrajectoryAction)
self.rarm = actionlib.SimpleActionClient(
"/rarm_controller/joint_trajectory_action", JointTrajectoryAction)
self.torso = actionlib.SimpleActionClient(
"/torso_controller/joint_trajectory_action", JointTrajectoryAction)
self.head = actionlib.SimpleActionClient(
"/head_controller/joint_trajectory_action", JointTrajectoryAction)
self.larm.wait_for_server()
self.rarm.wait_for_server()
self.torso.wait_for_server()
self.head.wait_for_server()
rospy.wait_for_service('/SequencePlayerServiceROSBridge/setTargetPose')
self.set_target_pose = rospy.ServiceProxy(
'/SequencePlayerServiceROSBridge/setTargetPose',
OpenHRP_SequencePlayerService_setTargetPose)
rospy.wait_for_service(
'/SequencePlayerServiceROSBridge/waitInterpolationOfGroup')
self.wait_interpolation_of_group = rospy.ServiceProxy(
'/SequencePlayerServiceROSBridge/waitInterpolationOfGroup',
OpenHRP_SequencePlayerService_waitInterpolationOfGroup)
def setUpClass(cls):
modelfile = rospy.get_param("hironx/collada_model_filepath")
rtm.nshost = 'hiro014'
robotname = "RobotHardware0"
cls.robot = hironx.HIRONX()
cls.robot.init(robotname=robotname, url=modelfile)
def setUpClass(self):
# Robot info tentatively embedded.
modelfile = '/opt/jsk/etc/HIRONX/model/main.wrl'
rtm.nshost = 'nxc100'
robotname = "RobotHardware0"
self._robot = hironx.HIRONX()
self._robot.init(robotname=robotname, url=modelfile)
def setUpClass(self):
#modelfile = rospy.get_param("hironx/collada_model_filepath")
#rtm.nshost = 'hiro014'
#robotname = "RobotHardware0"
self.robot = hironx.HIRONX()
#self.robot.init(robotname=robotname, url=modelfile)
self.robot.init()
def setUpClass(self):
modelfile = '/opt/jsk/etc/HIRONX/model/main.wrl'
rtm.nshost = 'hiro024'
robotname = "RobotHardware0"
self._robot = hironx.HIRONX()
self._robot.init(robotname=robotname, url=modelfile)
self._robot.goInitial(_GOINITIAL_TIME_MIDSPEED)
def setUpClass(self):
modelfile = rospy.get_param("hironx/collada_model_filepath")
rtm.nshost = 'hiro024'
robotname = "RobotHardware0"
self._robot = hironx.HIRONX()
self._robot.init(robotname=robotname, url=modelfile)
self._robot.goInitial(_GOINITIAL_TIME_MIDSPEED)
def _init_hironx_rtmclient(self):
MODEL_LOCATION_REALROBOT = '/opt/jsk/etc/HIRONX/model/main.wrl'
CORBA_NAMESERVER_NAME = rospy.get_param(
self._NAMESPACE + "/CORBA_NAMESERVER_NAME", 'hiro')
CORBA_PORT = rospy.get_param(self._NAMESPACE + "/CORBA_PORT", 15005)
MODELFILE_HRPSYS = rospy.get_param(
self._NAMESPACE + "/MODELFILE_HRPSYS", MODEL_LOCATION_REALROBOT)
ROBOTNAME_HRPSYS = rospy.get_param(
self._NAMESPACE + "/ROBOTNAME_HRPSYS", 'RobotHardware')
rtm.nshost = CORBA_NAMESERVER_NAME
rtm.nsport = CORBA_PORT
# Wait for RTM servers to come up. This allows (hopefully) RPC servers
# to be launched together with the RTMs.
import time
_time_sleep = rospy.get_param(
self._NAMESPACE + '/SLEEP_INIT_RTMCLIENT', 5.0)
rospy.loginfo(
'Sleep {} seconds to wait for RTM servers'.format(_time_sleep))
time.sleep(_time_sleep)
robot = hironx_client.HIRONX()
robot.init(robotname=ROBOTNAME_HRPSYS, url=MODELFILE_HRPSYS)
return robot
if args.host:
rtm.nshost = args.host
if args.port:
rtm.nsport = args.port
if not args.robot:
args.robot = "RobotHardware0" if args.host else "HiroNX(Robot)0"
if not args.modelfile:
args.modelfile = "/opt/jsk/etc/HIRONX/model/main.wrl" if args.host else ""
# support old style format
if len(unknown) >= 2:
args.robot = unknown[0]
args.modelfile = unknown[1]
args.collision = (unknown[4].lower() == 'true')
robot = hiro = hironx_client.HIRONX()
robot.init(robotname=args.robot,
url=args.modelfile,
collision=args.collision)
# ROS Client
try:
ros = ROS_Client()
except ROSInitException as e:
print('[nextage.py] {}'.format(e))
except socket.error as e:
print("\033[31m%s\n%s\033[0m" % (e.strerror, errormsg_noros))
# for simulated robot
# $ ./hironx.py
#
