X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;f=scripts%2Farm_ros_conn.py;h=1d27cd500bf263ba6333fa87d0481e031e92dcb6;hb=0e97be92638b9ee1539278ca7aa69842cc7032a1;hp=d11344fa429925a11b68eccccf841d8c98a2a07a;hpb=d321c12780c8a802f363a723de0cac3954595938;p=arm_ros_conn.git

diff --git a/scripts/arm_ros_conn.py b/scripts/arm_ros_conn.py
index d11344f..1d27cd5 100755
--- a/scripts/arm_ros_conn.py
+++ b/scripts/arm_ros_conn.py
@@ -4,13 +4,25 @@
 import rospy
 import arm
 import actionlib
+import numpy as np
 from sensor_msgs.msg import JointState
-from control_msgs.msg import FollowJointTrajectoryAction
+from control_msgs.msg import FollowJointTrajectoryAction, FollowJointTrajectoryActionResult, FollowJointTrajectoryActionFeedback, FollowJointTrajectoryResult
+from actionlib_msgs.msg import GoalStatus
+from time import sleep
+from math import *
+
+lJointNames = ["base_to_link1", "link_1_2_joint", "link_2_3_joint", "gripper_joint_1", "gripper_joint_2", "left_gripper_joint", "right_gripper_joint"]
+
 
 class ARMRosConn():
+	_feedback = FollowJointTrajectoryActionFeedback()
+	_result = FollowJointTrajectoryActionResult()
+
 	def __init__(self):
 		rospy.init_node('arm')
 
+		self.speed = 220
+		self.lAngles = [0] * 6
 		arm.switch(0)
 		arm.switch(2)
 		arm.set_hall_mode(3, 0)
@@ -32,12 +44,47 @@ class ARMRosConn():
 	def publish_joint_states(self):
 		joint_state = JointState()
 		joint_state.header.stamp = rospy.Time.now()
-		joint_state.name = ["base_to_link1", "link_1_2_joint", "link_2_3_joint", "gripper_joint_1", "gripper_joint_2", "left_gripper_joint", "right_gripper_joint"]
-		joint_state.position = [-arm.get_angle(0), arm.get_angle(1), -arm.get_angle(2), -arm.get_angle(3), arm.get_angle(4), 0.175-arm.get_angle(5)/2, 0.175-arm.get_angle(5)/2]
+		joint_state.name = lJointNames
+		self.lAngles = [-arm.get_angle(0), arm.get_angle(1), -arm.get_angle(2), -arm.get_angle(3), arm.get_angle(4), arm.get_angle(5)]
+		joint_state.position = self.lAngles[:-1] + [0.175-self.lAngles[-1]/2, 0.175-self.lAngles[-1]/2]
 		self.pub_joint_states.publish(joint_state)
 
 	def execute_joint_trajectory(self, goal):
-		print goal
+		for point in goal.trajectory.points:
+			print goal.trajectory.joint_names
+			print point.positions
+			lGoalPosOrdered = [
+				point.positions[goal.trajectory.joint_names.index(lJointNames[0])],
+				point.positions[goal.trajectory.joint_names.index(lJointNames[1])],
+				point.positions[goal.trajectory.joint_names.index(lJointNames[2])],
+				point.positions[goal.trajectory.joint_names.index(lJointNames[3])],
+				point.positions[goal.trajectory.joint_names.index(lJointNames[4])],
+			]
+			arm.to_angle(0, self.speed, -lGoalPosOrdered[0])
+			arm.to_angle(1, self.speed,  lGoalPosOrdered[1])
+			arm.to_angle(2, self.speed, -lGoalPosOrdered[2])
+			arm.to_angle(3, self.speed, -lGoalPosOrdered[3])
+			arm.to_angle(4, self.speed,  lGoalPosOrdered[4])
+
+			error = 0
+			while True:
+				error = np.array(lGoalPosOrdered) - np.array(self.lAngles[:-1])
+				if np.linalg.norm(error) < 0.01:
+					break
+
+				if self._as.is_preempt_requested():
+					self._as.set_preempted()
+					break
+				sleep(0.001)
+
+			self._feedback.status = GoalStatus.SUCCEEDED
+			self._feedback.feedback.joint_names = lJointNames[:-1]
+			self._feedback.feedback.desired.positions = lGoalPosOrdered
+			self._feedback.feedback.actual.positions = self.lAngles[:-1]
+			self._feedback.feedback.error.positions = error
+			self._as.publish_feedback(self._feedback.feedback)
+		self._result.status = FollowJointTrajectoryResult.SUCCESSFUL
+		self._as.set_succeeded(self._result.result)
 
 
 if __name__ == '__main__':