Improved the test_move script in ur_driver

Related to #158

ur_driver/test_move.py

@@ -1,106 +1,158 @@
 #!/usr/bin/env python
 import time
-import roslib; roslib.load_manifest('ur_driver')
 import rospy
 import actionlib
 from control_msgs.msg import *
 from trajectory_msgs.msg import *
 
-JOINT_NAMES = ['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint',
-               'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint']
-Q1 = [2.2,0,-1.57,0,0,0]
-Q2 = [1.5,0,-1.57,0,0,0]
-Q3 = [1.5,-0.2,-1.57,0,0,0]
+from controller_manager_msgs.utils import ControllerLister, ControllerManagerLister
+from sensor_msgs.msg import JointState
 
-client = None
+t_stamps = [2.0, 4.0, 6.0]
 
-def move1():
-    g = FollowJointTrajectoryGoal()
-    g.trajectory = JointTrajectory()
-    g.trajectory.joint_names = JOINT_NAMES
-    g.trajectory.points = [
-        JointTrajectoryPoint(positions=Q1, velocities=[0]*6, time_from_start=rospy.Duration(2.0)),
-        JointTrajectoryPoint(positions=Q2, velocities=[0]*6, time_from_start=rospy.Duration(3.0)),
-        JointTrajectoryPoint(positions=Q3, velocities=[0]*6, time_from_start=rospy.Duration(4.0))]
-    client.send_goal(g)
-    try:
-        client.wait_for_result()
-    except KeyboardInterrupt:
-        client.cancel_goal()
-        raise
+DEFAULT_CONTROLLER_NS = ""
 
-def move_disordered():
-    order = [4, 2, 3, 1, 5, 0]
-    g = FollowJointTrajectoryGoal()
-    g.trajectory = JointTrajectory()
-    g.trajectory.joint_names = [JOINT_NAMES[i] for i in order]
-    q1 = [Q1[i] for i in order]
-    q2 = [Q2[i] for i in order]
-    q3 = [Q3[i] for i in order]
-    g.trajectory.points = [
-        JointTrajectoryPoint(positions=q1, velocities=[0]*6, time_from_start=rospy.Duration(2.0)),
-        JointTrajectoryPoint(positions=q2, velocities=[0]*6, time_from_start=rospy.Duration(3.0)),
-        JointTrajectoryPoint(positions=q3, velocities=[0]*6, time_from_start=rospy.Duration(4.0))]
-    client.send_goal(g)
-    client.wait_for_result()
+def get_trajectory_goal(_jnt_names, q1, q2, q3, t=t_stamps):
+  joint_num = len(_jnt_names)
+  g = FollowJointTrajectoryGoal()
+  g.trajectory = JointTrajectory()
+  g.trajectory.joint_names = _jnt_names
+  g.trajectory.points = [
+    JointTrajectoryPoint(positions=q1, velocities=[0]*joint_num, time_from_start=rospy.Duration(t[0])),
+    JointTrajectoryPoint(positions=q2, velocities=[0]*joint_num, time_from_start=rospy.Duration(t[1])),
+    JointTrajectoryPoint(positions=q3, velocities=[0]*joint_num, time_from_start=rospy.Duration(t[2]))]
+  return g
+
+def handle_send_goal(_traj_ac, g):
+  _traj_ac.send_goal(g)
+  try:
+    _traj_ac.wait_for_result()
+  except KeyboardInterrupt:
+    _traj_ac.cancel_goal()
+    raise
+
+#Performs a sequence of joint movements once
+def move1(_traj_ac, _jnt_names):
+  q1, q2, q3 = get_traj_pts()
+  g = get_trajectory_goal(_jnt_names, q1, q2, q3)
+  handle_send_goal(_traj_ac, g)
 
-def move_repeated():
-    g = FollowJointTrajectoryGoal()
-    g.trajectory = JointTrajectory()
-    g.trajectory.joint_names = JOINT_NAMES
+#Sends a trajectory goal with a 'disordered' joint values
+def move_disordered(_traj_ac, _jnt_names):
+  order = [4, 2, 3, 1, 5, 0]
+  q1, q2, q3 = get_traj_pts()
+  q1 = [q1[i] for i in order]
+  q2 = [q2[i] for i in order]
+  q3 = [q3[i] for i in order]
+  _jnt_names = [_jnt_names[i] for i in order]
+  g = get_trajectory_goal(_jnt_names, q1, q2, q3)
+  handle_send_goal(_traj_ac, g)
 
-    d = 2.0
-    g.trajectory.points = []
-    for i in range(10):
-        g.trajectory.points.append(
-            JointTrajectoryPoint(positions=Q1, velocities=[0]*6, time_from_start=rospy.Duration(d)))
-        d += 1
-        g.trajectory.points.append(
-            JointTrajectoryPoint(positions=Q2, velocities=[0]*6, time_from_start=rospy.Duration(d)))
-        d += 1
-        g.trajectory.points.append(
-            JointTrajectoryPoint(positions=Q3, velocities=[0]*6, time_from_start=rospy.Duration(d)))
-        d += 2
-    client.send_goal(g)
-    try:
-        client.wait_for_result()
-    except KeyboardInterrupt:
-        client.cancel_goal()
-        raise
+#Repeats the sequence of movements in a loop
+def move_repeated(_traj_ac, _jnt_names):
+  t = t_stamps
+  q1, q2, q3 = get_traj_pts()
+  for i in range(5):
+    t = t + [t[-1]+2, t[-1]+4, t[-1]+6]
+    g = get_trajectory_goal(_jnt_names, q1, q2, q3, t)
+    handle_send_goal(_traj_ac, g)
 
-def move_interrupt():
-    g = FollowJointTrajectoryGoal()
-    g.trajectory = JointTrajectory()
-    g.trajectory.joint_names = JOINT_NAMES
-    g.trajectory.points = [
-        JointTrajectoryPoint(positions=Q1, velocities=[0]*6, time_from_start=rospy.Duration(2.0)),
-        JointTrajectoryPoint(positions=Q2, velocities=[0]*6, time_from_start=rospy.Duration(3.0)),
-        JointTrajectoryPoint(positions=Q3, velocities=[0]*6, time_from_start=rospy.Duration(4.0))]
-
-    client.send_goal(g)
-    time.sleep(2.0)
-    print "Interrupting"
-    client.send_goal(g)
-    try:
-        client.wait_for_result()
-    except KeyboardInterrupt:
-        client.cancel_goal()
-        raise
+#Resends the same goal after 3 seconds delay
+#The already running goal is cancelled and the arm moves back to the start pose before executing the trajectory again
+def move_interrupt(_traj_ac, _jnt_names):
+  q1, q2, q3 = get_traj_pts()
+  g = get_trajectory_goal(_jnt_names, q1, q2, q3)
+  _traj_ac.send_goal(g)
+  time.sleep(3.0)
+  print "Interrupting"
+  handle_send_goal(_traj_ac, g)
+
+def get_joint_state():
+  return rospy.wait_for_message('/joint_states', JointState)
+
+def get_current_joint_vals():
+  return list(get_joint_state().position)
+
+def get_joint_names():
+  return get_joint_state().name
+
+#Adds/subtracts 0.3 radians to the last 2 joint values
+def get_traj_pts():
+  pos = get_current_joint_vals()
+  q1 = pos[:4] + [x + 0.3 for x in pos[4:]]
+  q2 = pos[:4] + [x - 0.3 for x in pos[4:]]
+  q3 = pos
+  return q1, q2, q3
 
+def get_controller():
+  _list_cm = ControllerManagerLister()
+  controller_list = ControllerLister(_list_cm()[0])
+  _list_controllers = controller_list()
+
+  from controller_manager_msgs.utils\
+    import filter_by_type, filter_by_state
+
+  jtc_list = filter_by_type(_list_controllers,
+                            'JointTrajectoryController',
+                            match_substring=True)
+  running_jtc_list = filter_by_state(jtc_list, 'running')
+  return running_jtc_list[0]
+
+def user_menu():
+  choice=True
+  print ("""
+  1.Perform a pre-defined sequence of joint movements once
+  2.Perform a pre-defined sequence of joint movements in a loop
+  3.Set joint values in JointTrajectory in a disordered way
+    and perform a pre-defined sequence of joint movements once
+  4.Send a pre-defined joint trajectory twice 
+    cancels the first goal and starts the new one
+  5.Exit/Quit
+  """)
+  choice=raw_input("What would you like to do? ") 
+  return choice
+
 def main():
-    global client
-    try:
-        rospy.init_node("test_move", anonymous=True, disable_signals=True)
-        client = actionlib.SimpleActionClient('follow_joint_trajectory', FollowJointTrajectoryAction)
-        print "Waiting for server..."
-        client.wait_for_server()
-        print "Connected to server"
-        #move1()
-        move_repeated()
-        #move_disordered()
-        #move_interrupt()
-    except KeyboardInterrupt:
-        rospy.signal_shutdown("KeyboardInterrupt")
-        raise
+  _use_ros_control = False
+  try:
+    rospy.init_node("test_move", anonymous=True, disable_signals=True)
+    print("""
+    Usage: You can use this node alongwith or without ros_control
+           In case of without, make sure to pass the namespace of FollowJointTrajectoryAction as the first argument.
+           Else, an empty namespace is assumed.
+    """)
+
+    if _use_ros_control == True:
+      controller_ns = get_controller().name 
+    elif(len(sys.argv) > 0):
+      controller_ns = sys.argv[1]
+    else:
+      controller_ns = DEFAULT_CONTROLLER_NS
+
+    JOINT_NAMES = get_joint_names()
+    traj_ac = actionlib.SimpleActionClient(controller_ns + '/follow_joint_trajectory', FollowJointTrajectoryAction)
+    print("Waiting for server...")
+    traj_ac.wait_for_server()
+    print("Connected to server")
+
+    while not rospy.is_shutdown():
+      choice = user_menu()
+      if choice=="1":  
+        move1(traj_ac, JOINT_NAMES)
+      elif choice=="2":
+        move_repeated(traj_ac, JOINT_NAMES)
+      elif choice=="3": 
+        move_disordered(traj_ac, JOINT_NAMES)
+      elif choice=="4":
+        move_interrupt(traj_ac, JOINT_NAMES)
+      elif choice=="5":
+        print("\n Exiting the program.") 
+        exit()
+      else:
+        print("\n Invalid choice, try again!") 
+
+  except KeyboardInterrupt:
+    rospy.signal_shutdown("KeyboardInterrupt")
+    raise
 
 if __name__ == '__main__': main()