示例#1
25
#!/usr/bin/env python
# -*- coding: utf-8 -*-
from __future__ import division

__author__ = "Rodrigo Muñoz , David Valenzuela Urrutia"
__email__ = "[email protected] , [email protected]"

# ROS
import rospy
from kuka_driver.kuka_commander import KukaCommander

if __name__ == "__main__":
    rospy.init_node("kuka_commander")
    kuka = KukaCommander()
    kuka.set_vel(80)
    kuka.home()
    rospy.sleep(0.5)
    kuka.ptp(
        [
            0.10772384992907114,
            0.7154650789473394,
            -0.8016527609008506,
            -6.087224938771763e-06,
            1.0266153515233172e-05,
            6.821469104602556e-05,
        ]
    )  # OPEN DOOR
    rospy.sleep(0.5)
    kuka.ptp(
        [
            0.10770660596114645,
示例#2
0
def main():
	rospy.init_node('gripper_rutina')
	kuka = KukaCommander()  
	kuka.set_vel(40)
	kuka.home()

	rate = rospy.Rate(1) # 1hz
	gripper= Gripper()
	gripper.start()

	NombreRutina=raw_input("Ingrese nombre de la rutina a seguir: ")

	rospy.loginfo(" Realizando Rutina: "+ NombreRutina)
	
	Rutina=open(NombreRutina + ".txt","r")

	for orden in Rutina:
		if orden[0:3]=="fin":
			rospy.loginfo("Fin de la Rutina")
			break

		if orden=="home":
			kuka.home()
			rospy.loginfo("kuka home")
			rospy.sleep(3.0)

		if orden[0:3]=="vel":
			kuka.set_vel(int(orden[3:6]))
			rospy.loginfo("Velocidad Kuka : " + orden[3:6])
			rospy.sleep(1.0)

		if orden[0]=="#":
			pass

		if orden[0:4]=="open":
			gripper.open()
			rospy.loginfo("Gripper Open")

		if orden[0:5]=="close":
			gripper.close()
			rospy.loginfo("Gripper Close")


		if orden[0:5]=="sleep":
			rospy.loginfo("sleep:"+ str(orden[6:(len(orden))]))
			rospy.sleep(float(orden[6:(len(orden))]))


		if orden[0:3]=="ptp":
			punto=map(float,orden[4:len(orden)-2].split( ','))
			kuka.ptp(punto)
			rospy.loginfo("kuka.ptp("+str(punto)+")")
			rospy.sleep(1.0)
		else:
			pass

	Rutina.close()
	gripper.shutdown()
示例#3
0
#!/usr/bin/env python
# -*- coding: utf-8 -*-
from __future__ import division

__author__ = 'Rodrigo Muñoz , David Valenzuela Urrutia'
__email__ = '[email protected] , [email protected]'

# ROS
import rospy
from kuka_driver.kuka_commander import KukaCommander

if __name__=='__main__':
  rospy.init_node('kuka_commander')

  kuka = KukaCommander()  
  kuka.set_vel(60)
  kuka.home()
  rospy.sleep(0.5)
  #Light ON 1
  kuka.ptp([0.056919096553020854, 0.8133463016826425, -0.8952060805821915, -0.07516506634651865, -0.042651152866797215, 0.07450536806010266]) 
  rospy.sleep(0.5)
  #Light ON wait
  kuka.ptp([0.057203900823452614, 0.7638405342465404, -0.8145244175607402, -0.07516506634651865, -0.042651152866797215, 0.07450536806010266]) 
  rospy.sleep(0.5)
  #Light ON 2
  kuka.ptp([0.057203900823452614, 0.7876677697558776, -0.8279871628199942, -0.07516506634651865, -0.042651152866797215, 0.07450536806010266]) 
  rospy.sleep(0.5)
  kuka.home()
示例#4
0
#!/usr/bin/env python
# -*- coding: utf-8 -*-
from __future__ import division

__author__ = 'Rodrigo Muñoz , David Valenzuela Urrutia'
__email__ = '[email protected] , [email protected]'

# ROS
import rospy
from kuka_driver.kuka_commander import KukaCommander

if __name__=='__main__':
  rospy.init_node('kuka_commander')
  kuka = KukaCommander()  
  kuka.set_vel(80)
  kuka.home()
  rospy.sleep(0.5)
  # INITIAL POINT
  kuka.ptp([-0.3897044539026773, -0.15259553401200776, 0.627705865646746, -0.7026422912930741, -0.5911389996875371, 0.0])
  rospy.sleep(0.5)
  #
  kuka.ptp([-0.44034536045511885, 0.42626542761802, 0.1873697596763435, -0.6796934994624948, -0.734177447306692, 0.0])
  rospy.sleep(0.5)
  kuka.ptp([-0.44071204444486867, 0.43805830430770243, 0.20593665286227747, -0.6593012756795602, -0.757754079359394, 0.0])
  rospy.sleep(0.5)
  kuka.ptp([-0.44130316633374633, 0.46125996328182595, 0.23638390757902528, -0.6267650374199363, -0.8003102614057411, 0.0])
  rospy.sleep(0.5)
  kuka.ptp([-0.4418986824383886, 0.491201816606619, 0.2670860268101194, -0.5947949206246506, -0.8496018441128328, 0.0])
  rospy.sleep(0.5)
  kuka.ptp([-0.4423474250785908, 0.520319288422364, 0.2903599240282517, -0.5707626217129658, -0.8930443261630927, 0.0])
  rospy.sleep(0.5)
示例#5
0
#!/usr/bin/env python
# -*- coding: utf-8 -*-
from __future__ import division

__author__ = 'Rodrigo Muñoz , David Valenzuela Urrutia'
__email__ = '[email protected] , [email protected]'

# ROS
import rospy
from kuka_driver.kuka_commander import KukaCommander

if __name__=='__main__':
  rospy.init_node('kuka_commander')
  kuka = KukaCommander()  
  kuka.set_vel(80)
  kuka.home()
示例#6
0
  goal_pose_final.append(pose_shadow[0])
  goal_pose_final.append(pose_shadow[1])
  goal_pose_final.append(pose_shadow[2])
  goal_pose_final.append(0.0)
  goal_pose_final.append(0.0)
  goal_pose_final.append(0.0)
  goal_pose_final_glob = goal_pose_final
  #print goal_pose_final_glob

if __name__=='__main__':

  rospy.init_node('follow_shadow', anonymous=True)
  rospy.Subscriber("shadow_joint_states", JointState, callbackShadow) 

  rate = rospy.Rate(3) # 3hz
  kuka = KukaCommander() 
  kuka.set_vel(70)
  while not rospy.is_shutdown():
    #global goal_pose_final_glob
    print goal_pose_final_glob
    kuka.ptp(goal_pose_final_glob)  
    rospy.sleep(0.1)
    rate.sleep()
    #rospy.spin()


  
  # kuka = KukaCommander()  
  # rospy.sleep(0.5)
  # kuka.set_vel(50)
  # kuka.home()
示例#7
0
#!/usr/bin/env python
# -*- coding: utf-8 -*-
from __future__ import division

__author__ = 'Rodrigo Muñoz , David Valenzuela Urrutia'
__email__ = '[email protected] , [email protected]'

# ROS
import rospy
from kuka_driver.kuka_commander import KukaCommander

if __name__=='__main__':
  rospy.init_node('kuka_commander')

  kuka = KukaCommander()  
  kuka.set_vel(60)
  kuka.home()
  rospy.sleep(0.5)
  #Light OFF 1
  kuka.ptp([0.06919094276104376, 0.8328329175439109, -0.9541489590049679, 1.2174451909374175e-05, 2.0049190529514756e-05, 4.534325117083477e-05]) 
  rospy.sleep(0.5)
  #Light OFF wait
  kuka.ptp([0.057203900823452614, 0.7638405342465404, -0.8145244175607402, -0.07516506634651865, -0.042651152866797215, 0.07450536806010266]) 
  rospy.sleep(0.5)
  #Light OFF 2
  kuka.ptp([0.06698597855359312, 0.805618141154234, -0.8794478236391257, 1.82616773561036e-05, 3.0073785794272135e-05, 4.551649317936866e-05]) 
  rospy.sleep(0.5)
  kuka.home()
示例#8
0
#!/usr/bin/env python
# -*- coding: utf-8 -*-
from __future__ import division

__author__ = 'Rodrigo Muñoz , David Valenzuela Urrutia'
__email__ = '[email protected] , [email protected]'

# ROS
import rospy
from kuka_driver.kuka_commander import KukaCommander

if __name__=='__main__':
  rospy.init_node('kuka_commander')

  kuka = KukaCommander()  
  rospy.sleep(0.5)
  kuka.set_vel(30)
  kuka.home()
  rospy.sleep(0.5)
  kuka.ptp([0.2, 0.0, 0.0, 0.0, 0.0, 0.0]) 
  rospy.sleep(0.5)
  kuka.home()
  rospy.sleep(0.5)
  kuka.ptp([-0.2, 0.0, 0.0, 0.0, 0.0, 0.0]) #OPEN DOOR
  kuka.home()