joint_trajectory_action_server.py 文件源码

def main():
    rp = intera_interface.RobotParams()
    valid_limbs = rp.get_limb_names()
    if not valid_limbs:
        rp.log_message(("Cannot detect any limb parameters on this robot. "
                        "Exiting."), "ERROR")
        return
    # Add an option for starting a server for all valid limbs
    all_limbs = valid_limbs
    all_limbs.append("all_limbs")
    arg_fmt = argparse.ArgumentDefaultsHelpFormatter
    parser = argparse.ArgumentParser(formatter_class=arg_fmt)
    parser.add_argument(
        "-l", "--limb", dest="limb", default=valid_limbs[0],
        choices=all_limbs,
        help="joint trajectory action server limb"
    )
    parser.add_argument(
        "-r", "--rate", dest="rate", default=100.0,
        type=float, help="trajectory control rate (Hz)"
    )
    parser.add_argument(
        "-m", "--mode", default='position_w_id',
        choices=['position_w_id', 'position', 'velocity'],
        help="control mode for trajectory execution"
    )
    args = parser.parse_args(rospy.myargv()[1:])
    start_server(args.limb, args.rate, args.mode, valid_limbs)