def __init__(self, _name='/robotis'):
"""Initial object."""
self.en_sim = False
if len(sys.argv) >= 2:
print(type(sys.argv[1]))
if sys.argv[1] == 'True':
rospy.set_param('self.en_sim', sys.argv[1])
self.en_sim = rospy.get_param('self.en_sim')
self.name = _name
self.status = Status.initPose
self.nowStatus = Status.initPose
self.nextStatus = Status.idle
self.reGripCnt = 0
self.arm = ArmTask(self.name + '_arm', self.en_sim)
self.pickListAll = len(lunchboxPos) + len(riceballPos) + len(drinkPos)
self.pickList = PICKORDER
self.pos = [0, 0, 0]
self.euler = [0, 0, 0]
self.phi = 0
self.sucAngle = 0
self.all_finish = False
if self.name == 'right':
self.is_right = 1
self.speed = SPEED_R
if self.name == 'left':
self.is_right = -1
self.speed = SPEED_L
if self.en_sim:
self.suction = SuctionTask(self.name + '_gazebo')
else:
self.suction = SuctionTask(self.name)
rospy.on_shutdown(self.suction.gripper_vacuum_off)
def __init__(self, _name = '/robotis'):
"""Initial object."""
en_sim = False
if len(sys.argv) >= 2:
rospy.set_param('en_sim', sys.argv[1])
en_sim = rospy.get_param('en_sim')
self.name = _name
self.arm = ArmTask(self.name + '_arm')
self.pick_list = 2
self.pos = (0, 0, 0)
self.euler = (0, 0, 0)
self.phi = 0
if en_sim:
self.suction = SuctionTask(self.name + '_gazebo')
print "aa"
else:
self.suction = SuctionTask(self.name)
print "bb"
def __init__(self, _name='/robotis'):
"""Initial object."""
self.en_sim = False
self.__set_pubsub()
if len(sys.argv) >= 2:
print(type(sys.argv[1]))
if sys.argv[1] == 'True':
rospy.set_param('self.en_sim', sys.argv[1])
self.en_sim = rospy.get_param('self.en_sim')
self.name = _name
self.state = initPose
self.nowState = initPose
self.nextState = idle
self.reGripCnt = 0
self.pickList = 0
self.pickListAll = 8
self.arm = ArmTask(self.name + '_arm')
self.pos = [0, 0, 0]
self.euler = [0, 0, 0]
self.phi = 0
self.sucAngle = 0
self.sandwitchPos = [0, 0, 0]
self.sandwitchEu = [0, 0, 0]
self.sandwitchSuc = 0
self.sandwitchVec = [0, 0, 0]
self.camMovePos = [0, 0]
self.Qrcode = ''
self.checkCnt = 0
self.moveCnt = 0
self.mode = 'p2p'
self.ROI_Pos = [0, 640, 0, 480]
self.Vision_pos = [0, 0, 0, 0, 0, 0]
if self.name == 'right':
self.is_right = 1
if self.name == 'left':
self.is_right = -1
if self.en_sim:
self.suction = SuctionTask(self.name + '_gazebo')
else:
self.suction = SuctionTask(self.name)
rospy.on_shutdown(self.suction.gripper_vaccum_off)
def __init__(self, _name='/robotis'):
"""Initial object."""
en_sim = False
self.finish = False
if len(sys.argv) >= 2:
rospy.set_param('en_sim', sys.argv[1])
en_sim = rospy.get_param('en_sim')
self.name = _name
self.state = initPose
self.nextState = idle
self.arm = ArmTask(self.name + '_arm')
self.pick_list = 2
self.pos = (0, 0, 0)
self.euler = (0, 0, 0)
self.phi = 0
self.cnt = 0
self.tmp_rr = -1
if en_sim:
self.suction = SuctionTask(self.name + '_gazebo')
else:
self.suction = SuctionTask(self.name)
def finish(self):
return self.pickList == self.pickListAll
self.nowState = initPose
self.nextState = idle
self.reGripCnt = 0
self.arm = ArmTask(self.name + '_arm')
self.pos = [0, 0, 0]
self.euler = [0, 0, 0]
self.phi = 0
self.sucAngle = 0
self.sandwitchPos = [0, 0, 0]
self.sandwitchEu = [0, 0, 0]
self.sandwitchSuc = 0
if self.name == 'right':
self.is_right = 1
if self.name == 'left':
self.is_right = -1
if self.en_sim:
self.suction = SuctionTask(self.name + '_gazebo')
else:
self.suction = SuctionTask(self.name)
rospy.on_shutdown(self.suction.gripper_vaccum_off)
def __init__(self, _name='/robotis'):
"""Initial object."""
en_sim = True
if len(sys.argv) >= 2:
rospy.set_param('en_sim', sys.argv[1])
en_sim = rospy.get_param('en_sim')
# if en_sim:
# print en_sim
# return
self.name = _name
self.state = initPose
self.nextState = idle
self.sucAngle = 0
self.arm = ArmTask(self.name + '_arm')
self.pick_list = 4
self.pos = (0, 0, 0)
self.euler = (0, 0, 0)
self.phi = 0
if en_sim:
self.suction = SuctionTask(self.name + '_gazebo')
print("aa")
else:
self.suction = SuctionTask(self.name)
print("bb")
def __init__(self, _name = '/robotis'):
"""Initial object."""
self.en_sim = False
if len(sys.argv) >= 2:
print(type(sys.argv[1]))
if sys.argv[1] == 'True':
rospy.set_param('self.en_sim', sys.argv[1])
self.en_sim = rospy.get_param('self.en_sim')
self.img_data = ROI()
self.img_data_list = []
self.name = _name
self.state = initPose
self.nowState = initPose
self.nextState = idle
self.reGripCnt = 0
self.arm = ArmTask(self.name + '_arm')
self.pos = [0, 0, 0]
self.euler = [0, 0, 0]
self.phi = 0
self.sucAngle = 0
self.No_Object_count = 0
self.obj_name = ''
self.standby_safeFlag = True # 第一次開完箱子的狀態切換（只有開箱子用的到）
self.close_box = False # 關箱子的旗標
self.finish_pos = False
self.mode_2D = False
self.finish = False
if self.name == 'left':
self.is_right = -1
self.speed = SPEED_L
self.faster_speed = 40
self.init_pub_sub()
if self.en_sim:
self.suction = SuctionTask(self.name + '_gazebo')
else:
self.suction = SuctionTask(self.name)