task_1.py 文件源码

def __init__(self):
        self.j = Jaco()
        self.listen = tf.TransformListener()
        self.current_joint_angles = [0]*6


        self.velocity_pub = rospy.Publisher('/j2n6a300_driver/in/cartesian_velocity',
                                            PoseVelocity, queue_size=1)

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

        self.finger_m_touch_sub = rospy.Subscriber('/finger_sensor_middle/touch',
                                                    Bool, self.set_m_touch)

        self.finger_r_touch_sub = rospy.Subscriber('/finger_sensor_right/touch',
                                                    Bool, self.set_r_touch)

        self.joint_angles_sub = rospy.Subscriber("/j2n6a300_driver/out/joint_angles",
                                                JointAngles, self.callback)

        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.obj_det = False
        self.m_touch = False
        self.r_touch = False
        self.calibrated = False