def __init__(self, limb): self.bc = BaxterController(limb) self.bc.send_image(self.bc._cheeky_face_path)
class Game(object): def __init__(self, limb): self.bc = BaxterController(limb) self.bc.send_image(self.bc._cheeky_face_path) def test(self, limb): print "STARTING TEST!" self.bc.pick("p1") self.bc.release("a1") print "TEST FINISHED!" def rec_command(self, req): res = BaxterCommandResponse() print "Received service!" print req.pos1 + " " + req.pos2 acceptables = self.bc.acceptable['left'] + self.bc.acceptable['positions'] if req.pos1 == 'neutral' or req.pos2 == 'neutral': self.bc.go_neutral() print "Going neutral" elif req.pos1 in acceptables and req.pos2 in acceptables: self.bc.pick(req.pos1) self.bc.release(req.pos2) print "Going from " + req.pos1 + " to " + req.pos2 else: print "Aborting, no acceptable targets set" res.res = False return True res.res = True return True def command_server(self): #rospy.init_node('command_server') s = rospy.Service('baxter_command', BaxterCommand, self.rec_command) print "Command server ready"