def shift_pose(self, axis, value):
goal = RobotMoveGoal()
goal.cmd.cmd_type = MoveCommandType.SHIFT_POSE
goal.cmd.shift.axis_number = axis
goal.cmd.shift.value = value
return self.execute_action('gauss/commander/robot_action',
RobotMoveAction, goal)
def push_air_vacuum_pump(self, vacuum_pump_id):
goal = RobotMoveGoal()
goal.cmd.cmd_type = MoveCommandType.TOOL
goal.cmd.tool_cmd.tool_id = int(vacuum_pump_id)
goal.cmd.tool_cmd.cmd_type = self.tool_command_list[
'push_air_vacuum_pump']
return self.execute_action('gauss/commander/robot_action',
RobotMoveAction, goal)
def open_gripper(self, gripper_id, speed):
goal = RobotMoveGoal()
goal.cmd.cmd_type = MoveCommandType.TOOL
goal.cmd.tool_cmd.tool_id = int(gripper_id)
goal.cmd.tool_cmd.cmd_type = self.tool_command_list['open_gripper']
goal.cmd.tool_cmd.gripper_open_speed = speed
return self.execute_action('gauss/commander/robot_action',
RobotMoveAction, goal)
def deactivate_dc_motor(self, dc_motor_id, pin):
goal = RobotMoveGoal()
goal.cmd.cmd_type = MoveCommandType.TOOL
goal.cmd.tool_cmd.tool_id = int(dc_motor_id)
goal.cmd.tool_cmd.cmd_type = self.tool_command_list[
'deactivate_digital_io']
goal.cmd.tool_cmd.gpio = pin
return self.execute_action('gauss/commander/robot_action',
RobotMoveAction, goal)
def setup_laser(self, laser_id, pin):
goal = RobotMoveGoal()
goal.cmd.cmd_type = MoveCommandType.TOOL
goal.cmd.tool_cmd.tool_id = int(laser_id)
goal.cmd.tool_cmd.cmd_type = self.tool_command_list[
'setup_digital_io']
goal.cmd.tool_cmd.gpio = pin
return self.execute_action('gauss/commander/robot_action',
RobotMoveAction, goal)
def activate_electromagnet(self, electromagnet_id, pin):
goal = RobotMoveGoal()
goal.cmd.cmd_type = MoveCommandType.TOOL
goal.cmd.tool_cmd.tool_id = int(electromagnet_id)
goal.cmd.tool_cmd.cmd_type = self.tool_command_list[
'activate_digital_io']
goal.cmd.tool_cmd.gpio = pin
return self.execute_action('gauss/commander/robot_action',
RobotMoveAction, goal)
def move_pose(self, x, y, z, roll, pitch, yaw):
goal = RobotMoveGoal()
goal.cmd.cmd_type = MoveCommandType.POSE
goal.cmd.position.x = x
goal.cmd.position.y = y
goal.cmd.position.z = z
goal.cmd.rpy.roll = roll
goal.cmd.rpy.pitch = pitch
goal.cmd.rpy.yaw = yaw
return self.execute_action('gauss/commander/robot_action',
RobotMoveAction, goal)
#! /usr/bin/env python
import roslib
# roslib.load_manifest('actionlib_test')
import rospy
import actionlib
from gauss_msgs.msg import RobotMoveAction
from gauss_msgs.msg import RobotMoveGoal
from gauss_msgs.msg import RobotMoveResult
from gauss_commander.command_type import CommandType as MoveCommandType
if __name__ == '__main__':
rospy.init_node('robot_action_client')
client = actionlib.SimpleActionClient('/gauss/commander/robot_action',
RobotMoveAction)
if not client.wait_for_server(rospy.Duration(5.0)):
exit
goal = RobotMoveGoal()
goal.cmd.cmd_type = MoveCommandType.JOINTS
goal.cmd.joints = [0, 0, 0, 0, 0, 0]
client.send_goal(goal)
client.wait_for_result(rospy.Duration.from_sec(10.0))
result = client.get_result()
def move_joints(self, joints):
goal = RobotMoveGoal()
goal.cmd.cmd_type = MoveCommandType.JOINTS
goal.cmd.joints = joints
return self.execute_action('gauss/commander/robot_action',
RobotMoveAction, goal)