Python rospy.myargv方法代码示例

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import myargv [as 别名]
def main():
    """SDK Navigator Example

    Demonstrates Navigator by echoing input values from wheels and
    buttons.

    Uses the intera_interface.Navigator class to demonstrate an
    example of using the register_callback feature.
        
     Shows Navigator input of the arm for 10 seconds.
    """
    arg_fmt = argparse.ArgumentDefaultsHelpFormatter
    parser = argparse.ArgumentParser(formatter_class=arg_fmt)
    parser.add_argument(
        "-n", "--navigator", dest="nav_name", default="right",
        choices=["right", "head"],
        help='Navigator on which to run example'
        )
    args = parser.parse_args(rospy.myargv()[1:])

    rospy.init_node('sdk_navigator', anonymous=True)
    echo_input(args.nav_name)
    return 0 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import myargv [as 别名]
def main():
    """RSDK Head Example: Wobbler

    Nods the head and pans side-to-side towards random angles.
    Demonstrates the use of the intera_interface.Head class.
    """
    arg_fmt = argparse.RawDescriptionHelpFormatter
    parser = argparse.ArgumentParser(formatter_class=arg_fmt,
                                     description=main.__doc__)
    parser.parse_args(rospy.myargv()[1:])

    print("Initializing node... ")
    rospy.init_node("rsdk_head_wobbler")

    wobbler = Wobbler()
    rospy.on_shutdown(wobbler.clean_shutdown)
    print("Wobbling... ")
    wobbler.wobble()
    print("Done.") 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import myargv [as 别名]
def main():
    """Intera RSDK Joint Velocity Example: Wobbler

    Commands joint velocities of randomly parameterized cosine waves
    to each joint. Demonstrates Joint Velocity Control Mode.
    """
    arg_fmt = argparse.RawDescriptionHelpFormatter
    parser = argparse.ArgumentParser(formatter_class=arg_fmt,
                                     description=main.__doc__)
    parser.parse_args(rospy.myargv()[1:])

    print("Initializing node... ")
    rospy.init_node("rsdk_joint_velocity_wobbler")

    wobbler = Wobbler()
    rospy.on_shutdown(wobbler.clean_shutdown)
    wobbler.wobble()

    print("Done.") 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import myargv [as 别名]
def main():
    arg_fmt = argparse.RawDescriptionHelpFormatter
    parser = argparse.ArgumentParser(formatter_class=arg_fmt,
                                     description=main.__doc__)
    required = parser.add_argument_group('required arguments')
    required.add_argument(
        '-l', '--limb', required=True, choices=['left', 'right'],
        help='send joint trajectory to which limb'
    )

    args = parser.parse_args(rospy.myargv()[1:])
    limb = args.limb

    rospy.init_node("gripper")

    gripper = GripMover(limb)

    #Wait on signal from visual_servo
    while not rospy.is_shutdown() and not gripper.done:
        pass 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import myargv [as 别名]
def main():
    """RSDK Gripper Example: send a command to control the grippers.

    Run this example to command various gripper movements while
    adjusting gripper parameters, including calibration, and velocity:
    Uses the intera_interface.Gripper class and the
    helper function, intera_external_devices.getch.
    """
    epilog = """
See help inside the example with the '?' key for key bindings.
    """
    rp = intera_interface.RobotParams()
    valid_limbs = rp.get_limb_names()
    if not valid_limbs:
        rp.log_message(("Cannot detect any limb parameters on this robot. "
                        "Exiting."), "ERROR")
        return
    limb = valid_limbs[0]
    print("Using limb: {}.".format(limb))
    arg_fmt = argparse.RawDescriptionHelpFormatter
    parser = argparse.ArgumentParser(formatter_class=arg_fmt,
                                     description=main.__doc__,
                                     epilog=epilog)
    parser.add_argument(
        "-a", "--action", dest="action", default="open",
        choices=["open", "close"],
        help="Action to perform with the gripper. Options: close or open"
    )
    args = parser.parse_args(rospy.myargv()[1:])

    print("Initializing node... ")
    rospy.init_node("sdk_gripper_keyboard")

    move_gripper(limb, args.action) 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import myargv [as 别名]
def main():
    rp = intera_interface.RobotParams()
    valid_limbs = rp.get_limb_names()
    if not valid_limbs:
        rp.log_message(("Cannot detect any limb parameters on this robot. "
                        "Exiting."), "ERROR")
        return
    # Add an option for starting a server for all valid limbs
    all_limbs = valid_limbs
    all_limbs.append("all_limbs")
    arg_fmt = argparse.ArgumentDefaultsHelpFormatter
    parser = argparse.ArgumentParser(formatter_class=arg_fmt)
    parser.add_argument(
        "-l", "--limb", dest="limb", default=valid_limbs[0],
        choices=all_limbs,
        help="joint trajectory action server limb"
    )
    parser.add_argument(
        "-r", "--rate", dest="rate", default=100.0,
        type=float, help="trajectory control rate (Hz)"
    )
    parser.add_argument(
        "-m", "--mode", default='position_w_id',
        choices=['position_w_id', 'position', 'velocity'],
        help="control mode for trajectory execution"
    )
    args = parser.parse_args(rospy.myargv()[1:])

    start_server(args.limb, args.rate, args.mode, valid_limbs) 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import myargv [as 别名]
def main():
    arg_fmt = argparse.ArgumentDefaultsHelpFormatter
    parser = argparse.ArgumentParser(formatter_class=arg_fmt)
    parser.add_argument("-g", "--gripper", dest="gripper", default="both",
                        choices=['both', 'left', 'right'],
                        help="gripper action server limb", )
    args = parser.parse_args(rospy.myargv()[1:])
    start_server(args.gripper) 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import myargv [as 别名]
def main():
    """RSDK URDF Fragment Example:
    This example shows a proof of concept for
    adding your URDF fragment to the robot's
    onboard URDF (which is currently in use).
    """
    arg_fmt = argparse.RawDescriptionHelpFormatter
    parser = argparse.ArgumentParser(formatter_class=arg_fmt,
                                     description=main.__doc__)
    required = parser.add_argument_group('required arguments')
    required.add_argument(
        '-f', '--file', metavar='PATH', required=True,
        help='Path to URDF file to send'
    )
    required.add_argument(
        '-l', '--link', required=False, default="right_hand", #parent
        help='URDF Link already to attach fragment to (usually <left/right>_hand)'
    )
    required.add_argument(
        '-j', '--joint', required=False, default="right_gripper_base",
        help='Root joint for fragment (usually <left/right>_gripper_base)'
    )
    parser.add_argument("-d", "--duration", type=lambda t:abs(float(t)),
            default=5.0, help="[in seconds] Duration to publish fragment")
    args = parser.parse_args(rospy.myargv()[1:])

    rospy.init_node('rsdk_configure_urdf', anonymous=True)

    if not os.access(args.file, os.R_OK):
        rospy.logerr("Cannot read file at '%s'" % (args.file,))
        return 1
    send_urdf(args.link, args.joint, args.file, args.duration)
    return 0 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import myargv [as 别名]
def main():
    """Save / Load EndEffector Config utility

    Read current config off of ClickSmart and save to file.
    Or load config from file and reconfigure and save it to ClickSmart device.
    """
    arg_fmt = argparse.RawDescriptionHelpFormatter
    parser = argparse.ArgumentParser(formatter_class=arg_fmt,
                                     description=main.__doc__)

    parser.add_argument(
        '-s', '--save', metavar='PATH',
        help='save current EE config to given file'
    )
    parser.add_argument(
        '-l', '--load', metavar='PATH',
        help='load config from given file onto EE'
    )
    args = parser.parse_args(rospy.myargv()[1:])

    print("Initializing node... ")
    rospy.init_node('ee_config_editor', anonymous=True)

    ee = intera_interface.get_current_gripper_interface()
    if not ee:
        rospy.logerr("Could not detect an attached EndEffector!")
        return

    if args.save:
        rospy.loginfo("Saving EE config to {}".format(args.save))
        save_config(ee, args.save)

    if args.load:
        rospy.loginfo("Loading config and writing config to ClickSmart from {}".format(args.load))
        load_config(ee, args.load)

    def clean_shutdown():
        print("\nExiting example...")

    rospy.on_shutdown(clean_shutdown) 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import myargv [as 别名]
def main():
    parser = argparse.ArgumentParser()
    parser.add_argument('-l', '--limb',
                        choices=['left', 'right'], default="right",
                        help="Calibrate the specified arm")
    args = parser.parse_args(rospy.myargv()[1:])
    arm = args.limb

    print("Initializing node...")
    rospy.init_node('sdk_calibrate_arm_{0}'.format(arm), disable_signals=True)

    rospy.loginfo("Preparing to Calibrate...")
    gripper_warn = ("IMPORTANT: Make sure to remove grippers and other"
                    " attachments before running Calibrate.")
    rospy.loginfo(gripper_warn)
    if not is_gripper_removed():
        return 1

    ca = CalibrateArm(arm)

    error = None
    goal_state = "unreported error"
    rospy.loginfo("Running Calibrate on {0} arm".format(arm))
    try:
        goal_state = ca.start_calibration()
    except KeyboardInterrupt, e:
        error = e
        goal_state = ca.stop_calibration() 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import myargv [as 别名]
def main():
    """RSDK URDF Fragment Example:
    This example shows a proof of concept for
    adding your URDF fragment to the robot's
    onboard URDF (which is currently in use).
    """
    arg_fmt = argparse.RawDescriptionHelpFormatter
    parser = argparse.ArgumentParser(formatter_class=arg_fmt,
                                     description=main.__doc__)
    required = parser.add_argument_group('required arguments')
    required.add_argument(
        '-f', '--file', metavar='PATH', required=True,
        help='Path to URDF file to send'
    )
    required.add_argument(
        '-l', '--link', required=False, default="right_hand",
        help='URDF Link already to attach fragment to (usually <left/right>_hand)'
    )
    required.add_argument(
        '-j', '--joint', required=False, default="right_gripper_base",
        help='Root joint for fragment (usually <left/right>_gripper_base)'
    )
    parser.add_argument("-d", "--duration", type=lambda t:abs(float(t)),
            default=5.0, help="[in seconds] Duration to publish fragment")
    args = parser.parse_args(rospy.myargv()[1:])

    rospy.init_node('rsdk_configure_urdf', anonymous=True)

    if not os.access(args.file, os.R_OK):
        rospy.logerr("Cannot read file at '%s'" % (args.file,))
        return 1
    send_urdf(args.link, args.joint, args.file, args.duration)
    return 0 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import myargv [as 别名]
def main():
    parser = argparse.ArgumentParser()
    parser.add_argument('-s', '--state', const='state',
                        dest='actions', action='append_const',
                        help='Print current robot state')
    parser.add_argument('-e', '--enable', const='enable',
                        dest='actions', action='append_const',
                        help='Enable the robot')
    parser.add_argument('-d', '--disable', const='disable',
                        dest='actions', action='append_const',
                        help='Disable the robot')
    parser.add_argument('-r', '--reset', const='reset',
                        dest='actions', action='append_const',
                        help='Reset the robot')
    parser.add_argument('-S', '--stop', const='stop',
                        dest='actions', action='append_const',
                        help='Stop the robot')
    args = parser.parse_args(rospy.myargv()[1:])

    if args.actions == None:
        parser.print_usage()
        parser.exit(0, "No action defined")

    rospy.init_node('sdk_robot_enable')
    rs = intera_interface.RobotEnable(intera_interface.CHECK_VERSION)

    try:
        for act in args.actions:
            if act == 'state':
                print rs.state()
            elif act == 'enable':
                rs.enable()
            elif act == 'disable':
                rs.disable()
            elif act == 'reset':
                rs.reset()
            elif act == 'stop':
                rs.stop()
    except Exception, e:
        rospy.logerr(e.strerror) 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import myargv [as 别名]
def main():
    rp = intera_interface.RobotParams()
    valid_limbs = rp.get_limb_names()
    if not valid_limbs:
        rp.log_message(("Cannot detect any limb parameters on this robot. "
                        "Exiting."), "ERROR")
        return
    # Add an option for starting a server for all valid limbs
    all_limbs = valid_limbs
    all_limbs.append("all_limbs")
    arg_fmt = argparse.ArgumentDefaultsHelpFormatter
    parser = argparse.ArgumentParser(formatter_class=arg_fmt)
    parser.add_argument(
        "-l", "--limb", dest="limb", default=valid_limbs[0],
        choices=all_limbs,
        help="joint trajectory action server limb"
    )
    parser.add_argument(
        "-r", "--rate", dest="rate", default=100.0,
        type=float, help="trajectory control rate (Hz)"
    )
    parser.add_argument(
        "-m", "--mode", default='position_w_id',
        choices=['position_w_id', 'position', 'velocity'],
        help="control mode for trajectory execution"
    )
    args = parser.parse_args(rospy.myargv()[1:])
    start_server(args.limb, args.rate, args.mode, valid_limbs) 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import myargv [as 别名]
def main():
    """RSDK Gripper Example: Keyboard Control

    Use your dev machine's keyboard to control and configure grippers.

    Run this example to command various gripper movements while
    adjusting gripper parameters, including calibration, and velocity:
    Uses the intera_interface.Gripper class and the
    helper function, intera_external_devices.getch.
    """
    epilog = """
See help inside the example with the '?' key for key bindings.
    """
    rp = intera_interface.RobotParams()
    valid_limbs = rp.get_limb_names()
    if not valid_limbs:
        rp.log_message(("Cannot detect any limb parameters on this robot. "
                        "Exiting."), "ERROR")
        return
    arg_fmt = argparse.RawDescriptionHelpFormatter
    parser = argparse.ArgumentParser(formatter_class=arg_fmt,
                                     description=main.__doc__,
                                     epilog=epilog)
    parser.add_argument(
        "-l", "--limb", dest="limb", default=valid_limbs[0],
        choices=valid_limbs,
        help="Limb on which to run the gripper keyboard example"
    )
    args = parser.parse_args(rospy.myargv()[1:])

    print("Initializing node... ")
    rospy.init_node("sdk_gripper_keyboard")

    map_keyboard(args.limb) 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import myargv [as 别名]
def main():
    """SDK Joint Position Waypoints Example

    Records joint positions each time the navigator 'OK/wheel'
    button is pressed.
    Upon pressing the navigator 'Rethink' button, the recorded joint positions
    will begin playing back in a loop.
    """
    arg_fmt = argparse.RawDescriptionHelpFormatter
    parser = argparse.ArgumentParser(formatter_class=arg_fmt,
                                     description=main.__doc__)
    parser.add_argument(
        '-s', '--speed', default=0.3, type=float,
        help='joint position motion speed ratio [0.0-1.0] (default:= 0.3)'
    )
    parser.add_argument(
        '-a', '--accuracy',
        default=intera_interface.settings.JOINT_ANGLE_TOLERANCE, type=float,
        help='joint position accuracy (rad) at which waypoints must achieve'
    )
    args = parser.parse_args(rospy.myargv()[1:])

    print("Initializing node... ")
    rospy.init_node("sdk_joint_position_waypoints", anonymous=True)

    waypoints = Waypoints(args.speed, args.accuracy)

    # Register clean shutdown
    rospy.on_shutdown(waypoints.clean_shutdown)

    # Begin example program
    waypoints.record()
    waypoints.playback()