本文整理汇总了Python中moveit_commander.MoveGroupCommander.get_pose_reference_frame方法的典型用法代码示例。如果您正苦于以下问题：Python MoveGroupCommander.get_pose_reference_frame方法的具体用法？Python MoveGroupCommander.get_pose_reference_frame怎么用？Python MoveGroupCommander.get_pose_reference_frame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moveit_commander.MoveGroupCommander的用法示例。
在下文中一共展示了MoveGroupCommander.get_pose_reference_frame方法的4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 moveit_commander import MoveGroupCommander [as 别名]
# 或者: from moveit_commander.MoveGroupCommander import get_pose_reference_frame [as 别名]
def __init__(self):
group = MoveGroupCommander("arm")
#group.set_orientation_tolerance([0.3,0.3,0,3])
p = PoseStamped()
p.header.frame_id = "/katana_base_link"
p.pose.position.x = 0.4287
#p.pose.position.y = -0.0847
p.pose.position.y = 0.0
p.pose.position.z = 0.4492
q = quaternion_from_euler(2, 0, 0)
p.pose.orientation.x = q[0]
p.pose.orientation.y = q[1]
p.pose.orientation.z = q[2]
p.pose.orientation.w = q[3]
print "Planning frame: " ,group.get_planning_frame()
print "Pose reference frame: ",group.get_pose_reference_frame()
#group.set_pose_reference_frame("katana_base_link")
print "RPy target: 0,0,0"
#group.set_rpy_target([0, 0, 0],"katana_gripper_tool_frame")
#group.set_position_target([0.16,0,0.40], "katana_gripper_tool_frame")
group.set_pose_target(p, "katana_gripper_tool_frame")
group.go()
print "Current rpy: " , group.get_current_rpy("katana_gripper_tool_frame")示例2: __init__
# 需要导入模块: from moveit_commander import MoveGroupCommander [as 别名]
# 或者: from moveit_commander.MoveGroupCommander import get_pose_reference_frame [as 别名]
class PR2Greeter:
def __init__(self, debug=False, online = True, robot_frame="odom_combined"):
self._tf = TransformListener()
self._online = online
# self.snd_handle = SoundClient()
if self._online:
#self._interface = ROSpeexInterface()
#self._interface.init()
self._speech_client = SpeechSynthesisClient_NICT()
else:
self.snd_handle = SoundClient()
rospy.sleep(1)
self.say('Hello world!')
rospy.sleep(1)
self._debug = debug
self._robot_frame = robot_frame
self._point_sub = rospy.Subscriber('nearest_face', PointStamped, self.face_cb)
self._head_action_cl = actionlib.SimpleActionClient('/head_traj_controller/point_head_action', pr2_controllers_msgs.msg.PointHeadAction)
self._torso_action_cl = actionlib.SimpleActionClient('/torso_controller/position_joint_action', pr2_controllers_msgs.msg.SingleJointPositionAction)
self._left_arm = MoveGroupCommander("left_arm")
self._right_arm = MoveGroupCommander("right_arm")
print "r.f.: " + self._left_arm.get_pose_reference_frame()
self.face = None
# self.face_from = rospy.Time(0)
self.face_last_dist = 0
self.last_invited_at = rospy.Time(0)
self._person_prob_left = 0
self.l_home_pose = [0.283, 0.295, 0.537, -1.646, 0.468, -1.735]
self.l_wave_1 = [-0.1, 0.6, 1.15, -1.7, -0.97, -1.6]
self.l_wave_2 = [-0.1, 0.6, 1.15, 1.7, -0.97, 1.6]
self.r_home_pose = [0.124, -0.481, 0.439, -1.548, 0.36, -0.035]
self.r_advert = [0.521, -0.508, 0.845, -1.548, 0.36, -0.035]
self.no_face_random_delay = None
self._initialized = False
self._timer = rospy.Timer(rospy.Duration(1.0), self.timer)
self._move_buff = Queue.Queue()
self._head_buff = Queue.Queue()
self._move_thread = threading.Thread(target=self.movements)
self._move_thread.daemon = True
self._move_thread.start()
self._head_thread = threading.Thread(target=self.head)
self._head_thread.daemon = True
self._head_thread.start()
self.new_face = False
self.face_last_dist = 0.0
self.face_counter = 0
self.actions = [self.stretchingAction,
self.introduceAction,
self.waveHandAction,
self.lookAroundAction,
self.lookAroundAction,
self.lookAroundAction,
self.advertAction,
self.numberOfFacesAction]
self.goodbye_strings = ["Thanks for stopping by.",
"Enjoy the event.",
"See you later!",
"Have a nice day!"]
self.invite_strings = ["Hello. It's nice to see you.",
"Come here and take some flyer.",
"I hope you are enjoying the event."]
rospy.loginfo("Ready")
def say(self, text):
if self._online:
#.........这里部分代码省略.........
示例3: __init__
# 需要导入模块: from moveit_commander import MoveGroupCommander [as 别名]
# 或者: from moveit_commander.MoveGroupCommander import get_pose_reference_frame [as 别名]
class PR2Greeter:
def __init__(self,debug = False, robot_frame = "odom_combined"):
self._tf = TransformListener()
self.snd_handle = SoundClient()
rospy.sleep(1)
self.snd_handle.say('Hello world!')
rospy.sleep(1)
self._debug = debug
self._robot_frame = robot_frame
self._point_sub = rospy.Subscriber('nearest_face', PointStamped, self.face_cb)
self._head_action_cl = actionlib.SimpleActionClient('/head_traj_controller/point_head_action', pr2_controllers_msgs.msg.PointHeadAction)
self._left_arm = MoveGroupCommander("left_arm")
self._right_arm = MoveGroupCommander("right_arm")
print "r.f.: " + self._left_arm.get_pose_reference_frame()
self.face = None
self.face_from = rospy.Time(0)
self.face_last_dist = 0
self.l_home_pose = [0.283, 0.295, 0.537, -1.646, 0.468, -1.735]
self.l_wave_1 = [-0.1, 0.6, 1.15, -1.7, -0.97, -1.6]
self.l_wave_2 = [-0.1, 0.6, 1.15, 1.7, -0.97, 1.6]
self.r_home_pose = [0.124, -0.481, 0.439, -1.548, 0.36, -0.035]
self.r_advert = [0.521, -0.508, 0.845, -1.548, 0.36, -0.035]
self.no_face_random_delay = None
self._initialized = False
self._timer = rospy.Timer(rospy.Duration(1.0), self.timer)
self._move_buff = Queue.Queue()
self._head_buff = Queue.Queue()
self._move_thread = threading.Thread(target=self.movements)
self._move_thread.daemon = True
self._move_thread.start()
self._head_thread = threading.Thread(target=self.head)
self._head_thread.daemon = True
self._head_thread.start()
self.new_face = False
self.face_last_dist = 0.0
self.face_counter = 0
self.actions = [self.introduceAction, self.waveHandAction, self.lookAroundAction, self.lookAroundAction, self.lookAroundAction, self.advertAction, self.numberOfFacesAction]
self.goodbye_strings = ["Thanks for stopping by.","Enjoy the event.","See you!", "Have a nice day!"]
self.invite_strings = ["Hello. It's nice to see you.","Come here and take some flyer.", "I hope you are enjoying the event."]
rospy.loginfo("Ready")
def getRandomFromArray(self, arr):
idx = random.randint(0,len(arr)-1)
return arr[idx]
def numberOfFacesAction(self):
self.snd_handle.say("Today I already saw " + str(self.face_counter) + " faces.")
rospy.sleep(1)
def advertAction(self):
self.snd_handle.say("Hello. Here are some posters for you.")
rospy.sleep(1)
self.go(self._right_arm, self.r_advert)
def introduceAction(self):
self.snd_handle.say("Hello. I'm PR2 robot. Come here to check me.")
rospy.sleep(1)
def waveHandAction(self):
self.snd_handle.say("I'm here. Please come to see me.")
rospy.sleep(1)
rand = random.randint(1,3)
#.........这里部分代码省略.........
示例4: roscpp_initialize
# 需要导入模块: from moveit_commander import MoveGroupCommander [as 别名]
# 或者: from moveit_commander.MoveGroupCommander import get_pose_reference_frame [as 别名]
if __name__=='__main__':
roscpp_initialize(sys.argv)
rospy.init_node('moveit_py_demo', anonymous=True)
scene = PlanningSceneInterface()
robot = RobotCommander()
group = MoveGroupCommander("arm")
print "============ Robot Groups:"
print robot.get_group_names()
print "============ Robot Links for arm:"
print robot.get_link_names("arm")
print "============ Robot Links for gripper:"
print robot.get_link_names("gripper")
print group.get_end_effector_link()
print group.get_pose_reference_frame()
print "============ Printing robot state"
#print robot.get_current_state()
print "============"
tl = tf.TransformListener()
rospy.sleep(1)
waypoints = []
# start with the current pose
waypoints.append(group.get_current_pose().pose)
print waypoints[0]
currentPose = PoseStamped()
currentPose.header.frame_id = group.get_pose_reference_frame()
currentPose.pose = waypoints[0]