scripts/arm_ros_conn.py

   1 #!/usr/bin/env python
   2 # -*- coding: iso-8859-15 -*-
   3
   4 import rospy
   5 import arm
   6 import actionlib
   7 from sensor_msgs.msg import JointState
   8 from control_msgs.msg import FollowJointTrajectoryAction, FollowJointTrajectoryActionResult, FollowJointTrajectoryActionFeedback, FollowJointTrajectoryResult
   9 from actionlib_msgs.msg import GoalStatus
  10 from math import *
  11
  12 lJointNames = ["base_to_link1", "link_1_2_joint", "link_2_3_joint", "gripper_joint_1", "gripper_joint_2", "left_gripper_joint", "right_gripper_joint"]
  13
  14
  15 class ARMRosConn():
  16         _feedback = FollowJointTrajectoryActionFeedback()
  17         _result = FollowJointTrajectoryActionResult()
  18
  19         def __init__(self):
  20                 rospy.init_node('arm')
  21
  22                 self.speed = 220
  23                 arm.switch(0)
  24                 arm.switch(2)
  25                 arm.set_hall_mode(3, 0)
  26                 arm.set_hall_mode(5, 0)
  27                 arm.set_tolerance(3, 0)
  28                 arm.set_tolerance(5, 0)
  29
  30                 self._as = actionlib.SimpleActionServer("arm_controller/follow_joint_trajectory", FollowJointTrajectoryAction, execute_cb=self.execute_joint_trajectory, auto_start = False)
  31                 self._as.start()
  32                 self.pub_joint_states = rospy.Publisher("joint_states", JointState, queue_size=16)
  33                 self.run()
  34
  35         def run(self):
  36                 rate = rospy.Rate(20)
  37                 while not rospy.is_shutdown():
  38                         self.publish_joint_states()
  39                         rate.sleep()
  40
  41         def publish_joint_states(self):
  42                 joint_state = JointState()
  43                 joint_state.header.stamp = rospy.Time.now()
  44                 joint_state.name = lJointNames
  45                 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]
  46                 self.pub_joint_states.publish(joint_state)
  47
  48         def execute_joint_trajectory(self, goal):
  49                 for point in goal.trajectory.points:
  50                         print goal.trajectory.joint_names
  51                         print point.positions
  52                         arm.to_angle(0, self.speed, -point.positions[goal.trajectory.joint_names.index(lJointNames[0])])
  53                         arm.to_angle(1, self.speed, point.positions[goal.trajectory.joint_names.index(lJointNames[1])])
  54                         arm.to_angle(2, self.speed, -point.positions[goal.trajectory.joint_names.index(lJointNames[2])])
  55                         arm.to_angle(3, self.speed, -point.positions[goal.trajectory.joint_names.index(lJointNames[3])])
  56                         arm.to_angle(4, self.speed, point.positions[goal.trajectory.joint_names.index(lJointNames[4])])
  57                         self._feedback.status = GoalStatus.SUCCEEDED
  58                         self._feedback.feedback.joint_names = goal.trajectory.joint_names
  59                         self._feedback.feedback.desired = point
  60                         self._as.publish_feedback(self._feedback.feedback)
  61                 self._result.status = FollowJointTrajectoryResult.SUCCESSFUL
  62                 self._as.set_succeeded(self._result.result)
  63
  64
  65 if __name__ == '__main__':
  66         ARMRosConn()