X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;f=scripts%2Farm_ros_conn.py;h=c4ab470bf71d21b4f110f36adba824f1b3db4fca;hb=edabbb4c0b2db743965845d5b82b755af4d7a4dc;hp=29462c89c5a86010e5b6bb2e9d1849c85167db42;hpb=15d0cdc058609e614c21cefef358829b46a77155;p=arm_ros_conn.git

diff --git a/scripts/arm_ros_conn.py b/scripts/arm_ros_conn.py
index 29462c8..c4ab470 100755
--- a/scripts/arm_ros_conn.py
+++ b/scripts/arm_ros_conn.py
@@ -2,83 +2,36 @@
 # -*- coding: iso-8859-15 -*-
 
 import rospy
-import tf
-import prctl
-#import cProfile
-import threading
-from json_client import JsonClient
-from geometry_msgs.msg import Twist
-from nav_msgs.msg import Odometry
+import arm
+from sensor_msgs.msg import JointState
 
 class ARMRosConn():
 	def __init__(self):
 		rospy.init_node('arm')
-		prctl.set_name("arm_ros_bridge")
-		self.__lock_cmd = threading.Lock()
-		self.pComm = JsonClient(("arm", 10002))
 
-		rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived)
-		self.sub_scan = None
-		self.motion_enabled_last = None
-		self.pub_odom = rospy.Publisher("odom", Odometry, queue_size=16)
-		self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
+		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.pub_joint_states = rospy.Publisher("joint_states", JointState, queue_size=16)
 		self.run()
 
-	def command(self, cmd):
-		with self.__lock_cmd:
-			return self.pComm.write(cmd)
-
 	def run(self):
-		rate = rospy.Rate(10.0)
-		#pr = cProfile.Profile()
-		#pr.enable()
+		rate = rospy.Rate(20)
 		while not rospy.is_shutdown():
-			self.send_odometry()
-
+			self.publish_joint_states()
 			rate.sleep()
-		#pr.disable()
-		#pr.dump_stats("/tmp/test.stats")
-
-	def send_odometry(self):
-		current_time = rospy.Time.now()
-                lPos, fAngle, lSpeed = self.command("get engine pose")
-
-		# since all odometry is 6DOF we'll need a quaternion created from yaw
-		odom_quat = tf.transformations.quaternion_from_euler(0, 0, fAngle)
-
-		# first, we'll publish the transform over tf
-		self.tf_broadcaster.sendTransform((lPos[0], lPos[1], 0.0), odom_quat, current_time, "base_link", "odom")
-
-		# next, we'll publish the odometry message over ROS
-		odom = Odometry()
-		odom.header.stamp = current_time
-		odom.header.frame_id = "/odom"
-
-		# set the position
-		odom.pose.pose.position.x = lPos[0]
-		odom.pose.pose.position.y = lPos[1]
-		odom.pose.pose.position.z = 0.0
-		odom.pose.pose.orientation.x = odom_quat[0]
-		odom.pose.pose.orientation.y = odom_quat[1]
-		odom.pose.pose.orientation.z = odom_quat[2]
-		odom.pose.pose.orientation.w = odom_quat[3]
-
-		# set the velocity
-		odom.child_frame_id = "base_link"
-		odom.twist.twist.linear.x = lSpeed[0]
-		odom.twist.twist.linear.y = 0.0
-		odom.twist.twist.angular.z = lSpeed[1]
-
-		# publish the message
-		self.pub_odom.publish(odom)
-
-	# test with rostopic pub -1 cmd_vel geometry_msgs/Twist '[0, 0, 0]' '[0, 0, 0]'
-	def cmdVelReceived(self, msg):
-		trans = msg.linear.x
-		rot = msg.angular.z
+	
+	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), arm.get_angle(5)/2, arm.get_angle(5)/2]
+		self.pub_joint_states.publish(joint_state)
 
-		self.command("set engine speed %f %f" % (trans, rot))
 
 if __name__ == '__main__':
 	ARMRosConn()