def __init__(self):
"""
"""
self.lib = EtherCAT_Hand_Lib()
self.joint_name = "FFJ3"
if rospy.has_param("~joint_name"):
self.joint_name = rospy.get_param("~joint_name")
self.min = 0.0
if rospy.has_param("~min"):
self.min = rospy.get_param("~min")
self.max = 1.55
if rospy.has_param("~max"):
self.max = rospy.get_param("~max")
self.nb_repetition = 2
if rospy.has_param("~nb_repetition"):
self.nb_repetition = rospy.get_param("~nb_repetition")
print " nb repetition: ", self.nb_repetition
self.sign = -1
if rospy.has_param("~sign"):
self.sign = rospy.get_param("~sign")
rospy.loginfo("sign: " + str(self.sign))
self.publisher = rospy.Publisher(
"/sr_friction_compensation/" + self.joint_name, Float64)
self.rate = rospy.Rate(100)
self.forces = []
self.positions = []
def __init__(self, context):
super(SrGuiManipulation, self).__init__(context)
self.setObjectName('SrGuiManipulation')
# Set by call to process_collision_map()
self.collision_support_surface_name = None
self.raw_objects = None
self.found_objects = {}
self.unknown_object_counter = 1 #starts at 1 as it's only used for display
self.service_tabletop_collision_map = None
self.service_db_get_model_description = None
self.service_object_detector = None
self_dir = os.path.dirname(os.path.realpath(__file__))
self.config_dir = os.path.join(self_dir, '../config')
self.ui_dir = os.path.join(self_dir, '../../ui')
# UI setup
self._widget = QWidget()
ui_file = os.path.join(self.ui_dir, 'SrGuiManipulation.ui')
loadUi(ui_file, self._widget)
self._widget.setObjectName('SrGuiManipulationUi')
context.add_widget(self._widget)
self.object_chooser = ObjectChooser(self._widget, self,
"Objects Detected")
self._widget.chooser_layout.addWidget(self.object_chooser)
self.object_chooser.draw()
# Bind button clicks
self._widget.btn_detect_objects.pressed.connect(self.detect_objects)
self._widget.btn_collision_map.pressed.connect(
self.process_collision_map)
self._widget.btn_collision_map.setEnabled(False)
self._widget.btn_start_grab_position.pressed.connect(
self.start_grab_position)
# self._widget.btn_zero_position.pressed.connect(self.zero_position)
self._widget.btn_zero_position.pressed.connect(self.redo_place)
self.robot_lib_eth = EtherCAT_Hand_Lib()
# Guillaume: Currently removed because requires ethercat to be active to run, ethercat does exist in sim
# if not self.robot_lib_eth.activate_joint_states():
# logerr("The EtherCAT Hand node doesn't seem to be running")
# self.robot_lib_can = ShadowHand_ROS()
# if not self.robot_lib_can.has_arm():
# logerr("The CAN Arm node doesn't seem to be running")
self.init_services()
self.init_joint_pubs()
