def main(): rospy.init_node("ariac_example_node") comp_class = ariac_example.MyCompetitionClass() ariac_example.connect_callbacks(comp_class) rospy.loginfo("Setup complete.") ariac_example.start_competition() if not comp_class.has_been_zeroed: comp_class.has_been_zeroed = True rospy.loginfo("Sending arm to zero joint positions...") comp_class.send_arm_to_state([0] * len(comp_class.arm_joint_names)) rospy.spin()
def main(): rospy.init_node("ariac_example_node") comp_class = ariac_example.MyCompetitionClass() ariac_example.connect_callbacks(comp_class) rospy.loginfo("Setup complete.") ariac_example.start_competition() if not comp_class.arm_1_has_been_zeroed: comp_class.send_arm_to_state( [0] * len(comp_class.arm_joint_names), comp_class.arm_1_joint_trajectory_publisher) comp_class.arm_1_has_been_zeroed = True if not comp_class.arm_2_has_been_zeroed: comp_class.send_arm_to_state( [0] * len(comp_class.arm_joint_names), comp_class.arm_2_joint_trajectory_publisher) comp_class.arm_2_has_been_zeroed = True rospy.spin()
def _test_start_comp(self): success = ariac_example.start_competition() self.assertTrue(success, 'Failed to start the competition') time.sleep(1.5) self.assertTrue(self.comp_class.current_comp_state == 'go', 'Competition not in "go" state')