rospy
sensor_msgs
std_msgs
+ dynamic_reconfigure
)
## System dependencies are found with CMake's conventions
# geometry_msgs# sensor_msgs# std_msgs
# )
+generate_dynamic_reconfigure_options(
+ config/arm_ros_conn.cfg
+)
+
###################################
## catkin specific configuration ##
###################################
--- /dev/null
+#!/usr/bin/env python
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+gen.add("speed_1", int_t, 0, "PWM arm_base_to_link1", 220, 0, 255)
+gen.add("speed_2", int_t, 0, "PWM link_1_2_joint", 220, 0, 255)
+gen.add("speed_3", int_t, 0, "PWM link_2_3_joint", 220, 0, 255)
+gen.add("speed_4", int_t, 0, "PWM link_3_4_joint", 220, 0, 255)
+gen.add("speed_5", int_t, 0, "PWM link_4_5_joint", 220, 0, 255)
+gen.add("speed_6", int_t, 0, "PWM gripper", 220, 0, 255)
+
+exit(gen.generate("arm_ros_conn", "arm_ros_conn", "Arm"))
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/>
- <node pkg="arm_ros_conn" type="arm_ros_conn.py" name="arm_ros_conn" output="screen" respawn="false"/>
+ <node pkg="arm_ros_conn" type="arm_ros.py" name="arm_ros" output="screen" respawn="false"/>
</launch>
<build_depend>rospy</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>std_msgs</build_depend>
+ <build_depend>dynamic_reconfigure</build_depend>
<run_depend>geometry_msgs</run_depend>
<run_depend>rospy</run_depend>
<run_depend>sensor_msgs</run_depend>
<run_depend>std_msgs</run_depend>
+ <run_depend>dynamic_reconfigure</run_depend>
<!-- The export tag contains other, unspecified, tags -->
--- /dev/null
+#!/usr/bin/env python
+# -*- coding: iso-8859-15 -*-
+
+import sys
+import rospy
+import arm
+import actionlib
+import numpy as np
+from dynamic_reconfigure.server import Server
+from arm_ros_conn.cfg import ArmConfig
+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')
+
+ self.lSpeeds = [220] * 6
+ 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.dyn_conf = Server(ArmConfig, self.execute_dyn_reconf)
+ self.run()
+
+ def run(self):
+ rate = rospy.Rate(20)
+ while not rospy.is_shutdown():
+ self.publish_joint_states()
+ rate.sleep()
+
+ def execute_dyn_reconf(self, config, level):
+ self.lSpeeds = [config["speed_1"], config["speed_2"], config["speed_3"], config["speed_4"], config["speed_5"], config["speed_6"]]
+ return config
+
+ 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.lSpeeds[0], -lGoalPosOrdered[0])
+ arm.to_angle(1, self.lSpeeds[1], lGoalPosOrdered[1])
+ arm.to_angle(2, self.lSpeeds[2], -lGoalPosOrdered[2])
+ arm.to_angle(3, self.lSpeeds[3], -lGoalPosOrdered[3])
+ arm.to_angle(4, self.lSpeeds[4], 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.lSpeeds[5], 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()
+++ /dev/null
-#!/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')
-
- 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()
projects / arm_ros_conn.git / commitdiff