Stupid merge...

corot · Nov 12, 2015 · 20caee7 · 20caee7
2 parents bc129e0 + 2d2a880
commit 20caee7
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Showing 2 changed files with 25 additions and 89 deletions.
diff --git a/turtlebot_arm_moveit_demos/bin/pick_and_place.py b/turtlebot_arm_moveit_demos/bin/pick_and_place.py
@@ -132,22 +132,22 @@ def __init__(self):
         scene.remove_attached_object(GRIPPER_FRAME, target_id)
 
         # Give the scene a chance to catch up
-        rospy.sleep(1)
-
-        # Start the arm in the "arm_up" pose stored in the SRDF file
-        rospy.loginfo("Set Arm: right_up")
-        arm.set_named_target('right_up')
-        if arm.go() != True:
-            rospy.logwarn("  Go failed")
-        rospy.sleep(2)
-
+#         rospy.sleep(1)
+# 
+#         # Start the arm in the "arm_up" pose stored in the SRDF file
+#         rospy.loginfo("Set Arm: right_up")
+#         arm.set_named_target('right_up')
+#         if arm.go() != True:
+#             rospy.logwarn("  Go failed")
+#         rospy.sleep(2)
+# 
         # Move the gripper to the closed position
         rospy.loginfo("Set Gripper: Close " + str(self.gripper_closed ) )
         gripper.set_joint_value_target(self.gripper_closed)   
         if gripper.go() != True:
             rospy.logwarn("  Go failed")
         rospy.sleep(2)
-
+         
         # Move the gripper to the neutral position
         rospy.loginfo("Set Gripper: Neutral " + str(self.gripper_neutral) )
         gripper.set_joint_value_target(self.gripper_neutral)
@@ -315,6 +315,7 @@ def make_gripper_posture(self, joint_positions):
         t = JointTrajectory()
 
         # Set the joint names to the gripper joint names
+        t.header.stamp = rospy.get_rostime()
         t.joint_names = GRIPPER_JOINT_NAMES
 
         # Initialize a joint trajectory point to represent the goal
@@ -326,10 +327,22 @@ def make_gripper_posture(self, joint_positions):
         # Set the gripper effort
         tp.effort = GRIPPER_EFFORT
 
-        tp.time_from_start = rospy.Duration(1.0)
-
+        tp.time_from_start = rospy.Duration(0.0)
+
+        #tp = copy.deepcopy(tp)
+#         tpf = JointTrajectoryPoint()
+# 
+#         # Assign the trajectory joint positions to the input positions
+#         tpf.positions = joint_positions
+# 
+#         # Set the gripper effort
+#         tpf.effort = GRIPPER_EFFORT
+# 
+#         tpf.time_from_start = rospy.Duration(3.0)
+#         
         # Append the goal point to the trajectory points
         t.points.append(tp)
+#         t.points.append(tpf)
 
         # Return the joint trajectory
         return t

diff --git a/turtlebot_arm_object_manipulation/.cproject b/turtlebot_arm_object_manipulation/.cproject