X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;f=scripts%2Farm_ros_conn.py;h=c6e3895a11299cd7943c9a96f7c25f38e0fe26a8;hb=bae7b8ce7189213ecaae23fcc7c48a63341214ce;hp=c4ab470bf71d21b4f110f36adba824f1b3db4fca;hpb=2c6e57243361122f521f6a1aaa1e443af88a261a;p=arm_ros_conn.git

diff --git a/scripts/arm_ros_conn.py b/scripts/arm_ros_conn.py
index c4ab470..c6e3895 100755
--- a/scripts/arm_ros_conn.py
+++ b/scripts/arm_ros_conn.py
@@ -1,14 +1,30 @@
 #!/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
+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()
+
 	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)
@@ -16,6 +32,10 @@ class ARMRosConn():
 		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()
 
@@ -28,10 +48,59 @@ 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), arm.get_angle(5)/2, 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):
+		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(f < 0.02 for f in error):
+					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):
+		print goal
 
 if __name__ == '__main__':
 	ARMRosConn()