def __init__(self,
jointNames,
poseData,
cameraInfoDict,
cameraSerialNumber=1112170110,
poseFilename=None,
cameraInfoFilename=None,
tfBuffer=None):
self.jointNames = jointNames
self.poseData = poseData
self.cameraInfoDict = cameraInfoDict
self.tfBuffer = tfBuffer
self.poseFilename = poseFilename
self.cameraInfoFilename = cameraInfoFilename
self.robotService = rosUtils.RobotService(self.jointNames)
self.cameraSerialNumber = cameraSerialNumber
self.setupConfig()
self.setup()
if USING_DIRECTOR:
self.taskRunner = TaskRunner()
self.taskRunner.callOnThread(self.setupTF)
else:
self.setupTF()
def __init__(self): self.bagging = False self.rosbag_proc = None storedPosesFile = os.path.join(spartanUtils.getSpartanSourceDir(), 'src', 'catkin_projects', 'station_config','RLG_iiwa_1','stored_poses.yaml') self.storedPoses = spartanUtils.getDictFromYamlFilename(storedPosesFile) self.robotService = rosUtils.RobotService(self.storedPoses['header']['joint_names']) self.setupConfig()
def __init__(self, camera_serial_number="carmine_1"):
self.camera_serial_number = camera_serial_number
self.bagging = False
self.rosbag_proc = None
self.tfBuffer = None
storedPosesFile = os.path.join(spartanUtils.getSpartanSourceDir(), 'src', 'catkin_projects', 'station_config','RLG_iiwa_1','stored_poses.yaml')
self.storedPoses = spartanUtils.getDictFromYamlFilename(storedPosesFile)
self.robotService = rosUtils.RobotService(self.storedPoses['header']['joint_names'])
self.setupConfig()
self.setupSubscribers()
self.setupPublishers()
self.setupTF()
self.setupCache()
def __init__(self, homeCartesianPoint, touchCartesianPoints):
self.jointNames = (u'iiwa_joint_1', u'iiwa_joint_2', u'iiwa_joint_3',
u'iiwa_joint_4', u'iiwa_joint_5', u'iiwa_joint_6',
u'iiwa_joint_7')
self.robotService = spartanROSUtils.RobotService(self.jointNames)
self.currentJointPosition = [0] * len(self.jointNames)
self.maxJointDegreesPerSecond = 15
self.homeJointPosition = self.getJointPositions(homeCartesianPoint)
self.touchJointPositions = [
self.getJointPositions(point) for point in touchCartesianPoints
]
rospy.Subscriber("/joint_states", sensor_msgs.msg.JointState,
self.storeCurrentJointPosition)
rospy.Subscriber("/stop", std_msgs.msg.Bool, self.stopCurrentPoint)
def __init__(self,
robotSystem,
handFrame='palm',
stopChannel="/stop",
removeFloatingBase=True,
cameraSerialNumber=1112170110):
self.robotSystem = robotSystem
self.jointNames = self.robotSystem.ikPlanner.robotModel.model.getJointNames(
)
print self.jointNames
if removeFloatingBase:
self.jointNames = self.jointNames[6:]
self.robotService = spartanROSUtils.RobotService(self.jointNames)
self.handFrame = handFrame
self.cameraSerialNumber = cameraSerialNumber
self.removeFloatingBase = removeFloatingBase
self.maxJointDegreesPerSecond = 15
rospy.Subscriber(stopChannel, std_msgs.msg.Bool, self.stopCurrentPoint)
self.taskRunner = TaskRunner()
def __init__(self, storedPosesFile=None, cameraSerialNumber=1112170110):
self.storedPoses = spartanUtils.getDictFromYamlFilename(
storedPosesFile)
self.cameraSerialNumber = cameraSerialNumber
self.cameraName = 'camera_' + str(cameraSerialNumber)
self.pointCloudTopic = '/' + str(self.cameraName) + '/depth/points'
self.graspFrameName = 'base'
self.depthOpticalFrameName = self.cameraName + "_depth_optical_frame"
self.robotService = rosUtils.RobotService(
self.storedPoses['header']['joint_names'])
self.usingDirector = True
self.setupConfig()
if USING_DIRECTOR:
self.taskRunner = TaskRunner()
self.taskRunner.callOnThread(self.setupSubscribers)
self.taskRunner.callOnThread(self.setupTF)
else:
self.setupSubscribers()
self.setupTF()