def __init__(self, client=None, listener=None):
rospy.logdebug("ArmPlanner Init")
print "ArmPlanner Init"
if client == None:
self.listener = listener
self.pr2_arm = PR2Arm_Planning(ARM, self.listener)
# ARD: uncomment next line
rospy.loginfo("ArmPlanner pr2lite_move_right_arm")
self.move_arm_client = actionlib.SimpleActionClient("pr2lite_move_" + ARM + "_arm", MoveArmAction)
service = ARM[0] + "_gripper_controller/gripper_action"
rospy.loginfo("Gripper wait_for_server")
self.gripper = actionlib.SimpleActionClient(service, Pr2GripperCommandAction)
self.gripper.wait_for_server()
# rospy.init_node('single_joint_position', anonymous=True)
# self.tuck_server = tuck_arm()
self.tuck_server = tuck_arm()
self.torque = dyno_torque()
self.torso_client = actionlib.SimpleActionClient(
"torso_controller/position_joint_action", SingleJointPositionAction
)
self.torso_client.wait_for_server()
self.block_client = actionlib.SimpleActionClient(
"interactive_manipulation", InteractiveBlockManipulationAction
)
rospy.loginfo("ArmPlanner wait for interactive manip")
self.block_client.wait_for_server()
# self.block_client.block_size = 0.03
else:
self.move_arm_client = client
self.success = True
# setup tf for translating poses
rospy.loginfo("ArmPlanner Init done")
def __init__(self, client=None, listener=None):
rospy.logdebug('ArmPlanner Init')
print "ArmPlanner Init"
if client == None:
self.listener = listener
self.pr2_arm = PR2Arm_Planning(ARM, self.listener)
#ARD: uncomment next line
rospy.loginfo('ArmPlanner pr2lite_move_right_arm')
self.move_arm_client = actionlib.SimpleActionClient(
'pr2lite_move_' + ARM + '_arm', MoveArmAction)
service = ARM[0] + "_gripper_controller/gripper_action"
rospy.loginfo('Gripper wait_for_server')
self.gripper = actionlib.SimpleActionClient(
service, Pr2GripperCommandAction)
self.gripper.wait_for_server()
# rospy.init_node('single_joint_position', anonymous=True)
#self.tuck_server = tuck_arm()
self.tuck_server = tuck_arm()
self.torque = dyno_torque()
self.torso_client = actionlib.SimpleActionClient(
'torso_controller/position_joint_action',
SingleJointPositionAction)
self.torso_client.wait_for_server()
self.block_client = actionlib.SimpleActionClient(
'interactive_manipulation', InteractiveBlockManipulationAction)
rospy.loginfo('ArmPlanner wait for interactive manip')
self.block_client.wait_for_server()
# self.block_client.block_size = 0.03
else:
self.move_arm_client = client
self.success = True
# setup tf for translating poses
rospy.loginfo('ArmPlanner Init done')
def __init__(self, client=None, listener=None):
if client==None:
#rospy.wait_for_service('simple_arm_server/move')
#self.move = rospy.ServiceProxy('simple_arm_server/move', MoveArm)
self.client = actionlib.SimpleActionClient('move_arm', MoveArmAction)
self.client.wait_for_server()
else:
self.client = client
self.tuck_server = tuck_arm()
self.success = True
# setup tf for translating poses
self.listener = listener
def __init__(self, client=None, listener=None):
if client == None:
#rospy.wait_for_service('simple_arm_server/move')
#self.move = rospy.ServiceProxy('simple_arm_server/move', MoveArm)
self.client = actionlib.SimpleActionClient('move_arm',
MoveArmAction)
self.client.wait_for_server()
else:
self.client = client
self.tuck_server = tuck_arm()
self.success = True
# setup tf for translating poses
self.listener = listener
