From 26cb1629e4d1f428a8bedc84da8362e37e57c8fd Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Tue, 20 Oct 2015 22:40:55 +0200
Subject: [PATCH] added FollowJointTrajectory Action Server

---
 launch/arm.launch       |  2 +-
 scripts/arm_ros_conn.py | 28 +++++++++++++++++++++++++---
 2 files changed, 26 insertions(+), 4 deletions(-)

diff --git a/launch/arm.launch b/launch/arm.launch
index 80bf101..46cc15e 100644
--- a/launch/arm.launch
+++ b/launch/arm.launch
@@ -4,5 +4,5 @@
 
 	<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="true"/>
+	<node pkg="arm_ros_conn" type="arm_ros_conn.py" name="arm_ros_conn" output="screen" respawn="false"/>
 </launch>
diff --git a/scripts/arm_ros_conn.py b/scripts/arm_ros_conn.py
index d11344f..42a3e56 100755
--- a/scripts/arm_ros_conn.py
+++ b/scripts/arm_ros_conn.py
@@ -5,12 +5,21 @@ import rospy
 import arm
 import actionlib
 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 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
 		arm.switch(0)
 		arm.switch(2)
 		arm.set_hall_mode(3, 0)
@@ -32,12 +41,25 @@ 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.name = lJointNames
 		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]
 		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
+			arm.to_angle(0, self.speed, -point.positions[goal.trajectory.joint_names.index(lJointNames[0])])
+			arm.to_angle(1, self.speed, point.positions[goal.trajectory.joint_names.index(lJointNames[1])])
+			arm.to_angle(2, self.speed, -point.positions[goal.trajectory.joint_names.index(lJointNames[2])])
+			arm.to_angle(3, self.speed, -point.positions[goal.trajectory.joint_names.index(lJointNames[3])])
+			arm.to_angle(4, self.speed, point.positions[goal.trajectory.joint_names.index(lJointNames[4])])
+			self._feedback.status = GoalStatus.SUCCEEDED
+			self._feedback.feedback.joint_names = goal.trajectory.joint_names 
+			self._feedback.feedback.desired = point
+			self._as.publish_feedback(self._feedback.feedback)
+		self._result.status = FollowJointTrajectoryResult.SUCCESSFUL
+		self._as.set_succeeded(self._result.result)
 
 
 if __name__ == '__main__':
-- 
2.39.5