def __init__(self):
self.tfBuffer = tf2_ros.Buffer()
self.listen = tf2_ros.TransformListener(self.tfBuffer)
self.listener = tf.TransformListener()
self.broadcast = tf.TransformBroadcaster()
python类TransformListener()的实例源码
2017_grasp_generator_1.py 文件源码
项目：cu-perception-manipulation-stack
作者: correlllab
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2017_Task6.py 文件源码
项目：cu-perception-manipulation-stack
作者: correlllab
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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.obj_det = False
self.touch_finger_1 = False
self.touch_finger_3 = False
self.calibrated = False
2017_Task2.py 文件源码
项目：cu-perception-manipulation-stack
作者: correlllab
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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.tool_wrench_sub = rospy.Subscriber("/j2n6s300_driver/out/tool_wrench",
WrenchStamped,
self.tool_wrench)
self.obj_det = False
self.touch_finger_1 = False
self.touch_finger_3 = False
self.calibrated = False
self.tool_wrench_x = 0
self.tool_wrench_y = 0
self.tool_wrench_z = 0
2017_Task10.py 文件源码
项目：cu-perception-manipulation-stack
作者: correlllab
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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.obj_det = False
self.touch_finger_1 = False
self.touch_finger_3 = False
self.calibrated = False
2017_Task5.py 文件源码
项目：cu-perception-manipulation-stack
作者: correlllab
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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_2 = False
self.touch_finger_3 = False
self.calibrated = False
self.bump_finger_1 = False
self.bump_finger_2 = False
self.bump_finger_3 = False
2017_grasp_generator_4.py 文件源码
项目：cu-perception-manipulation-stack
作者: correlllab
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def __init__(self):
self.tfBuffer = tf2_ros.Buffer()
self.listen = tf2_ros.TransformListener(self.tfBuffer)
self.listener = tf.TransformListener()
self.broadcast = tf.TransformBroadcaster()
def __init__(self, base):
"""base : str
Robot base/root tf"""
self.base = base
self.tl = tf.TransformListener()
# self.home()
2017_Task3.py 文件源码
项目：cu-perception-manipulation-stack
作者: correlllab
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文件源码
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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.obj_det_finger_1 = False
self.obj_det_finger_2 = False
self.obj_det_finger_3 = False
self.touch_finger_1 = False
self.touch_finger_2 = False
self.touch_finger_3 = False
self.calibrated = False
2017_Task8.py 文件源码
项目：cu-perception-manipulation-stack
作者: correlllab
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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.obj_det = False
self.touch_finger_1 = False
self.touch_finger_3 = False
self.calibrated = False
grasp_generator_pick_place.py 文件源码
项目：cu-perception-manipulation-stack
作者: correlllab
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def __init__(self):
self.listen = tf.TransformListener()
self.broadcast = tf.TransformBroadcaster()
self.obj_pose_sub = rospy.Subscriber("/num_objects", Int64,
self.broadcast_frame,
queue_size=1)
grasp_generator_8.py 文件源码
项目：cu-perception-manipulation-stack
作者: correlllab
项目源码
文件源码
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def __init__(self):
self.listen = tf.TransformListener()
self.broadcast = tf.TransformBroadcaster()
self.obj_pose_sub = rospy.Subscriber("/num_objects", Int64,
self.broadcast_frame,
queue_size=1)
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
grasp_generator_2.py 文件源码
项目：cu-perception-manipulation-stack
作者: correlllab
项目源码
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def __init__(self):
self.listen = tf.TransformListener()
self.broadcast = tf.TransformBroadcaster()
self.obj_pose_sub = rospy.Subscriber("/num_objects", Int64,
self.broadcast_frame,
queue_size=1)
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
grasp_generator_7.py 文件源码
项目：cu-perception-manipulation-stack
作者: correlllab
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def __init__(self):
self.listen = tf.TransformListener()
self.broadcast = tf.TransformBroadcaster()
self.obj_pose_sub = rospy.Subscriber("/num_objects", Int64,
self.broadcast_frame,
queue_size=1)
grasp_generator_3.py 文件源码
项目：cu-perception-manipulation-stack
作者: correlllab
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文件源码
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def __init__(self):
self.listen = tf.TransformListener()
self.broadcast = tf.TransformBroadcaster()
self.obj_pose_sub = rospy.Subscriber("/num_objects", Int64,
self.broadcast_frame,
queue_size=1)
grasp_generator_10.py 文件源码
项目：cu-perception-manipulation-stack
作者: correlllab
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def __init__(self):
self.listen = tf.TransformListener()
self.broadcast = tf.TransformBroadcaster()
self.obj_pose_sub = rospy.Subscriber("/num_objects", Int64,
self.broadcast_frame,
queue_size=1)
grasp_generator_1.py 文件源码
项目：cu-perception-manipulation-stack
作者: correlllab
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def __init__(self):
self.listen = tf.TransformListener()
self.broadcast = tf.TransformBroadcaster()
self.obj_pose_sub = rospy.Subscriber("/num_objects", Int64,
self.broadcast_frame,
queue_size=1)
grasp_generator_9.py 文件源码
项目：cu-perception-manipulation-stack
作者: correlllab
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文件源码
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def __init__(self):
self.listen = tf.TransformListener()
self.broadcast = tf.TransformBroadcaster()
self.obj_pose_sub = rospy.Subscriber("/num_objects", Int64,
self.broadcast_frame,
queue_size=1)
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
