def start_server(ip):
global myp
try:
rospy.init_node('MyP')
# ROS service
srv_move_joint = rospy.Service('move_joint', MoveJoint, handle_move_joint)
srv_move_tool = rospy.Service('move_tool', MoveTool, handle_move_tool)
srv_move_to_point = rospy.Service('move_to_point', MoveToPoint, handle_move_to_point)
srv_move_wait_joint = rospy.Service('wait_joint', WaitJoint, handle_wait_joint)
srv_move_wait = rospy.Service('wait', Wait, handle_wait)
srv_get_scripts = rospy.Service('get_scripts', GetScripts, handle_get_scripts)
## Connection to myP XMLRPC server
#robot_arm = ServerProxy("http://"+ip+":8000", verbose=False, allow_none=True)
## calibrate robot
#robot_arm.calibrate()
myp = SockJSClient('/socket', ip, 8888)
myp.connect()
myp_get_connection_info()
myp_initialize()
time.sleep(2)
myp_calibrate()
time.sleep(0.5)
print("Connected to PRob. Ready...")
rate = rospy.Rate(1)
while not rospy.is_shutdown():
#rospy.spin()
print 'this is prob_server_lenli speaking...'
rate.sleep()
myp.disconnect()
except Exception as ex:
print("ERROR: ", ex)
sys.exit(1)
print "Status: ", robot_arm.get_status_info()
start_new_thread(robot_arm.publisher,())
rospy.spin()
except Exception as ex:
print("ERROR: ", ex)
sys.exit(1)
def usage():
return "%s [PRob ip address]"%sys.argv[0]
if __name__ == "__main__":
if len(sys.argv) == 2:
ip = sys.argv[1]
else:
print( usage() )
sys.exit(1)
try:
myp = SockJSClient('/socket', ip, 8888)
myp.connect()
start_server()
except:
print("Could not connect to myP at: ", ip)
# traceback.print_exc()
# raise
finally:
myp.disconnect()
print("Server closed")
rospy.spin()
except Exception as ex:
print("ERROR: ", ex)
sys.exit(1)
def usage():
return "%s [PRob ip address]" % sys.argv[0]
if __name__ == "__main__":
if len(sys.argv) == 2:
ip = sys.argv[1]
else:
print(usage())
sys.exit(1)
try:
myp = SockJSClient('/socket', ip, 8888)
myp.connect()
start_server()
except:
print("Could not connect to myP at: ", ip)
# traceback.print_exc()
# raise
finally:
myp.disconnect()
print("Server closed")
