Python LaserTrajCmdの例

コード例 #1

ファイル: start_laser.py プロジェクト: ykawamura96/jsk_pr2eus

def set_tilt_profile(position, time_from_start):
    cmd = LaserTrajCmd()
    cmd.profile = 'blended_linear'
    cmd.position = position
    cmd.time_from_start = [rospy.Time.from_sec(x) for x in time_from_start]
    cmd.max_velocity = 10
    cmd.max_acceleration = 30
    try:
        tilt_profile_client.call(cmd)
    except rospy.ServiceException, e:
        rospy.logerr("Couldn't set the profile on the laser. Exception %s" % e)
        return False

コード例 #2

ファイル: start_laser.py プロジェクト: HiroyukiMikita/jsk_pr2eus

def set_tilt_profile(position, time_from_start):
    cmd = LaserTrajCmd()
    cmd.profile = 'blended_linear'
    cmd.position = position
    cmd.time_from_start = [rospy.Time.from_sec(x) for x in time_from_start]
    cmd.max_velocity = 10
    cmd.max_acceleration = 30
    try:
        tilt_profile_client.call(cmd)
    except rospy.ServiceException, e:
        rospy.logerr("Couldn't set the profile on the laser. Exception %s" % e)
        return False

コード例 #3

from pr2_msgs.srv import *
from time import sleep


def print_usage(exit_code=0):
    print '''Usage:
    send_periodic_cmd.py [controller]
'''
    sys.exit(exit_code)


if __name__ == '__main__':
    if len(sys.argv) < 2:
        print_usage()

    cmd = LaserTrajCmd()
    controller = sys.argv[1]
    cmd.header = rospy.Header(None, None, None)
    cmd.profile = "blended_linear"

    cycle_time = rospy.get_param('~cycle_time', 5.0)
    min_tilt_angle = rospy.get_param('~min_tilt_angle', -0.7)
    max_tilt_angle = rospy.get_param('~max_tilt_angle', 1.0)

    cmd.position = [min_tilt_angle, max_tilt_angle, min_tilt_angle]
    cmd.time_from_start = [0.0, cycle_time - 1.0, cycle_time]
    cmd.time_from_start = [
        rospy.Duration.from_sec(x) for x in cmd.time_from_start
    ]
    cmd.max_velocity = 10
    cmd.max_acceleration = 30

コード例 #4

ファイル: laser_traj_cmd_2.py プロジェクト: willowgarage/wg_hardware_test

from pr2_msgs.srv import *
from time import sleep

def print_usage(exit_code = 0):
    print '''Usage:
    laser_traj_cmd.py [controller]
'''
    sys.exit(exit_code)

if __name__ == '__main__':
    if len(sys.argv) < 2:
        print_usage()

    rospy.init_node('laser_tilt_commander', anonymous=True)

    cmd = LaserTrajCmd()
    controller   =    sys.argv[1]
    cmd.header.stamp = rospy.get_rostime()
    cmd.profile  = "linear"
    #cmd.pos      = [1.0, .26, -.26, -.7,   -.7,   -.26,   .26,   1.0, 1.0]
    d = .025
    #cmd.time     = [0.0, 0.4,  1.0, 1.1, 1.1+d,  1.2+d, 1.8+d, 2.2+d, 2.2+2*d]
    
    cmd.position = [1.5,  -.7, 1.5]
    #cmd.time_from_start = [0.0, 1.0, 2.0] #[0.0, 0.5, 1.0]
    cmd.time_from_start = [0.0, 4.0, 8.0] #[0.0, 0.5, 1.0]
    cmd.time_from_start = [rospy.Time.from_sec(x) for x in cmd.time_from_start]
    cmd.max_velocity = 5
    cmd.max_acceleration =  5

    print 'Sending Command to %s: ' % controller

コード例 #5

ファイル: robot_cal_tilt_profile.py プロジェクト: ahpalmerUNR/pr2_calibration

from pr2_msgs.srv import *
from time import sleep


def print_usage(exit_code=0):
    print '''Usage:
    send_periodic_cmd.py [controller]
'''
    sys.exit(exit_code)


if __name__ == '__main__':
    if len(sys.argv) < 2:
        print_usage()

    cmd = LaserTrajCmd()
    controller = sys.argv[1]
    cmd.header = rospy.Header(None, None, None)
    cmd.profile = "blended_linear"
    #cmd.pos      = [1.0, .26, -.26, -.7,   -.7,   -.26,   .26,   1.0, 1.0]
    d = .025
    #cmd.time     = [0.0, 0.4,  1.0, 1.1, 1.1+d,  1.2+d, 1.8+d, 2.2+d, 2.2+2*d]

    dur = 15
    cmd.position = [-.7, 1.2, -.7]
    cmd.time_from_start = [0.0, dur, dur + 1]
    cmd.time_from_start = [
        rospy.Duration.from_sec(x) for x in cmd.time_from_start
    ]
    cmd.max_velocity = 10
    cmd.max_acceleration = 30

コード例 #6

from pr2_msgs.srv import *
from time import sleep


def print_usage(exit_code=0):
    print '''Usage:
    send_periodic_cmd.py [controller]
'''
    sys.exit(exit_code)


if __name__ == '__main__':
    #if len(sys.argv) < 2:
    #    print_usage()

    cmd = LaserTrajCmd()
    controller = "laser_tilt_controller"
    cmd.header = rospy.Header(None, None, None)
    cmd.profile = "blended_linear"
    #cmd.pos      = [1.0, .26, -.26, -.7,   -.7,   -.26,   .26,   1.0, 1.0]
    d = .025
    #cmd.time     = [0.0, 0.4,  1.0, 1.1, 1.1+d,  1.2+d, 1.8+d, 2.2+d, 2.2+2*d]

    cmd.position = [1.25, 0.9, 1.25]
    cmd.time_from_start = [0.0, 1.8, 2.025]
    cmd.time_from_start = [
        rospy.Duration.from_sec(x) for x in cmd.time_from_start
    ]

    cmd.max_velocity = 2
    cmd.max_acceleration = 2

コード例 #7

from pr2_msgs.srv import *
from time import sleep


def print_usage(exit_code=0):
    print '''Usage:
    send_periodic_cmd.py [controller]
'''
    sys.exit(exit_code)


if __name__ == '__main__':
    if len(sys.argv) < 2:
        print_usage()

    cmd = LaserTrajCmd()
    controller = sys.argv[1]
    cmd.header = roslib.msg.Header(None, None, None)
    cmd.profile = "blended_linear"
    #cmd.pos      = [1.0, .26, -.26, -.7,   -.7,   -.26,   .26,   1.0, 1.0]
    d = .025
    #cmd.time     = [0.0, 0.4,  1.0, 1.1, 1.1+d,  1.2+d, 1.8+d, 2.2+d, 2.2+2*d]

    cmd.pos = [1.2, -.7, 1.2]
    cmd.time = [0.0, 1.8, 2.025]
    cmd.max_rate = 5  # Ignores param
    cmd.max_accel = 5  # ignores param

    print 'Sending Command to %s: ' % controller
    print '  Profile Type: %s' % cmd.profile
    print '  Pos: %s ' % ','.join(['%.3f' % x for x in cmd.pos])

コード例 #8

ファイル: laser_scanner_service.py プロジェクト: fevb/team_cvap

import roslib; roslib.load_manifest(PKG) 

import sys
import os
import string

import rospy
from std_msgs import *

from pr2_msgs.msg import LaserTrajCmd
from pr2_msgs.srv import *
from time import sleep


cmd = LaserTrajCmd()
controller   =    'laser_tilt_controller'
cmd.header   =    rospy.Header(None, None, None)
cmd.profile  = "blended_linear"
#cmd.pos      = [1.0, .26, -.26, -.7,   -.7,   -.26,   .26,   1.0, 1.0]
d = .025
#cmd.time     = [0.0, 0.4,  1.0, 1.1, 1.1+d,  1.2+d, 1.8+d, 2.2+d, 2.2+2*d]

dur = 15;
cmd.position = [-1.0,  0, 1]
cmd.time_from_start = [0.0, dur, dur+1]
cmd.time_from_start = [rospy.Duration.from_sec(x) for x in cmd.time_from_start]
cmd.max_velocity = 10
cmd.max_acceleration = 30

print 'Sending Command to %s: ' % controller

コード例 #9

ファイル: send_laser_traj_cmd_ms2.py プロジェクト: PR2/pr2_controllers

from pr2_msgs.msg import LaserTrajCmd
from pr2_msgs.srv import *
from time import sleep

def print_usage(exit_code = 0):
    print '''Usage:
    send_periodic_cmd.py [controller]
'''
    sys.exit(exit_code)

if __name__ == '__main__':
    if len(sys.argv) < 2:
        print_usage()

    cmd = LaserTrajCmd()
    controller   =    sys.argv[1]
    cmd.header   =    rospy.Header(None, None, None)
    cmd.profile  = "blended_linear"
    #cmd.pos      = [1.0, .26, -.26, -.7,   -.7,   -.26,   .26,   1.0, 1.0]
    d = .025
    #cmd.time     = [0.0, 0.4,  1.0, 1.1, 1.1+d,  1.2+d, 1.8+d, 2.2+d, 2.2+2*d]

    cmd.position        = [1.2,  -.7, 1.2]
    cmd.time_from_start = [0.0, 1.8, 2.025]
    cmd.time_from_start = [rospy.Duration.from_sec(x) for x in cmd.time_from_start]

    cmd.max_velocity     =  5
    cmd.max_acceleration =  5

    print 'Sending Command to %s: ' % controller

コード例 #10

ファイル: send_laser_traj_cmd.py プロジェクト: xlibin/personalrobots-pkg

from pr2_msgs.msg import LaserTrajCmd
from pr2_msgs.srv import *
from time import sleep

def print_usage(exit_code = 0):
    print '''Usage:
    send_periodic_cmd.py [controller]
'''
    sys.exit(exit_code)

if __name__ == '__main__':
    if len(sys.argv) < 2:
        print_usage()

    cmd = LaserTrajCmd()
    controller   =    sys.argv[1]
    cmd.header   =    roslib.msg.Header(None, None, None)
    cmd.profile  = "blended_linear"
    #cmd.pos      = [1.0, .26, -.26, -.7,   -.7,   -.26,   .26,   1.0, 1.0]
    d = .025
    #cmd.time     = [0.0, 0.4,  1.0, 1.1, 1.1+d,  1.2+d, 1.8+d, 2.2+d, 2.2+2*d]
    
    cmd.pos = [-.25,  .50, -.25]
    cmd.time= [0.0, 8.0, 10]
    cmd.max_rate =  5   # Ignores param
    cmd.max_accel=  5   # ignores param

    print 'Sending Command to %s: ' % controller
    print '  Profile Type: %s' % cmd.profile
    print '  Pos: %s ' % ','.join(['%.3f' % x for x in cmd.pos])