2 # -*- coding: iso-8859-15 -*-
9 from sensor_msgs.msg import JointState
10 from control_msgs.msg import FollowJointTrajectoryAction, FollowJointTrajectoryActionResult, FollowJointTrajectoryActionFeedback, FollowJointTrajectoryResult
11 from control_msgs.msg import GripperCommandAction
12 from actionlib_msgs.msg import GoalStatus
13 from time import sleep
16 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"]
20 _feedback = FollowJointTrajectoryActionFeedback()
21 _result = FollowJointTrajectoryActionResult()
24 rospy.init_node('arm')
27 self.lAngles = [0] * 6
30 arm.set_hall_mode(3, 0)
31 arm.set_hall_mode(5, 0)
32 arm.set_tolerance(3, 0)
33 arm.set_tolerance(5, 0)
35 self._as_arm = actionlib.SimpleActionServer("arm_controller/follow_joint_trajectory", FollowJointTrajectoryAction, execute_cb=self.execute_joint_trajectory, auto_start = False)
37 self._as_gripper = actionlib.SimpleActionServer("gripper_controller/gripper_action", GripperCommandAction, execute_cb=self.execute_gripper_action, auto_start = False)
38 self._as_gripper.start()
39 self.pub_joint_states = rospy.Publisher("joint_states", JointState, queue_size=16)
44 while not rospy.is_shutdown():
45 self.publish_joint_states()
48 def publish_joint_states(self):
49 joint_state = JointState()
50 joint_state.header.stamp = rospy.Time.now()
51 joint_state.name = lJointNames
52 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)]
53 joint_state.position = self.lAngles[:-1] + [0.175-self.lAngles[-1]/2, 0.175-self.lAngles[-1]/2]
54 self.pub_joint_states.publish(joint_state)
56 def execute_joint_trajectory(self, goal):
57 self._result.status = FollowJointTrajectoryResult.SUCCESSFUL
58 for point in goal.trajectory.points:
59 print goal.trajectory.joint_names
62 point.positions[goal.trajectory.joint_names.index(lJointNames[0])],
63 point.positions[goal.trajectory.joint_names.index(lJointNames[1])],
64 point.positions[goal.trajectory.joint_names.index(lJointNames[2])],
65 point.positions[goal.trajectory.joint_names.index(lJointNames[3])],
66 point.positions[goal.trajectory.joint_names.index(lJointNames[4])],
69 arm.to_angle(0, self.speed, -lGoalPosOrdered[0])
70 arm.to_angle(1, self.speed, lGoalPosOrdered[1])
71 arm.to_angle(2, self.speed, -lGoalPosOrdered[2])
72 arm.to_angle(3, self.speed, -lGoalPosOrdered[3])
73 arm.to_angle(4, self.speed, lGoalPosOrdered[4])
74 except arm.RangeError as e:
75 print >> sys.stderr, e.message
76 self._feedback.status = GoalStatus.REJECTED
77 self._as_arm.publish_feedback(self._feedback.feedback)
78 self._result.status = FollowJointTrajectoryResult.INVALID_GOAL
83 error = np.array(lGoalPosOrdered) - np.array(self.lAngles[:-1])
85 if all(f < 0.02 for f in error):
88 if self._as_arm.is_preempt_requested():
89 self._as_arm.set_preempted()
93 self._feedback.status = GoalStatus.SUCCEEDED
94 self._feedback.feedback.joint_names = lJointNames[:-1]
95 self._feedback.feedback.desired.positions = lGoalPosOrdered
96 self._feedback.feedback.actual.positions = self.lAngles[:-1]
97 self._feedback.feedback.error.positions = error
98 self._as_arm.publish_feedback(self._feedback.feedback)
99 self._as_arm.set_succeeded(self._result.result)
102 def execute_gripper_action(self, goal):
105 if __name__ == '__main__':