baxter_continuous_scan.py 文件源码

def __init__(self, limb_name, topic='/sensor_values'):
        super(FingerSensorBaxter, self).__init__(limb_name)
        self.listen = tf.TransformListener()
        self.inside = np.zeros(14)
        self.tip = np.zeros(2)
        self.inside_offset = np.zeros_like(self.inside)
        self.tip_offset = np.zeros_like(self.tip)
        # Picking level
        self.level = None
        self.last_sensor_update = 0
        self.sensor_sub = rospy.Subscriber(topic,
                                           Int32MultiArray,
                                           self.update_sensor_values,
                                           queue_size=1)
        self.object_frame = ""
        self.perc_centroids = np.array([])

        self.touch_centroids = np.array([])

        self.update_transform = rospy.Publisher("/update_camera_alignment",
                                                Pose,
                                                queue_size = 1)
        self.handle_found = False

        self.handles_found = 0
        self.cups_scanned = 0
        #self.zero_sensor()
        #import ipdb;ipdb.set_trace()