robotGame.py 文件源码

def __init__(self):
        #init code
        rospy.init_node("robotGame")
        self.currentDist = 1
        self.previousDist = 1
        self.reached = False
        self.tf = TransformListener()

        self.left_joint_names = ['yumi_joint_1_l', 'yumi_joint_2_l', 'yumi_joint_3_l', 'yumi_joint_4_l', 'yumi_joint_5_l', 'yumi_joint_6_l', 'yumi_joint_7_l', 'gripper_l_joint']
        self.right_joint_names = ['yumi_joint_1_r', 'yumi_joint_2_r', 'yumi_joint_3_r', 'yumi_joint_4_r', 'yumi_joint_5_r', 'yumi_joint_6_r', 'yumi_joint_7_r', 'gripper_r_joint']
        self.left_positions = [-2.01081820427463881, 1.4283937236421274, -1.3593418228836045, -0.19315625641494183, 1.7016501799872579, 0.6573540231496411, 3.404315594906305, 0.0]
        self.right_positions = [0.01081820427463881, 2.4283937236421274, 0.3593418228836045, -0.19315625641494183, 1.7016501799872579, 0.6573540231496411, 3.404315594906305, 1.8145107750466565]
        self.rjv = []
        self.ljv = []

        self.pub = rospy.Publisher('my_joint_states', JointState, queue_size=1) 
        self.js = JointState()
        self.js.header = Header()
        self.js.name = self.left_joint_names + self.right_joint_names
        self.js.velocity = []
        self.js.effort = []
        self.sub = rospy.Subscriber('/joint_states', JointState, self.jsCB)
        self.destPos = np.random.uniform(0,0.25, size =(3))
        self.reset()