def __init__(self,graspPlanner,cam,options,gripper):
#topic_name = '/hsrb/head_rgbd_sensor/depth_registered/image_raw'
not_read = True
while not_read:
try:
cam_info = cam.read_info_data()
if(not cam_info == None):
not_read = False
except:
rospy.logerr('info not recieved')
# Bells and whisltes
self.pcm = PCM()
self.pcm.fromCameraInfo(cam_info)
self.br = tf.TransformBroadcaster()
self.tl = tf.TransformListener()
self.gp = graspPlanner
self.gripper = gripper
self.options = options
self.com = COM()
# See paper for details, used to release grasp if too much force.
self.tension = Tensioner()
# Side, need to change this.
self.side = 'BOTTOM'
self.offset_x = 0.0 # positive means going to other side of bed (both sides!)
self.offset_z = 0.0 # negative means going UP to ceiling
self.apply_offset = False
def __init__(self, graspPlanner, cam, options, gripper):
#topic_name = '/hsrb/head_rgbd_sensor/depth_registered/image_raw'
not_read = True
while not_read:
try:
cam_info = cam.read_info_data()
if (not cam_info == None):
not_read = False
except:
rospy.logerr('info not recieved')
self.pcm = PCM()
self.pcm.fromCameraInfo(cam_info)
self.br = tf.TransformBroadcaster()
self.tl = tf.TransformListener()
self.gp = graspPlanner
self.gripper = gripper
self.options = options
self.com = COM()
self.tension = Tensioner()