本文整理汇总了Python中control_msgs.msg.FollowJointTrajectoryGoal.action方法的典型用法代码示例。如果您正苦于以下问题：Python FollowJointTrajectoryGoal.action方法的具体用法？Python FollowJointTrajectoryGoal.action怎么用？Python FollowJointTrajectoryGoal.action使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类control_msgs.msg.FollowJointTrajectoryGoal的用法示例。
在下文中一共展示了FollowJointTrajectoryGoal.action方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: __init__
# 需要导入模块: from control_msgs.msg import FollowJointTrajectoryGoal [as 别名]
# 或者: from control_msgs.msg.FollowJointTrajectoryGoal import action [as 别名]
def __init__(self):
rospy.init_node('trajectory_demo')
# Set to True to move back to the starting configurations
reset = rospy.get_param('~reset', False)
# Set to False to wait for arm to finish before moving head
sync = rospy.get_param('~sync', True)
# Which joints define the torso?
torso_joints = ["torso_lift_joint"]
# Which joints define the arm?
arm_joints = ['shoulder_pan_joint',
'shoulder_lift_joint',
'upperarm_roll_joint',
'elbow_flex_joint',
'forearm_roll_joint',
'wrist_flex_joint',
'wrist_roll_joint']
# Which joints define the head?
head_joints = ['head_pan_joint', 'head_tilt_joint']
# Which joints define the gripper
gripper_joints = ['l_gripper_finger_joint', 'r_gripper_finger_joint']
if reset:
# Set the arm back to the resting position
arm_goal = [0, 0, 0, 0, 0, 0, 0]
# Re-center the head
head_goal = [0, 0]
else:
# Set the goal configuration for the gripper
gripper_open = [0.1]
gripper_effort = [1.0]
# Set a goal configuration for the arm
arm_goal = [1.3, 1.5, 3.0, -1.7, 0.0, -1.7, 0.0, 0.0]
# Set a goal configuration for the head
head_goal = [0.0, 0.0]
# Set a goal configuration for torso
torso_goal = [0.0]
# Connect to the gripper trajectory action server
rospy.loginfo('Waiting for gripper controller...')
gripper_client = actionlib.SimpleActionClient('gripper_controller/gripper_action', GripperCommandAction)
gripper_client.wait_for_server()
rospy.loginfo('...connected.')
# Connect to the right arm trajectory action server
rospy.loginfo('Waiting for arm trajectory controller...')
arm_client = actionlib.SimpleActionClient('arm_controller/follow_joint_trajectory', FollowJointTrajectoryAction)
arm_client.wait_for_server()
rospy.loginfo('...connected.')
# Connect to the head trajectory action server
rospy.loginfo('Waiting for head trajectory controller...')
head_client = actionlib.SimpleActionClient('head_controller/follow_joint_trajectory', FollowJointTrajectoryAction)
head_client.wait_for_server()
rospy.loginfo('...connected.')
# Connect to the torso trajectory action server
rospy.loginfo('Waiting for torso trajectory controller ...')
torso_client = actionlib.SimpleActionClient('torso_controller/follow_joint_trajectory', FollowJointTrajectoryAction)
torso_client.wait_for_server()
rospy.loginfo('... connected.')
# Create a single-point gripper action as the end-point
gripper_action = GripperCommandAction()
#gripper_action.position = gripper_open
gripper_action.effort = gripper_effort
#gripper_action.points.append(GripperActionGoal())
#gripper_action.points[0].positions = gripper_open
#gripper_action.points[0].velocities = [0.0 for i in gripper_joint]
#gripper_action.points[0].accelerations = [0.0 for i in gripper_joint]
#gripper_action.points[0].time_from_start = rospy.Duration(3.0)
# Send the trajectory to the arm action server
rospy.loginfo('Gripping object ...')
# Create an empty trajectory goal
gripper_goal = FollowJointTrajectoryGoal()
# Set the trajectory component to the goal trajectory created above
gripper_goal.action = gripper_action
# Specify zero tolerance for the execution time
gripper_goal.goal_time_tolerance = rospy.Duration(0.0)
# Send the goal to the action server
gripper_client.send_goal(gripper_goal)
# Create a single-point arm trajectory with the arm_goal as the end-point
arm_trajectory = JointTrajectory()
arm_trajectory.joint_names = arm_joints
arm_trajectory.points.append(JointTrajectoryPoint())
#.........这里部分代码省略.........