def __init__(self, config_name, move_group, action_topic = '/move_group', robot_name = ""): ''' Constructor ''' super(SrdfStateToMoveit, self).__init__(outcomes=['reached', 'planning_failed', 'control_failed', 'param_error']) self._config_name = config_name self._move_group = move_group self._robot_name = robot_name self._action_topic = action_topic self._client = ProxyActionClient({self._action_topic: MoveGroupAction}) self._planning_failed = False self._control_failed = False self._success = False self._srdf_param = None if rospy.has_param("/robot_description_semantic"): self._srdf_param = rospy.get_param("/robot_description_semantic") else: Logger.logerror('Unable to get parameter: /robot_description_semantic') self._param_error = False self._srdf = None
def __init__(self, config_name, move_group="", action_topic = '/move_group', robot_name=""): ''' Constructor ''' super(SrdfStateToMoveit, self).__init__(outcomes=['reached', 'planning_failed', 'control_failed', 'param_error']) self._config_name = config_name self._move_group = move_group self._robot_name = robot_name self._action_topic = action_topic self._client = ProxyActionClient({self._action_topic: MoveGroupAction}) self._planning_failed = False self._control_failed = False self._success = False self._srdf_param = None if rospy.has_param("/robot_description_semantic"): self._srdf_param = rospy.get_param("/robot_description_semantic") else: Logger.logerror('Unable to get parameter: /robot_description_semantic') self._param_error = False self._srdf = None
def __init__(self, config_name='Home', move_group='arm', action_topic='/move_group', robot_name='m1n6s200', position_topic='/m1n6s200_driver/joint_states', delta=1E-4): ''' Constructor ''' super(FeedbackSrdfStateToMoveit, self).__init__(outcomes=['reached', 'failed']) self._position_topic = position_topic self._delta = delta self._config_name = config_name self._move_group = move_group self._robot_name = robot_name self._action_topic = action_topic self._client = ProxyActionClient({self._action_topic: MoveGroupAction}) self._planning_failed = False self._control_failed = False self._success = False self._srdf_param = None if rospy.has_param("/robot_description_semantic"): self._srdf_param = rospy.get_param("/robot_description_semantic") else: Logger.logerror('Unable to get parameter: /robot_description_semantic') self._param_error = False self._srdf = None
def __init__(self, config_name, move_group="", duration=1.0, wait_for_execution=True, action_topic='/execute_kinematic_path', robot_name=""): ''' Constructor ''' super(SrdfStateToMoveitExecute, self).__init__( outcomes=['reached', 'request_failed', 'moveit_failed', 'param_error']) self._config_name = config_name self._robot_name = robot_name self._move_group = move_group self._duration = duration self._wait_for_execution = wait_for_execution self._action_topic = action_topic self._client = ProxyServiceCaller({self._action_topic: ExecuteKnownTrajectory}) # self._action_topic = action_topic # self._client = ProxyActionServer({self._action_topic: ExecuteTrajectoryAction}) self._request_failed = False self._moveit_failed = False self._success = False self._srdf_param = None if rospy.has_param("/robot_description_semantic"): self._srdf_param = rospy.get_param("/robot_description_semantic") else: Logger.logerror('Unable to get parameter: /robot_description_semantic') self._param_error = False self._srdf = None self._response = None
def __init__(self, move_group, robot_name=""): ''' Constructor ''' super(GetJointsFromSrdfGroup, self).__init__(outcomes=['retrieved', 'param_error'], output_keys=['joint_names']) self._move_group = move_group self._robot_name = robot_name # Check existence of SRDF parameter. # Anyways, values will only be read during runtime to allow modifications. self._srdf_param = None if rospy.has_param("/robot_description_semantic"): self._srdf_param = rospy.get_param("/robot_description_semantic") else: Logger.logerror('Unable to get parameter: /robot_description_semantic') self._file_error = False self._srdf = None