def __init__(self): self.__unit = 'rad' self.__joint_values = [0.0, 0.0, 0.0, 0.0, 0.0] self.__joint_offset = [0.0, 0.0, 0.0, 0.0, 0.0] self.__joint_uris = ["arm_joint_1", "arm_joint_2", "arm_joint_3", "arm_joint_4", "arm_joint_5"] self.__modifiedSolutionPublisher = rospy.Publisher('/arm_1/arm_controller/position_command', brics_actuator.msg.JointPositions) self.__ikSolutionSubscriber = rospy.Subscriber('ik_modifier_input', brics_actuator.msg.JointPositions, self.ik_modifier_input_callback) IKControl.__init__(self, False) self.armpub = rospy.Publisher('/ik_modifier_input', brics_actuator.msg.JointPositions)
def main(): """Main method - Starts the ros node and runs the main loop""" rospy.init_node("partyboy") ikc = IKControl() while 1: ikc.drive_to_top(False) sleep(2) ikc.change_pos({"yaw": 0.378, "pitch": 1.387, "y": -0.0459, "x": 0.029, "z": 0.378, "roll": 0.29}) sleep(2)
def main(): """Main method - Starts the ros node and opens the gripper""" rospy.init_node("open_gripper") ikc = IKControl(False) rospy.sleep(2.0) ikc.open_gripper()