def __init__(self, dontInclude=[], wait_services=True):
self.tf_listener = tf_server.TFClient()
if 'head' not in dontInclude:
self.head = head.Head()
if 'base' not in dontInclude:
self.base = ros_navstack_base.Base(self.tf_listener,
wait_service=wait_services)
if 'spindle' not in dontInclude:
self.spindle = spindle.Spindle(wait_service=wait_services)
if 'arms' not in dontInclude:
self.arms = arms.Arms(
self.tf_listener) #TODO: use self.tf_listener here
if 'leftArm' not in dontInclude:
self.leftArm = arms.Arm(arms.Side.LEFT, self.tf_listener)
if 'rightArm' not in dontInclude:
self.rightArm = arms.Arm(arms.Side.RIGHT, self.tf_listener)
if 'ebutton' not in dontInclude:
self.ebutton = ebutton.EButton()
self.leftSide = arms.Side.LEFT
self.rightSide = arms.Side.RIGHT
self.pub_target = rospy.Publisher("/target_location",
geometry_msgs.msg.Pose2D,
queue_size=10)
def __init__(self, robot_name="", wait_services=False):
self.robot_name = robot_name
self.tf_listener = tf_server.TFClient()
# Body parts
self.base = base.Base(self.robot_name,
self.tf_listener,
wait_service=wait_services)
self.torso = torso.Torso(self.robot_name, wait_service=wait_services)
self.spindle = self.torso
self.leftArm = arms.Arm(self.robot_name, "left", self.tf_listener)
self.rightArm = arms.Arm(self.robot_name, "right", self.tf_listener)
self.arms = OrderedDict(left=self.leftArm, right=self.rightArm)
self.head = head.Head(self.robot_name)
# Human Robot Interaction
self.speech = speech.Speech(self.robot_name,
wait_service=wait_services)
self.ears = ears.Ears(self.robot_name)
self.ebutton = ebutton.EButton()
self.lights = lights.Lights()
# Perception: can we get rid of this???
self.perception = perception_ed.PerceptionED(
wait_service=wait_services)
# Reasoning/world modeling
self.ed = world_model_ed.ED(wait_service=wait_services)
self.reasoner = reasoner.Reasoner()
# Miscellaneous
self.pub_target = rospy.Publisher("/target_location",
geometry_msgs.msg.Pose2D,
queue_size=10)
self.base_link_frame = "/" + self.robot_name + "/base_link"
#Grasp offsets
#TODO: Don't hardcode, load from parameter server to make robot independent.
self.grasp_offset = geometry_msgs.msg.Point(0.5, 0.2, 0.0)