random_control.py 文件源码

def run_driver():
    # init moveit commander
    moveit_commander.roscpp_initialize(sys.argv)
    # specify move group
    group = moveit_commander.MoveGroupCommander("arm")
    # init ros node
    rospy.init_node('real_servo_driver', anonymous=True)

    print "============ Waiting for RVIZ..."
    rospy.sleep(2)
    # move grasper to init position
    init_position(group)

    # set ros publisher rate, 10hz = 10 seconds for a circle
    rate = rospy.Rate(50)
    while True:
        group.set_random_target()
        plan_msg = group.plan()
        group.execute(plan_msg=plan_msg, wait=False)
        rospy.sleep(5)
        if is_exit:
            break
    # shutdown moveit commander
    moveit_commander.roscpp_shutdown()