def move(self, title, pos=[0.0, 0.0, 0.0], rpy=None, hold_duration=None):
rospy.loginfo(title)
if rpy is not None:
self._rpy = rpy
pose = sci.gen_pose(pos, self._rpy)
success = sci.move_lin(pose, self._world, self._profile)
if hold_duration is not None:
time.sleep(hold_duration)
return success
sss = simple_script_server()
sss.move("arm", [[-0.00032004093963244884, -0.7064191894021441, -1.577532922958369e-06, 1.4183686971944311, 1.2084352562169443e-05, -0.6913530502577565, -0.0002663056533762642]])
if __name__ == '__main__':
rospy.init_node('test_move_lin_interface')
init_pos()
pose = sci.gen_pose(pos=[0.0, 0.0, 0.9], rpy=[0.0, 0.0, 0.0])
profile = Profile()
profile.vel = 0.1
profile.accl = 0.05
#profile.profile_type = Profile.SINOID
profile.profile_type = Profile.RAMP
success, message = sci.move_lin(pose, "world", profile)
if success:
rospy.loginfo(message)
else:
rospy.logerr(message)
rospy.sleep(3.0)
pose = sci.gen_pose(pos=[0.3, 0.0, 0.9], rpy=[0.0, 0.0, 0.0])
profile = Profile()
profile.vel = 0.1
profile.accl = 0.05
#profile.profile_type = Profile.SINOID
profile.profile_type = Profile.RAMP
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import math
import rospy
from geometry_msgs.msg import Pose
from cob_cartesian_controller.msg import Profile
import simple_cartesian_interface as sci
if __name__ == '__main__':
rospy.init_node('test_move_lin_interface')
pose = sci.gen_pose(pos=[-0.9, 0.0, 0.0], rpy=[0.0, 0.0, 0.0])
profile = Profile()
profile.vel = 0.2
profile.accl = 0.1
#profile.profile_type = Profile.SINOID
profile.profile_type = Profile.RAMP
success, message = sci.move_lin(pose, "world", profile)
if success:
rospy.loginfo(message)
else:
rospy.logerr(message)