def __init__(self, config_name, move_group, action_topic = '/move_group', robot_name = ""):
'''
Constructor
'''
super(SrdfStateToMoveit, self).__init__(outcomes=['reached', 'planning_failed', 'control_failed', 'param_error'])
self._config_name = config_name
self._move_group = move_group
self._robot_name = robot_name
self._action_topic = action_topic
self._client = ProxyActionClient({self._action_topic: MoveGroupAction})
self._planning_failed = False
self._control_failed = False
self._success = False
self._srdf_param = None
if rospy.has_param("/robot_description_semantic"):
self._srdf_param = rospy.get_param("/robot_description_semantic")
else:
Logger.logerror('Unable to get parameter: /robot_description_semantic')
self._param_error = False
self._srdf = None
def __init__(self, config_name, move_group="", action_topic = '/move_group', robot_name=""):
'''
Constructor
'''
super(SrdfStateToMoveit, self).__init__(outcomes=['reached', 'planning_failed', 'control_failed', 'param_error'])
self._config_name = config_name
self._move_group = move_group
self._robot_name = robot_name
self._action_topic = action_topic
self._client = ProxyActionClient({self._action_topic: MoveGroupAction})
self._planning_failed = False
self._control_failed = False
self._success = False
self._srdf_param = None
if rospy.has_param("/robot_description_semantic"):
self._srdf_param = rospy.get_param("/robot_description_semantic")
else:
Logger.logerror('Unable to get parameter: /robot_description_semantic')
self._param_error = False
self._srdf = None
def __init__(self, config_name='Home', move_group='arm', action_topic='/move_group', robot_name='m1n6s200',
position_topic='/m1n6s200_driver/joint_states', delta=1E-4):
'''
Constructor
'''
super(FeedbackSrdfStateToMoveit, self).__init__(outcomes=['reached', 'failed'])
self._position_topic = position_topic
self._delta = delta
self._config_name = config_name
self._move_group = move_group
self._robot_name = robot_name
self._action_topic = action_topic
self._client = ProxyActionClient({self._action_topic: MoveGroupAction})
self._planning_failed = False
self._control_failed = False
self._success = False
self._srdf_param = None
if rospy.has_param("/robot_description_semantic"):
self._srdf_param = rospy.get_param("/robot_description_semantic")
else:
Logger.logerror('Unable to get parameter: /robot_description_semantic')
self._param_error = False
self._srdf = None
def __init__(self, config_name, move_group="", duration=1.0, wait_for_execution=True, action_topic='/execute_kinematic_path', robot_name=""):
'''
Constructor
'''
super(SrdfStateToMoveitExecute, self).__init__(
outcomes=['reached', 'request_failed', 'moveit_failed', 'param_error'])
self._config_name = config_name
self._robot_name = robot_name
self._move_group = move_group
self._duration = duration
self._wait_for_execution = wait_for_execution
self._action_topic = action_topic
self._client = ProxyServiceCaller({self._action_topic: ExecuteKnownTrajectory})
# self._action_topic = action_topic
# self._client = ProxyActionServer({self._action_topic: ExecuteTrajectoryAction})
self._request_failed = False
self._moveit_failed = False
self._success = False
self._srdf_param = None
if rospy.has_param("/robot_description_semantic"):
self._srdf_param = rospy.get_param("/robot_description_semantic")
else:
Logger.logerror('Unable to get parameter: /robot_description_semantic')
self._param_error = False
self._srdf = None
self._response = None
def __init__(self, move_group, robot_name=""):
'''
Constructor
'''
super(GetJointsFromSrdfGroup, self).__init__(outcomes=['retrieved', 'param_error'],
output_keys=['joint_names'])
self._move_group = move_group
self._robot_name = robot_name
# Check existence of SRDF parameter.
# Anyways, values will only be read during runtime to allow modifications.
self._srdf_param = None
if rospy.has_param("/robot_description_semantic"):
self._srdf_param = rospy.get_param("/robot_description_semantic")
else:
Logger.logerror('Unable to get parameter: /robot_description_semantic')
self._file_error = False
self._srdf = None