def __init__(self):
self.bfp = True
self.robot = robot_interface.Robot_Interface()
self.url = 'http://172.31.76.30:80/ThinkingQ/'
self.joint_names = ["shoulder_pan_joint",
"shoulder_lift_joint", "upperarm_roll_joint",
"elbow_flex_joint", "forearm_roll_joint",
"wrist_flex_joint", "wrist_roll_joint"]
self.tf_listener = TransformListener()
trfm = Transformer()
self.r2b = trfm.transform_matrix_of_frames(
'head_camera_rgb_optical_frame', 'base_link')
self.model = load_model("./model/0.988.h5")
self.br = TransformBroadcaster()
self.move_group = MoveGroupInterface("arm", "base_link")
# self.pose_group = moveit_commander.MoveGroupCommander("arm")
self.cam = camera.RGBD()
self.position_cloud = None
while True:
try:
cam_info = self.cam.read_info_data()
if cam_info is not None:
break
except:
rospy.logerr('camera info not recieved')
self.pcm = PCM()
self.pcm.fromCameraInfo(cam_info)
def __init__(self):
self.bfp = True
self.br = tf.TransformBroadcaster()
self.robot = robot_interface.Robot_Interface()
self.cam = camera.RGBD()
while True:
try:
cam_info = self.cam.read_info_data()
if cam_info is not None:
break
except:
rospy.logerr('info not recieved')
self.pcm = PCM()
self.pcm.fromCameraInfo(cam_info)
def __init__(self):
self.bfp = True
self.cx = 320
self.cy = 240
self.ax = 57.5
self.ay = 45
self.fx = self.cx / math.tan(self.ax * math.pi / 180.0 / 2)
self.fy = self.cy / math.tan(self.ay * math.pi / 180.0 / 2)
self.robot = robot_interface.Robot_Interface()
self.br = tf.TransformBroadcaster()
self.move_group = MoveGroupInterface("arm", "base_link")
self.pose_group = moveit_commander.MoveGroupCommander("arm")
self.cam = camera.RGBD()
while True:
try:
cam_info = self.cam.read_info_data()
if cam_info is not None:
break
except:
rospy.logerr('info not recieved')
self.pcm = PCM()
self.pcm.fromCameraInfo(cam_info)