[WIP] Improved the test_move script in ur_driver - #366
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hsd-dev
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NadiaHG
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With this minor changes.
Working on simulation 👍
| import time | ||
| import roslib; roslib.load_manifest('ur_driver') | ||
| import rospy | ||
| import actionlib |
| except KeyboardInterrupt: | ||
| rospy.signal_shutdown("KeyboardInterrupt") | ||
| raise | ||
| _use_ros_control = False |
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@ipa-hsd _use_ros_control?? what does it mean?
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I wanted to read the controller's namespace in case of ros_control. Else the user passes the namespace as an arugument.
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removed this to avoid confusion
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| if _use_ros_control == True: | ||
| controller_ns = get_controller().name | ||
| elif(len(sys.argv) > 0): |
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I think it should be:
elif(len(sys.argv) > 1):
NadiaHG
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Tested on simulation and working
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@gavanderhoorn please merge if its ok for you |
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@ipa-hsd @ipa-nhg: this is definitely an upgrade, but at a first glance it also looks somewhat complex. The goal of this script is two-fold:
Goal 1 is covered by this, no doubt. I'm wondering if we're not making things too complex for goal 2 however. The script has a lot of things I would not expect in a (simple) example, such as listening for If you agree, we could perhaps keep this file as it is now proposed and add a much simpler version that covers the second goal. |
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Independent of this: I believe it would be prudent to print a very visible warning drawing attention to the fact that the robot is going to move, and that it is going to move in a certain way. Perhaps the script should also clarify how it is going to move, and that users should make sure the robot has X and Y free space around it? |
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@gavanderhoorn : I have added the warning messages.
I am not sure of the future of this repo, but maybe the new file can be added to a more generic repository where other arms can be tested as well. |
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I would like merge this to the kinetic-devel branch (first the merge conflict has to be solved). The full package "ur_driver" is deprecated (even removed for new distros), then makes not sense to put here more effort, and the changes of the PR improve the current version. @gavanderhoorn if you don't want to merge it, I suggest to close the PR, if @ipa-hsd agrees. |
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Related to #158