arm_ros_conn: allow to preempt

diff --git a/scripts/arm_ros_conn.py b/scripts/arm_ros_conn.py
index 42a3e5647558f664b6c376ca1077998d43434c00..1d27cd500bf263ba6333fa87d0481e031e92dcb6 100755 (executable)
--- a/scripts/arm_ros_conn.py
+++ b/scripts/arm_ros_conn.py
@@ -4,9 +4,11 @@
 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 actionlib_msgs.msg import GoalStatus
+from time import sleep
 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"]
@@ -20,6 +22,7 @@ class ARMRosConn():
                rospy.init_node('arm')
 
                self.speed = 220
+               self.lAngles = [0] * 6
                arm.switch(0)
                arm.switch(2)
                arm.set_hall_mode(3, 0)
@@ -42,21 +45,43 @@ class ARMRosConn():
                joint_state = JointState()
                joint_state.header.stamp = rospy.Time.now()
                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.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)]
+               joint_state.position = self.lAngles[:-1] + [0.175-self.lAngles[-1]/2, 0.175-self.lAngles[-1]/2]
                self.pub_joint_states.publish(joint_state)
 
        def execute_joint_trajectory(self, 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])])
+                       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])],
+                       ]
+                       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])
+
+                       error = 0
+                       while True:
+                               error = np.array(lGoalPosOrdered) - np.array(self.lAngles[:-1])
+                               if np.linalg.norm(error) < 0.01:
+                                       break
+
+                               if self._as.is_preempt_requested():
+                                       self._as.set_preempted()
+                                       break
+                               sleep(0.001)
+
                        self._feedback.status = GoalStatus.SUCCEEDED
-                       self._feedback.feedback.joint_names = goal.trajectory.joint_names 
-                       self._feedback.feedback.desired = point
+                       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.publish_feedback(self._feedback.feedback)
                self._result.status = FollowJointTrajectoryResult.SUCCESSFUL
                self._as.set_succeeded(self._result.result)

diff --git a/urdf/arm.urdf b/urdf/arm.urdf
index f23fe71a04d2b4cf17a77292d446fd2beefd37b9..f20e03e5fd88d25ba310528d23c476f9121ac0fd 100644 (file)
--- a/urdf/arm.urdf
+++ b/urdf/arm.urdf
@@ -85,7 +85,7 @@
                <parent link="base_link"/>
                <child link="link1"/>
                <axis xyz="0 0 1"/>
-               <limit effort="1000.0" lower="0.0" upper="5.672320068981571" velocity="1.0"/>
+               <limit effort="1000.0" lower="-5.672320068981571" upper="0.0" velocity="1.0"/>
        </joint>
 
        <joint name="link_1_2_joint" type="continuous">
@@ -101,7 +101,7 @@
                <child link="link3"/>
                <axis xyz="0 0 1"/>
                <origin xyz="0.240 0.0 0.0" rpy="0 0 0"/>
-               <limit effort="1000.0" lower="0.0" upper="3.141592653589793" velocity="1.0"/>
+               <limit effort="1000.0" lower="-3.141592653589793" upper="0.0" velocity="1.0"/>
        </joint>
 
        <joint name="gripper_joint_1" type="continuous">
@@ -109,7 +109,7 @@
                <child link="gripper_pole1"/>
                <axis xyz="1 0 0"/>
                <origin xyz="0 0.135 0.0" rpy="1.57075 0 1.57075"/>
-               <limit effort="1000.0" lower="-0.6981317007977319" upper="7.679448708775051" velocity="1.0"/>
+               <limit effort="1000.0" lower="-7.679448708775051" upper="0.6981317007977319" velocity="1.0"/>
        </joint>
 
        <joint name="gripper_joint_2" type="continuous">