def __init__(self):
rospy.Subscriber("/gazebo/ft_sensor_topic", Wrench, self.call_ft)
while not rospy.is_shutdown():
rospy.loginfo("Connecting to %s at %d baud" % (port_name, baud))
if (flag == 0):
#do this
try:
client = SerialClient(
port_name,
baud,
fix_pyserial_for_test=fix_pyserial_for_test,
auto_reset_timeout=auto_reset_timeout)
client.run()
except KeyboardInterrupt:
break
except SerialException:
sleep(1.0)
continue
except OSError:
sleep(1.0)
continue
else:
print("Too much force/torque.. cannot execute plan")
# Number of seconds of sync failure after which Arduino is auto-reset.
# 0 = no timeout, auto-reset disabled
auto_reset_timeout = int(rospy.get_param('~auto_reset_timeout', '0'))
# for systems where pyserial yields errors in the fcntl.ioctl(self.fd, TIOCMBIS, \
# TIOCM_DTR_str) line, which causes an IOError, when using simulated port
fix_pyserial_for_test = rospy.get_param('~fix_pyserial_for_test', False)
# TODO: do we really want command line params in addition to parameter server params?
sys.argv = rospy.myargv(argv=sys.argv)
if len(sys.argv) >= 2:
port_name = sys.argv[1]
while not rospy.is_shutdown():
rospy.loginfo("Connecting to %s at %d baud" % (port_name, baud))
try:
client = SerialClient(port_name,
baud,
fix_pyserial_for_test=fix_pyserial_for_test,
auto_reset_timeout=auto_reset_timeout)
client.run()
except KeyboardInterrupt:
break
except SerialException:
sleep(1.0)
continue
except OSError:
sleep(1.0)
continue
