X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;f=scripts%2Farm_ros_conn.py;h=40113565cbd99ed26df0e23ade182fbd3c19b952;hb=8cc083dee1a27ec7e223d60380067b39411bfc8c;hp=9ca59f268c147b55cec9168b1b6ef49a448126c7;hpb=88aa19cc672e02cf19405a39691ef9f63b1acef5;p=arm_ros_conn.git

diff --git a/scripts/arm_ros_conn.py b/scripts/arm_ros_conn.py
index 9ca59f2..4011356 100755
--- a/scripts/arm_ros_conn.py
+++ b/scripts/arm_ros_conn.py
@@ -1,16 +1,127 @@
 #!/usr/bin/env python
 # -*- coding: iso-8859-15 -*-
 
+import sys
 import rospy
+import arm
+import actionlib
+import numpy as np
+from sensor_msgs.msg import JointState
+from control_msgs.msg import FollowJointTrajectoryAction, FollowJointTrajectoryActionResult, FollowJointTrajectoryActionFeedback, FollowJointTrajectoryResult
+from control_msgs.msg import GripperCommandAction, GripperCommandActionResult, GripperCommandFeedback
+from actionlib_msgs.msg import GoalStatus
+from time import sleep
+from math import *
+
+lJointNames = ["arm_base_to_link1", "link_1_2_joint", "link_2_3_joint", "link_3_4_joint", "link_4_5_joint", "left_gripper_joint", "right_gripper_joint"]
+
 
 class ARMRosConn():
+	_feedback = FollowJointTrajectoryActionFeedback()
+	_result = FollowJointTrajectoryActionResult()
+	_gripper_feedback = GripperCommandFeedback()
+	_gripper_result = GripperCommandActionResult()
+
 	def __init__(self):
 		rospy.init_node('arm')
 
-		rate = rospy.Rate(10)
+		self.speed = 220
+		self.lAngles = [0] * 6
+		arm.switch(0)
+		arm.switch(2)
+		arm.set_hall_mode(3, 0)
+		arm.set_hall_mode(5, 0)
+		arm.set_tolerance(3, 0)
+		arm.set_tolerance(5, 0)
+
+		self._as_arm = actionlib.SimpleActionServer("arm_controller/follow_joint_trajectory", FollowJointTrajectoryAction, execute_cb=self.execute_joint_trajectory, auto_start = False)
+		self._as_arm.start()
+		self._as_gripper = actionlib.SimpleActionServer("gripper_controller/gripper_action", GripperCommandAction, execute_cb=self.execute_gripper_action, auto_start = False)
+		self._as_gripper.start()
+		self.pub_joint_states = rospy.Publisher("joint_states", JointState, queue_size=16)
+		self.run()
+
+	def run(self):
+		rate = rospy.Rate(20)
 		while not rospy.is_shutdown():
+			self.publish_joint_states()
 			rate.sleep()
+	
+	def publish_joint_states(self):
+		joint_state = JointState()
+		joint_state.header.stamp = rospy.Time.now()
+		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), 0.35-arm.get_angle(5)]
+		joint_state.position = self.lAngles[:-1] + [self.lAngles[-1], self.lAngles[-1]]
+		self.pub_joint_states.publish(joint_state)
+
+	def execute_joint_trajectory(self, goal):
+		self._result.status = FollowJointTrajectoryResult.SUCCESSFUL
+		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])],
+			]
+			try:
+				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])
+			except arm.RangeError as e:
+				print >> sys.stderr, e.message
+				self._feedback.status = GoalStatus.REJECTED
+				self._as_arm.publish_feedback(self._feedback.feedback)
+				self._result.status = FollowJointTrajectoryResult.INVALID_GOAL
+				break
+
+			error = 0
+			while True:
+				error = np.array(lGoalPosOrdered) - np.array(self.lAngles[:-1])
+				print "Error", error
+				if all(abs(f) < 0.02 for f in error):
+					print "Position reached"
+					break
+
+				if self._as_arm.is_preempt_requested():
+					self._as_arm.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_arm.publish_feedback(self._feedback.feedback)
+		self._as_arm.set_succeeded(self._result.result)
+
+
+	def execute_gripper_action(self, goal):
+		arm.to_angle(5, self.speed, 0.35-goal.command.position)
+		while True:
+			error = goal.command.position - self.lAngles[-1]
+			if abs(error) < 0.02:
+				break
+
+			self._gripper_feedback.position = self.lAngles[-1]
+			self._gripper_feedback.stalled = False
+			self._gripper_feedback.reached_goal = False
 
+			if self._as_gripper.is_preempt_requested():
+				self._as_gripper.set_preempted()
+				break
+			sleep(0.001)
+		self._gripper_result.status = GoalStatus.SUCCEEDED
+		self._gripper_result.result.position = goal.command.position
+		self._gripper_result.result.stalled = False
+		self._gripper_result.result.reached_goal = True
+		self._as_gripper.set_succeeded(self._gripper_result.result)
 
 if __name__ == '__main__':
 	ARMRosConn()