2017_Task9.py 文件源码

def __init__(self):
        self.j = Jaco()
        self.listener = tf.TransformListener()
        self.current_joint_angles = [0]*7

        self.tfBuffer = tf2_ros.Buffer()
        self.listen = tf2_ros.TransformListener(self.tfBuffer)

        self.velocity_pub = rospy.Publisher('/j2n6s300_driver/in/cartesian_velocity',
                                            PoseVelocity, queue_size=1)

        self.joint_angles_sub = rospy.Subscriber("/j2n6s300_driver/out/joint_angles",
                                                JointAngles, self.callback)

        self.obj_det_sub = rospy.Subscriber('/finger_sensor/obj_detected',
                                            FingerDetect, self.set_obj_det)

        self.fingetouch_finger_2_sub = rospy.Subscriber('/finger_sensor/touch',
                                                 FingerTouch, self.set_touch)

        self.calibrate_obj_det_pub = rospy.Publisher("/finger_sensor/calibrate_obj_det",
                                                    Bool,
                                                    queue_size=1)

        self.calibrate_obj_det_sub = rospy.Subscriber("/finger_sensor/obj_det_calibrated",
                                                    Bool,
                                                    self.set_calibrated)

        self.bump_det_sub = rospy.Subscriber("/finger_sensor/fai",
                                                    FingerFAI,
                                                    self.detect_Bump)

        self.obj_det = False
        self.touch_finger_1 = False
        self.touch_finger_3 = False
        self.calibrated = False
        self.bump_finger_1 = 0