本文整理汇总了Python中actionlib.SimpleActionServer方法的典型用法代码示例。如果您正苦于以下问题:Python actionlib.SimpleActionServer方法的具体用法?Python actionlib.SimpleActionServer怎么用?Python actionlib.SimpleActionServer使用的例子?那么, 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actionlib
的用法示例。
在下文中一共展示了actionlib.SimpleActionServer方法的15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: import actionlib [as 别名]
# 或者: from actionlib import SimpleActionServer [as 别名]
def __init__(self):
self._ns = "/robot/gripper_action_server"
if demo_constants.is_real_robot():
self._gripper = PSGGripper() # intera_interface.Gripper()
else:
self._gripper = intera_interface.Gripper()
# Action Server
self._server = actionlib.SimpleActionServer(
self._ns,
GripperCommandAction,
execute_cb=self._on_gripper_action,
auto_start=False)
self._action_name = rospy.get_name()
self._server.start()
self._gripper.set_dead_zone("0.021")
# Action Feedback/Result
self.feedback_msg = GripperCommandFeedback()
self.result_msg = GripperCommandResult()
# Initialize Parameters
self._timeout = 5.0
示例2: __init__
# 需要导入模块: import actionlib [as 别名]
# 或者: from actionlib import SimpleActionServer [as 别名]
def __init__(self, ros_command_interface):
self.ros_command_interface = ros_command_interface
self.server = actionlib.SimpleActionServer(
'niryo_one/tool_action', ToolAction, self.tool_on_goal, False)
self.change_tool_server = rospy.Service(
'niryo_one/change_tool', SetInt, self.callback_change_tool)
self.current_tool_id_publisher = rospy.Publisher(
'/niryo_one/current_tool_id', Int32, queue_size=1)
rospy.Timer(rospy.Duration(1 / 1.0), self.publish_current_tool_id)
self.current_tool = None
self.available_tools = None
self.command_list = None
self.create_tools()
示例3: __init__
# 需要导入模块: import actionlib [as 别名]
# 或者: from actionlib import SimpleActionServer [as 别名]
def __init__( self ):
#Initialisation
NaoqiNode.__init__( self, self.NODE_NAME )
#Proxy to interface with LEDs
self.proxy = self.get_proxy( "ALLeds" )
#Seed python's random number generator
random.seed( rospy.Time.now().to_nsec() )
#Create a subscriber for the fade_rgb topic
self.subscriber = rospy.Subscriber(
"fade_rgb",
FadeRGB,
self.fade_rgb)
#Prepare and start actionlib server
self.actionlib = actionlib.SimpleActionServer(
"blink",
BlinkAction,
self.run_blink,
False
)
self.actionlib.start()
示例4: __init__
# 需要导入模块: import actionlib [as 别名]
# 或者: from actionlib import SimpleActionServer [as 别名]
def __init__(self):
rospy.init_node('gripper_controller')
self.msg = None
self.r_pub = rospy.Publisher('gripper_controller/command',
Float64,
queue_size=10)
"""
self.t_pub = rospy.Publisher('arm_controller/command',
JointTrajectory,
queue_size=10)
self.js_sub = rospy.Subscriber('joint_states', JointState,
self._jointStateCb)
"""
# subscribe to command and then spin
self.server = actionlib.SimpleActionServer('~gripper_action', GripperCommandAction, execute_cb=self.actionCb, auto_start=False)
self.server.start()
rospy.spin()
示例5: __init__
# 需要导入模块: import actionlib [as 别名]
# 或者: from actionlib import SimpleActionServer [as 别名]
def __init__(self):
# ROS initialization:
rospy.init_node('pose_manager')
self.poseLibrary = dict()
self.readInPoses()
self.poseServer = actionlib.SimpleActionServer("body_pose", BodyPoseAction,
execute_cb=self.executeBodyPose,
auto_start=False)
self.trajectoryClient = actionlib.SimpleActionClient("joint_trajectory", JointTrajectoryAction)
if self.trajectoryClient.wait_for_server(rospy.Duration(3.0)):
try:
rospy.wait_for_service("stop_walk_srv", timeout=2.0)
self.stopWalkSrv = rospy.ServiceProxy("stop_walk_srv", Empty)
except:
rospy.logwarn("stop_walk_srv not available, pose_manager will not stop the walker before executing a trajectory. "
+"This is normal if there is no nao_walker running.")
self.stopWalkSrv = None
self.poseServer.start()
rospy.loginfo("pose_manager running, offering poses: %s", self.poseLibrary.keys());
else:
rospy.logfatal("Could not connect to required \"joint_trajectory\" action server, is the nao_controller node running?");
rospy.signal_shutdown("Required component missing");
示例6: __init__
# 需要导入模块: import actionlib [as 别名]
# 或者: from actionlib import SimpleActionServer [as 别名]
def __init__(self):
self._behavior_started = False
self._preempt_requested = False
self._current_state = None
self._active_behavior_id = None
self._pub = rospy.Publisher('flexbe/start_behavior', BehaviorSelection, queue_size=100)
self._preempt_pub = rospy.Publisher('flexbe/command/preempt', Empty, queue_size=100)
self._status_sub = rospy.Subscriber('flexbe/status', BEStatus, self._status_cb)
self._state_sub = rospy.Subscriber('flexbe/behavior_update', String, self._state_cb)
self._as = actionlib.SimpleActionServer('flexbe/execute_behavior', BehaviorExecutionAction, None, False)
self._as.register_preempt_callback(self._preempt_cb)
self._as.register_goal_callback(self._goal_cb)
self._rp = RosPack()
self._behavior_lib = BehaviorLibrary()
# start action server after all member variables have been initialized
self._as.start()
rospy.loginfo("%d behaviors available, ready for start request." % self._behavior_lib.count_behaviors())
示例7: __init__
# 需要导入模块: import actionlib [as 别名]
# 或者: from actionlib import SimpleActionServer [as 别名]
def __init__(self):
NaoqiNode.__init__(self, 'nao_footsteps')
self.connectNaoQi()
# initial stiffness (defaults to 0 so it doesn't strain the robot when
# no teleoperation is running)
# set to 1.0 if you want to control the robot immediately
initStiffness = rospy.get_param('~init_stiffness', 0.0)
# TODO: parameterize
if initStiffness > 0.0 and initStiffness <= 1.0:
self.motionProxy.stiffnessInterpolation('Body', initStiffness, 0.5)
# last: ROS subscriptions (after all vars are initialized)
rospy.Subscriber("footstep", StepTarget, self.handleStep, queue_size=50)
# ROS services (blocking functions)
self.stepToSrv = rospy.Service("footstep_srv", StepTargetService,
self.handleStepSrv)
self.clipSrv = rospy.Service("clip_footstep_srv", ClipFootstep,
self.handleClipSrv)
# Initialize action server
self.actionServer = actionlib.SimpleActionServer(
"footsteps_execution",
ExecFootstepsAction,
execute_cb=self.footstepsExecutionCallback,
auto_start=False)
self.actionServer.start()
rospy.loginfo("nao_footsteps initialized")
示例8: __init__
# 需要导入模块: import actionlib [as 别名]
# 或者: from actionlib import SimpleActionServer [as 别名]
def __init__( self ):
#Initialisation
NaoqiNode.__init__( self, self.NODE_NAME )
#We need this variable to be able to call stop behavior when preempted
self.behavior = None
self.lock = threading.RLock()
#Proxy for listingBehaviors and stopping them
self.behaviorProxy = self.get_proxy( "ALBehaviorManager" )
# Register ROS services
self.getInstalledBehaviorsService = rospy.Service(
"get_installed_behaviors",
GetInstalledBehaviors,
self.getInstalledBehaviors
)
#Prepare and start actionlib server
self.actionlibServer = actionlib.SimpleActionServer(
"run_behavior",
RunBehaviorAction,
self.runBehavior,
False
)
self.actionlibServer.register_preempt_callback( self.stopBehavior )
self.actionlibServer.start()
示例9: __init__
# 需要导入模块: import actionlib [as 别名]
# 或者: from actionlib import SimpleActionServer [as 别名]
def __init__(self, name):
self._action_name = name
self._as = actionlib.SimpleActionServer(self._action_name, actionlib_tutorials.msg.FibonacciAction, execute_cb=self.execute_cb, auto_start = False)
self._as.start()
示例10: test_action_client
# 需要导入模块: import actionlib [as 别名]
# 或者: from actionlib import SimpleActionServer [as 别名]
def test_action_client(self):
t1 = '/action_1'
server = None
def execute_cb(goal):
rospy.sleep(.5)
if server.is_preempt_requested():
server.set_preempted()
else:
server.set_succeeded(BehaviorExecutionResult(outcome='ok'))
server = actionlib.SimpleActionServer(t1, BehaviorExecutionAction, execute_cb, auto_start=False)
server.start()
client = ProxyActionClient({t1: BehaviorExecutionAction})
self.assertFalse(client.has_result(t1))
client.send_goal(t1, BehaviorExecutionGoal())
rate = rospy.Rate(20)
for i in range(20):
self.assertTrue(client.is_active(t1) or client.has_result(t1))
rate.sleep()
self.assertTrue(client.has_result(t1))
result = client.get_result(t1)
self.assertEqual(result.outcome, 'ok')
client.send_goal(t1, BehaviorExecutionGoal())
rospy.sleep(.1)
client.cancel(t1)
rospy.sleep(.9)
self.assertFalse(client.is_active(t1))
self.assertFalse(client.is_available('/not_there'))
client = ProxyActionClient({'/invalid': BehaviorExecutionAction}, wait_duration=.1)
self.assertFalse(client.is_available('/invalid'))
示例11: __init__
# 需要导入模块: import actionlib [as 别名]
# 或者: from actionlib import SimpleActionServer [as 别名]
def __init__(self, node_name, action_name):
rospy.init_node(node_name)
self.server = actionlib.SimpleActionServer(action_name, TalkAction,
self.do_talk, False)
self.engine = pyttsx.init()
self.engine_thread = threading.Thread(target=self.loop)
self.engine_thread.start()
self.engine.setProperty('volume', rospy.get_param('~volume', 1.0))
self.engine.setProperty('rate', rospy.get_param('~rate', 200.0))
self.preempt = rospy.get_param('~preempt', False)
self.server.start()
示例12: start
# 需要导入模块: import actionlib [as 别名]
# 或者: from actionlib import SimpleActionServer [as 别名]
def start(self):
self.running = True
self.command_sub = rospy.Subscriber(self.controller_namespace + '/command', JointTrajectory, self.process_command)
self.state_pub = rospy.Publisher(self.controller_namespace + '/state', FollowJointTrajectoryFeedback, queue_size=1)
self.action_server = actionlib.SimpleActionServer(self.controller_namespace + '/follow_joint_trajectory',
FollowJointTrajectoryAction,
execute_cb=self.process_follow_trajectory,
auto_start=False)
self.action_server.start()
Thread(target=self.update_state).start()
开发者ID:PacktPublishing,项目名称:ROS-Robotics-Projects-SecondEdition,代码行数:13,代码来源:joint_trajectory_action_controller.py
示例13: __init__
# 需要导入模块: import actionlib [as 别名]
# 或者: from actionlib import SimpleActionServer [as 别名]
def __init__(self):
self._pub = rospy.Publisher('/mobile_base/commands/velocity', Twist,
queue_size=10)
self._sub = rospy.Subscriber('/mobile_base/events/bumper',
BumperEvent, self.bumper_callback, queue_size=1)
self._max_vel = rospy.get_param('~max_vel', 0.5)
self._action_server = actionlib.SimpleActionServer(
'bumper_action', GoUntilBumperAction,
execute_cb=self.go_until_bumper, auto_start=False)
self._hit_bumper = False
self._action_server.start()
示例14: __init__
# 需要导入模块: import actionlib [as 别名]
# 或者: from actionlib import SimpleActionServer [as 别名]
def __init__(self, limb, reconfig_server, rate=100.0,
mode='position_w_id', interpolation='minjerk'):
self._dyn = reconfig_server
self._ns = 'robot/limb/' + limb
self._fjt_ns = self._ns + '/follow_joint_trajectory'
self._server = actionlib.SimpleActionServer(
self._fjt_ns,
FollowJointTrajectoryAction,
execute_cb=self._on_trajectory_action,
auto_start=False)
self._action_name = rospy.get_name()
self._limb = intera_interface.Limb(limb, synchronous_pub=True)
self._enable = intera_interface.RobotEnable()
self._name = limb
self._interpolation = interpolation
self._cuff = intera_interface.Cuff(limb=limb)
# Verify joint control mode
self._mode = mode
if (self._mode != 'position' and self._mode != 'position_w_id'
and self._mode != 'velocity'):
rospy.logerr("%s: Action Server Creation Failed - "
"Provided Invalid Joint Control Mode '%s' (Options: "
"'position_w_id', 'position', 'velocity')" %
(self._action_name, self._mode,))
return
self._server.start()
self._alive = True
# Action Feedback/Result
self._fdbk = FollowJointTrajectoryFeedback()
self._result = FollowJointTrajectoryResult()
# Controller parameters from arguments, messages, and dynamic
# reconfigure
self._control_rate = rate # Hz
self._control_joints = []
self._pid_gains = {'kp': dict(), 'ki': dict(), 'kd': dict()}
self._goal_time = 0.0
self._stopped_velocity = 0.0
self._goal_error = dict()
self._path_thresh = dict()
# Create our PID controllers
self._pid = dict()
for joint in self._limb.joint_names():
self._pid[joint] = intera_control.PID()
# Create our spline coefficients
self._coeff = [None] * len(self._limb.joint_names())
# Set joint state publishing to specified control rate
self._pub_rate = rospy.Publisher(
'/robot/joint_state_publish_rate',
UInt16,
queue_size=10)
self._pub_rate.publish(self._control_rate)
示例15: __init__
# 需要导入模块: import actionlib [as 别名]
# 或者: from actionlib import SimpleActionServer [as 别名]
def __init__(self, odom_topic, ref_topic, move_topic, path_topic, tree_topic,
goal_topic, focus_topic, effort_topic, ogrid_topic, ogrid_threshold):
"""
Initialize with topic names and ogrid threshold as applicable.
Defaults are generated at the ROS params level.
"""
# One-time initializations
self.revisit_period = 0.05 # s
self.ogrid = None
self.ogrid_threshold = float(ogrid_threshold)
self.state = None
self.tracking = None
self.done = True
# Lil helpers
self.rostime = lambda: rospy.Time.now().to_sec()
self.intup = lambda arr: tuple(np.array(arr, dtype=np.int64))
self.get_hood = lambda img, row, col: img[row-1:row+2, col-1:col+2]
# Set-up planners
self.behaviors_list = [car, boat, escape]
for behavior in self.behaviors_list:
behavior.planner.set_system(erf=self.erf)
behavior.planner.set_runtime(sys_time=self.rostime)
behavior.planner.constraints.set_feasibility_function(self.is_feasible)
# Initialize resetable stuff
self.reset()
# Subscribers
rospy.Subscriber(odom_topic, Odometry, self.odom_cb)
rospy.Subscriber(ogrid_topic, OccupancyGrid, self.ogrid_cb)
rospy.sleep(0.5)
# Publishers
self.ref_pub = rospy.Publisher(ref_topic, Odometry, queue_size=1)
self.path_pub = rospy.Publisher(path_topic, PoseArray, queue_size=3)
self.tree_pub = rospy.Publisher(tree_topic, PoseArray, queue_size=3)
self.goal_pub = rospy.Publisher(goal_topic, PoseStamped, queue_size=3)
self.focus_pub = rospy.Publisher(focus_topic, PointStamped, queue_size=3)
self.eff_pub = rospy.Publisher(effort_topic, WrenchStamped, queue_size=3)
self.sampspace_pub = rospy.Publisher(sampspace_topic, PolygonStamped, queue_size=3)
self.guide_pub = rospy.Publisher(guide_topic, PointStamped, queue_size=3)
# Actions
self.move_server = actionlib.SimpleActionServer(move_topic, MoveAction, execute_cb=self.move_cb, auto_start=False)
self.move_server.start()
rospy.sleep(1)
# Timers
rospy.Timer(rospy.Duration(self.revisit_period), self.publish_ref)
rospy.Timer(rospy.Duration(self.revisit_period), self.action_check)