Пример #1
0
    def joy_cb(self, msg):
        # Convenience
        side = self.side
        b = msg.buttons
        lb = self.last_buttons

        if (rospy.Time.now() - self.last_hand_cmd) < rospy.Duration(0.1):
            return

        # Update enabled fingers
        self.move_f[0] =   self.move_f[0] ^   (b[self.B1[side]] and not lb[self.B1[side]])
        self.move_f[1] =   self.move_f[1] ^   (b[self.B2[side]] and not lb[self.B2[side]])
        self.move_f[2] =   self.move_f[2] ^   (b[self.B3[side]] and not lb[self.B3[side]])
        self.move_spread = self.move_spread ^ (b[self.B4[side]] and not lb[self.B4[side]])
        self.move_all =    self.move_all ^    (b[self.B_CENTER[side]] and not lb[self.B_CENTER[side]])

        # Check if the deadman is engaged
        if msg.axes[self.DEADMAN[side]] < 0.01:
            if self.deadman_engaged:
                self.hand_cmd.mode = [oro_barrett_msgs.msg.BHandCmd.MODE_VELOCITY] * 4
                self.hand_cmd.cmd = [0.0, 0.0, 0.0, 0.0]
                self.hand_pub.publish(self.hand_cmd)
                self.last_hand_cmd = rospy.Time.now()
            self.deadman_engaged = False
            self.deadman_max = 0.0
        else:
            self.handle_hand_cmd(msg)
            self.handle_cart_cmd(msg)

        self.last_buttons = msg.buttons
        self.last_axes = msg.axes

        # Broadcast the command if it's defined
        if self.cmd_frame:
            # Broadcast command frame
            tform = toTf(self.cmd_frame)
            self.broadcaster.sendTransform(tform[0], tform[1], rospy.Time.now(), self.cmd_frame_id, 'world')

            # Broadcast telemanip command
            telemanip_cmd = TelemanipCommand()
            telemanip_cmd.header.frame_id = 'world'
            telemanip_cmd.header.stamp = rospy.Time.now()
            telemanip_cmd.posetwist.pose = toMsg(self.cmd_frame)
            telemanip_cmd.resync_pose = msg.buttons[self.THUMB_CLICK[side]] == 1
            telemanip_cmd.deadman_engaged = self.deadman_engaged
            if msg.axes[self.THUMB_Y[side]] > 0.5:
                telemanip_cmd.grasp_opening = 0.0
            elif msg.axes[self.THUMB_Y[side]] < -0.5:
                telemanip_cmd.grasp_opening = 1.0
            else:
                telemanip_cmd.grasp_opening = 0.5
            telemanip_cmd.estop = False  # TODO: add master estop control
            self.telemanip_cmd_pub.publish(telemanip_cmd)
Пример #2
0
    def publish_cmd(self, resync_pose, augmenter_engaged, grasp_opening, time):
        """publish the raw tf frame and the telemanip command"""

        if not self.cmd_frame:
            return

        # Broadcast command frame
        tform = toTf(self.cmd_frame)
        self.broadcaster.sendTransform(tform[0], tform[1], time, self.cmd_frame_id, 'world')

        # Broadcast telemanip command
        telemanip_cmd = TelemanipCommand()
        telemanip_cmd.header.frame_id = 'world'
        telemanip_cmd.header.stamp = time
        telemanip_cmd.posetwist.pose = toMsg(self.cmd_frame)
        telemanip_cmd.resync_pose = resync_pose
        telemanip_cmd.deadman_engaged = self.deadman_engaged
        telemanip_cmd.augmenter_engaged = augmenter_engaged
        telemanip_cmd.grasp_opening = grasp_opening
        telemanip_cmd.estop = False  # TODO: add master estop control
        self.telemanip_cmd_pub.publish(telemanip_cmd)
Пример #3
0
    def joy_cb(self, msg):
        # Convenience
        side = self.side
        b = msg.buttons
        lb = self.last_buttons

        if (rospy.Time.now() - self.last_hand_cmd) < rospy.Duration(0.03):
            return

        # Update enabled fingers
        self.move_f[0] =   self.move_f[0] ^   (b[self.B1[side]] and not lb[self.B1[side]])
        self.move_f[1] =   self.move_f[1] ^   (b[self.B2[side]] and not lb[self.B2[side]])
        self.move_f[2] =   self.move_f[2] ^   (b[self.B3[side]] and not lb[self.B3[side]])
        self.move_spread = self.move_spread ^ (b[self.B4[side]] and not lb[self.B4[side]])
        self.move_all =    self.move_all ^    (b[self.B_CENTER[side]] and not lb[self.B_CENTER[side]])

        # Check if the deadman is engaged
        if msg.axes[self.DEADMAN[side]] < 0.01:
            if self.deadman_engaged:
                self.hand_cmd.mode = [oro_barrett_msgs.msg.BHandCmd.MODE_VELOCITY] * 4
                self.hand_cmd.cmd = [0.0, 0.0, 0.0, 0.0]
                self.hand_pub.publish(self.hand_cmd)
                self.last_hand_cmd = rospy.Time.now()
            self.deadman_engaged = False
            self.deadman_max = 0.0
        else:
            self.handle_hand_cmd(msg)
            self.handle_cart_cmd(msg)

        self.last_buttons = msg.buttons
        self.last_axes = msg.axes

        # republish markers
        for i,m in enumerate(self.master_target_markers.markers):
            m.header.stamp = rospy.Time.now()

            if (i <3 and not self.move_f[i]) or (i==3 and not self.move_spread):
                m.color = self.color_orange
            elif not self.move_all:
                m.color = self.color_red
            else:
                if self.deadman_engaged:
                    m.color = self.color_green
                else:
                    m.color = self.color_gray

            if i < 3:
                if i != 2:
                    p = m.pose.position
                    s = (-1.0 if i == 0 else 1.0)
                    p.x, p.y, p.z = finger_point(
                        self.hand_position[3] * s, 
                        l = 0.025 * s)
        self.marker_pub.publish(self.master_target_markers)

        # Broadcast the command if it's defined
        if self.cmd_frame:
            # Broadcast command frame
            tform = toTf(self.cmd_frame)
            self.broadcaster.sendTransform(tform[0], tform[1], rospy.Time.now(), self.cmd_frame_id, 'world')

            # Broadcast telemanip command
            telemanip_cmd = TelemanipCommand()
            telemanip_cmd.header.frame_id = 'world'
            telemanip_cmd.header.stamp = rospy.Time.now()
            telemanip_cmd.posetwist.pose = toMsg(self.cmd_frame)
            telemanip_cmd.resync_pose = msg.buttons[self.THUMB_CLICK[side]] == 1
            telemanip_cmd.deadman_engaged = self.deadman_engaged
            if msg.axes[self.THUMB_Y[side]] > 0.5:
                telemanip_cmd.grasp_opening = 0.0
            elif msg.axes[self.THUMB_Y[side]] < -0.5:
                telemanip_cmd.grasp_opening = 1.0
            else:
                telemanip_cmd.grasp_opening = 0.5
            telemanip_cmd.estop = False  # TODO: add master estop control
            self.telemanip_cmd_pub.publish(telemanip_cmd)