我们从Python开源项目中，提取了以下50个代码示例，用于说明如何使用tf.TransformListener()。
def __init__(self): # first let's load all parameters: self.frame_id = rospy.get_param("~frame_id", "odom_meas") self.camera_frame_id = rospy.get_param("~camera_frame_id", "overhead_cam_frame") self.base_frame_id = rospy.get_param("~base_frame_id", "base_meas") self.x0 = rospy.get_param("~x0", 0.0) self.y0 = rospy.get_param("~y0", 0.0) self.th0 = rospy.get_param("~th0", 0.0) self.pubstate = rospy.get_param("~pubstate", True) self.marker_id = rospy.get_param("~marker_id", 12) # setup other required vars: self.odom_offset = odom_conversions.numpy_to_odom(np.array([self.x0, self.y0, self.th0]), self.frame_id) self.path_list = deque([], maxlen=PATH_LEN) # now let's create publishers, listeners, and subscribers self.br = tf.TransformBroadcaster() self.listener = tf.TransformListener() self.meas_pub = rospy.Publisher("meas_pose", Odometry, queue_size=5) self.path_pub = rospy.Publisher("meas_path", Path, queue_size=1) self.alvar_sub = rospy.Subscriber("ar_pose_marker", AlvarMarkers, self.alvarcb) self.publish_serv = rospy.Service("publish_bool", SetBool, self.pub_bool_srv_cb) self.offset_serv = rospy.Service("set_offset", SetOdomOffset, self.offset_srv_cb) return
def __init__(self): """ Constructor. """ self._state = dict() self._pub_pan = rospy.Publisher( '/robot/head/command_head_pan', HeadPanCommand, queue_size=10) state_topic = '/robot/head/head_state' self._sub_state = rospy.Subscriber( state_topic, HeadState, self._on_head_state) self._tf_listener = tf.TransformListener() intera_dataflow.wait_for( lambda: len(self._state) != 0, timeout=5.0, timeout_msg=("Failed to get current head state from %s" % (state_topic,)), )
def __init__(self): #init code rospy.init_node("robotGame") self.currentDist = 1 self.previousDist = 1 self.reached = False self.tf = TransformListener() self.left_joint_names = ['yumi_joint_1_l', 'yumi_joint_2_l', 'yumi_joint_3_l', 'yumi_joint_4_l', 'yumi_joint_5_l', 'yumi_joint_6_l', 'yumi_joint_7_l', 'gripper_l_joint'] self.right_joint_names = ['yumi_joint_1_r', 'yumi_joint_2_r', 'yumi_joint_3_r', 'yumi_joint_4_r', 'yumi_joint_5_r', 'yumi_joint_6_r', 'yumi_joint_7_r', 'gripper_r_joint'] self.left_positions = [-2.01081820427463881, 1.4283937236421274, -1.3593418228836045, -0.19315625641494183, 1.7016501799872579, 0.6573540231496411, 3.404315594906305, 0.0] self.right_positions = [0.01081820427463881, 2.4283937236421274, 0.3593418228836045, -0.19315625641494183, 1.7016501799872579, 0.6573540231496411, 3.404315594906305, 1.8145107750466565] self.rjv = [] self.ljv = [] self.pub = rospy.Publisher('my_joint_states', JointState, queue_size=1) self.js = JointState() self.js.header = Header() self.js.name = self.left_joint_names + self.right_joint_names self.js.velocity = [] self.js.effort = [] self.sub = rospy.Subscriber('/joint_states', JointState, self.jsCB) self.destPos = np.random.uniform(0,0.25, size =(3)) self.reset()
def __init__(self, limb_name, topic='/sensor_values'): super(FingerSensorBaxter, self).__init__(limb_name) self.listen = tf.TransformListener() self.inside = np.zeros(14) self.tip = np.zeros(2) self.inside_offset = np.zeros_like(self.inside) self.tip_offset = np.zeros_like(self.tip) # Picking level self.level = None self.last_sensor_update = 0 self.sensor_sub = rospy.Subscriber(topic, Int32MultiArray, self.update_sensor_values, queue_size=1) self.object_frame = "" self.camera_centroids = np.zeros((num_cubes, 3)) self.touch_centroids = np.zeros((num_cubes, 3)) self.current_index = 0 self.update_transform = rospy.Publisher("/update_camera_alignment", Pose, queue_size = 1) #self.zero_sensor()
def __init__(self, limb_name, topic='/sensor_values'): super(FingerSensorBaxter, self).__init__(limb_name) self.listen = tf.TransformListener() self.inside = np.zeros(14) self.tip = np.zeros(2) self.inside_offset = np.zeros_like(self.inside) self.tip_offset = np.zeros_like(self.tip) # Picking level self.level = None self.last_sensor_update = 0 self.sensor_sub = rospy.Subscriber(topic, Int32MultiArray, self.update_sensor_values, queue_size=1) self.object_frame = "" self.perc_centroids = np.array([]) self.touch_centroids = np.array([]) self.update_transform = rospy.Publisher("/update_camera_alignment", Pose, queue_size = 1) self.handle_found = False #self.zero_sensor() #import ipdb;ipdb.set_trace()
def __init__(self): self.listen = tf.TransformListener() self.broadcast = tf.TransformBroadcaster() self.obj_pose_sub = rospy.Subscriber("/pick_frame_name", String, self.set_pick_frame, queue_size=1) self.obj_pose_sub = rospy.Subscriber("/place_frame_name", String, self.set_place_frame, queue_size=1) self.obj_pose_sub = rospy.Subscriber("/num_objects", Int64, self.broadcast_frames, queue_size=1) self.place_frame = '' self.pick_frame = '' self.tower_size = 1 self.tower_size_sub = rospy.Subscriber("/tower_size",Int64,self.set_tower_size)
def __init__(self): self.frame_id = rospy.get_param("~frame_id", "map") cov_x = rospy.get_param("~cov_x", 0.6) cov_y = rospy.get_param("~cov_y", 0.6) cov_z = rospy.get_param("~cov_z", 0.6) self.cov = self.cov_matrix(cov_x, cov_y, cov_z) self.ps_pub = rospy.Publisher( POSE_TOPIC, PoseStamped, queue_size=1) self.ps_cov_pub = rospy.Publisher( POSE_COV_TOPIC, PoseWithCovarianceStamped, queue_size=1) self.ps_pub_3d = rospy.Publisher( POSE_TOPIC_3D, PoseStamped, queue_size=1) self.ps_cov_pub_3d = rospy.Publisher( POSE_COV_TOPIC_3D, PoseWithCovarianceStamped, queue_size=1) self.last = None self.listener = tf.TransformListener() self.tag_range_topics = rospy.get_param("~tag_range_topics") self.subs = list() self.ranges = dict() self.tag_pos = dict() self.altitude = 0.0 self.last_3d = None for topic in self.tag_range_topics: self.subs.append(rospy.Subscriber(topic, Range, self.range_cb))
def __init__(self,dis=0.0): State.__init__(self, outcomes=['succeeded','preempted','aborted'],input_keys=['target']) rospy.on_shutdown(self.shutdown) self.test_distance = target.y-dis self.rate = 200 self.r = rospy.Rate(self.rate) self.speed = rospy.get_param('~speed',0.08) self.tolerance = rospy.get_param('~tolerance', 0.01) self.cmd_vel = rospy.Publisher('/mobile_base_controller/smooth_cmd_vel',Twist,queue_size=5) self.base_frame = rospy.get_param('~base_frame', '/base_link') self.odom_frame = rospy.get_param('~odom_frame', '/odom') self.tf_listener = tf.TransformListener() rospy.sleep(1) self.tf_listener.waitForTransform(self.odom_frame,self.base_frame,rospy.Time(),rospy.Duration(60.0)) #define a bianliang self.flag = rospy.get_param('~flag', True) rospy.loginfo(self.test_distance) #tf get position #publish cmd_vel
def __init__(self,angle=0): State.__init__(self, outcomes=['succeeded','aborted','preempted'],input_keys=["angle_in"]) self.speed = rospy.get_param('~speed', 0.10) self.secretindigal = 1.0 self.tolerance = rospy.get_param('tolerance', math.radians(5)) self.start = True self.cmd_vel = rospy.Publisher('mobile_base_controller/smooth_cmd_vel', Twist, queue_size=5) self.base_frame = rospy.get_param('~base_frame', '/base_link') self.odom_frame = rospy.get_param('~odom_frame', '/odom') rospy.on_shutdown(self.shutdown) self.rate = 30 self.start_test = True self.r = rospy.Rate(self.rate) self.tf_listener = tf.TransformListener() rospy.sleep(0.5) self.tf_listener.waitForTransform(self.odom_frame, self.base_frame, rospy.Time(), rospy.Duration(60))
def __init__(self, angle=0): State.__init__(self, outcomes=['succeeded', 'aborted', 'preempted'], input_keys=["angle_in"]) self.speed = rospy.get_param('~speed', 0.03) self.secretindigal = 1.0 self.tolerance = rospy.get_param('tolerance', math.radians(5)) self.start = True self.cmd_vel = rospy.Publisher('mobile_base_controller/smooth_cmd_vel', Twist, queue_size=5) self.base_frame = rospy.get_param('~base_frame', '/base_link') self.odom_frame = rospy.get_param('~odom_frame', '/odom') rospy.on_shutdown(self.shutdown) self.rate = 30 self.start_test = True self.r = rospy.Rate(self.rate) self.angle=angle self.tf_listener = tf.TransformListener() rospy.sleep(0.5) self.tf_listener.waitForTransform(self.odom_frame, self.base_frame, rospy.Time(), rospy.Duration(60))
def __init__(self, angle=0): State.__init__(self, outcomes=['succeeded', 'aborted', 'preempted']) self.speed = rospy.get_param('~speed', 0.03) self.secretindigal = 1.0 self.tolerance = rospy.get_param('tolerance', math.radians(5)) self.start = True self.cmd_vel = rospy.Publisher('mobile_base_controller/smooth_cmd_vel', Twist, queue_size=5) self.base_frame = rospy.get_param('~base_frame', '/base_link') self.odom_frame = rospy.get_param('~odom_frame', '/odom') rospy.on_shutdown(self.shutdown) self.rate = 30 self.start_test = True self.r = rospy.Rate(self.rate) self.angle=angle self.tf_listener = tf.TransformListener() rospy.sleep(0.5) self.tf_listener.waitForTransform(self.odom_frame, self.base_frame, rospy.Time(), rospy.Duration(60))
def __init__(self,dis=0): State.__init__(self, outcomes=['succeeded','preempted','aborted']) rospy.on_shutdown(self.shutdown) self.test_distance = dis self.rate = 100 self.r = rospy.Rate(self.rate) self.speed = rospy.get_param('~speed',0.08) self.tolerance = rospy.get_param('~tolerance', 0.01) self.cmd_vel = rospy.Publisher('/mobile_base_controller/smooth_cmd_vel',Twist,queue_size=5) self.base_frame = rospy.get_param('~base_frame', '/base_link') self.odom_frame = rospy.get_param('~odom_frame', '/odom') self.tf_listener = tf.TransformListener() rospy.sleep(1) self.tf_listener.waitForTransform(self.odom_frame,self.base_frame,rospy.Time(),rospy.Duration(60.0)) self.flag = rospy.get_param('~flag', True) #tf get position self.position = Point() self.position = self.get_position() self.y_start = self.position.y self.x_start = self.position.x #publish cmd_vel
def __init__(self,dis=0.0): State.__init__(self, outcomes=['succeeded','preempted','aborted']) rospy.on_shutdown(self.shutdown) self.test_distance = target.y-0.0 self.rate = 100 self.r = rospy.Rate(self.rate) self.speed = rospy.get_param('~speed',0.08) self.tolerance = rospy.get_param('~tolerance', 0.01) self.cmd_vel = rospy.Publisher('/mobile_base_controller/smooth_cmd_vel',Twist,queue_size=5) self.base_frame = rospy.get_param('~base_frame', '/base_link') self.odom_frame = rospy.get_param('~odom_frame', '/odom') self.tf_listener = tf.TransformListener() rospy.sleep(1) self.tf_listener.waitForTransform(self.odom_frame,self.base_frame,rospy.Time(),rospy.Duration(60.0)) #define a bianliang self.flag = rospy.get_param('~flag', True) rospy.loginfo(self.test_distance) #tf get position #publish cmd_vel
def __init__(self,angle=0): State.__init__(self, outcomes=['succeeded','aborted','preempted']) self.speed = rospy.get_param('~speed', 0.20) self.secretindigal = 1.0 self.tolerance = rospy.get_param('tolerance', math.radians(5)) self.start = True self.cmd_vel = rospy.Publisher('mobile_base_controller/smooth_cmd_vel', Twist, queue_size=5) self.base_frame = rospy.get_param('~base_frame', '/base_link') self.odom_frame = rospy.get_param('~odom_frame', '/odom') rospy.on_shutdown(self.shutdown) self.rate = 30 self.start_test = True self.r = rospy.Rate(self.rate) self.angle = angle self.tf_listener = tf.TransformListener() rospy.sleep(0.5) self.tf_listener.waitForTransform(self.odom_frame, self.base_frame, rospy.Time(), rospy.Duration(60))
def __init__(self, calibrated=False, prefix='human'): rospack = rospkg.RosPack() self.human_prefix = prefix self.pkg_dir = rospack.get_path("human_moveit_config") self.tfl = tf.TransformListener() self.skel_data = {} self.lengths = {} self.calibrated = calibrated self.calibration = (self.calibration_matrices(rospy.get_param('/human/calibration')) if self.calibrated else {}) self.sensor_frames = {} self.sensors = ['opt', 'kinect'] self.sensors_ref = {'opt': 'optitrack', 'kinect': 'kinect'} self.skeletons = {} for s in self.sensors: self.skeletons[s] = {} self.init_sensor_frames()
def __init__(self, root_frame, measured_frame, groundtruth, groundtruth_epsilon): """ Class for calculating the distance covered by the given frame in relation to a given root frame. The tf data is sent over the tf topic given in the robot_config.yaml. :param root_frame: name of the first frame :type root_frame: string :param measured_frame: name of the second frame. The distance will be measured in relation to the root_frame. :type measured_frame: string """ self.active = False self.root_frame = root_frame self.measured_frame = measured_frame self.path_length = 0.0 self.tf_sampling_freq = 20.0 # Hz self.first_value = True self.trans_old = [] self.rot_old = [] self.groundtruth = groundtruth self.groundtruth_epsilon = groundtruth_epsilon self.finished = False self.listener = tf.TransformListener() rospy.Timer(rospy.Duration.from_sec(1 / self.tf_sampling_freq), self.record_tf)
def __init__(self, server): self.server = server self.mutex = Lock() # Publisher to send commands self.pub_command = rospy.Publisher("/motion_planning_goal", geometry_msgs.msg.Transform, queue_size=1) self.listener = tf.TransformListener() # Subscribes to information about what the current joint values are. rospy.Subscriber("/joint_states", sensor_msgs.msg.JointState, self.joint_states_callback) # Publisher to set robot position self.pub_reset = rospy.Publisher("/joint_command", JointState, queue_size=1) rospy.sleep(0.5) # Wait for validity check service rospy.wait_for_service("check_state_validity") self.state_valid_service = rospy.ServiceProxy('check_state_validity', moveit_msgs.srv.GetStateValidity) self.reset_robot()
def main(): trans= 0 rot = 0 rospy.init_node('odom_sync') listener = tf.TransformListener() pubfiltered = rospy.Publisher('set_pose',PoseWithCovarianceStamped,queue_size = 10) pubodom = rospy.Publisher('mobile_base/commands/reset_odometry', Empty, queue_size = 10) serv = rospy.ServiceProxy("set_offset",SetOdomOffset) rospy.Subscriber('/command_input',UInt8,callback,callback_args=(pubodom,pubfiltered,listener,trans,rot,serv)) rospy.sleep(1) print "done sleeping" while not rospy.is_shutdown(): try: (trans,rot) = listener.lookupTransform('/base_meas', '/odom_meas',rospy.Time(0)) except: continue rospy.spin()
def __init__(self, name): self.listener = tf.TransformListener()
def __init__(self): rospy.init_node("CrazyflieAPI", anonymous=False) rospy.wait_for_service("/emergency") self.emergencyService = rospy.ServiceProxy("/emergency", Empty) rospy.wait_for_service("/takeoff") self.takeoffService = rospy.ServiceProxy("/takeoff", Takeoff) rospy.wait_for_service("/land") self.landService = rospy.ServiceProxy("/land", Land) rospy.wait_for_service("/start_trajectory"); self.startTrajectoryService = rospy.ServiceProxy("/start_trajectory", StartTrajectory) rospy.wait_for_service("/start_trajectory_reversed"); self.startTrajectoryReversedService = rospy.ServiceProxy("/start_trajectory_reversed", StartTrajectoryReversed) rospy.wait_for_service("/start_ellipse") self.ellipseService = rospy.ServiceProxy("/start_ellipse", StartEllipse) rospy.wait_for_service("/start_canned_trajectory") self.startCannedTrajectoryService = rospy.ServiceProxy("/start_canned_trajectory", StartCannedTrajectory) rospy.wait_for_service("/go_home"); self.goHomeService = rospy.ServiceProxy("/go_home", GoHome) rospy.wait_for_service("/update_params") self.updateParamsService = rospy.ServiceProxy("/update_params", UpdateParams) with open("../launch/crazyflies.yaml", 'r') as ymlfile: cfg = yaml.load(ymlfile) self.tf = TransformListener() self.crazyflies = [] self.crazyfliesById = dict() for crazyflie in cfg["crazyflies"]: id = int(crazyflie["id"]) initialPosition = crazyflie["initialPosition"] cf = Crazyflie(id, initialPosition, self.tf) self.crazyflies.append(cf) self.crazyfliesById[id] = cf
def __init__(self): NaoqiNode.__init__(self, 'naoqi_moveto_listener') self.connectNaoQi() self.listener = tf.TransformListener() self.goal_sub = rospy.Subscriber('move_base_simple/goal', PoseStamped, self.goalCB) self.cvel_sub = rospy.Subscriber('cmd_vel', Twist, self.cvelCB) # (re-) connect to NaoQI:
def __init__(self): self.tf_listener = tf.TransformListener() self.tmr = None self.active_cb = None self.inactive_cb = None self.tracking = False self.min_dist = 0.02 self.min_theta = 0.05 self.state = IDLE self.nb_blackboard = NeedybotBlackboard() self.odom = None self.odom_sub = None self.pose = None self.prev_pose = None self.stopped = False
def __init__(self): self.base_frame = rospy.get_param("base_frame_name","base_link") self.odom_frame = rospy.get_param("odom_frame_name","odom") self.tf_listener = tf.TransformListener() #??tf???????????odom?bask_link?TF self.tf_listener = tf.TransformListener() rospy.loginfo("[robot_state_pkg]->robot_position_state module is waiting for the tf between" " %s and %s "%(self.base_frame , self.odom_frame)) warn_time = 0 wait_tf_start_time = rospy.Time.now() while not rospy.is_shutdown(): is_tf_ok = self.tf_listener.canTransform(self.odom_frame,self.base_frame,rospy.Time()) current_time = rospy.Time.now() if is_tf_ok: rospy.loginfo('[robot_state_pkg]->robot_position_state module the transform between ' '%s and %s is ok!!'%(self.odom_frame , self.base_frame)) break if current_time.to_sec()-wait_tf_start_time.to_sec() >= 10.0 and warn_time == 0: warn_time += 1 rospy.logwarn('[robot_state_pkg]->robot_position_state module the transform between ' '%s and %s is time out!!'%(self.odom_frame , self.base_frame)) rospy.logwarn('[robot_state_pkg]->robot_position_state module this information only ' 'warn once ,please check the odom !!!') ########################????????????tf??#################################### #????????X?Y????
def __init__(self): self.initial_poses = {} self.planning_groups_tips = {} self.tf_listener = tf.TransformListener() self.marker_lock = threading.Lock() self.prev_time = rospy.Time.now() self.counter = 0 self.history = StatusHistory(max_length=10) self.pre_pose = PoseStamped() self.pre_pose.pose.orientation.w = 1 self.current_planning_group_index = 0 self.current_eef_index = 0 self.initialize_poses = False self.initialized = False self.parseSRDF() self.plan_group_pub = rospy.Publisher('/rviz/moveit/select_planning_group', String, queue_size=5) self.updatePlanningGroup(0) self.updatePoseTopic(0, False) self.joy_pose_pub = rospy.Publisher("/joy_pose", PoseStamped, queue_size=1) self.plan_pub = rospy.Publisher("/rviz/moveit/plan", Empty, queue_size=5) self.execute_pub = rospy.Publisher("/rviz/moveit/execute", Empty, queue_size=5) self.update_start_state_pub = rospy.Publisher("/rviz/moveit/update_start_state", Empty, queue_size=5) self.update_goal_state_pub = rospy.Publisher("/rviz/moveit/update_goal_state", Empty, queue_size=5) self.interactive_marker_sub = rospy.Subscriber("/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update_full", InteractiveMarkerInit, self.markerCB, queue_size=1) self.sub = rospy.Subscriber("/joy", Joy, self.joyCB, queue_size=1)
def __init__(self, limb_name, topic='/sensor_values'): super(FingerSensorBaxter, self).__init__(limb_name) self.listen = tf.TransformListener() self.inside = np.zeros(14) self.tip = np.zeros(2) self.inside_offset = np.zeros_like(self.inside) self.tip_offset = np.zeros_like(self.tip) # Picking level self.level = None self.last_sensor_update = 0 self.sensor_sub = rospy.Subscriber(topic, Int32MultiArray, self.update_sensor_values, queue_size=1) self.object_frame = "" self.perc_centroids = np.array([]) self.touch_centroids = np.array([]) self.update_transform = rospy.Publisher("/update_camera_alignment", Pose, queue_size = 1) self.handle_found = False self.handles_found = 0 self.cups_scanned = 0 #self.zero_sensor() #import ipdb;ipdb.set_trace()
def __init__(self, topic='/sensor_values'): self.bx = SmartBaxter('left') self.br = tf.TransformBroadcaster() self.tl = tf.TransformListener()
def __init__(self): self.j = Jaco() self.listener = tf.TransformListener() self.current_joint_angles = [0]*7 self.tfBuffer = tf2_ros.Buffer() self.listen = tf2_ros.TransformListener(self.tfBuffer) self.velocity_pub = rospy.Publisher('/j2n6s300_driver/in/cartesian_velocity', PoseVelocity, queue_size=1) self.joint_angles_sub = rospy.Subscriber("/j2n6s300_driver/out/joint_angles", JointAngles, self.callback) self.obj_det_sub = rospy.Subscriber('/finger_sensor/obj_detected', FingerDetect, self.set_obj_det) self.fingetouch_finger_2_sub = rospy.Subscriber('/finger_sensor/touch', FingerTouch, self.set_touch) self.calibrate_obj_det_pub = rospy.Publisher("/finger_sensor/calibrate_obj_det", Bool, queue_size=1) self.calibrate_obj_det_sub = rospy.Subscriber("/finger_sensor/obj_det_calibrated", Bool, self.set_calibrated) self.bump_det_sub = rospy.Subscriber("/finger_sensor/fai", FingerFAI, self.detect_Bump) self.obj_det = False self.touch_finger_1 = False self.touch_finger_3 = False self.calibrated = False self.bump_finger_1 = 0
def __init__(self): self.listen = tf.TransformListener() self.obj_pose_sub = rospy.Subscriber("/num_objects", Int64, self.get_frame, queue_size=1)
def __init__(self): self.tfBuffer = tf2_ros.Buffer() self.listen = tf2_ros.TransformListener(self.tfBuffer) self.listener = tf.TransformListener() self.broadcast = tf.TransformBroadcaster()
def __init__(self): self.j = Jaco() self.listener = tf.TransformListener() self.current_joint_angles = [0]*7 self.tfBuffer = tf2_ros.Buffer() self.listen = tf2_ros.TransformListener(self.tfBuffer) self.velocity_pub = rospy.Publisher('/j2n6s300_driver/in/cartesian_velocity', PoseVelocity, queue_size=1) self.joint_angles_sub = rospy.Subscriber("/j2n6s300_driver/out/joint_angles", JointAngles, self.callback) self.obj_det_sub = rospy.Subscriber('/finger_sensor/obj_detected', FingerDetect, self.set_obj_det) self.fingetouch_finger_2_sub = rospy.Subscriber('/finger_sensor/touch', FingerTouch, self.set_touch) self.calibrate_obj_det_pub = rospy.Publisher("/finger_sensor/calibrate_obj_det", Bool, queue_size=1) self.calibrate_obj_det_sub = rospy.Subscriber("/finger_sensor/obj_det_calibrated", Bool, self.set_calibrated) self.obj_det = False self.touch_finger_1 = False self.touch_finger_3 = False self.calibrated = False
def __init__(self): self.j = Jaco() self.listener = tf.TransformListener() self.current_joint_angles = [0]*7 self.tfBuffer = tf2_ros.Buffer() self.listen = tf2_ros.TransformListener(self.tfBuffer) self.velocity_pub = rospy.Publisher('/j2n6s300_driver/in/cartesian_velocity', PoseVelocity, queue_size=1) self.joint_angles_sub = rospy.Subscriber("/j2n6s300_driver/out/joint_angles", JointAngles, self.callback) self.obj_det_sub = rospy.Subscriber('/finger_sensor/obj_detected', FingerDetect, self.set_obj_det) self.fingetouch_finger_2_sub = rospy.Subscriber('/finger_sensor/touch', FingerTouch, self.set_touch) self.calibrate_obj_det_pub = rospy.Publisher("/finger_sensor/calibrate_obj_det", Bool, queue_size=1) self.calibrate_obj_det_sub = rospy.Subscriber("/finger_sensor/obj_det_calibrated", Bool, self.set_calibrated) self.tool_wrench_sub = rospy.Subscriber("/j2n6s300_driver/out/tool_wrench", WrenchStamped, self.tool_wrench) self.obj_det = False self.touch_finger_1 = False self.touch_finger_3 = False self.calibrated = False self.tool_wrench_x = 0 self.tool_wrench_y = 0 self.tool_wrench_z = 0
def __init__(self): self.j = Jaco() self.listener = tf.TransformListener() self.current_joint_angles = [0]*7 self.tfBuffer = tf2_ros.Buffer() self.listen = tf2_ros.TransformListener(self.tfBuffer) self.velocity_pub = rospy.Publisher('/j2n6s300_driver/in/cartesian_velocity', PoseVelocity, queue_size=1) self.joint_angles_sub = rospy.Subscriber("/j2n6s300_driver/out/joint_angles", JointAngles, self.callback) self.obj_det_sub = rospy.Subscriber('/finger_sensor/obj_detected', FingerDetect, self.set_obj_det) self.fingetouch_finger_2_sub = rospy.Subscriber('/finger_sensor/touch', FingerTouch, self.set_touch) self.calibrate_obj_det_pub = rospy.Publisher("/finger_sensor/calibrate_obj_det", Bool, queue_size=1) self.calibrate_obj_det_sub = rospy.Subscriber("/finger_sensor/obj_det_calibrated", Bool, self.set_calibrated) self.bump_det_sub = rospy.Subscriber("/finger_sensor/fai", FingerFAI, self.detect_Bump) self.obj_det = False self.touch_finger_1 = False self.touch_finger_2 = False self.touch_finger_3 = False self.calibrated = False self.bump_finger_1 = False self.bump_finger_2 = False self.bump_finger_3 = False
def __init__(self, base): """base : str Robot base/root tf""" self.base = base self.tl = tf.TransformListener() # self.home()
def __init__(self): self.j = Jaco() self.listener = tf.TransformListener() self.current_joint_angles = [0]*7 self.tfBuffer = tf2_ros.Buffer() self.listen = tf2_ros.TransformListener(self.tfBuffer) self.velocity_pub = rospy.Publisher('/j2n6s300_driver/in/cartesian_velocity', PoseVelocity, queue_size=1) self.joint_angles_sub = rospy.Subscriber("/j2n6s300_driver/out/joint_angles", JointAngles, self.callback) self.obj_det_sub = rospy.Subscriber('/finger_sensor/obj_detected', FingerDetect, self.set_obj_det) self.fingetouch_finger_2_sub = rospy.Subscriber('/finger_sensor/touch', FingerTouch, self.set_touch) self.calibrate_obj_det_pub = rospy.Publisher("/finger_sensor/calibrate_obj_det", Bool, queue_size=1) self.calibrate_obj_det_sub = rospy.Subscriber("/finger_sensor/obj_det_calibrated", Bool, self.set_calibrated) self.obj_det_finger_1 = False self.obj_det_finger_2 = False self.obj_det_finger_3 = False self.touch_finger_1 = False self.touch_finger_2 = False self.touch_finger_3 = False self.calibrated = False
def __init__(self): self.listen = tf.TransformListener() self.broadcast = tf.TransformBroadcaster() self.obj_pose_sub = rospy.Subscriber("/num_objects", Int64, self.broadcast_frame, queue_size=1)
def __init__(self): self.j = Jaco() self.listen = tf.TransformListener() self.current_joint_angles = [0]*6 self.velocity_pub = rospy.Publisher('/j2n6a300_driver/in/cartesian_velocity', PoseVelocity, queue_size=1) self.obj_det_sub = rospy.Subscriber('/finger_sensor/obj_detected', Bool, self.set_obj_det) self.finger_m_touch_sub = rospy.Subscriber('/finger_sensor_middle/touch', Bool, self.set_m_touch) self.finger_r_touch_sub = rospy.Subscriber('/finger_sensor_right/touch', Bool, self.set_r_touch) self.joint_angles_sub = rospy.Subscriber("/j2n6a300_driver/out/joint_angles", JointAngles, self.callback) self.calibrate_obj_det_pub = rospy.Publisher("/finger_sensor/calibrate_obj_det", Bool, queue_size=1) self.calibrate_obj_det_sub = rospy.Subscriber("/finger_sensor/obj_det_calibrated", Bool, self.set_calibrated) self.obj_det = False self.m_touch = False self.r_touch = False self.calibrated = False
