def __init__(self, context):
super(Milestone1GUI, self).__init__(context)
self._sound_client = SoundClient()
rospy.Subscriber('robotsound', SoundRequest, self.sound_cb)
switch_srv_name = 'pr2_controller_manager/switch_controller'
rospy.loginfo('Waiting for switch controller service...')
rospy.wait_for_service(switch_srv_name)
self.switch_service_client = rospy.ServiceProxy(
switch_srv_name, SwitchController)
self.r_joint_names = [
'r_shoulder_pan_joint', 'r_shoulder_lift_joint',
'r_upper_arm_roll_joint', 'r_elbow_flex_joint',
'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint'
]
self.l_joint_names = [
'l_shoulder_pan_joint', 'l_shoulder_lift_joint',
'l_upper_arm_roll_joint', 'l_elbow_flex_joint',
'l_forearm_roll_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint'
]
# Create a trajectory action client
r_traj_controller_name = '/r_arm_controller/joint_trajectory_action'
self.r_traj_action_client = SimpleActionClient(r_traj_controller_name,
JointTrajectoryAction)
rospy.loginfo(
'Waiting for a response from the trajectory action server for RIGHT arm...'
)
self.r_traj_action_client.wait_for_server()
l_traj_controller_name = '/l_arm_controller/joint_trajectory_action'
self.l_traj_action_client = SimpleActionClient(l_traj_controller_name,
JointTrajectoryAction)
rospy.loginfo(
'Waiting for a response from the trajectory action server for LEFT arm...'
)
self.l_traj_action_client.wait_for_server()
#init torso
self.torso = Torso()
#init gripper
self.l_gripper = Gripper('l')
self.r_gripper = Gripper('r')
#init navigation
self.navigation = Navigation()
self._widget = QWidget()
self._widget.setFixedSize(600, 600)
QtGui.QToolTip.setFont(QtGui.QFont('SansSerif', 10))
large_box = QtGui.QVBoxLayout()
#Button for outreaching to recieve book from Human
button_box = QtGui.QVBoxLayout()
box_1 = QtGui.QHBoxLayout()
box_2 = QtGui.QHBoxLayout()
box_3 = QtGui.QHBoxLayout()
box_4 = QtGui.QHBoxLayout()
box_5 = QtGui.QHBoxLayout()
box_6 = QtGui.QHBoxLayout()
box_7 = QtGui.QHBoxLayout()
box_8 = QtGui.QHBoxLayout()
box_9 = QtGui.QHBoxLayout()
box_10 = QtGui.QHBoxLayout()
box_1.addItem(QtGui.QSpacerItem(15, 2))
box_1.addWidget(
self.create_button('Prepare To Take', self.prepare_to_take))
box_1.addItem(QtGui.QSpacerItem(445, 2))
box_2.addItem(QtGui.QSpacerItem(15, 2))
box_2.addWidget(
self.create_button('Take From Human', self.take_from_human))
box_2.addItem(QtGui.QSpacerItem(445, 2))
box_3.addItem(QtGui.QSpacerItem(15, 2))
box_3.addWidget(
self.create_button('Prepare To Navigate',
self.prepare_to_navigate))
box_3.addItem(QtGui.QSpacerItem(445, 2))
# Button to move to shelf
box_5.addItem(QtGui.QSpacerItem(15, 2))
box_5.addWidget(
self.create_button('Navigate To Shelf', self.navigate_to_shelf))
box_5.addItem(QtGui.QSpacerItem(445, 2))
box_4.addItem(QtGui.QSpacerItem(15, 2))
box_4.addWidget(
self.create_button('Place On Shelf', self.place_on_shelf))
box_4.addItem(QtGui.QSpacerItem(445, 2))
box_6.addItem(QtGui.QSpacerItem(15, 2))
box_6.addWidget(
self.create_button('Give Information', self.give_information))
box_6.addItem(QtGui.QSpacerItem(445, 2))
box_7.addItem(QtGui.QSpacerItem(15, 2))
box_7.addWidget(
self.create_button('Navigate To Person', self.navigate_to_person))
box_7.addItem(QtGui.QSpacerItem(445, 2))
self.book_textbox = QtGui.QLineEdit()
self.book_textbox.setFixedWidth(100)
box_8.addItem(QtGui.QSpacerItem(15, 2))
box_8.addWidget(self.book_textbox)
box_8.addWidget(
self.create_button('Pick Up Book', self.pick_up_from_shelf_button))
box_8.addItem(QtGui.QSpacerItem(445, 2))
box_9.addItem(QtGui.QSpacerItem(15, 2))
box_9.addWidget(self.create_button('Localize', self.spin_base))
box_9.addItem(QtGui.QSpacerItem(445, 2))
box_10.addItem(QtGui.QSpacerItem(15, 2))
box_10.addWidget(
self.create_button('Non-nav Pick Up', self.pick_up_from_shelf))
box_10.addItem(QtGui.QSpacerItem(445, 2))
button_box.addItem(QtGui.QSpacerItem(20, 120))
button_box.addLayout(box_1)
button_box.addLayout(box_2)
button_box.addLayout(box_3)
button_box.addLayout(box_5)
button_box.addLayout(box_4)
button_box.addLayout(box_6)
button_box.addLayout(box_7)
button_box.addLayout(box_8)
button_box.addLayout(box_9)
button_box.addLayout(box_10)
button_box.addItem(QtGui.QSpacerItem(20, 240))
large_box.addLayout(button_box)
self.marker_perception = ReadMarkers()
self.speech_recognition = SpeechRecognition(self)
self.bookDB = BookDB()
self.book_map = self.bookDB.getAllBookCodes()
self._widget.setObjectName('Milestone1GUI')
self._widget.setLayout(large_box)
context.add_widget(self._widget)
self._widget.setStyleSheet(
"QWidget { image: url(%s) }" %
(str(os.path.dirname(os.path.realpath(__file__))) +
"/../../librarian_gui_background.jpg"))
def __init__(self, context):
super(Milestone1GUI, self).__init__(context)
self._sound_client = SoundClient()
rospy.Subscriber('robotsound', SoundRequest, self.sound_cb)
switch_srv_name = 'pr2_controller_manager/switch_controller'
rospy.loginfo('Waiting for switch controller service...')
rospy.wait_for_service(switch_srv_name)
self.switch_service_client = rospy.ServiceProxy(switch_srv_name,
SwitchController)
self.r_joint_names = ['r_shoulder_pan_joint',
'r_shoulder_lift_joint',
'r_upper_arm_roll_joint',
'r_elbow_flex_joint',
'r_forearm_roll_joint',
'r_wrist_flex_joint',
'r_wrist_roll_joint']
self.l_joint_names = ['l_shoulder_pan_joint',
'l_shoulder_lift_joint',
'l_upper_arm_roll_joint',
'l_elbow_flex_joint',
'l_forearm_roll_joint',
'l_wrist_flex_joint',
'l_wrist_roll_joint']
# Create a trajectory action client
r_traj_controller_name = '/r_arm_controller/joint_trajectory_action'
self.r_traj_action_client = SimpleActionClient(r_traj_controller_name,
JointTrajectoryAction)
rospy.loginfo('Waiting for a response from the trajectory action server for RIGHT arm...')
self.r_traj_action_client.wait_for_server()
l_traj_controller_name = '/l_arm_controller/joint_trajectory_action'
self.l_traj_action_client = SimpleActionClient(l_traj_controller_name,
JointTrajectoryAction)
rospy.loginfo('Waiting for a response from the trajectory action server for LEFT arm...')
self.l_traj_action_client.wait_for_server()
#init torso
self.torso = Torso()
#init gripper
self.l_gripper = Gripper('l')
self.r_gripper = Gripper('r')
#init navigation
self.navigation = Navigation()
self._widget = QWidget()
self._widget.setFixedSize(600, 600)
QtGui.QToolTip.setFont(QtGui.QFont('SansSerif', 10))
large_box = QtGui.QVBoxLayout()
#Button for outreaching to recieve book from Human
button_box = QtGui.QVBoxLayout()
box_1 = QtGui.QHBoxLayout()
box_2 = QtGui.QHBoxLayout()
box_3 = QtGui.QHBoxLayout()
box_4 = QtGui.QHBoxLayout()
box_5 = QtGui.QHBoxLayout()
box_6 = QtGui.QHBoxLayout()
box_7 = QtGui.QHBoxLayout()
box_8 = QtGui.QHBoxLayout()
box_9 = QtGui.QHBoxLayout()
box_10 = QtGui.QHBoxLayout()
box_1.addItem(QtGui.QSpacerItem(15,2))
box_1.addWidget(self.create_button('Prepare To Take', self.prepare_to_take))
box_1.addItem(QtGui.QSpacerItem(445,2))
box_2.addItem(QtGui.QSpacerItem(15,2))
box_2.addWidget(self.create_button('Take From Human', self.take_from_human))
box_2.addItem(QtGui.QSpacerItem(445,2))
box_3.addItem(QtGui.QSpacerItem(15,2))
box_3.addWidget(self.create_button('Prepare To Navigate', self.prepare_to_navigate))
box_3.addItem(QtGui.QSpacerItem(445,2))
# Button to move to shelf
box_5.addItem(QtGui.QSpacerItem(15,2))
box_5.addWidget(self.create_button('Navigate To Shelf', self.navigate_to_shelf))
box_5.addItem(QtGui.QSpacerItem(445,2))
box_4.addItem(QtGui.QSpacerItem(15,2))
box_4.addWidget(self.create_button('Place On Shelf', self.place_on_shelf))
box_4.addItem(QtGui.QSpacerItem(445,2))
box_6.addItem(QtGui.QSpacerItem(15,2))
box_6.addWidget(self.create_button('Give Information', self.give_information))
box_6.addItem(QtGui.QSpacerItem(445,2))
box_7.addItem(QtGui.QSpacerItem(15,2))
box_7.addWidget(self.create_button('Navigate To Person', self.navigate_to_person))
box_7.addItem(QtGui.QSpacerItem(445,2))
self.book_textbox = QtGui.QLineEdit()
self.book_textbox.setFixedWidth(100)
box_8.addItem(QtGui.QSpacerItem(15,2))
box_8.addWidget(self.book_textbox)
box_8.addWidget(self.create_button('Pick Up Book', self.pick_up_from_shelf_button))
box_8.addItem(QtGui.QSpacerItem(445,2))
box_9.addItem(QtGui.QSpacerItem(15,2))
box_9.addWidget(self.create_button('Localize', self.spin_base))
box_9.addItem(QtGui.QSpacerItem(445,2))
box_10.addItem(QtGui.QSpacerItem(15,2))
box_10.addWidget(self.create_button('Non-nav Pick Up', self.pick_up_from_shelf))
box_10.addItem(QtGui.QSpacerItem(445,2))
button_box.addItem(QtGui.QSpacerItem(20,120))
button_box.addLayout(box_1)
button_box.addLayout(box_2)
button_box.addLayout(box_3)
button_box.addLayout(box_5)
button_box.addLayout(box_4)
button_box.addLayout(box_6)
button_box.addLayout(box_7)
button_box.addLayout(box_8)
button_box.addLayout(box_9)
button_box.addLayout(box_10)
button_box.addItem(QtGui.QSpacerItem(20,240))
large_box.addLayout(button_box)
self.marker_perception = ReadMarkers()
self.speech_recognition = SpeechRecognition(self)
self.bookDB = BookDB()
self.book_map = self.bookDB.getAllBookCodes()
self._widget.setObjectName('Milestone1GUI')
self._widget.setLayout(large_box)
context.add_widget(self._widget)
self._widget.setStyleSheet("QWidget { image: url(%s) }" %
(str(os.path.dirname(os.path.realpath(__file__))) +
"/../../librarian_gui_background.jpg"))
class Milestone1GUI(Plugin):
RECEIVE_FROM_HUMAN_R_POS = [
0.00952670015493673, 0.3270780665526253, 0.03185028324084582,
-1.3968658009779173, -3.058799671876592, -1.1083678332942686,
-1.6314425515258866
]
READ_FIDUCIAL_R_POS = [
0.41004856860653505, 0.29772362823537935, -0.019944325676627628,
-1.8394298656773618, -0.44139252862458106, -0.09922194050427624,
-4.761735317011306
]
NAVIGATE_R_POS = [
-0.3594077470836499, 0.971353000916152, -1.9647276598906076,
-1.431900313132731, -1.1839177367219755, -0.09817772642188527,
-1.622044624784374
]
PLACE_ON_SHELF_R_POS = [
-0.15015144487461773, 0.4539704512093072, -0.10846018983280459,
-0.9819529421527269, -3.0207362886631235, -0.4990689162195487,
-1.6026396464199553
]
LOWER_ON_SHELF_R_POS = [
-0.2159792990560645, 0.6221451583409631, -0.1886376030177479,
-0.959223940465513, 9.690004126983537, -0.2866303982732683,
111.39703078836274
]
RELEASE_BOOK_R_POS = [
-0.15545746838546493, 0.44145040258984786, -0.13267376861465774,
-0.972108533778647, -3.028545645401449, -0.38572817936010495,
0.008017066746929924
]
TUCKED_UNDER_L_POS = [
0.05688828299939419, 1.2955758539090194, 1.7180547710154033,
-1.4511548177467404, -0.28718096455759035, -0.0938208188421713,
-10.980395466225648
]
sound_sig = Signal(SoundRequest)
def __init__(self, context):
super(Milestone1GUI, self).__init__(context)
self._sound_client = SoundClient()
rospy.Subscriber('robotsound', SoundRequest, self.sound_cb)
switch_srv_name = 'pr2_controller_manager/switch_controller'
rospy.loginfo('Waiting for switch controller service...')
rospy.wait_for_service(switch_srv_name)
self.switch_service_client = rospy.ServiceProxy(
switch_srv_name, SwitchController)
self.r_joint_names = [
'r_shoulder_pan_joint', 'r_shoulder_lift_joint',
'r_upper_arm_roll_joint', 'r_elbow_flex_joint',
'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint'
]
self.l_joint_names = [
'l_shoulder_pan_joint', 'l_shoulder_lift_joint',
'l_upper_arm_roll_joint', 'l_elbow_flex_joint',
'l_forearm_roll_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint'
]
# Create a trajectory action client
r_traj_controller_name = '/r_arm_controller/joint_trajectory_action'
self.r_traj_action_client = SimpleActionClient(r_traj_controller_name,
JointTrajectoryAction)
rospy.loginfo(
'Waiting for a response from the trajectory action server for RIGHT arm...'
)
self.r_traj_action_client.wait_for_server()
l_traj_controller_name = '/l_arm_controller/joint_trajectory_action'
self.l_traj_action_client = SimpleActionClient(l_traj_controller_name,
JointTrajectoryAction)
rospy.loginfo(
'Waiting for a response from the trajectory action server for LEFT arm...'
)
self.l_traj_action_client.wait_for_server()
#init torso
self.torso = Torso()
#init gripper
self.l_gripper = Gripper('l')
self.r_gripper = Gripper('r')
#init navigation
self.navigation = Navigation()
self._widget = QWidget()
self._widget.setFixedSize(600, 600)
QtGui.QToolTip.setFont(QtGui.QFont('SansSerif', 10))
large_box = QtGui.QVBoxLayout()
#Button for outreaching to recieve book from Human
button_box = QtGui.QVBoxLayout()
box_1 = QtGui.QHBoxLayout()
box_2 = QtGui.QHBoxLayout()
box_3 = QtGui.QHBoxLayout()
box_4 = QtGui.QHBoxLayout()
box_5 = QtGui.QHBoxLayout()
box_6 = QtGui.QHBoxLayout()
box_7 = QtGui.QHBoxLayout()
box_8 = QtGui.QHBoxLayout()
box_9 = QtGui.QHBoxLayout()
box_10 = QtGui.QHBoxLayout()
box_1.addItem(QtGui.QSpacerItem(15, 2))
box_1.addWidget(
self.create_button('Prepare To Take', self.prepare_to_take))
box_1.addItem(QtGui.QSpacerItem(445, 2))
box_2.addItem(QtGui.QSpacerItem(15, 2))
box_2.addWidget(
self.create_button('Take From Human', self.take_from_human))
box_2.addItem(QtGui.QSpacerItem(445, 2))
box_3.addItem(QtGui.QSpacerItem(15, 2))
box_3.addWidget(
self.create_button('Prepare To Navigate',
self.prepare_to_navigate))
box_3.addItem(QtGui.QSpacerItem(445, 2))
# Button to move to shelf
box_5.addItem(QtGui.QSpacerItem(15, 2))
box_5.addWidget(
self.create_button('Navigate To Shelf', self.navigate_to_shelf))
box_5.addItem(QtGui.QSpacerItem(445, 2))
box_4.addItem(QtGui.QSpacerItem(15, 2))
box_4.addWidget(
self.create_button('Place On Shelf', self.place_on_shelf))
box_4.addItem(QtGui.QSpacerItem(445, 2))
box_6.addItem(QtGui.QSpacerItem(15, 2))
box_6.addWidget(
self.create_button('Give Information', self.give_information))
box_6.addItem(QtGui.QSpacerItem(445, 2))
box_7.addItem(QtGui.QSpacerItem(15, 2))
box_7.addWidget(
self.create_button('Navigate To Person', self.navigate_to_person))
box_7.addItem(QtGui.QSpacerItem(445, 2))
self.book_textbox = QtGui.QLineEdit()
self.book_textbox.setFixedWidth(100)
box_8.addItem(QtGui.QSpacerItem(15, 2))
box_8.addWidget(self.book_textbox)
box_8.addWidget(
self.create_button('Pick Up Book', self.pick_up_from_shelf_button))
box_8.addItem(QtGui.QSpacerItem(445, 2))
box_9.addItem(QtGui.QSpacerItem(15, 2))
box_9.addWidget(self.create_button('Localize', self.spin_base))
box_9.addItem(QtGui.QSpacerItem(445, 2))
box_10.addItem(QtGui.QSpacerItem(15, 2))
box_10.addWidget(
self.create_button('Non-nav Pick Up', self.pick_up_from_shelf))
box_10.addItem(QtGui.QSpacerItem(445, 2))
button_box.addItem(QtGui.QSpacerItem(20, 120))
button_box.addLayout(box_1)
button_box.addLayout(box_2)
button_box.addLayout(box_3)
button_box.addLayout(box_5)
button_box.addLayout(box_4)
button_box.addLayout(box_6)
button_box.addLayout(box_7)
button_box.addLayout(box_8)
button_box.addLayout(box_9)
button_box.addLayout(box_10)
button_box.addItem(QtGui.QSpacerItem(20, 240))
large_box.addLayout(button_box)
self.marker_perception = ReadMarkers()
self.speech_recognition = SpeechRecognition(self)
self.bookDB = BookDB()
self.book_map = self.bookDB.getAllBookCodes()
self._widget.setObjectName('Milestone1GUI')
self._widget.setLayout(large_box)
context.add_widget(self._widget)
self._widget.setStyleSheet(
"QWidget { image: url(%s) }" %
(str(os.path.dirname(os.path.realpath(__file__))) +
"/../../librarian_gui_background.jpg"))
def get_function(self, text):
functions = {
"bring-me-a-book": self.pick_up_from_shelf_routine,
"put-this-book-back": self.prepare_to_take,
"give-me-information": self.give_information_routine,
"here-you-go": self.put_this_book_back_routine,
}
if text not in functions:
print("Could not find key %s" % text)
return None
return functions[text]
def sound_cb(self, sound_request):
qWarning('Received sound.')
self.sound_sig.emit(sound_request)
def create_button(self, name, method):
btn = QtGui.QPushButton(name, self._widget)
btn.clicked.connect(method)
btn.setAutoRepeat(True)
return btn
def prepare_to_take(self):
# Open gripper and move arms to take book
self.torso.move(.15) # move torso .1 meter from base (MAX is .2)
self.saved_l_arm_pose = Milestone1GUI.TUCKED_UNDER_L_POS
self.saved_r_arm_pose = Milestone1GUI.RECEIVE_FROM_HUMAN_R_POS
self.move_arm('l', 5.0)
self.move_arm('r', 5.0) # Increase these numbers for slower movement
self.l_gripper.close_gripper()
self.r_gripper.open_gripper(True)
self._sound_client.say("Please give me a book")
def take_from_human(self):
self.marker_perception.is_listening = True
# Close gripper and move arms to see book
self.r_gripper.close_gripper(True)
self._sound_client.say("Thank you")
time.sleep(1)
self.saved_r_arm_pose = Milestone1GUI.READ_FIDUCIAL_R_POS
self.move_arm('r', 5.0,
True) # Increase these numbers for slower movement
self.look_at_r_gripper()
rospy.loginfo("marker id returned by get_marker_id is: " +
str(self.marker_perception.get_marker_id()))
def look_at_r_gripper(self):
name_space = '/head_traj_controller/point_head_action'
head_client = SimpleActionClient(name_space, PointHeadAction)
head_client.wait_for_server()
head_goal = PointHeadGoal()
head_goal.target.header.frame_id = "r_gripper_tool_frame"
head_goal.min_duration = rospy.Duration(0.3)
head_goal.target.point = Point(0, 0, 0)
head_goal.max_velocity = 1.0
head_client.send_goal(head_goal)
head_client.wait_for_result(rospy.Duration(5.0))
if (head_client.get_state() != GoalStatus.SUCCEEDED):
rospy.logwarn('Head action unsuccessful.')
def prepare_to_navigate(self):
self.marker_perception.is_listening = False
# Tuck arms
self.saved_r_arm_pose = Milestone1GUI.NAVIGATE_R_POS
self.move_arm('r', 5.0) # Increase these numbers for slower movement
#spin 360 * rotate_count degress clock wise
def spin_base(self, rotate_count):
# Adjust height and tuck arms before localization
self._sound_client.say("Please wait while I orient myself.")
self.torso.move(.15)
self.saved_l_arm_pose = Milestone1GUI.TUCKED_UNDER_L_POS
self.saved_r_arm_pose = Milestone1GUI.NAVIGATE_R_POS
self.move_arm('l', 5.0, True)
self.move_arm('r', 5.0, True)
self.l_gripper.close_gripper()
self.r_gripper.close_gripper()
if not rotate_count:
rotate_count = 2
topic_name = '/base_controller/command'
base_publisher = rospy.Publisher(topic_name, Twist)
twist_msg = Twist()
twist_msg.linear = Vector3(0.0, 0.0, 0.0)
twist_msg.angular = Vector3(0.0, 0.0, 0.5)
start_time = rospy.get_rostime()
while rospy.get_rostime() < start_time + rospy.Duration(
15.0 * rotate_count):
base_publisher.publish(twist_msg)
def navigate_to_shelf(self, marker_id=None):
# Move forward, place book on the shelf, and move back
if marker_id is None or marker_id is False:
marker_id = self.marker_perception.get_marker_id()
rospy.loginfo("marker id returned by get_marker_id is: " +
str(marker_id))
if marker_id is False:
rospy.loginfo("wuuuuuuuut")
if marker_id is None:
self._sound_client.say("I don't think I am holding a book "
"right now")
rospy.logwarn("Navigate to shelf called when marker id is None")
return
book = self.book_map.get(unicode(marker_id))
if book is None:
self._sound_client.say("The book that I am holding is unknown "
"to me")
rospy.logwarn(
"Navigate to shelf called when marker id is not in database")
return
x = book.getXCoordinate()
y = book.getYCoordinate()
self.navigation.move_to_shelf(x, y)
# Ye Olde Dropping way of putting a book on the shelf. Deprecating.
def drop_on_shelf(self):
self.saved_r_arm_pose = Milestone1GUI.PLACE_ON_SHELF_R_POS
self.move_arm('r', 4.0,
True) # Increase these numbers for slower movement
self.move_base(True)
self.r_gripper.open_gripper(True)
self.saved_r_arm_pose = Milestone1GUI.RELEASE_BOOK_R_POS
self.move_arm('r', 2.0,
True) # Increase these numbers for slower movement
self.move_base(False)
self.marker_perception.reset_marker_id()
def place_on_shelf(self):
self.saved_r_arm_pose = Milestone1GUI.PLACE_ON_SHELF_R_POS
self.move_arm('r', 4.0,
True) # Increase these numbers for slower movement
self.move_base(True)
self.saved_r_arm_pose = Milestone1GUI.LOWER_ON_SHELF_R_POS
self.move_arm('r', 2.0,
True) # Increase these numbers for slower movement
self.r_gripper.open_gripper(True)
self.move_base(False)
self.marker_perception.reset_marker_id()
def give_information(self):
marker_id = self.marker_perception.get_marker_id()
rospy.loginfo("marker id returned by get_marker_id is: " +
str(marker_id))
if marker_id is not None:
book = self.book_map.get(unicode(marker_id))
if book is None:
rospy.logwarn(
"Give information called when marker id is not in database"
)
self._sound_client.say(
"The book that I am holding is unknown to me")
else:
self._sound_client.say(book.getInformation())
else:
rospy.logwarn("Give information called when marker id is None")
self._sound_client.say(
"I don't think I am holding a book right now")
def pick_up_from_shelf_button(self):
self.pick_up_from_shelf_routine(self.book_textbox.text())
def pick_up_from_shelf_routine(self, book_title):
book_id = self.bookDB.getBookIdByTitle(book_title)
if book_id is None:
rospy.logwarn("Book asked for was not present in database")
self._sound_client.say(
"The book you requested is not present in the database.")
else:
self.torso.move(.15) # move torso .1 meter from base (MAX is .2)
self.saved_l_arm_pose = Milestone1GUI.TUCKED_UNDER_L_POS
self.move_arm('l', 5.0)
self.l_gripper.close_gripper()
# self.marker_perception.set_marker_id(book_id)
self.prepare_to_navigate()
time.sleep(5)
self.navigate_to_shelf(book_id) # Navigate to book location
self.pick_up_from_shelf() # Pick up from the shelf
self.prepare_to_navigate()
time.sleep(5)
self.navigate_to_person(
) # Navigate to designated help desk location
self.give_book() # Give Book to Human
def put_this_book_back_routine(self):
self.take_from_human()
time.sleep(5)
self.prepare_to_navigate()
time.sleep(5)
self.navigate_to_shelf()
self.place_on_shelf()
self.prepare_to_navigate()
# TODO: return to human?
def give_information_routine(self, book_title):
book_id = self.bookDB.getBookIdByTitle(book_title)
if book_id is None:
rospy.logwarn("Book asked for was not present in database")
self._sound_client.say(
"The book you requested is not present in the database.")
return
book = self.book_map.get(unicode(book_id))
self._sound_client.say(book.getInformation())
def pick_up_from_shelf(self):
self.saved_r_arm_pose = Milestone1GUI.LOWER_ON_SHELF_R_POS
self.move_arm('r', 4.0,
True) # Increase these numbers for slower movement
self.r_gripper.open_gripper(True)
self.move_base(True)
self.r_gripper.close_gripper(True)
self.move_base(False)
def navigate_to_person(self):
x = 2.82690143585
y = -0.416650295258
z = 0.252587109056
w = 0.967574158573
self.navigation.move_to_shelf(x, y, z, w)
def give_book(self):
self.saved_r_arm_pose = Milestone1GUI.RECEIVE_FROM_HUMAN_R_POS
self.move_arm('r', 4.0, True)
self.r_gripper.open_gripper(True)
# Moves forward to the bookshelf (or backward if isForward is false)
def move_base(self, isForward):
topic_name = '/base_controller/command'
base_publisher = rospy.Publisher(topic_name, Twist)
distance = 0.25
if not isForward:
distance *= -1
twist_msg = Twist()
twist_msg.linear = Vector3(distance, 0.0, 0.0)
twist_msg.angular = Vector3(0.0, 0.0, 0.0)
for x in range(0, 15):
rospy.loginfo("Moving the base")
base_publisher.publish(twist_msg)
time.sleep(0.15)
time.sleep(1.5)
# Moves arms using kinematics
def move_arm(self, side_prefix, time_to_joints=2.0, wait=False):
# forward kinematics
if (side_prefix == 'r'):
if self.saved_r_arm_pose is None:
rospy.logerr('Target pose for right arm is None, cannot move.')
else:
self.freeze_arm(side_prefix)
self.move_to_joints(side_prefix, self.saved_r_arm_pose,
time_to_joints, wait)
else: # side_prefix == 'l'
if self.saved_l_arm_pose is None:
rospy.logerr('Target pose for left arm is None, cannot move.')
else:
self.freeze_arm(side_prefix)
self.move_to_joints(side_prefix, self.saved_l_arm_pose,
time_to_joints, wait)
pass
def freeze_arm(self, side_prefix):
controller_name = side_prefix + '_arm_controller'
start_controllers = [controller_name]
stop_controllers = []
self.set_arm_mode(start_controllers, stop_controllers)
def set_arm_mode(self, start_controllers, stop_controllers):
try:
self.switch_service_client(start_controllers, stop_controllers, 1)
except rospy.ServiceException:
rospy.logerr('Could not change arm mode.')
def joint_states_cb(self, msg):
'''Callback function that saves the joint positions when a
joint_states message is received'''
self.lock.acquire()
self.all_joint_names = msg.name
self.all_joint_poses = msg.position
self.joint_sig.emit(msg)
self.lock.release()
def joint_sig_cb(self, msg):
pass
def get_joint_state(self, side_prefix):
'''Returns position for arm joints on the requested side (r/l)'''
if side_prefix == 'r':
joint_names = self.r_joint_names
else:
joint_names = self.l_joint_names
if self.all_joint_names == []:
rospy.logerr("No robot_state messages received yet!\n")
return None
positions = []
self.lock.acquire()
for joint_name in joint_names:
if joint_name in self.all_joint_names:
index = self.all_joint_names.index(joint_name)
position = self.all_joint_poses[index]
positions.append(position)
else:
rospy.logerr("Joint %s not found!", joint_name)
self.lock.release()
return None
self.lock.release()
return positions
def move_to_joints(self,
side_prefix,
positions,
time_to_joint,
wait=False):
'''Moves the arm to the desired joints'''
velocities = [0] * len(positions)
traj_goal = JointTrajectoryGoal()
traj_goal.trajectory.header.stamp = (rospy.Time.now() +
rospy.Duration(0.1))
traj_goal.trajectory.points.append(
JointTrajectoryPoint(
positions=positions,
velocities=velocities,
time_from_start=rospy.Duration(time_to_joint)))
if (side_prefix == 'r'):
traj_goal.trajectory.joint_names = self.r_joint_names
self.r_traj_action_client.send_goal(traj_goal)
else:
traj_goal.trajectory.joint_names = self.l_joint_names
self.l_traj_action_client.send_goal(traj_goal)
if side_prefix == 'r':
traj_goal.trajectory.joint_names = self.r_joint_names
action_client = self.r_traj_action_client
else:
traj_goal.trajectory.joint_names = self.l_joint_names
action_client = self.l_traj_action_client
action_client.send_goal(traj_goal)
if wait:
time.sleep(time_to_joint)
class Milestone1GUI(Plugin):
RECEIVE_FROM_HUMAN_R_POS = [0.00952670015493673, 0.3270780665526253,
0.03185028324084582, -1.3968658009779173, -3.058799671876592,
-1.1083678332942686, -1.6314425515258866]
READ_FIDUCIAL_R_POS = [0.41004856860653505, 0.29772362823537935,
-0.019944325676627628, -1.8394298656773618, -0.44139252862458106,
-0.09922194050427624, -4.761735317011306]
NAVIGATE_R_POS = [-0.3594077470836499, 0.971353000916152, -1.9647276598906076,
-1.431900313132731, -1.1839177367219755, -0.09817772642188527, -1.622044624784374]
PLACE_ON_SHELF_R_POS = [-0.15015144487461773, 0.4539704512093072,
-0.10846018983280459, -0.9819529421527269, -3.0207362886631235, -0.4990689162195487,
-1.6026396464199553]
LOWER_ON_SHELF_R_POS = [-0.2159792990560645, 0.6221451583409631,
-0.1886376030177479, -0.959223940465513, 9.690004126983537, -0.2866303982732683,
111.39703078836274]
RELEASE_BOOK_R_POS = [-0.15545746838546493, 0.44145040258984786,
-0.13267376861465774, -0.972108533778647, -3.028545645401449, -0.38572817936010495,
0.008017066746929924]
TUCKED_UNDER_L_POS = [0.05688828299939419, 1.2955758539090194, 1.7180547710154033,
-1.4511548177467404, -0.28718096455759035, -0.0938208188421713, -10.980395466225648]
sound_sig = Signal(SoundRequest)
def __init__(self, context):
super(Milestone1GUI, self).__init__(context)
self._sound_client = SoundClient()
rospy.Subscriber('robotsound', SoundRequest, self.sound_cb)
switch_srv_name = 'pr2_controller_manager/switch_controller'
rospy.loginfo('Waiting for switch controller service...')
rospy.wait_for_service(switch_srv_name)
self.switch_service_client = rospy.ServiceProxy(switch_srv_name,
SwitchController)
self.r_joint_names = ['r_shoulder_pan_joint',
'r_shoulder_lift_joint',
'r_upper_arm_roll_joint',
'r_elbow_flex_joint',
'r_forearm_roll_joint',
'r_wrist_flex_joint',
'r_wrist_roll_joint']
self.l_joint_names = ['l_shoulder_pan_joint',
'l_shoulder_lift_joint',
'l_upper_arm_roll_joint',
'l_elbow_flex_joint',
'l_forearm_roll_joint',
'l_wrist_flex_joint',
'l_wrist_roll_joint']
# Create a trajectory action client
r_traj_controller_name = '/r_arm_controller/joint_trajectory_action'
self.r_traj_action_client = SimpleActionClient(r_traj_controller_name,
JointTrajectoryAction)
rospy.loginfo('Waiting for a response from the trajectory action server for RIGHT arm...')
self.r_traj_action_client.wait_for_server()
l_traj_controller_name = '/l_arm_controller/joint_trajectory_action'
self.l_traj_action_client = SimpleActionClient(l_traj_controller_name,
JointTrajectoryAction)
rospy.loginfo('Waiting for a response from the trajectory action server for LEFT arm...')
self.l_traj_action_client.wait_for_server()
#init torso
self.torso = Torso()
#init gripper
self.l_gripper = Gripper('l')
self.r_gripper = Gripper('r')
#init navigation
self.navigation = Navigation()
self._widget = QWidget()
self._widget.setFixedSize(600, 600)
QtGui.QToolTip.setFont(QtGui.QFont('SansSerif', 10))
large_box = QtGui.QVBoxLayout()
#Button for outreaching to recieve book from Human
button_box = QtGui.QVBoxLayout()
box_1 = QtGui.QHBoxLayout()
box_2 = QtGui.QHBoxLayout()
box_3 = QtGui.QHBoxLayout()
box_4 = QtGui.QHBoxLayout()
box_5 = QtGui.QHBoxLayout()
box_6 = QtGui.QHBoxLayout()
box_7 = QtGui.QHBoxLayout()
box_8 = QtGui.QHBoxLayout()
box_9 = QtGui.QHBoxLayout()
box_10 = QtGui.QHBoxLayout()
box_1.addItem(QtGui.QSpacerItem(15,2))
box_1.addWidget(self.create_button('Prepare To Take', self.prepare_to_take))
box_1.addItem(QtGui.QSpacerItem(445,2))
box_2.addItem(QtGui.QSpacerItem(15,2))
box_2.addWidget(self.create_button('Take From Human', self.take_from_human))
box_2.addItem(QtGui.QSpacerItem(445,2))
box_3.addItem(QtGui.QSpacerItem(15,2))
box_3.addWidget(self.create_button('Prepare To Navigate', self.prepare_to_navigate))
box_3.addItem(QtGui.QSpacerItem(445,2))
# Button to move to shelf
box_5.addItem(QtGui.QSpacerItem(15,2))
box_5.addWidget(self.create_button('Navigate To Shelf', self.navigate_to_shelf))
box_5.addItem(QtGui.QSpacerItem(445,2))
box_4.addItem(QtGui.QSpacerItem(15,2))
box_4.addWidget(self.create_button('Place On Shelf', self.place_on_shelf))
box_4.addItem(QtGui.QSpacerItem(445,2))
box_6.addItem(QtGui.QSpacerItem(15,2))
box_6.addWidget(self.create_button('Give Information', self.give_information))
box_6.addItem(QtGui.QSpacerItem(445,2))
box_7.addItem(QtGui.QSpacerItem(15,2))
box_7.addWidget(self.create_button('Navigate To Person', self.navigate_to_person))
box_7.addItem(QtGui.QSpacerItem(445,2))
self.book_textbox = QtGui.QLineEdit()
self.book_textbox.setFixedWidth(100)
box_8.addItem(QtGui.QSpacerItem(15,2))
box_8.addWidget(self.book_textbox)
box_8.addWidget(self.create_button('Pick Up Book', self.pick_up_from_shelf_button))
box_8.addItem(QtGui.QSpacerItem(445,2))
box_9.addItem(QtGui.QSpacerItem(15,2))
box_9.addWidget(self.create_button('Localize', self.spin_base))
box_9.addItem(QtGui.QSpacerItem(445,2))
box_10.addItem(QtGui.QSpacerItem(15,2))
box_10.addWidget(self.create_button('Non-nav Pick Up', self.pick_up_from_shelf))
box_10.addItem(QtGui.QSpacerItem(445,2))
button_box.addItem(QtGui.QSpacerItem(20,120))
button_box.addLayout(box_1)
button_box.addLayout(box_2)
button_box.addLayout(box_3)
button_box.addLayout(box_5)
button_box.addLayout(box_4)
button_box.addLayout(box_6)
button_box.addLayout(box_7)
button_box.addLayout(box_8)
button_box.addLayout(box_9)
button_box.addLayout(box_10)
button_box.addItem(QtGui.QSpacerItem(20,240))
large_box.addLayout(button_box)
self.marker_perception = ReadMarkers()
self.speech_recognition = SpeechRecognition(self)
self.bookDB = BookDB()
self.book_map = self.bookDB.getAllBookCodes()
self._widget.setObjectName('Milestone1GUI')
self._widget.setLayout(large_box)
context.add_widget(self._widget)
self._widget.setStyleSheet("QWidget { image: url(%s) }" %
(str(os.path.dirname(os.path.realpath(__file__))) +
"/../../librarian_gui_background.jpg"))
def get_function(self, text):
functions = {
"bring-me-a-book":
self.pick_up_from_shelf_routine,
"put-this-book-back":
self.prepare_to_take,
"give-me-information":
self.give_information_routine,
"here-you-go":
self.put_this_book_back_routine,
}
if text not in functions:
print ("Could not find key %s" % text)
return None
return functions[text]
def sound_cb(self, sound_request):
qWarning('Received sound.')
self.sound_sig.emit(sound_request)
def create_button(self, name, method):
btn = QtGui.QPushButton(name, self._widget)
btn.clicked.connect(method)
btn.setAutoRepeat(True)
return btn
def prepare_to_take(self):
# Open gripper and move arms to take book
self.torso.move(.15) # move torso .1 meter from base (MAX is .2)
self.saved_l_arm_pose = Milestone1GUI.TUCKED_UNDER_L_POS
self.saved_r_arm_pose = Milestone1GUI.RECEIVE_FROM_HUMAN_R_POS
self.move_arm('l', 5.0)
self.move_arm('r', 5.0) # Increase these numbers for slower movement
self.l_gripper.close_gripper()
self.r_gripper.open_gripper(True)
self._sound_client.say("Please give me a book")
def take_from_human(self):
self.marker_perception.is_listening = True
# Close gripper and move arms to see book
self.r_gripper.close_gripper(True)
self._sound_client.say("Thank you")
time.sleep(1)
self.saved_r_arm_pose = Milestone1GUI.READ_FIDUCIAL_R_POS
self.move_arm('r', 5.0, True) # Increase these numbers for slower movement
self.look_at_r_gripper()
rospy.loginfo("marker id returned by get_marker_id is: " +
str(self.marker_perception.get_marker_id()))
def look_at_r_gripper(self):
name_space = '/head_traj_controller/point_head_action'
head_client = SimpleActionClient(name_space, PointHeadAction)
head_client.wait_for_server()
head_goal = PointHeadGoal()
head_goal.target.header.frame_id = "r_gripper_tool_frame"
head_goal.min_duration = rospy.Duration(0.3)
head_goal.target.point = Point(0, 0, 0)
head_goal.max_velocity = 1.0
head_client.send_goal(head_goal)
head_client.wait_for_result(rospy.Duration(5.0))
if (head_client.get_state() != GoalStatus.SUCCEEDED):
rospy.logwarn('Head action unsuccessful.')
def prepare_to_navigate(self):
self.marker_perception.is_listening = False
# Tuck arms
self.saved_r_arm_pose = Milestone1GUI.NAVIGATE_R_POS
self.move_arm('r', 5.0) # Increase these numbers for slower movement
#spin 360 * rotate_count degress clock wise
def spin_base(self, rotate_count):
# Adjust height and tuck arms before localization
self._sound_client.say("Please wait while I orient myself.")
self.torso.move(.15)
self.saved_l_arm_pose = Milestone1GUI.TUCKED_UNDER_L_POS
self.saved_r_arm_pose = Milestone1GUI.NAVIGATE_R_POS
self.move_arm('l', 5.0, True)
self.move_arm('r', 5.0, True)
self.l_gripper.close_gripper()
self.r_gripper.close_gripper()
if not rotate_count:
rotate_count = 2
topic_name = '/base_controller/command'
base_publisher = rospy.Publisher(topic_name, Twist)
twist_msg = Twist()
twist_msg.linear = Vector3(0.0, 0.0, 0.0)
twist_msg.angular = Vector3(0.0, 0.0, 0.5)
start_time = rospy.get_rostime()
while rospy.get_rostime() < start_time + rospy.Duration(15.0 * rotate_count):
base_publisher.publish(twist_msg)
def navigate_to_shelf(self, marker_id = None):
# Move forward, place book on the shelf, and move back
if marker_id is None or marker_id is False:
marker_id = self.marker_perception.get_marker_id()
rospy.loginfo("marker id returned by get_marker_id is: " + str(marker_id))
if marker_id is False:
rospy.loginfo("wuuuuuuuut")
if marker_id is None:
self._sound_client.say("I don't think I am holding a book "
"right now")
rospy.logwarn("Navigate to shelf called when marker id is None")
return
book = self.book_map.get(unicode(marker_id))
if book is None:
self._sound_client.say("The book that I am holding is unknown "
"to me")
rospy.logwarn("Navigate to shelf called when marker id is not in database")
return
x = book.getXCoordinate()
y = book.getYCoordinate()
self.navigation.move_to_shelf(x, y)
# Ye Olde Dropping way of putting a book on the shelf. Deprecating.
def drop_on_shelf(self):
self.saved_r_arm_pose = Milestone1GUI.PLACE_ON_SHELF_R_POS
self.move_arm('r', 4.0, True) # Increase these numbers for slower movement
self.move_base(True)
self.r_gripper.open_gripper(True)
self.saved_r_arm_pose = Milestone1GUI.RELEASE_BOOK_R_POS
self.move_arm('r', 2.0, True) # Increase these numbers for slower movement
self.move_base(False)
self.marker_perception.reset_marker_id()
def place_on_shelf(self):
self.saved_r_arm_pose = Milestone1GUI.PLACE_ON_SHELF_R_POS
self.move_arm('r', 4.0, True) # Increase these numbers for slower movement
self.move_base(True)
self.saved_r_arm_pose = Milestone1GUI.LOWER_ON_SHELF_R_POS
self.move_arm('r', 2.0, True) # Increase these numbers for slower movement
self.r_gripper.open_gripper(True)
self.move_base(False)
self.marker_perception.reset_marker_id()
def give_information(self):
marker_id = self.marker_perception.get_marker_id()
rospy.loginfo("marker id returned by get_marker_id is: " + str(marker_id))
if marker_id is not None:
book = self.book_map.get(unicode(marker_id))
if book is None:
rospy.logwarn("Give information called when marker id is not in database")
self._sound_client.say("The book that I am holding is unknown to me")
else:
self._sound_client.say(book.getInformation())
else:
rospy.logwarn("Give information called when marker id is None")
self._sound_client.say("I don't think I am holding a book right now")
def pick_up_from_shelf_button(self):
self.pick_up_from_shelf_routine(self.book_textbox.text())
def pick_up_from_shelf_routine(self, book_title):
book_id = self.bookDB.getBookIdByTitle(book_title)
if book_id is None:
rospy.logwarn("Book asked for was not present in database")
self._sound_client.say("The book you requested is not present in the database.")
else:
self.torso.move(.15) # move torso .1 meter from base (MAX is .2)
self.saved_l_arm_pose = Milestone1GUI.TUCKED_UNDER_L_POS
self.move_arm('l', 5.0)
self.l_gripper.close_gripper()
# self.marker_perception.set_marker_id(book_id)
self.prepare_to_navigate()
time.sleep(5)
self.navigate_to_shelf(book_id) # Navigate to book location
self.pick_up_from_shelf() # Pick up from the shelf
self.prepare_to_navigate()
time.sleep(5)
self.navigate_to_person() # Navigate to designated help desk location
self.give_book() # Give Book to Human
def put_this_book_back_routine(self):
self.take_from_human()
time.sleep(5)
self.prepare_to_navigate()
time.sleep(5)
self.navigate_to_shelf()
self.place_on_shelf()
self.prepare_to_navigate()
# TODO: return to human?
def give_information_routine(self, book_title):
book_id = self.bookDB.getBookIdByTitle(book_title)
if book_id is None:
rospy.logwarn("Book asked for was not present in database")
self._sound_client.say("The book you requested is not present in the database.")
return
book = self.book_map.get(unicode(book_id))
self._sound_client.say(book.getInformation())
def pick_up_from_shelf(self):
self.saved_r_arm_pose = Milestone1GUI.LOWER_ON_SHELF_R_POS
self.move_arm('r', 4.0, True) # Increase these numbers for slower movement
self.r_gripper.open_gripper(True)
self.move_base(True)
self.r_gripper.close_gripper(True)
self.move_base(False)
def navigate_to_person(self):
x = 2.82690143585
y = -0.416650295258
z = 0.252587109056
w = 0.967574158573
self.navigation.move_to_shelf(x, y, z, w)
def give_book(self):
self.saved_r_arm_pose = Milestone1GUI.RECEIVE_FROM_HUMAN_R_POS
self.move_arm('r', 4.0, True)
self.r_gripper.open_gripper(True)
# Moves forward to the bookshelf (or backward if isForward is false)
def move_base(self, isForward):
topic_name = '/base_controller/command'
base_publisher = rospy.Publisher(topic_name, Twist)
distance = 0.25
if not isForward:
distance *= -1
twist_msg = Twist()
twist_msg.linear = Vector3(distance, 0.0, 0.0)
twist_msg.angular = Vector3(0.0, 0.0, 0.0)
for x in range(0, 15):
rospy.loginfo("Moving the base")
base_publisher.publish(twist_msg)
time.sleep(0.15)
time.sleep(1.5)
# Moves arms using kinematics
def move_arm(self, side_prefix, time_to_joints = 2.0, wait = False):
# forward kinematics
if (side_prefix == 'r'):
if self.saved_r_arm_pose is None:
rospy.logerr('Target pose for right arm is None, cannot move.')
else:
self.freeze_arm(side_prefix)
self.move_to_joints(side_prefix, self.saved_r_arm_pose, time_to_joints, wait)
else: # side_prefix == 'l'
if self.saved_l_arm_pose is None:
rospy.logerr('Target pose for left arm is None, cannot move.')
else:
self.freeze_arm(side_prefix)
self.move_to_joints(side_prefix, self.saved_l_arm_pose, time_to_joints, wait)
pass
def freeze_arm(self, side_prefix):
controller_name = side_prefix + '_arm_controller'
start_controllers = [controller_name]
stop_controllers = []
self.set_arm_mode(start_controllers, stop_controllers)
def set_arm_mode(self, start_controllers, stop_controllers):
try:
self.switch_service_client(start_controllers, stop_controllers, 1)
except rospy.ServiceException:
rospy.logerr('Could not change arm mode.')
def joint_states_cb(self, msg):
'''Callback function that saves the joint positions when a
joint_states message is received'''
self.lock.acquire()
self.all_joint_names = msg.name
self.all_joint_poses = msg.position
self.joint_sig.emit(msg)
self.lock.release()
def joint_sig_cb(self, msg):
pass
def get_joint_state(self, side_prefix):
'''Returns position for arm joints on the requested side (r/l)'''
if side_prefix == 'r':
joint_names = self.r_joint_names
else:
joint_names = self.l_joint_names
if self.all_joint_names == []:
rospy.logerr("No robot_state messages received yet!\n")
return None
positions = []
self.lock.acquire()
for joint_name in joint_names:
if joint_name in self.all_joint_names:
index = self.all_joint_names.index(joint_name)
position = self.all_joint_poses[index]
positions.append(position)
else:
rospy.logerr("Joint %s not found!", joint_name)
self.lock.release()
return None
self.lock.release()
return positions
def move_to_joints(self, side_prefix, positions, time_to_joint, wait = False):
'''Moves the arm to the desired joints'''
velocities = [0] * len(positions)
traj_goal = JointTrajectoryGoal()
traj_goal.trajectory.header.stamp = (rospy.Time.now() + rospy.Duration(0.1))
traj_goal.trajectory.points.append(JointTrajectoryPoint(positions=positions,
velocities=velocities, time_from_start=rospy.Duration(time_to_joint)))
if (side_prefix == 'r'):
traj_goal.trajectory.joint_names = self.r_joint_names
self.r_traj_action_client.send_goal(traj_goal)
else:
traj_goal.trajectory.joint_names = self.l_joint_names
self.l_traj_action_client.send_goal(traj_goal)
if side_prefix == 'r':
traj_goal.trajectory.joint_names = self.r_joint_names
action_client = self.r_traj_action_client
else:
traj_goal.trajectory.joint_names = self.l_joint_names
action_client = self.l_traj_action_client
action_client.send_goal(traj_goal)
if wait:
time.sleep(time_to_joint)