added dynamic reconfigure

[arm_ros_conn.git] / scripts / arm_ros_conn.py

diff --git a/scripts/arm_ros_conn.py b/scripts/arm_ros_conn.py
deleted file mode 100755 (executable)
index 4011356..0000000
--- a/scripts/arm_ros_conn.py
+++ /dev/null
@@ -1,127 +0,0 @@
-#!/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()