def move_arm(self, positions):
self._arm_goal = copy.deepcopy(positions)
jp = YoubotProxy.make_brics_msg_arm(self.arm_num, positions)
rospy.logdebug("brics message created")
rospy.logdebug(jp)
r = rospy.Rate(50)
t0 = rospy.Time().now()
pubbed = False
while not rospy.is_shutdown():
curr_jpos = self._joint_positions_arm
d = BaseProxy.measure_joint_distance_sum(curr_jpos, positions)
v = BaseProxy.measure_joint_velocity_ss(self._joint_velocities_arm)
rospy.logdebug(d)
rospy.logdebug("arm joint positions")
rospy.logdebug(curr_jpos)
rospy.logdebug(d)
rospy.logdebug("arm joint velocities")
rospy.logdebug(self._joint_velocities_arm)
if ((d < self.arm_joint_distance_tol) and (v<=self.arm_joint_velocity_tol)):
# rospy.logdebug("moved arm to joint position error of: " + str(d))
break
td = rospy.Time().now()
if (td-t0 > self.arm_move_duration):
rospy.logerr("move arm timeout")
raise Exception("move arm timeout")
break
self._arm_pub.publish(jp)
# if not pubbed:
# self._arm_pub.publish(jp)
# pubbed = True
r.sleep()
def move_arm(self, positions):
self._arm_goal = copy.deepcopy(positions)
jp = YoubotProxy.make_brics_msg_arm(self.arm_num, positions)
rospy.logdebug("brics message created")
rospy.logdebug(jp)
r = rospy.Rate(50)
t0 = rospy.Time().now()
pubbed = False
while not rospy.is_shutdown():
curr_jpos = self._joint_positions_arm
d = BaseProxy.measure_joint_distance_sum(curr_jpos, positions)
v = BaseProxy.measure_joint_velocity_ss(self._joint_velocities_arm)
rospy.logdebug(d)
rospy.logdebug("arm joint positions")
rospy.logdebug(curr_jpos)
rospy.logdebug(d)
rospy.logdebug("arm joint velocities")
rospy.logdebug(self._joint_velocities_arm)
if ((d < self.arm_joint_distance_tol)
and (v <= self.arm_joint_velocity_tol)):
# rospy.logdebug("moved arm to joint position error of: " + str(d))
break
td = rospy.Time().now()
if (td - t0 > self.arm_move_duration):
rospy.logerr("move arm timeout")
raise Exception("move arm timeout")
break
self._arm_pub.publish(jp)
# if not pubbed:
# self._arm_pub.publish(jp)
# pubbed = True
r.sleep()
def __init__(self):
BaseProxy.__init__(self)
self.html_comment_re = re.compile(r"<!--.*?-->", re.S)
self.html_script_re = re.compile(r"<script.*?</script>", re.S)
# note: we use re.match which requires match from beginning
self.public_paths_re = re.compile(
r"/(s/|images/|favicon\.ico|rest/api/1\.0/(header-separator|dropdowns)($|\?))"
)
def _collect_request_parameters(self, **kwargs):
BaseProxy._collect_request_parameters(self, **kwargs)
# jira puts hostname into self-referential links, and hostname comes from jira configuration.
# in case of jira proxy-served pages, that hostname is wrong.
# this means an http accelerator like varnish which does not edit response bodies
# cannot serve usable pages when running on any host other than configured jira host.
# in turn this means jira proxy must always be involved in proxying process.
# running an accelerator on top of jira-proxy makes latency even worse, so to maintain
# some semblance of sanity we have to do all transformations that varnish does.
self._adjust_request()
def perform(self, **kwargs):
BaseProxy.perform(self, **kwargs)
self._adjust_cache_directives()
self._adjust_host_in_links()
def _issue_remote_request(self):
BaseProxy._issue_remote_request(self)
# see note in _collect_request_parameters.
# do what should be done in varnish
self._adjust_response()
