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
   9
  10 class ARMRosConn():
  11         def __init__(self):
  12                 rospy.init_node('arm')
  13
  14                 arm.switch(0)
  15                 arm.switch(2)
  16                 arm.set_hall_mode(3, 0)
  17                 arm.set_hall_mode(5, 0)
  18                 arm.set_tolerance(3, 0)
  19                 arm.set_tolerance(5, 0)
  20
  21                 self._as = actionlib.SimpleActionServer("arm_controller/follow_joint_trajectory", FollowJointTrajectoryAction, execute_cb=self.execute_joint_trajectory, auto_start = False)
  22                 self._as.start()
  23                 self.pub_joint_states = rospy.Publisher("joint_states", JointState, queue_size=16)
  24                 self.run()
  25
  26         def run(self):
  27                 rate = rospy.Rate(20)
  28                 while not rospy.is_shutdown():
  29                         self.publish_joint_states()
  30                         rate.sleep()
  31
  32         def publish_joint_states(self):
  33                 joint_state = JointState()
  34                 joint_state.header.stamp = rospy.Time.now()
  35                 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"]
  36                 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]
  37                 self.pub_joint_states.publish(joint_state)
  38
  39         def execute_joint_trajectory(self, goal):
  40                 print goal
  41
  42
  43 if __name__ == '__main__':
  44         ARMRosConn()