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Write a client program by mixing ROS and RTM APIs
Description:Tutorial Level:
Next Tutorial: rtmros_nextage/Tutorials/Using digital IO (NXO only)
NOTE: All the tutorials available under the URL http://wiki.ros.org/rtmros_nextage/Tutorials are applicable to the multiple products of Kawada Industries; Hiro (only with the one that opensource software is installed) and NEXTAGE OPEN. To simplify the notation in the rest of the tutorials, we use HiroNXO to appoint the aforementioned robots.
Contents
Utilizing both ROS and hrpsys in a single Python code
(TBD)
More example
Using sensor input example
Following is an incomplete code sample that sends certain command to HiroNXO robot based on hand motion by using leap_motion.
1 #!/usr/bin/env python
2 # -*- coding: utf-8 -*-
3
4 # Software License Agreement (BSD License)
5 #
6 # Copyright (c) 2016, Tokyo Opensource Robotics Kyokai Association
7 # All rights reserved.
8 #
9 # Redistribution and use in source and binary forms, with or without
10 # modification, are permitted provided that the following conditions
11 # are met:
12 #
13 # * Redistributions of source code must retain the above copyright
14 # notice, this list of conditions and the following disclaimer.
15 # * Redistributions in binary form must reproduce the above
16 # copyright notice, this list of conditions and the following
17 # disclaimer in the documentation and/or other materials provided
18 # with the distribution.
19 # * Neither the name of Tokyo Opensource Robotics Kyokai Association. nor the
20 # names of its contributors may be used to endorse or promote products
21 # derived from this software without specific prior written permission.
22 #
23 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34 # POSSIBILITY OF SUCH DAMAGE.
35 #
36 # Author: Isaac I.Y. Saito
37
38 # This should come earlier than later import.
39 # See http://code.google.com/p/rtm-ros-robotics/source/detail?r=6773
40 from nextage_ros_bridge import nextage_client
41
42 from hrpsys import rtm
43 import argparse
44 from hironx_ros_bridge.ros_client import ROS_Client
45 from leap_motion.msg import leapros
46 import rospy
47
48 class NXO_Sample():
49 def __init__(self, nxo_if):
50 '''
51 @param nxo_if: type nextage_client.NextageClient
52 '''
53 self._robot = nxo_if
54 :
55
56 def _cb_leap(msg_hand):
57 if(msg_hand.XXX):
58 self._robot.checkEncoders()
59 elif(msg_hand.YYY):
60 self._robot.goOffPose()
61
62 def subscribe_hand():
63 '''
64 Subscribes messages from leap_motion sensor. Once received the messages are processed in a callback function (_cb_leap).
65 '''
66 rospy.init_node('listener', anonymous=True)
67 rospy.Subscriber("leapmotion/data", leapros, _cb_leap)
68 rospy.spin()
69
70 if __name__ == '__main__':
71 parser = argparse.ArgumentParser(description='NEXTAGE Open command line interpreters')
72 parser.add_argument('--host', help='corba name server hostname')
73 parser.add_argument('--port', help='corba name server port number')
74 parser.add_argument('--modelfile', help='robot model file nmae')
75 parser.add_argument('--robot', help='robot modlule name (RobotHardware0 for real robot, Robot()')
76 args, unknown = parser.parse_known_args()
77
78 if args.host:
79 rtm.nshost = args.host
80 if args.port:
81 rtm.nsport = args.port
82 if not args.robot:
83 args.robot = "RobotHardware0" if args.host else "HiroNX(Robot)0"
84 if not args.modelfile:
85 args.modelfile = ""
86
87 # support old style format
88 if len(unknown) >= 2:
89 args.robot = unknown[0]
90 args.modelfile = unknown[1]
91 robot = nxc = nextage_client.NextageClient()
92 # Use generic name for the robot instance. This enables users on the
93 # script commandline (eg. ipython) to run the same commands without asking
94 # them to specifically tell what robot they're using (eg. hiro, nxc).
95 # This is backward compatible so that users can still keep using `nxc`.
96 # See http://code.google.com/p/rtm-ros-robotics/source/detail?r=6926
97 robot.init(robotname=args.robot, url=args.modelfile)
98
99 ```