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IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +# Author: Isaac Isao Saito + +from hironx_ros_bridge.ros_client import ROS_Client +# This should come earlier than later import. +# See http://code.google.com/p/rtm-ros-robotics/source/detail?r=6773 +from nextage_ros_bridge import nextage_client + +from hrpsys import rtm +import argparse + +#------------------my definition callback function------------------- +import rospy + +def callback(data): +#-----------move head of YOW angle----------------- + #-----------circle bottun----------------------- + if data.buttons[2] == 1 and data.buttons[6] == 1 and data.buttons[7] != 1: + robot.setTargetPoseRelative('head', 'HEAD_JOINT1', dw=0.01, tm=0.001, wait=False) + #-----------squire bottun---------------------- + elif data.buttons[0] == 1 and data.buttons[6] == 1 and data.buttons[7] != 1: + robot.setTargetPoseRelative('head', 'HEAD_JOINT1', dw=-0.01, tm=0.001, wait=False) +#-------------------------------------------------- + + +#-----------move head of PITCH angle----------------- + #-----------circle bottun----------------------- + if data.buttons[2] == 1 and data.buttons[6] == 1 and data.buttons[7] == 1: + robot.setTargetPoseRelative('head', 'HEAD_JOINT1', dp=0.01, tm=0.001, wait=False) + #-----------squire bottun---------------------- + elif data.buttons[0] == 1 and data.buttons[6] == 1 and data.buttons[7] == 1: + robot.setTargetPoseRelative('head', 'HEAD_JOINT1', dp=-0.01, tm=0.001, wait=False) +#-------------------------------------------------- + + +#----------Initial and OFF pose-------------------- + #-----------x bottun--------------------------- + if data.buttons[1] == 1: + robot.goInitial(tm=1, wait=False) + #-----------triangle bottun------------------- + elif data.buttons[3] == 1: + robot.goOffPose(tm=1) +#-------------------------------------------------- + + +#---------------move hand control------------------ + #-----------right hand control----------------- + if data.axes[0] != 0 and data.buttons[6] == 1 and data.buttons[4] != 1: + robot.setTargetPoseRelative('rarm', 'RARM_JOINT5', dy=-data.axes[0]*0.01, tm=0.001, wait=False) + elif data.axes[1] != 0 and data.buttons[6] == 1 and data.buttons[4] != 1: + robot.setTargetPoseRelative('rarm', 'RARM_JOINT5', dx=-data.axes[1]*0.01, tm=0.001, wait=False) + elif data.axes[1] != 0 and data.buttons[6] == 1 and data.buttons[4] == 1: + robot.setTargetPoseRelative('rarm', 'RARM_JOINT5', dz=data.axes[1]*0.01, tm=0.001, wait=False) + #-----------left hand control------------- + if data.axes[2] != 0 and data.buttons[6] == 1 and data.buttons[4] != 1: + robot.setTargetPoseRelative('larm', 'LARM_JOINT5', dy=-data.axes[2]*0.01, tm=0.001, wait=False) + elif data.axes[5] != 0 and data.buttons[6] == 1 and data.buttons[4] != 1: + robot.setTargetPoseRelative('larm', 'LARM_JOINT5', dx=-data.axes[5]*0.01, tm=0.001, wait=False) + elif data.axes[5] != 0 and data.buttons[6] == 1 and data.buttons[4] == 1: + robot.setTargetPoseRelative('larm', 'LARM_JOINT5', dz=data.axes[5]*0.01, tm=0.001, wait=False) +#-------------------------------------------------- + + + #rospy.loginfo(data.buttons[3]) + + #rospy.loginfo(data.axes[0]) +#-------------------------------------------------------------------- + + +if __name__ == '__main__': + parser = argparse.ArgumentParser(description='hiro command line interpreters') + parser.add_argument('--host', help='corba name server hostname') + parser.add_argument('--port', help='corba name server port number') + parser.add_argument('--modelfile', help='robot model file nmae') + parser.add_argument('--robot', help='robot modlule name (RobotHardware0 for real robot, Robot()') + args, unknown = parser.parse_known_args() + + if args.host: + rtm.nshost = args.host + if args.port: + rtm.nsport = args.port + if not args.robot: + args.robot = "RobotHardware0" if args.host else "HiroNX(Robot)0" + if not args.modelfile: + args.modelfile = "" + + # support old style format + if len(unknown) >= 2: + args.robot = unknown[0] + args.modelfile = unknown[1] + robot = nxc = nextage_client.NextageClient() + # Use generic name for the robot instance. This enables users on the + # script commandline (eg. ipython) to run the same commands without asking + # them to specifically tell what robot they're using (eg. hiro, nxc). + # This is backward compatible so that users can still keep using `nxc`. + # See http://code.google.com/p/rtm-ros-robotics/source/detail?r=6926 + robot.init(robotname=args.robot, url=args.modelfile) + + # ROS Client. + ros = ROS_Client() + +# for simulated robot +# $ ./hironx.py +# +# for real robot +# ./hironx.py --host hiro014 +# ./ipython -i hironx.py --host hiro014 +# for real robot with custom model file +# ./hironx.py --host hiro014 --modelfile /opt/jsk/etc/NEXTAGE/model/main.wrl + + +#--------------------here is my definition fucntion----------------------------- +import math +from sensor_msgs.msg import Joy + +print("-----------------hello----------------------") +rospy.Subscriber("joy", Joy, callback) +rospy.spin() +#------------------------------------------------------------------------------ +