def start_cb(self, req): # Run manipulation tasks if self.run(): return None_BoolResponse(True) else: return None_BoolResponse(False)
def autobed_occ_cb(self, req): print "Autobed Data Sampled" total_weight = np.sum(np.asarray(self.pressure_map)) print "Total Weight on the mat:{}".format(total_weight) if total_weight >= 2000: return None_BoolResponse(True) else: return None_BoolResponse(False)
def mech_anal_en_cb(self, req): # Run analyse tasks if req.data is True: self.mech_anal_flag = True else: self.mech_anal_flag = False return None_BoolResponse(True)
def initArmsCallback(self, req): self.haptic('enabled') l_joint_state = [ 1.7013504719569787, -0.2846619162464899, 1.0247881430005377, -1.0400059974175215, 0.7408476425758285, -0.9261340129014745, -0.8541080908968821 ] r_joint_state = [ -1.3805018627854437, -0.3065720013305438, -0.6643104933210333, -1.6377642647201074, -0.014866701346294675, -0.9982517431192833, 2.579269529149009 ] print "Initializing both arm configurations!!" self.setPostureGoal(l_joint_state, arm='l') self.setPostureGoal(r_joint_state, arm='r') rospy.sleep(10.0) return None_BoolResponse(True)
def scoopingStepsTimesCallback(self, data): self.scooping_steps_times.append(rospy.get_time() - self.init_time) return None_BoolResponse(True)