From: Erik Andresen <erik@vontaene.de>
Date: Wed, 21 Oct 2015 17:51:09 +0000 (+0200)
Subject: arm_ros_conn: allow to preempt
X-Git-Url: https://defiant.homedns.org/gitweb/?p=arm_ros_conn.git;a=commitdiff_plain;h=0e97be92638b9ee1539278ca7aa69842cc7032a1

arm_ros_conn: allow to preempt
---

diff --git a/scripts/arm_ros_conn.py b/scripts/arm_ros_conn.py
index 42a3e56..1d27cd5 100755
--- 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 f23fe71..f20e03e 100644
--- 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">