def commandReceived(cmd): global count global enable global pub global grippub cmd1 = 'ok' if cmd1 == 'ok': print("rfh_zoo got ok call from topic.") enable = True cmd = None if enable: stemname = 'candy' count = count % 3 print(count) filename = stemname + str(count + 1) enable = False print("Getting candy {0}".format(str(count + 1))) yfp.followPointsInFile(filename, pub=pub, grippub=grippub) count += 1 print("Delivering candy...") yfp.followPointsInFile('deliver', pub=pub, grippub=grippub)
stemname = 'jointpoints' filename = stemname + '0' n = 0 while os.path.exists(filename): n += 1 filename = stemname + str(n) pointsfile = wptool.WpTool(filename, 'w') pub = rospy.Publisher('/arm_1/arm_controller/position_command', JointPositions, queue_size=10) grippub = rospy.Publisher('/arm_1/gripper_controller/position_command', JointPositions, queue_size=10) rospy.init_node('teleop_arm_keyboard') rospy.Subscriber("joint_states", JointState, jointStatesReceivedHandler) print("Enter initializer file name:") initfilename = raw_input() if not initfilename == '': yfp.followPointsInFile(str(initfilename), pub=pub, grippub=grippub) lcount = 0 try: print msg while(1): desiredPos = copy.deepcopy(crntJointPositions) desGripPos = copy.deepcopy(gripperPositions) key = getKey() if key in jointBindings.keys(): #print ("Current States:",crntJointStates.position) if (lcount == 14): print msg lcount = (lcount + 1) % 15 elif key in stepBindings.keys():