本文整理汇总了Python中moveit_commander.roscpp_initialize方法的典型用法代码示例。如果您正苦于以下问题:Python moveit_commander.roscpp_initialize方法的具体用法?Python moveit_commander.roscpp_initialize怎么用?Python moveit_commander.roscpp_initialize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moveit_commander
的用法示例。
在下文中一共展示了moveit_commander.roscpp_initialize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: run_task
# 需要导入模块: import moveit_commander [as 别名]
# 或者: from moveit_commander import roscpp_initialize [as 别名]
def run_task(*_):
"""Run task function."""
initial_goal = np.array([0.6, -0.1, 0.40])
# Initialize moveit_commander
moveit_commander.roscpp_initialize(sys.argv)
rospy.init_node('trpo_sim_sawyer_reacher_exp', anonymous=True)
env = TheanoEnv(
ReacherEnv(
initial_goal,
initial_joint_pos=INITIAL_ROBOT_JOINT_POS,
simulated=True))
rospy.on_shutdown(env.shutdown)
env.initialize()
policy = GaussianMLPPolicy(env_spec=env.spec, hidden_sizes=(32, 32))
baseline = LinearFeatureBaseline(env_spec=env.spec)
algo = TRPO(
env=env,
policy=policy,
baseline=baseline,
batch_size=4000,
max_path_length=100,
n_itr=100,
discount=0.99,
step_size=0.01,
plot=False,
force_batch_sampler=True,
)
algo.train()
示例2: __init__
# 需要导入模块: import moveit_commander [as 别名]
# 或者: from moveit_commander import roscpp_initialize [as 别名]
def __init__(self):
"""
"""
self.ceilheight = 0.75
rospy.sleep(0.4)
moveit_commander.roscpp_initialize(sys.argv)
rospy.sleep(0.4)
self.scene = moveit_commander.PlanningSceneInterface()
self.robot = moveit_commander.RobotCommander()
rospy.sleep(0.1)
self.group = moveit_commander.MoveGroupCommander("right_arm")
self.display_trajectory_publisher = rospy.Publisher('/move_group/display_planned_path',
moveit_msgs.msg.DisplayTrajectory)
self.planning_scene_diff_publisher = rospy.Publisher("planning_scene", moveit_msgs.msg.PlanningScene,
queue_size=1)
rospy.sleep(0.1)
self.set_default_planner()
print "============ Reference frame: %s" % self.group.get_planning_frame()
print "============ Reference frame: %s" % self.group.get_end_effector_link()
print self.robot.get_group_names()
print self.robot.get_current_state()
self.enable_collision_table1 = True
self.enable_orientation_constraint = False
self.set_default_tables_z()
self.registered_blocks = []
self.tableshape = (0.913, 0.913, 0.01)
# self.tableshape = (1.2, 1.2, 0.01)
rospy.sleep(0.2)
示例3: get_robot_state_moveit
# 需要导入模块: import moveit_commander [as 别名]
# 或者: from moveit_commander import roscpp_initialize [as 别名]
def get_robot_state_moveit():
# moveit_commander.roscpp_initialize(sys.argv)
# robot = moveit_commander.RobotCommander()
try:
current_joint_values = np.array(group.get_current_joint_values())
diff = abs(current_joint_values - home_joint_values)*180/np.pi
if np.sum(diff<1) == 6: # if current joint - home position < 1 degree, we think it is at home
return 1 # robot at home
else:
return 2 # robot is moving
except:
return 3 # robot state unknow
rospy.loginfo("Get robot state failed")
示例4: __init__
# 需要导入模块: import moveit_commander [as 别名]
# 或者: from moveit_commander import roscpp_initialize [as 别名]
def __init__(self, position_manager, trajectory_manager):
self.trajectory_manager = trajectory_manager
self.pos_manager = position_manager
moveit_commander.roscpp_initialize(sys.argv)
# Load all the sub-commanders
self.move_group_arm = MoveGroupArm()
self.arm_commander = ArmCommander(self.move_group_arm)
self.tool_commander = ToolCommander()
self.stop_trajectory_server = rospy.Service(
'niryo_one/commander/stop_command', SetBool, self.callback_stop_command)
self.reset_controller_pub = rospy.Publisher('/niryo_one/steppers_reset_controller',
Empty, queue_size=1)
# robot action server
self.server = actionlib.ActionServer('niryo_one/commander/robot_action',
RobotMoveAction, self.on_goal, self.on_cancel, auto_start=False)
self.current_goal_handle = None
self.learning_mode_on = False
self.joystick_enabled = False
self.hardware_status = None
self.is_active_server = rospy.Service(
'niryo_one/commander/is_active', GetInt, self.callback_is_active)
self.learning_mode_subscriber = rospy.Subscriber(
'/niryo_one/learning_mode', Bool, self.callback_learning_mode)
self.joystick_enabled_subscriber = rospy.Subscriber('/niryo_one/joystick_interface/is_enabled',
Bool, self.callback_joystick_enabled)
self.hardware_status_subscriber = rospy.Subscriber(
'/niryo_one/hardware_status', HardwareStatus, self.callback_hardware_status)
self.validation = rospy.get_param("/niryo_one/robot_command_validation")
self.parameters_validation = ParametersValidation(self.validation)
# arm velocity
self.max_velocity_scaling_factor = 100
self.max_velocity_scaling_factor_pub = rospy.Publisher(
'/niryo_one/max_velocity_scaling_factor', Int32, queue_size=10)
self.timer = rospy.Timer(rospy.Duration(1.0), self.publish_arm_max_velocity_scaling_factor)
self.max_velocity_scaling_factor_server = rospy.Service(
'/niryo_one/commander/set_max_velocity_scaling_factor', SetInt,
self.callback_set_max_velocity_scaling_factor)