def main():
# rospy gets first crack at sys.argv
rospy.myargv(argv=sys.argv)
(options,args) = getopt.getopt(sys.argv[1:], 'v:f:s:t:', ['vm=','feedback=','source=','target='])
rospy.init_node('pr2_driver')
source_frameid = rospy.get_param("/r_cart/root_name","torso_lift_link")
target_frameid = rospy.get_param("/r_cart/tip_name","r_gripper_tool_frame")
vm = rospy.get_param("/pr2_driver/velocity_multiplier", 10.0)
feedback = rospy.get_param("/pr2_driver/feedback", 'hard')
for o,a in options:
if o in ('-v','--vm'):
vm = float(a)
elif o in ('-f','--feedback'):
assert a in ('none','hard','adaptive')
feedback = a
elif o in ('-s','--source'):
source_frameid = a
elif o in ('-t','--target'):
target_frameid = a
driver = PR2Driver("pr2_driver", vm, feedback, 100, source_frameid, target_frameid, False) # start node
driver.spin()
def main():
# rospy gets first crack at sys.argv
rospy.myargv(argv=sys.argv)
(options, args) = getopt.getopt(sys.argv[1:], "v:f:", ["vm=", "feedback="])
rospy.init_node("omnirob_driver")
vm = rospy.get_param("/omnirob_driver/velocity_multiplier", 1.0)
feedback = rospy.get_param("/omnirob_driver/feedback", "none")
for o, a in options:
if o in ("-v", "--vm"):
vm = float(a)
elif o in ("-f", "--feedback"):
assert a in ("none", "hard", "adaptive")
feedback = a
driver = OmnirobDriver("omnirob_driver", vm, feedback, 500) # start node
driver.spin()
def main():
# rospy gets first crack at sys.argv
rospy.myargv(argv=sys.argv)
(options,args) = getopt.getopt(sys.argv[1:], 'v:f:', ['vm=','feedback='])
rospy.init_node('wam_driver')
vm = rospy.get_param("/wam_driver/velocity_multiplier", 1.0)
feedback = rospy.get_param("/wam_driver/feedback", 'none')
for o,a in options:
if o in ('-v','--vm'):
vm = float(a)
elif o in ('-f','--feedback'):
assert a in ('none','hard','adaptive')
feedback = a
driver = WAMDriver('wam_driver', vm, feedback, 500) # start node
driver.spin()
def main():
# rospy gets first crack at sys.argv
rospy.myargv(argv=sys.argv)
(options,args) = getopt.getopt(sys.argv[1:], 'v:f:s:t:a:', ['vm=','feedback=','source=','target=','athresh='])
rospy.init_node('pr2_driver')
rsource_frameid = rospy.get_param("/r_cart/root_name","torso_lift_link")
rtarget_frameid = rospy.get_param("/r_cart/tip_name","r_gripper_tool_frame")
lsource_frameid = rospy.get_param("/l_cart/root_name","torso_lift_link")
ltarget_frameid = rospy.get_param("/l_cart/tip_name","l_gripper_tool_frame")
#both left and right hands must be in the same reference frame
assert lsource_frameid == rsource_frameid
vm = rospy.get_param("/pr2_driver/velocity_multiplier", 1)
feedback = rospy.get_param("/pr2_driver/feedback", 'adaptive')
msfid=""
mtfid=""
adaptive_threshold=0.1
for o,a in options:
if o in ('-v','--vm'):
vm = float(a)
elif o in ('-f','--feedback'):
assert a in ('none','hard','adaptive')
feedback = a
elif o in ('-s','--source'):
msfid = a
elif o in ('-t','--target'):
mtfid = a
elif o in ('-a','--athresh'):
adaptive_threshold = float(a)
driver = PR2Driver("pr2_driver", vm, feedback, 100, adaptive_threshold, rsource_frameid, rtarget_frameid, msfid, mtfid,False) # start node
#driver.adaptive_threshold=adaptive_threshold
driver.ltfid=ltarget_frameid
driver.rtfid=rtarget_frameid
driver.spin()