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test_move.py
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test_move.py
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#!/usr/bin/env python
import time
import roslib; roslib.load_manifest('ur_driver')
import rospy
import actionlib
from control_msgs.msg import *
from trajectory_msgs.msg import *
from sensor_msgs.msg import JointState
from math import pi
JOINT_NAMES = ['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint',
'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint']
Q1 = [2.2,0,-1.57,0,0,0]
Q2 = [1.5,0,-1.57,0,0,0]
Q3 = [1.5,-0.2,-1.57,0,0,0]
client = None
def move1():
global joints_pos
g = FollowJointTrajectoryGoal()
g.trajectory = JointTrajectory()
g.trajectory.joint_names = JOINT_NAMES
try:
joint_states = rospy.wait_for_message("joint_states", JointState)
joints_pos = joint_states.position
g.trajectory.points = [
JointTrajectoryPoint(positions=joints_pos, velocities=[0]*6, time_from_start=rospy.Duration(0.0)),
JointTrajectoryPoint(positions=Q1, velocities=[0]*6, time_from_start=rospy.Duration(2.0)),
JointTrajectoryPoint(positions=Q2, velocities=[0]*6, time_from_start=rospy.Duration(3.0)),
JointTrajectoryPoint(positions=Q3, velocities=[0]*6, time_from_start=rospy.Duration(4.0))]
client.send_goal(g)
client.wait_for_result()
except KeyboardInterrupt:
client.cancel_goal()
raise
except:
raise
def move_disordered():
order = [4, 2, 3, 1, 5, 0]
g = FollowJointTrajectoryGoal()
g.trajectory = JointTrajectory()
g.trajectory.joint_names = [JOINT_NAMES[i] for i in order]
q1 = [Q1[i] for i in order]
q2 = [Q2[i] for i in order]
q3 = [Q3[i] for i in order]
try:
joint_states = rospy.wait_for_message("joint_states", JointState)
joints_pos = joint_states.position
g.trajectory.points = [
JointTrajectoryPoint(positions=joints_pos, velocities=[0]*6, time_from_start=rospy.Duration(0.0)),
JointTrajectoryPoint(positions=q1, velocities=[0]*6, time_from_start=rospy.Duration(2.0)),
JointTrajectoryPoint(positions=q2, velocities=[0]*6, time_from_start=rospy.Duration(3.0)),
JointTrajectoryPoint(positions=q3, velocities=[0]*6, time_from_start=rospy.Duration(4.0))]
client.send_goal(g)
client.wait_for_result()
except KeyboardInterrupt:
client.cancel_goal()
raise
except:
raise
def move_repeated():
g = FollowJointTrajectoryGoal()
g.trajectory = JointTrajectory()
g.trajectory.joint_names = JOINT_NAMES
try:
joint_states = rospy.wait_for_message("joint_states", JointState)
joints_pos = joint_states.position
d = 2.0
g.trajectory.points = [JointTrajectoryPoint(positions=joints_pos, velocities=[0]*6, time_from_start=rospy.Duration(0.0))]
for i in range(10):
g.trajectory.points.append(
JointTrajectoryPoint(positions=Q1, velocities=[0]*6, time_from_start=rospy.Duration(d)))
d += 1
g.trajectory.points.append(
JointTrajectoryPoint(positions=Q2, velocities=[0]*6, time_from_start=rospy.Duration(d)))
d += 1
g.trajectory.points.append(
JointTrajectoryPoint(positions=Q3, velocities=[0]*6, time_from_start=rospy.Duration(d)))
d += 2
client.send_goal(g)
client.wait_for_result()
except KeyboardInterrupt:
client.cancel_goal()
raise
except:
raise
def move_interrupt():
g = FollowJointTrajectoryGoal()
g.trajectory = JointTrajectory()
g.trajectory.joint_names = JOINT_NAMES
try:
joint_states = rospy.wait_for_message("joint_states", JointState)
joints_pos = joint_states.position
g.trajectory.points = [
JointTrajectoryPoint(positions=joints_pos, velocities=[0]*6, time_from_start=rospy.Duration(0.0)),
JointTrajectoryPoint(positions=Q1, velocities=[0]*6, time_from_start=rospy.Duration(2.0)),
JointTrajectoryPoint(positions=Q2, velocities=[0]*6, time_from_start=rospy.Duration(3.0)),
JointTrajectoryPoint(positions=Q3, velocities=[0]*6, time_from_start=rospy.Duration(4.0))]
client.send_goal(g)
time.sleep(3.0)
print "Interrupting"
joint_states = rospy.wait_for_message("joint_states", JointState)
joints_pos = joint_states.position
g.trajectory.points = [
JointTrajectoryPoint(positions=joints_pos, velocities=[0]*6, time_from_start=rospy.Duration(0.0)),
JointTrajectoryPoint(positions=Q1, velocities=[0]*6, time_from_start=rospy.Duration(2.0)),
JointTrajectoryPoint(positions=Q2, velocities=[0]*6, time_from_start=rospy.Duration(3.0)),
JointTrajectoryPoint(positions=Q3, velocities=[0]*6, time_from_start=rospy.Duration(4.0))]
client.send_goal(g)
client.wait_for_result()
except KeyboardInterrupt:
client.cancel_goal()
raise
except:
raise
def main():
global client
try:
rospy.init_node("test_move", anonymous=True, disable_signals=True)
client = actionlib.SimpleActionClient('follow_joint_trajectory', FollowJointTrajectoryAction)
print "Waiting for server..."
client.wait_for_server()
print "Connected to server"
parameters = rospy.get_param(None)
index = str(parameters).find('prefix')
if (index > 0):
prefix = str(parameters)[index+len("prefix': '"):(index+len("prefix': '")+str(parameters)[index+len("prefix': '"):-1].find("'"))]
for i, name in enumerate(JOINT_NAMES):
JOINT_NAMES[i] = prefix + name
print "This program makes the robot move between the following three poses:"
print str([Q1[i]*180./pi for i in xrange(0,6)])
print str([Q2[i]*180./pi for i in xrange(0,6)])
print str([Q3[i]*180./pi for i in xrange(0,6)])
print "Please make sure that your robot can move freely between these poses before proceeding!"
inp = raw_input("Continue? y/n: ")[0]
if (inp == 'y'):
#move1()
move_repeated()
#move_disordered()
#move_interrupt()
else:
print "Halting program"
except KeyboardInterrupt:
rospy.signal_shutdown("KeyboardInterrupt")
raise
if __name__ == '__main__': main()