def setUpClass(cls):
cls._robot = nextage_client.NextageClient()
cls._robot.init()
cls._robot.goInitial(_GOINITIAL_TIME_MIDSPEED)
# For older DIO version robot.
cls._robot_04 = nextage_client.NextageClient()
cls._robot_04.set_hand_version(version=cls._robot_04.HAND_VER_0_4_2)
cls._robot_04.init()
cls._robot_04.goInitial(_GOINITIAL_TIME_MIDSPEED)
def setUpClass(self):
modelfile = '/opt/jsk/etc/HIRONX/model/main.wrl'
rtm.nshost = 'nxc100'
robotname = "RobotHardware0"
self._robot = nextage_client.NextageClient()
self._robot.init(robotname=robotname, url=modelfile)
self._robot.goInitial(_GOINITIAL_TIME_MIDSPEED)
def init():
global robot
if os.path.isfile(FILENAME_ROBOTHOST):
f = open(FILENAME_ROBOTHOST, 'r')
data = f.readline().strip().split(':')
f.close()
host = data[0]
port = data[1]
else:
host = 'localhost'
port = 2809
print 'host:' + host
print 'port:' + port
rtm.nshost = host
rtm.nsport = port
robot_name = "RobotHardware0" if host != 'localhost' else "HiroNX(Robot)0"
#robot = hironx_client.HIRONX()
robot = nxc = nextage_client.NextageClient()
a_data = str(robot.getJointAngles())
self.pub.publish(a_data)
if __name__ == '__main__':
#-------------------------------------------initial_setting------------------------------------------
parser = argparse.ArgumentParser(description='NEXTAGE Open command line interpreters')
parser.add_argument('--host', help='corba name server hostname')
parser.add_argument('--port', help='corba name server port number')
parser.add_argument('--modelfile', help='robot model file nmae')
parser.add_argument('--robot', help='robot modlule name (RobotHardware0 for real robot, Robot()')
args, unknown = parser.parse_known_args()
if args.host:
rtm.nshost = args.host
if args.port:
rtm.nsport = args.port
if not args.robot:
args.robot = "RobotHardware0" if args.host else "HiroNX(Robot)0"
if not args.modelfile:
args.modelfile = ""
if len(unknown) >= 2:
args.robot = unknown[0]
args.modelfile = unknown[1]
robot = nxc = nextage_client.NextageClient()
robot.init(robotname=args.robot, url=args.modelfile)
ros = ROS_Client()
#--------------------------------------------end_initial_setting------------------------------------------
# 主処理
Tele()
def setUpClass(self):
self._robot = nextage_client.NextageClient()
self._robot.init()
self._robot.goInitial(_GOINITIAL_TIME_MIDSPEED)
