def main():
rospy.init_node("ariac_example_node")
comp_class = ariac_example.MyCompetitionClass()
ariac_example.connect_callbacks(comp_class)
rospy.loginfo("Setup complete.")
ariac_example.start_competition()
if not comp_class.has_been_zeroed:
comp_class.has_been_zeroed = True
rospy.loginfo("Sending arm to zero joint positions...")
comp_class.send_arm_to_state([0] * len(comp_class.arm_joint_names))
rospy.spin()
def main():
rospy.init_node("ariac_example_node")
comp_class = ariac_example.MyCompetitionClass()
ariac_example.connect_callbacks(comp_class)
rospy.loginfo("Setup complete.")
ariac_example.start_competition()
if not comp_class.arm_1_has_been_zeroed:
comp_class.send_arm_to_state(
[0] * len(comp_class.arm_joint_names),
comp_class.arm_1_joint_trajectory_publisher)
comp_class.arm_1_has_been_zeroed = True
if not comp_class.arm_2_has_been_zeroed:
comp_class.send_arm_to_state(
[0] * len(comp_class.arm_joint_names),
comp_class.arm_2_joint_trajectory_publisher)
comp_class.arm_2_has_been_zeroed = True
rospy.spin()
def _test_start_comp(self):
success = ariac_example.start_competition()
self.assertTrue(success, 'Failed to start the competition')
time.sleep(1.5)
self.assertTrue(self.comp_class.current_comp_state == 'go',
'Competition not in "go" state')