joints_action_client.py 文件源码

def joint_angle_client(angle_set):
    """Send a joint angle goal to the action server."""
    action_address = '/j2n6s300_driver/joints_action/joint_angles'
    client = actionlib.SimpleActionClient(action_address,
                                          kinova_msgs.msg.ArmJointAnglesAction)
    client.wait_for_server()

    goal = kinova_msgs.msg.ArmJointAnglesGoal()

    goal.angles.joint1 = angle_set[0]
    goal.angles.joint2 = angle_set[1]
    goal.angles.joint3 = angle_set[2]
    goal.angles.joint4 = angle_set[3]
    goal.angles.joint5 = angle_set[4]
    goal.angles.joint6 = angle_set[5]
    goal.angles.joint7 = angle_set[6]

    client.send_goal(goal)
    if client.wait_for_result(rospy.Duration(20.0)):
        return client.get_result()
    else:
        print('        the joint angle action timed-out')
        client.cancel_all_goals()
        return None