def __init__(self):
rospy.sleep(2)
self.__robot = NiryoRosWrapper()
self.__robot.set_arm_max_velocity(SPEED)
self.__robot.set_arm_max_acceleration(ACCELERATION)
self.__set_led_state_service = rospy.ServiceProxy(
'/niryo_robot_rpi/set_led_custom_blinker', LedBlinker)
self.led_stop()
def __init__(self):
# Niryo Python Ros Wrapper instance
self.__niryo_robot = NiryoRosWrapper()
# Dict containing a mapping between
# "Command" enumeration (defined in const_communication) and interpreter's functions
self.__commands_dict = self.__generate_functions_dict()
# - Enumerations mapping
self.__axis_string_dict_convertor = {
"X": ShiftPose.AXIS_X,
"Y": ShiftPose.AXIS_Y,
"Z": ShiftPose.AXIS_Z,
"ROLL": ShiftPose.ROT_ROLL,
"PITCH": ShiftPose.ROT_PITCH,
"YAW": ShiftPose.ROT_YAW,
}
self.__pin_mode_string_dict_convertor = {
"OUTPUT": PinMode.OUTPUT,
"INPUT": PinMode.INPUT,
}
self.__digital_state_string_dict_convertor = {
"HIGH": PinState.HIGH,
"LOW": PinState.LOW,
}
self.__digital_state_string_dict_convertor_inv = {
index: string
for string, index in
self.__digital_state_string_dict_convertor.iteritems()
}
self.__boolean_string_dict_converter = {"TRUE": True, "FALSE": False}
self.__tools_string_dict_convertor = {
"NONE": ToolID.NONE,
"GRIPPER_1": ToolID.GRIPPER_1,
"GRIPPER_2": ToolID.GRIPPER_2,
"GRIPPER_3": ToolID.GRIPPER_3,
"GRIPPER_4": ToolID.GRIPPER_4,
"ELECTROMAGNET_1": ToolID.ELECTROMAGNET_1,
"VACUUM_PUMP_1": ToolID.VACUUM_PUMP_1,
}
self.__grippers_string_dict_convertor = {
"NONE": ToolID.NONE,
"GRIPPER_1": ToolID.GRIPPER_1,
"GRIPPER_2": ToolID.GRIPPER_2,
"GRIPPER_3": ToolID.GRIPPER_3,
"GRIPPER_4": ToolID.GRIPPER_4,
}
self.__conveyor_id_string_dict_convertor = {
"NONE": ConveyorID.NONE,
"ID_1": ConveyorID.ID_1,
"ID_2": ConveyorID.ID_2,
}
self.__conveyor_id_string_dict_convertor_inv = {
index: string
for string, index in
self.__conveyor_id_string_dict_convertor.iteritems()
}
self.__conveyor_direction_string_dict_convertor = {
"FORWARD": ConveyorDirection.FORWARD,
"BACKWARD": ConveyorDirection.BACKWARD,
}
self.__available_tools_string_dict_convertor_inv = {
index: string
for string, index in
self.__tools_string_dict_convertor.iteritems()
}
def __init__(self):
rospy.sleep(2)
self.__robot = NiryoRosWrapper()