コード例 #1
0
        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
コード例 #2
0
        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
コード例 #3
0
        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
コード例 #5
0
	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