def respawnModel(self):
print('Inicializando Respawn model')
service = '/gazebo/delete_model'
rospy.wait_for_service(service)
deleteModel = rospy.ServiceProxy(service, DeleteModel)
deleteModel(model_name='pioneer2dx')
os.system("roslaunch pioneer2dx respawn.launch")
print('configurando controlador')
service = '/rrbot/controller_manager/load_controller'
rospy.wait_for_service(service)
loadController = rospy.ServiceProxy(service, LoadController)
msg = LoadController._request_class()
msg.name = 'mobile_base_controller'
loadController(msg)
service = '/rrbot/controller_manager/switch_controller'
rospy.wait_for_service(service)
switchController = rospy.ServiceProxy(service, SwitchController)
msg = SwitchController._request_class()
msg.start_controllers = ['mobile_base_controller']
switchController(msg)
print('Respawn Finalizado')
def load_controller(node, controller_manager_name, controller_name):
request = LoadController.Request()
request.name = controller_name
return service_caller(node, '{}/load_controller'.format(controller_manager_name),
LoadController, request)
def load_start_controller(self):
'''
Call the service to spawn controller
EX:
# IIwa
rosservice call /iiwa/controller_manager/load_controller "name: 'PositionJointInterface_trajectory_controller'"
rosservice call /iiwa/controller_manager/switch_controller "{start_controllers: ['PositionJointInterface_trajectory_controller'], stop_controllers: [], strictness: 1}"
Reflex:
rosservice call /reflex_takktile_2/controller_manager/load_controller "name: 'joint_state_controller'"
rosservice call /reflex_takktile_2/controller_manager/load_controller "name: 'preshape_1_position_controller'"
rosservice call /reflex_takktile_2/controller_manager/load_controller "name: 'preshape_2_position_controller'"
rosservice call /reflex_takktile_2/controller_manager/load_controller "name: 'proximal_joint_1_position_controller'"
rosservice call /reflex_takktile_2/controller_manager/load_controller "name: 'proximal_joint_2_position_controller'"
rosservice call /reflex_takktile_2/controller_manager/load_controller "name: 'proximal_joint_3_position_controller'"
rosservice call /reflex_takktile_2/controller_manager/load_controller "name: 'distal_joint_1_position_controller'"
rosservice call /reflex_takktile_2/controller_manager/load_controller "name: 'distal_joint_2_position_controller'"
rosservice call /reflex_takktile_2/controller_manager/load_controller "name: 'distal_joint_3_position_controller'"
rosservice call /reflex_takktile_2/controller_manager/switch_controller "{start_controllers: ['joint_state_controller', preshape_1_position_controller', 'preshape_2_position_controller', 'proximal_joint_1_position_controller', 'proximal_joint_2_position_controller', 'proximal_joint_3_position_controller', 'distal_joint_1_position_controller', 'distal_joint_2_position_controller', 'distal_joint_3_position_controller'], stop_controllers: [], strictness: 2}"
rosservice call /reflex_takktile_2/controller_manager/switch_controller "{start_controllers: [], stop_controllers: ['joint_state_controller', preshape_1_position_controller', 'preshape_2_position_controller', 'proximal_joint_1_position_controller', 'proximal_joint_2_position_controller', 'proximal_joint_3_position_controller', 'distal_joint_1_position_controller', 'distal_joint_2_position_controller', 'distal_joint_3_position_controller'], strictness: 2}"
rosservice call /reflex_takktile_2/controller_manager/switch_controller "{start_controllers: [preshape_1_position_controller', 'preshape_2_position_controller', 'proximal_joint_1_position_controller', 'proximal_joint_2_position_controller', 'proximal_joint_3_position_controller', 'distal_joint_1_position_controller', 'distal_joint_2_position_controller', 'distal_joint_3_position_controller'], stop_controllers: [], strictness: 2}"
rosservice call /reflex_takktile_2/controller_manager/switch_controller "{start_controllers: [], stop_controllers: [preshape_1_position_controller', 'preshape_2_position_controller', 'proximal_joint_1_position_controller', 'proximal_joint_2_position_controller', 'proximal_joint_3_position_controller', 'distal_joint_1_position_controller', 'distal_joint_2_position_controller', 'distal_joint_3_position_controller'], strictness: 9}"
'''
# iiwa
srv_load_model_iiwa = rospy.ServiceProxy('/iiwa/controller_manager/load_controller', LoadController)
rospy.wait_for_service("/iiwa/controller_manager/load_controller")
req_iiwa_load = LoadController()
req_iiwa_load.name = "PositionJointInterface_trajectory_controller"
srv_load_model_iiwa(req_iiwa_load.name)
srv_switch_model_iiwa = rospy.ServiceProxy('/iiwa/controller_manager/switch_controller', SwitchController)
rospy.wait_for_service("/iiwa/controller_manager/switch_controller")
srv_switch_model_iiwa(['PositionJointInterface_trajectory_controller'], [], 1)
# rosservice call /reflex_takktile_2/controller_manager/load_controller "name: 'joint_state_controller'"
srv_load_model_reflex = rospy.ServiceProxy('/reflex_takktile_2/controller_manager/load_controller', LoadController)
rospy.wait_for_service("/reflex_takktile_2/controller_manager/load_controller")
req_load_model_reflex_joint= LoadController()
req_load_model_reflex_joint.name = "joint_state_controller"
srv_load_model_reflex(req_load_model_reflex_joint.name)
# Other controller...
req_load_model_reflex_joint.name = "preshape_1_position_controller"
srv_load_model_reflex(req_load_model_reflex_joint.name)
req_load_model_reflex_joint.name = "preshape_2_position_controller"
srv_load_model_reflex(req_load_model_reflex_joint.name)
req_load_model_reflex_joint.name = "proximal_joint_1_position_controller"
srv_load_model_reflex(req_load_model_reflex_joint.name)
req_load_model_reflex_joint.name = "proximal_joint_2_position_controller"
srv_load_model_reflex(req_load_model_reflex_joint.name)
req_load_model_reflex_joint.name = "proximal_joint_3_position_controller"
srv_load_model_reflex(req_load_model_reflex_joint.name)
req_load_model_reflex_joint.name = "distal_joint_1_position_controller"
srv_load_model_reflex(req_load_model_reflex_joint.name)
req_load_model_reflex_joint.name = "distal_joint_2_position_controller"
srv_load_model_reflex(req_load_model_reflex_joint.name)
req_load_model_reflex_joint.name = "distal_joint_3_position_controller"
srv_load_model_reflex(req_load_model_reflex_joint.name)
srv_switch_model_reflex = rospy.ServiceProxy('/reflex_takktile_2/controller_manager/switch_controller', SwitchController)
rospy.wait_for_service("/reflex_takktile_2/controller_manager/switch_controller")
srv_switch_model_reflex(['joint_state_controller', 'preshape_1_position_controller', 'preshape_2_position_controller', 'proximal_joint_1_position_controller', 'proximal_joint_2_position_controller', 'proximal_joint_3_position_controller', 'distal_joint_1_position_controller', 'distal_joint_2_position_controller', 'distal_joint_3_position_controller'], [], 1)
def load_controller(node, controller_manager_name, controller_name):
request = LoadController.Request()
request.name = controller_name
return service_caller(node, f'{controller_manager_name}/load_controller',
LoadController, request)