def activate(self, req):
print(req)
self.active = True
self.detected = False
while (not self.detected):
time.sleep(0.1)
return srv.EmptyResponse()
def reset_provider(self, req):
rospy.loginfo("Controls reset!")
# simulator has requested that we reset all controls
for con in self.controllers:
con.set_pose(pos=con.simpos, quat=con.simquat)
self.server.setPose(con.int_marker.name, con.simpose)
self.server.applyChanges()
rospy.sleep(5 * DT)
# reply with response:
return SS.EmptyResponse()
def reset_provider(self, req):
self.running_flag = False
for i, con in enumerate(self.controllers):
con.reset_all()
# now tell all of the controllers to reset their filters:
rospy.sleep(2.0)
for i, con in enumerate(self.controllers):
con.first_flag = True
con.simpose_set = True
self.running_flag = True
return SS.EmptyResponse()
def empty_server(req):
rospy.loginfo("Service called!")
return std_srvs.EmptyResponse()
def grabFrameService(req):
grabFrame(None)
return std_srvs.EmptyResponse()
def reset_provider(self, req):
self.reset()
return SS.EmptyResponse()
def ros_service_shutdown(self, unused_request):
self._shutdown()
return std_srvs.EmptyResponse()
def setOperationMode(req, mode=''):
global operation_mode
operation_mode = mode
talk_command_pub.publish(SoundRequest(arg='Go\ to\ ' + mode + '\ mode.'))
return srv.EmptyResponse()
def gripper_open(req):
with lock:
planner.open_gripper()
return srv.EmptyResponse()
def gripper_close(req):
with lock:
planner.close_gripper()
return srv.EmptyResponse()
def reset(req):
with lock:
planner.reset(None)
return srv.EmptyResponse()
def renew_cb(req):
global renew_flag
renew_flag = True
return srv.EmptyResponse()
def service_callback(req):
return std_srvs.EmptyResponse()
