Python rospy.on_shutdown方法代码示例

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import on_shutdown [as 别名]
def __init__(self, argv):
        self.node_name = "ObjectMeasurer"
        rospy.init_node(self.node_name)

        # What we do during shutdown
        rospy.on_shutdown(self.cleanup)

        # Create the cv_bridge object
        self.bridge = CvBridge()

        # Subscribe to the camera image topics and set
        # the appropriate callbacks
        self.image_sub = rospy.Subscriber(argv[1], Image, self.image_callback)
        self.image_pub = rospy.Publisher(
            "%s/ObjectMeasurer" % (argv[1]), Image, queue_size=10)
        rospy.loginfo("Waiting for image topics...")

        # Initialization of the 'pixels per metric variable'
        self.pixelsPerMetric = None 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import on_shutdown [as 别名]
def __init__(self, args):
        self.node_name = "MaskPlantTray"
        rospy.init_node(self.node_name)

        # What we do during shutdown
        rospy.on_shutdown(self.cleanup)

        # Create the cv_bridge object
        self.bridge = CvBridge()

        # Subscribe to the camera image topics and set
        # the appropriate callbacks
        self.image_sub = rospy.Subscriber(args[1], Image, self.image_callback)
        self.image_pub = rospy.Publisher(
            "%s/MaskPlantTray" % (args[1]), Image, queue_size=10)

        rospy.loginfo("Waiting for image topics...") 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import on_shutdown [as 别名]
def __init__(self, args):
        self.node_name = "ImgMerger"
        rospy.init_node(self.node_name)

        # What we do during shutdown
        rospy.on_shutdown(self.cleanup)

        # Create the cv_bridge object
        self.bridge = CvBridge()

        self.frame_img1 = np.zeros((1280, 1024), np.uint8)
        self.frame_img2 = np.zeros((1280, 1024), np.uint8)

        # Subscribe to the camera image topics and set
        # the appropriate callbacks
        self.image_sub_first_image = rospy.Subscriber(
            args[1], Image, self.image_callback_img1)
        self.image_sub_second_image = rospy.Subscriber(
            args[2], Image, self.image_callback_img2)

        self.image_pub = rospy.Publisher(args[3], Image, queue_size=10)

        rospy.loginfo("Waiting for image topics...") 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import on_shutdown [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 on_shutdown [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 on_shutdown [as 别名]
def __init__(self):
        self.process_list = []
        self.process_config = rospy.get_param("~processes")
        self.create_processes()

        rospy.on_shutdown(self.clean_ros_processes)

        self.process_state_publish_rate = rospy.get_param("~process_state_publish_rate")

        self.process_state_publisher = rospy.Publisher(
            '/niryo_one/rpi/process_state', ProcessState, queue_size=1)

        rospy.Timer(rospy.Duration(1.0 / self.process_state_publish_rate), self.publish_process_state)

        self.manage_process_server = rospy.Service(
            '/niryo_one/rpi/manage_process', ManageProcess, self.callback_manage_process)

        self.start_init_processes()
        # self.start_all_processes() 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import on_shutdown [as 别名]
def __init__(self):
        self.node_name = "cv_bridge_demo"
        
        rospy.init_node(self.node_name)
        
        # What we do during shutdown
        rospy.on_shutdown(self.cleanup)
        
        # Create the OpenCV display window for the RGB image
        self.cv_window_name = self.node_name

        # Create the cv_bridge object
        self.bridge = CvBridge()
        
        # Subscribe to the camera image and depth topics and set
        # the appropriate callbacks

        rospy.Subscriber("/camera/rgb/image_raw", Image, self.image_callback)
        rospy.Subscriber("/camera/depth/image_raw", Image, self.depth_callback)
        
        rospy.Timer(rospy.Duration(0.03), self.show_img_cb)
        rospy.loginfo("Waiting for image topics...") 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import on_shutdown [as 别名]
def move_gripper(limb, action):
    # initialize interfaces
    print("Getting robot state...")
    rs = intera_interface.RobotEnable(CHECK_VERSION)
    init_state = rs.state()
    gripper = None
    original_deadzone = None
    
    def clean_shutdown():
        if gripper and original_deadzone:
            gripper.set_dead_zone(original_deadzone)
        print("Finished.")
    
    try:
        gripper = intera_interface.Gripper(limb + '_gripper')
    except (ValueError, OSError) as e:
        rospy.logerr("Could not detect an electric gripper attached to the robot.")
        clean_shutdown()
        return
    rospy.on_shutdown(clean_shutdown)

    original_deadzone = gripper.get_dead_zone()
    # WARNING: setting the deadzone below this can cause oscillations in
    # the gripper position. However, setting the deadzone to this
    # value is required to achieve the incremental commands in this example
    gripper.set_dead_zone(0.001)
    rospy.loginfo("Gripper deadzone set to {}".format(gripper.get_dead_zone()))
    rospy.loginfo("Enabling robot...")
    rs.enable()
    print("Controlling grippers.")
    if (action == "open"):
        gripper.open()
        rospy.sleep(1.0)
        print("Opened grippers")
    elif (action == "close"):
        gripper.close()
        rospy.sleep(1.0)
        print("Closed grippers")
    
    # force shutdown call if caught by key handler
    rospy.signal_shutdown("Example finished.") 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import on_shutdown [as 别名]
def start_server(limb, rate, mode, valid_limbs):
    rospy.loginfo("Initializing node... ")
    rospy.init_node("sdk_{0}_joint_trajectory_action_server{1}".format(
                        mode, "" if limb == 'all_limbs' else "_" + limb,))

    rospy.wait_for_service("/ExternalTools/right/PositionKinematicsNode/IKService")

    rospy.loginfo("Initializing joint trajectory action server...")
    robot_name = intera_interface.RobotParams().get_robot_name().lower().capitalize()
    config_module = "intera_interface.cfg"
    if mode == 'velocity':
        config_name = ''.join([robot_name,"VelocityJointTrajectoryActionServerConfig"])
    elif mode == 'position':
        config_name = ''.join([robot_name,"PositionJointTrajectoryActionServerConfig"])
    else:
        config_name = ''.join([robot_name,"PositionFFJointTrajectoryActionServerConfig"])
    cfg = importlib.import_module('.'.join([config_module,config_name]))
    dyn_cfg_srv = Server(cfg, lambda config, level: config)
    jtas = []
    if limb == 'all_limbs':
        for current_limb in valid_limbs:
            jtas.append(JointTrajectoryActionServer(current_limb, dyn_cfg_srv,
                                                    rate, mode))
    else:
        jtas.append(JointTrajectoryActionServer(limb, dyn_cfg_srv, rate, mode))


    def cleanup():
        for j in jtas:
            j.clean_shutdown()

    rospy.on_shutdown(cleanup)
    rospy.loginfo("Joint Trajectory Action Server Running. Ctrl-c to quit")
    rospy.spin() 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import on_shutdown [as 别名]
def __init__(self):

        # set up openrave
        self.env = rave.Environment()
        self.env.StopSimulation()
        self.env.Load("robots/pr2-beta-static.zae")  # todo: use up-to-date urdf
        self.robot = self.env.GetRobots()[0]

        self.joint_listener = TopicListener("/joint_states", sm.JointState)

        # rave to ros conversions
        joint_msg = self.get_last_joint_message()
        ros_names = joint_msg.name
        inds_ros2rave = np.array([self.robot.GetJointIndex(name) for name in ros_names])
        self.good_ros_inds = np.flatnonzero(inds_ros2rave != -1)  # ros joints inds with matching rave joint
        self.rave_inds = inds_ros2rave[self.good_ros_inds]  # openrave indices corresponding to those joints
        self.update_rave()

        self.larm = Arm(self, "l")
        self.rarm = Arm(self, "r")
        self.lgrip = Gripper(self, "l")
        self.rgrip = Gripper(self, "r")
        self.head = Head(self)
        self.torso = Torso(self)
        self.base = Base(self)

        rospy.on_shutdown(self.stop_all) 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import on_shutdown [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 on_shutdown [as 别名]
def start_server(limb, rate, mode, valid_limbs):
    rospy.loginfo("Initializing node... ")
    rospy.init_node("sdk_{0}_joint_trajectory_action_server{1}".format(
                        mode, "" if limb == 'all_limbs' else "_" + limb,))

    rospy.loginfo("Initializing joint trajectory action server...")
    robot_name = intera_interface.RobotParams().get_robot_name().lower().capitalize()
    config_module = "intera_interface.cfg"
    if mode == 'velocity':
        config_name = ''.join([robot_name,"VelocityJointTrajectoryActionServerConfig"])
    elif mode == 'position':
        config_name = ''.join([robot_name,"PositionJointTrajectoryActionServerConfig"])
    else:
        config_name = ''.join([robot_name,"PositionFFJointTrajectoryActionServerConfig"])
    cfg = importlib.import_module('.'.join([config_module,config_name]))
    dyn_cfg_srv = Server(cfg, lambda config, level: config)
    jtas = []
    if limb == 'all_limbs':
        for current_limb in valid_limbs:
            jtas.append(JointTrajectoryActionServer(current_limb, dyn_cfg_srv,
                                                    rate, mode))
    else:
        jtas.append(JointTrajectoryActionServer(limb, dyn_cfg_srv, rate, mode))


    def cleanup():
        for j in jtas:
            j.clean_shutdown()

    rospy.on_shutdown(cleanup)
    rospy.loginfo("Joint Trajectory Action Server Running. Ctrl-c to quit")
    rospy.spin() 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import on_shutdown [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() 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import on_shutdown [as 别名]
def __init__(self):
        rospy.init_node('sound_server', anonymous=False)
        rospy.on_shutdown(self._shutdown)
        while (rospy.get_rostime() == 0.0):
            pass
        rospy.Subscriber("/sound_server/speech_synth", String, self.cb_speech_synth)
        rospy.Subscriber("/sound_server/play_sound_file", String, self.cb_play_sound_file)
        self.pub_status = rospy.Publisher("/sound_server/status", String)
        self.s = mirage_sound_out(festival_cache_path="/home/ubuntu/Music/mirage_engrams/festival_cache/", sound_effects_path="/home/ubuntu/Music/mirage_engrams/sound_effects/")
        rospy.sleep(2.0) # Startup time.
        rospy.loginfo("mirage_sound_out ready")
        rospy.spin() 

# 需要导入模块: import rospy [as 别名]
# 或者: from rospy import on_shutdown [as 别名]
def get_python_code_from_xml(self, xml):
        return self.blockly_generator.get_generated_python_code(xml)

    # !! Need to call this with rospy.on_shutdown !!