update sample program from joint_position_client_example.py to joint_…

…trajectory_client_example.py

README.md

@@ -25,7 +25,7 @@ If the gazebo simulation GUI is launched, You must start `start` button on the b
 To control joint angles, try a sample script.
 
 ```
-$ rosrun gundam_rx78_control joint_position_client_example.py
+$ rosrun gundam_rx78_control joint_trajectory_client_example.py
 ```
 
 Note that currently, we have several limitation on this simulation, the robot is pinned to the world, we only have position controller etc.

gundam_rx78_control/sample/joint_trajectory_client_example.py

@@ -0,0 +1,110 @@
+#!/usr/bin/env python
+
+# Copyright (c) 2016, 2019 Kei Okada
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+#    this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in the
+#    documentation and/or other materials provided with the distribution.
+# 3. Neither the name of the Rethink Robotics nor the names of its
+#    contributors may be used to endorse or promote products derived from
+#    this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""
+Joint Trajectory Action Client Example
+"""
+
+import rospy
+
+import actionlib
+
+import sys, time
+
+from control_msgs.msg import (
+    FollowJointTrajectoryAction,
+    FollowJointTrajectoryGoal,
+)
+from trajectory_msgs.msg import (
+    JointTrajectoryPoint,
+)
+
+def main():
+    print("Initializing node... ")
+    rospy.init_node("joint_trajectory_client_example")
+    rospy.sleep(1)
+    print("Running. Ctrl-c to quit")
+    positions = {
+        'head_neck_p': 0.0, 'head_neck_y': 0.2,
+        'larm_shoulder_p': 0.1, 'larm_shoulder_r':  0.3, 'larm_shoulder_y': -0.1, 'larm_elbow_p': -0.2, 'larm_wrist_r': 0, 'larm_wrist_y': 0, 'larm_gripper': 1.1,
+        'rarm_shoulder_p': 0.1, 'rarm_shoulder_r': -0.3, 'rarm_shoulder_y': 0.1, 'rarm_elbow_p': -0.2, 'rarm_wrist_r': 0, 'rarm_wrist_y': 0, 'rarm_gripper': 1.1,
+
+        'torso_waist_p': -0.05, 'torso_waist_y': 0.0,
+
+        'lleg_crotch_p': -0.35, 'lleg_crotch_r':  0.2, 'lleg_crotch_y':   0.35, 'lleg_knee_p':  0.20, 'lleg_ankle_p':  0.05, 'lleg_ankle_r': -0.05,
+        'rleg_crotch_p':  0.20, 'rleg_crotch_r': -0.1, 'rleg_crotch_y': -0.15, 'rleg_knee_p':  0.05, 'rleg_ankle_p': -0.2, 'rleg_ankle_r':  0.1,
+    }
+    client =  actionlib.SimpleActionClient(
+        '/fullbody_controller/follow_joint_trajectory',
+        FollowJointTrajectoryAction,
+        )
+
+    if not client.wait_for_server(timeout=rospy.Duration(10)):
+        rospy.logerr("Timed out waiting for Action Server")
+        rospy.signal_shutdown("Timed out waiting for Action Server")
+        sys.exit(1)
+
+    # init goal
+    goal = FollowJointTrajectoryGoal()
+    goal.goal_time_tolerance = rospy.Time(1)
+    goal.trajectory.joint_names = positions.keys()
+
+    # points
+    point = JointTrajectoryPoint()
+    goal.trajectory.joint_names = positions.keys()
+    point.positions  = positions.values()
+    point.time_from_start = rospy.Duration(10)
+    goal.trajectory.points.append(point)
+
+    point = JointTrajectoryPoint()
+    positions['torso_waist_p']   +=  0.2
+    positions['torso_waist_y']   +=  0.2    
+    positions['head_neck_p']      =  0.05
+    positions['head_neck_y']      =  0.15
+    positions['lleg_crotch_p']   += -0.1
+    positions['rleg_crotch_p']   += -0.1
+    positions['rarm_shoulder_p'] +=  0.2
+    positions['larm_shoulder_p'] +=  0.2
+    positions['rarm_elbow_p']    += -0.2
+    positions['larm_elbow_p']    += -0.2
+    point.positions  = positions.values()
+    point.time_from_start = rospy.Duration(12)
+    goal.trajectory.points.append(point)
+
+    # send goal
+    goal.trajectory.header.stamp = rospy.Time.now()
+    client.send_goal(goal)
+    print(goal)
+    print("waiting...")
+    if not client.wait_for_result(timeout=rospy.Duration(20)):
+        rospy.logerr("Timed out waiting for JTA")
+    rospy.loginfo("Exitting...")
+
+if __name__ == "__main__":
+    main()