def prismG2_onclick(self):
global V2
pr = []
tf_listener = tf.TransformListener()
#Make the service call to enable the robot
rospy.wait_for_service('prismTransform')
try:
# rospy.loginfo('\nPrism:transformations from leica_home are')
prismTransform = rospy.ServiceProxy('prismTransform',
gettf) # s = client object
req = gettfRequest()
resp = prismTransform(req)
#if(self)
self.Current_P.ang = resp.ang
self.Current_P.ang = resp.pos
global count
if (count == 2):
P2.ang = resp.ang
P2.pos = resp.pos
for i in P2.pos:
pr.append(i)
pr.append(1)
V2.append(pr)
self.minCal1(P2.pos, P2.ang)
print("Prism no.:", count)
print("*********** Leica->Top Gate Prism***********")
print(P2.pos)
print(P2.ang)
print("***********************************************")
print('\n')
if (count <= 6):
count = count + 1
self.prismG2.setEnabled(False)
except rospy.ServiceException, e:
print "Service call failed: %s" % e
def prismR3_onclick(self):
#Make the service call to enable the robot
rospy.wait_for_service('prismTransform')
try:
# rospy.loginfo('\nPrism:transformations from leica_home are')
prismTransform = rospy.ServiceProxy('prismTransform',
gettf) # s = client object
req = gettfRequest()
resp = prismTransform(req)
#if(self)
self.Current_P.ang = resp.ang
self.Current_P.ang = resp.pos
global count
if (count == 6):
P6.ang = resp.ang
P6.pos = resp.pos
print("Prism no.:", count)
print("***********Prism Position***********")
print(P6.pos)
print("***********************************************")
self.call_listener(P6.pos, P6.ang)
print('\n')
if (count <= 6):
count = count + 1
self.prismR3.setEnabled(False)
if (count > 6):
print("Prism Count limit reached")
count = 0
self.World_Robot_Origin()
except rospy.ServiceException, e:
print "Service call failed: %s" % e
def prismR3_onclick(self):
global V4
pr = []
tf_listener = tf.TransformListener()
#Make the service call to enable the robot
rospy.wait_for_service('prismTransform')
try:
# rospy.loginfo('\nPrism:transformations from leica_home are')
prismTransform = rospy.ServiceProxy('prismTransform',
gettf) # s = client object
req = gettfRequest()
resp = prismTransform(req)
#if(self)
self.Current_P.ang = resp.ang
self.Current_P.ang = resp.pos
global count
if (count == 6):
P6.ang = resp.ang
P6.pos = resp.pos
print("Prism no.:", count)
print("***********Leica->Right Bottom Prism***********")
print(P6.pos)
print(P6.ang)
for i in P6.pos:
pr.append(i)
pr.append(1)
V4.append(pr)
self.minCal2(
P6.pos, P6.ang
) # Calulates the solution to the rotation error between the TF Base_link->Robot_prism and TF of Leica->Robot_Prism
if (count <= 6):
count = count + 1
self.prismR3.setEnabled(False)
if (count > 6):
print("Prism Count limit reached")
count = 0
self.World_Robot_Origin()
except rospy.ServiceException, e:
print "Service call failed: %s" % e
def prismG3_onclick(self):
global V2
pr = []
tf_listener = tf.TransformListener()
#Make the service call to enable the robot
rospy.wait_for_service('prismTransform')
try:
# rospy.loginfo('\nPrism:transformations from leica_home are')
prismTransform = rospy.ServiceProxy('prismTransform',
gettf) # s = client object
req = gettfRequest()
resp = prismTransform(req)
#if(self)
self.Current_P.ang = resp.ang
self.Current_P.ang = resp.pos
global count
if (count == 3):
P3.ang = resp.ang
P3.pos = resp.pos
print("Prism no.:", count)
print("*********** Leica->Right Bottom Gate***********")
print(P3.pos)
print(P3.ang)
print("***********************************************")
for i in P3.pos:
pr.append(i)
pr.append(1)
V2.append(pr)
self.minCal1(
P3.pos, P3.ang
) # Calulates the solution to the rotation error between the TF World->Gate_prism and TF of Leica->Gate_Prism
if (count <= 6):
count = count + 1
self.prismG3.setEnabled(False)
except rospy.ServiceException, e:
print "Service call failed: %s" % e
def prismR1_onclick(self):
global V4
pr = []
tf_listener = tf.TransformListener()
#Make the service call to enable the robot
rospy.wait_for_service('prismTransform')
try:
# rospy.loginfo('\nPrism:transformations from leica_home are')
prismTransform = rospy.ServiceProxy('prismTransform',
gettf) # s = client object
req = gettfRequest()
resp = prismTransform(req)
#if(self)
self.Current_P.ang = resp.ang
self.Current_P.ang = resp.pos
global count
if (count == 4):
P4.ang = resp.ang # Storage in anothe variable incase of flexibility with data if needed
P4.pos = resp.pos
for i in P4.pos:
pr.append(i)
pr.append(1)
V4.append(pr)
self.minCal2(P4.pos, P4.ang)
print("Prism no.:", count)
print("***********Leica->Left Robot Prism***********")
print(P4.pos)
print(P4.ang)
print("***********************************************")
print('\n')
if (count <= 6):
count = count + 1
self.prismR1.setEnabled(False)
except rospy.ServiceException, e:
print "Service call failed: %s" % e