add ros2 node

node.py

@@ -0,0 +1,122 @@
+#!/usr/bin/env python3
+
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import Float32MultiArray
+from sensor_msgs.msg import JointState
+from utils import RobotClient
+import time
+from main import config, HOST, PORT
+
+
+class RobotControllerNode(Node):
+    def __init__(self):
+        super().__init__("robot_controller_node")
+
+        self.pub = self.create_publisher(
+            Float32MultiArray, "/forward_position_controller/commands", 10
+        )
+        self.js_sub = self.create_subscription(
+            JointState, "/joint_states", self.js_callback, 10
+        )
+        self.last_js = JointState()
+
+        self.robot_client = RobotClient(HOST, PORT)
+        self.get_logger().info("Robot client connected")
+
+        # Настройка скорости и ускорения
+        self.robot_client.set_end_max_line_velc(0.6)
+        self.robot_client.set_end_max_line_acc(0.8)
+        self.gripper_joint_name = "left_outer_knuckle_joint"  # Укажите правильное имя joint'а
+        self.sequence_step = 0
+
+        # Запуск основного сценария через таймер
+        self.timer = self.create_timer(
+            1.0, self.run_sequence
+        )  # Задержка 1 сек для инициализации
+
+    def js_callback(self, msg: JointState):
+        self.last_js = msg
+
+    def send_gripper_command(self, target_pose: float, tolerance: float = 0.01, timeout: float = 3.0):
+        msg = Float32MultiArray()
+        msg.data = [target_pose]
+        self.pub.publish(msg)
+        self.get_logger().info(f"Sent gripper pose: {target_pose}")
+
+        # Ждём данных от joint_states
+        start_time = time.time()
+        while rclpy.ok():
+            rclpy.spin_once(self, timeout_sec=0.1)
+
+            joint_name_list = list(self.last_js.name) if self.last_js.name else []
+            joint_position_list = list(self.last_js.position) if self.last_js.position else []
+
+            if self.gripper_joint_name in joint_name_list:
+                index = joint_name_list.index(self.gripper_joint_name)
+
+                if index < len(joint_position_list):
+                    current_pose = joint_position_list[index]
+                    if abs(current_pose - target_pose) < tolerance:
+                        self.get_logger().info(f"Gripper reached pose: {current_pose:.3f}")
+                        return True
+                else:
+                    self.get_logger().warn("Gripper joint index out of bounds in position list")
+            else:
+                self.get_logger().warn(f"Gripper joint '{self.gripper_joint_name}' not found in joint_states")
+                return False
+
+            if time.time() - start_time > timeout:
+                self.get_logger().warn("Timeout waiting for gripper to reach position")
+                return False
+
+    def run_sequence(self):
+        if self.sequence_step == 0:
+            self.get_logger().info("Moving to pre-grasp")
+            self.robot_client.move_to_pose_joint(config["pre_grasp_position"])
+            self.sequence_step += 1
+
+        elif self.sequence_step == 1:
+            self.get_logger().info("Moving to grasp")
+            self.robot_client.move_to_pose_cart(config["grasp_position"])
+            self.sequence_step += 1
+
+        elif self.sequence_step == 3:
+            if self.send_gripper_command(target_pose=1.0, timeout=10.0):
+                self.get_logger().info("Gripper closed")
+                self.sequence_step += 1
+
+        # elif self.sequence_step == 3:
+        #     self.get_logger().info("Moving to post-grasp")
+        #     self.robot_client.move_to_pose_cart(config["post_grasp_position"])
+        #     self.sequence_step += 1
+        #
+        # ... и так далее для остальных шагов
+
+        elif self.sequence_step >= 3:  # Измените на последний шаг + 1
+            self.get_logger().info("Sequence complete")
+            self.robot_client.close()
+            self.destroy_timer(self.timer)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    try:
+        node = RobotControllerNode()
+        executor = rclpy.executors.MultiThreadedExecutor()
+        executor.add_node(node)
+
+        try:
+            executor.spin()
+        finally:
+            node.destroy_node()
+
+    except Exception as e:
+        print(f"Fatal error: {str(e)}")
+    finally:
+        rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()