Thread: [Personalrobots-commit] SF.net SVN: personalrobots:[5191] pkg/trunk/controllers/ pr2_mechanism_cont

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[Personalrobots-commit] SF.net SVN: personalrobots:[5191] pkg/trunk/controllers/ pr2_mechanism_controllers/scripts/pointhead.py

From: <jl...@us...> - 2008-10-09 02:03:45

Revision: 5191
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=5191&view=rev
Author:   jleibs
Date:     2008-10-09 02:03:34 +0000 (Thu, 09 Oct 2008)

Log Message:
-----------
final script

Modified Paths:
--------------
    pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py	2008-10-09 01:53:34 UTC (rev 5190)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py	2008-10-09 02:03:34 UTC (rev 5191)
@@ -9,6 +9,7 @@
 import string
 
 import rospy
+from std_msgs import *
 
 from pr2_mechanism_controllers.srv import *
 
@@ -26,7 +27,7 @@
         # create a handle to the add_two_ints service
         send_cmd= rospy.ServiceProxy('head_controller/set_command_array', SetJointCmd)
         
-        print "Requesting %f+%f"%(pan, tilt)
+        print "Requesting %f,%f"%(pan, tilt)
         
         # simplified style
         resp2 = send_cmd.call(SetJointCmdRequest([pan, tilt],[0.0, 0.0],[0.0, 0.0],['head_pan_joint', 'head_tilt_joint']))
@@ -35,13 +36,41 @@
     except rospy.ServiceException, e:
         print "Service call failed: %s"%e
 
+def point_head_cart_client(x,y,z,frame):
+
+    # NOTE: you don't have to call rospy.init_node() to make calls against
+    # a service. This is because service clients do not have to be
+    # nodes.
+
+    # block until the add_two_ints service is available
+    print "waiting for service"
+    rospy.wait_for_service('head_controller/track_point')
+    
+    try:
+        # create a handle to the add_two_ints service
+        send_cmd= rospy.ServiceProxy('head_controller/track_point', TrackPoint)
+        
+        print "Requesting %f,%f,%f"%(x, y, z)
+        
+        # simplified style
+        resp2 = send_cmd(std_msgs.msg.PointStamped(rostools.msg.Header(None, None, frame), std_msgs.msg.Point(x, y, z)))
+#        resp2 = send_cmd.call(TrackPointRequest( std_msgs.msg.PointStamped(None, std_msgs.msg.Point(x, y, z))))        #print resp2.positions, resp2.names
+        print resp2.pan_angle, resp2.tilt_angle
+        return resp2
+    except rospy.ServiceException, e:
+        print "Service call failed: %s"%e
+
 def usage():
-    return "%s [pan tilt]"%sys.argv[0]
+    return "%s [pan tilt] or [x,y,z,frame]"%sys.argv[0]
 
 if __name__ == "__main__":
     
-    if len(sys.argv) != 3:
+    if len(sys.argv) < 3:
         print usage()
         sys.exit(1)
-    else:
+    elif len(sys.argv) ==3:
         point_head_client(float(sys.argv[1]), float(sys.argv[2]))
+    elif len(sys.argv) ==5:
+        point_head_cart_client(float(sys.argv[1]), float(sys.argv[2]), float(sys.argv[3]), sys.argv[4])
+
+


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[Personalrobots-commit] SF.net SVN: personalrobots:[6128] pkg/trunk/controllers/ pr2_mechanism_controllers/scripts/pointhead.py

From: <mm...@us...> - 2008-10-31 23:17:31

Revision: 6128
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=6128&view=rev
Author:   mmwise
Date:     2008-10-31 23:17:28 +0000 (Fri, 31 Oct 2008)

Log Message:
-----------
fixed it to reflect changes in msg

Modified Paths:
--------------
    pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py	2008-10-31 23:06:02 UTC (rev 6127)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py	2008-10-31 23:17:28 UTC (rev 6128)
@@ -47,7 +47,7 @@
     head_angles = rospy.Publisher('head_controller/set_command_array', JointCmd)
     rospy.init_node('head_commander', anonymous=True)
     sleep(1)
-    head_angles.publish(JointCmd([pan, tilt],[0.0, 0.0],[0.0, 0.0],['head_pan_joint', 'head_tilt_joint']))
+    head_angles.publish(JointCmd(['head_pan_joint', 'head_tilt_joint'],[0.0,0.0],[pan, tilt],[0.0, 0.0],[0.0, 0.0]))
 
 def point_head_cart_client(x,y,z,frame):
 


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[Personalrobots-commit] SF.net SVN: personalrobots:[6350] pkg/trunk/controllers/ pr2_mechanism_controllers/scripts/pointhead.py

From: <mm...@us...> - 2008-11-06 23:50:37

Revision: 6350
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=6350&view=rev
Author:   mmwise
Date:     2008-11-06 23:50:32 +0000 (Thu, 06 Nov 2008)

Log Message:
-----------
updated subscription name

Modified Paths:
--------------
    pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py	2008-11-06 23:49:17 UTC (rev 6349)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py	2008-11-06 23:50:32 UTC (rev 6350)
@@ -51,8 +51,8 @@
 
 def point_head_cart_client(x,y,z,frame):
 
-    
-    head_angles = rospy.Publisher('head_controller/track_point', PointStamped)
+
+    head_angles = rospy.Publisher('head_controller/head_track_point', PointStamped)
     rospy.init_node('head_commander', anonymous=True)
     sleep(1)
     head_angles.publish(PointStamped(rostools.msg.Header(None, None, frame), Point(x, y, z)))
@@ -63,7 +63,7 @@
     return "%s [pan tilt] or [x,y,z,frame]"%sys.argv[0]
 
 if __name__ == "__main__":
-    
+
     if len(sys.argv) < 3:
         print usage()
         sys.exit(1)


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[Personalrobots-commit] SF.net SVN: personalrobots:[18423] pkg/trunk/controllers/ pr2_mechanism_controllers/scripts/pointhead.py

From: <mm...@us...> - 2009-07-07 22:21:55

Revision: 18423
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=18423&view=rev
Author:   mmwise
Date:     2009-07-07 22:21:49 +0000 (Tue, 07 Jul 2009)

Log Message:
-----------
changing the point head to point head and not a frame attached to head

Modified Paths:
--------------
    pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py	2009-07-07 22:02:57 UTC (rev 18422)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py	2009-07-07 22:21:49 UTC (rev 18423)
@@ -51,7 +51,7 @@
 
 def point_head_cart_client(x,y,z,frame):
 
-    head_angles = rospy.Publisher('head_controller/frame_track_point', PointStamped)
+    head_angles = rospy.Publisher('head_controller/head_track_point', PointStamped)
     rospy.init_node('head_commander', anonymous=True)
     sleep(1)
     head_angles.publish(PointStamped(rospy.Header(None, None, frame), Point(x, y, z)))


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[Personalrobots-commit] SF.net SVN: personalrobots:[18805] pkg/trunk/controllers/ pr2_mechanism_controllers/scripts/pointhead.py

From: <hsu...@us...> - 2009-07-14 22:55:27

Revision: 18805
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=18805&view=rev
Author:   hsujohnhsu
Date:     2009-07-14 22:55:25 +0000 (Tue, 14 Jul 2009)

Log Message:
-----------
publish with current ros time.  None defaults to system time.

Modified Paths:
--------------
    pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py	2009-07-14 22:55:10 UTC (rev 18804)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py	2009-07-14 22:55:25 UTC (rev 18805)
@@ -54,7 +54,7 @@
     head_angles = rospy.Publisher('head_controller/head_track_point', PointStamped)
     rospy.init_node('head_commander', anonymous=True)
     sleep(1)
-    head_angles.publish(PointStamped(rospy.Header(None, None, frame), Point(x, y, z)))
+    head_angles.publish(PointStamped(rospy.Header(None, rospy.get_rostime(), frame), Point(x, y, z)))
     sleep(1)
 
 


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[Personalrobots-commit] SF.net SVN: personalrobots:[18932] pkg/trunk/controllers/ pr2_mechanism_controllers/scripts/pointhead.py

From: <mm...@us...> - 2009-07-16 00:47:14

Revision: 18932
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=18932&view=rev
Author:   mmwise
Date:     2009-07-16 00:47:12 +0000 (Thu, 16 Jul 2009)

Log Message:
-----------
changed to use the new head controller topic

Modified Paths:
--------------
    pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py	2009-07-16 00:45:07 UTC (rev 18931)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py	2009-07-16 00:47:12 UTC (rev 18932)
@@ -39,19 +39,27 @@
 
 import rospy
 from robot_msgs.msg import PointStamped, Point
-from robot_msgs.msg import JointCmd
+from mechanism_msgs.msg import JointStates, JointState
 
 def point_head_client(pan, tilt):
 
-    head_angles = rospy.Publisher('head_controller/set_command_array', JointCmd)
+    head_angles = rospy.Publisher('head_controller/command', JointStates)
     rospy.init_node('head_commander', anonymous=True)
     sleep(1)
-    head_angles.publish(JointCmd(['head_pan_joint', 'head_tilt_joint'],[0.0,0.0],[pan, tilt],[0.0, 0.0],[0.0, 0.0]))
+    ps = JointState()
+    ps.name = 'head_pan_joint'
+    ps.position = pan
+    ts = JointState()
+    ts.name ='head_tilt_joint'
+    ts.position = tilt
+    js = JointStates()
+    js.joints = [ps, ts]
+    head_angles.publish(js)
     sleep(1)
 
 def point_head_cart_client(x,y,z,frame):
 
-    head_angles = rospy.Publisher('head_controller/head_track_point', PointStamped)
+    head_angles = rospy.Publisher('head_controller/point_frame_on_head', PointStamped)
     rospy.init_node('head_commander', anonymous=True)
     sleep(1)
     head_angles.publish(PointStamped(rospy.Header(None, rospy.get_rostime(), frame), Point(x, y, z)))


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[Personalrobots-commit] SF.net SVN: personalrobots:[20955] pkg/trunk/controllers/ pr2_mechanism_controllers/scripts/pointhead.py

From: <hsu...@us...> - 2009-08-07 00:03:00

Revision: 20955
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=20955&view=rev
Author:   hsujohnhsu
Date:     2009-08-07 00:02:54 +0000 (Fri, 07 Aug 2009)

Log Message:
-----------
message update.

Modified Paths:
--------------
    pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py	2009-08-07 00:01:23 UTC (rev 20954)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py	2009-08-07 00:02:54 UTC (rev 20955)
@@ -38,7 +38,7 @@
 from time import sleep
 
 import rospy
-from robot_msgs.msg import PointStamped, Point
+from geometry_msgs.msg import PointStamped, Point
 from mechanism_msgs.msg import JointStates, JointState
 
 def point_head_client(pan, tilt):


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[Personalrobots-commit] SF.net SVN: personalrobots:[23602] pkg/trunk/controllers/ pr2_mechanism_controllers/scripts/pointhead.py

From: <hsu...@us...> - 2009-09-01 21:30:59

Revision: 23602
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23602&view=rev
Author:   hsujohnhsu
Date:     2009-09-01 21:30:52 +0000 (Tue, 01 Sep 2009)

Log Message:
-----------
mechanism_msgs --> pr2_mechanism_msgs

Modified Paths:
--------------
    pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py	2009-09-01 21:16:43 UTC (rev 23601)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py	2009-09-01 21:30:52 UTC (rev 23602)
@@ -39,7 +39,7 @@
 
 import rospy
 from geometry_msgs.msg import PointStamped, Point
-from mechanism_msgs.msg import JointStates, JointState
+from pr2_mechanism_msgs.msg import JointStates, JointState
 
 def point_head_client(pan, tilt):
 


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[Personalrobots-commit] SF.net SVN: personalrobots:[23856] pkg/trunk/controllers/ pr2_mechanism_controllers/scripts/pointhead.py

From: <goo...@us...> - 2009-09-04 19:55:01

Revision: 23856
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23856&view=rev
Author:   goodfellow
Date:     2009-09-04 19:54:50 +0000 (Fri, 04 Sep 2009)

Log Message:
-----------
Updated script to use new version of JointState

Modified Paths:
--------------
    pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py	2009-09-04 19:47:26 UTC (rev 23855)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py	2009-09-04 19:54:50 UTC (rev 23856)
@@ -39,21 +39,16 @@
 
 import rospy
 from geometry_msgs.msg import PointStamped, Point
-from pr2_mechanism_msgs.msg import JointStates, JointState
+from sensor_msgs.msg import JointState
 
 def point_head_client(pan, tilt):
 
-    head_angles = rospy.Publisher('head_controller/command', JointStates)
+    head_angles = rospy.Publisher('head_controller/command', JointState)
     rospy.init_node('head_commander', anonymous=True)
     sleep(1)
-    ps = JointState()
-    ps.name = 'head_pan_joint'
-    ps.position = pan
-    ts = JointState()
-    ts.name ='head_tilt_joint'
-    ts.position = tilt
-    js = JointStates()
-    js.joints = [ps, ts]
+    js = JointState()
+    js.name = ['head_pan_joint', 'head_tilt_joint'];
+    js.position = [pan,tilt];
     head_angles.publish(js)
     sleep(1)
 


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