X-Git-Url: https://defiant.homedns.org/gitweb/?p=arm_ros_conn.git;a=blobdiff_plain;f=scripts%2Farm_ros_conn.py;h=42a3e5647558f664b6c376ca1077998d43434c00;hp=d11344fa429925a11b68eccccf841d8c98a2a07a;hb=26cb1629e4d1f428a8bedc84da8362e37e57c8fd;hpb=d321c12780c8a802f363a723de0cac3954595938

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__':