127 lines
6.4 KiB
Python
127 lines
6.4 KiB
Python
#!/usr/bin/python2
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# Copyright (c) 2013-2015, Rethink Robotics
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# 1. Redistributions of source code must retain the above copyright notice,
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# this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in the
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# documentation and/or other materials provided with the distribution.
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# 3. Neither the name of the Rethink Robotics nor the names of its
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# contributors may be used to endorse or promote products derived from
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# this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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import os
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import sys
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import argparse
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import rospy
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from baxter_core_msgs.msg import JointCommand
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import baxter_interface
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from std_msgs.msg import String
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state="stop"
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def state_machine(data):
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global state
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state=data.data
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print state
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def talker():
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print ("hola")
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global state
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state="stop"
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rospy.Subscriber('arm_move', String, state_machine)
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pub_left = rospy.Publisher('robot/limb/left/joint_command', JointCommand, queue_size=1)
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pub_right = rospy.Publisher('robot/limb/right/joint_command', JointCommand, queue_size=1)
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rospy.init_node("brazo_control")
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rate=rospy.Rate(15)
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contador=0
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contador_afraid=0
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while not rospy.is_shutdown():
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if (state=="stop"):
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pub_left.publish(mode=1,command=[-0.48, -0.505, 0.041, 1.77, 0.018, 0.266, 3.048],names=['left_s0','left_s1','left_e0','left_e1','left_w0','left_w1','left_w2'])
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pub_right.publish(mode=1,command=[0.477, -0.4, 0.2, 1.45, 2.75, -0.45, 3.05],names=['right_s0','right_s1','right_e0','right_e1','right_w0','right_w1','right_w2'])
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if (state=="up-down"):
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print contador
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if contador<30:
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pub_left.publish(mode=1,command=[0.004, 0.265, 3.045, 0.005, 1.787, -0.49, -1.03],names=['left_w0', 'left_w1', 'left_w2', 'left_e0', 'left_e1', 'left_s0', 'left_s1'])
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pub_right.publish(mode=1,command=[0.34, -0.08, 3.035, -0.066, 3.035, 0.133, 1.55],names=['right_s0', 'right_s1' , 'right_w0', 'right_w1', 'right_w2', 'right_e0', 'right_e1'])
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contador=contador+1
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if contador>=30:
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pub_left.publish(mode=1,command=[0.004, -0.0939, 3.044, 0.0038, 1.699, -0.518, -0.151],names=['left_w0', 'left_w1' , 'left_w2', 'left_e0', 'left_e1', 'left_s0', 'left_s1'])
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pub_right.publish(mode=1,command=[0.36, -0.82, 2.91, -0.934, 3.05, 0.225, 1.402],names=['right_s0', 'right_s1', 'right_w0', 'right_w1', 'right_w2', 'right_e0', 'right_e1'])
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contador=contador+1
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if contador==60:
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contador=0
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if (state=="two_hands"):
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if contador<100:
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pub_left.publish(mode=1,command=[0.018, -0.204, 3.046, 0.225, -0.044, -0.507, -0.60],names=['left_w0', 'left_w1', 'left_w2', 'left_e0', 'left_e1', 'left_s0', 'left_s1'])
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pub_right.publish(mode=1,command=[0.5, -0.85, 2.8, 0.22, 3.05, 0.007, 0.406],names=['right_s0', 'right_s1', 'right_w0', 'right_w1', 'right_w2', 'right_e0', 'right_e1'])
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if contador==100:
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contador=0
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state="stop"
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if (state=="left_hand"):
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if contador<100:
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pub_left.publish(mode=1,command=[-1.45, 0.182, 3.018, 0.041, -0.039, -0.777, -0.011],names=['left_w0', 'left_w1', 'left_w2', 'left_e0', 'left_e1', 'left_s0', 'left_s1'])
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pub_right.publish(mode=1,command=[0.477, -0.4, 0.2, 1.45, 2.75, -0.45, 3.05],names=['right_s0','right_s1','right_e0','right_e1','right_w0','right_w1','right_w2'])
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if contador==100:
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contador=0
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state="stop"
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if (state=="right_hand"):
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if contador<100:
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pub_left.publish(mode=1,command=[-0.48, -0.505, 0.041, 1.77, 0.018, 0.266, 3.048],names=['left_s0','left_s1','left_e0','left_e1','left_w0','left_w1','left_w2'])
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pub_right.publish(mode=1,command=[0.21, -0.194, 3.059, -0.268, 3.054, 0.923, 0.356],names=['right_s0', 'right_s1', 'right_w0', 'right_w1', 'right_w2', 'right_e0', 'right_e1'])
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if contador==100:
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contador=0
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state="stop"
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if (state=="afraid"):
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if contador<50:
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pub_left.publish(mode=1,command=[-0.238, -0.0329, 3.044, 0.270, -0.0498, -0.49, -1.157],names=['left_w0', 'left_w1', 'left_w2', 'left_e0', 'left_e1', 'left_s0', 'left_s1'])
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pub_right.publish(mode=1,command=[0.58, -1.1635,3.0579, -0.156, 3.053, -0.0145, -0.0498],names=['right_s0', 'right_s1', 'right_w0', 'right_w1', 'right_w2', 'right_e0', 'right_e1'])
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contador=contador+1
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if contador>=50:
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pub_left.publish(mode=1,command=[-0.711, 0.009, 3.04, 0.287, 0.262, -0.437, -1.0787],names=['left_w0', 'left_w1', 'left_w2', 'left_e0', 'left_e1', 'left_s0', 'left_s1'])
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pub_right.publish(mode=1,command=[0.091, -1.160, 3.059,-0.333,3.053, 0.1096, 0.365],names=['right_s0', 'right_s1', 'right_w0', 'right_w1', 'right_w2', 'right_e0', 'right_e1'])
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contador=contador+1
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if contador==100:
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contador=0
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contador_afraid=contador_afraid+1
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if contador_afraid==2:
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state="stop"
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ontador_afraid=0
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rate.sleep()
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if __name__ == '__main__':
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try:
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talker()
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except rospy.ROSInterruptException:
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pass
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