[Personalrobots-commit] SF.net SVN: personalrobots:[11948] pkg/branches/ tabletop_manipulation_feb-2009/demos/tabletop_manipulation/scripts

[<ge...@us...>]

Revision: 11948
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=11948&view=rev
Author:   gerkey
Date:     2009-02-28 06:24:18 +0000 (Sat, 28 Feb 2009)

Log Message:
-----------
added actuategripper script, tweaked movearm

Modified Paths:
--------------
    pkg/branches/tabletop_manipulation_feb-2009/demos/tabletop_manipulation/scripts/movearm.py

Added Paths:
-----------
    pkg/branches/tabletop_manipulation_feb-2009/demos/tabletop_manipulation/scripts/actuategripper.py

Added: pkg/branches/tabletop_manipulation_feb-2009/demos/tabletop_manipulation/scripts/actuategripper.py
===================================================================
--- pkg/branches/tabletop_manipulation_feb-2009/demos/tabletop_manipulation/scripts/actuategripper.py	                        (rev 0)
+++ pkg/branches/tabletop_manipulation_feb-2009/demos/tabletop_manipulation/scripts/actuategripper.py	2009-02-28 06:24:18 UTC (rev 11948)
@@ -0,0 +1,93 @@
+#!/usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2009, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of the Willow Garage nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Revision $Id: rossync 3844 2009-02-16 19:49:10Z gerkey $
+
+import roslib
+roslib.load_manifest('tabletop_manipulation')
+import rospy
+from std_msgs.msg import Float64
+
+import sys
+
+class ActuateGripper:
+  def __init__(self, side):
+    self.side = side
+    self.status = None
+    self.gripper_close_effort = -0.5
+    self.gripper_open_effort = 6.0
+    self.pub = rospy.Publisher(self.side + '_gripper/effort_controller/set_command', Float64)
+    #rospy.Subscriber(self.side + '_arm_state', MoveArmState, self.movearmCallback)
+
+  def actuateGripper(self, open):
+    msg = Float64()
+    if open:
+      print '[ActuateGripper] Opening gripper...'
+      msg.data = self.gripper_open_effort
+    else:
+      print '[ActuateGripper] Closing gripper...'
+      msg.data = self.gripper_close_effort
+    self.pub.publish(msg)
+
+    # HACK: don't know what to monitor to determine that the gripper is
+    # done opening or closing
+    print '[ActuateGripper] Waiting for gripper to finish moving...'
+    rospy.sleep(4.0)
+
+    return True
+
+USAGE = 'actuategripper.py {right|left} {open|close}'
+if __name__ == '__main__':
+  if len(sys.argv) != 3 or \
+     (sys.argv[1] != 'right' and sys.argv[1] != 'left') or \
+     (sys.argv[2] != 'open' and sys.argv[2] != 'close'):
+    print USAGE
+    sys.exit(-1)
+
+  side = sys.argv[1]
+  open = sys.argv[2] == 'open'
+
+  ag = ActuateGripper(side)
+
+  rospy.init_node('actuate_gripper', anonymous=True)
+
+  # HACK
+  import time
+  time.sleep(2.0)
+
+  res = ag.actuateGripper(open)
+
+  if res:
+    print 'Success!'
+  else:
+    print 'Failure!'


Property changes on: pkg/branches/tabletop_manipulation_feb-2009/demos/tabletop_manipulation/scripts/actuategripper.py
___________________________________________________________________
Added: svn:executable
   + *

Modified: pkg/branches/tabletop_manipulation_feb-2009/demos/tabletop_manipulation/scripts/movearm.py
===================================================================
--- pkg/branches/tabletop_manipulation_feb-2009/demos/tabletop_manipulation/scripts/movearm.py	2009-02-28 06:02:24 UTC (rev 11947)
+++ pkg/branches/tabletop_manipulation_feb-2009/demos/tabletop_manipulation/scripts/movearm.py	2009-02-28 06:24:18 UTC (rev 11948)
@@ -144,7 +144,7 @@
 
   ma = MoveArm(side)
 
-  rospy.init_node('talker', anonymous=True)
+  rospy.init_node('move_arm', anonymous=True)
 
   # HACK
   import time


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